Installation guide

Mint™ v4 Advanced Programming Guide

90 MN1270 02.2002

Example:

HTADEADBAND = 0.20 : REM Ignore an error of less than 0.20%

See also:

ADCMODE, HTA, HTACHANNEL

HTAFILTER/HAF

Purpose:

Sets the factor for the analog input filter.

Controllers Supported:

NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51

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Format:

HTAFILTER[axes] = <expression> {,<expression> ...}

v = HTAFILTER[axis]

Dot Parameters:

Axis - Axis No.

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove

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0 ≤ x ≤ 1

Description:

Whilst a Hold To Analog move is in progress, the analog channel being used can be filtered by a simple

first order filter. This allows any high frequency noise to be removed from the incoming analog signal.

The

HTAFILTER keyword allows the rate of smoothing to be set between 0 and 1. A value of 0 turns

the filter off. The closer the value to 1, the less effect each new analog sample has on the analog value

being used for following. For example, if the factor is set to 0.9999 then it will take a number of

seconds for the analog value seen in the Hold To Analog move to respond to an actual change on the

analog input channel.

Example:

HTAFILTER = 0.9999 : REM Slow response to analog channel changes

The filter is applied to an axis, not a specific input channel. The filter will then be used on whichever

channel is assigned with the

HTACHANNEL keyword for that axis. The filtering only applies to the Hold

To Analog move type and the filtered value is not reflected in the value read from the

ADC keyword or

from the value updated in dual port RAM at any time.