PCL6045B Datasheet, PDF (142/176 Pages) List of Unclassifed Manufacturers – User Manual For PCL6045B Pulse Control LSI

11-15. Output an interrupt signal
This LSI can output an interrupt signal ( signal) : There are 17 types of errors, 19 types of events, and
change from operating to stop that can cause an signal to be output . All of the error causes will
always output an signal. Each of the event causes can be set in the RIRQ register to output an
signal or not.
A stop interrupt is a simple interrupt function which produces an interrupt separate from a normal stop or
error stop.
For a normal stop interrupt to be issued, the confirmation process reads the RIST register as described
in the Cause of an Event section. If your system needs to provide a stop interrupt whenever a stop
occurs, it is easy to use the stop interrupt function.
To approximate a free curve interpolation using multiple linear interpolation operations, event interrupts
will be generated at the end of each linear interpolation. When using the stop interrupt, set MENI = 1 in
the RMD register. You can set it to not output an signal if there is data for the next operation.
The signal is output continuously until all the causes on all the axes that produced interrupts have
been cleared. An interrupt caused by an error is cleared by writing a "REST (error cause) register read
command." An interrupt caused by an event is cleared by writing a "RIST (event cause) register read
command." A Stop interrupt is cleared by writing to the main status.
To determine which type of interrupt occurred, on which axis and the cause of the interrupt, follow the
procedures below.
1) Read the main status of the X axis and check whether bits 2, 4, or 5 is "1."
2) If bit 2 (SENI) is "1," a Stop interrupt occurs.
3) If bit 4 (SERR) is "1," read the RESET register to identify the cause of the interrupt.
4) If bit 5 (SINT) is "1," read the RIST register to identify the cause of the interrupt.
5) Repeat steps 1) to 4) above for the Y, Z, and U axes.
The steps above will allow you to evaluate the cause of the interrupt and turn the output OFF.
Note 1: When reading a register from the interrupt routine, the details of the input/output buffer will
change. If the signal is output while the main routine is reading or writing registers, and the
interrupt routine starts, the main routine may produce an error. Therefore, the interrupt routine
should execute a PUSH/POP on input/output buffer.
Note 2: While processing all axes in steps 1) to 4) above, it is possible that another interrupt may
occur on an axis whose process has completed. In this case, if the CPU interrupts reception
mode, and is set for edge triggering, the PCL will latch the output ON and it will not allow a
new interrupt to interfere. Therefore, make sure that after you have reset the interrupt reception
status the CPU reads main status of all the axes again. Also, make sure there is no signal
output from the PCL. Then, end the interrupt routine.
Note 3: When not using the terminal, leave it open.
When using more than one PCL, the terminals cannot be wired ORed.
The signal output can be masked by setting the RENV1 (environment setting 1) register.
If the output is masked (INTM = 1 in RENV1), and when the interrupt conditions are satisfied, the
status will change. However, the signal will not go LOW, but will remain HIGH.
While the interrupt conditions are satisfied and if the output mask is turned OFF (INTM = 0 in RENV1),
the signal will go LOW.
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