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^2 PCOMM32PRO ^1 SOFTWARE REFERENCE MANUAL

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1. Arguments dwDevice Device number Return Value Port number 1 COM1 etc Initialization Shutdown and Configuration Functions 43 PCOMM32PRO 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 Also 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 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 PmacGetBufferA 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 P
2. 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 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 more generic information 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 Note the correct sequence for handshaking 1 Refresh the data within the DPR via the DPRDoRealTimeHandshake
3. 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 a CR 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 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 PmacS response char cp ERCheckResponse DWORD dwDevice char UINT maxchar char outchar 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 G E if Pmacs RCheckSendLine dwDevice outchar amp csum goto error cp response tc maxchar while tc gt 0 amp amp ret PmacSERCheckGet Line dwDevice cp tc amp ic gt 0 te EG 1 Cp 16 Serial Checksum Communication Functions 101 PCOMM32PRO
4. parameter in the functions below is a 0 based index For example 0 is coordinate system 1 I is coordinate system 2 etc I MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice long cs 70 DPR Background Fixed Data Buffer PCOMM32PRO The motion mode of a chosen coordinate system is returned by this function The MOTIONMODE enumeration is shown below GJ se typedef enum linear rapid circw circcw spline pvt MOTIONMODI 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 71 PCOMM32PRO 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 I
5. to initiate this method PComm32PRO Features 11 PCOMM32PRO Call A Function This interrupt method causes a function provided by the programmer to be called Use the function BOOL CALLBACK PmacINTRFuncCallInit 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 Downloading To PMAC Downloading ASCH 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 PLC s to PLCC s 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 th
6. SOFTWARE REFERENCE MANUAL PCOMM32PRO DELTA TAU Ny Data Systems Ine NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 A Tel 818 998 2095 Fax 818 998 7807 www deltatau com License Statement and Limited Warranty If you have any questions contact our Customer Service Department at 818 998 2095 IMPORTANT Carefully read all the terms and condition of this agreement before installing this software Installing this software indicated your acceptance of the terms and conditions contained in this agreement If you do not agree to the terms and conditions contained in this agreement promptly return this package unopened and all associated documentation to the place of purchase and your money will be refunded No refunds will be given for products that have missing or damaged components By installing Delta Tau Data Systems Accessory 9PNPRO PComm32PRO herein referred to as the SOFTWARE or SOFTWARE the purchasing customer or corporation accepts the following License Agreement LICENSE The purchasing person or corporation has the right to use the SOFTWARE on an unlimited number of computers owned by the person or corporation site license The purchasing person or corporation has a royalty free right to distribute only the run time modules with the executable files created in any other vendor product Language Development Tool limited as
7. if IS COMM FAIL ret si SERCommError IDS CHECKSUMDATABAD compare data checksum si SERCommError COMM_TIMEOUT goto error 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 goto error Remove checksums from response nc maxchar tc return nc error attempt SERF lush dwDevice return 0 102 Serial Checksum Communication Functions PCOMM32PRO 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 floating 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 numberto get def Defau
8. long PmacDPRProgRemaining DWORD dwDevice long cs 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 dwDevice 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 113 gt 0 BOOL PmacDPRRotBufFull DWORD dwDevice long cs BOOL PmacDPRSysInposition DWORD dwDevice long cs BOOL PmacDPRSysWarnFError DWORD dwDevice long cs BOOL PmacDPRSysFatalFError DWORD dwDevice long cs BOOL PmacDPRSysRunTimeError DWORD dwDevice long cs BOOL PmacDPRSysCircleRadError DWORD dwDevice long cs 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 The cs motor
9. 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 u gt lbuf i amp 255 Communication Application Notes 127 PCOMM32PRO 128 Communication Application Notes PCOMM32PRO INDEX A ASCII Communication Functions eeeeeeeeeeeeeen 50 B Binary Rotary Buffer 18 34 37 38 41 83 84 91 92 93 37 Fixed Real Time Data buffer ecnneenecnerneee 17 G Global View of the Library sessen 1 GLOBALSTATUS 69 125 126 Guide to Using ASCII Communication Functions 8 I C Cohn einen 134 Initializing Communicaton 6 Installing Dcomm 22DRO 5 Common Dual Ported Ram Traps 137 8 8 Interrupt Functions ronorerororrnornvvrnvvrnvnrnvnnnvvenvvnenen 108 Configuration Functions soenvernrrnvvrnrvrnrrrnrrrnnrrnnenn 43 nei 13 108 Control Panel wens 5 17 20 21 41 64 65 66 REE EE EE DEE D L Data Gathering Functions 104 Linking Your Code with the Driver 5 Data Types Structures Callbacks and Constants 48 M 69 70 122 E DOWNLOADGETPROC ann 59 122 Masking S En en 96 Downloading Functions 58 Memory Organization Correct Order of Initialization He PE EEE TEN 18 32 PETN ca maar oe MOTION DNS 23
10. sprintf buf 11 11f aDouble m_BiasPos SetWindowText buf 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 PComm32PRO DPR Features 23 PCOMM32PRO Using the DPR Background Fixed Data Buffer Startup Shutdown and Handshaking Functions BOOL PmacDPRBackground DWORD dwDevice long on off BOOL PmacDPRSetBackground DWORD dwDevice void PmacDPRSetMotors DWORD dwDevice UINT numberOfMotors Data Query Functions Motor Specific double PmacDPRCommanded DWORD dwDevice long 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 PmacDPRGet
11. 8 To retrieve the information use the provided DPR Background Fixed Data buffer query functions Information for motors coordinate systems 1 erd will be updated When enabled all the data query functions above may be used Typical usage of these routines is shown below and also is available in the supplied example source code PmacTest application DPR Background Fixed Data Buffer Query Routines Turbo The cra motor parameter in the functions below is a 0 based index For example 0 is coordinate system 1 1 is coordinate system 2 etc Data Query Functions 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 com
12. A sprintf buf 11 41f my double m_textCommandedA SetWindowText buf my double PmacDPRCommanded dwDevice m_SelectedCS B sprintf buf 11 41 my double m textCommandedB SetWindowText buf my double PmacDPRCommanded dwDevice m_SelectedCS C sprintf buf 11 41f my double m textCommandedC SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my_ double m textCommandedU SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my double m textCommandedV SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my_ double m textCommandedW SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my double m textCommandedX SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my_ double m textCommandedY SetWindowText buf my_double PmacDPRCommanded dwDevice m_SelectedCs sprintf buf 11 41 my double m textCommandedZ SetWindowText buf 28 PComm32PRO DPR Features PCOMM32PRO 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 71d r n PmacDPRTimeRemInMove
13. PCOMM32PRO 118 Communication Application Notes PCOMM32PRO COMMUNICATION APPLICATION NOTES Common Communication Traps Last Updated 1 28 2003 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 end 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 doesn t 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 2 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 perspective 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
14. PCOMM32PRO TRUE if success See Also PmacDPRTest PmacConfigure BOOL PmacConfigure HWND hwnd DWORD dwDevice This function causes the PComm32PRO 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 dialog dwDevice Device number to configure Return Value TRUE if success 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 Return Value TRUE if Dual Ported RAM is available PmacinBootStrapMode 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 totally differen
15. PmacSetCriticalVars BOOL PmacSetCriticallVars DWORD dwDevice This routine optimizes PMAC s I variables for the most efficient and robust communication The following variables are set e 13 2 PMAC sends lt CR gt followed by an lt ACK gt after every valid response e 16 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 163 1 PMAC returns X back to acknowledge the flush process e 164 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 success Return value indicates whether or not 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 Initialization Shutdown and Configuration Functions 41
16. 21314 Lassen St Chatsworth CA 91311 818 998 2095 All rights reserved Delta Tau PMAC and the symbol are registered trademarks of Delta Tau Data Systems Inc Microsoft Windows 98 ME 2000 and XP are registered trademarks of the Microsoft Corporation Borland is a trademark of Borland International Inc Windows is a trademark of Microsoft Corporation Delta Tau Data Systems Inc 21314 Lassen St Chatsworth CA 91311 818 998 2095 Fax 818 998 7807 PCOMM32PRO Table of Contents INTRODUCTION TO USER MANUAL sissscsssssscssossssssasscossssassnsosenssdscossosas sostessoasssocossesssoasesenssovecossasssnnssssnasessoseonas 1 ABOUT PEOMM32PRO tx ccc ieee iter alae os eee 1 A GLOBAL VIEW OF THE LIBRARY iissccitesccicetadsceccnnatbeyeccdcaeesocecdedseteanavectssveneasdeuuilasedvaseavesuasenazatevassd oaavesteddetesdolneets 1 SUPPORTED OPERATING SYSTEMS ss ssssessseseteeeeetetttttttt tett tetett teette tS Strt ertt Et EEEE ESSEEE ESSEE ESSEE EEEE EESE EE ESSEE Eesen eere esseen sennen 2 COMMUNICATION MODERT Ee EERE AA A A E EER E EAEE E EE EEEE 2 Plug amp play porsche oes iss ken unge seeseuedbevogneginaceeshsy Foster anne Free 2 Non plug amp play porte 2 GETTING STARTED D 4 SETTING UP COMMUNICATIONS WITH PMAC 1 eeeeesceessecessceceseeesneecsaeeeeneecaceseneecaceseneecaecesaeecaeeeeaeecaeeseneesneeeeneees 4 INSTALLING PCOMM3Z2PRO E 4 USAGE OF PCOMM32PRO EE 4 Linking Your Code withthe Driver tennis 4 Initializing EE St ITEN AAA
17. 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 PComm32PRO DPR Features 33 PCOMM32PRO 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 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 2 Binary rotary buffer 1 3 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 P
18. 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 d 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 88 DPR Numeric Read and Write PCOMM32PRO Arguments dwDevice Device number offset Offset from the start of dual ported RAM Return Values Float at offset location PmacDPRGetMem PVOID PmacDPRGetMen DWORD dwDevice DWORD offset size t count PVOID val Copie
19. 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 aPMAC control character command it s 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 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 Getting Started PCOMM32PRO I Meaning Desired Variable Value 13 Handshaking mode 2 H Checksummed Serial Communication 0 or 1 Enable Disable 16 Error Reporting Mode 1 163 Control X echo 1 164 Unsolicited Response Tagged 1 Thread Safe ASCII Communications PComm32PRO 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
20. 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 addraray Array of address and types Return Value If it all works out a TRUE will be returned otherwise FALSE PmacDPRVarBuflnit long PmacDPRVarBufInit DWORD dwDevice long num entries long addrarray DPR Variable Background Read Write Data Buffer 77 PCOMM32PRO 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 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 3 variables 2 x 24 and 1 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 only one device structure is initialized per PMAC in the sy
21. Real Time Interrupt period 14 PComm32PRO DPR Features PCOMM32PRO 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 ofthe 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 it s 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 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 to retrieve Read Write Functions Numeric transfers of 16 and 32 bit wide numbers may be read or written to with this set of PComm32PRO 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 PmacServer actually performs the update for all applications Once initialization o
22. 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 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 DPRIESTPROGRESS LONG Percent Data Types Structures Callbacks and Constants 109 PCOMM32PRO 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 being done in test Return Value None Dpr_Bin_Rot_Errors Used by binary rotary buffer functions enum Dpr Bin Rot Errors DprOk D DprBufBsy 1 DPR Rotary Buffer is Busy DprEOF 2 DPR Rotary Bu
23. because when issuing the command to switch from one card to the other each card acts on the ASCH command in it s background cycle PMAC processes it s 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 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 sent to it Consider this example Let s say we ve got two PMACs PMAC_A and PMAC RB Both have firmware version 1 16A and are daisy chained together And 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 Communication Application Notes 121 PCOMM32PRO PMAC_B and get some motor positions while we re
24. default value 2 The DPR Control panel must be enabled with a call to PmacDPRControlPanel 3 The PmacDPRSetFOValue must be called to set the feedrate override value for the specified coordinate system 4 The PmacDPRSetFOEnableBit must be called to set the feedrate override enable bit for the same coordinate system specified in 3 The value parameter for PmacDPRSetFO Value 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 I10 1 8 388 608 msec At the default IlO 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 18 PComm32PRO DPR Features PCOMM32PRO 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 Re
25. functions convert data that is placed in DPR by one of it s automatic features Whenever a long word in PMAC 48 bit is placed in DPR Motor 1 actual position register for 86 DPR Numeric Read and Write PCOMM32PRO 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 datal2 while 1 Get second entry if PmacDPRVarBufRead dwDevice myVBGBHandle 1 data Convert to encoder counts Assuming I108 96 MotorPosition PmacDPRLFixed dwDevice data 1 0 96 0 32 0 cprintf n n Actual motor position after conversion 1lf r n MotorPosition The second parameter passed to PmacDPRLFixed is the scale factor Since this position register in units of 32 1108 encoder counts the inverse of this is used to scale the return value PmacDPRDWoraBitSet BOOL PmacDPRDWordBitSet DWORD dwDevice UINT offset UINT bit Determines if a bit is set within a 32 bit word DWORD in dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM bit Bitnumberto set 0 31 Return Values TRUE if bit 1 DPR Numeric Read and Write 87 PCOMM32PRO PmacDPRFloat double PmacDPRFloat long d double scale
26. hereinafter set forth in paragraph a through d Delta Tau Data Systems Inc grants you a royalty free distribution if a you distribute the run time modules only in conjunction with the executable files that make use of them as part of your software product b you do not use the Delta Tau Data Systems Inc name logo or trademark to market your software product c The SOFTWARE end users do not use the run time modules or any other SOFTWARE components for development purposes And d you agree to indemnify hold harmless and defend Delta Tau Data Systems Inc and its suppliers from and against any and all claims or lawsuits including attorney s fees that arise or result from the use or distribution of your software product If any of the conditions set forth in paragraphs a through d are breached such breach shall constitute an unlawful use of the SOFTWARE and you shall be prosecuted to the full extent of the law Furthermore you shall be liable to Delta Tau Data Systems Inc for all damages caused by such a breach and unlawful use of the software including attorney s fees and costs incurred in any action lawsuit or claim brought or filed to redress the breach of this agreement The run time modules are those files included in the SOFTWARE package that are required during execution of your software program TERM This license agreement is in effect until terminated You may at any time terminate this agreement by destroying the softwa
27. motor only specific whereas the non Turbo contains more 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 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 I or 0 Bit I 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 also is available in the supplied example source code PmacTest application Arguments dwDevice Device number period In units of servo periods See I 10in PMAC Users Manual on off Tum on 1 or off 0 mask Used to specify what motor data to update in the buffer Bit 0 motor 1 Bit I motor2 etc 1 report 0 do notrepott 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 64 DPR Real Time Fixed Data Buffer Turbo P
28. on how to add remove DPRAM from the present configuration and resolve any potential conflicts with other devices 2 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 your computer 3 Some computers do not report accurate memory mappings in the device manager It is always good idea to reserve the desired memory space in the BIOS under PCI PnP settings 4 The contents of DPR are not what the user was expecting PLCs may be writing to DPR or are indirectly effecting the contents enabling of DPR Also check that all DPR automatic features see DPR users manual are disabled 5 DPR becomes inaccessible after setting I56 1 This is a firmware glitch that has been fixed This problem only occurred on PMAC2 for firmware versions 1 15G to 1 16A 6 You don t have DPR Whatever the reason you might not have the DPR 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 controller as a socketed chip PMAC STD users simply can t have DPR 7 DPR Communications is flaky noisy or simply isn t working like it did for the last 5 years Check and make sure the cables connecting the DPR if your DPR uses them are well seated Also make sure that the daughter board is well seated on the main board Make sure the DP
29. only available for USB mode of communication fornow and will be implemented in Ethemet mode of communication soon Return Value 82 Dual Ported RAM Binary Rotary Buffer Functions PCOMM32PRO Mnemonic Returned Explanation Value 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 please 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 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 firmware earlier than 1 16B will have only 2 Buffers 40 and 1 correspond to coordinate system 1 and 2 respectively The binary rotary buffer you wish to initi
30. 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 PmacServer actually performs the update for all applications Dual Ported RAM Functions Variable Binary Rotary Read Write zenolzane Program Buffer Background 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 Coordinate 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 realtime The data in this feature gets updated in PMAC s
31. the PmacGetErrorStrX routine The error string is not reset after every call to a communication function but the Error number is Getting Started PCOMM32PRO 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 the int type is usually 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 keyword that can accompany the keywords small short and long PComm32PRO the 32 bit Delta Tau driver has been developed with Visual C for 32 bit operating systems therefore int has always been 4 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 10 Getting Started PCOMM32PRO PCOMM32PRO FEATURES Usin
32. 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 PmacDPl R R PmacDPRRotBufClr RRotBuf R PmacDPRBufLast Conversion amp Transfer functions PmacDPRAsciiFileToRot PmacDPRBinaryFileToRot 32 PComm32PRO DPR Features PCOMM32PRO PmacDPRAsciiStrToRot 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 persi
33. 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 ASCII Communication Functions 49 PCOMM32PRO PmacSetAsciiComm BOOL PmacSetAsciiComm DWORD dwDevice enum ASCIIMODE m 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 PMACs 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 PComm32PRO starts upon initialization To do this see PmacConfigure Arguments dwDevice Device number m Mode 0 BUS 1 DPRAM Return Value TRUE if success See Also PmacConfigure 50 ASCII Communication Functions PCOMM32PRO DOWNLOADING FUNCTIONS PmacAbortDownload void PmacAbortDownload DWORD dwDevice Calling this function will cause a download in progress to be aborted This applies
34. 25 28 71 75 80 126 DOWNLOADMSGPROC 59 60 59 60 123 MOTIONMODE 28 30 80 82 126 DOWNLOADPROGRESS 59 60 59 60 122 Sn DPR Background Fixed Data Buffer 27 29 81 P DPR Back d Fixed Data Buffer Initializati a nn ee PmacAbortDPR Test aussen 46 48 DPR Background Fixed Data Buffer Query Routines PROGRAM scrrenienneiiiios ii 28 30 80 82 126 re tha steal E EE EN See 78 81 R DPR Binary Rotary Motion Program Buffer 36 DPR Numeric Read And Write u ae 96 Read Write Functions srernvrnrrrrrennvnerrrvenvenerrrvennenenr 18 DPR Real Time Fixed Data Buffer Initialization 68 S 73 DPR Real Time Fixed Data Buffer Initialization and SERVOS TATUS TTT 70 H ndshaking u 22 22mr Ee 68 Shutting Down Communication een 8 DPR Real Time Fixed Data Buffer Query Routines Standard Read Wte 96 PE EE seit 68 73 T DPR Variable Background Read Write Data Buffer kes 32 83 Time 17 18 21 22 23 24 41 68 73 125 126 Dpr Bin Rot Errors esrrrennvnerrrnennvnerrnvennnnerrrvennene 124 U DPRTESTMSODROU AA 48 123 DPRTESTPROGRESS LL 48 124 Usage of PComm32PRO RE NER TRE ER 5 Dual Word Conversion 96 Utility Functions eenoonorrnvonnvnvrrrnennnnerrnvennensrrssennene 118 E H Error Handling een 9 Variable Funotoms SEENEN 116 F Fixed Background Data Buffer 18 Index 129 PCOMM32PRO 130 Index
35. 32PRO BOOL PmacDPROpenLoop BOOL PmacDPROnNegativeLimit BOOL PmacDPROnPositiveLimit void PmacDPRSetJogReturn MOTION PmacDPRGetMotorMotion double PmacDPRGetCommandedPos double PmacDPRPosition double PmacDPRFollowError double PmacDPRGetVel void PmacDPRGetMasterPos void PmacDPRGet CompensationPos DWORD PmacDPRGetPrevDAC Global PmacDPRGetServoTimer 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 more 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 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 s
36. 32PRO according to the instructions in the User Manual Pcomm32PRO Installation Procedures Usage of PComm32PRO In this section we discuss the usage of PComm32PRO in general 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 Your Code with the Driver The driver interface is done through a Dynamic Link Library PCOMM32DLL which is a standard windows library file format Your 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 won t be discussed here At a minimum the function prototypes and the location of the DLL in the operating system are needed to interface to a 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 you will fi
37. AR inifile PCHAR szUserId PCHAR szDLFile This utility function was added to assist in the use of the PmacMultiDownloadA 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 All parameters to this function are case insensitive and white space characters will be ignored To add a file from the list use PmacAddDownloadFileA Arguments inifile Initialization file to remove file from FNULL the default is WINJINT szUserld User id string this associates the file being added to a given application or user SzDLFlle Name of the file to remove from download list If Null it will remove all files with the szUserId tag 54 Downloading Functions PCOMM32PRO Return Value TRUE if file located and removed else FALSE See Also PmacAddDownloadFileAQ PmacRemoveDownloadFileA Downloading To PMAC in the Users 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 Users Manual Downloading Functions 55 PCOMM32PRO DUAL PORTED
38. BiasPos 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 crd long PmacDPRProgRemaining DWORD dwDevice long crd long PmacDPRTimeRemInMove DWORD dwDevice long cs 24 PComm32PRO DPR Features PCOMM32PRO long PmacDPRTimeRemInTATS DWORD dwDevice long cs Global PmacDPRSysServoError PmacDPRSysReEntryError PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError PmacDPRGetGlobalStatus Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice long cs PROGRAM PmacDPRGetProgramMode DWORD dwDevice long cs enum MOTION PmacDPRGetMotorMotion DWORD dwDevice long motor To enab
39. COMM32PRO The motor parameter in these functions is a 0 based index For example 0 is motor 1 1 is motor 2 etc SERVOSTATUS PmacDPRMotorServoStatus DWORD dwDevice long motor Returns a global status structure SERVOSTATUS defined in the section Data Types Structures Callbacks and Constants 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 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 IX06 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 contro
40. Device i48 0 gh dwDevice DPRRealtActive FALSE Extended Functions 113 PCOMM32PRO vh dwDevice DPRRTBufferTurbo gt dataready 0 Reset Data Ready kit vh dwDevice DPRRTBufferTurbo gt motor_mask mask else if on TRUE wsprintfA str il9 u period PmacSendCommandA dwDevice str PmacSendCommandA dwDevice i48 1 PmacSendCommandA dwDevice gat turn on real time buffer gather vh dwDevice DPRRTBuffer gt hostbusy 0 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 Tum on or off Boolean Returns TRUE if successful 114 Extended Functions PCOMM32PRO PmacDPRVarBuflnitEx long PmacDPRVarBufInitEx DWORD dwDevice long mm 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 star
41. E eege T E E E E A eg 7 Shutting Down Communication diagonal Lansing 7 A Guide to Using ASCII Communication Funecttons 7 Common Problems Experienced Using ASCH Communications Funentons 7 Thread Safe ASCII Communication 8 Error Handling ASCII Communication And Other Functions uussessersersersernneseennesnensenensnennnsonnnennenenenernannen 8 Int vs long Data Typen nein bes ak aka 10 PCOMM32PRO FEATURES vesisciscsssescsvantcvsncesssssesontensasescessnsesseccesnstsssncesbessesontsssavesoussnconssesesnssesonsesbetserensseansessetsnes 11 USING INTERRUPTS ur eee 11 Send A Message To A Wind 11 Call PUNCH ON Senne een ee rennen tee ee ee een 12 Start E RE 12 DELAM EVENT EEE EE EA ME 12 IDOWNEOADING TO AE 12 PCOMM32PRO DPR FEATURES siscccsissessssscsestessonssessessectesnessocsessesdevossssnesecssssesssscccssocesencsenncaesdesssanessonssaasesecesenss 14 A GLOBAL VIEW OF THE DPR SUPPORT FUNCTIONS ccesecessseceseeesscecesceesneecsaeeeensecaeeesneecaceesneecaceesaeecsaeeneneeenas 14 Control Panel Non Turbo DM ACel 14 Fixed Real Time Data butter 14 Fixed Background Data Bulle 15 Variable Background Data Bulle 15 Binary Rotary Buffer 15 Read Write E 15 INITIALIZATION SHUTDOWN rsnnrvrrrnnnvorrnnrnvsrennvnrssrnnverrnnnsrsrsnnnnrsssnnvsrrnnnnrsssnnrnrssennrersnnnnessennnnssssnnressnnnnesssnnnsrsssnnesennnn 15 MEMORY ORGANIZATION CORRECT ORDER OF INITIALIZATION ss sesessseeeeeeeeseteeteeetterttetrttesstesstesstesteestesesseeees
42. ETCONTROLRESPONSEA DMACOGETCONTROLRSpONSPESAT 46 PMACGETLINEA PMACGETLINEEXA ccscccessssecesssececeensececssceececsaeeecsesaeeecsaeeeceesaeeecseaaececaaeecsesueeecnnsaeeeseneaeenes 46 DvMaCOGPTbRGSbONSEAC DMACOPTRESbONSEbYXAI 47 PMACREFADREADY 2 aE Eeer nede 48 PMAGSENDC HARA gek sd kennel ee 48 PMACSENDEOMMANDA EE 48 BMAESENDILINEA lic SN 49 PMACSETASCICOMM vend edited 50 DOWNLOADING FUNCTIONS sissscsscecessssssccccssicceonsssassssoscssenseveccencesdscoodssnccsonesiavessovesussvsseesensssenecssectesconsssssesocesnes 51 DvMaCARBORTDOWNL OAI 51 PMACADDDOWNEOADFILEA v unik ae ARE I ae 51 DvMaAChDOwWNLOADAT ETE 52 DMACIDOWNLOADbIRMWARPIL EI 53 DvMacMuOt DOWNLOAD 53 PMACREMOVEDOWNLOADFILE sssssssseesssseeeetessetttssttttssttttttttssttttsstte tett tetett Estre ESSEE tete tett EEES Stresses teette stees seee eneee 54 DvMaCSPTMANDOwMtL OADRpORSU 55 DUAL PORTED RAM CONTROL PANEL sesssvnssosesnanersnessnseannsnestanesensesnavsndensennnsnsnessnnsnsesnesnnnesensessasensenessanerdnessske 56 PMACDPREONTROLPANEL une dis canes ae ea EEO EA EE a AE EEE EE E a EAE EEEE Zeg 56 PMACDPRGETACTIONBIT AND PMACDPRSETACTIONBIT cessesceceesececssseeceesenceceeaeeecenseeeesseeeesesaeeeeseeaeeess 56 PMACDPRGETFOENABLEBIT AND PMACDPRSETFOENABLEBIT s cccssssecessecceceeseeecseseececseeeecneaeeecsseeeenes 57 PMACDPRGETFOV ALUE AND PMACDDRSpTbONALUEO 57 PMACDPRGETREQUESTBIT AND PMAaCDbPRScrRpoUp
43. Error RSysFatal RSysCirc RMot ionBufOpen RRotBufOpen DWO sition DWOR DWOR FError RSysRunTimeError DWO eRadl Error D DWOR DWOR RI vO RSysAmpFaultE RProgRem ning DWORD RProgStepping DWOR tMotion tRequest DWO aining InMove InTATS rror DWOR dwl RD dwDevice DWORD dwDevice long motor DWORD dwDevice int csn DWORD dwDevice Device long cs Ex DWORD dwDevice int on UINT period UINT crd RD dwDevice long crd char maxchar double BOOL mode D dwDevice long crd D dwDevice long crd D dwDevice long crd D dwDevice long crd D dwDevice long crd RD dwDevice long crd D dwDevice long crd D dwl DWOR DWORD dwDevice 1 DWORD dwDevice DWORD dwDevice Device long crd Device long crd D dwDevice long crd RD dwDevice long crd long crd long cs long cs BOOL PmacDPRSysServoError DWORD dwDevice 26 PComm32PRO DPR Features PCOMM32PRO BOOL PmacDPRSysReEntryError DWORD dwDevice BOOL PmacDPRSysMemChecksumError DWORD dwDevice BOOL PmacDPRSysPromChecksumError DWORD dwDevice void PmacDPRGetGlobalStatus DWORD dwDevice VOID gstatus Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice long cs P
44. IMn 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 limit Ix13 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 62 DPR Real Time Fixed Data Buffer PCOMM32PRO 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 fu
45. ND WRITE cssscssssscssscssssscssscssssscssscesssscscsssssscsecssssessnecssssascnsssessascnesssssascnssssssasenes 86 GENERAL INFORMATION 86 STANDARD READ AW RITE ea ee NT 86 ITA e 86 DUAL WORD CONVERSION cssccecsssseeesssseeceesuececseseececsueeeceesaeeecsecaeeecsaeeeceesaesecseseesesaeeecsesaeeecseseeeeseeeeceesaeeeeseaaeeess 86 DvaChDPRDWoRpobrrsre tettet tte ESSEE ESSEE EEEE EEEEEE ESSEE essee eerten steenen ee eene 87 PMACDPRELOAT T 88 DvacChDbPROGprDwWopn tett tsst teess tr tettet EEE ESSEE ESSEE EEEE EEEE EE ESSEE Eesen setete tete ensenen 88 DvacChDbPROGprDWOopphMAekt 88 PMACDPRGETFLOAT ueeessssssessnsnessnnnsnnnennennnnnnnnnnnnnnnnnnnnenennnnnnnnnnnnnnnnnnnnensnsnensnsnnnnnnsnenenrnsennennnnnnnnssnenennnsnnnnnnn 88 DvachDbPROGprMEwMO tette EEEE ESSEE ESSEE EEEE ESSERE ESSEE ESSE Eeee eee Eeteen steeen 89 DvaChDPROGETWoRD 89 DvacChDPhRRGsrrDWoppobm tetteste enste r tetteste tees Stte eser tetere en steeesse nenene 90 DvacChDPhRSsrrtDWopn 90 DvaChDPRSrrtDWoppbm tettet ttt essre ASSE Er EEEE EE EEEE ESSE essee tere en stees stenene 90 Table of Contents iii PCOMM32PRO DvaChDPRSrrDWORDM Ask 90 DvacChDbPhRSsrrbtLoam E E aE N SENE ENRE iE 91 DvacChDbPhRSsrrMeMO 91 PMACDPRSETWORD sssssnssssseeseessesttssssetssttrtetttssttttssttttstttttttt enste essre Sett EESE EE ESSEE ESSEE EEEE ESEE EE ESSEE SSS eetere Enee te ensenen 92 DATA GATHERING FUNCTIONS
46. NEAG sa cecsedescoecesdag des e aaien aE EE EE e a apan ae a a E e Eea apenaii 101 SOURCE EXAMPLE PMACSERCHECKRESPONSE ssscecsesseeecsssceeecsececeesaececsuseececaeeeceesaececseeeesesseeecseueeesseaeesees 101 VARIABLE FUNCTIONS EE 103 PMACGET VARTABLE nennen E EE EA E aE E EAEE EEE EE aE 103 PMACSETVARIABLEO nenna a E a A EE E EEEE E a EE E EE Zeen 103 UTILITY RL RI VK 105 PMAGGETROMDATEA EE 105 Me Ee Re E E 105 PMACGETUSERHANDEE seine Aae 105 PMACGETPMACLYPE Q usunne Henne 106 NPS 106 OUTP TS 106 GETBIT VALUE use era 107 HEX TONG2 Queen 107 DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS 2000200000000000002000002000200002000000000000000000 108 DOWNLOADGETPROCG raten nee geese aha 108 DOWNLOADPROOGRHSS 108 DOWNLOADMSGPROGC OR 109 DPRTESTMSGPROG 10 0 cecccecccccccssssececeseeecesaececsesaeeessceecessaeeecesaaeeecaeaecessaececneaaeescneaeecsesaeeeceesaeesseseeseeseeeeesenaeees 109 DPRTESTPROGRESS ssesnssssseesssesesreeserttssstttssttrtetttstttttssttttsstte tett tett EE ESEE EE ESEEE ESSEER EEEE ESSERE ESSEE ESSEE EEEE Enee Eees seneese ene 109 DPR BIN ROT Ebppopg 110 GI MON TN SE VaN UONE 111 MOTION 5 112 MOTIONMODE 112 PROGRAM 112 SERVOSTATUS ecrini o EA a EREE T EEEE EE EEES EEEE ETE EE NEEE EEEN REEE 112 EXTENDED FUNCTIONS visiscscasssacsiiccccecascscnssssectsecessdoscssnsestecseaesssssssesnsssosssssessenceseeestenssesoesensdesteessastovesesesssouseseess 113 iv Table of Contents PCOMM32PRO PwMaCD
47. PRRGALUTWMEES sss sss ssor soeS Ssss sonses ips SnS ssir s soss s arroes Ss aoso rS sses 113 PMACDPRBACKGROUNDEX ccesssccesssseeceeseeeecsnsaeeecaccecessaeeecsssaececsaeeceesaececsesaeescaeeessesaeeecseaaecesseseesesaeeeesenaeess 114 PMACDPRV ARBUFINITEX cccssssececsesceceessececseseececsececeesaececsesaececseaeeceesaeeecseaaeeeceaeeeeeesaeeecnesaeceseeaeeseeseeeesseaaees 115 PMACDPRV ARBUFCHANGEEX sccessssceceessececseseececeeeeceeaececsssaececseaeecessaeeecsnsaeeecaeeessesaeeecneaaececsuseesesaeeeenenaeees 115 DvaChDPRwWprrgbOrreRtso ttet tetett esst teess te ESSEER EE EEESEEEE ESSEE ESSE Ee Eeee ense eessen eneee ee 116 COMMUNICATION APPLICATION NOTES eesesevessvvvesessnnvesensnsvensnevnesnsnnesennnnseessnnsnsennsesennnnsvessnnsnsennnneesennnsenee 119 COMMON COMMUNICATION IRAaAbs 119 COMMON DUAL PORTED RAM Rap 122 TERMINAL EXAMPLE PROGRAM ccccscececscecececececeeececececseecececececececececececececececececececececececececececeeecececececececececececececess 124 INDEX GE 129 Table of Contents v PCOMM32PRO USER MANUAL PCOMM32PRO INTRODUCTION TO USER MANUAL About PComm32PRO The Delta Tau PComm32PRO 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 PComm32PRO may be used by all PMAC types Methods of communication inc
48. R chip is well seated in it s socket if it is socketed Rare Problems 1 It appears as if there are two sets of ram one the PMAC uses the other the PC It sounds like you haven t excluded the memory correctly See the top of this article for setting this up 2 DPR is fine on slow computers but not fast P100 s or faster Or from the host it appears that every other byte is OxFF There was a modification in the programmable array logic chip for the 122 Communication Application Notes PCOMM32PRO DPR for PMAC2 s and PMAC Ultralights Please consult factory for details on changing this chip XYLINX chip Communication Application Notes 123 PCOMM32PRO 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 ChecksumEnabled 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 pr
49. R VarBuflnitO Although PmacDPRVarBuflnit 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 VarBuflnit 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 within PComm32PRO and should always be called before any application using the VBGDB terminates Lastly a call to PmacDPRBackGroundVar 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 I 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
50. 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 Totumonuse 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 Using the DPR Control Panel in the Users Manual PmacDPRGetActionBit and PmacDPRSetActionBit PmacDPRGetAction Bit 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 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 PmacDPRSetHameBit 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 PmacDPRSetStepB
51. RCommanded p mtrerd B printf PmacCommanded Position B 11 4lf n aDouble aDouble PmacDPRCommanded p mtrcrd C printf Commanded Position C 11 41f n aDouble printf WFE d n PmacDPRWarnFError p mtrcrd printf FFE d n PmacDPRFatalFError p mtrcrd PComm32PRO DPR Features 25 PCOMM32PRO printf AMP FAULT d n PmacDPRAmpFault p mtrcrd printf POSITION LIMIT d n PmacDPROnPositionLimit p mtrcrd printf HOME COMPLETE d n PmacDPRHomeComplete p mtrcrd printf MOTOR IN POSITION d n PmacDPRInposition p mtrcrd Using the DPR Background Fixed Data Buffer Turbo Startup Shutdown and Handshaking Functions BOOL PmacDPRBackground Data Query Functions Motor Specific double Pmacl double Pmacl posscale Coordinate System Specific double Pmacl BOOL long BOOL da BOO BOOL da BOO BOOL iu BOO BOOL iu BOO BOOL Li BOO iu BOO BOOL long long long Global Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm ac ac ac ac ac ac ac ac ac ac ac ac ac ac ac ac ac DP DP DP DP DP DP DP DP DP DP DP DP DPRProgRun DPI DPRTimeRem DP RProgCon RProgCon RTimeRem DPRCommanded DWO DPRGet TargetPos DPRGetF dRa Mod RPe DWORD dw DPRROtBufFull RSysInpo RSysWarnF
52. ROGRAM 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 erd parameter set from I 8 To retrieve the information use the provided DPR Background Fixed Data buffer query functions Information for motors coordinate systems 1 erd will be updated When enabled all the data query functions above may be used Typical usage of these routines is shown below and also is available in the supplied example source code PmacTest application PComm32PRO DPR Features 27 PCOMM32PRO void BackgroundFixedTurbo OnDisablebgbuf PmacDPRBackgroundEx dwDevice FALSE 0 0 KillTimer m_TimerID m_bg_buf_enabled FALSE void BackgroundFixedTurbo OnEnablebgbuf TCHAR buf 255 m_text_I59 GetWindowText buf 255 USHORT temp atoi buf if PmacDPRBackgroundEx dwDevice TRUE 100 temp MessageBox m hWnd Unable to Initialize Background Buffer Information MB OK MB ICONINFORMATION else m bg buf enabled TRUE Begin timer m TimerID SetTimer 1 timer identifier 5 10 second interval TIMERPROC NULL no timer callback void BackgroundFixedTurbo OnTimer UINT nIDEvent TCHAR buf 300 double my_double BOOL myBool if m bg buf enabled my double PmacDPRCommanded dwDevice m SelectedCS
53. RUE 1 else FALSE 0 Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PmacDPRSetFOValue PmacDPRGetFOValue and PmacDPRSetFOValue void PmacDPRSetFOValue DWORD dwDevice long cs long value 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 I10 1 8 388 608 msec At the default I 10 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 Dual Ported RAM Control Panel 57 PCOMM32PRO Arguments dwDevice Devioe number cs Coordi
54. 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 You may find that you need to communicate to PMAC uninterrupted by other threads or applications from time to time Use LockPmac and ReleasePmac routines for these instances If your application suddenly locks up try to recall when and where you call LockPmac and ReleasePmac Probably you did not release as many times as you 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
55. T 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 Device number inpfile NULL terminated path to file bufnum Binary rotary buffer number Return Value Mnemonic Returned Explanation Value 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 please 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 81 PCOMM32PRO PmacDPRAsciiStrToRot SHORT PmacDPRAsciiStrToRotA DWORD dwDevice PCHAR inpstr USHORT bufnum SHORT PmacDPRAsciiStrToRotW DWORD dwDevice PWCHAR inpstr USHORT bufnum PmacDPRAsciiStrToRot takes an ASCH Native PMAC text string converts it to Native PMAC Binary then places it into the DPR Bina
56. 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 74 DPR Variable Background Read Write Data Buffer PCOMM32PRO 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 PmacDPR VarBuflnit 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 for more detail Returns Returns the address table entry PmacDPRGetVBGNu
57. WORD dwDevice The functions above return the boolean status of a variety of coordinate system flags Global BOOL PmacDPRSysServoError DWORD dwDevice BOOL PmacDPRSysReEntryError DWORD dwDevice BOOL PmacDPRSysMemChecksumError DWORD dwDevice BOOL PmacDPRSysPromChecksumError DWORD dwDevice void PmacDPRGetGlobalStatus DWORD dwDevice VOID gstatus Logical Query Functions MOTIONMODE PmacDPRGetMotionMode 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 DPR Background Fixed Data Buffer Turbo 73 PCOMM32PRO 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 Tum on ar off Boolean Returns TRUE if success PmacDPRBufLast long PmacDPRBufLast DWORD dwDevice This function determines which buffer is the last variable sized buffer in DPR
58. Word 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 Values None 92 DPR Numeric Read and Write PCOMM32PRO 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 ordisable 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 gatherh for details typedef struct _WTG EX UINT COM TO G UINT ENC TO G UINT DAC TO G UINT CUR TO G WIG EX PWIG EX ena TRUE or FALSE Enable or Disable QuickGather Return Values TRUE Ok FALSE Error PmacGetGather BOOL PmacGetGather DWORD dwDevice UINT num LPSTR str UINT maxchar Arguments Data Gathering Functions 93 PCOMM32PRO dwDevice Device number num Number of samples to gath
59. address to which datal and data2 should be written to 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 datal 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 GetCurrentLabelEx 116 Extended Functions PCOMM32PRO GetNumOfErrorsEx AddErrRecordEx Extended Functions 117
60. ailure 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 A Returns the number of characters define COMM_STATUS c c amp 0xF0000000 Returns the status byte To check for individual error codes the MACROs below are very useful define IS COMM MORE c c amp COMM_FAIL 0 define IS COMM EOT c e amp COMM FAIL COMM POT define IS COMM TIMEOUT c c amp COMM_FAIL COMM TIMEOUT define IS COMM_BADCKSUM c c amp COMM FAIL COMM BADCKSUM define IS COMM ERROR c c amp COMM FAIL COMM ERROR define IS COMM FAIL c c amp COMM FAIL COMM FAIL define IS COMM ANYERROR c c amp COMM ANYERR gt 0 define IS COMM_UNSOLICITED c c amp 0xF0000000 COMM_UNSOLICITED If you are 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
61. al Time Fixed Data Buffer Startup ShutDown BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on void PmacDPRSetRealTimeMotorMask DWORD dwDevice long mask Handshakin BOOL PmacDPRUpdateRealTime DWORD dwDevice Data Query functions Global PmacDPRGetServoTimer PmacDPRSysServoError PmacDPRSysReEntryError PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError PmacDPRGetGlobalStatus Coordinate System PmacDPRMotionBufOpen PmacDPRRotBufOpen PmacDPRGetFeedRateMode Motor PmacDPRMotorServoStatus PmacDPRDataBlock PmacDPRPhasedMotor PmacDPRMotorEnabled BOOL PmacDPRHandwheelEnabled BOOL PmacDPROpenLoop BOOL PmacDPROnNegativeLimit BOOL PmacDPROnPositiveLimit PComm32PRO DPR Features 19 PCOMM32PRO void PmacDPRSetJogReturn MOTION PmacDPRGetMotorMotion double PmacDPRGetCommandedPos double PmacDPRPosition double PmacDPRFollowError double PmacDPRGetVel void PmacDPRGetMasterPos void PmacDPRGetCompensationPos 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 Other than that it is only the Data query methods tha
62. alize must be the last variable sized buffer to be created Therefore if you wish to use 3 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 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 aprogram 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 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 6 words long If too large it may run into the gather buffer Call PmacDPRRotBuf t
63. alized 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 I using the corresponding PmacDPRSetActionBit function where Action is any of those listed in A and B above 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 aPMAC 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 Keeping track of which 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 s finished acknowledging all the requested actions Because of this fact the programmer must be sure to wait long PComm32PRO DPR Features 17 PCOMM32PRO 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
64. ameter ulMask This parameter determines the interrupt service vector s 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 0 In Position of Coordinate System 1 Buffer Request PMAC s request for more moves 2 Error A motor s in the coordinate system has had a fatal following error 3 Warning A motor s 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 PmacINTRFireEventInit BOOL PmacINTRFireEventInit DWORD dwDevice HANDLE hEvent ULONG ulMask Once initialized with PmacINTRFireEventInitO 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 intemupt Return Values TRUE Ok FALSE Error PmacINTRFuncCalllnit BOOL PmacINTRFuncCallInit DWORD dwDevice PMACINTRPROC pFunc DWORD msg ULONG ulMask Interrupt Functions 97 PCOMM32PRO Once initialized with PmacINTRFuncCalllnit an interrupt will cause
65. ard 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 120 Communication Application Notes PCOMM32PRO Less Common Communication Problems 1 Trying to generate an interrupt on the PC viaa PMAC PLC or motion program The problem manifests itself by getting an interrupt for every toggling of the bit but the interrupt vector comes outto be 0 The cause here is toggling the software bit the bit that causes PMAC to generate the interrupt too quickly Put a or 1 millisecond delay between toggling the bits 2 Can t communicate to aPMAC 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 3 Serial Communications programs derived from PMAC poll don t communicate until first running the PMAC Executive Program Remove the l
66. ariety 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 you get something other than a DprBufBsy DprOk or DprEOF I d flag the user of the error In this case the error is a conversion issue converting to ASCII to BINARY PComm32PRO DPR Features 35 PCOMM32PRO PROGRAMMER S REFERENCE Introduction PCOMM32PRO Programmer s Reference 37 PCOMM32PRO INTRODUCTION TO PROGRAMMER S REFERENCE The Programmers Reference of PComm32PRO details all of the PMAC library functions in groups of similar functionality The description of each function includes the syntax 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 9 Interrupt Functions 10 Variable Functions 11 Data Types and Structures ANAND Important Information About Method of Communication Being Used by PComm32PRO There are three methods by which PComm32PRO 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
67. at it We therefore send the following command el 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 1 Switch the currently addressed board to board number x 2 Query PMAC for the currently addressed board with the command 6699 3 Do 2 until the appropriate board number comes up x in this case Common Dual Ported Ram Traps Last Updated 1 28 2003 DPRTraps DOC The basic steps in setting up the DPRAM 1 For Non Trubo PMACS configure PMAC s DPR by writing to addresses X 786 X 787 The Executive program should take care of this for you but you might want to 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 2 Issue a save command 3 Issue a command 4 PCI users do not have to worry about the DPRAM mapping as DPRAM is automatically mapped on the host computer Some common Dual Ported Ram DPR troubles PMAC users may run into 1 The most common problem DPR is in a location that conflicts with other devices or programs in the host computer s system Please read the document PComm32PRO Install pdf for detailed instruction
68. at 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 3 variables 2 x 24 and 1 x 48 which takes 4 x 32 bits So 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 That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number handle Handle to previously initialized VBGDB Extended Functions 115 PCOMM32PRO 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 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 specify the type of data and the lower 16 bits specify the
69. 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 PmacDPR VarBuflnit 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 PmacDPRVarBuflnit 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 DPRGetVBGDataOffset Returns the offset in bytes from the beginning of DPR that the data for this applications VBGDB begins Typically not used by programmers DPRGetVBGAddrOffset 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 PComm32PRO DPR Features 31 PCOMM32PRO Variable Write Data Buffer
70. cDPRFollowError 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 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 66 DPR Real Time Fixed Data Buffer Turbo PCOMM32PRO DPR Real Time Fixed Data Buffer Turbo 67 PCOMM32PRO 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 The n parameter in the PnacDPRSetMotors routine is a I based index For example 1 is motor 1 2
71. cDPRSetDWordMask DWORD dwDevice UINT offset DWORD val long onoff 90 DPR Numeric Read and Write PCOMM32PRO This function is used to manipulate DPR memory aDWORD 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 onoff 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 Valueto 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 PmacDPRSetMen 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 start of dual ported RAM count Size of data to transfer val Pointer to memory to transfer Return Values Pointer to transferred data DPR Numeric Read and Write 91 PCOMM32PRO PmacDPRSet
72. 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 your operating system has the ability to configure drivers i e in the control panel or the multimedia palette go there and 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 buffer If PMAC s response be larger than the value specified by maxchar the remainder of the response will remain in PMAC s queue 38 Introduction PCOMM32PRO INITIALIZATION SHUTDOWN AND CONFIGURATION FUNCTIONS OpenPmacDevice BOOL OpenPmacDevice DWORD dwDevice This function opens a channel for your 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 Curren
73. dwDevice m SelectedCS m textTIM SetWindowText buf wsprintf buf 71d r n PmacDPRTimeRemInTATS dwDevice m SelectedCS m textTATS SetWindowText buf my double PmacDPRGetFeedRateMode dwDevice m SelectedCS amp myBool sprintf Gut 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 it s 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 may 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 Startup Shutdown long PmacDPR VarBuflnit DWORD dwDevice long num entries long addrarray PmacDPRVarBuflnit 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 mem
74. e 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 was 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 strongly 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 wsprintfA str i47 u period BI PmacSendCommandA dwDevice str PmacSendCommandA dwDevice i48 1 vh dwDevice DPRRTBufferTurbo gt hostbusy 0 Reset host busy vh dwDevice DPRRTBufferTurbo gt dataready 0 Reset Data Ready bit gh dwDevice DPRRealtActive TRUE else PmacSendCommandA dwDevice i47 0 PmacSendCommandA dw
75. e USHORT earom error S ks USHORT dpram error 15 USHORT prom_checksum 1 USHORT mem_checksum 1 USHORT comp_on se JL USHORT stimulate on e did USHORT stimulus ent i 15 USHORT prep trig gat 1 USHORT prep next serv 1 USHORT data gat on se JL USHORT servo ert le USHORT servo_active l USHORT intr_reentry 15 Data Types Structures Callbacks and Constants 111 PCOMM32PRO USHORT intr_active S I USHORT padl 8 GLOBALSTATUS MOTION typedef enum inpos jog running homing handle openloop disabled MOTION MOTIONMODE typedef enum I 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 Status Ist 24 bit word USHORT internall 8 USHORT internal2 2 USHORT home search 1 USHORT block_request 21 USHORT rfful 1 USHORT desired vel 0 WR USHORT data block err gt USHORT dwelling li USHORT integration 1 USHORT run program 1 USHORT open loop USHORT phased motor USHORT handwheel ena USHORT pos limit USHORT neg limit USHORT activated USHORT pad 8 SERVOSTATUS ph bech b bech pb pd 112 Data Types Structures Callbacks and Constants PCOMM32PRO EXTENDED FUNCTIONS The following functions are extended versions of the existing functions without the extension Ex Th
76. elocity of the chosen motors in units of counts per minute if the units parameter is unity 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 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 Pmac BOOL Pmac BOOL Pmac BOOL Pmac BOOL Pmac Pmacl Pmacl PRAmpEnabled DWORD dwDevice long motor RWarnFError DWORD dwDevice long motor RFatalFError DWORD dwDevice long motor PRAmpFault DWORD dwDevice long motor PROnPositionLimit DWORD dwDevice long motor RHomeComplete DWORD dwDevice long motor RInposition DWORD dwDevice long motor U U IO UUUUUDD U U U The functions above return the boolean status of a variety of motor flags DPR Background Fixed Data Buffer 69 PCOMM32PRO Coordinate System Specific 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 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
77. er str Base address of each sample to gather maxchar 32 bit intenupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacStartGather int PmacStartGather DWORD dwDevice Arguments dwDevice number Return Values TRUE 1 PmacStopGather int PmacStopGather DWORD dwDevice Arguments dwDevice number Return Values TRUE 1 94 Data Gathering Functions PCOMM32PRO PmacSetQuickGatherWithDirectCurrentEx BOOL PmacSetQuickGatherWithDirectCurrenti Arguments dwDevice mask Device number mask See gatherh for details typedef struct WIG EX UIN COON DO G UIN EN rO G UINT DAC rO G UIN CUR WIG EX ena IO G PWIG EX TRUE or FALSE Enable or Disable Return Values TRUE Ok FALSE Error Ex DWORD dwDevice PWIG FX mask BOOL ena Data Gathering Functions 95 PCOMM32PRO 96 Data Gathering Functions PCOMM32PRO 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 Call a function 3 Start a thread function 4 Set an event Each method has a separate initialization function Common to all initialization functions is the par
78. ered obsolete however it has been left in for backward compatibility Most if not all of your communication with the PMAC can be handled with the PmacGetResponseA function This function will send a command string i e 1j 7 Open Prog1 etc to the PMAC and retrieve and place any pending responses within a response buffer for your use This is an efficient and safe function to use The word safe is emphasized because there are functions i e PmacSendCharA PmacGetLineA and PmacSendLineAQ 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 ASCII Communication Functions 47 PCOMM32PRO 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 Error Handling ASCI Communication for a detailed explanation Return Value If successful this function returns the number of characters received including handshake characte
79. ernally by the driver It is very similar to the PCOMM Library tagPmac structure You will probably never need to use it Arguments dwDevice Device number Return Value NULL if the function fails Otherwise a pointer to USER HANDLE Utility Functions 105 PCOMM32PRO PmacGetPmacType long PmacGetPmacType DWORD dwDevice Returns an integer indicating the PMAC model you are communicating with Arguments dwDevice Device number Return Value 1 PMACI 2 PMAC2 3 PMAC Ultralite 5 Turbo PMACI 6 Turbo PMAC2 7 Turbo PMAC Ultralite Inp BYTE Inp DWORD dwDevice BYTE offset Allows the user to get at PMAC s VO 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 used Assumptions e Either the bus or DPR is being used No good for serial port e 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 106 Utility Functions PCOMM32PRO A
80. este 15 USING THE DPR CONTROL PANEL NON TURBO PMAC cccccssscessseceeeessececssseeeesseeecsesaeeeceeeeeeeseeeecseaeeesesaeenees 17 Action BUS EEE EE EE EE NE 17 Request Bs 17 Assigning A New Feedrate Override ssnnnoronnnnronnnnvonnennnnvenrnnennerrnnvverennesvarnennsrvennessrenvnsvesnesnasvesnessrnnessrasnesvasnene 18 Feedrate Override Enable ite 19 USING THE DPR REAL TIME FIXED DATA Buren 19 USING THE DPR REAL TIME FIXED DATA BUFFER TURBO c cccesssscecsensececseeeeceeaeeecsssaececeneeecesaeeeseeaaeeeeneneeenes 21 USING THE DPR BACKGROUND FIXED DATA Buren 24 USING THE DPR BACKGROUND FIXED DATA BUFFER CluRpon nennen 26 USING THE DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER ssseesseessesseeseeesrreresrresrrssrresrrerenseereeeeeeee 29 Variable Read Data Buffer s eonvonovvnnnvrvnnnnvonnvnnnnronnnnevvnnnnnsnannennrnnennvevravnnerannennnsvannennasnennessrennssnennvevsavnssresnesneene 29 Variable Write Data Buffer ana han ander deinen nieht nern 32 USING THE DPR BINARY ROTARY MOTION PROGRAM BUFFER rororrnnrrvrrrnnvnrrrrnnverrnnrrvrrsnnvnrrrsnnvsrsnnnsrsrennnsrssrnnnsrrnnn 32 Table of Contents i PCOMM32PRO Pm cDPRRo tBufCh nge 2 2 2 ne Dr un 33 e ME 33 Pm cDPRRotBy CI EE 33 PmacDRRROIBUf une seine E dri E belts 33 PmacDPRBUJESSt nennen E T ee ege ees ech 33 Downloading Stuffing functions ursessersersersennnesnennesnenernonnnnnnnsonnnennennsnensennnennnnnesnnne
81. ets are being updated after initialization has been done Typical usage of these routines is shown below and also is available in the supplied example source code PmacTest application 22 PComm32PRO DPR Features PCOMM32PRO void DPRRealTimeTurbo OnEnablerealtime TCHAR buf 255 long mask long on TRUE char cp m_NumberMotors GetWindowText buf 20 mask strtol buf amp cp 0 PmacDPRRealTimeEx DeviceNum mask 50 on Begin timer m TimerID SetTimer 1 timer identifier 1 10 second interval TIMERPROC NULL no timer callback void DPRRealTimeTurbo OnDisablerealtime long on FALSE PmacDPRRealTimeEx DeviceNum 0 0 on KillTimer m_TimerID void PmacDPRRealTime OnTimer UINT nIDEvent DWORD dwDevice 0 Double units 1 Long motor iCurrentMotor l m_pDoc gt DPRDoRealTimeHandshake int servotimer PmacDPRGetServoTimer dwDevice sprintf buf d servotimer m ServoCounter SetWindowText buf double aDouble PmacDPRPosition dwDevice motor units sprintf buf 11 11f aDouble m_ActualPosition SetWindowText buf aDouble PmacDPRGetCommandedPos dwDevice motor units sprintf buf 11 11f aDouble m_CommandedPosition SetWindowText buf aDouble PmacDPRFollowError dwDevice motor units sprintf buf 11 11f aDouble m FollowingError SetWindowText buf aDouble PmacDPRGetBiasPos dwDevice motor units
82. evice Device number Return Value ASCIIMODE enumeration 0 BUS 1 DPRAM ASCII Communication Functions 45 PCOMM32PRO 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 1 A timeout period 2 PMAC has the full response as determined by the ACKnowledge character ASCII 6 received at the end of the response 3 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 PMACs 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 contr
83. f 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 you 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 PmacDPRRotBuf In addition to initialization and shutdown order being important the order in which a program turns on the DPR features is also critical What you need to know about the order of turning features on is If you are 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 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 a
84. ffer End of File detected DprFltErr 1 Unable to pack floating point number too large DprStrToDErr 2 Unable to convert string to double float number DprMtrErr 3 Unable to convert Motor numbers specified DorPlcErr 4 Unable to convert PLC numbers specified DprAxisErr 5 Unable to convert axis in ABS INC or FRAX DprCmdErr 6 Illegal Command in string DprCmdMaxErr 7 Exceeded the Max number of PMAC cmds in a line See DPRCMDMAX DprIntErr 8 Integer number out of range See Integer Max values CIRMAX etc DprBufErr 9 DPR Rotary or Internal Rotary Buffer Size is zero DprOutFileErr 10 DPR Output File Error Err 11 DPR Input File Error DprinpFile 110 Data Types Structures Callbacks and Constants PCOMM32PRO GLOBALSTATUS Used in DPR Real Time Buffer query routines typedef struct gs Global Status DWord 1 1st 24 32 bit word USHORT rffu2 8 0 7 USHORT internall 2 dr ff 8 10 USHORT buffer_full z 15 USHORT internal2 3 12 14 USHORT dpram response 1 USHORT plc command 3 15 USHORT plc buf open gt 1 USHORT rot buf open z te ZC 18 USHORT prog buf open 1 19 USHORT internal3 i 2i USHORT host_comm_mode 1 USHORT internal4 2 1s USHORT pad2 8 DWord 2 2nd 24 32 bit word USHORT rfful sd USHORT end gather z I USHORT rapid_m_flag Ja USHORT rti warning S L
85. for driver downloading functions PmacDownload and PmacDownloadFirmwareFile Arguments dwDevice Device number Return Value None See Also PmacDownload and PmacDownloadFirmwareFile PmacAddDownloadFile A long PmacAddDownloadFileA DWORD dwDevice PCHAR inifile PCHAR szUserId PCHAR szDLFile This utility function was added to assist in the use of PmacMultiDownload function PmacMultiDownload downloads 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 PmacRemoveDownloadFileA 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 szUserld User id string this associates the file being added to a given application or user szDLFlle Name of the file to add to download list Return Value Greater than zero 0 if successful else zero 0 See Also PmacMultiDownload PmacRemoveDownloadFileA Downloading Functions 51 PCOMM32PRO 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 fi
86. 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 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 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 I s 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 I108 96 Mot
87. g Interrupts Interrupts are provided for all 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 Each method has a separate initialization function Common to all initialization functions is the parameter ulMask This parameter determines the interrupt service vector s 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 0 In Position of Coordinate System 1 Buffer Request PMAC s request for more moves 2 Error A motor s in the coordinate system has had a fatal following error 3 Warning A motor s 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 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
88. gth 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 108 Data Types Structures Callbacks and Constants PCOMM32PRO 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 sting newline Indicates if anew 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 what 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
89. host computer and the PMAC Host PC sets PMAC notes the set bit PMAC performs requested actions PMAC resets the request bit You should build routines that 1 Set an action bit s via PmacDPRSetActionBit Call the PmacDPRSetRequestBit function specifying the appropriate Coordinate System or motor for which you want the requested action to occur 3 Wait until the request bit is reset via PmacDPRGetRequestBit 4 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 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 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 1 1x93 the Time Base Source Address for corresponding coordinate system must be set to it s
90. 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 But 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 don t 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 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 Also 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 applica
91. icate to PMAC via ASCH communication un interrupted by other threads or applications from time to time 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 that calling thread Ifitis 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 You may nest LockPmac ReleasePmac sets Note If your application suddenly locks up try to recall when and where you call LockPmac and ReleasePmac Probably you did not release as many times as you locked Arguments dwDevice Device number Return Value None See Also 40 Initialization Shutdown and Configuration Functions PCOMM32PRO 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
92. indowText 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 sprintf buf 11 11f aDouble m CommandedPosition SetWindowText buf aDouble m_pDoc gt DPRFollowError iCurrentMotor 1 1 sprintf buf 11 11f aDouble m FollowingError SetWindowText buf m_pDoc gt DPRGetCompensationPos iCurrentMotor 1 1 amp aDouble sprintf buf 11 11f aDouble m CompensationPosition SetWindowText buf aDouble m_pDoc gt DPRGetVel iCurrentMotor 1 1 sprintf buf 11 11f aDouble m_Velocity SetWindowText buf long aLong m_pDoc gt DPRGetPrevDAC iCurrentMotor 1 sprintf uf 1ld aLong m_PrevDAC SetWindowText buf aLong m_pDoc gt DPRGetMoveTime iCurrentMotor 1 sprintf uf ld aLong 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 Handshakin BOOL PmacDPRUpdateRealTime DWORD dwDevice Data Query functions Motor PmacDPRMotorServoStatus PmacDPRDataBlock PmacDPRPhasedMotor PmacDPRMotorEnabled BOOL PmacDPRHandwheelEnabled PComm32PRO DPR Features 21 PCOMM
93. ine which checks the CTS in the sendline routine i e i while i lt timeout amp amp inportb combase 5 amp 32 0 4 Can t establish communication serially If a Control T character put PMAC in full duplex was sent to PMAC the application you are trying to use 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 2 Control X doesn t 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 gets 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 doesn t 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 3 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 I3 is set such that an acknowledge character is expected 2 or 3 This problem may occur
94. ing to send final parsed file to the PMAC 52 Downloading Functions PCOMM32PRO 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 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 Men Pointer to message procedure pointer DOWNLOADMSGPROG If NULL no functionis called pop Pointer to download progress function DOWNLOADPROGRESS If NULL no function is called flename 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 A Have files with PLCC s within them all meant to be within a single PMAC Or B Have more than one application that will be downloading PLCC s to the PMAC 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 Mu
95. intf P32 EXE xL x1 x1 x1 x1 x1 x1 x1 x1 K1 x1 xK1 x1 xK1 x1 x1 x1 x 1 x1 x1 x1 x1 x1 x1 x1 x1 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 PComm32PRO 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 124 Communication Application Notes PCOMM32PRO char counter 0 DONE FALSE ChecksumEnabled FALSE while kbhit amp amp DON switch out_char getch DI case 27 Escape for EXIT DONE true break case 9 Control I for INITIALIZE if DEVICEISOPEN DeviceClose dwDevice printf NnWhat device number 0 n gets input_buf dwDevice atoi input_buf if dwDevice lt 0 dwDevice 0 if DeviceOpen dwDevice printf Device Open Failed n DEVICEISOPEN false else printf Device Open Succeeded n printf A terminal is active for your use n DEVICEISOPEN true break case 20 CTRL T Checksummed commu
96. ion to any PMAC device PmacServer will eventually shut itself down after all communications have been shut down You may want to disable the continuous global memory updates by using the properties button in the PmacSelect dialog box This change should not affect your 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 PComm32PRO driver with a call to ClosePmacDevice 2 Call 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 your communication with the PMAC can be handled with the PmacGetResponseA 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 your use This is an efficient and safe function to use The word safe is emphasized because there are functions i e PmacSendCharA PmacGetLineA and
97. 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 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 system s status word program status program remaining 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 relieving you from dealing with the handshaking details 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 mtrerd 1 0 96 0 32 0 printf Bias Position 11 11f n PmacDPRGetBiasPos p mtrcerd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrcrd A printf Commanded Position A 11 41f n aDouble aDo
98. it 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 Totumonuse TRUE 1 else FALSE 0 motor Motor number 1 8 cs Coordinate System Number 1 8 56 Dual Ported RAM Control Panel PCOMM32PRO Return Value The PmacDPRGetActionBit routines return the state of the bit 0 1 for disabled enabled The PmacDPRSetActionBit functions return nothing See Also Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PmacDPRGetRequestBit and PmacDPRSetRequestBit PmacDPRGetFOEnableBit and PmacDPRSetFOEnableBit long PmacDPRGetFOEnableBit DWORD dwDevice long mtr crd void PmacDPRSetFOEnableBit DWORD dwDevice long mtr crd long on off 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 cd Motor or Coordinate System Number 1 8 onoff Totumonuse T
99. ive Program does not look at the CTS line before sending PMAC commands rather it looks at the UART s buffer empty bit instead PMAC doesn t actively use the CTS line to hold off the host Solutions If you have firmware versions 1 16 and before and you are stuck using 3 party software you can easily solve this problem by shorting the host serial port s RTS and CTS lines Pins 4 amp 5 on PC s The following is a suggested initialization procedure for talking over the serial port 1 Send out an Control Z and then a Control X to activate serial communications and purge any pending ASCII communications within PMAC 2 Send to PMAC I1 2 1 to check if PMAC s have been daisy chained 3 If PMAC reports an error i e ERR003 because of the you have confirmed that there is more than one PMAC on the serial cable 4 If PMAC does not report an error to the command then there is only one PMAC on this serial line Send Il 0 to tell PMAC to use hardware handshaking and that it is not daisychained other PMACs SLOW SERIAL COMMUNICATION Subject Correcting slow serial communication Applicable to All PMAC s 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 c
100. l always with outputs enabled BOOL PmacDPROnNegativeLimit DWORD dwDevice long motor This function returns TRUE when motor actual position is less than the software negative position limit Ix14 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 Ix13 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 DPR Real Time Fixed Data Buffer Turbo 65 PCOMM32PRO 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 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 Pma
101. le processes it and downloads it from the PC to the PMAC Processing includes MACRO parsing and compiling PLCs for example 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 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 is the same messages as sent to the msgp procedure dnid Flag indicat
102. le 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 Query PMAC s control panel thumbwheel and machine I O connector status e Get motor target bias and commanded position registers Also query a motor s status word Query a coordinate systems status word program status program remaining time remaining in move and acceleration and finally the coordinate systems currently executing line Once this function is enabled call the DPRSetBackground 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 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 mtrerd 1 0 96 0 32 0 printf Bias Position 11 11f n PmacDPRGetBiasPos p mtrcrd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrerd A printf Commanded Position A 11 41f n aDouble aDouble PmacDP
103. les are related 32 Bit APPLICATIONS PCOMM32 DLL Ring 3 Ringo ee Windows OS MEIOUO Serial Port i Ethernet PCI BUS ISA BUS USB Port Hardware PComm32PRO Driver Structure Supported operating systems Windows 98 Windows 2000 Windows ME Windows XP Communication Modes Plug amp play ports e PCIBUS PMAC e USB Port PMAC Non plug amp play ports ISA Bus PMAC Serial Port PMAC Ethernet port PMAC Introduction PCOMM32PRO Using Pcomm32PRO Using Pcomm32PRO PCOMM32PRO GETTING STARTED Setting up Communications with PMAC No applications including all Delta Tau software programs will be used to add PMACs in your system Rather communication settings have been centralized in your operating system making the set up of each PMAC much like that of other devices in your 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 that all applications that use PComm32PRO be shut down This includes Pewin32PRO NC for Windows and any applications developed with PComm32PRO or PTalkDTPRO ActiveX component for PMAC Installing Pcomm32PRO Before installing Pcomm32PRO read the license agreement included in this manual behind title page and make a backup copy of the installation disks Then install Pcomm
104. llows the user to set PMAC s I O registers BUSBASE x Useful for getting PMAC out of a reset state for example 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 No 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 Des long char in str long str 1n Converts an hexadecimal string to a long integer Arguments in sir Pointer to the beginning of hex string strin How many characters to examine Return Value Long integer value representation of hex string Utility Functions 107 PCOMM32PRO DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS DOWNLOADGETPROC typedef long FAR WINAPI DOWNLOADGETPROC long nIndex 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 Linenumber asked for pszBuffer Buffer pointer to copy text line into nMaxLen
105. 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 VBGW Format 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 YL 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 datal 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
106. lt value Return Value T 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 T Q num Variable number val Value to be set Return Value None Variable Functions 103 PCOMM32PRO 104 Variable Functions PCOMM32PRO 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 Arguments 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 int
107. lti 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 example the syntax within the WIN INI file may look like this PMACDOWNLOAD EMO C PCOMM PCOMM TESTPLCC PLC DOWNLOADFILE1 WIN D DOWNLOADFILE2 WINDEMO C PCOMM PCOMM NCPANEL PLC D DOWNLOADFILE3 WINDEMO C PCOMM WIZDOM SPINDLE PLC DOWNLOADFILE4 PEWIN C PCOMM WIZDOM SPINDLE PLC DOWNLOADFILE5 USERPROGRAM C USER3 BIFF PLC Downloading Functions 53 PCOMM32PRO Caveat 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 o
108. lude the bus ISA and PCI Dual Ported RAM Serial USB and Ethernet PComm32PRO is compatible with the 32 bit Borland and Microsoft development products which include Microsoft Visual C C Microsoft Visual Basic e Borland Delphi Borland C Builder This manual assumes that you know Windows basics and general programming practices A Global View of the Library PComm32PRO 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 PComm32PRO itself consists of three sets of 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 PMACx INF where x ISA SER PCI or USB Windows Setup Information files PMACSERVER EXE Running in the background when any application is communicating to the PMAC e USBCONFIGURE EXE and ETHCONFIGURE EXE responsible for configuration of the USB and Ethernet communication boards including loading the appropriate firmware and assignment of 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 Introduction PCOMM32PRO The illustration below shows how these modu
109. macDPRAsciiStrToRot or PmacDPRAsciiStrToRotEx functions Several things must be done before a rotary program can run 1 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 PmacDPRRotBufChange 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 Explanation Value IDS ERR 059 59 RS274 to BIN DPROT Unable to allocate memory 34 PComm32PRO DPR Features PCOMM32PRO 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 please try again soon Also PMAC may stop running the program for a v
110. macFlush 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 A Matching an ASCII string sent to PMACs input ASCII queue with the corresponding PMAC response put in the output ASCII queue B Telling PMAC to cancel processing a large query from the host PC For example if ahuge memory dump is requested it could take a long time for PMAC to send this information out to the host If for some 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 44 ASCH Communication Functions PCOMM32PRO Return Value None 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 dwD
111. mand for PMAC long PmacDPRTimeRemInMove DWORD dwDevice long crd This function returns the time remaining in the current move 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 I13 gt 0 double PmacDPRGetFeedRateMode DWORD dwDevice int csn BOOL mode 72 DPR Background Fixed Data Buffer Turbo PCOMM32PRO BOOL PmacDPRRotBufFull DWORD dwDevice long crd R BOOL PmacDPRSysInposition DWORD dwDevice long crd D BOOL PmacDPRSysWarnFError DWORD dwDevice long crd BOOL PmacDPRSysFatalFError DWORD dwDevice long crd BOOI 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 crd BOOL PmacDPRMotionBufOpen DWORD dwDevice BOOL PmacDPRRotBufOpen D
112. 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 strongly 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 Below are all negative return codes Mnemonic Value Meaning COMM EOT 0x80000000 An acknowledge character ACK ASCII 9 was received indicating end 8 Getting Started PCOMM32PRO 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 0xF0000000 Serious f
113. mentries 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 PmacDPRVarBuflInitO Arguments dwDevice Device number handle Handle to the buffer Returns Returns the total number of entries PmacDPRGetVBGDataOffset UINT PmacDPRGet VBGDataOffset DWORD dwDevice long handle Returns the offset in bytes from the beginning of DPR that the data for this applications VBGDB begins Typically not used by programmers Arguments dwDevice Device number DPR Variable Background Read Write Data Buffer 75 PCOMM32PRO handle Handle to the buffer Returns Returns the offset in bytes PmacDPRGetVBGAdarOffset UINT PmacDPRGetVBGAddrOffset DWORD dwDevice long handle Returns the offset in bytes from the beginning of DPR that the address array for this applications 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 PmacDPRGet VBGServoTimer 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 d
114. mory 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 Returns a global status structure GLOBALSTATUS defined in the section Data Types Structures Callbacks and Constants 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 The motor parameter in these functions is a 0 based index For example 0 is motor 1 1 is motor 2 etc DPR Real Time Fixed Data Buffer 61 PCOMM32PRO un ERVOSTATUS PmacDPRMotorServoStatus DWORD dwDevice long motor Returns a global status struct
115. nate 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 Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PmacDPRSetFOValue PmacDPRGetRequestBit and PmacDPRSetRequestBit 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 cd Motor or Coordinate System Number 1 8 onoff Totumonuse 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 Using the DPR Control Panel in the Users Manual PmacDPRControlPanel 58 Dual Ported RAM Control Panel PCOMM32PRO Dual Ported RAM Control Panel 59 PCOMM32PRO
116. nction 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 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 63 PCOMM32PRO 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 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
117. nd a routine RuntimeLink which performs these tasks A small excerpt from the file is show 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 4 Getting Started PCOMM32PRO Check validity of the procedure addresses if DeviceOpen DeviceClose Report an error couldn t link with one or more functions 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 dll name of the user dll driver N RT a K COMM Type Defines N RETTET a He typedef BOOL CALLBACK OPENPMACDEVICE DWORD dwDevice typedef BOOL CALLBACK CLOSEPMACDEVICE DWORD dwDevice Note It is wise to link only with those functions that your 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 bel
118. nd the variable background data buffer are initialized and removed is important to the successful operation of the buffer s 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 PComm32PRO DPR Features 15 PCOMM32PRO 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 3 Initialize variable background buffer vbg handle PmacDPRVarBuflnit 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 Binar
119. nication ON if ChecksumEnabled printf Checksums Disabled n ChecksumEnabled FALSE else Communication Application Notes 125 PCOMM32PRO printf Checksums Enabled n ChecksumEnabled TRUE DeviceSERDoChecksums dwDevice ChecksumEnabled break case 13 putch 10 output buf char counter x0 if ChecksumEnabled temp DeviceSERCheckResponseA dwDevice input buf 16384 outp ut buf if temp 0 An error occurred switch DeviceGetError dwDevice case IDS_INCOMP_RECEIVE Unable to get complete response printf Did not receive the full response n break case IDS_CHECKSUMDATABAD printf Data checksum error n break case IDS_CHECKSUMACKBAD printf Acknowledge checksum error n break else DeviceGetResponse dwDevice input_buf 16384 output_buf show_printf input_buf output_buf 0 Nx0 126 Communication Application Notes PCOMM32PRO char counter 0 break default output buf char counter out char char counter putch out char break if DEVICEISOPEN DeviceClose dwDevice CloseRuntimeLink void show_printf char lbuf size_t i for i 0 i lt strlen lbuf i if lbuf i 13 lbuf i 7 lbuf i lbuf i 10 switch lbuf i I case 13 printf
120. ntial damages or other similar claims even if Delta Tau has been specifically advised of the possibility of such dames In no event will Delta Tau s liability for damages to you or any other person ever exceed the actual original price paid as evidenced by the receipt for the license to use the software regardless of any form of the claim In the event that the original receipt is lost the suggested list price at the time of purchase will be substituted as the maximum amount for liability for damages GOVERNMENT This license statement shall be construed interpreted and governed the laws of the State of California If any provision of this statement is found void or unenforceable it will not affect the validity of the balance of this statement which shall remain valid and enforceable according to its terms If any remedy provided is determined to have failed of its essential purpose all limitations of liability and exclusions of damages set forth in the Limited Warranty shall remain in full force and effect This statement may only be modified in writing signed by you and an authorized officer of Delta Tau Use duplication or disclosure by the US Government of the computer software and documentation in this package shall be subject to the restricted rights applicable to commercial computer software All rights not specifically granted in this statement are reserved by Delta Tau Copyright 1995 1996 1997 2000 2001 2002 Delta Tau Data Systems Inc
121. o enable the Binary Rotary Buffer after ite has been initialized Dual Ported RAM Binary Rotary Buffer Functions 83 PCOMM32PRO Arguments dwDevice Device number bufnum Which of the two rotary buffers i e 0 or 1 toreference 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 You can 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 request the buffer size was either too small or too large RET_OK 0 PmacDPRRotBufRemove long PmacDPRRotBufRemove DWORD dwDevice long bufnum Use this function to remove any p
122. ol 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 info response parameter ci char Control character to send to PMAC Return Value PmacGetControlResponseA Number of characters returned in response parameter PmacGetControlResponseExA The most significant byte contains the status code and all lower bytes contain the number of characters returned in response parameter See Error Handling ASCII Communication for a detailed explanation PmacGetLineA PmacGetLineExA long PmacGetLineA DWORD dwDevice PCHAR response UINT maxchar long PmacGetLineExA DWORD dwDevice PCHAR response UINT maxchar 46 ASCII Communication Functions PCOMM32PRO 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 does not succeed on its first attempt to retrieve the response it may be that the PMAC device has no response available o
123. orPosition PmacDPRLFixed data 1 0 96 0 32 0 cprintf n n Actual motor position after conversion 1lf r n MotorPosition 30 PComm32PRO DPR Features PCOMM32PRO 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 PmacDPRVarBufReadkx allows you to grab all of the data within the VBGDB in one call Like its counterpart PmacDPR VarBufRead it handles the necessary handshaking required The only significant difference is the size of the long array passed to it The data array should be at least 2 num entries large Also PmacDPR VarBufReadEx does not have a parameter specifying which entry to get as it will get them all Note If you are not using any of the Binary Rotary Buffers set dpr VarStart the initialization file parameter to at most OXDFFE This way the last entry in your variable background data buffer will be updated PmacDPRGetVBGStartAddr 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 Use this function to decide which buffer either a
124. ory 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 You must specify the number of entries to be updated by PMAC oum 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 respectively 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 MTRI_ACTULVEL 0x00020033 PMAC Address X 0033 define MTR1 DACOUT 0x00020045 PMAC Address X 0045 PComm32PRO DPR Features 29 PCOMM32PRO long myaddrarr 3 MTR1 DACOUT MTR1 ACTULPOS MTR1 ACTULVEL If myaddrarr is used as the last parameter in the PmacDPRVarBuflnit 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 PmacDP
125. ow 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 Getting Started PCOMM32PRO 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 aPMAC 1 Load the DLL and get procedure addresses 2 Call OpenPmacDevice with the PMAC device number The PMAC device number is 0 for the first PMAC in your 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 6 Getting Started PCOMM32PRO PmacServer The PComm32PRO driver uses an application PmacServer to handle continuous global memory updates of the DPR automatic functions PmacServer is launched whenever the driver opens communicat
126. r a Timeout has occurred waiting for PMAC to respond You can use the PmacReadReady function to first determine if a response is available If you are considering using this function you will want to make your code thread safe by using both LockPmac and ReleasePmac See Thread Safe ASCII Communications for more information Arguments dwDevice Device number response Pointer to character buffer to receive character string from PMAC maxchar Maximum number of characters to bereceived from PMAC 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 Error Handling ASCII Communication for a detailed explanation Return Value Number of characters received including handshake characters FALSE 0 One of the following occurred 1 No characters in PMAC s buffer queue 2 An error occurred 3 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 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 consid
127. re diskettes documentation and all copies thereof Delta Tau reserves the right to terminate this agreement if you fail to comply with any of the terms and conditions contained herein Should Delta Tau terminate this agreement because of your failure to comply you agree to destroy or return to Delta Tau the program and documentation and any copies in any and all forms received from Delta Tau or generated in connection with this agreement LIMITED WARRANTY Delta Tau warrants that the diskettes and documentation enclosed within this product will be free from defects in materials and workmanship for a period of ninety days from the date of purchase as evidenced by a copy of your receipt THE PROGRAM IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF THE MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE This limited warranty gives you specific legal rights you may have others that vary from state to state Some states do not allow the exclusion of incidental or consequential damages so some of the above may not apply to you The entire and exclusive liability and remedy for breach of the Limited Warranty shall be limited to replacement of defective diskette s or documentation and shall not include or extend to any claim for or right to recover any other damages including but not limited to loss of profit data or use of the software or special incidental or conseque
128. reviously initialized rotary buffer Arguments dwDevice Device number Bufnum Which of the two rotary buffers i e 0 or 1 toreference Return Values RET_ERROR 1 Check request the buffer size was either too small or too large RET_OK 0 PmacDPRRotBufCir 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 84 Dual Ported RAM Binary Rotary Buffer Functions PCOMM32PRO dwDevice Device number bufnum Which of the two mtary buffers Le 0 or 1 toreference 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 also 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 or0 OFF Return Values 1 Active 0 Non Active Dual Ported RAM Binary Rotary Buffer Functions 85 PCOMM32PRO DPR NUMERIC READ AND WRITE General Information The PmacDPRSet DataType functions write numerical data to the specified offset while the PmacDPRGet DataType reads at the specified off
129. rnonsnnsnnsonnenensnsersona nn 34 INTRODUCTION TO PROGRAMMER S REFERENCE essovesovvsssvsnennsnsnnnsenesnnsnsnenssesnnnsnnesnnsnssenesnsnnnsensssnnnssnnee 38 IMPORTANT INFORMATION ABOUT METHOD OF COMMUNICATION BEING USED BY PCOMM32PRO 38 MAXIMUM NUMBER OF RESPONSE BUFFER CHARACTERS tettes tttttssreessreeretetneeteeseeee te 38 INITIALIZATION SHUTDOWN AND CONFIGURATION FUNCTIONS 200ss00000000200002000000002000002000000000 39 OPENPMACDEVICE vandel eee 39 CEOSEPMACDEVIGE PN senere eee 39 PMACSELECI RE 39 EOCKPMACOQ uden rennene 40 RELB SERMAC SG 41 PMACSETERTICALVARSO nannten aR Ne Re EEE E TEE DEEE EI E konene Eder Eed 41 PMACABORTDPRTEST cenene reasons et raden E E aA aE aE 41 PMA CCONFIGURE ecese r anea sere eee AS aE EA E aa EEE ARE E EEEE EE aE AERES aT 42 PMACGETDPRAM VAILABLEO E 42 PMACINBOOTSTRAPMODE EE 42 PMACDPRTESTO vie eee eee ES aE ESTEN 43 PMACSERGETPORT marine Has ablenken 43 ASCII COMMUNICATION FUNCTIONS esoossvsssvsesnssenssnennsssnssnnenssenssnsnnsssnssnsnnssenssnennnssnssnsnnsssnsnnennnssnsnnssnsssnsnnene 44 GETUSRESPONSE USREADREADY arorernnnrvrrnnnvnrrnnrrvnrrnnrnrrrrnnverrnnnnesrrnnnnerrsnnrerrnnnnrersnnnnrsssnnrersnnnnesssnnrnssssnneessnnns 44 PwMachLuep 44 PMACGETASCIICOMM s ssssseeeeeesseestssesetesetttetttstttttssttt ttrt tt tettes St teess te Sette SEEE ESSEEE ESSEE SEEE EE EEEE ESSEE ESSEE Eere enet ee esseen eene 45 I VING 54 D OJ s 3 2 NJ 46 PMACG
130. rough 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 party vendors create you must implement the following set of functions instead of the standard Download procedures 12 PComm32PRO Features PCOMM32PRO PmacAddDownloadFilea PmacMultiDownloadA PmacRemoveDownloadFileA The PmacAddDownloadFileA appends to a centrally located list of files to be downloaded every time PmacMultiDownloadA is called to download files to PMAC PmacRemoveDownloadFileA will remove the files from the list PComm32PRO Features 13 PCOMM32PRO PCOMM32PRO DPR FEATURES A Global View of
131. routine 2 Call the Data Query functions to read the DPR Real Time Data buffer Arguments dwDevice Device number period In units of servo periods See I10 in PMAC Users Manual on off Turn on 1 or off 0 mask 1 mask motors will be updated DPR Real Time 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 60 DPR Real Time Fixed Data Buffer PCOMM32PRO 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 18 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 Returns TRUE if a firmware checksum error has been detected in PMAC s me
132. rs 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 This routine initially 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 query 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 Carraige Return for PMAC Arguments dwDevice Device number outchar Character sent to PMAC Return Value TRUE if success PmacSendCommandA void PmacSendCommandA DWORD dwDevice PCHAR command 48 ASCII Communication Functions PCOMM32PRO Sends a string buffer to PMAC and flushes out any response from PMAC Also 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 s almost always better to
133. ry Rotary Buffer if it has been set up and there is room Arguments dwDevice Device number inostr NULL terminated PMAC command string Bufnum Binary rotary buffernumber Return Value Mnemonic Returned Explanation Value 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 please 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 PmacDPRAsciiStrToRotEx SHORT PmacDPRAsciiStrToRotEx 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 been set up and there is room Arguments dwDevice Device number inpstr NULL terminated PMAC command string Bufnum Binary rotary buffernumber BSendimmediately BOOL flag meant to send the data in one sweep Use of this flag is
134. s 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 DPR Numeric Read and Write 89 PCOMM32PRO 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 Bitnumberto 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 PmacDPRSetDWordBit 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 Arguments dwDevice Device number offset Offset from the start of dual ported RAM bit Bitnumberto set 0 31 Return Values None PmacDPRSetDWordMask void Pma
135. set 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 5 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 Masking BOOL PmacDPRDWordBitSet DWORD dwDevice UINT offset UINT bit void PmacDPRSetDWordBit DWORD dwDevice UINT offset UINT bit void PmacDPRResetDWordBit DWORD dwDevice UINT offset UINT bit void PmacDPRSetDWordMask DWORD dwDevice UINT offset DWORD val BOOL onoff DWORD PmacDPRGetDWordMask 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
136. srbm nennen ennnnnsnnnnnn 58 DPR REAL TIME FIXED DATA BUFFER 00000000000000000s00nss0n0ssnsnnnennnnnsnssnnnnnnnnnnensnsnnnssnnsssnsnsnnssnnsnnnesssnsnsnnnenen 60 Table of Contents PCOMM32PRO DPR REAL TIME FIXED DATA BUFFER INITIALIZATION AND HANDSHAKING nenne onen 60 DPR REAL TIME FIXED DATA BUFFER QUERY RoUmtmwps 60 DPR REAL TIME FIXED DATA BUFFER TURBO 000000000000000000000200000200020000200n020000 0000000000 000n 0200000000 0000000 64 DPR REAL TIME FIXED DATA BUFFER INITIALIZATION CIURpO 64 DPR REAL TIME FIXED DATA BUFFER QUERY ROUTINES CTOppon 64 DPR BACKGROUND FIXED DATA BUFFER 2200000000000000000200n000002000n00000000nn00n00000nnensnnnnnnnenssnnnnnnensnnsnnnnnnee 68 DPR BACKGROUND FIXED DATA BUFFER INITIALIZATION AND HANDSHAKINO 68 DPR BACKGROUND FIXED DATA BUFFER QUERY RoUmmwps 69 DPR BACKGROUND FIXED DATA BUFFER TURBO esssseesvessvssenevesnsnvenennnsnsnenesssnnnsnnesnnsnsnensssnnnnsenssennnennene 72 DPR BACKGROUND FIXED DATA BUFFER INITIALIZATION AND HANDSHAKING CTURRO 72 DPR BACKGROUND FIXED DATA BUFFER QUERY ROUTINES TORpoi 72 DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER ssccsssscssscssssscssscesssssssscssssscssssesseseees 74 PMACDPRBACKGROUND sene eee 74 PMACDPRBUFLASTOQusr en 74 PMACDPRGETVBGADDRESS cccessssecsessececssssecsesstsecsensececsssecsessueecesseecesesssecsesaesecsessececsnsecsesaesesneseeesensnsessees 75 DvMaACDPROGSTVBONOMb
137. stem 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 long 2 Calling party should poll this function until TRUE is returned Only then will the data be valid Arguments dwDevice Device number h Handle tousers VBGDB status structure entry num Entry number to be retumed long 2 Pointers to retumed data Second element may or may not be valid Its a function of data type forentry numin question Return Value Returns TRUE 1 on data ready else FALSE 0 PmacDPRVarBufReadEx LONG PmacDPRVarBufReadEx DWORD dwDevice long h void long x 78 DPR Variable Background Read Write Data Buffer PCOMM32PRO 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 PmacDPR VarBuflnit 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 Arg
138. stent when resetting the operating system registry is not changed Note also that you should set 157 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 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 it s argument For example X100 is a single instruction and X1000Y1000Z1000 is three instructions 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 You should disable the Binary Rotary
139. t 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 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 3 variables 2 x 24 and 1 x 48 which takes 4 x 32 bits So 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 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 thatis 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 PmacDPRVarBufChangeEx long PmacDPRVarBufChangeEx 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 Th
140. t differ Turbo s Realtime data is motor only specific whereas the non Turbo contains more 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 would not occur while PMAC is writing Notice the sequence for handshaking 1 Refresh the data within the DPR via the PmacDPRUpdateRealtime routine 2 Callthe Data Query functions to read the DPR Real Time Data buffer 20 PComm32PRO DPR Features PCOMM32PRO 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 SetW
141. t 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 datal 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 pointer to an array of VBGWFonnat structures which specify what is copied from DPR into PMACs intemal memory entry num Data entry to be received from table see above for more detail 80 DPR Variable Background Read Write Data Buffer PCOMM32PRO DPR BINARY ROTARY BUFFER FUNCTIONS PmacDPRAsciiFileToRot NOTE The bufnum parameter in the routines below is a 0 based index Therefore 0 would specify buffer coordinate system 1 I would be buffer coordinate system 2 etc SHORT PmacDPRAsciiFileToRot DWORD dwDevice FILE inpfile USHOR
142. t 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 42 Initialization Shutdown and Configuration Functions PCOMM32PRO PmacDownloadFirmwareFile PmacDPRTest LONG PmacDPRTest DWORD dwDevice DPRTESTMSGPROC msgp DPRTESTPROGRESS prop 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 12 15 147 148 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
143. tControlSet 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 success 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 success See Also OpenPmacDevice PmacSelect long PmacSelect HWND hwnd Initialization Shutdown and Configuration Functions 39 PCOMM32PRO PMAT Devices SH CA ote 1 tU OFRAS De D4 PMAC 1 SERD COZ Baudraie 38400 Pant Hona PRIA Z USO Flug end ple PRES 3 ALA PRIA 4 AA PRIA 7 MA E PMACE MA a PMACG HA 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 You may find that you need to commun
144. the driver to call a function provided of PMACINTRPROC type Arguments dwDevice Device number pFunc Pointer toa PMACINTRPROC function msg Message to be passed back to the called function as a parameter ulMask 32 bit intenupt mask Zero 0 will cause all interrupt service levels to intenupt Return Values TRUE Ok FALSE Error PmacINTRRunThreadlnit BOOL PmacINTRRunThreadInit DWORD dwDevice LPTHREAD START ROUTINE pFunc UINT msg ULONG ulMask Once initialized with PmacINTRRunThreadlnit 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 bitinterrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error 98 Interrupt Functions PCOMM32PRO PmacINTRTerminate BOOL PmacINTRTerminate DWORD dwDevice Shuts down the interrupt service Arguments dwDevice number Return Values TRUE Ok FALSE Error PmacINTRWndMsgInit BOOL PmacINTRWndMsgInit DWORD dwDevice HWND hWnd UINT msg ULONG ulMask Once initialized with PmacINTRWndMsgInit an interrupt will cause the driver to send provided message to the pro
145. tions out there Il may solve this problem by allowing PMAC to purge itself But if you have a POBB problem it behooves you to find out what error conditions exist at run time 3 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 for you Serial Communications There have been reports that people have had to use the Executive Program before their own home brewed or 3 party serial communications software would work The sufficient conditions for this to occur are 1 PMAC has firmware 1 16 or before Communication Application Notes 119 PCOMM32PRO 2 PMAC has just powered on or been reset 3 The 3 party software uses hardware handshaking From PMAC firmware version 1 16 and before PMAC after power up or a reset would have it s RTS line set to FALSE meaning it would hold off a host computer from sending PMAC commands Ifthe 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 Execut
146. uble PmacDPRCommanded p mtrcrd B printf PmacCommanded Position B 11 4lf n aDouble aDouble PmacDPRCommanded p mtrerd C printf Commanded Position C 11 41f n aDouble printf WFE 3d n PmacDPRWarnFError p mtrcrd printf FFE d n PmacDPRFatalFError p mtrcrd printf AMP FAULT d n PmacDPRAmpFault p mtrcrd printf POSITION LIMIT d n PmacDPROnPositionLimit p mtrcrd printf HOME COMPLETE d n PmacDPRHomeComplete p mtrcrd printf MOTOR IN POSITION d n PmacDPRInposition p mtrcrd 68 DPR Background Fixed Data Buffer PCOMM32PRO DPR Background Fixed Data Buffer Query Routines Data Query functions Motor Specific The motor parameter in the functions below is a 0 based index For example 0 is motor 1 I 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 I double PmacDPRVectorVelocity DWORD dwDevice long num long motors double units This function returns the net or vector v
147. ue 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 a 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 of it s usage within the PmacSERCheckResponseA routine 100 Serial Checksum Communication Functions PCOMM32PRO
148. uments dwDevice Device number h Handle to users VBGDB status structure long x Pointers to retumed 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 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 first placed in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 DPR Variable Background Read Write Data Buffer 79 PCOMM32PRO The upper 16 bits of type_addr element specifies the type of data and the lower 16 bits specify the address to which datal and data2 should be written to The types of data that may be specified are as follows Bits 0 2 0 1 2 4 for YL X SPECIAL memory respectively Bits 3 7 Width 1 4 8 12 16 20 a value of 0 is 24 bi
149. ure SERVOSTATUS defined in the section Data Types Structures Callbacks and Constants 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 Itis 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 IX06 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 Returns TRUE when motor actual position is less than the software negative position limit Ix14 or when the hardware limit on this end L
150. utfile 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 PMACDNID path of file is active directory It s best to supply a path for consistency 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 messages sent to msgp dhid 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 PmacAddDownloadFileA PmacRemoveDownloadFileA Downloading To PMAC in the Users Manual PmacRemoveDownloadFile long PmacRemoveDownloadFile DWORD dwDevice PCH
151. vided 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 intenupt Return Values TRUE Ok FALSE Error Interrupt Functions 99 PCOMM32PRO 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 mm 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 characters Since the checksum characters are removed from the response the final number of characters in the response and the val
152. wDevice 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 Returns The address of the start of the buffer 76 DPR Variable Background Read Write Data Buffer PCOMM32PRO PmacDPRGetVBGTotalEntries long PmacDPRGetVBGTotalEntries DWORD dwDevice Returns the number of items being updated in the buffer by all applications Should never exceed 128 Arguments dwDevice Devioe 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 3 variables 2 x 24 and 1 x 48 which takes 4 x 32 bits The size must be an exact modulo of 4 because the PMAC dual ported
153. wTRIESU eineerriestiri einne Ees L eiaeaen EEEE EES AEE EEEN EKAA EES AANER ERER EERS raan 75 PMACDPRGETVBGDATAOFFSET nerien aaa aa aa EEE E eE Ei RE EEE TAE E EEEE RES aE SERRE 75 PMACDPRGETV BGADDROFFSET ssise s2eic ccsithe EES EES SEENEN ceil acineemmanssieedics 76 PMACDPRGETVBGSERVOTMER u 02 2ununnen innen aainlannhennertense 76 PMACDPRGETVBGSTART DBRU 022 SEENEN dE 76 PMACDPRGETVBGTOTALENTRIES u neh nen nun lan nenne 77 PMACDPRVARBUFCHANGE u nennenin anna anna a EESTE EERE EE AAS SAAE EATERS Ea Au 71 PMACDPRVARBURINIT 2 0 eaa aa EEEE EE EE E EE EE EEE AEE E AE EEEE aE a aaae 71 PMACDPRVARBUFREAD secie tcana aa EEEE EEEE E eE EEEE EEE AEE ra E EEEN AE aaae 78 PMACDPRV ARBUFREADEX d se headet A E EEE AEE EE A EEEE aE EREE e 78 PMACDPRVARBUFREMOVE isernia aaa aE EE EAEE EE E NEEE REEE aE EEE OERE ENEE 79 PMACDPRWRITEBUFFEREX EE 79 DPR BINARY ROTARY BUFFER FUNCTIONS eooesesvssenevssssssenesnnsnssenssnsnnnsenesnnsnssennsssnnssnnesnnsnsnnnsnnnnnnenssnsnnnsnenee 81 PMAEDPRASCIHEILETOROTU 222er nen ieh 81 PMACBPRASCIHSTRTOROT EE 82 PMACDPRASCISTRIOROTE Xn ee EL 82 PMACDPRROTBUFCHANGE orriaren eiere taa urien EE EEEE RE EENE SAE A EE E EAN EEEE EEE E EESE 83 PMACDPRROTBUFREMOVE cssssccesssscecessseeecssnceceesaececsensececsseeecsesaeeeceesaececssseceesaeeecsesaecesseseceeaeeecessaeesensnsesees 84 PMACDPRROTBUFCLR 4 2 anne business 84 PMAEBDPRROTBUR 24 nenne ra ea 85 DPR NUMERIC READ A
154. wiscccssssctsacsissstenccssaosssssecsnscoscessianssesnesssssssbecssasssssesssnesacsensessscienessnseseosessansesesestece 93 PMACSETGATHER du 93 PMACSETOUICKGATHEREX ze Hase e Ea Ane Tanes N AANER gen Seege Een 93 PNA CGE TGs ATM Recess cece a a a a A E ee 93 PMACSTARTGATHER NN 94 PMACSTOPGATHER SN 94 DMACSPTOUICKODATHERWITHIDIRPCTCURRENTES sonne 95 INTERRUPT FUNCTIONS sissssccssossssevscsnnssdecessnescosoncsvanssvecesntecsoestsncsesosessensoscecsisasevcedsnasscesosvenseseosesnascosonssdenassecesees 97 GENERAL INFORMATION INTERRUPT FUNCTIONS sss sssseeeseeeeeeeestetetesttrtetteetetttssttttssrterettrettttessttetsstrneertesteretesere eent 97 PMACINTRFIREEVENTINIT ccessseceessscecescececsstsecessassecseneececssseecsesaeeecesneeeessssecsesaesecseseeceesesecsesaeseseesaeesenenseeees 97 PMACINT REUNCCALLINIT ME 97 DMACINTRRONToRpAplwrmO seerne Tenere rnaen ai e EEE aE EAER ESEE A RE AEAEE RETRASE EA EAEEREN iaraa 98 PMACINTRTERMINATE O ua ae nei aaa ana isdn 99 PMACINTRWNDMSEINIT ua 2er na re E EE ala 99 SERIAL CHECKSUM COMMUNICATION FUNCTIONS 2 220s20000200200000200020000200n220000 2000000000 2000 020000 000000000 100 PMACSERDOCHECKSUMS zeessssessssessnsnsnnnennnennnnnsnennnnnnnonnnnennnnnsnensnnnsnnnennnnnennnsnnnsnsnsnnnnnsnnennnsnnensnsnnnsssnnnenssnanen 100 M N ON OLE 1 OOS LON NO tettette ttes tt tE ESSEE ES EEEE EEEE ESSERE ESSEE SSE Eeee rE eneee essene esene 100 DvMaCSbbRCHGCKSEMDLINEAT 100 PMACSERCHECKGETEI
155. y rotary buffer 1 4 Binary rotary buffer 0 16 PComm32PRO DPR Features PCOMM32PRO The following shut down procedure is generalized to handle any situation void closeAll dwDevice Shut Down int buffnum while buffnum PmacDPRBufLast dwDevice gt 0 X if buffnum 3 PmacDPRVarBufRemove dwDevice vbg_handle remove BG Buf if buffnum 2 PmacDPRRotBufRemove dwDevice 1 remove BinRotBuf 2 if buffnum 1 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 beginning 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 A Jog Jog Pre Jog Home Motors only B Run Stop Step and Feed Hold Coordinate System only C Assign a feedrate override value for a particular coordinate system Four necessary conditions for any of the actions above to be re

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