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1. End If 50 1 CStr Int s1 Print 1 x Main ComPort1 m_Timing 0 End Function Page 51 7 24 2006 6 EXAMPLES USING COMMMANAGER There are five projects sent together with the CommManager control They are projects of a BasicFunctions Examples of SendCML SendbgCML ExecuteCML and so on are given This project shows that we can execution of 1 on the foreground queue then qeury the motor position on the background queue We can monitor the position during the motion This project also shows that we can execute a set of CML Commands serially as the same to the exection of Bank program in the motor DrawACircle Examples of using SendcbbgCML and callback This project shows how to implement an external position controller by CommManager so that we can make two motors work cooperatively However be very cautious using this program because windows OS is not a real time OS Therefore DO NOT EXECUTE ANY OTHER PROGRAM WHEN RUNNING THIS APPLICATION StepResponse Examples of using MotorResponse This project shows how to get a step response of motor TorqueControl Examples of using SendcbbgCML This project shows how to implement an external torque controller by CommManager SilentCML Examples of using SendSilentCML This project shows how to use SendSilentCML to execute CML Command silently Each project has VB and VC version Page 52 7 24 2006 7 CONCLUSION CommManager was develo
2. 1 K14 1 0 799 1 Sent to motor 799 1 Returned from motor Uq 1 8 Returned from motor 2 K14 1 1111 799 1 Sent to motor Uq 1 8 Returned from motor If the correct setting of the Wait string is not clear set Wait In this case CommManager will automatically set Wait properly 3 2 6 SendmCML HRESULT SendmCML BSTR CML BSTR Wait int dim long No long ID Description This function is used to send several CML to the foreground queue once time It is equal to multiple SendCML command Parameters e Refer 83 1 1 Return Value s e S OK successful Page 24 7 24 2006 e CmGoesBeyondBoundary if user defined long No is outside the permissible value range Example Assume K14 1 0 VB dim CML 2 as string Wait 2 as string No 2 as integer CML 0 2 99 1 CML 1 2 99 2 Wait 0 99 1 Wait 1 2 99 2 No 0 1 No 1 2 m CommManager SendmCML CML 0 Wait 0 2 No O 101 VC CString CML 2 Wait 2 int No 2 CML 0 99 1 CML 1 99 2 Wait 0 2 99 1 Wait 1 2 99 2 No 0 1 No 1 2 m CommManager SendmCML LPCTSTR CML LPCTSTR Wait 2 No 101 3 2 7 SendbgCML HRESULT SendbgCML BSTR CML BSTR Wait long No long ID Description This function sends a CML command to the background queue Parameters e Refer to 3 1 1 Return Value s e S OK successful e CmGoesBeyondBoundary if user defined long No is outside the permissi
3. CTS 0x0008 CTS changed state o EV DSR 0x0010 DSR changed state o EV RLSD 0x0020 RLSD changed state o EV BREAK 0x0040 BREAK received o EV ERR 0x0080 Line status error occurred Page 50 7 24 2006 o EV RING 0x0100 Ring signal detected o EV PERR 0x0200 Printer error occured o EV RX80FULL 0x0400 Receive buffer is 80 percent full o EV 0x0800 Provider specific event 1 o EV EVENT2 0x1000 Provider specific event 2 Return value e NO 5 CALLBACK OF COMMMANAGER CommManager can callback a function defined by the user application This is important when we do real time control The callback function can be set to CommManager by SendcbbgCML function The prototype of the callback function is defined as follows long stdcall func long x BSTR u Where x is measurement data from the CommManager and is a point of a string that will be sent to a motor This function usually can be used to implement a controller For example by VB we can implement a torque control by the following command dope ease 98 1 0 AddressOf controllerX 101 Where the controllerX is defined a module as public function as follows Public Function controllerX ByVal x As Long ByRef As String As Long sp2 CInt Main TS Text err sp2 x sl err 1 Main TR Text x Debug Print s1 x If 51 gt 25000 Then 51 25000 Elself 51 lt 25000 Then 51 25000
4. When E Stepping is encountered the stepping execution terminates For example Loop 3 1 1000 1 1 1000 1 LoopEnd S Stepping Loop 3 1 1000 1 1 1000 1 LoopEnd E Stepping Loop 3 1 1000 1 1 1000 1 LoopEnd Then only the loop marked with yellow will be executed step by step When you call ScriptStepExecute 5 Stepping and E Stepping is not valid for the RunScript and RunMScript Page 48 7 24 2006 4 EVENTS OF COMMMANAGER 4 1 OnComm and OnExecuteCML HRESULT OnComm long CommEvent long MotorlD long Msgl D HRESULT OnExecuteCML long CommEvent long Motorl D long Msgl D Description If you insert the CommManager as an ActiveX control into your project then you can use these events OnComm event will be issused when you use the commands beginning with Send to send commands to motors OnExecuteCML will be issused when you execute a command by ExecuteCML or ExecutemCML Parameters e CommkEvent CommManager uses these constants to distinguish by what kind of command the event is triggered The EventConstant is defined as follows o VvbTimeout 2 1 Triggered when timeout occurs o vbDirect 0 Triggered by SendCommPort function vbForeGnd 1_ Triggered by a foreground command o VvbBackGnd 2 Triggered by a background command VvbExecute Triggered by ExecuteCML function o vbSilent 4 Triggered by silent command Info CommManager uses this number to indica
5. s tour oak oh ade sa athe bs 26 3 2 10 SendcbbeCME zit a een de RR Ri dae e 27 3 2 11 SehndcbCME 2t nr est aeree nec rg ueteri dues eue epe vega edu 27 3 2 12 SendSilentCME ae ade ae dee dede e eed pete tet des bei tus ees eae 28 3 2 13 Send CMEBIOGK e aye t aee a rc E epe teque eue a i 29 3 2 14 GetM Res li i a et pe te WR Re th tree e eye 30 PAGE 2 7 24 2006 3 2 15 EXC CULEOMIL eI epe pee ag elem exea 31 3 2 16 Deletebe C ML esum tr m et Rie rep 3l 3 2 17 ExecutemCML a e ed oye sade oe ra 32 3 2 18 limerInterval ende t 32 3 2 19 s ue ae npn 33 3 2 20 TimektStOD ui sir ER RE eb re PORE DB UE ee ebrei ape EA E eR ER Met rg e RS 33 3 2 21 m BackForeRatio 33 3 2 22 Delete C ML et a ER Meee sesh ands 34 3 2 23 O 35 3 2 24 eee 35 3 2 29 36 3 2 26 SetMemoryLength 37 3 2 27 _ 37 3 2 28 _ 38 3 2 29 _ 38 3 2 30 _ E 38 3 2 31 m WriteToLogFile nitet ene ten 39 3 2 3
6. software interface for the management of Cool Muscle motor network communication This ActiveX control is a multi threaded windows control that communicates with motors at the highest real time priority allowed in Windows OS environments Furthermore the control can be inserted into Visual Basic Page 7 7 24 2006 projects Visual C projects or any other language that supports COM Component Object Model technology The CommManager will free the application programmer from developing the communication code necessary to control Cool Muscle motor networks Instead a suite of functions is available to actively monitor network communication or passively wait for special return events Furthermore by using multiple CommManager objects in the user application the user can develop larger networks across multiple Com ports The only limitation on network size becomes the amount of available Com ports on the PC 2 3 1 CommManager Installation The installation process for CommManager is the same as that of any other ActiveX control DLL file Save the included DLL files CommProj dll and CMLScriptl dll to a directory path that does not include the space character Execute the following lines from a command prompt in that directory regsvr32 CommProj dll regsvr32 CMLScript1 dll These commands will register each DLL in the system registry and make CommManager available within the preferred development environment Note To wor
7. 2 JE TDI S TE 40 3 2 33 Functions for Wrapping Basic CML Commands eese 40 3 2 33 1 MotorGOOTipln s ise e o Re e HH HEP DRE DD ROSSI 3 2 33 2 MotorExecBank 3 2 33 3 MotorStop 3 2 33 4 MotorEnaBle s OMA CRDI Ln 3 2 33 5 MotorDisable 3 2 33 6 MotorDynaExec 32 337 MotorCPQ sees 3 2 33 8 MotorQuery 3 3 FUNCTIONS FOR RUNNING CML SCRIPT onran i a R A a E a 42 oHe E eco e io a et deitate ali esee 42 3 3 2 An S chedulekStyle iie a t rr e AE Ee RR e PAGE RE 42 923 ReeisterEVenis s secte fea p e p tert AO Ce n ee Dg Ce RE DI ERE EE eed 42 3 3 4 DetectMotorCommunication 44 gi3 2 0 UBIOGCKEXECULE os ot oi o ido OI rie 44 DISADLEBIOCK e e edite cade Dt ideae 45 EE 45 3 3 6 46 3 3 9 RUAMSCHIPU 46 3 3 10 SLOPMS CIPLC 47 3 3 11 47 3 3 12 _ 47 3 3 13 ScriptStepExeculte a een ar tete RR E OE 46 4 EVENTS OF COMMMANAQGER 49 4 1 ONCOMM AND ONEXECUTECML csssssscosssssncceessecnsccsenseoeccosnsesvsccoensesneseosntesnecsosnsesneseosnee ss 49 4 2 ONMOTOREWENT 1 sei teer E GR Lines terre odes tecto m dee ea re e Fe teri dd 49 4 3 ONRS2320 eet b etre n teret tee teni EET RE otal teehe
8. 20 5 1 1 CommManager time Task gt lt gt 4 gt lt gt 6 A 86 A 6 A 6 X XS PA Y Foreground and Silent Queue CML Background and Silent Queue Events CML Events Figure 3 Snapshot of the Timing Required for CommManager Task Scheduling Page 13 7 24 2006 2 4 2 Properties of the Foreground Queue The foreground queue is a FIFO queue that executes CML commands one time and waits for a returning message before executing the next queued CML command Once a return message is received the CML command exits the queue and will not be executed again In the event an executed command in the foreground queue is waiting for a return message and the allotted time period of execution expires then the time period is extended for the remainder of a pre defined time out period If time out occurs then CommManager subsequently returns a queue enumerator argument outside the range of accepted values to the calling function Though there is no restriction on what CML commands can enter the foreground queue it is recommended that only those commands with return messages of relatively small wait duration be placed in the queue This includes commands like 1 1 500 20 1 0 1 1 1 and 5 but excludes commands like 1 and 1 if the desired return message is It is important to note that it is not necessary to wait for a return message for any items executed in the
9. 5 2 5 2 AnAccurate TIEFE e tede e et te 15 2 93 CHECK OT s S au o RO E UB aet E 15 2 9 4 vCOmmand QUEUES oet RE E EE SER EE ERES ER FEE Hates thse ca pee scu eee 16 2 9 9 Callback Fu n tiondlity i S RS e ERE TU ne Eb Wee 16 2 5 6 Management CML Command Queues 16 2 3 7 Operation s eee e e e dco ee peine ds 16 3 FUNCTIONS IN THE COMMMANAGER COM INTERFACE WITH PROGRAMMING lo C Wild ur 19 3 1 GENERAL DEFINITIONS FOR COMMMANAGER FUNCTIONS cerent eee nennen nene 19 3 1 1 Some common arguments to most CommManager functions eese 19 3 2 Return arguments e uie eer pe E eque RUOTA 20 3 1 3 Events related with commands nennen 20 3 1 4 Using ActiveX controls in your application esee ener 20 3 1 5 Constants defined in CommManager eese nennen nennen rene rennen 21 3 2 FUNCTION DESCRIPTIONS ee a ee espe E p e e Re beue 21 3 2 4 OpenCommpPOTt u s ehe en RE RR Rte eee ru Re qe Eie rea ire ey 21 3 2 2 CloseComnmbPori s antt e aeta enata atat 22 Send GommPOrt s ne S RR med tede ic e TU 22 3 24 Read CommpPOort e sa p a ROO Re de dee Bi RU 23 3 2 5 Send ME vns e deeem uds Rn Oto tutamdie iei et 23 3 2 6 SendmCME te ee e 24 3 2 7 Son ck Been 25 SPA EET TUTO PED E 25 3 220 SENG Pile
10. COMMUNICATIONS MANAGER FOR COOLMUSCLE MOTOR SYSTEMS COMMMANAGER MYOSTAT MOTION CONTROL 17817 LESLIE ST UNIT 43 NEWMARKET ONTARIO 7 24 2006 7 24 2006 TABLE OF 5 TABLE OF CONTENTS jor p 2 LIST OF FIGURES eee 4 1 INTRODUCTION 5 2 TRANSFERABLE BENEFITS USING COMMMANAQGER 6 2 1 A BRIEF OVERVIEW OF EXISTING COOL MUSCLE MOTOR NETWORK 6 22 BASIC REQUIREMENTS FOR A PC APPLICATION CONTROLLING COOL MUSCLE MOTORS 6 2 3 APPLICATION DEVELOPMENT WITH THE COMMMANAGER 7 2 3 1 CommManager Installation s nee ra erai ie en 8 2 3 2 CommManager sees enne nennen rennen ens 8 2 3 3 Password i riis 9 THE FEATURES COMMMANAQGER eee ee eene eene enne tn seta seta stets ttes toas ease ease ease 10 2 4 OPERATIONAL PROPERTIES OF THE TASK 12 2 4 1 Timing and Scheduling of the Queues 12 2 4 2 Properties of the Foreground eese eene nenne 14 2 4 5 Properties of the Background Queue eese rennen nennen 14 2 4 4 Properties of the Silent Queue esee te oen b e rb ettet 15 2 5 THE FEATURES OF THE cecinere 15 2 5 1 Management of Low Level RS232C Communication 1
11. Port LPCTSTR amp str Remark The CommManager will declare the memory for this string but the calling function must release the memory 3 2 5 SendCML HRESULT SendCML BSTR CML BSTR Wait long No long ID Description This function is used to send a CML command to the foreground queue Parameters e Refer to 3 1 1 Return Value s e 5 successful e CmGoesBeyondBoundary if user defined long No is outside the permissible value range Example VB m CommManager SendCML 99 1 99 1 0 100 Page 23 7 24 2006 VC m CommManager SendCML LPCTSTR 99 1 LPCTSTR 99 1 0 100 Remark 1 If Wait is set to a null string then SendCML returns immediately and OnComm returns immediately If the Wait string is identical to the CML string then the SendCML function returns immediately but OnComm triggers when the echo message returns to CommManager If the Wait string is equal to the CML string plus an then the function will not return until CommManager receives both the echo and the corresponding return message The Wait string can either be null in value or contain any combination of ASCII character values that results in a complete or incomplete form of a CML command Remark 2 There are two communicating modes 1 with echo mode K14 1 0 and 2 without echo mode K14 1 1111 E g when you send 99 1 to motor motor can respond in the following different ways depending on K14
12. after the querying command finishes 3 2 12 SendSilentCML HRESULT SendSilentCML BSTR CML BSTR Wait long TimeOut long Dim long ID Description This function puts a task into the silent queue Parameters e TimeOut is defined in seconds e Dim the number of elements in the CML string e others refer to 3 1 1 Return Value s e S_OK if successful e CmGoesBeyondBoundary if index of the memory goes beyond the boundary Example VB Dim cml 3 As String Wait 3 As String cml 0 2 1 cml 1 2 2 cml 2 1 2 wait 0 wait 1 wait 2 Ux 1x8 wait 3 Ux 2 8 call m CommManager SendbgCML 96 1 96 1 1 103 call m CommManager SendSlientCML cml 0 wait 0 10 2 102 Page 28 7 24 2006 call m CommManager SendSlientCML cml 2 wait 2 10 1 100 call m CommManager SendSlientCML cml 3 wait 3 10 1 101 VC CString CML 3 Wait 3 CML 0 2 1 CMI 1 2 2 CML 2 1 2 Wait 0 Wait 1 Wait 2 Ux 1 8 Wait 3 Ux 2 8 m CommwManager SendbgCML 96 1 96 1 1 103 m CommWManager SendSilentCML amp CML 0 amp Wait 0 10 2 102 m_CommManager SendSilentCML amp CML 2 amp Wait 2 10 1 102 m_CommManager SendSilentCML amp CML 3 amp Wait 3 10 1 102 Remark This function is used to put a task in the silent queue The tasks in the silent queue will not actively query the motor instead it will w
13. ait until all waiting messages specified by the Wait array come back If the messages from the motor cannot come back within the timeout interval then a message will be issued to indicate the timeout 3 2 13 SendCMLBlock HRESULT SendCMLBlock BSTR CML BSTR Wait long ErrorCode long Val BSTR MotorEcho Description This function is used to send a CML command to motor and get the querying result when it returns Parameters e Refer to 4 1 1 e ErrorCode error code that is defined in the function SendCML e Val the result of the query e MotorEcho A string that contains the log of communication during the querying Return Value s e S OK if executed successfully e CmGoesBeyondBoundary if user defined No is outside the permissible value range Example Page 29 7 24 2006 VB Dim ErrCode as long Val as long echol as string call m CommManager SendCMLBlock 99 1 99 1 ErrCode Val 1 In this you will get the results as follows ErrCode 0 Val 8 1 99 1 99 1 Ux 1 8 VC Long ErrCode Val BSTR echol m_CommManager SendCMLBlock LPCTSTR 99 1 LPCTSTR 99 1 amp ErrCode amp Val amp echol Remark This function and SendCML are quite similar but differ in that the function does not use the Comm event to return the value The value is returned by the function immediately It also does not use the task queue and will wait until the foreground queue is em
14. ameter K37 Be sure to understand and set this command first 3 2 25 m Timing HRESULT m Timing int index double pVal Description CommManager memory used together with the m Result Parameters Page 36 7 24 2006 e index is the index of CommManager memory e pVal a pointer to a double type variable Return Value s e S OK if executed successfully Example VB m CommManager m Timing 1 VC m CommManager GetM Timing amp x 3 2 26 SetMemoryLength HRESULT SetMemoryLength long len Description Release the CommManager memory and reallocate the CommManager memory with dimension len Parameter e len is the dimension of the CommManager memory Return Value s e S OK if successful e cmAllocateMemoryError If the allocation of memory failed Example VB call m CommManager SetMemoryLength 1024 VC m CommManager SetMemoryLength 1024 Remark The default size of CommManager Memory is 1024 0 1023 3 2 27 m QueueBackCount HRESULT m QueueBackCount long pVal Description This function retrieves the number of tasks in the background queue Parameter e pVal a point to a double type variable Return Value s e S OK if executed successfully Page 37 7 24 2006 Example VB x m CommManager m QueueBackCount VC m CommManager GetM QueueBackCount amp l 3 2 28 m QueueForeCount HRESULT m QueueForeCount long pVal Description This function retrieves the number of tas
15. anager OpenCommPort LPCTSTR COM2 baud 38400 parityzN data 8 stop 1 3 2 2 CloseCommPort HRESULT CloseCommpPort Description Used to close the Com port Once closed the same Com port can be re opened Parameters e None Return Value s e 5 successful Example VB call m_CommManager CloseCommPort VC m CommManager CloseCommPort 3 2 3 SendCommPort HRESULT SendCommPort BSTR str Description Used to send a user defined string from the comm port Note that a carriage return must follow a CML command to be recognized by a motor For example to execute the 99 1 command then send 99 1 Ar to have the motor execute the command Parameters e Str A command string sent to motor Return Value s e S OK successful Example VB call m CommManager SendCommpPort 99 1 chr 13 VC m CommManager SendCommPort LPCTSTR 99 1Vr Page 22 7 24 2006 Remark This function will wait until all the data is fed to the RS232 buffer and does not run in the background The port is ready to accept another string when this function returns 3 2 4 ReadCommPort HRESULT ReadCommpPort BSTR str Description This function is used to read the Com port receive buffer via CommManager memory Parameters e str a pointer to a string that will receive data in the input buffer Return Value s e S OK successful Example VB call m CommManager ReadCommpPort str VC m_CommManager ReadComm
16. asks that are prerequisite to the control aspect of the system Applications involving Cool Muscle motors are also subject to these prerequisites To control Cool Muscle motor networks and to coordinate motion for an overall system there are three critical actions e Polling or querying a motor for information e Waiting for events from a motor e Subsequently performing tasks based on return information from polling or event driven motor info Likewise when developing a PC application to act as a terminal or a soft controller for a motion control system there are basic requirements the application must fulfill to either convey information or to coordinate motor movement The basic requirements for a PC application to communicate with the motor network is e To send a string of commands to the motor network e To wait for some special return string from the motor network e To acquire and analyze results returned from the motor network Page 6 7 24 2006 e To ensure execution of CML commands does not freeze or deadlock operation of the GUI Moreover the programming of a PC application for controlling motors involves either iterating or recurring one or more of these requirements for a particular item or sequence of items Satisfying the above requirements with respect to application development is greatly simplified when dealing with a single motor system In this instance the developer is responsible for GUI operation and a managea
17. ble degree of motor communication handling The most difficult decision becomes timing of execution or rather waiting on motor events to trigger other system events including more motor events For example suppose you are polling the motor and you send it the command 96 1 then your application becomes suspended waiting for a return message This presents a dangerous situation where the application is suspended on I O that may never return In the event a message does not return the application may crash and the system integrity compromised In large and complex systems involving many motors and external sub systems handling I O communication becomes significant in magnitude Combined with the development of stable GUI operation system integrity becomes a major problem if the application is not robust in design This is further complicated by the existence of N motors over a single RS232 Com port The timing of motor response and query becomes increasingly critical to avoid prevent and handle the occurrence of collisions over network traffic In this instance a communication protocol must be established to transmit and receive messages in an efficient manner and deliver error messages or notification when contention or collision occurs 2 3 Application Development with the CommManager To release our users from complex and repetitive programming MyoStat Motion Control engineers have developed an ATL ActiveX control called CommManager a
18. ble value range Example VB call m CommManager SendbgCML 99 1 99 1 1 100 VC m CommManager SendbgCML LPCTSTR 99 1 LPCTSTR 99 1 1 100 3 2 8 SendbgmCML HRESULT SendbgmCML BSTR CML BSTR Wait int dim long No long ID Description Page 25 7 24 2006 Send multiple CML commands to the background queue Parameters e Refer to 53 1 1 Return Value s e 5 successful e CmGoesBeyondBoundary if user defined long No is outside the permissible value range Example Assume K14 1 0 VB dim CML 2 as string Wait 2 as string No 2 as integer CML 0 99 1 CML 1 99 2 Wait 0 99 1 Wait 1 2 99 2 No 0 1 No 1 2 m CommManager SendbgmCML CML 0 Wait 0 2 No 0 101 VC CString CML 2 Wait 2 int No 2 CML 0 99 1 CML 1 99 2 Wait 0 2 99 1 Wait 1 2 99 2 No 0 1 No 1 2 m CommManager SendbgmCML LPCTSTR CML LPCTSTR Wait 2 No 101 3 2 9 SendFile HRESULT SendFile BSTR file int ID Description Send a CML file to the motor l e a large amount of data that isn t necessarily looking for a response such as a program bank or K parameters Parameters e file a string containing CML data or settings e ID refer to 53 1 1 Return Value s e S OK successful Page 26 7 24 2006 Example VB call m CommManager SendFile file 100 VC m CommManager SendFile file 100 Remark This command sends a file to the motor line b
19. cker e Validation of CML commands for instance 75 1 is discarded since there is no k75 parameter Page 15 7 24 2006 e Parameter Value Range Check for instance k37 80 is discarded since k37 cannot be assigned the value 80 2 5 4 Command Queues There are three virtual command threads in CommManager The first is the foreground thread the second is the background thread and the third is the silent thread The commands queued in each of the above three threads operate independently from one another Execution of Foreground and Background CML commands will not block one another 2 5 5 Call back Functionality In real time control problems timing is critical The CommManager can callback a calling application according to an internal timer This timer operates in an independent thread to ensure it will not be affected by GUI operation Callback items can be placed in either the foreground or background queue and upon successful execution will directly return to the calling application rather than using OnComm or OnExecuteCML 2 5 6 Management of CML Command Queues User can send a set of CML commands and let the CommManager to execute them according to timing For example you can send 100 96 1 to CommManager in the foreground The CommManager will execute these commands every 10msec Therefore it is very easy to trace the position when motors are moving This is useful in getting a step response of m
20. d the CommManager analyses the string and returns the appropriate result If the string is not returned CommManager will time out If the character is used as the Wait string then CommManager will wait for the appropriate response for the command Long No is an index of CommManager memory where the results of executed CML code are saved See m Result for details on retrieving the results Long ID is an ID used to identify callback messages sent from CommManager to the application An ID is assigned to CML command and the ID is returned when the event response associated with that command occurs Long Dim contains the number of array elements used in CommManager memory to store the results when multiple commands are executed If an index to CommManager memory is included in the parameter list of a function then a range check is carried out If it goes beyond the upper bound of the memory then an error message will be issued and the function will not be executed consequently any CML string arguments will not be sent to the motor network However you can set the index argument as 1 to not use CommManager memory It is important to note that CML commands intended to run in the background queue are assigned a positive index value Page 19 7 24 2006 3 1 2 Return arguments Most of the functions of CommManager will return S OK if the function executes successfully The above information is true for a
21. development time by reducing programming and debugging time For details please refer to the document on the CML scripting language 3 2 9 Polling and Event driven CommManager is designed to deal with both polling and event driven programming For the case of pulling programming we the put the pulling on the background que and send CML commands to motor at foreground queue For Page 17 7 24 2006 Event driven CommManager can capture and report 7 events from motors There are 7 events happen when motors are running which can shown as follows a Motor Status Ux ID x b Input changes IN ID x c Output changes OUTI ID x d Output2 changes OUT2 ID x e Motor is powered on ID f The execution of a bank program finishes End g The search of origin finished Origin We will call Ux ID x event as Ux event and so on later Page 18 3 7 24 2006 FUNCTI ONS IN THE COMMMANAGER COM INTERFACE WITH PROGRAMMI NG EXAMPLES 3 1 General definitions for CommManager functions 3 1 1 Some common arguments to most CommManager functions Most CommManager functions have the following arguments in their parameter list BSTR CML is a string or a string array of CML commands l e the CML command that is to be sent to the motors It can consist of a single command or and entire list of commands BSTR Wait is a string or a string array of messages that CommManager waits to see return When the string is returne
22. e BC inde d 50 5 CALLBACK OF enata seta setas ease ease tasto eta 51 6 EXAMPLES USING 52 7 CONCLUSION eser 53 APPENDIX A CONSTANTS DEFINED IN THE cssccssscssssscssccesseecees 54 PAGE 3 7 24 2006 LIST OF FI GURES FIGURE 1 OSI MODEL OF INTERACTION BETWEEN LAYERS WITH THE 10 FIGURE 2 COMPONENTS AND INTERACTION OF THE COMMMANAGER eee eene nr nr nn nnns er enne 11 FIGURE 3 SNAPSHOT OF THE TIMING REQUIRED FOR COMMMANAGER TASK SCHEDULING 13 Page 4 7 24 2006 1 INTRODUCTION This manual details how to develop PC side applications using the CommManager interface and Cool Muscle motor s In the following pages it is assumed that the reader is already familiar with e The Cool Muscle Language CML for readers yet unfamiliar with CML please refer to the Cool Muscle User Manual before continuing with this document e Component Object Model COM Technology including ActiveX Controls e How to program using Object Oriented OO techniques Though not essential to understand the material many concepts and terminology inside the document relate to Windows programming and users with neither experience nor knowledge in this area will benefit from visiting http www msdn microsoft com before continui
23. e routinely checks CommManager memory for return messages The silent queue is ideal for watching return messages with long periods between return and execution For example we may place the item 1 on the silent queue and watch for the return End Here we are watching to ensure the entire program executes and are not concerned whether or not the 1 echoed back to the application The Features of the CommManager 2 5 1 Management of Low Level RS232C Communication Inside CommManager is an internal data link layer to manage low level RS232 communication to send and receive a stream of characters from a comm port This object will find the baud rate setting of the Cool Muscle and set the PC baud rate automatically to match There is a buffer in the object to manage the incoming stream of ASCII characters This object works as an independent thread Therefore any operation of the GUI will not block the communication buffers This object waits for comm port events from the Windows OS rather than polling the receive buffer 2 5 2 An Accurate Timer A timer using the Windows System tick clock is implemented and typically accurate within 1ms this is provided the system is executing a minimized set of processes 2 5 3 A Syntax Checker Anything sent to the motor network will be checked for syntax with respect to CML Wrong CML commands will be discarded and consequently not sent There are two components to the Syntax Che
24. e task queues each with a distinct set of features that operate on events placed inside each respective queue Though each queue has a unique feature all queues are managed from a common thread and are subject to a user pre defined allocation of execution time 2 4 1 Timing and Scheduling of the Queues Though the user cannot directly impose strict execution time in the sense of measured seconds execution is adjusted according to a ratio of time units determined by the system clock the OS task scheduler and the actual transmission rate However digital systems are very predictable and it has been found that the average CML command takes between 8 10 ms total time when using a transmission rate of 57 6Kbps and running a minimized set of applications WIN2K platform with Intel Pentium 111 architecture It should be noted that in the Windows OS a priority scheduler is implemented to determine application processing and 1 0 handling CommManager has real time priority in the Windows OS Though Windows is not a real time OS threads running on the real time priority level are given highest priority on the task scheduler and these threads are given CPU time whenever 1 0 events are generated The CommManager itself contains a task scheduler to manage CML 1 0 from the three queues Suppose some fundamental time unit which is the period allotted to threads executing in real time priority Next suppose a time unit 5 which denotes the ti
25. er respectively To enable data logging set newVal equal to 1 All other values will disable data logging Return Value s e S OK if successful Example VB m CommManager m WriteToLogFile 1 VC m CommManager SetM WriteToLogFile 1 Remark The log file is saved as log dat and is placed in the root directory of the CommManager object The log dat has no limit in size and is intended for debugging purposes It should be noted that continuous daily use of the log file Page 39 7 24 2006 could result in PC system performance degradation and may result in system crash The log dat will be cleared when CommManager is loaded 3 2 32 TestCommDelay HRESULT TestCommDelay int Motor1 int Motor2 double TimeDelay Description This function will send 99 1 to Motorl and Motor2 and return the propagation time difference between them Parameters e Motor1 ID of the 1 motor in the daisy chain e Motor2 ID of the 2 motor in thedaisy chain Return Value s e S_OK if executed successfully Example VB call m_CommManager TestCommDelay 1 2 TimeDelay VC m_CommManager TestCommDelay 1 2 amp TimeDelay 3 2 33 Functions for Wrapping Basic CML Commands The following functions are simple wrapper functions of CML commands to free the user from CML In the following MotorlD is the ID of the motor in the daisy chain No is the index of CommManager memory ID is a message ID Type is the type of q
26. g that instance of CommManager A detailed functional description for password assignment command is given in Section 4 3 8 of this manual found on Page 46 Page 9 7 24 2006 THE FEATURES OF COMMMANAGER The end user PC application and the CommManager interface interact in the following way The application sends CommManager a CML command that is placed into a task queue Items inside the task queue are executed by the Task Scheduler Concurrently CommManager receives transmitted results from the motor network and places these into indexed memory Next CommManager returns a message to the end user application that indicates return information is available Upon receipt of the return message the end user application can access the memory content Below Figure 1 shows an OSI model of interaction between the different layers of communication in the CommManager Figure2 describes interaction between components within the CommManager Interface PC Application gt Application Presentation Layer L Session Transport Network CommManager Interface J Layer CommManager RS232 API gt Link Layer RS232 Port gt Physical Layer J Daisy Chain of Motors Figure 1 OSI Model of Interaction between Layers with the CommManager Page 10 7 24 2006 PC Application y CommManager Interface A Foreground Queue Task Dis
27. k with the Visual C examples distributed with the CommManager package the DLL file Diagram dll must also be registered in the manner described above 2 3 2 CommManager Uninstallation Before CommManager is removed from a system references to the associated ActiveX control DLL files should be removed from the system registry In the directory from which CommProj dll and CMLScript1 dll were registered execute the following from a command prompt regsvr32 CommProj dll u regsvr32 CMLScript1 dll u These commands will unregister each DLL as a command component in the system registry Once both files are unregistered it is safe to manually remove all CommManager files from the system Page 8 7 24 2006 2 3 3 CommManager Password A unique 12 character password is distributed with each licensed copy of to serve as a license key This password must be included via method call or value assignment in any software client that is designed to be served by a CommManager COM object For the CommManager object instance m the password assignment syntax for Visual C and Visual Basic is given below VB m CommManager m Password VC m CommManager SetM Password 3E 3E 4E JE 3E 3E TEE Note The password must be set for each CommManager object instance within the software client Until the password is set the client will not be able to open a Com Port usin
28. ks in the foreground queue Parameter e pVal is a point to a double type variable Return Value s e S OK if executed successfully Example VB x m_CommManager m_ QueueForeCount VC m_CommManager GetM_ QueueForeCount amp i 3 2 29 m_QueueSilentCount HRESULT m_QueueSilentCount long Description This function retrieves the number of tasks in the silent queue Parameter e pVal is a point to a double type variable Return Value s e S OK if executed successfully Example VB m CommManager m QueueSilent VC m CommManager GetM QueueSilent 64 Remark Useful for determining if the queues are overloaded during execution 3 2 30 m CMLCheck HRESULT m CMLCheck long pVal HRESULT m CMLCheck long newVal Page 38 7 24 2006 Description Boolean type function to turn CML syntax checking on or off Parameters e pVal and newVal are values from and to CommManager respectively To enable CML syntax checking then set newVal equal to 1 All other values will disable syntax checking Return Value s e S OK if executed successfully Example VB m CommManager m CMLCheck 1 VC m CommManager SetM CMLCheck 1 3 2 31 m WriteToLogFile HRESULT m WriteToLogFile long pVal HRESULT m WriteToLogFile long newVal Description This function is used to turn on off a log file of all motor network and Host PC communication Parameters e pVal and newVal are values from and to CommManag
29. ll CommManager functions unless documented otherwise in the following sections 3 1 3 Events related with commands CommManager can generate four events e OnComm e OnExecuteCML e OnMotorEvent e OnRS232 A function beginning with Send will generate OnComm and OnExecuteCML ExecuteMCML will generate OnExecuteCML OnMotorEvent will be generated when there is a event from motor OnRS232 will be generated when there is an event from the RS 232 port Refer to 4 for a complete description on the events generated 3 1 4 Using ActiveX controls in your application In this manual we introduce the functions and their arguments according to their prototypes in the ActiveX control They may take different forms in different applications depending on the programming language chosen For example in VB the m_Result property is used as follows x m CommManager m Result However in VC a default class generated by the IDE wizard will use m Result as follows m CommwManager GetM Result amp x Use the Object Brower window included in VB or VC IDE to find information pertaining on how to manipulate methods and properties This topic will not be expanded upon further in this manual since it is assumed the reader is already familiar with ActiveX Controls Page 20 7 24 2006 3 1 5 Constants defined in CommManager There are several constants defined in CommManager that can be found in APPENDIX A CommManage
30. m CommManager TimerStart VC m CommManager TimerStart Remark TimerStart does not start a timer but records the timestamp at the execution 3 2 20 TimerStop HRESULT TimerStop double timel Description TimerStop returns the difference between the timestamps of the start and stop timer Parameter e timel pointer a double type variable Return Value s e S OK if executed successfully Example VB call m CommManager TimerStop timel VC m_CommManager TimeStop amp time1 3 2 21 m_BackForeRatio HRESULT m_BackForeRatio short pVal HRESULT m BackForeRatio short newVal Description Page 33 7 24 2006 The foreground and background execution times are set according to this ratio For a positive value the ratio is set newVal 1 forground background For a negative value the ratio is set newVal 1 background foreground See the remarks below the example for a more complete description of the functionality of the method Parameter e pVal newVal are the parameters for the foreground ratio Return Value s e S OK if executed successfully Example VB m CommManager m BackForeRatio 4 VC m CommManager SetM BackForeRatio 4 Remark An important parameter for the CommManager m BackForeRatio sets the ratio of foreground events versus background events for a single period of queue task scheduling m BackForeRatio gt 0 means foreground tasks will execute m BackForeRatio queue ti
31. me required to execute a CML event in the silent queue Also suppose X denotes the time given to execute a single CML event in the foreground queue or background queue Last n denotes the ratio of execution time allotted to the foreground background queues Then in the period of a the CommManager task scheduler first executes 5 and then executes na foreground queue CML events and last executes 4 Refer to Figure 3 for an illustration of task scheduling by the OS and CommManager Page 12 7 24 2006 For any CML event still waiting for motor response at the end of a time unit the time unit is extended until a timeout period is reached In the event timeout is reached in the foreground queue then the CML event is discarded and the calling application receives a message indicating a timeout occurred If a timeout occurs to an event in the background queue the calling application receives a timeout message and the CML event is placed at the back of the queue for the next execution If a timeout occurs in the silent queue then 99 X where X denotes the motor number is immediately executed If the response is Ux X8 then the CommManager returns an in position message to the calling application Should no response return or Ux XzY return where Y denotes any number other than 8 then an error message is sent to the calling application to to o to tol a OS Task dics Scheduler gt a a to lot
32. me units for every 1 background queue time unit for a single period m BackForeRatio lt 0 means foreground tasks will execute 1 queue time unit for every m BackForeRatio background queue time units executed per period Special considerations include e m BackForeRatio O results in a single pre emptive queue whereby events are executed on a FCFS basis This version of queuing pre empts empty time units incurred when executing tasks based on a ratio of m BackForeRatio gt 0 However tasks are still loaded into either the foreground queue or background queue and thus will inherit the properties of that queue when executed e m BackForeRatio 32767 results in a foreground queue only e m_BackForeRatio 32767 results in a background queue only Refer to 83 1 for more in depth consideration of queue operation and functionality 3 2 22 DeleteCML HRESULT DeleteCML Page 34 7 24 2006 Description Deletes all the tasks in the foreground queue Parameters e None Return Value s e S OK if executed successfully Example VB call m CommManager DeleteCML VC m CommManager DeleteCML 3 2 23 DeleteCMLOnQues HRESULT DeleteCMLOnQues EventConstant QuelD long Taskl D Description Delete a CML command in the queue assigned by QuelD with the TasklD Parameters e QuelD Queue ID is defined as follows ForeGroundQue vbForeGnd 1 BackGroundQue vbBackGnd 2 Command Sent by ExecuteCML ExecutemCML vbExecu
33. mension of mBank Return Value s e S OK if executed successfully Page 46 7 24 2006 Examples Refer to 4 3 8 3 3 10 StopMScript StopMScript int BankNo Description stop a script launched by RunScript or RunMScript Parameters e BankNo the No of the script that you want to stop Return Values e S OK if executed successfully Examples VB call m CommManager StopMScript 1 VC m CommManager StopMScript 1 Remark When the script is lauched by RunScript set BankNo 1 3 3 11 m ScriptVar Description An array with the dimension of 1024 used by script Please refer to the document of CML scripting language 3 3 12 m TranslatedCMLScript m TranslatedCMLScript long Index BSTR pVal Description Before a script execution it is be translated to CML language The translated results will be saved in the m TranslatedCMLScript By looking at this you can understand what is happening in the CommManager Parameter e Index the number of the script interested e pVal a pointer to a string Return Values e S OK if executed successfully Page 47 7 24 2006 3 3 13 ScriptStepExecute ScriptStepExecute Description Execute the script step by step Parameters e No Return Values e 5 if executed successfully Examples VB Call m_CommManager ScriptStepExecute VC m CommManager ScriptStepExecute Remark Stepping execution will start when S Stepping appears in the script
34. meters e None Return Value s e S_OK if executed successfully Example VB call m_CommManager DeletebgCML VC m_CommManager DeletebgCML Page 31 7 24 2006 3 2 17 ExecutemCML HRESULT ExecutemCML BSTR CML long No int dim int ID Description A multiple CML command execute Parameters e Refer 54 1 1 Return Value s e S_OK if executed successfully e CmGoesBeyondBoundary if user defined No is outside the permissible value range Example VB call m_CommManager ExecutemCML CML 0 No 0 2 ID 0 VC m CommManager ExecutemCML LPCTSTR CML No 2 ID 3 2 18 Timerlnterval HRESULT Timerlnterval short pVal HRESULT Timerlnterval short newVal Description The timer for the foreground queue in milliseconds A task in the queue will be executed every newVal milliseconds Parameters e pVal and newVal are used to get and to set the timer interval respectively Return Value s e None Example VB m CommManager Timerlnterval 10 VC m CommManager SetTimerl nterval 10 Remark If the Timerlnterval is too short it is possible that a command will not finish during the interval In this case the task will be executed continuously without interruption while future tasks are queued Page 32 7 24 2006 3 2 19 TimerStart HRESULT TimerStart Description Start the multimedia timer Parameter e None Return Value s e S_OK if executed successfully Example VB call
35. n the document of CML script language It contains a set of natural English based commands such as Circle 1 2 0 3600 1000 100 draws a circle with radius 1000 speed 100 by means of motor 1 and motor 2 Parameters e bank A string contains the script Return value e S_OK if executed successfully Examples VB dim bank bank Loop 3 vbcrlf bank bank p 1 10000 1 vbcrlf bank bank 1 10000 1 Vvbcrlf Page 45 7 24 2006 bank bank LoopEnd vbcrlf call commport1 RunScript bank This will cause motor1 go forward and backward three times VC CString bank bank Loop 3 r n bank bank p 1 10000 1 r n bank bank p 1 10000 1 r n bank bank LoopEnd r n m_CommManager RunScript LPCTSTR bank Remark To run RunScript successfully set K14 1111 This turns off the echo message from motors 3 3 8 m_Password Description A password to be able to use CommManager Parameter s e No Return value s e S_OK if executed successfully Examples VB m_CommManager m_Password 1234567890 VC m CommManager SetM Password 1234567890 3 3 9 RunMScript RunMScript BSTR mBank int Dim Description Run several scripts at the same time For some advanced application there is a need to group motors on the network into different groups and execute scripts at the same time Parameters e mBank a string array contains scripts e Dim the di
36. nd Return e S OK if executed successfully Example VB call m CommManager RegisterEvents 1 1 10 0 VC m CommManager RegisterEvents 1 1 10 0 Remark 1 This function is an early function in CommManager development Now all the events from the motor are registered as system events when CommManager is initialised This function is different from the system events as you can assign a timeout Events during operation depend on the setting of K23 The following are events when K23 7 1 Motor Status Ux ID x 2 Input changes IN ID x 3 Output1 changes OUTI1 ID x 4 Output2 changes OUT2 ID x 5 Power on ID 6 Completion of bank execution End 7 Origin search completion Origin Note Ux IDzx event will now be referred to as Ux event and so on Remark 2 If we register the following event to CommManager VB call m CommManager RegisterEvents 1 1 10 0 Then if an event of Ux 1 x happens within 10 0sec then OnMotorEvent will be issused with the following parameters MotorEvent 1 1 Page 43 7 24 2006 Value x If it times out then OnMotorEvent will be issused with the following parameters MotorEvent 1 1 Value 77777777 3 3 4 DetectMotorCommunication DetectMotorCommunication long MemoryAddress Description This function scans how many motors are there in the network Not implemented as of this time 3 3 5 BlockExecute BlockExecute long flag Descrip
37. ng to explore issues in COM threads and the Win32 API including handles and conventions Programming examples found inside this document have been written in either C or Visual Basic Furthermore the following discussion applies only to C type Cool Muscle motors controlled via a PC Page 5 2 7 24 2006 TRANSFERABLE BENEFITS USING COMMMANAGER 2 1 A Brief Overview of Existing Cool Muscle Motor Network Topology Traditional Cool Muscle network topology involves using a host device a PC PLC embedded controller etc with an RS232 Com port that communicates to a daisy chain network of Cool Muscle motors A maximum of 16 Cool Muscle motors can be connected in a daisy chain network In this daisy chain arrangement there exists a master device on the daisy chain that handles all network communication between the chain and the host Thereafter communication is propagated down the chain from each link between the master motor and the first slave and then between each successive slave motor It is important to note that this topology does not require a permanent host device rather the daisy chain can stand alone and execute motion programs residing in memory that is pre loaded by an initial connection to a host device 2 2 Basic Requirements for a PC Application Controlling Cool Muscle Motors When developing motion control applications involving the coordination of actions between subsystems there are certain actions and t
38. or moves using the continuous point feature Remark The returning result is in m Result From 0 to dim 1 3 2 33 8 MotorQuery HRESULT MotorQuery int Motorl D int No int Type long ID Description Queries motor status Remark The returning result is in m Result No Page 41 7 24 2006 3 3 Functions For Running Script 3 3 1 GetVersion HRESULT GetVersion BSTR version Description This function is used to query the version of CommManager Parameters e Version to receive the version of CommManager Return Value s e S OK if executed successfully Example VB Dim ver as string call m CommManager GetVersion ver VC BSTR ver m CommManager GetVersion amp ver 3 3 2 m SchedulerStyle A property of CommManager which is under development At present you can use m BackForeRatio to define the style of the Scheduler of the CommManager 3 3 3 RegisterEvents RegisterEvents long EventType long Motorl D double TimeOut Description This function will register an event to CommManager so that when an event happens the calling application will get notified from Event OnMotorEvent of CommManager See more on the event types in the remarks below the example Parameters e EventType o 1 o 2 IN o 3 OUTI o 4 OUT2 o Bo ID Page 42 7 24 2006 o 6 o 7 Origin e Motorl D A number between 1 to 16 e TimeOut A time period for timeout time whose unit is seco
39. otor and so on 2 5 7 Multi Threaded Operation CommManager is composed of 5 smaller threads whose separation guarantees excellent inter operation and ensures elements inside one thread do not block the operation of other elements inside other threads In particular individual threads handle all GUI operation queue management RS 232 1 0 handling and multimedia timing 3 2 8 CML Scripting Language for CML Devices A CML Scripting language is introduced which is natural English based easy to understand language For example you can draw a circle by the following macro command Page 16 7 24 2006 Circle Motor1 Motor2 Starting angle incremental angle radius speed To draw a rectangle card with four round corners you only need to write the following script and execute the script with the help of CommManager 2 1 2 2 Define px 15000 Define py 15000 Define R 4000 Define s 300 Define a 300 Define sCircle 50 Define Motor1 1 Define Motor2 2 Define DelAngle 900 ABSMove Motorl1 a s px Circle Motor1 Motor2 900 DelAngle R sCircle ABSMove Motor2 a s py Circle Motor1 Motor2 0 DelAngle R sCircle ABSMove Motor1 a s px Circle Motor1 Motor2 2700 DelAngle R sCircle ABSMove Motor2 a s R Circle Motor1 Motor2 1800 DelAngle R sCircle ABSMove Motor1 a s 0 In addition the CML scripting language includes nested loop branch and step execution commands It is shown the Scripting language can save
40. patch gt Background Queue Silent Queue V Task Scheduler CommManager Memory CommManager Timing Syntax Checker V RS232 Port Windows Message Callback fi Motors Figure 2 Components and Interaction of the CommManager The CommManager consists of the following parts e COM interface This interfaces to the user application CML commands are passed from the user application to the interface Return messages either come back to the application or a callback is issued to the calling function e Task Dispatcher Places CML commands in one of three task queues according to the desired behaviour of queue items e Task Queues Queues used to store commands from user The three different task queues are the foreground queue the background queue and the silent queue e Task Scheduler Schedules the execution of tasks according to an internal multimedia timer e Syntax Checker Checks to ensure semantics of CML observed Wrong commands are dropped and are not sent to the motor network e RS232 API Manages the low level communication with the RS232 Com port Page 11 7 24 2006 e CommManager Memory Memory used to store the return results of command execution 2 4 Operational Properties of the Task Queues The most significant data feature of the CommManager interface is the task queues There exist three uniqu
41. ped to help users manage complex and repetitive programming in their developing of control software for Cool Muscle motor system Several other functions will be added to the CommManager such as G code commands Page 53 7 24 2006 APPENDIX A Constants Defined in the There are three sets of constants defined in the CommManager They are type information or error message The error message is somewhat strange because it is COM message You can find out its real value by the Object Browser enum EventConstant vbTimeout 1 vbDirect 0 vbForeGnd 1 vbBackGnd 2 vbExecute 3 vbSilent 4 EventConstant enum MotorExecuteBankConstant vbPError 95 vbPos 96 vbVel 97 vbTorq 98 vbStatus 99 MotorExecuteBankConstant enum cmErrorOpenComPortErr MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFF cmSearchingBaud rateError MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFE cmCanNotOpenComPort MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFD cmSendCMLError MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFC cmGoesBeyondBoundary MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFB cmComPortNotOpen MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFFA cmWrongMotorl D MAKE HRESULT SEVERITY ERROR FACILITY ITF OxFFF9 cmAllocateMemoryError MAKE HRESULT SEVERITY ERROR FACILITY 8 CmError Page 54
42. pty before executing 3 2 14 GetM Result long m Result long index long GetM Result long index Description GetM Result is a read only CommManager memory search function A calling application can use it to retrieve results from the CommManager memory Parameters e index The memory index from 0 to 1023 Return Value s e Along type value Example VB dim x as long result Dim y as long index m CommManager m Result y VC long x y X m CommManager GetM Result x Page 30 7 24 2006 3 2 15 ExecuteCML HRESULT ExecuteCML BSTR CML long No long ID Description Execute a CML motion Command such as 1 1 and so on Parameters e Refer 54 1 1 Return Value s e S_OK if executed successfully e CmGoesBeyondBoundary if user defined No is outside the permissible value range Example VB call m CommManager ExecuteCML 2 1 p 1 1000 1 1 100 VC m_CommManager ExecuteCML LPCTSTR 2 1 1 1000 1 1 100 Remark This function will send the CML command to the foreground queue and will automatically send a 99 1 command to the background queue You will receive a message in the event function OnExecuteCML for every iteration of the background queue The value in m_Result will display the state of the task executed in ExecuteCML 3 2 16 DeletebgCML HRESULT DeletebgCML Description This function deletes all the CML commands in the background queue Para
43. queue if so desired 2 4 3 Properties of the Background Queue The background queue is a circular FIFO queue that executes CML commands repeatedly Similar to items in the foreground queue items in the background queue are executed and do not exit the front of the queue until a return message is received Likewise in the event the allotted execution time expires execution time is extended until the time out period is reached If the time out period is reached then a queue enumerator argument returns an error value to the calling function Regardless of time out or successful message return the command is then placed at the back of the queue index for the next execution There is no restriction placed on what commands can execute in the queue but query type commands are best suited for the background queue for polling and status queries This includes commands such as 99 1 1 1 etc Customers who need to make thousands of repetitive moves for example customers using G code can send a sequence of motion type CML commands to the background queue for recursive execution Page 14 2 5 7 24 2006 2 4 4 Properties of the Silent Queue Though the foreground and background queues are FIFO the silent queue executes all events inside the queue at once The silent queue can be thought of as a FCFS queue where events arriving simultaneously are served simultaneously For each time period allocated to the silent queue the queu
44. r uses these constants when they return a value to the caller or when it sends a message to the caller Constants are used in CommManager for the purpose of communicating with the user application Constants are used to return messages to a calling function or send messages to a calling function Furthermore users can use the Object Browser window in Visual C and Visual Basic environments for definitions of the constants 3 2 Function descriptions In the following sections it is assumed that m CommManager is an instance of CommManager in the application project 3 2 1 OpenCommPort HRESULT OpenCommPort BSTR Setting Description Open a Com port Each CommManager interface can only handle one real physical Com port If you need to use multiple Com ports in your application then you must create a new instance of a CommManager for each Com port used Parameters e BSTR Setting This string sets the properties for the Com port and contains the following baud parity data stop For example to use Com Port 1 with a baud rate of 38 4kbps no parity bit 8 data bits and a stop bit the Setting string reads as COM1 baud 38400 parity N data 8 stop 1 Return value s e cmErrorOpenCommPortErr port is already open e cmCanNotOpenCommPort port cannot be opened e 5 OK successful Example VB call m CommManager OpenCommPort COM2 baud 38400 parityzN data 8 stop 1 Page 21 7 24 2006 VC m CommM
45. te 3 SilentQue vbSilent 4 Return Value s e S OK if executed successfully Example VB call m CommManager DeleteCMLOnQues 1 100 VC m CommManager DeleteCMLOnQues 1 100 3 2 24 MotorResponse HRESULT MotorResponse int MotorlD long Altitude long MaxSpeed long MaxAcc int dim MotorExecuteBankConstant Type long 10 Page 35 7 24 2006 Description This function is used to do a motor test Parameters e MotorlD is the id of motor in the daisy chain e Altitude is the altitude of motion in the unit of pulses e MaxSpeed is the speed of the motion in the unit of pulses per second e MaxAcc is the maximum acceleration of the motion in the unit of Kilopulses per second squared e dim is number of sampling points during the motor test e Type is the query command e 10 refer to the general definition in 84 1 1 Return Value s The CommManager memory from index range to dim 1 will be used to record the experiment Results The data is in m Result and the time that the data is sampled is in m Timing Example VB call m CommManager MotorResponse 1 1000 100 100 200 96 101 VC CString t t1 t 7 1 3 t1 t m CommwManager SendCML t t1 0 0 K23 1 0 tl t m_P 1000 m S 100 m A 100 m CommwManager SendCML t t1 0 0 m CommwManager MotorResponse 1 m P m S m A 200 96 101 Remark The units of Altitude MaxSpeed and MaxAcc depend on the motor s resolution par
46. te by which command the event is triggered vbBlock 5 Triggered by a SendCMLBlock command Return Value s e None 4 2 OnMotorEvent HRESULT OnMotorEvent long MotorEvent long MotorlD long Value Description Capture the events from motor Seven events will be generated shows as follows Page 49 7 24 2006 1 Ux Generated when 1 0 1 2 4 8 returned from motor 2 IN Generated when Inputs of motors change 3 OUT1 Generated when Outputs 1 of motors change 4 OUT2 Generated when Outputs 2 of motors change 5 ID Generated when motors are powered on 6 End Generated when a bank program finishes 7 Origin Generated when motor arrives its origin In additional to those when a script finishes OnMotorEvent will be issused with MotorEvent 8 MotorlD 0 Value 0 Parameters e MotorEvent belongs to 1 8 The value means a kind of event occurs e MotorlD the motor that generates the event e Value The event value For example Ux 4 8 occurs then OnMotorEvent will be generated with the following parameters MotorEvent 1 MotorlD 4 Value 8 4 3 OnRS232 OnRS232 CommPortEventConstant EventNo This event tells you a CommPort hardware event has happened Parameter e EventNo takes the following value o EV RXCHAR 0x0001 A Any Character received o EV RXFLAG 0x0002 Received certain character o EV 0x0004 Transmitt Queue Empty o EV
47. tion This function blocks the execution of the application with Keyboard and mouse activated This function is an auxiliary function to simplify the programming of sequential actions It will be released when Ux End and Origin events happen Parameters e Flag o True activate blocking o False deactivate blocking Return e S_OK if executed successfully Examples VB call m CommManager BlockExecution 1 VC m CommManager BlockExecution 1 Remark To provent this function hangs up your program it is recommdated to call BlockExecution 0 before exit the program For VB program call it at query unload For VC program call it in the deconstructor of a class that calls the BlockExecution Page 44 7 24 2006 3 3 6 DisableBlock HRESULT DisableBlock No Description This function will terminate the execution of the current script s Parameter e NO Return value e NO Examples VB m CommManager DisableBlock 0 VC m CommManager Put DisableBlock 0 Remark Set DisableBlock to a value that is not equal to 1 will terminate the execution of the current script s It is different from StopMScript function StopMScript only terminates the script with BankNo 3 3 7 RunScript HRESULT RunScript BSTR bank Description Run a CML script for CML devices This function will not block your application and will issuse a message to your application when the script finishes The definition can be found i
48. uery command during the execution It takes the following values e vbPError 95 query position error e vbPos 96 query position e vbVel 97 query current speed e vbTorq 98 query current torque e vbStatus 99 query current motor status These values are defined in enum of MotorExecuteBankConstant 3 2 33 1 MotorGoOrigin HRESULT MotorGoOrigin int MotorlD long No long ID Page 40 7 24 2006 Description Returns the motor to its origin Remark The returning result is in m Result No 3 2 33 2 MotorExecBank HRESULT MotorExecBank int Motorl D int BankNo int dim MotorExecuteBankConstant Type long ID Description Executes a bank program Remark The returning result is in m Result From 0 to dim 1 3 2 33 3 MotorStop HRESULT MotorStop int MotorlD long ID Description Stops the motor 3 2 33 4 MotorEnable HRESULT MotorEnable int Motorl D long ID Description Enables the motor 3 2 33 5 MotorDisable HRESULT MotorDisable int Motorl D long ID Description Disables the motor 3 2 33 6 MotorDynaExec HRESULT MotorDynaExec int Motorl D int dim MotorExecuteBankConstant Type long ID Description Executes the dynamic bank contents i e motor moves to pO 1 at speed 50 1 and acceleration a0 1 Remark The returning result is in m Result From 0 to dim 1 3 2 33 7 MotorCP HRESULT MotorCP int Motorl D int dim MotorExecuteBankConstant Type long ID Description Mot
49. y line and waits for it to finish transferring This command can prevent buffer overflow in both the Cool Muscle and PC 3 2 10 SendcbbgCML HRESULT SendcbbgCML BSTR CML BSTR Wait long No long func long ID Description This command puts a task on the background queue with callback to a specific function via the allocation of memory Parameters e func the return address of the calling application e Others refer to 53 1 1 Return Value s e S OK successful e cmAllocateMemoryError If the allocation of memory failed Example VB See sample program VC See sample program Remark This function is used for real time control Two motors can cooperate with each other to draw an ellipse or do torque control The function will be called back after the querying command finishes 3 2 11 SendcbCML HRESULT SendcbCML BSTR CML BSTR Wait long No long func long ID Description This function sends a CML command and calls a specific function via the allocation of memory when it returns Parameters Page 27 7 24 2006 e func the return address of the calling application e others refer to 53 1 1 Return Value s e S OK successful e cmAllocateMemoryError If the allocation of memory failed Example VB See sample program VC See sample program Remark This function is used for real time control Two motors can cooperate with each other to draw an ellipse or do torque control The function will be called back

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