Installation guide

Mint™ v4 Advanced Programming Guide
68 MN1270 02.2002
TORQUE
EFFORT
+
-
KIPROP
KIINT
CURRENTMEASUREMENT
CURRENTLIMIT
CURRENTLIMITCONT
See Also:
CURRENTMEAS, TORQUE
ENCODERMODE/ENM
Purpose:
To make miscellaneous changes to the Encoders.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
ENCODERMODE.channel = <expression>
v = ENCODERMODE.channel
Dot Parameters:
Channel – Encoder Channel Number.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
 
0
0 ≤ x ≤ 7
MintDrive &
ServoNode 51
 
1
0 ≤ x ≤ 7
Description:
The keyword Error! Reference source not found. accepts a bitmap as follows:
Bit
Purpose Description
0 Encoder
direction
Can be used to swap the encoder A and B output channels, to
overcome possible wiring problems.
0 – Normal
1 – Reversed
1 Encoder
type
Can be used to select the encoder type:
0 – Differential line receiver
1 – Single-ended encoder
2 Input source Selects the input source:
0 – Encoder inputs A and B
1 – Step (A) and Direction (B)
Example:
Check the polarity of the encoders:
CONFIG = 1
DRIVEENABLE = 1
TORQUE = 10
LOOP : PRINT VEL : ENDL
If the axis speed is negative, then it is likely that the encoders have been incorrectly wired. Confirm this
by applying a negative
TORQUE to see if the speed is positive.
To reverse the direction of the encoder outputs:
CONFIG = 1
ENCODERMODE = ENCODERMODE OR 1