Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 852 of 909
Text Replacement in an SMI Program
The following shows possible uses of the #define command. That command is used by SMI to
simply replace characters of code with an associated named value.
NOTE: #define is not an executable command; it is used for compile-time
translation from SMI.
NOTE: Uploads of programs with define statements will show the alternate or
replaced text only.
'Examples of using #define for text replacement in a program.
'NOTE: #define is used by SMI to replace characters of code with an
'associated named value.
#define DisableTravelLimits EIGN(W,12) 'Assign inputs 2 and 3
'as general inputs.
#define ClearFaultBits ZS 'Issue ZS command.
#define GoInput 1-IN(6) 'Invert input 6.
#define 4BitBinaryInputs 15-(IN(W,0)&15) 'Binary mask inputs 0
'through 3.
#define FindHome GOSUB(100)
#define GearOutputPosition RES*40.0 'Suppose 40:1 gear reducer.
#define NormalSpeed 500000
#define JogSpeed 10000
#define FollwingError B(0,3) 'Following Error Status Bit.
'The following code shows examples of using the above "define"
'variables.
DisableTravelLimits 'Disable travel limits.
ClearFaultBits 'Issue ZS command.
IF GoInput 'If Input 6 goes low - note that it was
'defined as 1-IN(6).
PRINT("Go Recieved",#13)
x=4BitBinaryInputs 'Returns value from 0 to 15 for inputs
'0, 1, 2 and 3.
GOSUB(x)
ENDIF
FindHome 'Run the home routine.
VT=NormalSpeed 'Set the speed to 500000.
PRT=22.5*GearOutputPosition 'Results in 22.5 rotations of gear head
'output shaft.
VT=JogSpeed 'Set the speed to 10000.
END
C100 'Place the home routine code here
PRINT("Home Routine Called",#13)
RETURN
Part 3: Examples: Text Replacement in an SMI Program
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