Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 418 of 909
EXAMPLE:
EIGN(2) 'Disable left limit
EIGN(3) 'Disable right limit
ZS 'Clear faults
VT=700000 'Set target velocity
ADT=100 'Set target accel/decel
MV 'Set Mode Velocity
ITR(0,3,15,1,10) 'Set interrupt
EITR(0) 'Enable interrupt zero
ITRE 'Enable all interrupts
G 'Start motion
PAUSE 'Pause here so program doesn't end
END 'End would disable interrupts
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:
DITR(int) Disable Interrupts (see page 388)
EISM(6) E-Configure Input as Sync Master (see page 416)
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: EITR(int)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English