46
Manual – IPOSplus®
5
Interrupts for MOVIDRIVE
®
A and B
Task Management and Interrupts
5.5.1 Example
A WAIT 1000 ms command in task 1 is interrupted after 500 ms. If the processing of task
1 is resumed after 175 ms, the remaining runtime is 325 ms.
5.6 Interrupts for MOVIDRIVE
®
A and B
The following interrupts can be used in MOVIDRIVE
®
A units:
• Timer0 overflow (H489) interrupt Priority = 1 (lowest priority)
• Touch probe DI02 interrupt Priority = 2
• Error interrupt Priority = 3 (highest priority)
Task 1 is interrupted each time. In theory, a timer0, a touch probe and an error interrupt
can be active at the same time. An interrupt assigned a higher priority can interrupt the
processing of another interrupt. The DISABLE argument deactivates all interrupts. (see
_SetInterrupt or SETINT)
5.6.1 Interrupt activation
Compiler: _SetInterrupt(event ,myfunction );
Activates an interrupt. When the event event occurs, the function myfunction is per-
formed instead of task 1.
Assembler: SETINT event, Mxx
Activates an interrupt. When the event event occurs, the commands from label Mxx are
performed instead of task 1.
5.6.2 Error interrupt
The entire interrupt routine is run through once if an error occurs. After one run-through,
an Assembler command from task 1 is processed before the system checks whether the
error still occurs. If the error is still present, the interrupt routine is processed again. To
remain in the interrupt routine until the error is no longer present, the routine must con-
tain a loop that fulfills this condition.
Depending on the fault response set in parameter group 83x or using the command
_FaultReaction or SETFR, the program acts as follows:
• No interrupt is triggered for a specific fault if the fault response of this fault is set to
NO RESPONSE.
• If the fault response of a fault xy is set to "... and warning", task 1 is continued from
the same place once the fault has been reset.
• If the fault response of a fault xy is set to "... and fault", IPOS is restarted once the
fault has been reset and the variables are reinitialized with the values from the
EEPROM. Note: In this case, you can store important variable values protected
against power failure with the MEM or MOVILINK command before resetting the
error. In doing so, note that the number of permissible write accesses must not be
exceeded (see MEM or _Memorize() ).
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