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9. INTERFACE MODE
9.5.6 Control method for interrupt output valid
There is no difference in control method for position control mode, speed control mode and torque control
mode when control method for interrupt output is valid. The control method is as follows.
The following is the control method for when interrupt output is validated (ITS is turned on), and the number of
command buffers used is 0.
The position board outputs the command set by the user program for every command data update cycle after
the system startup. While ITS is turned on, an interrupt is generated every interrupt output cycle. Have the user
program update the command buffer 0, and read the high speed monitor from the generation of an interrupt
(interrupt output cycle – control cycle/2). The command data update cycle, and interrupt output cycle can be
set in Interface mode option (parameter No.000F).
In the time from the generation of an interrupt until the completion of the above process, turn on the during user
program memory access signal (HMA). When the system program reads the command, it checks the during
user program memory access signal (HMA). When the signal is on, the update is regarded as incomplete and
does not perform the read, and the command buffer read error counter is incremented. When this happens, the
previous position command value is sent to the servo amplifier, and when in position control mode, an
immediate stop follows. When in speed control mode or torque control mode, operation continues with the
previous values and same command data.
While the position board is reading command and writing high speed monitor, the during system program
memory access signal (BMA) is turned on. (When it is not a control cycle where command data is updated,
during system program memory access signal (BMA) is not turned on).
When in position control mode and using several buffers in interrupt output valid, perform the same process at
every interrupt output as interrupt output invalid. Clear the interrupt signal (IRQ) by writing 0 to the interrupt
clear register (offset 20008h of dual port memory). Be sure to clear the interrupt signal within the interrupt
handler.
Note. For real time processing, the execution of command read, high speed monitor, and communication with servo amplifier within the
control cycle are guaranteed processes.