Installation guide

Mint™ v4 Advanced Programming Guide

54 MN1270 02.2002

COMPAREMODE/CMD

Purpose:

Enables and disables the position compare on an axis.

Controllers Supported:

NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51



Format:

COMPAREMODE[axes] = <expression> {,<expression>}

v = COMPAREMODE[axis]

Dot Parameters:

Axis – Axis No.

Attributes:

Controller Read Write Command Multi-

Axis

Scaled Default Range

NextMove

 



0 ≤ x ≤ 1

Description:

Setting the compare mode of an axis to 1 will enable the position compare on an axis. The position

compare will remain enabled until it is turn off by setting compare mode to zero.

Each encoder channel has a position compare output, this mapping is fixed within the hardware and is:

Encoder

Channel

Digital Output

0 0

1 1

2 2

3 3

This is similar for any expansion boards, the bottom 4 digital outputs are mapped the encoder channels

on that card. When these outputs are not under position compare control they can be used as normal

outputs. When the position compare is enabled the associated output is no longer under user control

and cannot be written to using the

OUT command. Reading the OUT keyword will not report the state of

any pin under position compare control.

Position compare functionality is only avaliable on servo axes

Example:

COMPAREPOS.0.0 = 10.5

COMPAREPOS.0.1 = 15.2

COMPAREMODE.0 = 1 : REM enable the position compare

The above code will setup both the upper and lower position compare registers for axis zero, then

enable the position compare hardware. This puts the associated output under position compare control,

from this point on the output will turn on between positions 10.5 and 15.2.