Installation guide

Keyword Reference Guide
MN1270 02.2002 35
Description:
The encoder ASIC which is fitted to the NextMove PCI, MintDrive and ServoNode controllers will
latch the edge of an encoder Z pulse within hardware. Generally the width of an encoder Z pulse is too
narrow to poll for reliably using software alone. When an encoders Z pulse is seen the occurrence of
this is latched within the hardware. It is this latched value that the
AUXENCODERZLATCH keyword reads.
The action of reading this register clears it, hence when using the
AUXENCODERZLATCH keyword to
search for a Z pulse the value of
AUXENCODERZLATCH must be read first to ensure that any existing
hardware latch is cleared.
Example:
a = AUXENCODERZLATCH.0 : REM read and clear the aux encoder z latch
REPEAT : REM wait until the z pulse is seen
REM do nothing
UNTIL AUXENCODERZLATCH.0 = 1
AUXENCODER.0 = 0 : REM zero the aux encoder position
The above code example will firstly clear the auxiliary encoder z latch, then wait until another z pulse
occurs, at which point the position of the auxiliary encoder is set to zero.
See Also:
AUXENCODER
AXISCHANNEL/ACH
Purpose:
Allows user mapping of hardware to axis numbers.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
AXISCHANNEL[axes] = <expression> {,<expression> ...}
v = AXISCHANNEL[axis]
Dot Parameters:
Axis – Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
-
0 ≤ x ≤ 12
Description
Each axis on NextMove is mapped to a hardware channel. See section 2 for a description of the
channel numbers. The
AXISCHANNEL keyword is used to read the channel that an axis is mapped to or
to change the axis mapping.
The number of axes of control varies but there are always 12 addressable axes on NextMove PCI. The
VIEW PLATFORM keyword can be used to view this information.
To change the hardware channel that an axis uses, the axis must first be configured off with the
CONFIG
keyword.
AXISCHANNEL is then used to change the mapping. The act of changing the mapping does
not mean that the channel is in use and it is possible to have multiple axes mapped to the same
hardware. Only when the axis is configured as a servo or stepper does the hardware channel become
used and no further axes may be configured to use the same hardware channel.
Example:
If a 4 axis NextMove is used with a 4 axis expansion card, then there will be 8 axes of control. By
default, all axes would be configured as servos with the following mappings:
• Axis 0 uses Channel 0