Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 43 of 909
TWAIT 187
WAIT=formula 187
STACK 187
END 188
Program Flow Examples 189
IF, ELSEIF, ELSE, ENDIF Examples 189
WHILE, LOOPExamples 189
GOTO(), GOSUB() Examples 190
SWITCH, CASE, BREAK, ENDS Examples 191
Interrupt Programming 192
ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI 192
TMR(timer,time) 194
Variables and Math 195
Introduction 196
Variable Commands 196
EPTR=formula 196
VST(variable,number) 196
VLD(variable,number) 197
Math Expressions 197
Math Operations 197
Logical Operations 197
Integer Operations 197
Floating Point Functions 197
Math OperationDetails and Examples 198
Array Variables 198
Array Variable Examples 199
Error and Fault Handling Details 200
Motion and Motor Faults 201
Overview 201
Drive Stage Indications and Faults 201
Fault Bits 201
Error Handling 202
Example Fault-Handler Code 202
Part 1: Programming the SmartMotor
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