Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 454 of 909
FW
Firmware Version
APPLICATION: System
DESCRIPTION: Gets (reads) the firmware version
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RFW
WRITE: Read only
LANGUAGE ACCESS: N/A
UNITS: Long
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The FW command gets (reads) the motor firmware version as a long (32-bit) value. This
allows user programs to inspect the current firmware version. A comparison can be made to
check for an exact version number. This can be a very important part of ensuring the integrity
of a system. For instance, a program can check the firmware version and refuse to operate a
machine if an improper firmware version has been loaded.
CAUTION: If a machine has been tested and certified using a particular
firmware version, then older or newer firmware may produce unexpected
results.
The encoding of this 32-bit number follows the format of firmware numbering, but
compresses this value into a single (large) number. For example, firmware version 5.0.3.44
is converted to four individual bytes: 5, 0, 3 and 44. These four bytes are then assembled into
a 32-bit number — the 5 (class) becomes the most significant byte, and the 44 (minor
version) becomes the least significant byte. The resulting number in decimal format is
83886892.
EXAMPLE:
PRINT(FW,#13) 'Print the motor firmware version as a long
RFW 'Report the motor firmware version as a long
END
Part 2: Commands: FW
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