Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 751 of 909
EXAMPLE: (Subroutine shows use of DITR, EITR, TMR and TWAIT)
C10 'Place a label
IF PA>47000 'Just before 12 moves
DITR(0) 'Disable interrupt
TWAIT 'Wait till reaches 48000
p=0 'Reset variable p
PT=p 'Set target position
G 'Start motion
TWAIT 'Wait for move to complete
EITR(0) 'Re-enable interrupt
TMR(0,1000) 'Restart timer
ENDIF
GOTO10 'Go back to label
RELATED COMMANDS:
R
Bt Bit, Trajectory In Progress (see page 340)
TSWAIT Trajectory Synchronized Wait (see page 749)
WAIT=formula Wait for Specified Time (see page 795)
Part 2: Commands: TWAIT(gen#)
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