Mint NextMove PCI Manual de usuario Pagina 1

09/2001 MN1906 MintMT PC Programming Guide

3-2 MintMT ActiveX Control 3.3 MintMT ActiveX control components The MintMT ActiveX control contains several components: Command Prompt This c

Using the MintMT ActiveX Control 4-1 4 Using the MintMT ActiveX Control 4.1 Overview Using the Mint Motion Library (MML) function set, the Mint

4-2 Using the MintMT ActiveX Control MintDriveII MintController.setMintDrive2Link 0, 1, 57600, TrueCreates a handle to a MintDriveII controller whi

Using the MintMT ActiveX Control 4-3 The following examples are in Microsoft Visual Basic: MintController.doUpdateFirmware “C:\MintMT\Firmware\nmPC

4-4 Using the MintMT ActiveX Control Figure 2 shows a diagram of the MintMT controller software architecture. Figure 2 - MintMT softw

Using the MintMT ActiveX Control 4-5 All MintMT keywords that call MML functions can be called via the MintMT ActiveX control. They are prefixed

4-6 Using the MintMT ActiveX Control // Try function calltry{// Enable the drivem_controller.setDriveEnable ( 0, true );}// Catch any errorscatch (

Using the MintMT ActiveX Control 4-7 All error codes are defined in the format erXXXX in the header file HOST_DEF.BAS that can be included in Visua

4-8 Using the MintMT ActiveX Control 4.7 Limitations of PC based applications 4.7.1 Events There are a number of event types supported by MintMT

Using the MintMT ActiveX Control 4-9 4.8.1 Accessing Dual Port RAM There are a number of functions to read and write data to Dual Port RAM. Dual

Advanced Features 5-1 5 Advanced Features 5.1 Event Handling The MintMT ActiveX control supports the same selection of event handlers as MintMT,

5-2 Advanced Features Priority Event Supported By 11 Axis Idle NextMove PCI 12: Lowest Unknown NextMove PCI The Reset event only available

Advanced Features 5-3 Only asynchronous errors will generate calls to the error event handler. If a function call returns an error code this will

5-4 Advanced Features Timer event To install a timer event handler the function installTimerEventEventHandler must be called to install the event

Advanced Features 5-5 Move buffer low event To install a move buffer low event handler the function installMoveBufferLowEventHandler must be calle

5-6 Advanced Features 5.1.2 Controlling event generation There are various functions that can be used to control event generation. The bit patte

Advanced Features 5-7 5.2 Terminal window The MintMT ActiveX control has a number of secondary components that work with the MintController object

5-8 Advanced Features 5.3 Command prompt As well as the MintTerminal object the MintMT ActiveX control also has a MintCommandPrompt object that wo

Advanced Features 5-9 Dim sID As StringDim sSymbolTable As String‘ create handle to controllerMintController.setNextMovePCI1Link 0, 0‘ get ID of co

Contents i Contents 1 General Information...1-1 2 Introduction ...

5-10 Advanced Features Comms array element DPR Location 1 0x1D6 2 0x1D8 3 0x1DA 4 0x1DC . . 97 0x296 98 0x298 99 0x29A

PC Application Examples 6-1 6 PC Application Examples 6.1 Microsoft Visual C++ This section is a guide to creating a Microsoft Visual C++ dialo

6-2 Advanced Features 3. Click OK to accept the summary dialog. Microsoft Visual C++ will now display the resource view for the main dialog of t

Advanced Features 6-3 5. Right click again on the dialog and choose Class Wizard…. On the Member Variables tab select the controller ID for the

6-4 Advanced Features 6. Click OK again to confirm the class and file names (CMintControllerCtrl, mintcontrollerctrl.h and mintcontrollerctrl.cpp

Advanced Features 6-5 8. When the application starts up it needs to create a handle to the controller. Right click on the dialog. Select Events…

6-6 Advanced Features This will create a handle to a NextMove PCI controller (Card 0, Node 0). All subsequent use of m_controller will use the Ne

Advanced Features 6-7 6.2 Microsoft Visual Basic This section is a guide to creating a Microsoft Visual Basic application that uses the MintMT Act

6-8 Advanced Features 3. From the Project menu select Components. This will display a dialog listing all ActiveX controls. Click the checkbox a

Advanced Features 6-9 5. To use the MintMT ActiveX control to communicate with a controller a handle to the controller must be created. This ca

ii Contents 5.4 Communicating with legacy controllers ...5-9 5.4.1 S

6-10 Advanced Features 6.3 Borland Delphi This section is a guide to creating a Borland Delphi application that uses the MintMT ActiveX control to

Advanced Features 6-11 3. From the Component menu select ‘Import ActiveX Control…’, this will display a dialog listing all ActiveX controls. Sele

6-12 Advanced Features 5. To use the MintMT ActiveX control in the project, place it on the form. The properties of the ActiveX component include

Advanced Features 6-13 This will code will read the state of the relay and invert it. Run the application, when the button is pressed the relay wi

6-14 Advanced Features 6.4 National Instruments LabView This section is a guide to creating a National Instruments LabView application that uses

Advanced Features 6-15 3. From the ActiveX icon in the Controls toolbox select a Container and place it on the front panel 4. Right

6-16 Advanced Features 5. Once the MintMT ActiveX control has been installed the container in the front panel will become a Mint icon.

Advanced Features 6-17 7. Set the parameters for this method to be:  nNodeNumber 0  nCardNumber 0 This creates a handle to a NextMove PCI

MintMT ActiveX Methods 7-1 7 MintMT ActiveX Methods 7.1 Error Codes Below is a list of all error codes at the time of printing, for a complete l

General Information 1-1 1 General Information Copyright Baldor (c) 2001. All rights reserved. This manual is copyrighted and all rights are rese

7-2 MintMT ActiveX Methods Number Macro Description 19 erSERIAL_ERROR Problem with RS232 or RS485 port. 20 erWRONG_NODE

MintMT ActiveX Methods 7-3 Number Macro Description 51 erADDRESS_OUT_OF_RANGE Error addressing Flash 52 erCRC_CHECKS

7-4 MintMT ActiveX Methods Number Macro Description 86 erBBP_OVERFLOW BBP Transaction Rx overflow 87 erINVALID_BBP_P

MintMT ActiveX Methods 7-5 Number Macro Description 115 erICM_TL_HOST_RETRANSMITS Too many host retransmit requests 116 erICM_TL_T

7-6 MintMT ActiveX Methods Number Macro Description 1009 erERROR_DOWNLOADING COFF download failed 1010 erTIMEOUT

MintMT ActiveX Methods 7-7 Number Macro Description 1049 erINVALID_CONTROLLER_TYPE Invalid controller enumeration 1050 erINVALID_COMMS

7-8 MintMT ActiveX Methods Number Macro Description 1089 erBUFFER_TOO_SMALL Not enough memory to load program 1090 erREQUIRES_DE

MintMT ActiveX Methods 7-9 Number Macro Description 1129 erPOS_ARRAY_REQUIRED Position array must be used 1130 erARRAY_SI

7-10 MintMT ActiveX Methods 7.2 Properties This is a list of function all prototypes supported by Baldor controllers. Only a selection of these ar

NextMove PCI DPR Map 8-1 8 NextMove PCI DPR Map 8.1 Overview Each area of the address map is described below. Where an address is shown, it is

1-2 General Information Safety Notice Only qualified personnel should attempt the start-up procedure or troubleshoot the equipment. The equipment

8-2 NextMove PCI DPR Map 8.2 Dual Port RAM map Address Description Read Only 0xFFFInterrupt Host  0xFFEInterrupt NextMove  0xFFD0xFE0Reserved

NextMove PCI DPR Map 8-3 8.2.1 Status and control registers Address Use Symbolic Constant Read Only 0x000DPR Control Register roCONTROL 0x0

8-4 NextMove PCI DPR Map DPR Status Register Bit Meaning Symbolic Constant 0 DPR Contents locked if 1 btLOCKED 1 DPR contents invalid if 0 btV

NextMove PCI DPR Map 8-5 Address 0x0C Bits 31-28 27-24 23-20 19-16 15-12 11-8 7-4 3-0 Axis No. - - - - Axis 11 Axis 10 Axis 9 Axis 8 1ms

8-6 NextMove PCI DPR Map Offset Use Symbolic Constant Data Size 0x0AReserved 0x0BKprop* roP_GAIN float 0x0CReserved 0x0DKvel* roV_GAIN float

NextMove PCI DPR Map 8-7 Address Use Symbolic Constant Data Size 0x11ABase Digital Outputs roOUTPUTS int 16 0x11BStop / Error bits roMG_STATU

8-8 NextMove PCI DPR Map Each location is a floating point value. Comms is accessed using the COMMS keyword in MintMT or the getComms / setComms

NextMove PCI DPR Map 8-9 The offsets from the start of the serial interface are shown in hex. The start of the serial I/O buffer has a symbolic c

8-10 NextMove PCI DPR Map Functionality Code Register (3FC) This register describes the capabilities of the software running on NextMove. The regi

Timings 9-1 9 Timings 9.1 MML function call timing These timings show the time taken to call Immediate Command Mode (ICM) functions from a PC a

Introduction 2-1 2 Introduction 2.1 Overview Baldor controllers are normally programmed using the MintMT language. MintMT is a structured form

Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol BS32 0BF, UK UK TEL: +44 1454 850000 FAX: +44

MintMT ActiveX Control 3-1 3 MintMT ActiveX Control 3.1 What is an ActiveX control? ActiveX controls, formerly known as OLE controls or OCX co