User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 82
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5.7.32 VECT (set interrupt vector)
The VECT command defines an interrupt vector. It needs an interrupt number and a label as parameter (like in
JA, JC and CSUB commands).
This label must be the entry point of the interrupt handling routine.
Related commands: EI, DI, RETI
Mnemonic: VECT <interrupt number>, <label>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
37
<interrupt number>
(don't care)
<label>
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
15
stallGuard™
21
Deviation
27
Left stop switch
28
Right stop switch
39
Input change 0
40
Input change 1
Example: Define interrupt vector at target position 500
VECT 3, 500
Binary format of VECT:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$25
$03
$00
$00
$00
$01
$F4
$1E