Lmms Linux Multimedia Studio Computer Accessories Mint V4 Pc Programming Guide Users Manual
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Mint™ version 4
PC Programming Guide
MN1278
Issue 1.2
MN1278 05.2001
Mint v4 PC Programming Guide
ii
MN1278 05.2001
Copyright
Copyright Baldor UK Ltd © 2001. All rights reserved.
This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, be copied or
reproduced in any form without the prior written consent of Baldor UK.
Baldor UK makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of
fitness for any particular purpose. The information in this document is subject to change without notice. Baldor UK assumes no
responsibility for any errors that may appear in this document.
MINT™ is a registered trademark of Baldor UK Ltd.
Windows 95, Windows 98 and Windows NT are registered trademarks of the Microsoft Corporation.
Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol
BS32 0BF
U.K.
Telephone:
+44 (0) 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
MN1278 05.2001
Baldor ASR GmbH
Telephone:
+49 (0) 89 90508-0
Fax:
+49 (0) 89 90508-492
Baldor ASR AG
Telephone:
Fax:
+41 (0) 52 647 4700
+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
iii
Mint v4 PC Programming Guide
iv
MN1278 05.2001
Manual Revision History
Manual Revision History
Issue
Date
BOCL
Reference
1.0
Apr 99
UM00545-000
1.1
Feb 00
UM00545-001
1.2
May 2001
UM00545-002
MN1278 05.2001
Comments
Raised from MN00249-003.
This is a new UM for v4, allowing updates to the v3
manual to continue as MN00249-XYZ
Added NextMove PC device driver documentation.
Corrected for Mint v4 ( new C++ files, Win2000,
WinME.
Updates for PC Developer Libraries 1302 release.
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Mint v4 PC Programming Guide
vi
MN1278 05.2001
Contents
Introduction ................................................................................ 1
1.1
Introduction...............................................................................................2
1.2
Installation ................................................................................................2
Communicating with a Controller ............................................. 3
2.1
NextMove PCI...........................................................................................4
2.2
NextMove PC............................................................................................4
2.3
Dual Port RAM on NextMove PCI and PC ................................................4
2.4
Mint Comms Array (All Controllers)...........................................................5
2.5
Interfacing with Mint..................................................................................7
2.5.1 Preventing Deadlock Situations............................................................7
Using the Library with Various Languages .............................. 9
3.1
C++.........................................................................................................10
3.1.1 C++ : the Classes...............................................................................10
3.1.2 Pre-Compiled Headers in Visual C++ 6.0. ..........................................11
3.1.3 A Visual C++ 6.0 Tutorial ...................................................................14
3.1.4 Compiling an ATL COM Project with Visual C. ...................................24
3.1.5 RS485 Networks. ...............................................................................24
3.2
All Other Languages : The ActiveX Control ( OCX ) ...............................24
3.2.1 The ActiveX Control And The Languages It Can Be Used With. ........24
3.2.2 The ActiveX Control and Error Handling.............................................25
3.2.3 The ActiveX Control and Serial Controllers. .......................................25
3.2.4 The ActiveX Control and RS485 Networks. ........................................25
3.2.5 Distributing an Executable Which Uses The ActiveX Control. ............25
3.2.6 ‘Server Busy” / “Component Request Pending” Errors. ......................25
3.3
Visual Basic 6 .........................................................................................27
3.3.1 Error number conversion....................................................................27
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Mint v4 PC Programming Guide
3.3.2 A Visual Basic Tutorial. ......................................................................27
3.4
Borland Delphi 5.0 ..................................................................................31
PC Based Motion Control ........................................................ 35
4.1
Limitations of PC based applications ......................................................37
4.2
Events and Interrupt Control on NextMove PCI ......................................38
4.2.1 Writing and Installing an Interrupt Handler .........................................38
4.2.2 Event Control Functions .....................................................................42
4.2.3 Interrupting the Host from a Mint Program ( DPR Events ).................43
4.2.4 Handling Events Using the ActiveX Control........................................43
NextMove PCI and Non-Microsoft Operating Systems.......... 45
5.1
How to Recognise the NextMove PCI. ....................................................46
5.2
Host Accessible Hardware on NextMove PCI. ........................................46
5.3
The CSimplePCI class. ...........................................................................46
5.3.1 The CMySimplePCI Example. ............................................................47
5.3.2 Functions Required by the Overloaded Class. ...................................47
5.3.3 Files to Include in a CSimplePCI Derived Class Project. ....................49
Appendix 1: DPR Map .............................................................. 51
viii
6.1
NextMove PCI DPR Map ........................................................................51
6.2
NextMove PC DPR Map .........................................................................54
6.3
Status and Control Registers ..................................................................56
6.4
Axis Data ................................................................................................59
6.5
I/O Data ..................................................................................................61
6.6
Comms Array..........................................................................................62
6.7
Immediate Comand Mode.......................................................................62
6.8
Pseudo Serial Interface ..........................................................................63
6.9
Special Functions Registers ...................................................................64
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Contents
6.10
Data Synchronisation..............................................................................66
Appendix 2: Timings ................................................................ 67
7.1
Immediate Command Mode Functions ...................................................67
Appendix 3: Symbolic Constants ............................................ 69
Bibliography ............................................................................. 77
MN1278 05.2001
ix
Introduction
1. Introduction
1
The Mint™ v4 PC Programming Guide details how to call Mint v4
functions and how to communicate with Mint controllers from PC based
host applications.
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Mint v4 PC Programming Guide
1.1
Introduction
The PC Developer Libraries allow PC based applications to be written that communicate with Mint controllers.
This is achieved using the Mint Interface Library which is a common API (Application Program Interface) for the
range of Mint based motion controllers. The Mint Interface Library is suitable for use under Windows 95, 98,
ME, NT and 2000 via an ActiveX control or C++ source code.
Features include:
• Ability to upload and download Mint programs and configuration files.
• Ability to interrogate the Mint command line.
• Updating of new firmware into FLASH or RAM.
• Support for the Mint Comms Protocol, whereby data can be transferred to an executing Mint program by
means of a protected datapacket.
• Ability to read Dual Port RAM locations on the NextMove PCI and NextMove PC (Mint v4)
controllers.
• PC based motion control.
• Support for communications with controllers on a CAN network.
Support is provided for the following controllers:
• NextMove product family: NextMove PCI, NextMove BX and NextMove PC.
• MintDrive.
• ServoNode 51.
• EuroSystem product family: SmartMove, SmartStep, EuroSystem, EuroStep, EuroServo.
This manual does not include detail on individual Mint Interface Library functions. Details can be found in the
Mint v4 Function Reference Guide.
1.2
Installation
From the Baldor Motion Toolkit CD, the ‘PC Developer Libraries’ should be installed from the NextMove PCI,
NextMove BX v4, MintDrive and ServoNode 51 product pages. This will install the ActiveX component, the
C++ source files and the examples. A custom setup option is also included to allow selective install of the
components.
2
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Communicating with a Controller
2. Communicating with a Controller
2
This chapter covers general communication with Mint controllers.
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Mint v4 PC Programming Guide
The Mint Interface Library is a common API that allows access to Mint controllers. It can be used via an
ActiveX control or through C++ source code. The Mint Interface Library is suitable for use under Windows 95,
98, ME, NT and 2000.
The ActiveX control (OCX) can be used with a large number of languages. This document concentrates on
Microsoft Visual C++, Microsoft Visual Basic and Borland Delphi but the principle is the same in any language.
The C++ source code can also be used directly from Visual C++.
Communication to NextMove PCI and NextMove PC occurs over Dual Port RAM on the card. Communication
to all other controllers takes place over a serial port using either RS232 or RS485.
The are several example programs included on the Baldor Motion Toolkit as part of the PC Developer Libraries.
This chapter covers general methods of communication with Mint controllers. The next chapter covers the
specifics of using the Mint Interface Library.
2.1
NextMove PCI
NextMove PCI requires a device driver under all Windows operating systems. See the NextMove PCI
Installation Guide for details on installing the device drivers.
The version number of the device driver can be found using the following method:
Windows 95, 98, ME:
Locate the file NMPCI1.VXD in the \WINDOWS\SYSTEM directory using Windows Explorer. Right click the
file and select ‘Properties’. The ‘Version’ tab of the displayed dialog gives version information for the device
driver.
Windows NT, 2000:
Locate the file NMPCI.SYS in the \WINNT\SYSTEM32\DRIVERS directory using Windows Explorer. Right
click the file and select ‘Properties’. The ‘Version’ tab of the displayed dialog gives version information for the
device driver.
2.2
NextMove PC
NextMove PC requires a device driver under Windows NT and Windows 2000. See the NextMove PC Mint v4
Installation Guide for details on installing the device driver.
2.3
Dual Port RAM on NextMove PCI and PC
All communication between NextMove PCI / PC and the host is performed using Dual Port RAM (DPR). This is
physical block of memory on NextMove which can be accessed by either NextMove or the host. Various
locations in DPR have been set aside for special purposes such as sending control codes and passing I/O
information. Other locations have been left for the user to pass any required information back and forth.
4
MN1278 05.2001
Communicating with a Controller
The main features and uses of DPR are:
• Support for the Mint Comms protocol. This is a method of asynchronously updating variables in a Mint
program from the host.
• Mint pseudo serial buffer. This allows communication with the Mint command line and Mint program
and configuration loading/saving.
• Reporting of Mint status. The host can read whether Mint is at the command line and if not, which line
it is executing.
• Automatic reporting of motion variables. Every 2 milliseconds NextMove writes various motion
parameters into DPR such as position and velocity of an axis. This can be read at any time by the host.
• Event control. This allows NextMove to interrupt the host and the host to interrupt NextMove.
• Flags & control registers. Each NextMove application uses control registers to tell the host which
features it supports. Control registers can also be used to synchronize communications between
NextMove and the host.
• User area. There is an area in DPR which has been left to allow NextMove and the host application to
exchange whatever application specific data is required.
Appendix 1 shows the layout of DPR and describes the functionality of each section in detail.
2.4
Mint Comms Array (All Controllers)
The Mint Comms Protocol is a secure communication method allowing asynchronous transfer of floating point
data to and from a Mint controller. This is a 255 element array where the first 99 elements can contain user data
and the remaining elements contain pre-defined data such as axis position and velocity. Comms provides the best
way of communicating data between a Mint program running on a controller and the host at run time. It can be
used for simple data transfer, or as a method of synchronizing events. Comms can also be used for transferring
data directly between controllers. For further information on the uses of Comms, see the Mint v4 Programming
Guide section 5, ‘Mint Comms Communications’, and the Mint v4 CAN Programming Manual section 3,
‘Getting Started with CANopen’.
On Mint v4 serial controllers, Comms now uses binary packets to transfer data but in earlier Mint versions, an
ASCII based packet was used. All Mint v4 controllers also support the older protocol.
Example:
In this example, Comms is used to pass commands to a Mint program using two Comms locations. Location 1 is
used to pass the command and location 2 is used to pass data. The host code is written in C++ but the principles
are applicable to any language.
Host:
/* Address of NextMove PC
*/
#define nmADDRESS
0x33C
/* Node number
#define NODE0
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*/
0
5
Mint v4 PC Programming Guide
/* COMMS location uses
#define CONTROL_LOCATION
#define PARAM_1
*/
1
2
/* Flags for control location
#define COMPLETED
0.0
#define SPECIAL_ROUTINE1 1.0
*/
/* Create a handle to the controller */
CNextMovePC myNextMove ( NODE0, nmADDRESS );
/* Define variables */
float fErrorCode;
float fOutput = 1.0;
float fControl = SPECIAL_ROUTINE1;
/* Write to comms location */
myNextMove.setComms (NODE0, PARAM_1, &fOutput );
/* Write to comms location */
myNextMove.setComms (NODE0, CONTROL_LOCATION, &fControl );
/* Handshake to Mint program to wait for completion of function */
do {
myNextMove.getComms (NODE0, CONTROL_LOCATION, &fControl );
} while ( COMPLETED != fControl );
/* Read the data returned */
myNextMove.getComms (NODE0, PARAM_1, &fErrorCode );
Mint for NextMove:
REM COMMS location uses
DEFINE control = COMMS (1)
DEFINE param1 = COMMS (2)
REM Flags for control location
DEFINE completed =
0
DEFINE special_routine1 = 1
REM I/O
DEFINE open_gripper =
OUT0 = 1
DEFINE gripper_fully_open = IN6 = 1
DEFINE gripper_error =
IN7
WHILE 1
IF control = special_routine1 DO
OUT1 = param1
: REM Use param supplied by top end
open_gripper
PAUSE gripper_fully_open: REM Wait for an event
param1 = gripper_error: REM Data to pass back to host
control = completed : REM synchronise with host
ENDIF
ENDW
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MN1278 05.2001
Communicating with a Controller
2.5
Interfacing with Mint
The Mint command line allows manual execution of Mint keywords. Using the Mint WorkBench, the Mint
command line can be used when testing, commissioning and debugging Mint programs.
There are several functions in the Mint Interface Library for direct access to the serial buffer:
setSerialChar, setSerialCharTimeout, setSerialStringTimeout, getSerialChar, getSerialCharTimeout and
getSerialStringTimeout.
These allow characters and strings to be passed to and from a Mint application. A Mint application may use the
serial buffer for program control, user information or debug information.
For example:
myNextMoveBX.setSerialStringTimeout ( “MA.0=100:GO.0\n”, 100).
2.5.1
Preventing Deadlock Situations
If Mint has a character to write to the serial port, it will wait indefinitely until there is a space in the transmit
buffer. This means that the serial buffer must be emptied by the host application for the Mint program to
proceed. There are several ways of doing this:
Call one of the read functions e.g. getSerialChar until the buffer is emptied.
Set the terminal mode to be overwrite or off. The terminal mode controls how the serial buffer is used. If the
mode is overwrite, then the oldest characters in the buffer are overwritten by the new characters. If the mode is
off, all characters are discarded as they are placed in the buffer. See the TERMINALMODE keyword in the Mint
v4 Programming Guide for further details.
The functions setTerminalmode (tmRS232, tmmOVERWRITE) will set the terminal mode on the RS232 port to
be overwrite. setTerminalmode (tmDPR, tmmOFF) will disable all serial communications on the pseudo serial
buffer on NextMove PC or PCI.
The terminal mode can also be set for NextMove PC and PCI when firmware is downloaded to the controller.
Specify TRUE for the bEchoOverwrite parameter of doUpdateFirmware / doUpdateFirmwareEx. This will set
the pseudo-serial communications into overwrite mode.
To download and upload and Mint program and configuration files to Mint, the functions doMintFileDownload
and doMintFileUpload are used. These are unaffected by the setting of terminalmode.
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Mint v4 PC Programming Guide
The following is a summary of the functions used to access the Mint command line:
Function Name
doMintBreak
doMintRun
getSerialChar
getSerialCharTimeout
getSerialStringTimeout
setSerialChar
setSerialCharTimeout
setSerialStringTimeout
8
Description
Sends Ctrl-E to Mint,( bypassing the pseudo-serial
buffer on NextMove PC and PCI ).
Write RUN
Read a char from the pseudo-serial buffer if one is
available
Read a char from the if one is available within the
given period of time.
Read up to 64 chars from serial buffer into a string
Write a character
Writes a character with a timeout
Writes a string, timing out if the pseudo-serial transmit
buffer is full
MN1278 05.2001
Using the Library with Various Languages
3. Using the Library with Various Languages
3
This chapter details the use various different programming languages. The
languages covered are:
MN1278 05.2001
◊
C++
◊
Visual C++ 6
◊
Visual Basic 6
◊
Inprise Delphi
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Mint v4 PC Programming Guide
3.1
C++
The Mint Interface Library was written in C++. The source code is provided and can be included in your project.
The only supported compilers are Visual C++ v6.0 and Watcom 11. All other compilers must use the ActiveX
control to communicate with controllers.
3.1.1
C++ : the Classes
The Mint Interface Library contains a C++ class for each controller.
In each case the class is defined in the header file in the right of the table. All of these headers are included in
precomp.h (see later).
Controller
Class
Header file to include
NextMove PC
NextMove PCI
NextMove BX
MintDrive
ServoNode 51
CNextMovePC
CNextMovePCI1
CNextMoveBX
CMintDrive
CServoNode51
nextmove.h
nm_pci1.h
nm_bx.h
mintdrv.h
snode51.h
The simplest way to interface to any of these controllers is to create an instance of the object and call any of the
functions described later in the manual.
For example, to download nmpci.out to a NextMove PCI a CNextMovePCI1 object can be created.
Hint : All controllers referenced in the Mint v4 PC Programming Guide are derived from the CController
class (defined in BASE.H.) All functions are virtual, so it is safe to pass pointers to objects as
(CController*) if the class type to be created is not known at compile time.
The following files should be included in your C++ project.
10
File
Controller
base.cpp
baldorserial.cpp
host_def.cpp
logfile.cpp
mme.cpp
mml.cpp
nextmove.cpp
nm_nt.cpp
nm_pci1.cpp
nm_win32
All
All Serial
All
All
MintDrive, NextMove BX, ServoNode 51
All
NextMove PC
NextMove PC
NextMove PCI
NextMove PC & PCI
MN1278 05.2001
Using the Library with Various Languages
File
Controller
nmbase.cpp
nmstd.cpp
precomp.cpp
serial.cpp
syncronisation.cpp
uncompress.cpp
NextMove PC
NextMove PC
All
All Serial
All
All
3.1.2
Pre-Compiled Headers in Visual C++ 6.0.
In order to speed up compilation of C++ projects using C++, the Mint Interface Library files precomp.cpp and
precomp.h can be used. This has been found to reduce build times by up to 85% so although not required are
worth using. To use precompiled headers, include precomp.h at the top of each source file. Then include
precomp.cpp in the project and set it to create the pre-compiled header file. The following sections go into more
detail on how to set up precompiled header files in the supported compilers.
To use pre-compiled headers with a Visual C++ project.
1.
Make sure precomp.cpp is included in the project.
2.
If the project was generated by the App Wizard, it will have created a file called stdafx.cpp to create the
precompiled header file. As precomp.cpp replaces stdafx.cpp, delete stdafx.cpp from the project.
3.
If stdafx.cpp was NOT deleted in the previous step proceed to step 6.
4.
Replace all instances of #include “stdafx.h” with #include “precomp.h”.
5.
In the Project menu, select Settings. This will open the ‘Project Settings’ dialog. Select the C/C++ tab. In
the Category drop-down, select General. Select All Configurations in Settings For: on the left. In the
Preprocessor definitions: field, add _INC_STDAFX_H_ separating it from the preceding text with a comma.
This causes precomp.h to include the files previously included by stdafx.h. stdafx.h can still be edited to add
more files to the precompiled header as required. The dialog should now look similar to the screen shot
below. Press OK to store these changes. Now proceed to step 7.
MN1278 05.2001
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Mint v4 PC Programming Guide
Figure 3-1: Visual C++ 6.0 Project Settings (step 5)
6.
Add #include “precomp.h” to the top of each source (.c or .cpp) file. Note that no pre-compiler directives
(e.g. #include, #if, #define) should be placed above this line (although comments can be).
7.
In the Project menu, select Settings. This will open the ‘Project Settings’ dialog. Select the C/C++ tab. In
the Category drop-down, select Precompiled Headers. Select All Configurations in Settings For: on the left.
Click on Use precompiled header file (.pch) and enter precomp.h in the Through Header text field. The
dialog should now look similar to the screen shot below. Press OK to store these changes. This will instruct
the project to use the pre-compiled file.
12
MN1278 05.2001
Using the Library with Various Languages
Figure 3-2: Visual C++ 6.0 Project Settings (step 7)
8.
Select precomp.cpp in File View. Right click with the mouse and select Settings. This will open a dialog
similar to the dialog in step 3, but this time the dialog will only apply to precomp.cpp. Again, select Settings
For: All Configurations, and the Precompiled Headers Category on the C/C++ tab. This time, select Create
precompiled header file (.pch) and add precomp.h to the Through Header field. Check the dialog resembles
the one below and press OK.
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Mint v4 PC Programming Guide
Figure 3-3: Visual C++ 6.0 Project Settings (step 8)
9.
Rebuild the project. Precomp.cpp should now be the first file to build. This causes the pre-compiled header
file to be built. All the other files will now use this pre-compiled header as opposed to having to re-compile
all the header files each time.
3.1.3
A Visual C++ 6.0 Tutorial
This section will guide you through creating a Visual C application. The application will contain one button
which will toggle the state of the enable output for axis 0. Note that the axis must already be configured as servo
(use the Mint WorkBench to do this).
14
MN1278 05.2001
Using the Library with Various Languages
1.
Open Visual C and select ‘ New’ from the ‘File’ menu. Select ‘MFC Appwizard(exe)’ from the ‘Projects’
tab. Enter the name ‘VCTutorial’ for the project and press ‘OK’.
Figure 3-4: Visual C++ 6 New Project (step 1)
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Mint v4 PC Programming Guide
2.
At Step 1 of the wizard, select ‘Dialog based’ and press ‘Finish’.
Figure 3-5: Visual C++ 6 Application Wizard (step 2)
3.
16
Delete all the controls from the dialog (‘OK’ button, ‘Cancel’ button and ‘TODO: Place dialog controls
here.’ Text)
MN1278 05.2001
Using the Library with Various Languages
4.
Select ‘Settings’ from the ‘Project’ menu. Select ‘All configurations’ from the ‘Settings For’ drop list.
Select the ‘C/C++’ tab and add _INC_STDAFX_H_ to the end of the ‘Preprocessor definitions’ list. This
will cause the existing “stdafx.h" to be included in the precompiled header.
Figure 3-6: Project Settings (step 4)
MN1278 05.2001
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Mint v4 PC Programming Guide
5.
Select ‘Precompiled Headers’ in the ‘Category’ drop list. Change ‘stdafx.h’ to ‘precomp.h’ in the ‘Use
Precompiled header’ option.
Figure 3-7: Project Settings (step 5)
18
MN1278 05.2001
Using the Library with Various Languages
6.
Select ‘Preprocessor’ from the ‘Category’ drop list. Add ‘.,’ (dot-comma ) followed by the path to the Mint
Interface Library header files in the ‘Additional include directories’ field. Press ‘OK’ to close the dialog.
Figure 3-8: Project Settings (step 6)
7.
In the ‘FileView’ pane, delete stdafx.cpp. Right-click on ‘VCTutorialFiles’ and select ‘Add Files To
Project.’ Add ‘precomp.cpp’ (which should be in the c:\mint\host directory. )
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Mint v4 PC Programming Guide
8.
Right click on ‘precomp.cpp’ in ‘FileView’ and select ‘Settings’. Select ‘All Configurations’ in the ‘Settings
For’ drop list. Select ‘Precompiled headers’ in the category drop-list on the ‘C/C++’ tab. Click the ‘Create
Precompiled Header’ radio button and enter ‘precomp.h’ in the text field.
Figure 3-9: Project Settings (step 8)
9.
20
Edit ‘VCTutorial.cpp’ and ‘VCTutorialDlg.cpp’. In both files, replace ‘#include “stdafx.h”’ with ‘#include
“precomp.h”’. Check the project builds !
MN1278 05.2001
Using the Library with Various Languages
10. Select ‘ClassView’. Right click on ‘CVCTutorialDlg’ and select ‘Add Member Function’. Copy the dialog
below.
Figure 3-10: Class View dialog (step 10)
Hit ‘OK’ to edit the new function. The MILError function will check the return code from all Mint Interface
Library functions. Edit the function as follows.
__int16 CVCTutorialDlg::MILError(__int16 nError)
{
if ( erSUCCESS != nError ){
TCHAR szError[ szMAX_ERROR ];
getErrorString( szError, nError );
MessageBox( szError );
}
return nError;
}
11. At this point an attempt to build the code will fail at the link stage, as the source for getErrorString has not
been included. Add ‘host_def.cpp’ to the project and the code should build.
MN1278 05.2001
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Mint v4 PC Programming Guide
12. Select ‘ClassView’. Right click on ‘CVCTutorialDlg’ and select ‘Add Member Variable’. Copy the dialog
below.
Figure 3-11: ClassView Dialog (step 12)
13. Find CVCTutorialDlg::OnInitDialog() in the file ‘VCTutorialDlg’. Replace the comment ‘// TODO: Add
extra initialization here’ with code to initialise the CController * object. This will depend on the controller
being used Note that m_pController could have been declared as the class that will be created (e.g.
CMintDrive) in which case would not have to be used.. The #define values should be
modified to reflect the system being used.
MintDrive
#define NODE
10
#define COMMPORT 1
#define BAUDRATE 57600
m_pController = dynamic_cast ( new CMintDrive ( NODE, COMMPORT, BAUDRATE,
TRUE ));
NextMove PC
#define NODE
0
#define ADDRESS 0x23C
m_pController = dynamic_cast ( new CNextMovePC ( NODE, ADDRESS ));
NextMove PCI
#define NODE
0
#define CARDNUMBER 0
m_pController = dynamic_cast ( new CNextMovePCI1 ( NODE, CARDNUMBER ));
NextMove BX
#define NODE
1
#define COMMPORT 2
#define BAUDRATE 9600
m_pController = dynamic_cast ( new CNextMoveBX ( NODE, COMMPORT, BAUDRATE,
TRUE ));
22
MN1278 05.2001
Using the Library with Various Languages
14. The code should now compile, but not link. The following files should be added to the project to make it
link.
MintDrive & NextMove BX
base.cpp
baldorserial.cpp
host_def.cpp ( if you have not already added it )
logfile.cpp
mme.cpp
mml.cpp
serial.cpp
synchronisation.cpp
uncompress.cpp
NextMove PC
Base.cpp
Host_def.cpp ( if you have not already added it )
logfile.cpp
mml.cpp
nextmove.cpp
nm_nt.cpp
nm_win32.cpp
nmbase.cpp
nmstd.cpp
synchronisation.cpp
uncompress.cpp
NextMove PCI
Base.cpp
Host_def.cpp ( if you have not already added it )
logfile.cpp
mml.cpp
nm_pci1.cpp
nm_win32.cpp
nmbase.cpp
synchronisation.cpp
uncompress.cpp
15. Add a button to the dialog in the dialog editor. Double-click the button to edit the ‘OnButton1’ routine and
add this code.
void CVCTutorialDlg::OnButton1()
{
BOOL b;
/*------------------------------------------------*/
/* Display a busy cursor.
*/
/*------------------------------------------------*/
CWaitCursor cur;
/*------------------------------------------------*/
/* Read the state of the axis 0 enable.
*/
/*------------------------------------------------*/
if ( erSUCCESS != MILError ( m_pController-> getDriveEnable( 0, &b )))
return;
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/*------------------------------------------------*/
/* Toggle it.
*/
/*------------------------------------------------*/
MILError ( m_pController->setDriveEnable( 0, ( FALSE == b )));
}
3.1.4
Compiling an ATL COM Project with Visual C.
When compiling an ATL COM project in Visual C, define _NO_AFX_. This prevents AFX and MFC files being
included.
3.1.5
RS485 Networks.
Individual controllers on an RS485 network can be accessed from within one application built using the source
code. One CController derived object can be created for each node on the network, and they will share the serial
port. Other applications will not be able to access controllers on the same port.
When using controllers on an RS485 link, remember to call setHandShakeMode(0) to disable hardware
handshaking. If there are several CController objects sharing the port, setHandShakeMode(0) only has to
be called for one of the controllers.
3.2
All Other Languages : The ActiveX Control ( OCX )
The ActiveX control is known as the Baldor Motion Library. When used, a TMintController object is created.
This can be used with a large number of languages. This section documents the use of the control with Visual
Basic 6 and Delphi 5, but the principle is the same in any language.
3.2.1
The ActiveX Control And The Languages It Can Be Used
With.
The control is a Active X (COM) control. It can be used with any languages that support
• Long integers (32 bit signed integers)
• Short integers ( 16 bit signed integers)
• Floats ( 32 bit floating point)
• BSTRs (Visual Basic Style strings)
• Pointers to all the above types.
Some languages do not support all of these data types (e.g. WonderWare InTouch does not support short integers
or pointers). For these languages, a ‘wrapper’ COM server may have to be written to convert to types used by the
language. Documentation should be provided with each language on how to perform this.
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3.2.2
The ActiveX Control and Error Handling.
The ActiveX control produces COM (ActiveX) errors (exceptions) if any function fails. These will be trapped by
whatever exception handling method is implemented in that language (error handling in Visual Basic is
described in more detail in 3.3.1 ) The meaning of the error code can be found as follows:
• Mask off the top 16 bits ( or 17 in VB ) as the actual error code is only contained in the lower 16 bits.
• If the number is 200 hex ( 512 ) or greater it is a Mint Interface Library error.
•
3.2.3
If the number is less than 200 hex ( 512 ) it is a standard COM error created by the framework, not the
Mint Interface Library.
The ActiveX Control and Serial Controllers.
One instance of (part of) the ActiveX control will be shared by all applications that use it. This means that more
than one application can access the same serial controller. This is not true of applications written with the C++
source code, where only one application can access a serial controller.
3.2.4
The ActiveX Control and RS485 Networks.
To access several nodes on an RS485 network, create one MintController object for each controller. The Visual
Basic RS485 example shows how Immediate commands can be performed and also how the command line of
each controller can be accessed.
When using controllers on an RS485 link, remember to call setHandShakeMode(0) to disable hardware
handshaking. If there are several MintController sharing the port, setHandShakeMode(0) only has to be
called for one.
3.2.5
Distributing an Executable Which Uses The ActiveX
Control.
When distributing a program which uses the ActiveX control, the files MILOCXZZZZ.OCX and
MILSERVERZZZZ.OCX (where ZZZZ is the version number) must be installed in the windows\system directory
and registered. Microsoft DCOM95 must also be installed. The easiest way to do this is to use a package such as
InstallShield Express and install MDAC2.0 which forces installation of DCOM95.
3.2.6
‘Server Busy” / “Component Request Pending” Errors.
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When using the Active Control, warning messages such as the dialog above ( taken from a Visual Basic
application ) may be shown for slow operations such as file download. This is because the application expects
the ActiveX operation to finish its operation in a certain time ( the default for Visual Basic is five seconds. ) It
should be able to change these timeouts or remove the check completely, the method will be different for each
language. The following sections give advice on how to do this in Visual Basic and Visual C.
“Component Request Pending” in VB.
This error ( as shown in the dialog above ) can be prevented by adding the following code before the function
which times out is called.
App.OleRequestPendingTimeout = 60000
This will increase the timeout to a minute ( the timeout is in milliseconds. ) If this is still not long enough, the
value can be increased.
“Server Busy” in a Visual C MFC Application.
This is described fully in the Microsoft MSDN article Q248019 HOWTO: Prevent Server Busy Dialog Box From
Appearing During a Lengthy COM Operation.
To solve the problem add the following lines of code to the CWinapp derived classes InitInstance function.
AfxOleInit();
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AfxOleGetMessageFilter()->EnableNotRespondingDialog( FALSE );
The file will have to include afxole.h
3.3
Visual Basic 6
3.3.1
Error number conversion
The error numbers returned in Err after a function call in Visual Basic differ from the constants defined in
mil.bas. To convert from an Err code (other than 0) to a MIL error, mask off the top 17 bits by ANDing with
&H7FFF and subtract &H200. There is a function called VBErrorToMIL in mil.bas to do this.
Public Function VBErrorToMIL(VBError&) As Long
If VBError& = 0 Then
VBErrorToMIL& = erSUCCESS
Else
VBErrorToMIL& = (VBError& And &H7FFF) - &H200
End If
End Function
If the result of this function is negative, the error was produced by VB, not the Mint Interface Library.
3.3.2
A Visual Basic Tutorial.
This section will guide you through creating a visual basic application. The application will contain one button
which will toggle the state of the enable output for axis 0. Note that the axis must already be configured as servo
(use the Mint WorkBench to do this).
1.
Open Visual Basic and create a ‘New’ ‘Standard Exe.’
2.
Select ‘Components’ from the ‘Project’ menu.
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Figure 3-12: Selection of Mint Component
3.
Find ‘Baldor Motion Library XXXX for Mint Build XXXX in the list and check the box. In this example
the version 1107 is being used, but you this will have changed by the time this manual is printed. If there is a
choice of several versions, choose the most recent, unless you want to target an older version of Mint. Hit
‘OK’ This should have added the
icon to the toolbox.
4.
Select’Add Module’ from the ‘Project’ tab. Click on the ‘Existing’ tab and add ‘mil.bas’ which should be in
the ‘c:\mint\host’ directory.
5.
Click on the
icon in the toolbox and draw a square on the form. This will create a MintController
ActiveX control which will be used to communicate with the controller. Click on the control on the form
And change the name from MintController1 to myController.
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6.
In the Form_Load module we will tell the COM server which type of controller we want to communicate
with. These means the code will depend on the controller you have. The Consts should be editted to match
your system,
- MintDrive
Private Sub Form_Load()
Const NodeNumber = 10
Const CommPort = 1
Const Baudrate = 57600
myController.setMintDriveLink(NodeNumber, CommPort, Baudrate, True)
End Sub
- NextMove PC
Private Sub Form_Load()
Const NodeNumber = 0
Const Address = &H23C
myController.setNextMovePCLink(NodeNumber, Address)
End Sub
- NextMove PCI
Private Sub Form_Load()
Const NodeNumber = 0
Const CardNumber = 0
myController.setNextMovePCI1Link(NodeNumber, CardNumber)
End Sub
7.
Add a command button, and place the following code behind it.
Private Sub Command1_Click()
Dim bState As Boolean
'*********************************************
' Read the state of the drive enable for axis 0
'*********************************************
myController.getDriveEnable 0, bState
'*********************************************
' Toggle the state of the enable
'*********************************************
myController.setDriveEnable 0, (bState = False)
End Sub
8.
This code should now work. At this stage, an error handler will be added. Change the getDriveEnable code
to access an axis that does not exist. E.g.
myController.getDriveEnable -1, bState
This should create the following error when run.
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Figure 3-13: Example Dialog Box
9.
Add the following code to trap this (or any other error).
Private Sub Command1_Click()
Dim bState As Boolean
On Error GoTo command1_error
'*********************************************
' Read the state of the drive enable for axis 0
'*********************************************
myController.getDriveEnable -1, bState
'*********************************************
' Toggle the state of the enable
'*********************************************
myController.setDriveEnable 0, (bState = False)
Exit Sub
command1_error:
'*********************************************
' Display the error and leave subroutine
'*********************************************
MsgBox Error$
Exit Sub
End Sub
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3.4
Borland Delphi 5.0
NOTE: Before any programs, including the examples, can be built, the type library must be imported. See
step 2.
This section will guide you through creating a simple Delphi application. The application will contain one button
which will toggle the state of the drive enable output for axis 0. Note that the axis must already be configured as
servo (use the Mint WorkBench to do this).
1.
Open Delphi and create a new project.
2.
If this is the first time a Delphi Mint Interface Library application has been created on this machine a type
library file will have to be created. Select ‘Import ActiveX Control’ from the ‘Components’ menu. Find
‘Baldor Motion Control Library XXXX for Mint XXXX in the list and check the box. In this example the
version 1109 is being used, but this will have changed by the time this manual is printed. If there is a choice
of several versions, choose the most recent, unless you want to target an older version of Mint. Hit
‘Install…’ and follow the default options.
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Figure 3-14: Delphi – Installing Mint Component
3.
Select the ActiveX tab on the toolbar. The rightmost icon should now be the MintController
icon.
Click the icon and then click Form1 to create an instance of the control. Examining the properties of the
control should show that the name is MintController1.
4.
We now have to edit the FormCreate function. Double click on Form1 to open the FormCreate function.
The line of code depends on the controller being used. It will tell the COM server which type of controller
we want to communicate with. These means the code will depend on the controller you have. The consts
should be editted to match your system,
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- MintDrive
procedure TForm1.FormCreate(Sender: TObject);
const NodeNumber = 10;
const CommPort = 1;
const BaudRate = 57600;
begin
MintController1.setMintDriveLink( NodeNumber, CommPort, BaudRate, TRUE );
end;
- NextMove PC
procedure TForm1.FormCreate(Sender: TObject);
const NodeNumber = 0;
const Address = $23c;
begin
MintController1.setNextMovePCLink( NodeNumber, Address );
end;
- NextMove PCI
procedure TForm1.FormCreate(Sender: TObject);
const NodeNumber = 0;
const CardNumber = 0;
begin
MintController1.setNextMovePCI1Link( NodeNumber, CardNumber );
end;
end.
5.
Add a button and double click on it to edit the Button1Click procedure. Add the following code.
procedure TForm1.Button1Click(Sender: TObject);
var wbEnabled : WordBool;
begin
{ Read the current state of the drive enable. }
MintController1.getDriveEnable( 0, wbEnabled );
{ Write back the toggled value. }
MintController1.setDriveEnable( 0, ( wbEnabled = FALSE ));
end;
end.
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6.
This code should now run. To add an error handler, change the first parameter to setDriveEnable to –1 to
create a run time error. This will raise an EOleException error. To trap this error, modify the code as
follows.
procedure TForm1.Button1Click(Sender: TObject);
var wbEnabled : WordBool;
begin
{ Trap errors. All errors will cause program flow to jump to the except }
try
{ Read the current state of the drive enable. }
MintController1.getDriveEnable( 0, wbEnabled );
{ Write back the toggled value. }
MintController1.setDriveEnable( 0, ( wbEnabled = FALSE ));
except
{ This is called on any function in the try block failing }
On E: Exception do MessageBox ( 0, pchar(E.Message), 'Mint Interface Library Call
failed', 0 );
end;
end;
To prevent Delphi from halting program execution in the event of an exception the ‘Stop on Delphi Exceptions’
check box must be cleared. This is found in the ‘Debugger Options’ from the ‘Tools’ menu.
Figure 3-15: Delphi - Debugger Options
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4. PC Based Motion Control
4
This chapter covers creating motion applications on the host PC.
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Mint v4 PC Programming Guide
The Mint Interface Library provides all of the functionality that is available in the Mint programming language.
Motion applications can be written on the host PC by calling functions from the Mint Interface Library. When a
function is called, the Mint Interface Library communicates with the controller and calls the specified function
directly on the controller. The Mint functionality is still being performed by the controller but it has been
initiated directly by a host application. The real-time elements of Mint are still run on the controller but the
sequencing can be controlled by the host application.
The following diagram shows the architecture, known as Immediate Command Mode:
Controller
Host
Terminal/
Comms
Mint
Host I/F
ICM
MIL
Device
Driver
MINT Motion Library
Profiler
xN
Servo
Loop
xN
Figure 4-1: Immediate Command Mode Interface
Immediate Command Mode (ICM) is the method that allows Mint motion functions to be called from a host
application, bypassing Mint.
Calling functions from the host is particularly useful if there is a large amount of processing to do (i.e. calculation
of multi-axis paths) as the host can do the processing and send the commands to the controller. Note that these
functions can be used in conjunction with a Mint program. For example a Mint program handles the I/O and the
host calculates the path and sends it to the controller using setVectorA().
The Immediate Command Mode interface can also be used for testing applications to be compiled by a C31
compiler and run on NextMove. This is described in Mint v4 Embedded Programming Guide.
There is a one to one correlation between Mint commands and Mint Interface Library Functions. For example,
within a Mint program, the MOVER keyword is used to create a relative positional move on an axis.
MOVER.0 = 10
The Mint Interface Library function for this is setMoveR.
setMoveR (0, 10)
The keyword has been prefixed with set. Almost all Mint keywords are available in the Mint Interface Library.
The will be prefixed with set for writes, get for reads and do for commands.
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Functions called from the host fall into two categories. Those functions that replicate Mint keywords are known
as Mint Motion Library calls (MML) and those functions which are general communications functions are known
as Mint Interface Library calls (MIL).
Example:
The following code is a Visual Basic extract showing a host application set up a move on a NextMove BX. The
TMintController object has been added to the form and named ‘myController’.
‘ Set up some data
Dim axis0(1) As Integer
Dim isIdle As Boolean
axis0 = 0
' Create handle to NextMove: node, comm port, baud rate, open
myController.setNextMoveBXLink 2, 1, 19200, 1
‘ Set move parameters on
myController.setSpeed 0,
myController.setAccel 0,
myController.setDecel 0,
myController.doReset 0
axis 0
40!
400!
400!
‘ Load the move and start it
myController.setMoveR 0, 100
myController.doGo 1, axis0
‘ Wait until move is completed
Do
myController.getIdle 0, isIdle
Loop Until isIdle
4.1
Limitations of PC based applications
There are a number of event handlers available in Mint such as #ONERROR. Only NextMove PCI supports
events to the host. This means that event handlers can be installed in the host application that are called directly
when a Mint event occurs. For other controllers, the event handlers must be placed in a Mint program.
Commands called from the host execute slower than if called directly on the controller. See Appendix 2 for
example timings.
The host functions take priority over the Mint program running on the controller. If MML functions are called
continuously from the host, this will slow the execution speed of the Mint program.
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4.2
Events and Interrupt Control on NextMove PCI
The NextMove PCI controller requires a device driver to be installed on the host PC in order for communication
to be established between it and the controller. The use of device drivers makes it possible for interrupts from the
card to be trapped and handled. The Dual Port RAM interface allows the PC to interrupt the controller and the
controller to interrupts the host. Interrupt handling using the NextMove PCI controller is supported under both
Windows NT and Windows 95 and 98.
4.2.1
Writing and Installing an Interrupt Handler
When the controller interrupts the host PC the device driver will trap the interrupt and determine what ‘type’ of
event has occurred. Following this it will call the appropriate event handler.
NextMove can generate a number of events in response to certain situations:
•
Axis idle - an axis has become idle.
•
CAN 1 (CAN Open) – an event on CAN bus 1
•
CAN 2 (Baldor CAN) – an event on CAN bus 2
•
Comms – the comms location 1 to 5 has been written to
•
DPR event – the user generated a DPR event ( see 4.2.3 Interrupting the Host from a Mint Program (
DPR Events ))
•
Errors – an error occurred on the NextMove card
•
Fast position latch – an axis has latched position
•
Digital input active – a digital input has become active
•
Move buffer low - the numbers of moves in a move buffer drops below a specified threshold.
•
Reset – the NextMove PCI card has reset
•
Serial receive – the controller has put a character into its pseudo serial transmit buffer.
•
Stop switch – a stop switch has become active
•
Timer – the timer event period has expired
The events are prioritised in the following order:
Priority
0: Highest
1
2
3
4
5
38
Event
Serial Receive
Error
CAN 1 (CANOpen)
CAN 2 (Baldor CAN)
Stop switch
Fast position latch
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Priority
6
7
8
9
10
11
Event
Timer
Digital input
Comms
DPR event
Move Buffer Low
Axis Idle
Note: The reset event is generated if the controller resets, hence this is not generated by the firmware and
is consequently not subject to the priority scheme.
The NextMove PCI controller will check for a pending event every 2ms. If multiple events occur within a 2ms
tick, then the above priority system will be used to decide which event to generate. A higher priority event will
interrupt a lower priority event. Each event is processed within a separate thread by the host PC application. If
more than one event is active on the host PC they will execute concurrently.
In order for an event to be generated the, the appropriate event handler must be installed.
The event handlers are installed with the following functions in C++:
Axis Idle
The install function for axis idle events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TAxisIdleEventHandler (void *pController, __int16 nAxisBitPattern)
__int16 installAxisIdleEventHandler (TAxisIdleEventHandler *pHandler)
CAN1
The install function for CAN events on bus 1, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TCANEventHandler (void *pController)
__int16 installCAN1EventHandler (TCANEventHandler *pHandler)
CAN2
The install function for CAN events on bus 2, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TCANEventHandler (void *pController)
__int16 installCAN2EventHandler (TCANEventHandler *pHandler)
Comms
The install function for Comms events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TCommsEventHandler (void *pController, __int32 lCommsEventPending)
__int16 installCommsEventHandler (TCommsEventHandler *pHandler)
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DPR
The install function for DPR events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TDPREventHandler (void *pController, __int16 nCode)
__int16 installDPREventHandler (TDPREventHandler *pHandler)
Errors
The install function for error events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TErrorEventHandler (void *pController)
__int16 installErrorEventHandler (TErrorEventHandler *pHandler)
Fast Position Latch
The install function for fast position latch events, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TFastInEventHandler (void *pController)
__int16 installFastInEventHandler (TFastInEventHandler *pHandler)
Digital Input
The install function for digital input events, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TInputEventHandler (void *pController,
__int16 nBank, __int32 lActivatedInputs)
__int16 installInputEventHandler (TInputEventHandler *pHandler)
Move Buffer Low
The install function for move-buffer-low events, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TMoveBufferLowEventHandler (void *pController, __int16 nAxisBitPattern)
__int16 installMoveBufferLowEventHandler (TMoveBufferLowEventHandler *pHandler)
Reset
The install function for reset events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TResetEventHandler (void *pController, __int16 nCode)
__int16 installResetEventHandler (TResetEventHandler *pHandler)
Serial Recieve
The install function for serial receive events, it accepts a pointer to a function, if this is a NULL pointer the
handler is uninstalled.
typedef void TSerialReceiveEventHandler (void *pController)
__int16 installSerialReceiveEventHandler (TSerialReceiveEventHandler *pHandler)
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Stop Switch
The install function for stop switch events, it accepts a pointer to a function, if this is a NULL pointer the handler
is uninstalled.
typedef void TStopSwitchEventHandler (void *pController)
__int16 installStopSwitchEventHandler (TStopSwitchEventHandler *pHandler)
Timer
The install function for timer events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled. The parameter passed to the event handler is always zero.
typedef void TTimerEventHandler (void *pController, __int16 nTimerEvent)
__int16 installTimerEventHandler (TTimerEventHandler *pHandler)
Unknown
The install function for unknown events, it accepts a pointer to a function, if this is a NULL pointer the handler is
uninstalled.
typedef void TUnknownEventHandler (void *pController, __int16 nCode)
__int16 installUnknownEventHandler (TUnknownEventHandler *pHandler)
This handler will pick up any otherwise un-handled interrupt codes on the host. Under normal circumstances it
will not be called, as all interrupts will be routed to the appropriate event hander. If this handler is not installed
then unknown interrupts will be discarded.
Example:
The following code sample will install a timer event handler.
// prototypes
void cdecl FAR myTimerEventHandler (void *p, __int16 nTimerEventNumber);
// main program
void main ( void )
{
// Create an instance of the CNextMovePCI class
CNextMovePCI1 myPCI ( 0, 0 );
// install timer event handler
myPCI.installTimerEventHandler ( myTimerEventHandler ));
myPCI.setTimerEvent(1000);
while(1) {
myPCI.setRelay(0, 1);
myPCI.doWait(500);
myPCI.setRelay(0, 0);
myPCI.doWait(500);
}
// set periodic timer event to 1000ms
// Turn the main board relay on
// Wait for 500 ms
// Turn the main board relay off
// Wait for 500 ms
}
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// timer event handler
void myTimerEventHandler ( void *p, __int16 nTimerEventNumber )
{
cout << "Timer Event” << endl;
}
When a host PC event handler is called, the embedded application running on the controller will continue to
execute.
4.2.2
Event Control Functions
There are various functions that can be used to control events generation. These are detailed below
The user can read which events are currently active using the function:
getEventActive
Any currently pending events can be cleared selectively using the function:
setEventPending
This accepts the same bit pattern as above, clearing a set bit will clear the pending flag for that event. Hence
passing a value of zero will clear all pending interrupts.
Once a handler has been installed the event generation can be disabled by using the function:
setEventDisable
This function accepts a bit pattern as above. Setting a bit will disable the generation of that type of event. Hence
setting this to zero will enable all events which have a handler installed.
The function:
getEventDisable
Will return a bit pattern of any currently disabled interrupts.
By default all digital inputs will generate events when they become active. These digital inputs can be masked so
that they do not generate events using the function:
setIMask
This function accepts a bit pattern which represents all digital inputs, it the bit is set then the digital input will
generate an event when the input becomes active.
Then function:
getIMask
Will return a bit pattern representing those digital inputs which will generate an event when they become active.
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4.2.3
Interrupting the Host from a Mint Program ( DPR Events )
Events can be manually generated in both directions using the function doDPREvent and the DPREvent handler.
If the host PC calls doDPREvent, this will generate an interrupt to the controller that will call the DPREvent
handler on the controller.
If the controller calls the function doDPREvent, this will generate an interrupt to the host PC that will call the
DPREvent handler on the host PC.
The function doDPREvent accepts an 8 bit code which is passed to the event handler.
Example:
The below code sample will install a DPREvent handler on the host, when a DPREvent is received the code is
printed.
// prototypes
void myDPREventHandler (void *p, __int16 nCode);
// main program
void main(void)
{
// Create an instance of the CNextMovePCI class
CNextMovePCI1 myPCI(0, 0);
// install timer event handler
myPCI.installDPREventHandler ( myDPREventHandler ));
}
// DPREvent handler
void myDPREventHandler (void *p, __int16 nCode)
{
cout << "DPR Event ” << nCode << endl;
}
When this application is running on the host PC, calling DPREVENT from either Mint or an embedded
application will generate an interrupt to the PC calling the DPREvent handler.
4.2.4
Handling Events Using the ActiveX Control
As the ActiveX control supports all events; hence, any application that can use the ActiveX control can trap and
handle events from the controller. This allows event handling using Visual Basic and Delphi.
Once the ActiveX Control has been included in the project, the event handlers are accessed as ActiveX events.
The functions listed below are used to tell the controller that a handler exists on the host PC and events of this
type should be generated.
installAxisIdleEventHandler
installCAN1EventHandler
installCAN2EventHandler
installCommsEventHandler
installDPREventHandler
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installErrorEventHandler
installFastInEventHandler
installInputEventHandler
installMoveBufferLowEventHandler
installSerialReceiveEventHandler
installStopSwitchEventHandler
installResetEventHandler
installTimerEventHandler
installUnknownEventHandler
The passed parameter is a BOOLEAN parameter.
•
TRUE indicates that a handler exists on the host PC
•
FALSE indicates that a handler does not exist on the host PC.
VisualBasic Example:
Create a MintController object called ‘nmPCI’.
in the Form_Load function add:
nmPCI.setNextMovePCI1Link 0, 0
nmPCI.installTimerEventHandler TRUE
nmPCI.setTimerEvent 1000
Double click on the MintController object and select the TimerEventHandler function, add the code:
Dim b As Boolean
nmPCI.getRelay 0, b
If b Then
nmPCI.setRelay 0, 0
Else
nmPCI.setRelay 0, 1
End If
When the timer event is generated on the controller, this will interrupt the host PC and create a timer event. This
is trapped by the ActiveX control and executes the code in the timer event.
In this example the timer event is set to trigger every second, the code within the timer event handler will toggle
the state of the relay.
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NextMove PCI and Non-Micorsoft Operating Systems
5. NextMove PCI and Non-Microsoft Operating
Systems
5
This chapter details how to use the NextMove PCI with operating systems
other than Windows NT and Windows 9x.
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Mint v4 PC Programming Guide
This Chapter covers implementing an interface to NextMove PCI in under an operating system other than the
systems supported by the standard Baldor Motion Toolkit for example QNX, Linux etc.
A special version of the CNextMovePCI1 class has been written. This class (called CSimplePCI) provides all the
functions required except the actual hardware interface functions, which must be provided by the user.
5.1
How to Recognize the NextMove PCI.
To find the NextMove PCI, the computer’s PCI controller must be interrogated. The method for this will differ
between operating systems. Each PCI device can be recognized by its Vendor ID and Device ID. For a
NextMove PCI the following applies:
Vendor ID = 145F(Hex)
Device ID = 0001.
5.2
Host Accessible Hardware on NextMove PCI.
The are three blocks of hardware which can be accessed on NextMove PCI. One of these is mapped into both
memory and IO space, so it appears as if there are four blocks which can be accessed.
Block
Size
Map type
1
128 bytes
Memory
2
128 bytes
I/O
3
4
16K
32 bytes
Memory
I/O
Description
This is NextMove’s PCI chip (also referred to as the PLX chip.) It
controls the hardware reset and interrupt lines.
This is also the PCI controller chip, but mapped into IO space, not
memory.
This is the Dual Port RAM.
This is currently unused.
Of these, the two memory mapped areas ( blocks 1 and 3 ) will be used. Blocks 2 and 4 are can be ignored. The
memory mapped addresses of blocks 1 and 3 should be read from the computers PCI controller. The memory
address of Block 1 must be stored for the functions PLXRead and PLXWrite and the address Block 3 is mapped
into must be stored for use with the functions getLong and setLongInternal.
5.3
The CSimplePCI class.
The CSimplePCI class splits the hardware access functions from the rest of the Mint Interface Library. To use
the class inherit from the CSimplePCI class and supply the virtual functions required (listed below). The easiest
way to do this is to modify the CMySimplePCI example.
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NextMove PCI and Non-Micorsoft Operating Systems
5.3.1
The CMySimplePCI Example.
The CMySimplePCI example overloads CSimplePCI to create a class which can be used to communicate with
NextMove PCI under Windows 9X and Windows NT using the CSimplePCI interface. It is laid out in such a
way that the Windows specific code can easily be replaced with code specific to another operating system.
5.3.2
Functions Required by the Overloaded Class.
The CMySimplePCI class declaration is as follows. It shows all the functions required.
#include "simplepci.h"
class CMySimplePCI : public CSimplePCI{
public:
/*------------------------------------------------------------------*/
/* START : These functions MUST be defined.
*/
/*------------------------------------------------------------------*/
CMySimplePCI
( int nNode, int nCard );
__int16 doDeviceClose
( void );
__int16 getDeviceOpen
( BOOL *bOpen );
__int16 doDeviceOpen
( void );
__int16 getLong
( __int16 nAddress, __int32 FAR *lplValue );
protected:
__int16 InternalSetLong ( __int16 nAddress, __int32 lLong );
__int16 PLXRead
( __int16 nRegister, __int32 *plValue );
__int16 PLXWrite
( __int16 nRegister, __int32 lValue );
/*------------------------------------------------------------------*/
/* END : These functions MUST be defined.
*/
/*------------------------------------------------------------------*/
/*------------------------------------------------------------------*/
/* START : Replace this.
*/
/*------------------------------------------------------------------*/
protected:
bool
m_bWinNT; // true : WinNT, false Win9X
HANDLE m_hndFile; // Handle to the device driver.
/*------------------------------------------------------------------*/
/* END : Replace this.
*/
/*------------------------------------------------------------------*/
};
The header shows how the code in the CMySimplePCI example is laid out. There are blocks marked with
/*================================================================*/
/* START : Replace this
*/
/*================================================================*/
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Mint v4 PC Programming Guide
…
…
/*================================================================*/
/* END : Replace this
*/
/*================================================================*/
which show code that is only relevant to the example. This is code that should be replaced with code specific to
that operating system.
Only code in the files MySimplePCI.h and MySimplePCI.cpp should be modified. Do NOT modify
SimplePCI.h and SimplePCI.cpp
Constructor.
A constructor must be supplied. This constructor must call the CSimplePCI constructor, passing the node and
card number. Any other parameters required by the class may be passed. The CMySimplePCI constructor is as
follows
/*--------------------------------------------------------------------*/
/* CMySimplePCI
*/
/*
*/
/* Function: Constructor
*/
/*
*/
/* Argument list:
*/
/* int nNode
- Node number : not currently used
*/
/* int nCard
- PCI card number
*/
/* Return value:
*/
/*
*/
/*--------------------------------------------------------------------*/
CMySimplePCI::CMySimplePCI( int nNode, int nCard ) : CSimplePCI ( nNode, nCard )
{
/*==================================================================*/
/* START : Replace this
*/
====================================================================*/
m_hndFile = INVALID_HANDLE_VALUE;
/*------------------------------------------------------------------*/
/* Find if we are running under Win9X or WinNT.
*/
/*------------------------------------------------------------------*/
OSVERSIONINFO VersionInfo;
VersionInfo.dwOSVersionInfoSize = sizeof ( OSVERSIONINFO );
GetVersionEx ( &VersionInfo );
m_bWinNT = ( 0 != ( VersionInfo.dwPlatformId & VER_PLATFORM_WIN32_NT ));
/*==================================================================*/
/* END : Replace this
*/
====================================================================*/
doDeviceOpen ();
}
The constructor should initialize any required data and then call doDeviceOpen() to allow communications with
the controller to start.
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NextMove PCI and Non-Micorsoft Operating Systems
doDeviceClose
This function releases any resources which had been taken by the class.
getDeviceOpen
This function must report whether the class has control of any resources it requires to communicate with the
controller and whether that controller is physically present. In the MySimplePCI example this reports whether it
can communicate with device driver. In Windows 95 on instance of the device driver is created in memory per
device it finds, so if the device driver instance exists in memory, the NextMove PCI is present. Under Windows
NT, there is one device driver to handle all NextMoves, so the device driver must be interrogated to find if that
card number is present.
doDeviceOpen
This function must take any resources required to communicate with the controller. In the MySimplePCI
example, this creates a handle to the device driver.
getLong
This function must read from DPR (block 3 in section 5.2 ) This may take the form of (as in the MySimplePCI
example) instructing the device driver to perform the task. The read should be a simple 32 bit read from the
memory address the DPR has been mapped into (Block 3).
internalSetLong
This function must write to DPR (block 3 in section 5.2). This may take the form of (as in the MyMySimplePCI
example) instructing the device driver to perform the task. The write should be a simple 32 bit write to the
memory address the DPR has been mapped into (Block 3).
PLXRead
This function must read from the PLX chip (Block 3 in section 5.2) This may take the form of (as in the
MySimplePCI example) instructing the device driver to perform the task. The read should be a simple 32 bit
read from the memory address the PLX chip has been mapped into (Block 1).
PLXWrite
This function must write to the PLX chip (Block 3 in section 5.2 ) This may take the form of (as in the
MySimplePCI example) instructing the device driver to perform the task. The write should be a simple 32 bit
write to the memory address the PLX chip has been mapped into (Block 1).
5.3.3
Files to Include in a CSimplePCI Derived Class Project.
The following Mint Interface Library files must be included in the project:
• base.cpp
• mml.cpp
• nmbase.cpp
• simplepci.cpp
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Mint v4 PC Programming Guide
The following files may also be added:
• host_def.cpp : if the function getErrorString is being used.
• precomp.cpp : if this file is being used to construct the precompiled header.
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Appendix 1: DPR Map
6. Appendix 1: DPR Map
Each area of the address map is described below. Where an address is shown, that is the DPR location. Where
an address offset is shown, that offset is added to the base address. Floating point numbers will conform to C31
format. It is up to the PC interface to convert to IEEE format before passing the data to the PC application.
Likewise, IEEE floating point numbers must be converted to C31 format before writing to the DPR. All library
functions do this automatically.
• The update time on NextMove is 2ms.
• Where units are shown, the key is as follows:
uu
- user units
uu/s
- user units / second
au
- analogue units. (See ADCMode keyword for explanation of ranges)
%
- percentage
cts
- encoder counts
• All addresses and address offsets are in hex.
6.1
NextMove PCI DPR Map
Dual Port RAM on NextMove PCI has 4K of 32 bit data. The DPR map is similar to NextMove PC but certain
areas are designated as read only. This means that if the user tries to write to these locations, the data may be
corrupted.
The Dual Port RAM on NextMove PCI is 32 bit rather than the 16 bit wide DPR on NextMove PC, hence 32 bit
values on will use two 16 bit DPR locations. In order for the memory map of DPR to be consistent between the
two controllers where 32 bit values are stored, NextMove PCI will have a redundant location.
Address
0xFFF
Control Registers
0xFE0
0xFDF
Use
0xFFF
0xFFE
0xFFD
Read Only
Interrupt Host
Interrupt NextMove
Reserved
0xFE0
0xFDF
1K User Area
0xBE0
0xBDF
0xBE0
Reserved for future use
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Mint v4 PC Programming Guide
Address
Use
0x600
0x5FF
0x5FF
0x500
0x4FF
0x500
0x4FF
0x480
0x480
0x47F
Read Only
ICM expansion
Reserved for future axes
Axis 11 Data
Axis 10 Data
Axis 9 Data
Axis 8 Data
0x460
0x45F
0x440
0x43F
0x420
0x41F
Axis Data
0x400
0x3FF
Control Registers
0x3FB
0x3FA
0x3F9
0x3F8
0x3F7
0x400
0x3FF
0x3FE
0x3FD
0x3FC
0x3FB
0x3FA
0x3F9
0x3F8
0x3F7
0x29C
0x29B
0x29C
0x29B
0x1D6
0x1D5
0x1D6
0x1D5
Reserved
Reserved
Scratchpad (Unused)
Functionality Code
Application Code
Interrupt Data
Interrupt Data
ICM handshake
Reserved (Old user area)
Comms (99 locations)
Serial Transmit Buffer
Serial Receive Buffer
Immediate Command Mode
0x193
0x192
Pseudo Serial
0x150
0x14F
52
0x150
0x14F
MN1278 05.2001
Appendix 1: DPR Map
Address
Use
0x130
0x12F
0x130
0x12F
0x110
0x10F
0x110
0x10F
Read Only
IO Data
Axis 7 Data
Axis 6 Data
Axis 5 Data
Axis 4 Data
Axis 3 Data
Axis 2 Data
Axis 1 Data
Axis 0 Data
Reserved
1ms Timer Tick
Axis Configurations (8-11)
Axis Configurations (0-7)
MINT Error Line
MINT Error
MINT Status
MINT Line Number
2ms Timer Tick
Build ID
Analog I/O Mix
Digital I/O Mix
0x0F0
0x0EF
0x0D0
0x0CF
0x0B0
0x0AF
0x090
0x08F
0x070
0x06F
0x050
0x04F
0x030
0x02F
Axis Data
0x010
0x00F
Status/Control Registers
MN1278 05.2001
0x010
0x00F
0x00E
0x00D
0x00C
0x00B
0x00A
0x009
0x008
0x007
0x006
0x005
0x004
0x003
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Mint v4 PC Programming Guide
Address
0x000
6.2
Use
0x002
0x001
0x000
Read Only
Axis Mix
DPR Status Register
DPR Control Register
NextMove PC DPR Map
Dual Port RAM on NextMove PC has 1K of 16 bit data.
Address
Use
Control Registers
0x3FB
0x3FA
0x3F9
0x3F8
0x3F7
0x3FF
0x3FE
0x3FD
0x3FC
0x3FB
0x3FA
0x3F9
0x3F8
0x3F7
0x29C
0x29B
0x29C
0x29B
0x1D6
0x1D5
0x1D6
0x1D5
0x3FF
Read Only
Interrupt Host
Interrupt NextMove
Scratchpad (Unused)
Functionality Code
Application Code
Interrupt Data
Interrupt Data
ICM handshake
Reserved (Old user area)
Comms (99 locations)
Serial Transmit Buffer
Serial Receive Buffer
Immediate Command Mode
IO Data
Axis 7 Data
Axis 6 Data
0x193
0x192
Pseudo Serial
0x150
0x14F
0x150
0x14F
0x130
0x12F
0x130
0x12F
0x110
0x10F
0x110
0x10F
0x0F0
0x0EF
0x0D0
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MN1278 05.2001
Appendix 1: DPR Map
Address
Use
Read Only
0x0CF
Axis 5 Data
Axis 4 Data
Axis 3 Data
Axis 2 Data
Axis 1 Data
Axis 0 Data
Reserved
1ms Timer Tick
Axis Configurations (4-7)
Axis Configurations (0-3)
MINT Error Line
MINT Error
MINT Status
MINT Line Number
2ms Timer Tick
Build ID
Analog I/O Mix
Digital I/O Mix
Axis Mix
DPR Status Register
DPR Control Register
0x0B0
0x0AF
0x090
0x08F
0x070
0x06F
0x050
0x04F
0x030
0x02F
Axis Data
0x010
0x00F
Status/Control Registers
0x000
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0x010
0x00F
0x00E
0x00D
0x00C
0x00B
0x00A
0x009
0x008
0x007
0x006
0x005
0x004
0x003
0x002
0x001
0x000
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Mint v4 PC Programming Guide
6.3
Status and Control Registers
Address
0x000
0x001
0x002
0x003
0x004
0x005
0x006
0x007
0x008
0x009
0x00A
0x00B
0x00C
0x00D
0x00F
Use
Symbolic Constant
Read Only
DPR Control Register
DPR Status Register
Axis Mix
Digital I/O Mix
Analog I/O Mix
Build ID
2ms Timer Tick
MINT Line Number
MINT Status
MINT Error
MINT Error Line
Axis Configurations (PCI:0-7, PC:0-3 )
Axis Configurations (PCI:8-11, PC:4-7 )
1ms Timer Tick
Reserved
roCONTROL
roSTATUS
roAXIS_MIX
roNUM_DIO
roNUM_AIO
roBUILD
roTIMER_TICK
roMINT_LINE
roMINT_STATUS
roMINT_ERR
roMINT_ERL
roAXIS_CF
n/a
ro1MS_TIMER
n/a
DPR Control Register – NextMove PCI:
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13 - 16
17
18
19-31
56
Meaning
Symbolic Constant
Lock DPR contents
Lock axis 0 DPR contents
Lock axis 1 DPR contents
Lock axis 2 DPR contents
Lock axis 3 DPR contents
Lock axis 4 DPR contents
Lock axis 5 DPR contents
Lock axis 6 DPR contents
Lock axis 7 DPR contents
Lock axis 8 DPR contents
Lock axis 9 DPR contents
Lock axis 10 DPR contents
Lock axis 11 DPR contents
Reserved
Lock IO data
Lock auxiliary axes
Reserved
btLOCK
btLOCK_AXIS_0
btLOCK_AXIS_1
btLOCK_AXIS_2
btLOCK_AXIS_3
btLOCK_AXIS_4
btLOCK_AXIS_5
btLOCK_AXIS_6
btLOCK_AXIS_7
btLOCK_AXIS_8
btLOCK_AXIS_9
btLOCK_AXIS_10
btLOCK_AXIS_11
btLOCK_IO
btLOCK_AUX_AXES
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Appendix 1: DPR Map
DPR Control Register – NextMove PC:
Bit
0
1
2
3
4
5
6
7
8
9
10
11-15
Meaning
Symbolic Constant
Lock DPR contents
Lock axis 0 DPR contents
Lock axis 1 DPR contents
Lock axis 2 DPR contents
Lock axis 3 DPR contents
Lock axis 4 DPR contents
Lock axis 5 DPR contents
Lock axis 6 DPR contents
Lock axis 7 DPR contents
Lock IO data
Lock auxiliary axes
Reserved
btLOCK
btLOCK_AXIS_0
btLOCK_AXIS_1
btLOCK_AXIS_2
btLOCK_AXIS_3
btLOCK_AXIS_4
btLOCK_AXIS_5
btLOCK_AXIS_6
btLOCK_AXIS_7
btLOCK_IO_PC
btLOCK_AUX_AXES_PC
DPR Status Register:
Bit
0
1
2 - 15
Meaning
Symbolic Constant
DPR Contents locked if 1
DPR contents invalid if 0
Reserved
btLOCKED
btVALID
Axis Mix:
This specifies the number and types of axes available on the NextMove variant:
Lo-Byte - Number of stepper axes
Hi-Byte - Number of servo axes
Digital I/O Mix:
This specifies the number of digital inputs and outputs available on the NextMove variant:
Lo-Byte - Number of digital outputs
Hi-Byte - Number of digital inputs
Analog I/O Mix:
This specifies the number of analog inputs and outputs available on the NextMove variant:
Lo-Byte - Number of analogue outputs
Hi-Byte - Number of analogue inputs
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Mint v4 PC Programming Guide
MML Build ID:
The build identifier of the Mint Motion Library running on NextMove. Each version of the Mint Interface
Library can only communicate with one version of Mint. To make sure the versions match, each version of Mint
has a build number embedded in it. To return the build number call getAAABuild.
Timer Tick:
This is a free running 16bit counter that is updated by NextMove once every 2ms and can be used to synchronize
data with the DPR.
Mint Line Number:
This is the currently executing Mint program line. By reading this location, it is possible to trace program
execution without affecting program flow unlike Mints built in program tracer. The Mint status flag should be
read to determine which buffer is currently being executed.
Mint Status:
The Mint Status flag consists of various bit masks for status information. The top 8 bits convey the current Mint
error status. If a programming error occurs that results in the termination of a program, the top 8 bits will reflect
the error. The Mint Line Number register will determine the line on which the error occurred.
Bit
0
1
2
3-7
Meaning
Symbolic Constant
Command line interface not available.
Program or config file running.
Config buffer if 0, program buffer if 1
1 if Mint is executing code
Reserved
mkNOT_COMMAND_LINE
mkPROGRAM
mkEXECUTING
Mint Error:
The Mint ‘ERR’ code for the last Mint error that occurred.
Mint Error Line:
The Mint line number where the last Mint error occurred.
Axis Configurations:
NextMove PC:
The current axis configurations are written to two 16 bit locations, each axis configurations represented by 4 bits.
Each four bit location holds the axis CONFIG value.
DPR location
0x0B
0x0C
58
Bits 12-15
Bits 8-11
Bits 4-7
Bits 0-3
Axis 3
Axis 7
Axis 2
Axis 6
Axis 1
Axis 5
Axis 0
Axis 4
MN1278 05.2001
Appendix 1: DPR Map
NextMove PCI:
Axis Configurations gives the current configuration of each axis in 4 bits.
31
28
Axis 7
31
28
-
27
24
Axis 6
27
24
23
20
Axis 5
23
-
20
-
19
16
Axis 4
19
16
-
15
12
Axis 3
15
12
Axis 11
11
8
Axis 2
11
8
Axis 10
7
4
3
0
Axis 1
Axis 0
7
3
4
Axis 9
0
Axis 8
Values are:
0 – Axis is configured off.
1 – Axis is configured as a servo axis.
2 – Axis is configured as a stepper axis.
3 – Axis is configured for PWM.
The 1ms Timer Tick is an incrementing counter that indicates that NextMove is running. The counter is 32 bit.
The counter increments by 1 every 1ms.
6.4
Axis Data
The axis data area is divided into 12sections, four for the main board axes and four for the expansion board axes.
The base address for each axis is listed below:
Address
0x010
0x030
0x050
0x070
0x090
0x0A0
0x0C0
0x0E0
0x400
0x420
0x440
0x460
Use
Symbolic Constant
Axis 0
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
Axis 9
Axis 10
Axis 11
roAXIS_0
roAXIS_1
roAXIS_2
roAXIS_3
roAXIS_4
roAXIS_5
roAXIS_6
roAXIS_7
roAXIS_8
roAXIS_9
roAXIS_10
roAXIS_11
Each group contains the following data.
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Mint v4 PC Programming Guide
Offset
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0A
0x0B
0x0C
0x0D
0x0E
0x0F
0x10
0x11
0x12
0x13
0x14
0x15
0x16
0x17
0x18
0x19
0x1A
0x1B
0x1C
0x1D
0x1E
0x1F
Use
Symbolic Constant
Data Size
Measured Position
Reserved
Measured Velocity
Reserved
Speed*
Reserved
Mode of motion
Reserved
Axis error
Following Error
Reserved
Kprop*
Reserved
Kvel*
Reserved
KvelFF*
Reserved
Kderiv*
Reserved
Kint*
Reserved
KintLimit(%)*
Reserved
Next Mode of motion
Reserved
DAC value
Free Spaces in buffer
Move buffer ID
Demand Position
Reserved
Demand Velocity
Reserved
roPOSITION
float
roMEASURED_SPEED
float
roDEMAND_SPEED
float
roMODE_OF_MOTION
int 32
roMOTION_ERROR
roFOLLOWING_ERROR
int 32
float
roP_GAIN
float
roV_GAIN
float
roFF_GAIN
float
roD_GAIN
float
roI_GAIN
float
roI_RANGE
float
roNEXT_MODE
int 32
roDAC_VALUE
roFREE_SPACES
roMOVE_ID
roDEMAND_POS
int 16
int 16
int 16
float
roDEMAND_VEL
float
The layout of the section is compatible to the current layout on NextMove PC. The locations used on NextMove
PC for the upper 16 bits of data are unused. All data is written every 2ms by NextMove except those marked *.
These locations are only written when they change.
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Appendix 1: DPR Map
6.5
I/O Data
The I/O data area is as follows:
Address
0x110
0x111
0x112
0x113
0x114
0x115
0x116
0x117
0x118
0x119
0x11A
0x11B
0x11C
0x11D
0x11E
0x11F
0x120
0x121
0x122
0x123
0x124
0x125
0x126
0x127
0x128
0x129
0x12A
0x12B
0x12C
0x12D
0x12E
0x12F
1
Use
Symbolic Constant
Data Size
Analog 0
Analog 1
Analog 2
Analog 3
Expansion Analog 4
Expansion Analog 5
Expansion Analog 6
Expansion Analog 7
Base Digital inputs
Reserved
Base Digital Outputs
Stop / Error bits
Boost Outputs1
Auxiliary Encoder 0
Reserved
Auxiliary Encoder 0 vel
Reserved
Auxiliary Encoder 1
Auxiliary Encoder 1 vel
Auxiliary Encoder 2
Auxiliary Encoder 2 vel
Expansion 1 Digital Inputs
Expansion 1 Digital Outputs
Expansion 2 Digital Inputs
Expansion 2 Digital Outputs
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
roANALOG_0
roANALOG_1
roANALOG_2
roANALOG_3
roANALOG_4
roANALOG_5
roANALOG_6
roANALOG_7
roINPUTS
int 16
int 16
int 16
int 16
int 16
int 16
int 16
int 16
int 32
roOUTPUTS
roMG_STATUS
roBOOST
roAUXENC_0_POS
int 16
int 16
int 16
float
roAUXENC_0_VEL
float
roAUXENC_1_POS
roAUXENC_1_VEL
roAUXENC_2_POS
roAUXENC_2_VEL
roEXP1_INPUTS
roEXP1_OUTPUTS
roEXP2_INPUTS
roEXP2_OUTPUTS
float
float
float
float
int 32
int 32
int 32
int 32
Not applicable to NextMove PCI
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The layout of the section is compatible to the current layout on NextMove PC. The locations used on NextMove
PC for the upper 16 bits of data are unused. All data is written every 2ms.
6.6
Comms Array
The Comms area simulates protected Comms communications on serial based controllers. The Comms array
uses an area of DPR from address 0x1D6 to 0x29A. The data is accessed as:
Address
Comms Location
0x1D6
0x1D8
0x1DA
…..
0x298
0x29A
location 1
location 2
location 3
location 98
location 99
Each location is a float value. The area is the same as NextMove PC at 99 locations. Comms is accessed using
the COMMS keyword in MINT or the getComms()/setComms() functions.
6.7
Immediate Command Mode
The ICM area is used for the transfer of Motion Generator commands
The start of the ICM area is 0x130 and has the symbolic constant roFRONT_START.
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Appendix 1: DPR Map
6.8
Pseudo Serial Interface
The serial interface works by implementing a 64 word circular buffer within DPR. There is one such buffer for
the receive buffer and one for the transmit buffer. Head and tail pointers are also located in DPR allowing both
sides of DPR to check the status of the buffers.
The serial interface occupies DPR locations 0x150 to 0x1D5 in the following configuration:
0x85
Txd Buffer
Txd Reserved
Txd Tail
Txd Head
0x46
0x45
0x44
0x43
0x42
Rxd Buffer
Rxd Reserved
Rxd Tail
Rxd Head
0x03
0x02
0x01
0x00
The buffer itself has two sets of symbolic constants, depending on which side, NextMove or host, that is using
them.
Offset
0x00
0x01
0x03
0x43
0x44
0x46
Symbolic Constant - Host
Symbolic Constant - NextMove
ofTXD_HEAD
ofTXD_TAIL
ofTXD_BUFFER
ofRXD_HEAD
ofRXD_TAIL
ofRXD_BUFFER
ofNM_RXD_HEAD
ofNM_RXD_TAIL
ofNM_RXD_BUFFER
ofNM_TXD_HEAD
ofNM_TXD_TAIL
ofNM_TXD_BUFFER
The offsets from the start of the serial interface are shown in hex. The start of the serial I/O buffer has a symbolic
constant of ofSERIAL_IO_BASE.
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6.9
Special Functions Registers
Address
0x3F8
0x3F9
0x3FA
0x3FB
0x3FC
0x3FD
Use
Symbolic Constant
ICM Handshaking
Data associated with events
Data associated with events
Application Code Register
Functionality Code Register
Scratchpad Register
roICM_HANDSHAKE
roINTERRUPT_DATA_1
roINTERRUPT_DATA_2
roAPPLICATION_CODE
roFUNCTION_CODE
roSCRATCH_PAD
The way in which dual port RAM is used may vary from application to application. All applications should use
the registers detailed in this document in the same way. This will allow host resident code to determine whether
it recognizes the application and the protocol used for communication.
There is no hardware restriction upon those locations that may be read or written from either side. Both
NextMove and the host have full read and write access to all locations.
Application Code Register (3FB)
This register identifies the software running on NextMove. The host may use this to determine how to
communicate with the software or better interpret the bits within the Functionality Code Register. Each
application program should have a unique identifier. Of the 65536 possible codes, the first half are reserved.
Codes 32768 to 65535 may be used to identify user programs. Application programs should prime this register
after all other initialization. It is recommended that the host does not write to this location.
Code
0
1
2
3
4
5
6
7
8+
64
Description Of Program
Symbolic Constant
Unidentified program or no program
running.
Loader running.
Immediate Command Mode
supported.
NextMove test program running.
Mint for NextMove suported.
Mint for NextMove suported.
Custom Version.
Mint Motion Library. (Embedded)
Reserved
apNONE
apLOADER
apFRONT
apNM_TEST
apNM_MINT
apFRONT_MINT
apRPD_MINT
apMML
MN1278 05.2001
Appendix 1: DPR Map
Functionality Code Register (3FC)
This register describes the capabilities of the software running on NextMove. The register may be used by a host
to determine how it should communicate with the software, what data is stored in dual port RAM, etc. The
register contains a series of bits each of which indicate whether a specific feature is supported. The table below
describes the current list of standard application capabilities. It is expected that this list will grow over time.
Application programs should set the relevant bits in this register after all other initialization.
It is recommended that the host does not write to this location.
Bit
0
1
2
3
4
5
6 - 15
Description Of Feature
Symbolic Constant
Loader communication
protocol.
Motion Generator auto update
of locations 0 to $12F.
FRONT.OUT communication
protocol.
Pseudo Serial Port Buffer.
Mint interpretation of serial
buffer communications
(Comms Protocol)
Mint running
Reserved
fcLOADER_COMMS
fcAUTO_UPDATE
fcFRONT_COMMS
fcSERIAL_PORT
fcCOMMS_ON
fcMINT_RUNNING
Scratchpad Register (3FD)
This register is a general purpose register used only by the host. It is only written to by the Loader immediately
after reset when it is cleared to zero. It may be used by the host to determine that a NextMove may be installed
on the bus. As NextMove will not write to this location the host can write codes and read them back in the
knowledge that they should not have changed. After use by the PC host, the scratchpad should be returned to the
value it originally contained.
It is recommended that NextMove application programs do not write to this register.
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6.10
Data Synchronization
It may be desirable to prevent NextMove PC and PCI from updating the DPR update area for a period to allow a
‘snap-shot’ of DPR to be taken. The status and control registers provide a mechanism for this. It is supported by
the function lockDPR. This function can be used to
• request that DPR not be updated by Mint
• inform Mint that it can now update MML.
Note that locking DPR can take up to two milliseconds to complete.
Note: lockDPR can also be used to speed up code running on NextMove, as NextMove will not have to
update the MML area of DPR.
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Appendix 2: Timings
7. Appendix 2: Timings
These timings show the time taken to call Immediate Command Mode (ICM) functions from a host. The tests
were performed on a 300 MHz Pentium II PC. On both MintDrive and NextMove PCI the timings were the same
on Windows 95 and Windows NT.
7.1
Immediate Command Mode Functions
Function
NextMove PCI Mint
NextMove PCI
WinNT4 / Win95
MintDrive Mint
MintDrive WinNT4
/ Win95
getPos
setJog
setSpeed
0.140ms
0.133ms
0.138ms
0.254 ms
0.182 ms
0.184 ms
0.726ms
0.648ms
0.656ms
10.7 ms
10.5 ms
10.5 ms
This is the speed for a function called from a C++ application with the Baldor Motion Toolkit C++ source code
compiled into the project. Using the ActiveX interface adds approximately 1ms to each function call. This can
be reduced by setting the ‘DCOM and Events Enabled’ property to false. This makes ActveX access times
approximately equal to the C++ times but you cannot use events from NextMove PCI.
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Appendix 3: Symbolic Constants
8. Appendix 3: Symbolic Constants
The library functions can return error codes or can be passed parameters for which a number of symbolic
constants have been defined in appropriate header files. These values are shown below.
Error Codes:
Value
Symbolic Constant
Meaning
0
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
erSUCCESS
erINITIALISING
erNOT_RUNNING
erBAD_COMMAND
erBAD_ADDRESS
erBAD_ERASE
erBAD_BURN
erCANNOT_OPEN_FILE
erINVALID_FORMAT
erERROR_DOWNLOADING
erTIMEOUT
erDPRAM_LOCATION
erNOT_ENOUGH_MEM
erBAD_BOOT_DEVICE
erCARD_NOT_FOUND
erINVALID_VME_TYPE
erINVALID_NEXTMOVE_TYPE
erINVALID_STRING_FORMAT
1018
erNO_Mint_PROMPT
1019
erNO_WIN95_VME_SUPPORT
1020
1021
1022
erCOMMAND_ABORTED
erFRONT_ACTIVE
erCOMMAND_INTERRUPTED
1023
erRETURN_INVALID
1024
erFRONT_DISABLED
No error
Loader initialising
Loader not runnning
Unrecognised command code
Invalid address received
Flash erase failed
Flash program failed
File bad or does not exist
File not proper COFF format
COFF download failed
Loader did not respond in time
DPR location out of range
Insufficient memory for program
Bad boot source id
Unable to locate NextMove
Bad VME parameter.
Bad NextMove parameter.
Must use NULL terminated string for
string parameters.
Command prompt was not avaiable for
up/download. Should use MintBreak
to stop a running program.
NextMove/VME not currently
supported under Windows 95.
User aborted front command
Front resource already in use
Command was not passed to MG: try
again.
Return code invalid. Call
getSystemErr.
Immediate Command Mode has been
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Value
Symbolic Constant
Meaning
1025
erINVALID_HANDLE
disabled
The handle had not been correctly
initialised.
1026
1027
Error 1026 Removed
erPROTOCOL_ERROR
1028
erFILE_ERROR
1029
erINVALID_FILETYPE
1030
erNO_PROMPT
1031
erNO_NT_SUPPORT
1032
1033
erRESPONSE
erTEMP_FILE_ERROR
1034
1035
erCODE_ERROR
erIN_COMMS_ROUTINE
1036
erDOWNLOADING
1037
1038
erUPLOADING
erIN_Mint328_ROUTINE
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
erPORT_NOT_OPEN
erCORRUPTION
erPORT_OUT_OF_RANGE
erNOTIFY
erCHECKSUM_ERROR
erNAK_RECEIVED
Error 1045 Removed
erERROR_OPENING_PORT
erINVALID_CARDNUMBER
erINVALID_AXIS_PARAM
erINVALID_CONTROLLER_TYPE
erINVALID_COMMS_ADDRESS
Error 1051 removed
erPORT_UNAVAILABLE
erUSER_ABORT
Unknown protocol on
upload/download
The file could not be opened, or was
corrupted.
The filetype parameter passes to
up/downloadFile was not correct.
The function failed as Mint was not at
the command line. Try MintBreak and
then call the function again.
This function cannot be used under
Windows NT.
NextMove did not respond.
The function was unable to create a
required temporary file. Check disk
space.
Bad coding: contact supplier !
Interface already in use by the comms
protocol
Interface already in use by a file
download
Interface already in use by a file upload
Interface already in use a a Mint328
routine
Serial port not opened
Corruption occured
Specified port not available
Could not enable WM_NOTIFY
The checksum failed
The controller sent NAK
Port could not be opened
Card number out of range
Axis out of range
Invalid controller enumeration
Comms address out of range
Port already in use
The user aborted the command
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Appendix 3: Symbolic Constants
Value
Symbolic Constant
Meaning
1054
1055
erCONTROLLER_REPORTS_ERROR
erUPDATING
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
erRECEIVE_BUFFER_EMPTY
erTRANSMIT_BUFFER_FULL
erINVALID_RETRIES
erBAD_SQUASH_FILE
erUNDEFINED_SERIAL_ERROR
erPSERIAL_BUFFER_CORRUPTION
erFUNCTION_NOT_SUPPORTED
erCANNOT_OPEN_FILE
erINVALID_FORMAT
erDATA_TOO_LONG
erINCORRECT_ARRAY_SIZE
erUNKNOWN_ERROR_CODE
erCONTROLLER_NOT_RUNNING
erMML_VERSION_MISMATCH
erNO_DEVICE_DRIVER_SUPPORT
erBAD_COM_PORT_NUMBER
erBAD_BAUD_RATE
erIN_GETCHARTIMEOUT
erIN_PUTCHARTIMEOUT
erIN_GETSTRINGTIMEOUT
erIN_PUTSTRINGTIMEOUT
erCAPTURING
erLINE_TOO_LONG
erINVALID_PLATFORM
erNO_INTERRUPT_REGISTERED
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
erINVALID_IRQ
erBAD_INPUT_BUFFER
erBAD_OUTPUT_BUFFER
erBAD_DEVICE_DRIVER_CALL
erSEMAPHORE_TIMEOUT
erINVALID_EVENT
erFUNCTION_NOT_AVAILABLE
erBOOT_TEST_FAIL
erBUFFER_TOO_SMALL
erREQUIRES_DEV_DRIVER
1091
1092
erICM_TX_TIMEOUT
erICM_RX_TIMEOUT
The controller detected an error
Interface already in use by a firmware
update
The receive buffer is empty
The transmit buffer is full
The retries parameter failed
Bad squash file parameter
The serial error is unknown
The (pseudo-)serial buffers are corrupt
Not supported on this platform
File bad or doesn't exist
file not proper COFF format
Too much data in one chunk
Array size or pointer incorrect
The error code was not known
The controller is not running
mgBUILD incorrect
Device driver not set up
Serial port not supported
Baud rate not supported
Interface already in use
Interface already in use
Interface already in use
Interface already in use
Interface already in use
Mint line too long
Invalid firmware for the controller
No interrupt registered for this
controller
Invalid Interrupt
Input buffer wrong size
Output buffer wrong size
The device driver call failed
A semaphore was not available
Could not register the event
Function not currently available
Power-up self test failed
Not enough memory to load prog
Requires development build of device
driver
Timeout on ICM
Timeout on ICM
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Value
Symbolic Constant
Meaning
1093
1094
1095
1096
1097
erICM_RX_SIZE_ERROR
erICM_PROCESS_TIMEOUT
erDEV_DRV_UNKNOWN_IOCTL
erBBP_ACK_TIMEOUT
erBBP_POLL_TIMEOUT
1098
erBBP_POLL_NO_DATA
1099
erBBP_RX_TIMEOUT
1100
erBBP_UNSUPPORTED_TRANS
1101
1102
erBBP_INVALID_DATA_LENGTH
erBBP_VALUE_OUT_OF_RANGE
1103
erBBP_VALUE_OUT_OF_BOUNDS
1104
erBBP_CONTROL_FAULT_COND
1105
erBBP_STATUS_MODE_REJECT
1106
1107
1108
erBBP_BLOCK_REJECTED
erBBP_END_OF_BLOCK
erIN_BBP_ROUTINE
1109
1110
1111
1112
erAUTOTUNE_FAILED
erNO_CAPTURED_DATA
erSQ_INVALID_OUTPUT_FILE
erSQ_INVALID_INPUT_FILE
1113
erSQ_TOO_MANY_VARIABLES
1114
erSQ_BASIC_TABLE_NOT_FOUND
1115
erSQ_MOTION_TABLE_NOT_FOUND
1116
erSQ_CONSTANT_TABLE_NOT_FOUND
1117
erSQ_INPUT_FILE_READ_ERROR
1118
erSQ_OUTPUT_FILE_WRITE_ERROR
Error in ICM protocol
Timeout on ICM
Device driver mismatch
No response from controller
BBP protocol error : No response to
poll
BBP protocol error : No data ready for
polling
BBP protocol error : Receive data
timeout
Invalid ( or unsupported ) transaction
number
Invalid data field length for transaction
Data value out of range for transaction
(rejected)
Data value out of bound for transaction
(modified by controller)
Controller fault condition prevented
execution
Controller status/mode prevented
execution
Block transfer value not accepted
End of block reached
A BBP access is blocking use of the
resource
Autotune function failed
No captured data is available to upload
Squash : Could not create output file
Squash : Could not open file to be
squashed
Squash : Too many variables in the
program
Squash : Could not find the file
basic.XYZ
Squash : Could not find the file
motion.XYZ
Squash : Could not find the file
constant.XYZ
Squash : Error reading from file to
squash
Squash : Error writing to squash output
file
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Appendix 3: Symbolic Constants
Value
Symbolic Constant
Meaning
1119
erSQ_INVALID_OUTPUT_FILE_STRING
1120
erSQ_INVALID_INPUT_FILE_STRING
1121
erSQ_INVALID_PATH_STRING
1122
erSQ_TOO_MANY_BASIC_KEYWORDS
1123
erSQ_TOO_MANY_MOTION_KEYWORDS
1124
erSQ_TOO_MANY_CONSTANTS
1125
erSQ_VARIABLES_NOT_INITIALISED
1126
1127
1128
erCANNOT_WRITE_TO_INTERRUPT
erNO_LINK_TO_CONTROLLER
erFIRST_ARRAY_ELEMENT_IS_SIZE
1129
1130
erPOS_ARRAY_REQUIRED
erARRAY_SIZE_MISMATCH
1131
1132
1133
1134
1135
erPARAMETER_CANNOT_BE_NEGATIVE
erCAN_INIT_FAILED
erEEPROM_CRC_FAILED
erINSUFFICENT_MEMORY
erCANNOR_RUN_APP
1136
erEVENT_HANDLER_IN_USE
Squash : Name of file to squash not
NULL terminated
Squash : Name of squash output file
not NULL terminated
Squash : Path to squash tables not
NULL terminated
Squash : Too many basic keywords,
contact technical support
Squash : Too many motion keywords,
contact technical support
Squash : Too many constants, contact
technical support
Squash : Internal error, contact
technical support
No write access to interrupts
Must use a setXXXLink function
The first element in the array must
specify the number of elements ( not
including itself )
The postition array is not optional
One or more array(s) are the wrong
size
The parameter cannot be negative
Initialisation of CAN failed
EEPROM failed CRC check
Insufficent memory to run application
Cannot run application for unknown
reason
Event handler already installed
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updateFirmware Codes (nBootDevice Parameter):
Value
0
1
Symbolic Constant
Meaning
tmFLASH
tmRAM
Load program to flash memory
Load program to RAM
updateFirmware Codes (nTarget Parameter):
Value
0
1
2
3
4
Symbolic Constant
Meaning
bdEPROM
bdFLASH
bdSERIAL
bdNV
bdDPR
Boot from EPROM
Boot from flash memory
Boot from serial port
Boot from NVRAM
Boot from Dual Port RAM
File Upload/Download Codes (Use with uploadMintFile & downloadMintFile):
Value
1
2
3
Symbolic Constant
Meaning
filePROGRAM
fileCONFIG
fileARRAY
Program file
Configuration file
Array file
getControllerType Codes:
Value
Symbolic Constant
Meaning
0
2
3
9
10
conEUROSYSTEM
conNEXTMOVE_BX
conNEXTMOVE_PC
conNEXTMOVE_PCI
conMINTDRIVE
EuroSystem family
NextMove BX
NextMove PC
NextMove PCI
MintDrive
set/getHandshakeMode Codes
Value
1
Symbolic Constant
Meaning
mdRTS_CTS
RTS/CTS Handshaking
updateFirmwareEx Update Callback Codes:
74
Value
Symbolic Constant
Meaning
1
updateWAITING_POWERUP
2
3
updateERASING_FLASH
updateSCANNING_FILE
Waiting for the user to power cycle the
controller
Controller is erasing flash
Scanning the firmware file
MN1278 05.2001
Appendix 3: Symbolic Constants
Value
Symbolic Constant
4
updateDOWNLOADING
5
6
updateRESETTING
updateRUNNING
MN1278 05.2001
Meaning
Downloading the firmware: use the
percentage parameter.
Resetting the controller
Running the application
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Bibliography
9. Bibliography
6
Bibliography
[1] Mint v4 Programming Guide [MN1262]
[2] Mint v4 Advanced Programming Guide [MN1270]
[3] Mint v4 PC Programming Guide [MN1278]
[4] Mint v4 CAN Programming Guide [MN1282]
[5] Mint v4 Function Reference Guide [MN1280]
All manuals can be found on the Baldor Motion Toolkit CD-ROM.
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