Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 491 of 909
ITRE
Enable Interrupts, Global
APPLICATION: Program execution and flow control
DESCRIPTION: Enable the global interrupt scanner
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: Configuration of interrupt (ITR), program running, individual
interrupt enabled (EITR)
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Motor defaults to ITRD (interrupts disabled)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: ITRE:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ITRE command is used to enable the global interrupt scanner.
For an interrupt to work, it must be enabled at two levels: first, enable individual interrupts
with the EITR() command using the interrupt number from 0 to 7 in the parentheses; second,
enable all interrupts with the ITRE command. Similarly, individual interrupts can be disabled
with the DITR() command, and all interrupts can be disabled with the ITRD command. For
more details, see the corresponding command-description pages.
NOTE: The user program must also be running for interrupts to take effect, the
END and RUN commands will reset the state of the interrupts to defaults.
For more details, see Interrupt Programming on page 192.
Part 2: Commands: ITRE

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English