Mint NextMove PCI Guide d'installation Page 1

Visit us on the web:www.servo-repair.com www.servorepair.cawww.ferrocontrol.com www.sandvikrepair.comwww.accuelectric.comFor 24/7 repair services : US

Introduction MN1270 02.2002 1 1. Introduction 1 Mint™ is a flexible Basic like programming language designed for high speed motion control appli

Keyword Reference Guide MN1270 02.2002 91 Dot Parameters: Axis - Axis No. Attributes: Controller Read Write Command Multi-Axis Scaled Default Ran

Mint™ v4 Advanced Programming Guide 92 MN1270 02.2002 Example: HTAGAIN[2] = 1.5 : REM Set a HTA gain of 1.5See also: HTA, HTADAMPING, HTAKINT ICMD

Keyword Reference Guide MN1270 02.2002 93 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51      For

Mint™ v4 Advanced Programming Guide 94 MN1270 02.2002 LOOPTIME Range 500 0 ≤ x ≤ 250,000 1000 0 ≤ x ≤ 125,000 2000 0 ≤ x ≤ 62,500 Description: Th

Keyword Reference Guide MN1270 02.2002 95 5 _ieFAILED_TO_READ_CARRIER_EEPROMFailed to read EEPROM 6 _ieFAILED_TO_READ_POWER1_EEPROMFailed to read

Mint™ v4 Advanced Programming Guide 96 MN1270 02.2002 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  

Keyword Reference Guide MN1270 02.2002 97 Figure 5: With acceleration feed forward. Example: KACCEL.0 = 45Sets the acceleration feed forward term

Mint™ v4 Advanced Programming Guide 98 MN1270 02.2002 KEYS "[email protected].~..."REM |row1|r

Keyword Reference Guide MN1270 02.2002 99 KINTMODE = 2The integral action will have a maximum effect of 1.0V on the DAC output. This will only oc

Mint™ v4 Advanced Programming Guide 100 MN1270 02.2002 See Also: CONFIG, DEFAULT, PROFILETIME MAXSPEED/MS Purpose: To set a limit for the speed de

Mint™ v4 Advanced Programming Guide 2 MN1270 02.2002 This Mint v4 Advanced Programming Guide accompanies the Mint v4 Programming Guide. It covers

Keyword Reference Guide MN1270 02.2002 101 See Also: AXISSTATUS, FEEDRATE, FEEDRATEOVERRIDE, SPEED MISCERROR/MER Purpose: To read or clear the mis

Mint™ v4 Advanced Programming Guide 102 MN1270 02.2002 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  

Keyword Reference Guide MN1270 02.2002 103 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51      Fo

Mint™ v4 Advanced Programming Guide 104 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove   

Keyword Reference Guide MN1270 02.2002 105 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove  0 1 ≤ x ≤ 655

Mint™ v4 Advanced Programming Guide 106 MN1270 02.2002 is installed using the function installMoveBufferLowHandler, see the Mint v4 PC Programming

Keyword Reference Guide MN1270 02.2002 107 See also: CONFIG, GO, MOVEBUFFERFREE MOVEBUFFERSTATUS/MBS Purpose: To return information about the move

Mint™ v4 Advanced Programming Guide 108 MN1270 02.2002 NUMBEROF/NO Purpose: To return information about the hardware available on the Controller.

Keyword Reference Guide MN1270 02.2002 109 NVFLOAT/NVF Purpose: To write to non-volatile memory. Controllers Supported: NextMove PCI NextMove PC

Mint™ v4 Advanced Programming Guide 110 MN1270 02.2002 The data in this memory is retained when the controller is powered down. The data stored i

Multi Axis Mappings and Configurations MN1270 02.2002 3 2. Multi Axis Mappings and Configurations 2 The NextMove family of controllers support m

Keyword Reference Guide MN1270 02.2002 111 Format: OFFSETMODE[axes] = <expression> {,<expression> ...}v = OFFSETMODE[axes]Dot Paramete

Mint™ v4 Advanced Programming Guide 112 MN1270 02.2002 FOLLOWMODE.1 = 0FOLLOW.1 = 0OFFSETMODE.1 = 0OFFSET.1 = 20GO.1Controller Specifics: On MintD

Keyword Reference Guide MN1270 02.2002 113 IF OFFSETSTATUS.1 <> 0 THEN REM OFFSET failedSee also: OFFSET, OFFSETMODE, OFFSETDISTANCE PLATFOR

Mint™ v4 Advanced Programming Guide 114 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range All    

Keyword Reference Guide MN1270 02.2002 115 Example: SCALE.0 = 1000 : REM Scale to mmPRECISIONINCREMENT.0 = 10.0 : REM Distance between compe

Mint™ v4 Advanced Programming Guide 116 MN1270 02.2002 where fwd x are the actual values for travel in direction from A to B and rev x are the act

Keyword Reference Guide MN1270 02.2002 117 Mint Example: HOME.2 = 0 : REM Home axis in a negative directionPAUSE IDLE.2 : REM Wait for move to com

Mint™ v4 Advanced Programming Guide 118 MN1270 02.2002 Example: A axis has a leadscrew for which bi-directional data is available. The leadscrew

Keyword Reference Guide MN1270 02.2002 119 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  Format: PW

Mint™ v4 Advanced Programming Guide 120 MN1270 02.2002 See also: BOOST, CONFIG, FREQ, PULSE, PWMONTIME, STEPDIRECTION SPLINE/SPL Purpose: Perform

Mint™ v4 Advanced Programming Guide 4 MN1270 02.2002 The NextMove family of controllers are multi-axis controllers. Depending on the hardware ava

Keyword Reference Guide MN1270 02.2002 121 When the spline is executed, each segment is processed in turn until the last segment is reached. If

Mint™ v4 Advanced Programming Guide 122 MN1270 02.2002 SPLINE.0 = _spSPLINE_1 + _spABSOLUTE : REM Absolute spline 1GO.0 : REM Start motion The pr

Keyword Reference Guide MN1270 02.2002 123 All position points are reached and each segment takes the specified duration. PVT A PVT allows both p

Mint™ v4 Advanced Programming Guide 124 MN1270 02.2002 The SPLINE keyword sets up a spline move using the arrays specified with the SPLINETABLE ke

Keyword Reference Guide MN1270 02.2002 125 The current spline segment index is read using the SPLINEINDEX keyword. For example: PAUSE SPLINEINDEX

Mint™ v4 Advanced Programming Guide 126 MN1270 02.2002 SPLINEINDEX/SPI Purpose: Returns the currently executing SPLINE segment number. Controllers

Keyword Reference Guide MN1270 02.2002 127 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove    1 1 ≤ x ≤

Mint™ v4 Advanced Programming Guide 128 MN1270 02.2002 In the event of a controlled stop, e.g. the STOP keyword is issued or an asynchronous error

Keyword Reference Guide MN1270 02.2002 129 The velocity table allows for end of segment velocities to be defined. The velocities are defined in u

Mint™ v4 Advanced Programming Guide 130 MN1270 02.2002 Example: SPLINETABLE (1, myArray, myVel, NULL)SPLINETIME.1 = 30 : REM Duration of 30ms per

Multi Axis Mappings and Configurations MN1270 02.2002 5 Care must be taken to see if a Mint keyword is axis based or channel based to ensure that

Keyword Reference Guide MN1270 02.2002 131 Figure 6: Effect of SRAMP on a move Example: SRAMP = 5,5ACCEL = 500,500SPEED = 20,20CIRCLER = 100,200,

Mint™ v4 Advanced Programming Guide 132 MN1270 02.2002 This turns on both the pulse and the step direction pin of axis 4. See Also: BOOST, FREQ SU

Keyword Reference Guide MN1270 02.2002 133 TERMINALMODE/TMD Purpose: To set the overwrite mode of the terminal input/output channels. Controllers

Mint™ v4 Advanced Programming Guide 134 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range All    D

Keyword Reference Guide MN1270 02.2002 135 Auxiliary encoder channel Value to write to VELENCODER 0 (NextMove BX and NextMove PCI) -1 1 (NextMov

Mint™ v4 Advanced Programming Guide 136 MN1270 02.2002 VELFATALMODE/VLM Purpose: Specify the action taken in the event of the velocity threshold b

NextMove Mappings MN1270 02.2002 137 7. NextMove Mappings 7 This section contains the default axis mapping information for NextMove controllers.

Mint™ v4 Advanced Programming Guide 138 MN1270 02.2002 7.1 NextMove PCI NextMove PCI expansion cards are sold in two variants; 4 axes of control a

NextMove Mappings MN1270 02.2002 139 M1 - NextMove PCI with 1 axis of control M2 - NextMove PCI with 2 axes of control M3 - NextMove PCI with 3 ax

Mint™ v4 Advanced Programming Guide 140 MN1270 02.2002 (M1, M2, M3, M4) + (E4 + E4) / (E8 + E4) / (E8 + E8) Axis Number Channel Config 4 4 servo

Mint™ v4 Advanced Programming Guide 6 MN1270 02.2002 3. Creating Motion 3 This chapter covers the use of Mint to perform motion. The following a

NextMove Mappings MN1270 02.2002 141 7.2.1 Open Loop Access The hardware channels on main and expansion cards have a fixed numbering system. Any

Mint™ v4 Advanced Programming Guide 142 MN1270 02.2002 Main Card – M1, M2, M3, M4, M8 Open loop channel DAC Encoder 0 0 A 1 1 B 2 2 C 3 3 D whe

Bibliography MN1270 02.2002 143 8. Bibliography 8 Bibliography [1] Mint v4 Programming Guide (MN1262) [2] Mint v4 CAN Programming Guide (M

Mint™ v4 Advanced Programming Guide 144 MN1270 02.2002

Creating Motion MN1270 02.2002 7 3.1 Gearing Compensation All sampled master / slave systems have an inherent lag in the system. This lag is spee

Mint™ v4 Advanced Programming Guide 8 MN1270 02.2002 The SPLINE keyword is used to load the move and the GO keyword starts the motion. The value

Creating Motion MN1270 02.2002 9 Figure 2: Example of spine move It can be seen that the Spline 1 motion is smoother but the Spline 2 follows the

Mint™ v4 Advanced Programming Guide 10 MN1270 02.2002 The size of the backlash is set with the BACKLASH keyword, the sign of the backlash is used

MN1270 02.2002 Mint™ version 4 Advanced Programming Guide MN1270

Creating Motion MN1270 02.2002 11 PRECISIONINCREMENT.0 = 10 : REM 10mm table stepsPRECISIONOFFSET.0 = 0 : REM Assume start of table is homePRECISI

Mint™ v4 Advanced Programming Guide 12 MN1270 02.2002 There are a number of keywords associated with HTA: Mint Keyword Use HTAStarts the HTA mode

Advanced use of Fast Position Latching MN1270 02.2002 13 4. Advanced use of Fast Position Latching 4 This chapter details the advanced features

Mint™ v4 Advanced Programming Guide 14 MN1270 02.2002 In order to utilize the functionality of the ASIC’s hardware position latching facility the

Advanced use of Fast Position Latching MN1270 02.2002 15 In the event of a fast position latch, a handler will be called to enable the user to de

Mint™ v4 Advanced Programming Guide 16 MN1270 02.2002 ?FASTPOS.0 : REM latch position of axis 0?FASTPOS.1 : REM latch position of axis 1RETURNREMR

Advanced use of Fast Position Latching MN1270 02.2002 17

Mint™ v4 Advanced Programming Guide 18 MN1270 02.2002 5. Advanced Error Handling 5 This chapter details advanced error handling within Mint. ◊

Advanced Error Handling MN1270 02.2002 19 5.1 Changing the Default Action of Motion Errors There are 10 asynchronous axis motion errors. These a

Mint™ v4 Advanced Programming Guide 20 MN1270 02.2002 Mode Action 3 Perform a controlled stop on the axis at the rate specified by the ERRORDECEL

Mint™ v4 Advanced Programming Guide ii MN1270 02.2002

Advanced Error Handling MN1270 02.2002 21 velDECEL rateERRORDECEL ratetimeerror inputaxis statusaxis errorerror handler#1 #2#3 #4 #5#1 : Error i

Mint™ v4 Advanced Programming Guide 22 MN1270 02.2002 12 meOUTPUT_POWER0 Output driver not powered or missing for bank 0 13 meOUTPUT_POWER1 Ou

Advanced Error Handling MN1270 02.2002 23

Mint™ v4 Advanced Programming Guide 24 MN1270 02.2002 6. Keyword Reference Guide 6 This chapter presents, in alphabetical order, descriptions fo

Keyword Reference Guide MN1270 02.2002 25 6.1 Mint Keyword Syntax The following syntactical rules are applied throughout the following keyword de

Mint™ v4 Advanced Programming Guide 26 MN1270 02.2002 DAC channel 0 ≤ x ≤ 11 0 ≤ x ≤ 7 0 ≤ x ≤ 3 N/A N/A Auxiliary DAC channel N/A N/A N/A 0

Keyword Reference Guide MN1270 02.2002 27 6.3 Mint Keywords ABORTMODE/ABM Purpose: Controls the default action taken in the event of an abort. Con

Mint™ v4 Advanced Programming Guide 28 MN1270 02.2002 ADCERROR/AE Purpose: Read back the analog channels currently in error. Controllers Supporte

Keyword Reference Guide MN1270 02.2002 29 ADCERRORMODE/ADM Purpose: Controls the default action taken in the event of an ADC limit being exceeded

Mint™ v4 Advanced Programming Guide 30 MN1270 02.2002 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  

Copyright MN1270 02.2002 iii Copyright Baldor UK Ltd © 2002. All rights reserved. This manual is copyrighted and all rights are reserved. This

Keyword Reference Guide MN1270 02.2002 31 Dot Parameters: Channel – ADC Channel Number Attributes: Controller Read Write Command Multi-Axis Scaled

Mint™ v4 Advanced Programming Guide 32 MN1270 02.2002 The upper and lower limit values are set for a channel using them ADCMAX and ADCMIN keywords

Keyword Reference Guide MN1270 02.2002 33 See Also: AXISERROR, AXISWARNING, MISCERROR AUXENCODERMODE/AEM Purpose: To make miscellaneous changes to

Mint™ v4 Advanced Programming Guide 34 MN1270 02.2002 AUXENCODERSPEED Purpose: Specifies a virtual speed reference for the auxiliary encoder. Cont

Keyword Reference Guide MN1270 02.2002 35 Description: The encoder ASIC which is fitted to the NextMove PCI, MintDrive and ServoNode controllers w

Mint™ v4 Advanced Programming Guide 36 MN1270 02.2002 • Axis 1 uses Channel 1 • Axis 2 uses Channel 2 • Axis 3 uses Channel 3 • Axis 4 uses

Keyword Reference Guide MN1270 02.2002 37 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove    0 0 ≤ x ≤ 1

Mint™ v4 Advanced Programming Guide 38 MN1270 02.2002 Format: AXISWARNINGDISABLE[axes] = <expression> {,<expression> ...}v = AXISWARNI

Keyword Reference Guide MN1270 02.2002 39 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove     0 -838860

Mint™ v4 Advanced Programming Guide 40 MN1270 02.2002 In order to smoothly take up backlash, the compensation is applied over a number of servo lo

Mint™ v4 Advanced Programming Guide iv MN1270 02.2002

Keyword Reference Guide MN1270 02.2002 41 Example: BACKLASH.3 = -0.3BACKLASHINTERVAL.3 = 50MOVER.3 = 0.5GO.3PAUSE IDLE.3BACKLASHMODE.3 = 1This set

Mint™ v4 Advanced Programming Guide 42 MN1270 02.2002 BUSVOLTAGETHRESHOLD/BVT Purpose: To read and write the DC bus voltage threshold on a MintDri

Keyword Reference Guide MN1270 02.2002 43 Example: DIM camPositions(11) = 10, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10CAMTABLE (0, camPositions, NULL)CAM=5GO

Mint™ v4 Advanced Programming Guide 44 MN1270 02.2002 CAM=0MASTERDISTANCE = 10GOCAMPHASE(0, 2, 5, 1) This will modify the CAM profile over 5 segme

Keyword Reference Guide MN1270 02.2002 45 Format: CAPTURE = <expression>v = CAPTUREDot Parameters: None. Attributes: Controller Read Write C

Mint™ v4 Advanced Programming Guide 46 MN1270 02.2002 CAPTUREAXIS.0 = 0CAPTURE = _capSINGLEThe above MintDrive example will capture 2 seconds wort

Keyword Reference Guide MN1270 02.2002 47 CAPTUREEVENT/CPE Purpose: Configures cyclic capture to trigger (stop) on an event. Controllers Supported

Mint™ v4 Advanced Programming Guide 48 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove  

Keyword Reference Guide MN1270 02.2002 49 CAPTUREINTERVAL/CPI Purpose: To define the interval of the data capture in relation to the servo frequen

Mint™ v4 Advanced Programming Guide 50 MN1270 02.2002 Value Pre defined Constants Data to capture 0 _cpOFFOff 1 _cpMEASURED_SPEEDMeasured Speed

Safety Information MN1270 02.2002 v SAFETY NOTICE: Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment.

Keyword Reference Guide MN1270 02.2002 51 An ASIC is capable of supporting position capture and position compare but only for one of the axes that

Mint™ v4 Advanced Programming Guide 52 MN1270 02.2002 CHANNELCONFIG.channel = _cfSTEPPERBy default in this system, axis 4 uses channel 4 and axis

Keyword Reference Guide MN1270 02.2002 53 See Also: AXISCHANNEL, CONFIG COMPARELATCH/CML Purpose: Reads the state of the position compare latch. C

Mint™ v4 Advanced Programming Guide 54 MN1270 02.2002 COMPAREMODE/CMD Purpose: Enables and disables the position compare on an axis. Controllers S

Keyword Reference Guide MN1270 02.2002 55 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  Format: COM

Mint™ v4 Advanced Programming Guide 56 MN1270 02.2002 See also: DAC, KINTLIMIT CURRENTLIMITAREA/CLA Purpose: Returns the current I2T area. Control

Keyword Reference Guide MN1270 02.2002 57 CURRENTLIMITMODE/CLM Purpose: To set and read the how the I2T current limiting operates. Controllers Sup

Mint™ v4 Advanced Programming Guide 58 MN1270 02.2002 CURRENTMEAS/CMS Purpose: Reads the measured current. Controllers Supported: NextMove PCI Ne

Keyword Reference Guide MN1270 02.2002 59 Bit NextMove MintDrive / SN51 Description 0  14-bit mode, allowing a binary range of ±8191 1 Reser

Mint™ v4 Advanced Programming Guide 60 MN1270 02.2002 Any axis can be monitored and multiple axis parameters can be monitored through the use of m

Mint™ v4 Advanced Programming Guide vi MN1270 02.2002 Manual Revision History Issue Date BOCL Reference Comments 1.0 Draft A Apr ‘99 UM00546-00

Keyword Reference Guide MN1270 02.2002 61 Dot Parameters: Channel - DAC Channel Attributes: Controller Read Write Command Multi-Axis Scaled Defaul

Mint™ v4 Advanced Programming Guide 62 MN1270 02.2002 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51  

Keyword Reference Guide MN1270 02.2002 63 The above diagram illustrates the affect of DACRAMP on the DAC output. Example: FOLERROR

Mint™ v4 Advanced Programming Guide 64 MN1270 02.2002 Event Priority Digital Input Comms DPR Move Buffer Low Axis Idle Lowest This means t

Keyword Reference Guide MN1270 02.2002 65 DPRLONG Purpose: Read and write a 32 bit integer value to Dual Port Ram Controllers Supported: NextMove

Mint™ v4 Advanced Programming Guide 66 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove  

Keyword Reference Guide MN1270 02.2002 67 No. Parameter name Mint Keyword Range Factory Default Units 1601 Resolver Align MOTORALIGNMENT0 to 3

Mint™ v4 Advanced Programming Guide 68 MN1270 02.2002 TORQUEEFFORT+-KIPROPKIINTCURRENTMEASUREMENTCURRENTLIMITCURRENTLIMITCONT See Also: CURRENTMEA

Keyword Reference Guide MN1270 02.2002 69 DRIVEENABLE = 1TORQUE = 10LOOP : PRINT VEL : ENDLRepeating the torque test should now give the correct p

Mint™ v4 Advanced Programming Guide 70 MN1270 02.2002 Format: ENCODERZLATCH.channel = <expression>v = ENCODERZLATCH.channelDot Parameters: C

Contents MN1270 02.2002 vii Introduction ...1 Multi Axis Mappings

Keyword Reference Guide MN1270 02.2002 71 The following modes are available. Mode Action 0 Ignore. A motion error is not generated if an error i

Mint™ v4 Advanced Programming Guide 72 MN1270 02.2002 Bit Meaning Mint Constant 15 Reserved 16 Internal drive watchdog _erDRIVE_WATCHDOG17 V

Keyword Reference Guide MN1270 02.2002 73 FASTAUXENABLE/FAB Purpose: Manually clears the Aux. Encoders fast position latch. Controllers Supported:

Mint™ v4 Advanced Programming Guide 74 MN1270 02.2002 Where the generic #FASTIN handler is used with a fast latch mode 1, the hardware fast interr

Keyword Reference Guide MN1270 02.2002 75 FASTAUXSELECT/FAS Purpose: Maps the Auxiliary Fast position capture to a specific fast input. Controller

Mint™ v4 Advanced Programming Guide 76 MN1270 02.2002 Dot Parameters: Axis – Axis No. Attributes: Controller Read Write Command Multi-Axis Scaled

Keyword Reference Guide MN1270 02.2002 77 FASTLATCHMODE/FTM Purpose: Sets the default action to be taken to clear the Encoders fast position latch

Mint™ v4 Advanced Programming Guide 78 MN1270 02.2002 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range All    0

Keyword Reference Guide MN1270 02.2002 79 Attributes: Controller Read Write Command Multi-Axis Scaled Default Range NextMove     40000, 10

Mint™ v4 Advanced Programming Guide 80 MN1270 02.2002 FEEDRATEMODE/FRM Purpose: To control the use of slew speed and feedrate override. Controller

Mint™ v4 Advanced Programming Guide viii MN1270 02.2002

Keyword Reference Guide MN1270 02.2002 81 Example: FEEDRATEMODE = 1 : REM feedrate modeSPEED = 30 : REM slew speed 30 uu/sMOVER = 50 : REM relativ

Mint™ v4 Advanced Programming Guide 82 MN1270 02.2002 FEEDRATEOVERRIDE can be turned on and off with the FEEDRATEMODE keyword. FEEDRATEOVERRIDE ap

Keyword Reference Guide MN1270 02.2002 83 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51      For

Mint™ v4 Advanced Programming Guide 84 MN1270 02.2002 Format: FOLERRORWARNING[axes] = <expression> {,<expression> ...}v = FOLERRORWARN

Keyword Reference Guide MN1270 02.2002 85 See also: CONFIG, DAC, STEPDIRECTION GEARING/GR Purpose: To set the percentage size for gearing compensa

Mint™ v4 Advanced Programming Guide 86 MN1270 02.2002 Dot Parameters: Axis - Axis No. Attributes: Controller Read Write Command Multi-Axis Scaled

Keyword Reference Guide MN1270 02.2002 87 See Also: HOME, POS HTA Purpose: Starts the hold to analog mode of motion in which the position of an ax

Mint™ v4 Advanced Programming Guide 88 MN1270 02.2002 HTACHANNEL = 6 : REM Use analog channel 6HTADEADBAND = 2 : REM Ignore errors of 2 or underHT

Keyword Reference Guide MN1270 02.2002 89 Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51    Format:

Mint™ v4 Advanced Programming Guide 90 MN1270 02.2002 Example: HTADEADBAND = 0.20 : REM Ignore an error of less than 0.20%See also: ADCMODE, HTA,