Manual

3-44 Detailed Descriptions of ACL Commands
The signal sense (High True vs. Low True) of the Digital Inputs for the MN command is set
by personality parameter 38.
The effects of MN can be suppressed for one move or a group of moves via the VM ("Vector
Mode") command.
Caution: To prevent unexpected responses you should be sure that the MN features are only
enabled during the particular move or group of moves where you desire a response. After
you get the response you should either execute a disabling MN; or VM 8; or somehow
reset or disable the external hardware so that the next move does not immediately generate
the same response.
Also, be sure to disable antibacklash vectors (via the AB or VM command) while using MN.
Otherwise, the MN action is performed during the first ("long") vector, but then the carriage
moves to the original MA or MR commanded endpoint.
Example: suppose you are using a laser to trim thick-film resistors on a hybrid integrated
circuit. A sensing device measures the value of a resistor while it is being trimmed; when a
particular value is reached external circuitry shuts off the laser and sets Digital Input 0 true.
After you make the first "rough" cut you wish to make another "fine tune" cut at right
angles, beginning where the first cut left off. You might use the following sequence of ACL
commands:
MN 3,1,1; CD 3,3; MR 0,1000; CD 0,3; MT;
CD 0,2; CD 3,3; MR 2000,0; MN;
The first MN sets up Dynamic Teach and Dynamic Deceleration. The first CD 3,3; turns
on the laser and enables the sensor. (You might use MD, MM, or PD here instead of CD.)
The MR 0,1000; makes the first cut in the Y direction; when the sensor triggers it shuts off
the laser; the position is taught; and the vector decelerates. The CD 0,3; disables the
sensor and the laser during the MT vector. The MT moves back to the Taught Point (i.e. the
end of the first cut). The CD 0,2; CD 3,3; re-enables the sensor and turns the laser back
on. The MR 2000,0; makes the fine-tuning cut in the X direction. Finally, the MN;
disables Dynamic Teach and Dynamic Deceleration.
Example: suppose you want a Download Sequence to execute immediately when a certain
Digital Input goes True, even in mid- vector. Just use personality parameters 36 through 38
to set up the Download Sequence as an interrupt. Then, at the beginning of the move
sequence, execute an MN to abort any move when that Digital Input goes true. Remember,
however, that there is a one- command latency on interrupts; this means that one more ACL
command will execute after the aborted move, before the Download Sequence begins to
execute.
Previous firmware versions used any input bits specified for the MN command as AND’ed
for the MN to occur. Mode bit 0 is set to enable a Dynamic Teach, and mode bit 1 is set to
enable Dynamic Deceleration. Two new bits (2 and 3) may now be used to perform the
selected function if any of the value/which bits occur. If mode bit 2 is specified as set, the
Dynamic Teach mode will occur if any of the which bits match their corresponding value
bits. If mode bit 3 is specified as set, the Dynamic Deceleration mode will occur if any of the
which bits match their corresponding value bits. To maintain the existing servo rate an
alternate servo routine may be selected automatically when an OR’ed MN is in effect.