Installation guide

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 Channel 4

• Axis 5 uses Channel 5

• Axis 6 uses Channel 6

• Axis 7 uses Channel 7

To configure axis 4 as a stepper axis, then the

CONFIG keyword would be used:

CONFIG.4 = _cfSTEPPER

This would make axis 4 a stepper axis using the first pulse and direction outputs on the expansion card.

If we want axis 4 to use the pulse and direction outputs of channel 0 on the main card:

CONFIG.4 = _cfOFF : REM Axis must be configured off to change the mapping

AXISCHANNEL.4 = 0 : REM This is ok as multiple axes may map to a channel

CONFIG.4 = _cfSTEPPER : REM Axis 4 is now a stepper using channel 0

However, it would not now be possible to make axis 4 a servo axis as the servo component of channel 0

is currently being used by axis 0.

CONFIG.4 = _cfSERVO

This would give the error 'Hardware channel required in use'

The

VIEW CONFIG keyword is used to view the current axis configurations and mappings. If the above

example code was used, the mappings would now look like:

• Axis 0 uses Channel 0

• Axis 1 uses Channel 1

• Axis 2 uses Channel 2

• Axis 3 uses Channel 3

• Axis 4 uses Channel 0

• Axis 5 uses Channel 5

• Axis 6 uses Channel 6

• Axis 7 uses Channel 7

To see what hardware types are available for a channel, the

CHANNELTYPE keyword is used.