Moog SmartMotor User Manual

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 882 of 909
Status Word: 5 Interrupt Status Indicators
Description Bit To Clear Value Bit To read Assign Related Commands
Interrupt 0 enabled 1 0 RB(5,0) =B(5,0) ITR(), EITR(), ITRE, ITRD
Interrupt 1 enabled 2 1 RB(5,1) =B(5,1) ITR(), EITR(), ITRE, ITRD
Interrupt 2 enabled 4 2 RB(5,2) =B(5,2) ITR(), EITR(), ITRE, ITRD
Interrupt 3 enabled 8 3 RB(5,3) =B(5,3) ITR(), EITR(), ITRE, ITRD
Interrupt 4 enabled 16 4 RB(5,4) =B(5,4) ITR(), EITR(), ITRE, ITRD
Interrupt 5 enabled 32 5 RB(5,5) =B(5,5) ITR(), EITR(), ITRE, ITRD
Interrupt 6 enabled 64 6 RB(5,6) =B(5,6) ITR(), EITR(), ITRE, ITRD
Interrupt 7 enabled 128 7 RB(5,7) =B(5,7) ITR(), EITR(), ITRE, ITRD
Reserved 256 8 RB(5,8) =B(5,8)
Reserved 512 9 RB(5,9) =B(5,9)
Reserved 1024 10 RB(5,10) =B(5,10)
Reserved 2048 11 RB(5,11) =B(5,11)
Reserved 4096 12 RB(5,12) =B(5,12)
Reserved 8192 13 RB(5,13) =B(5,13)
Reserved 16384 14 RB(5,14) =B(5,14)
Interrupts Enabled 32768 15 RB(5,15) =B(5,15) ITRE, ITRD
Status Word: 6 Drive Modes
Description Bit To Clear Value Bit To read Assign Related Commands
Trap Mode 1 0 RB(6,0) =B(6,0) MDT
Enhanced Trap
Mode
2 1 RB(6,1) =B(6,1) MDE
Sine Mode 4 2 RB(6,2) =B(6,2) MDS
Vector Control 8 3 RB(6,3) =B(6,3)
Reserved 4 16 4 RB(6,4) =B(6,4)
Feedback Fault
1
32 5 RB(6,5) =B(6,5) MDT, MDE, MDS, MDC
MDH mode active 64 6 RB(6,6) =B(6,6)
Drive Enable Fault 128 7 RB(6,7) =B(6,7)
Angle Match 256 8 RB(6,8) =B(6,8)
TOB Enabled 512 9 RB(6,9) =B(6,9) MDE, MDB
Inverted 1024 10 RB(6,10) =B(6,10) MINV()
MTB Active 2048 11 RB(6,11) =B(6,11) MTB, FSA()
ABS Battery Fault 4096 12 RB(6,12) =B(6,12)
Low Bus Voltage 8192 13 RB(6,13) =B(6,13)
High Bus Voltage 16384 14 RB(6,14) =B(6,14)
Regen Active 32768 15 RB(6,15) =B(6,15)
1. Defaults as health check of internal encoder. Other use depends on encoder mode
(ENC0 or ENC1) and firmware version. Set due to hardware problems with internal
encoder (or external encoder when in ENC1 mode). Contact factory for more details.
Appendix: Status Word: 5 Interrupt Status Indicators

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English