Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 676 of 909
RETURNI
Return Interrupt
APPLICATION: Program execution and flow control
DESCRIPTION: Return program execution to next statement following current
interrupt subroutine call
EXECUTION: Immediate
CONDITIONAL TO: Interrupts configured and have caused an interrupt subroutine
to execute
LIMITATIONS: Up to nine nested GOSUB or interrupt subroutines may occur at
one time
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The RETURNI command is used to terminate an interrupt subroutine within a user program.
This is different than terminating a subroutine with the RETURNcommand. For details, see
RETURN on page 674.
NOTE: Subroutines present a great opportunity to partition and organize your code.
Interrupt subroutines end with the RETURNI command to distinguish them from ordinary
subroutines. After the interrupt code execution reaches the RETURNI command, it will return
to the program at exactly the point where it was interrupted. An interrupt subroutine must not
be called directly with a GOSUB command.
NOTE: RETURNImust be used to return from interrupt subroutines; RETURN must
always be used to return from GOSUB subroutines.
For more details, see Interrupt Programming on page 192.
Part 2: Commands: RETURNI

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English