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Mint™ v4 Advanced Programming Guide
96 MN1270 02.2002
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
Format:
KACCEL[axes] = <expression> {,<expression> ...}
v = KACCEL[axis]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
0
0 ≤ x ≤ 10000
MintDrive
0
0 ≤ x ≤ 255
Description:
Sets the digital servo loop acceleration feed forward gain term. This term is designed to reduce velocity
overshoots on high acceleration moves. Due to the quantization of the positional data and the speed of
the servo loop, for the acceleration feed forward term to affect the servo loop the acceleration of the
axis must exceed 1,000,000 encoder counts/s
2
.
Figure 4: No acceleration feed forward.
- Mint™ version 4 2
- MN1270 02.2002 3
- Copyright 4
- MN1270 02.2002 iii 4
- Safety Information 6
- MN1270 02.2002 v 6
- Manual Revision History 7
- MN1270 02.2002 vii 8
- 1. Introduction 10
- 2 MN1270 02.2002 11
- MN1270 02.2002 3 12
- 2.1 Axis Variants 13
- MN1270 02.2002 5 14
- 3. Creating Motion 15
- 3.1 Gearing Compensation 16
- 3.2 Spline and P.V.T 16
- 8 MN1270 02.2002 17
- 3.3 Blending 18
- 3.4 Compensation Modes 18
- 3.4.2 Leadscrew Compensation 19
- 3.5 Hold To Analog 20
- 12 MN1270 02.2002 21
- MN1270 02.2002 13 22
- 14 MN1270 02.2002 23
- MN1270 02.2002 15 24
- 16 MN1270 02.2002 25
- MN1270 02.2002 17 26
- 5. Advanced Error Handling 27
- Advanced Error Handling 28
- MN1270 02.2002 19 28
- 20 MN1270 02.2002 29
- 5.2 Miscellaneous Errors 30
- 5.3 Axis Warnings 31
- MN1270 02.2002 23 32
- 6. Keyword Reference Guide 33
- 6.1 Mint Keyword Syntax 34
- 26 MN1270 02.2002 35
- 6.3 Mint Keywords 36
- ADCERROR/AE 37
- ADCERRORMODE/ADM 38
- ADCMAX/AMX 38
- ADCMIN/AMN 39
- ADCMONITOR/AMR 40
- ASYNCERRORPRESENT/AEP 41
- AUXENCODERMODE/AEM 42
- AUXENCODERSPEED 43
- AUXENCODERZLATCH/AEZ 43
- AXISCHANNEL/ACH 44
- AXISWARNING/AW 45
- AXISWARNINGDISABLE/AWD 46
- BACKLASH/BL 47
- BACKLASHINTERVAL/BLI 48
- BACKLASHMODE/BLM 49
- BUSVOLTAGE/BV 50
- BUSVOLTAGETHRESHOLD/BVT 51
- CAMAMPLITUDE/CMA 51
- CAMPHASE() 52
- CAMPHASESTATUS/CPS 53
- CAPTURE/CP 53
- MN1270 02.2002 45 54
- CAPTUREAXIS/CPA 55
- CAPTUREEVENT/CPE 56
- CAPTUREEVENTAXIS/CPX 56
- CAPTUREEVENTDELAY/CPD 57
- CAPTUREINTERVAL/CPI 58
- CAPTUREMODE/CPM 58
- CHANNELCONFIG/CHC 59
- MN1270 02.2002 51 60
- CHANNELTYPE/CHT 61
- COMPARELATCH/CML 62
- COMPAREMODE/CMD 63
- COMPAREPOS/CMP 63
- CURRENTLIMIT/CL 64
- CURRENTLIMITAREA/CLA 65
- CURRENTLIMITCONT/CLC 65
- CURRENTLIMITMODE/CLM 66
- CURRENTLIMITTIME/CLT 66
- CURRENTMEAS/CMS 67
- DACMODE/DCM 67
- DACMONITORAXIS/DMA 68
- DACMONITORGAIN/DMG 69
- DACMONITORMODE/DMM 69
- DACOFFSET/DCO 70
- DACRAMP/DCR 71
- DRPEVENT/DPR 72
- DPRFLOAT 73
- DPRLONG 74
- DPRWORD 74
- DRIVEPARAM/DRP 75
- EFFORT/EF 76
- ENCODERMODE/ENM 77
- ENCODERZACTIVELEVEL/ENL 78
- ENCODERZLATCH/ENZ 78
- ERRORINPUTMODE/EIM 79
- ERRORMASK 80
- EVENTACTIVE/EA 81
- FASTAUXENABLE/FAB 82
- FASTAUXLATCH/FAL 82
- FASTAUXLATCHMODE/FAM 83
- FASTAUXSELECT/FAS 84
- FASTENABLE/FEB 84
- FASTLATCH/FLT 85
- FASTLATCHMODE/FTM 86
- FASTSELECT/FS 86
- FEEDRATE/FR 87
- MN1270 02.2002 79 88
- FEEDRATEMODE/FRM 89
- FEEDRATEOVERRIDE/FRO 90
- FIRMWARERELEASE/FWR 91
- FOLERRORMODE/FEM 91
- FOLERRORWARNING/FEW 92
- FREQ/FQ 93
- GEARING/GR 94
- GEARINGMODE/GRM 94
- HOMEPOS/HPS 95
- MN1270 02.2002 87 96
- HTACHANNEL/HAC 97
- HTADAMPING/HAD 97
- HTADEADBAND/HDB 98
- HTAFILTER/HAF 99
- HTAKINT/HKI 99
- HTAKPROP/HKP 100
- ICMDISABLE 101
- IDLEPOS/IDP 101
- IDLEVEL/IDV 102
- INITERROR/IER 103
- INPUTDEBOUNCE/IDB 104
- KACCEL/KA 104
- 96 MN1270 02.2002 105
- Keyword Reference Guide 106
- MN1270 02.2002 97 106
- KINTMODE/KIM 107
- LOOPTIME/LT 108
- MAXSPEED/MS 109
- MISCERROR/MER 110
- MISCERRORDISABLE/MED 110
- MOVEBUFFERFREE/MBF 111
- MOVEBUFFERID/MBI 112
- MOVEBUFFERIDLAST/MBL 113
- MOVEBUFFERLOW/MBW 114
- MOVEBUFFERSIZE/MB 115
- MOVEBUFFERSTATUS/MBS 116
- NUMBEROF/NO 117
- NVFLOAT/NVF 118
- NVLONG/NVL 118
- OFFSETDISTANCE/OFD 119
- OFFSETMODE/OFM 119
- MN1270 02.2002 111 120
- OFFSETSTATUS/OFS 121
- PLATFORM/PTM 122
- POSDEMAND/PSD 122
- PRECISIONINCREMENT/PCI 123
- PRECISIONMODE/PCM 124
- PRECISIONOFFSET/PCO 125
- PRECISIONTABLE 126
- PROFILETIME/PT 127
- PWMONTIME/PWM 127
- PWMPERIOD/PWP 128
- SPLINE/SPL 129
- MN1270 02.2002 121 130
- 122 MN1270 02.2002 131
- MN1270 02.2002 123 132
- 124 MN1270 02.2002 133
- SPLINEEND/SPE 134
- SPLINEINDEX/SPI 135
- SPLINESTART/SPS 135
- SPLINESUSPENDTIME/SPD 136
- SPLINETABLE() 137
- SPLINETIME/SPT 138
- SRAMP/SRP 139
- STEPPERIO/SI 140
- SUSPEND/SSD 141
- TERMINALMODE/TMD 142
- VELDEMAND/VLD 142
- VELENCODER/VEN 143
- VELFATAL/VLF 144
- VELFATALMODE/VLM 145
- 7. NextMove Mappings 146
- 7.1 NextMove PCI 147
- 7.1.2 Default Mappings 148
- 7.2 NextMove PC 149
- 7.3 NextMove BX 150
- 7.3.2 Default Mappings 151
- 8. Bibliography 152
- 144 MN1270 02.2002 153
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