Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 309 of 909
EXAMPLE: (fast position capture)
EIGN(6) 'Set port 6 as input port
EIRI 'Set port 6 to register internal encoder
'Set F command flags
VT=100000 'Set velocity
ADT=100 'Set accel/decel
MV 'Set to Velocity Mode
Aj(0) 'Arm registration
G 'Start moving
WHILE Bj(0)==0 'Travel until index reached
LOOP
X 'Decelerate to a stop
RJ(0) 'Report registered position
END
RELATED COMMANDS:
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 266)
Aj(arg) Arm Index Falling Edge (see page 268)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 270)
R
B(word,bit) Status Byte (see page 291)
R
Bx(enc) Bit, Index Input, Real-Time (see page 346)
EIRE Enable Index Register, External-Input Capture (see page 412)
EIRI Enable Index Register, Internal-Input Capture (see page 414)
R
J(enc) Index, Falling-Edge Position (see page 493)
R
W(word) Report Specified Status Word (see page 793)
Z Total CPU Reset (see page 806)
Z(word,bit) Reset Specified Status Bit (see page 808)
ZS Global Reset System State Flag (see page 818)
Part 2: Commands: Bj(enc)
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