DMC-40x0 Command Reference EI • 93
n is an 8-bit integer mask between 0 and 255 and is used to select the specific digital input(s) if bit
15 of m is set (indicating that digital inputs are to be used for interrupting).
bit n = 2^bit status byte Condition
0 $01 (1) $E1 (225) Digital input 1 is low @IN[1] = 0*
1 $02 (2) $E2 (226) Digital input 2 is low @IN[2] = 0*
2 $04 (4) $E3 (227) Digital input 3 is low @IN[3] = 0*
3 $08 (8) $E4 (228) Digital input 4 is low @IN[4] = 0*
4 $10 (16) $E5 (229) Digital input 5 is low @IN[5] = 0*
5 $20 (32) $E6 (230) Digital input 6 is low @IN[6] = 0*
6 $40 (64) $E7 (231) Digital input 7 is low @IN[7] = 0*
7 $80 (128) $E8 (232) Digital input 8 is low @IN[8] = 0*
The * conditions must be re-enabled with EI after each occurrence.
h is 0-7 or -1 and indicates the preconfigured UDP handle where interrupts should be sent. 0-7
indicates handles A-H, respectively. If the handle specified by h is not UDP or not initialized,
an error will occur (TC1). A -1 disables the interrupt dispatch. GalilTools software will auto
configure h, allowing the user to ignore its use in most cases.
USAGE: DEFAULTS:
While Moving Yes Default Value 0, 0,-1
In a Program Yes Default Format ---
Command Line Yes
Controller Usage DMC-4000
OPERAND USAGE:
_EI contains the interrupt mask m
RELATED COMMANDS:
UI User Interrupt
EXAMPLES:
1. Interrupt when motion is complete on all axes OR if a limit switch is hit:
From the table, enable bits 8 and 10. m = 28 + 210 = 256 + 1024 = 1280
EI 1280
2. Interrupt when digital input 3 is low. Enable bit 15 of m and bit 2 of n.
EI 32768,4
Host Programming Notes:
It is recommended that the third field, h, of EI be left unmodified in embedded DMC code. The
host software (client) can then subscribe to UDP events by establishing a UDP handle to the
controller (server), and issuing EI,,_WH. Unsubscribing is as simple as EI,,-1.
To avoid stale interrupts, the host code can flush the buffer before subscribing (EI0;EI m,n,h).
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