Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 Chapter 4 - Software Tools and Communications • 51
05 specifies bit 0 is active for A axis and bit 2 is active for C axis (2
0
+ 2
2
=5)
03 E8 represents 1000
FE OC represents -500
Example
The command “STABC” to stop motion on just axis A, B, and C would be:
A1 00 00 07
where A1 is the command number for ST
00 specifies 0 data fields
00 specifies the command does not apply to the coordinated motion
07 specifies stop A (bit 0), B (bit 1) and C (bit 2) (2
0
+2
1
+2
2
=7)
For more information and a complete list of all Galil binary commands, please refer to the Optima
Series Command Reference at
http://www.galilmc.com/support/manuals/manc2000.pdf .
Controller Event Interrupts and User Interrupts
The DMC-18x2 provides a hardware interrupt line that will, when enabled, interrupt the PC bus, which
will allow the controller to notify the host application of particular events occurring on the controller.
Interrupts free the host from having to poll for the occurrence of certain events such as motion
complete or excess position error.
The DMC-18x2 uses only one of the PC’s interrupts; however, it is possible to interrupt on multiple
conditions. For this reason, the controller provides a status byte register that contains a byte
designating each condition.
The DMC-18x2 provides an interrupt buffer that is 16 deep. This allows for multiple interrupt
conditions to be stored in sequence of occurrence without loss of data.
The DMC-18x2 provides two command forms of interrupt functionality, EI and UI. Specific interrupt
conditions can be enabled using the EI command, or explicit user defined interrupts can be sent using
the UI command.
Enabling Event Interrupts (EI command)
To enable certain conditions, use the command EIm,n. Where the first field “m” represents a 16-bit
value of conditions described in the table below. For example, to enable interrupts on X and Y motion
complete and position error, set EI515 (i.e. 515=2
0
+2
1
+2
9
). Once the EI command is enabled for a
specific condition, an interrupt will occur for every instance of that condition, except for the items
marked with an asterisk (*), they must be re-enabled after every occurrence.
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