Input Interrupt Function - Galil Motion Control DMC-1000 User Manual

Table of Contents

Instruction

JP #A,@IN[1]=0

JP #B,@IN[2]=1

AI 7

AI -6

Motor X must turn at 4000 counts/sec when the user flips a panel switch to on. When panel switch is

turned to off position, motor X must stop turning.

Solution: Connect panel switch to input 1 of DMC-1000. High on input 1 means switch is in on

position.

Instruction

#S;JG 4000

AI 1;BGX

AI -1;STX

AMX;JP #S

EN;

The DMC-1000 provides an input interrupt function which causes the program to automatically

execute the instructions following the #ININT label. This function is enabled using the II m,n,o

command. The m specifies the beginning input and n specifies the final input in the range. The

parameter o is an interrupt mask. If m and n are unused, o contains a number with the mask. A 1

designates that input to be enabled for an interrupt, where 2 0 is bit 1, 2 1 is bit 2 and so on. For

example, II,,5 enables inputs 1 and 3 (2 0 + 2 2 = 5).

A low input on any of the specified inputs will cause automatic execution of the #ININT subroutine.

The Return from Interrupt (RI) command is used to return from this subroutine to the place in the

program where the interrupt had occurred. If it is desired to return to somewhere else in the program

after the execution of the #ININT subroutine, the Zero Stack (ZS) command is used followed by

unconditional jump statements.

IMPORTANT: Use the RI instruction (not EN) to return from the #ININT subroutine.

Instruction

II 1

JG 30000,-20000

BG XY

TP XY

WT 1000

JP #B

#ININT

116 • Chapter 7 Application Programming

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Example - Using the AI command:

Interpretation

Jump to A if input 1 is low

Jump to B if input 2 is high

Wait until input 7 is high

Wait until input 6 is low

Example - Start Motion on Switch

Interpretation

Set speed

Begin after input 1 goes high

Stop after input 1 goes low

After motion, repeat