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Mint™ v4 Advanced Programming Guide
98 MN1270 02.2002
KEYS "[email protected].~...................................."
REM |row1|row2|row3|row4|row5|row6|row7|row8|
If keys are not used within the 8x8 matrix, they must be padded out with an arbitrary character. In
this case a decimal dot is used.
Since <CR> and <BS> are not directly supported using a standard keyboard, KEYS will interpret
'@' as carriage return and will return ASCII code 13. '~' is used to interpret back space and will
return ASCII code 8.
The default KEYS string is:
.9.87FED\010W4.Z56-X\0150.VYU.AB1C.23 K.....OLN...P.IMTQ....JHR.....SG
If the KEYS string is specified with less than 64 characters, then those not specified are not
remapped.
KINTMODE/KIM
Purpose:
To control when integral action will be applied in the servo loop.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
Format:
KINTLIMIT[axes] = <expression> {,<expression> ...}
v = KINTLIMIT[axis]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
0
0 ≤ x ≤ 3
MintDrive &
ServoNode 51
0
0 ≤ x ≤ 2
Description:
Sets or returns a software switch that controls how the servo loop integral term is applied during
motion.
KINTMODE can take one of following values:
Valu
e
Constant Action
0
_itNEVER
The integral term is never applied (the integrator is grounded).
1
_itALWAYS
The integral term is always applied. KINT and KINTLIMIT
control the effect of the integral term.
2
_itSMART
The integral term is only applied when the axis demand speed is
constant ie: when the axis is at rest or moving at constant speed.
At all other times the integrator is grounded.
3
_itSTEADY_STATE
The integral term is only applied when the axis demand speed is
zero i.e: when the axis is at rest. At all other times the integrator
is grounded.
Example:
KINT = 0.34
KINTLIMIT = 10
- 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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