Operation Theory 81
4.8 Interrupt Control
The motion controller can generate an interrupt signal to the host
PC. It is much useful for event-driven software application. Users
can use this function _8102_int_control() to enable ir disable the
interrupt service.
There are three kinds of interrupt sources on PCI-8102. One is
motion interrupt source and the other is error interrupt source and
another is GPIO interrupt sources. Motion and GPIO interrupt
sources can be maskable but error interrupt sources can’t. Motion
interrupt sources can be maskable by
_8102_set_motion_int_factor(). Its mask bits are shown as follow-
ing table:
Motion Interrupt Source Bit Settings
Bit Description
0 Normally Stop
1 Next command in buffer starts
2 Command pre-register 2 is empty and allow new command to write
30
4 Acceleration Start
5 Acceleration End
6 Deceleration Start
7 Deceleration End
8 +Soft limit or comparator 1 is ON
9 -Soft limit or comparator 2 is ON
10 Error comparator or comparator 3 is ON
11 General comparator or comparator 4 is ON
12 Trigger comparator or comparator 5 is ON
13 Counter is reset by CLR input
14 Counter is latched by LTC input
15 Counter is latched by ORG Input
16 SD input turns on
17 0
18 0
19 CSTA input or _8102_start_move_all() turns on
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