92 ● EI DMC-40x0 Command Reference
EI
FUNCTION: UDP Event “Interrupts”
DESCRIPTION:
EI enables UDP interrupts for the predefined event conditions in the table below. When a
condition (e.g. Axis A profiled motion complete) occurs after EI is armed, a status byte value
(e.g. $D0 or 208) is delivered to the host PC inside a UDP packet. GalilTools version 1.2.1.0
or newer required for software support.
The UDP packet can contain up to 16 individual status bytes and is framed as the following:
Format:
Header
(fixed byte)
Status bytes
(1-16 bytes)
Payload Byte count (0x03-0x12)
( including header and footer)
Example: 0x01 0xD0F1DBE1 0x06
Example
Decoded:
Interrupt Packet
Indicator
Axis A Profiled Motion Complete
User Interrupt 1
Application Program Stopped
Digital Input 1 is low
6 bytes in this payload.
Note: both 0x and $ are used throughout this document to indicate hexadecimal number
representation.
ARGUMENTS: EI m,n,h where
m is a 16-bit integer mask between 0 and 65535 and is used to select the interrupt condition(s) to
be used. 0 (the default) means “don’t interrupt” and clears the queue when issued.
bit m = 2^bit Status byte Condition
0 $0001 (1) $D0 (208) Axis A profiled motion complete _BGA = 0
1 $0002 (2) $D1 (209) Axis B profiled motion complete _BGB = 0
2 $0004 (4) $D2 (210) Axis C profiled motion complete _BGC = 0
3 $0008 (8) $D3 (211) Axis D profiled motion complete _BGD = 0
4 $0010 (16) $D4 (212) Axis E profiled motion complete _BGE = 0
5 $0020 (32) $D5 (213) Axis F profiled motion complete _BGF = 0
6 $0040 (64) $D6 (214) Axis G profiled motion complete _BGG = 0
7 $0080 (128) $D7 (215) Axis H profiled motion complete _BGH = 0
8 $0100 (256) $D8 (216) All axes profiled motion complete _BGI = 0
9 $0200 (512) $C8 (200) Excess position error _TEn >= _ERn*
10 $0400 (1024) $C0 (192)
Limit switch _LFn = 0* Must be
profiling motion in direction of activated
limit switch for interrupt to occur.
11 $0800 (2048) Reserved
12 $1000 (4096) Reserved
13 $2000 (8192) $DB (219) Application program stopped _XQn = -1
14 $4000 (16384) Reserved
15 $8000 (32768) $E1-$E8 (225-232) Digital input(s) 1-8 low (use n for mask)*
Queued with UI $F0-$FF (240-255) User Interrupt, See UI command
To Next Page
Loading...
Need help?
General
