82 Operation Theory
The error interrupt sources are non-maskable but the error num-
ber of situation could be get from _8102_wait_error_interrupt()’s
return code if it is not timeout.
Error Interrupt return codes
The GPIO interrupt sources are maskable. The mask bits table is
shown below:
20~31 0
Value Description
0 +Soft Limit is ON and axis is stopped
1 -Soft Limit is ON and axis is stopped
2 Comparator 3 is ON and axis is stopped
3 General Comparator or comparaor 4 is ON and axis is stopped
4 Trigger Comparator or comparator 5 is ON and axis is stopped
5 +End Limit is on and axis is stopped
6 -End Limit is on and axis is stopped
7 ALM is happened and axis is stop
8 CSTP is ON or _8102_stop_move_all is on and axis is stopped
9 CEMG is on and axis is stopped
10 SD input is on and axis is slowed down to stop
11 0
12 Interpolation operation error and stop
13 axis is stopped from other axis’s error stop
14 Pulse input buffer overflow and stop
15 Interpolation counter overflow
16 Encoder input signal error but axis is not stopped
17 Pulse input signal error but axis is not stopped
11~31 0
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