Installation guide

Mint™ v4 Advanced Programming Guide
52 MN1270 02.2002
CHANNELCONFIG.channel = _cfSTEPPER
By default in this system, axis 4 uses channel 4 and axis 5 uses channel 5.
See also:
AXISCHANNEL, CONFIG, FASTSELECT, COMPAREMODE
CHANNELTYPE/CHT
Purpose:
Read what hardware is available to a specific channel.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
CHANNELTYPE.channel = <expression>
v = CHANNELTYPE.channel
Dot Parameters:
Channel – Channel No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
 
0 ≤ x ≤ 2
Description:
Each hardware channel on NextMove consists of a number of components. The
CHANNELTYPE
keyword is used to read the hardware available for a channel number.
Meaning Value Macro
DAC output is present 1
_ctDAC
Pulse / Direction outputs are present 2
_ctPULSE_DIRECTION
Encoder is present 4
_ctENCODER
PWM hardware is present (NextMove PC only) 8
_ctPWM
See section 2 for a description of the channel numbers.
CHANNELTYPE can be used to see if the
hardware required is present on a channel.
The following table shows the hardware that must be present for each possible axis configuration.
Configuration Hardware Required
SERVO DAC & Encoder
STEPPER Pulse / Direction output
PWM
7
PWM Pulse / Direction output
Example:
To configure an axis as a servo axis, a DAC and ENCODER must be present on the channel the axis is
mapped to.
channel = AXISCHANNEL.10 : REM Read the channel axis 10 is mapped to
IF (CHANNELTYPE.channel AND (_ctDAC + _ctENCODER) = (_ctDAC + _ctENCODER)) DO
CONFIG.10 = _cfSERVO : REM Assumes that h/w is not in use
ELSE
PRINT "Required hardware is not present"
ENDIF
7
NextMove PC only.