MintMT Build 5370 ================= 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 ============ 10th December 2007 Release Level ============= General Backward Compatibility Issues ============================= Requires Mint compiler target format 10 - installed with this Mint System File. Parameter Table version 35: 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 5240). 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 ==================== COMMSINTEGER now takes an optional Node Id, allowing access to a serial nodes COMMS array as integer. Syntax: COMMSINTEGER( Node, Element ) = var = COMMSINTEGER( Node, Element ) Support for MOVESTATUS indicating the current state of a trapezoidal move profile: Bit 0 = Accelerating Bit 1 = At (slew) speed Bit 2 = Decelerating Modbus ASCII support for: Function 0x11 - Get Comm Event Counter Function 0x08 - Diagnostics Added Modbus ASCII message log. Added keyword CLEARERRORLOG. Added keyword AXISSTATUSWORD. Added keyword NUMBEROFEXTENDED. Added keyword PLCTASKSTATUS. Added keyword ENCODERLINESINSPEEDMAX. Added keyword BUSTIMEOUT - allows the inter-character timeout to be specified for Modbus ASCII. Added the following modes, supported by Capture (Scope), Comms Mapping, Sentinel:- _cpCONTROL_MODE _cpPLC_STATUS _cpPLC_TASK_STATUS _cpLIFE_TIME _cpSYSTEM_TIME _cpEVENT_TIMER _cpMOVE_STATUS Added PLC actions for: Jumping PLC Task statements Suspend an axis Drive Enable/disable Run a Mint program Stop a Mint program Suspend a Mint task Resume a Mint task Start data capture Start cyclic data capture Stop data capture Home an axis ADCERRORMODE now a member of the Parameter Table. Range of HOMEOFFSET increased from 65535 counts to 8388607 counts. Sentinel channels (when mapped to _cpAUX_ENCODER, _cpENCODER, or _cpMEASURED_POSITION) will cater for wrapped (position) values. Support for Hiperface encoder type SKM36 and SEK52. Support for change to Hiperface protocol, supporting new encoders with stored information on resolution. New keyword POSWRAP defines position bounds. New keyword PROFILEMODE - used to define profiler as linear or rotary wrapped. Slight performance increase to MintMT: ~ 9.5% faster than Build 5356 Bug Fixes (from Build 5358) =========================== NCR Ref: Affects Platform(s) Description ======== ======= =========== =========== NCR02407: Build 5358+ All Axis was left at Home creep speed at end of Home creep phase. NCR02408: Build 5358+ All Display issue with pre-WorkBench 5238 on PLC page. NCR02426: Build 5358+ All ActiveX call to Get/SetPresetIndexInputsMax() will return error 3 "value out of range" when used with OCX Build earlier than 5238. NCR02448: Build 5358+ All Sentinel channels will only operate if at least one is loaded/stored in the Parameter Table before the drive is powered-up. NCR02481: Build 5358+ All Accel/Decel Time to Max Speed on the Presets page of WorkBench is miscalculated as zero. NCR02495: Build 5358+ All COMMSMAPMODE.channel = -1 is not reported as an error. NCR02500: Build 5015+ All StopInput with ErrorDecel will use Decel if already decelerating. NCR02507: Build 5358+ All Performing a Moving Current autotune test under Fine-tuning will reset the drive. NCR02513: All Changing DECEL whilst already decelerating to the target position will momentarily take affect. NCR02517: All In a trapezoidal profile, when entering the deceleration phase, the first point is not reduced to cater for overshoot into the deceleration distance, from the slew speed phase. NCR02518: All On an Incremental move, changing target position to just short of the current target, when the profile is already decelerating, the profile will not reverse if there is a high acceleration defined. NCR02519: Build 5015+ All Issuing a CANCEL, will set the acceleration demand to zero - it should be an extrapolated value of speed and then go to zero. NCR02525: Build 5353+ All Modbus ASCII calls to read an indexed string do not work. NCR02526: Build 5352+ All It is not possible to map element #255 of the COMMS array. NCR02527: All HOME = _hmPOSITION_SEARCH requires the HOMEINPUT to be assigned. NCR02528: Build 5015+ All During autotune the drive can trip out on Over Current. NCR02529: Build 5304+ All After HOME = _hmPOSITION_SEARCH, POSROLLOVER is not set to zero. NCR02590: All Digital Inputs listed as supporting 10 - affected PLC Task. NCR02591: All Mapping to cpREMAINING_POSITION will return a non-zero value when performing a Jog move-type. NCR02609: Build 5015+ Encoder Harmonic hollow-shaft actuators (e.g. FHA-8C-xx) cannot autotune the Feedback alignment test correctly. It will either produce an incorrect hall-sextant table, or fail if the hysterisis between a fwd & rev motion produces a +ve & -ve angle. NCR02626: Build 5351+ All The PLC action to Disable the drive does not work. NCR02629: Build 5015+ All HCP1/HCP2 do not decode multiple comms writes correctly - a write to multiple comms, followed by a subsequent write will use contents of telegram previously received but not overwritten. E.g. EOT 2 2 STX 0 1 99.1234, 4, 5, 6, 7 ETX CRC followed by EOT 2 2 STX 2 1 1.25 ETX CRC will write to COMMS(21), and continue to write 4, 5, 6, 7 to subsequent elements. See also NCR02470. NCR02634: Build 5015+ EnDat/Hiperface After completing Homing (on EnDat & Hiperface), ABSENCODEROFFSET is updated. This will be written to EEPROM depending upon PARAMSAVEMODE of the last API written before homing completed. NCR02636: Build 5015+ All Specifying a PresetHome with a value >255 (e.g. Position Search) is not stored correctly. MVM Bug Fixes ============= None. EOF