Galil Motion Control Command Reference

Galil Motion Control Command ReferenceEIEvent InterruptsSyntax:Operands:Burn:Implicit Notation Only_EInot burnableFull DescriptionEI enables interrupts for the predefined event conditions in the table below. When a condition (e.g. Axis A profiled motion complete) occurs after EI isarmed, a particular status byte value (e.g. $D0 or 208) is delivered to the host PC along with the interrupt.Interrupts are issued as automatically dispatched UDP packets. GalilTools version 1.2.1.0 or newer required for software support.The UDP packet can contain up to 16 individual status bytes and is framed as followsFormat Header (Fixed Byte) Status Byte (1-16 bytes)Payload Byte Count (0x03 - 0x12)[Includes header and footer in count]Example 0x01 0xD0F1DBE1 0x06Example Decoded Interrupt Packet IndicatorAxis A Profiled Motion Complete; User Interrupt 1;Application Program Stopped; Digital Input 1 is low6 bytes in payloadArgumentsEI m,n,hm is a 16-bit integer mask between 0 and 65535 and is used to select the interrupt condition(s) to be used. 0 (the default) means "don't interrupt" andclears the queue when issued. The * conditions must be re-enabled with EI after each occurrence.Interrupt Bytesbit m=2^bit Hex (decimal) Status Byte Hex (decimal) Condition0 $0001 (1) $D0 (208) Axis A profiled motion complete _BGA = 01 $0002 (2) $D1 (209) Axis B profiled motion complete _BGB = 02 $0004 (4) $D2 (210) Axis C profiled motion complete _BGC = 03 $0008 (8) $D3 (211) Axis D profiled motion complete _BGD = 04 $0010 (16) $D4 (212) Axis E profiled motion complete _BGE = 05 $0020 (32) $D5 (213) Axis F profiled motion complete _BGF = 06 $0040 (64) $D6 (214) Axis G profiled motion complete _BGG = 07 $0080 (128) $D7 (215) Axis H profiled motion complete _BGH = 08 $0100 (256) $D8 (216) All axes profiled motion complete _BGI = 09 $0200 (512) $C8 (200) Excess position error _TEn >= _ERn*10 $0400 (1024) $C0 (192)Limit switch _LFn = 0* Must be profiling motion in direction of activated limitswitch for interrupt to occur.11 $0800 (2048) $D9 (217) Watchdog timer (PCI only, no 40x0)12 $1000 (4096) Reserved13 $2000 (8192) $DB (219) Application program stopped _XQn = -114 $4000 (16384) $DA (218) PC command done, colon response sent (PCI only, no 40x0)15 $8000 (32768) $E1-$E8 (225-232) Digital input(s) 1-8 low (use n for mask)*UI, user interrupt command $F0-$FF (240-255) User Interrupt, See UI commandn is an 8-bit integer mask between 0 and 255 and is used to select the specific digital input(s) if bit 15 of m is set (indicating that digital inputs are to beused for interrupting). Bit 15 of m must be set for the n mask to be used.Intput Interruptsfile:///C|/Documents%20and%20Settings/Andy/Desktop/Temp/4Kcom/index.html (155 of 358)5/24/2011 8:38:17 AM