Installation guide

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Keyword Reference Guide

MN1270 02.2002 33

See Also:

AXISERROR, AXISWARNING, MISCERROR

AUXENCODERMODE/AEM

Purpose:

To make miscellaneous changes to the Auxiliary Encoders.

Controllers Supported:

NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51

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Format:

AUXENCODERMODE.channel = <expression>

v = AUXENCODERMODE.channel

Dot Parameters:

Channel – Auxiliary Encoder Channel

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove PCI

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0 ≤ x ≤ 7

MintDrive &

ServoNode 51

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0 ≤ x ≤ 16

Description:

The

AUXENCODERMODE keyword accepts a bitmap as follows:

Bit

Purpose Description NM SN/

0 Encoder

direction

Can be used to reverse the count direction of the auxiliary

encoder input channels, to overcome possible wiring problems.

0 – Normal

1 – Reversed

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1 Encoder

type

Can be used to select the encoder type:

0 – Differential line receiver

1 – Single-ended encoder

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2 Input

source

Selects the input source:

0 – Encoder inputs A and B

1 – Step (A) and Direction (B)

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3 Virtual Creates a virtual auxiliary encoder reference. The

AUXENCODERSPEED keyword is used to set the reference.

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4 Off

Turns off all auxiliary encoder processing to give an increase in

servo loop execution speed.

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Example:

Check the count direction (polarity) of the auxiliary encoder using the Mint WorkBench QuickWatch

window. If the auxiliary encoder count decrements when the motor shaft is rotated clockwise, then the

count direction may be reversed:

AUXENCODERMODE = AUXENCODERMODE OR 1

Note: Changing AUXENCODERMODE can affect position related keywords