TMCM-6110 TMCL Firmware V1.31 Manual (Rev. 1.09 / 2015-FEB-24)
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4.4.2.6.3
Interrupt Vectors:
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 axis 0
4
Target position reached axis 1
5
Target position reached axis 2
6
Target position reached axis 3
7
Target position reached axis 4
8
Target position reached axis 5
15
stallGuard axis 0
16
stallGuard axis 1
17
stallGuard axis 2
18
stallGuard axis 3
19
stallGuard axis 4
20
stallGuard axis 5
27
Left stop switch axis 0
28
Right stop switch axis 0
29
Left stop switch axis 1
30
Right stop switch axis 1
31
Left stop switch axis 2
32
Right stop switch axis 2
33
Left stop switch axis 3
34
Right stop switch axis 3
35
Left stop switch axis 4
36
Right stop switch axis 4
37
Left stop switch axis 5
38
Right stop switch axis 5
39
Input change 0
40
Input change 1
41
Input change 2
42
Input change 3
43
Input change 4
44
Input change 5
45
Input change 6
46
Input change 7
255
Global interrupts
4.4.2.6.4
Further Configuration of Interrupts
Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done
using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command
(paragraph 4.6.9) for further information about that.
4.4.2.6.5
Using Interrupts in TMCL
To use an interrupt the following things have to be done:
-
Define an interrupt handling routine using the VECT command.
-
If necessary, configure the interrupt using an SGP <type>, 3, <value> command.
-
Enable the interrupt using an EI <interrupt> command.
-
Globally enable interrupts using an EI 255 command.
-
An interrupt handling routine must always end with a RETI command