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MN1261 02/99
MINT™
for NextMove
Programming Guide
MN1261
Issue 3.2
MINT for NextMove Programmer’s Manual
ii
MN1261 02/99
Copyright Baldor Optimised Control Ltd © 1998-1999. All rights reserved.
This manual is copyrighted and all rights are reserved. This document 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.
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
178-180 Hotwell Road
Bristol
BS8 4RP
U.K.
Telephone: +44 (0) 117 987 3100
Fax: +44 (0) 117 987 3101
email: sales@baldor.co.uk
Web site: www.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
Telehone: +49 (0) 89 90508-0
Fax: +49 (0) 89 90508-492
Baldor ASR AG
Telephone: +41 (0) 52 647 4700
Fax: +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
Manual Revision History
MN1261 02/99
iii
Manual Revision History
Issue Date BOCL Reference Comments
2.0 Oct 96 MN00138-002 First issued version.
2.0 C Feb 97 MN00138-003 Keyword/software update.
2.1 Mar 97 MN00138-004 Reflects MINT for NextMove v3.7.
Description changes for the following keywords:
ENCODER, ERR, MASTERCHANNEL,
MASTERSOURCE, OFFSET, POS
Keywords added: CANBAUD, CANSTATUS,
DACMODE, FASTAUXENCODER,
FASTENCODER, NODELIVE, NODETYPE,
REMOTEBAUD,
REMOTEDEBOUNCE, REMOTEESTOP,
REMOTEIN, REMOTEINPUTACTIVELEVEL,
REMOTENODE, REMOTEOUT,
REMOTEOUTPUTERROR, REMOTERESET,
REMOTESTATUS, STATUSNODE
3.0 Nov 97 MN00138-005 Reflects MINT for NextMove v3.8.
Description changes for the following keywords:
SPLINE, CAM, OFFSET
Keywords added: CAMAMPLITUDE, CAMPHASE,
COMMSMODE, DRIVETYPE, KEYPADNODE,
MASTERDISTANCE, OFFSETMODE,
OFFSETDISTANCE, OFFSETSTATUS,
PRECISIONINCREMENT, PRECISIONMODE,
PRECISIONOFFSET, PRECISIONTABLE,
READKEY, REMOTESETUP, SERIALBAUD,
SERIALNODE
3.1 Mar 98 MN00138-007 Reflects MINT for NextMove v3.9.
Description changes for the following keywords:
ENOUTPUT, GAIN
Keywords added: CAMPHASESTATUS, KACCEL,
PRESCALE, RTSCTS
Keywords removed: PATH, SERVOC, SERVOFF,
SERVON
3.2 Feb 99 UM00513-000 New Edition in new size and format.
New Keywords added.
New index added.
MINT for NextMove Programmer’s Manual
iv
MN1261 02/99
Introduction................................................................................9
1.1 Aims, Assumptions and Conventions...........................................10
1.2 Additional MINT for NextMove Features......................................10
Program Structure....................................................................13
2.1 Typical Configuration File .............................................................14
2.2 Typical Program File ......................................................................17
The Servo Loop.........................................................................19
3.1 The Servo Loop ..............................................................................20
3.2 Selecting Servo Loop Gains..........................................................24
The Expansion Board............................................................... 25
MINT Keywords......................................................................... 29
5.1 MINT Systems Keywords ................................................................30
5.1.1 Multi-Axis and Multi-Channel Syntax......................................30
5.1.2 Single Axis References using Dot............................................33
5.2 MINT Numbers and Variables.......................................................34
5.2.1 Numbers....................................................................................34
5.2.2 Binary and HEX Notation..........................................................34
5.2.3 Constants..................................................................................35
5.2.4 Pre-defined Constants.............................................................36
5.2.5 Variables ...................................................................................38
5.2.6 Non-volatile Variables..............................................................39
5.3 Arrays..............................................................................................41
Contents
MN1261 02/99
v
5.3.1 Advanced use of Arrays..........................................................42
5.3.2 Array Data File Format.............................................................43
5.4 Relational and Mathematical Operators ...................................45
5.4.1 Performing Bitwise Operations................................................46
5.4.2 Trigonometric Functions...........................................................47
5.5 Macros............................................................................................48
Program Control.......................................................................51
6.1 Conditional Statements................................................................52
6.1.1 IF .. THEN statement..................................................................52
6.1.2 IF block structure ......................................................................52
6.1.3 PAUSE statement......................................................................53
6.2 Loops...............................................................................................54
6.2.1 FOR .. NEXT loop .......................................................................54
6.2.2 REPEAT .. UNTIL loop .................................................................55
6.2.3 WHILE .. ENDW loop..................................................................55
6.2.4 LOOP .. ENDL loop....................................................................56
6.2.5 EXIT statement ..........................................................................56
6.2.6 Nesting.......................................................................................57
6.3 Subroutines.....................................................................................58
6.3.1 Reserved Labels .......................................................................59
6.3.2 Reserved Label: #ONERROR....................................................59
6.3.3 Reserved Label: #FASTPOS......................................................60
6.3.4 Reserved Label: #FASTPOS1..3................................................61
6.3.5 Reserved Label: #STOP ............................................................61
6.3.6 Reserved Label: #CAN.............................................................62
6.3.7 Reserved Label: #TIMER...........................................................62
剩余420页未读,继续阅读
资源评论
- zhangshijie2013-10-12关于葆德的资料很少,希望能多分享
- darby20092013-12-14不错 慢慢看基本可以熟悉保德的编程
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