Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 606 of 909
EXAMPLE:
'Set an interrupt on input 6 to freewheel motor
ITR(0,16,6,0,100) 'Setup interrupt 0 to run C100
EITR(0) 'Enable interrupt 0
ITRE 'Global enable interrupts
PAUSE 'Pause program to keep interrupts running
END 'End of program
C100 'Interrupt subroutine
BRKRLS 'Turn off MTB or brake
OFF 'Freewheel the motor
'Remain here while input 6 is low
WHILE IN(6)==0 LOOP
RETURNI 'Return from interrupt
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 291)
BRKRLS Brake Release (see page 330)
G Start Motion (GO) (see page 456)
MTB Mode Torque Brake (see page 591)
R
W(word) Report Specified Status Word (see page 793)
Part 2: Commands: OFF
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