LMMS Linux MultiMedia Studio Computer Accessories MN1278 User Manual

Mint™ version 4  
PC Programming Guide  
MN1278  
Issue 1.2  
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.  
MINTis 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  
Baldor ASR GmbH  
Telephone:  
Fax:  
+49 (0) 89 90508-0  
+49 (0) 89 90508-492  
Baldor ASR AG  
Telephone:  
Fax:  
BS32 0BF  
U.K.  
+41 (0) 52 647 4700  
+41 (0) 52 659 2394  
Telephone:  
Fax:  
Web site:  
Sales email:  
Support email:  
+44 (0) 1454 850 000  
+44 (0) 1454 859 001  
Australian Baldor Pty Ltd  
Telephone:  
Fax:  
+61 2 9674 5455  
+61 2 9674 2495  
Baldor Electric (F.E.) Pte Ltd  
Baldor Electric Company  
Telephone:  
Fax:  
+65 744 2572  
+65 747 1708  
Telephone:  
Fax:  
+1 501 646 4711  
+1 501 648 5792  
email:  
web site:  
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Mint v4 PC Programming Guide  
iv  
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Manual Revision History  
Manual Revision History  
Issue  
Date  
BOCL  
Comments  
Reference  
1.0  
Apr 99  
UM00545-000  
UM00545-001  
UM00545-002  
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.  
1.1  
1.2  
Feb 00  
May 2001  
Updates for PC Developer Libraries 1302 release.  
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MN1278 05.2001  
Contents  
Introduction ................................................................................1  
1.1  
Introduction...............................................................................................2  
1.2  
Installation ................................................................................................2  
Communicating with a Controller .............................................3  
2.1  
2.2  
2.3  
2.4  
2.5  
NextMove PCI...........................................................................................4  
NextMove PC............................................................................................4  
Dual Port RAM on NextMove PCI and PC ................................................4  
Mint Comms Array (All Controllers)...........................................................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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3.3.2 A Visual Basic Tutorial. ......................................................................27  
3.4  
Borland Delphi 5.0 ..................................................................................31  
PC Based Motion Control ........................................................35  
4.1  
4.2  
Limitations of PC based applications ......................................................37  
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  
5.2  
5.3  
How to Recognise the NextMove PCI.....................................................46  
Host Accessible Hardware on NextMove PCI. ........................................46  
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  
6.1  
6.2  
6.3  
6.4  
6.5  
6.6  
6.7  
6.8  
6.9  
NextMove PCI DPR Map ........................................................................51  
NextMove PC DPR Map .........................................................................54  
Status and Control Registers..................................................................56  
Axis Data ................................................................................................59  
I/O Data..................................................................................................61  
Comms Array..........................................................................................62  
Immediate Comand Mode.......................................................................62  
Pseudo Serial Interface ..........................................................................63  
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  
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Introduction  
Introduction  
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.  
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Communicating with a Controller  
Communicating with a Controller  
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.  
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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  
0
/* Node number  
#define NODE0  
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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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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  
Description  
doMintBreak  
Sends Ctrl-E to Mint,( bypassing the pseudo-serial  
buffer on NextMove PC and PCI ).  
Write RUN <ENTER>  
doMintRun  
getSerialChar  
Read a char from the pseudo-serial buffer if one is  
available  
getSerialCharTimeout  
Read a char from the if one is available within the  
given period of time.  
getSerialStringTimeout  
setSerialChar  
Read up to 64 chars from serial buffer into a string  
Write a character  
setSerialCharTimeout  
setSerialStringTimeout  
Writes a character with a timeout  
Writes a string, timing out if the pseudo-serial transmit  
buffer is full  
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Using the Library with Various Languages  
Using the Library with Various Languages  
This chapter details the use various different programming languages. The  
languages covered are:  
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  
CNextMovePC  
CNextMovePCI1  
CNextMoveBX  
CMintDrive  
nextmove.h  
nm_pci1.h  
nm_bx.h  
mintdrv.h  
snode51.h  
ServoNode 51  
CServoNode51  
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.  
File  
Controller  
base.cpp  
All  
baldorserial.cpp  
host_def.cpp  
logfile.cpp  
mme.cpp  
All Serial  
All  
All  
MintDrive, NextMove BX, ServoNode 51  
All  
mml.cpp  
nextmove.cpp  
nm_nt.cpp  
nm_pci1.cpp  
nm_win32  
NextMove PC  
NextMove PC  
NextMove PCI  
NextMove PC & PCI  
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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.  
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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.  
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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).  
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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. Delete all the controls from the dialog (‘OK’ button, ‘Cancel’ button and ‘TODO: Place dialog controls  
here.’ Text)  
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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)  
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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)  
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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. Edit VCTutorial.cpp’ and ‘VCTutorialDlg.cpp’. In both files, replace ‘#include “stdafx.h”’ with ‘#include  
“precomp.h”’. Check the project builds !  
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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.  
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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 <dynamic_cast> 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<CController *> ( new CMintDrive ( NODE, COMMPORT, BAUDRATE,  
TRUE ));  
NextMove PC  
#define NODE  
0
#define ADDRESS 0x23C  
m_pController = dynamic_cast<CController *> ( new CNextMovePC ( NODE, ADDRESS ));  
NextMove PCI  
#define NODE  
0
#define CARDNUMBER 0  
m_pController = dynamic_cast<CController *> ( new CNextMovePCI1 ( NODE, CARDNUMBER ));  
NextMove BX  
#define NODE  
#define COMMPORT  
1
2
#define BAUDRATE 9600  
m_pController = dynamic_cast<CController *> ( new CNextMoveBX ( NODE, COMMPORT, BAUDRATE,  
TRUE ));  
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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.  
If the number is less than 200 hex ( 512 ) it is a standard COM error created by the framework, not the  
Mint Interface Library.  
3.2.3  
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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PC Based Motion Control  
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:  
Controlle r  
Ho st  
Te rmina l/  
Co mm s  
Mint  
IC M  
MIL  
Host I/ F  
De vic e  
Drive r  
MINT Mo tio n Lib ra ry  
Profile r x N  
Se rvo  
x N  
Lo o p  
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 axis 0  
myController.setSpeed 0, 40!  
myController.setAccel 0, 400!  
myController.setDecel 0, 400!  
myController.doReset 0  
‘ 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  
Event  
0: Highest  
Serial Receive  
Error  
CAN 1 (CANOpen)  
CAN 2 (Baldor CAN)  
Stop switch  
1
2
3
4
5
Fast position latch  
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Priority  
Event  
6
7
8
Timer  
Digital input  
Comms  
9
10  
11  
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); // set periodic timer event to 1000ms  
while(1) {  
myPCI.setRelay(0, 1);  
myPCI.doWait(500);  
myPCI.setRelay(0, 0);  
myPCI.doWait(500);  
// 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  
NextMove PCI and Non-Microsoft Operating  
Systems  
This chapter details how to use the NextMove PCI with operating systems  
other than Windows NT and Windows 9x.  
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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 Description  
1
128 bytes  
Memory  
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.  
2
128 bytes  
I/O  
3
4
16K  
32 bytes  
Memory  
I/O  
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  
__int16 getDeviceOpen  
__int16 doDeviceOpen  
__int16 getLong  
( void );  
( BOOL *bOpen );  
( void );  
( __int16 nAddress, __int32 FAR *lplValue );  
protected:  
__int16 InternalSetLong ( __int16 nAddress, __int32 lLong );  
__int16 PLXRead  
__int16 PLXWrite  
( __int16 nRegister, __int32 *plValue );  
( __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:  
*/  
- Node number : not currently used  
- PCI card number */  
/* int nNode  
/* int nCard  
/* 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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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  
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  
au  
- user units / second  
- 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  
Use  
Read Only  
0xFFF  
0xFFE  
0xFFD  
0xFFF  
Interrupt Host  
Interrupt NextMove  
Control Registers  
0xFE0  
Reserved  
0xFE0  
0xFDF  
0xFDF  
1K User Area  
0xBE0  
0xBE0  
0xBDF  
Reserved for future use  
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Mint v4 PC Programming Guide  
Address  
Use  
Read Only  
0x600  
0x5FF  
0x5FF  
ICM expansion  
Reserved for future axes  
Axis 11 Data  
0x500  
0x4FF  
0x500  
0x4FF  
0x480  
0x47F  
0x480  
0x460  
0x45F  
Axis 10 Data  
0x440  
0x43F  
Axis 9 Data  
0x420  
0x41F  
Axis Data  
0x400  
Axis 8 Data  
0x400  
0x3FF  
0x3FE  
0x3FD  
0x3FC  
0x3FB  
0x3FA  
0x3F9  
0x3F8  
0x3F7  
0x3FF  
Reserved  
Reserved  
Scratchpad (Unused)  
Functionality Code  
Application Code  
Interrupt Data  
Interrupt Data  
ICM handshake  
Control Registers  
0x3FB  
0x3FA  
0x3F9  
0x3F8  
0x3F7  
Reserved (Old user area)  
Comms (99 locations)  
Serial Transmit Buffer  
Serial Receive Buffer  
0x29C  
0x29B  
0x29C  
0x29B  
0x1D6  
0x1D5  
0x1D6  
0x1D5  
0x193  
0x192  
Pseudo Serial  
0x150  
0x150  
0x14F  
0x14F  
Immediate Command Mode  
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Appendix 1: DPR Map  
Address  
Use  
Read Only  
0x130  
0x12F  
0x130  
0x12F  
IO Data  
0x110  
0x10F  
0x110  
0x10F  
Axis 7 Data  
Axis 6 Data  
Axis 5 Data  
Axis 4 Data  
Axis 3 Data  
Axis 2 Data  
Axis 1 Data  
Axis 0 Data  
0x0F0  
0x0EF  
0x0D0  
0x0CF  
0x0B0  
0x0AF  
0x090  
0x08F  
0x070  
0x06F  
0x050  
0x04F  
0x030  
0x02F  
Axis Data  
0x010  
0x010  
0x00F  
0x00E  
0x00D  
0x00C  
0x00B  
0x00A  
0x009  
0x008  
0x007  
0x006  
0x005  
0x004  
0x003  
0x00F  
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  
Status/Control Registers  
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Address  
Use  
Read Only  
0x002  
Axis Mix  
0x001  
0x000  
DPR Status Register  
DPR Control Register  
0x000  
6.2  
NextMove PC DPR Map  
Dual Port RAM on NextMove PC has 1K of 16 bit data.  
Address  
Use  
Read Only  
0x3FF  
0x3FE  
0x3FD  
0x3FC  
0x3FB  
0x3FA  
0x3F9  
0x3F8  
0x3F7  
0x3FF  
Interrupt Host  
Interrupt NextMove  
Scratchpad (Unused)  
Functionality Code  
Application Code  
Interrupt Data  
Control Registers  
0x3FB  
0x3FA  
0x3F9  
0x3F8  
0x3F7  
Interrupt Data  
ICM handshake  
Reserved (Old user area)  
Comms (99 locations)  
Serial Transmit Buffer  
Serial Receive Buffer  
Immediate Command Mode  
IO Data  
0x29C  
0x29B  
0x29C  
0x29B  
0x1D6  
0x1D5  
0x1D6  
0x1D5  
0x193  
0x192  
Pseudo Serial  
0x150  
0x150  
0x14F  
0x14F  
0x130  
0x12F  
0x130  
0x12F  
0x110  
0x10F  
0x110  
0x10F  
Axis 7 Data  
0x0F0  
0x0EF  
Axis 6 Data  
0x0D0  
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MN1278 05.2001  
Appendix 1: DPR Map  
Address  
Use  
Read Only  
0x0CF  
Axis 5 Data  
0x0B0  
0x0AF  
Axis 4 Data  
Axis 3 Data  
Axis 2 Data  
Axis 1 Data  
Axis 0 Data  
0x090  
0x08F  
0x070  
0x06F  
0x050  
0x04F  
0x030  
0x02F  
Axis Data  
0x010  
0x010  
0x00F  
0x00E  
0x00D  
0x00C  
0x00F  
Reserved  
1ms Timer Tick  
Axis Configurations (4-7)  
Axis Configurations (0-3)  
MINT Error Line  
MINT Error  
0x00B  
0x00A  
0x009  
0x008  
0x007  
0x006  
0x005  
0x004  
0x003  
0x002  
0x001  
0x000  
MINT Status  
MINT Line Number  
2ms Timer Tick  
Build ID  
Analog I/O Mix  
Digital I/O Mix  
Axis Mix  
Status/Control Registers  
0x000  
DPR Status Register  
DPR Control Register  
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6.3  
Status and Control Registers  
Address Use  
Symbolic Constant  
Read Only  
0x000  
0x001  
0x002  
0x003  
0x004  
0x005  
0x006  
0x007  
0x008  
0x009  
0x00A  
0x00B  
0x00C  
0x00D  
0x00F  
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 )  
roCONTROL  
roSTATUS  
roAXIS_MIX  
roNUM_DIO  
roNUM_AIO  
roBUILD  
roTIMER_TICK  
roMINT_LINE  
roMINT_STATUS  
roMINT_ERR  
roMINT_ERL  
roAXIS_CF  
Axis Configurations (PCI:8-11, PC:4-7 ) n/a  
1ms Timer Tick  
Reserved  
ro1MS_TIMER  
n/a  
DPR Control Register – NextMove PCI:  
Bit  
Meaning  
Symbolic Constant  
0
Lock DPR contents  
btLOCK  
1
2
3
4
5
6
7
8
9
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  
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  
10  
11  
12  
13 - 16  
17  
Lock IO data  
btLOCK_IO  
18  
Lock auxiliary axes  
btLOCK_AUX_AXES  
19-31  
Reserved  
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Appendix 1: DPR Map  
DPR Control Register – NextMove PC:  
Bit  
Meaning  
Symbolic Constant  
0
Lock DPR contents  
btLOCK  
1
2
3
4
5
6
7
8
9
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  
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  
10  
11-15  
Lock auxiliary axes  
Reserved  
DPR Status Register:  
Bit  
Meaning  
Symbolic Constant  
0
1
DPR Contents locked if 1  
DPR contents invalid if 0  
Reserved  
btLOCKED  
btVALID  
2 - 15  
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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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  
Meaning  
Symbolic Constant  
0
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  
1
2
3 - 7  
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  
Bits 12-15  
Bits 8-11  
Bits 4-7  
Bits 0-3  
0x0B  
0x0C  
Axis 3  
Axis 7  
Axis 2  
Axis 6  
Axis 1  
Axis 5  
Axis 0  
Axis 4  
58  
MN1278 05.2001  
Appendix 1: DPR Map  
NextMove PCI:  
Axis Configurations gives the current configuration of each axis in 4 bits.  
31  
28  
27  
24  
23  
20  
19  
16  
15  
12  
11  
8
8
7
4
4
3
0
0
Axis 7  
Axis 6  
Axis 5  
Axis 4  
Axis 3  
Axis 2  
Axis 1  
Axis 0  
31  
28  
27  
24  
23  
20  
19  
16  
15  
12  
11  
7
3
-
-
-
-
Axis 11  
Axis 10  
Axis 9  
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 Use  
Symbolic Constant  
0x010  
0x030  
0x050  
0x070  
0x090  
0x0A0  
0x0C0  
0x0E0  
0x400  
0x420  
0x440  
0x460  
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  
Use  
Symbolic Constant  
Data Size  
float  
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  
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  
roPOSITION  
roMEASURED_SPEED  
roDEMAND_SPEED  
roMODE_OF_MOTION  
float  
float  
int 32  
roMOTION_ERROR  
roFOLLOWING_ERROR  
int 32  
float  
roP_GAIN  
float  
float  
float  
float  
float  
float  
int 32  
roV_GAIN  
roFF_GAIN  
roD_GAIN  
roI_GAIN  
roI_RANGE  
roNEXT_MODE  
roDAC_VALUE  
roFREE_SPACES  
roMOVE_ID  
int 16  
int 16  
int 16  
float  
roDEMAND_POS  
Demand Velocity  
Reserved  
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.  
60  
MN1278 05.2001  
Appendix 1: DPR Map  
6.5  
I/O Data  
The I/O data area is as follows:  
Address Use  
Symbolic Constant  
Data Size  
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  
Analog 0  
Analog 1  
Analog 2  
Analog 3  
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  
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  
roOUTPUTS  
roMG_STATUS  
roBOOST  
int 16  
int 16  
int 16  
float  
roAUXENC_0_POS  
Auxiliary Encoder 0 vel  
Reserved  
roAUXENC_0_VEL  
float  
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  
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  
Reserved  
Reserved  
1 Not applicable to NextMove PCI  
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Mint v4 PC Programming Guide  
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  
…..  
location 1  
location 2  
location 3  
0x298  
0x29A  
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.  
62  
MN1278 05.2001  
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  
0x46  
Txd Reserved  
Txd Tail  
Txd Head  
0x45  
0x44  
0x43  
0x42  
Rxd Buffer  
0x03  
0x02  
0x01  
0x00  
Rxd Reserved  
Rxd Tail  
Rxd Head  
The buffer itself has two sets of symbolic constants, depending on which side, NextMove or host, that is using  
them.  
Offset  
Symbolic Constant - Host  
Symbolic Constant - NextMove  
0x00  
0x01  
0x03  
0x43  
0x44  
0x46  
ofTXD_HEAD  
ofTXD_TAIL  
ofTXD_BUFFER  
ofRXD_HEAD  
ofRXD_TAIL  
ofNM_RXD_HEAD  
ofNM_RXD_TAIL  
ofNM_RXD_BUFFER  
ofNM_TXD_HEAD  
ofNM_TXD_TAIL  
ofNM_TXD_BUFFER  
ofRXD_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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Mint v4 PC Programming Guide  
6.9  
Special Functions Registers  
Address  
Use  
Symbolic Constant  
0x3F8  
0x3F9  
0x3FA  
0x3FB  
ICM Handshaking  
roICM_HANDSHAKE  
roINTERRUPT_DATA_1  
roINTERRUPT_DATA_2  
roAPPLICATION_CODE  
Data associated with events  
Data associated with events  
Application Code Register  
0x3FC  
0x3FD  
Functionality Code Register  
Scratchpad Register  
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  
Description Of Program  
Symbolic Constant  
0
Unidentified program or no program  
running.  
apNONE  
1
2
Loader running.  
Immediate Command Mode  
supported.  
apLOADER  
apFRONT  
3
4
5
6
7
NextMove test program running.  
Mint for NextMove suported.  
Mint for NextMove suported.  
Custom Version.  
Mint Motion Library. (Embedded)  
Reserved  
apNM_TEST  
apNM_MINT  
apFRONT_MINT  
apRPD_MINT  
apMML  
8+  
64  
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  
Description Of Feature  
Symbolic Constant  
0
Loader communication  
protocol.  
fcLOADER_COMMS  
1
2
Motion Generator auto update fcAUTO_UPDATE  
of locations 0 to $12F.  
FRONT.OUT communication fcFRONT_COMMS  
protocol.  
3
4
Pseudo Serial Port Buffer.  
Mint interpretation of serial  
buffer communications  
(Comms Protocol)  
Mint running  
fcSERIAL_PORT  
fcCOMMS_ON  
5
fcMINT_RUNNING  
6 - 15  
Reserved  
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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Mint v4 PC Programming Guide  
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.  
66  
MN1278 05.2001  
Appendix 2: Timings  
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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68  
MN1278 05.2001  
Appendix 3: Symbolic Constants  
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  
erSUCCESS  
0
No error  
erINITIALISING  
erNOT_RUNNING  
erBAD_COMMAND  
erBAD_ADDRESS  
erBAD_ERASE  
1001  
1002  
1003  
1004  
1005  
1006  
1007  
1008  
1009  
1010  
1011  
1012  
1013  
1014  
1015  
1016  
1017  
Loader initialising  
Loader not runnning  
Unrecognised command code  
Invalid address received  
Flash erase failed  
erBAD_BURN  
Flash program failed  
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  
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.  
erNO_Mint_PROMPT  
1018  
1019  
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.  
erNO_WIN95_VME_SUPPORT  
erCOMMAND_ABORTED  
erFRONT_ACTIVE  
erCOMMAND_INTERRUPTED  
1020  
1021  
1022  
erRETURN_INVALID  
erFRONT_DISABLED  
1023  
1024  
Return code invalid. Call  
getSystemErr.  
Immediate Command Mode has been  
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Mint v4 PC Programming Guide  
Value  
Symbolic Constant  
Meaning  
disabled  
erINVALID_HANDLE  
1025  
The handle had not been correctly  
initialised.  
Error 1026 Removed  
erPROTOCOL_ERROR  
1026  
1027  
Unknown protocol on  
upload/download  
The file could not be opened, or was  
corrupted.  
erFILE_ERROR  
1028  
1029  
1030  
erINVALID_FILETYPE  
erNO_PROMPT  
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.  
erNO_NT_SUPPORT  
1031  
erRESPONSE  
erTEMP_FILE_ERROR  
1032  
1033  
NextMove did not respond.  
The function was unable to create a  
required temporary file. Check disk  
space.  
erCODE_ERROR  
erIN_COMMS_ROUTINE  
1034  
1035  
Bad coding: contact supplier !  
Interface already in use by the comms  
protocol  
erDOWNLOADING  
1036  
Interface already in use by a file  
download  
erUPLOADING  
erIN_Mint328_ROUTINE  
1037  
1038  
Interface already in use by a file upload  
Interface already in use a a Mint328  
routine  
erPORT_NOT_OPEN  
erCORRUPTION  
erPORT_OUT_OF_RANGE  
erNOTIFY  
erCHECKSUM_ERROR  
erNAK_RECEIVED  
1039  
1040  
1041  
1042  
1043  
1044  
1045  
1046  
1047  
1048  
1049  
1050  
1051  
1052  
1053  
Serial port not opened  
Corruption occured  
Specified port not available  
Could not enable WM_NOTIFY  
The checksum failed  
The controller sent NAK  
Error 1045 Removed  
erERROR_OPENING_PORT  
erINVALID_CARDNUMBER  
erINVALID_AXIS_PARAM  
erINVALID_CONTROLLER_TYPE  
erINVALID_COMMS_ADDRESS  
Error 1051 removed  
Port could not be opened  
Card number out of range  
Axis out of range  
Invalid controller enumeration  
Comms address out of range  
erPORT_UNAVAILABLE  
erUSER_ABORT  
Port already in use  
The user aborted the command  
70  
MN1278 05.2001  
Appendix 3: Symbolic Constants  
Value  
Symbolic Constant  
Meaning  
erCONTROLLER_REPORTS_ERROR  
erUPDATING  
1054  
1055  
The controller detected an error  
Interface already in use by a firmware  
update  
erRECEIVE_BUFFER_EMPTY  
erTRANSMIT_BUFFER_FULL  
erINVALID_RETRIES  
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  
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  
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  
Invalid firmware for the controller  
No interrupt registered for this  
controller  
erINVALID_IRQ  
1081  
1082  
1083  
1084  
1085  
1086  
1087  
1088  
1089  
1090  
Invalid Interrupt  
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  
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  
erICM_TX_TIMEOUT  
erICM_RX_TIMEOUT  
1091  
1092  
Timeout on ICM  
Timeout on ICM  
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Mint v4 PC Programming Guide  
Value  
Symbolic Constant  
Meaning  
erICM_RX_SIZE_ERROR  
erICM_PROCESS_TIMEOUT  
erDEV_DRV_UNKNOWN_IOCTL  
erBBP_ACK_TIMEOUT  
1093  
1094  
1095  
1096  
1097  
Error in ICM protocol  
Timeout on ICM  
Device driver mismatch  
No response from controller  
BBP protocol error : No response to  
poll  
erBBP_POLL_TIMEOUT  
erBBP_POLL_NO_DATA  
erBBP_RX_TIMEOUT  
1098  
1099  
1100  
BBP protocol error : No data ready for  
polling  
BBP protocol error : Receive data  
timeout  
Invalid ( or unsupported ) transaction  
number  
erBBP_UNSUPPORTED_TRANS  
erBBP_INVALID_DATA_LENGTH  
erBBP_VALUE_OUT_OF_RANGE  
1101  
1102  
Invalid data field length for transaction  
Data value out of range for transaction  
(rejected)  
erBBP_VALUE_OUT_OF_BOUNDS  
erBBP_CONTROL_FAULT_COND  
erBBP_STATUS_MODE_REJECT  
1103  
1104  
1105  
Data value out of bound for transaction  
(modified by controller)  
Controller fault condition prevented  
execution  
Controller status/mode prevented  
execution  
erBBP_BLOCK_REJECTED  
erBBP_END_OF_BLOCK  
erIN_BBP_ROUTINE  
1106  
1107  
1108  
Block transfer value not accepted  
End of block reached  
A BBP access is blocking use of the  
resource  
erAUTOTUNE_FAILED  
1109  
1110  
1111  
1112  
Autotune function failed  
No captured data is available to upload  
Squash : Could not create output file  
Squash : Could not open file to be  
squashed  
erNO_CAPTURED_DATA  
erSQ_INVALID_OUTPUT_FILE  
erSQ_INVALID_INPUT_FILE  
erSQ_TOO_MANY_VARIABLES  
1113  
1114  
1115  
1116  
1117  
1118  
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  
erSQ_BASIC_TABLE_NOT_FOUND  
erSQ_MOTION_TABLE_NOT_FOUND  
erSQ_CONSTANT_TABLE_NOT_FOUND  
erSQ_INPUT_FILE_READ_ERROR  
erSQ_OUTPUT_FILE_WRITE_ERROR  
72  
MN1278 05.2001  
Appendix 3: Symbolic Constants  
Value  
Symbolic Constant  
Meaning  
erSQ_INVALID_OUTPUT_FILE_STRING  
1119  
Squash : Name of file to squash not  
NULL terminated  
erSQ_INVALID_INPUT_FILE_STRING  
erSQ_INVALID_PATH_STRING  
1120  
1121  
1122  
1123  
1124  
1125  
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  
erSQ_TOO_MANY_BASIC_KEYWORDS  
erSQ_TOO_MANY_MOTION_KEYWORDS  
erSQ_TOO_MANY_CONSTANTS  
erSQ_VARIABLES_NOT_INITIALISED  
erCANNOT_WRITE_TO_INTERRUPT  
erNO_LINK_TO_CONTROLLER  
erFIRST_ARRAY_ELEMENT_IS_SIZE  
1126  
1127  
1128  
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 )  
erPOS_ARRAY_REQUIRED  
erARRAY_SIZE_MISMATCH  
1129  
1130  
The postition array is not optional  
One or more array(s) are the wrong  
size  
erPARAMETER_CANNOT_BE_NEGATIVE  
erCAN_INIT_FAILED  
erEEPROM_CRC_FAILED  
erINSUFFICENT_MEMORY  
erCANNOR_RUN_APP  
1131  
1132  
1133  
1134  
1135  
The parameter cannot be negative  
Initialisation of CAN failed  
EEPROM failed CRC check  
Insufficent memory to run application  
Cannot run application for unknown  
reason  
erEVENT_HANDLER_IN_USE  
1136  
Event handler already installed  
MN1278 05.2001  
73  
Mint v4 PC Programming Guide  
updateFirmware Codes (nBootDevice Parameter):  
Value  
Symbolic Constant  
Meaning  
tmFLASH  
tmRAM  
0
1
Load program to flash memory  
Load program to RAM  
updateFirmware Codes (nTarget Parameter):  
Value  
Symbolic Constant  
Meaning  
bdEPROM  
bdFLASH  
bdSERIAL  
bdNV  
0
1
2
3
4
Boot from EPROM  
Boot from flash memory  
Boot from serial port  
Boot from NVRAM  
bdDPR  
Boot from Dual Port RAM  
File Upload/Download Codes (Use with uploadMintFile & downloadMintFile):  
Value  
Symbolic Constant  
Meaning  
filePROGRAM  
fileCONFIG  
fileARRAY  
1
2
3
Program file  
Configuration file  
Array file  
getControllerType Codes:  
Value  
Symbolic Constant  
Meaning  
conEUROSYSTEM  
conNEXTMOVE_BX  
conNEXTMOVE_PC  
conNEXTMOVE_PCI  
conMINTDRIVE  
0
2
3
9
10  
EuroSystem family  
NextMove BX  
NextMove PC  
NextMove PCI  
MintDrive  
set/getHandshakeMode Codes  
Value  
Symbolic Constant  
Meaning  
mdRTS_CTS  
1
RTS/CTS Handshaking  
updateFirmwareEx Update Callback Codes:  
Value  
Symbolic Constant  
Meaning  
updateWAITING_POWERUP  
1
Waiting for the user to power cycle the  
controller  
updateERASING_FLASH  
updateSCANNING_FILE  
2
3
Controller is erasing flash  
Scanning the firmware file  
74  
MN1278 05.2001  
Appendix 3: Symbolic Constants  
Value  
Symbolic Constant  
updateDOWNLOADING  
Meaning  
4
Downloading the firmware: use the  
percentage parameter.  
Resetting the controller  
Running the application  
updateRESETTING  
updateRUNNING  
5
6
MN1278 05.2001  
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Mint v4 PC Programming Guide  
76  
MN1278 05.2001  
Bibliography  
Bibliography  
Bibliography  
6
[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.  
MN1278 05.2001  
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Mint v4 PC Programming Guide  
78  
MN1278 05.2001  

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