Moog SmartMotor

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 881 of 909
Status Word: 3PID State, Brake, Move Generation
Indicators
Description Bit
To
Clear
Value Bit To read Assign Related Commands
Reserved 0 1 0 RB(3,0) =B(3,0)
Torque Saturation 2 1 RB(3,1) =B(3,1)
Voltage Saturation 4 2 RB(3,2) =B(3,2)
Wraparound Occurred 8 3 RB(3,3) =B(3,3)
KG Enabled 16 4 RB(3,4) =B(3,4) KG=
Velocity Direction 32 5 RB(3,5) =B(3,5) VT=
Torque Direction 64 6 RB(3,6) =B(3,6)
I/O Fault Latch 128 7 RB(3,7) =B(3,7)
Relative Position Mode 256 8 RB(3,8) =B(3,8)
Reserved 9 512 9 RB(3,9) =B(3,9) X, X(1), X(2), MFSDC()
Peak Current Saturation 1024 10 RB(3,10) =B(3,10)
Modulo Rollover 2048 11 RB(3,11) =B(3,11) PML, PMA
Brake Asserted 4096 12 RB(3,12) =B(3,12)
BRKSRV, BRKTRJ, BRKENG, BRKDIS,
EOBK()
Brake OK 8192 13 RB(3,13) =B(3,13)
External Go Enabled 16384 14 RB(3,14) =B(3,14) EISM(6)
Velocity Target Reached 32768 15 RB(3,15) =B(3,15) VT=
Status Word: 4 Interrupt Timers
Description Bit To Clear Value Bit To read Assign Related Commands
Timer 0 1 0 RB(4,0) =B(4,0) TMR(0,#)
Timer 1 2 1 RB(4,1) =B(4,1) TMR(1,#)
Timer 2 4 2 RB(4,2) =B(4,2) TMR(2,#)
Timer 3 8 3 RB(4,3) =B(4,3) TMR(3,#)
Reserved 16 4 RB(4,4) =B(4,4)
Reserved 32 5 RB(4,5) =B(4,5)
Reserved 64 6 RB(4,6) =B(4,6)
Reserved 128 7 RB(4,7) =B(4,7)
Reserved 256 8 RB(4,8) =B(4,8)
Reserved 512 9 RB(4,9) =B(4,9)
Reserved 1024 10 RB(4,10) =B(4,10)
Reserved 2048 11 RB(4,11) =B(4,11)
Reserved 4096 12 RB(4,12) =B(4,12)
Reserved 8192 13 RB(4,13) =B(4,13)
Reserved 16384 14 RB(4,14) =B(4,14)
Reserved 32768 15 RB(4,15) =B(4,15)
Appendix: Status Word: 3PID State, Brake, Move Generation Indicators