Moog SmartMotor User Manual

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 875 of 909
RCAN, RCHN and RMODEStatus
This section provides the information for decoding the RCANstatus, RCHN status and
RMODEstatus.
RCAN Status Decoder
The following table provides a "decoder" for the RCAN (CAN port) status. When a general CAN
port error is flagged, you can use the information in the table to decode the RCAN command
result or the {variable}=CAN result in a program.
Description Value Bit
CAN Power Okay 1 0
DeviceNet Com fault occurred 2 1
DeviceNet Power ignore option enabled 4 2
Reserved 8 3
User attempted to do Combitronics read from broadcast address 16 4
Combitronics debug, internal issue 32 5
Timeout (Combitronics Client) 64 6
Combitronics server ran out of buffer slots 128 7
Errors reached warning level 256 8
Receive Errors reached warning level 512 9
Transmit Errors reached warning level 1024 10
Receive Passive Error 2048 11
Transmit Passive Error (cable issue) 4096 12
Bus Off Error 8192 13
RX buffer 1 overflowed 16384 14
RX buffer 0 overflowed 32768 15
RCHN Status Decoder
The following table provides a "decoder" for the RCHN (serial port) status. Like the RCAN
(CAN port) status, you can use this information to decode general RS-232 or RS-485 serial
port status information. Note the following:
l
RCHN(n) or =CHN(n) where n is the id of the serial port.
l
Returns an integer. Only the lower four bits indicate the state of the error
Description Value Bit
Buffer Overflow Error 1 0
Framing Error 2 1
N/A 4 2
Parity Error 8 3
Timeout 16 4
Appendix: RCAN, RCHN and RMODEStatus

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English