6. PBIT(Powerup Built In Test) Details and Demonstration

6.1 Description

(a) PBIT is completed appropriately 2~3 seconds after powerup. PBIT is performed only once, and its result is retained. The PBIT result is returned only when a PBIT_REQUEST is received, and there is no limit on the number of requests.

(b) [PBIT] During the powerup phase of ServoMax, if an error occurs, ServoMax does not initiate motor control and remains in the idle state.

(c) [CBIT] During operation (CBIT), ServoMax continuously monitors abnormal conditions. Even if a CBIT error occurs, motor control continues and does not stop. This is because stopping the motor to protect ServoMax could cause greater damage to the user’s system.

6.2 PBIT Demonstration

(a) Operational data(real-time monitoring) and PBIT information response share the same OP RESP Msg0/1.

(b) This section provides demonstration results for two cases via PBIT Request; when a PBIT error is present and when no PBIT error is present.

(c) Since this demonstration uses a DBC File, the CAN Signal values in the Output Window are decoded based only on the bits assigned to each signal. For example, although OP CMD Msg Byte[1] containing PBIT_NORMAL_REQ(_ECHO) is 0xA0(PBIT_REQ), only the upper 3 bits are decoded as C_PBIT_REQUEST_5 = 5.