cTERM and MINT™ Utilities for Windows and DOS Issue:3.0 Ref: MN00XXX-000;m:\user manuals\eurosystem family\utilities\cterm\i3_0 latest release\ctmuwd.doc/ZZ/XX97 Copyright Baldor Optimised Control Ltd 1997. All rights reserved. This manual is copyrighted and all rights are reserved. This document may not, in whole or in part, be copied or reproduced in any form without the prior written consent of Baldor Optimised Control. Baldor Optimised Control 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 Optimised Control assumes no responsibility for any errors that may appear in this document. MINT™ is a registered trademark of Baldor Optimised Control Ltd. Baldor Optimised Control Ltd. 178-180 Hotwell Road Bristol BS8 4RP U.K. Tel: (+44) (117) 987 3100 FAX: (+44) (117) 987 3101 BBS: (+44) (117) 987 3102 Technical Support E-mail: [email protected] Manual Revision History Issue Date Reference Comments 1.0 Mar 92 MN00106-001 First release 1.01 n/a MN00106-002 2.0 Mar 96 MN00106-003 Re-formatted for clarity Added section for cTERM for Windows 2.01 Apr 96 MN00106-004 Added section for Macro keys in cTERM for DOS 3.0 Aug 97 MN00106-005 Correct for cTERM for Windows v3.0 Contents 1. Introduction ............................................................................. 1 1.1 cTERM....................................................................................................1 2. MINT Programmer’s Toolkit ..................................................... 2 2.1 Selecting a Controller & COM Port...................................................2 2.2 The Main Toolbar .................................................................................3 2.3 Terminal.................................................................................................4 2.4 Editor .....................................................................................................5 2.5 The Comms Window ...........................................................................5 2.6 Project Files...........................................................................................6 2.7 Capture/Graphing..............................................................................7 2.8 Update..................................................................................................9 2.9 Macros ..................................................................................................9 2.10 Squash...............................................................................................10 3. cTERM for DOS v2.1............................................................... 13 3.1 cTERM Options ...................................................................................13 3.1.1 /c: No CRC......................................................................................................14 3.1.2 /comX: Select COM2 .....................................................................................14 3.1.3 /d: Load a defaults file...................................................................................14 3.1.4 /m: Mono screen ............................................................................................14 3.1.5 /l: Load (download) file .................................................................................15 3.1.6 /s: Save (upload) file ......................................................................................15 3.2 Filenames............................................................................................17 3.3 cTERM Menu Structure......................................................................17 3.3.1 File Menu .........................................................................................................18 3.3.2 Options Menu .................................................................................................19 3.3.3 Terminal ...........................................................................................................20 3.3.4 Comms Menu .................................................................................................20 3.3.5 MINT328............................................................................................................22 3.3.6 Communications Window .............................................................................25 Page i Contents 3.4 Log Menu ...........................................................................................26 3.5 Macro/Quick Keys.............................................................................26 4. Function Key Reference for cTERM for DOS....................... 28 5. steTERM for DOS .................................................................... 29 5.1 Dual Port RAM....................................................................................29 6. DOS Command Line Utilities ................................................ 30 6.1 LINES: Program Line Numbers ..........................................................30 6.2 SQUASH: MINT Source Code Squasher...........................................31 6.2.1 Options ............................................................................................................32 6.2.2 Keywords .........................................................................................................36 6.2.3 SQUASH Examples ..........................................................................................36 Page ii Introduction 1. Introduction This manual covers the DOS and Windows based utilities and source code contained on the enclosed disks for the MINT™ based motion control products. 1.1 cTERM cTERM is a terminal emulator for the MINT™ programming language with the following features: ƒ File upload and download. ƒ Full screen programming editor in cTERM for Windows. cTERM for DOS allows any external editor to be called. ƒ VT100 compatible terminal screen. ƒ Support for the MINT Host Computer Communications Protocol. ƒ cTERM for Windows support the data capture facility of esMINT v2.67 for system tuning. Axis velocity or following information can be displayed on a graph. ƒ cTERM for Windows supports the MINT code squashing utility and can be setup to squash code on download. cTERM for DOS supports code squashing through the use of a DOS utility, SQUASH. cTERM is available both for DOS and Microsoft Windows on the enclosed disks. cTERM and MINT™ Utilities: Issue 3.0 Page 1 cTERM for Windows 2. MINT Programmer’s Toolkit The MINT Programmer’s Toolkit is a set of PC applications and examples for use with SmartMove. The main component of the MINT Programmer’s Toolkit is cTERM for Windows. Before starting, cTERM must first be installed on the PC. Insert disk 1 into the floppy drive. If you are running Windows 95: 1. Select Start and Run 2. Type A:\SETUP and follow the on screen instructions. 3. cTERM can be selected from the MINT Programmer’s Toolkit group. If you are running Window 3.1: 1. Select Run from the Program Manager 2. Type A:\SETUP and follow the on screen instructions. 3. cTERM can be selected from the MINT Programmer’s Toolkit group. 2.1 Selecting a Controller & COM Port The first time cTERM for Windows is used it will be configured for a EuroSystem (or member of the EuroSystem family i.e. SmartMove, EuroStep, EuroServo) on COM1. To specify a different controller, select ‘Controller’ from the ‘Setup’ menu. The controller dialog box (select ‘Controller’ from the ‘Setup’ menu) allows selection of: cTERM and MINT™ Utilities: Issue 3.0 Page 2 cTERM for Windows ƒ Controller Type: EuroSystem Family, NextMove/BX or ServoNode 34, 50 or 51. ƒ RS232 or RS485: Select RS485 if you are using a multi-drop RS485 system. Note that if you are using RS485 RTS/CTS will have no effect and should not be relied on to provide hardware handshaking. ƒ Address (RS485 only): If a multi drop system is being used, the controllers address should be entered here. Use RTS/CTS: In most cases RTS/CTS should be left on except: 1. When using a ServoNode 50. These do not support RTS/CTS, so cTERM for Windows will automatically clear the checkbox when you select ServoNode 50. 2. When using a NextMove/BX with MINT version earlier than 3.8. 3. If there is a problem updating the firmware with ServoNode 34 or 51. A problem has been found with some RTS/CTS on some PCs that only shows while operating at the higher speeds involved in updating the firmware. 4. If you are using RS485 RTS/CTS will have no effect. No hardware handshaking is available on RS485. The Setup COM Port dialog (select ‘COM Port’ from the ‘Setup’ menu) allows the serial port number and serial port speed to be specified. It is generally recommended that the highest baud rate supported by the controller is selected. i.e.: ƒ 19200 on the EuroSystem family of controllers running MINT v2.67 on higher (see the BAUD keyword in the MINT Programming Guide or MINT for NextMove Keyword Reference Guide). ƒ 9600 on the EuroSystem family of controllers running MINT version less than 2.67. ƒ 9600 on ServoNode 50. ƒ 38400 on NextMove BX (RS232) , 19200 on NextMove BX (RS485). 2.2 The Main Toolbar Many of the tools in cTERM for Windows can be launched from the main toolbar. All tools are described in greater detail later in the manual. Download File: if an editor is selected, the editor file will be downloaded. Otherwise a dialog box will prompt for