Installation guide

Mint™ v4 Advanced Programming Guide
74 MN1270 02.2002
Where the generic #FASTIN handler is used with a fast latch mode 1, the hardware fast interrupt latch
will only be reset automatically once the
FASTAUXLATCH keyword has been read. This is to prevent
latches from being lost to the user.
Example:
FASTAUXLATCHMODE = 2
FASTAUXSELECT = 2
...
#FASTIN2
?”Fast Auxiliary encoder = “, FASTAUXENCODER
WAIT = 1000
FASTAUXLATCH = 2
RETURN
See also:
FASTAUXENABLE, FASTAUXLATCHMODE
FASTAUXLATCHMODE/FAM
Purpose:
Sets the default action to be taken to clear the Aux. Encoders fast position latch.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
Format:
FASTAUXLATCHMODE.channel = <expression>
v = FASTAUXLATCHMODE.channel
Dot Parameters:
Channel – Auxiliary encoder channel
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
All
0
0 x 2
Description:
Controls the method of clearing the Auxiliary encoders fast position latch.
Mode Description
0 Always re-capture position. Using this mode the data within the fast position register
will be updated on every activating edge on the appropriate fast interrupt line. The
latch is cleared automatically.
1 Do not re-capture position until after the handler has completed. Using this mode the
data in the fast position register will remain unchanged whilst in the user installed
handler. When this handler exits the latch will automatically be cleared and enable
further latching. If a users handler has not been defined then the latch will be
processed as soon as the interrupt has been serviced.
2 Do not re-capture position until the latch has been cleared manually. Using this mode
the register will remain unchanged until the user clears the latch manually using
FASTAUXENABLE.
3 Disables the fast position latch for that auxiliary channel.
See also:
FASTAUXENABLE, FASTAUXENCODER, FASTAUXLATCH, FASTAUXSELECT.