New Micros NMIY-0031, Manual

Page: 140 / 188

2 / 2 6 / 2 0 0 2 2 : 0 6 P M 2 / 2 6 / 2 0 0 2 1 4 0
N M I L - 7 0 5 6 S E R V O M O T O R D R I V E R
C S A M P L E P R O G R A M
motor_off()
{
commnd = LTRJ; send_cmd();
trajec2 = 0x01; trajec1 = 0x00;
dbyte2 = trajec2; dbyte1 = trajec1; send_word();
commnd = STT; send_cmd();
} /* end motor off */
motor_stop()
{
commnd = LTRJ; send_cmd();
trajec2 = 0x04; trajec1 = 0x00;
dbyte2 = trajec2; dbyte1 = trajec1; send_word();
commnd = STT; send_cmd();
} /* end motor stop */
not_busy()
{
do
{
get_status();
}
while ( (status & 0x01) != 0x00 );
} /* end not busy */
r_move()
{
commnd = LTRJ; send_cmd();
trajec2 = 0x00; trajec1 = 0x23;
dbyte2 = trajec2; dbyte1 = trajec1; send_word();
accel4 = 0x00; accel3 = 0x05;
accel2 = 0x00; accel1 = 0x00;
dbyte2 = accel4; dbyte1 = accel3; send_word();
dbyte2 = accel2; dbyte1 = accel1; send_word();
dbyte2 = posit4; dbyte1 = posit3; send_word();
dbyte2 = posit2; dbyte1 = posit1; send_word();
commnd = STT; send_cmd();
} /* end right move */
relat_move()
{
int data_in;
printf("\nEnter a Position value (0-65535): ");
scanf("%d", &data_in);
posit4 = 0x00; posit3 = 0x00;
posit2 = data_in / 256; posit1 = data_in % 256;
r_move();
} /* end relative move */
reset_int()
{
commnd = RSTI; send_cmd();
/* clear all interrupt flags */
dbyte2 = 0x00; dbyte1 = 0x00; send_word();
} /* end reset interrupts */