Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 673 of 909
EXAMPLE:
EIGN(W,0,12) 'Another way to disable travel limits.
ZS 'Clear faults.
ITR(0,0,0,0,0) 'Set Int 0 for: stat word 0, bit 0,
'shift to 0, to call C0.
EITR(0) 'Enable Interrupt 0.
ITRE 'Global Interrupt Enable.
PAUSE 'Pause to prevent "END" from disabling
'Interrupt, no change to stack.
'RESUMEmust be issued externally over communications;
'it is not allowed to be compiled within a program.
END
C0 'Fault handler.
MTB:0 'Motor will turn off with Dynamic
'breaking, tell other motors to stop.
US(0):0 'Set User Status Bit 0 to 1 (Status
'Word 12 bit zero).
US(ADDR):0 'Set User Status Bit "address" to 1
'(Status Word 12 Bit "address").
RETURNI
RELATED COMMANDS:
PAUSE Pause Program Execution (see page 617)
Part 2: Commands: RESUME
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