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Mint™ v4 Advanced Programming Guide

136 MN1270 02.2002

VELFATALMODE/VLM

Purpose:

Specify the action taken in the event of the velocity threshold being exceeded.

Controllers Supported:

NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51

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Format:

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

v = VELFATALMODE[axis]

Dot Parameters:

Axis – Axis No.

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove

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0 ≤ x ≤ 6

Description:

The function

VELFATALMODE controls what action is taken in the event of the VELFATAL limit being

exceeded.

The possible modes are as follows.

Mode Action

0 Ignore the error condition.

1 Crash stop the axis and drop the enable line. When the axis is idle

the error handler will

be called.

2 Crash stop the axis, leave the axis enabled. When the axis is idle the error handler will

be called.

3 Perform a controlled stop on the axis at the rate specified by the ERRORDECEL parameter,

leave the axis enabled. When the axis is idle the error handler will be called.

4 Not applicable

5 Call the error handler only.

6 Ramp the DAC to zero with a rate set with DACRAMP. The axis will be disabled when the

DAC reaches zero and the error handler called.