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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 311 of 909
Bl
Bit, Left Hardware Limit, Historical
APPLICATION:
System
DESCRIPTION:
Hardware left travel limit
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
EIGN(3), OUT(3)=, EILN
LIMITATIONS:
None
READ/REPORT:
RBl
RB(0,13)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Left/negative limit has not been active
1= Left/negative limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bl is the historical left limit flag. If the left limit is found to be active during any servo sample,
Bl is set to 1; it remains at 1 until you reset it. In addition, the motion will stop, and the motor
will either servo in place or turn off the amplifier, depending on the value of the FSA function.
The historical left/negative limit flag Bl provides a latched limit value, in case the limit was
already reached or exceeded but is not currently active.
The real-time left/negative limit flag is Bm. It remains at 1 only while there is an active signal
level on user pin 3. When Bm is set to 1, Bl is set to 1.
If the pin’s function is assigned as general-purpose I/O through the EIGN(3) command,
neither Bm nor Bl will be affected by the pin state. Changing pin states will not elicit limit
behavior from the motor. For the pin to again elicit limit behavior, including the setting of Bl,
the EILN command must be used to assign the pin’s function as a limit switch.
The Bl bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(0,13) command
l
ZS command
l
Zl command
Part 2: Commands: Bl