SMAC
LAC-26 Technical Reference Manual
4/29/2013 43
Command:
aIPn
-- Interrupt on Absolute Position 'n' --
Argument:
-2,147,483,647 <= n <= ,147,483,647
This command is used to determine when servo axis 'a' has
achieved
the specified
position
'n' referenced by the home position (or zero). When that position has been reached,
the
"breakpoint
reached"
flag
in
the
status
register
will
be
set. This
command
can
be
issued before
or
after
the
servo has been commanded to move.
Related Commands: IR,TB
Command:
aIRn
-- Interrupt on Relative Position 'n' --
Argument:
-2,147,483,647 <= n <= 2,147,483,647
This command is used to determine when servo axis 'a' has
achieved
the specified
position
'n' referenced by the current position when this command is executed. When that position has
been
reached,
the
"breakpoint
reached"
flag
in
the
status
register
will
be
set. This
command
can
b
e
issued before or after the servo has been commanded to move.
Related Commands: IP, TB
Command:
ISn
-- If Bit 'n' of Accumulator is Set (1) --
Argument:
0 <= n <= 31
If bit 'n' of the accumulator
is
set
(equals 1),
command
execution
will
continue;
otherwise,
the next two commands in the command line the or the macro will be skipped.
Related Commands: IC
Command:
IUn
-- If Accumulator Unequal to 'n' --
Argument:
-2,147,483,647 <= n <= 2,147,483,647
If the accumulator is unequal to the value 'n', command execution will continue; otherwise,
the next two commands in the command line or the macro will be skipped.
Related Commands: IE
Command:
RPn
-- Repeat --
Argument:
0 <= n <=
65,535
This command causes the command line to repeat 'n' more times. If 'n' is not specified
or is
"0", the command line is repeated indefinitely.
