Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 44 of 909
PAUSE 203
RESUME 203
Limits and Fault Handling 204
Position Error Limits 204
dE/dt Limits 204
Velocity Limits 204
Hardware Limits 204
Software Limits 205
Fault Handling 205
Monitoring the SmartMotor Status 206
System Status 208
Introduction 209
Retrieving and Manipulating Status Words/Bits 209
System and Motor Status Bits 209
Reset Error Flags 211
System Status Examples 211
Timer Status Bits 212
Interrupt Status Bits 212
I/O Status 213
User Status Bits 213
Multiple Trajectory Support Status Bits 214
Cam Status Bits 215
Interpolation Status Bits 216
Motion Mode Status 216
RMODE, RMODE(arg) 216
I/OControl Details 217
I/O Port Hardware 218
I/O Connections Example (D-Style Motors) 219
I/O Voltage Spikes 219
Discrete Input and Output Commands 220
Discrete Input Commands 220
Discrete Output Commands 220
Output Condition and Fault Status Commands 221
Part 1: Programming the SmartMotor
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