Mint User Manuals Errata

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3 Copyright Information Copyright Baldor UK Ltd All rights reserved. This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, be copied or reproduced in any form without the prior written consent of Baldor UK. Baldor UK makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose. The information in this document is subject to change without notice. Baldor UK assumes no responsibility for any errors that may appear in this document. MINT is a registered trademark of Baldor UK Ltd. Windows 95, Windows 98, Windows NT, Windows 2000 and Windows ME are registered trademarks of the Microsoft Corporation. Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 0BF U.K. Telephone: +44 (0) Fax: +44 (0) Web site: Sales sales@baldor.co.uk Support technical.support@baldor.co.uk Baldor Electric Company Telephone: Fax: sales@baldor.com web site: Baldor ASR GmbH Telephone: +49 (0) Fax: +49 (0) Baldor ASR AG Telephone: +41 (0) Fax: +41 (0) Australian Baldor Pty Ltd Telephone: Fax: Baldor Electric (F.E.) Pte Ltd Telephone: Fax: UM iii

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5 Safety Information Safety Notice: Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt to startup, program or troubleshoot this equipment. Precautions: WARNING: Do not touch any circuit board, power device or electrical connection before you first ensure that no high voltage present at this equipment or other equipment to which it is connected. Electrical shock can cause serious or fatal injury. Only qualified personnel should attempt to start-up, program or troubleshoot this equipment. WARNING: Be sure that you are completely familiar with the safe operation of this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt to program, start-up or troubleshoot this equipment. WARNING: Be sure that you are completely familiar with the safe programming of this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper programming of this equipment can cause serious or fatal injury. Only qualified personnel should attempt to program, start-up or troubleshoot this equipment. WARNING: Be sure all wiring complies with the National Electrical Code and all regional and local codes. Improper wiring may result in unsafe conditions. UM v

6 WARNING: The stop input to this equipment should not be used as the single means of achieving a safety critical stop. Drive disable, motor disconnect, motor brake and other means should be used as appropriate. Only qualified personnel should attempt to program, start-up or troubleshoot this equipment. WARNING: Improper operation or programming of the control may cause violent motion of the motor shaft and driven equipment. Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment. Peak torque of several times the rated motor torque can occur during control failure. WARNING: The motor shaft will rotate during the homing procedure. Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment. CAUTION: To prevent equipment damage, be certain that the input power has correctly sized protective devices installed. CAUTION: To prevent equipment damage, be certain that input and output signals are powered and referenced correctly. CAUTION: To ensure reliable performance of this equipment be certain that all signals to/from the controller are shielded correctly. vi UM

7 Manual Revision History Manual Revision History Date Reference Comments UM First edition UM Updates UM Updates UM Remove corrections put into latest manuals UM Updates UM Addition of Remote Program Download UM Updates and add CHANNELCONFIG UM Updates to calling of getasyncerror and getcapturedata. Add VELENCODER (2) UM Add BUSVOLTAGE, BUSVOLTAGETHRESHOLD UM Update after manual revisions. Add new keywords: POSROLLOVER, TRIGGERMODE, HELIXA, HELIXR Additions to SUSPEND. New functions: doapplydacs, setinterpolatedmoves UM vii

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9 Contents 1. Mint v4 Programming Guide Mint v4 Advanced Programming Guide Mint v4 CAN Programming Guide NextMove PCI Installation Manual NextMove PC Installation Manual NextMove BX Installation Manual Mint v4 Embedded Programming Guide Mint v4 Function Reference Guide CAN Peripherals Hardware Guide Mint for NextMove Programming Guide UM ix

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11 Mint v4 Programming Guide 1. Mint v4 Programming Guide 1 This chapter provides an errata to the Mint v4 Programming Guide [MN ]. The Amendment information either replaces or is additional information for the specified sections. UM

12 Page No. Section/ Keyword Amendment 263 HELIXA / HELIXR New keywords HELIXA and HELIXR added in Mint v4.2 Build Purpose: Load a helix move into the move buffer. HELIXA/HA HELIXR/HR Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Format: HELIXA[xAxis, yaxis, zaxis] = <centrex>,<centrey>,<angle>,<positionz> HELIXR[xAxis, yaxis, zaxis] = <centrex>,<centrey>,<angle>,<positionz> Attributes: Controller Read Write Command Multi- Scaled Default Range Axis NextMove Description: The HELIXA keyword performs an absolute interpolated helix move. A helix move is effectively a circular move performed on the X and Y axes in conjunction with a linear move on the Z axis. <centrex> and <centrey> are the absolute positions of the rotational centre of the helix and <angle> refers to the total angular increment of the helix. Positive numbers refer to anti-clockwise motion. <positionz> is the absolute move position for the Z axis. It is assumed that the X, Y and Z axes are orthogonal. The HELIXR keyword performs a relative interpolated helix move. A helix move is effectively a circular move performed on the X and Y axes in conjunction with a linear move on the Z axis. <centrex> and <centrey> are the relative positions of the rotational centre of the helix and <angle> refers to the total angular increment of the helix. Positive numbers refer to anti-clockwise motion. <positionz> is the relative move distance for the Z axis. It is assumed that the X, Y and Z axes are orthogonal. A helix move can be loaded onto another helix moves or onto linear and circular move types. A helix move can be setup up on any combination of axis types, servo, stepper or virtual. The first axis specified, axisx, is the master axis. The acceleration, deceleration and speed of the master axis are taken to be for the path of the move. The same master axis should be kept as the same axis if performing a series of contoured moves. 2 UM

13 Mint v4 Programming Guide The desired end position of the vector move can be read using POSTARGET keyword. The remaining vector length can be read using POSREMAINING. A move of type _mdhelix is set up in the move buffer. The move will continue until the specified vector has been completed unless the move is terminated by the user with STOP, CANCEL or RESET. The move may also be suspended with SUSPEND. All general rules and keywords that apply to the Circle move type may be applied to the Helix move type. Example: HELIXA[0,1,2] = 100,200,1080,45.5 : GO This loads a helix with a rotational centre of coordinates 100, 200. The Z axis will move to 45.5 over 1080 degrees (3 revolutions). A 3D view is shown of the resulting motion. See also: ACCEL, CIRCLEA, CIRCLER, CONTOURMODE, DECEL, FEEDRATE, HELIXA, MOVEA, MOVER, SRAMP, SPEED, VECTORA, VECTORR UM

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15 Mint v4 Advanced Programming Guide 2. Mint v4 Advanced Programming Guide 2 This chapter provides an errata to the Mint v4 Advanced Programming Guide [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

16 Page No. Section/ Keyword Amendment 114 POSROLLVER New keyword POSROLLOVER added in Mint v4.2 Build POSROLLOVER/PSO Purpose: To count the number of wraps of the axis position value. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Format: POSROLLOVER.axis = <expression> value = POSROLLOVER.axis Dot Parameters: Axis the axis number. Attributes: Controller Read Write Command Multi- Axis Scaled Default Range NextMove - 0 +/ Description: An axes position is always within the range of +/ counts. When a scale factor is set on the axis with SCALE, the total position range in user units is / SCALE. So for example, if the scale factor is set to 4096, the position range of the axis (POS) is +/ A rotary system or where a high resolution encoder is being used, it is possible to wrap through this position range a number of times. The POSROLLOVER keyword is used to keep track of how many position wraps there have been. This allows the user to calculate the position of an axis across multiple wraps. Care should be taken in calculating this value on NextMove itself due to accuracy limitations. See section of the Mint v4 Programming Guide. Moving past position (in counts) in a positive direction will increment the value of POSROLLOVER. Moving past position (in counts) in a negative direction will decrement the value of POSROLLOVER. POSROLLOVER is only applicable to axes configured as Servo or Virtual. Example On a rotary system, the scale factor on an axis is This means that position will wrap at to If the axis travels at 10 user units / second for 5 minutes, the value of POS 6 UM

17 Mint v4 Advanced Programming Guide would read approximately -355 and the value of POSROLLOVER would read 2, indicating that position had wrapped twice in a positive direction. To calculate absolute position, use the following equation: AbsolutePos = (POSROLLOVER * / SCALE) + POS See also: ENCODERSCALE, ENCODERPRESCALE, POS, SCALE Page No. Section/ Keyword Amendment 132 SUSPEND Additional functionality added in Mint v4.2 Build The following replaces the Description section. The SUSPEND keyword can be used to temporarily halt a move. It can also be used to step through moves in the move buffer. The axis will ramp down to zero speed at the current DECEL rate and remain stationary until the move is resumed or the next move is stepped over. The mode of motion for the axis will continue to show the move type whilst suspended or stepping. The keyword takes a bit pattern as follows: Bit Meaning 0 Suspend the move immediately if set. 1 Suspend the move at the end of the current vector if set. (NextMove only) Suspend applies to the following move types: MOVER/MOVEA VECTORR/VECTORA (NextMove only) CIRCLER/CIRCLEA (NextMove only) HELIXR/HELIXA (NextMove only) HOME (NextMove only) JOG INCA/INCR (ServoNode and MintDrive only) FOLLOW (FOLLOWMODE=1 NextMove only) SPLINE (Axis decelerates over SPLINESUSPENDTIME. NextMove only) Setting bit 0 will cause the axis to decelerate to a halt. Clearing bit 0 allows the axis to accelerate back to full speed. UM

18 Single step functionality applies to the following move types on NextMove only: MOVER/MOVEA VECTORR/VECTORA (NextMove only) CIRCLER/CIRCLEA (NextMove only) HELIXR/HELIXA (NextMove only) Single stepping allows the user to step through moves that have already been loaded into the move buffer. When the axis is in motion and bit 1 of the SUSPEND keyword is set, the axis will decelerate to a halt, stopping at a vector boundary. The deceleration may take several vectors depending on the deceleration rate and the vector lengths. To then execute one move from the move buffer, a single step, the SUSPEND bits must be toggled and toggles back. I.e.: SUSPEND = 1 : WAIT=2 : SUSPEND = 2 When a move is stepped, the move is held at the end of the vector that has been stepped. Switching to SUSPEND=1 allows the move in the buffer to be bumped. Setting the step bit then allows that move to be executed. The delay is to allow the profiler to occur to do the bump. The axis will remain stationary during the delay. To resume normal motion, clear both bits. SUSPEND = 0 Where multi-axis moves have been loaded into the buffer, SUSPEND needs to be issued for the master axis only. The MOVEBUFFERSTATUS keyword can be used to read when the axis has come to a halt. Example In an XY table application, the operator panel has three buttons labelled PAUSE, RESUME and STEP. The operator may use the buttons to pause motion at any time and then execute individual vectors one at a time. The following code would be used. The buttons are wired to digital inputs 0, 1 and 2 respectively and are configured as edge triggered inputs. Axis 0 is the master axis. #IN0 REM Pause input SUSPEND.0 = 1 RETURN #IN1 REM Resume input SUSPEND.0 = 0 RETURN #IN2 REM Step input IF (MOVEBUFFERSTATUS & 0x20) DO REM Axis already stopped SUSPEND=1 WAIT=2 8 UM

19 Mint v4 Advanced Programming Guide SUSPEND=2 ELSE REM Axis is moving. Don t want issue SUSPEND=1 since that may REM cause an unnecessary deceleration before the step is issued. SUSPEND=2 ENDIF RETURN See also: CONTOURMODE, MOVEBUFFER, MOVEBUFFERSTATUS, SPLINESUSPENDTIME, STOP Page No. Section/ Keyword Amendment 133 TRIGGERMODE New keyword added in Mint v4.2 Build TRIGGERMODE/TRM Purpose: Controls the triggering of moves loaded on an axis. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Format: TRIGGERMODE[axes] = <expression> {,<expression>...} v = TRIGGERMODE[axis] Dot Parameters: Axis - Axis No Attributes: Controller Read Write Command Multi- Axis Scaled Default Range All Description: Certain move types require a trigger before any motion is started. This trigger is usually provided by the GO keyword. However in certain applications it may be more convenient not to use the GO keyword. The following move types require triggering to begin the motion. CAM CIRCLEA, CIRCLER FLY UM

20 HTA INCA, INCR MOVEA, MOVER OFFSET SPLINE VECTORA, VECTORR The TRIGGERMODE keyword allows the type of trigger that will initiate the motion to be set. Valid types are specified using a bit pattern. Bit Meaning 0 1: Trigger when the GO command is issued. 0: Trigger when move is loaded Example: TRIGGERMODE.0 = 0 MOVER.0 = 10 The move will start as soon as it is loaded. TRIGGERMODE.0 = 1 MOVER.0 = 10 GO.0 The move will start when the GO keyword is executed. Not requiring the GO command is most useful when loading vectors from a host PC as it allows the throughput of data to increase. 10 UM

21 Mint v4 CAN Programming Guide 3. Mint v4 CAN Programming Guide 3 This chapter provides an errata to the Mint v4 CAN Programming Guide [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

22 Page No. Section/ Keyword Amendment New Section: 3.13 Remote Mint File Download. Using CANopen, it is now possible to download Mint program and configuration files from the master node to a number of remote Baldor Mint nodes. Once downloaded, the RUN command can also be sent remotely. Two new keywords are used: REMOTEMINTFILEDOWNLOAD and REMOTERUN. This functionality is supported on NextMove PCI (Mint v4.2 Build 1216), NextMove BX (Mint v4.2 Build 1216) and ServoNode 51 (Mint v4.1 Build 1120). The keywords can only be called from the manager node or from a host application directly connected to the manager node. 65 CONNECT The Dot Parameters section should read: CONNECT.from.to = <expression> value = CONNECT.from.to In order for the master node to communicate with an I/O node, a connection must be made from the master to the slave. 87 REMOTEMINTFILE- DOWNLOAD New keyword added: REMOTEMINTFILEDOWNLOAD Purpose: To download a Mint program or configuration file to a remote Baldor controller across a CANopen link. Format: REMOTEMINTFILEDOWNLOAD( bus, node array, file type ) Dot Parameters: bus - CAN bus no (CANopen is specified as 1). node array A Mint array containing the numbers of the remote nodes to which the file must be downloaded. The array size must equal the number of nodes to be downloaded to. file type Specifies whether the configuration file or the program file must be downloaded. 12 UM

23 Mint v4 CAN Programming Guide Attributes: Controller Read Write Command CANopen Baldor CAN Default Range NextMove - - Description: This command downloads a Mint configuration file or a Mint program file from the manager node to a remote node. The command cannot be used on a non-manager node. Three parameters must be specified, the bus number, a Mint array specifying the remote nodes, and the file type. The file type can take the following values. Value Mint Constant Description 1 _ftconfig The Mint configuration file is downloaded. 2 _ftprogram The Mint program file is downloaded. Mint Workbench can be used to initially download the programs to the Mint configuration and program buffers on the manager node. These are the files that can then be transferred using REMOTEMINTFILEDOWNLOAD to a remote node. Array files cannot be downloaded. A CTRL-E is automatically issued in order to break any program currently running on the remote node. This keyword can also be used to download files to third-party nodes. The process uses segmented data transfer using the default SDO channel and objects 1F50 h and 1F51 h as described in DS302 (CiA CANopen specification), which must also be supported on the third-party node. Since the files have to be stored in the Mint buffers on the manager node, they must be in ASCII format. In order to transfer binary files it is suggested that an intermediate format such as Intel hex is used. Example DIM mynodes(5)=2,3,4,5,6 REMOTEMINTFILEDOWNLOAD(1, mynodes, _ftprogram) The above code would be typed at the command line. The current Mint program in the master node would be downloaded to all the nodes in the array. Restrictions: Only applies to CANopen (bus #1). The command can only be issued on the CANopen manager node. See also: NODESCAN, REMOTERUN UM

24 Page No. Section/ Keyword Amendment 90 REMOTEOBJECT The Format section should read: value = REMOTEOBJECT(node, index, subindex, vartype) REMOTEOBJECT(node, index, subindex, vartype) = value The Dot Parameters section should read: value The value of the Object Dictionary entry The Description section should read: The REMOTEOBJECT function allows read and write access to entries in the Object Dictionary of a remote CANopen node. Entries in an Object Dictionary will all have been assigned access rights. These may, or may not permit read or write access using the REMOTEOBJECT function. Please refer to the device s manual for more information. The REMOTEOBJECT function can be used to read and write to entries of the following variable types (Mint constants are supplied): Variable Type Mint Constant 2 _robint8 3 _robint16 4 _robint32 5 _robuint8 6 _robuint8 7 _robuint32 Care must be taken when using the REMOTEOBJECT Mint keyword to access 32-bit Integer values (_INT32 and _UINT32) as only a 24-bit Integer can be accuratley represented in Mint as a floating point number. The lower bits of the value may be lost in conversion. The REMOTEOBJECTHI and REMOTEOBJECTLO functions can be used to access 32-bit Object Dictionary entries. This is because Mint can only accurately represent up to 24-bit Integers and so 32-bit entries must be read in two 16-bit chunks. In order to use the REMOTEOBJECT function, the node must be connected to the Baldor controller via CANopen, be running at the same baud rate and have a unique node identifier. This functionality was added in Mint v4.2 Build UM

25 Mint v4 CAN Programming Guide Page No. Section/ Keyword Amendment 91 REMOTEOBJECTHI The Purpose section should read: Allows read and write access to 32-bit Integer entries in the Object Dictionary of a remote CANopen node. The Format section should read: value = REMOTEOBJECTHI(node, index, subindex, vartype) REMOTEOBJECTHI(node, index, subindex, vartype) = value The Dot Parameters section should read: value The value of the Object Dictionary entry The Description section should read: The REMOTEOBJECTHI function allows read and write access to 32-bit entries in the Object Dictionary of a remote CANopen node. It accesses the higher 16-bits of the entry (most significant bits), leaving the lower 16-bits untouched. Entries in an Object Dictionary will all have been assigned access rights. These may, or may not permit read or write access using the REMOTEOBJECTHI function. Please refer to the device s manual for more information. The REMOTEOBJECTHI function can be used to read and write to entries of the following variable types (Mint constants are supplied): Variable Type Mint Constant 4 _robint32 7 _robuint32 In order to use the REMOTEOBJECT function, the node must be connected to the Baldor controller via CANopen, be running at the same baud rate and have a unique node identifier. This functionality was added in Mint v4.2 Build UM

26 Page No. Section/ Keyword Amendment 92 REMOTEOBJECTLO The Purpose section should read: Allows read and write access to 32-bit Integer entries in the Object Dictionary of a remote CANopen node. The Format section should read: value = REMOTEOBJECTLO(node, index, subindex, vartype) REMOTEOBJECTLO(node, index, subindex, vartype) = value The Dot Parameters section should read: value The value of the Object Dictionary entry The Description section should read: The REMOTEOBJECTLO function allows read and write access to 32-bit entries in the Object Dictionary of a remote CANopen node. It accesses the lower 16- bits of the entry (least significant bits), leaving the higher 16-bits untouched. Entries in an Object Dictionary will all have been assigned access rights. These may, or may not permit read or write access using the REMOTEOBJECT function. Please refer to the device s manual for more information. The REMOTEOBJECT function can be used to read and write to entries of the following variable types (Mint constants are supplied): Variable Type Mint Constant 4 _robint32 7 _robuint32 In order to use the REMOTEOBJECT function, the node must be connected to the Baldor controller via CANopen, be running at the same baud rate and have a unique node identifier. This functionality was added in Mint v4.2 Build UM

27 Mint v4 CAN Programming Guide Page No. Section/ Keyword 99 REMOTERUN New keyword added. Amendment REMOTERUN Purpose: This command can be issued on the CAN manager node to start execution of the Mint configuration file and program file on a remote node. The command cannot be used on a non-manager node. Controllers Supported: The command can be executed on NextMove PCI, NextMove BX and ServoNode 51. Format: REMOTERUN{.bus}.node Dot Parameters: bus - CAN bus no node CAN node number Attributes: Controller Read Write Command CANopen Baldor CAN Default Range NextMove - - Description: The REMOTERUN keyword can be used to cause a remote node to run its Mint configuration and program files. Example 1: REMOTERUN.1.4 : REM Request node 4 to run its Mint files. Node 4 must already be connected to bus 1 and must already be live. Example 2: REMOTERUN.4 : REM Request node 4 to run its Mint files. The BUS keyword must have been previously used to set the default CAN bus to be bus 1. Restrictions: Only applies to CANopen (bus #1). The command can only be issued on the CANopen manager node. See also: BUS, NODESCAN, REMOTEMINTFILEDOWNLOAD UM

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29 NextMove PCI Installation Manual 4. NextMove PCI Installation Manual 4 This chapter provides an errata to the NextMove PCI Installation Manual [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

30 Page No. Section/ Keyword Amendment The Baldor Motion Toolkit supports the following operating systems: Windows 95, Windows 98, Windows ME, Windows NT 4 (SP3+), Windows 2000 and Windows XP. 20 UM

31 NextMove PC Installation Manual 5. NextMove PC Installation Manual 5 This chapter provides an errata to the NextMove PC Installation Manual [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

32 Page No. Section/ Keyword Amendment i Copyright The limited warranty section should read: Limited Warranty For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused, abused, or improperly installed and has been used in accordance with the instructions and/or ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall not be held responsible for any expense (including installation and removal), inconvenience, or consequential damage, including injury to any person or property caused by items of our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of incidental or consequential damages, so the above exclusion may not apply.) In any event, BALDOR s total liability, under all circumstances, shall not exceed the full purchase price of the control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with all pertinent data as to the defect, the date purchased, the task performed by the control, and the problem encountered. No liability is assumed for expendable items such as fuses. Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid The circuit and description for the fast interrupt input should read as follows: The fast interrupt is a high speed processor interrupt which results in the latching of all axis positions within 30µs. It can therefore be used in high speed print registration type applications. When triggered, axis positions are captured and a user interrupt can be called. The user must drive the input!ext.int.u with a negative going pulse at nominally 5V. The signal is AC decoupled to give a 100ns pulse on the falling edge of the input, this requires that the input fall time be in the order of 10 to 50ns. Slower fall times will result in short pulses which may not be detected by the controller. Only one pulse will be generated, if the signal is held low no further events will be generated. The rising edge does not generate an interrupt. Mechanical switches are not recommended for this input as switch bouncing may cause multiple interrupts. 22 UM

33 NextMove PC Installation Manual Fast Interrupt Circuit Page No. Section/ Keyword Amendment The description for pins 1 to 12 on JP5 should read as follows: Pin Signal Function 1 agnd Analog ground 2 anin0 Analog input 0 (0+) 3 anin2 Analog input 2 (2+) 4 anin1 Analog input 1 (0-) 5 anin3 Analog input 3 (2-) 6 agnd Analog ground 7 agnd Analog ground 8 anin4 Analog input 4 (4+) 9 anin6 Analog input 6 (6+) 10 anin5 Analog input 5 (4-) 11 anin7 Analog input 7 (6-) 12 agnd Analog ground UM

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35 NextMove BX Installation Manual 6. NextMove BX Installation Manual 6 This chapter provides an errata to the NextMove BX Installation Manual [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

36 Page No. Section/ Keyword Amendment ii Copyright The limited warranty section should read: Limited Warranty For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused, abused, or improperly installed and has been used in accordance with the instructions and/or ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall not be held responsible for any expense (including installation and removal), inconvenience, or consequential damage, including injury to any person or property caused by items of our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of incidental or consequential damages, so the above exclusion may not apply.) In any event, BALDOR s total liability, under all circumstances, shall not exceed the full purchase price of the control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with all pertinent data as to the defect, the date purchased, the task performed by the control, and the problem encountered. No liability is assumed for expendable items such as fuses. Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid. 2 1 Hardware Guide: Sections 7 and 8 provide a detailed description of the hardware interfaces on NextMove BX The 4 servo amplifier demands are +/- 10V 14 bit Measured Position (POS) is also available for data capture The following symbols can be seen on the LED status display. During normal operation: Display Meaning 1-F Running MINT, serial node number of the controller is displayed in hex. (1 15). M Running MINT, serial node number of the controller is 0 or greater than UM

37 NextMove BX Installation Manual When the controller is turned on, the following sequence will be seen: Display Meaning all segments Board in reset. B Booting. J Starting Mint firmware. M or 1-F Firmware is running. When updating firmware on the controller, the following sequence will be seen. When update is complete, the boot sequence above should be seen. Display Meaning R Performing RAM test. F Erasing FLASH memory. L Updating firmware. The following symbols are error conditions. Errors are denoted by the flashing of the dot on the display at approximately 10Hz. If the following conditions are seen, please contact technical support. Display D C S R F E G Y or T U Meaning DUART (serial driver) failure. CAN failure. Memory not detected correctly. Memory failed test. Failed to erase FLASH. Firmware update was not successful. EEPROM write failure Mint failed to start correctly. Try updating firmware again. (no flashing dot) Cannot detect firmware. Try updating firmware again. UM

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39 Mint v4 Embedded Programming Guide 7. Mint v4 Embedded Programming Guide 7 This chapter provides an errata to the Mint v4 Embedded Programming Guide [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

40 Page No. Section/ Keyword Amendment 32 Writing a DAC value New section in Open Architecture. The _TServoLoopData structure contains the usedac element which can be used to prevent the DACValue from being written to the DAC at the end of the servo loop. A new function has been added that allows DACs to be written by the user. This allows the timing of the DAC writes to be selected by the user. Prototype: C void doapplydacs ( void ); doapplydacs Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: When the doapplydacs function is called, the current value of DACValue in the _TServoLoopData structure is written to all DAC channels that have usedac set to false. The axes have to be configured as servo for the DAC write to occur. 30 UM

41 Mint v4 Function Reference Guide 8. Mint v4 Function Reference Guide 8 This chapter provides an errata to the Mint v4 Function Reference Guide [MN ] The Amendment information either replaces or is additional information for the specified sections. UM

42 Page No. Section/ Keyword Amendment 24 AsyncError An example of how the call the getasyncerror function from Visual Basic is shown below. Dim i As Integer Dim present As Long Dim misc As Long Dim error As Variant Dim warning As Variant 'pci is the ActiveX control pci.getasyncerror present, misc, error, warning 'present and misc are longs. 'can be accessed as arrays. Error and warning Label1.Caption = present Label2.Caption = misc For i = 0 To 11 Label3(i).Caption = error(i) Next For i = 0 To 11 Label4(i).Caption = warning(i) Next 45 BusVoltage New functions added Mint v4.0 Build BusVoltage Prototype: C/C++ - int16 getbusvoltage ( int16 *pnvoltage ); ActiveX - HRESULT getbusvoltage ([out] short *pnvoltage ) Parameters: pnvoltage: The DC bus voltage. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC 32 UM

43 Mint v4 Function Reference Guide Description: Reads the DC bus voltage on a MintDrive. This is useful on an external 24V MintDrive to check that the mains voltage is at the correct level before attempting motion. If the bus voltage is below the bus voltage threshold, an error will be generated. This will be reported by the DriveFault function. The threshold below which an error is generated is controlled by the BusVoltageThreshold function. Example (VB) On a MintDrive with a 240V AC input, the DC bus voltage can be read as follows: DIM DCBus as integer MyMintDrive.getBusVoltage DCBus The DC bus voltage is calculated as follows: DC voltage = AC voltage x 2 See also: BusVoltageThreshold, DriveFault BusVoltageThreshold Prototype: C/C++ - int16 getbusvoltagethreshold ( int16 *pnvoltage ); int16 setbusvoltagethreshold ( int16 nvoltage ); ActiveX - HRESULT getbusvoltagethreshold ([out] short *pnvoltage ) HRESULT setbusvoltagethreshold ([in] short nvoltage ) Parameters: nvoltage: The DC bus voltage. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: On MintDrive, if the DC bus voltage drops below the bus voltage threshold, an error will be generated. This will be reported by the DriveFault function. The threshold below which an error is generated is controlled by the BusVoltageThreshold keyword. Setting a voltage threshold of zero turns off the error detection. UM

44 The DC bus voltage is the AC bus voltage x 2. The current bus voltage can be read with the BusVoltage function. Page No. See also: BusVoltage, DriveFault Section/ Keyword Amendment 72 CaptureData An example of how the call the getcapturedata function from Visual Basic is shown below. Dim points as Integer Dim first as Integer Dim temp () as Single Dim capturedata as Variant 'read the number of points and starting position. 'pci1 is ActiveX control pci1.getcaptureinfo points, first 'Allocate data size based on number of points ReDim temp(points + 1) 'Assign capturedata to allocated memory capturedata = temp pci1.getcapturedata 0, capturedata 'Capture data is now held in capturedata and can be accessed as an array. Page No. Section/ Keyword 79 ChannelConfig New function added: Amendment ChannelConfig Prototype: C/C++ - int16 getchannelconfig ( int16 nchannel, int16 *pnconfig); int16 setchannelconfig ( int16 nchannel, int16 nconfig ); ActiveX - HRESULT getchannelconfig ([in] short nchannel, [out] short *pnconfig) 34 UM

45 Mint v4 Function Reference Guide HRESULT setchannelconfig ([in] short nchannel, [in] short nconfig) Parameters: nchannel: The hardware channel number. nconfig: The configuration to select. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: On NextMove PCI, servo and stepper motion is performed by a ASIC which is capable of supporting both a servo axis and a stepper axis. Each ASIC is referenced by a channel number and NextMove PCI can have up to four channels labelled 0 to 3. Channels on a NextMove PCI expansion card are labelled 4 to 7. See section 2 for a full description of controller channels. An ASIC is capable of supporting position capture and position compare but only for one of the axes that is using that ASIC. The ChannelConfig function allows the user to select if the position capture and position compare functionality can be used by the servo or stepper axis using that channel (ASIC). To select the servo axis, ChannelConfig is set to 1. To select the stepper axis, ChannelConfig is set to 2. The same Mint constants that are used with the Config function can be used. Value Predefined Constant Meaning 1 cfservo The servo axis using this channel has access to position capture and compare. 2 cfstepper The stepper axis using this channel has access to position capture and compare. Each axis is associated with a channel and this can be read with the AxisChannel function. The VIEW CONFIG keyword can also be used in Mint to display this information in the terminal. By default, all channels are configured to allow the servo axis using that channel access to position capture and position compare functionality. ChannelConfig should be called before attempting to call keywords related to position capture and compare. If the channel is not set up correctly, the error Channel incorrectly configured will be returned. See also: AxisChannel, Config, FastSelect, CompareMode UM

46 Page No. Section/ Keyword Amendment 87 CommsRead In Mint v4, the Comms function should be used to access protected Comms locations from both the host and the controller. The CommsRead function provides backwards compatibility to older controllers that are not running Mint v4. 87 CommsWrite In Mint v4, the Comms function should be used to access protected Comms locations from both the host and the controller. The CommsWrite function provides backwards compatibility to older controllers that are not running Mint v The body of GlobalErrorOutput should read: Parameters: noutput: The output to use as the global error output. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: When an asynchronous error occurs, Mint has the ability to de-activate a safety output known as the global error output signal. This can be a digital output channel or a relay. The output is deactivated as soon as an asynchronous error occurs on any axis. It does not wait for any assigned default action to be completed. The user must manually re-activate the output when required. If an axis drive enable output and the global error output are both configured to the same output, then the global error output functionality remains unchanged. The drive will be disabled even if the requested error mode was to leave the drive enabled. Value Predefined Constant Description -1 There is no global error output. Digital Output Global error output is a digital output channel number. channel number 1000 _RELAY0 Global error output is the relay on the main card 1001 _RELAY1 Global error output is the relay on expansion card 1 (PCI only) 1002 _RELAY2 Global error output is the relay on expansion card 2 (PCI only) 36 UM

47 Mint v4 Function Reference Guide By default, the relay is the global error output signal. Page No. Section/ Keyword Amendment 212 InterpolatedMoves New function added in Mint v4.2 Build 1224 and ActiveX Build 1306 InterpolatedMoves Prototype: C/C++ - int16 setinterpolatedmoves( float *pfdata ); ActiveX - HRESULT setinterpolatedmoves( [in] VARIANT pfdata ) Parameters: pfdata: A pointer to the data to be loaded. Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: This function allows a stream of interpolated move data to be sent from the host to the controller in one function call. This greatly reduces the overhead in sending the moves individually and allows a much greater throughput to be achieved. The function can be used with the following move types: VECTORR / VECTORA CIRCLER / CIRCLEA HELIXR / HELIXA The pointer pfdata must point to correctly formatted data. When the function is called, the data is passed to the controller and the moves loaded individually as if the loading functions had been called individually. If any of the loading functions fail, the function will immediately abort and return the error code. The complete set of data will not have been loaded on the controller. The user should ensure that there is enough space to load all of the moves specified in the call. UM

48 The data format is as follows: Data[0] number of data points Data[1] number of moves Data[2]...Data[n] move data For each move: Data[n] move type Data[n+1] number of axes involved in move Data[n+2]...Data[m] the axes Data[m+1]...Data[p] data. The amount of data depends on the move type and number of axes. The following constants are provided for the move type: Value Constant Description 1 imvectorr The move is a VECTORR. 2 imvectora The move is a VECTORA. 3 imcircler The move is a CIRCLER. 4 imcirclea The move is a CIRCLEA. 5 imhelixr The move is a HELIXR. 6 imhelixa The move is a HELIXA. Example: The following code shows the difference between loading moves individually and as a block. /* Load data using individual function calls */ data2[0]=10; data2[1]=1; MILError ("Move",myNMPCI.setVectorR (2, axes2, data2)); data2[0]=0; data2[1]=0; MILError ("Move",myNMPCI.setVectorA (2, axes2, data2)); MILError ("Move",myNMPCI.setCircleR (0, 1, 5, 5, -360)); MILError ("Move",myNMPCI.setCircleA (0, 1, 1, 1, 360)); MILError ("Move",myNMPCI.setHelixR (0, 1, 2, -1, -1, 360, 20)); MILError ("Move",myNMPCI.setHelixR (0, 1, 2, -10, -10, 60, 5)); 38 UM

49 Mint v4 Function Reference Guide /* Load data as a block */ int16 loc = 1; // No. moves interpolatedmove[loc++] = 6; // Move Type interpolatedmove[loc++] = imvectorr; interpolatedmove[loc++] = 2; // no. axes interpolatedmove[loc++] = 0; // axis interpolatedmove[loc++] = 1; // axis interpolatedmove[loc++] = 10; // data interpolatedmove[loc++] = 1; // data // Move Type interpolatedmove[loc++] = imvectora; interpolatedmove[loc++] = 2; // no. axes interpolatedmove[loc++] = 0; // axis interpolatedmove[loc++] = 1; // axis interpolatedmove[loc++] = 0; // data interpolatedmove[loc++] = 0; // data // Move Type interpolatedmove[loc++] = imcircler; interpolatedmove[loc++] = 2; // no. axes interpolatedmove[loc++] = 0; // axis interpolatedmove[loc++] = 1; // axis interpolatedmove[loc++] = 5; // data interpolatedmove[loc++] = 5; // data interpolatedmove[loc++] = -360; // data // Move Type interpolatedmove[loc++] = imcirclea; interpolatedmove[loc++] = 2; // no. axes interpolatedmove[loc++] = 0; // axis interpolatedmove[loc++] = 1; // axis interpolatedmove[loc++] = 1; // data interpolatedmove[loc++] = 1; // data interpolatedmove[loc++] = 360; // data // Move Type interpolatedmove[loc++] = imhelixr; interpolatedmove[loc++] = 3; // no. axes interpolatedmove[loc++] = 0; // axis interpolatedmove[loc++] = 1; // axis interpolatedmove[loc++] = 2; // axis interpolatedmove[loc++] = -1; // data interpolatedmove[loc++] = -1; // data interpolatedmove[loc++] = 360; // data interpolatedmove[loc++] = 20; // data // Move Type interpolatedmove[loc++] = imhelixa; UM

50 interpolatedmove[loc++] = 3; interpolatedmove[loc++] = 0; interpolatedmove[loc++] = 1; interpolatedmove[loc++] = 2; interpolatedmove[loc++] = -10; interpolatedmove[loc++] = -10; interpolatedmove[loc++] = 60; interpolatedmove[loc++] = -5; // no. axes // axis // axis // axis // data // data // data // data // Amount of data interpolatedmove[0] = loc; MILError ("Move",myNMPCI.setInterpolatedMoves (interpolatedmove)); Example: The following code shows loading the move in Visual Basic. Dim interpolatedmove(0 To 1000) As Single Dim loc As Integer Dim axes(0 To 2) As Integer axes(0) = 0 axes(1) = 1 axes(2) = 2 loc = 1 ' No. moves interpolatedmove(loc) = 6 ' Move Type interpolatedmove(loc) = imvectorr interpolatedmove(loc) = 2 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis interpolatedmove(loc) = 10 ' data interpolatedmove(loc) = 1 ' data ' Move Type interpolatedmove(loc) = imvectora interpolatedmove(loc) = 2 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis 40 UM

51 Mint v4 Function Reference Guide interpolatedmove(loc) = 0 interpolatedmove(loc) = 0 ' data ' data ' Move Type interpolatedmove(loc) = imcircler interpolatedmove(loc) = 2 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis interpolatedmove(loc) = 5 ' data interpolatedmove(loc) = 5 ' data interpolatedmove(loc) = -360 ' data ' Move Type interpolatedmove(loc) = imcirclea interpolatedmove(loc) = 2 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis interpolatedmove(loc) = 1 ' data interpolatedmove(loc) = 1 ' data interpolatedmove(loc) = 360 ' data ' Move Type interpolatedmove(loc) = imhelixr interpolatedmove(loc) = 3 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis interpolatedmove(loc) = 2 ' axis interpolatedmove(loc) = -1 ' data interpolatedmove(loc) = -1 ' data UM

52 interpolatedmove(loc) = 360 interpolatedmove(loc) = 20 ' data ' data ' Move Type interpolatedmove(loc) = imhelixa interpolatedmove(loc) = 3 ' no. axes interpolatedmove(loc) = 0 ' axis interpolatedmove(loc) = 1 ' axis interpolatedmove(loc) = 2 ' axis interpolatedmove(loc) = -10 ' data interpolatedmove(loc) = -10 ' data interpolatedmove(loc) = 60 ' data interpolatedmove(loc) = -5 ' data ' Amount of data interpolatedmove(0) = loc pci.setinterpolatedmoves interpolatedmove pci.dogo 3, axes Using the setinterpolatedmoves function gives approximately a 40% time saving over the individual function calls. (1GHz Pentium 3). Page No. Section/ Keyword 313 RemoteMintFile- Download New function added Amendment Prototype: C/C++ RemoteMintFileDownload - int16 doremotemintfiledownload( int16 ncanbus, int16 nnode, LPCTSTR sfilename, int16 nfiletype, void (MIL_CALLBACK *lpfnprogress)( int16 ninformation )=NULL, BOOL (MIL_CALLBACK *lpfncancel) ( void )=NULL, HWND hwndprogress = NULL); ActiveX - HRESULT doremotemintfiledownload([in]short ncanbus, [in]short nnode,[in]bstr sfilename,[in]short nfiletype); 42 UM

53 Mint v4 Function Reference Guide Parameters: ncanbus: This specifies the CAN bus on which the function will apply: 1 CANopen nnode: The remote Baldor node number to download to. sfilename: The Mint program or configuration file to be downloaded. nfiletype: Indicates program or configuration file. lpfnprogress: Progress callback function. Set to NULL if not used (C++ only). lpfncancel: Cancel callback function. Set to NULL if not used (C++ only). hwndprogress: Handle to the progress window. Set to NULL if not used (C++ only). Controllers Supported: NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51 Target Supported: Controller PC Description: This function downloads a Mint configuration file or a Mint program file from the manager node to a remote node. The function can only be called from the host and can only be used on the manager node. The remote node must already be live on the CAN bus before calling the function. The file type specifier can take the following values. Value Mint Constant Description 1 fileconfig The specified file is to be downloaded to the Mint configuration buffer. 2 fileprogram The specified file is to be downloaded to the Mint program buffer. Array files cannot be downloaded. A CTRL-E is automatically issued in order to break any program currently running on the remote node. This function can also be used to download files to third-party nodes. The process uses segmented SDO transfer using the default channel and objects as described in DS302 (CiA CANopen specification). Since the files have to be stored in the Mint buffers on the manager node, they must be in ASCII format. In order to transfer binary files it is suggested that an intermediate format such as Intel hex is used. Example (Visual Basic): The ActiveX control (mypci) is linked to a NextMove PCI card that is the master of the CANopen network. A NextMove BX, node 5, is live on the bus. The following code downloads a Mint program and configuration file to the BX and then runs them. UM

54 Private Sub Download_Click() On Error GoTo DownloadError mypci.doremotemintfiledownload 1, 5, "example.mnt", fileprogram mypci.doremotemintfiledownload 1, 5, "example.cfg", fileconfig mypci.doremoterun 1, 5 Exit Sub DownloadError: Dim error As Long error = VBErrorToMIL(Err) MsgBox "Error downloading to remote node. Err.Description Error: " & error & " - " & End Sub Restrictions: Only applies to CANopen (bus #1). The command can only be issued to the CANopen manager node. This functionality was added in Mint v4.2 Build See Also: RemoteRun Page No. Section/ Keyword 313 RemoteObject New function added Amendment Prototype: C/C++ RemoteObject - int16 getremoteobject( int16 ncanbus, int16 nnodeid, int16 nindex, int16 nsubindex, int16 nvartype, int32 *lvalue ); int16 setremoteobject( int16 ncanbus, int16 nnodeid, int16 nindex, int16 nsubindex, int16 nvartype, int32 lvalue ); ActiveX - HRESULT getremoteobject([in] short ncanbus, [in] short nnodeid, [in] short nindex, [in] short nsubindex, [in] short nvartype, [out] long *plvalue); HRESULT setremoteobject([in] short ncanbus, [in] short nnodeid, [in] short nindex, [in] short nsubindex, [in] short nvartype, [in] long lvalue); 44 UM