Installation guide

Mint™ v4 Advanced Programming Guide
98 MN1270 02.2002
KEYS "987A....654B....321@....-0.~...................................."
REM |row1|row2|row3|row4|row5|row6|row7|row8|
If keys are not used within the 8x8 matrix, they must be padded out with an arbitrary character. In
this case a decimal dot is used.
Since <CR> and <BS> are not directly supported using a standard keyboard, KEYS will interpret
'@' as carriage return and will return ASCII code 13. '~' is used to interpret back space and will
return ASCII code 8.
The default KEYS string is:
.9.87FED\010W4.Z56-X\0150.VYU.AB1C.23 K.....OLN...P.IMTQ....JHR.....SG
If the KEYS string is specified with less than 64 characters, then those not specified are not
remapped.
KINTMODE/KIM
Purpose:
To control when integral action will be applied in the servo loop.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
    
Format:
KINTLIMIT[axes] = <expression> {,<expression> ...}
v = KINTLIMIT[axis]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
0 ≤ x ≤ 3
MintDrive &
ServoNode 51
 
0
0 ≤ x ≤ 2
Description:
Sets or returns a software switch that controls how the servo loop integral term is applied during
motion.
KINTMODE can take one of following values:
Valu
e
Constant Action
0
_itNEVER
The integral term is never applied (the integrator is grounded).
1
_itALWAYS
The integral term is always applied. KINT and KINTLIMIT
control the effect of the integral term.
2
_itSMART
The integral term is only applied when the axis demand speed is
constant ie: when the axis is at rest or moving at constant speed.
At all other times the integrator is grounded.
3
_itSTEADY_STATE
The integral term is only applied when the axis demand speed is
zero i.e: when the axis is at rest. At all other times the integrator
is grounded.
Example:
KINT = 0.34
KINTLIMIT = 10