No additional interrupts will be seen

		Table 5-1 Continued
Char	Keypad Display	Input Character Description
E	Extend Jog	Extend Jog – When activated, the motor will Jog in the Extend (+) direction.
		When the input is released, motion stops at the Jog Accel rate. If an End of
		Travel limit is hit while jogging, the motor will stop at the Stop Rate (see
		Edit–Setup–Misc.). Before the motor can be removed from the limit, a Stop or
		Kill input must be activated to clear the fault generated by the End of Limit
		switch. Serial commands S or K will also clear the fault.
		The velocity is determined by the Jog Speed Input and the Jog Low and High
		setup parameters. When the input is off, the speed is low. If no input is
		configured for Jog Speed, the motor will jog at the Jog Low setting.

G	Registration	Registration – Input #1 must be configured as a Registration input – no other
		inputs will work. See the RG command for more details.

I	Interrupt (Run98)	Interrupt (Run 98) – When activated, motion on all axes stop at the stop–rate
		(see Edit–Setup–Misc–Stop–Rate). The current program is stopped, and
		processing continues with the first command in program 98. If no program is
		running when the input is activated, program 98 will run. This input is ignored
		while the keypad is in Edit mode. This is a positive edge triggered input,
		rather than a level sensitive input. If multiple inputs are configured as
		Interrupts, only the first edge of the first activated input will be seen. If
		subsequent Interrupt inputs go active while the first Interrupt input is active,
		no additional interrupts will be seen.
		Advanced Interrupt handling can be achieved using the INT98CTRL and
		ARM INT98 variables. The INT98CTRL variable determines whether
		Interrupts can be disabled or not. The ARM INT98 variable allows you to arm
		and disarm the Interrupt as desired.
		After power–up, INT98CTRL is initialized to 0. In this mode, every interrupt
		results in an immediate jump to program 98, even if you just entered program
		98. The value of (ARM INT98) is ignored.
		When INT98CTRL=1, Interrupts can be disabled with the ARM INT98
		variable. INT98CTRL=1 also initializes ARM INT98 to 1. This means the
		control is watching for interrupts. When INT98CTRL is set to 1 an interrupt
		causes the program to jump to program 98 and sets ARM INT98=0, disabling
		any further interrupts until you re–enable them by setting ARM INT98=1. This
		allows you to control when you want to re–enable Interrupts in your interrupt
		service routine (program 98).
		To summarize, when (INT98CTRL)=1:
		If (ARM INT98)=0, Interrupts are ignored. (ARM INT98) is internally set to 0
		on the first edge if the previous (ARM INT98) value was 1.
		Interrupt processing will be suspended until (ARM INT98) is
		reset to 1. This allows for input debounce and controlling
		the ability of program 98 to interrupt itself.
		If (ARM INT98)=1, The system is awaiting the first INT98 input assert edge.
		Once the interrupt is seen the control will go to program 98.
		Subsequent interrupts are ignored until (ARM INT98) is set
		to 1.
		INT98CTRL and ARM INT98 are reset to factory values on power–up.
		Note: There is a space in ARM INT98.
		When activated, any executing program or functional operation is terminated
		and program I98 (interrupt program) is immediately executed. If a move is
		executing when the interrupt is activated, the move is terminated (decelerated
		at a rate determined by the Stop Deceleration rate setup parameter). The unit
		will go into Run mode once program I98 is completed.

MN1853

Setup 5-9

Char

no additional interrupts will be seen.