Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 344 of 909
Bw
Bit, Wrapped Encoder Position
APPLICATION: System
DESCRIPTION: Encoder overflow or underflow occurred
EXECUTION: Historical, latched by PID sample
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RBw
RB(3,3)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0= No encoder wrap around occurred
1= Encoder wrap around occurred by position mode move
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
If Bw is 1, it indicates that the encoder position has exceeded or "wrapped" beyond the
maximum value for the 32-bit position register. Specifically, the position has gone outside of
the range -2147483648 to 2147483647.
This does not mean that the SmartMotor™ has lost its position information — it is still tracking
its position.
The Bw bit can be set during any type of motion, it is not a fault and will not stop motion.
The Bw bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(3,3) command
l
ZS command
l
Zw command
Part 2: Commands: Bw

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English