ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 269)

global int go
go=1
end function
function init()
if stamp.mo; stamp.mo = 0; end if
stamp.um = 5
stamp.mo = 1
end function
function home(AXIS a)
a.pa
= 0
a.bg
until a.ms == 0
end function
B.4.4.2 EmitCallback
int emitCount
int gTime
function run()
int i
global int emitCount, gTime
emitCount=0
a1.ape = 1 //map PDO1
if a1.ps != 1
a1.xq##start
end
gTime = systime()
until(emitCount >= 10)
TRACE("count : %, time : %", emitCount, (systime()-gTime))
end function
// Emit handler calls, then a runtime SimplIQ program emit occur.
function @emit(int busId, int nodeId, int data)
global int emitCount, gTime
TRACE( "Emit % for node %", emitCount, nodeId )
emitCount++
end function
B.4.5 InputCallBack Samples
B.4.5.1 InputCallBack
int inputStatus
int callbackData, callbackNodeId, lastData
function run()
global int inputStatus
global int callbackData, callbackNodeId
int inputNum
int callbackInputData, lastInputData
int i
int mask
int lastData
a1.adi
=1
a2.adi =1
a1.il[1]=6
a2.il[1]=6
a1.il[2]=6
a2.il[2]=6
a1.il[3]=6
a2.il[3]=6
a1.il[4]=6
a2.il[4]=6
a1.il[5]=6
a2.il[5]=6
a1.il[6]=6
a2.il[6]=6
Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
B-17