Omron FQM1-MMA21 Interrupt Functions, Overview, Interrupt Priority, Executing Interrupt Programs

Interrupt Functions Section 7-2

7-2 Interrupt Functions

7-2-1 Overview

The Motion Control Modules support the following interrupts.

Executing Interrupt

Programs in the

FQM1

The programming routines that are executed for all of the following interrupts are programmed as interrupt tasks.

Input Interrupts	Inputs to the Motion Control Module’s built-in contact inputs 0 to 3 can be set
	as interrupt inputs. If they are set as interrupt inputs, an interrupt will be gen-
	erated when the input turns ON, OFF, or both. If they are set for Counter
	Mode, an interrupt will be generated when a specified counter value is
	reached.
Interval Timer Interrupts	An interrupt will be generated for an interval timer that can be set to a preci-
	sion of 0.1 ms. Interval timer interrupts can also be used in the Coordinator
	Module.

High-speed Counter Interrupts

Pulse Output Interrupts

An interrupt will be generated when the PV of the counter equals a preset tar- get value.

An interrupt will be generated when the PV of the pulse output (or the pulse counter’s PV/measured time) equals a preset target value.

Note In addition to interrupts, bit patterns can be output internally when the PV is within a specified range in Range Comparison Mode. High-speed counter PVs, pulse output PVs, pulse counter timer PVs, and one-shot pulse elapsed times can be used as the PVs for bit pattern output.

7-2-2 Interrupt Priority

A specified interrupt task will be executed when an interrupt is generated. The priority of interrupts is shown below.

If an additional interrupt occurs while another interrupt is already being pro- cessed, the new interrupt will be executed after the first interrupt task has been completed.

If two or more interrupts occur simultaneously, the higher-priority interrupt will be executed first. Interrupts have the following priority:

•Input interrupt 0 → Input interrupt 1 → Input interrupt 2 → Input interrupt 3

•Interval timer interrupt → Pulse output 1 interrupt → Pulse output 2 inter- rupt → High-speed counter 1 interrupt → High-speed counter 2 interrupt

An instruction controlling a port operation cannot be programmed in an inter- rupt task if an instruction in the main program is already controlling pulse I/O or a high-speed counter for the same port. If this is attempted, the ER Flag will turn ON. The following instructions are included: INI(880), PRV(881), CTBL(882), SPED(885), PULS(886), PLS2(887), ACC(888), and STIM(980).

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