Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 677 of 909
EXAMPLE:
EIGN(W,0,12) 'Another way to disable travel limits.
ZS 'Clear faults.
ITR(0,0,0,0,0) 'Set interrupt 0 for Status 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
'braking; 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:
C{number} Command Label (see page 348)
DITR(int) Disable Interrupts (see page 388)
EITR(int) Enable Interrupts (see page 417)
END End Program Code Execution (see page 431)
GOSUB(label) Subroutine Call (see page 463)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 486)
ITRD Interrupt Disable, Global (see page 489)
ITRE Enable Interrupts, Global (see page 491)
RETURN Return From Subroutine (see page 674)
RUN Run Program (see page 682)
RUN? Halt Program Execution Until RUN Received (see page 684)
Part 2: Commands: RETURNI
To Next Page
Loading...
