Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 389 of 909
EXAMPLE: (Subroutine shows use of DITR, EITR, TMR and TWAIT)
C10 'Place a label
IF PA>47000 'Just before 12 moves
DITR(0) 'Disable interrupt
TWAIT 'Wait till reaches 48000
p=0 'Reset variable p
PT=p 'Set target position
G 'Start motion
TWAIT 'Wait for move to complete
EITR(0) 'Re-enable interrupt
TMR(0,1000) 'Restart timer
ENDIF
GOTO10 'Go back to label
RELATED COMMANDS:
EISM(6) E-Configure Input as Sync Master (see page 416)
EITR(int) Enable Interrupts (see page 417)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 486)
ITRD Interrupt Disable, Global (see page 489)
ITRE Enable Interrupts, Global (see page 491)
RETURNI Return Interrupt (see page 676)
Part 2: Commands: DITR(int)
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