MintMT Build 5358 ================= Mint System File Contents: ========================== ReadMe text file - this file Mint Compiler DLL - MintMT Compiler v10.6 Firmware file (.chx) for the relevant platform Note: Installing the Mint System File will install and register the Mint Compiler with WorkBench. Unless you are using Mint WorkBench (Build 5204 or higher), if you have a higher v10.x compiler previously installed/registered, you will need to re-register the later version as older versions of WorkBench will register the version of the compiler being installed. Previous compiler target formats (e.g v9.x and v8.x) are unaffected. Build Platforms: ================ SC-610 /Hiperface SC-610 /IO /Hiperface SC-610 /Encoder-resolver SC-610 /IO /Encoder-resolver SC-610 /EnDat SC-610 /IO /EnDat Release Date ============ 13th October 2006 Release Level ============= General Backward Compatibility Issues ============================= Requires Mint compiler target format 10 - installed with this Mint System File. Parameter Table version 30: Upgrading from Parameter table version 8+ (Build 5015+) will be done automatically. The Parameter table will be lost if the drive is updated with firmware supporting an earlier Parameter Table. Recommended to be only used in conjunction with Mint WorkBench (Build 5238). Download Instructions ===================== Consult the Help file or the Installation Manual supplied with your drive or the copy on the CD. To install a Mint System File (.msx) direct from SupportMe: 1. If you have not already done so, from WorkBench select 'Help -> On the Web -> Firmware Updates' 2. Navigate to the required platform(s) 3. Locate the required build option, view the ReadMe file (this file) if required, then click on 'Install' to install the components of the Mint System File into WorkBench To install a Mint Sytstem File (.msx) from disk/CD:- 1. From WorkBench, select 'Tools -> Install System File...' 2. From the dialogue, locate the Mint System File (.msx) to be installed and click 'Open' to install it. 3. WorkBench will install the components of the Mint System File. To download firmware to the controller:- 1. From WorkBench, select 'Tools -> Download Firmware...' 2. In the 'Controller Type' drop-down, select the platform type that you are connected to. 3. Select the Build number required that matches the Build option for your controller. 4. You can view the Readme file (this file) if desired. 5. Click on the 'Download to Controller' button to download firmware to the controller. 6. The firmware download sequence should begin (and will take a couple of minutes). You may be prompted to power-cycle the controller - ensure you are connected via the correct COM port and turn on power (logic supply) to the controller. Mint Virtual Machine ==================== Version 22 New Features/Changes ==================== Scale Factors (ScaleFactor, EncoderScale and AuxEncoderScale) now support floating-point values. Increased upper limit of SCALEFACTOR and ENCODERSCALE to 65536. Support for string access API's FirmwareVersion, UserPositionUnits, UserTimeUnits and DriveId as MintMT keywords. Hardware Limits indication on 7-segment display when not in error. Range supported by ADCGAIN increased to 400%. Implemented ADCERROR and associated functionality (see also ADCMONITOR, ADCMIN, ADCMAX and ADCERRORMODE). DRIVEENABLEMODE modified to allow CANCEL to be issued when enabling the drive via Hardware. Support for PhaseSearchCurrent. JOG can now be blended automatically from MOVEA, MOVER, INCA or INCR moves. Allow CONTROLMODE to be changed whilst profiling a move. Allow SpeedRef and TorqueRef to be set-up when the axis is Idle (mdIDLE) and independently of the source setting. Allow Blending of SpeedRef and TorqueRef. Time taken to read FASTPOS has been improved. Improvements to data capture: Support for CAPTUREDURATION. Capture modified to allow triggering on certain events - see CAPTURETRIGGERCHANNEL, CAPTURETRIGGERABSOLUTE, CAPTURETRIGGERVALUE, CAPTUREPRETRIGGERDURATION, CAPTUREPROGRESS, CAPTURETRIGGERMODE, CAPTURETRIGGERSOURCE - CAPTUREEVENT and CAPTUREEVENTDELAY are now obsolete Implemented CaptureTrigger (the ability to trigger capture from Mint/Host application with a pre-trigger buffer). Capture buffer increased to 10000 data-points. High Speed capture can be set-up directly using CAPTUREMODE. Ability to capture: Motor Brake Status; Drive Error; Drive Enable state; Drive Enable input state; Current Digital Input event; Digital Input level state; Demand Magnetizing voltage; Measured Magnetizing Current; Demand Torque Current; Axis Status; Axis Status Word; Halls; Added keyword CAPTUREBUFFERSIZE. Added keyword CAPTURECOMMAND (supercedes CAPTURE). Allow remote controller to controller COMMS access (i.e. COMMS(node,element) = ) over RS232. COMMSMODE now supports _cmBBP_DISABLE - ability to turn off BBP (ICM) processing on the Serial port. Allows Mint emulation of serial protocols (e.g. Modbus ASCII, DF1, etc). COMMSMODE now supports _cmNODE_IGNORE. Added constant _cmSERIAL to replace _cmRS485. COMMSMODE _cmHCP_DISABLE no longer supported. SERIALPROTOCOL.terminal implemented to enable/disable protocols on the Serial port. _spNONE; _spHCP; _spMODBUS. Modbus ASCII supported - see SERIALPROTOCOL and use of DIP switch SW1-9. Changed TriggerMode bit 2 to be the Digital Input State and moved old functionality (edge triggered inputs) to bit 7. Support for DPR event. Accuracy of FOLLOW and FOLLOWNUMERATOR improved from a 24.8 scaled integer (0.00390625) to an IEEE float. Removed support of FOLLOWDENOM. Increased range of AUXENCODERWRAP to 8388607. AUXENCODERMODE can now be changed if the axis/drive is enabled, but not if performing a master/slave type move (e.g. Follow). AUXENCODERMODE can now be set-up as Virtual, but allow Mint to read the actual position and velocity. Support for COMMSINTEGER and COMMSMAPDATATYPE. Now sample Digital I/O at the Servo loop rate (i.e. default of 1ms = LOOPTIME) rather than every 2ms. - improves reaction times to dedicated inputs (e.g. ErrorInput, StopInput, etc) - improves resolution of control of dedicated outputs Support ABSENCODER on resolver. Added keyword POSTARGETLAST. Host array support for defining Cambox tables from a Host application. FOLERRORWARNING cannot be greater than FOLERRORFATAL. HOMEOFFSET can be used with additional homing modes (see HOME). The Output Relay has been moved to be part of Output Bank 0 by default. - use RELAYOUTPUT to assign as OUTX.3 or to assign as an independent output; - accessed as OUTX.3 and inverted with OUTPUTACTIVELEVEL; - default OUTPUTACTIVELEVEL is now 15; - programs using extended IO (Bank 1) with OUTX command must be shifted by one; - writing to OUT.0 will also control the relay output; - writing to OUTPUTACTIVELEVEL will also control inversion of relay output. COMMS can now access 255 user Comms elements - see COMMSMAPMODE and COMMS. Default PULSEDIRMODE is now 'Off'. PLC Task can now run (limited functionality) every 1msec (was a minimum of 5msecs) - see PLCTIME. PLC Task improved to take a programmable action list. - order of actions implies priority scheme. PLC Task supports 16 statements/channels (was 14 fixed actions). PLC Task supports additional actions to: No action (for compound PLC statements); Call Mint Event; Trigger Move PLC Task supports additional conditions to test for: PLC Task Result (i.e. can link PLC Task statements together); Sentinel; Mint OnError event active; Mint program running; PLCDEFAULT added to allow the PLC Task to be reset. PLCTASK keyword added - allows PLC statement to be programmed in a single command. PLCACTION and PLCACTIONPARAMETER keywords added. PLCCONDITION, PLCOPERATOR, PLCPARAMETER are now read only (replaced by PLCTASK). Preset Table modified: Preset Moves can now merge between a Jog and a point-to-point move. Supports upto 15 preset Speed references; Supports upto 15 preset Torque references; Supports preset command to set position; Supports preset command to issue a CANCEL; Supports preset command to issue a STOP; Preset Home now supports HOMEOFFSET with additional Homing modes; PRESETCANCEL, PRESETSTOP, PRESETHOME, PRESETMOVEA, PRESETMOVER, PRESETPOS, PRESETSPEDREF, PRESETSTOP and PRESETTORQUEREF added. PRESETxxx commands now take an axis number as a dot parameter. Position Compare removed (can be replaced by more versatile Sentinel and PLC Task) - COMPAREMODE, COMPARELATCH, COMPAREOUTPUT and COMPAREPOS no longer supported. Trigger on Position removed (can be replaced by more versatile Sentinel) - TRIGGERSOURCE and TRIGGERVALUE removed; - TRIGGERMODE no longer supports _trFWD_MOTION and _trREV_MOTION TRIGGERMODE supports _trSENTINEL and _trPLC_TASK. 4 Sentinel channels added: Allows a parameter to be monitored for programmable condition; Can be used from Mint program; Host application; PLC Task or TRIGGERMODE Keywords: SENTINEL, SENTINELSOURCE, SENTINELSOURCEPARAMETER, SENTINELLATCH, SENTINELTRIGGERABSOLUTE, SENTINELTRIGGERMODE, SENTINELTRIGGERVALUE Performance increase to MintMT. Bug Fixes (from Build 5332) =========================== NCR01977: Certain Offset moves do not complete (i.e. the move is profiled, but the Offset move-type is left active). NCR02115: Data capture (scope) of Digital Inputs does not handle edge triggered inputs correctly - it captures the latched state only cleared when IN is read. NCR02127: No Input assigned' reported when setting Preset Home move-type, when a HomeInput has been assigned. NCR02129: Offset moves do not advance the move correctly (the demand velocity changes, but the demand position is not modified). NCR02135: It is possible for a Fast Input to be missed for the main axis (on either DIN4 or DIN5). NCR02136: If using Event FastIn (not Event FastIn4 or FastIn5), and FASTLATCHMODE or FASTAUXLATCHMODE is set to 'smart', then on exiting the event handler the latch is not cleared and will prevent subsequent Fast Inputs from occurring. NCR02137: Using a follow ratio such as 3/28 : 1 (i.e. 0.1071428571) will lose sync after a while. NCR02138: Writing to string parameters (e.g. DriveId) does not check against the maximum length allowed - writing a string that is too long can crash the controller. NCR02140: Setting POS whilst the drive is disabled may leave the demand position at the previous value for 1-2msecs, if the drive is enabled in this time then it will persist causing the motor to jump to this new demand position. RESET will also cause this. NCR02162: AXISERROR Bit 23 (Phase Search failed) does not get set. NCR02163: Using the PLC Gear Factor, can cause the drive to trip. NCR02169: With AUTOSTARTMODE set to 4 (Follow), enabling the drive will attempt to immediately move to the encoder position and will generate a Following Error if exceeded. NCR02208: After capturing COMMS(36), when uploading the captured data the drive (CPU) is reset. Occurs with other COMMS elements also. NCR02210: When using SpeedRefSource=0, if the drive trips on overspeed, the error can be cleared but enabling the drive will immediately demand the same value of SpeedRef and trip again. NCR02211: Printing a null character produces no output. NCR02212: Setting POS (or using RESET) whilst enabled, can cause a momentary blip as the position switches to the new position, back to the old position and then back to the new position (variation of NCR02140). NCR02216: Axis IDLE event is not always called if testing for IDLETIME. NCR02218: Moving positive over a CAMBox segment boundary close to the limit of 8388607 may cause drift in the CAMBox. NCR02219: If the drive is enabled and the RESET command is issued it will ignore the settings of AUTOSTARTMODE. NCR02277: When COMMSMAPPARAMETER.channel is used when COMMSMAPMODE.channel = _cpCOMMS, it will map the comms element to be the next one (e.g. COMMSMAPMODE.3=3 will map it to COMMS.4). MVM Bug Fixes ============= NCR02114: The formatted output of floating-point values results in the string "" being emitted. NCR02126: Uploading MintMT floating-point array data into a WorkBench '.arr' file, and using the WorkBench watch window to view floating-point MintMT variables returns incorrect values. EOF