Galil Motion Control DMC-40x0 Series User Manual

DMC-40x0 Command Reference RI • 205
RI
FUNCTION: Return from Interrupt Routine
DESCRIPTION:
The RI command is used to end the interrupt subroutine beginning with the label #ININT. An RI
at the end of this routine causes a return to the main program. The RI command also re-
enables input interrupts. If the program sequencer was interrupted while waiting for a
trippoint, such as WT, RI1 restores the trippoint on the return to the program. A motion
trippoint such as MF or MR requires the axis to be actively profiling in order to be restored
with RI1. RI0 clears the trippoint. To avoid returning to the main program on an interrupt,
use the command ZS to zero the subroutine stack. This turns the jump subroutine into a jump
only.
ARGUMENTS: RI n where
n = 0 Clears the interrupted trippoint
n = 1 Restores state of trippoint
no argument clears the interrupted trippoint
USAGE: DEFAULTS:
While Moving No Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
#ININT Input interrupt subroutine
II Enable input interrupts
EXAMPLES:
#A;II1;JP #A;EN ;'Program label
#ININT ;'Begin interrupt subroutine
MG "INPUT INTERRUPT" ;'Print Message
SB 1 ;'Set output line 1
RI 1 ;'Return to the main program and restore trippoint

Galil Motion Control DMC-40x0 Series Specifications

General

Brand	Galil Motion Control
Model	DMC-40x0 Series
Category	Controller
Language	English