Mint WorkBench User Guide - Q-TECH
Contents
1. 20 MN1283 08 2000 Mint Mint WorkBench 2 7 1 The Events tab D Events CG Groups Figure 14 CAN window with Events tab selected The Events tab displays a list of time stamped CAN events falling into a couple of categories bus status events and node events E Indicates Node Live notification events Indicates other events Right clicking the mouse in the Events tab displays a popup menu containing the option Clear Clicking Clear removes the events displayed Figure 15 CAN window with right click Clear menu displayed 2 7 2 The Nodes Tab Viewing cant Bus is Operational Baud 500 Scan Reset Live Node Description Connected Group Master Group Member J J YJ 4 OA 1 WNextMove PI 2 none none w 2 MintDrive none none none w D Analogln none none none B Digtalln Dig none none none 2 Events 3 Nodes Figure 16 CAN window with Nodes tab selected The nodes tab contains a list of nodes specifying Live Dead status Node Number Description Connection Master information and Group Information The column headed Connected lists the Node Numbers of controller nodes with which connections exist Mint MN1283 08 2000 21 Mint WorkBench User Guide The Group Master column lists the Group Number of groups for which the node is groupmaster The Group Member column lists the Group Numbers of groups of which the current node is a member Right clicking the Network Manager node Node Num2. T Remove REMs TO Optimize Asis Strings Remove Blank Lines Squash On Download Cancel Figure 24 Setup Squash window Whitespace removal section Remove Indentation Clicking this check box removes spaces from the start of lines Remove Spaces Clicking this check box removes any unnecessary spaces other than at the start of a line Remove REMs Clicking this check box removes all REM statements Remove Blank Lines Clicking this check box removes any blank lines Code compression section 28 Evaluate Constants Clicking this check box replaces Mint constants with their numeric values For example it replaces cfservo with 1 Abbreviate Keywords Clicking this check box replaces any longhand Mint keywords with their two or three letter forms Optimize Axis Strings Clicking this check box will replace any single axis statements in the square bracket form with the dot form For example MA 0 will be squashed to MA 0 Mint WorkBench Selecting Squash on Download will always squash the program or configuration file on download This is useful where a fully commented file can be maintained on the PC but a space saving file is downloaded to the MintDrive for execution 2 11 MintDrive Drive amp Motor Parameters The MintDrive Drive amp Motor Parameters page available from Tools Drive amp Motor Parameters menu allows the drive stage of the MintDrive to be tuned The reader is referred
3. or Quid 2 15 e Click RK Icon or m i e Right click the controller in the CAN Window See 2 7 OV 5 CAN Window x a The Outputs are clickable and display a green LED The Inputs 20 8 display a green LED as an indication of their state but are not 2 3 I O10 22 10 clickable will o ch 2 16 DPR WatchWindow The DPR WatchWindow allows viewing and manipulation of the NextMove PCI s onboard Dual Port RAM To view the DPR WatchWindow e Select Tools DPR WatchWindow or e Click the W icon Mint MN1283 08 2000 31 Mint WorkBench User Guide bes DPR Watch Window General ei D o o o o St Aus Aus 1 Aus 2 Anis 3 Aus 4 Ans D Aus Aus d Axis H Aus 3 Aus 10 Aus 17 Ausia Encoders 0 General DPR Control A egister H DPR Status Register i Axis Mix i Digital 140 Mix i Analogue U Mix MML Build Number ms Timer Tick MINT Line Number MINT Status MINT Error MINT Error Line Axis Configs Axis Configs i Ims Timer Tick Comms DPR Control Register DPR Status Register Asis Mm Digital 170 Mix Analogue 10 Mix MML Build Number 2ms Timer Tick MINT Line Number MINT Status MINT Error MINT Error Line Axis Configs Axis Configs Ime Timer Tick Unsigned 16 Bit Integer Unsigned 16 Bit Integer Unsigned 16 Bit Integer Unsigned 16 Bit Integer Unsigned 16 Bit Integer Unsigned 16 Bit Integer Unsigned 16 Bit Intege
4. FE EER ote ots es FS H Events Nodes NextMove PCI cad number 0 NuM ins Figure 1 Mint WorkBench The Mint WorkBench is part of the Baldor Motion Toolkit The Mint WorkBench features include e Configuration Tools e Terminal Emulator e Aneditor for Program Buffer and Configuration Buffer with file upload download e Routines for capturing and viewing velocity or following error profiles on your drive e A Protected Comms Protocol watch window e Squash A utility saving program buffer space by abbreviating source code e Mint Keyword Lookup e Serial Test Introduction e Terminal only for communication with Eurosystem Full details can be found in section 2 1 2 Key to Icons S The pencil indicates that you might wish to write particular information down on the note pages provided at the back of this manual or somewhere convenient to you Right angle brackets denote a key that needs to be pressed for example Ctrl E indicates that you should type Ctrl and E at the same time The following chapter provides an overview of the Mint WorkBench features Mint WorkBench User Guide Mint WorkBench Mint WorkBench The Mint WorkBench is a 32 bit Windows front end for use with Windows 95 Windows 98 and Windows NT Features include full screen syntax highlighting editor terminal window and tuning screens The chapter covers o Installation of the WorkBench Q Overv
5. battery backed up RAM and Flash buffers Mint MN1283 08 2000 29 Mint WorkBench User Guide 2 13 View Platform Comms 1 Window Op Comms Location S Current Value Write this value HextMove PCI 2 Axes of control from 12 addressable axes 4 Servo hues d Stepper Anes ZU Digital Inputs 12 Digital Outputs 1 Relays 4 Analog Inputs 4 Analog Outputs 1 Aus Encoder Inputs O Aus Analog Outputs d CAN Channels The Platform Information window provides details of the number and type of axes the number of inputs outputs and CAN channels To view the Platform Information window e Select View Platform Information or e Click the ay icon 2 14 Comms Window The Comms window provides access the controller s Comms locations Details are given in the individual controller manual To view a Comms window e Select Tools Comms Window 30 MN1283 08 2000 Mint Mint WorkBench Multiple Comms windows are obtained by making repeated selections of the option above The comms location is selected using the Comms Location pull down The current value is updated by entering a new value in the edit box adjacent to the Write this value button and clicking it 2 15 Digital UO Window The Digital I O window displays the current state of the controller s digital inputs outputs and if appropriate relay To view the Digital IO window S e Select Tools Digital IO Window
6. groups listing Group number Master Node number and Member node numbers Viewing cant Bus is Operational Baud DUU Scan Resa 3 1 2 4 2 1 Events Nodes Groups Figure 19 CAN Window with Groups tab selected Groups are configured at the terminal The screenshot above is the result of executing the following Mint commands groupmaster 3 1 groupmaster 4 2 group 3 2 1 group 4 1 1 The Mint commands groupmaster and group always refer to CANI and so the Groups tab remains blank for CAN2 2 8 Terminal The Terminal window provides access to the Mint command line To enable the Terminal Window e Select Tools Terminal or e Enter Ctrl T or e Click the m Icon Mint MN1283 08 2000 23 Mint WorkBench User Guide Mint WorkBench default File Edit View Tools Window Help oft Sa UuckwWatches Css Cs Axis 0 ort s sis 0 ort r sis 0 DI or sl EE Axis 0 ort Time Between Quickwatch Samples ms 100 Capture The Uuckwatch Channels Standard LE Seconds High Speed 8 3 ms for NextMove PCI Version 4 1 c Baldor Optimised Control Ltd All rights reserved M 1 M 2 fr 3 MI 4 M 5 M 6 hi T M M 9 M ho _ CH Facture L Duckwiatch IT Speed Loop NextMove PCI card number 0 E Figure 20 Terminal window shown in context of WorkBench window The terminal c
7. highlighting A full screen editor is available with color syntax highlighting This means that Mint keywords numbers strings and remarks REM statements are highlighted in different colors Features also include cut and paste and full search and replace The editor is opened from the File menu A new file can be selected or an existing file can be selected and opened Separate editors are supported for both the Mint program and Mint configuration buffers There are several ways to initiate the editor e To create a new file select File New and then either Config or Program or Array e To open an existing file select File Open and then either Config or Program or Array e To upload a program select File Upload and then either Config or Program or Array e To download a program select File Download and then either Config or Program or Array Mint MN1283 08 2000 25 Mint WorkBench User Guide Look im E wb32 ce pze IESS Db Files of tupe Program Files mnt Cancel Figure 22 The Open file window for selecting existing files for editing To provide the default program name above with a name when saving select File Save As The standard Windows Cut Ctrl X Copy Ctrl C and Paste Ctrl V functions are available both on the toolbar and in the Edit menu Other editor functions include e Downloading the files to the controller by using the toolbar icon SI By using the Tools Setup Squash selection
8. to the MintDrive Installation Manual MN1274 for a full explanation 2 12 Firmware Update This option is not available on NextMove PCI For MintDrive ServoNode 51 and other serial controllers the Mint firmware is stored on Flash From time to time there may be updates to Mint to either fix problems or to add new features It is possible to update the Mint firmware using the RS232 serial port The RS485 port cannot be used for firmware update From the Tools menu select Update Firmware and follow the onscreen instructions IN Caution The state of the analog and digital outputs cannot be guaranteed while firmware is being updated Please disconnect any equipment that may be damaged A Caution It is recommended to remove any AUTO configuration file prior to updating firmware Changes to the firmware may affect how your Mint application will work A Caution Updating firmware may destroy any program s held in the battery backed up RAM buffers It is recommended that you upload these into Mint WorkBench if you require these to be saved A Caution Updating firmware will destroy any program s held in the Flash memory buffers It is recommended that you upload these into Mint WorkBench if you require these to be saved Once the firmware has been updated both the Config and Program Flash buffers will need resetting Typing the NEW command in each Flash buffer will do this The Mint keyword BUFFERSTORE can be used to switch between
9. 41 0 52 659 2394 Australian Baldor Pty Ltd Telephone 61 2 9674 5455 Fax 61 2 9674 2495 Baldor Electric F E Pte Ltd Telephone 65 744 2572 Fax 65 747 1708 Baldor Italia S R L Telephone 39 0 11 56 24 440 Fax 39 0 11 56 25 660 THE MOTION LANGUAGE Copyright and Safety Information Mi d MN1283 08 2000 lli Mint WorkBench User Guide Safety Notice Precautions 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 A WARNING A WARNING A WARNING A 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 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 p
10. H P 0 m La 12 Paste Undo Toggle the QuickWatch window on off Toggle the CAN window on off Upload File If an editor is selected the editor file will be uploaded into it Otherwise a dialog box will prompt for the file to upload Download File If an editor is selected the editor file will be downloaded Otherwise a dialog box will prompt for the file to download Run Send Mint Run command Break Send Mint Break Ctrl E command Toggle the DPR Watch Window on off applies only to NextMove PC and PCI Terminal For communication with the Mint command line Copy Drive Tuning Parameters Parameters copied to the Windows clipboard Currently only available on MintDrive View Digital Inputs and Outputs About Box Display program information version number and copyright information Mint WorkBench 2 5 2 Motion Toolbar Using the motion toolbar it is possible to enable a motor to be jogged This can be useful for testing the system The axis number is selected using the Axis drop down The other buttons then control the jogging action Finally any error conditions are reported numerically on the toolbar Clicking on the error will display a dialog box giving more information about the error Stop motion Drive enable Clear errors Pes s n ona emo Clockwise Jog speed Counter clockwise Figure 5 Motion Toolbar The Jog Speed relies on the present acceleration deceleration and sca
11. Mint WorkBench User Guide MN1283 Issue 2 1 MIN MN1283 08 2000 rue MOTION LANGUAGE NextMove BX Installation Manual for Mint v4 Copyright Baldor UK Ltd 2000 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 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 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 and Windows NT are registered trademarks of the Microsoft Corporation Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 OBF U K Telephone 44 0 1454 850 000 Fax 44 0 1454 859 001 Web site www baldor co uk Sales email sales baldor co uk Support email technical support baldor co uk Baldor Electric Company Telephone 1 501 646 4711 Fax 1 501 648 5792 email sales baldor com web site www baldor com Baldor ASR GmbH Telephone 49 0 89 90508 0 Fax 49 0 89 90508 492 Baldor ASR AG Telephone 41 0 52 647 4700 Fax
12. NGUAGE Bibliography Bibliography Bibliography 1 Mint version 4 Programming Guide MN1262 2 CAN Peripherals Users Guide MN1255 3 Mint version 4 Advanced Programming Guide MN1270 4 NextMove PCI Installation Manual MN1277 5 MintDrive Installation Manual MN1274 Mi A MN1283 08 2000 3 Mint WorkBench User Guide 38 THE MOTION LANGUAGE
13. TOON EE 20 2 1 The Events tab 21 2 1 2 The Nodes aD uuu u u u ee eee ce eee eee 21 21 3 MESS OWS L e E 23 2 8 Ed ln E 23 2 9 alte 25 210 SUS 28 2 11 MintDrive Drive amp Motor Harameiers i 29 2 12 FWI Valle orale 29 2 19 VieWPlall nifi ani ee 30 vili THE MOTION LANGUAGE Contents KOI Ee O E 30 DEAT ON MOW ee E E E 31 2 16 DPR WatchWmdow iii 31 2 19 GUS 6 bei uuu u uu uu u uns nas mia ss 32 Zi EO TORFO uu E naa pumapas niykupas 33 2 18 Update Bootloader a nun nennen 33 2413 ege RE ele u u u unay r 33 220 SCIA RRE 34 SS OC ADD a 37 Introduction Introduction Q This chapter provides an overview of the comprehensive Mint WorkBench features Mint WorkBench User Guide 1 1 The Mint WorkBench Mint WorkBench default File Edit View Tools Window Help FG Terminal QuickWatches axis 0 D or D RK int tm for NextMove PCI Version 4 1 Copyright c Baldor Optimised Control Ltd 1988 2000 faiso gt Jor E ll rights reserved m Axis 0 D ort D axis 0 D ort D Bons Time Between Quickwatch Samples ms 100 H Capture The Quickwatch Channels Stenderd fio Seconds High Speed B 3Tris Gool Quickwatch Fi Pca gt Viewing CANT D Bus is Operational Baud 500 Scan Reset w 1 NextMove PC none none none cool gt EE
14. acro executes the command in the same way as hitting enter after typing a Mint command at the command line in the terminal window Missing out the Enter key will just place the macro text on the command line in the terminal window but won t execute it Checking the Send Break check box ensures the Mint Break command Ctrl E is sent to the controller before executing the macro This ensures the macro interrupts a program running on the controller The remaining toolbar buttons simply trigger the macro commands 14 Mint WorkBench 2 6 The QuickWatch Window The QuickWatch window appears on the left hand side of the WorkBench window by default and controls e The display of up to 4 controller parameters such as position or following error e Tuning e Data capture To remove the left hand pane e Click the X Close Window button z z or e Click the toolbar button m 2 6 1 The QuickWatch Tab The QuickWatch pane is selected by pressing the QuickWatch tab allowing up to 4 parameters to be simultaneously displayed Jas These include Uuckwatches Le 0 Following Error DAC Damand Demand Position Demand Welacit e Measured velocity e Following Error e Measured axis position e DAC demand e Demand position e Demand velocity e Mint Mode of motion e Inputs Time Between Quick watch Samples me Im Capture The Quickstch Channels Standard m Seconds C AighSp
15. an be resized by dragging the border please refer to your Windows user documentation if you are unsure To check that you are communicating with the controller select the terminal window and hit the return enter a key a few times The Mint command line prompt should appear if there is no program running Type Crtl E or use to stop program execution if a program is executing If you have a multi drop RS485 system use the Tools Select Controller menu to select the correct controller You should now be able to communicate with the controller For those users familiar with Mint the INS key will now put the terminal into overwrite mode In overwrite mode the terminal sends the necessary key strokes when a key is pressed to insert the character into the line 24 MN1283 08 2000 Mint Mint WorkBench 2 9 Editor Mint warkBench default le Edit View Tools Window Help F u RR uckwWatches Aris 0 DI ort eta iii n REM Test Program Axis 0 DI or I label nA NIYER 0O 5193 2 Axis 0 fon GO ss 0 or GOTO label Time Between Quickwatch Samples ms io Capture The Quick atch Channels Standard m Seconde f High Speed 8 3 me a P 22 22 6 mo Op zw Oh A so old Pp r SE ha LGepburge 2 Quickwatch IT SpeedLoop Tl Pc gt Nexthove PCI card number 0 Ln 1 Col 17 we Figure 21 Full screen editor with syntax
16. ber 1 displays a popup menu containing the option Inputs Outputs Selecting Inputs Outputs displays the Digital I O window see X XX The Digital I O window may also displayed by e Select Tools Digital IO Window or e Click E Right clicking on a remote controller node displays a grayed Inputs Outputs menu as Digital I O is unavailable on remote controller nodes Digital I O is available on other remote nodes only if connected to the Network Manager Attempting to display the Digital I O window for a node that is not connected to the Network Manager displays an error message For example In the CAN window displayed above right clicking the AnalogIn node would display AN LO Unavailable Node 5 is not connected to CAN Network Manager Figure 17 Error message displayed when remote CAN node right clicked This is remedied by entering the following at the terminal connect 1 5 1 The connection between the Network Manager Node number 1 and the AnalogIn node Node number 5 should be updated in the Connected column of the Network Manager node 1 NextMove PC 2 5 of o 2 MintOrive none i D Analoaln none 3 Figure 18 CAN window with Nodes tab selected 22 MN1283 08 2000 Mint Mint WorkBench The CAN2 Nodes tab displays w 1 InputMode nia nia nia 2 OutputNodeg na nia nia f 3 RelavNoded nia nia nia Ka B Events Nodes explanation 2 7 3 The Groups Tab The Groups tab displays CAN Network
17. ct Controller Window The screen will show something similar to this Mint WorkBench User Guide ae Mint WorkBench default ated ee clots gt amala Asis IM spe ER Sha a The controller is not running aap M M Mm Ms MM Mg a Ma Mo My Me s e og i Select Controller T EM not ayallabl NestMove PCI gt Card 0 e EM mgtzeustetie E Sean each time this di Ig is op ned TS Eed Mme Scan All Serial Ports D i Terminal Orly NextMove PCI card number 7 Figure 2 Start up WorkBench window and Select Controller window 2 4 Selecting a Controller Before starting Mint WorkBench it is important that the controller is connected to the PC and powered up WorkBench must be configured for use with the selected controller the first time it 1s used When first opened the WorkBench will open and display a dialog box similar to the one shown in Figure 3 All connected controllers should be shown in the Window Serial Controllers missing from the window must have their connections checked before power cycling and selecting the Rescan button Other controllers must have their connections and device drivers checked before selecting the Rescan button once again If the Mint WorkBench is successfully running the controller selection box can be opened from the Tools Select Controller menu Mint WorkBench Select Controller Nesth
18. ee zj RitceeEr a Time Between Quickwatch Samples ms f Capture The QuickW atch Channels SS ll D Quickwatch IT Speed Loop PL Pc gt Nesthiove PCI card number E Figure 4 Default WorkBench window with NextMove PCI selected 10 MN1283 08 2000 Mint THE MOTION LANGUAGE Mint WorkBench The toolbars can be dragged and docked in different locations in the WorkBench window Their positions are saved when the WorkBench exits and restored when it restarts 2 5 WorkBench Toolbars The Mint WorkBench utilizes toolbars to provide immediate access to commonly used WorkBench functions The are three toolbars e Main Toolbar e Motion Toolbar e Macro Toolbar These toolbars may be moved and docked on the sides of the WorkBench window to suit user preference To move a toolbar e Click the gripper bar dd and drag toolbar to new location The toolbar positions are stored on the PC when the WorkBench is closed and restored when opened 2 5 1 Navigating the Main Toolbar Mint WorkBench default File Edit View Tools Window Help Figure 4 Main Toolbar Many of the tools in WorkBench can be launched from the main toolbar The tools are described in more detail later in the manual Reset the controller not available on MintDrive Print File amp mi Save File Ge Cut see 2 9 Editor d Copy A NI MN1283 08 2000 11 Mint WorkBench User Guide 5 i w
19. eed geme Capture D Quickwatch IT SpeedLoop MP e Auxiliary encoder e Auxiliary encoder velocity To select a variable to watch use the drop down to chose the variable The axis number can also be selected Figure 8 QuickWatch window Mint MN1283 08 2000 15 Mint WorkBench User Guide Once a variable is selected the Mint WorkBench will interrogate the controller for data Altering the Time Between QuickWatch Samples can change how often Mint WorkBench asks for this information The smallest value will set the quickest response time but this may affect the response time of the terminal This will depend upon the speed of your PC Obviously the faster the PC the better The data can also be captured to a graph This is achieved by pressing the Capture button at the bottom of the QuickWatch pane The amount of data in seconds is selected by changing the sampling time in the QuickWatch pane This must be done before the Capture button is pressed The Mint WorkBench sends instructions to the controller to collect the data Once collected this will be displayed in a graph as shown in Figure 12 2 6 2 Speed Loop Tab The Speed Loop tab is used to perform test moves for tuning Move data is captured and can be uploaded from the controller using the Capture tab see 2 6 4 Capture Tab The reader is referred to their controller manual for tuning details ZS The Sampling Time displayed at the top of t
20. files can be compressed on download see the following section for detail on squash e Uploading the files from the controller into the current menu using the toolbar icon m WorkBench will automatically upload the correct file from the controller depending upon which editor window is open e Ability for Mint files to be dragged from Windows Explorer onto the WorkBench desktop This will automatically open the editor e Printing from the editor using the Print icon on the tool bar The file is printed to the currently installed Windows printer The right mouse button can be used within the editor window to provide context sensitive menus The menu allows for example e Search and replace This saves using the menu e All white space can be displayed e Selected text can be made upper or lower case e The properties of the editor can be changed for example the color of the keywords can be changed from their default setting 26 MN1283 08 2000 Mint Mint WorkBench Window Properties Ei Lolor Font Language Tabs Keyboard Mise Color Item Foreground ii CS Comments Background Left Margin Numbers Default Operators Scope Keyword strings habbCcDdee se un Figure 23 Properties sheet for the Mint WorkBench Editor The tabs on the properties sheet gives access to the following Color Font The default font the editor can be changed A mono spaced font should be selected for Mint file
21. he window is connected to the Time at speed listed in the test move details at the bottom of the window The Sampling Time will always be greater than the Time at speed to ensure the entire move is captured Perform Move On Axis Asis Sampling Time Seconds 1 Speed Loop Tuning Parameters Current Proportional Gain 55 Current Integral Gain 50 Speed Proportional Gain E Speed Integral Gain Clicking the Start Move button performs the move and capture Test Move Movel ype Speed amp mas motor Time at speed ms Start Move SJ QuickWatch E SpeedLoop JL Pa 16 MN1283 08 2000 Mint Mint WorkBench Figure 9 Speed Loop Tab 2 6 3 Position Loop Tab The Position Loop tab is used to perform test moves for tuning Move data is captured and can be uploaded from the controller using the Capture tab see 2 6 4 Capture Tab The reader is referred to their controller manual for tuning details six The controller axis selected using the Perform Move On Axis pulldown Perform Move On Axis Ais sl Sampling Time Seconds I si Position Loop Tuning Parameters Proportional Gain KPROP 0 Velocity Feedback EVEL jo Vel Feedforward KYELFF p Integral Gain KINT F Integral Limit KINTLIMIT 1 Dm Derivative Dam EDERI jo Position Test Move Mavel une Position Trapezoid sl I ovel ype i Move Distance Slew Speed Acceleration and Dece
22. iew of the WorkBench features THE MOTION LANGUAGE Mint WorkBench User Guide The Mint WorkBench is a 32 bit Windows front end designed for use with a number of Mint v4 based products The WorkBench has the following features e Terminal facility to communicate with a drive e Editor for program and configuration files The editor has color syntax highlighting e Quick watch window allowing the viewing of up to 4 data values including axis position following error and input status e CAN Window for monitoring CANopen and Baldor CAN networks e Data capture and tuning facility e Mint Keyword Lookup e Serial Test e Terminal only for communication with Eurosystem 2 1 Installation Requirements The Mint WorkBench is supplied on CD ROM as part of the Baldor Motion Toolkit In order to install the Mint WorkBench 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 Installing the Mint WorkBench To install the Mint WorkBench insert the Baldor Motion Toolkit CD ROM into the PC CD ROM device The setup wizard will automatically run guiding you through the installation process Ifthe setup does not automatically start either install the Microsoft Internet Explorer 5 browser IE5 o
23. is Demand Velocity Extrapolated Axis D Following Error M 200 400 600 200 1000 Time ms Figure 12 Software Oscilloscope Mint MN1283 08 2000 19 Mint WorkBench User Guide 2 7 CAN Window The reader is referred to the CAN Peripherals Hardware Guide MN1255 for a full explanation of CAN Networks Viewing cani Bus lg Operational Baud 500 Scan y L lx 1 NestMove PCI none none none H Events 7 Nodes Figure 13 CAN window with Nodes tab selected The Viewing pull down selects CANopen CANI or Baldor CAN CAN2 The status and bus speed of the currently selected CAN bus are displayed adjacent to this The CAN Peripherals Hardware Guide MN1255 details the possible values displayed The Scan button interrogates the CAN bus selected for active nodes The Reset button performs a CAN bus reset of the currently selected CAN bus The CAN Window comprises three selectable tabs e Events Monitors network for CAN events e Nodes Displays list of network nodes e Groups Displays network group information Each tab contains a list that may be sorted by clicking the column headings For example clicking the column heading labeled Description sorts Nodes alphabetically by description The CAN bus selected in the Viewing pull down applies to all three tabs It is not possible to view CANI events and then click the Nodes tab and view CAN nodes without first changing the Viewing pull down selection
24. le values of Mint If you wish to scale to revs for example then the terminal window needs to be opened and the following typed at the command line SCALE 4096 This assumes a 12 bit resolver or a 1024 line encoder With the scale factor set the jog speed will be in revolutions per second It is recommended that small values are used and steadily increased until motion is seen on the motor Before using the Jog facility ensure that the motor is first tuned correctly Tuning is covered in e MintDrive Installation Manual MN1274 e NextMove BX Installation Manual MN1258 e NextMove PCI Installation Manual MN1277 e ServoNode 51 Installation Guide MN1285 Mint MN1283 08 2000 13 Mint WorkBench User Guide 2 5 3 Macro Toolbar WE M M M M M MIO MM M M NM M 1 2 3 4 5 6 7 6 amp 8 4 10 11 1 Figure 6 Macro Toolbar The key displays the Assign Macros window Assign Macros to Function Keys F1 F12 Macro GG Mit M2 C M3 C MA MAI MB C Mg C Mi C M5 ME of M110 Mi Hotkey Shift F1 ToolTip Execute Macrofl Macro Text Send Break 7 Figure 7 Assign Macros Window The macro to be entered is selected by clicking the radio button to the left of Mn Where n is the number of the macro The ToolTip text is configurable and is displayed when the mouse pointer dithers over the selected macro toolbar button The Macro Text is entered here and may span multiple lines Hitting Enter at the end of the m
25. leration Position Trap are configurable for Trapezoidal moves Clicking the spin button varies the Sampling Time The Move Type is selected using the Move Type pulldown e Position Step e Position Trapezoid Position Sinusoid currently unsupported Move Distance Position Trapezoid Position Sinusoid Slew Speed uuzz T oOo Acceleration aufs 296875 296875 Clicking the Start Move button performs the move and Deceleration uu s 8 1 capture Start Move SpeedLoop T1 Position Loop Bx 4 Figure 10 Position Loop Tab Mint MN1283 08 2000 17 Mint WorkBench User Guide 2 6 4 Capture Tab A software oscilloscope is available in the Mint WorkBench This works by sending an instruction to the controller to collect the required data The controller will collect the data in its internal RAM and upload the data to the Mint WorkBench for viewing printing or saving There are two uses for the oscilloscope 1 Capturing data for monitoring such as axis position velocity or following error 2 Axis tuning allowing control parameters to be altered and a step response or move to be initiated and the results plotted for analysis al gt l Upload Captured Data From the Controller Plot 1 Plot Axis O Measured Position Color Green D Plot 2 Flot Ais U Demand Position D Color Magenta g Background Color Write D Jh Show Grid TL Po
26. n the CD ROM or run the WorkBench installation program directly IES is installed by selecting Run from the Start menu and entering D IE5 ie5setup If the setup wizard does not automatically start after installing IES WorkBench may be manually installed by selecting Run from the Start menu and entering D Mint v4 Installation Mint WorkBench setup The instructions above assume D is the CD ROM The on screen instructions should be followed Mint WorkBench The Set up Wizard copies the WorkBench files to appropriate directories on the hard disk adding Mint WorkBench as an option on the start menu The drive directory and Start Menu folder are user configurable The default directory is C Program Files Baldor Mint v4 Mint WorkBench and the default program folder is Start Programs Mint v4 2 3 Starting the Mint WorkBench It is important that a controller is powered up and connected to the PC before starting the Mint WorkBench To start WorkBench from Windows Start menu select Programs Mint v4 Mint WorkBench Alternatively select Mint WorkBench from the folder the WorkBench was installed in if the default program folder was rejected during installation The WorkBench behavior on starting up for the very first time is dependent on the controller attached This is covered in detail in the appropriate controller manual In the absence of an operational NextMove PCI the WorkBench window will open along with the Sele
27. ove EC Card L sl v Scan each time this dialog is opened Rescan I Scan for NextMove PC under windows 95 98 Te Terminal Orly Scan All Serial Ports sl Scanning serial ports Finished Figure 3 Select Controller window The Select Controller combo boxes allow from top to bottom e Selection of controller type e Controller address Card number e Serial port selection for scanning according to the controller type The Serial Port Selection is used to optimize the select controller dialog during serial port scanning The options are e Scan Serial Ports e Do Not scan Serial Ports e Only scan COMx where x is an available serial port The Terminal Only button should only be used for diagnostics debugging The Terminal Only button displays Mint WorkBench User Guide Terminal Properties The available serial ports are listed along with permissible port speeds In this mode the Mint WorkBench functions simply as a dumb terminal and additional functionality is disabled Figure 4 shows the appearance of the WorkBench once a controller has been selected for the first time Mint WorkBench default xi le Edt View Tools Window Help E O42 sm o EE Teese AS lA Asis sl mo ke di KO Ce The controller iz not running M mo M M M M M M M M M M M 3 6 7 a o 11 da al l Quick atehess A zj Feet j kl nat available si si F
28. r Unsigned 16 Bit Integer Unsigned 16 Bit Integer Signed 16 Bit Integer Signed 16 Bit Integer Unsigned 32 Bit Integer Unsigned 32 Bit Integer Unsigned 32 Bit Integer Uu US 4 O71 400 D404 1110 5134 0DUDDDDDD _ 1 1 2222111 Uu 4155321 The reader is referred to the NextMove PCI Installation Manual MN1277 for a detailed explanation 2 16 1 Custom Groups Custom Groups allow frequently used DPR locations to be grouped and viewed together To create a Custom Group 32 Right click the mouse in the left hand pane of the window Selecting New Group from the popup menu displayed adds a new item Custom Group to the list in the left hand pane of the window Right click Custom Group and select Rename from the popup menu to rename it Custom Group items are added by dragging from other DPR Groups THE MOTION LANGUAGE Mint WorkBench 2 17 Log To File The WorkBench will log serial traffic to disk To configure serial logging e Select Tools Log to file Serial Log File Log all characters transmitted Cancel Filename seriallog tet Browse 2 18 Update Bootloader 2 19 Keyword Lookup Most Mint keywords have abbreviations that may be used in place of the full keyword Serialpaud s Pressing F8 displays a Mint keyword lookup dialog Mint MN1283 08 2000 33 Mint WorkBench User Guide Hint Keywords And Constants Include i FF Mint Motion Keywo
29. rds TW Mint Basic Keywords W Mint Constants Keyword d Abbreviation _btbusott btbusatt _btdead _btdead _btquard _btquard _btlive _btlive _btover _btower _btrrierr _btrrierr _capsingle _capsingle el hi _ hl se e RE O O Copy Abbreviation Copy Keyword The user can select the keywords listed Mint Motion Keywords are commands such as mover driveenable Mint Basic Keywords are commands such as loop endl dim if Mint Constants are the expressions prefaced with an underscore displayed above The cursor begins in the keyword editbox under the keyword list As a keyword is typed here the keyword list is searched and the closest matching keyword abbreviation selected The Copy Keyword and Copy Abbreviation buttons copy the appropriate text to the Windows clipboard for later use The dialog is closed using Esc or by using the Close button 2 20 Serial Test This is available from Tools Test Serial Communications A dialog displays the test progress as Controller gt Computer and Computer gt Controller communication is tested at different comm port speeds 34 MN1283 08 2000 Mint Serial Port Test x The recommended comm port speed is displayed following a successful test and in the event of failure the reason and speed as displayed s m amass Serial Port Test let pel Mi IL MN1283 08 2000 35 Mint WorkBench User Guide 36 THE MOTION LA
30. rogram start up or troubleshoot this equipment 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 Be sure all wiring complies with the National Electrical Code and all regional and local codes Improper wiring may result in unsafe conditions A WARNING A WARNING A WARNING A CAUTION A CAUTION A CAUTION Copyright and Safety Information 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 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 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 equipmen
31. s The colors of keywords numbers etc can be tailored to suit your tastes Language Tabs Only one language is supported Mint Always leave Convert tabs to spaces while typing checked Keyboard The default keyboard mappings can be changed to suit your taste Mise Controls whether color highlighting is used whether scroll bars are shown size of undo buffer etc All the settings are saved when the Mint WorkBench is closed down and will be available for the next session For syntax and keyword highlighting it may be necessary to synchronize the editor with the latest version of Mint This can be achieved by selecting Edit Load Syntax Updating the syntax should be done every time you receive a new version of Mint or a new MintDrive Mint MN1283 08 2000 2 Mint WorkBench User Guide 2 10 Squash Squash allows a program to be compacted by removing redundant characters blank lines for example It is possible to save from an editor in the squashed format or to have WorkBench Squash each time it downloads a file Squash can perform several operations on a file However some of them can make the code unreadable Therefore the options are individually selectable To initiate the Setup Squash Parameters dialog box select Setup Squash from the Tools menu Squash Parameters r Whitespace Removal Code Compression Remove Indentation Evaluate Constants Abbreviate Keywords Remove Spaces
32. sition Loop HE Capture Figure 11 Capture Tab Selecting the Capture tab allows you to change properties such as color of the background and color of the lines for each item of data Although all four channels of the QuickWatch window are captured only two are displayed The plot drop downs select the data to plot Changing selection does not re plot the data Data can be saved to a CSV file comma separated variable for inclusion into spreadsheet packages such as Microsoft Excel using the File Save As menu This can be viewed in a spreadsheet by selecting Comma Separated Variable typically has a CSV file extension Saving the file will save all four channels from the QuickWatch window Sections of the plot can be magnified by selecting the start point with a mouse click dragging the mouse to highlight the area to magnify whilst keeping the left button pressed and releasing the left button Pressing the right mouse button restores the original plot 18 MN1283 08 2000 Mint Mint WorkBench Selecting Print from the File menu prints the plot Mint WorkBench csvC060 TMP Ba elm S x e gt m so ak ee RZ Jl Z Axis Measured Position Axis 0 Measured Velocity 25000 Axis 0 Measured Position v Axis 0 Measured Velocity 20000 Axis 0 Demand Position Axis 0 DAC Demand e Axis 0 Measured Velocity Axis Demand Velocit Axis 0 Mode Axis Measured Velocity Extrapolated Ax
33. t To prevent equipment damage be certain that the input power has correctly sized protective devices installed To prevent equipment damage be certain that input and output signals are powered and referenced correctly To ensure reliable performance of this equipment be certain that all signals to from the controller are shielded correctly Mint WorkBench User Guide Manual Revision History Jan 2000 UM00533 000 August 2000 UM00533 001 e For Mint WorkBench v4 2 vi MN1283 08 2000 Mint Manual Revision History Mint MN1283 08 2000 VII Mint WorkBench User Guide SUELO CU de EE 1 1 1 tat eg e en E 2 1 2 KOV 10 ICONS eegenen 3 2 Mint WorkBench 5 2 1 Installation Requirements 6 2 2 Installing the Mint WorkBench 020 en nennen nennen 6 2 0 Starting the Mint WorkBench nennen 7 2 4 Selecting a Controller uil 8 2 5 WorkBench Toolbars 11 2 5 1 Navigating the Main Toolbar 11 2 5 2 Motion Toolbar are 13 29 3 Macro I00IDAr alan 14 2 6 The QuickWatch Wmdow i 15 26 1 The QuickWateh Tab ee een 15 2 6 2 Speed Loop Tab sirnana EIA KSEE SOain U NTEN Erain 16 263 POSON MOOD TaD EE 17 204 Capre baciare 18 21 CANWN
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