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ACC-9PN_____________________________PMAC 32

1. char str 20 if vh dwDevice DPRAM NULL return FALSE if gh dwDevice bIsTurbo Turbo if on TRUE wsprintfA str i47 u period 100 Extended Functions PComm32 Manual PmacSendCommandA dwDevice str PmacSendCommandA dwDevice i48 1 vh dwDevice DPRRTBufferTurbo hostbusy 0 Reset host busy vh dwDevice DPRRTBufferTurbo dataready 0 Reset Data Ready bit gh dwDevice DPRRealtActive TRUE else PmacSendCommandA dwDevice i47 0 PmacSendCommandA dwDevice i48 0 gh dwDevice DPRRealtActive FALSE vh dwDevice DPRRTBufferTurbo dataready 0 Reset Data Ready bit vh dwDevice DPRRTBufferTurbo 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 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 Extended Functions 101 PComm32 Manual 102 Extended Functions PComm32 Manual COMMUNICATION APPLICATION NOTE
2. cree ee ee ee eren seen esee stans eene setas 91 DOW NLOADGETPROG EE 91 DOWNLOADPROORESS E 91 DOWNLOADMSGPROC u ea EA ENEE PESKO AAEN PAEPAE A AAEE KESIAN EH RR ERE e Ee Re geek FL gene tase 91 DPRTESTMSGPROZC tee dnneiaitieedsn e em etti die deter red de EUNT 91 DPRTESTPROGRESS aene ee tt i aee te iint 92 Dpr Bin Rot Err rS Le 92 GLOBALSTATUS E 93 MOHON ee E A E EEE E 93 MOHONMODE ORE NISUS RUIN IN INIM 94 PROGRA Q 94 SERV OSTA TUS P 94 EXTENDED FUNCT IONS KEE 95 PmacGetineBxex p dzee gege SEENEN EES AE EES ER 95 PmaeGetResponseEx MEE 96 PmacGetControlResponseEXX scesscecsseceeceeceseceseeecsaeceneecsaeceseeecsaeceneeenaecesneessaeceneeesaeceaeeessaecseneseneeceeeeeesaeens 96 PmacDPRRealTime EX ecccccccesssecessseeeceeaececsesaecececeeceesaececseaaeeecseceeesaececsesaeesceasaeseesaeeecesesaeeeceeseeeneseeeeneaaees 97 PmacDPRBackeroundEX m 98 PmacDPR VarBuflnitEX cccccsscscssessssesssccsssseessecssssesssecsessesssecsssssensecsesesessecsesssensecesssseseecsessseaseceassseaaeceesssensess 98 iv Table of Contents PComm32 Manual Piac DPR VarBufChange EX E 99 ITT RI Ae EE E E REN 99 COMMUNICATION APPLICATION NOTE G ssssccssssscccsssssccsssssccesssccscsssccsscsssccsssssccesssccsscssscessesscccessnees 103 Common Communication Traps cot
3. eese eene 48 PmacDPRGetFOValue and PmacDPR SetbPON aluer esses sseseeeeeene nennen nennen nennen nenne enne 48 Table of Contents PComm32 Manual PmacDPRGetRequestBit and PmacDPRSetRequestBit esses eene 49 DPR REAL TIME FIXED DATA BUFFER sccsscseconsscsnssosecsnssasescssnnvevsnssonassescnsensnseesessnosostecssonvossassobasseses nssessesesse 51 DPR Real Time Fixed Data Buffer Initialization and Handshaking eee 51 DPR Real Time Fixed Data Buffer Query Routines eeeseseseeeeseeeeeenee eene enne nennen nre nennen rennen nenne 51 Global esp SUMMER EIE EIE UM 51 BIN EET 52 tee eege Eege Ee LEE E PME DM E C EI 52 DPR BACKGROUND FIXED DATA BUFFER usssssossoossnnssnsssnessnessnssssssonssonsnonsnnnsnnssnnsnnsnsnnnnsnnnsnonssnnsonssanse 55 DPR Background Fixed Data Buffer Initialization and Handshaking eene 55 DPR Background Fixed Data Buffer Query Routines esee eene nein 56 Data Query Function HE a 56 DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER ecce eee ee een eese setas esaet tn seno 59 Pma DPRB ckeround Ems 59 Pmac RI NEEN E RE 59 PmacDPRGetV BGAddress ecseri aes e EE E E EEE ERE EE E NEEE ENE EEEE EE EEEa 60 PmacDPRGetV BGNumEntries cccccccccesssececseseececseceecesaeeecsesaececseececeesaeeecseaaeeecseaeeeesaeeecseaaececseaeaeenesueeeeneaaees 60 PmacDPRGetV BCGData ttfsett nene 60 PmacDPRGetVBGAddrOffset
4. Sets the current serial port baudrate of the device if it is different then the current value Changes are made in the registry so that on driver initialization the last set baudrate is used Communication is attempted using the new baudrate Arguments dwDevice Device number baudrate Baud rate Return Value TRUE if successfully established communication using the baudrate specified See Also PmacSERGetBaudrate PmacSERSetComm 32 Initialization Shutdown and Configuration Functions PComm32 Manual PmacSERSetComm BOOL PmacSERSetComm DWORD dwDevice DWORD port DWORD baudrate BOOL odd parity This function sets the port number baud rate and parity of the serial port for the device Changes are made in the registry so that on driver initialization the last set attributes are used Communication is attempted using the new settings Arguments dwDevice Device number port Port number 1 COMI etc baudrate Baud rate odd parity Odd parity if TRUE else no parity Return Value TRUE if successfully established communication using the settings specified See Also PmacSERSetPort PmacSERSetBaudrate PmacSERSetPort Sets the current serial port number for the device Changes are made in the registry so that on driver initialization the last set attributes are used Communication is attempted using the new port Arguments dwDevice Device number port Port number 1 COMI etc
5. The Ex signifies the enhancement to the legacy code by their ability to get the actual status bit from the PMAC in addition to the number of characters Furthermore these functions have eliminated the existing bugs associated with the legacy code The purpose of using these new functions is to get the actual status code instead of the number of characters as 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 PmacGetLineExA PmacGetLineExW PmacGetLineExX int PmacGetLineExA DWORD dwDevice PCHAR linebuf UINT maxchar int PmacGetLineExW DWORD dwDevice PWCHAR linebuf UINT maxchar PmacGetLineExX queries PMAC for a line response This function will wait for one of the following conditions to occur before returning l atimeout period 2 PMAC has a response A CR ASCII 13 or an lt ACK gt ASCII 6 was received from PMAC 3 The maximum number of characters maxchar was received If PmacGetLineExX 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
6. char buf 256 Call PmacDPRSetHostBusyBit m pDoc DPRSetHostBusyBit TRUE if m pDoc DPRGetPMACBusyBit return Unlikely to get here But if it does let s try again next time int servotimer m_pDoc gt DPRGetServoTimer sprintf buf d servotimer m ServoCounter SetWindowText buf double aDouble m_pDoc gt DPRPosition iCurrentMotor 1 1 sprintf buf 11 11f aDouble m ActualPosition SetWindowText buf aDouble m pDoc DPRGetCommandedPos iCurrentMotor 1 1 sprintf buf 11 11f aDouble m CommandedPosition SetWindowText buf aDouble m pDoc DPRFollowError iCurrentMotor 1 1 sprintf buf 11 11f aDouble m FollowingError SetWindowText buf m pDoc DPRGetCompensationPos iCurrentMotor 1 1 amp aDouble sprintf buf 11 11f aDouble m CompensationPosition SetWindowText buf aDouble m pDoc DPRGetVel iCurrentMotor 1 1 sprintf buf 11 11f aDouble m Velocity SetWindowText buf long aLong m pDoc DPRGetPrevDAC iCurrentMotor 1 sprintf buf 1d aLong m PrevDAC SetWindowText buf aLong m_pDoc gt DPRGetMoveTime iCurrentMotor 1 sprintf buf 1d aLong m_MoveTime SetWindowText buf m pDoc DPRSetHostBusyBit FALSE Using the DPR Background Fixed Data Buffer Startup Shutdown and Handshaking Functions BOOL PmacDPRBackground DWORD dwDevice int on off BOOL PmacDPRSetBackground DWORD dwDevice void PmacDPRSetMotors DWOR
7. function Note the correct sequence for handshaking 1 Inform PMAC that host is about to read the DPR by setting the Host Busy Bit via PmacDPRSetHostBusyBit 2 See if PMAC is currently writing to the DPR via the DPRGetPMACBusyBit routine if so exit and try again next time 3 Call the Data Query functions to read the DPR Real Time Data buffer 4 Inform PMAC that host is done reading and PMAC may update the Ram again by resetting the Host Busy bit via PmnacDPRSetHostBusyBit Arguments dwDevice Device number period In units of servo periods See I10 in PMAC Users Manual on off Turn on 1 or off 0 DPR Real Time Fixed Data Buffer Query Routines Global int PmacDPRGetServoTimer DWORD dwDevice The return value of this routine reflects PMAC s servo counter register located at PMAC address 0 BOOL PmacDPRSysServoError DWORD dwDevice The return value of this function indicates if PMAC could not properly complete its servo routines This is a serious error condition It returns FALSE if the servo operations have been completing properly BOOL PmacDPRSysReEntryError DWORD dwDevice DPR Real Time Fixed Data Buffer 51 PComm32 Manual Returns TRUE if a real time interrupt task has taken long enough so that it was still executing when the next real time interrupt came I8 1 servo cycles later It stays TRUE until the card is reset or the bit in the global status register is reset manual
8. h Handle to users VBGDB status structure entry_num Entry number to be returned long 2 Pointers to returned data Second element may or may not be valid It s a function of data type for entry num in question 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 it all works out a TRUE 1 will be returned otherwise FALSE 0 PmacDPRWriteBuffer int PmacDPRWriteBuffer DWORD dwDevice int num entries struct VBGWFormat the data This feature is available for PROM Version 1 15G and above The variable background write buffer can be used to have PMAC transfer up to 32 PMAC long or short words from DPR to its own internal memory without using the DPR ASCII feature The data to be written into PMAC s memory is first placed in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 The upper 16 bits of type_addr element specifies the type of data and the lower 16 bits specify the address to which datal and data2 should be written The types of data that may be specified are as follows Bits 0 2 0 1 2 4 for Y L X SPECIAL memory respectively For SPECIAL PROM V 1 16 and beyond the user must modify bits
9. 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 Dual Ported RAM Control Panel 49 PComm32 Manual 50 Dual Ported RAM Control Panel PComm32 Manual DPR REAL TIME FIXED DATA BUFFER DPR Real Time Fixed Data Buffer Initialization and Handshaking Initialization BOOL PmacDPRRealTime DWORD dwDevice UINT period int on_off void PmacDPRSetMotors DWORD dwDevice UINT n HandShakin void PmacDPRSetHostBusyBit DWORD dwDevice int on off PmacDPRGetHostBusyBit DWORD dwDevice PmacDPRGetPmacBusyBit DWORD dwDevice int int PmacDPRRealTime starts or stops the PMAC s automatic write into the DPR real time fixed variable buffer PMAC will copy motor information for motors 1 n where n is the argument of the PmacDPRSetMotors function You may call DPRSetMotors before or after PmacDPRRealTime The PmacDPRRealTime function above enables disables the DP Ram real time fixed data buffer When enabled all the other query functions may be used The period parameter in PmacDPRRealTime specifies how often in servo periods PMAC will update the data in this buffer The data for motor numbers 1 n will be updated in DPR where n is the parameter in PmacDPRSetMotors
10. 41 PComm32 Manual Index e 113 PComm32 Manual V Startup Shutdown 22 Variable Background Data Buffer 13 Ww Variable Read Data Buffer Windows 95 98 amp NT 4 0 Users 111 114 Communication Application Notes
11. DWORD dwDevice int motor Returns a global status structure SERVOSTATUS defined in the section Data Types Structures Callbacks and Constants BOOL CALLBACK PmacDPRDataBlock DWORD dwDevice int 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 int 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 int 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 int motor This function returns TRUE when Ix06 is 1 and position following for this axis is enabled It returns FALSE when X06 is 0 and position following is disabled BOOL PmacDPROpenLoop DWORD dwDevice int motor 52 DPR Real Time Fixed Data Buffer PComm32 Manual 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 int motor Returns
12. Return Values Nothing PmacGetlVariable short int PmacGetIVariable DWORD dwDevice UINT num short int def long PmacGetIVariableLong DWORD dwDevice UINT num long def double PmacGetIVariableDouble DWORD dwDevice UINT num double def Returns a PMAC fT variable value as a 16bit integer long 32bit integer or 80bit floating point If there is a communication error then the default value in parameter def will be returned Arguments dwDevice Device number num T variable number to get def Default value Return Value T variable value or default 86 Variable Functions PComm32 Manual UTILITY FUNCTIONS PmacGetRomDateA PCHAR PmacGetRomDateA DWORD dwDevice PCHAR s int 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 int 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 interna
13. and PmacGetResponseA functions are referred to in the manual as PmacGetResponseX For those folks programming in C C or any other program that supports include files and a macro preprocessor you may keep your PComm32 specific code independent of the standard being used by using the definitions below See UTIL H ifdef UNICODE define PmacGetResponse PmacGetResponseW define PmacGetControlResponse PmacGetControlResponseW define PmacSendChar PmacSendCharW define PmacSendLine PmacSendLineW define PmacGetLine PmacGetLineW define PmacGetBuffer PmacGetBufferW Programmers Reference 27 PComm32 Manual define Pm define Pm define Pm define Pm define Pm define Pm telse define Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm define Pm defin defin defin defin defin defin defin defin defin 000000000 define Pm endif acSendCommand Pn acMultiDownload PmacMultil acAddDownloadFile PmacAdd loadFile PmacRemoveDown acRemoveDown l Down nacSendCommandw loadW Down oadFi lew acRenumberFil acGetErrorStr Pn acGetResponse Pn les PmacRenumberFilesW nacGetErrorStrW nacGetResponseA loadFileW acGetControlResponse PmacGetControlResponseA acSendChar PmacSendCharA acSendLine PmacSendLineA acGetLine PmacGetLineA acGetBuffer PmacGetBufferA acSendCommand PmacSendCommandA acMultiDownload PmacMultil acAddDown
14. B13 and B15 for the type 0 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion Bits 3 7 Width 1 4 8 12 16 20 a value of 0 is 24 bit variable Bits 8 12 Offset 0 23 Bits 13 15 Special type DPR Variable Background Read Write Data Buffer 63 PComm32 Manual 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 For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 2 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion When using the PLCC Ladder Diagram Function selection the least significant word specifies the function block structure member 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 structu
15. Bits PMAC only reads 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 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 request at all 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 Build routines that 1 Set an action bit s via PnacDPRSetActionBit 2 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 PnacDPRGetRequestBit 14 PComm32 DPR Features PComm32 Manual 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 d
16. Handle to the buffer Returns Returns the offset in bytes PmacDPRGetVBGAddrOffset UINT PmacDPRGetVBGAddrOffset DWORD dwDevice int handle Returns the offset in bytes from the beginning of DPR that the address array for this application s VBGDB begins Divide by 4 to get the PMAC offset from beginning of DPR 0xD000 Typically not used by programmers 60 DPR Variable Background Read Write Data Buffer PComm32 Manual Arguments dwDevice Device number handle Handle to the buffer Returns Returns the offset in bytes PmacDPRGetVBGServoTimer UINT PmacDPRGetVBGServoTimer DWORD dwDevice Returns the value of the PMAC s servo timer Arguments dwDevice Device number Returns Returns the PMAC servo timer PmacDPRGetVBGStartAddr UINT PmacDPRGetVBGStartAddr DWORD dwDevice 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 PmacDPRGetVBGTotalEntries int PmacDPRGetVBGTotalEntries DWORD dwDevice Returns the number of items being updated in the buffer by all applications Should never exceed 128 Arguments dwDevice Device number Returns Returns the total number of entries A PmacDPRVarBufChange long PmacDPRVarBufChange DWORD dwDevice long handle long num_entries lon
17. Interrupts I RR nennen Send A Message TOA Window le nike We een ted dubi Call E Start Ml noi ETC nieron ni ieaiaia ei raaa eaae aae aaa Koa E ERE dabis Set An Eventa te E A a E R E Du esed te E Eege 10 Downloading To PMAC iret tte tib teret ee Eb Rra ER e rib b ta epe e ER op kununu 10 Downloading ASCH PMAC Dote 10 Multiple File Cooperative Downloading eese esee nennen 10 PCOMM32 DPR FEATURES 11 A Global View of the DPR Support Functions eeeeeeseeeeeeeeeeeeneen nennen ener nenne nere nene nennen 11 EEN 11 Fixed Real Time EE 11 Fixed Background Data Buffet sssini eit ettet en un 11 Variable Background Data Butter 11 Binary Rotary Buffer aceites cech tuit desees a PU dede DEIN 12 Read Write Functions eee eese sees eene ennt teen tn enne neret entrent e tenete tenete nennen nr sn tren rne r eren innen tente ne nene 12 Hooper EM 12 Memory Organization Correct Order of Initialization esee 12 Using the DPR Control Panel EE SEENEN 14 UIT 14 DOLUS m ee ee ee Eed Eed Steen 14 Assigning A New Feedrate Override eese esee ener nein nne nennen trennen nennen nenne 15 Feedrate Override Enable Bit 15 Using the DPR Real Time Fixed Data Buffer oer NEEN ee a 16 Using the DPR Background Fixed Data Buffer 17 Using the DPR Variab
18. Manual 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 indicating to send final parsed file to the PMAC Return Value Zero 0 if the thread did not start See Also DOWNLOADMSGPROC DOWNLOADPROGRESS Downloading To PMAC in the Users Manual 46 Downloading Functions PComm32 Manual DUAL PORTED RAM CONTROL PANEL PmacDPRControlPanel BOOL PmacDPRControlPanel DWORD dwDevice int onoff This function is used to enable or disable the PMAC DPR Control Panel feature Arguments dwDevice Device number onoff To turn on use TRUE 1 else FALSE 0 Return Value This function returns the active status of the DPR Control Panel Feature TRUE 1 is on FALSE 0 is off See Also Using the DPR Control Panel in the Users Manual PmacDPRGetActionBit and PmacDPRSetActionBit PmacDPRGetActionBit and PmacDPRSetActionBit void PmacDPRSetJogPosBit DWORD dwDevice int motor int onoff int PmacDPRGetJogPosBit DWORD dwDevice int motor void PmacDPRSetJogNegBit DWORD dwDevice int motor int onoff int PmacDPRGetJogNegBit DWORD dwDevice int motor void PmacDPRSetJogReturnBit DWORD dwDevice int motor int onoff int PmacDPRGetJogReturnBit DWORD dwDevice int motor void PmacDPRSetRunBit DWORD dwDevice int cs int onoff int PmacDPRGetRunBit DWORD dwD
19. PmacSendChar PmacSendCharW define PmacSendLine PmacSendLineW define PmacGetLine PmacGetLineW define PmacGetBuffer PmacGetBufferW define PmacSendCommand PmacSendCommandW define PmacMultiDownload PmacMultiDownloadW define PmacAddDownloadFile PmacAddDownloadFileW define PmacRemoveDownloadFile PmacRemoveDownloadFileW define PmacRenumberFiles PmacRenumberFilesW define PmacGetErrorStr PmacGetErrorStrW Extended functions define PmacGetLineEx PmacGetLineExW define PmacGetResponseEx PmacGetResponseExW define PmacGetControlResponseEx PmacGetControlResponseExW telse define PmacGetResponse PmacGetResponseA define PmacGetControlResponse PmacGetControlResponseA define PmacSendChar PmacSendCharA define PmacSendLine PmacSendLineA define PmacGetLine PmacGetLineA define PmacGetBuffer PmacGetBufferA define PmacSendCommand PmacSendCommandA define PmacMultiDownload PmacMultiDownloadA define PmacAddDownloadFile PmacAddDownloadFileA define PmacRemoveDownloadFile PmacRemoveDownloadFileA define PmacRenumberFiles PmacRenumberFilesA define PmacGetErrorStr PmacGetErrorStrA Extended functions define PmacGetLineEx PmacGetLineExA define PmacGetResponseEx PmacGetResponseExA define PmacGetControlResponseEx PmacGetControlResponseExA endif UNICODE Error Handling Error handling will be implemented in the next
20. Return Value TRUE if success See Also PmacSERGetPort PmacSERSetComm BOOL PmacSERSetPort DWORD dwDevice DWORD port Initialization Shutdown and Configuration Functions 33 PComm32 Manual 34 Initialization Shutdown and Configuration Functions PComm32 Manual ASCII COMMUNICATION FUNCTIONS PmacFlush void PmacFlush DWORD dwDevice PmacFlush will cause PMAC to stop sending any messages it had started to send even multi line messages The function then proceeds to strip any excess data left in the PMAC s output buffer queue PmacFlush also causes PMAC to empty the command buffer queue from the host so it will erase any partially sent commands This can be useful before sending a query command for which you are expecting an exact response format In particular if you are not sure what PMAC has been doing before because it makes sure nothing else comes through before the expected response Arguments dwDevice Device number Return Value Nothing PmacGetAsciiComm enum ASCIIMODE PmacGetAsciiComm DWORD dwDevice Returns the current communications mode BUS DPRAM SERIAL Nearly all functions within the PComm32 driver library use this modal value to select the communication method to use Use to set this value Arguments dwDevice Device number Return Value ASCIIMODE enumeration 02 BUS 1 DPRAM 2 SERIAL PmacGetBulffer X int P
21. Rotary Buffer End of File detected PmacDPRAsciiStrToRot SHO RT PmacDPRAsciiStrToRotA DWORD dwDevice inpstr USHORT bufnum SHO RT PmacDPRAsciiStrToRotW DWORD dwDevice PWCHAR inpstr USHORT bufnum PmacDPRAsciiStrToRot takes an ASCII Native PMAC text string converts it to Native PMAC Binary then places it into the DPR Binary Rotary Buffer if it has been setup and there PCHAR is room Arguments dwDevice Device number inpstr NULL terminated PMAC command string 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 66 Dual Ported RAM Binary Rotary Buffer Functions PComm32 Manual PmacDPRAsciiToBinaryFi
22. 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 int 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 int 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 int 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 int motor double units This function returns the commanded position of the specified motor Units are in encoder counts unless the parameter units in not one double PmacDPRPosition DWORD dwDevice int i double units This function returns the actual position of the specified motor in units of encoder counts provided the units variable is unity double PmacDPRFollowError DWORD dwDevice int 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 PmacDPR
23. 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 Return Value A user handle if the Variable buffer is initialized OK otherwise 0 98 Extended Functions PComm32 Manual 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 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 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 e That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number handle Handle to previously initialized VBGDB num entries
24. USHORT bufnum Inputs Binary PMAC commands from file inpfile and writes the data to the DPR binary rotary buffer when ready Arguments dwDevice Device number inpfile NULL terminated path to file bufnum Binary rotary buffer number Dual Ported RAM Binary Rotary Buffer Functions 67 PComm32 Manual 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 PmacDPRBinaryToRot SHORT PmacDPRBinaryToRot DWORD dwDevice WORD inpbinptr WORD outbinptr WORD bufnum Inputs Binary PMAC commands from RAM and writes the data to the DPR binary rotary buffer when ready Arguments dwDevice Device number Inpbinptr Pointer to input binary PMA
25. 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 PMAC s 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 because when issuing the command to switch from one card to the other each card acts on the ASCII command in its background cycle PMAC processes 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 the other PMAC became inactive That is both PMAC s 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 PMAC s with firmware version
26. following occurred 1 No characters in PMAC s buffer queue 2 An error occurred 36 ASCII Communication Functions PComm32 Manual 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 PmacGetResponseX int PmacGetResponseA DWORD dwDevice PCHAR response UINT maxchar PCHAR command int PmacGetResponseW DWORD dwDevice PWCHAR response UINT maxchar PWCHAR command Most if not all of your communication with the PMAC can be handled with the PmacGetResponseX 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 PmacSendCharX PmacGetLineX and PmacSendLineX which if not used carefully can cause un synchronized communication the mismatching of PMAC Commands to PMAC responses PmacGetResponseX always matches the command string with the response string or else it times out Arguments dwDevice Device number response Pointer to string buffer to copy the PMAC s response into maxchar Maximum characters to copy command Pointer to NULL terminated string to be sent to the PMAC as a question com
27. function in units of counts if the posscale parameter is unity BOOL PmacDPRAmpEnabled DWORD dwDevice int motor BOOL PmacDPRWarnFError DWORD dwDevice int motor BOOL PmacDPRFatalFError DWORD dwDevice int motor BOOL PmacDPRAmpFault DWORD dwDevice int motor BOOL PmacDPROnPositionLimit DWORD dwDevice int motor BOOL PmacDPRHomeComplete DWORD dwDevice int motor BOOL PmacDPRInposition DWORD dwDevice int motor The functions above return the boolean status of a variety of motor flags Coordinate System Specific long PmacDPRPe DWORD dwDevice int 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 int PmacDPRProgRemaining DWORD dwDevice int 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 int 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 int cs This function returns th
28. interrupt vector comes out to be 0 The cause here is toggling the software bit too quickly The bit that causes PMAC to generate the interrupt see users manual Put a small half or 1 millisecond delay between toggling the bits Can t communicate to a PMAC w flash over the bus before running PMAC Executive first Solution has found to be writing a 0 to the base address of the PMAC board Serial Communications programs derived from PMAC poll don t communicate until first running the PMAC Executive Program Remove the line which checks the CTS in the sendline routine i e a While i lt timeout amp amp inportb combase 5 amp 32 0 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 Communication Application Notes 105 PComm32 Manual Rare Communication Problems 1 When using a PMAC2 with DPR and attempting to use interrupt based communications setting I56 to 1 causes the DPR to become all 1 s 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
29. 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 will data Note 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 PMAC long words 48 bits will 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 3 entries are to be updated and they are in this order 1 Motor Us DAC output X 0045 2 Motor 1 s actual position D 0028 3 Motor 1 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 1108 96 20 PComm32 DPR Features PComm32 Manual MotorPosition PmacDPRLFixed data 1 0 96 0 32 0 cprintf n n Actual motor position after conversion lf r n MotorPosition All the handshaking necessary for t
30. seente se ee 79 PomaclINTRFuncecCallfott 80 PmacINTRRunT hreadlnit 1 2 iie wees aaa Aka A TEE RE ERE 80 PmacINTR Terinmate ets esas er beet ciere s aite aka 80 PmaelN ERWndMssINit ens ehe eh per Ebo toto Eee Pesto eek eet eo PETER aae rets 80 Serial Checksum Communication Functions c cccccccccessececsssceceesecceceessececseaeecesseeecseaaececseaaesessueeesssaeeeeneeaeeess 81 PmacsSERDoChecksums s bote erue eine uiui ie E ciu INE SI PmacSERCheckResponseA EE SI PmacSERCheck endLineA EE 82 Doch ERChecktGert feat 82 PmacSERCheckResponse Source Example eese sees eene teet tenete nenne ener enne tenete 82 VARIABLE FUNCTIONS EE 85 PmacGetVariable n eate abhi eot Aiki cian RE iad PvE e E CE THEE He eas ees stented debian 85 PmacSetVariable RRE 85 PmacSetl Variable PR 85 PmacGetlVan blel unsere ans casvucgoaecvesseauerecesdaedenesauesenge cbevecsonasonasibasnesesansvsonsfareeeedtes 86 UTILITY o CEU N L Tcr M 87 PmacGetRombateA eet s ere er e en EES ee e pe ERR ESAE T uas 87 PmacGetRomVersionA PEE 87 PmacGetU serHandle eie rt Weieren ges Seegen ae ege Ree meta odio ee Se E ea ates Ge 87 PmacGetPmaclype 2 e decere rte eG qe a A ese gebe es 87 PmacGetIORegpister s eiie eee rece tege iie eei e te eb ee Eee samen 87 PMaACSEUORE SISTER EE 88 Ads 88 hex TOME 2G pem LH 89 DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS
31. 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 PmacDPRVarBuflnit DWORD dwDevice long num_entries long addrarray PmacDPRVarBuflInit 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 should therefore be stored for safekeeping A return value of FALSE indicates initialization failed SeeMemory Organization Correct Order of Initialization for a discussion on how memory is managed in the DPR and also the order in which buffers should be initialized and removed This buffer should be added after all binary rotary buffers have been initialized and removed before the binary rotary buffers are deleted if any exist The user must specify the number of entries to be updated by PMAC num entries and all PMAC addresses to be copied into the DPR the addrarray parameter 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 correspond
32. 1 16A and above The problem is that PMAC is not responding to the command sent to it in fact it looks like it completely ignored it It s easier to discuss this by considering an example Let s say we ve got two PMAC s PMAC A and PMAC B 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 PLC s while PMAC B is idle Assume that PMAC A is the currently addressed card and we wish to talk with PMAC B and get some motor positions while we re atit We therefore send the following command 1 1p 2p Sin 4p 5p You may find that the above command only partially get s to PMAC B This is because PMAC A will take to 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 6699 1 Switch the currently addressed board to board number x 2 Query PMAC for the currently addressed board with the command TE 3 Do 2 until the appropriate board number comes up x in this case Common Dual Ported Ram Traps Last Updated 10 30 2003 DPRTraps DOC This document contains a list of common Dual Ported Ram DPR troubles PMAC users may run into If you know of or find additional items please e mail to ALLENS DELTATAU
33. 6 PmacDPRSetWord 82 PmacSetAsciiComm 41 PmacDPRTest 33 PmacSetIORegister 92 PmacDPRVarBufChange 65 PmacSetIVariable 89 PmacDPRVarBuflnit 66 PmacSetMaxDownloadErrors 48 PmacDPR VarBuflnitEx 102 PmacSetVariable 89 PmacDPR VarBufRead 66 PMACTEST program 4 PmacDPR VarBufRemove 67 PmacThreadDownloadX 48 PmacDPRWriteBuffer 67 PROGRAM 98 PmacDPRWriteBufferEx 103 Programmers Reference 30 PmacFlush 38 PmacGetAsciiComm 38 Q PmacGetBufferX 38 uem Routines PmacGetControlResponseExX 100 DPR Real Time Fixed Data Buffer 55 PmacGetControlResponseX 39 HEP Quick Guide to ASCII Communication PmacGetDpramA vailable 33 functions 3 PmacGetIORegister 92 PmacGetlIVariable 90 S PmacGetLineExX 99 PmacGetLineX 39 SendMessage function 10 PmacGetPmacType 91 Serial Communication 108 PmacGetResponseExX 100 Serial Communications 108 PmacGetRomDateA 91 SERVOSTATUS 98 PmacGetRomVersionA 91 Shutting Down Communication 7 PmacGetUserHandle 91 Standard Read Write 77 PmacGetVariable 89 Startup Procedure for Bus 108 PmacInBootStrapMode 33 Structures 95 PmacINTRFireEventInit 83 PmacINTRFuncCallInit 84 T PmacINTRRunThreadInit 84 Terminal Example Program 112 PmacINTRTerminate 10 84 PmacINTRWndMsglnit 84 U PmacMultiDownload 46 PmacReadReady 40 ulMask parameter 10 PmacRemoveDownloadFileX 47 UNICODE Versus ANSI Compiles 8 PmacSendCharX 4 Usage of PComm32 4 PmacSendCommandX 41 PmacSendLineX
34. AC motion plc configuration files etc may easily be done by the use of the PmacDownload or PmacDownloadFile functions PmacDownloadFile the simplest of all the download functions takes a pure native PMAC language ASCII file and downloads it straight to the card no bells or whistles PmacDownload can do this also in addition to 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 through a call back function Nanpunn 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 other applications in the system also require that their PLCC bearing files need to 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 uti
35. C commands RAM outbinptr Pointer to store where the next read should come from 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 68 Dual Ported RAM Binary Rotary Buffer Functions PComm32 Manual PmacDPRRotBuflnit int PmacDPRRotBufInit DWORD dwDevice int bufnum The PmacDPRRotBuflnit function is used to initialize the DPR Binary Rotary motion program buffers Presently there may be up to 8 rotary buffers buffer 0 buffer 1 etc Buffers 0 and 1 will always use coordinate system 1 and 2 respectively The size of the buffers is configurable with the registry variables DualPortRamRotl and DualPortRamRot2 etc The size of a particular buffer may also be changed after PMAC driver initialization takes place by calling
36. COM Before the listing some fundamentals of DPR should be discussed The basic steps in setting up the DPR are See PMAC Users Manual and PMAC Dual Ported Ram for complete Detail 1 Configure PMAC s DPR by writing to addresses For VME users these addresses are from 106 Communication Application Notes PComm32 Manual a X 78A to X 78C For PC users the addresses are 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 783 10 or rhx 786 2 2 Issue a save command 3 Issue a command 4 VME users additionally must write to the mailbox base plus 0x121 to from the host computer completely setup the DPR address The most common problem DPR is in a location that conflicts with other devices or programs in the host computer s system The solution here is to either use a system utility to find a free location for the DPR or trial and error also see the application note How to make sure your DPR is working via Brute Force Methods DPRBRUTE DOC Furthermore most often operating systems provide a means to reserve a memory block that you specify Below a remedy for both DOS Windows 3 x and Windows 95 98 and NT 4 0 are detailed DOS Windows 3 x Users DOS based users may use the MSD EXE utility You should also use the exclude switch with the EMM386 EXE entry of the CONFIG SYS file to tell the operating sy
37. D Time Fixed Data Buffer 19 Data Query Function Description 23 Data Query DPR Background Fixed Data Data Types Structures Callbacks and Bur u Data Query DPR Real Time Fixed Data Constants 95 Buffer 19 PComm32 Manual Index o 111 PComm32 Manual Data Query Global DPR Real Time Fixed Data Buffer Data Query Motor DPR Real Time Fixed Data Buffer Downloading Dual Ported RaM Binary Rotary Buffer Extended 19 19 44 69 99 Handshaking Background Fixed Data Buffer Interrupt Interrupt General Information 20 83 83 Logical Query DPR Background Fixed Data Buffer 21 Motor Specific DPR Background Fixed Data Buffer Serial Checksum Communication Startup Shutdown DPR Real Time Fixed Data Buffer Startup Shutdown DPR Background Fixed Data Buffer Utility Variable getBitValue GLOBALSTATUS hex long2 InitDocument Initializing Communication Installation Fail with Windows 95 98 with Windows NT Interrupts Call A Function Send A Message To A Window Set An Event Start A Thread Function Introduction L Library Linking Your Code with the Driver 21 85 19 20 91 89 92 97 93 Masking MOTION MotionExe MOTIONMODE OpenPmacDevice PComm32 Features PmacAbortDownload PmacAbortDPRTest PmacAddDownloadFileX PmacCompilePLCCX PmacConfigure PmacDownload PmacDownload function PmacDownloadFile PmacDownloadFile function PmacDownloadFirmwareFile PmacDP
38. D dwDevice UINT n Data Query Functions Motor Specific double PmacDPRCommanded DWORD dwDevice int crd char axchar double PmacDPRVelocity DWORD dwDevice int motor double units double PmacDPRVectorVelocity DWORD dwDevice int num int PComm32 DPR Features 17 PComm32 Manual motor double units BOOL PmacDPRAmpEnabled DWORD dwDevice int motor BOOL PmacDPRWarnFError DWORD dwDevice int motor BOOL PmacDPRFatalFError DWORD dwDevice int motor BOOL PmacDPRAmpFault DWORD dwDevice int motor BOOL PmacDPROnPositionLimit DWORD dwDevice int motor BOOL PmacDPRHomeComplete DWORD dwDevice int motor BOOL PmacDPRInposition DWORD dwDevice int motor double PmacDPRGetTargetPos DWORD dwDevice int motor double posscale double PmacDPRGetBiasPos DWORD dwDevice int motor double posscale Coordinate System Specific long PmacDPRPe DWORD dwDevice int cs BOOL PmacDPRRotBufFull DWORD dwDevice int crd BOOL PmacDPRSysInposition DWORD dwDevice int crd BOOL PmacDPRSysWarnFError DWORD dwDevice int crd BOOL PmacDPRSysFatalFError DWORD dwDevice int crd BOOL PmacDPRSysRunTimeError DWORD dwDevice int crd BOOL PmacDPRSysCircleRadError DWORD dwDevice int crd BOOL PmacDPRSysAmpFaultError DWORD dwDevice int crd BOOL PmacDPRProgRunning DWORD dwDevice int crd BOOL PmacDPRP
39. GURATION FUNCTIONS c cese esee eese eese annui 29 OpemPMacDevice EE 29 ClosePmacDevice eere rM E pertes eit e rr de ie pepercit teste Eege 29 PmacAbortDPRTest REM 29 PmacConfigure RR 30 IST E Ke 30 PmacInBootS trapMode ireen e aa a EE a S E aa e Een 30 Pma DPRI ESO 2 00 a EENS 30 PmacSERISOpEN sessen eher Erei 31 PmacSERGetBaudrate ERR 31 PmacSERGetHandle WE 32 PmacSERGetPott cae e ee ea a bee Peto eU eH oae ee EENS dee 32 PmacSEROnbLine ne teret Mi eb ee alleine 32 PmacsSERSetBaudrate nn ee en ie din 32 PmacSER SetComm RR 33 ae Ek ett tege Zei gene EEGENEN EE 33 ASCH COMMUNICATION FUNCTIONS c s0sscosssnsesosessssnsesnensssssssssnssonssonsnnnsnnssnnsensssnnnnnsnsnnsssnssonssnssonssnnsenne 35 iunii 35 PmacGetAsciiComm cccecssscecssssececsssceceesaececsesaececseeeeceesaesecseaaececsececeeaaececseaaeeeceaeeceesaeecesesaeescnuseeesesneeeeneaaees 35 PinacGetBusferX O AA H 35 PmacGetControlResponseX sississssessestec cciacccckdhitessecbicccesddovscedcaaccess Macecsoatavszeecbucacaceteersasdlotessscudscessdheesscdeatcstacebys 36 Nu ET d H M 36 PmacGetResponseX rice Pc 37 PmacReadReady EE 37 PmacsendChark MEHR 38 Fan EDRATSIDIS UENIRE 38
40. GetVel DWORD dwDevice int 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 int 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 int 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 int 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 int motor This function returns the time in milliseconds left in the currently executing move DPR Real Time Fixed Data Buffer 53 PComm32 Manual 54 DPR Real Time Fixed Data Buffer PComm32 Manual DPR BACKGROUND FIXED DATA BUFFER DPR Background Fixed Data Buffer Initialization and Handshaking BOOL PmacDPRBackground DWORD dwDevice int on_off BOOL PmacDPRSetBackground DWORD dwDevice void PmacDPRSetMotors DWORD dwDevice UINT n To enable this feature call the PnacDPRBackground routine with the on off parameter set to a non zero value To retrieve the information use the provided DPR Backg
41. ION PmacDPRGetMotorMotion Gt Gt double PmacDPRGetCommandedPos double PmacDPRPosition double PmacDPRFollowError double PmacDPRGetVel void PmacDPRGetMasterPos void PmacDPRGetCompensationPos DWORD PmacDPRGetPrevDAC DWORD PmacDPRGetMoveTime The PmacDPRRealTime function enables disables the DPR real time fixed data buffer When enabled all the other functions above may be used The period parameter in PmacDPRRealTime specifies how often in servo cycles PMAC will update the data in this buffer The data for motor numbers 1 n will be updated in DPR where n is the parameter in PmacDPRSetMotors function 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 16 PComm32 DPR Features PComm32 Manual 1 Inform PMAC that host is about to read the DPR by setting the Host Busy Bit via PmacDPRSetHostBusyBit 2 See if PMAC is currently writing to the DPR via the DPRGetPMACBusyBit routine if so exit and try again next time 3 Call the Data Query functions to read the DPR Real Time Data buffer 4 Inform PMAC that host is done reading and PMAC may update the Ram again by resetting the Host Busy bit void PmacDPRRealTime OnTimer UINT nIDEvent
42. ONE FALSE ChecksumEnabled FALSE while kbhit amp amp DONE 108 Communication Application Notes PComm32 Manual switch out_char getch case 27 Escape for EXIT DONE true break case 9 Control I for INITIALIZE if DEVICEISOPEN DeviceClose dwDevice printf nWhat 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 communication ON if ChecksumEnabled printf Checksums Disabled n ChecksumEnabled FALSE else 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 output_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 Communication Application Notes 109 PCo
43. PR i e remove all entries Arguments dwDevice Device number bufnum Which of the two rotary buffers i e 0 or 1 to reference Return Values None PmacDPRRotBuf int PmacDPRRotBuf DWORD dwDevice BOOL onoff Once initialized with 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 Arguments dwDevice Device number onoff Boolean value Use 1 ON or 0 OFF Return Values 1 Active 0 Non Active Dual Ported RAM Binary Rotary Buffer Functions 71 PComm32 Manual 72 Dual Ported RAM Binary Rotary Buffer Functions PComm32 Manual DPR NUMERIC READ AND WRITE General Information The PmacDPRSet DataType functions write numerical data to the specified offset while the PmacDPRGet DataType IO reads at the specified offset and returns the data From within PMAC data can be written to the DPR by use of PMAC M variable assignments Proper M variable definitions for the corresponding data type are shown below Data Type IM variable Definition 16 bit integer IM constant 2 X Y Address i e m100 gt X D200 0 16 s i e m101 gt DP D201 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
44. PR features will fail since the driver has to set I variables to enable a feature and if a buffer is open the I variable assignments won t get processed but rather stored in the buffer Memory Organization Correct Order of Initialization The order in which the binary rotary buffers and the variable background data buffer are initialized and removed is very 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 2 Binary rotary buffer 1 3 Binary rotary buffers 2 7 4 Variable background data buffer 12 PComm32 DPR Features PComm32 Manual The following example code demonstrates this 1 Initialize 1st rotary buffer rotary 0 coordinate system if PmacDPRRotBufInit dwDevice 0 lt 0 MessageBox DPR Rotary Buffer 1 Error r n return 2 Initialize 2nd rotary buffer coordinate system 2 always if PmacDPRRotBufInit dwDevice 1 lt 0 MessageBox DPR Rotary Buffer 2 Error r n return 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 MUS
45. PmacSendLineX v eden 38 PimacSetA sci Comm seine nee ine ee dvd EAR pa Vaca ausi Rn 38 DOWNLOADING FUNCTIONNS eee eee eese eee seen eese n stone tuse ta setas etas tassa seta seta stesse teste senses stone ease esa setate sooo 41 Neu eet d Ree e TR EE 41 PmacAddDownloadPileX russ nee Run AR Hain ein ee vt veo leere et ven 41 PmacCompilePLCCX O sirere e eera eee e er aE ENDER EEA ETER EEE O EE E EEEE Eea SSRN O E EEEE 41 PmacDownloadt 42 Prise OwnlOadEale C esre ses ccscedecdisssandicesscesspacesnentcssavedooctaavessted ecbocesae EA SEA Ee DEE 42 PmacDownloadFirmwareFile ccccccccceesssceceessececssncececseeecessaececeseseceeseeeceesseeccnseeeceeseeecessaeeeesssseseestseeeseaaees 42 PmacMultiDownload 2 m nde E aan cceviacdas Al TR Ce ER RE AREE REA BETA Medes 43 PmachRemoveDownloadble Kr 44 PmacSetMaxDownloadErrors 0 ccccescsccesssececeeseececseceeceeaececsesaececseeeeceeaaeeecseaaeescnceeceesaeeecsesaeeeceaeeeeseeeeeneaaees 45 PmacThreadDownload Kr 45 DUAL PORTED RAM CONTROL PANEL scussonssonssossnnssnnssnussnunsnensnnnsnssonssonsnonsonssonssonsnnnsnnssnnssnnnsnensnsnsnessanse 47 PmacDPRControlParnelt 2 2 8 ee tr bte Gu Pe DR PER Belkin eR PARERE Ra e SRi Ta She 47 PmacDPRGetActionBit and PmacDPRSetActionBit eese eene 47 PmacDPRGetFOEnableBit and PmacDPRSetFOEnableBit
46. RAsciiFileToRot PmacDPRAsciiStrToBinaryFile PmacDPRAsciiStrToRot PmacDPRAsciiToBinaryFile PmacDPRBackground PmacDPRBackgroundEx PmacDPRBinaryToRot PmacDPRBufLast PmacDPRControlPanel PmacDPRControlPanel function PmacDPRDWordBitSet PmacDPRGetActionBit PmacDPRGetDWord PmacDPRGetDWordMask PmacDPRGetFloat PmacDPRGetFOEnableBit PmacDPRGetFOValue PmacDPRGetMem PmacDPRGetRequestBit PmacDPRGetV BGAddress PmacDPRGetV BGAddrOffset PmacDPRGetV BGDataOffset PmacDPRGetV BGNumEntries PmacDPRGetV BGServoTimer PmacDPRGetV BGStartAddr PmacDPRGetWord PmacDPRRealTimeEx PmacDPRRotBuf TI 98 98 32 10 44 32 44 44 33 45 11 45 11 46 69 69 70 71 63 102 72 24 27 63 24 65 80 101 27 75 112 Communication Application Notes PComm32 Manual PmacDPRRotBufChange 27 74 PmacSERCheckGetLineA 86 PmacDPRRotBufClr 27 PmacSERCheckResponse Source Example 86 PmacDPRRotBufInit 26 73 PmacSERCheckResponseA 85 PmacDPRRotBufRemove 27 74 PmacSERCheckSendLineA 86 PmacDPRSetActionBit 50 PmacSERDoChecksums 85 PmacDPRSetDWord 80 PmacSERGetBaudrate 34 PmacDPRSetDWordBit 80 PmacSERGetHandle 35 PmacDPRSetDWordMask 81 PmacSERGetPort 35 PmacDPRSetFloat 81 PmacSERIsOpen 34 PmacDPRSetFOEnableBit 51 PmacSEROnLine 35 PmacDPRSetFOValue 51 PmacSERSetBaudrate 35 PmacDPRSetMem 81 PmacSERSetComm 36 PmacDPRSetRequestBit 53 PmacSERSetPort 3
47. ROT 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 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 PComm32 DPR Features 25 PComm32 Manual 26 PComm32 DPR Features PComm32 Manual PROGRAMMERS REFERENCE Programmers Reference Introduction The Programmers Reference of PComm32 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 a
48. RSetBackground function to assure that the data query functions get fresh data All data query functions have this function within it relieving the end user 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 mtrcrd 1 0 96 0 32 0 printf Bias Position 11 11f n PmacDPRGetBiasPos p mtrcrd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrcrd A 18 PComm32 DPR Features PComm32 Manual printf Commanded Position A 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd B printf PmacCommanded Position B 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd C printf Commanded Position C 11 41fMn aDouble WFE dWMn PmacDPRWarnFError p mtrcrd FFE d n PmacDPRFatalFError p mtrcrd AMP FAULT dWMn PmacDPRAmpFault p mtrcrd POSITION LIMIT d n PmacDPROnPositionLimit p mtrcrd HOME COMPLETE d n PmacDPRHomeComplete p mtrcrd MOTOR IN POSITION d n PmacDPRInposition p mtrcecrd printf printf printf printf printf printf 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
49. S Common Communication Traps Last Updated 10 30 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 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 PLC s stall and any further incoming ASCII commands are placed into the PMAC input buffer but do not get processed The cause is that there are two or more pending responses for the host in PMAC s output buffer The remedy is to purge PMAC s output buffer with a CONTROL X and a strip
50. Se USHORT comp on ds USHORT stimulate on i5 USHORT stimulus ent 1 USHORT prep trig gat 1 USHORT prep next serv 1 USHORT data gat on ds USHORT servo err S d USHORT servo active ae les USHORT intr_reentry a lies USHORT intr_active oxbs USHORT padl 685 GLOBALSTATUS MOTION typedef enum inpos jog running homing handle openloop disabled MOTION Data Types Structures Callbacks and Constants 93 PComm32 Manual MOTIONMODE typedef enum linear rapid circw circcw spline pvt MOTIONMODE PROGRAM typedef enum stop run step hold joghold jogstop PROGRAM SERVOSTATUS Used in DPR Real Time Buffer query routines typedef struct ss Motor Servo Status Ist 24 bit word USHORT internall 2 e RT internal2 d 25 RT home search RT block request RT rfful RT desired vel O0 data block err dwelling RT integration RT run program open loop phased motor RT handwheel ena RT pos limit RT neg limit RT activated USHORT pad SERVOSTATUS S S S USH S S S S S S S US S S S C C C MOX Ne Ne SNe Ne SNe 95 ye Ne an an ar an NEN KA KA ET p Eh Ech pa pa E co IS k k ES k PS KA LA kA k k A k kA 94 Data Types Structures Callbacks and Constants PComm32 Manual EXTENDED FUNCTIONS The following functions are extended version of the existing functions without the extension Ex
51. T BE BEFORE PmacDPRRotBuf PmacDPRBackground dwDevice ON Turn on DPR rotary buffers PmacDPRRotBuf dwDevice ON Just like a Last In First Out stack the order in which the buffers should be removed is 1 Variable background data buffer 2 Binary rotary buffer 7 2 3 Binary rotary buffer 1 4 Binary rotary buffer 0 The following shut down procedure is generalized to handle any situation void closeAll dwDevice Shut Down int buffnum while buffnum PmacDPRBufLast dwDevice gt O if buffnum PmacDPRVarBufRemove dwDevice vbg handle remove BG if buffnum PmacDPRRotBufRemove dwDevice 1 remove BinRotBuf 42 if buffnum PmacDPRRotBufRemove dwDevice 0 remove BinRotBuf 1 buffnum 0 MassageBox 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 at 0xD200 PMAC address This PMAC hard coded memory management scheme is displayed below PComm32 DPR Features 13 PComm32 Manual The varStart location is set by the variable of the same name in the registry NC for Windows uses
52. The size for address Buffer addrarray Array of address and types Return Value If it all works out a TRUE will be returned otherwise FALSE PmacDPRWriteBufferEx int PmacDPRWriteBuf ferEx DWORD dwDevice int num_entries struct VBGWFormat the_data This feature is available for PROM Version 1 15G and above The variable background write buffer can be used to have PMAC transfer up to 32 PMAC long or short words from DPR to its own internal memory without using the DPR ASCII feature The data to be written into PMAC s memory is first placed in an array of VBGWFormat structures definition shown below struct VBGWFormat long type_addr long datal long data2 The upper 16 bits of type_addr element specifies the type of data and the lower 16 bits specify the address to which datal and data2 should be written Extended Functions 99 PComm32 Manual The types of data that may be specified are as follows Bit Data Bits 0 2 0 1 2 4 for Y L X SPECIAL memory respectively For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion 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 Special type 15 The way in which one uses datal and data2 is not intuitive For Y or X memory datal element will
53. US after configuring the Serial device following message will appear Add Device fou cannot add a BLES devwca after a serial deica Would you like fie serial dece bo eutometicelly placed last Consequently MotionExe will rearrange the devices in the list in the desired order Removing a device from the middle of the list will also print a discontinuous devices warning message and rearrange the remaining devices in the continuous fashion Shutting Down Communication To release any resources the driver has allocated it is good programming practice to shutdown 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 Shutdown the PComm32 driver with a call to ClosePmacDevice 2 Call FreeLibrary so that the operating system may unload the PMAC DLL from memory A Quick Guide to ASCII Communication Functions The PComm32 supports both UNICODE and ANSI compiles For a small portion of PMAC DLL there are two sets of nearly identical functions one for UNICODE and one for ANSI The manual refers to the identical functions by using an X suffix For example both the PmacGetRes
54. USER MANUAL Accessory 9PN Pcomm32 DELTA TAU NP Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging compo
55. a POBB problem it behooves you to find out what error conditions exist at run time 3 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 which take care of all this for you Communication Application Notes 103 PComm32 Manual Suggested Startup Procedure for BUS The following is a suggested initialization procedure for talking over the bus 1 Write a value of 0 to I O port BUSBASE 5 and BUSBASE 6 2 Issue a control x ascii 24 to purge PMAC buffers 3 Wait 30 millisecods so control x takes effect 4 Doa GetLine several times to ensure a purged buffer Control x removes all but two ascii characters which are not accessable by PMAC 5 Issue a test to confirm communications to PMAC has been established 6 If test failed increase timeout issue a control d to kill plc s and go back to step 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 e PMAC has firmware 1 16 or before e PMAC has just powered on or been reset e The third party software uses hardware handshaking From PMAC firmware version 1 16 and befo
56. aDouble printf WFE dWn PmacDPRWarnFError p mtrcrd printf FFE dWMn 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 DPR Background Fixed Data Buffer 55 PComm32 Manual DPR Background Fixed Data Buffer Query Routines Data Query Functions Motor Specific double PmacDPRCommanded DWORD dwDevice int 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 PmacDPRVelocity DWORD dwDevice int motor double units This function returns the velocity of the selected motor in units of counts per minute if the units parameter is set to 1 double PmacDPRVectorVelocity DWORD dwDevice int num int motors double units This function returns the net or vector velocity of the chosen motors in units of counts per minute if the units parameter is unity double PmacDPRGetTargetPos DWORD dwDevice int 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 int motor double posscale The bias position register is returned by this
57. able to convert Motor numbers specified DprPlcErr 4 Unable to convert PLC numbers specified 92 Data Types Structures Callbacks and Constants PComm32 Manual 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 DprInpFileErr 11 DPR Input File Error I GLOBALSTATUS Used in DPR Real Time Buffer query routines typedef struct gs Global Status DWord 1 1st 24 32 bit word USHORT rffu2 08 ff OST USHORT internall 3 8 10 USHORT buffer full sx USHORT internal2 s ey X214 USHORT dpram response 1 USHORT plc command ls USHORT plc buf open Sr Ja USHORT rot buf open 1 18 USHORT prog buf open 1 19 USHORT internal3 2s USHORT host comm mode 1 USHORT internal4 15 USHORT pad2 GE DWord 2 2nd 24 32 bit word USHORT rfful ue USHORT end gather li USHORT rapid m flag Aa USHORT rti_warning icd USHORT earom error S ks USHORT dpram_error 3 ds USHORT prom_checksum 1 USHORT mem_checksum
58. 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 For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion When using the PLCC Ladder Diagram Function selection the least significant word specifies the function block structure member Arguments num_entries Number of elements in the the_data array to be used max 32 the_data A pointer to an array of VBGWFormat structures which specify what is copied from DPR into PMAC s internal memory entry num Data entry to be received from table see above for more detail GetCurrentLabelEx GetNumOfErrorsEx AddErrRecordEx PmacSetQuickGatherEx PmacSetQuickGatherWithDirectCurrentEx PmacDPRRealTimeEx BOOL CALLBACK PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on
59. ber Using the DPR Binary Rotary Motion Program Buffer Startup Shutdown Functions PmacDP PmacDP PmacDP PmacDP PmacDP PmacDP RotBufInit RotBufRemove RotBufChange RotBufClr RotBuf BufLast Sa EE E M E 22 PComm32 DPR Features PComm32 Manual Conversion amp Transfer Functions PmacDPRAsciiFileToRot PmacDPRBinaryFileToRot PmacDPRAsciiStrToRot PmacDPRBinaryToRot PmacDPRAsciiToBinaryFile PmacDPRAsciiStrToBinaryFile PmacDPRRotBuflnit The PmacDPRRotBuflnit 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 Buffers 0 and 1 correspond to coordinate system 1 and 2 respectively The size of a particular buffer may also be changed after PMAC driver initialization takes place by calling the 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 you should set I57 to 0 before changing the buffer size and the buffer being changed should be the one last initialized The size of the rotary buffer in PMAC is typically half that allocated in the DP Ram Two long words in the DP Ram again is mapped into 1 long PMAC word 48 bit The value assigned to DualPortRamRotx where x 1 2 which is in units of 32 bits specif
60. cSERIsOpen DWORD dwDevice Determines if there is a serial port channel currently open to a PMAC controller Arguments dwDevice Device number Return Value TRUE if there is a valid serial device handle open to a PMAC See Also PmacSERGetHandle PmacSEROnLine PmacSERGetBaudrate DWORD PmacSERGetBaudrate DWORD dwDevice Gets the current serial port baud rate of the device Arguments dwDevice Device number Return Value Current baud rate See Also PmacSERSetBaudrate Initialization Shutdown and Configuration Functions 31 PComm32 Manual PmacSERGetHandle HANDLE PmacSERGetHandle DWORD dwDevice Gets the current serial handle for the device Arguments dwDevice Device number Return Value Handle to a serial port If port handle is not available then returns NULL 0 See Also PmacSERIsOpen PmacSERGetPort DWORD PmacSERGetPort DWORD dwDevice Gets the current serial port number for the device Arguments dwDevice Device number Return Value Port number 1 COM 1 etc See Also PmacSERSetPort PmacSEROnLine BOOL PmacSEROnLine DWORD dwDevice This function tests to see if there is a PMAC controller on the current serial port Arguments dwDevice Device number Return Value TRUE if a PMAC is found PmacSERSetBaudrate BOOL PmacSERSetBaudrate DWORD dwDevice DWORD baudrate
61. cccccccecssecsssceessecessceesseceseeecssecseeeeseeceseecsseceeeeeseeceuseeeseecsaeeseaeecaeseeseecseeeeeasess 60 PmacDPRGetV BGSeryoTimer 2 I ete tie iie e ean Peer HL a AIR Ana a eade 61 PmacDPRGetV BGStartAddi ide aka nennen 61 PmacDPRGetV BOGToaltnttes enne en tenens ertet rennen seen tense nnne intense enne 61 PmacDPR VarBufChange P RRREMMM 61 PmacDPRV arB wilinit D R H 62 PmacDPRYVarB tRead EE 62 PmacDPRVarBufRemove cccccccssecesecssecsseceessecsseeecssecseeseeseecsseeeeseecseeeessecsueeesseeceuseecseecaeeeeseeceaseseseeceeeeensess 63 IST Ae ER RR T UT 63 DUAL PORTED RAM BINARY ROTARY BUFFER FUNCTIONS 4 eres cesse eese eese ee seta sta seta stato noto 65 PmacDPRAscuFileToRot 5 2 ete rti ert t HE si hin a 65 PmacDPRAsciiStrToBinaryFile esses teen enne ener nent tenete nt nene rn enne nn rennen nns 65 PmacDPRAsciiStrToRot eese eene enne en there nen nr enter rentes rennen ss en tessere terete enters enne 66 PmacDPR A sc Tobnarvble eene enne enhn nnne en anast aieas eaei isinisisi nesia 67 Pmac ISCH EREM TR NEE 67 Sue RI desires imm 68 PmiacDPRRotB lfluit ient riter e E ERE e IR ERA REPRE CEU RR ERE EVENT EER FERES tete TERRE E ERU 69 Non Barafieter INPUTS E eine 69 PrmacDPRRotBufRemovet nent 70 Pmac DPRROtBUEC E D 70 PmacDPRROtButC lIt 5
62. d 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 information and can be by a host application to show positions velocities etc in real time The data in this feature gets updated in PMAC s Real Time Interrupt Fixed Background Data Buffer This automatic DPR feature is very similar to the Fixed Real Time Data Buffer in that a fixed data structure is copied by PMAC into a specific area of the DPR The difference is that the information is coordinate system specific Furthermore 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 user may specify the location of these 128 registers in PMAC s memory map hence the name Variable Background Data Buffer PComm32 DPR Features 11 PComm32 Manual Binary Rotary Buffer This PMAC DPR automatic feature can be used to efficiently download large part programs to PMAC s internal rotary buffer The routines included to support this feature convert the PMAC ASCII to PMAC Binary before placing the code in the DPR for PMAC to retrieve Read Write Functions Numeric transfers of 16 and 32 bit wide numbers may be read or written two with this set of PComm32 routines Floating point values are suppor
63. d 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 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 e 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 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 Determines necessary offset to get the entry number desired Returns two longs by use of a pointer ong_2 Calling party should poll this function until TRUE is returned Only then will the data be valid Arguments dwDevice Device number 62 DPR Variable Background Read Write Data Buffer PComm32 Manual
64. dBit DWORD dwDevice UINT offset UINT bit Exclusive XORS a bit within a 32 bit word DWORD in dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM bit Bit number to set 0 31 Return Values Nothing 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 Nothing 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 Bit number to set 0 31 Return Values Nothing PmacDPRSetDWordMask 76 DPR Numeric Read And Write PComm32 Manual void PmacDPRSetDWordMask DWORD dwDevice UINT offset DWORD val int onoff This function is used to manipulate DPR memory a DWORD 32 bits at time A bit wise logical OR of the register specified by offset is done with val and then stored into the same specified DPR location If 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
65. ding to any previous communication exchange it is cleared Note This function is robust but slow since it will timeout at least once to assure there is nothing left in PMAC s output ASCII queue It is better to use GetResponse instead Arguments dwDevice Device number command Pointer to NULL terminated string sent to PMAC Return Value Nothing PmacSendLineX PmacSendLineA DWORD dwDevice PCHAR command PmacSendLineW DWORD dwDevice PWCHAR command int int Sends a string buffer to PMAC and disregards any response from PMAC Arguments dwDevice Device number command Pointer to NULL terminated string sent to PMAC Return Value Number of characters sent PmacSetAsciiComm BOOL PmacSetAsciiComm DWORD dwDevice enum ASCIIMODE m Used to set the current communications mode if available 38 ASCII Communication Functions PComm32 Manual Note This will not change the communication method used when PComm32 starts upon initialization To do this see PmacConfigure Arguments dwDevice Device number m Mode 0 BUS 1 DPRAM 2 SERIAL Return Value TRUE if success See Also PmacConfigure ASCII Communication Functions 39 PComm32 Manual 40 ASCII Communication Functions PComm32 Manual DOWNLOADING FUNCTIONS PmacAbortDownload void PmacAbortDownload DWORD dwDevice Calling this function will cause a dow
66. 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 functions convert data that is placed in DPR by one of its automatic features Whenever a long word in PMAC 48 bit is placed in DPR Motor 1 actual position register for example each 24 bit short word X and Y is sign extended and placed in a 32 bit word making it 64 bits of data that need to be converted DPR Numeric Read And Write 73 PComm32 Manual A typical sequence of function calls for retrieving and converting motor 1 actual position for example would look like Get the dual word data long data 2 While 1 Get second entry if PmacDPRVarBu
67. e Arguments nindex Line number asked for lpszBuffer Buffer pointer to copy text line into nMaxLength Maximum length of buffer Return Value The number of characters copied into the buffer DOWNLOADPROGRESS typedef void FAR WINAPI DOWNLOADPROGRESS int 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 Nothing DOWNLOADMSGPROC typedef void FAR WINAPI DOWNLOADMSGPROC LPTSTR str BOOL newline This function type is used by some program downloading procedures to offer the option of reporting a status message Arguments str Message string newline Indicates if a new line should be added by the called procedure Return Value Nothing 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 Data Types Structures Callbacks and Constan
68. e time remaining in accel decl when 11320 56 DPR Background Fixed Data Buffer PComm32 Manual BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm Pm acDPRRotBufFull DWORD dwDevice int cs acDPRSysInposition DWORD dwDevice int cs acDPRSysWarnFError DWORD dwDevice int cs acDPRSysFatalFError DWORD dwDevice int cs acDPRSysRunTimeError DWORD dwDevice int cs acDPRSysCircleRadError DWORD dwDevice int cs acDPRSysAmpFaultError DWORD dwDevice int cs acDPRProgRunning DWORD dwDevice int cs acDPRProgStepping DWORD dwDevice int cs acDPRProgContMotion DWORD dwDevice int cs acDPRProgContRequest DWORD dwDevice int cs 9 The functions above return the boolean status of a variety of coordinate system flags Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice int 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 int 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 dwDe
69. eBit and PmacDPRGetFOEnableBit routines set get a bit in DPR which tell PMAC whether or not to use the feedrate specified in the DPR see PMAC will not reset the request bit The value of the feedrate is specified using PmacDPRSetFOValue Arguments dwDevice Device number mtr crd Motor or Coordinate System Number 1 8 onoff To turn on use TRUE 1 else FALSE 0 Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PnacDPRSetFO Value PmacDPRGetFOValue and PmacDPRSetFOValue void PmacDPRSetFOValue DWORD dwDevice int cs int value int PmacDPRGetFOValue DWORD dwDevice int cs These functions are used to control the PMAC DPR Control Panel 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 PnacDPRSetFOEnableBit 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 corre
70. ediary files created during the download such as the log map and compiled files i e files produced will be outfile log outfile map etc Note All files that include other files need to use the fully qualified path For example if one of the files that 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 Downloading Functions 43 PComm32 Manual Arguments outfile The file name for which the output files will be named This parameter also specifies the path of the files generated by this function If NULL the default is PMACDNLD path of file is active directory It s best to supply a path for a consistent output path 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 default is WIN INI user 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 dnid Flag indicating to send final parsed file to PMAC Return Value TRUE if all went down well otherwise 1 Number o
71. egutecsasy vosesagsusesceuecs scepeucaubesuveasstsedoaees 103 Suggested Startup Procedure for BUS A 104 Serial Commuricati REOR 104 SLOW Serial Commu nicatlOl Em 104 Less Common Communication Probleme 105 Rare Communication Problens cccccccccccccccccccccccececececececececececececececesececececececececececececececececececesecececececececesesesecess 106 Common Dual Ported Ram Traps iis ieiunii rette iriure orte Ero ri ve skr po seco dea eo RRE 106 DOS Windows EE 107 WEE EE CEET 107 Rare PPTODI CHAS uti acts songs e EE EE E tM se 108 Terminal Example Progr MEER 108 igi 110 Table of Contents PComm32 Manual vi Table of Contents PComm32 Manual USERS MANUAL Introduction The Delta Tau PComm32 Communication Driver is a set of more than 250 functions written as a development tool for the creation of PMAC 32 bit applications on Windows 95 98 or Windows NT Nearly all methods of communication to PMAC are included PComm32 may be used by the PMACI as well as the PMAC2 The routines were designed with robustness speed and portability in mind Note Methods of communication include the bus serial and Dual Ported Ram PComm32 has been tailored to be compatible with Borland and Microsoft development products using C C Visual Basic or Delphi The manual assumes that you know the basics of working in Windows and genera
72. eite tr tm te et edi dee itr e eee tas 70 PmacDPRROotBulf nte te ie diste inten e ne ee EE 71 DPR NUMERIC READ AND WRITE sssssssossossonssonssonsnnssnnssnussnensnensnnnsssssnssonsnonsnnnsnnssnnssnnsnnsnnssnnnssenssnssanssanse 73 General Information EE 73 Standard Rea We eet EES HE CE ER CEA NAE TL E RERO ME ca EV Ra Te Fea bad dL eden SEEN Doe aude 73 ljE sup EE 73 Dual Word Conversion c cccsccesssecssscsescecsseceececssecsseeecssecueeeessecsseeeeseeceuseesseecsueeeessecesseecaeecueeseseeceeeseeseeceeeeeneees 73 PmacDPRDWordBitSet eese eeeeee eene en tenent thee en entrer intern seen tene se ne essre tense entrer nnne n rennes 74 Piac DPR Float mn T 74 PmacDPRGetDWord aiat ette Reti efte ei Aas 75 PmacDPRGetDWordMask indi i et ie ats eek 75 PmacDPRGEtFIOA escaissar EE aka ua araea EE a 75 PmacDPRGetMem EE 75 lne D ALCAN e OEE 76 PmacDPRResetfWordBm 76 Table of Contents lii PComm32 Manual PimaclPRS Et W Od e TL ernennen Beinahe een dee 76 PmacDPRSetDWordBit 4 ie et ee eite n Petro en E EESE 76 NET NEO EEN DEE 76 PmacDPRSeth oat mra eec Rede aaa ent 77 PmacDPRSetMem RM 77 PmacDPRSetWord PR 78 INTRO BNL H LA NK 79 General Information Interrupt Functions esee eene nne tnetn nnne tnne reine etre enen trennt nein enne 79 PmaclNTRbrebventln tettes stre esste tessere teet eeseees
73. elow shows how these modules are related 32 Bit APPLICATIONS PMAC DLL Ring 3 Ring 0 Windows NT Windows 95 PMAC SYS PMAC VXD Hardware 2 Users Manual PComm32 Manual GETTING STARTED Installation Run the SETUP EXE application on Disk 1 of the distribution This will place the driver files in the appropriate locations on your system If you are in Windows NT reboot your system To test if installation went well run the PMACTEST EXE application Starting from this installation Version 10 32 and later revisions a Delta Tau Shared folder will be created in the system common files folder Delta Tau shared applications will be saved in this folder At this point MotionExe is the only such file More files will be installed in this folder in later revisions If the installation fails Make sure of all jumpers and settings on the PMAC card match the parameters you have selected in the configuration dialog box Windows NT Most communication problems will be reported in the Windows NT event logging system Using the event viewer application located in the administration tools group you can view any error reports the driver made during communication with PMAC After installation you can manually check that the driver is installed successfully This can be done in several ways 1 Open the Control Panel Devices list and see if in fact the PMAC device appears in the list o
74. endCommandA dwDevice endgat turn off real time buffer gather PmacSendCommandA dwDevice i48 0 gh dwDevice DPRRealtActive FALSE Extended Functions 97 PComm32 Manual return gh dwDevice DPRRealtActive PmacDPRBackgroundEx BOOL PmacDPRBackgroundEx DWORD dwDevice int on Starts or stops the PMAC s automatic write into the DPR background fixed and variable buffer Arguments dwDevice Device number On Turn on or off Boolean Returns TRUE if success PmacDPRVarBuflnitEx long PmacDPRVarBuf InitEx DWORD dwDevice long num entries long addrarray Initializes a multi user background variable buffer VBGDB User s VBGDB structure is allocated and updated with correct address offset and data offset If other users are present then their VBGDB structures will also be updated The buffer s start address and size will be initialized along with the address array in the dual ported RAM Assumptions That this buffer was the last one to be initialized in the DPR buffer area That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example have 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
75. evice 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 itt Reset jog bit to FALSE for housekeeping PmacDPsetJogPosBit device motor FALSE Assigning A New Feedrate Override The necessary conditions for assigning a coordinate system a new feedrate override also known as time base value are e x93 the Time Base Source Address for corresponding coordinate system must be set to it s default value e The DPR Control panel has been enabled with a call to PnacDPRControlPanel e The PmacDPRSetFOValue must be called to set the feedrate override value for the specified coordinate system e The PmacDPRSetFOEnableBit must be called to set the feedrate override enable bit for the same coordinate system specified in 2 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 c
76. evice int cs void PmacDPRSetStopBit DWORD dwDevice int cs int onoff int PmacDPRGetStopBit DWORD dwDevice int cs void PmacDPRSetHomeBit DWORD dwDevice int cs int ono int PmacDPRGetHomeBit DWORD dwDevice int cs void PmacDPRSetHoldBit DWORD dwDevice int cs int onoff int PmacDPRGetHoldBit DWORD dwDevice int cs int PmacDPRGetStepBit DWORD dwDevice int cs void PmacDPRSetStepBit DWORD dwDevice int cs int onoff ff h 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 an action on the designated motor coordinate system Arguments Dual Ported RAM Control Panel 47 PComm32 Manual dwDevice Device number onoff To turn on use TRUE 1 else FALSE 0 Return Value The PmacDPRGetActionBit routines return the state of the bit 0 1 The PmacDPRSetActionBit functions return nothing See Also Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PmacDPRGetFOEnableBit and PmacDPRSetFOEnableBit int PmacDPRGetFOEnableBit DWORD dwDevice int cs void PmacDPRSetFOEnableBit DWORD dwDevice int cs int on off These functions are used to control the PMAC DPR Control Panel feature The PmacDPRSetFOEnabl
77. f 1 then enable if 0 then disable The return value is a boolean TRUE for DPR feature enabled enabled FALSE for disabled PmacDPRBufLast This function determines which buffer is the last variable sized buffer in DPR Return Value From 1 16B and beyond PComm32 DPR Features 23 PComm32 Manual 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 Binary rotary buffer 1 3 Variable background data buffer Downloading Stuffing Functions There are several approaches to the conversion and downloading of PMAC ASCII program code 1 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 PnacDPRAsciiStrToRot function 2 APMAC ASCII file or series of strings i
78. f installed devices NT only Further make sure that PMAC device status show as started in this list 2 Go to administrative tools and run NT Diagnostics Look under the Devices or Drivers section for PMAC 3 Make sure that PMAC key is properly set in the registry In Windows NT it should be a HKLM SYSTEM CurrentControlSet Services PMAC is of the form b ImagePath SystemRoot System32 drivers Pmac S YS C etc Windows 95 98 The Windows 95 98 virtual device driver pmac vxd is a dynamically loading driver During installation this file is copied to the Windows system directory In order for the library file pmac dll to find and load pmac vxd there has to be a symbolic name available for the path location of pmac vxd In order to accomplish this symbolic name information is written to the registry at location Run regedit exe and check the CurrentControlSet parameters under for the PMAC configuration keys In Windows 95 98 you should have HKLM System CurrentControlSet Control SessionManager KnownVxDs in the form of PMACO C Windows System pmac vxd PMACI C Windows System pmac vxd etc Getting Started PComm32 Manual Usage of PComm32 In this section we discuss the usage of PComm322 in general as well as specifically through an example program written in Microsoft Visual C MS VC The example MSVC program called PMACTEST uses Microsoft Foundation Classes MFC The important details of linking wi
79. f 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 PmacAddDownloadFileX PmacRemoveDownloadFileX Downloading To PMAC in the Users Manual PmacRemoveDownloadFileX int PmacRemoveDownloadFile DWORD dwDevice PCHAR inifile PCHAR szUserId PCHAR szDLFile This utility function was added to assist in the use of the PmacMultiDownloadX function It removes a specified file name from the file list within the initialization file also specified It also renumbers the remaining files into a continuous block 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 44 Downloading Functions PComm32 Manual Arguments inifile Initialization file to remove file from If NULL the default is WIN INI szUserld User id string this associates the file being added to a given application or user SzDLFlle Name of the file to remove from download list If Null it will remove all files with the szUserld tag Return Value TRUE if file located and removed else FALSE See Also PmacAddDownloadFileX PnacRemoveDownloadFileX Downloading To PMAC in the Users Manual PmacSetMaxDownloadErrors void PmacSetMaxDownloadErrors UINT max Sets the lim
80. fRead 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 lf 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 PmacDPRDWordBitSet 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 Bit number to set 0 31 Return Values TRUE if bit 1 PmacDPRFloat double PmacDPRFloat long d double scale Converts a 48 bit floating point word 36 bit mantissa 12 exponent packed into two 32 bit words holding 24 bits each of the 48 bit words Multiplies the result by scale Arguments al Two 32 bit long values to converts scale Scale multiplier Return Values Double floating point representation of the 48 bit number 74 DPR Numeric Read And Write PComm32 Manual 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
81. fixed and variable a return value 1 means successful O 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 deallocates memory within PComm32 and should always be called before any application using the VBGDB terminates 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 passed to it the calling function desires In the example above for instance if we desired to retrieve motor 1 actual position the second entry in the address array the programmer would set entry_num to i e the first entry would be 0 The parameter long_2 is a long pointer which should point to an memory element at least two long integers in size One could use the following declared element for the long_2 parameter long long_array 2 If the data was ready when this function was 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 then only the first element in the
82. g 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 DPR Variable Background Read Write Data Buffer 61 PComm32 Manual Assumptions e That this buffer was the last one to be initialized in the DPR buffer area e That the DPR gather size is correct modulo of the number of variables and their size 32 bits for DPR for a 24 bit PMAC variable and 64 bits for a 48 bit PMAC variable For example have 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 e That only one device structure is initialized per PMAC in the system Arguments dwDevice Device number handle Handle to previously initialized VBGDB num entries The size for address Buffer addrarray Array of address and types Return Value If it all works out a TRUE will be returned otherwise FALSE PmacDPRVarBuflnit long PmacDPRVarBuflnit DWORD dwDevice long num_entries long addrarray Initializes a multi user background variable buffer VBGDB User s VBGDB structure is allocated an
83. g or else it times out Arguments dwDevice Device number response Pointer to string buffer to copy the PMAC s response into maxchar Maximum characters to copy command Pointer to NULL terminated string to be sent to the PMAC as a question command Return Value If successful this function returns the number of characters received including handshake characters as well as the error code if any 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 PmacGetControlResponseExA PmacGetControlResponseExW PmacGetControlResponseExX int PmacGetControlResponseExA DWORD dwDevice PCHAR response UINT maxchar CHAR ctl char int PmacGetControlResponseExW DWORD dwDevice PWCHAR response UINT maxchar WCHAR ctl char Sends a control character to PMAC and returns a response similar to PmacGetResponseX 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 CH char Control character to send to PMAC Return Value Number of characters returned in response parameter and error code if any PmacDPRRealTimeEx Purpose Used to enable the DPR RealT
84. harA dwDevice outchar 0 else if PmacSERCheckSendLine dwDevice outchar amp csum goto error cp response tc maxchar while tc gt 0 amp amp ret PmacSERCheckGetLine dwDevice cp tc amp ic tc ic 1 cp ic 82 Interrupt Functions PComm32 Manual if IS COMM FAIL ret si SERCommError IDS_CHECKSUMDATABAD 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 compare si SERCommError IDS_INCOMP_RECEIVE Unable to get complete response goto error Remove checksums from response nc maxchar tc return nc error attempt t t SERFlush dwDevice return 0 Interrupt Functions 83 PComm32 Manual 84 Interrupt Functions PComm32 Manual VARIABLE FUNCTIONS PmacGetVariable short int PmacGetVariable DWORD dwDevice char ch UINT num short int def long PmacGetVariableLong DWORD dwDevice char ch UINT num long def double PmacGetVariableDouble DWORD dwDevice char ch UINT num double def Returns a PMAC va
85. his buffer is contained within DPRVarBufRead Simply poll the return value of this function to determine whether or not the data was ready Note If you are not using any of the Binary Rotary Buffers set dprVarStart the initialization file parameter to at most OXDFFE This way the last entry in your variable background data buffer will get 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 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 PmacDPRGetV BGServoTimer 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 PmacDPRVarBufInit PmacDPRGet VBGTotalEntries Returns the number of items being updated in the buffer by all ap
86. ies how many instructions will fit into the buffer Each ASCII instruction is ultimately transformed into a 64 bit code from which PMAC will transform into a 48 bit operation code A single instruction consists of a program command and it s argument For example X100 is a single instruction and X1000Y1000Z1000 is 3 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 then it may run into the gather buffer Call PmacDPRRotBuf to enable the Binary Rotary Buffer after it s been initialized PmacDPRRotBufRemove Use this function to remove any previously initialized rotary buffer PmacDPRRotBufChange Use this function to change the size of a rotary buffer This will remove the existing rotary buffer and allocate a new one in DPR The binary rotary buffer you wish to change must be the last variable sized buffer to be created If size is set to zero this function is equivalent to PmacDPRRotBufRemove PmacDPRRotBufClr This function will clear either Binary Rotary buffers 0 or 1 in DPR i e remove all entries You should call disable the Binary Rotary Buffer first by calling PmacDPRRotBuf PmacDPRRotBuf Once initialized with PmacDPRRotBuflnit the DPRotBuf function can be used to enable or disable the rotary buffer if onof
87. ile detected PmacDPRAsciiStrToBinaryFile SHORT PmacDPRAsciiStrToBinaryFileA PCHAR inpstr FILE outfile SHORT PmacDPRAsciiStrToBinaryFileW PWCHAR inpstr FILE outfile Inputs ASCII string then converts the ASCII to PMAC commands and writes the binary data to the outfile The file is not closed On a ASCII to binary PMAC command conversion error the C runtime library function fgetpos can be used to get the end of line byte position of where the error occurred Arguments dwDevice Device number inpstr NULL terminated string outfile FILE structure handle of output file Dual Ported RAM Binary Rotary Buffer Functions 65 PComm32 Manual 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
88. ill 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 This function is used in Delta Tau s Executive program when it first starts up If the board is in BOOTSTRAP mode it changes the file menu option to allow for firmware download Arguments dwDevice Device number Return Value TRUE if the PMAC controller is in BOOTSTRAP mode See Also PmacDownloadFirmwareFile PmacDPRTest LONG PmacDPRTest DWORD dwDevice DPRTESTMSGPROC msgp DPRTESTPROGRESS prgp 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 30 Initialization Shutdown and Configuration Functions PComm32 Manual This function will also set PMAC parameters I2 I5 147 I48 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 PmacSERIsOpen BOOL Pma
89. ime data buffer for PMAC Types only Parameters 96 Extended Functions PComm32 Manual on TRUE for enable FALSE for DISABLE mask bits determine which motors are updated in RAM TURBO I59 in non turbo PMAC Returns Status of DPR Realtime data buffer TRUE ON FALSE OFF PmacDPRRealTimeEx BOOL PmacDPRRealTimeEx DWORD dwDevice long mask UINT period int on char str 20 if vh dwDevice DPRAM NULL return FALSE if gh dwDevice bIsTurbo Turbo if on TRUE wsprintfA str i47 u period PmacSendCommandA dwDevice str PmacSendCommandA dwDevice i48 1 vh dwDevice DPRRTBufferTurbo gt hostbusy 0 Reset host busy vh dwDevice DPRRTBufferTurbo dataready 0 Reset Data Ready bit gh dwDevice DPRRealtActive TRUE else PmacSendCommandA dwDevice i47 0 PmacSendCommandA dwDevice i48 0 gh dwDevice DPRRealtActive FALSE vh dwDevice DPRRTBufferTurbo dataready 0 Reset Data Ready bit vh dwDevice DPRRTBufferTurbo 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 hostbusy 0 Reset host busy gh dwDevice DPRRealtActive TRUE else PmacS
90. inName PWCHAR outName Converts a PMAC PLC program to a PMAC PLCC program Arguments dwDevice Device number datainfo Pointer to store line number where an error was detected if return value was non zero Or the number of 56K memory locations used to produce the PLCC if the return value zero 0 inName Path of the input file outName Path of the file to create Downloading Functions 41 PComm32 Manual Return Value Zero 0 when PLC compiled okay Greater than zero 0 when PLC did not compile okay PmacDownload int PmacDownloadA DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADGETPROC getp DOWNLOADPROGRESS pprg PCHAR filename BOOL macro BOOL map BOOL log BOOL dnld int PmacDownloadW DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADGETPROC getp DOWNLOADPROGRESS pprg PWCHAR fname BOOL macro BOOL map BOOL log BOOL dnld Download function that sends a macro file to PMAC If you want the simplest form of sending a file to the PMAC use the function 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 macr
91. ing of DPR Also check that all DPR automatic features see DPR users manual are disabled 3 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 4 You don t have DPR Whatever the reason you might not have the DPR For PMAC and PMAC Lite the DPR is separate board that plugs in alongside the main PMAC board For PMAC VME and versions 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 Communication Application Notes 107 PComm32 Manual 5 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 DPR chip is well seated in its 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 a programmable array logic chip for the DPR for PMAC2 s and PMAC Ultralights Please consult factory for details on changing this ch
92. ing rotary buffer and allocate a new one in DPR If size is set to zero this function is equivalent to The size of a particular buffer may be changed after PMAC driver initialization takes place by calling 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 You must change the registry to be persistent Presently there may be up to 8 rotary buffers buffer 0 buffer 1 etc Buffers 0 and 1 will always use coordinate system 1 and 2 respectively The size of the buffers is configurable with the registry keys DualPortRamRot1 and DualPortRamRot2 etc The size of the rotary buffer in PMAC is typically half that allocated in the DPR Two long words in the DP Ram again are mapped into 1 long PMAC word 48 bit Note I57 should be set to 0 before changing the buffer size and the buffer being changed must be the last variable sized buffer initialized Arguments dwDevice Device number bufnum Which of the two rotary buffers i e 0 or 1 to reference new size Size of new buffer Return Values RET ERROR 1 Error Check request the buffer size was either too small or too large RET OK 0 PmacDPRRotBufClr 70 Dual Ported RAM Binary Rotary Buffer Functions PComm32 Manual void PmacDPRRotBufClr DWORD dwDevice int bufnum This function will clear either Binary Rotary buffers 0 or 1 in D
93. ip XYLINX chip Terminal Example Program This example program is a CONSOLE terminal application which illustrates a creation of a simple terminal For serial communication checksums can be turned on and off This sample program links with RUNTIME CPP to accomplish runtime linking include runtime h include lt iostream h gt include lt string h gt include lt conio h gt void show_printf char lbuf void main BOOL DONE DEVICEISOPEN false BOOL 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 printf P32 EXE NXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXINXIN x1 x1 x1 x1 x1 xl Copyright DELTA TAU 1998 Mn Mn printf Mn 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 PComm32 driver be installed n printf n n Press CONTROL I to initialize communication printf n If you have multiple PMAC devices press CONTROL I to switch between them printf n Press ESCAPE to shutdown communcation and exit n char_counter 0 D
94. it of errors allowed during a download before the function will automatically abort Valid for use with functions PnacDownload PmacDownloadFile and PmacMultiDownload Arguments max Number of errors allowed before download will terminate Return Value Nothing See Also PmacDownload PmacDownloadFile PnacMultiDownload and Downloading To PMAC in the Users Manual PmacThreadDownload X int PmacThreadDownloadA DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADGETPROC getp DOWNLOADPROGRESS pprg PCHAR filename BOOL macro BOOL map BOOL log BOOL dnld int PmacThreadDownloadW DWORD dwDevice DOWNLOADMSGPROC msgp DOWNLOADGETPROC getp DOWNLOADPROGRESS pprg PWCHAR fname BOOL macro BOOL map BOOL log BOOL dnld Download function that sends a macro file to PMAC using its own thread The callback functions provided must be aware of the asynchronous nature of the callbacks If you want the simplest form of sending a file to the PMAC without macro parsing use the function PmacDownloadFile 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 Downloading Functions 45 PComm32
95. l programming practices Document Layout The complete manual is divided into two major sections the User s Manual and the Programmer s Reference The user s manual describes fundamental use whereas the programmer s reference details all of the PComm32 Driver Library functions The user s manual outline is described below Chapter 1 Overview Describes the purpose structure and use of the manual the layout of the manual and the compatibility of the PComm32 features Chapter 2 Getting Started Covers installing the software for various Windows applications establishing initial communications with PMAC and troubleshooting any communications problems that arise Chapter 3 PComm32 Features Describes how to use interrupts multiple file downloading Chapter 4 Dual Ported RAM Features Provides information on using the dual ported RAM support functions of the PComm32 Library Users Manual 1 PComm32 Manual A Global View of the Library PComm32 can be used for Windows 95 98 and Windows NT application development The library is structured such that an application using the library created for the Windows 95 98 will also be able to run under Windows NT as long as the application itself uses no operating system specific functions PComm32 itself consists of three files e PMAC DLL A 32 bit DLL e PMAC SYS A Windows NT kernel driver e PMAC VXD A Windows 95 98 32 bit virtual device driver The illustration b
96. le H Ea SHORT PmacDPRAsciiToBinaryFile FILE inpfile FILE outfile Inputs ASCII string from file inpfile converts all alpha to upper case then converts the ASCII to PMAC commands and writes the binary data to the outfile Neither file is closed On a ASCII to binary PMAC command conversion error the C runtime library function fgetpos can be used to get the end of line byte position of where the error occurred Arguments dwDevice Device number inpfile NULL terminated path of input file outfile NULL terminated path of output file 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 PmacDPRBinaryFileToRot SHORT PmacDPRBinaryFileToRot DWORD dwDevice FILE inpfile
97. le Background Read Write Data Buffer 19 Variable Read Data Buffer ee IRR ee LORI NER Qu e keen tende deed uere de Frhr 19 Variable Write Data Buffer uo ee tete eines rip enden 22 Using the DPR Binary Rotary Motion Program Buffer 22 PmaeDPRR tBuflnit eer 23 PmacDPRRotBufRemove itti iret mtn einen ERE ESAE EE EEE EEEE 23 PmacDPRRotB fCh ngel tii tette tete Ea eee breite rri PRESE nen Ie HERI rubet RR AE PEE rer re bin 23 PmacDPRRotBufClr eee eese eeeeee sense tn eren entente intent nnns eh teee tnnt en thet esten tese inser testen seen testen seen nene nn iren 23 Table of Contents PComm32 Manual PMACDPRROIBUf E HP 23 PmacDPRBUfEASt a attt tasted ie etie tien ein 23 Downloading Stuffing Functions eee esee esee eee enne enne tene teen teen teen teste enne enne enne tn nennen 24 PROGRAMMERS REFERENCE 4 ecce etes etes eren stone tosta seta seta seta sete sete sene sse sse sone sos tas tas e ens tn sse ee stes ne a 27 Programmers Reference Introduction eene enne nnne nnne rennen nennen enn nns 27 Important Information About Method of Communication Being Used by PComm032 sss 27 Maximum Number of Response Buffer Characters eese eese eene nennen eterne trennen enne 27 UNICODE Versus ANSI Comptes SEENEN NENNEN EEN 27 INITIALIZATION SHUTDOWN AND CONFI
98. lize 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 PmacAddDownloadFileX PmacMultiDownloadX PmacRemoveDownloadFileX The PmacAddDownloadFileX appends to a centrally located list of files to be downloaded every time PmacMultiDownloadX is called to download files to PMAC PmacRemoveDownloadFileX will remove the files from the list 10 PComm32 Features PComm32 Manual PCOMM32 DPR FEATURES A Global View of the DPR Support Functions The majority of the functions in this library are Dual Ported RAM DPR support functions Their descriptions in the reference manual have been grouped by functionality as shown below Dual Ported RAM Functions Variable Binary Rotary Read Write menor ane Program Buffer Background Functions Data Buffer Fixed Background Data Buffer Fixed Realtime Data Buffer Control Panel 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 Fixe
99. lly 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 PmacGetPmacType int PmacGetPmacType DWORD dwDevice Returns an integer indicating the PMAC model you are communicating with Arguments dwDevice Device number Return Value 1 PMACI 2 PMAC2 PmacGetlORegister Utility Functions 87 PComm32 Manual BYTE PmacGetIORegisterrDWORD dwDevice BYTE offset Allows the user to get at PMAC s I O registers BUSBASE x Useful for checking PMAC state without having to use ASCII communications Other utility functions are provided which 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 1 Either the bus or DPR is being used No good for serial port 2 If checking InPosition or other similar data bits from the status register base 2 the appropriate Motor or Coordinate system has been addressed PmacSetlORegister BOOL PmacSetIORegister DWORD dwDevice BYTE offset BYTE value Allows the user to set PMAC s I O registers BUSBASE x Useful for ge
100. loadFile PmacAdd loadFile PmacRemoveDown acRemoveDown l Down oadA acRenumberFil acGetErrorStr PmacGet UNICODE Down oadFil eA les PmacRenumberFilesA ErrorStrA loadFileA 28 Programmers Reference PComm32 Manual 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 Once registered the system registry will contain the location and configuration of the PMAC specified by dwDevice OpenPmacDevice looks to the registry for this information The registry values are located in HKLM System CurrentControlSet Services Pmac Device dwDevice Every OpenPmacDevice should be paired with a call to ClosePmacDevice to release the resources used by the driver Arguments dwDevice Device number to open Return Value TRUE if success See Also ClosePmacDevice BOOL ClosePmacDevice DWORD dwDevice This function closes the channel your program to the PMAC driver Arguments dwDevice Device number to close Return Value TRUE if success See Also PmacAbortDPRTest void PmacAbortDPRTest DWORD dwDevice Stops the dual ported RAM
101. ly 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 memory The return value is FALSE if a user program checksum has been detected or if no memory checksum error has been detected PmacDPRSysMemChecksumError distinguishes between the two cases GLOBALSTATUS PmacDPRGetGlobalStatus DWORD dwDevice 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 int coordinate system BOOL mode The return value of this function is TRUE if programmed moves in this coordinate system are currently specified by time TM or TA and the move speed is derived It is 0 if programmed moves in this coordinate system are currently specified by feedrate speed F and the move time is derived Motor SERVOSTATUS PmacDPRMotorServoStatus
102. macBUSGetBufferW DWORD dwDevice PWCHAR response UINT maxchar PUINT nc int PmacBUSGetBufferA DWORD dwDevice PCHAR response UINT maxchar PUINT nc PmacGetBufferX 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 PmacGetBufferX 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 You can use the function to first determine if a response is available ASCII Communication Functions 35 PComm32 Manual 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 nc Pointer to an unsigned integer the number of characters received is placed in there Return Value A status value indicating will be returned in a future release PmacGetControlResponseX int PmacGetControlResponseW DWORD dwDevice PWCHAR response UINT maxchar WCHAR ctl char int PmacGetControlResponseA DWORD dwDevice PCHAR res
103. mand Return Value If successful this function returns the number of characters received including handshake characters Otherwise FALSE 0 which implies of course that an error occurred or no characters were received since PMAC was not required to respond Error Codes 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 Determines if PMAC has a response waiting on the current communications channel BUS DPRAM SERIAL Use this function before using other query functions PmacGetLineX or PmacGetBufferX for example to prevent Timeout errors thus speeding communication through put Arguments dwDevice Device number Return Value TRUE if PMAC has a response waiting ASCII Communication Functions 37 PComm32 Manual PmacSendCharX BOOL PmacSendCharA DWORD dwDevice CHAR outchar BOOL PmacSendCharW DWORD dwDevice WCHAR 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 PmacSendCommandX void PmacSendCommandA DWORD dwDevice PCHAR command void PmacSendCommandW DWORD dwDevice PWCHAR command Sends a string buffer to PMAC and flushes out any response from PMAC Also if PMAC is respon
104. minate function is provided to shutdown the interrupt service Send A Message To A Window This interrupt method will use the Windows SendMessage function to send a message to a window handle HWND Both the message and the windows handle are provided by the programmer Use the function BOOL CALLBACK PmacINTRWndMsgInit DWORD dwDevice HWND hWnd UINT msg ULONG ulMask to initiate this method Call A Function This interrupt method will cause a function provided by the programmer to be called Use the function BOOL CALLBACK PmacINTRFuncCalllnit DWORD dwDevice PMACINTRPROC pFunc DWORD msg ULONG ulMask to initiate this method Start A Thread Function This interrupt method will start 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 PComm32 DPR Features PComm32 Manual to initiate this method Set An Event This interrupt method will set 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 ASCII PMAC Data Downloading of PM
105. mm32 Manual break case IDS_CHECKSUMDATABAD printf Data checksum error n break case IDS_CHECKSUMACKBAD printf Acknowledge checksum error n break else DeviceGet Response dwDevice input_buf 16384 output_buf show_printf input_buf output buf 0 x0 char_counter 0 break default output_buf char_counter out_char char_countertt putch out_char break if DEVICEISOPEN DeviceClose dwDevice CloseRuntimeLink void show printf char lbuf size t K for i 0 i lt strlen lbuf i if lbuf i 13 lbuf i 7 lbuf i 6 lbuf i 10 switch lbuf i case 13 printf lt CR gt r n break case 7 printf lt BELL gt r n break case 6 printf lt ACK gt break case 10 printf lt LF gt r n break else if isprint lbuf i putch lbuf i else printf u lbuf 1 amp 255 INDEX 110 Communication Application Notes PComm32 Manual Document Layout 1 B DOS Windows 3 x Users 111 Background Fixed Data Buffer 20 DEINES SDOFIERN 2 Query Routines 60 Downloading Stuffing Functions 27 Buffer Downloading ASCII PMAC Data 11 Background Fixed Data 59 Downloading Multiple File Cooperative 11 Background Fixed Data Handshaking 59 DOWNEDSDNBOERDE 2 i Sr DOWNLOADPROGRESS 95 Background Fixed Data Initializing 59 A DPR Data Query Fu
106. mmands 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 value return by this function will differ In any event if the value returned by this function becomes equal to the maxchar parameter PMAC s total response was not received If this occurs use SERflush to clear out PMAC s buffer increase the size of the character array and also maxchar and try again If an error occurs this function will return FALSE This function uses the control n feature implemented in PROM versions 1 14 and beyond This feature enables the host to assure that PMAC has received the command correctly before sending the carriage return which tells PMAC to act on the just sent command NOTE If PMAC s response is larger than maxchar the remainder of the response will be left in the rotary buffer This can cause garbled communications therefore always oversize the response buffer and the maxchar specification Interrupt Functions SI PComm32 Manual 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 See below for the source of this r
107. nction Description 23 Action Bits 17 DPR Binary Rotary 15 Binary Rotary Buffer 15 DPR Binary Rotary Motion Program 26 C 1 Panel 13 17 DPR Fixed Background Data 13 oe T 13 DPR Real Time Fixed Dat 1 ee 7 Fixed Background Data Buffer 13 DPR Real Time Fixed Data 55 Fixed Real Time Data Buff 13 DPR Variable Background Read Writer Data TURN eR 22 Initialization Shutdown 15 Fixed Real Time Data 13 Numeric Read And Write TI M e Numeric Read And Write General emory Organization Correct Order of ee ah Information TI Initialization 15 Read Write F E 15 Real Time Fixed Data Handshaking 55 e i EEN 17 Real Time Fixed Data Initialization 55 S eus F Sc 13 Variable Background Data 13 HU San Variable Read Data 22 Dpr_Bin_Rot_Errors 96 Variable Write Data 25 E DPRTESTPROGRESS 96 Buffer Query Routines Dual Ported Ram Traps 110 Coordinate System 56 Dual Word C 77 Global 55 ual Word Conversion Motor 56 E C Error Handling 8 Callbacks 95 F ClosePmacDevice 7 32 Communication Application Notes 107 Feedrate Override Communication Modes 5 Assigning New 18 Bus 5 Enable Bits 18 Dual Ported Ram 5 Functions Serial Port 5 ASCII Communication 38 Communication Problems Coordinate System Specific DPR Background Less Common 109 Fixed Data Buffer 21 Rare 110 Data Query Communication Traps 107 Coordinate System 60 Constants 95 Logical Query 61 Control Panel Motor Specific 60 Dual Ported RAM 50 Data Query 60 Data Query Coordinate System DPR Real
108. nd Structures 6 OQ tA RU E Important Information About Method of Communication Being Used by PComm32 There are 3 methods by which PComm32 may be used to communicate to PMAC over the Bus Dual Ported Ram or the Serial Port Immediately after initialization after a call to OpenPmacDevice the method used depends on what is stored in the system registry either BUS or SERIAL To change the method used at startup call the PmacConfigure function so that the change is saved in the registry Alternatively if 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 pointer also an argument and should therefore never be larger than the size of the response buffer Should PMAC s response be larger than the value specified by maxchar the remainder of the response will remain in PMAC s queue UNICODE Versus ANSI Compiles The PComm32 supports both UNICODE and ANSI compiles For a small portion of PMAC DLL there are two sets of nearly identical functions one for UNICODE and one for ANSI The manual refers to the identical functions by using a X suffix For example both the PmacGetResponseW
109. nents or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation PComm32 Manual Table of Contents USERS MANUAL E reel lee Ree EE TE A Global View of the Library EE GETTING STARTED ludi If the installation Jails m Windows NT orien EE J 3 Windows EE Usage E RE Linking Your Code with the Driver eese eene ennt trennen teen ne etre net eret enne entente nnne Initializing Communication eee eee eese eee enne et rennen nette tete tene tret trente entren nne enne tete nnne trennen nen COMMUNICATION Modes eet Eege E R EEEE Ee Shutting D wn e A Quick Guide to ASCII Communication Functions eee eee eese entente nennen ennt UNICODE Versus ANSI Compiles eee ei reet better teure botte Sti ttr nein nao det omnee bbb repehner Error Handling iie eee estt ERE e eui eek tere PCOMM32 FEATURES R Using
110. nload in progress to be aborted This applies for driver downloading functions PmacDownload PmacDownloadFile and PmacDownloadFirmwareFile Arguments dwDevice Device number Return Value Nothing See Also PmacDownload PmacDownloadFile and PmacDownloadFirmwareFile PmacAddDownloadFile X int PmacAddDownloadFileA DWORD dwDevice PCHAR inifile PCHAR szUserId PCHAR szDLFile int PmacAddDownloadFileW DWORD dwDevice PWCHAR inifile PWCHAR szUserId PWCHAR szDLFile This utility function was added to assist in the use of PmacMultiDownloadX function It appends a specified file name to the file list within the initialization file inifile If the file to be added to the list already exists the initialization file will remain unchanged To remove a file from the list use 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 PmacCompilePLCC X short PmacPlccCompilerA DWORD dwDevice UINT datainfo PCHAR inName PCHAR outName short PmacPlccCompilerW DWORD dwDevice UINT datainfo PWCHAR
111. no way should affect your development environment The following diagram illustrates the structure of PMAC DLL communication paths Getting Started 5 PComm32 Manual Communication Modes Immediately after initialization after a call to OpenPmacDevice the method used depends on what is stored in the system registry either BUS or SERIAL To change the method used at startup call the PmacConfigure function so that the change is saved in the registry Delta Tau s PMAC driver configuration program MotionExe is meant to update the registry for each PMAC Launch MotionExe from the program group Pcomm32 or any other Delta Tau s application Following Motion control applet appears Iz c tegere oe s D EE HERI EI Pea ied Corrmenseiens Libres Version 103200 Capsaigiri 1394 59 Dein Tau Data Systems Inc Doce Lacelon ln PD Bus YE Bus Banal Fort Ban Accus ret 5 Dez earn Works com mer ininmupi Adr i re DFRAM Adr Add a new device The first device number is always 0 Moton control descer HC Setup we memes see tee After selecting the appropriate communication mode press OK to update the registry A message of successful loading of PMAC appears 6 Getting Started PComm32 Manual Note If for any given PMAC device both BUS and Serial communications have to be established BUS needs to be at lower device number than the Serial If you want to add a PMAC device on the B
112. offset location PmacDPRGetDWordMask DWORD PmacDPRGetDWordMask DWORD dwDevice UINT offset DWORD mask Retrieves a double word from dual ported RAM memory at the offset masks bitwise AND it with val and then returns the resulting value Arguments dwDevice Device number offset Offset from the start of dual ported RAM mask Bitwise and mask used with value read from dual ported RAM Return Values Result of DWORD and mask at offset location PmacDPRGetFloat float PmacDPRGetFloat DWORD dwDevice UINT offset Reads an IEEE 32 bit floating point value from dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM Return Values Float at offset location PmacDPRGetMem PVOID PmacDPRGetMem DWORD dwDevice DWORD offset size_t count PVOID val Copies a block of dual ported RAM memory Arguments dwDevice Device number offset Offset from the start of dual ported RAM count Size of memory block to copy val Pointer to destination Return Values Pointer to destination DPR Numeric Read And Write 75 PComm32 Manual PmacDPRGetWord WORD PmacDPRGetWord DWORD dwDevice UINT offset Retrieves a 16 bit word from dual ported ram Arguments dwDevice Device number offset Offset from the start of dual ported RAM Return Values Pointer to destination PmacDPRResetDWordBit void PmacDPRResetDWor
113. orresponds to values of 0 to 8 388 352 in units of I10 1 8 388 608 msec At the default I10 value of 3 713 707 this corresponds to a feedrate override values from 0 to 225 87 for real time execution 760100 value should be 14507 Feedrate Override Enable Bits As with the action request bits the feedrate override enable bits are also not written to by PMAC PMAC continually writes the feedrate override value specified by PmacDPsetFOValue when the corresponding enable bit is true Keeping track of the feedrate override enable bit may be done via the PmacDPRGetFOEnableBit function whose return value is the bit value PComm32 DPR Features 15 PComm32 Manual Using the DPR Real Time Fixed Data Buffer Startup Shutdown and Handshaking Functions PmacDPRRealTime PmacDPRGetHostBusyBit PmacDPRSetHostBusyBit PmacDPRGetPmacBusyBit PmacDPRGetServoTimer Data Query Functions Global PmacDPRGetServoTimer PmacDPRSysServoError PmacDPRSysReEntryError PmacDPRSysMemChecksumError PmacDPRSysPromChecksumError GLOBALSTATUS PmacDPRGetGlobalStatus Coordinate System PmacDPRMotionBufOpen PmacDPRRotBufOpen PmacDPRGetFeedRateMode Motor PmacDPRMotorServoStatus PmacDPRDataBlock PmacDPRPhasedMotor PmacDPRMotorEnabled BOOL PmacDPRHandwheelEnabled BOOL PmacDPROpenLoop BOOL PmacDPROnNegativeLimit BOOL PmacDPROnPositiveLimi void PmacDPRSetJogReturn MOT
114. os 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 indicating to send final parsed file to the PMAC Return Value The error count Zero 0 if no errors See Also DOWNLOADMSGPROC DOWNLOADPROGRESS Downloading To PMAC in Users Manual PmacDownloadFile void PmacDownloadFile DWORD dwDevice char fname Sends a file to PMAC without parsing Straight from disk to the PMAC If you want macro parsing use the PmacDownload function Arguments dwDevice Device number fname Path of file to download Return Value Nothing See Also Downloading To PMAC in Users Manual PmacDownloadFirmwareFile 42 Downloading Functions PComm32 Manual int 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 baudrate must be set to 38400 Arguments dwDevice Device number Msgp Pointer to message procedure pointer DOWNLOADMSGPROC If NULL no function is called prgp Pointer to download progress function DOWNLOADPROGRESS If NULL no function is called filename Path of firmware binary file to download Return Value The error count Zero 0 if no erro
115. outine 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 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 PmacSERCheckResponse Source Example Error Bookmark not defined int PmacSERCheckResponse DWORD dwDevice char response UINT maxchar char outchar char cp csum command_sum_from_PMAC DWORD nc 0 int ic attempt ret DWORD tc response 0 0 si SERCommError ERR_OK attempt 0 if si Initialized FALSE return 0 if strlen outchar 0 return 0 while attempt lt NUM_CHECKSUM_RETRIES if outchar 0 lt 26 It s a control char csum outchar 0 PmacSERSendC
116. ping of any extra characters waiting on the bus or serial port Once this is done motion programs and PLC s and any queued up commands in PMAC s input buffer are processed Many POBB victims claim that the remedy is plugging there 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 following rule Thou shall 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 Thou shall 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 applications out there I1 may solve this problem by allowing PMAC to purge itself But if you have
117. plications Should never exceed 128 DPRGet VBGAddress This function returns an entry within the address table initialized by PmacDPRVarBufInit For the first entry set entry num to 0 the second set entry num to 1 etc PMAC reads this address table to determine what to copy into DPR memory Typically not used by programmers DPRGetVBGDataOffset Returns the offset in bytes from the beginning of DPR that the data for this application s VBGDB begins Typically not used by programmers DPRGet VBGAddrOffset PComm32 DPR Features 21 PComm32 Manual Returns the offset in bytes from the beginning of DPR that the address array for this application s VBGDB begins Divide by 4 to get the PMAC offset from beginning of DPR 0xD000 Typically not used by programmers Variable Write Data Buffer int PmacDPRWriteBuffer DWORD dwDevice int 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 D I The upper 16 bits of type_addr element specifies the type of data and the lower 16 bits specify the address
118. ponse UINT maxchar CHAR ctl_char Sends a control character to PMAC and returns a response similar to PmacGetResponseX Arguments dwDevice Device number response Pointer to string buffer PMAC s response is placed there by function maxchar Maximum characters to copy into response parameter ctl char Control character to send to PMAC Return Value Number of characters returned in response parameter PmacGetLineX int PmacGetLineA DWORD dwDevice PCHAR response UINT maxchar int PmacGetLineW DWORD dwDevice PWCHAR response UINT maxchar PmacGetLineX queries PMAC for a line response This function will wait for one of the following conditions to occur before returning l atimeout period 2 PMAChasaresponse A Carriage Return ASCII 13 or an ACKnowledge character ASCII 6 was received from PMAC 3 The maximum number of characters maxchar was received If PmacGetLineX 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 You can use the function to first determine if a response is available Arguments dwDevice Device number response Pointer to character buffer to receive character string from PMAC maxchar Maximum number of characters to be received from PMAC Return Value Number of characters received including handshake characters FALSE 0 One of the
119. ponseW and PmacGetResponseA functions are referred to in the manual as PmacGetResponseX With so many ASCII functions to choose from a few words on which functions should be the most popular is appropriate Most if not all of your communication with the PMAC can be handled with the PmacGetResponseX 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 PmacSendCharX PmacGetLineX and PmacSendLineX which if not used carefully can cause un synchronized communication the mismatching of PMAC Commands to PMAC responses PmacGetResponseX always matches the command string with the response string or else it times out Getting Started 7 PComm32 Manual For getting responses to a PMAC control character command it s easiest to use PmacGetControlResponseX UNICODE Versus ANSI Compiles For those folks programming in C C or any other program that supports include files and a macro preprocessor you may keep your PComm32 specific code independent of the standard being used by using the definitions below See UTIL H ifdef UNICODE define PmacGetResponse PmacGetResponseW define PmacGetControlResponse PmacGetControlResponseW define
120. re 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 If the host computer would ignore the hardware handshaking for the first communication to PMAC PMAC would then set it s RTS line to TRUE Hardware handshaking could then be supported by the host computer This explains why running the Executive program enabled other third party software that uses hardware handshaking to begin communicating The PMAC Executive Program does not look at the CTS line before sending PMAC commands rather it looks at the UART s buffer empty bit instead PMAC 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 a 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 7ERRO003 because of the you have confirmed that there is more than one PMAC on the serial cable 4 IfPMAC does not report an error to the command then there is only one PMAC on this serial line Send I1 2 0 to
121. release of the driver Any part of this documentation which implies that an error code or string exists is only for preparation of these items PmacGetError will return 0 if all went well The error string does not get reset after every call to GetResponse whereas the Error number does 8 Getting Started PComm32 Manual PCOMM32 FEATURES Using 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 Senda message to a window 2 Call a function 3 Start a thread function 4 Set an event All four methods have 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 u Mask controls which conditions will generate an interrupt A bit value of O 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 PmacINTRTer
122. res 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 64 DPR Variable Background Read Write Data Buffer PComm32 Manual DUAL PORTED RAM BINARY ROTARY BUFFER FUNCTIONS PmacDPRAsciiFileToRot SHORT PmacDPRAsciiFileToRot DWORD dwDevice FILE inpfile USHORT bufnum Inputs ASCII strings from file inpfile converts all alpha to upper case then converts the ASCII to PMAC commands and writes the data to the dual ported RAM binary rotary buffer when ready Arguments dwDevice 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 F
123. result is stored in the specified DPR location Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to store onoff Boolean indicating exclusive XOR or AND of val with DPRAM memory Return Values Nothing 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 Nothing PmacDPRSetMem PVOID PmacDPRSetMem DWORD dwDevice DWORD offset size t count PVOID val Copies a block of memory into dual ported RAM Arguments dwDevice Device number offset Offset from the 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 Z7 PComm32 Manual PmacDPRSetWord void PmacDPRSetWord DWORD dwDevice UINT offset WORD val Writes a 16 bit word value into dual ported RAM Arguments dwDevice Device number offset Offset from the start of dual ported RAM val Value to store Return Values Nothing 78 DPR Numeric Read And Write PComm32 Manual INTERRUPT FUNCTIONS General Information Interrupt Functions Interrupts are provided for both Windows 95 98 and Windows NT operating systems There are four methods of interrup
124. riable 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 I Q num Variable number to get def Default 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 Set a PMAC variable value as a 16bit integer long 32bit integer or 80bit floating point double Arguments dwDevice Device number Ch Character representing the variable type M P I Q num Variable number val Value to be set Return Values Nothing PmacSetlVariable void PmacSetIVariable DWORD dwDevice UINT num short int val void PmacSetIVariableLong DWORD dwDevice UINT num long val void PmacSetIVariableDouble DWORD dwDevice UINT num double val E ep oct Set a PMAC fT variable value as a 16bit integer long 32bit integer or 80bit floating point Variable Functions 85 PComm32 Manual Arguments dwDevice Device number num T variable number val Value to be set
125. rogStepping DWORD dwDevice int crd BOOL PmacDPRProgContMotion DWORD dwDevice int crd BOOL PmacDPRProgContRequest DWORD dwDevice int crd int PmacDPRProgRemaining DWORD dwDevice int crd long PmacDPRTimeRemInMove DWORD dwDevice int cs long PmacDPRTimeRemInTATS DWORD dwDevice int cs Logical Query Functions MOTIONMODE PmacDPRGetMotionMode DWORD dwDevice int cs PROGRAM PmacDPRGetProgramMode DWORD dwDevice int cs enum MOTION PmacDPRGetMotorMotion DWORD dwDevice int motor To enable this feature call the PnacDPRBackground 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 1l Query PMAC s control panel thumbwheel and machine I O connector status 2 Get motor target bias and commanded position registers Also query a motor s status word 3 Query a coordinate systems status word program status program remaining time remaining in move and acceleration and finally the coordinate systems currently executing line Once enabled call the DP
126. round 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 1l Query PMAC s control panel thumbwheel and machine I O connector status 2 Get motor target bias and commanded position registers Also query a motor s status word 3 Query a coordinate systems status word program status program remaining time remaining in move and acceleration and finally the coordinate systems currently executing line 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 the end user 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 mtrcrd 1 0 96 0 32 0 printf Bias Position 11 11f n PmacDPRGetBiasPos p mtrcrd 1 0 96 0 32 0 aDouble PmacDPRCommanded p mtrcrd A printf Commanded Position A 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd B printf PmacCommanded Position B 11 41f n aDouble aDouble PmacDPRCommanded p mtrcrd C printf Commanded Position C 11 41f n
127. rs PmacMultiDownload int PmacMultiDownload DWORD dwDevice DOWNLOADMSGPROC msgp PCHAR outfile PCHAR inifile PCHAR szUserId BOOL macro BOOL map BOOL log BOOL dnld This function will resolve the Multi Application problem associated with PMAC compiled PLCs Similar to the Download routine a file is downloaded to PMAC The difference here however is that the names of new files are stored in the WIN INI file For example the syntax within the WIN INI file may look like this Note The use of this function is required in those systems in which more than one application will be downloading PLCCs to the PMAC The issue here is that all PLCCSs must be downloaded at the same time PMACDOWNLOAD DOWNLOADFILE1 WINDEMO C PCOMM PCOMM TESTPLCC PLC DOWNLOADFILE2 WINDEMO C PCOMM PCOMM NCPANEL PLC DOWNLOADF ILE3 WINDEMO C PCOMM WIZDOM SPINDLE PLC DOWNLOADFILE4 PEWIN C PCOMM WIZDOM SPINDLE PLC DOWNLOADF ILE5 USERPROGRAM C USER3 BIFF PLC This function has added flexibility with the use of the szUserId 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 download function described above The outfile parameter will also be the name of any interm
128. s first converted to a binary file using PmacDPRAsciiToBinaryFile or PmacDPRAsciiStrToBinaryFile respectively Then the binary file is then downloaded one line at a time using the DPRBinFileToRot function 3 PMAC ASCII program command strings either a created on the fly or b retrieved from a file are then converted to binary by use of the DPRStrcnvt function The binary result is placed into a union union WORD word data 2 DPRCMDMAX44 DWORD long data DPRCMDMAX 422 pmac cmd and is later placed in DPR via the DProtput routine The Microsoft Visual C demo program TESTAPP illustrates the first of the three methods shown above In order for a rotary program to run several things must be done 1 Configure a coordinate system in PMAC 2 Close the servo loops too and make sure all motors are ready to run a motion program i e there not jogging homing etc 3 Initialize a rotary program buffer for the corresponding coordinate system 4 Open PMAC s rotary buffer 5 Begin execution of the rotary buffer i e BOR Items 1 and 2 may only have to be done once for a given application Return Codes Possible 24 PComm32 DPR Features PComm32 Manual 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 DP
129. s 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 For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 2 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion When using the PLCC Ladder Diagram Function selection the least significant word specifies the function block structure member Take for example the following define statements and the initialization of a long integer array define MTR1 ACTULPOS 0x00010028 PMAC Address D 0028 define MTR1 ACTULVEL 0x00020033 PMAC Address X 0033 define MTR1_DACOUT 0x00020045 PMAC Address X 0045 define FB_10 0x0004000A PMAC function block 10 long myaddrarr 3 MTR1_DACOUT MTR1_ACTULPOS MTRI_ACTULVEL If myaddrarr is used as the last parameter in the PmacDPRVarBuflInit function the second parameter num_entries which is the number of elements in the long array would have to be 3 PComm32 DPR Features 19 PComm32 Manual Because only 128 entries may be updated you may want to call PnacDPRGetV BGTotalEntries to determine how many entries are already in use before calling PnacDPRVarBuflInit Although PmacDPRVarBufInit will also check to the available space and return an error if the request is too large The PmacDPRBackground function enables disables both background read data buffers
130. sponds to values of 0 to 8 388 352 in units of I10 1 8 388 608 msec At the default I10 value of 3 713 707 this corresponds to a feedrate override values from 0 to 225 87 for real time execution 76100 value should be 14507 48 Dual Ported RAM Control Panel PComm32 Manual Arguments dwDevice Device number cs Coordinate System Number 1 8 value See explanation above Return Value The PmacDPRGetRequestBit routines return the state of the bit 0 1 The PmacDPRSetRequestBit functions return nothing See Also Using the DPR Control Panel in the Users Manual PmacDPRControlPanel PnacDPRSetFO Value PmacDPRGetRequestBit and PmacDPRSetRequestBit int PmacDPRGetRequestBit DWORD dwDevice int mtr crd void PmacDPRSetRequestBit DWORD dwDevice int mtr crd int onoff These functions are used to control the PMAC DPR Control Panel feature The PmacDPRSetRequestBit and PmacDPRGetRequestBit routines set get a bit in DPR which indicate to PMAC to look at all the action bits that have been set and act on them PMAC will reset the request bit once the requested actions have been processed The request bit can therefore be considered a handshaking bit between the host computer and the PMAC Host sets PMAC notes the set bit PMAC performs requested actions PMAC resets the request bit Arguments dwDevice Device number mtr crd Motor or Coordinate System Number 1 8 onoff To turn on use TRUE
131. stem to reserve a spot in memory for the DPR For example to exclude 16k of byte memory starting at physical address OxD4000 the following entry in the config sys should help DEVICE EMM386 EXE X D400 D7FF Use the PMAC Executive Program to test if the DPR is in a good location Usually the Configure Communications section has a test DPR feature Windows 95 98 amp NT 4 0 Users The System Resources dialog box enables you to view and reserve available memory To get there click on the Control Panel icon and then click on the System icon From there you should see a tabbed dialog box click on the Device Manager tab Here your computer resources are listed for you using a tree view hierarchy Select the Computer icon and then press the Properties button Yet another tabbed dialog comes up with two tabs View Resources and Reserve Resources Use the View to scope out available memory and the Reserve to claim your memory For example to reserve physical address 000D4000 000D7FFO click on the Reserve Resources tab and then press the Add button then enter the appropriate values 1 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 your BIOS settings of your computer 2 The contents of DPR are not what the user was expecting PLC s may be writing to DPR or are indirectly affecting the contents enabl
132. t notification for your program 1 Senda message to a window 2 Call a function 3 Start a thread function 4 Set an event All four methods have 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 u Mask controls which conditions will generate an interrupt A bit value of O 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 PmacINTRFireEventlnit BOOL PmacINTRFireEventInit DWORD dwDevice HANDLE hEvent ULONG ulMask Once initialized with PmacINTRFireEventlnit an interrupt will cause the driver to set the event handle provided to the signaled state The programmer is responsible to reset the event to the non signaled state Arguments dwDevice Device number hEvent Handle to the event to be set ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Ret
133. tDocument LPCTSTR lpszPathName TCHAR str _MAX PATH vs 30 ds 30 Get handle to PMAC DLL and get procedure addresses if m_hPmacLib m hPmacLib RuntimeLink if m_hPmacLib NULL return FALSE We failed to load the library or functions if m bDriverOpen Only call OpenPmacDevice once return TRUE Call OpenPmacDevice m bDriverOpen DeviceOpen m dwDevice if m bDriverOpen DeviceGetRomVersion m_dwDevice vs 30 DeviceGetRomDate m_dwDevice ds 30 sprintf str TEXT V s s vs ds SetTitle str return TRUE else AfxMessageBox Could not initialize PMAC Comm SetTitle TEXT Not Linked return FALSE Notice the two steps to initializing communication to a PMAC 1 Load the DLL and get procedure addresses 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 Once PMAC communication is initialized all other functions in the library may be called Communication Modes There are three methods by which PComm32 may communicate to PMAC over the Bus ISA PCI VME Dual Ported Ram or the Serial Port Starting from this enhanced version of Pcomm32 a faster and transparent serial communication program Comserver has been introduced Comserver is supported under Windows 98 and NT 4 0 Under Windows 95 serial communication still uses the conventional Serserver This change in
134. ted for 32 bit transfers In addition several helper routines exist for setting individual bits of DPR memory Initialization Shutdown Once initialization of communication has been successfully completed 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 that must be discussed Some DPR features require two actions to be taken before they are running like an electrical appliance in your home requires that the circuit breaker as well as the switch on the appliance to both be turn on First you initialize the feature i e for the DPR Rotary buffer call the PmacDPRRotBuflnit After the feature is initialized the turning off or on of the feature may be done with a yet 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 Rotary Buffer last The reason for this is that a call to PmacDPRRotBuf that turns the feature on will open a PMAC program buffer When a PMAC program buffer is open any attempt to initialize or enable other D
135. tell PMAC to use hardware handshaking and that it is not daisychained other PMAC s 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 card as a master clock and having all other cards operate as slaves The cards are chained together via an RS 232 cable The phase clock and servo clock are routed 104 Communication Application Notes PComm32 Manual 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 Less Common Communication Problems 1 Trying to generate an interrupt on the PC via a PMAC PLC or motion program The problem manifest itself by getting an interrupt for every toggling of the bit but the
136. ter 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 Dual Ported RAM Binary Rotary Buffer Functions 69 PComm32 Manual 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 Check request the buffer size was either too small or too large RET_OK 0 PmacDPRRotBufRemove int PmacDPRRotBufRemove DWORD dwDevice int bufnum Use this function to remove any previously initialized rotary buffer Arguments dwDevice Device number Bufnum Which of the two rotary buffers i e 0 or 1 to reference Return Values RET_ERROR 1 Check request the buffer size was either too small or too large RET_OK 0 PmacDPRRotBufChange int PmacDPRRotBufChange DWORD dwDevice int bufnum int new size Use this function to change the size of a rotary buffer This will remove the exist
137. test function initiated by the PmacDPRTest function Arguments dwDevice Device number to stop test for Return Value TRUE if success See Also PmacDPRTest Initialization Shutdown and Configuration Functions 29 PComm32 Manual PmacConfigure BOOL PmacConfigure HWND hwnd DWORD dwDevice This function causes the PComm32 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 systems 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 ifthe PMAC controller is in amode known as BOOTSTRAP It is in this mode that PMAC s equipped with flash ram w
138. th 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 More test programs and illustrative examples using C Builder 4 0 and VB 6 0 are provided for programmers reference These projects are located in their respective folders under lt Install Directory gt PmacTest folder Linking Your Code with the Driver For any one operating system PComm32 will use two modules a DLL pmac dll and a kernel driver pmac vxd for 95 98 pmac sys for NT Your application must interface with the DLL to communicate to the kernel driver which in turn talks to the PMAC directly Methods for interfacing to DLL s for any given development environment are well documented so all the details won t be discussed here Ata minimum what is needed to interface to a DLL is the function prototypes and the location of the DLL in the operating system The prototypes for the PMAC 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 pmac dll in the system directory The PMACTEST program uses the LoadLibrary and GetProcAddress system API calls to link with the pmac dll In the RUNTIME CPP source file you will find a routine RuntimeLink which performs these tasks A small excerpt from the file is show below include run
139. the 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 you should set I57 to 0 before changing the buffer size and the buffer being changed should be the one last initialized The size of the rotary buffer in PMAC is typically half that allocated in the DP Ram Two long words in the DP Ram again is mapped into 1 long PMAC word 48 bit The value assigned to DualPortRamRotx where x 1 2 which is in units of 32 bits specifies how many instructions will fit into the buffer Each ASCII instruction is ultimately transformed into a 64 bit code from which PMAC will transform into a 48 bit operation code A single instruction consists of a program command and it s argument For example X100 is a single instruction and X1000Y1000Z1000 is 3 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 Call to enable the Binary Rotary Buffer after it s been initialized Arguments dwDevice Device number bufnum Which of the two rotary buffers i e O or 1 to reference 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 grea
140. this for it s own internal use setting aside n bytes of memory You may consider using this memory space from varStart to OXDFFF for your own internal use as well The space from varStart to the end of DPR OxDFFF will be untouched by the Win32 Driver Using the DPR Control Panel The PMAC provides an area in the DPR that emulates the PMAC s hardware control panel connector The PmacDPRControlPanel function enables disables the dual ported RAM control panel feature When enabled functions are available to e Jog Jog Pre Jog Home Motors only e Run Stop Step and Feed Hold Coordinate System only e Assign a feedrate override value for a particular coordinate system Four necessary conditions for any of the actions above to be realized are 1 The DPR Control panel has been enabled with a call to PmacDPRControlPanel 2 The request bit or flag for the specified action must first be set to 1 using the corresponding PmacDPRSetActionBit function where Action is any of those listed in I and II 3 Any request bits that conflict with the one attempting to be realized must be reset to 0 For example if the stop or abort bit has been set and the programmer attempts to run a PMAC program by setting the run bit PMAC will not run the program due to the conflict in the requests 4 The request_bit of the corresponding motor or coordinate system must be set to 1 by use of the PmacDPRSetRequestBit function Action
141. time h HINSTANCE RuntimeLink Get handle to PMAC DLL hPmacLib LoadLibrary DRIVERNAME Get some DLL procedure addresses for example OpenPmacDevice and ClosePmacDevice DeviceOpen OPENPMACDEVICE GetProcAddress hPmacLib OpenPmacDevice DeviceClose CLOSEPMACDEVICE GetProcAddress hPmacLib ClosePmacDevice Check validity of the procedure addresses if DeviceOpen DeviceClose Report an error couldn t link with one or more functions 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 Pmac dll name of the user dll driver VA LE KK KKK KKK KKK KK de e e He KK he e e He He He KKH ERIK a He He COMM Type Defines J RRR e He He He He He e e e He He He He de e e He He KK KKK KKK KKK He He KK e e He He He KK e 2 2 2 202212 2 2 2 2 2 22 2 2 2 20 typedef BOOL CALLBACK OPENPMACDEVICE DWORD dwDevice typedef BOOL CALLBACK CLOSEPMACDEVICE DWORD dwDevice 4 Getting Started PComm32 Manual Initializing Communication In the demo program PMACTEST a class has been created CPmacTestDoc see pmactestdoc cpp which has been designed to handle all communication between the application and PMAC It establishes communication by a member function called InitDocument InitDocument is shown below BOOL CPmacTestDoc Ini
142. to respond You can use the function to first determine if a response is available Arguments dwDevice Device number linebuf Pointer to character buffer to receive character string from PMAC maxchar Maximum number of characters to be received from PMAC Return Value Number of characters received along with the status bits including handshake characters FALSE 0 One of the following occurred 1 No characters in PMAC s buffer queue 2 Anerror occurred 3 Communication not established PmacGetResponseExA PmacGetResponseExW Extended Functions 95 PComm32 Manual PmacGetResponseEx X int PmacGetResponseExA DWORD dwDevice PCHAR response UINT maxchar PCHAR command int PmacGetResponseExW DWORD dwDevice PWCHAR response UINT maxchar PWCHAR command Most if not all of your communication with the PMAC can be handled with the PmacGetResponseExX 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 PmacSendCharX PmacGetLineExX and PmacSendLineX which if not used carefully can cause un synchronized communication the mismatching of PMAC Commands to PMAC responses PmacGetResponseExX always matches the command string with the response strin
143. to which datal and data2 should be written The types of data that may be specified are as follows Bits 0 20 1 2 4 for Y L X SPECIAL memory respectively For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion 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 For SPECIAL PROM V 1 16 and beyond the user must modify bits B13 and B15 for the type 0 2 PLCC Ladder Diagram Function Blocks 1 7 are for future expansion When using the PLCC Ladder Diagram Function selection the least significant word specifies the function block structure mem
144. ts 91 PComm32 Manual 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 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 Nothing DPRTESTPROGRESS typedef void FAR WINAPI DPRTESTPROGRESS LONG Percent This function type is used by some program testing DPR via the PmacDPRTest routine to offer the option of reporting a status message The message indicates to the user what percent the test procedure is done with the current action being done Actions include the following Arguments Percent Percent done with current action being done in test Return Value Nothing Dpr_Bin_Rot_Errors Used by binary rotary buffer functions enum Dpr_Bin_Rot_Errors DprOk 0 DprBufBsy ol DPR Rotary Buffer is Busy DprEOF ER DPR Rotary Buffer End of File detected DprFltErr l Unable to pack floating point number too large DprStrToDErr 2 Unable to convert string to double float number DprMtrErr 3 Un
145. tting PMAC out of a reset state for example Either the Bus or DPR must be in use for this routine to succeed RETURNS TRUE if successful else FALSE Arguments dwDevice Device Number PMAC 1 2 3 etc offset Offset from PMAC s bus base address value 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 int getBitValue char hexadecimal number int 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 88 Utility Functions PComm32 Manual hex_long2 long hex_long2 char Sin str int str_ln Converts a hexadecimal string to a long integer Arguments in str Pointer to the beginning of hex string str In How many characters to examine Return Value Long integer value representation of hex string Utility Functions 89 PComm32 Manual 90 Utility Functions PComm32 Manual DATA TYPES STRUCTURES CALLBACKS AND CONSTANTS DOWNLOADGETPROC typedef int FAR WINAPI DOWNLOADGETPROC int nIndex LPTSTR lpszBuffer int 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 fil
146. urn Values TRUE Ok FALSE Error Interrupt Functions 79 PComm32 Manual PmacINTRFuncCallinit BOOL PmacINTRFuncCallInit DWORD dwDevice PMACINTRPROC pFunc DWORD msg ULONG ulMask Once initialized with PmacINTRFuncCallInit an interrupt will cause the driver to call a function provided of PMACINTRPRCC type Arguments dwDevice Device number pFunc Pointer to a PMACINTRPROC function msg Message to be passed back to the called function as a parameter ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacINTRRunThreadlnit BOOL PmacINTRRunThreadInit DWORD dwDevice LPTHREAD START ROUTINE pFunc UINT msg ULONG ulMask Once initialized with PmacINTRRunThreadInit an interrupt will cause the driver to initialize a thread function provided of LPTHREAD START ROUTINE type The programmer is responsible for synchronization and termination of the thread Arguments dwDevice Device number pFunc Pointer to a LPTHREAD START ROUTINE function msg Message to be passed back to the called function as part of a parameter structure ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error PmacINTRTerminate BOOL PmacINTRTerminate DWORD dwDevice Shuts down the interrupt service Arguments d
147. vice int 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 MOTI ON DPR Background Fixed Data Buffer 57 PComm32 Manual 58 DPR Background Fixed Data Buffer PComm32 Manual DPR VARIABLE BACKGROUND READ WRITE DATA BUFFER PmacDPRBackground BOOL PmacDPRBackground DWORD dwDevice int on Starts or stops the PMAC s automatic write into the DPR background fixed and variable buffer Arguments dwDevice Device number on Turn on or off Boolean Returns TRUE if success PmacDPRBufLast int PmacDPRBufLast DWORD dwDevice This function determines which buffer is the last variable sized buffer in DPR Use this function to decide which buffer either a binary rotary or the variable background data buffer can be initialized or removed The sequence for the binary rotary and variable background data buffers is like a last in first out stack The order of initialization must be 1 Binary rotary buffer 0 2 Binary rotary buffer 1 3 Variable background data buffer 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 Rotar
148. wDevice number Return Values TRUE Ok FALSE Error PmacINTRWndMsglnit 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 provided windows handle 80 Interrupt Functions PComm32 Manual Arguments dwDevice Device number hWnd Window handle msg Message to be sent to the window ulMask 32 bit interrupt mask Zero 0 will cause all interrupt service levels to interrupt Return Values TRUE Ok FALSE Error Serial Checksum Communication Functions int PmacSERDoChecksums DWORD dwDevice UINT do checksums int PmacSERCheckResponseA DWORD dwDevice char response UINT maxchar char outchar BOOL PmacSERCheckSendLineA DWORD dwDevice char outchar char command csum int PmacSERCheckGetLineA DWORD dwDevice PCHAR response UINT maxchar PUINT num char Note See Terminal C example program for a terminal example of using checksums PmacSERDoChecksums To enable or disable serial checksummed communications call PmacSERDoChecksums A non zero return value indicates a successful mode change Once enabled the last three routines above may be called By far the easiest and most useful is the PmacSERCheckResponseA routine PmacSERCheckResponseA PmacSERCheckResponseA is used to provide checksum verification of co
149. y 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 DPR Variable Background Read Write Data Buffer 59 PComm32 Manual PmacDPRGetVBGAddress unsigned long PmacDPRGetVBGAddress DWORD dwDevice int handle int 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 PmacDPRGetVBGNumEntries int PmacDPRGetVBGNumEntries DWORD dwDevice int 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 PmacDPR VarBuflnit Arguments dwDevice Device number handle Handle to the buffer Returns Returns the total number of entries PmacDPRGetVBGDataOffset UINT PmacDPRGetVBGDataOffset DWORD dwDevice int handle Returns the offset in bytes from the beginning of DPR that the data for this application s VBGDB begins Typically not used by programmers Arguments dwDevice Device number handle

ACC-9PN_____________________________PMAC 32

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