Moog SmartMotor User Manual

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 876 of 909
Clearing Serial Port Errors
It is up to the user to read which port caused the error using RCHN(n).
l
Use Z(2,0) to clear communication errors on port 0
l
Use Z(2,1) to clear communication errors on port 1
The Status Word 2 "Error channel 0" and "Error channel 1" bits will indicate if any error has
occurred on that port. Those status bits will be cleared when the communications error is
cleared using one of the commands listed above.
RMODE Status Decoder
The following table provides a "decoder" for the RMODE, RMODE(1) and RMODE(2) status. The
MODE command contains integer values for the current operating mode. Issuing RMODE or
{variable}=MODE will return a value according to the present drive mode status.
NOTE: When running dual trajectory generators, RMODE(1) applies to Trajectory
Generator 1, and RMODE(2) applies to trajectory Generator 2. RMODE, RMODE(1)
and RMODE(2) all use the same values for mode descriptions where they apply.
Description Value Mode
Mixed Mode -5 Mixed Mode
Electronic Camming -4 Cam Mode
Step and Direction Mode -3 STEPDIR
Electronic Gearing -2 FOLLOW
Future Use -1 N/A
N/A 0 NOMODE
(MP command, default on startup) 1 POSITION
Future Use 2 N/A
(MV command) 3 VELOCITY
(MT command) 4 TORQUE
Future Use 5 N/A
Future Use 6 HOMING
(Profiling via CANopen only, at this point) 7 INTPOSITION
Future Use 8 N/A
Future Use 9 N/A
Mode Status Example
The following are some examples of capturing the current value of MODE:
x=MODE 'Sets the variable x equal to the value of the current mode.
IF MODE==1 'Executes the IF structure when mode equals the specified value.
WHILEMODE==4 'Executes the WHILE loop when the mode equals the specified
value.
Appendix: Clearing Serial Port Errors

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English