Servicing Interrupts; Example - Interrupts - Galil Motion Control DMC-1000 User Manual

The DMC-1000 also provides 16 User Interrupts which can be sent by sending the command UI n to
the DMC-1000, where n is an integer between 0 and 15. The UI command does not require the EI
command.
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 + 1. Then the host reads the control register data. The
returned data has the following meaning:
Hex Data
00
D9
DA
DB
F0 through FF
E1 through E8
C0
C8
D8
D7
D6
D5
D4
D3
D2
D1
D0
1) Interrupt on Y motion complete on IRQ5.
PR,5000
BGY
Now, when the motion is complete, IRQ5 will go high, triggering the interrupt service routine. Write
a 6 to address N + 1. Then read N + 1 to receive the data D1 hex.
38 • Chapter 4 Communication
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Servicing Interrupts

Condition
No interrupt
Watchdog timer activated
Command done
Application program done
User interrupt
Input interrupt
Limit switch occurred
Excess position error
All axis motion complete
E axis motion complete
F axis motion complete
G axis motion complete
H axis motion complete
W axis motion complete
Z axis motion complete
Y axis motion complete
X axis motion complete

Example - Interrupts

Jumper IRQ5 on DMC-1000
Install interrupt service routine in host program
Write data 2, then 4 to address N + 1
Enable bit 1 on EI command, m = 2
1
= 2; EI 2
DMC-1000