User Manual

TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
19 / 144
order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available
on the TMCM-3351.
Interrupt Vectors
Interrupt number Interrupt type
0 Timer 0
1 Timer 1
2 Timer 2
3 Target position reached 0
4 Target position reached 1
5 Target position reached 2
15 StallGuard axis 0
16 StallGuard axis 1
17 StallGuard axis 2
21 Deviation axis 0
22 Deviation axis 1
23 Deviation axis 2
27 Left stop switch 0
28 Right stop switch 0
29 Left stop switch 1
30 Right stop switch 1
31 Left stop switch 2
32 Right stop switch 2
39 Input change 0
40 Input change 1
41 Input change 2
42 Input change 3
43 Input change 4
44 Input change 5
45 Input change 6
46 Input change 7
255 Global interrupts
Table 12: Interrupt Vectors
3.5.6.2 Interrupt Processing
When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined
for that interrupt, the normal TMCL program flow will be interrupted and the interrupt handling routine
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com