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USER MANUAL Chapter 4 Communication • 53
N = 2
1
= 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 = 2
1
= 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
#I Label
PR 1000 Position
SP 5000 Speed
BGX Begin
ASX At speed