Manual

3-42 Detailed Descriptions of ACL Commands
MN [<mode>, <value> [, <which> ]] Mid-move Digital Inputs Response
The MN command sets up automatic actions which are to take place during subsequent AA,
AR, AZ, MA, MR, MT, MZ, and Continuous Path moves until another MN command is
executed. The actions will only take place if a specified condition occurs on any or all of the
eight Digital Inputs before or during the move.
Each bit of the <mode> parameter controls one action, as follows:
Table 12 - <mode> Parameter Controls For Command MN
Bit Decimal Value Action
0 1 If this bit is set the System enables the Dynamic Teach mode: If,
during a move, the Digital Inputs come to match <value> and <which>
then the present XY position is immediately recorded as a Taught
Point and the Taught Point Available status bit is set. (See the OS
command.) Any old Taught Point is overwritten.
After the move is finished the host computer can read the Taught
Point via the OT command. You can move the carriage to this point
via the MT command.
If the Digital Inputs condition occurs during a Z-axis move the System
records the XY position, not the Z position; thus, the major use of
Dynamic Teach during Z moves is to simply record (in the OS
command's Taught Point Available bit) the fact that the Dynamic
Teach did occur.
See also the TEACH button in Chapter 4.
1 2 If this bit is set the System enables the Dynamic Deceleration mode:
If, during a move, the Digital Inputs match <value> and <which> then
the move immediately enters the deceleration phase; i.e., it rapidly
comes to a halt. The host computer can determine the actual
stopping position via the OA or OZ command.
If you want an "instantaneous" stop then use a low speed and a high
acceleration; see AC, CZ, and SR. Be careful, not to set the
acceleration so high that the motors slip due to the inertia of the load.
If there are mid-move Digital Outputs changes set up by MD or MM
and they have not yet occurred by the time the motors come to a stop
then they will not occur during this particular move.
2 4 Use <value> and [<which>] bits as OR inputs for Dynamic Teach
mode.
3 8 Use <value> and [<which>] bits as OR inputs for Dynamic
Deceleration mode.
The other bits of <mode> are ignored. For compatibility with future enhancements they
should be set to zero.
The <mode> defaults to zero at power up and at IN, or if <mode> is omitted from an MN
command. This default means that all automatic actions are disabled. If an MN command
specifies a zero <mode> then <value> and <which> are ignored. <mode> and <value>
must be either both specified or both omitted.