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1. Mnemonic Value Meaning COMM_EOT 0x80000000 An acknowledge character ACK ASCII 9 was received indicating end of transmission from PMAC to Host PC COMM_TIMEOUT 0xC0000000 A timeout occurred The time for the PC to wait for PMAC to respond had been exceeded COMM_BADCKSUM 0xD0000000 Used when using Checksum communication If a bad checksum occurred this error will be returned COMM_ERROR 0xE0000000 Unable to communicate COMM_FAIL OxFO000000 Serious failure COMM_ANYERR 0x70000000 Some error occurred COMM_UNSOLICITED 0x 10000000 An unsolicited response has been received from PMAC Usually caused by PLC s or Motion Programs that have Send or Command statements The mnemonics above in addition to MACROs to parse the return value are defined in the provided mioctl h header file To get at the individual portions of the return value the following MACROs are helpful define COMM _CHARS c c amp OXOFFFFFFF Returns the number of characters define COMM_STATUS c c amp OxFO0000000 Returns the status byte To check for individual error codes the MACROs below are very useful define IS_COMM_MORE c ie amp COMM FAIL 0 define IS _COMM_EOT c c amp COMM_FATL COMM_EOT define IS COMM TIMEOUT c c amp COMM _FAIL COMM_TIMEOUT define IS COMM BADCKSUM c c amp COMM_FAIL COMM _BADCKSUM define IS
2. 16 DPR Features PComm 32 Pro Software Reference Manual m_MoveTime SetWindowText buf Using the DPR Real Time Fixed Data Buffer Turbo Startup Shutdown BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on void PmacDPRSetRealTimeMotorMask DWORD dwDevice long mask Handshaking BOOL PmacDPRUpdateRealTime DWORD dwDevice Data Query Functions Motor PmacDPRMotorServoStatus PmacDPRDataBlock PmacDPRPhasedMotor PmacDPRMotorEnabled BOOL PmacDPRHandwheelEnabled BOOL PmacDPROpenLoop BOOL PmacDPROnNegativeLimit BOOL PmacDPROnPositiveLimit void PmacDPRSetJogReturn MOTION PmacDPRGetMotorMotion double PmacDPRGetCommandedPos double PmacDPRPosition D D g double PmacDPRFollowError double PmacDPRGetVel void PmacDPRGetMasterPos void PmacDPRGetCompensationPos DWORD PmacDPRGetPrevDAC Global PmacDPRGetServoTimer A A a F FO OV TO Note The only significant difference between the Turbo and non Turbo implementation is the interpretation of the mask parameter of PmacDPRRealTimeEx and the Data query methods are different Turbo s Realtime data is motor only specific whereas the non Turbo contains generic information The PmacDPRRealTimeEx function enables disables the DPR real time fixed data buffer The final parameter on will enable this feature if set to 1 otherwise it will dis
3. long PmacDPRVarBufChangeEx DWORD dwDevice long handle long num_entries long addrarray Changes a previously initialized multi user background variable buffer VBGDB The user s VBGDB structure is allocated and updated with correct address offset and data offset If other users are present then their VBGDB structures will also be updated The buffer s start address and size will be initialized along with the address array in the dual ported RAM Assumptions That this buffer was the last one to be initialized in the DPR buffer area That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example have three variables 2 x 24 and 1 x 48 which takes 4 x 32 bits So the size must be an exact modulo of four because the PMAC dual ported RAM gather does not check before storing that there is enough room remaining That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number handle Handle to previously initialized VBGDB num_entries The size for address Buffer addrarray Array of address and types Return Value If successful a TRUE will be returned otherwise FALSE PmacDPRWriteBufferEx long PmacDPRWriteBufferEx DWORD dwDevice long num_entries struct VBGWFormat the_data This feature is available for PROM Version 1 15G and above The variable b
4. About PComm 32 Pro The Delta Tau PComm 32 Pro Communication Driver is a set of more than 400 functions written as a development tool for the creation of PMAC applications on Windows 98 ME 2000 and XP The routines were designed with robustness speed and portability in mind PComm 32 Pro may be used by all PMAC types Methods of communication include the bus ISA and PCI Dual ported RAM Serial USB and Ethernet PComm 32 Pro is compatible with the 32 bit Borland and Microsoft development products which include Microsoft Visual C C Microsoft Visual Basic Borland Delphi Borland C Builder This manual assumes that the user has knowledge of Windows basics and general programming practices A Global View of the Library PComm 32 Pro can be used for Windows 98 ME 2000 and XP application development Use of this driver is the same regardless of what operating system is in use PComm 32 Pro itself consists of the following files e PCOMM32 DLL A 32 bit DLL e PMACx SYS where x ISA SER PCI ETH or USB USBL and USBT Windows 98 ME or Windows 2000 XP kernel drivers e PMACx INF where x ISA SER PCI or USB Windows Setup Information files e PMACSERVER EXE Running in the background when any application is communicating to the PMAC USBCONFIGURE EXE and ETHCONFIGURE EXE responsible for configuration of the USB and Ethernet communication boards including loading the appropriate firmware and assignment of
5. BufChange 5 Open PMAC s rotary buffer Open Rot for non Turbo or Open Bin Rot for Turbo 6 Begin execution of the rotary buffer i e BOR Items 1 and 2 may have to be done only once for a given application Return Codes Possible Mnemonic Returned Value Explanation IDS_ERR_059 59 RS274 to BIN DPROT Unable to allocate memory IDS_ERR_060 60 RS274 to BIN DPROT Unable to pack floating point number IDS_ERR_061 61 RS274 to BIN DPROT Unable to convert string to float number IDS_ERR_062 62 RS274 to BIN DPROT Illegal Command or Format in string IDS_ERR_063 63 RS274 to BIN DPROT Integer number out of range DprOk 0 The code was successfully sent to DPR DprBufBsy 1 DPR Binary Rotary Buffer is busy try again soon Also PMAC may stop running the program for a variety of reasons when this occurs the DPR Rotary Buffer will fill up and appear busy to the PC DprEOF 2 DPR Binary Rotary Buffer End of File detected If something other than a DprBufBsy DprOk or DprEOF is received flag the user of the error In this case the error is a conversion issue converting to ASCII to BINARY 28 DPR Features PComm 32 Pro Software Reference Manual INTRODUCTION TO PROGRAMMER S REFERENCE The Programmers Reference of PComm 32 Pro details all of the PMAC library functions in groups of similar functionality The description of each function includes the synt
6. Data Query Functions Motor Specific double Pmac double Pmac Coordinate System Specific double Pmac long Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac RotBufFull RotBufOpen RSysRunTime PRCommanded DWORD dwDevice long crd char maxchar PRGetTargetPos DWORD dwDevice long motor double posscale D D S DPRGetFeedRateMode DWORD dwDevice int csn BOOL mode BOOL PmacDPRMotionBufOpen DWORD dwDevice RPe DWORD dwDevice long cs R R DWORD dwDevice long crd DWORD dwDevice RSysInposition DWORD dwDevice long crd RSysWarnFError DWORD dwDevice long crd RSysFatalFError DWORD dwDevice long crd Error DWORD dwDevice long crd BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac long Pmac long Pmac long Pmac A G G G G A G a A I A A I A a TH P P TH TT P P D P P V PC RSysCircleRadError DWORD dwDevice long crd RSysAmpFaultError DWORD dwDevice long crd RProgRunning DWORD dwDevice long crd RProgStepping DWORD dwDevice long crd RProgContMotion DWORD dwDevice long crd RProgContRequest DWORD dwDevice long crd RProgRemaining DWORD dwDevice long crd RTimeRemInMove DWORD dwDevice long cs RTimeRemInTATS DWORD dwDevice long cs 20 DPR Features PComm 32 Pro Software Reference Manual Global BOOL BOOL BOOL BOOL void PmacDPRS Pmac
7. Returns Returns the address table entry PmacDPRGetVBGNumeEntries long PmacDPRGetVBGNumEntries DWORD dwDevice long handle Returns the number of items being updated in the buffer by the calling application This number is the same as that passed to the function PmacDPRVarBufInit Arguments dwDevice Device number handle Handle to the buffer Returns Returns the total number of entries PmacDPRGetVBGDataOffset UINT PmacDPRGetVBGDataOffset DWORD dwDevice long handle Returns the offset in bytes from the beginning of DPR that the data for this application s VBGDB begins Typically not used by programmers Arguments dwDevice Device number handle Handle to the buffer Returns Returns the offset in bytes PmacDPRGetVBGAddrOffset UINT PmacDPRGetVBGAddrOffset DWORD dwDevice long handle Returns the offset in bytes from the beginning of DPR that the address array for this application s VBGDB begins Divide by 4 to get the PMAC offset from beginning of DPR 0xD000 Typically not used by programmers Arguments dwDevice Device number handle Handle to the buffer Returns Returns the offset in bytes PmacDPRGetVBGServoTimer UINT PmacDPRGetVBGServoTimer DWORD dwDevice Returns the value of the PMAC s servo timer Arguments dwDevice Device number Returns Returns the PMAC servo timer PmacDPRGetVBGStartAddr UINT PmacDPRGetVBGStartAddr DWORD dwDevice
8. Used to switch select either BUS or DPRAM ASCII communication There is negligible gain when switching from BUS to DPRAM ASCII communication since most of the communication time is waiting for PMAC to respond and not the actual transfer of character data to and from PMAC s internal ASCII queues Most use BUS communication as a means to free up additional DPRAM space Therefore this function is rarely used Note This will not change the communication method used when PComm 32 Pro starts upon initialization To do this see PmacConfigure Arguments dwDevice Device number m Mode 0 BUS 1 DPRAM Return Value True if successful See Also PmacConfigure ASCII Communication Functions 39 PComm 32 Pro Software Reference Manual 40 ASCII Communication Functions PComm 32 Pro Software Reference Manual DOWNLOADING FUNCTIONS PmacAbortDownload void PmacAbortDownload DWORD dwDevice Calling this function will cause a download in progress to be aborted This applies for driver downloading functions PmacDownload and PmacDownloadFirmwareFile Arguments dwDevice Device number Return Value None See Also PmacDownload and PmacDownloadFirmwareFile PmacAddDownloadFileA long PmacAddDownloadFileA DWORD dwDevice PCHAR inifile PCHAR szUserId PCHAR szDLFile This utility function was added to assist in the use of PmacMultiDownload function PmacMultiDownload downl
9. long PmacDPRGetFOValue DWORD dwDevice long cs These functions are used to control the PMAC DPR Control Panel Feedrate Override feature The PmacDPRSetFOValue and PmacDPRGetFOValue routines set get the feedrate override value in DPR Whether or not the feedrate is used depends on the arguments used in the last call to PmacDPRSetFOEnableBit The value parameter for PmacDPRSetFOValue may be anything from 1 to 32 767 in units of 1 32 768 msec The value represents the elapsed time PMAC uses in its trajectory update equations each servo cycle If it matches the true time the trajectories will go at the programmed speeds If it is greater than the true time the trajectories will go faster if it is less they will go slower Value corresponds to values of 0 to 8 388 352 in units of 110 1 8 388 608 msec At the default 110 value of 3 713 707 this corresponds to a feedrate override values from 0 to 225 87 for real time execution 100 value should be 14507 Arguments dwDevice Device number cs Coordinate System Number 1 8 value See explanation above Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also The Using the DPR Control Panel section in the User Manual PmacDPRControlPanel PmacDPRSetFOValue 46 Dual Ported RAM Control Panel PComm 32 Pro Software Reference Manual PmacDPRGetRequestBit and PmacDP
10. Arguments dwDevice Device number h Handle to users VBGDB status structure long_x Pointers to returned data Data is packed tightly last entry may not be valid Return Value Returns TRUE 1 on data ready else FALSE 0 PmacDPRVarBufRemove long PmacDPRVarBufRemove DWORD dwDevice long h Removes a user from the Multi User Background Variable Buffer Arguments dwDevice Device number h Handle to users VBGDB status structure 64 DPR Variable Background Read Write Data Buffer PComm 32 Pro Software Reference Manual Return Value If successful a TRUE 1 will be returned otherwise FALSE 0 PmacDPRWriteBufferEx long PmacDPRWriteBufferEx DWORD dwDevice long num_entries struct VBGWFormat the_data This feature is available for PROM Version 1 15G and above The variable background write buffer can be used to have PMAC transfer up to 32 PMAC long or short words from DPR to its own internal memory without using the DPR ASCII feature The data to be written into PMAC s memory is placed first in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 The upper 16 bits of type_addr element specifies the type of data and the lower 16 bits specify the address to which data1 and data2 should be written The types of data that may be specified are as follows Bits 0 2 0 1 2 4 for Y L X SPECIAL memory respectively Bits
11. Use this to attain the PMAC address of the start of the variable data buffer This address also indicates the end of the free user memory Arguments dwDevice Device number 62 DPR Variable Background Read Write Data Buffer PComm 32 Pro Software Reference Manual Returns The address of the start of the buffer PmacDPRGetVBGTotalEntries long PmacDPRGetVBGTotalEntries DWORD dwDevice Returns the number of items being updated in the buffer by all applications Should never exceed 128 Arguments dwDevice Device number Returns Returns the total number of entries PmacDPRVarBufChange long PmacDPRVarBufChange DWORD dwDevice long handle long num_entries long addrarray Changes a previously initialized multi user background variable buffer VBGDB User s VBGDB structure is allocated and updated with correct address offset and data offset If other users are present then their VBGDB structures will also be updated The buffer s start address and size will be initialized along with the address array in the dual ported RAM Assumptions e That this buffer was the last one to be initialized in the DPR buffer area e That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example have three variables 2 x 24 and x 48 which takes 4 x 32 bits The size must be an exact modulo of 4 be
12. gt ll CH te ic 1 cp ic if IS_COMM_ FAIL ret si SERCommError IDS _CHECKSUMDATABAD compare data checksum si SERCommError COMM_TIMEOUT goto error T if IS_COMM_EOT ret command_sum_from_PMAC cp cp 0 Remove the checksum from the response if command_sum_from_PMAC csum IS IT AN ACKNOWLEDGE si SERCommError IDS_CHECKSUMACKBAD goto error if IS_COMM_ERROR ret goto error if nc maxchar si SERCommError IDS_INCOMP_RECEIVE Unable to get complete response 80 Serial Checksum Communication Functions PComm 32 Pro Software Reference Manual goto error Remove checksums from response nc maxchar tc return nc error attemptt SERF lush dwDevice return 0 Serial Checksum Communication Functions SI PComm 32 Pro Software Reference Manual 82 Serial Checksum Communication Functions PComm 32 Pro Software Reference Manual VARIABLE FUNCTIONS PmacGetVariable short int PmacGetVariable DWORD dwDevice char ch UINT num short long def long PmacGetVariableLong DWORD dwDevice char ch UINT num long def double PmacGetVariableDouble DWORD dwDevice char ch UINT num double def Returns a PMAC variable I M P or Q value as a 16 bit integer long 32 bit integer or 80 bit floatin
13. Binary Rotary Buffer 2 4 Binary Rotary Buffer 4 3 Binary Rotary Buffer 3 2 Binary Rotary Buffer 2 1 Binary Rotary Buffer 1 0 No Buffers in DPR Before 1 16B 3 Background Variable Buffer 2 Binary Rotary Buffer 2 1 Binary Rotary Buffer 1 0 No Buffers in DPR Use this function to decide which buffer either a binary rotary or the variable background data buffer can be initialized or removed The sequence for the binary rotary and variable background data buffers is like a last in first out stack The order of initialization must be 1 Binary rotary buffer 0 2 Binary rotary buffer 1 3 Variable background data buffer Downloading Stuffing Functions PMAC ASCII program command strings either a Created on the fly or b Retrieved from a file are converted to binary and sent to the DPR rotary buffer via the PmacDPRAsciiStrToRot or PmacDPRAsciiStrToRotEx functions Several things must be done before a rotary program can run DPR Features 27 PComm 32 Pro Software Reference Manual Configure a coordinate system s in PMAC 2 Close the servo loops and make sure all motors are ready to run a motion program i e there not jogging homing etc 3 Initialize the rotary buffer in PMAC s internal memory using the DEF ROT x command You must start with the highest numbered coordinate system 4 Initialize a rotary program buffer for the corresponding coordinate system i e call PmacDPRRot
14. SOFTWARE REFERENCE MANUAL PCOMM32PRO DELTA TAU 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
15. This function provides a method for Dual ported RAM testing Both progress and message callback functions are provided See Data Types Structures Callbacks and Constants in this manual for info on callback prototypes and descriptions Note This function will also set PMAC parameters I2 I5 147 148 and 149 in order to prevent the dual ported RAM from being interfered with from PMAC programs or firmware during the test Arguments dwDevice Device number msgp Pointer to a user supplied DPRTESTMSGPROC procedure used for message reporting Prgp Pointer to a user supplied DPRTESTPROGRESS procedure used for progress reporting Return Value The number of errors encountered See Also PmacAbortDPRTest DPRTESTMSGPROC DPRTESTPROGRESS PmacSERGetPort DWORD PmacSERGetPort DWORD dwDevice ets the current serial port number for the device Arguments dwDevice Device number Return Value Port number 1 COM1 etc 34 Initialization Shutdown and Configuration Functions PComm 32 Pro Software Reference Manual ASCII COMMUNICATION FUNCTIONS GetUSResponse USReadReady BOOL CALLBACK GetUSResponse DWORD dwDevice PCHAR response UINT maxchar BOOL CALLBACK USReadReady DWORD dwDevice If the code in PMAC has run time errors always caused by an illegal or badly timed CMD statement PMAC will send an error code string out the active ASCII port In addition if the code in PMA
16. For Y Long and X entries the least significant word specifies the actual PMAC address to be copied Arguments num_entries Number of elements in the the_data array to be used max 32 the_data A pointer to an array of VBGWFormat structures which specify what is copied from DPR into PMAC s internal memory entry_num Data entry to be received from table see above for more detail GetCurrentLabelEx GetNumOfErrorsEx AddErrRecordEx 94 Extended Functions PComm 32 Pro Software Reference Manual COMMUNICATION APPLICATION NOTES Common Communication Traps COMTraps DOC 1 Timeout Without a doubt timeout is what communications is all about Increasing the timeout has solved nearly 40 50 of all communication problems encountered by users of PMAC What is the timeout It is a numeric value that is proportional to the time that the host computer waits for PMAC to respond therefore it is a host computer parameter not PMAC If the host does not wait long enough unsychronized communications occur causing unpredictable behavior Applications such as the PMAC Executive Program in most cases enable the end user to modify the timeout POBB The second most experienced PMAC communication trap people run into is the PMAC Output Buffer Blues POBB Many times programmers are unaware of PMAC s two ASCII buffers the input and output ASCII buffer both of which are 255 characters long input and output are used from the perspe
17. PmacGetLineAQ and PmacSendLineA which if not used carefully can cause un synchronized communication the mismatching of PMAC Commands to PMAC responses PmacGetResponseExA always matches the command string with the response string or else it times out Arguments dwDevice Device number response Pointer to string buffer to copy the PMAC s response into maxchar Maximum characters to copy command Pointer to NULL terminated string to be sent to the PMAC as a question command Return Value The upper byte contains the status of the call whereas all lower bytes contain the number of characters received from PMAC If no characters were received from PMAC check the upper bytes status code for a potential error code See the Error Handling ASCII Communication section for a detailed explanation Return Value If successful this function returns the number of characters received including handshake characters Otherwise FALSE 0 which implies of course that an error occurred or no characters were received since PMAC was not required to respond Error Codes Initially this routine sets the internal error flag to FALSE 0 Therefore calling PmacGetError after this function will inform of any errors that occurred PmacReadReady BOOL PmacReadReady DWORD dwDevice This function determines if PMAC has a response waiting on the current communications channel BUS DPRAM SERIAL Use this function before using other quer
18. This is due to insufficient calculation time It is FALSE otherwise BOOL PmacDPRPhasedMotor DWORD dwDevice long motor This function returns TRUE when Ix01 is 1 and this motor is being commutated by PMAC it is FALSE when Ix01 is 0 and this motor is not being commutated by PMAC BOOL PmacDPRMotorEnabled DWORD dwDevice long motor This function returns TRUE when Ix00 is 1 and the motor calculations are active It is 0 when Ix00 is 0 and motor calculations are deactivated BOOL PmacDPRHandwheelEnabled DWORD dwDevice long motor This function returns TRUE when Ix06 is 1 and position following for this axis is enabled It returns FALSE when X06 is 0 and position following is disabled BOOL PmacDPROpenLoop DWORD dwDevice long motor When this function returns TRUE the servo loop for the motor is open either with outputs enabled or disabled killed It returns FALSE when the servo loop is closed under position control always with outputs enabled BOOL PmacDPROnNegativeLimit DWORD dwDevice long motor 50 DPR Real Time Fixed Data Buffer PComm 32 Pro Software Reference Manual Returns TRUE when motor actual position is less than the software negative position limit 1x14 or when the hardware limit on this end LIMn note has tripped it is FALSE otherwise BOOL PmacDPROnPositiveLimit DWORD dwDevice long motor Returns TRUE when motor actual position is greater than the software positive position l
19. cece E E E EREE E E E E OE ER 33 PmacGetDpramA vailable oerni i EREE E E SEEE EEE EEEE 33 Pm cInBootStrapMode l sesoses deniece e e e EEE E E REEE EEES EA E EES E E E EEEREN Ear 34 Pma DPR Test noenee E E E EE cave EEEE E EN 34 PimacSER GetPort ee nrn eE E EEE EE E EEA E E 34 ASCH COMMUNICATION FUNCTIONS cscssssscssscsssssssccssccsscesscesscencesscesscesssesccsscssscssscsssscssscsssesesssesssesseeees 35 GetUSResponse Q WSRead Ready recne esnie ree ae EEEa EEE ESETRE EE sebnbacesuacenbensvennebecssevcaesyes 35 PmacFlush cceccccecssecessscceceessececsesaececsnececeeaececseaaeceeeeeeseaaececseseececeeeecsesaeeecseseeseesaeeecssesaeeeceeseeeessueeecseaeeeeseaaeeess 35 PmacGetA lee UR EE 36 PmacGetButherA BE 36 PmacGetControlResponseA PmacGetControlResponseEXA scesesccesseecsseeeeneeceseeesneecacereneeceaceseneeceaeereneeceas 36 PmacGetLineA Pacte mebsAait eent 37 PmacGetResponseA PmacGetResponseEXA ssccesscecssecseseecesecesececaeeeeeeeseeeeneecaeessneecaeeseneecaeeseneecaeeneneeceas 38 PmacReadReady Oisissscsscecsscccsess snscasceceansacvccsuvnnveasevontedeteeearspevensssnbovenvansyceselacy dunes savecentesveceysnsvodacteunstevenecoheaeneveussssyes 38 PimacSend har EE 38 PimacSendCommandA Jersiek E E E ui blecs Saree E E a aE se 39 Suel Ee EE 39 PmacSetA Scii omin oseese ee ereer Ea eee rE i E EEE ATEA ENET ERAR E PEASE EEEE EN AE ETERS ries 39 DOWNLOADING FUNCTIONS eesessesseseesoes
20. 3 7 Width 1 4 8 12 16 20 a value of 0 is 24 bit variable Bits 8 12 Offset 0 23 Bits 13 15 Special type The way in which one uses data1 and data2 is not intuitive For Y or X memory data1 element will be used for specifying the 24 bits of data The most significant byte of data1 and all of data 2 are irrelevant in this case For L data PMAC 48 bit word datal should hold the first 32 bits and data2 should hold the most significant 16 bits leaving the most significant 16 bits of data2 irrelevant TWS is not yet implemented PMAC addresses are specified using an array of long integers The most significant word of each long upper 16 bits specifies the word type A value of 0 1 2 and 4 corresponds to Y Long X and SPECIAL respectively For Y Long and X entries the least significant word specifies the actual PMAC address to be copied Arguments num_entries Number of elements in the the_data array to be used max 32 the_data A pointer to an array of VBGWFormat structures which specify what is copied from DPR into PMAC s internal memory entry_num Data entry to be received from table see above for more detail DPR Variable Background Read Write Data Buffer 65 PComm 32 Pro Software Reference Manual 66 DPR Variable Background Read Write Data Buffer PComm 32 Pro Software Reference Manual DPR BINARY ROTARY BUFFER FUNCTIONS Note The bufnum parameter in the routines below is a 0 based index T
21. 65 DPR BINARY ROTARY BUFFER FUNCTIONS esesseseessesessessescesoescesoesessoesesoesoesoesosseesossesoesessossessesseseesossesssee 67 PmacDPRASciiFileTOROt ccc cccssccssssscssecssscesssecsssecsaecssssecsaecesseesaecscseeseecsssessaecssssensecessseseasecsaseeeasessesesenseceas 67 PmacDPRASCHS tr TOR Ot ciscieiscecesssoaccecescedescesusicoeuecsdsscobscacdesscaiesdensonuessevccabnisenstiionteybabeadencasse sspentepvadey a Pn ri REESE 67 PmacDPRAscHStdTobotxv rrenean ere rareen i iieiea ae aa NT EERE PERE EEE EEK ren EER Ta a Pn E iR aani E 68 PmacDPRRotBufChange c ccescesscsescessceeecesecesecenecseecaeecaeeenesneeseeeseceseceseeseeeseceeceaecaeeaaecaeeseseeeeeeeeeeeseeeeeeeeaees 68 PmacDPRROtButRemove s scssezscssdeesdecesscgscadecded casees Dt 69 IST EIN e ET WEE 69 Table of Contents iii PComm 32 Pro Software Reference Manual PomacDPRRoBuft 70 DPR NUMERIC READ AND WRITE eesseessecscesocescoecscessossoesscecocccocecocecsesooeseosoeesoecsoecosesossessessossoesseesscecoesossessses 71 General Informatio E 71 Standard Redd WIIle EE 71 Mask mio eneen th scar n E E E E ec 71 Dual Word Conversion tettes St tt esst Settee EEE ESSEEE ESSEE EEEE EESE EE ESSEE ESSEE eere estee esseen eene 71 lne D AEDA aI SENIA O E 72 PmacDPREF1 oat DEEE 72 PmaclDbPhRGefwWord 72 PmacDPRGetDW ordMask ccccssccecssscecessnececseseececsnceceesaeeecsenaececaeeeceesaesecsasaeeessaeeecsesaeeeceeseeesssaeeecsesaeeecseaaeeess
22. COMM ERROR c c amp COMM_FAIL COMM_ERROR define IS COMM FATL c c amp COMM _FAIL COMM FAIL define IS COMM ANYERROR c c amp COMM_ANYERR gt 0 define IS COMM _UNSOLICITED c ie amp OxFO000000 COMM_UNSOLICITED If using the non extended routines you may use the PmacGetError routine After a function call the PmacGetError will return 0 if all went well Otherwise the non zero value will represent the error code A corresponding error string can be retrieved via the PmacGetErrorStrX routine The error string is not reset after every call to a communication function but the Error number is Int vs Long Data Type Visual Basic integer variables are stored as 16 bit 2 byte numbers ranging in value from 32 768 to 32 767 Visual C The size of a signed or unsigned int item is the standard size of an integer on a particular machine For example in 16 bit operating systems usually the int type is 16 bits or 2 bytes In 32 bit operating systems the int type is usually 32 bits or 4 bytes Thus the int type is equivalent to either the short int or the long int type and the unsigned int type is equivalent to either the unsigned short or the unsigned long type depending on the target environment The int types all represent signed values unless specified otherwise C Builder On 32 bit platforms the keyword int specifies a 32 bit signed integer On 16 bit platforms the keyword int is an optional keyw
23. DWORD dwDevice UINT num LPSTR str UINT maxchar Arguments dwDevice Device number num Number of samples to gather str Base address of each sample to gather maxchar 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacStartGather int PmacStartGather DWORD dwDevice Arguments dwDevice Device number Return Values TRUE 1 Data Gathering Functions 75 PComm 32 Pro Software Reference Manual PmacStopGather int PmacStopGather DWORD dwDevice Arguments dwDevice Device number Return Values TRUE 1 PmacSetQuickGatherWithDirectCurrentEx BOOL PmacSetQuickGatherWithDirectCurrentEx DWORD dwDevice PWTG_EX mask BOOL ena Arguments dwDevice Device number mask mask See gather h for details typedef struct _WTG_EX UINT COM_TO_G UINT ENC_TO_G UINT DAC_TO_G UINT CUR_TO_G WG EN PWTG_EX ena TRUE or FALSE Enable or Disable Return Values TRUE Ok FALSE Error 76 Data Gathering Functions PComm 32 Pro Software Reference Manual INTERRUPT FUNCTIONS General Information Interrupt Functions Interrupts are provided for both Windows 95 98 and Windows NT operating systems There are four methods of interrupt notification for your program 1 Send a message to a window 2 Calla function 3 Start a thread function 4 Set an event Eac
24. EE 76 PmacSetQuickGatherWithDirectCurrentEX es eseseeseeeeeeeeeeeeeeessretssrteteseesttettssrtetsstrssstenstteessrtesestresetetsseteessreetene 76 INTERRUPT FUNCTIONS csscssscssscsccssccssccsscsscsscsscssscssccsscesscssscsssscsssssssesscssecsncesncssecssessessocssscssscsssssseeees 77 General Information Interrupt Functions ceeeeeseseesseseceseceeescsaeceeesecseesecuaesecsaeceessecseesesseesecsaeeaesaesaesaeeneeeeeaees 77 PmaclNTRtretventfum 71 PmaclNTRbuncCallln ertett essttetsstrneeteeeseeessee ene 71 PmaclNTRRun Threadinum eene 78 PmaclNTRTermnater esst tets st ettette SEEEE ESSEE ESSEE EEEE EESE EE ESSEE essee eere ente een stenene 78 PmaciINTRWAAMSP IM eicing nnen ea aeree E Ene E eae EE R EEE aie 78 SERIAL CHECKSUM COMMUNICATION FUNCTIONS s seeseseesseseersesessoesesoessesoesoeseosoesesosssesoessesessossesosssessee 79 Pma SER DoChecksums neriie e E aE LEE eege eege Eeer Ee ege ee 79 PmacSERCheckResponseA crnina ae ea a a E o aE a e an Ea E n e ee Tie na 79 PmacSERCheckSendhamGA 0 osie i a n ESPAA NENE EAEN NAET AAEE AAE AENEA RESE Ee 79 PmachPROCheckiG e meAi tettes sttt asse etter EEEE essre teeseen sertes reeees senenn 79 Source Example PmacSERCheckResponse cc cesesscescesecesecssecseecaeecaeeeseseeeeeeeeeeeseeeeseseaeceaeeessaeseaeessaseaeeeeeees 80 VARIABLE FUNCTIONS wississssssesctsosscessoisstsesevcesseseseedsousoassensesssdensesssasuavescedasdeassensonssducsensseasdencebscstacsseeseasedes
25. Global BOOL BOOL BOOL BOOL void Logical Q Pm Pm Pm Pm Pm ac ac ac ac ac MOT ITONMOD DP DP DP DP DP F E u RSysServoError DWORD RSysReEntryError DWO RSysMemChecksumError RSysPromChecksumError RGetGlobalStatus DWOR ery Functions PmacDPRGetMot ionMode dwDevice RD dwDevice DWORD dwDevice DWORD dwDevice D dwDevice VOID gstatus DWORD dwDevice long cs The motion mode of a chosen coordinate system is returned by this function The MOTIONMODE enumeration is shown below typedef enum linear rapid circw circcw spline pvt MOTIONMODE PROGRAM PmacDPRGetProgramMode DWORD dwDevice long cs The program mode of a chosen coordinate system is returned by this function The PROGRAMMODE enumeration is shown below typedef enum stop run step hold joghold jogstop PROGRAM 60 DPR Background Fixed Data Buffer Turbo PComm 32 Pro Software Reference Manual DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER PmacDPRBackground BOOL PmacDPRBackground DWORD dwDevice long on Starts or stops the PMAC s automatic write into the DPR background fixed and variable buffer Arguments dwDevice Device number on Turn on or off Boolean Returns TRUE if successful PmacDPRBufLast long PmacDPRBufLast DWORD dwDevice This function determines which buffer is the last variable sized buffer in DPR
26. J BRK RRR KKK KK IKK KH HK KK KKK KKK IKK KKK KKK KKK KKK KKK KKK KK KKK k de k de KKK KKK k k k typedef BOOL CALLBACK OPENPMACDEVICE DWORD dwDevice typedef BOOL CALLBACK CLOSEPMACDEVICE DWORD dwDevice Note Link only with those functions that the program uses Initializing Communication In the demo program PMACTEST a class has been created CPmacTestDoc see pmactestdoc cpp which has been designed to handle all communication between the application and PMAC It establishes communication by a member function called InitDocument InitDocument is shown below BOOL CPmacTestDoc InitDocument LPCTSTR lpszPathName TCHAR str _MAX PATH vs 30 ds 30 Get handle to PCOMM32 DLL and get procedure addresses if m_hPmacLib m_hPmacLib RuntimeLink if m_hPmacLib NULL return FALSE We failed to load the library or functions if m_bDriverOpen Only call OpenPmacDevice once return TRUE Call OpenPmacDevice m_bDriverOpen DeviceOpen m_dwDevice if m_bDriverOpen DeviceGetRomVersion m_dwDevice vs 30 DeviceGetRomDate m_dwDevice ds 30 sprintf str TEXT V s s vs ds SetTitle str return TRUE else AfxMessageBox Could not initialize PMAC Comm SetTitle TEXT Not Linked return FALSE Notice the two steps to initializing communication to a PMAC 1 Load the DLL and get procedure addresses 4 Getting Started PComm 32 Pro Software Refere
27. PComm 32 Pro Software Reference Manual DPR NUMERIC READ AND WRITE General Information The PmacDPRSet DataType functions write numerical data to the specified offset while the PmacDPRGet DataType IO reads at the specified offset and returns the data From within PMAC data can be written to the DPR by use of PMAC M variable assignments Proper M variable definitions for the corresponding data type are shown below Data Type M Variable Definition 16 bit integer M constant gt X Y Address i e m100 gt X D200 0 16 s 32 bit integer M constant gt DP Address i e m101 gt DP D201 32 bit floating point M constant gt F Address i e m102 gt DP D202 Standard Read Write WORD PmacDPRGetWord DWORD dwDevice UINT offset void PmacDPRSetWord DWORD dwDevice UINT offset WORD val DWORD PmacDPRGetDWord DWORD dwDevice UINT offset void PmacDPRSetDWord DWORD dwDevice UINT offset DWORD val float PmacDPRGetFloat DWORD dwDevice UINT offset void PmacDPRSetFloat DWORD dwDevice UINT offset float val UM UO UU UO U0 U Masking BOOL Pmac void Pmac void Pmac void Pmac DWORD Pmac PRDWordBitSet DWORD dwDevice UINT offset UINT bit PRSetDWordBit DWORD dwDevice UINT offset UINT bit PRResetDWordBit DWORD dwDevice UINT offset UINT bit PR DP D D D DPRSetDWordMask DWORD dwDevice UINT offset DWORD val BOOL onoff RG
28. Return Values Float at offset location 72 DPR Numeric Read and Write PComm 32 Pro Software Reference Manual PmacDPRGetMem PVOID PmacDPRGetMem DWORD dwDevice DWORD offset size_t count PVOID val Copies a block of dual ported RAM memory Arguments dwDevice Device number offset Offset from the start of dual ported RAM count Size of memory block to copy val Pointer to destination Return Values Pointer to destination PmacDPRGetWord WORD PmacDPRGetWord DWORD dwDevice UINT offset Retrieves a 16 bit word from dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM Return Values Pointer to destination PmacDPRResetDWordBit void PmacDPRResetDWordBit DWORD dwDevice UINT offset UINT bit Exclusive XORS a bit within a 32 bit word DWORD in dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM bit Bit number to set 0 31 Return Values None PmacDPRSetDWord void PmacDPRSetDWord DWORD dwDevice UINT offset DWORD val Sets the value of a 32 bit word in dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to write to DPRAM Return Values None PmacDPRSetDWordaBit void PmacDPRSetDWordBit DWORD dwDevice UINT offset UINT bit Turns on a bit sets to one 1 within a 32 bit word DWORD in dual ported RAM
29. Use this function to decide which buffer either a binary rotary or the variable background data buffer can be initialized or removed The sequence for the binary rotary and variable background data buffers is like a last in first out stack The order of initialization must be 1 Binary rotary buffer 0 2 Binary rotary buffer 1 3 Variable background data buffer Returns From 1 16B and beyond 9 Background Variable Buffer 8 Binary Rotary Buffer 8 7 Binary Rotary Buffer 7 6 Binary Rotary Buffer 6 5 Binary Rotary Buffer 5 4 Binary Rotary Buffer 4 3 Binary Rotary Buffer 3 2 Binary Rotary Buffer 2 1 Binary Rotary Buffer 1 0 No Buffers in DPR Before 1 16B 3 Background Variable Buffer 2 Binary Rotary Buffer 2 1 Binary Rotary Buffer 1 0 No Buffers in DPR PmacDPRGetVBGAddress unsigned long PmacDPRGetVBGAddress DWORD dwDevice long handle long entry_num This function returns an entry within the address table initialized by PmacDPRVarBufInit For the first entry set entry_num to 0 the second set entry_num to 1 etc PMAC reads this address table to determine what to copy into DPR memory Typically not used by programmers Arguments dwDevice Device number handle Handle to the buffer entry_num Data entry to be received from table see Background_Variable_Read_Buffer for more detail DPR Variable Background Read Write Data Buffer 61 PComm 32 Pro Software Reference Manual
30. and all lower bytes contain the number of characters returned in response parameter See the Error Handling ASCH Communication section for a detailed explanation PmacGetLineA PmacGetLineExA long PmacGetLineA DWORD dwDevice PCHAR response UINT maxchar long PmacGetLineExA DWORD dwDevice PCHAR response UINT maxchar This routine is considered obsolete however it has been left in for backward compatibility PmacGetLineA queries PMAC for a line response This function will wait for one of the following conditions to occur before returning e A timeout period e PMAC has a response A Carraige Return ASCII 13 or an ACKnowledge character ASCII 6 was received from PMAC e The maximum number of characters maxchar was received If PmacGetLineA Q does not succeed on its first attempt to retrieve the response it may be that the PMAC device has no response available or a Timeout has occurred waiting for PMAC to respond Use the PmacReadReady function to first determine if a response is available If considering using this function make the code thread safe by using both LockPmac and ReleasePmac See the Thread Safe ASCII Communications section of this manual for more information Arguments dwDevice Device number response Pointer to character buffer to receive character string from PMAC maxchar Maximum number of characters to be received from PMAC Return Value The upper byte contains the stat
31. array passed to it The data array should be at least 2 num_entries large Also PmacDPRVarBufReadEx does not have a parameter specifying which entry to get as it will get them all Note If not using any of the Binary Rotary Buffers set dprVarStart the initialization file parameter to at most OxDFFE This way the last entry in the variable background data buffer will be updated PmacDPRGet VBGStartAddr Use this to attain the PMAC address of the start of the variable data buffer This address also indicates the end of the free user memory PmacDPRBufLast This function determines which buffer was the last buffer entered in DPR Return Value 0 No Buffers in DPR 1 Binary Rotary Buffer 1 2 Binary Rotary Buffer 2 3 Background Variable Buffer 24 DPR Features PComm 32 Pro Software Reference Manual Use this function to decide which buffer either a binary rotary or the variable background data buffer can be initialized or removed The sequence for the binary rotary and variable background data buffers is like a last in first out stack The order of initialization must be 1 Binary rotary buffer 0 2 Binary rotary buffer 1 3 Variable background data buffer PmacDPRGetVBGServoTimer Returns the value of PMAC s servo timer DPRGet VBGNumEntries Returns the number of items being updated in the buffer by the calling application This number is the same as that passed to the function PmacD
32. crd long PmacDPRProgRemaining DWORD dwDevice long crd long PmacDPRTimeRemInMove DWORD dwDevice long cs long PmacDPRTimeRemInTATS DWORD dwDevice long cs Global PmacDPRSysServoError PmacDPRSysReEntryError PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError D PmacDPRGetGlobalStatus Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice long cs PROGRAM PmacDPRGetProgramMode DWORD dwDevice long cs enum MOTION PmacDPRGetMotorMotion DWORD dwDevice long motor To enable this feature call the PmacDPRBackground routine with the on_off parameter set to a non zero value To retrieve the information use the provided DPR Background Fixed Data buffer query functions Information for motors coordinate systems 1 n will be updated where n is the second parameter of the PmacDPRSetMotors function You may call DPRSetMotors before or after PmacDPRBackground When enabled all the query functions above may be used to 1 Query PMAC s control panel thumbwheel and machine I O connector status 2 Get motor target bias and commanded position registers Also query a motor s status word 3 Query a coordinate systems status word program status program remaining time remaining in move and acceleration and finally the coordinate systems currently executing line DPR Features 19 PComm 32 Pro Software Reference Manual Once this function is enabled call the DPRSetBa
33. define includes and other MACRO s this file is generated It may be downloaded if no compiling is necessary Filename 56K This file will be created if the Filename PMA was compiled Compilation occurs when the MACRO parameter is set to TRUE Filename LOG The status of the download at each stage is recorded when the log parameter is set to TRUE Filename MAP A lookup table is created when MACRO definitions exist They are recorded and saved to a file when the map parameter is set to TRUE Arguments dwDevice Device number msgp Pointer to message procedure pointer DOWNLOADMSGPROC If NULL no function is called getp Pointer to line retrieval function DOWNLOADGETPROC If NULL no function is called pprg Pointer to download progress function DOWNLOADPROGRESS If NULL no function is called filename Path of file to download macro Flag to parse for macros map Flag to create a map file created from macros log Flag to create a log file This message is the same as sent to the msgp procedure dnld Flag indicating to send final parsed file to the PMAC Return Value Non zero if successful O if a failure occurs See Also DOWNLOADMSGPROC DOWNLOADPROGRESS Downloading To PMAC in Users Manual PmacDownloadFirmwareFile long PmacDownloadFirmwareFile DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADPROGRESS prgp PCHAR filename Flash ROM installation function PMAC must be in BOOTSTRAP
34. in PMAC has run time errors always caused by an illegal or badly timed CMD statement PMAC will send an error code string out the active ASCII port In addition if the code in PMAC has any SEND commands there will be ASCII responses in PMAC s output queue If several of these happen and the host is not checking for these unsolicited responses POBB will occur For those stand alone applications out there I1 may solve this problem by allowing PMAC to purge it However if you have a POBB problem it behooves you to find out what error conditions exist at run time Initialization Initialization of communications is the third most often encountered problem For those who are creating their own code the following is a suggested procedure for initializing communication over the bus Keep in mind that for DOS and Windows Delta Tau does have libraries that take care of all this Communication Application Notes 95 PComm 32 Pro Software Reference Manual Serial Communications There have been reports that people have had to use the Executive Program before their own home brewed or third party serial communications software would work The sufficient conditions for this to occur are e PMAC has firmware 1 16 or before e PMAC has just powered on or been reset e The third party software uses hardware handshaking From PMAC firmware version 1 16 and before PMAC after power up or a reset would have its RTS line set to FALSE meaning it wo
35. is coordinate system 2 etc The motion mode of a chosen coordinate system is returned by this function The MOTIONMODE enumeration is shown below typedef enum linear rapid circw circcw spline pvt MOTIONMODE PROGRAM PmacDPRGetProgramMode DWORD dwDevice long cs The program mode of a chosen coordinate system is returned by this function The PROGRAMMODE enumeration is shown below typedef enum stop run step hold joghold jogstop PROGRAM enum MOTION PmacDPRGetMotorMotion DWORD dwDevice long motor The motion mode of a chosen motor is returned by this function The MOTION enumeration is shown below typedef enum inpos jog running homing handle openloop disabled MOTION DPR Background Fixed Data Buffer 57 PComm 32 Pro Software Reference Manual 58 DPR Background Fixed Data Buffer PComm 32 Pro Software Reference Manual DPR BACKGROUND FIXED DATA BUFFER TURBO DPR Background Fixed Data Buffer Initialization and Handshaking Turbo Startup Shutdown and Handshaking Functions BOOL PmacDPRBackgroundEx DWORD dwDevice int on UINT period UINT crd To enable this feature call the PmacDPRBackgroundEx routine with the on parameter set to a non zero value the period argument set anywhere from 1 to 255 servo periods and the crd parameter set from 1 8 To retrieve the information use the provided DPR Background Fixed Data buffer query functions Information for motors
36. list use PmacAddDownloadFileA Arguments inifile Initialization file to remove file from If NULL the default is WIN INI szUserld User id string this associates the file being added to a given application or user SzDLFIle Name of the file to remove from download list If Null it will remove all files with the szUserld tag Return Value True if file located and removed else False See Also PmacAddDownloadFileAQ PmacRemoveDownloadFileA Downloading to PMAC in the User Manual PmacSetMaxDownloadErrors void PmacSetMaxDownloadErrors UINT max Sets the limit of errors allowed during a download before the function aborts automatically Valid for use with functions PmacDownload and PmacMultiDownload Arguments max Number of errors allowed before download will terminate Return Value None See Also PmacDownload PmacMultiDownload and Downloading to PMAC in the User Manual 44 Downloading Functions PComm 32 Pro Software Reference Manual DUAL PORTED RAM CONTROL PANEL PmacDPRControlPanel BOOL PmacDPRControlPanel DWORD dwDevice long onoff This function is used to enable or disable the PMAC DPR Control Panel feature Arguments dwDevice Device number onoff To turn on use TRUE 1 else FALSE 0 Return Value This function returns the active status of the DPR Control Panel Feature TRUE 1 is on FALSE 0 is off See Also The Using the DPR Control Panel section in the User Manua
37. mode in order to download new firmware Usually a jumper E3 on PMAC2 E51 on PMAC puts PMAC in a BOOTSTRAP mode If talking serially the baud rate must be set to 38400 Arguments dwDevice Device number Msgp Pointer to message procedure pointer DOWNLOADMSGPROC If NULL no function is called prgp Pointer to download progress function DOWNLOADPROGRESS If NULL no function is called filename Path of firmware binary file to download Return Value The error count Zero 0 if no errors PmacMultiDownload long PmacMultiDownload DWORD dwDevice DOWNLOADMSGPROC msgp PCHAR outfile PCHAR inifile PCHAR szUserId BOOL macro BOOL map BOOL log BOOL dnld The use of this function is required in those systems in which e Have files with PLCCs within them all meant to be within a single PMAC Or e Have more than one application that will be downloading PLCC s to the PMAC 42 Downloading Functions PComm 32 Pro Software Reference Manual The critical issue here is that all PLCC s must be downloaded at the same time for a given PMAC This function will resolve the Multi Application problem associated with PMAC compiled PLCs Similar to the PmacDownload routine a file is downloaded to PMAC The difference here however is that instead of specifying one file many are specified The names of files to be downloaded are stored in a list file The list file if not specified will default to the WIN INI file For exa
38. of data and the lower 16 bits specify the address to which data1 and data2 should be written The types of data that may be specified are as follows Bits 0 2 0 1 2 4 for Y L X SPECIAL memory respectively Bits 3 7 Width 1 4 8 12 16 20 a value of 0 is 24 bit variable Bits 8 12 Offset 0 23 Bits 13 15 Special type DPR Features 25 PComm 32 Pro Software Reference Manual The way in which one uses data1 and data2 is not intuitive For Y or X memory datal element will be used for specifying the 24 bits of data The most significant byte of data1 and all of data 2 are irrelevant in this case For L data PMAC 48 bit word datal should hold the first 32 bits and data2 should hold the most significant 16 bits leaving the most significant 16 bits of data2 irrelevant TWS is not yet implemented PMAC addresses are specified with an array of long integers The most significant word of each long upper 16 bits specifies the word type A value of 0 1 2 and 4 corresponds to Y Long X and SPECIAL respectively For Y Long and X entries the least significant word specifies the actual PMAC address to be copied Using the DPR Binary Rotary Motion Program Buffer Startup Shutdown Functions PmacDPRRotBufChange PmacDPRRotBufRemove PmacDPRRotBufClr PmacDPRRotBuf PmacDPRBufLast Conversion and Transfer Functions PmacDPRAsciiFileToRot PmacDPRBinaryFileToRot PmacDPRAsciiStr
39. of it s usage within the PmacSERCheckResponseA routine PmacSERCheckGetLineA This function is used to retrieve and checksum verify a response from PMAC For multiline responses this routine pulls out one line at a time A line is delimited by aCR It checks each lines Data Checksum When the ACK comes at the end the command checksum is placed in response 0 and COMM_EOT is returned Serial Checksum Communication Functions 79 PComm 32 Pro Software Reference Manual If either a checksum or a timeout occurs COMM_FAIL is returned and the appropriate error code set call GetError GetErrorStr to retrieve the error See below for an example of it s usage within the PmacSERCheckResponseA routine Source Example PmacSERCheckResponse long PmacSERCheckResponse DWORD dwDevice char response UINT maxchar char outchar char cp csum command_sum_from_PMAC DWORD nc 0 int ic attempt ret DWORD tc response 0 0 si SERCommError ERR_OK attempt 0 if si Initialized FALSE return 0 if strlen outchar 0 return 0 while attempt lt NUM_CHECKSUM_RETRIES if outchar 0 lt 26 It s a control char csum outchar 0 PmacSERSendCharA dwDevice outchar 0 else if PmacSERCheckSendLine dwDevice outchar amp csum goto error cp response tc maxchar while tc gt 0 amp amp ret PmacSERCheckGetLine dwDevice cp tc amp ic
40. size was either too small or too large RET_OK 0 PmacDPRRotBufRemove long PmacDPRRotBufRemove DWORD dwDevice long bufnum Use this function to remove any previously initialized rotary buffer Arguments dwDevice Device number Bufnum Which of the two rotary buffers i e 0 or 1 to reference Return Values RET_ERROR 1 Check Rotary_Buffer_Size request the buffer size was either too small or too large RET_OK 0 PmacDPRRotBufClr void PmacDPRRotBufClr DWORD dwDevice long bufnum This function will clear either Binary Rotary buffers 0 or 1 in DPR i e remove all entries Arguments dwDevice Device number bufnum Which of the two rotary buffers i e 0 or 1 to reference Dual Ported RAM Binary Rotary Buffer Functions 69 PComm 32 Pro Software Reference Manual Return Values None PmacDPRRotBuf long PmacDPRRotBuf DWORD dwDevice BOOL onoff Once initialized with PmacDPRRotBufChange the PmacDPRotBuf function can be used to enable or disable the rotary buffer if onoff 1 then enable if 0 then disable The return value is a Boolean TRUE for enabled FALSE for disabled Internally this routine sets 57 to the appropriate value and issues an Open Rot for non Turbo PMACs or Open Bin Rot for Turbo PMACs Arguments dwDevice Device number onoff Boolean value Use 1 ON or 0 OFF Return Values 1 Active 0 Non Active 70 Dual Ported RAM Binary Rotary Buffer Functions
41. start of dual ported RAM count Size of data to transfer val Pointer to memory to transfer Return Values Pointer to transferred data PmacDPRSetWord void PmacDPRSetWord DWORD dwDevice UINT offset WORD val Writes a 16 bit word value into dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to store Return Value None 74 DPR Numeric Read and Write PComm 32 Pro Software Reference Manual DATA GATHERING FUNCTIONS PmacSetGather BOOL PmacSetGather DWORD dwDevice UINT num LPSTR str BOOL ena Sets the gather address and number of samples to gather Arguments dwDevice Device number num Number of samples to gather str Base address of each sample to gather ena Enable or disable the gather function Return Values TRUE Ok FALSE Error PmacSetQuickGatherEx BOOL PmacSetQuickGatherEx DWORD dwDevice PWIG_EX mask BOOL ena This function takes a mask as described in Gather h and configures the gather to collect from a mask of these standards This is for convienence and ease of use Arguments dwDevice Device number mask mask See gather h for details typedef struct _WTG_EX UINT COM_TO_G UINT ENC_TO_G UINT DAC_TO_G UINT CUR_TO_G WIG_EX PWTG_EX ena TRUE or FALSE Enable or Disable QuickGather Return Values TRUE Ok FALSE Error PmacGetGather BOOL PmacGetGather
42. wait 100 ms or so time depends on how busy PMAC is with higher priority tasks PMAC could end up having characters for the host to strip Serial communications with daisy chained PMACs The problem is that when addressing a different card i e 2 sometimes the acknowledge character or other requested data is not received if D is set such that an acknowledge character is expected 2 or 3 This problem may occur because when issuing the command to switch from one card to the other each card acts on the ASCII command in its background cycle PMAC processes its background cycle tasks in whatever time is left over from higher priority tasks If the PMAC you are addressing has very little to do in it s high priority tasks i e closing loops motion program planning PLCO etc and the currently active PMAC has a lot to do in it s high priority tasks the addressed PMAC has a high probability of becoming the active PMAC before the other PMAC became inactive That is both PMACs become active for a short period of time Communication Application Notes 97 PComm 32 Pro Software Reference Manual When this happens data can be lost or perhaps an unexpected character may be received It is therefore wise to wait a few milliseconds after addressing a card before requesting data from PMAC 4 Serial communications with daisy chained PMACs with firmware version 1 16A and above The problem is that PMAC is not responding to the command sen
43. within PComm 32 Pro and should always be called before any application using the VBGDB terminates Lastly a call to PnacDPRBackGroundVar to disable the PMAC updating of this buffer is suggested Data Query Function Description Once the variable buffer is initialized and enabled data may be retrieved by use of the PmacDPRVarBufRead function The entry number entry_num specifies to PComm which of the elements in the address array addrarray passed to it the calling function desires In the example above to retrieve motor 1 actual position the second entry in the address array the programmer would set entry_num to 1 i e the first entry would be 0 The parameter long_2 is a long pointer that should point to a memory element at least two long integers in size One could use the following declared element for the long_2 parameter long long_array 2 A PMAC Short word is for example an X or Y location 24 bits copied into 32 DPR bits A Long word would be an L or D word 48 bits copied into 64 DPR bits DPR Features 23 PComm 32 Pro Software Reference Manual If the data is ready when this function is called a value of TRUE is returned and the data is placed in the long_2 parameter If the requested entry is a PMAC short word only the first element in the long array is filled i e long_array 0 and the second element is not relevant On the other hand if a PMAC long word or SPECIAL PLCC Function block is requested
44. 0 Intr 10 DPRAM 0xD4000 PMAC 1 SERO COM2 Baudrate 38400 Parity None PMAC 2 USBO Plug and play PMAC 3 NA Insert PMAC 4 NA PMAC 5 NA Remove PMAC 6 NA PMAC NA O Test ELE Properties Cancel Initialization Shutdown and Configuration Functions 31 PComm 32 Pro Software Reference Manual Provides a way to select and configure currently installed PMAC Devices A dialog box is displayed as shown to allow selection and configuration of all possible PMAC devices PMAC devices available are those whose driver has been installed Typically this is used to allow end users of an application to pick and choose from several PMAC devices in a PC Arguments hwnd Handle to parent window for device configuration dialog Return Value gt 0 and lt 7 Device selected 1 or FFFFFFFF User aborted with Cancel button LockPmac void LockPmac DWORD dwDevice To communicate to PMAC via ASCII communication uninterrupted by other threads or applications use LockPmac and ReleasePmac routines for these instances Most ASCII communication routines are thread safe meaning they employ the usage of LockPmac and ReleasePmac internally However there are a few that are not namely PmacSendLine PmacGetLine and PmacSendChar The LockPmac routine asks the operating system if the specified PMAC resource is available If it is the operating system will now restrict usage to the PMAC to th
45. 1f my_double m_textCommandedwW SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedcCsS X sprintf buf 11 41f my_double m_textCommandedxX SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedcCs Y sprintf buf 11 41f my_double m_textCommandedyY SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCsS Z sprintf buf 11 41f my_double m_textCommandedZ SetWindowText buf wsprintf buf d r n PmacDPRProgRemaining dwDevice m_Selectedcs m_textProgRemaining SetWindowText buf wsprintf buf 0x 041x r n PmacDPRPe dwDevice m_SelectedCs m_textOffsetAddress SetWindowText buf wsprintf buf S71ld r n PmacDPRTimeRemInMove dwDevice m_SelectedCsS m_textTIM SetWindowText buf wsprintf buf S71ld r n PmacDPRTimeRemInTATS dwDevice m_SelectedCsS m_textTATS SetWindowText buf my_double PmacDPRGetFeedRateMode dwDevice m_SelectedCs amp myBool sprintf buf 11 41f my_double m_FeedRate SetWindowText buf CDialog OnTimer nIDEvent Using the DPR Variable Background Read Write Data Buffer Variable Read Data Buffer The variable background data buffer can be used to have PMAC copy any of its own internal registers into the DPR area The registers copied are specified by using the startup functions discussed below Up to 128 registers can be copied These routines m
46. 2 etc Returns a global status structure SERVOSTATUS defined in the Data Types Structures Callbacks and Constants section BOOL CALLBACK PmacDPRDataBlock DWORD dwDevice long motor This function returns TRUE when move execution has been aborted because the data for the next move section was not ready in time This is due to insufficient calculation time It is FALSE otherwise BOOL PmacDPRPhasedMotor DWORD dwDevice long motor DPR Real Time Fixed Data Buffer Turbo 53 PComm 32 Pro Software Reference Manual This function returns TRUE when Ix01 is 1 and this motor is being commutated by PMAC it is FALSE when Ix01 is 0 and this motor is not being commutated by PMAC BOOL PmacDPRMotorEnabled DWORD dwDevice long motor This function returns TRUE when Ix00 is 1 and the motor calculations are active It is 0 when Ix00 is 0 and motor calculations are deactivated BOOL PmacDPRHandwheelEnabled DWORD dwDevice long motor This function returns TRUE when Ix06 is 1 and position following for this axis is enabled It returns FALSE when X06 is 0 and position following is disabled BOOL PmacDPROpenLoop DWORD dwDevice long motor This function returns TRUE when the servo loop for the motor is open either with outputs enabled or disabled killed It returns FALSE when the servo loop is closed under position control always with outputs enabled BOOL PmacDPROnNegativeLimit DWORD dwDevice long motor This f
47. 64 1 Each Unsolicited response is tagged with a B in front so that the user can retrieve the message and display it Note These variables are set automatically during the OpenPmacDevice routine For older firmware revisions for non Turbo PMACs i e 1 16D and older version did not support 163 and 164 Therefore it is strongly recommended to upgrade older firmware versions to newer ones otherwise PmacFlush will time out during every GetResponseEx and PMAC response will be very sluggish Arguments dwDevice Device number Return Value True if successful Return value indicates whether the new firmware variables have been enforced PmacAbortDPRTest void PmacAbortDPRTest DWORD dwDevice Stops the dual ported RAM test function initiated by the PmacDPRTest function Arguments dwDevice Device number to stop test for Return Value True if successful See Also PmacDPRTest PmacConfigure BOOL PmacConfigure HWND hwnd DWORD dwDevice This function causes the PComm 32 Pro Driver s configuration dialog to be presented to the user for driver configuration If the device is open it will be closed by this function This function can be used to modify the many attributes associated with talking to a particular PMAC These attributes are stored in the system s registry so that they will persist when the system recycles power or reboots Arguments hwnd Handle to parent window for device configuration dia
48. 72 PmaclbPhRGebioan teess tae tt tett EE ESSEE ESSEE EEEE ESSEE EE ESSEE Essee sereen teens steeen 72 PmacDPRGetMem ccccccccssccecsssseceessececeeaececseaaececseneecsesaesecseaaeeecsaeeeceesaeeecsasaeeesaeeecsesaeeeceesaeeesseeecseaeeecseaaeeess 73 PmaclDDPhRGerwWordt 73 PmaclDDhRResefwWordbBut eene 73 PmaclDDhR Set Word 73 PmacDPRSetD W Ord Bit cscccsccacessscancsecssseveccessncoonaetesscoonstevstsvsveesencannneeevseco svlesesstesuesvendsannccevsedonuncesvseeeosedneeseceesvet 73 PmacDPRSetDW ordMask 0 0csscscssevtecsessecsessencssecdensssccesesasseseesnedstsessenscassecnsesecedasdaneeceovuctecestocdscoensesssuetinassd 74 PimacDPR Seth oat E 74 PimacDPRSetMem eicvssscvececiec cst Gu nger 74 Frack iser tescht eegne hot vetacact shes ncsulacevoncs utases ves ege eege eege 74 DATA GATHERING FUNCTIONS eseseessesesesesessessescosoeseesoesesseesescesoeseesossessoesesoessessesossessossesossoesossessessossesosssessse 75 PrmacSetGather irise a a E i a E A EEE EEEE OR ESEE REES 75 PmacSetQuickGatherEX ccccccccssssecesssececessaeeecsneaeeecsececeeaaececsaaecessaeeecseaaececsacaeeesaeeecsesaeeeceeeeeeeesueeecsesaeeecseeaeeess 75 PmacGetGather ccccccccecscccesssececssscececssececesseeecssaaececaeeecseaaeeecseeaesecsaeeecsesaeeecseaaeceesaeeecseaaeeeceeseesesaeeecseaeeesseaeeeess 75 Dmacktartt atber ttrt tetett tnst teess te EEEE EE SEEEESSEE ESSEE SEEE EEE EE EE ESSEE ESSEE Sereen teense ne eene 75 enee
49. Arguments dwDevice Device number offset Offset from the start of dual ported RAM bit Bit number to set 0 31 DPR Numeric Read and Write 73 PComm 32 Pro Software Reference Manual Return Values None PmacDPRSetDWordMask void PmacDPRSetDWordMask DWORD dwDevice UINT offset DWORD val long onoff This function is used to manipulate DPR memory a DWORD 32 bits at time A bit wise logical OR of the register specified by offset is done with val and then stored into the same specified DPR location If on off is TRUE the a bit wise exclusive or XOR is evaluate using val and the specified memory location The result of this operation is then used to perform a bit wise AND with the value located in DPR The result is stored in the specified DPR location Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to store onoff Boolean indicating exclusive XOR or AND of val with DPRAM memory Return Values None PmacDPRSetFloat void PmacDPRSetFloat DWORD dwDevice UINT offset double val Writes a floating point value into dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to store Return Values None PmacDPRSetMem PVOID PmacDPRSetMem DWORD dwDevice DWORD offset size_t count PVOID val Copies a block of memory into dual ported RAM Arguments dwDevice Device number offset Offset from the
50. C has any SEND commands there will be ASCII responses in PMAC s output queue If several of these happen and the host PC is not checking for these unsolicited responses problems can occur Typically this issue is prevented by regularly calling one of the following functions PmacFlush PmacGetBufferAQ PmacGetControlResponseX PmacGetLine PmacGetResponseX These routines check for unsolicited responses If one is found it is buffered within the driver To check if any unsolicited responses have been queued up call USReadReady USReadReady returns true if there is a response pending To get a pending unsolicited response string call GetUSResponse Arguments dwDevice Device number response Pointer to string buffer PMAC s response is placed there by function maxchar Maximum characters to copy into response parameter Return Value True if successful PmacFlush void PmacFlush DWORD dwDevice PmacFlush is meant to cancel any previously sent commands and clear out both of PMACs ASCII communication queues input and output queues both 256 characters in size This can be useful when e Matching an ASCII string sent to PMACs input ASCII queue with the corresponding PMAC response put in the output ASCII queue e Telling PMAC to cancel processing a large query from the host PC For example if a huge memory dump is requested it could take a long time for PMAC to send this information out to the host If for som
51. DPRSysServoError ysRek ntryError Logical Query Functions MOT IONMODE PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError DWORD dwDevice DWORD dwDevice DWORD dwDevice DWORD dwDevice PmacDPRGetGlobalStatus DWORD dwDevice VOID gstatus PmacDPRGetMotionMode DWORD dwDevice long cs PROGRAM PmacDPRGetProgramMode DWORD dwDevice long cs To enable this feature call the PmacDPRBackgroundEx routine with the on parameter set to a non zero value the period argument set anywhere from 1 to 255 servo periods and the crd parameter set from 1 8 To retrieve the information use the provided DPR Background Fixed Data buffer query functions Information for motors coordinate systems 1 crd will be updated When enabled all the data query functions above may be used Typical usage of these routines is shown below and is available in the supplied example source code PmacTest application ndFixedTurbo On void Backgrou PmacDPRBackgroundEx er m_ f_enabled KillTim m_bg_bu void Backgrou TimerlID dw FALSE ndFixedTurbo 0On TCHAR buf 255 m_text_159 GetWindowText buf 255 atoi buf USHORT if PmacDPRBackground MessageBox m_hWnd U temp xX E r dwDevice nable to I Disablebgbuf Device FALSE 0 0 Enablebgbuf Buffer Information MB OK MB_ICONINFORMAT
52. Device lt 0 0 dwDevice if DeviceOpen dwDevice printf Device Open Failed n D EVIC EISOP else EN false printf Device Open Succeeded n printf A terminal is active for your use n DEVICEISOPEN true break case 20 CTRL T Checksummed communication ON if Checksum printf Checksums zy E Checksum else printf Checksums nabled Enabled Disabled n FALSE E Enabled n ChecksumEnabled TRUE DeviceSERDoChecksums dwDevice ChecksumEnabled break case 13 putch 10 output_buf char_counter Enabled if Checksum temp ERCheckRespo if temp switch Devices case I case I case I D print break D print break D print DeviceGet S S 7 S break E T x0 nseA dwDevice input_buf 16384 output_buf 0 An error occurred Error dwDevice R G ECEIVE Unab receive the ful le to get complete response ll response n Be CH KSUMDATABAD Data checksum error n CHECKSUMACKBAD Acknowledge checksum error n 100 Communication Application Notes PComm 32 Pro Software Reference Manual else DeviceGetResponse dwDevice input_buf 16384 output_buf show_printf input_buf output_buf 0 x0 char_co
53. Fixed Data Buffer Query Routines Global long PmacDPRGetServoTimer DWORD dwDevice The return value of this routine reflects PMAC s servo counter register located at PMAC address 0 BOOL PmacDPRSysServoError DWORD dwDevice The return value of this function indicates if PMAC could not properly complete its servo routines This is a serious error condition It returns FALSE if the servo operations have been completing properly BOOL PmacDPRSysReEntryError DWORD dwDevice Returns TRUE if a real time interrupt task has taken long enough so that it was still executing when the next real time interrupt came I8 1 servo cycles later It stays TRUE until the card is reset or the bit in the global status register is reset manually BOOL PmacDPRSysMemChecksumError DWORD dwDevice The return value is TRUE if a checksum error has been detected for either the PMAC firmware or the user program buffer space PmacDPRSysPromChecksumError distinguishes between the two cases BOOL PmacDPRSysPromChecksumError DWORD dwDevice DPR Real Time Fixed Data Buffer 49 PComm 32 Pro Software Reference Manual Returns TRUE if a firmware checksum error has been detected in PMAC s memory The return value is FALSE if a user program checksum has been detected or if no memory checksum error has been detected PmacDPRSysMemChecksumError distinguishes between the two cases GLOBALSTATUS PmacDPRGetGlobalStatus DWORD dwDevice
54. ION else m_bg_buf_enabled Begin timer TRUE m_TimerID SetTimer void BackgroundFixed TCHAR buf 300 TIMERPROC 1 5 double my_double BOOL myBool t if m_bg_buf_enabled m S y_dou print ble Pmac f but 11 CommandedA ble PmacDE but 41 1 CommandedB ble PmacDE NULL D D D timer identifier TRUE 100 temp nitialize Background 10 second interval PRCommand Turbo OnTimer UINT nIDEvent d dwDevic no timer callback SetWindowl RCommanded dwDevic 41 my_double Text buf m_SelectedCs A 41 my_double SetWindowl Text buf Im D RCommanded dwDevice m_Sel lectedcsS B lectedCS C DPR Features 21 PComm 32 Pro Software Reference Manual sprintf buf 11 41f my_double m_textCommandedcC SetWindowText buf my_double PmacDPRCommanded dwDevice m_Selectedcs U sprintf buf 11 41f my_double m_textCommandedU SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedcCsS V sprintf buf 11 41f my_double m_textCommandedVv SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCsS W sprintf buf 11 4
55. OADGETPROC long niIndex LPTSTR lpszBuffer long nMaxLength This function type is used by some program downloading procedures to offer the option of extracting text lines for the download from another source other than a disk file Arguments nIndex Line number asked for lpszBuffer Buffer pointer to copy text line into nMaxLength Maximum length of buffer Return Value The number of characters copied into the buffer DOWNLOADPROGRESS typedef void FAR WINAPI DOWNLOADPROGRESS long nPercent This function type is used by some program downloading procedures to offer the option of setting the current percent of progress during the procedure Arguments nPercent Current percent of progress Return Value None DOWNLOADMSGPROC typedef void FAR WINAPI DOWNLOADMSGPROC LPTSTR str BOOL newline This function type is used by some program downloading procedures to offer the option of reporting a status message Arguments str Message string newline Indicates if a new line should be added by the called procedure Return Value None DPRTESTMSGPROC typedef void FAR WINAPI DPRTESTMSGPROC LONG NumErrors LPTSTR Action LONG CurrentOffset This function type is used by some program testing DPR via the PmacDPRTest routine to offer the option of reporting the number of errors that have occurred a status message and the current offset being tested The action message indicates to the user wha
56. PRVarBufInit PmacDPRGetVBGTotalEntries Returns the number of items being updated in the buffer by all applications Should never exceed 128 DPRGet VBGAddress This function returns an entry within the address table initialized by PmacDPRVarBufInit For the first entry set entry_num to 0 the second set entry_num to 1 etc PMAC reads this address table to determine what to copy into DPR memory Typically not used by programmers DPRGet VBGDataOffset Returns the offset in bytes from the beginning of DPR that the data for this applications VBGDB begins Typically not used by programmers DPRGet VBGAddrOffset Returns the offset in bytes from the beginning of DPR that the address array for this application s VBGDB begins Divide by 4 to get the PMAC offset from beginning of DPR 0xD000 Typically not used by programmers Variable Write Data Buffer long PmacDPRWriteBufferEx DWORD dwDevice long num_entries struct VBGWFormat the_data This feature is available for PROM Version 1 15G and above The variable background write buffer can be used to have PMAC transfer up to 32 PMAC long or short words from DPR to its own internal memory without using the DPR ASCII feature The data to be written into PMAC s memory is first placed in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 The upper 16 bits of type_addr element specifies the type
57. RDoRealTimeHandshake int servotimer PmacDPRGetServoTimer dwDevice sprintf buf d servotimer m_ServoCounter SetWindowText buf sprintf buf 11 11f aDouble sprintf buf 11 11f aDouble i CommandedPosition SetWin b d aDouble PmacDPRFollowErro sprintf buf 11 11f aDouble T d b m_FollowingError SetWindow Double PmacDPRGetBiasPos sprintf buf 11 11f aDou m_BiasPos SetWindowText bu le i double aDouble PmacDPRPosition dwDevice motor units m_ActualPosition SetWindowText buf aDouble PmacDPRGetCommandedPos dwDevice motor units owText buf r dwDevice motor units ext buf wDevice motor units aDouble PmacDPRGetVel dwDevice motor 3072 0 sprintf buf 11 11f aDouble m_Velocity SetWindowText buf long aLong PmacDPRGetPrevDAC dwDevice motor sprintf buf ld aLong m_PrevDAC SetWindowText buf CDialog OnTimer nIDEvent Using the DPR Background Fixed Data Buffer Startup Shutdown and Handshaking Functions BOOL BOOL void PmacDPRSetMotors DWORD dwDevice UINT PmacDPRBackground DWORD dwDevice long on_off PmacDPRSetBackground DWORD dwDevice numberOfMotors 18 DPR Features PComm 32 Pro Software Reference Manual Data Query Functions Motor Specific double PmacDPRCommanded DWORD dwDevice long
58. RSetRequestBit long PmacDPRGetRequestBit DWORD dwDevice long mtr_crd void PmacDPRSetRequestBit DWORD dwDevice long mtr_crd long onoff These functions are used to control the PMAC DPR Control Panel feature The PmacDPRSetRequestBit and PmacDPRGetRequestBit routines set get a bit in DPR which indicate to PMAC to look at all the action bits that have been set and act on them PMAC will reset the request bit once the requested actions have been processed The request bit can therefore be considered a handshaking bit between the host computer and the PMAC Host sets PMAC notes the set bit PMAC performs requested actions PMAC resets the request bit Arguments dwDevice Device number mtr_crd Motor or Coordinate System Number 1 8 onoff To turn on use TRUE 1 else FALSE 0 Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also The Using the DPR Control Panel section in the User Manual PmacDPRControlPanel Dual Ported RAM Control Panel 47 PComm 32 Pro Software Reference Manual 48 Dual Ported RAM Control Panel PComm 32 Pro Software Reference Manual DPR REAL TIME FIXED DATA BUFFER DPR Real Time Fixed Data Buffer Initialization and Handshaking Startup Shutdown BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on void PmacDPRSetRealTimeMotorMask DWORD dwDevice long mask Han
59. Returns a global status structure GLOBALSTATUS defined in the Data Types Structures Callbacks and Constants section of this manual Coordinate System BOOL PmacDPRMotionBufOpen DWORD dwDevice The return value indicates whether or not a motion program buffer is currently open BOOL PmacDPRRotBufOpen DWORD dwDevice The return value indicates whether or not a rotary buffer is currently open double PmacDPRGetFeedRateMode DWORD dwDevice long coordinate_system BOOL mode Note The coordinate_system parameter is a 0 based index For example 0 is coordinate system 1 1 is coordinate system 2 etc The return value of this function is TRUE non zero if programmed moves in this coordinate system are currently specified by time TM or TA and the move speed is derived It is FALSE 0 if programmed moves in this coordinate system are currently specified by feedrate speed F and the move time is derived Motor SERVOSTATUS PmacDPRMotorServoStatus DWORD dwDevice long motor Note The motor parameter in these functions is a 0 based index For example 0 is motor 1 1 is motor 2 etc Returns a global status structure SERVOSTATUS defined in the Data Types Structures Callbacks and Constants section of this manual BOOL CALLBACK PmacDPRDataBlock DWORD dwDevice long motor This function returns TRUE when move execution has been aborted because the data for the next move section was not ready in time
60. ToRot PmacDPRAsciiStrToRotEx PmacDPRBinaryToRot PmacDPRAsciiToBinaryFile PmacDPRAsciiStrToBinaryFile PmacDPRRotBufChange The PmacDPRRotBufChange function is used to initialize the DPR Binary Rotary motion program buffers Presently there may be up to eight rotary buffers buffer 0 through buffer 7 All Turbo PMAC support eight buffers however non Turbo PMACs with firmware earlier than 1 16B will have only two Buffers 0 and 1 correspond to coordinate system 1 and 2 respectively The binary rotary buffer you wish to initialize must be the last variable sized buffer to be created Therefore if you wish to use three rotary buffers begin with 0 then 1 and finally 2 The size of a particular buffer is also specified with this function Note that using PmacDPRRotBufChange will not cause the change in size to be persistent when resetting the operating system registry is not changed Note also that I57 should be set to 0 before changing the buffer size and the buffer being changed should be the one last initialized If size is set to zero this function is equivalent to PmacDPRRotBufRemove Typically the size of the rotary buffer in PMAC is half that allocated in the DP Ram Two long words in the DP Ram 64 bits is mapped into one long PMAC word 48 bits The value assigned to size which is in units of 32 bits specifies how many instructions will fit into the buffer Ultimately each ASCII instruction is trans
61. WndMsgInit an interrupt will cause the driver to send provided message to the provided windows handle Arguments dwDevice Device number hWnd Window handle msg Message to be sent to the window ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error 78 Interrupt Functions PComm 32 Pro Software Reference Manual SERIAL CHECKSUM COMMUNICATION FUNCTIONS long PmacSERDoChecksums DWORD dwDevice UINT do_checksums long PmacSERCheckResponseA DWORD dwDevice char response UINT maxchar char outchar BOOL PmacSERCheckSendLineA DWORD dwDevice char outchar char command_csum long PmacSERCheckGetLineA DWORD dwDevice PCHAR response UINT maxchar PUINT num_char Note See Terminal C example program for a terminal example of using checksums PmacSERDoChecksums To enable or disable serial checksummed communications call PmacSERDoChecksums A non zero return value indicates a successful mode change Once enabled the last three routines above may be called By far the easiest and most useful is the PmacSERCheckResponseA routine PmacSERCheckResponseA PmacSERCheckResponseA is used to provide checksum verification of commands sent to PMAC It is capable of retrieving both multiple and single line responses This function returns the total number of characters received from PMAC including checksum chara
62. able it When enabled all the data query functions above may be used The period parameter in PmacDPRRealTimeEx specifies how often in servo cycles PMAC will update the data in this buffer The mask parameter is specifies which of the possible 32 motor data sets to update Bit 0 the least significant bit enables or disables the first motor by setting it to 1 or 0 Bit 1 enables or disables the second motor etc The PmacDPRSetRealTimeMotorMask routine can also be used to modify which motor data sets are being updated after initialization has been done Typical usage of these routines is shown below and is available in the supplied example source code PmacTest application void DPRRealTimeTurbo OnEnablerealtime TCHAR buf 255 long mask DPR Features 17 PComm 32 Pro Software Reference Manual lo ch void void a Fl ng on TRU ar cp m_NumberMotors GetWindowText buf 20 mask strtol buf amp cp 0 PmacDPRRealTimeEx DeviceNum mask 50 on Begin timer m_TimerID SetTimer S timer identifier 1 10 second interval TIMERPROC NULL no timer callback DPRRealTimeTurbo OnDisablerealtime long on FALSE PmacDPRRealTimeEx DeviceNum 0 0 0n KillTimer m_TimerlID PmacDPRRealTime OnTimer UINT nIDEvent DWORD dwDevice 0 Double units 1 Long motor iCurrentMotor 1 m_pDoc gt DP
63. ackground write buffer can be used to have PMAC transfer up to 32 PMAC long or short words from DPR to its own internal memory without using the DPR ASCII feature The data to be written into PMAC s memory is first placed in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 The upper 16 bits of type_addr element specify the type of data and the lower 16 bits specify the address to which data1 and data2 should be written The types of data that may be specified are as follows Bits 0 2 0 1 2 4 for Y L X SPECIAL memory respectively Bits 3 7 Width 1 4 8 12 16 20 a value of 0 is 24 bit variable Bits 8 12 Offset 0 23 Bits 13 15 Special type The way in which one uses datal and data2 is not intuitive For Y or X memory datal element will be used for specifying the 24 bits of data The most significant byte of data1 and all of data 2 are irrelevant in this case For L data PMAC 48 bit word datal should hold the first 32 bits and data 2 should hold the most significant 16 bits leaving the most significant 16 bits of data 2 irrelevant TWS is not yet implemented Extended Functions 93 PComm 32 Pro Software Reference Manual PMAC addresses are specified using an array of long integers The most significant word of each long upper 16 bits specifies the word type A value of 0 1 2 and 4 corresponds to Y Long X and SPECIAL respectively
64. an IP address Ethernet or Serial number USB along with other settings such as ACC54E PC104 QMAC or CPCI baords and creating other related registry values For Ethernet mode of communication the choice between TCP and UDP modes of communication is also provided by ETHCONFIGURE EXE The illustration below shows how these modules are related 32 Bit APPLICATIONS IPCOMM32 DLL Ring 3 Rin Oia ene Windems ORIMEIOODD Serial Port Ethernet FCI PUS ISA BUS USB Port Hardware PComm 32 Pro Driver Structure Introduction I PComm 32 Pro Software Reference Manual Supported Operating Systems Windows 98 Windows 2000 Windows ME Windows XP Communication Modes Plug and Play Ports PCI BUS PMAC USB Port PMAC Non plug and Play Ports ISA Bus PMAC Serial Port PMAC Ethernet port PMAC Introduction PComm 32 Pro Software Reference Manual GETTING STARTED Setting up Communications with PMAC No applications including all Delta Tau software programs will be used to add PMACs in the system Rather communication settings have been centralized in the operating system making the set up of each PMAC much like that of other devices in the computer i e printer video card sound card etc All setup is done through the Control Panel s Add New Hardware Wizard The wizard will help install and register the just inserted devices It is important t
65. at calling thread If it is not available the operating system will put the calling thread in a wait state until it does become available The ReleasePmac routine releases the PMAC resource for other threads to access It is critical to always have a release for every LockPmac call Nest LockPmac ReleasePmac sets Note If the application suddenly locks up try to recall when and where LockPmac and ReleasePmac is called Probably it was not released as many times as it was locked Arguments dwDevice Device number Return Value None See Also ReleasePmac Thread Safe ASCII Communications ReleasePmac void ReleasePmac DWORD dwDevice See LockPmac for description Arguments dwDevice Device number Return Value None See Also LockPmac Thread Safe ASCII Communications PmacSetCriticalVars BOOL PmacSetCriticallIVars DWORD dwDevice This routine optimizes PMAC s I variables for the most efficient and robust communication The following variables are set es Dei PMAC sends lt CR gt followed by an lt ACK gt after every valid response 32 Initialization Shutdown and Configuration Functions PComm 32 Pro Software Reference Manual e 6 1 This parameter reports how PMAC reports errors in command lines When I6 1 the form of the error message is lt BELL gt error message e 163 1 Pmacfush sends X to PMAC With I63 1 PMAC returns X back to acknowledge the flush process e 1
66. ax arguments and possible return values The groups are ordered as follows Initialization Shutdown and Configuration Functions ASCII Communication Functions Downloading Functions DPR Control Panel Functions DPR Real Time Fixed Data Buffer DPR Variable Background Data Buffer Functions DPR Binary Rotary Buffer Functions DPR Numeric Read Write Functions Interrupt Functions Variable Functions Data Types and Structures Important Information about Method of Communication Being Used by PComm 32 Pro There are three methods by which PComm 32 Pro may be used to communicate to PMAC over the Bus Dual ported Ram or the Serial Port Immediately after initialization after a call to OpenPmacDevice the method used depends on what is stored in the system registry either BUS or SERIAL To change the method used at startup call the PmacConfigure function so that the change is saved in the registry Alternatively if the operating system has the ability to configure drivers i e in the control panel or the multimedia palette select the PMAC driver for configuration Maximum Number of Response Buffer Characters Many of the ASCII Communication functions use an argument by the name of maxchar The maxchar specifies the maximum number of characters that will be placed within a response buffer a character string used as a parameter to the same function and should therefore never be larger than the size of the response buffe
67. ay work in a multitasking environment such as Windows That is multiple applications may use the Variable Background Data Buffer VBGDB simultaneously for Prom versions 1 15G and above only earlier proms are single user only although the combined number of registers copied still remains at 128 22 DPR Features PComm 32 Pro Software Reference Manual Startup Shutdown long PmacDPRVarBufInit DWORD dwDevice long num_entries long addrarray PmacDPRVarBufInit is used to initialize or append the VBGDB If all goes well a non zero handle is returned to the caller The handle returned is necessary for all data querying functions and therefore should be stored for safekeeping A return value of FALSE indicates initialization failed See Memory Organization Correct Order of Initialization for a discussion on how memory is managed in the DPR and also the order in which buffers should be initialized and removed This buffer should be added after all binary rotary buffers have been initialized and removed before the binary rotary buffers are deleted Specify the number of entries to be updated by PMAC num_entries and all PMAC addresses to be copied into the DPR the addrarray parameter a long array of num_entries size PMAC addresses are specified using an array of long integers The most significant word of each long upper 16 bits specifies the word type A value of 0 1 2 and 4 corresponds to Y Long X and SPECIAL respectiv
68. being done in test Return Value None Dpr_Bin_Rot_Errors Used by binary rotary buffer functions enum Dpr_Bin_Rot_Errors DprOk 0 DprBufBsy 1 DPR Rotary Buffer is Busy Dp rEOF 2 DPR Rotary Buffer End of File detected DprFltErr 1 Unable to pack floating point number too large DerStrToDErr 2 Unable to convert string to double float number DorMtrErr 3 Unable to convert Motor numbers specified DprPlcErr 4 Unable to convert PLC numbers specified DprAxisErr 5 Unable to convert axis in ABS INC or FRAX DorCmdErr 6 Illegal Command in string DorCmdMaxErr 7 Exceeded the Max number of PMAC cmds in a line See DPRCMDMAX DprIntErr 8 Integer number out of range S Integer Max values CIRMAX etc DprBufErr 9 DPR Rotary or Internal Rotary Buffer Size is zero DprOutFileErr 10 DPR Output File Error DprInpFileErr 11 DPR Input File Error D I 88 Data Types Structures Callbacks and Constants PComm 32 Pro Software Reference Manual GLOBALSTATUS Used in DPR Real Time Buffer query routines typedef struct gs Global Status DWord 1 1st 24 32 bit word USHORT rffu2 USHORT internall z 33 USHORT buffer_full USHORT internal2 Ss USHORT dpram_response 1 USHORT plc_command USHORT plc_buf_open Ts USHORT rot_buf_open Ly USHORT prog_buf_o
69. both entries in the long array are filled with data PMAC long words 48 bits occupy two long words in DPR 64 bits 2 entries PmacDPRLFixed or PmacDPRFloat can be used to convert the long array to a meaningful numeric value For example if three entries are to be updated and they are in this order 1 Motor 1 s DAC output X 0045 2 Motor 1 s actual position D 0028 3 Motor Us Actual velocity X 0033 Then entry_num 0 corresponds to motor 1 s DAC output entry_num 1 correspond to the actual position registers least and most significant words and finally entry_num 2 corresponds to motor 1 s actual velocity register The following demonstration source illustrates this process Get the dual word data long data 2 While 1 Get second entry if PmacDPRVarBufRead p myVBGBHandle 1 data Convert to encoder counts Assuming 1108 96 MotorPosition PmacDPRLFixed data 1 0 96 0 32 0 cprintf n n Actual motor position after conversion lf r n MotorPosition All the handshaking necessary for this buffer is contained within DPRVarBufRead Simply poll the return value of this function to determine whether or not the data is ready An extremely efficient function PmacDPRVarBufReadEx allows you to grab all of the data within the VBGDB in one call Like its counterpart PmacDPRVarBufRead it handles the necessary handshaking required The only significant difference is the size of the long
70. cause the PMAC dual ported RAM gather does not check before storing that there is enough room remaining e That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number handle Handle to previously initialized VBGDB num_entries The size for address Buffer addrarray Array of address and types Return Value If it all works out a TRUE will be returned otherwise FALSE PmacDPRVarBufinit long PmacDPRVarBufInit DWORD dwDevice long num_entries long addrarray Initializes a multi user background variable buffer VBGDB User s VBGDB structure is allocated and updated with correct address offset and data offset If other users are present then their VBGDB structures will also be updated The buffer s start address and size will be initialized along with the address array in the dual ported RAM DPR Variable Background Read Write Data Buffer 63 PComm 32 Pro Software Reference Manual Assumptions e That this buffer was the last one to be initialized in the DPR buffer area e That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example have three variables 2 x 24 and x 48 which takes 4 x 32 bits The size must be an exact modulo of 4 because the PMAC dual ported RAM gather does not check before storing that there is enough room remaining e That on
71. ccessful PmacDPRVarBuflnitEx long PmacDPRVarBufInitEx DWORD dwDevice long num_entries long addrarray PUINT addrtype Initializes a multi user background variable buffer VBGDB User s VBGDB structure is allocated and updated with correct address offset and data offset If other users are present then their VBGDB structures will also be updated The buffer s start address and size will be initialized along with the address array in the dual ported RAM Assumptions That this buffer was the last one to be initialized in the DPR buffer area That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example there are three variables 2 x 24 and 1 x 48 which takes 4 x 32 bits Therefore the size must be an exact modulo of four because the PMAC dual ported RAM gather does not check before storing that there is enough room remaining That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number num_entries The size for address Buffer addrarray Array of address and types addrtype pointer to type array that is used with addrarray to construct an address format that PMAC can handle Return Value A user handle if the Variable buffer is initialized OK otherwise 0 92 Extended Functions PComm 32 Pro Software Reference Manual PmacDPRVarBufChangeEx
72. ceesaeeecseaaeeecaeeecessaececsasaeeeeaeeecsesaeeeceeseeeeseeeecseaeeesseaeeeess 91 Pmadc DPR Back eround lx woicccsscesssecsdges ctzeczenceesi douse ce cauteass cacusacesacueawceaunsev ba ceuenthcnit s saccduantdagensitueauxeevalacesecesaanessecavets 92 PmMacDPRVarBuflnitEh x ecssscccccecssiscascsecavsabeveesanceooretensceinstevessoseeevsecanenceevaeco svlecscetodense ssceyeneseest onncesvsdepsoaedsnseuectesees 92 PmacDPRVarbutChangetst isrceiressseorrerereeisie iis tirer eeri r EEEE EEN EEEREN EENE EE EE ETEEN Er REER EE EES reaS 93 PmacDPRWYriteBufferEX ccccccecssecesseessecssececssecseececseecesseeesaecsseeecssecseeeesaecseeesessecessescaeecseeeseaeecaeesessecseeeeseeeeas 93 COMMUNICATION APPLICATION NOTES csssscssscssscssscscecscesscssccsscssscssscsssssscsssccssssssscsssesessnesssessecsesees 95 Common Communication Traps 0 0 eceecceescesecesecesecssecseecaeecseeeseseaeeeeeeeeeeecssecaecsaecsaecsaecaeecaeeeseseaeseeeeeeseeesetenaees 95 Common Dual ported RAM Traps cscesedicccssnssesdices chs sonsetadeeedecssouescoseqaessouseeusbendivecsuasensesauescessouseuedebsatnsduscsusendeneets 98 Terminal Example Program xisssccsececstesdivocssieses dances ces sone seedgecdecosoteseoalgauss cereousesudedusddvasunadaacesces docs suseuieetedeuscsvenndieauts 99 Table of Contents P PComm 32 Pro Software Reference Manual vi Table of Contents PComm 32 Pro Software Reference Manual INTRODUCTION TO USER MANUAL
73. ckground function to assure that the data query functions get fresh data All data query functions have this function within it relieving you from dealing with the handshaking details PmacDPRSetMotors p 4 A typical sequence of function calls to data would be Update data for motors cs 1 4 p PMAC_DEVICE_NUMB ER while DONE printf Target Position 11 11f n PmacDPRGetTargetPos p mtrcrd 1 0 96 0 32 0 II printf Bias Position 11 11f n PmacDPRGetBiasPos p mtrcrd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrcrd A printf Commanded Position A 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd B printf PmacCommanded Position B 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd C printf Commanded Position C 11 41f n aDouble print WFE d n printf FFE d n printf POSITION print PmacDPRWarnFError p mtrcrd PmacDPRFatalFError p mtrcrd LIMIT d n PmacDPROnPositionLimit p mtrcrd HOME COMPLETE d n PmacDPRHomeComplete p mtrcrd printf MOTOR IN F D F D printf AMP FAULT d n PmacDPRAmpFault p mtrcrd E E E E POSITION d n PmacDPRInposition p mtrcrdqd Using the DPR Background Fixed Data Buffer Turbo Startup Shutdown and Handshaking Functions BOOL PmacDPRBackground Ex DWORD dwDevice int on UINT period UINT crd
74. coordinate systems 1 crd will be updated When enabled all the data query functions above may be used Typical usage of these routines is shown below and is available in the supplied example source code PmacTest application DPR Background Fixed Data Buffer Query Routines Turbo Data Query Functions Note The crd motor parameter in the functions below is a 0 based index For example 0 is coordinate system 1 1 is coordinate system 2 etc Motor Specific double PmacDPRCommanded DWORD dwDevice long crd char axchar This routine returns the commanded position for an axis described by axchar in coordinate system crd in the same units as used to define the axis double PmacDPRGetTargetPos DWORD dwDevice long motor double posscale The target position of the specified motor is returned by this function The units are in counts unless posscale is not unity Coordinate System Specific long PmacDPRPe DWORD dwDevice long crd This function returns the program execution status for a given coordinate system crd The lower 24 bits are used The low 24 bits are the same as the second word returned on a command from PMAC long PmacDPRProgRemaining DWORD dwDevice long crd This function returns the number of program lines remaining for a specified coordinate system crd Same as the PR command for PMAC long PmacDPRTimeRemInMove DWORD dwDevice long crd This function returns the time remaining in the current mo
75. crd char maxchar double PmacDPRGetVel DWORD dwDevice long motor double units double PmacDPRVectorVelocity DWORD dwDevice long num long motor double units BOOL PmacDPRAmpEnabled DWORD dwDevice long motor BOOL PmacDPRWarnFError DWORD dwDevice long motor BOOL PmacDPRFatalFError DWORD dwDevice long motor BOOL PmacDPRAmpFault DWORD dwDevice long motor BOOL PmacDPROnPositionLimit DWORD dwDevice long motor BOOL PmacDPRHomeComplete DWORD dwDevice long motor BOOL PmacDPRInposition DWORD dwDevice long motor double PmacDPRGetTargetPos DWORD dwDevice long motor double posscale double PmacDPRGetBiasPos DWORD dwDevice long motor double posscale Coordinate System Specific long PmacDPRPe DWORD dwDevice long cs BOOL PmacDPRRotBufFull DWORD dwDevice long crd BOOL PmacDPRSysInposition DWORD dwDevice long crd BOOL PmacDPRSysWarnFError DWORD dwDevice long crd BOOL PmacDPRSysFatalFError DWORD dwDevice long crd BOOL PmacDPRSysRunTimeError DWORD dwDevice long crd BOOL PmacDPRSysCircleRadError DWORD dwDevice long crd BOOL PmacDPRSysAmpFaultError DWORD dwDevice long crd BOOL PmacDPRProgRunning DWORD dwDevice long crd BOOL PmacDPRProgStepping DWORD dwDevice long crd BOOL PmacDPRProgContMotion DWORD dwDevice long crd BOOL PmacDPRProgContRequest DWORD dwDevice long
76. cters Since the checksum characters are removed from the response the final number of characters in the response and the value return by this function will differ In any event if the value returned by this function becomes equal to the maxchar parameter PMAC s total response was not received If this occurs use SERflush to clear out PMAC s buffer increase the size of the character array and also maxchar and try again If an error occurs this function will return FALSE This function uses the control n feature implemented in PROM versions 1 14 and beyond This feature enables the host to assure that PMAC has received the command correctly before sending the carriage return which tells PMAC to act on the just sent command Note If PMAC s response is larger than maxchar the remainder of the response will be left in the rotary buffer This can cause garbled communications therefore always oversize the response buffer and the maxchar specification The following error codes may be set after calling this routine IDS_CHECKSUMDATABAD Checksum communications error Bad Data IDS_CHECKSUMACKBAD Checksum communications error Bad Acknowledge PmacSERCheckSendLineA Function This function sends a line to PMAC but first checks to see if it got down correctly It returns TRUE on successful transmission of the command The command sum for the command is also passed back by value See below for an example
77. ctive of PMAC i e input means flow from host to PMAC and output vice versa Regardless of which method of communication is being used the following discussion is valid The symptoms of POBB are that motion programs and PLCs stall and any further incoming ASCII commands are placed into the PMAC input buffer but do not get processed The cause is that there are two or more pending responses for the host in PMAC s output buffer The remedy is to purge PMAC s output buffer with a CONTROL X and a stripping of any extra characters waiting on the bus or serial port Once this is done motion programs PLCs and any queued up commands in PMAC s input buffer are processed Many POBB victims claim that the remedy is plugging their stalled stand alone PMAC into a terminal i e the executive program Nevertheless we know that this is just a side effect of the terminal purging PMAC s output queue There are many ways to get into POBB but most are explained by the fact that people do not follow the rules Do not talk to PMAC without listening That is whenever a host sends PMAC an ASCII command string the host should always check to see if PMAC has a response for the host wait a timeout period If I3 is set to 2 or 3 for example PMAC will nearly always have something to say when the host sends it something Another rule that if not followed will end up in a POBB condition is Do check PMAC periodically for unsolicited responses If the code
78. dShaking BOOL PmacDPRUpdateRealTime DWORD dwDevice Note The only significant difference between the Turbo and non Turbo implementation is the interpretation of the mask parameter of PmacDPRRealTimeEx and the Data query methods that differ Turbo s Realtime data is motor only specific whereas the non Turbo contains information that is more generic The PmacDPRRealTimeEx function enables disables the DPR real time fixed data buffer When enabled all the data query functions above may be used The period parameter in PmacDPRRealTimeEx specifies how often in servo cycles PMAC will update the data in this buffer The data for motor numbers 1 mask will be updated in DPR where mask is the second parameter in PmacDPRRealTimeEx function The final parameter on will enable this feature if set to 1 otherwise it will disable it Once enabled the range of motors updated can be modified via the PmacDPRSetRealTimeMotorMask routine The data is refreshed within the DPR when the PmacDPRUpdateRealTime function is called Call this before querying data 1 Note the correct sequence for handshaking 2 Refresh the data within the DPR via the DPRDoRealTimeHandshake routine 3 Call the Data Query functions to read the DPR Real Time Data buffer Arguments dwDevice Device number period In units of servo periods See 110 in PMAC Users Manual on_off Turn on 1 or off 0 mask 1 mask motors will be updated DPR Real Time
79. e DPR Binary Rotary Motion Program Buffer 26 Startup Shutdown FUnctions ccsccsccscesscsssencesecssesesscsenevacecsesceasesecssssnenesneseeecsesesecesscsesenesacenesaesaseseseeeseneseneseees 26 Conversion and Transfer Functions ccccccsccscssscsseeseeseeseeseessesecscesscuseesesaeeseesecatesecsceatesessaeenesaeeasesecseesesneeeeeeaseneeas 26 Pma acDPRRotBufChang sissien aieiaiee eene ys caindsaosinddoweanendeseaSenandseadesseosdenicesuageaees 26 PmacDPRROtBUfREMOVE le 27 PmacDPRROtUBUi EE 27 Pimac DPRROUB EEN 27 PmacDPRBufLast EE 27 Downloading Stuffing FUnrCtions sccccccscccsseesceesceescescesecesecusecasecssecseeseesaeesceeseeceeceeeseeeseeeceaeceaeeeseeeaeeeeeeeeeeeees 27 INTRODUCTION TO PROGRAMMER S REFERENCE essesesseseessessessesessoesesoessessesssseosoesesosssesoessssessossesossesssss 29 Important Information about Method of Communication Being Used by PComm 32 Dro 29 Maximum Number of Response Buffer Character csccsccssssessceseeeeesecseesecseeeecsaeeeeaecaeesecsesseesaeeeesaeeaeeaeeneeeees 29 INITIALIZATION SHUTDOWN AND CONFIGURATION FUNCTIONS scsssssssssssssscsescscsssscssssesseeees 31 OPEMPMAC DEVICE Eeer 31 ClosebmacDevicet 31 Pmachelect innen enina n e E E EEE E EE AE Ka O RESANS EEEE 31 Lokbaertt usgesode esgousegieegg EE EAE ERNE EE EEE EE OEE EAEn 32 Releagebmact nena a n E E TEE E REEE EREE E E OER E AEE EEan 32 PmacsetCritical Vars E 32 PmacAbortIDPRT St A NEE 33 PrmaCConfi guer
80. e DPR real time fixed data buffer The final parameter on will enable this feature if set to 1 otherwise it will disable it When enabled all the data query functions above may be used The period parameter in PmacDPRRealTimeEx specifies how often in servo cycles PMAC will update the data in this buffer The mask parameter is specifies which of the possible 32 motor data sets to update Bit 0 the least significant bit enables or disables the first motor by setting it to 1 or 0 Bit 1 enables or disables the second motor etc The PmacDPRSetRealTimeMotorMask routine can also be used to modify which motor data sets are being updated after initialization has been done Typical usage of these routines is shown below and is available in the supplied example source code PmacTest application Arguments dwDevice Device number period In units of servo periods See UO in PMAC Users Manual on_off Turn on 1 or off 0 mask Used to specify what motor data to update in the buffer Bit 0 motor 1 Bit 1 motor 2 etc 1 report 0 do not report DPR Real Time Fixed Data Buffer Query Routines Turbo Global long PmacDPRGetServoTimer DWORD dwDevice The return value of this routine reflects PMAC s servo counter register located at PMAC address 0 Motor SERVOSTATUS PmacDPRMotorServoStatus DWORD dwDevice long motor Note The motor parameter in these functions is a 0 based index For example 0 is motor 1 1 is motor
81. e reason the host wished to abort mid stream it could do so with a call to PmacFlush This is especially useful if you are not sure what PMAC has been doing before because it makes sure nothing else comes through before the expected response Arguments dwDevice Device number Return Value None ASCII Communication Functions 35 PComm 32 Pro Software Reference Manual PmacGetAsciiComm enum ASCIIMODE PmacGetAsciiComm DWORD dwDevice Returns the current communications mode BUS or DPRAM Use PmacSetAsciiComm to set this value and switch between BUS and DPRAM ASCII communication There is negligible gain when switching from BUS to DPRAM ASCII communication since most of the communication time is waiting for PMAC to respond and not the actual transfer of character data to and from PMACs internal ASCII queues Most use BUS communication as a means to free up additional DPRAM space Arguments dwDevice Device number Return Value ASCHIMODE enumeration 0 BUS 1 DPRAM PmacGetBufferA long PmacBUSGetBufferA DWORD dwDevice PCHAR response UINT maxchar PmacGetBufferA queries PMAC for a full multi line response Program listings or memory dumps are examples of multi line responses This function will wait for one of the following conditions to occur before returning e A timeout period e PMAC has the full response as determined by the ACKnowledge character ASCII 6 received at the end of the resp
82. ecksumEnabled CHAR output_buf 256 holds output string CHAR input_buf 16384 holds input string CHAR out Char LONG char_counter temp DWORD dwDevice if OpenRuntimeLink NULL printf Error occurred in RuntimeLink n return printf P32 EXE x1l x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x1 x 1 x1 x1 xl Copyright DELTA TAU 1998 n n printf n Created by Allen Segall ALLENS DELTATAU COM n printf Use this simple terminal program for trouble shooting your PMAC application n printf NOTE This application requires that the PComm 32 Pro driver be installed n printf n n Press CONTROL I to initialize communication printf n If you have multiple PMAC devices press CONTROL I to switch between them printf n Press ESCAPE to shutdown communcation and exit n char_counter 0 DONE FALSE ChecksumEnabled FALSE while kbhit amp amp DON CJ switch out_char getch case 27 Escape for EXIT Communication Application Notes 99 PComm 32 Pro Software Reference Manual r Control I for INITIALIZI DONE true break case 9 if DEVICEISOPEN DeviceClose dwDevice printf nWhat device number Oo 2X n gets input_buf dwDevice atoi input_buf if dw
83. een set up and there is room Arguments dwDevice Device number inpstr NULL terminated PMAC command string Bufnum Binary rotary buffer number BSendImmediately BOOL flag meant to send the data in one sweep Use of this flag is only available for USB mode of communication for now and will be implemented in Ethernet mode of communication soon Return Value Mnemonic Returned Value Explanation IDS_ERR_059 59 RS274 to BIN DPROT Unable to allocate memory IDS_ERR_060 60 RS274 to BIN DPROT Unable to pack floating point number IDS_ERR_061 61 RS274 to BIN DPROT Unable to convert string to float number IDS_ERR_062 62 RS274 to BIN DPROT Illegal Command or Format in string IDS_ERR_063 63 RS274 to BIN DPROT Integer number out of range DprOk 0 The code was successfully sent to DPR DprBufBsy 1 DPR Binary Rotary Buffer is Busy try again soon In addition PMAC may stop running the program for a variety of reasons When this occurs the DPR Rotary Buffer will fill up and appear busy to the PC DprEOF 2 DPR Binary Rotary Buffer End of File detected PmacDPRRotBufChange long PmacDPRRotBufChange DWORD dwDevice long bufnum long new_size The PmacDPRRotBufChange function is used to initialize the DPR Binary Rotary motion program buffers Presently there may be up to eight rotary buffers buffer 0 through buffer 7 All Turbo PMACs support 8 however non Turbo PMACs with firm
84. ely For Y Long and X entries the least significant word specifies the actual PMAC address to be copied Take for example the following define statements and the initialization of a long integer array define MTR1_ACTULPOS 0x00010028 PMAC Address D 0028 define MTR1_ACTULVEL 0x00020033 PMAC Address X 0033 define MTR1_DACOUT 0x00020045 PMAC Address X 0045 long myaddrarr 3 MTR1_DACOUT MTR1_ACTULPOS MTR1_ACTULVEL If myaddrarr is used as the last parameter in the PmacDPRVarBufInit function the second parameter num_entries which is the number of elements in the long array would have to be 3 Because only 128 entries may be updated you may want to call PmacDPRGetVBGTotalEntries to determine how many entries are already in use before calling PmacDPRVarBuflnit Although PmacDPRVarBufInit will also check the available space and return an error if the request is too large The PmacDPRBackGroundVar function enables disables this feature A return value 1 means successful 0 failure Once initialized a different set of PMAC registers to be copied to DPR may be specified by using the PmacDPRVarBufChange function This function works exactly as PmacDPR VarBufInit except that it has one additional parameter the handle to the already existing background data variable buffer Shutting down the VBGDB is done by calling the PmacDPRVarBufRemove function This function de allocates memory
85. eping track of which Action_Bits are set may be facilitated with the PmacDPRGetActionBit functions Request Bits On the other hand the request_bit is overwritten by PMAC PMAC sets this bit to zero when it is finished acknowledging all the requested actions Because of this fact the programmer must be sure to wait long enough for PMAC to process the command before resetting the requested action bit to FALSE in fact if your program is too fast PMAC may never see the requested action bit at all The request bit can therefore be considered a handshaking bit between the host computer and the PMAC Host PC sets PMAC notes the set bit PMAC performs requested actions PMAC resets the request bit Build routines that e Set an action bits via PmacDPRSetActionBit e Call the PmacDPRSetRequestBit function specifying the appropriate Coordinate System or motor for which you want the requested action to occur e Wait until the request bit is reset via PmacDPRGetRequestBit e Reset the appropriate action bit s This makes keeping track of request bits from within your application unnecessary An example implementation using C is shown below Here the correct sequence of function calls is shown for jogging motor 1 Turn on DPR Control Panel PmacDPRControlPanel device TRUE Set the Jog positive request bit for specified motor to TRUE PmacDPRSetJogPosBit device motor_num 1 Other action requests Set th nable
86. erreree 59 Startup Shutdown and Handshaking Eunectione 59 DPR Background Fixed Data Buffer Query Routines Turbo 59 Datta Query FUNctions sesasine saen erea aE E E e e N E aae Aa E E Re ar a E E a e aesa 59 Logical Query TEE 60 DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER e eeseesessessescossescesossesoossesoesseseesossesosssesose 61 PmacDPR Back eroumd E 61 PmacDPRBU as vecens sebeyss EA E E EER A Ara EA S EE O E EREEREER 61 PmaclDDPbRGerV BO Address 61 PmacDPRGetVBGNUMEDItries cccccccecssecessceessecesceeessecesseeessecseeecsseceseeeeseeceeeeesseceaseseaeecsueeseaeeceseeesaeeseeeesaeenees 62 PrmacDPRGe w BOGDataCHffsen sre rtnaieeak erei rronnr einn k iner n eniten rr aren era erR nane 62 PmacDPRGet VBGAddrOffset cccccccccssecsssceesseceecceeseeceececssecsseeecsseceseeeeseecsusesesseceaseseaeecsueeseseeceaseseaeecsaeeeeaseceas 62 PmacDPRGetV BGServoTimen es cecisevistecces con rigas Ea a kie R EE EE E E EE EEEE aR ASS EN 62 PmacDPRGetV BOGStoart Add 62 PmacDPRGetV BG TotalBntries 20ii accctisccscccaseccescsstectecad cacesdhacearicte cacsacachasadcesesdlscasadend casas ceavasdecttvageidlacbindeatsesencine 63 eene EISE TL E E AE 63 TT EE KEES 63 PmacDPRV arB uf ead EE 64 Pmac DPR VarButReadEx nerenin ona a cin dseadeeseevcsoktieshealenwees giele Tee 64 PmacDPRYV arB ufRemove EE 64 PmacDPR Write Butter Ex 2 sccisse cessecesscdevsccdedeccsancteacces ake veses E E eae cess dia a E cass ho aE Makes aeeie
87. eseossesocssescesossessosseeoessesoesosseosossessossesoesesoossesoessesessossessosseeseesossesossssesss 41 PmacAbortDownload ccccccccccccssssssececececsesseaececececsenesaecececeseneeaececececsessaaeseeeeeceeneaseeeseeeceesenssaeeeeeeeceesenseaeseeeeeenes 41 PmacAddDownloadFileA sosiete arsi EEE ENERE AE EE EEEE EEEE ATES EEr AS 41 PmacDownload A verei nn er a EE NEEE A E EAE sasveeheavsucsoesed 41 PmacDownloadFirmwareFile cccccsccessecessceessecescceeseeceeeessaecsseeeesseceseeeeseecseeesesseceuseeeaeecsueeeeaeecaeeeesaecseeseaeeceas 42 PrmachMulo Download 42 Table of Contents PComm 32 Pro Software Reference Manual PmacRemoveDown load File ccscccesssscecessseecssscececseeeecsesaececsneaeeeseneeecessaececsesaecessaeeecsesaeeeceeeaeeeceeeeeeseaeeesseaeeeess 43 PmacSetMaxDownloadErrors cccccccsesceceessececessceeecseccecnesaececseseececseeeecsesaeeecsusaeseeaeeeceesaeeecseseesesuseessesaeeesseeaeeess 44 DUAL PORTED RAM CONTROL PANEL sesessesseseesseseessesessessescesoescesossessoesesoesoessesossessossesosssesoessssessossesosssesses 45 PimacDPRC ontrol Eet Sehetttese seen ee Seene deeg dine leaden ee 45 PmacDPRGetActionBit and Pmac DDR SetAcrion Bt 45 PmacDPRGetFOEnableBit and PmacDbPR SerbObnable Ru 46 PmacDPRGetFOValue and PmacDPRSetFOV auer 46 PmacDPRGetRequestBitQ and DmaclDbR SerbReouestbt 47 DPR REAL TIME FIXED DATA BUFFER sesesseesescessesessoeseesessesoesoes
88. essoesessoesesoesoesoesoeseesossesossessoesesssssesoesosssessss 49 DPR Real Time Fixed Data Buffer Initialization and Handebakimg 49 Startup SIUM OWN SEENEN ee EENEG ERAN 49 om Shakin sooren aeiiae a a seat ale tans ate i EE EEE take de NEESS 49 DPR Real Time Fixed Data Buffer Query Routines 0 0 cceeceeceeecsseseessecseesececesecseeeecsacsaeeecsaecasesecseesecnaeeeecaeeseeneees 49 DPR REAL TIME FIXED DATA BUFFER TURBO scsscssssscssssscsscesscssscsscssesssscsscesecsscesscssscssscssessesssesenes 53 DPR Real Time Fixed Data Buffer Initialization Cube 53 Startup A gien eege Ee NEEN ee 53 HandS hakin oserei ei eaa aa e Eaa a aE a Ee Wat aud REEE aE EEN eaa EE AE 53 DPR Real Time Fixed Data Buffer Query Routines Turbo 53 DPR BACKGROUND FIXED DATA BUFFER esesseseesseseosoesecsessescesoescosoesessoesesoesoesoesossesseseesossessossesoesseseesosssessse 55 DPR Background Fixed Data Buffer Initialization and Handshaking i cceeeseesssseceeeeeceeeeeceaeeeeesecaeeseeneeaeeenees 55 DPR Background Fixed Data Buffer Query Roupnes eee eeeeceseeseesecseeseesseeeesaececenecaeeseeneeessecneseceaeceeenateeeeaees 55 later QUery unten REEL ta ge desta ldeas es a a a aa ia aeie 55 Logical Query TEE 57 DPR BACKGROUND FIXED DATA BUFFER TURBO e essescsssescessesessoesessessessesssseesoesesoessesoessesessossesossesssss 59 DPR Background Fixed Data Buffer Initialization and Handshaking Turbo sssseeessesesrsrsreerererrersrrrersersrrr
89. etDWordMask DWORD dwDevice UINT offset DWORD val Dual Word Conversion double PmacDPRFloat DWORD dwDevice long d double scale double PmacDPRLFixed DWORD dwDevice long d double scale The Dual Word Conversion functions convert data that is placed in DPR by one of its automatic features Whenever a long word in PMAC 48 bit is placed in DPR Motor 1 actual position register for example each 24 bit short word X and Y is sign extended and placed in a 32 bit word making it 64 bits of data that need to be converted A typical sequence of function calls for retrieving and converting motor 1 actual position for example would look like Get the dual word data long data 2 While 1 Get second entry if PmacDPRVarBufRead dwDevice myVBGBHandle 1 data Convert to encoder counts Assuming 1108 96 MotorPosition PmacDPRLFixed dwDevice data 1 0 96 0 32 0 cprintf n n Actual motor position after conversion lf r n MotorPosition The second parameter passed to PmacDPRLFixed is the scale factor Since this position register in units of 32 I108 encoder counts the inverse of this is used to scale the return value DPR Numeric Read and Write 71 PComm 32 Pro Software Reference Manual PmacDPRDWordaBitSet BOOL PmacDPRDWordBitSet DWORD dwDevice UINT offset UINT bit This determines if a bit is set within a 32 bit word DWORD in dual ported RAM Argumen
90. formed into a 64 bit code from which PMAC will transform into a 48 bit operation code A single instruction consists of a program command and its argument For example X100 is a single instruction and X1000Y 1000Z1000 is three instructions 26 DPR Features PComm 32 Pro Software Reference Manual A simple formula to determine the bufsize as a function of the maximum number of buffered program statements is buffer_size number_of_motors_in_cs num_lines 2 The Rotary buffer size must be at least six words long If it is too large then it may run into the gather buffer Call PmacDPRRotBuf to enable the Binary Rotary Buffer after it has been initialized PmacDPRRotBufRemove Use this function to remove any previously initialized rotary buffer PmacDPRRotBufClr This function will clear a Binary Rotary buffer in DPR i e remove all entries Disable the Binary Rotary Buffer first by calling PmacDPRRotBuf PmacDPRRotBuf Once initialized with PmacDPRRotBufChange the DPRotBuf function can be used to enable or disable the rotary buffer if argument onoff 0 then disable else enable The return value is a Boolean TRUE for enabled FALSE for disabled PmacDPRBufLast This function determines which buffer is the last variable sized buffer in DPR Return Value From 1 16B and beyond 9 Background Variable Buffer 8 Binary Rotary Buffer 7 7 Binary Rotary Buffer 6 6 Binary Rotary Buffer 5 5
91. g point double If there is a communication error then the default value in parameter def will be returned Arguments dwDevice Device number Ch Character representing the variable type M P T Q num Variable number to get def Default value Return Value I variable value or default PmacSetVariable void PmacSetVariable DWORD dwDevice char ch UINT num short int val void PmacSetVariableLong DWORD dwDevice char ch UINT num long val void PmacSetVariableDouble DWORD dwDevice char ch UINT num double val Sets a PMAC variable value as a 16bit integer long 32bit integer or 80bit floating point double Arguments dwDevice Device number Ch Character representing the variable type M P I Q num Variable number val Value to be set Return Value None Variable Functions 83 PComm 32 Pro Software Reference Manual 84 Variable Functions PComm 32 Pro Software Reference Manual UTILITY FUNCTIONS PmacGetRomDateA PCHAR PmacGetRomDateA DWORD dwDevice PCHAR s long maxchar Fills a string buffer with the firmware date of the PMAC device Arguments dwDevice Device number s Pointer to string buffer Maxchar Maximum characters to copy Return Value Pointer to string buffer PmacGetRomVersionA PCHAR PmacGetRomVersionA DWORD dwDevice PCHAR s long maxchar Fills a string buffer with the firmware version of the PMAC device Argu
92. g_handle PmacDPRVarBufInit dwDevice 4 VAdarray if vbg_handle lt 0 MessageBox DPR Background Variable Buffer Error r n return Turn on DPR background data buffer This MUST BE CALLED BEFORE PmacDPRRotBuf PmacDPRBackground dwDevice ON Turn on DPR rotary buffers PmacDPRRotBuf dwDevice ON Just like a Last In First Out stack the order in which the buffers should be removed is 1 Variable background data buffer 2 Binary rotary buffer 7 2 3 Binary rotary buffer 1 4 Binary rotary buffer 0 The following shut down procedure is generalized to handle any situation void closeAll dwDevice Shut Down int buffnum while buffnum PmacDPRBufLast dwDevice gt 0 if buffnum PmacDPRVarBufRemove dwDevice vobg_handle remove BG Buf if buffnum PmacDPRRotBufRemove dwDevice 1 remove BinRotBuf 2 if buffnum PmacDPRRotBufRemove dwDevice 0 remove BinRotBuf 1 if buffnum lt 0 MessageBox DPR Buf Remove ERR d r n buffnum Here the PmacDPRBufLast routine is called to determine what type of buffer was placed last in the DPR 3 Variable Data 2 Binary rotary 1 1 Binary rotary 0 The binary rotary and variable background data buffers are placed at the end of the DPR area allowing the Data Gathering feature to start at the begi
93. h method has a separate initialization function Common to all initialization functions is the parameter u Mask This parameter determines the interrupt service vectors to be used for the interrupt initiated by the function The least significant byte of ulMask controls which conditions will generate an interrupt A bit value of 0 enables 1 disables Bit PMAC Signal In Position of Coordinate System Buffer Request PMAC s request for more moves Error A motors in the coordinate system has had a fatal following error Warning A motors in the coordinate system has had a warning following error 4 Host Request PMAC has an ASCII response for the host 5 7 User programmable see PMAC User s Guide Writing a Host Communications Program PmaclINTRFireEventinit BOOL PmacINTRFireEventInit DWORD dwDevice HANDLE hEvent ULONG ulMask WIN Re o Once initialized with PmacINTRFireEventInit an interrupt will cause the driver to set the event handle provided to the signaled state The programmer is responsible to reset the event to the non signaled state Arguments dwDevice Device number hEvent Handle to the event to be set ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacINTRFuncCallinit BOOL PmacINTRFuncCalliInit DWORD dwDevice PMACINTRPROC pFunc DWORD msg ULONG ulMask Once initialized
94. hat all applications that use PComm 32 Pro be shut down This includes Pewin 32 Pro NC for Windows and any applications developed with PComm 32 Pro or PTalkDTPRO ActiveX component for PMAC Installing Pcomm 32 Pro Before installing PComm 32 Pro read the license agreement included in this manual behind title page and make a backup copy of the installation disks Then install PComm 32 Pro according to the instructions in the Installation Procedures section of the PComm 32 Pro User Manual Usage of PComm 32 Pro In this section the usage of PComm 32 Pro in general is discussed as well as specifically through an example program written with Microsoft Visual C MSVC The example MSVC program called PMACTEST uses the Microsoft Foundation Class MFC library The important details of linking with the library as well as initializing and shutting down communication are discussed in this section The PMACTEST project is located in the lt Install Directory gt PmacTest directory Linking the Code with the Driver The driver interface is done through a Dynamic Link Library PCOMM32DLL which is a standard windows library file format The application must interface with the DLL to communicate to PMAC Methods for interfacing to DLLs for any given development environment are well documented so those details will not be discussed here At a minimum the function prototypes and the location of the DLL in the operating system are needed
95. he maximum number of buffered program statements is buffer_size number_of_motors_in_cs num_lines 2 The Rotary buffer size must be at least 6 words long If too large it may run into the gather buffer Call PmacDPRRotBuf to enable the Binary Rotary Buffer after it has been initialized Arguments dwDevice Device number bufnum Which of the two rotary buffers i e 0 or 1 to reference new_size Size of new buffer Non Parameter Inputs Buffer Size Registry value DualPortRamRot bufnum the size for the desired buffer in 32 bit word units If the value of this key in the registry is 0 this effectively removes this rotary buffer If greater than 0 this means you want to initialize 1 2 etc in DPR The order must be rotary buffer 1 first then 2 etc If the size has not changed this will flush the buffer Resize this buffer by calling PmacDPRRotBufChange however it must be the last buffer in DPR To determine which was the last allocated buffer use PmacDPRBufLast Notes Variable sized buffers such as this one are added to the end of available buffer memory This leaves room for the Gather buffer which is fixed at the beginning of the DPR address space Assumptions That the DPR gather size is a correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit variable Return Values RET_ERROR 1 Error Check Rotary_Buffer_Size request the buffer
96. herefore 0 would specify buffer coordinate system 1 1 would be buffer coordinate system 2 etc PmacDPRAsciiFileToRot SHORT PmacDPRAsciiFileToRot DWORD dwDevice FILE inpfile USHORT bufnum Inputs ASCII strings from file inpfile converts all alpha to upper case then converts the ASCII to PMAC commands and writes the data to the dual ported RAM binary rotary buffer when ready Arguments dwDevice inpfile bufnum Return Value Device number NULL terminated path to file Binary rotary buffer number Mnemonic Returned Value Explanation IDS_ERR_059 59 RS274 to BIN DPROT Unable to allocate memory IDS_ERR_060 60 RS274 to BIN DPROT Unable to pack floating point number IDS_ERR_061 61 RS274 to BIN DPROT Unable to convert string to float number IDS_ERR_062 62 RS274 to BIN DPROT Illegal Command or Format in string IDS_ERR_063 63 RS274 to BIN DPROT Integer number out of range DprOk 0 The code was successfully sent to DPR DprBufBsy 1 DPR Binary Rotary Buffer is Busy try again soon In addition PMAC may stop running the program for a variety of reasons When this occurs the DPR Rotary Buffer will fill up and appear busy to the PC DprEOF 2 DPR Binary Rotary Buffer End of File detected PmacDPRAsciiStrToRot SHORT PmacDPRAsciiStrl SHORT PmacDPRAsciiStri TORotA DWORD dwDevice TORotW DWORD dwDevice USHORT bufnum USHORT bufnum PCHAR
97. ice PmacSendCommandA dwDevice vh dwDevice DPRRTBufferTurbo gt hostbusy Reset host busy str i48 1 i 0 vh dwDevice DPRRTBufferTurbo gt dataready 0 Reset Data Ready bit gh dwDevice DPRRealtActive else PmacSendCommandA dwDevice PmacSendCommandA dwDevice gh dwDevice DPRRealtActive TRUE i47 0 i48 0 FALSE E LF vh dwDevice DPRRTBufferTurbo gt dataready 0 Reset Data Ready bit vh dwDevice DPRRTBufferTurbo gt motor_mask else if on TRU Gl lt wsprintfA str il9 u period PmacSendCommandA dwDevice PmacSendCommandA dwDevice PmacSendCommandA dwDevice str i48 1 gat 5 turn on real time buffer gather vh dwDevice DPRRTBuffer gt hostbusy i 0 mask Extended Functions 91 PComm 32 Pro Software Reference Manual Reset host busy gh dwDevice DPRRealtActive TRUE else PmacSendCommandA dwDevice endgat turn off real time buffer gather PmacSendCommandA dwDevice i48 0 gh dwDevice DPRRealtActive FALSE return gh dwDevice DPRRealtActive PmacDPRBackgroundEx BOOL PmacDPRBackgroundEx DWORD dwDevice long on Starts or stops the PMAC s automatic write into the DPR background fixed and variable buffer Arguments dwDevice Device number On Turn on or off Boolean Returns TRUE if su
98. ice long motor double posscale The target position of the specified motor is returned by this function The units are in counts unless posscale is not unity double PmacDPRGetBiasPos DWORD dwDevice long motor double posscale The bias position register is returned by this function in units of counts if the posscale parameter is unity BOOL PmacDPRAmpEnabled DWORD dwDevice long motor BOOL PmacDPRWarnFError DWORD dwDevice long motor BOOL PmacDPRFatalFError DWORD dwDevice long motor BOOL PmacDPRAmpFault DWORD dwDevice long motor BOOL PmacDPROnPositionLimit DWORD dwDevice long motor BOOL PmacDPRHomeComplete DWORD dwDevice long motor BOOL PmacDPRInposition DWORD dwDevice long motor The functions above return the boolean status of a variety of motor flags Coordinate System Specific long PmacDPRPe DWORD dwDevice long cs This function returns the program execution status for a given coordinate system cs The lower 24 bits are used The low 24 bits are the same as the second word returned on a command from PMAC long PmacDPRProgRemaining DWORD dwDevice long cs Note The cs parameter in the functions below is a 0 based index For example 0 is coordinate system 1 1 is coordinate system 2 etc This function returns the number of program lines remaining for a specified coordinate system cs Same as the PR command for PMAC long PmacDPRTimeRemInMove DWORD dwDe
99. imit 1x13 or when the hardware limit on this end LIMn note has tripped it is FALSE otherwise void PmacDPRSetJogReturn DWORD dwDevice long motor This can be used to set the Jog Return Position for the motor specified The current actual position is used to assign the Jog Return Position MOTION PmacDPRGetMotorMotion DWORD dwDevice long motor Returns an enumeration based on the motion state of the specified motor typedef enum inpos jog running homing handle openloop disabled MOTION double PmacDPRGetCommandedPos DWORD dwDevice long motor double units This function returns the commanded position of the specified motor Units are in encoder counts unless the parameter units is not one double PmacDPRPosition DWORD dwDevice long motor double units This function returns the actual position of the specified motor in units of encoder counts provided the units variable is unity double PmacDPRFollowError DWORD dwDevice long motor double units This function returns the following error of the specified motor in units of encoder counts provided the units parameter is unity double PmacDPRGetVel DWORD dwDevice long motor double units This function returns the velocity of the specified motor in units of 1 Ix09 32 counts per servo cycle void PmacDPRGetMasterPos DWORD dwDevice long motor double units double the_double This function returns the master position of the specified motor in u
100. ing ASCII Communications FUNctions c cccscsccssesseeseeseeseenseeecnseseenseeneeaees St Thread Safe ASCII Communication 6 Error Handling ASCH Communication and Other Funeitons 6 mivs one Data yb Eed EE 7 PBA TURES E acsucssosscaseoserecenessectsacandtuceosancnanesusedcasseuosonscasdesecsadadcasassedsussoseuansssaeesutsaseucessavasacseus 9 Using Interrupts E 9 Send a Message to a Window genee RER cand bee EES 9 ET H Startia Thread une tient 2egeedeiesdegi ninne a a Ea E E a a EE a SE ged 9 EE H IR Te RE EE 10 DPR FEA TURES rocoesse sessao tie aatos dauer deros asete sasona eise os tevas Kosos seia eoero dE aV raS OE DSUN rask esaa Ea SESSE Easra DODES TS ES Nesi 11 A Global View of the DPR Support Functions s s ssessseeeseeeesessststrrteretsststsretierstsstststeteetutsstseutntsrsrnteeretreretnstsreret 11 Control Panel Non Turbo PMACel Il Fixed Real Time Data bueren Il Fixed Background Data Buffer Il Variable Background Data Buffer Il e E RTE 12 Read Write FUNCHONS sisgcionniio na n a e a aaa a p ea aa ENEE 12 Initialization SHUtdOWN E 12 Memory Organization Correct Order of Initialization ec eecesecseesecseeeeceeeeecaeeeeesecaeesecseeeceesseseeceaeeaeeneeeeeeaees 12 Using the DPR Control Panel Non Turbo PMACH eeecesssecesecesnseceeeeeeneeceeneessaeceseeeeaaeceneesnaeceeeeenaeseeeeeenaeeeee 13 TT 14 ET 14 Assigning a New Feedrate Ouerride AAA 14 Feedrate Override Enable Buts sicscccctesiccvsieasasesdiinceetccdavialev
101. ing the software bit the bit that causes PMAC to generate the interrupt too quickly Put a 1 2 or 1 millisecond delay between toggling the bits Cannot communicate to a PMAC w flash over the bus before running PMAC Executive Solution has found to be writing a 0 to the base address of the PMAC board Serial Communications programs derived from PMAC poll do not communicate until first running the PMAC Executive Program Remove the line which checks the CTS in the sendline routine Le while i lt timeout amp amp inportb combase 5 amp 32 0 Cannot establish communication serially If a Control T character put PMAC in full duplex was sent to PMAC the application being used may not be anticipating this Put E51 or E3 on PMAC2 and try again Rare Communication Problems 1 When using a PMAC2 with DPR and attempting to use interrupt based communications setting 156 to 1 causes the DPR to become all 1s for firmware versions 1 15G and before Control X does not seem to effectively clear out PMAC s buffer If a CTL_X is the last character in PMAC s input queue at the time PMAC checks it then all pending input and output characters in PMAC s queues get flushed If a character is sent after the CTL_X making CTL_X not the last character in the queue PMAC first parses the string In the next background cycle PMAC will enforce the CTL_X Because of this even though a CTL_X was issued if the host computer does not
102. inpstr PWCHAR inpstr PmacDPRAsciiStrToRot takes an ASCII Native PMAC text string converts it to Native PMAC Binary then places it into the DPR Binary Rotary Buffer if it has been set up and there is room Arguments dwDevice Device number inpstr NULL terminated PMAC command string Bufnum Binary rotary buffer number Return Value Mnemonic Returned Value Explanation IDS_ERR_059 59 RS274 to BIN DPROT Unable to allocate memory IDS_ERR_060 60 RS274 to BIN DPROT Unable to pack floating point number IDS_ERR_061 61 RS274 to BIN DPROT Unable to convert string to float number IDS_ERR_062 62 RS274 to BIN DPROT Illegal Command or Format in string IDS_ERR_063 63 RS274 to BIN DPROT Integer number out of range DprOk 0 The code was successfully sent to DPR DprBufBsy 1 DPR Binary Rotary Buffer is Busy try again soon Also PMAC may stop running the program for a variety of reasons When this occurs the DPR Rotary Buffer will fill up and appear busy to the PC DprEOF 2 DPR Binary Rotary Buffer End of File detected Dual Ported RAM Binary Rotary Buffer Functions 67 PComm 32 Pro Software Reference Manual PmacDPRAsciiStrToRotEx SHORT PmacDPRAsciiStrToORotEx DWORD dwDevice PCHAR inpstr USHORT bufnum BOOL bSendImmediately PmacDPRAsciiStrToRotEx takes an ASCII Native PMAC text string converts it to Native PMAC Binary then places it into the DPR Binary Rotary Buffer if it has b
103. ion Enable Disable Oor 16 Error Reporting Mode 1 163 Control X echo 1 164 Unsolicited Response Tagged 1 Thread Safe ASCII Communications PComm 32 Pro is a thread safe communication driver if used as described in this section When using multiple threads there is the possibility of two or more threads trying to communicate with the same PMAC at the same time Two routines within the driver LockPmac and ReleasePmac are used to mutually exclude other threads from continuing to run code that may be problematic LockPmac and ReleasePmac are used internally with functions such as PmacGetResponseA and DownloadFile This means that two or more threads even two or more applications may be communicating to the same PMAC through the same method bus USB etc and not have a synchronization problem The LockPmac routine asks the operating system if the specified PMAC resource is available If it is the operating system will now restrict usage to the PMAC to that calling thread If the PMAC resource is not available the operating system will put the calling thread in a wait state until it does become available The ReleasePmac routine releases the PMAC resource for other threads to access It is critical to always release for every lock call To communicate to PMAC uninterrupted by other threads or applications use LockPmac and ReleasePmac routines for these instances If the application suddenly locks up try t
104. it neg_limit activated pad ERVOSTATUS K K K PRPPRP tat e 90 Data Types Structures Callbacks and Constants PComm 32 Pro Software Reference Manual EXTENDED FUNCTIONS The following functions are extended versions of the existing functions without the extension Ex The Ex signifies the enhancement to the legacy code by their ability to get the actual status bit from the PMAC in addition to the number of characters Furthermore these functions have eliminated the existing bugs associated with the legacy code The purpose of using these new functions is to get the actual status code instead of the number of characters as in the case of legacy code without Ex The main difference from the old functions to the new ones is the return value In the existing code the number of characters is returned The new functions are written to get the error status in addition if any and are explained in detail in the following section It is recommended that users use these new functions instead of the old functions PmacDPRRealTimeEx BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period long on Used to enable the DPR RealTime data buffer for PMAC Types only char str 20 if vh dwDevice DPRAM NULL return FALSE if gh dwDevice bIsTurbo Turbo if on TRU BJ lt wsprintfA str i47 u period PmacSendCommandA dwDev
105. keteciant abeidetsvieasdassiadiadveciac ap i teas taste a Ea a eiS 15 Using the DPR Real Time Fixed Data Butter 15 TEE 15 Handshaking oroniossrseiiiieiesir iiie i anai ERE EE EAEE ORTE AEE R AE 15 Data Qu ty FUNCHONS sissi ee tiai aeaee EAE RE a EEEE E E E EEEE Ea e E EEA RE ESEE 15 Using the DPR Real Time Fixed Data Buffer Turbo 17 SLATE P SULA OWN iss deed ENEE EEGENEN 17 Ha dshaking 2 egegeteg ee ty soi sscbsusucsuusvedesdscvesaetecs EE AEE EE EEA E 17 Data Query FUNCHONS esu geed EEN dE a a E EE e AER ee 17 Using the DPR Background Fixed Data Buffer AAA 18 Startup Shutdown and Handshaking Eunectione 18 Data Query Functions euer cauawes EEE EENEG te uedcesueetentebenteeeds 19 Table of Contents i PComm 32 Pro Software Reference Manual Logical Query FUNCHONS esrin E E A O E E E O 19 Using the DPR Background Fixed Data Buffer Turbo eessseesesseserseesssrsrsrerreresssrsrsrerrsretsseststerrstsensrnrerrereeneesesree 20 Startup Shutdown and Handshaking Eunectione 20 legen QUERY tte eege i E EE sauna E E E EEEE S E E T E NA ie 20 Logical Query Functions cccccescesecsseeseesseeseeseeesecesecesecusecaecaaecsaeeseeeseesseeeceeeeeeecesecaeceaecaaecaaecaaeeseeeaeeeeaeeeeeaess 21 Using the DPR Variable Background Read Write Data Buffer 22 Variable Read Data Butler 22 SEA TAUP SULA OWN eege 23 Data Query Function Description 23 Varidble Write Data Buffets inisesin praia ea deca T S E E Ea a E EEO eaii 25 Using th
106. l PmacDPRGetActionBit and PmacDPRSetActionBit PmacDPRGetActionBit and PmacDPRSetActionBit void PmacDPRSetJogPosBit DWORD dwDevice long motor long onoff long PmacDPRGetJogPosBit DWORD dwDevice long motor void PmacDPRSetJogNegBit DWORD dwDevice long motor long onoff long PmacDPRGetJogNegBit DWORD dwDevice long motor D DP DP DP void PmacDPRSetJogReturnBit DWORD dwDevice long motor long onoff long PmacDPRGetJogReturnBit DWORD dwDevice long motor void PmacDPRSetRunBit DWORD dwDevice long cs long onoff long PmacDPRGetRunBit DWORD dwDevice long cs void PmacDPRSetStopBit DWORD dwDevice long cs long onoff long PmacDPRGetStopBit DWORD dwDevice long cs void PmacDPRSetHomeBit DWORD dwDevice long cs long onoff long PmacDPRGetHomeBit DWORD dwDevice long cs void PmacDPRSetHoldBit DWORD dwDevice long cs long onoff long PmacDPRGetHoldBit DWORD dwDevice long cs long PmacDPRGetStepBit DWORD dwDevice long cs void PmacDPRSetStepBit DWORD dwDevice long cs long onoff These functions are used to control the PMAC DPR Control Panel feature The PmacDPRSetActionBit and PmacDPRGetActionBit routines set get a bit in DPR which indicate to PMAC to perform the action on the designated motor coordinate system Arguments dwDevice Device number onoff To turn on use TRUE 1 else FALSE 0 motor Motor number 1 8 cs Coordi
107. l FreeLibrary so that the operating system may unload the PCOMM32 DLL from memory A Guide to Using ASCII Communication Functions Most if not all of the communication with the PMAC can be handled with the PmacGetResponseA Q function This function will send a command string i e 1j Open Prog1 etc to the PMAC and retrieve and place any pending responses within a response buffer for use This is an efficient and safe function to use The word safe is emphasized because there are functions i e PmacSendCharA PmacGetLineA and PmacSendLineA which if not used properly can cause un synchronized communication the mismatching of PMAC Commands to PMAC responses PmacGetResponseA always matches the command string with the response string or else it times out For getting responses to a PMAC control character command it is easiest to use PmacGetControlResponseA Common Problems Experienced Using ASCII Communications Functions This section outlines some of the more frequently encountered issues with solutions Also see Communication Application Notes Getting Started 5 PComm 32 Pro Software Reference Manual Modifying Critical PMAC I Variables There are several I Variables that PComm32Pro expects or enforces to certain values The table below describes each and their purpose Do not modify these I Variables I Variable Meaning Desired Value 13 Handshaking mode 2 LH Checksummed Serial Communicat
108. log dwDevice Device number to configure Return Value True if successful PmacGetDpramAvailable BOOL PmacGetDpramAvailable DWORD dwDevice This function determines if dual ported RAM is available for use by your application If the PMAC controller has dual ported RAM available and it was successfully initialized by the driver this function will return true Arguments dwDevice Device number Initialization Shutdown and Configuration Functions 33 PComm 32 Pro Software Reference Manual Return Value True if dual ported RAM is available PmaclnBootStrapMode BOOL PmacInBootStrapMode DWORD dwDevice This function returns TRUE if the PMAC controller is in a mode known as BOOTSTRAP It is in this mode that PMACs equipped with flash ram will be able to accept a new firmware file This mode is usually caused by a jumper being placed on the controller i e E3 on PMAC2 E51 on PMAC Since PMACs command set is different when in this mode it makes sense at certain times to check for this For example this function is used in Delta Tau s Executive program when it first starts up If the board is in BOOTSTRAP mode it changes the file menu option to allow for firmware download Arguments dwDevice Device number Return Value True if the PMAC controller is in Bootstrap mode See Also PmacDownloadFirmwareFile PmacDPRTest LONG PmacDPRTest DWORD dwDevice DPRTESTMSGPROC msgp DPRTESTPROGRESS prgp
109. ly one device structure is initialized per PMAC in the system Arguments dwDevice Device number num_entries The size for address Buffer addrarray Array of address and types Return Value A user handle if the Variable buffer is initialized OK otherwise 0 PmacDPRVarBufRead LONG PmacDPRVarBufRead DWORD dwDevice long h long entry_num long long_2 Reads an entry from the VBGD buffer and determines necessary offset to get the entry number desired Returns two longs by use of a pointer Jong_2 Calling party should poll this function until TRUE is returned Only then will the data be valid Arguments dwDevice Device number h Handle to users VBGDB status structure entry_num Entry number to be returned long_2 Pointers to returned data Second element may or may not be valid It is a function of data type for entry_num in question Return Value Returns TRUE 1 on data ready else FALSE 0 PmacDPRVarBufReadEx LONG PmacDPRVarBufReadEx DWORD dwDevice long h void long_x Reads an entry from the VBGD buffer and determines necessary offset to get the entry number desired Copies all the data specified by the addrarray parameter of PnacDPRVarBuflInit routine to the long_x array Therefore the long_x array should be at least num_entries 2 in size Calling party should poll this function until TRUE is returned Only then will the data be valid All necessary handshaking is handled within this routine
110. ments dwDevice Device number S Pointer to string buffer Maxchar Maximum characters to copy Return Value Pointer to string buffer PmacGetUserHandle PUSER_HANDLE PmacGetUserHandle DWORD dwDevice This function is used to retrieve a handle to a communication information structure used internally by the driver It is very similar to the PCOMM Library tagPmac structure This will probably never need to be used Arguments dwDevice Device number Return Value NULL if the function fails Otherwise a pointer to USER_HANDLE PmacGetPmacType long PmacGetPmacType DWORD dwDevice Returns an integer indicating the PMAC model you are communicating with Arguments dwDevice Device number Return Value 1 PMAC 2 PMAC2 3 PMAC Ultralite 5 Turbo PMAC 6 Turbo PMAC2 7 Turbo PMAC Ultralite Utility Functions 85 PComm 32 Pro Software Reference Manual Inp BYTE Inp DWORD dwDevice BYTE offset Allows the user to get at PMAC s I O registers BUSBASE x Useful for checking PMAC state without having to use ASCII communications Other utility functions are provided that do similar things but use ASCII communications Arguments dwDevice Device number offset Offset from PMAC s bus base address Return Value PMAC s Interrupt Status Register State if successful OxFF if a failure occurred either communication not established or BUS or DPR communication is not being u
111. mple the syntax within the WIN INI file may look like this PMACDOWNLOAD DOWNLOADFILE1 WINDEMO C PCOMM PCOMM TESTPLCC PLC DOWNLOADFILE2 WINDEMO C PCOMM PCOMM NCPANEL PLC DOWNLOADFILE3 WINDEMO C PCOMM WIZDOM SPINDLE PLC DOWNLOADFILE4 PEWIN C PCOMM WIZDOM SPINDLE PLC DOWNLOADFILE5 USERPROGRAM C USER3 BIFF PLC Note All PMAC files that include other files need to use the fully qualified path For example if one of the files to be downloaded is myfile plc and within myfile plc there is an include statement for myfile h the include statement must use the fully qualified path i e include c mydirect myfile h This function has added flexibility with the use of the szUserld parameter described in the table below MultiDownload makes a temporary file by the name of outfile and places an include statement for every file within the initialization file iniFile It then calls the PmacDownload function The outfile parameter will also be the name of any intermediary files created during the download such as the log map and compiled files i e files produced will be outfile log outfile map etc Arguments outfile Specifies the name of the output file This parameter also specifies the path of the files generated by this function If NULL the default is PMACDNLD path of file is active directory It is best to supply a path for consi
112. nate System Number 1 8 Return Value The PmacDPRGetActionBit routines return the state of the bit 0 1 for disabled enabled The PmacDPRSetActionBit functions return nothing See Also The Using the DPR Control Panel section in the User Manual PmacDPRControlPanel PmacDPRGetRequestBit and PmacDPRSetRequestBit Dual Ported RAM Control Panel 45 PComm 32 Pro Software Reference Manual PmacDPRGetFOEnableBit and PmacDPRSetFOEnableBit long PmacDPRGetFOEnableBit DWORD dwDevice long mtr_crd void PmacDPRSetFOEnableBit DWORD dwDevice long mtr_crd long on offi These functions are used to control the PMAC DPR Control Panel Feedrate Override feature The PmacDPRSetFOEnableBit and PmacDPRGetFOEnableBit routines set get a bit in DPR which tell PMAC whether or not to use the feedrate specified in the DPR From PMAC s perspective the enable bit is read only The value of the feedrate is set with PmacDPRSetFOValue Arguments dwDevice Device number mtr_crd Motor or Coordinate System Number 1 8 onoff To turn on use TRUE 1 else FALSE 0 Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also The Using the DPR Control Panel section in the User Manual PmacDPRControlPanel PmacDPRSetFOValue PmacDPRGetFOValue and PmacDPRSetFOValue void PmacDPRSetFOValue DWORD dwDevice long cs long value
113. nce Manual 2 Call OpenPmacDevice with the PMAC device number The PMAC device number is 0 for the first PMAC in the system 1 for the second and so on PMAC device configuration within the operating system is done with dialogs created via the PmacSelect function Once PMAC communication is initialized all other functions in the library may be called PmacServer The PComm 32 Pro driver uses an application PmacServer to handle continuous global memory updates of the DPR automatic functions PmacServer is launched whenever the driver opens communication to any PMAC device PmacServer will eventually shut itself down after all communications have been shut down To disable the continuous global memory updates use the Properties button in the PmacSelect dialog box This change should not affect the development environment Shutting Down Communication To release any resources the driver has allocated it is good programming practice to shut down any communication links that have been opened In PMACTEST the demo application this is done within the CPmacTestDoc class as shown below void CPmacTestDoc CloseDocument if m_bDriverOpen Call ClosePmacDevice m_bDriverOpen DeviceClose m_dwDevice if m_hPmacLib Free the library FreeLibrary m_hPmacLib m_hPmacLib NULL Notice the two steps in shutting down communication 1 Shut down the PComm 32 Pro driver with a call to ClosePmacDevice 2 Cal
114. ndedPos double PmacDPRPosition double PmacDPRFollowError double PmacDPRGetVeli void PmacDPRGetMasterPos void PmacDPRGetCompensationPos lt DPR Features 15 PComm 32 Pro Software Reference Manual DWORD PmacDPRGetPrevDAC DWORD PmacDPRGetMoveTime Note The only significant difference between the Turbo and non Turbo implementation is the interpretation of the mask parameter of PmacDPRRealTimeEx and the data query methods are different Turbo s Realtime data is motor only specific whereas the non Turbo contains generic information The PmacDPRRealTimeEx function enables disables the DPR real time fixed data buffer The final parameter on will enable this feature if set to 1 otherwise it will disable it When enabled all the data query functions above may be used The period parameter in PmacDPRRealTimeEx specifies how often in servo cycles PMAC will update the data in this buffer The data for motor numbers 1 mask will be updated in DPR where mask is the second parameter in PmacDPRRealTimeEx function The range of motors updated can be modified via the PmacDPRSetRealTimeMotorMask routine The data is refreshed within the DPR when the PmacDPRUpdateRealTime function is called Call this before querying data The code segment below shows the sequence of calls An excerpt from the provided PMACTEST application that should be used to assure that reading of the DPR
115. nits of encoder counts unless the units parameter is unity void PmacDPRGetCompensationPos DWORD dwDevice long motor double units double the_double This function returns the compensation position of the specified motor in units of encoder counts unless the units parameter is unity DWORD PmacDPRGetPrevDAC DWORD dwDevice long motor This function returns the DAC value of the previous servo cycle It is in units of 1 256 DAC bits DWORD PmacDPRGetMoveTime DWORD dwDevice long motor This function returns the time in milliseconds left in the currently executing move DPR Real Time Fixed Data Buffer 5I PComm 32 Pro Software Reference Manual 52 DPR Real Time Fixed Data Buffer PComm 32 Pro Software Reference Manual DPR REAL TIME FIXED DATA BUFFER TURBO DPR Real Time Fixed Data Buffer Initialization Turbo Startup ShutDown BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on void PmacDPRSetRealTimeMotorMask DWORD dwDevice long mask HandShaking BOOL PmacDPRUpdateRealTime DWORD dwDevice Note The only significant difference between the Turbo and non Turbo implementation is the interpretation of the mask parameter of PmacDPRRealTimeEx Other than that it is only the Data query methods that differ Turbo s Realtime data is motor only specific whereas the non Turbo contains information that is more generic The PmacDPRRealTimeEx function enables disables th
116. nning of unreserved memory Using the DPR Control Panel Non Turbo PMAC The PMAC provides an area in the DPR that emulates the PMAC s hardware control panel connector The PmacDPRControlPanel function enables disables the dual ported RAM control panel feature When enabled functions are available to e Jog Jog Pre Jog Home Motors only e Run Stop Step and Feed Hold Coordinate System only e Assign a feedrate override value for a particular coordinate system Four necessary conditions for any of the actions above to be realized are 1 The DPR Control panel has been enabled with a call to PmacDPRControlPanel 2 The action bit or flag for the specified action must first be set to 1 using the corresponding PmacDPRSetActionBit function where Action is any of those listed in A and B above DPR Features 13 PComm 32 Pro Software Reference Manual 3 Any action bits that conflict with the one attempting to be realized must be reset to 0 For example if the stop or abort bit has been set and the programmer attempts to run a PMAC program by setting the run bit PMAC will not run the program because of the conflict in the actions 4 The request_bit of the corresponding motor or coordinate system must be set to 1 by use of the PmacDPRSetRequestBit function Action Bits PMAC reads only action bits after the DPRSetRequestBit function is called None of the action request bits are written to by PMAC Ke
117. 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 PComm 32 Pro Software Reference Manual Table of Contents INTRODUCTION TO USER MANUAL esseseseeessesssoesesescecesoroeseseeccoerosceseoesosoesesecoerosoroeseceecseerosseseeeeoeeosoeseesesesseeseesse 1 About PCOMM d E 1 A Global View of the Library lt scsticste disse ees EES ee nei are Nats 1 Supported Operating E 2 Communication Modes s 2dgokegregiegeredrgkeeg olelecheciseives Aacnasioen savas abstaeecbeotlsteca teil acasdlnesias aduibessesdavacsteehseceelaens 2 Pigana EE 2 Non plug and Play POTIS shits degisptieceateascaztentistgeiestagdan tba wead a ege 2 ES IO RRNIEKOGHTKN NU 3 Setting up Communications with PMAC 0 0 eee scsesecseesecseeeecseeecaecaeesecueesecsaeeeesaecassecaeesesnaeseesaeeeesaesateseeseeseesaees 3 Installing Recom 32 PIO isseire earna Re reS E E E EEEE E EER EE SRE R E EE EEn e EEES 3 Usage of PComni 32 EE 3 Linking the Code with ET 3 Initializing Communication E 4 PROCS ET 5 Shutting Down Communication St A Guide to Using ASCII Communication EFunctione 5 Common Problems Experienced Us
118. o recall when and where LockPmac and ReleasePmac was called Probably it was not released as many times as it was locked Error Handling ASCII Communication and Other Functions Extended error handling is implemented within the ASCII communication routines that have the Ex suffix long PmacGetLineExA DWORD dwDevice PCHAR response UINT maxchar long PmacGetResponseExA DWORD dwDevice PCHAR response UINT maxchar PCHAR command long PmacGetControlResponseExA DWORD dwDevice PCHAR response UINT maxchar CHAR ctl_char Similarly named routines shown below do not have extended error handling long PmacGetLineA DWORD dwDevice PCHAR response UINT maxchar long PmacGetResponseA DWORD dwDevice PCHAR response UINT maxchar PCHAR command long PmacGetControlResponseA DWORD dwDevice PCHAR response UINT maxchar CHAR ctl_char The only difference between the two sets of functions is the return value The extended routines provide error status in the most significant byte in addition to the number of characters received all other bytes whereas the non Ex routines simply return the number of characters received from PMAC It is recommended that users use the extended functions to allow for enhanced error handling The following error status codes exist for the extended ASCII communication routines 6 Getting Started PComm 32 Pro Software Reference Manual Below are all negative return codes
119. o retrieve Read Write Functions Numeric transfers of 16 and 32 bit wide numbers may be read or written to with this set of PComm 32 Pro routines Floating point values are supported for 32 bit transfers In addition several helper routines exist for setting individual bits of DPR memory Initialization Shutdown Note The Automatic DPR Features may be disabled by the PmacSelect dialog select device then push the properties button Actually PmacServer performs the update for all applications Once initialization of communication has been completed via OpenPmacDevice all other DPR functions may be called of course only if DPR is present in the system A complete description of their use and examples are provided in the reference manual There is a distinction between initializing and turning on a DPR feature Some DPR features require two actions to be taken before they are running First initialize the feature i e for the DPR Rotary buffer call the PmacDPRRotBufChange Once initiated the feature is turned off or on with a different function call i e for the DPR Rotary buffer call the PnmacDPRRotBuf In addition to initialization and shutdown order being important the order in which a program turns on the DPR features is also critical If using more than one DPR automatic feature always turn on the DPR Binary Rotary Buffer last The reason for this is that a call to PmacDPRRotBuf that turns the feature
120. oads each file listed within a text file referred to as the list file PmacAddDownloadFileX appends a specified file name to the list file inifile If the file to be added to the list already in the list nothing is done To remove a file from the list use PmacRemoveDownloadFileAPmacRemoveDownloadFile All parameters to this function are case insensitive and white space characters will be ignored Arguments inifile Initialization file to add new download file to If NULL the default is WIN INI szUserlId User id string this associates the file being added to a given application or user szDLFIle Name of the file to add to download list Return Value Greater than zero 0 if successful else zero 0 See Also PmacMultiDownload PmacRemoveDownloadFileAPmacRemoveDownloadFile PmacDownloadA long PmacDownloadA DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADGETPROC getp DOWNLOADPROGRESS pprg PCHAR filename BOOL macro BOOL map BOOL log BOOL dnld This function takes an ASCII file processes it and downloads it from the PC to the PMAC Processing includes MACRO parsing and compiling PLCs for example Downloading Functions 41 PComm 32 Pro Software Reference Manual This function can generate several residual files as described in the table below File Name Usage Filename EXT Original file with the original EXTension should not be PMA 56K LOG MAP Filename PMA After parsing the file for
121. of 3 713 707 this corresponds to a feedrate override values from 0 to 225 87 for real time execution 100 value should be 14507 Feedrate Override Enable Bits As with the action request bits the feedrate override enable bits are also not written to by PMAC PMAC continually writes the feedrate override value specified by PmacDPsetFOValue when the corresponding enable bit is true Keeping track of the feedrate override enable bit may be done via the PmacDPRGetFOEnableBit function whose return value is the bit value 1 for enabled 0 for disabled Using the DPR Real Time Fixed Data Buffer Startup ShutDown BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on void PmacDPRSetRealTimeMotorMask DWORD dwDevice long mask Handshaking BOOL PmacDPRUpdateRealTime DWORD dwDevice Data Query Functions Global PmacDPRGetServoTimer PmacDPRSysServoError PmacDPRSysReEntryError PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError PmacDPRGetGlobalStatus Coordinate System PmacDPRMot ionBufOpen PmacDPRRotBufOpen PmacDPRGetFeedRateMode Motor PmacDPRMotorServoStatus PmacDPRDataBlock PmacDPRPhasedMotor PmacDPRMotorEnabled BOOL PmacDPRHandwheelEnabled BOOL PmacDPROpenLoop BOOL PmacDPROnNegativeLimit BOOL PmacDPROnPositiveLimit void PmacDPRSetJogReturn MOTION PmacDPRGetMotorMotion double PmacDPRGetComma
122. on will open a PMAC program buffer i e the PMAC ASCII command amp 1 Open rot When a PMAC program buffer is open any attempt to initialize or enable other DPR features will fail since the driver has to set I variables to enable a feature and if a buffer is open the I variable assignments won t get processed but rather stored in the buffer Memory Organization Correct Order of Initialization The order in which the binary rotary buffers and the variable background data buffer are initialized and removed is important to the successful operation of the buffers This is because they are of variable size and an assumption is made as to the placement of the memory and the sequence of initialization by the library The order in which they should be initialized is 1 Binary rotary buffer 0 2 Binary rotary buffer 1 3 Binary rotary buffers 2 7 4 Variable background data buffer The following example code demonstrates this 1 Initialize 1st rotary buffer rotary 0 coordinate system 1 always if PmacDPRRotBufChange dwDevice 0 200 lt 0 MessageBox DPR Rotary Buffer 1 Error r n return 2 Initialize 2nd rotary buffer coordinate system 2 always if PmacDPRRotBufChange dwDevice 1 200 lt 0 MessageBox DPR Rotary Buffer 2 Error r n return 12 DPR Features PComm 32 Pro Software Reference Manual 3 Initialize variable background buffer vb
123. onse e The maximum number of characters maxchar was received If PmacGetBufferA does not succeed on its first attempt to retrieve the response it may be that the PMAC device has no response available or a Timeout has occurred waiting for PMAC to respond Arguments dwDevice Device number response Pointer to string buffer PMAC s response is placed there by function maxchar Maximum characters to copy into response parameter Return Value The number of characters received PmacGetControlResponseA PmacGetControlResponseExA long PmacGetControlResponseA DWORD dwDevice PCHAR response UINT maxchar CHAR ctl_char long PmacGetControlResponseExA DWORD dwDevice PCHAR response UINT maxchar CHAR ctl_char This routine is considered obsolete however it has been left in for backward compatibility PmacGetControlResponseExA sends a control character to PMAC and potentially returns the ASCII response from PMAC similar to PmacGetResponseExA Arguments dwDevice Device number response Pointer to string buffer PMAC s response is placed there by function maxchar Maximum characters to copy into response parameter ctl_char Control character to send to PMAC Return Value PmacGetControlResponseA Number of characters returned in response parameter 36 ASCII Communication Functions PComm 32 Pro Software Reference Manual PmacGetControlResponseExA The most significant byte contains the status code
124. ord that can accompany the keywords small short and long PComm 32 Pro the 32 bit Delta Tau driver has been developed with Visual C for 32 bit operating systems therefore int has always been four bytes long In order to make our code generic under all development environments this document recommends that all int types be changed to long at least for the Visual Basic development environment Getting Started PComm 32 Pro Software Reference Manual Getting Started PComm 32 Pro Software Reference Manual FEATURES Using Interrupts Interrupts are provided for all Windows 95 98 and Windows NT operating systems There are four methods of interrupt notification for the program 1 Send a message to a window 2 Calla function 3 Start a thread function 4 Set an event Each method has a separate initialization function Common to all initialization functions is the parameter ulMask This parameter determines the interrupt service vectors to be used for the interrupt initiated by the function The least significant byte of u Mask controls which conditions will generate an interrupt A bit value of 0 enables 1 disables Bit PMAC Signal In Position of Coordinate System Buffer Request PMAC s request for more moves Error A motors in the coordinate system has had a fatal following error Warning A motors in the coordinate system has had a warning following error 4 Host Request PMAC has an ASCII
125. ordinate System only 3 Assign a feedrate override value for a particular coordinate system Fixed Real Time Data buffer PMAC has an automatic DPR feature the Fixed Real Time Data Buffer in which PMAC continually updates a specific area of DPR with a fixed data structure This data structure is full of meaningful motor some non motor information in Non Turbo PMAC information and can be accessed by a host application to show positions velocities etc in real time The data in this feature is updated in PMAC s Real Time Interrupt period Fixed Background Data Buffer This automatic DPR feature is similar to the Fixed Real Time Data Buffer in that a fixed data structure is copied by PMAC into a specific area of the DPR The difference is that the information is coordinate system specific and the information is updated in PMAC s background cycle Variable Background Data Buffer PMAC has the ability to copy up to 128 of its own registers to the DPR for the host to use The locations of these 128 registers in PMAC s memory map may be specified by the user hence the name Variable Background Data Buffer DPR Features 11 PComm 32 Pro Software Reference Manual Binary Rotary Buffer This PMAC DPR automatic feature can be used to efficiently download large part programs to PMAC s internal rotary buffer The routines included to support this feature convert the PMAC ASCII to PMAC Binary before placing the code in the DPR for PMAC t
126. party vendors create implement the following set of functions instead of the standard Download procedures PmacAddDownloadFileA PmacMultiDownloadaA PmacRemoveDownloadFileA The PmacAddDownloadFileA appends to a centrally located list of files to be downloaded every time PmacMultiDownloadAQ is called to download files to PMAC PmacRemoveDownloadFileA will remove the files from the list 10 Features PComm 32 Pro Software Reference Manual DPR FEATURES A Global View of the DPR Support Functions The majority of the functions in this library are dual ported RAM DPR support functions Their descriptions in the reference manual have been grouped by functionality as shown below Note The Automatic DPR Features may be disabled by the PmacSelect dialog select device then push the properties button Actually PmacServer performs the update for all applications Dual Ported RAM Functions e e e e e Variable Binary Rotary Read Write GE Program Buffer Pecunia Functions Data Buffer Fixed Realtime ee Data Buffer EE Data Buffer Dual ported RAM Support Functionality Control Panel Non Turbo PMACs The PMAC provides an area in dual ported RAM that emulates the PMAC s hardware control panel connector When enabled functions are available to 1 Jog Jog Pre Jog Home Motors only 2 Run Stop Step and Feed Hold Co
127. pen 1 USHORT internal3 2s USHORT host_comm_mode 1 USHORT internal4 Se 2 RT pad2 RT eat RT end_gather aay Bee rapid_m_flag Se 13 RT rti_warning RT earom_error RT dpram_error RT prom_checksum E RT mem_checksum S Ts RT comp_on RT stimulate_on gt I RT stimulus_ent 5 13 RT prep_trig_gat S Le RT prep_next_serv 3 JL RT data_gat_on RT servo_err S ZZ RT servo_active ss RT intr_reentry Se RT intr_active USHORT padl GLOBALSTATUS MOTION ANNNNNNNNANNNNNANNANAYNNNANNNNNANANANNNNN I COOC OO CHOCO OO EI OO OC OO Coc 88 Al Word 2 277 2nd 24 32 bit 1 1 8 18 19 word 8 0 7 7 typedef enum inpos jog running homing handle openloop disabled MOTION MOTIONMODE typedef enum linear rapid circw circcw spline pvt MOTIONMODE PROGRAM typedef enum stop run step hold joghold jogstop PROGRAM SERVOSTATUS Used in DPR Real Time Buffer query routines typedef struct ss Motor Servo USHORT internall Sr iO USHORT internal2 S 2 USHORT home_search S 2 st atus Ist 24 bit word Data Types Structures Callbacks and Constants KO PComm 32 Pro Software Reference Manual S c NANNNNNNNNNNNN OOOCWODWODOCOOOC0O 0 C We O block_request rfful desired_vel_0 data_block_err dwelling integration run_program open_loop phased_motor handwheel_ena pos_lim
128. r If PMAC s response is larger than the value specified by maxchar the remainder of the response will remain in PMAC s queue Introduction 29 PComm 32 Pro Software Reference Manual 30 Introduction PComm 32 Pro Software Reference Manual INITIALIZATION SHUTDOWN AND CONFIGURATION FUNCTIONS OpenPmacDevice BOOL OpenPmacDevice DWORD dwDevice This function opens a channel for the program to use the PMAC driver In order for this function to succeed the PMAC Win32 Driver must be previously installed in the operating system PMAC dwDevice must be registered in the environment Then the system registry will contain the location and configuration of the PMAC specified by dwDevice OpenPmacDevice looks to the registry for this information The registry values are located in HKLM System CurrentControlSet Services Pmac Device dwDevice Every OpenPmacDevice should be paired with a call to ClosePmacDevice to release the resources used by the driver Arguments dwDevice Device number to open Return Value True if successful See Also ClosePmacDevice ClosePmacDevice BOOL ClosePmacDevice DWORD dwDevice This function closes the channel from your program to the PMAC driver Arguments dwDevice Device number to close Return Value True if successful See Also OpenPmacDevice PmacSelect long PmacSelect HWND hwnd PMAC Devices 3 al PMAC 0 ISAQO Port0x21
129. r as a socketed chip PMAC STD users simply cannot have DPR 98 Communication Application Notes PComm 32 Pro Software Reference Manual DPR Communications is flaky noisy or simply is not working as it did for the last five years Check and make sure the cables connecting the DPR if the DPR uses them are well seated Also make sure that the daughter board is well seated on the main board Make sure the DPR chip is well seated in its socket if it is socketed Rare Problems It appears as if there are two sets of ram one the PMAC uses the other the PC It sounds as if the memory has not been excluded correctly See the top of this article for setting this up 1 DPR is fine on slow computers but not fast P100s or faster On the other hand from the host it appears that every other byte is OxFF There was a modification in the programmable array logic chip for the DPR for PMAC2 s and PMAC Ultralights Please consult factory for details on changing this chip XYLINX chip Terminal Example Program This example program is a CONSOLE terminal application which illustrates a creation of a simple terminal For serial communication checksums can be turned on and off This sample program links with RUNTIME CPP to accomplish runtime linking include runtime h include lt iostream h gt include lt string h gt include lt conio h gt void show_printf char lbuf void main BOOL DONE DEVICEISOPEN false BOOL Ch
130. request bit for the specified motor to TRUE PmacDPRSetRequestBit device motor_num TRUE Wait until PMAC processes request while PmacDPRGetRequestBit device motor amp amp i lt timeout itt Reset jog bit to FALSE for housekeeping PmacDPsetJogPosBit device motor FALSE Assigning a New Feedrate Override The necessary conditions for assigning a coordinate system a new feedrate override also known as time base value are e 1x93 the Time Base Source Address for corresponding coordinate system must be set to its default value e The DPR Control panel must be enabled with a call to PmacDPRControlPanel e The PmacDPRSetFOValue must be called to set the feedrate override value for the specified coordinate system 14 DPR Features PComm 32 Pro Software Reference Manual e The PmacDPRSetFOEnableBit must be called to set the feedrate override enable bit for the same coordinate system specified in 3 The value parameter for PmacDPRSetFOValue may be anything from 1 to 32 767 in units of 1 32 768 msec The value represents the elapsed time PMAC uses in its trajectory update equations each servo cycle If it matches the true time the trajectories will go at the programmed speeds If it is greater than the true time the trajectories will go faster if it is less they will go slower value corresponds to values of 0 to 8 388 352 in units of 110 1 8 388 608 msec At the default 110 value
131. response for the host 5 7 1 User programmable see PMAC User Guide Writing a Host Communications Program WIN R oO The PmacINTRTerminate function is provided to shut down the interrupt service Send a Message to a Window This interrupt method uses the Windows SendMessage function to send a message to a window handle HWND Both the message and the windows handle are provided by the programmer Use the function BOOL CALLBACK PmacINTRWndMsgInit DWORD dwDevice HWND hWnd UINT msg ULONG ulMask to initiate this method Call a Function This interrupt method causes a function provided by the programmer to be called Use the function BOOL CALLBACK PmacINTRFuncCalliInit DWORD dwDevice PMACINTRPROC pFunc DWORD msg ULONG ulMask to initiate this method Start a Thread Function This interrupt method starts a thread function provided by the programmer It is the programmer s responsibility to terminate the thread Use the function BOOL CALLBACK PmacINTRRunThreadInit DWORD dwDevice LPTHREAD START ROUTINE pFunc UINT msg ULONG ulMask to initiate this method Set an Event This interrupt method sets an event provided by the programmer It is the programmer s responsibility to reset the event Use the function BOOL CALLBACK PmacINTRFireEventInit DWORD dwDevice HANDLE hEvent ULONG ulMask to initiate this method Features 9 PComm 32 Pro Sof
132. rs do not have to worry about the DPRAM mapping as DPRAM is mapped automatically on the host computer Some common Dual ported Ram DPR troubles PMAC users may run into The most common problem DPR is in a location that conflicts with other devices or programs in the host computer s system Read the document PComm 32 Pro_Install pdf for detailed instruction on how to add remove DPRAM from the present configuration and resolve any potential conflicts with other devices Shadow Ram has not been disabled in the computer BIOS Shadow ram has been known to cause problems with using PMAC s DPR Disable it by configuring the BIOS settings of the computer Some computers do not report accurate memory mappings in the device manager It is always a good idea to reserve the desired memory space in the BIOS under PCI PnP settings The contents of DPR are not what the user was expecting PLCs may be writing to DPR or are indirectly affecting the contents enabling of DPR Also check that all DPR automatic features see DPR users manual are disabled DPR becomes inaccessible after setting I56 1 This firmware glitch has been fixed This problem only occurred on PMAC2 for firmware versions 1 15G to 1 16A There is no DPR Whatever the reason the DPR may not be present For PMAC and PMAC Lite the DPR is a separate board that plugs in alongside the main PMAC board For PMAC VME and a version of PMAC2 the DPR is located on the main board of the controlle
133. s parameter is unity double PmacDPRGetVel DWORD dwDevice long motor double units This function returns the velocity of the specified motor in units of 1 Ix09 32 counts per servo cycle void PmacDPRGetMasterPos DWORD dwDevice long motor double units double the_double This function returns the master position of the specified motor in units of encoder counts unless the units parameter is unity void PmacDPRGetCompensationPos DWORD dwDevice long motor double units double the_double This function returns the compensation position of the specified motor in units of encoder counts unless the units parameter is unity DWORD PmacDPRGetPrevDAC DWORD dwDevice long motor This function returns the DAC value of the previous servo cycle It is in units of 1 256 DAC bits 54 DPR Real Time Fixed Data Buffer Turbo PComm 32 Pro Software Reference Manual DPR BACKGROUND FIXED DATA BUFFER DPR Background Fixed Data Buffer Initialization and Handshaking BOOL PmacDPRBackground DWORD dwDevice long on_off BOOL PmacDPRSetBackground DWORD dwDevice void PmacDPRSetMotors DWORD dwDevice UINT n Note The n parameter in the PmacDPRSetMotors routine is a 1 based index For example 1 is motor 1 2 is motor 2 etc To enable this feature call the PmacDPRBackground routine with the on_off parameter set to a non zero value To retrieve the information use the provided DPR Background Fixed Da
134. sed Assumptions Either the bus or DPR is being used Not good for serial port If checking InPosition or other similar data bits from the status register base 2 the appropriate Motor or Coordinate system has been addressed Outp BOOL Outp DWORD dwDevice BYTE offset BYTE outch Allows the user to set PMAC s I O registers BUSBASE x Useful for getting PMAC out of a reset state Either the Bus or DPR must be in use for this routine to succeed Arguments dwDevice Device Number PMAC 1 2 3 etc offset Offset from PMAC s bus base address outch value to be written to port Return Value TRUE if successful else FALSE Assumptions Either the bus or DPR is being used Not good for serial port getBitValue long getBitValue char hexadecimal_number long bit_requested Gets the value of a bit from a hexadecimal string Arguments hexadecimal_number Zero terminated hex string bit_requested Bit number to examine Return Value One 1 or zero 0 hex_long2 long hex_long2 char in_str long str_ln Converts a hexadecimal string to a long integer Arguments in_str Pointer to the beginning of hex string str_ln How many characters to examine Return Value Long integer value representation of hex string 86 Utility Functions PComm 32 Pro Software Reference Manual DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS DOWNLOADGETPROC typedef long FAR WINAPI DOWNL
135. seseessees 83 Erpelding wR oe ee 83 PimacsetV aria ble missers A ee Eed eeh Ee es 83 UTILITY FUNCTIONS E 85 PmacGetRomDateA sicccves se ceciscdacissechadisiecaveaied EES Eed EE OAE EE ERKENNEN 85 PmacGetRomy ersionA i a iesiccievessichesisadeit Aves EENS dE ovate EAE E EEEa AS Ein 85 PmacGetUseramdle s s icscc ste besiscddvesss ha sicadeat vives nena a E E chelieiees dhs ctgadend EEE EAE EEE aA eee dts 85 PmacGetPmacl get Keeseren Seeche e E T Ee wanes 85 Ip EE 86 OUUP E E Ae ceukicaseecee dated E E E taeaek teva lates sduibeeseedvs 86 BEUBILV E EE 86 Hex TOME 2 snae be E 86 iv Table of Contents PComm 32 Pro Software Reference Manual DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS ccssssssssscssssscscecssscsscsescesscssscssssesseeees 87 DOWNLOADOGBTPROC 87 DOWNLOADPROOGRESS 87 DOWNLOADMSGPROC OE 87 DPRTESTMSGPROC sssennsnssesseeseesseesseesseesseeesesroesoesseessersseesseosessoesroesoesseesseesseesstosseeooesoessoesseesseesseosseesesroesoosseesse 87 DPRTESTPROGRESS srrecorrreen reiken anon NEER E ENE EE AO ERNE TEE EEEE PESES A EA EEEE EES ANE EE Ea E 88 Dpr Bin Rot ETO Sosire E E EE E T E E EERE ET 88 GLOBALES TATUS eher ee 89 MOTION ege E E E E A E E E E 89 MOTIONMO DE bcs sccevacsbeeesiesexgvenincctysnes ixuvacesctcanchocautesssusesbeoeiiavancvaasancyaibobars eevedes EEEE AT EE EE NTE 89 EREECHEN 89 Eeer 89 EXTENDED BUNCTIONS E 91 PmacDPRReal Time EX 0 cccecccccessseceeseececeesaecesscaececece
136. stency This also indirectly specifies the name of the log map and other intermediary files that will be created IniFile Initialization file to be used If Null the defaultis WIN INI szUserld Application user id string If this is NULL all within the iniFile are downloaded within PMACDOWNLOAD section Otherwise only those preceded by the user id string within the iniFile will be downloaded macro Flag to parse for macros map Flag to create a map file created from macros log Flag to create a log file This is the message sent to msgp dnid Flag indicating to send final parsed file to PMAC Return Value TRUE if all went well otherwise 1 Number of errors or FALSE if memory or file could not be allocated opened or if WIN INI did not contain files to be downloaded See Also PmacAddDownloadFileAQ PmacRemoveDownloadFileAQ Downloading to PMAC in the User Manual PmacRemoveDownloadFile long PmacRemoveDownloadFile DWORD dwDevice PCHAR inifile PCHAR szUserlId PCHAR szDLFile This utility function was added to assist in the use of the PmacMultiDownloadAQ function It removes a specified file name from the list file It also may remove all files associated with a particular id string by setting the szDLFile parameter to NULL Downloading Functions 43 PComm 32 Pro Software Reference Manual All parameters to this function are case insensitive and white space characters will be ignored To add a file from the
137. t Correcting slow serial communication Applicable to All PMACs Symptom PMAC serial communication is slow Background PMAC has the ability to synchronize motors existing on different PMAC cards When precise control is desired for motors existing on different cards a single source for the phase and servo clock must be used This can be accomplished by using one card as a master clock and having all other cards operate as slaves The cards are chained together via an RS 232 cable The phase clock and servo clock are routed to pins on the serial cable These signals may conflict with some operating systems Windows use of these pins for serial communications to the PC or terminal On PMAC 26 pin connectors the phase clock is routed to pin 23 24 and the servo clock is routed to pin 21 22 On PMAC2 10 pin serial connectors the phase clock is routed to pin 1 and the servo clock is routed to pin 8 Solution For serial communication to a terminal program it is suggested that the flat serial cable be altered by cutting these wires As shown below 96 Communication Application Notes PComm 32 Pro Software Reference Manual Cd Timan Bman RED RED Less Common Communication Problems 1 Trying to generate an interrupt on the PC via a PMAC PLC or motion program The problem manifests itself by getting an interrupt for every toggling of the bit but the interrupt vector comes out to be 0 The cause here is toggl
138. t action is actively being done in the testing of the DPR The action message will also indicate to the user what errors occurred during the testing Action Setting up for Dual ported Ram Test Cannot set communications mode to BUS Writing to DPR address via PMAC Reading Verifying DPR via PC Writing to DPR Address via PC Reading Verifying DPR via PMAC Clearing all Dual ported Ram Data Types Structures Callbacks and Constants 87 PComm 32 Pro Software Reference Manual Arguments NumErrors Number of accumulated errors that have occurred Action Message indicating what part of test is being done CurrentOffset Offset from host base address being tested in bytes Return Value None DPRTESTPROGRESS typedef void FAR WINAPI DPRTESTPROGRESS LONG Percent This function type is used by some program testing DPR via the PmacDPRTest routine to offer the option of reporting a status message The message indicates to the user what percent the test procedure is done with the current action being done Actions include the following Action Setting up for Dual ported Ram Test Cannot set communications mode to BUS Writing to DPR address via PMAC Reading Verifying DPR via PC Writing to DPR Address via PC Reading Verifying DPR via PMAC Clearing all Dual ported Ram Arguments Percent Percent done with current action
139. t to it Consider this example Let us say we have two PMACs PMAC_A and PMAC_B Both have firmware version 1 16A and are daisy chained together Moreover to make the situation as failure prone as possible we set the baud rates on both PMAC s to 38400 PMAC_A is very busy with motion programs and PLCs while PMAC _B is idle Assume that PMAC_A is the currently addressed card and we wish to talk with PMAC_B and get some motor positions while we are at it We therefore send the following command 1 1p 2p 3p Sin 5p You may find that the above command only partially gets to PMAC_B This is because PMAC_A will take too much time in giving up the right to receive incoming commands from the host computer and therefore some characters are lost To keep from losing commands in this situation the following procedure can be used e Switch the currently addressed board to board number x e Query PMAC for the currently addressed board with the command e Do two until the appropriate board number comes up x in this case Common Dual ported RAM Traps DPRTraps DOC The basic steps in setting up the DPRAM For Non Trubo PMACS configure PMAC s DPR by writing to addresses X 786 X 787 The Executive program should take care of this but check it by hand by issuing a read command to PMAC i e rhx 786 2 For Turbo PMACs DPRAM base addresss are written in Ivariables 193 and 194 1 Issue a SAVE command 2 Issue a command PCI use
140. ta buffer query functions Information for motors coordinate systems 1 n will be updated where n is the second parameter of the PmacDPRSetMotors function Call DPRSetMotors before or after PmacDPRBackground 1 When enabled all the query functions above may be used to 2 Query PMAC s control panel thumbwheel and machine I O connector status 3 Get motor target bias and commanded position registers Also query a motor s status word Query a coordinate system s status word program status program remaining and time remaining in move and acceleration and finally the coordinate system s currently executing line Once enabled call the DPRSetBackground function to assure that the data query functions get fresh data All data query functions have this function within it A typical sequence of function calls to data would be PmacDPRSetMotors p 4 Update data for motors cs 1 4 p PMAC_DEVICE_NUMBER while DONE printf Target Position 11 11f n PmacDPRGetTargetPos p mtrcrd 1 0 96032 0 A printf Bias Position 11 11 n PmacDPRGetBiasPos p mtrcrd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrcrd A printf Commanded Position A 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd B printf PmacCommanded Position B 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd C printf Commanded Position C 11 41f n aDo
141. to interface toa DLL The prototypes for the PCOMM32 DLL functions are detailed in the reference manual as well as the header files that come with the library The installation program of the driver places the PComm32 dll in the Windows system directory The PMACTEST program uses the LoadLibrary and GetProcAddress Win32 system API calls to link with the PComm32 dll In the RUNTIME CPP source file the RuntimeLink routine is located which performs these tasks A small excerpt from the file is shown below include runtime h HINSTANCE RuntimeLink Get handle to PCOMM32 DLL hPmacLib LoadLibrary DRIVERNAME Get some DLL procedure addresses for example OpenPmacDevice and ClosePmacDevice DeviceOpen OPENPMACDEVICE GetProcAddress hPmacLib OpenPmacDevice DeviceClose CLOSEPMACDEVICE GetProcAddress hPmacLib ClosePmacDevice Check validity of the procedure addresses if DeviceOpen DeviceClose Report an error couldn t link with one or more functions Getting Started 3 PComm 32 Pro Software Reference Manual return NULL else return hPmacLib The header file runtime h has the type definitions for the function pointers used in the code above A portion of the file is shown below define DRIVERNAME TEXT PComm32 d11 name of the user dll driver J BRK RRR KKK KK KKK KKH KK IKK HK HK KKK KKH KKK KK KKK IKK KKK KKK KKK KKK KKK KK KKK KKK COMM Type Defines
142. ts dwDevice Device number offset Offset from the start of dual ported RAM bit Bit number to set 0 31 Return Values TRUE if bit 1 PmacDPRFloat double PmacDPRFloat long d double scale Converts a 48 bit floating point word 36 bit mantissa 12 exponent packed into two 32 bit words holding 24 bits each of the 48 bit words Multiplies the result by scale Arguments at Two 32 bit long values to converts scale Scale multiplier Return Values Double floating point representation of the 48 bt number PmacDPRGetDWord DWORD PmacDPRGetDWord DWORD dwDevice UINT offset Retrieves a 32 bit DWORD from dual ported RAM Arguments dwDevice Device number Offset Offset from the start of dual ported RAM Return Values DWORD at offset location PmacDPRGetDWordMask DWORD PmacDPRGetDWordMask DWORD dwDevice UINT offset DWORD mask Retrieves a double word from dual ported RAM memory at the offset masks bitwise AND it with val and then returns the resulting value Arguments dwDevice Device number offset Offset from the start of dual ported RAM mask Bitwise and mask used with value read from dual ported RAM Return Values Result of DWORD and mask at offset location PmacDPRGetFloat float PmacDPRGetFloat DWORD dwDevice UINT offset Reads an IEEE 32 bit floating point value from dual ported RAM Arguments dwDevice Device number Offset Offset from the start of dual ported RAM
143. tware Reference Manual Downloading to PMAC Downloading ASCII PMAC Data Downloading of PMAC motion plc configuration files etc may be done by the using the PmacDownload function This function can Parse Macros i e define include etc Compile PLCs to PLCCs Create a map file from macros Create a log file of download progress Invoke a callback function for displaying progress same text as the log file that can be created Download a file or a buffer through a line retrieval call back function Update a progress bar through a call back function Multiple File Cooperative Downloading A problem exists when downloading PLCC programs to the PMAC from multiple applications All PLCC programs that should be running within PMAC should be downloaded at the same time in other words all in one file When application A creates and downloads a file with PLCCs it has no way of knowing that the PLCC bearing files of other applications in the system must be downloaded as well The solution is to have a central location for which all applications in the system register the set of files they use From this registered set any one of the cooperating applications can download all PLCC programs required by all cooperating applications Download procedures have been developed to utilize this solution and eliminate any problems associated with PMAC compiled PLCs and PLCCs To remain compatible with any products that Delta Tau and Third
144. uble printf WFE d n PmacDPRWarnFError p mtrcrdqd printf FFE d n PmacDPRFatalFError p mtrcrd printf AMP FAULT d n PmacDPRAmpFault p mtrcrqd printf POSITION LIMIT d n PmacDPROnPositionLimit p mtrecrd printf HOME COMPLETE d n PmacDPRHomeComplete p mtrcrd printf MOTOR IN POSITION d n PmacDPRInposition p mtrcrd DPR Background Fixed Data Buffer Query Routines Data Query Functions Motor Specific Note The motor parameter in the functions below is a 0 based index For example 0 is DPR Background Fixed Data Buffer 55 PComm 32 Pro Software Reference Manual motor 1 1 is motor 2 etc double PmacDPRCommanded DWORD dwDevice long crd char axchar This routine returns the commanded position for an axis described by axchar in coordinate system crd in the same units as used to define the axis The crd parameter is a zero based index therefore 0 is for coordinate system 1 1 is for coordinate system 2 etc double PmacDPRGetVel DWORD dwDevice long motor double units This function returns the velocity of the selected motor in units of counts per minute if the units parameter is set to 1 double PmacDPRVectorVelocity DWORD dwDevice long num long motors j double units This function returns the net or vector velocity of the chosen motors in units of counts per minute if the units parameter is unity double PmacDPRGetTargetPos DWORD dwDev
145. uld hold off a host computer from sending PMAC commands If the host computer would ignore the hardware handshaking for the first communication to PMAC PMAC would then set it s RTS line to TRUE Hardware handshaking could then be supported by the host computer This explains why running the Executive program enabled other third party software that uses hardware handshaking to begin communicating The PMAC Executive Program does not look at the CTS line before sending PMAC commands rather it looks at the UART s buffer empty bit instead PMAC does not actively use the CTS line to hold off the host Solutions If using firmware versions 1 16 and before and stuck using third party software easily solve this problem by shorting the host serial port s RTS and CTS lines Pins 4 and 5 on PCs The following is a suggested initialization procedure for talking over the serial port 1 Send out a Control Z and then a Control X to activate serial communications and purge any pending ASCII communications within PMAC Send to PMAC I1 2 1 to check if PMAC s have been daisy chained 3 If PMAC reports an error i e 7ERRO03 because of the it has been confirmed that there is more than one PMAC on the serial cable 4 IfPMAC does not report an error to the command then there is only one PMAC on this serial line Send I1 0 to tell PMAC to use hardware handshaking and that it is not daisychained other PMACs Slow Serial Communication Subjec
146. unction returns TRUE when motor actual position is less than the software negative position limit 1x14 or when the hardware limit on this end LIMn note has tripped it is FALSE otherwise BOOL PmacDPROnPositiveLimit DWORD dwDevice long motor This function returns TRUE when motor actual position is greater than the software positive position limit 1x13 or when the hardware limit on this end LIMn note has tripped it is FALSE otherwise void PmacDPRSetJogReturn DWORD dwDevice long motor This can be used to set the Jog Return Position for the motor specified The current actual position is used to assign the Jog Return Position MOTION PmacDPRGetMotorMotion DWORD dwDevice long motor Returns an enumeration based on the motion state of the specified motor typedef enum inpos jog running homing handle openloop disabled MOTION double PmacDPRGetCommandedPos DWORD dwDevice long motor double units This function returns the commanded position of the specified motor Units are in encoder counts unless the parameter units are not one double PmacDPRPosition DWORD dwDevice long i double units This function returns the actual position of the specified motor in units of encoder counts provided the units variable is unity double PmacDPRFollowError DWORD dwDevice long motor double units This function returns the following error of the specified motor in units of encoder counts provided the unit
147. unter 0 break default output_buf char_counter out_char char_countert t putch out_char break if DEVICEISOPEN DeviceClose dwDevice CloseRuntimeLink void show_printf char lbuf size_t iy for i 0 i lt strlen lbuf itt if lbuf i 13 lbuf i 7 lbuf i lbuft i 10 switch lbuf 1i case 13 printf lt CR gt r n break case 7 printf lt BELL gt r n break case 6 printf lt ACK gt break case 10 printf lt LF gt r n break else if isprint lbuf i putch lbuf i else printf lt Su gt lbuf 1 amp 255 Communication Application Notes 101
148. us of the call whereas all lower bytes contain the number of characters received from PMAC If no characters were received from PMAC check the upper bytes status code for a potential error code See the Error Handling ASCII Communication section of this manual for a detailed explanation Return Value e Number of characters received including handshake characters FALSE 0 One of the following occurred e No characters in PMAC s buffer queue e An error occurred Communication not established Error Codes This routine initially sets the internal error flag to FALSE 0 Therefore calling PmacGetError after this function will inform of any errors that occurred ASCII Communication Functions 37 PComm 32 Pro Software Reference Manual PmacGetResponseA PmacGetResponseExA long PmacGetResponseA DWORD dwDevice PCHAR response UINT maxchar PCHAR command long PmacGetResponseExA DWORD dwDevice PCHAR response UINT maxchar PCHAR command This routine is considered obsolete however it has been left in for backward compatibility Most if not all of the communication with the PMAC can be handled with the PmacGetResponseA function This function will send a command string i e 1j Open Prog etc to PMAC and retrieve and place any pending responses within a response buffer for use This is an efficient and safe function to use The word safe is emphasized because there are functions i e PmacSendCharA
149. ve for a specified coordinate system crd The value this function returns is not very intuitive or useful for other than display purposes The time for a single line in a program may be divided into three parts acceleration steady state and deceleration times long PmacDPRTimeRemInTATS DWORD dwDevice long crd This function returns the time remaining in accel decl when 113 gt 0 double PmacDPRGetFeedRateMode DWORD dwDevice int csn BOOL mode BOOL PmacDPRRotBufFull DWORD dwDevice long crd BOOL PmacDPRSysInposition DWORD dwDevice long crd BOOL PmacDPRSysWarnFError DWORD dwDevice long crd BOOL PmacDPRSysFatalFError DWORD dwDevice long crd BOOL PmacDPRSysRunTimeError DWORD dwDevice long crd DPR Background Fixed Data Buffer Turbo 59 PComm 32 Pro Software Reference Manual BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Pm Pm Pm Pm Pm Pm Pm Pm ac ac ac ac ac ac ac ac TE vi P P D U U UU UU RSysCircleRadError DWORD dwDevice long crd RSysAmpFaultError DWO RProgRunning DWORD dw RD dwDevice long crd Device long crd RProgStepping DWORD dwDevice long crd RProgContMotion DWORD RProgContRequest DWOR RMotionBufOpen DWORD PRRotBufOpen DWORD dw dwDevice long crd D dwDevice long crd dwDevice Device The functions above return the boolean status of a variety of coordinate system flags
150. vice long cs This function returns the time remaining in the current move for a specified coordinate system cs The value this function returns is not very intuitive or useful for other than display purposes The time for a single line in a program may be broken up in to 3 parts acceleration steady state and deceleration times long PmacDPRTimeRemInTATS DWORD dwDevice long cs This function returns the time remaining in accel decl when I13 gt 0 r BOOL PmacDPRRotBufFull DWORD dwDevice long cs BOOL PmacDPRSysInposition DWORD dwDevice long cs BOOL PmacDPRSysWarnFError DWORD dwDevice long cs D P P BOOL PmacDPRSysFatalFError DWORD dwDevice long cs BOOL PmacDPRSysRunTimeError DWORD dwDevice long cs BOOL PmacDPRSysCircleRadError DWORD dwDevice long cs 56 DPR Background Fixed Data Buffer PComm 32 Pro Software Reference Manual BOOL PmacDPRSysAmpFaultError DWORD dwDevice long cs BOOL PmacDPRProgRunning DWORD dwDevice long cs BOOL PmacDPRProgStepping DWORD dwDevice long cs BOOL PmacDPRProgContMotion DWORD dwDevice long cs BOOL PmacDPRProgContRequest DWORD dwDevice long cs The functions above return the boolean status of a variety of coordinate system flags Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice long cs Note The cs motor parameter in the functions below is a 0 based index For example 0 is coordinate system 1 1
151. ware earlier than 1 16B will have only two Buffers 0 and 1 correspond to coordinate system 1 and 2 respectively The binary rotary to initialize must be the last variable sized buffer to be created Therefore to use three rotary buffers begin with 0 then 1 and finally 2 The size of a particular buffer is also specified with this function Note that using PmacDPRRotBufChange will not cause the change in size to be persistent when resetting the operating system registry is not changed Note 157 should be set to 0 before changing the buffer size and the buffer being changed must be the last variable sized buffer initialized If new_size is set to zero this function is equivalent to PmacDPRRotBufRemove Typically the size of the rotary buffer in PMAC is half that allocated in the DP Ram Two long words in the DP Ram 64 bits are mapped into one long PMAC word 48 bits 68 Dual Ported RAM Binary Rotary Buffer Functions PComm 32 Pro Software Reference Manual The value assigned to size which is in units of 32 bits specifies how many instructions will fit into the buffer Each ASCII instruction is ultimately transformed into a 64 bit code from which PMAC will transform into a 48 bit operation code A single instruction consists of a program command and its argument For example X100 is a single instruction and X1000Y1000Z1000 is three instructions A simple formula to determine the bufsize as a function of t
152. with PmacINTRFuncCallInitQ an interrupt will cause the driver to call a function provided of PMACINTRPROC type Arguments dwDevice Device number pFunc Pointer to a PMACINTRPROC function msg Message to be passed back to the called function as a parameter ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error Interrupt Functions 77 PComm 32 Pro Software Reference Manual PmacINTRRuntThreadinit BOOL PmacINTRRunThreadInit DWORD dwDevice LPTHREAD_START_ROUTINE pFunc UINT msg ULONG ulMask Once initialized with PmacINTRRunThreadInit an interrupt will cause the driver to initialize a thread function provided of LPTHREAD_START_ ROUTINE type The programmer is responsible for synchronization and termination of the thread Arguments dwDevice Device number pFunc Pointer toa LPTHREAD_ START ROUTINE function msg Message to be passed back to the called function as part of a parameter structure ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacINTRTerminate BOOL PmacINTRTerminate DWORD dwDevice Shuts down the interrupt service Arguments dwDevice number Return Values TRUE Ok FALSE Error PmaciINTRWndMsglnit BOOL PmacINTRWndMsgInit DWORD dwDevice HWND hWnd UINT msg ULONG ulMask Once initialized with PmacINTR
153. would not occur while PMAC is writing Notice the sequence for handshaking 1 Refresh the data within the DPR via the PmacDPRUpdateRealtime routine 2 Call the Data Query functions to read the DPR Real Time Data buffer void PmacDPRRealTime OnTimer UINT nIDEvent char buf 256 DO HANDSHAKING m_pDoc gt DPRUpdateRealtime int servotimer m_pDoc gt DPRGetServoTimer sprintf buf d servotimer m_ServoCounter SetWindowText buf double aDouble m_pDoc gt DPRPosition iCurrentMotor 1 1 sprintf buf 11 11f aDouble m_ActualPosition SetWindowText buf aDouble m_pDoc gt DPRGetCommandedPos iCurrentMotor 1 1 L le m_CommandedPosition SetWindowText buf sprintf buf 11 11f aDou b d aDouble m_pDoc gt DPRFollowError iCurrentMotor 1 1 sprintf buf 11 11f aDouble m_FollowingError SetWindowText buf D b W L D m_pDoc gt DPRGetCompensationPos iCurrentMotor 1 1 amp aDouble sprintf buf 11 11f aDou 1 le m_CompensationPosition Set indowText buf aDouble m_pDoc gt DPRGetVe sprintf buf 11 11f aDouble m_Velocity SetWindowText buf long aLong m_pDoc gt DPRGetPrevDAC iCurrentMotor 1l sprintf buf ld aLong m_PrevDAC SetWindowText buf iCurrentMotor 1 1 aLong m_pDoc gt DPRGetMoveTime iCurrentMotor 1 sprintf buf ld aLong
154. y functions PmacGetLineA or PmacGetBufferA for example to prevent timeout errors thus speeding communication throughput Arguments dwDevice Device number Return Value True if PMAC has a response waiting PmacSendCharA BOOL PmacSendCharA DWORD dwDevice CHAR outchar Sends a single character to the PMAC Does not append EOL Carriage Return for PMAC Arguments dwDevice Device number outchar Character sent to PMAC Return Value True if successful 38 ASCII Communication Functions PComm 32 Pro Software Reference Manual PmacSendCommandA void PmacSendCommandA DWORD dwDevice PCHAR command Sends a string buffer to PMAC and flushes out any response from PMAC In addition if PMAC is responding to any previous communication exchange it is cleared Note This function is robust but slow since it will time out at least once to assure there is nothing left in PMAC s output ASCII queue It is better to use GetResponse instead Arguments dwDevice Device number command Pointer to NULL terminated string sent to PMAC Return Value None PmacSendLineA long PmacSendLineA DWORD dwDevice PCHAR command Sends a string buffer to PMAC and disregards any response from PMAC Arguments dwDevice Device number command Pointer to NULL terminated string sent to PMAC Return Value Number of characters sent PmacSetAsciiComm BOOL PmacSetAsciiComm DWORD dwDevice enum ASCIIMODE m

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