Moog SmartMotor, Руководство разработчика

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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 879 of 909
Status Words
This section provides the descriptions for the status words.
To use the status words:
l
The RB(sw,b) command will report the status bit "b" from status word "sw".
l
The RW(x) command will report the 16-bit value of Status Word x. For example, RW(0)
will report the 16-bit value of Status Word 0, RW(1) will report the 16-bit value of Status
Word 1, and so on.
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You can assign the 16-bit result to a variable: a=W(x).
For example, the following code prints the status "Drive ready and OFF." if the "value" (from
the Value column) is equal to "3" (value 1, Drive Ready + value 2, Bo: Motor is off). See the
following table (Status Word: 0) for these values.
IF W (0)&3
PRINT ("Drive ready and OFF.")
ENDIF
Status Word: 0 Primary Fault/Status Indicator
Description Bit To Clear Value Bit To read Assign Related Commands
Drive Ready 1 0 RB(0,0) =B(0,0)
Bo: Motor is off (indicator) Bo 2 1 RB(0,1) =B(0,1) OFF
Bt: Trajectory in progress
(indicator)
Bt 4 2 RB(0,2) =B(0,2) G, TWAIT, GS, TSWAIT
Servo Bus Voltage Fault ZS 8 3 RB(0,3) =B(0,3)
Peak Over Current
occurred
Ba Za, ZS 16 4 RB(0,4) =B(0,4)
Excessive Temperature
Real Time
Bh ZS 32 5 RB(0,5) =B(0,5)
TH={temp in degrees
C} (85 Deg. Default)
Excessive Position Error
Fault
Be Ze, ZS 64 6 RB(0,6) =B(0,6)
EA, REA, EL, EL={value
in encoder counts}
Velocity Limit Fault Bv Zv 128 7 RB(0,7) =B(0,7) VL={value in RPM}, RVL
Real-time temperature
limit
256 8 RB(0,8) =B(0,8)
Derivative Error Limit
(dE/dt) Fault
ZS 512 9 RB(0,9) =B(0,9)
RDEL, DEL={value in
velocity units}
Hardware Limit Positive
Enabled
1024 10 RB(0,10) =B(0,10)
EILP(2), EIGN(2), EIGN
(W,2), FSA()
Hardware Limit Negative
Enabled
2048 11 RB(0,11) =B(0,11)
EILN(3), EIGN(3), EIGN
(W,3), FSA()
Historical Right Limit (+
or Positive)
Br Zr, ZS 4096 12 RB(0,12) =B(0,12)
EILP(2), EIGN(2), EIGN
(W,2), FSA()
Historical Left Limit (- or
Negative)
Bl Zl, ZS 8192 13 RB(0,13) =B(0,13)
EILN(3), EIGN(3), EIGN
(W,3), FSA()
Right ( + or Positive)
Limit Asserted
Bp Za, ZS 16384 14 RB(0,14) =B(0,14) RIN(2)
Left Limit ( - or Negative)
Asserted
Bm ZS 32768 15 RB(0,15) =B(0,15) RIN(3)
Appendix: Status Words