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^2 Pewin32 PRO

1. 15b4 counts Mex permitted velocity 1X2 DO cts msac Mex prog accelaration 0 016 celmsec bow jog acceleration 0016 cts msect 1 28 Basic Concepts PEWIN32 PRO Software Reference Manual Motion Programs PLCs Status This opens a window displaying information about all the programs and PLCs in PMAC s memory For each program found program number the program starting address and the total amount of PMAC memory occupied by the program are displayed The screen further allows to select any all programs PLCS for uploads and editing 7 nad Perra PRADA WL oe lBaticn _ 5 ADDI AT Bet Len Sd SAS F eB Barien icu SACS 4515 Baricn i001 B2 7E 135 PLS a 3B305 ii PLO 1 3B31z 15 PLO 2 Aoriwve 3B321 468 PLZ Acrive 35605 130 PLE 4 Acrive 0707 591 FLO 5 Active Pe bet 109 PLE fii Active STAIL J44 Select Ad Motion Programs Select All PLC Programs Selec Hora m PLCC Program Status This option opens a window that displays information about all the PLCCs in PMAC s memory You are told the value of I5 and what that value means to PMAC I5 is the I variable that determines which PLCCs can be enabled For each PLC the number starting address and size are displayed as well as whether the PLC is currently active PLC totals are given at the bottom of the screen Use the FILE menu options to save or print this information Editor Pro PMAC O VILOGR 07 112001 PMACZ Turba A BUS e
2. Binary Starts Eit Index laz Decimal f Octal i Decimal belek FEFFFFFFFFFE D Hex C Hex be Lise comma semeretor for ever bal nibble Any Ce i e Figtumad Type is Hex for a PAC command of AHO itis Dacimel lor amp PAL command ol EL andit is Sting lor a Diete command Select the format the entry will be returned in If you expect the response as a string i e TYPE Decimal i e RXO or hex i e Select the numerical display mode from the selection in the middle and the number of bits of this entry to use in the display The bit mask is used for a bitwise Boolean AND operation The resulting value is displayed in the Watch window To show all bits the whole number set the mask to FFFF If the Use Separator check box is selected separators will break up the display Binary numbers have commas every four bits nibble decimal numbers have commas every 3 decimal places left of the decimal point hex numbers are separated by spaces every four places DPR Viewer DPRAM viewer is a new screen This shows the start address on the PMAC side as well as its equivalent PC offset This further allows you to display and change any location DPRAM from the computer side loxo000 0 s 60000 393216 ox0004 4 60001 393217 loxo008 8 se0002 393218 X 2 3 Y 0 1 0123 0000 0000 0000 ABDC 0000 Note DPR viewer is valid for ISA PCI USB and Ethernet modes of com
3. D SOFTWARE ENGINEERING PEWIN32PROsPEWIN32PRO Default INI Eile Watch window Configure View Resource Manager Backup Setup Tools Window Help Watch Window PMAC 0 1 938 07 11 2001 PMAC2 Turbo ISA BUS rxO 6592496 If an option you expect to be available is not make sure you have the proper window highlighted If you have many windows open use the Window menu item to select the one you are looking for e Position PE 430 07112001 PMACZ Turbo 15A nanc al positon PYRE YLS IFPLL2001 PAC Turbo 154 BLS Terminal PMen VL OSS 07 11 2001 PMACZ Turba IBA Bus watch Window PRA VLSXS 07 11 2001 MAC Turbo 158 BUE Note There are very user friendly context sensitive menus which pop up in many of the Pewin32PRO Windows Use the right mouse button over a window to see the context sensitive menu Menu Overview 5 PEWIN32 PRO Software Reference Manual File Menu The File menu handles several things 4 PEWIN32PRO D SOFT File Configure View Resourc New File Open File New Workspace Open Workspace Save Workspace Save Workspace As Close Workspace Show Project Manager F2 Upload Variables Upload Program s Download File Exit 1 Opening an existing or creating a new text file 2 Management of workspaces 3 Uploading and downloading PMAC related text files NEW FILE Opens the editor if not already open and creates a new text file ready for editing OP
4. i 2DDIx 1100 1 Open Progl Clear pi p1 1 While Mi 1 X Z000 p2 p2 1 Machene Output 1 D 5oftwaretborlandyeewri32 v3tsample mc When you double click on the P1 the popup window will appear and you will get the value of the pl Deteanition rarrcze A When you double click on the Macro definition Machine_Output_1 you will get Additionally you can update the variable at real time by using Popup window By clicking on the Blue arrow on the top right corner of this window you could check the update check box and the value of the selected variable will be updated at real time In addition you could change the update rate 46 Advanced Features PEWIN32 PRO Software Reference Manual One other feature of the popup window is that you can change the value of the selected variable Simply change the value and click on the Apply Changes button Error Tracing The EditorPro keeps track of the errors during the download operation If there are any errors during the download the errors will show up in the message window When you double click on the errors the error line in the EditorPro will be highlighted For example when you double click on the error the line of code which has caused this error will be brought into view and highlighted meam Change Mamo S Editor Pro PMAC 0 VLI6H 10 11 2000 PMAG ISA BUS Ce d dA PRA ioe PHS Sample Cade pme 1 gt 2 000 I100 1
5. A TRIG WAKE pem h ABORT DECE MI ABORT DECEL oem ABORT _DECE ABHORT DIECEL bern h ABORT DECE MT ABORT DECEL nem h ABS MODE benm h TAS Arr 34 441 Port A oerm h Ts Apcc 34 1 Fort B nem h TASA Acc 34 02 Porta oern h TwW z 14 icid 2 Fort B nem h TUS 4co 34 43 Fort oenm h TAS Arr 34 9 Fort Bl oerm h Acc 34 amp 4 Fort amp nem h Acc 34 4 Part B ern h Acid 45 Fort amp nem h 40 34 45 Fort B aem h 10 Macros are included in the Resource Manager How to Use Resource Manager Resource Manager functionality is based on the PEWIN32PRO Project Manager To use Resource Manager create a project within the project manager and include the files that you want to create the resource manager for Resource Manager will scan all the files included within a project and will find all the definitions in the files In addition it will detect all the duplicate definitions and allow you to select the definitions that you want to be used in the Project Manager To start using the Resource Manager click on the desired project name and then from the menu items on the PEWIN32Pro select the Resource Manager and then View DEM LPS PHE APRO Er dtes NE BORLAR ER Projecti A debretestl pm lt T3 detretast prer A Global desnitinns h 5 aemh f TarminallAscrmo Hamas pme A testome 388 Froject aj Project S Praje cid Advanced Features 57 PEWIN32 PRO Software Reference Manual If the proje
6. Breakpoint button F9 Puts a break point on the desired line of the program 52 Advanced Features PEWIN32 PRO Software Reference Manual The following is an example of how to use the debugger Our example is based on the following plc p1 0 Open Plcl Clear pl1 p1 1 If P1 gt 1000 If M1 0 M1 1 Else M1 0 EndIf P120 EndIf close Click on the Run button or press F5 to start the debugger The debugger will first download the PLC program to make sure there are no errors in the program If there are no errors in the program then the debugger will ask you to set some P or M variables which are going to be used in the debugger variables required Yo are required to select 5 variables which wal be used in the debugging Without these variables you can nat run the debugger Do you wish Ep set Lip these variables mow TOU Could set them up any time in tie sebup window L7 we When you click YES on the message window the debugger will display the popup setup window so you can select and add the desired variables that are going to be used by the debugger 4 EditorPro Setup Genaral Font Setup Color Soup Dabugger Bale ct Pe variable tape P Variable bal Vewieble Set the defaults Advanced Features 53 PEWIN32 PRO Software Reference Manual In the middle of the setup window there is a highlighted message showing the number of variables that need to be selected Select the
7. Pewin32PRO checks for running PLCs every time you download a file If they are running you will be notified prior to download 16 Basic Concepts PEWIN32 PRO Software Reference Manual Terminal The Terminal represents a direct connection to a PMAC There are two parts to the Terminal the Entry and Response windows Any characters you type at the keyboard are sent to PMAC after pressing ENTER Any characters that are sent from PMAC to the PC are displayed on the response window in a color corresponding to the current communications mode If any command is rejected by PMAC an error code is shown as well as its description and possible remedies displayed in red text assuming I6 is set to 1 the default You should always read this text as it may affect your application Terminal PMAC0 V1 937 02 28 2001 Pi 120000 160006 E9200007890027 ERRGGS3 gt aaa re The entry window keeps track of all unique commands sent to PMAC To retrieve a previously sent command press the down arrow to view to the bottom right of the window select and press Enter This is especially useful when for example you constantly have to type in a lengthy command phrase such as RHYSCOO0 20 Terminal Configure iew Clear Terminal Copy Copy Terminal To MHotepad DPR ASCII Communication View Interrupts Show Macro Names Set Butter Size High Speed Select Colors Select Font Select PMAC Set Thread Priori
8. Turbo allows several options when using this conversion type You may choose to add a table entry to it by disabling the second entry In addition either you can negate the first second or both table items to be summed Lastly you may optionally integrate summation of the results the results For non Turbo PMAC s choose the Add with Previous Entry option This will result in the sum of this entry and the previous entry in the table Setting this option to Additive in entry number 3 for instance would result in the summation of entry 2 and entry 3 at the address of location 3 This permits the servo feedback to sum two sensors If the polarity of the sensors or their counters is opposite this provides the difference of the sensors This can be useful for Doppler type sensors where the reference wave and the shifted frequency 40 PMAC Configuration PEWIN32 PRO Software Reference Manual wave are fed into different counters one counting up the other counting down summing the two counters provides position Bits Enabled Mask This field contains a scale factor used when the appropriate bit is enabled The most common use for the resulting value is for the time base feedrate override control which makes the speed of PMAC execution proportional to an external frequency usually the speed of a master device Max Change This limits the magnitude that the input value is allowed to change between scans Conversion Shifting of P
9. during a download There are three different ways to transfer files from a hard or floppy disk to PMAC e Use the Download File menu item in the File menu Download directly from an editor window Use the context sensitive menu right mouse click from within the Project Manager Here a single file or the whole project may be downloaded at once Using Macros in the Editor While using any text editor window you have the ability to define your own commands by use of user defined macros If you program in Pascal or C you may already be familiar with the use of macros and appreciate their power By using macros you can code PMAC programs to read in English making it much easier to interpret what a motion or PLC program is doing without having to look up every command in the PMAC User Manual A macro definition is nothing more than a substitution name that you invent which is used in place of any valid PMAC command like GATHER or DWELL command phrase like OPEN PROG 1 orM1 gt Y SFFC2 8 1 or variable like P1 M22 Q342 etc At the beginning of your program file or at least before you actually use your macro definitions you declare your macro definitions using the define command which can be lower or upper case Examples of using this command are define pressure Pl define turn on pump M1 1 define collect data GATHER define seconds NULL Note The File Contains Macros box in the Download Options dialog must
10. rimum 20 lunt ne 21 Adding Entries to the Watch Window eee esee esent ennt teen nne nne nnet eene trennen enne nn tne tnen trennen 22 Adding and Editing Macro Definitions eee esee esee enint anar nana naar anne inneren ten nne tnen trennen enne 22 Pun SEIT 23 Add Multiple Variables cita ta GER EHE SE edet enl ye M be ci Hv EROR Pes be tuit dns 23 Editing Watch Ehtries 5 tiet ba 24 DPR Vie WEE 4 ueneno a e br e d e aede Rust b eee t ede Eo e re URP a a uds 24 Status SCIeells susi tieu t te bn eremo rat e rei ed a abe ra eate d as 25 Connector SIIlis aso oe e OI VES Renee du PER een E due uce veut E EE ce teca debet Due Nue aE 25 Motor SaS vM 27 Coordinate Systems StAtUs sss cates eee ee le NA E EE EE TE E E EEE EEN 27 Global SATUS situe ene te e te oti E EEE E E A E E A E EE 28 Motor Setup SUMMATY RDUM 28 Motion Programs PLCS Status rete testu ree aee ose te edle pieta et uev a sme acia 29 PLCC Program Status dq dde 29 PMAC CONFIGURATION 31 Table of Contents i PEWIN32 PRO Software Reference Manual I Cist e M ERES 31 T Variables by Cate gory ecccsccscssccssssscssssceseeseesecseesecsseessceesessecseesecseesecsseesessecseesecaaeeeesasesesaecseesesaaeseceaeeaeaeeaeeaesaeeeeenaes 31 I Variables by Number wi ccesccscssscssssscssessceseeseesecseescesseeecccsseecssseeseesecseesecuceseesseeces
11. ASM PRACT om PITAL Plc Debugger Semple pme pl 0 Open Plcl Clear pl pl l If Pl gt 1000 If Mi 0 Ml 1 Advanced Features 55 PEWIN32 PRO Software Reference Manual After satisfying the conditions within the PLC the program will stop on the line on which we put a breakpoint Editor Pro PMACIO V1 16H 10 11 2000 PMACHISABUS Dg dd LRAT o PIES Pie Debugger Semple pre pl 0 Open Plcl Clear pl pl l If Pl gt 1000 If Mi D Mil 1 Else To stop the execution of the program click on the Stop button F8 Important Notes e The debugger modifies your original program and then downloads this modified enlarged version to the PMAC You need to replace this enlarged version with your original program that debugger has corrected or verified Therefore download your original program after debugger has finished with it e Do not disable the PLC program from terminal window while in the debug mode To stop the program click on the stop button Do not put DISABPLEPLC commands in the PLC program it will crash the debug mode operation PLC debugger is designed to debug one PLC program at a time 56 Advanced Features PEWIN32 PRO Software Reference Manual Resource Manager Introduction Resource manager is a tool for managing all the PMAC macro variables within a project defined in the project manager fi Project 11 Resource Kireger 4 ARG O ON A CMD POS A CMD POS _ A oernh
12. I EREE OS E Ee REER EEEa ETRE 9 SN D AA PPP T A 9 ASAS E A E A 9 Mna AICA 10 lamp 10 INN D a S 11 Workspace Mana seme nt eco t etienne eet ett lesse dia 11 Project Viana cemento naciona ai 12 lA ECEPISS Anc 12 Uploading Programs from PMATC sssssssesseseeeeseeeeeenen rennen enne nrenne nenne RR RR RR RR tnee trennen nene te innen enne tr ene tnen nee 13 Uploading PMAC Variables sseeeseeeseeeeeeee eene nne enne nre aner Ree Eai RR CREDO NOR ne nn nn teen trennen ene kaninen 13 Downloading Files to PMAC sesseeseseeeeseeeeeeeeeneeneenne nennen nenne trennen inne tnen trennt tre nne tren RR RN RR Ronan Ran near ener nne 14 Using Macros in the Editor eese eene teen then RRA nennen RR RRA RR ne enen teen trennen ene tnet nenne nennen 14 Download OA a Ub ee etas aba AE EO A Eae Aor TO EEE EE ES ESE aE 16 A 17 Changing the Appearance of the Terminal eese eee enne nenne tren trennen trennen eren 17 Selecting DPRAM ASCII Communication eese eene nnne trennen eren ren eene nn Rena nene tenente trennen 18 Enable View Interrupts EE 18 Position WIBdOW E A T 18 Foston Menis iii 19 Units and AAA A 19
13. MIN RPM Inserting a file De e When you select Yes in the message window the editor will include the file name in the first line of the program Editor Pro include D pare borland Pewins2 v3 oen h open plcl clear if SPINDLE_MIN_REM Important Notes e Key names in the Resource Manager are unique You cannot have more than two identical key names with different macro definitions e Macro names are not unique You can have more than one definition for the same macro name For example M101 can be defined as Output_1 and On_Off_Switch 62 Advanced Features PEWIN32 PRO Software Reference Manual TUNING DATA GATHERING PLOTTING AND CONFIGURATION External Tools These features are actually separate applications with their own manuals However you may launch these programs from within Pewin32PRO TOOLS menu item Feature PMAC Test Plotting Tuning PMAC Setup PMAC2 Setup Turbo UMAC PMAC Setup UMAC Configuration Setup Application PMACTEST EXE PMACPLOTPRO EXE PMACTUNINGPRO EXE PISETUP32PRO EXE PISETUP32PRO EXE TURBOSETUPPRO EXE UMACCONFIG EXE Tuning Data Gathering Plotting and Configuration 63 PEWIN32 PRO Software Reference Manual 64 Tuning Data Gathering Plotting and Configuration PEWIN32 PRO Software Reference Manual CONFIGURATION FILES Backup and Restore PMAC Configuration Files The BACKUP menu optio
14. Open Progl Clear pl pl l While M1 1 X z U Pe Pe l EndWhile Close Advanced Features 47 PEWIN32 PRO Software Reference Manual Editor Menu The following is the editor menu To open the editor menu select the editor from the main menu or right click in the editor There is another static menu on top of the EditorPro window which links to some of the functions in the editor menu In addition some of the items in the editor menu have shortcut keys Fle Edtw Configure Wew Backup Setup Togs Open source Header Fle Ctrl H Open Ale At Cursor Chee Ciri Dal Ckse Al Include d rc Ctri4F Replace Ctrl F k a Download Fie ci d Cut Chex ES Faste Chie li Copy Crlec Unda Chez Ca Racks ciH Y id Save Cia Gave A amp Print ChreP x Setup Select PMAC Dar eA thar om be e Open Source Header File Ctrl H If there are any header files included in your program clicking on this menu item will open the header file If the file that you are working on is not a header file and there are no header files included in that program then Editor Pro will create a new header file with the same name of the file but with an extension of H However before it creates the file it will ask you if you want to save and include the newly created header file in your program Error 3 Do You wish bo Inducks he header fie and save te header fie wj If you select yes EditorPro will include the header file in your main
15. PRO Software Reference Manual To move through the list use the two arrow buttons on either side of the window or use the Go To button to jump to a specific variable I Variables MACRO For an Ultralite PMAC if the MACRO station is connected and enabled then MACRO station s I variables can be viewed and configured MACRO I variables are categorized as follows zs q Woariables MACAO MAC 1 9398 07 11 2001 Pri Turbo IA BUS lan Miscelensaus 1 0 i A amp xis Pier ack CFU MACRO GATE Captura nl alee Ino RESPONSE General 4 Axis piggyback Node specific Miscellaneous I O 2 Axis piggyback CPU MACRO gate All categories can be displayed and configured through this screen M P and Q Variables This variable window behaves similarly to the I variable window described above It enables you to view and easily change the value or definition of any of PMAC s M variables It is your responsibility to format the M variables pointer properly Refer to PMAC s memory map for addresses to point to A listing of suggested M variables pointers may be downloaded to PMAC by pressing the Download Suggested M variables button Jo xl a 1 Variable Configuration PMAC 0 WLAS 02 20 2090 Go Tofio 8e Sees ell rnit T Ups painy has fea SS M4 Available 2 To update the values column press the Refresh button To refresh periodically check the Update Periodically button Once a modific
16. be checked for the program to properly process define and include statements When the PMAC Executive Program is downloading your file from the text editor if the 4 define command is encountered and if the File Contains Macros or PLCC s box is checked in Download Options dialog box the definition is stored in PC memory nothing is actually sent to PMAC When the macro name is encountered later on the file the PMAC Executive Program will send the actual PMAC command phrase variable for the particular macro so that PMAC only sees a valid PMAC command variable instead of sending pressure to PMAC P1 is sent for the above example The only exception to this is when a macro is defined as a NULL In this case nothing is sent to PMAC it is available merely to provide units to numeric values for further macro elaboration See the sample program listing below for examples on how to use the NULL definition Remember that PMAC never sees the macro names when the downloaded program is listed you will see standard PMAC commands A few rules must be followed when declaring and using these macro definitions The macro name may contain any unique sequence of characters upper lower case letters numbers symbols etc but must be separated from the define command and the macro s definition by a space as seen in the above examples The macro name like gas pressure turn on pump collect data may not contain any spaces However you may use the
17. connector If you suspect variation in the supply you may want to use an oscilloscope to catch changes If the supply looks OK you will want to inspect the card itself Turn off power and remove the card If there are several circuit boards make sure that the daughter boards are well seated on the motherboard Look at all the socketed ICs Make sure that they are firmly in their sockets with no bent or broken legs Apply reasonable pressure to each socketed IC Re install the card and turn on power If the red LED is still on turn off power and remove the card again Check the board thoroughly for signs of damage broken components damaged circuit board cracked solder joints etc Any of these types of problems will require a factory repair Constant Software Problem If using the re initialization jumper setting on E51 allows the card to power up without tripping the watchdog timer the problem that caused the tripping was in software almost always caused by a particular software function taking too much of the processor s time Now you must determine which function is causing the problem PMAC requires at least 55 microseconds in the servo update time per activated motor If you have too many active motors and a fast servo update time you may starve the lower priority tasks including watchdog update for time and shut down the clock At the default update rate of 2 25 kHz it is possible to have all 8 motors active When the card is re in
18. current row and column of the cursor The second column shows if this text file has been modified and the third column shows the full name of the active file Every active window has its own specific name which is the name of the opened file EditorPro does not allow you to open two files with the same name and path If you try to open the same file twice the Editor Pro will give you a message asking if you would want to replace the opened file with the one you are trying to open The File is already opened E x The File is alreachr opened Do you wish ho over wribi jE By Choceng yes the contents of the opened fle wil be replaced 5 If you select yes the contents of the opened file will be replaced with the one you are trying to open Syntax Highlighting In the EditorPro all the known variables keywords and commands have a separate color and separate font style All items including font colors size and the styles could be customized in the Setup window The setup window can be accessed from the Editor menu Auto Indenting Indenting is a useful tool for keeping track of the beginning and ending point of the loops or conditions in the PMAC programs For example the code block below does not have any indenting If p1 0 P1 P1 1 If p2 0 P2 P1 1 Tf p3 0 P3 P3 1 EndIf EndIf EndIf 44 Advanced Features PEWIN32 PRO Software Reference Manual However once reformatted with indentation the
19. display colors used in the current connector status window i Status Colors gc ic ae c oc Gr a e O Select the colors you wish to use for True and False state displays 26 Basic Concepts PEWIN32 PRO Software Reference Manual Motor Status This display shows the interpretation of the status bits of the specified motor in real time This is done by continually inquiring the PMAC for corresponding X and Y registers of each motor The corresponding registers are also displayed for each motor True conditions are highlighted The lt PgUp gt lt PgDn gt lt UpArrow gt and lt DownArrow gt keys allow you to select which motor to examine This status screen is equivalent to the command at the terminal screen PEWINS2PRO e Im Dispewind2NewKMorkspac EM B3 oie estro hes ba23 05 118 hit 3 MSE b27 Megadiee end limit set soit or hard ba 22 CS 1 amp bit bt21 Positve end brit eet soft ce hard ba 21 CS 1 bit As of now only full mode of display is provided In future releases a custom status screen will be available for the user to get any status bit of a motor or coordinate system in the same screen This status screen is equivalent to the command at the terminal screen Coordinate Systems Status This display shows the status of the specified coordinate system in the real time fashion This is done by continually inquiring the PMAC for corresponding X and Y registers of
20. entries of the encoder conversion table You will need to alter this table in order to use various types of feedback devices other than the default 1 T Conversion that typically is used for incremental encoders Each feedback device will have an entry in the table for which PMAC will process every servo period In order for PMAC to interpret a particular feedback device correctly the raw data must be converted to the proper format The choices within this dialog box enable the user to change the conversion process easily without getting into any meticulous details Refer to the PMAC User s Manual for specific information on how to edit the conversion table manually i e using PMAC memory read and write commands or the help menu The table entries may be scrolled through using lt PgUp gt or lt PgDn gt Alter the conversion method by selecting one of the conversion types To change the encoder source address type a new address or select the one from the pull down list To leave the conversion table editing without making any changes in PMAC select DONE or press lt ESC gt To update the modified encoder table entry press the Download Entry button PMAC Configuration 37 PEWIN32 PRO Software Reference Manual Encoder Conversion Table Configuration Select a table entry to view edit End of Table Download Ent Tae Entrado oad Enty First Entry of Table Eny y4720 Processed Data x 4721 Adde Addiess Vie
21. how to use Pewin32PRO to communicate and control your PMAC motion control card Companion applications such as Plotting Tuning and Setup have separate documentation Knowledge of the basic use of the Windows operating system is assumed Note Pewin32Pro uses the latest driver from Delta Tau PComm32 Pro which works most efficiently with firmware that supports 163 and 164 Ctrl X echo and Internal Response Tag Enable Firmware version 1 16F and beyond for non Turbo and 1 931 and beyond for Turbo PMACs will support these I Variables Features This version of the PMAC Executive software is based on the previous versions but has been enhanced in many ways In this version Pewin32Pro has e Multi threading of Pewin32PRO real time display windows e Enhanced graphing in PmacPlotPRO A thread safe communications driver makes this version also compatible with the 32 bit version of NC for Windows software and any application using PComm32PRO or PTalkPRO Accessory 9PNPRO or 9PTPRO respectively Pewin32PRO provides basic tools to configure control and diagnose PMACs Here is a partial list of Pewin32PRO s features and capabilities Workspace support Project management A terminal window A real time color editor with many options Features include error tracking during downloads color options for different commands and compatibility with standard C code Advanced features of the editor include e A real time PLC debugger See ed
22. macro variables to the drop down list box which are added the watch window Adding and Editing Macro Definitions Pewin32Pro s Watch window has a built in macro management facility You are able to load and save macro files like those produced by downloading files to PMAC as well as add edit and delete entries in those files Once these macros are set up instead of typing variables into the Add Watch dialog you can select them from the macro list and view their status in the Watch window 4 Add A Macro Variable E x Macro Variable FHAC Command Address or Vonoble Marchne Cuiput 1 ni deca Simply select the entry you wish to watch and select the Add button 22 Basic Concepts PEWIN32 PRO Software Reference Manual Editing Macros Pewin32Pro s watch table contains a full macro configuration utility This will allow you to create edit and delete macros as well as save and load macro tables to disk Edit The Macro Variables E E xx Machine Input i Hil Machine utput 1 M1 gt Edi Add Hemose Remove Al Sama Load Bone These can then be selected from the list in the Add Watch Item dialog box Selecting the Add or Edit buttons will allow you to assign or change a Macro Specify a macro name and its corresponding PMAC command or variable Pressing the Edit button will add or change this macro definition in the macro list Selecting the Remove button will remove the currently highligh
23. program automatically and will save it as well If the file that you are working on is a header file with an extension H then EditorPro will try to open a file with the same name but with a different extension For example if the header file name is Sample Program h then it will try to open the file Sample Program pmc or with any other extension If the file does not exist then the following window will appear 48 Advanced Features PEWIN32 PRO Software Reference Manual Select an option P Jal xj The destination file does not exist To create the fiie select one of the following file formats FischoGroupl E Pac C MAC CPC I TAT t CFG cancel This window allows you to create a file for the header file with the same name and different extension When you click on the Apply button Editor Pro will create the new file for you and will ask the following question SS til Da You wash bo induct he header fie and save me source file E ENCHNNN If you click on Yes the new file will be saved and the header file will be included in the newly created file Open File At Cursor If you have included any header file in the main program you can put the cursor on that line and it will open the file for you Generally the line is of the form Include FileName Close Ctrl Del This closes the active window Active tab Close All This closes all the windows Include Include prompts you with an open dialo
24. same code looks like If p1 0 P1 P1 1 Tf p2 0 P2 P1 1 If p3 0 P3 P3 1 EndIf EndIf EndIf As you can see the code with the indenting is easier to understand The auto indenting property can be turned on or off in the setup window Auto Correction Auto correction corrects every line of code that you type in the EditorPro and enforces correct PMAC coding syntax It modifies only the IF WHILE and ELSEIF conditions Auto correction will not change the size and style of your fonts Except If and While and ElseIf For example the following code if pl 1 and p3 0 or m1 0 p1 100 end if will be modified as If pl 1 And p3 0 Or ml 0 p1 100 EndIf Popup Debugger Window One of the more useful tools of the EditorPro is the popup debugger window Vale f Macro Mame ut Delenton Iv 4PFCZS Close Apply Changes When you double click on any variable inside your programs this window will pop up and give you the value of that variable If you are double clicking on an M variable it will give you the value and the definition of that M variable In addition if the variable is a macro then it will show you the macro definition too For example look at the following code Advanced Features 45 PEWIN32 PRO Software Reference Manual t Editor Pro pRaACOD LED 10 11 S000 PMAC ISA BUS Dental rA c HH e E Sample Code pme
25. set feedrate of 1 revs sec start gathering data repeat as long as repetition count repetition limit move X to position 2 sit there for 300 msec move X to position O0 sit there for 400 msec increment repetition count end of loop stop gathering data end program reserve memory for gather Download Options There are several options associated with the downloading of files These are accessed through the SETUP GENERAL SETUP AND OPTIONS menu item General Setup and Options 3 x Default Device General Download view Downlond Options fw Perse Fila for Macros Hindude define atc J COMPILE PLOC s E Create a Log File FileName LOG for record of results Ie Create a Meg fila Filemma MAP ine crass resarencg Do nal downloed ta see preprocessed results anb E Displey Wenning if PLC s ene maning betore downloading o Parse File for Macros COMPILE PLCCs Select this if the file you are downloading contains PLCCs or uses the include or define statements Create Log File If you wish to generate a log file of the download process select this box This is good for debugging a large program Create Map File A map file tells you what symbols are matched to what definitions Do not download Have Pewin32PRO process the files downloaded to a compiled format output file has a 56K file extension but don t download to PMAC Display Warning if PLCs are running before downloading If this box is checked
26. underscore character _ to separate words for ease of reading The PMAC Executive Program will differentiate between upper and lower case for the macro names so take care when mixing upper and lower case letters If you try to use a macro definition that has not been previously defined properly because you misspelled it or the upper lower case letter sequence don t 14 Basic Concepts PEWIN32 PRO Software Reference Manual match i e pressure and Pressure the program will download that line as is and may and most probably will result in an error generated by PMAC Also remember not to use the same name for two different macro definitions You may also use macro definitions contained in other files on disk instead of or in addition to existing definitions in the file you are downloading The command to do this is the include command finclude macro pmc include names include program def You may want to create a file that contains nothing but macro definitions and then have several motion programs include these definitions so that they can use the macros This can help keep the size of program files small when many macro definitions are being used The rule to follow when using the include command is that the file name any legal DOS file name must be enclosed in quotes and must be separated from the include command with a space The same rules stated above for naming the macros also apply here including the amount of P
27. AC s Watchdog Eimer eee etre ettet eite reete E Ee eb Rae EO ep e Vena epa pbi Pere guo ee Ete C ERREUR E 71 How the Watchdog Timer Works tette ettet eerte caceusotvevacuastecesaccbbccecasesenecevaacacstcdacsscceabccusccebusetanes 71 What to Look for When the Timer Trips 4 ertet teret nitent terere ehe de eren ce b Ero Fa tbe tinte eder faena eiie 72 APPENDIX B BUG REPORT AND FEATURE REQUEST PROCEDURE cccssssssssssssssscssscesssesescsesnssesesees 75 Known BUBS Hm HE 75 WISHLISE iio 75 INDEX que rH 77 Table of Contents iti PEWIN32 PRO Software Reference Manual Table of Contents PEWIN32 PRO Software Reference Manual OVERVIEW Introduction Welcome to Pewin32PRO Delta Tau s PMAC Executive software for Microsoft Windows This software enables you to configure control and trouble shoot your PMAC Programmable Multi Axis Controller At its core Pewin32Pro provides a terminal a text editor for editing Motion PLC programs and a workspace environment Additionally there is a suite of tools for configuring and working with PMAC and its accessories Pewin32PRO is a development tool for creating and managing specific PMAC implementations This document details all the features of Pewin32Pro and explains
28. C memory used To best illustrate the potential of using macros here is an example program using cleverly defined macro names define msec NULL define revs sec NUL define set acc time of TA define set S curve time of TS define set feedrate of F define set_move_time_of TM define feedrate_time_units 1190 define setup_gather_pointer M88 gt X1 18 M89 gt X1 19 define free up memory space DEL GAT DEL TRACE define reserve memory for gather DEFINE GAT define start gathering data M8 8 1M8 9 1 define stop_gathering_data M8 9 0 define motorl_is_axis 1 gt define select_coordinate_system amp define clear_coordinate_system UNDEFINE define move_X_to_position X define move_Y_to_position Y define move Z to position Z define sit there for DWELL define repeat as long as WHILE define end of loop ENDWHILE define increment repetition count P1 P1 1 define repetition count Pl define repetition limit 3 define begin program OPEN PROG define end program CLOSE Now let s use our new macro definitions free up memory space setup gather pointer select coordinate systeml clear coordinate system motorl is axis 2000X begin program 2 clear feedrate time units 1000 msec Basic Concepts 15 PEWIN32 PRO Software Reference Manual set acc time of 200 msec set S curve time of 50 msec repetition count 0
29. DLE FILT VEL ADF SPIHDLE FILTB VELADA SPINDLE_JOG_SPEED EN EPINDLE MINH RPM 60 Advanced Features PEWIN32 PRO Software Reference Manual Terminal PAC V1 16H 10 11 2000 pk You do not need to use CTRL ALT A every time you want to use this feature you could also type the key in the command area However every time you create a new Resource Manager you should reload the new table by using CTRL ALT A Using Resource Manager in the EditorPRO Resource Manager allows you to use your definitions within the EditorPRO This means that you do not need to type the key names in the editor window instead you could use the definition that are created in the project and included in the Resource Manager To use this feature go to the editor window and press CTRL ALT A simultaneously on any line that you wish to include the definition A list box including all the key names within the project manager will pop up at the cursor location Select the desired key name or type it and then press enter When you press enter the key name will be placed in the editor window A message will pop up asking you to include the file name for the file in which the definition has been included 2 Editor Pro a Vi 6H 10 11 2000 B vi Du EA XG c ok a Unified pme open plcl clear if SPANDLE FILTE va SPINDLE MIN Pi MOTOR Advanced Features 61 PEWIN32 PRO Software Reference Manual open plcl clear if SPINDLE
30. EN FILE Opens the editor if not already open and loads the selected file UPLOAD MOTION PROGRAM Uploads the specified PMC program into an editor window NEW WORKSPACE First saves the current workspace provided the General Setup and Options has been set to do so See Setup General Setup and Options closes all open windows and asks you for the name of your new workspace Pewin32PRO will load the last workspace opened at the time of exiting the application OPEN WORKSPACE Closes the current workspace if any is open and opens the selected workspace file SAVE WORKSPACE Saves the workspace whenever this menu item is selected SAVE WORKSPACE AS Renames the active workspace but first saves the active workspace provided the General Setup and Options has been set to do so See Setup General Setup and Options CLOSE WORKSPACE Closes all open windows and saves the workspace provided the General Setup and Options has been set to do so See Setup General Setup and Options SHOW PROJECT MANAGER Hides or shows the Project Manager UPLOAD PROGRAM S Uploads the listed motion and PLC programs into a file and then open that file in the editor window UPLOAD VARIABLES Allows uploading a range of I P Q or M variables into an editor window Menu Overview PEWIN32 PRO Software Reference Manual DOWNLOAD FILE Allows downloading any file with valid PMAC commands e EXIT Closes the program Config
31. F L LCL 0 307 P Variables are included in the Resource Manager o E Resource Manager creates five tabs The first tab shows all the macro variables the second tab shows the P variables the third tab shows the M variables the fourth tab shows the I variables and the fifth tab shows the Q variables On the bottom of the page it shows the number of variables being used in the selected project Advanced Features 59 PEWIN32 PRO Software Reference Manual Active Project Active Project is the project that the last Resource Manager was created for The last resource manager will show the active project when the Pewin32PRO is re launched The active project is always visible in the bottom of the Project Manager pane Using Resource Manager in the Terminal Window Resource Manager allows you to use your definitions within the terminal window This means you do not need to type a PMAC variable in the terminal window instead you could use the definitions that are created in the project and included in the Resource Manager To use this feature go to the terminal window and press CTRL ALT A simultaneously An attached list window will be opened which includes all the key names within the project manager Select the desired key name or type it and then press enter The key name will be placed in the terminal window command list Press enter one more time and the command will be sent to the PMAC Terminal Pace Vi LGH 10 11 SFIN
32. Manager will show a warning message indicating which variable type has been used more than once within a project Thereafter Resource Manager will highlight the variables If there are multiple variables used for different keys the following message will pop up ME 0 There are Inconsistencies in the following set of variabies P Variables M Variables Click on the appropriate tab on the resource manager and look for highlighted variables To modify them go to the appropriate fle and change the variable number The above message will give the type of variables in which there are inconsistencies To check the variables click on the appropriate tab in the Resource Manager Click on OK if the above message appeared the Resource Manager window will be activated 58 Advanced Features PEWIN32 PRO Software Reference Manual 4 Projecti Resource Manager JAR ORT _DECE M3 ABORT DECEL ABORT DECE Mig ABORT _DECEL ABOAT_DECEL can M230 TAS Arr 34 441 Port A oerm h M si Ts Arcad 1 Fort B nem h ACCA ZA M2 TASA 4cc 34 02 Porta cerm h 4cc34 2B M2u3 Tw5 14 Arrc 34 42 Port B oem h Mi TS Soc 34 43 Fort oenm h Miss TAS Arr 34 9 Fort B oem h M26 amp pcc 34 4 Port amp aem h M297 Acc 34 4 Part B cem h Mam Arc 34 45 Pots oem h M299 4 34 45 Fort B aem h Since there have been some inconsistencies in the P and M variables we will click on P variables to see the highlighted variables _CUNT_FLOO amp CLNT OF
33. SOFTWARE REFERENCE MANUAL Pewin32 PRO DELTA TAU y Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging compone
34. TI tasks PLC 0 and motion program that it started in a previous RTI cycle If a given PLC 0 takes 95 of the time available for it in one RTI cycle all of the background tasks put together have to run in the remaining 5 which may not let them keep the watchdog timer happy Shortening the PLC 0 slightly so that it only takes 85 of available RTI time would allow background tasks to run 3 times faster because they would now have 15 of available time However lengthening the PLC 0 slightly so that it takes 105 of the time available in a single RTI cycle would cause it to execute only every other RTI cycle and leave the majority of the second cycle available for background time For a background PLC program PLC 1 to 31 to cause a watchdog failure it must be extremely long probably thousands of lines long unless it has virtually no time to execute in which case the real problem is a higher priority task In general however if you have a lot of PLC code it is better to split it up into several separate PLC programs because other background tasks such as communications response and safety checks will operate more often Intermittent Problems If simply resetting the card without re initializing it causes the card to operate without immediately tripping the watchdog timer you have an intermittent problem in either hardware or software As we all know from trying to show a car s problem to a mechanic intermittent problems can be much
35. This button opens a dialog box where you can edit the axis definition selected in the current axis definition window If you want to undefine a motor definition use the Remove button Remove This button removes the motor selected in the current axis definition window from the coordinate system Once you remove a motor from the current axis definition it will appear in the Available Motors window and is available again for axis assignment Available Motors This window lists all the PMAC motors that are available to be assigned to a coordinate system A motor is available if it is not already defined in any coordinate system 36 PMAC Configuration PEWIN32 PRO Software Reference Manual Add This button adds the motor selected in the Available Motors window to the current axis definition window When you press this button a dialog box opens where you can enter the axis definition for the motor before it is added to the coordinate system View all Coordinate Systems This option opens a window containing a list of all PMAC coordinate systems and their axis definitions You cannot edit the coordinate system definitions in this window but you can print this information Done This closes the Configure Coordinate Systems window For Turbo PMAC systems a message box may pop up telling you the optimal setting for 168 Maximum Coordinate System Encoder Conversion Table This menu choice allows you to alter update save or retrieve the
36. arallel Data If you want to have fractional parts of the position or you have a MACRO station base system then you have to specify that in the conversion shifting of parallel data Encoder Conversion Table MACRO For an Ultralite PMAC with MACRO station enabled this menu allows you to alter update save or retrieve the entries of the encoder conversion table for MACRO station Conversion types are similar to the main Encoder conversion table PMAC Configuration 41 PEWIN32 PRO Software Reference Manual 42 PMAC Configuration PEWIN32 PRO Software Reference Manual ADVANCED FEATURES EditorPro Introduction EditorPro is Pewin32Pro s text editor used for writing PMAC programs To open a file for editing use the File menu s New or Open This editor has many features which include PLC Debugger Syntax highlighting Auto indenting Auto correcting Popup debugger window Error Tracing during PMAC download editor Pro PMAC 0 V1 16H 10 11 2000 PMAC ISA Bile ee Ae Bum Sample Cade pme ffinclude Definiti Delgat close fdefine Test Ml ml Y 5FFCZ H 1 1 gt 2 000K 1I100 1 Open Progl Clear pl p1 1 While Mi 1 7T SAA 19 3 Advanced Features 43 PEWIN32 PRO Software Reference Manual Fie Editor Configure View Backup In addition to the above features there is a status bar on the bottom of the EditorPro window The first column of the status bar shows the
37. ation is attempted however this update feature automatically turns itself off To restart re check the update button PMAC Configuration 35 PEWIN32 PRO Software Reference Manual Coordinate Systems This menu choice enables you to alter the currently defined coordinate systems or define new ones For motors to move within motion programs they must first be assigned to an axis within one and only one of the eight sixteen for Turbo possible coordinate systems Any motor may be assigned to any valid axis X Y Z A B C U V or W or coordinate system provided the motor has not been previously assigned to another axis or defined in another coordinate system To move from one coordinate system to the next use the lt PgUp gt and lt PgDn gt keys Assignments are downloaded to PMAC s internal memory as you ADD and REMOVE motors from the current axis definition window PMAC2 Configure Coordinate System x Coordinate System to Modify Monitor n Current Axis Definitions tox Edit Remove gt gt View All Coordinate Systems Coordinate System to Modify Monitor This field displays the number of the coordinate system within PMAC that is currently being viewed Use the and buttons or lt PgUp gt and lt PgDn gt to step through the coordinate systems Current Axis Definitions This window lists all motors and their corresponding axis definitions for the current coordinate system Edit
38. contains the conversion type for the current entry Select this entry and press ENTER or click on the down arrow to the right of this field to view a list of common conversion types You can select a conversion type from this list using a mouse or the keyboard arrow keys If you need to use a conversion type not shown in this list you will have to enter the data manually from the terminal Refer to the section entitled Encoder Conversion Table in the PMAC User s Manual for help with this process 38 PMAC Configuration PEWIN32 PRO Software Reference Manual View All Entries of Table This option opens a window containing a list of all the defined encoder conversion table entries in PMAC s memory This window can then be saved to disk or printed Download Entry This option sends your encoder conversion table configuration to PMAC s memory Every time you make changes to the table you need to download it via this button At this point the table will be actually be in use by PMAC An altered encoder conversion table configuration must be stored in PMAC s permanent EPROM memory using this button if it is to survive a power down or cycle reset Done This closes the Configure Encoder Conversion Table window This will not download the present encoder conversion table entry to PMAC Use the Download Entry to PMAC button if you want this entry to be sent to PMAC Inc with Inv T Ext Short for incremental with 1 T extension For increm
39. conversion is a scaled digital differentiation Every servo cycle it calculates the difference between the value of the source register for this cycle and the value for the last cycle and multiplies the difference by the scale factor The scale factor can be entered under the Bit Enable Time Base input box The most common use for the resulting value is for the time base feedrate override control which makes the speed of PMAC execution proportional to an external frequency usually the speed of a master device Triggered Time Base This is similar to the time base conversion described above but with the added feature of synchronizing time base following upon a hardware trigger Refer to the PMAC User s Manual for further reference Inc with Parallel Ext Short for Incremental Encoder with Parallel Extension Those who have set up to use the parallel sub count interpolation for incremental feedback would use this option In this case the source address must be one of the odd numbered encoders A typical source address would be C010 which provides parallel extension i e interpolation of encoder 5 counter using encoder 6 s flags Inc without Parallel Ext Short for Incremental Encoder without Parallel Extension Those who have set up to use the parallel incremental feedback without interpolation would use this option Summing Table Entries to Another For Turbo PMAC s select the Summing of Conversion Table Entries for the conversion type
40. ct contains any program with duplicate definitions the following form will popup allowing you to select the definitions that you wish to be used in the Resource Manager Duplicate Key names AER A CPAHEL I ADR BLEHD DISABLE m omer comma mm Location pzebeanssbanand Pesin32 v3yaemh Cancel _ Apply The Duplicate key names window has two columns The left column lists all the duplicate key names within the selected project The right column shows the macro definitions for the selected key name from the left column Location shows the file location of the definition In the Duplicate key names window you can select the desired macro name for the selected key To select the macro name click on a key name The macro column will show the macro names defined for the selected key name Just select the desired macro name to associate the key name with the selected macro name You could go through all the key names After the selection click on Apply to include the filtered definitions in the Resource Manager If you wish not to include any of the definitions click on Cancel In addition the duplicate window is a warning that tells you that within the same project there has been multiple key names defined for the same macro name After clicking on the apply or cancel button the resource manager window will appear on the PEWIN32PRO window If there are PMAC variables that have been used more than once for different key names the Resource
41. ded from the master clock by an amount determined by the settings of jumpers E98 E29 E33 and E3 E6 At the default settings the servo frequency is 2 25 kHz so the default RTI frequency is 750 Hz If the RTI frequency were to drop below about 50 Hz it could not provide the 25 Hz square wave and the timer would trip With the default servo update rate an I8 value greater than about 30 will cause the timer to trip Every RTI PMAC reads the 12 bit watchdog timer register Y register 1F and decrements the value by 8 this toggles bit 3 If the resulting value is not less than zero it copies the result into a register that forces the bit 3 value onto the watchdog timer Repeated this process provides a square wave input to the watchdog timer If no other task intervened the RTI would stop toggling the watchdog input after 512 cycles 212 8 because the timer register would have counted down to zero The task that keeps this from happening is the housekeeping function in PMAC s background tasks The background tasks execute in the time available between higher priority tasks such as servo cycle updates and RTI tasks The three main background tasks are responding to host commands executing PLC programs 1 31 and housekeeping In the background PMAC executes one scan through an individual PLC program then checks to see if there are any complete commands responding if there are then executes the housekeeping functions This cycle is repeat
42. desired variables and click Add They are added to the list After adding the variables click on the Apply button EditorPro Setup General Font Setup Color Setup Debugger Selec fe verisbletpe Pwanasble COM visita The folowing vanables wil be used in the debugger PlO19 PlO20 PlOZl P 1022 P 1023 When you click on Yes the debugger creates the debug mode program and downloads it to the PMAC and finally it enables the program Editor Pro PRIACHO WL L6H 10 11 2000 PRIA DEA BUS DEED GA XGA om B nom AL Fic Debugger Semple prac pis Open Flcl Clear pl p1 1 If Pl gt 1000 If iMi 0 M1 1 D 54 Advanced Features PEWIN32 PRO Software Reference Manual To Pause through the program click on the Pause button F6 By clicking on this button the line that the PMAC is running in the program will be highlighted To go to the next line that PMAC will execute click on the Step button F7 PMAC will execute a line with every click of the Step button Editor Pro PMACH V1 1 on 10 11 2000 prac En BUS Dg RSA BA co uml Plc Debugger Semple pme pl 0 Open Elcl Clear pl p1 1 M1 0 1 1 0 You could also put a breakpoint on any line of the program The program will stop on any line containing a breakpoint To put the breakpoint on a line click on that line and click on the Breakpoint button F9 Editor Pro PMACH Vi 16H 10 11 2000 PMAC 154 BUS _ O Ce
43. e file can be edited outside the application for desired changes though this is not likely to be necessary The default workspace file is Pewin32PRO default ini and is saved in the application folder PEWINS2 D _PEWINS2 Delmesaa INII Edita ena nm x J Fie Editor Configure Vew Backup Setup Took Window Hep x Files OSG DAS pill a aw RN Eramaa pic amp Examples old pr emp esc f pl wer pme OPEN PLC 5 CLEAR O pemwer pmc 1p ier pic 5 ipzmenr pero Pp132e P131 1 P132 mM132 7mH13 If 2132 gt F130 COEMAND 11 COEMAND i LE EEND Motor 1 IZT Limit 4 PMAC 0 D Penna Exa ue Prajeci El Frajeci i wring mecro dicionanr table O VPpwin32AE xempleCiexamp as TAL Tote aminga O Total Errors 7 END zl Resule Pewin32PRO Workspace Project Manager Upper Left Message Window Bottom Editor Center Right Because you can name the workspace file anything and anywhere you want this feature allows for instant adaptation of Pewin32Pro to specific application types i e Mill Lathe Telescope Simply open the workspace from the File menu The current workspace name in use is shown on the main title bar of Pewin32Pro If none is open you can create a new one or open an existing one from the File menu You may also rename a workspace by using the save as feature also in the File menu Closing the work
44. each coordinate system Corresponding registers are also displayed for each coordinate system True conditions are highlighted Pressing the lt PgUp gt or lt PgDn gt or the lt UpArrow gt lt DownArrow gt keys changes the coordinate system being examined A Ceoarnifinabe Systesi Status EMAC 41 997 02 28 2001 PMAGTUREONISABUS k Es 1 BARK Lon esed niece boi Lockehesdin progress beds LHE wep aie duos increment moda pai Alun tme error Mio rrarrel Wii bes mor infect biz nterrel dorea in stes kat ramal As of now only full mode of display is available In future releases a custom status screen will be available for the user to get any status bit of a motor or coordinate system in the same screen Unlike Non Turbo PMACs coordinate system status 48 bit wide Turbo PMACs need to be polled for three registers 72 bit wide in order to get the status of each coordinate system This status screen is equivalent to the command at the terminal screen Basic Concepts 27 PEWIN32 PRO Software Reference Manual Global Status This display shows the Global status bits of the PMAC in real time This is done by continually inquiring the PMAC for X 3 and Y 3 for Non Turbo PMAC and X 6 and Y 6 for Turbo PMACs True conditions are highlighted Global Status PMAC 0 VL937 02 28 2001 PMAG TURE n EJ 9000006 Descripion 4000006 Description 0123 Realimeintemuptactve h23 Turbo Utralit bi Realt
45. edly endlessly Most of the housekeeping functions are safety checks such as following error limits and over travel limits When it is done with these checks PMAC sets the 12 bit watchdog timer register back to its maximum value As long as this occurs regularly at least every 512 RTI cycles the watchdog timer will not trip The purpose of this two part control of the timer is to make sure all aspects of the PMAC software are being executed both in foreground interrupt driven and background If anything keeps either type of routine from executing the watchdog will fail quickly Appendix B 71 PEWIN32 PRO Software Reference Manual What to Look for When the Timer Trips The things that can trip the watchdog timer can be divided into four basic classes constant or quickly repeatable hardware problems intermittent hardware problems constant or quickly repeatable software problems or intermittent software problems The following procedure should help you determine which type of problem it is If you think the watchdog timer has tripped this is usually suspected when the outputs all turn off and communications to the host is lost check the LEDs on PMAC If both the red and green LEDs are on the watchdog timer has tripped If both LEDs are off you have lost all 5V power to the card If the green LED is on and the red LED is off the watchdog timer has not tripped there is some other problem If the watchdog timer ha
46. eeseesecaaeseeaaesecaaeseseaseeeaeeaeeaesaaeeeenaes 34 I Variables MACRO AAA 35 M P and OTET E1 o CS 35 Coordinate Nu T 36 Coordinate System to Modify Monitor eee eese nennen enne nhenne teet etre nr enne teen tre tenente enen trennen 36 Current Axis Definiti nS M G 36 TOQUE EE E A E E E E A E E E T E E E 36 POUR 36 Available Motors Gnoom B 36 Pup E 37 View all Coordinate Systems eese RR RRE RARA RR RR Ranas 37 DONE M 37 Encoder Conyersion Table eter ter a stereo rea HR SERE ee re Eee SERE Foe Pu RE Abe ER ERE EESE 37 Entry NUM EY e M 38 Entry Source and Processed Data Addresses sese esee eee en tenere en rennen enne trennen nnne 38 CONVEESTON TY Pe TEE 38 View All Entries of Table RR as Wish en ELA ee BHM ee pee anaes 39 Download ENUY T M 39 pue 39 Ine with Inv TEX E 39 EOPECUJm LE 39 Parallel with and without Filter a eee tete Tee eee daban ae ee pu RE ida See HER e Te Dee RS Haee eee aede e rues 39 Pana Changeon angass tices R das usbe sea sensaa E E aoa ssagevae dOsdontunagestesd
47. egucsguzasssogueeiaeg tock 40 Windil 40 Triggered Lime BOSC EE 40 Tne With Parallel FENG S 40 Tne Without Parallel EXE T e eds sed 40 Summing Table Entries to Another estre HR e ERES EP RENI S RES NE De ERA SEHE ERN EEEE 40 Bits Enabled Mask E R 4 Max CRAN M 4I Conversion Shifting of Parallel Data artt itt rei eee Noa PREX SAFER FUEL EN EEUU Se EE NUR Ha ue teta 4I Encoder Conversion Table MACRO iiit rbert etat o ice 41 ADVANCED FEATURES sv sS 43 ul jg MEER 43 Introductio HERE 43 synodo Tam em 44 ALO 44 Anto C OFT ECE ON Nc 45 Popup Debigser WIndOW 4E Ria 45 VVOP TVQCING SN e a yantvsnedwuntiondesstaes 47 Eduor Maa 48 Setup WNAOW p 50 bip DH Sia ao 52 UR iio tec esee buste fictis e detur tuis tec E ot us LEON 52 How to Use the D b gger e rette Ete aaa 52 Important UT m 56 RESOURCE Man a SOF as e rmm 57 UR Cr E 57 How to Use Resource MANAGE MME 57 ACTIVE cm 60 Using Resource Manager in the Term
48. ental encoders the source address must be one of the DSP GATE encoder counters The source address list box will contain the standard entries for your PMAC Type Most applications will use the 1 T extension conversion method that uses timers associated with each counter to estimate fractional resolution Those who have set up to use the parallel sub count interpolation must use a source address of one of the odd numbered encoders A typical setup address in this case would be C010 hex which provides parallel extension of the encoder 5 counter using encoder 6 s flags A D Register This conversion choice picks up data from the top 16 bits of a 24 bit word It is intended for use with the A D converter registers in the DSP gates which are fed by Accessory 23 or Accessory 28 A or B The source address list box will contain the standard entries for your PMAC Type A typical address for an A D register would be C006 which provides the conversion of the ADC2 register With A D conversion there is no rollover software extension performed Parallel with and without Filter The four choices Parallel Y without Filter Parallel Y with Filter Parallel X without Filter and Parallel X with Filter differ only in the use of X or Y memory space and whether or not the filter is to be used If you are providing position information to PMAC as a parallel data word as from an absolute encoder or processed from a laser interferometer you will use this c
49. enthesis When visible the Watch window update rate like other active windows is by default set to 1 second However it can be changed to as fast as 1 msec or as allowed by your computer and PMAC Note Currently a total of 250 variables can be listed in a single watch window 20 Basic Concepts PEWIN32 PRO Software Reference Manual Watch Menu When the Watch window is highlighted the main menu changes to Ele warch Window Configure View Open Wabch Cur Save Wabi Cris Add item Ins Delete Item Da Edt Item Crise Char Al tems Cte Show Macro Definitiore Ctri D Edit Macro Tae Ctrl M Select Font telect Dolor Select PMAC Set Thread Priority OPEN WATCH Use this to open a watch table previously saved The saved files have a WTB extension SAVE WATCH Use this to save a watch table for future use ADD ITEM Use this to add new watch entries to the watch table Add Multiple Variables has been added in this menu for simultaneous addition of variables See the Add Multiple Variables section for details DELETE ITEM This deletes the currently highlighted item EDIT ITEM Allows changing the format in which return values are displayed The available options are decimal hex and binary See the Editing Watch Entries section below CLEAR ALL ITEMS Clears deletes all items in the watch table SHOW MACRO DEFINITIONS Allows displaying hiding macro definitions in the Watch window OPEN MACRO TABLE Use th
50. eselecting the display check box associated with a motor will cause the position window to not display information about that motor This allows systems to display hide any given motor RESTORE DEFAULT VALUES Reverts all settings to Pewin32PRO s default settings including display mode Cts Unit Dec places Rollover and units for Position and Velocity SELECT FONT SELECT COLOR Allows changing the appearance of the Position window NEXT SET OF MOTORS Allows display of any one set of the motors for Turbo PMACSs By pressing the PgUp PgDn or the UpArrow lt DownArrow gt keys it is possible to change to the next set of motors in that order POSITION OF 32 MOTORS Allows display of position only for all 32 motors for Turbo PMACs Watch Window The watch window allows you to watch the response to any valid PMAC command address or variable you wish to observe in real time You may also select defined macro names from the tbl files created when PLCs and PMCs are downloaded to PMAC or define macros of your own Walch Window PMAC 0 VI SS7 02 28 2001 rhxil DUOOD TOT O E T 10 3 TOO DO TO 1 101 rt T13822 ires DAECZE Machine Input 1 MII1 0 Machine Output 1 409 0 Each entry is divided into two sections The first is the actual PMAC command used and the second is the value returned from PMAC If there is a MACRO definition then the main entry is the MACRO name and the PMAC command is enclosed in par
51. ete following aror ere a wihi the contest ola coordinate gyser A motars musi meet the condiman ol In Position Note Only SIA and PCI modes of communication support Interrupts Terminal has other nice features as Clear Terminal Copy Copy Terminal to Notepad buffer size and show macro names in the terminal Position Window The position window displays motor position information You can select the window to display position velocity or following error separately or in combination for all eight motors simultaneously Position can be displayed for all motors ai Position PMAC O 41 997 02 20 2000 BM 18 Basic Concepts PEWIN32 PRO Software Reference Manual Position Menu When the Position window is highlighted the menu changes to PEWINS2PRO Di penwina Me E Be Boston Configure Wew Backup Set e Positior V Velocity Following Error Position and vielocicy Units Restore Defauit Values Select Color Select Font Mest Sat af Motors Turbo PMAC Postion of 32 Motors Turbo PAL Select PMAC Set Trread Delay Period POSITION Allows displaying hiding position Position display can be combined with velocity and or following error displays VELOCITY Allows displaying hiding velocity Velocity display can be combined with position and or following error displays FOLLOWING ERROR Allows displaying hiding following error Following error display can be combined with position and or vel
52. f you are new to PMAC You may run into a condition in which a motor simply will not run despite you re being sure that all the parameters have been set properly This menu option will look at your configuration and cite possible warnings or definite causes of problems preventing you from running your motor s To use this self diagnostic feature you must specify a particular motor Why is my Program Not Running This menu choice can also save you many hours of searching and frustration in tracking down problems associated with running the program You may run into the condition in which a program simply will not run despite you re being sure that all the parameters have been set properly This menu option looks at your configuration and cites possible or definite causes of problems preventing you from running your motion program s To use this self diagnostic feature you must specify a particular coordinate system Help 69 PEWIN32 PRO Software Reference Manual 70 Help PEWIN32 PRO Software Reference Manual APPENDIX A UNDERSTANDING PMAC S WATCHDOG TIMER PMAC s Watchdog Timer The PMAC motion control board has an on board watchdog timer sometimes called a dead man timer or a get lost timer circuit whose job it is to detect a number of conditions that could result in dangerous malfunction and shut down the card to prevent a malfunction The philosophy behind the use of this circuit is that it i
53. ftware Reference Manual hex filtered parallel data the size entry would be in Y 721 and the maximum change entry would be in Y 722 hex The converted data would be placed in X 722 hex If this were the position feedback for motor 1 1x03 would be set to 722 hex 1826 decimal Note The parallel data word from a laser interferometer is not true absolute position information because the interferometer is fundamentally an incremental sensor For this arrangement there is no need to wire more than 19 bits of data to the ACC 14 in fact 16 bits is sufficient Position reference is established by a homing procedure and full range is achieved by using rollover to extend the range of the count in software Filter Max Change The parallel data word filter simply sets a maximum amount the data word is permitted to change in a single servo cycle This value should be entered in the filter box in hex If PMAC sees a change larger than this in the source data word the converted data only changes by the maximum amount There is no permanent loss of position information if the filter kicks in This filtering permits protection against spurious changes on high order data lines while not delaying legitimate changes at all This maximum amount is the third setup entry for the encoder in the Y memory portion of the conversion table It should be set slightly greater than the maximum actual velocity expected on the sensor Time Base A time base
54. g box from which you can select the filename that you wish to be included in your program Find Ctrl F This allows you to search for any word in the program St Fadet OS Conama Match whole ward anb Direction Cancel E fe y 7 Match pese Wp Down Replace Ctrl R This allows you to find and replace any words Download File Ctrl D This downloads the contents of any active window Active Tab Cut Ctrl X This removes any selected word By cutting you are removing the selected text and copying it on the clipboard Paste Ctrl V This inserts any word that was cut or copied to the clipboard The paste location would be where the cursor is 4h Copy Ctrl C This copies any selected word to the clipboard Undo Ctrl Z Undoes the last actions Redo Ctrl Y Redoes all the actions Advanced Features 49 PEWIN32 PRO Software Reference Manual i Save Ctrl S Saves the contents of the active window Active Tab If the file does not exist then the Save As function will be executed Save As Allows you to save any file under a different name S Print Ctrl P Prints the contents of the active window It can also print any selected text Setup Opens the Setup Window Select PMAC Allows you to select a different PMAC device for the active window Every window Tab of the EditorPro can have a different PMAC device Setup Window In the setup window you can change the general font and font colo
55. ime intesraptresentey bt Turbo VME p121 Servo ecive bit CPU with Option d present on 20 Servo enor be 20 Binary rotary buffer open As of now only full mode of display is available In future releases a custom status screen will be available for the user to get any status bit of a motor coordinate system or the global status bits of the PMAC in the same screen The global status screen is equivalent to the command at the terminal screen Motor Setup Summary This feature displays the configuration of the specified motor This option reads key PMAC memory locations and then displays the information in a meaningful way The main parameter settings for the motor are displayed This screen can be helpful in determining problems when trying to servo a motor To select a particular motor use the lt PAGEUP gt or PAGEDOWN key lt ESC gt closes this screen Nol commuteted by PAC Qutput directed to PACS DACIE YE A ef 497522 7 80012 Feedback iram Encoder Table Entry 1 usina ET Eien icn of Incrementa Encoder cormenaon om Encoder 1 and x quadrature COW des coding with digitel delay decoding with digital delay and posiban follkowang OFF PMAC Flag Set 1 Amplifier Enable line is enebled DL efeuk Limit sich inputs are enpoled Dietaut MACAO Mode use has been disabled Default Amp Faulles enabled perau Action c fault Kill all mater Cheste Amp Fault Pnlsri is loros low means fault Dita Following empor brit
56. inal Window eese sees ettet eterne trennen enne 60 Using Resource Manager in the EditorPRO eese eene enne etre the netnen rte trennen rennen ennt neenee 61 Important m 62 ii Table of Contents PEWIN32 PRO Software Reference Manual TUNING DATA GATHERING PLOTTING AND CONFIGURATION eeeeeee essen en etta en stats sta sen senses tuae 63 External TOONS eH RR 63 CONFIGURATION FILES 65 Backup and Restore PMAC Configuration Files ooonoonncnocnncnoonnonononononnconnnnnn non rennen enne nre trennen ennt nenne 65 Upload Configurati n RT A 65 Restore Configuratio RENE 65 Verify PMAC Configuration ace ep A tese E E E E EE 65 PEWIN32PRO GENERAL SETUP AND OPTIONS cscsssssssssssscesssssescsssscsscsnsssesssssescsssnesssessenesssssessessessesssesseses 67 Nin C 67 PEWIN32PRO HELP coso co nonocrocococuccnans 69 Pewin32Pro Manual 2 eter dee PE HIER IUE eH re IE Ree a v edes iia 69 Driver Installation Notes iHe ete rtr ri 69 WhyamINot MoviStar tert aei teret E EE Erebi Uri eti or eere ee baee etate 69 Why is my Program Not Running mesita e ERREUR ER eR editado iret 69 APPENDIX A UNDERSTANDING PMAC S WATCHDOG TIMER sees esee en sentes tatu neta sns tasto senses enses 71 PM
57. ions which can be severe enough to trip the watchdog timer If there are a huge number of lines of intensive calculations e g 100 before any move or dwell is encountered there can be such a long time before background calculations are resumed more than 512 RTI cycles it is possible to trip the watchdog timer If this problem occurs the calculations should be split apart with short DWELL commands to give other tasks time to execute 74 Appendix A PEWIN32 PRO Software Reference Manual APPENDIX B BUG REPORT AND FEATURE REQUEST PROCEDURE Known Bugs Under Windows 98 ME when windows are maximized and if any one of them is closed the remaining windows lose their borders As of this version a temporary remedy to this is to either cascade the windows from the windows menu or close and reopen the affected window A permanent solution is being investigated Wish List 1 Add watch for control characters such as P B etc in the Watch window 2 Adda custom Status screen to monitor any desired register bit and popup message mechanism for certain flags Appendix B 75 PEWIN32 PRO Software Reference Manual 76 Appendix B PEWIN32 PRO Software Reference Manual INDEX define 15 1 T Conversion 38 A D Register 40 axis definitions 37 Conversion Summing 42 Display Every Download 18 Download Options 18 Filter 41 Hardware Manuals 51 I variables 32 Inc w 1 T Ext 40 I
58. is to open a MACRO definition table EDIT MACRO TABLE Use this to edit a MACRO definition table SELECT COLOR SELECT FONT Allow changing the general appearance of the Watch window including Background Color Text color and Font style Basic Concepts 21 PEWIN32 PRO Software Reference Manual Adding Entries to the Watch Window When the Watch window is highlighted pressing the NSERT key or selecting ADD ITEM from the Watch menu brings up the Add a Variable dialog interface Add A Variable x Current Macro Table Dk FEWIIPMMacrass d 1TBL Ed Meco Table PRAT Command Venable or Macro Include Hon Macro variables Add Muliplgvariables Add Done Simply type in the PMAC command you wish to watch the status of and press the Add button The entered command will then be displayed in the watch window Add as many items as you want then select the Done button to return to the Watch window You can also select any defined macros from the macro drop down list From this window you could edit the macro table by clicking on the Editing Macros button The Add Multiple Variables button lets you add multiple variables to the watch window You could add multiple variables in this window by separating every variable with a semicolon For example to add four variables to the watch window at the same time you could do p1 i130 q10 m1 Include Non Macro Variables check box allows you to include all the non
59. itialized only motor 1 is left activated 1100 1 I200 I800 0 so the card can run successfully at any servo update rate 72 Appendix A PEWIN32 PRO Software Reference Manual If you suspect that this may be the problem check what your servo update rate is First calculate it from the master clock frequency and the settings of jumpers E98 E29 E33 and E3 E6 Second confirm the frequency setting by probing with an oscilloscope the SERVO clock signal on the serial port connector If it is true that the servo clock frequency is too fast for the number of activated motors you want you will need to slow down the servo clock by changing jumper settings before re activating all of your motors If the servo update frequency does not appear to be the problem a PLC program probably is Re initialization solves this problem by setting I5 to 0 not permitting any PLC programs to run PLC 0 which runs as an RTI task is the most likely culprit because it can starve the background tasks for time preventing the housekeeping routine from resetting the timer register If you suspect PLC 0 you can delete it now OPEN PLC 0 CLEAR CLOSE turn off power change E51 back to its default setting and turn power back on If the watchdog does not trip you have confirmed that the PLC 0 was the problem In general PLC 0 should be kept very short and usually the shorter the better PMAC will execute an enabled PLC 0 every RTI unless it has not finished the R
60. itor section for detailed description e Managing the code syntax and applying appropriate indenting and margins Easy handling of PMAC s thousands of I P Q and M variables including macro support Watch window for real time system information and debugging Motor Coordinate System and Global status windows that display PMAC s status bits in real time Position Window for displaying the position velocity and following error of all motors on the system Diagnostic routines for debugging motors and motion programs Different programs including motion programs PLCs PLCCs Rotary buffers Inverse and forward kinematics status and upload screens Overview PEWIN32 PRO Software Reference Manual Resource manager responsible for keeping track of all MACRO definitions for an active project Real time status display of all PMAC s connectors The ability to talk to multiple PMACs on a single computer And many more Pewin32PRO has many tools to help both the novice and the advanced PMAC user get the most out of their PMACs Hardware and Software Requirements The PMAC Executive for Windows software will run on any computer capable of running Windows 98 ME or 2000 TM 266 MHz Pentium MMX and up recommended Of course the faster the computer the better In addition you will need the following e Microsoft Windows 98 ME 2000 or Windows XP loaded on your computer At least 50 MB of free disk space and 64 MB of RAM A f
61. managing the position and arrangement of any windows currently displayed It is dynamically updated to allow easy selection of a specific window Further it shows all of PMAC Executive windows and on selecting a window bring it to the front Watch window PRAC OVIST ONDINO PMC TURBO ISA NJS Temns PM ACDY ISI 02 20 2001 PAC TURBO 154 DS Help Menu The HELP menu options allow you to retrieve on line information about PMAC the Executive program and the various help functions You also have access to the two diagnostic routines provided by Pewin32PRO e CONTENTS Displays this manual s content in the help file format WHY AM I NOT MOVING A diagnostic routine to help determine why a motor is not responding WHY Is MY PROGRAM NOT RUNNING A diagnostic routine to help determine why a program is not running e ABOUT displays information about your version of Pewin32PRO including the version number the copyright legal and licensing notices 10 Menu Overview PEWIN32 PRO Software Reference Manual BASIC CONCEPTS Workspace Management Pewin32PRO can and does by default save the layout of the user forms position watch window etc and the Project Manager configuration to a text based INP file This file keeps track of all the open forms windows including their sizes device association update rate state at the close of previous session and other parameters specific to the form Of course the workspac
62. more difficult to track down The key in finding an intermittent problem is identifying the pattern of failure One of the questions to ask yourself is What has changed since the system worked Try changing things back to the way they were before you were getting the failure Many of the possible causes of intermittent watchdog failure are fundamentally the same as the constant problem causes listed above but only occurring on occasion For example a power supply may provide inadequate voltage only when other components draw a heavy load An important electrical contact may fail intermittently A PMAC program may take too much time only when it is in a particular section or logical branch If a failure occurs repeatedly in the same section of operation of the system the cause is probably a software time problem unless this section cuts the supply voltage by drawing increased load Find out what is special about the software at this point For instance maybe PLC 0 had been disabled and the watchdog tripped when PLC 0 was enabled Alternately maybe PLC 0 had been passing over most of its calculations because of the conditional branch it was taking but the card failed when the condition changed Although it is very rare for a motion program to cause a watchdog failure this does happen on occasion It is important to understand how the motion program executes When a Run command is given and every time the actual execution of programmed move
63. motion programs and PLCs This lists all motion programs and PLCs in the PMAC You can select any or all programs by check box and hit upload to save them in a specified file as well as open in the editor Uplnad Programs PALCO VSR mr 11S E xl Mocion Horioan ED AOZF 6a Hot ion 100 A073 4615 Li Hor ion 1001 FRE TE 136 O PLC 3E506 iz PLC 1 258312 15 PLC z Acrivwe 36321 Bea PLC 3 Artiwe 3B695 130 PLE 4 Active 36707 561 7 PLC 5 Active E3565 153 PLC 6 Active 125A13 344 Select All Motion Programe Select All PLC Programs Select None Select All Note You can back up PLCCs and other pertinent information from the Backup Save Config menu item Uploading PMAC Variables The upload variables menu item allows you to upload a range of variables Upload Variables PMAC O VISSEZ 002 28 a E Pranables C Mvarables Definitions To E cC Eensblas C Overalls ums m Just specify the type of variables you wish and the range The maximum To value depends on the PMAC type you have Basic Concepts 13 PEWIN32 PRO Software Reference Manual Downloading Files to PMAC Downloading allows you to transfer the contents of a file on disk to PMAC s memory This is handy for transferring new or modified PLC or motion programs and or variable values and definitions to PMAC Suspend any PLCs CTRL D from the terminal or motion programs CTRL A from the terminal
64. munication with DPRAM available and configured mode only 24 Basic Concepts PEWIN32 PRO Software Reference Manual Status Screens The VIEW menu lets you view how programs motors coordinate systems and global parameters and connectors are organized and functioning in PMAC Many of these allow you to monitor parameters in real time Connector Status This option allows you to monitor the status of PMAC s connectors Currently Pewin32PRO supports the J2 JPAN J3IVTHW J5 JOPT J7 JMACH2 and J8 JMACH1 connectors for PMACI style board and J2 JTHW J3 JIO J9 thru J12 J MACH connectors for PMAC2 style boards For PMAC Ultralite boards only J2 JTHW and J3 JIO are supported PEWIN automatically selects which connectors may be monitored depending on the PMAC series 4 7 Select Connector PMA 1110500 x Salect A PRACT Connector 1 Select A PMC Cormaector fg JAN Control Pora Murs m UR M DM M MM N Select Connector PHACA Wea x C JIJO Input Output 19 JMACHI Axis 1 2 T3 JTHV Thumbs Part P5 ET Input Curaut P MID JIACH 2 Axs 3 4 OK C J7 MACH Boon 8 B CO JMACH3 Aois 5 6 C JB JMAACHI Asis 1 4 X Conca C I2 JMACHA Axis 7 8 X Cancel J PMACI series PMAC2 series When a selection from this dialog box is made and the OK button is pressed the status window showing the connector and its respective pins will be displayed The colors of the pins change with
65. nc w Parallel Ext 41 Inc w o Parallel Ext 42 LICENSE ii Log File 18 Macros 15 Macros or Compiled PLCs 18 Map File 18 Modify Scaling and Units 21 M variables 36 Parallel with and w o Filter 40 PMAC memory 31 Restore configuration 47 rollover 22 Save configuration 47 SHOW POS VEL FE 22 SHOW VELOCITY 22 Technical Support 3 Time Base 41 Triggered Time Base 41 Verify PMAC Configuration 48 Watch 23 Watch Entries 26 watchdog timer 75 Index 77
66. ns let you save restore and verify all or part of PMAC s configuration Perna Newark Space Ts Upload Configuration This menu item enables you to upload any combination of motion programs PLC programs I P Q and M variable values M variable definitions custom servo algorithms other important memory locations leadscrew compensation tables and coordinate system definitions and save them to disk Items selected will be uploaded and written to an ASCII file when you press the OK button This file serves as a backup for safety reasons and may be used to duplicate configurations on other similar PMAC cards TBH aj m Bakio configuracion PMCs 411 057 00783001 B liam Disoups to Backup i gt Venntins 7 impurisnt amne leg eter E Epid E Motion Progra E Ovarshes E PLE Progen E fd Wensble Drion E Goode Syrena Lieor Venhan Baraca FLOC f Conpragston Tablas D Fermin pios 1 Henny Pierden D Exered pins LE Memory Turba T MACEDCanqueskan Beckyp Pos Y i Single Beckuge Fla Fe Inchide Figi tens Note PLCC s are firmware specific Therefore a configuration file that uses PLCCs is only valid for that type and version of PMAC Restore Configuration This option is used to restore the contents of a backup file created with the Save Configuration option to PMAC The file is simply downloaded to PMAC Therefore you may also use the FILE DOWNLOAD FILE menu item Verify PMAC Configuration This feature allow
67. nts or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation PEWIN32 PRO Software Reference Manual Table of Contents IIA AAA ONO 1 Introduction iiie eode odi e ep te e D toic e etos etr indo ee ertet tdeo retentus 1 cun CERE 1 Hardware and Software Requirement eese eene enne nennen nete trennen testen trennen entes taeast 2 GETTING STARTED E 3 Installing do depu 3 IS AA emrenerien seieren raro eae a aK E nar S EAER EENES EE Erea SE Eea EEEE a EEE eea e SRE EEEo EITE 3 Technical SUpport E 3 IAS JN AAA 5 How Memis WOEE T tasa tt dietis 5 Elle Ment ss 3525 sessccsstupedesazesess Seuecteuteiacbuin A aana aE EAEE a n AAEE E E E Sa aeaa oe obsseabeiadsgecdarseuhunsnetegaeends 6 Configure C TETTE F RA A E a E A E 8 Resource Manager Menli trn ceasssaseisecovecsaeneusnsaesouecdnesneseiieostessdussabydaeveaiodsocbnbeibesndeceaensnsnsaesedsedvespasebenpuesaaanedls 8 AAA et ense errori n rerea AEE reae DO E EEEE E TE DEEE RPE Er ER EOE Ep ERE
68. ocity displays Units and Scales Position and velocity units Error Bookmark not defined Allows setting scaling and unit parameters for each motor It also has the option to display hide any motor Position Scale Motor 1 Enabled s Display P Cts Per Unit fi Dec Places 1 Rollover Position Units Cts Velocity Units Cre S Done Apply Hate The following error remains unchanged during these scalings To change the scale factor for displayed information enter the appropriate number of encoder counts per user units i e if you want to have 10 000 CTS 1 inch enter 10000 Next specify a name for your user units Basic Concepts 19 PEWIN32 PRO Software Reference Manual ce i e inch deg rev Select your velocity units i e per ms per second or per minute Enter in a value for optional rolloverError Bookmark not defined i e 360 if your user units are degrees A value of 0 for rollover indicates no rollover Lastly specify how many decimal places to the right of the decimal point you wish to have displayed for inches you may want to use a value of 3 so inches are displayed as 2 002 inches These parameters affect only the way information is displayed in the position window They have no connection to PMAC itself Note Only an active Ix00 1 motor s parameters can be modified Also note that the following error remains unchanged during these scalings D
69. onversion method The parallel data word may come from either the X or Y memory space Usually this data is brought in on an ACC 14 board which is in the Y memory space The source address list box will contain the standard entries for your PMAC Type Parallel feedback conversion requires a double for non filtered or triple for filtered entry in the conversion table The second entry filtered or non filtered specifies the size of the feedback word used The entry is a 24 bit word in which each bit actually used for the parallel feedback is a one the unused bits above are zeros parallel feedback should always be connected starting at bit O of the data word For a 12 bit absolute encoder this entry would be 000FFF hex for 14 bits it would be 003FFF hex The maximum entry permitted is for 19 bits 07FFFF hex The count can be software extended by PMAC permitting rollover If more than 19 bits of true absolute position are needed the power on position can be read to full range using Ix09 and Ix10 from then on position is kept through rollover using the conversion table The converted data from the parallel word is put in the X data word matching the last 2nd or 3rd setup word for the entry This is the address that should be used by the motor I variable that picks up position Ix03 Ix04 or Ix05 For instance if the first setup entry address Y 720 in the conversion table were 30FFDO PMAC Configuration 39 PEWIN32 PRO So
70. ou to specify the name of the project i e Mill Lathe and the PMAC device to associate it with The device number is used when downloading the file If you don t want to associate any PMAC device with this project press the Select Add Device button and then press Cancel Downloading individual files or complete projects can be done by first selecting the item then using the pop up menu s download item Message Window The message window is used from time to time by Pewin32PRO to display the results of a variety of things There are two main tabs in this window Results and Change Monitor The Results tab is used for Downloading files Backing up Restoring and Verifying files I Variable changes made by Pewin32Pro and other applications Miscellaneous items which may be implemented in the future Hint When downloading a file that reports errors double click on the Error within the Results tab to quickly load and edit the offending line The Change Monitor reports behind the scene PMAC variable assignments done by Pewin32PRO or other applications that have adopted the practice of reporting such changes For example any I variable that is assigned by Pewin32PRO is reported 12 Basic Concepts PEWIN32 PRO Software Reference Manual Uploading Programs from PMAC Pewin32PRO gives you the ability to retrieve motion programs and PLCs into an editor window From the FILE menu you can select Upload Program s
71. ows in PMAC Executive to communicate with a specific device number This device number is immediately tagged to all of the closed windows as well through the workspace file e SHOW MESSAGE WINDOW Displays the Message window SHOW PROJECT MANAGER Displays the Project Manager window Tools Menu This menu item allows the launching of application tools that complement the Pewin32Pro PEWIN32PRO Default INI Tools Window Help PMAC Test Pro PMAC Plot Pro PMAC Tuning Pro P1Setup Pro P2Setup Pro Turbo UMAC Setup Pro UmacConfig Pro Customize Tools Menu Adobe Acrobat Reader Menu Overview PEWIN32 PRO Software Reference Manual PMAC TEST PRO Launches PmacTest program PmacTest is now installed with Pewin32PRO Executive PMAC PLOT PRO Launches PmacPlot program if it is installed PMAC TUNING PRO Launches Pmac Tuning program if it is installed P1 SETUP AND TUNING PRO Launches the PMACI setup program if it is installed P2 SETUP AND TUNING PRO Launches the PMAC2 setup program if it is installed TURBO UMAC SETUP PRO Launches the Turbo Setup program if it is installed UMAC CONFIG PRO Launches the UMAC Configuration Setup program if it is installed CUSTOMIZE TOOLS MENU Allows adding third party applications in the tool menu These applications then can be launched from the tools menu These applications are listed after the customize tools menu Window Menu This menu is for
72. ption will present the I variables separated by major categories Which categories are shown is dependent on the PMAC type 4 PMAC I Variable Configuration Category Gener El General Motor Coordinate System Global Gate Array Hardware Channel n Global Gate Array 2 PMAC Configuration 31 PEWIN32 PRO Software Reference Manual For a PMAC PC the categories and their respective windows will look like fing LE LT Dea 6 General I Variables DE IIMEPITSIEEIL TE CNN CANCION NC Farga LI Viet mie Cli Hino Eni Motor Specific I Variables p CIT TI ANT UNE I RN 32 PMAC Configuration PEWIN32 PRO Software Reference Manual PAE I anable grd a Global Gate Array I Variables PMAC Configuration 33 PEWIN32 PRO Software Reference Manual team us Teri e Dare ma indi Teer Decade Cartel CN iiz inenderi Coto br pua diete O OOOO UNICI SOS m w S m TIU NAM Hardware Channel N I Variables I Variables by Number When the by Number option is selected the entire list of I variables is presented in order from 0 to 1023 In the I Variable menu I Variable dialog box is active you can choose how many I Variables are shown at any given time The number can be from 1 to the total available I Variables PMC Variable Coniiquration 34 PMAC Configuration PEWIN32
73. r settings of the EditorPro In addition the setting of variables for Debugger is done in the setup window 4 EditorPro Setup Editor Options Auto Cored Mode Teb Size E Auto ladera Moda Fe Show Margin zu define For pizill Saithe defaults In the General settings you can Toggle the Auto Correction Mode Toggle the Auto Indent Mode Enable or disable the margin of the Editor window Change the tab size In the Font Setup you can Change the font name and font size of the whole Editor window Change the font styles for every defined variable that is included in the list box To change the font style select an item from the list of variables and select one of the Bold Italic or None font styles 50 Advanced Features PEWIN32 PRO Software Reference Manual 4 EditorPro Setup General Color Setup Debugger valablas Bold E leic None D Vsneables Mveriebles Salgrt the Editor Font Every time you change a setting of a variable the change will be reflected in the following window so you can see the changes before applying the modified settings define For Test M1 1 100 p k In the color setup you can change the colors of the variables provided in the variable list To change the color of any item select the item from the list and click on the Change the Color button The Select a Color dialog box will appear and you can select your desired color dto
74. rPro Setup l anabias O Venables Md Vv primhlaz Advanced Features 51 PEWIN32 PRO Software Reference Manual In addition you can select the Only Black and White check box and it will convert the colors of all the variables to black As explained in above all the changes will be reflected immediately in the sample window provided in setup window so you can see the changes before applying them A Set the defaults button is provided in the Setup window which will reset the settings for the EditorPro window to the defaults Please notice that Set the defaults button will set only the default values of the selected tab in the setup window To set default values for all the settings click on and reset each tab individually Debugger Introduction Debugger is used to debug the PLC programs at run time by putting the break points on the desired lines or by stepping through the program Editor Pro PMACt V1 16H 10 11 2000 PMAC ISA BUS nl x Dur ASM IUE om FEAL Ple Debugger Sample pre pl 0 Open Plcl Clear pl pl DsoftwareiboriandiPewin32 v3Ple Debugger Sampepr z How to Use the Debugger The debugger uses the following buttons e Run PLC program F5 Runs the PLC program in debug mode e Ml Pause program F6 Pauses the running PLC program e Step through program F7 Steps through every line of code within the running PLC e E Stop PLC program F8 Stops the running PLC program e
75. ree serial communications port or USB port or Ethernet port or PCI BUS slot or ISA BUS slot to talk to PMAC for on line processing Any monitor with VGA resolution 800x600 with at least 256 colors suggested but 640x480 works fine 2 Overview PEWIN32 PRO Software Reference Manual GETTING STARTED Installing Pewin32PRO Before installing Pewin32PRO read the license agreement included in this manual behind title page and make a backup copy of the installation disks Then install Pewin32PRO according to the instructions in the PComm32Pro Installation Procedures User Manual Help Features Context sensitive help is available Simply press F1 to launch the help system Why Am I Not Moving and Why Is My Program Not Running are the two diagnostic functions in the Help menu These are only available if you are communicating with a PMAC Probably these will save you many hours of searching and frustration in tracking down problems associated with running a motor or part program especially if you are new to PMAC You may run into a condition in which a motor simply will not run even though you are sure that all the parameters have been set properly These functions will look at your configuration and cite possible warnings or definite faults causes of problems preventing you from running your motor s program s Why am I not moving requires that you specify a motor to analyze while Why is my program not
76. rry TT oe Puma pmecsteri t EMAC iO FLOC Programs Stored in FMAC s Memory I5 2 BLOG O cannot be enabled PLC s 1 31 can be enabled PLEC Address Length Active 1 550082 46 words YES Total of 1 PLCCB Occupying 46 Words In PMAC s Memory Basic Concepts 29 PEWIN32 PRO Software Reference Manual 30 Basic Concepts PEWIN32 PRO Software Reference Manual PMAC CONFIGURATION l Variables At the heart of the PMAC s configuration are its I variables These determine what makes a PMAC specific to a given application Because of the enormity of I variables and their importance we have developed two interfaces for manipulating them This manual shows the screens that would come up if you have a PMAC PMAC2 and other PMAC s should be detected and may have different screens WIN32PRO D Software Engineering Pewin32PRO Steve is C Configure View Resource Manager Backup Setup Tools Window I Variables P Variables I Variables By Category I Variables By Number Q Variables I Variables MACRO M Variables Coordinate System Encoder Conversion Table Encoder Converstion Table MACRO Note Changing I variables in these windows or in the terminal does not change the values stored in PMAC s non volatile memory EPROM or flash ram You must use PMAC s SAVE command to permanently save the changed values I Variables by Category Selecting the by Category list o
77. running requires that you specify a coordinate system to analyze The About box will give you detailed information about the version of the software you are running Technical Support Delta Tau is happy to respond to any questions or concerns you have regarding the Windows Executive By far you ll get the quickest response if you send your queries to the following e mail address support G deltatau com Of course please do check out our Web site at www deltatau com You can call Delta Tau Monday through Friday from 9 00 AM to 4 30 PM PST or FAX us your request or problem and we will deal with it the next business day Delta Tau Data Systems Inc West Coast East Coast A Ou Voice 818 998 2095 Voice 804 795 4288 Chatsworth CA 91311 i FAX 818 998 7807 FAX 804 795 4996 Getting Started 3 PEWIN32 PRO Software Reference Manual Getting Started PEWIN32 PRO Software Reference Manual MENU OVERVIEW How Menus Work Pewin32PRO uses a dynamic menu system This means that the menu at the top of the screen changes content depending on what window has the current focus is highlighted The standard menu displayed when the terminal has focus looks like this 4 PEWIN32PRO D SOFTWARE ENGINEERING PEWIN32PRO PEWIN32PRO File Configure View Resource Manager Backup Setup Tools Window Help However the menu will change when for example the Watch Window is highlighted PEWIN32PRO
78. ry time you open a new dialog box e General Here you may tell Pewin32Pro whether to save settings upon exiting the application Settings include window placement Download There are five different download options available These selections have been centralized here View The Project Manager and Message window can be toggled off and on within this tab FORCE ALL WINDOWS TO DEVICE NUMBER Forces all windows to communicate to a specific device number It further updates the workspace to use the new device number for any new window SHOW MESSAGE WINDOW Displays the Message window SHOW PROJECT MANAGER Displays the Project Manger window General Setup and Options 67 PEWIN32 PRO Software Reference Manual 68 General Setup and Options PEWIN32 PRO Software Reference Manual PEWIN32PRO HELP Pewin32Pro Manual From the help menu choose contents to view this document in help format Alternatively pressing F1 will do the same in addition to locating context sensitive information Driver Installation Notes This Adobe Acrobat format document provides details of all driver installations and is a great tool for troubleshooting any communication or other configuration issues It gives a detailed procedure for Firmware downloads Why am Not Moving This menu choice can save you many hours of searching and frustration in tracking down problems associated with running a motor especially i
79. s of the encoder conversion table of a MACO station Menu Overview PEWIN32 PRO Software Reference Manual View Menu Terminal Vlateh Vl inis Patin Jeg Ribbon DPR Viewer Connector Status Motor Status Coordinate System Status Global Status Motor Setup Summary Programm BLE Statue cand Upload FLCC Status The VIEW menu contains many interactive status displays as diagnostic tools Many of the displays are updated in real time TERMINAL Opens a terminal window WATCH WINDOW Opens a watch display window You can have multiple watch windows open POSITION opens a position display window You can have multiple position windows open CONNECTOR STATUS Allows monitoring the status of PMAC s connectors MOTOR STATUS Displays the interpretation of status bits associated with a specified motor in real time COORDINATE SYSTEM STATUS Displays the status of the specified coordinate system in real time GLOBAL STATUS Displays the interpretation of the global status bits in real time MOTOR SETUP SUMMARY Displays the configuration of a specified motor PROGRAM PLC STATUS AND UPLOAD Displays the motion program and PLC program numbers starting address and size of all programs in PMAC s memory e PLCC PROGRAM STATUS Compiled PLC displays the PLCC number starting address and size of all compiled PLCs in PMAC s memory Resource Manager Menu This menu allows you to scan and list all the macro defini
80. s progresses into a new move a flag is set saying it is time to do more calculations in the motion program for that coordinate system At the next RTI if this flag is set Appendix B 73 PEWIN32 PRO Software Reference Manual PMAC will start working through the motion program Program calculations will continue which means no background tasks will be executed until one of the following conditions occurs 1 The next move or dwell is found and calculated 2 End of or halt to the program e g STOP is encountered 3 Two jumps backward in the program from ENDWHILE or GOTO are done 4 AWAIT statement is encountered usually in a WHILE loop If calculations stop on condition 1 or 2 the calculation flag is cleared and will not be set again until actual motion progresses into the next move 1 or anew Run command is given 2 If calculations stop on conditions 3 or 4 the flag remains set so calculations will resume at the next RTI In these cases where you have an empty no motion loop the motion program acts much like a PLC 0 during this period These empty loops which are usually used to wait for a certain condition provide very fast response to the change in condition but their fast repetition occupies a lot of CPU time and can starve the background tasks for time Particularly if several coordinate systems are executing empty loops at the same time you can run into serious background time limitat
81. s safer to have the system not operate at all than to have it operate improperly Because the watchdog timer wants to fail and many components of the board both hardware and software must be working properly to keep it from failing it may not be immediately obvious what the cause of a watchdog timer failure is This application note is a guide to examining the possible causes of watchdog failure How the Watchdog Timer Works The hardware circuit for the watchdog timer requires that two basic conditions be met to keep it from tripping First it must see a DC voltage greater than approximately 4 75V If the supply voltage is below this value the circuit s relay will trip This prevents corruption of registers due to insufficient voltage The second necessary condition is that the timer must see a square wave input provided by the PMAC software of a frequency greater than approximately 25 Hz If the card for whatever reason due either to hardware or software problems cannot set and clear this bit repeatedly at this frequency or higher the circuit s relay will trip In the PMAC software the task that actually writes to the watchdog timer is called the real time interrupt RTI This task is supposed to execute at a fixed number of servo cycles The number of servo cycles is determined by variable I8 the RTI executes every I8 1 servo cycles At the default value of 2 this is every third servo cycle The servo cycle frequency is divi
82. s tripped reset the card either by taking the INIT line on the control panel connector low then high or by cycling power If the red LED stays lit after the reset you have a constant problem if it goes off you have an intermittent problem Constant Problem If the red LED stays lit on reset you must determine whether the constant problem is in hardware or software The best way to determine this is to turn the power off change jumper E51 from its default state take OFF for PMAC STD put ON for all others then turn power back on This re initializes PMAC disabling all software settings and programs that could have tripped the timer If the red LED stays on you have a constant hardware problem if it goes off you have or at least had a constant software problem Note Re initializing the card works by installing the factory default I variable values instead of the values stored in EPROM You do not lose the values you have stored in EPROM unless you SAVE the default values you simply are not using them If you fix the hardware or jumper setting problem that was causing the watchdog trip you can recover your old values simply by powering up the card with E51 in its default state Constant Hardware Problem There are several possible causes of a constant hardware problem The first is low supply voltage With a voltmeter probe between 5V and GND on one of the connectors at the card for example between pins 1 and 3 on the machine
83. s you to compare the contents of any previously uploaded configuration file with the contents in PMAC s memory It provides a good way to validate the backup file created by the UPLOAD CONFIGRATION option described above Note You may validate only files that have no include statements which means files backed up using the Single Backup File option Configuration Files 65 PEWIN32 PRO Software Reference Manual 66 Configuration Files PEWIN32 PRO Software Reference Manual PEWIN32PRO GENERAL SETUP AND OPTIONS Setup Menu Sep Took Window Help General Setup and Options Force Al Windows bo Device Number Show Message Window F3 Show Project Manager F2 GENERAL SETUP AND OPTIONS Sets default values for various Pewin32PRO displays zeneral Setup and Options 1 E Xx Detsult Device General Download view When multipla PRU decos axist and forms windows are opened FEWIN3Z can prampltyau each time lor which desce to use Aiamaal you can here PEM use B deleuk m Frampilor device number each time amp new window ig opened Choose a default device number 0 7 Device 0 Selact Lo om Default Device If you have more than one PMAC in your system the selection of a default device will be important because the Pewin32Pro application can anticipate what device to use when opening up a new dialog box You may also have the Pewin32Pro ask you for the device number eve
84. space also in the file menu closes all open forms and limits what can be done within the Pewin32PRO application Upon exiting PEWIN32 the current workspace will be saved to the active workspace file by default You may disable this feature by using the General Setup and Options dialog under the Setup menu The two windows that are fundamental to the workspace are the Project Manager and the Message Window These forms can be shown or hidden using the pop up menu right mouse click Also quick closing of these windows can be done by a single click to the X button that is located to the far left Lastly the F2 and F3 Basic Concepts 11 PEWIN32 PRO Software Reference Manual open and close the Project Manager and Message Window respectively Usage of these windows is described next Project Management All applications involving PMAC require some customization Typically these customizations are held and organized in text files The Project Manager facilitates the quick reference organization and downloading of such files Add Project EN x Please enter the project name Project4 Iv Project will be specific to a PMAC Device Please choose a device number to associate with this project 0 7 Device 0 Select Add Device Cancel To use the Project Manager first add a project by clicking the Add Project button or use the pop up menu right mouse click The Add Project dialog box allows y
85. ted macro definition Remove All will clear all the entries To display PLC or PMC macros in the Watch window load the tbl file created when the PLC or PMC was downloaded by selecting the Load button Select the appropriate file and press lt ENTER gt Once a macro table has been loaded it name is displayed in the Add Watch dialog Open the list box by clicking on the small arrow button to the right of the command line to display a list of loaded macro definitions The Load and Save buttons prompt the user for a file and perform the specified operation Add Multiple Variables A new interface Add Multiple Variables has been added to the Watch window This adding more than one variable in the watch window It also allows you to add more than one macro variable to the watch window i5 Ache Molle Variables 1 xj Suelgct A Variable From fron C P Venable C M Variable To j C 0 Variable Vnarinbla UNS MODUS f Macra Variable add Variables Basic Concepts 23 PEWIN32 PRO Software Reference Manual Editing Watch Entries When the Watch window is highlighted double clicking on any item or selecting Edit Item from the Watch menu brings up the Edit Item dialog interface In this window the watch entries can be formatted to display their data in a number of different ways Edit The ask Of This Variable Ratumed Type Displey Filter Binary Display Range r nl C Sting None 4 Oi Bite To Display E
86. the state of the pin TRUE or FALSE Pins that are inaccessible through software are marked with an asterisk 28 2001 PMAG Ta Ini xi 7 Central Panel Connector PMACIO WS 2 shy Power 1 Moor Cordial Eis I al Mot Cord select bil E PMAC Common ality es Tur o ls do Ju Filipe lapat flow le orig e Peaqung Dngsiet floor bo Trine E Sart impui Us be Fiat Hep Input flee Ea Step 8 Hor Input diow x np Home Search Command input Ti Feed Hold Input Low ls bubdj Matar Connie Sulect Eis 2 15 Mor Codie Select Eit 3 Reset PAC 15 In Position IND C 5 17 Fatal Follow Emor IND C 5 19 Spare 21 Warn Follow Error 1 IND 0 5 23 shy Power 26 Hand Wheel Enc A Channel Butter Request IND C S Feed Pot Wiper Hand heel Enc El Channel WatchDog Timer PHAC Common Oeeeooooooo co o o o o o o o o 2 o oo When a connector status window is highlighted the main menu changes to Fe Connector Configure Condense Beep On Change Color Sebup A condensed JPAN status window Basic Concepts 25 PEWIN32 PRO Software Reference Manual CONDENSE EXPAND Places the status window into condensed mode In this mode only the pins and their respective numbers are displayed O Qo o o o oO O o d a O O 0000600000000 BEEP ON CHANGE When selected the system will beep each time a parameter changes COLOR SETUP This brings up the Status Colors dialog box which allows changing the
87. tions in any given project Please see Resource Manager section below for detailed description PEWIN32PRO D SOFTWARE ENGINEERING PEWIN32PRO PEWIN32PRO File Configure View Resource Manager Backup Setup Tools Window Help Files a Project OEM H Project1 Resource Manager All Macro Variables P Variables M Var Macro Name Definition A ARG Q Q101 A CMD POS L 002041 e VIEW Displays the resource manager and lists all macro variables with key name macro name and description 8 Menu Overview PEWIN32 PRO Software Reference Manual Backup Menu The options in this menu allow you to save or restore complete or partial portions of PMAC configuration to disk Pewin32 NewlWorkspaor T Backup Setup Took Wr Restore Configuration Verify Configuration e UPLOAD CONFIGURATION Allows saving all or part of PMAC s configuration to a disk file RESTORE CONFIGURATION Allows restoring all or part of PMAC s configuration from disk VERIFY CONFIGURATION Verifies a specified configuration file Setup Menu This pull down menu allows you to customize Pewin32PRO DE LAS TTS Setup Tools Window Help General Setup and Options Force All Windows to Device Number Y Show Message Window ES Show Project Manager F2 GENERAL SETUP AND OPTIONS Allows the customizing of Pewin32PRO s features FORCE ALL WINDOWS TO DEVICE NUMBER allows the user to switch all wind
88. ty If you have SEND or CMD statements which cause PMAC to send unsolicited strings to the host PC you may want to close all windows except the terminal window to ensure these strings are captured and displayed by the Terminal window Other open windows which periodically poll PMAC can inadvertently destroy unsolicited responses Changing the Appearance of the Terminal Select the Terminal window so that the Terminal menu item appears Choose the Terminal Select Colors or Terminal Select Font menu items for changing the appearance of the terminal Basic Concepts 17 PEWIN32 PRO Software Reference Manual Selecting DPRAM ASCII Communication By selecting DPRAM ASCII communication you can enable or disable the DPRAM communication provided that PMAC has DPRAM and it is configured Note Only ISA PCI and USB modes of communication support DPRAM ASCII communication Enable View Interrupts This option allows you to mask any or all interrupts for terminal display Please refer to hardware reference manual of your PMAC for jumper settings Further consult PComm32PRO Installation notes for configuring all ISA type PMACs Interrupts on all PCI type PMACS are supported and enabled E elect whed interrupts to dis play E In Position E Hosi Raquest FP Buter Request TES T emning Following Error F 5 T Feal Following Error pF i F Display Interrupts ln Terminal Beep On Inberupt Geet Hota In Poston Yering end F
89. ure Menu The CONFIGURE menu lets you view and change current variable definitions and PMAC feature parameters In some of the options that allow you to change a value or definition the change is sent to PMAC immediately after the value is changed This allows you to verify automatically that the change in the input field has also occurred in PMAC It also protects against faulty entries since out of range numbers will not be accepted WIN32PRO D SOFTWARE ENGINEERING PEWIN32PROPEWIN Configure View Resource Manager Backup Setup Tools Window I Variables I Variables By Number P Wariables Variables By Category Q Variables I Variables MACRO M Variables Coordinate System Encoder Conversion Table Encoder Converstion Table MACRO e VARIABLES There are two interfaces for listing and setting I variables by category or by numerical order In addition a special interface for MACRO I Variables exists P VARIABLES Allows setting P variable values Q VARIABLES Allows setting Q variable values M VARIABLES Allows setting M variable definitions and values COORDINATE SYSTEMS This menu choice enables you to alter the currently defined coordinate systems or define new ones ENCODER CONVERSION TABLE This menu choice allows you to alter update save or retrieve the entries of the encoder conversion table e ENCODER CONVERSION TABLE MACRO This menu allows you to alter update save or retrieve the entrie
90. w All Entries of Table viewing Conversion Type Parallel pos Irem Y word with no fitering Source Address sacnAo Bits enabled mask 45 FFFFF Conversion Shitting of Parallel Data 3 C Normal shift 5 bits to the right NoShil ing C MACRO 3 bis to the ight Entry Number This field contains the number of the encoder conversion table entry currently being viewed Use the up and down buttons or lt PgUp gt and lt PgDn gt to step through the encoder conversion tables There are 256 possible table entries Entry Source and Processed Data Addresses The Entry Address is for informational purposes only It tells where within PMAC s memory this Encoder Conversion table entry is located As you may notice by scrolling through the entries PMAC s Encoder table entries are in a contiguous block of memory The Source Address tells PMAC where in its memory is the raw data to use in the conversion process You can choose from the drop down list or you may type in your own address Typically this address can be found by reading the manual specific to the type of feedback being used Finally the Processed Data Address is where PMAC stores the result of the conversion calculations This location is useful because it is needed to configure other features in PMAC i e Master Position Feedback address Ix03 Electronic gearing Ix05 etc typically by setting I variables Conversion Type This field

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