Installation guide

Mint™ v4 Advanced Programming Guide
92 MN1270 02.2002
Example:
HTAGAIN[2] = 1.5 : REM Set a HTA gain of 1.5
See also:
HTA, HTADAMPING, HTAKINT
ICMDISABLE
Purpose:
Disables the ICM interface to the controller.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
ICMDISABLE.channel = <expression>
value = ICMDISABLE.channel
Dot Parameters:
Channel – Channel No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0 0 or 1
Description:
Allows the ICM interface to be disabled. In certain circumstances it may be desirable to disable the
ICM interface. For example if a section of code must execute quickly and should not be interrupts by
ICM calls.
A value of 1 will disable the ICM interface.
A value of 0 will re-enable the ICM interface.
Valid channels are:
Description Mint Constant Value
RS232 port
_tmRS232
1
RS485 port
_tmRS485
2
Dual Port RAM
_tmDPR
4
When the ICM interface is disabled, all ICM calls other than a call to ICMDisable will fail.
Example:
ICMDISABLE._tmDPR = 1
PAUSE POS.0 < 10.0
OUT.0 = 1
ICMDISABLE._tmDPR = 0
The above example will disable the ICM interface over Dual Port RAM while it waits for the position
of axis zero to fall below 10, at which point digital output 0 will be turned on and the ICM interface
over Dual Port RAM re-enabled.
IDLEPOS/IDP
Purpose:
Reads or sets the Idle Following error bound.