Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 407 of 909
EXAMPLE: (disabling left and right limits)
EIGN(2) 'Disable left limit
EIGN(3) 'Disable right limit
ZS 'Clear faults
VT=700000 'Set Target Velocity
ADT=100 'Set accel/decel
MV 'Set Mode Velocity
ITR(0,3,15,1,20) 'Set interrupt
EITR(0) 'Enable interrupt zero
ITRE 'Enable all interrupts
G 'Start motion
C10 'Place a label
GOTO10 'Loop..., required for interrupt operation
END 'End (never reached)
C20 'Interrupt subroutine code here
RETURNI 'Return from interrupt subroutine
RELATED COMMANDS:
EILN Enable Input as Limit Negative (see page 408)
EILP Enable Input as Limit Positive (see page 410)
EISM(6) E-Configure Input as Sync Master (see page 416)
EOBK(IO) Enable Output, Brake Control (see page 437)
R
IN(...) Specified Input (see page 478)
R
INA(...) Specified Input, Analog (see page 481)
SLD Software Limits, Disable (see page 702)
SLE Software Limits, Enable (see page 704)
Part 2: Commands: EIGN(...)
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