Moog SmartMotor

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 765 of 909
are individually addressed starting at 0 (zero based). Likewise, the user-bit words are
addressed starting at 0 (zero based).
A powerful feature of user bits is their ability to be addressed over networks such as
Combitronic or CANopen. This allows a hosting application to run an interrupt routine in the
SmartMotor.
User bits can also be addressed as words, with or without a mask, to define the affected bits.
For more details, see User Status Bits on page 213.
EXAMPLE:
US(0) 'SET User Bit 0
US(W,0,a) 'SET first three User Bits when a=7
EXAMPLE: (Fault-handler subroutine, shows use of MTB and US)
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:
R
B(word,bit) Status Byte (see page 291)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 486)
UO(...)=formula User Status Bits (see page 756)
UR(...) User Bits, Reset (see page 762)
R
W(word) Report Specified Status Word (see page 793)
Part 2: Commands: US(...)