Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 822 of 909
Zw
Reset Encoder Wrap Status Flag
APPLICATION: Reset
DESCRIPTION: Resets the encoder wraparound event latch (Bw)
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RBw
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
RESET VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
Zw resets the encoder wraparound status flag, Bw, to zero. The SmartMotor™ tracks its
position as 32-bit data, so a valid position is from -2147483648 to +2147483647. If the motor
moves out of this range, the position will overflow or "wraparound".
This is provided for information purposes. Applications with continuous rotation (Velocity
mode, Torque mode, Relative Position mode, Cam mode, Follow mode) may experience
wraparound. The motor will continue to operate, but the user application may need to know
this event occurred.
EXAMPLE: (Test for wraparound and then reset flag)
IF Bw 'Test flag
PRINT("Wraparound Occurred")
Zw 'Reset flag
ENDIF
RELATED COMMANDS:
R
Bw Bit, Wrapped Encoder Position (see page 344)
Z Total CPU Reset (see page 806)
Z(word,bit) Reset Specified Status Bit (see page 808)
ZS Global Reset System State Flag (see page 818)
Part 2: Commands: Zw
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