PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
86
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.7.33
EI (enable interrupt)
The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally enables interrupts.
Related command:
DI, VECT, RETI
Mnemonic:
EI <interrupt number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
25
<interrupt number>
don’t care
don’t care
The following table shows all interrupt vectors that can be used:
Interrupt number
Interrupt type
0
Timer 0
1
Timer 1
2
Timer 2
3
Target position reached
15
stallGuard2™
21
Deviation
27
Left stop switch
28
Right stop switch
39
Input change 0
40
Input change 1
255
Global interrupts
Examples:
Enable interrupts globally
EI, 255
Binary format of EI:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$19
$FF
$00
$00
$00
$00
$00
$19
Enable interrupt when target position reached
EI, 3
Binary format of EI:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$19
$03
$00
$00
$00
$00
$00
$1D
