Moog SmartMotor, Developer'S Manual

Page: 410 / 909

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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 410 of 909
EILP
Enable Input as Limit Positive
APPLICATION: I/O control
DESCRIPTION: Activate right/positive hardware limit
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
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: Limit switch
FIRMWARE VERSION: 5.x and later
COMBITRONIC: EILP:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EILP command activates the right/positive hardware limit.
The EILP command sets I/O port 2 as the positive overtravel limit. User I/O port 2 can be a
general-purpose analog or digital input, output or act as the positive-limit input (which is the
default state). EILP explicitly defines I/O port 2 as the positive limit, while the EIGN command
configures it as a general-purpose input, which disables the limit behavior.
NOTE: I/O port 2 cannot be set as an output until the EIGN command is issued first
(i.e., the OR, OS or OUT command will not change I/O 2 until EIGN is issued to set
I/O 2 as an input).
Ports 2 and 3 are travel limit inputs by default. However, the EIGN() commands can change
them to general-purpose I/O points. They can be returned to travel limits with the EILN and
EILP commands.
EXAMPLE: (Subroutine enables positive hardware limit)
C1
c=0
PRINT ("Enter c=1 to enable positive HW limit...",#13)
WHILE c==0 LOOP 'Wait for user to change variable c
EILP 'Enable positive hardware limit
PRINT ("Positive HW limit enabled!",#13)
RETURN
Part 2: Commands: EILP