This view allows you to see, define and modify the TML interrupt service routines (ISR).
Each drive/motor has a default ISR for each of the 12 TML interrupts. In order to use the default ISR, select Default for all the TML interrupts. If you want to see or modify any of the default ISR, choose option User defined. The TML interrupts with option User defined appear in the project window left side selection tree, in the current application, as a sub-tree of the Interrupts section. Select an interrupt from this list. On the right side you’ll see the ISR contents in the Interrupt Edit. Here you can check and modify the selected ISR according with your needs.
In can cancel your modifications and to return to the starting point i.e. the default ISR by pressing Reload Default button. You can also return at any moment to the default ISR by selecting again the Default option.
Remark: Some of the drive/motor protections may not work properly if the TML Interrupts are handled incorrectly. In order to avoid this situation keep in mind the following rules:
| • | The TML interrupts must be kept globally enabled to allow execution of the ISR for those TML interrupts triggered by protections. As during a TML interrupt execution, the TML interrupts are globally disabled, you should keep the ISR as short as possible, without waiting loops. If this is not possible, you must globally enable the interrupts with EINT command during your ISR execution. |
| • | If you modify the interrupt service routines for Int 0 to Int 4, make sure that you keep the original TML commands from the default ISR. Put in other words, you may add your own commands, but these should not interfere with the original TML commands. Moreover, the original TML commands must be present in all the ISR execution paths. |
See also: