Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 450 of 909
FSA(cause,action)
Fault Stop Action
APPLICATION: Motion control
DESCRIPTION: Fault stop action
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: FSA(0,0)-FSA(1,2)
TYPICAL VALUES: FSA(0,0)-FSA(1,2)
DEFAULT VALUE: FSA(0,0)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: FSA(0,0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
FSA(cause,action) is used to specify the fault type and fault mode. FSA(0,0) is the default
configuration, which sets the fault action of all types of faults to result in Mode Torque Brake
(MTB).
FSA(cause,action) sets the fault stop action as follows:
cause: specifies the type of fault that will trigger the action:
0 - All types of faults
1 - Hardware travel limit faults
2 - Soft limit faults
action: specifies the desired action:
0 - Default action (MTB)
1 - Servo off
2 - X command
3 - Hard stop (6.0.x.x firmware only)
Part 2: Commands: FSA(cause,action)
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