Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 464 of 909
l
GOSUB1 — Traditional format (no parenthesis)
l
GOSUB(1) — With parenthesis
l
GOSUB(a) — Any variable may be used
The third format allows for highly flexible programs that can call an array of different
subroutines.
EXAMPLE:
GOSUB20 'Run subroutine 20
GOSUB21 'Run subroutine 21
a=3
GOSUB25 'Run subroutine 25
END 'End code execution
C20 'Nested subroutine
GOSUB30
PRINT("20",#13)
RETURN
C21 'Nested subroutine
GOSUB30
PRINT("21",#13)
RETURN
C25 'Recursive subroutine
PRINT(" 25:",a)
a=a-1
IF a==0
RETURN
ENDIF
GOSUB25
RETURN
C30 'Normal subroutine
PRINT(#13,"Subroutine Call ")
RETURN
Program output is:
Subroutine Call 20
Subroutine Call 21
25:3 25:2 25:1
Referring to the previous example, the GOSUB commands: GOSUB20, GOSUB21, GOSUB25 or
GOSUB30 can also be issued from the terminal.
RELATED COMMANDS:
C{number} Command Label (see page 348)
GOTO(label) Branch Program Flow to a Label (see page 465)
STACK Stack Pointer Register, Clear (see page 722)
Part 2: Commands: GOSUB(label)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English