Installation manual

Application note Getting started with e100 AN00187-002
ABB Motion control products 21
www.abbmotion.com
Note
NoteNote
Note
Mint has an abbreviation for most of the keywords which is useful when typing at the command line as it reduces the amount of
typing required. A few are listed below
MOVER = MR SCALEFACTOR = SF
PRINT = ? DRIVEENABLE = DE
These commands, and others, are all described in more detail in the Mint Help files. Context sensitive Help can be obtained by
pressing F1 with the cursor positioned on a Mint keyword in the command line.
The use of abbreviated commands is not recommended for use in a program, it makes the code very difficult to understand at a
later point in time or by other people.
Trapezoidal moves.
Trapezoidal moves.Trapezoidal moves.
Trapezoidal moves.
The scale factor should now be set so that a user unit of 1 corresponds to 1 rev. Now it’s time to perform a few test moves. Type
the following on the command prompt.
POS(3) = 0 Set the absolute position to zero.
DRIVEENABLE(3) = 1 Enable the drive.
SPEED(3) = 5 Set the target speed of the move to 5 revs/s
ACCEL(3) = 20 Set the move acceleration rate to 20 Revs/s2
DECEL(3) = 20 Set the move deceleration rate to 20 Revs/s2
MOVEA(3) = 5 Perform an absolute move to position 5
GO(3) Start the move with the GO command
MOVER(3) = 4 : GO(3) Perform a relative move a further 4 units forward.
Note that commands can be cascaded on one line with a colon.
MOVEA(3) = 0 : GO(3) Perform an absolute move back to position 0.
Initializing the EPL network using Mint
Initializing the EPL network using MintInitializing the EPL network using Mint
Initializing the EPL network using Mint
The EPL network is configured in Mint WorkBench using the System Configuration Wizard. When the Mint code running on the
NextMove e 100 starts up it is a good idea to run some code at the start of the program to determine when both the EPL network
and the remote devices are operational. This code is normally called from the NextMove e 100 Mint Startup module.
The recommended initialization sequence is as follows:
1. Check that the Ethernet network is operational or cyclic.
2. Check that all nodes are live.
3. Check that each node is capable of exchanging a Service Data Object or SDO.
4. Check that each node is capable of exchanging a Process Data Object or PDO.
5. Check that the drive is in an operational state as defined by the DS402 protocol.
6. Finally check to see if the drive is in remote mode.
The full implementation of this code is explained in detail in the Workbench help file in the following path: Contents->Fieldbus
Networks -> Ethernet Powerlink -> Initializing the EPL network using Mint.
So now we need to create our Mint program. From the toolbox click on the Edit and Debug icon down to the left.
From the file menu choose New File. This is not to be confused with the project file that you are already viewing. Remember, the
Mint code file is not contained in the project file, the project file just remembers that you were editing this Mint file.