Installation guide

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 deal with this event.
Within Mint the user can install a handler for each input (#FASTIN
X) where x is the digital input
number that causes the latch.
On MintDrive and ServoNode 51, the following handlers are possible:
•
#FASTIN0 – input 0
•
#FASTIN2 – input 2 (only latches the auxiliary encoder)
On NextMove PC, the following handlers are possible:
•
#FASTIN0 – input 0
On NextMove PCI and NextMove BX, the following handlers are possible:
•
#FASTIN0 – input 0
•
#FASTIN1 – input 1
•
#FASTIN2 – input 2
•
#FASTIN3 – input 3
Adding an expansion card to NextMove PCI adds the following handlers:
•
#FASTIN20 – input 20
•
#FASTIN21 – input 21
•
#FASTIN22 – input 22
•
#FASTIN23 – input 23
The
FASTENABLE keyword clears the hardware latch to enable further position latching to occur. This
is only applicable if using
FASTLATCHMODE 2.
The
FASTLATCH keyword will return 0 or 1 indicating if an axis has latched position or not. The
FASTENCODER keyword will return the latched encoder value for an axis. The FASTPOS keyword will
return the latched position value for an axis.
Alternatively, a single event handler can be used called #FASTIN but this is not recommended where
different latch modes are being used on different inputs. If using the
#FASTIN handler then the
FASTLATCH keyword must be read in order to clear the latch on each axis.
The above keywords (with the exception of
FASTPOS) are duplicated for the auxiliary encoders. The
functionality is the same, the only difference being they apply to the auxiliary encoder rather than the
controlled axes. For example,
FASTAUXLATCHMODE, FASTAUXENABLE etc.
Example
Multiple handlers
FASTSELECT.0=0:REMaxis 0 will use input 0 to latch position
FASTSELECT.1=0:REMaxis 1 will use input 0 to latch position
FASTSELECT.2=3:REMaxis 2 will use input 3 to latch position
FASTSELECT.3=2:REMaxis 3 will use input 2 to latch position
FASTLATCHMODE[0,1,2,3] = 1; : REM re-latch only when the handler is complete
FASTENABLE[0,1,2,3] = 0; : REM clear all latches
PAUSE INKEY : REM wait for key press
END : REM end of program
REM
REM fast interrupt 0
REM
#FASTIN0
?”Input 0 Latched”