Elmomc SimplIQ Command Reference Bedienungsanleitung Seite 104
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MI - Mask Interrupt
Purpose:
Selects which interrupts (automatic routines) are active.
A user program may include a main code and some automatic routines. When the
program runs, the conditions for calling these routines are checked continuously. If the
conditions for running a automatic routine
4
are met, it is called. At certain times, you
may want to block some of the automatic routines. For example:
An #@AUTO_RLS automatic routine may be deactivated in a homing process.
You may want a certain code sequence to be un-interruptible.
Certain auto-routines may be needed only when starting the program from certain
labels.
MI is a bit field. Each bit in MI masks its corresponding automatic routine, preventing its
execution. The MI bits are detailed in the following table:
MI Value Masked Interrupt Relevant Routine
1 (0x1) Not used 0
2 (0x2) Abort AUTO_ER
4 (0x4) Soft stop AUTO_STOP
8 (0x8) Soft begin AUTO_BG
16 (0x10) RLS AUTO_RLS
32 (0x20) FLS AUTO_FLS
64 (0x40) Switch enable AUTO_ENA
128 (0x80) Digital input 1 AUTO_I1
256 (0x100) Digital input 2 AUTO_I2
512 (0x200) Digital input 3 AUTO_I3
1024 (0x400) Digital input 4 AUTO_I4
2048 (0x800) Digital input 5 AUTO_I5
4096 (0x1000) Digital input 6 AUTO_I6
8192 (0x2000) Main Home event AUTO_HM
16,384 (0x4000) Auxiliary Home event AUTO_HY
32,768 (0x8000) User program error AUTO_PERR
Table 3-32: MI Bits
4
These conditions include the requirements that: no interrupt request of high priority is
pending (in which case the corresponding automatic routine enters the pending list) and that
the interrupt is not masked (in which case the interrupt is ignored).
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-91
- SimplIQ 1
- Important Notice 2
- Contents 3
- Chapter 1: Introduction 6
- 1.2 Scope 7
- MAN-SIMCR (Ver. 4.5) 10
- Command Reference Manual 14
- Limit Ranges 16
- (Single_Turn+Multi_Turn) 17
- AC - Acceleration 19
- AG[N] - Analog Gains Array 20
- AN[N] - Analog Inputs Array 21
- SimplIQ electronics 22
- BG - Begin Motion 23
- BP[N] - Brake Parameter 25
- CA[N] - Commutation Array 28
- 16 - CA[34] 30
- 16-CA[34] 33
- CC - Compiled Program Ready 34
- CD - CPU Dump 35
- SimplIQ Software 37
- CP - Clear Program 39
- DC - Deceleration 40
- DD - CAN Controller Status 41
- DF/DS - Download Firmware 42
- DL - Download Program 43
- EC - Error Code 45
- SimplIQ internal use 53
- SimplIQ drive internal use 53
- EM[N] - ECAM Parameters 60
- EO - Echo Mode 62
- FF[N] - Feed Forward 65
- FR[N] - Follower Ratio 66
- GS[N] - Gain Scheduling 67
- SimplIQ can: 70
- HP - Halt Program Execution 73
- HX - Hexadecimal Mode 74
- IB[N] - Input Bits Array 78
- IF[N] - Digital Input Filter 80
- IL[N] - Input Logic 81
- SimplIQ drive will retry 82
- Harmonica drive has 6 86
- IP - Input Port 88
- JV- Jogging Velocity 90
- KI[N], KP[N] - PI Parameters 92
- KL - Kill Motion and Program 93
- LC - Current Limit Flag 95
- LL[N] - Low Feedback Limit 97
- LP[N] - List Properties 98
- LS - List User Program 99
- MF - Motor Failure 101
- MI - Mask Interrupt 104
- SimplIQ Software Manual: 105
- MO - Motor Enable/Disable 106
- MS - Motion Status 110
- OB[N] - Output Bits Array 111
- OC[N] – Output Compare 113
- OC[3]=100(RS), volatile 115
- OC[4]=200(RS), volatile 115
- OL[N] - Output Logic 116
- drive will receive 117
- OP - Output Port 118
- PA - Absolute Position 119
- PE - Position Error 120
- PK - Peak Memory 121
- SimplIQ Software Manual 122
- PM - Profiler Mode 124
- PP[N] - Protocol Parameters 125
- PR - Relative Position 127
- PS - Program Status 128
- PT - Position Time Command 129
- Notes: 131
- PX - Main Position 132
- PY - Auxiliary Position 133
- RG - Recorder Gap 136
- RL - Record Length 137
- RM - Reference Mode 138
- RP[N] - Recorder Parameters 139
- RS - Soft Reset 142
- RV[N] - Recorded Variables 143
- SD - Stop Deceleration 144
- SF - Smooth Factor 145
- SN - Serial Number 146
- SP - Speed for PTP Mode 147
- SR - Status Register 148
- ST - Stop Motion 150
- TC - Torque Command 152
- TM - System Time 154
- TR - Target Radius 156
- TS - Sampling Time 157
- TW[N] - Wizard Command 158
- UF[N] – User Float Array 159
- UI[N] – User Integer 160
- UM - Unit Mode 161
- VE - Velocity Error 163
- VR - Firmware Version 165
- 3-50 below 168
- 3-52 below 169
- 3-53 below 169
- XM[N] - X Modulo 175
- XP[N] - Extra Parameters 176
- YM[N] - Y Modulo 180
- Storage 182
- array · 3-9 183
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