Galil DMC-13X8 user manual Servicing Interrupts, Example Interrupts, Bgy, Hex Data Condition, Asx

N= 21 = 2 EI 32768,2,8

Servicing Interrupts

Once an interrupt occurs, the host computer can read information about the interrupt by first writing the data 6 to the CONTROL register at address N + 3. Then the host reads the control register data. The returned data has the following meaning:

Hex Data	Condition
00	No interrupt
D9	Watchdog timer activated
DA	Command done
DB	Application program done
F0 thru FF	User interrupt
E1 thru E8	Input interrupt
C0	Limit switch occurred
C8	Excess position error
D8	All axis motion complete
D7	E axis motion complete
D6	F axis motion complete
D5	G axis motion complete
D4	H axis motion complete
D3	W axis motion complete
D2	Z axis motion complete
D1	Y axis motion complete
D0	X axis motion complete

Example - Interrupts

1)Interrupt on Y motion complete on IRQ5 with vector 255. Select IRQ5 on DMC-13X8

Install interrupt service routine in host program

Write data 2, then 4 to address N + 3

Enable bit 1 on EI command, m = 21 = 2; EI 2,,255 PR,5000

BGY

Now, when the motion is complete, IRQ5 will go high with a vector of 255, triggering the interrupt service routine. Write a 6 to address N + 3. Then read N + 3 to receive the data D1 hex.

2) Send User Interrupt when at speed

#ILabel

PR 1000	Position
SP 5000	Speed
BGX	Begin
ASX	At speed

USER MANUAL Chapter 4 Communication • 53