Mint Configuration Tool

Transcription

1 Mint Configuration Tool Users Guide MN1284 Issue 1.0 MN /2000

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3 Copyright and Safety Information Copyright Baldor Optimised Control 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 Optimised Control. Baldor Optimised Control 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 Optimised Control assumes no responsibility for any errors that may appear in this document. MINT is a registered trademark of Baldor Optimised Control Ltd. Windows 95, Windows 98 and Windows NT are registered trademarks of the Microsoft Corporation. Limited Warranty For a period of one (1) year from the date of original purchase, BALDOR will repair or replace without charge controls 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 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. Baldor Optimised Control Ltd Hotwell Road Bristol BS8 4RP U.K. Telephone: +44 (0) Fax: +44 (0) sales@baldor.co.uk Web site: 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: MN /2000 i

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5 Copyright and 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 start-up, 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. MN /2000 iii

6 Mint Configuration Tool Users Guide WARNING: Be sure all wiring complies with the National Electrical Code and all regional and local codes. Improper wiring may result in unsafe conditions. 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. iv MN /2000

7 Copyright and Safety Information CAUTION: To ensure reliable performance of this equipment be certain that all signals to/from the controller are shielded correctly. MN /2000 v

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9 Manual Revision History Manual Revision History Issue Date BOCL Reference Comments UM First Draft MN /2000 vii

10 Mint Configuration Tool Users Guide viii MN /2000

11 Contents Read Me First... 1 Software Installation Minimum System Requirements To Install the Mint Configuration Tool Direct Installation... 4 Start Up Wizard Start Up Wizard Introduction Page Project Details Page Controller Type Selection Page Axis Display Bar Axes Selection Page Axes Scale Parameters Page Scaling Servo Axes Scaling Stepper Axes Axes Tests Selection Page Drive Enable Test Page Direction and Command Test Page MintDrive Motor Parameters Standard Motor Tuning Procedure Servo Tuning Page Servo Tuning Help Tab Speed Loop Tuning Tab Position Loop Tuning tab Tuning Graph Tab MN /2000 ix

12 Mint Configuration Tool Users Guide Step Response Statistics Tab Jog and Direction Test Page Wizard Finish Page Mint Configuration Tool Wizard Mode Manual Mode MCT menu Bar MCT Tool Bar MCT Help Bar MCT Control Bar Drag and Drop Input / Output Configuration Digital Inputs Page Digital Outputs Page Analog Inputs Page Axis Tuning Page Axis Parameters Page Motion Parameters Encoder Parameters Backlash Parameters Home Parameters Axis Errors Page Error Masks and Error Modes Limits and Errors Miscellaneous Page Auxiliary Encoder Terminal Configuration Create Configuration Page x MN /2000

13 Contents 4.16 Configuration File Display Bibliography MN /2000 xi

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15 Read Me First 1. Read Me First 1 This chapter provides an overview of the manual. MN /2000 1

16 Mint Configuration Tool Users Guide The Mint Configuration Tool (MCT) is a rapid getting started and configuration utility designed for use with a number of Mint v4 controllers. The MCT has the following features: Automatic hardware detection utility. Getting started with drive configuration wizard. Data capture and drive tuning facility. Rapid drag and drop digital I/O configuration utility. Automatic configuration file generation utility. Project workspace save utility. 2 MN /2000

17 Software Installation 2. Software Installation 2 Software Installation MN /2000 1

18 Mint Configuration Tool Users Guide The MCT is supplied on the Mint Programmers Toolkit CD-ROM. This will have been supplied with your controller and can be found enclosed in the back of the Installation Guide. 2.1 Minimum System Requirements In order to install the MCT, the PC must conform to the minimum requirements: Processor: Intel Pentium Minimum RAM: 16 Mbyte Hard Disk Space: 10 Mbytes CD-ROM: Required Screen: 800 x 600 (minimum) Operating System: Windows 95, Windows 98 or Windows NT Recommended: Intel Pentium, 32 Mb RAM, 133 MHz, 40MB hard disk space free 2.2 To Install the Mint Configuration Tool To install the software insert the CD-ROM into the PC CD-ROM device. If you have a suitable webrowser (e.g. Internet Explorer 5), the following html page will be displayed: 2 MN /2000

19 Software Installation If you do not have a web browser or your web browser doesn t support frames this page will not be opened. You can install Internet Explorer 5 from the CD, or install the Mint Configuration Tool directly (see section 2.2.1). Select the controller you have from the menu bar at the top. The Mint Configuration Tool supports both NextMove PCI and MintDrive and can therefore be installed from either area. A list of tools that can are relevant to the controller you have selected will be displayed: To install the Mint Configuration Tool click on the Install Now hyperlink. You will be presented with a Security Warning dialogue. This dialogue is presented because Baldor is not currently registered with the Trust Provider. Click Yes to continue with the installation. The setup wizard performs a complete installation of the software. The on-screen instructions should be followed. The Set-up Wizard copies the MCT files to appropriate directories on the hard disk. There is a choice of what drive and directory to use. The default directory is C:\Program Files\Baldor Optimised Control\Mint Configuration Tool. Once the installation is complete you will be asked to restart your PC. MN /2000 3

20 Mint Configuration Tool Users Guide Direct Installation To install the Mint Configuration Tool if you don t have a suitable web browser. Open Windows Explorer and explore the CD and run the setup program located under \Installation\Mint Configuration Tool. The setup wizard performs a complete installation of the software. The on-screen instructions should be followed. The Set-up Wizard copies the MCT files to appropriate directories on the hard disk. There is a choice of what drive and directory to use. The default directory is C:\Program Files\Baldor Optimised Control\Mint Configuration Tool. Once the installation is complete you will be asked to restart your PC. 4 MN /2000

21 Start Up Wizard 3. Start Up Wizard 3 Start Up Wizard MN /2000 1

22 Mint Configuration Tool Users Guide To start the MCT from Windows Start menu, select Programs, MINT Tools, Mint Configuration Tool. The MCT will open displaying the first screen of the Start-Up Wizard (see section 3.1). At this point the user is ready to begin the controller configuration process. 3.1 Start Up Wizard The Start Up Wizard provides a step by step guide through the basic configuration of a Baldor motor controller. The configuration sequence varies according to the type of controller and motor in use. For a more detailed explanation of each stage refer to the following sections Introduction Page The Introduction Page is presented when the MCT is started. Figure 1: Introduction Page The Introduction Page provides two options: (a) To create a new project; By pressing the Next button the Wizard will guide you through the initial controller selection process and optional hardware tests, before launching the Mint Configuration Tool. (b) To open an existing project. If you have already created an MCT project and want to modify this, then press the Open an existing project button. 2 MN /2000

23 Start Up Wizard You will be given a dialogue box to select the required MCT project file. MCT project files have a.mct file extension e.g. myproj.mct. After selecting the required project file, the file will be opened in the Mint Configuration Tool (see section 4) Project Details Page The Project Details Page allows the user to enter optional project specific information. Figure 2: Project Details Page These fields do not have to be filled in. This information is recorded as a comment block in the final configuration file. MN /2000 3

24 Mint Configuration Tool Users Guide Controller Type Selection Page The Controller Type Selection Page allows the user to select the required controller. When this page becomes visible an automatic scan is initiated to locate controllers already connected to the PC. If no controllers are available the MCT can run with no controller connected to the PC, however in this mode drive tuning and optimization is not available. The scan checks all available COM ports for serial based controllers. The scan checks all RS485 nodes on all available COM ports for serial based controllers The scan locates any NextMove PCI cards located within the PC. The current progress of the scan is displayed in the Status Window. Once the scan is complete a list of available controllers, addresses and COM ports is produced. Figure 3: Select Controller window To select a controller, the user must select the type of controller in the Select Controller pull-down and its address or COM port in the Controller Address pull-down. If no controllers were located, the Select Controller pull-down displays the message No controllers were found. At any time the user can perform a new search for hardware by pressing the Rescan button. 4 MN /2000

25 Start Up Wizard To run the MCT with no controller hardware connected, check the Run Mint Configuration Tool without controller hardware option on the dialog. This allows the user to run the MCT and produce a basic configuration file for any of the controller types available in the Select Controller pull-down. The following controllers can be supported without hardware: MintDrive with Encoder feedback MintDrive with Resolver feedback NextMove BX NextMove PC NextMove PC with Servo Expansion board NextMove PC with Stepper Expansion board NextMove PCI NextMove PCI with Expansion board Axis Display Bar At various stages throughout the Start Up Wizard the tests require direct communication with the controller when hardware is available. Pages that communicate directly with a controller contain the Axis Error Display Bar. Figure 4:Axis Error Display Bar The Axis Error Display Bar periodically checks the controller as errors may occur at any time. If an error does occur the error number is displayed on the bar. To display a textual description of the error click on the error number display panel. To clear the error click on the Clear Errors button. The Error number is equivalent to the AXISERROR keyword in Mint. This gives a bitmap of any motion errors that have occurred on the controller. The Clear Errors button is equivalent to the CANCEL keyword/command in Mint. This will clear any motion errors that have been latched. If the error condition is still present though, the error bit will be re-latched. MN /2000 5

26 Mint Configuration Tool Users Guide A summary of Motion errors is detailed below: Bit Meaning NextMove MintDrive 0 Motion aborted 1 Forward hardware limit hit 2 Reverse hardware limit hit 3 Forward software limit exceeded 4 Reverse software limit exceeded 5 Following error limit exceeded 6 Reserved 7 External error input active 8 Reserved 9 Internal drive fault 10 Analog value limit exceeded 11 Master/slave synchronization error 12 Reserved 13 Drive Enable Inactive 14 Reserved 15 Maximum speed exceeded 16 Drive Communications failure 17 Velocity exceeded VELFATAL 18 Acceleration exceeded ACCELFATAL 6 MN /2000

27 Start Up Wizard Axes Selection Page The Axes Selection Page allows the user to view and select available axes for the current controller type. Available axes and their current configurations are displayed in the axes select list box. If more than one axis is selected all relevant stages of the start up wizard will be repeated for each axis in the list. Figure 5: Axes Selection Page This page shows each available axis, its current configuration and the possible configurations that it may be assigned to. By default all axes will be selected and have a default configuration. Depending upon the controller, an axis may be configured as follows: Off the axis is not selected and will not be configured further. Servo the axis is configured for connection to a servo motor. Stepper the axis is configured for connection to a stepper motor. To de-select an axis, click the left mouse button whilst over the relevant axis. The axis will not be highlighted and configured as Off. To configure an unselected axis, click the left mouse button whilst over that axis. If the axis can be configured as either a Servo or Stepper the following dialogue will also appear select the desired configuration. Otherwise, the axis assumes the default configuration. MN /2000 7

28 Mint Configuration Tool Users Guide Axes Scale Parameters Page The Axes Scale Parameters Page allows the user to configure the scale parameters required for basic configuration. The currently selected axes are displayed in the scale list box. For each axis in the list the current scale value is displayed. Left mouse click on the list item to select the axis of interest. Figure 6: Axes Scale Parameters Page 8 MN /2000

29 Start Up Wizard Scaling Servo Axes For Servo axes the scale factor can be entered in two ways: 1. Counts per revolution. Counts per revolution automatically calculates the scale factor (to give position counts in Revs and speed references in Revs per second, etc) based on the number of encoder lines. The Encoder lines pull-down displays a list of commonly used numbers of lines. If the exact number of lines is not available use the Custom encoder lines option to enter a non standard number of lines. A MintDrive with Resolver feedback gives a simulated encoder line count of This is the only value that can be selected from the Encoder lines pull-down display. A MintDrive with Encoder feedback has three options in the Encoder lines pull-down display. These are 1000, 2500 and the Custom encoder lines option. Baldor BSM Encoder motors come with either a 1000 or 2500 line encoder, identified by the last letter of its part number the letter E denoting a 1000 line encoder and the letter F denoting a 2500 line encoder. If you are not using a Baldor BSM motor then you must specify the number of Encoder lines by selecting the Custom encoder lines option. 2. Counts per user unit. Counts per user unit is based purely on the scale factor entered by the user and no automatic calculation is used. The scale factor is used to convert between the minimum resolvable unit (encoder edges or steps) and user units. The following diagram illustrates the process of scaling. Figure 7: Affects of Scale All axis parameters such as slew speed, acceleration, move distances etc. use the axis scale factor. All speed parameters are specified in user units per second. All acceleration parameters are specified in user units per second 2. MN /2000 9

30 Mint Configuration Tool Users Guide The following table further illustrates the use of the Scale Factor: User Units (Position references) Resultant Distance of Travel per Rev Quadrature Counts N/A Revs N/A Inches 2 inches Metres 0.1 metre Centimetres 10 cm Millimetres 200 mm Scaling Stepper Axes For Stepper axes the scale factor can be entered in two ways: 1. Steps per revolution. Steps per revolution displays a list of commonly used number of steps in the Steps pull-down. The user should select the number of steps applicable to the current axis. 2. Steps per user unit. Steps per user unit is based purely on the scale factor entered by the user and no automatic calculation is used Axes Tests Selection Page The Axes Test Selection Page allows the user one of two options: 1. Launch the Mint Configuration Tool - Runs the main MCT without any further tests. This should only be selected if the user is familiar with the configuration process and is confident that the controller has been correctly installed. 2. Perform Axes Configuration Tests - Runs a series of Getting Started Tests that guide the user through the set up procedure for their controller. This helps to provide a good starting point for advanced configuration in the main MCT. 10 MN /2000

31 Start Up Wizard Figure 8: Axes Tests Selection Page Drive Enable Test Page This page is not present for MintDrive controllers. The Drive Enable Test Page allows the user to select and test the type of drive enable used for each of the selected axes. MN /

32 Mint Configuration Tool Users Guide Figure 9: Drive Enable Test Page Use the Drive enable drop down to select the required drive enable, relay or digital output. For digital outputs used the Toggle Drive Enable Active High/Low button to set its active state. Use the Drive Enable and Drive Disable buttons to test the current selection. Whenever the selected axis is enabled a Drive Creep Test is performed. If the drive is not aligned correctly and the motor is creeping a warning is displayed in the status window. Any problems with the drive should be resolved before continuing with further tests. The user should refer to their controller manual to resolve axis creep problems Direction and Command Test Page This page is not present for MintDrive controllers. The Direction and Command Test Page tests the motor s direction of rotation versus the command signal. The test automatically increments the command in both the clockwise and counter-clockwise directions until rotation is detected, a positive command signal should produce clockwise motion. The status panel indicates the current test progress. A green light next to the test indicates that the test has passed. A red light indicates that the test has failed. The light flashes yellow while testing is in progress. 12 MN /2000

33 Start Up Wizard Figure 10: Direction and Command Test Page To begin the command and direction test press the Run Test button. To abort the test at any time press the Abort Test button. If rotation is detected in the correct sense and the demand is within 25% of max DAC output the test is successful. If no rotation is detected or the rotation is opposite to that expected the test fails. Advanced encoder settings are available through the advance encoder settings dialog. To activate the dialog press the Advanced Encoder Settings button. MN /

34 Mint Configuration Tool Users Guide Figure 11: Advanced Encoder Settings Dialog MintDrive Motor Parameters This page is applicable to MintDrive only. The MintDrive Motor Parameters page provides an automatic method to tune the internal drive stage of a MintDrive. The tuning tests estimate the parameters by exercising the motor and drive and studying the response. Once the drive stage has been tuned, there is no need to carry out this procedure again unless the motor/drive combination is changed Standard Motor Tuning Procedure The screen shot in Figure 12 shows the MintDrive Motor Parameters page of the start up wizard. Follow the instructions below to automatically tune the MintDrive internal drive stage. 14 MN /2000

35 Start Up Wizard Figure 12: MintDrive Motor Parameters Page 1. Ensure that the Drive Enable input is active. 2. The catalog number of your motor should appear on the motor nameplate. Select the motor you are using by using the drop-down menu boxes to obtain the catalog number. 3. This will extract from a database a number of parameters that your MintDrive requires to perform the following tuning tests. 4. Click on the Coarse Tune Motor Parameters button, once you have selected the motor you are using, to proceed with a series of tuning tests. The tuning tests estimate the parameters by exercising the motor and drive and studying the response. Caution The shaft of the motor will move unpredictably during these tests. 5. The on-screen instructions will prompt you to confirm that you have no load connected to the motor before executing the first few tests. 6. As the first four tests are executed you will get a dialogue box indicating the progress through the tests. 7. The final test requires the intended load to be connected to the motor you will be prompted to confirm when you have done this. You should ensure that there is enough free movement in the system to allow a couple of motor revolutions. 8. Once the tests have completed, close down the dialogue box. You can then fine tune the speed loop using the Speed Loop Tuning Tab of the Main Servo Tuning Page (see section ). MN /

36 Mint Configuration Tool Users Guide Servo Tuning Page This page is applicable to Servo axis only. The Servo Tuning Page allows the user to perform advanced manual drive tuning. Depending on the type of controller selected a combination of the following tabs are visible Servo Tuning Help Tab The Servo Tuning Help Tab provides the user with general help guidelines for the tuning process. Figure 13: Servo Tuning Help Tab Speed Loop Tuning Tab This page is applicable to MintDrive only. The Speed Loop Tuning Tab provides a means of fine tuning the MintDrive internal drive parameters. This would normally be carried out after the automatic MintDrive tuning is complete (see section ). The speed loop tuning is performed using a speed step function. (i.e. the motor will be driven at the demanded motor speed for the specified time and then stop.) 16 MN /2000

37 Start Up Wizard Figure 14: Speed Loop Tuning Tab The following MintDrive parameters can be edited by the user using the following edit boxes: Current Proportion Gain Current Integral gain Speed Proportional Gain Speed Integral Gain Speed Differential Gain The speed loop tuning is performed as follows: Enter the desired speed as a percentage of the maximum available motor speed using the Speed edit box. Select the time required at the above speed using the Time at speed edit box. Press the Start Move button to initialize the capture process. Whilst the capture is in progress the Abort Move dialog will be visible. Press the Go button to start motion. At any point the move can be stopped by pressing the Abort Move button. MN /

38 Mint Configuration Tool Users Guide Once the capture is complete the data will be uploaded from the controller and the results will be displayed on the Tuning Graph Tab (see section ). The above process may need to be repeated multiple times in order to find the best combination of tuning parameters. Current Proportional Gain The Current Proportional Gain will have been derived from the tuning tests exercised earlier. The theoretical value for this parameter can be calculated using: 740 L ( A V ) Gain = VAC where: L = Line to neutral inductance of the motor in mh, (The line to line inductance is specified in the motor catalog line to neutral inductance is one half of the line to line inductance) VAC = Nominal line volts (115VAC or 230VAC depending on the local supply) A V = The Amps/Volt scaling of the current feedback (This is the current scaling value returned in the Mint command VIEW HARDWARE) The Current Proportional Gain is applied to the error in the measured current to the demanded current. Current Integral Gain The Current Integral Gain parameter is preset to 50Hz. This setting is suitable for essentially all systems. Do not change without factory approval. Speed Proportional Gain This gain may be increased or decreased to suit the application. Increasing the Speed Proportional Gain will result in a faster response to a speed demand, excessive values of this gain will cause overshoot and ringing. Decreasing the Speed Proportional Gain will cause a slower response and decrease overshoot and ringing. Speed Integral Gain Leave the Speed Integral gain set to one. Speed Differential Gain Leave the Speed Differential gain set to zero. This parameter currently has no affect. 18 MN /2000

39 Start Up Wizard Position Loop Tuning tab Figure 15: Position Loop Tuning Tab The Position Loop Tuning Tab allows the user to tune the current motor/drive configuration with the following move types: 1. Position Step Step size (user units) Sampling time (ms) 2. Trapezoid Maximum velocity (user units) Time at maximum velocity (ms) Acceleration (user units /second/second) Deceleration (user units /second/second) 3. Sinusoid (Not supported on MintDrive) Amplitude (user units) MN /

40 Mint Configuration Tool Users Guide Period (ms) Number of cycles As the move parameters are entered the capture parameter status displays are updated dynamically. This allows the user to check the following before a move is initiated. Scale factor, used to equate user units into actual units e.g. rpm. Total move time (ms) Time interval between samples (ms). This will increase with longer total move times. Maximum calculated motor velocity (user units/second). The following standard controller tuning parameters are available: Proportional Gain (KPROP) Velocity Feedback (KVEL) Velocity Feed Forward (KVELFF) Integral Gain (KINT) Integral Limit (KINTLIMIT) Derivative Gain (KDERIV) The maximum following error used during the move is entered using the Following Error Fatal edit box (Note for position step move the following error detection is temporarily disabled). The position loop tuning is performed as follows: Selected the required move type from the Move Type drop down. Enter the desired move parameters as described above. Press the Start Move button to initialize the capture process. Whilst the capture is in progress the Abort Move dialog will be visible. Press the Go button to start motion. At any point the move can be stopped by pressing the Abort Move button. Once the capture is complete the data will be uploaded from the controller and the results will be displayed on the Tuning Graph Tab (see section ). The above process may need to be repeated multiple times in order to find the best combination of tuning parameters. 20 MN /2000

41 Start Up Wizard Tuning Graph Tab The Tuning Graph Tab allows the user to display results after the data from a move has been captured. Figure 16: Tuning Graph Tab The following motion parameter series are available for display: Actual Velocity Demand Velocity Actual Position Demand Position Following Error DAC Demand To select a series for display tick the appropriate check box. The graph will be automatically scaled to fit all selected series on the display. MN /

42 Mint Configuration Tool Users Guide Step Response Statistics Tab The Step Response Statistics Tab applies only to the Position Step move type. Figure 17: Step Response Statistics Tab After a position step has been captured the following move statistics will be available. Percentage Overshoot. This is a measure of by how much the peak transient goes beyond the demanded position, as a percentage of the demanded position. Rise Time. This is defined as the time taken for the actual position to rise from 10% to 90% of the demanded position. Settling Time. This is defined as the time required for the actual position to settle within 2% of the demanded position. Steady State Error. This indicates the difference between the demanded position and the measured position after the transient part of the response has decayed (Note enough time must be allowed for the transient section of the response to decay). 22 MN /2000

43 Start Up Wizard Jog and Direction Test Page The Jog and Direction Test Page allows the user to check the basic operation of the drive-controller combination. If tuned correctly the motor should be capable of sustaining a constant speed in either direction. Figure 18: Jog and Direction Test Page Enter the required acceleration/deceleration via the acceleration and deceleration edit boxes. Enter the required jog speed via the Jog Speed edit box. Use Jog +ve, Jog ve and Stop buttons to test basic operation. The actual velocity and required velocity should match if the drive is tuned correctly. The motor can be disabled at any time by pressing the Disable Drive button. MN /

44 Mint Configuration Tool Users Guide Wizard Finish Page The Wizard Finish Page is the final page displayed before entering the main MCT. Figure 19: Wizard Finish Page This page allows the user to run the MCT in one of two modes: 1. Mint Configuration Tool in Wizard Mode - continues step by step advanced configuration process on a per axis basis (see section 4.1). The Wizard mode sequence is outlined in Error! Reference source not found.. 2. Mint Configuration Tool in Manual Mode (see section 4.2), presents the user with all the advanced configuration pages in a tabbed format. This should only be selected if the user is familiar with configuring their controller. 24 MN /2000

45 Mint Configuration Tool 4. Mint Configuration Tool 4 Mint Configuration Tool MN /2000 1

46 Mint Configuration Tool Users Guide The MCT Main Application provides advanced controller configuration options and generates the configuration file. The MCT Main Application can be run in two modes: 4.1 Wizard Mode In Wizard Mode the MCT continues where the Start Up Wizard finished. This provides a step by step guide to the advanced configuration options. For each axis selected on the Axes Selection Page (see section 3.1.4) the step by step process is repeated. This forces the user to configure all selected axes. Figure 20: MCT Main Application Wizard Mode 2 MN /2000

47 Mint Configuration Tool 4.2 Manual Mode In Manual Mode the MCT allows the user to change advanced parameters in any sequence via the tabbed pages. The axis number is selected via the Axis number drop down. Only the axes originally selected on the Axes Selection Page (see section 3.1.4) are available in the pull-down. Figure 21: MCT Main Application Manual Mode MN /2000 3

48 Mint Configuration Tool Users Guide 4.3 MCT menu Bar File, New Project runs up start up wizard to create a new project. File, Open Project - open an existing project from disk. File, Save, Project - save current project to disk with default name. File, Save, Configuration File - save current configuration file to disk with default name. File, Save As, Project - save current project to disk with new name. File, Save As, Configuration File - save current configuration file to disk with new name. File, Print - print current configuration file. File, Print Setup - display printer settings. Edit, Copy - copy current text selection from configuration file display to clipboard. Edit, Project Details - edit the project details before creating configuration file. View, Toolbar - Show / hide main tool bar. View, Status Bar - Show / hide main status bar. View, Help Bar - Show / hide context help bar. View, Controller Bar - Show / hide controller diagram bar. Configuration, Digital Inputs - Show / hide digital inputs page. Configuration, Digital Outputs - Show / hide digital outputs page. Configuration, Analogue Inputs - Show / hide analogue inputs page. Configuration, Axis Tuning - Show / hide axis tuning page. Configuration, Axis Parameters - Show / hide axis parameters page. Configuration, Axis Errors - Show / hide axis errors page. Configuration, Miscellaneous - Show / hide miscellaneous page. Configuration, Create Config - Show / hide create configuration page. Configuration, Wizard Enable / disable wizard mode. Help, About Display Mint Configuration Tool about dialog. 4 MN /2000

49 Mint Configuration Tool 4.4 MCT Tool Bar Figure 22: MCT Tool Bar The MCT Tool Bar allows quick access to commonly used options. Open Project - open an existing project from disk. Save Project - save current project to disk. Save Configuration File - save current configuration file to disk. File, Print - print current configuration file. (Only valid if the configuration file has been generated) Copy copies highlighted configuration file text to the clipboard. (Only valid if the configuration file has been generated) Mint Configuration Tool Wizard Mode Changes the Mint Configuration Tool to wizard mode. Mint Configuration Tool Manual Mode Changes the Mint Configuration Tool to wizard mode. Launch Workbench launches workbench with the configuration file loaded ready for downloading to the controller. (Only valid if the configuration file has been generated) Help, About Display Mint Configuration Tool about dialog. Clear Axis Errors Clears all motion errors on the current axis. Display Axis Errors Displays all motion errors on the current axis. 4.5 MCT Help Bar The MCT Help Bar provides context sensitive help as the user clicks on active items within the MCT pages. The help text prompts the user on what to do next. Figure 23: MCT Help Bar MN /2000 5

50 Mint Configuration Tool Users Guide 4.6 MCT Control Bar The MCT Controller Bar displays a diagram of the hardware connection details that apply to the current page. Figure 24:MCT Controller Bar 6 MN /2000

51 Mint Configuration Tool 4.7 Drag and Drop Input / Output Configuration Drag and drop input / output configuration is utilized on the Digital Input Page, Digital Output Page and Analog Input Page. To configure the controller s inputs and outputs an interactive drag and drop system is used. This simplifies the creation of the required input / output bit masks and displays the current configuration in a more intuitive way. For all drag and drop based pages the following applies: The Input / Output configuration is assigned in the left hand pane. The Input / Output function is assigned in the right hand pane. If an illegal drop operation is attempted the cursor will display an illegal operation symbol. To configure a digital input / output drag the symbol that represents the required input / output type and drop it on the respective input / output icon in the left hand pane. To assign the function of an input /output drag the respective input / output icon and drop it on the respective function icon in the right hand pane. To delete a configuration drag the respective input / output icon and drop it over the trash can icon. This will issue a warning and remove the selection. To delete an input / output function assignment either highlight the item and press the delete key or drag the respective input / output icon from the right hand pane and drop it over the trash can. The Suggested Settings button allows the user to set the current input / output page to a typical configuration. The Undo Changes button allows the user to revert back to the configuration used upon application start up. If a drag and drop operation impacts on multiple items a warning dialog will be displayed. MN /2000 7

52 Mint Configuration Tool Users Guide 4.8 Digital Inputs Page The Digital Inputs Page allows the user to configure the controller s digital inputs and assign them to the required functions. Figure 25: Digital Inputs Page The following digital input configurations are available in the left-hand pane: Active high The input will be defined as level-triggered and will be active when high. Active low The input will be defined as level-triggered and will be active when low. Rising edge The input will be defined as edge-triggered and will be triggered on detection of a rising edge of the input. Falling edge The input will be defined as edge-triggered and will be triggered on detection of a falling edge of the input. 8 MN /2000

53 Mint Configuration Tool Rising or falling edge The input will be defined as edge-triggered and will be triggered on detection of either a rising or falling edge of the input. There are certain automatic actions that can be taken on detection of a particular input. The following digital input assignments can be made in the right hand pane, whilst the action related to these is configured later on the Axis Errors page (see section ): Forward limit This assigns an input to be a forward hardware limit switch. The can be used to define a physical end-stop of travel. Reverse limit This assigns an input to be a reverse hardware limit switch. The can be used to define a physical end-stop of travel. Home This assigns an input to be the Home Input. This can be used by the Homing sequence to define the Home position. Stop This assigns an input to be the Stop Input. This can be used to stop the current move in progress. Error This assigns an input to be the Error Input. This can be used to stop the current move in progress and call the error handler. If a digital input has not been assigned to an axis function, then the associated axis error handling function will be disabled on the Axis Errors Page of the MCT. If multiple banks of digital inputs are available the required input bank can be selected using the bank selection pull-down. Similarly, if there are more than 8 axes selected, the axes bank pull-down can be used to display their digital input configuration. MN /2000 9

54 Mint Configuration Tool Users Guide 4.9 Digital Outputs Page The Digital Outputs Page allows the user to configure the controller s digital outputs and assign them to the required functions. Figure 26: Digital Outputs Page The following digital output configurations are available in the left hand pane: Active high The output will be configured as Active High. I.e. the output will be driven when the output is set to 1. Active low The output will be configured as Active Low. I.e. the output will be driven when the output is set to 0. The following digital output function is available in the right hand pane: Drive Enable Output This assigns an output to be driven when the user enables the drive. i.e. it is used as a command signal to instruct an external drive to be enabled or disabled. On controllers with an internal drive (e.g. MintDrive) this can be used as a status monitor. 10 MN /2000

55 Mint Configuration Tool If multiple banks of digital outputs are available the required output bank can be selected using the bank selection pull-down. Similarly, if there are more than 8 axes selected, the axes bank pull-down can be used to display their digital output configuration. The global error output can be selected via the Global Error pull-down. (Not MME controllers) MN /

56 Mint Configuration Tool Users Guide 4.10 Analog Inputs Page The Analog Inputs Page allows the user to configure the controller s analog inputs. This page is only visible for non MME controllers. Figure 27: Analogue Inputs Page Depending on the type of controller the following analogue input types are available: Differential ± 10v Differential ± 10v (filtered) Differential ± 5v Differential ± 5v (filtered) Differential 0-10v Differential 0-10v (filtered) Differential 0-5v Differential 0-5v (filtered) Differential (voltage selection via jumpers) 12 MN /2000

57 Mint Configuration Tool Single Ended (voltage selection via jumpers) NOTE: For Nextmove PC controllers the analog input voltage range must be set on the circuit board by changing jumper settings. The user can view these settings by pressing the View Nextmove PC Jumpers button. MN /

58 Mint Configuration Tool Users Guide 4.11 Axis Tuning Page The operation of the Axis Tuning Page is described in section Main Servo Tuning Page Axis Parameters Page The Axis Parameters Page allows the user to enter general configuration parameters that are required on a per axis basis. Figure 28: Axis Parameters Page The page is grouped into the following sections: 14 MN /2000

59 Mint Configuration Tool Motion Parameters Scale The scale factor previously set-up on the Axes Scale Parameters page (see section 3.1.6). With a scale factor of 1 all position references (on the main axis) are specified in encoder quadrature counts and speed measurements in counts per second. Different values of scale can convert these values into a unit of reference required by the user e.g. Revs, Inches, Millimeters, etc. If the scale parameter is changed, all affected motion parameters will be re-scaled automatically. Acceleration Defines the acceleration rate (the rate of change in speed) of the axis. This is specified in user units (i.e. is affected by the Scale parameter). With a Scale of 1, the acceleration rate is specified in counts/sec 2. Acceleration time This parameter is another method of specifying the Acceleration rate. Deceleration Defines the deceleration rate (the rate of change in speed) of the axis. This is specified in user units (i.e. is affected by the Scale parameter). With a Scale of 1, the acceleration rate is specified in counts/sec 2. Deceleration time This parameter is another method of specifying the Deceleration rate. Speed Defines the slew speed for trapezoidal moves. Move buffer size Defines the size of the move buffer. Idle position Defines the position window in which the following error (demand position compared to the measured position) must be within before the move is completed. Idle velocity Defines the velocity window in which the difference between the demand velocity and the measured velocity must be within before the move is completed. S Ramp Defines a smoothing scalar to trapezoidal acceleration and deceleration ramps. MN /

60 Mint Configuration Tool Users Guide Slew Speed 10 Acceleration Rate Deceleration Rate Velocity Total Move Distance = Area(A + B + C) A B C Acceleration Time Time Overall Move Time Deceleration Time Figure 29: Trapezoidal Move Parameters The above graph shows the relationship of some of these parameters to the velocity graph of a trapezoidal move type. Such trapezoidal moves can be specified in Mint using the MOVEA and MOVER keywords (to define an absolute move and a relative move respectively). For example, MOVER = 25 would load a relative move of 25 user units into the move buffer. The move would be initiated on receipt of the GO command. The number of loads that can be pre-loaded before the GO command is determined by the Move Buffer Size parameter. A trapezoidal move will accelerate, at the rate defined by Acceleration, until it reaches the Slew Speed (Speed). It will continue at the Slew Speed until the remaining move distance C is reached, at which point it will decelerate to rest at the rate defined by Deceleration. It should be noted that the Acceleration rate can also be defined by Acceleration time. This will calculate the Acceleration Rate required to accelerate from rest to the current Slew Speed in the time specified. Changing Acceleration or Speed parameters will adjust the Acceleration Time parameter accordingly (i.e. Acceleration and Acceleration Time are the same acceleration rate value viewed/specified differently). The deceleration rate can also be referenced by the Deceleration Time parameter. The Idle Position and Idle Velocity parameters defines the following error and velocity bounds before Mint can determine that a move is complete using the IDLE keyword. 16 MN /2000

61 Mint Configuration Tool The S Ramp parameter can be used to smooth the acceleration and deceleration profiles to an approximate S ramp on trapezoidal move types. A high value will give a very rounded profile, whilst a value of zero will not affect the trapezoidal profile. It should be noted that the S Ramp parameter will increase the time to perform the move. A full description of these parameters is given in the Mint version 4 Programming Guide [1] Encoder Parameters Encoder scale This parameter is used to scale the Encoder input into user units. If the encoder scale parameter is changed, the encoder wrap parameter will be scaled automatically. The Encoder Scale has no affect on position count, which can be scaled separately to the Encoder count. Encoder mode (see Figure 11) This allows the interpretation of the encoder input to be modified. For example the count direction of the encoder signals may be reversed to overcome incorrectly wired encoder signals. Encoder wrap The encoder will normally count in the range x If the Encoder Wrap parameter is non-zero, the count will be wrapped at the specified value. E.g. if Encoder Wrap was set to 1000, then the Encoder would count in the range 0 x < Setting the Encoder Wrap value to zero turns off the wrap function. The Encoder Wrap has no affect on position count, which can be scaled separately to the Encoder count. Encoder z-active level Configures the active level of encoder z-pulses Backlash Parameters Backlash enable If backlash enable is not checked, the configuration file will be generated without backlash. Backlash Defines the amount of free movement in the gearbox or belts linking a motor and the physical axis. Backlash Interval Specifies the period over which the Backlash compensation is applied. MN /

62 Mint Configuration Tool Users Guide Home Parameters Home in Configuration File If this checkbox is checked, then the Configuration file generated will include the Homing sequence specified in the Configuration file, otherwise it will be excluded. Home enable If home enable is not checked, the configuration file will be generated without homing. If no digital input is assigned to the home function, only valid home modes are available. Home speed The Home Speed defines the slew speed used by the profiler in the homing sequence. I.e. the speed at which the controller searches for the Home Input switch. Home back-off Home Backoff is a scalar applied to the Home Speed. It defines the speed at which the controller will search for the index pulse as Home Speed / Home Backoff. Home mode This defines how the homing sequence is performed. The following modes are available: Negative Seek, datum on Switch Positive Seek, datum on Switch Negative Seek, datum on Index Positive Seek, datum on Index Negative Seek on Index pulse only Positive Seek on Index pulse only. These modes are described below. It is only possible to select a Home Mode to search on the Home Input if it has previously been assigned on the Digital Inputs page (see section 4.8). 18 MN /2000

63 Mint Configuration Tool The following graph represents the homing sequence for either a Negative or Positive Seek and datum on the switch. When the Home is started the axis will move in the direction specified at Home Speed until the Home Input becomes active. It will then reverse in the opposite direction, at the rate determined by dividing the Home Speed by the Home Backoff parameter until the Home Input becomes inactive. Velocity Accel Home Speed Decel Home Input Active Time Home Speed / Home backoff Figure 30: Homing Positive or Negative Seek, Datum on Switch MN /

64 Mint Configuration Tool Users Guide The following graph represents the homing sequence for either a Negative or Positive Seek on the switch and then datum on the index pulse. When the Home is started the axis will move in the direction specified at Home Speed until the Home Input becomes active. It will then reverse in the opposite direction, at the rate determined by dividing the Home Speed by the Home Backoff parameter until the index pulse is found. It will then decelerate to a stop and then creep back onto the index pulse at the rate of one count per servo tick. When the index pulse is found again, the axis is crash stopped. Velocity Accel Home Speed Home Input activated Decel Creep at 1 count / servo tick Index Pulse found Time Home Speed / Home backoff Index Pulse found Figure 31: Homing Positive or Negative Seek, Datum on Index Pulse 20 MN /2000

65 Mint Configuration Tool The following graph represents the homing sequence for either a Negative or Positive Seek on the index pulse only. When the Home is started the axis will move in the direction specified at the rate determined by dividing the Home Speed by the Home Backoff parameter until the index pulse is found. It will then decelerate to a stop and then creep back onto the index pulse at the rate of one count per servo tick. When the index pulse is found again, the axis is crash stopped. Velocity Accel Home Speed / Home backoff Index Pulse found Decel Time Creep at 1 count / servo tick Index Pulse found Figure 32: Homing Positive or Negative Seek on Index Pulse only MN /

66 Mint Configuration Tool Users Guide 4.13 Axis Errors Page The Axis Errors Page allows the user to configure error handling functionality on a per axis basis. The page is grouped into the following sections: Figure 33: Axis Errors Page 22 MN /2000

67 Mint Configuration Tool Error Masks and Error Modes The following parameters define the default action to be taken on detection of a particular error. Abort mode Defines the action taken if motion is aborted by the user. Following error mode Defines the action taken if a Following Error is detected. The follow error limit parameter is set-up on the right of this screen (see section ). Limit mode * Defines the action taken if either a Forward or Reverse Hardware Limit is detected. The Forward and Reverse limit switches are configured on the Digital inputs page (see section 4.8). Software limit mode Defines the action taken if either a Forward or Reverse Software Limit is detected. The software limit parameters are set-up on the right of this screen (see section ). Stop input mode * Defines the action taken if the Stop input is detected. The Stop input is configured on the Digital inputs page (see section 4.8). Error input mode * Defines the action taken if the Error input is detected. The Error Input is configured on the Digital inputs page (see section 4.8). ADC error mode Defines the action taken if an ADC error is detected. Option marked with * are only available if digital inputs (see section 4.8) are configured. MN /

68 Mint Configuration Tool Users Guide Limits and Errors Following error fatal The Following error fatal parameter defines the limit at which a Following Error will be generated. The following error is defined as the difference between the demanded and measured position during a move. Error deceleration Defines the deceleration rate at which the axis will be decelerated to a stop under and error condition. The use of this is dependent upon the error action mode (see section ). Soft limit forward Defines the position count which will act as a forward limit. If enabled (see section ), if the measured position exceeds this limit, the move will be stopped according to the error action specified. Soft limit reverse Defines the position count which will act as a reverse limit. If enabled (see section ), if the measured position goes below this limit, the move will be stopped according to the error action specified. 24 MN /2000

69 Mint Configuration Tool 4.14 Miscellaneous Page The Miscellaneous Page allows the user to configure general parameters that are not associated with a specific axis number. Figure 34: Miscellaneous Page The page is grouped into the following sections: MN /

70 Mint Configuration Tool Users Guide Auxiliary Encoder Auxiliary encoder select Selects the Auxiliary Encoder to view or change the parameters of. Auxiliary encoder scale This parameter is used to scale the Auxiliary Encoder input into user units. If the auxiliary encoder scale parameter is changed, the auxiliary encoder wrap parameter will be scaled automatically. Auxiliary encoder wrap The Auxiliary encoder will normally count in the range x If the Auxiliary Encoder Wrap parameter is non-zero, the count will be wrapped at the specified value. E.g. if Encoder Wrap was set to 1000, then the Auxiliary Encoder would count in the range 0 x < Setting the Auxiliary Encoder Wrap value to zero turns off the wrap function. Auxiliary encoder mode The user can change the count direction of the Auxiliary Encoder. This is particularly useful on MintDrive when connecting the Auxiliary Encoder input from another MintDrive (set to Reverse) or from another motion control product, e.g. NextMove PC (set to Normal) Terminal Configuration Echo This allows three checkbox settings:- Enable command line echo If this box is checked then characters typed at the command line will be echoed to the terminal. If this box is cleared, then characters typed will not be echoed to the terminal. Enable error messages If this box is checked then system error messages will be reported at the terminal. Enable command line prompt If this box is checked then the command line prompt(s) will be displayed e.g. C002> is the command line prompt displayed for the Config buffer for Node MN /2000

71 Mint Configuration Tool 4.15 Create Configuration Page The Create Configuration Page is the final stage of the configuration process. Figure 35: Create Config Page The actual configuration file can be generated in the following formats: Mint configuration file format. This is the standard type of file for down load into a controller. C code configuration file format. This is a C source code file used within immediate command mode applications. (Not MME Controllers) To generate the configuration file select the desired format in the Configuration File Format pulldown and press the Generate Configuration File button Configuration File Display The Configuration File Display displays the configuration file text in the required format with syntax highlighting. Comments are in green MN /

72 Mint Configuration Tool Users Guide Mint Keywords / C functions are in blue. Numerical values are in black. Operators are in red. Figure 36: Configuration File Display The Configuration File Display cannot be edited. If a change is required to any parameters, the Mint Configuration Tool Manual Mode button should be pressed. This returns the user to the configuration pages where the required parameters can be changed. The configuration file must then be generated again from the Create Configuration Page. Pressing the right button allows the user to copy highlighted configuration text to the clipboard or search for a particular text string. The Configuration File Display provides the user with a number of options. In the Mint Configuration Tool Manual Mode these are available from the MCT Tool Bar. Save the configuration file Save the project. Copy highlighted text to the clipboard Print the configuration file. 28 MN /2000

73 Mint Configuration Tool Launch Mint WorkBench with the configuration file loaded. This option will prompt the user to save the project and configuration file. This is required since the MCT will be shut down when Mint WorkBench is launched. If the user does not save the configuration file, Mint WorkBench will not be launched. In the Mint Configuration Tool Wizard Mode, the user is presented with three options when the Finish button is pressed. These options are displayed on the Wizard Complete dialog Figure 37: Wizard Complete Dialog Launch Mint WorkBench and save the project and configuration files. This will terminate the MCT and launch Mint WorkBench with the configuration file loaded. If the configuration file is not save, Mint Workbench will not be launched. Switch to manual mode and save the project and configuration files. This will prompt the user to save the project and configuration files and return the user to the Digital Input Page in Mint Configuration Tool Manual Mode. Switch to manual mode without saving the project and configuration files. This will return the user to the Digital Input Page in Mint Configuration Tool Manual Mode. MN /