Installation guide

Mint™ v4 Advanced Programming Guide
12 MN1270 02.2002
There are a number of keywords associated with HTA:
Mint Keyword Use
HTA
Starts the HTA mode of motion and specifies the
desired hold value.
HTACHANNEL
Associates an analog input channel with an axis.
HTAGAIN
The proportional gain in the force control loop.
HTADAMPING
The damping term in the force control loop.
HTAFILTER
The factor for the analog input channel filter.
HTADEADBAND
The analog error deadband.
Example:
REM Initialize HTA parameters. Axis 0 will use analog channel 0 to try and
REM hold to a value passed from the host PC via the comms protocol.
AXES[0]
HTACHANNEL = 0 : REM Using analog channel 0
HTAKPROP = 0.1 : REM HTA gain term
HTADAMPING = -0.05 : REM HTA damping term
HTAFILTER = 0.999 : REM High filter value
HTADEADBAND = 5 : REM Deadband of 5 analog counts
SPEED = 10 : REM Maximum slew speed
ACCEL = 100 : REM Maximum acceleration rate
DECEL = 100 : REM Maximum deceleration rate
REM COMMS 1 controls when to go into HTA. COMMS 2 is the desired value.
WHILE (1)
IF COMMS(1)=1DO
HTA = COMMS(2) : REM Hold at the value specified by COMMS(2)
ELSE
STOP
ENDIF
ENDW