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Instruction Manual for Motion Server and Servo Application

1. XAxis MoveTo 30000 XAxis MoveTo end Source Code Borland Turbo C Example 3 The following example is based on a borland Object Windows Library demo program and must be compiler with OWL include lt owl h gt include tcwdll_3 h include servolib h header file for ServlLib DLL int ErrorCode int Line int Row class TMotionApp public TApplication public TMotionApp LPSTR Name HINSTANCE hInstance HINSTANCE hPreviInstance LPSTR l1pCmd int nCmdShow TApplication Name hInstance hPrevinstance lpCmd nCmdShow 243 User Manual for Motion Server and Servo Application Workbench virtual void InitMainWindow y class TTestWindow public TWindow public TTestWindow PTWindowsObject AParent LPSTR ATitle virtual void CMStart TMessage amp Msg CM_FIRST CM_START y TTestWindow TTestWindow PTWindowsObject AParent LPSTR ATitle TWindow AParent ATitle AssignMenu COMMANDS void TTestWindow CMStart TMessage amp InitializeServoSystem 800 808 amp ErrorCode InitializeCompiler Compile manymove dps NULL amp Line amp Row amp ErrorCode NULL if ErrorCode 0 MessageBox HWindow Compiler Problem Error MB_OK return EngageHighSpeedClock amp ErrorCode SetServo XAxis 1 amp ErrorCode BeginTask TaskAddr PerformManyMoves am
2. class TTestWindow public TWindow public TTestWindow PTWindowsObject AParent LPSTR ATitle virtual void CMStart TMessage amp Msg CM_FIRST CM_START y TTestWindow TTestWindow PTWindowsObject AParent LPSTR ATitle TWindow AParent ATitle AssignMenu COMMANDS void TTestWindow CMStart TMessage amp InitializeServoSystem 800 808 amp ErrorCode oveDurationCounter 0 EngageHighSpeedClock amp ErrorCode SetServo XAxis 1 amp ErrorCode T1AxisBeginMoveBy XAxis 50000 amp ErrorCode 240 Using the Servolib Dynamic Link Library MessageBox HWindow Free To Continue Status MB_ OK while MovelsFinished XAxis amp ErrorCode 0 MoveDurationCounter if ErrorCode ErrorCode 0 0 essageBox HWindow Motion Problem Error MB_OK MessageBox HWindow Motion Done Status MB_ OK DisengageHighSpeedClock void TMotionApp InitMainWindow MainWindow new TTestWindow NULL Motion Application T T int PASCAL WinMain HINSTANCE hInstance HINSTANCE hPrevinstance LPSTR lpCmd int nCmdShow TMotionApp MotionApp Motion Application hInstance hPreviInstance lpCmd MotionApp Run return MotionApp Status Explanation nCmdShow As in the first example the first operation is to initialize the system Instead of performing motion with MoveBy and MoveT
3. SAW Untitled dit Tool View Arrange Defaults Run Im File a Title po l a el AA 5 9 ol ol 1 2j EE El E a Run the Default Application From the SAW main menu choose Run and then choose Start App There should now be a new window that contains as its caption a Title such as shown below This is the default application provided as an application foundation This window should be the same size and shape as the drawing first seen in the drawing area of SAW Drag the title bar of this window and note that it behaves like other Windows applications Servo Application Workbench Tutorial Close the window clicking on the system menu of the window the little upper left corner button on many Windows applications E This produces the following pop up menu a Title Close Alt F4 Switch To CtrltEsc Choose Close The window should disappear Alternatiely you can double click on the system menu to close the application Modify the Default Application Click on the picture of the Window which is in the SAW drawing area not the resultant Window application that was just being studied Four handles should appear on the outline indicating that the window is selected for alteration 47 48 User Manual for Motion Server and Servo Application Workbench Summary SAW Untitled File Edit Tool View Arrange Run Help a Title
4. Aggregate Types You may use a desk organizer in your desk drawer A desk orga nizer contains various compartments for holding different types of things commonly found in a drawer such as paper clips pencils etc The desk organizer is a single integrated item that has internal structure of various compartments each compartment providing a suitable place for a particular aspect of its storage purpose In a simi lar manner most high level programming languages allow the con struction of such informational desk organizers data structures that contain compartments where information can be stored while retaining a relationship with the whole Douloi Pascal supports ageregate structures through Record and Object type declarations 123 124 User Manual for Motion Server and Servo Application Workbench The creation of new Record and Object structures will be deferred until the Advanced Language section however the use of predefined record and object types will be reviewed here Predefined aggregate types include T2VEGROL Arda a 2 dimensional vector T3VECEOR Asa kas 3 dimensional vector TAVE GROOMS ire 4 dimensional vector TOVG CU OTe actas eer 5 dimensional vector TO6VEGROL st tats Sass 6 dimensional vector TLARES CASOS Das single axis of motion TZAKE da 2 coordinated axis of motion TIAS 26 de 3 coordinated axis of motion TAA KASS ee aoa seed ies Boe 4 coordinated axis of motion TIA Si ts ed 5 coordinate
5. FRAARRARRA RRA A REA RRA RR AA RRA RRA RRA RARA RRA RRA RRA RARA RRA RRA RRA ARA RRA RRA RRA ARAS 229 User Manual for Motion Server and Servo Application Workbench program TPWDLL_1 uses Servolnt WinCrt var ErrorCode integer begin Writeln TPW DLL Example 1 InitializeServoSystem 800 0 ErrorCode EngageHighSpeedClock ErrorCode TNAxisSetServo XAxis T ErrorCode T1AxisMoveTo XAxis 0 ErrorCode T1AxisMoveTo XAxis 5000 ErrorCode T1AxisMoveTo XAxis 10000 ErrorCode T1AxisMoveTo XAxis 0 ErrorCode S r F a y T1AxisMoveBy XAxis 2000 ErrorCode T1AxisMoveBy XAxis 4000 Errorcode T1AxisMovelTo Xaxis 0 Errorcode Writeln T1AxisCommandedPosition XAxi if ErrorCode lt gt 0 then begin essageBox 0 Motion Problem Status mb_ok ErrorCode 0 note need to explicitly set error code to 0 end TNAxisSetServo XAxis O ErrorCode DisengageHighSpeedClock Writeln done end r Ve Explanation The first operation performed with the motion system is its initializa tion The initialization routine sets the error code variable to 0 After initializing the servo system the XAxis is directed to move to differ ent destinations It is extremely important that the dimension of the procedure match the dimension of the function ie T1AxisMoveTo should only be used with a T1Axis parameter Note that while motion is ocurring W
6. HomePosition Y 500 In pascal the assignment operator is a colon followed by an equals sign indicating that the expression on the left is to receive informa tion from the right side Records contain only storage areas Objects contain storage areas just like records and as well type specific procedures and functions which can operate on that information The second group of objects listed are axis groups ranging from T1Axis a type to represent a single axis of motion up through T6Axis a type to represent a 6 axis coordinated group These axis group types are collectively referred to as TNAxis types where the N in TNAxis is replaced by a number between 1 and 6 in actual usage You might create a variable to represent a 2 axis positioning table with the command var PositioningTable T2Axis Now you have a variable named PositioningTable which can be given commands The first command necessary is an initialization command to associate that variable with actual axis in the system for example PositioningTable Init XAxis YAxis XAxis and YAxis are predefined variables of type T1Axis which correspond to the physical X and Y axis in the servo system Now the PositioningTable can be given a command to move for example PositioningTable SetServo On PositioningTable MoveBy 20000 30000 Detailed information about the predefined variables and operations supported by TNVectors and TNAxis can be foun
7. However if you need to execute several statements you need to enclose the entire group inside a begin end to create a single statement block For example if XAxis ActualPosition gt 2000 then begin XAxisBeyondLimit true SignalAlarm AbortTask Addr XMovementTask end You may be familiar with languages which have an Endif to an If instruction Pascal instead uses the idea of performing one state ment after the IF and that one statement can be a single compound statement which contains inside many individual statements 146 Douloi Pascal Language If instructions may be nested to allow construction of multiple requirements if XAxis ActualPosition gt 2000 then if YAxis ActualPosition gt 2000 then begin BothAxisBeyondLimits true SignalAlarm AbortTask Addr Movement Task end If Else Construct If Else constructs are used to perform as exclusive alternatives either one group of instructions or an alternate group of instructions The syntax of an If Else construct is If lt conditional expression gt then lt statement gt else lt statement gt If the condition is true the statement following the then is per formed If the condition is not true the statement following the else is performed For example If XAxis ActualPosition gt 2000 then XAxisBeyondLimit true else XAxisBeyondLimit false In a manner s
8. exit end EngageHighSpeedCloc SetServo XAxis ty BeginTask TaskAddr if ErrorCode lt gt 0 t begin ErrorCode ErrorCode PerformManyMoves ErrorCode hen Writeln Problem starting procedure PerformManyMoves exit end Writeln Writeln Task launched TPW program done Writeln Do not forget to turn off ignition before Writeln leaving Windows end Explanation Examples 1 and 2 could have been done with a conventional PC based motion control card This example is the point where Motion Server s architecture begins to make a contribution The motion task is specified in the file ManyMove dps dps stands for Douloi Pascal Source Note that the program is written in Douloi Pascal and not in the language of your DLL invoking host environment i e not in TPW or C or VB This program is then compiled by your program at run time through the Compile command implemented in the ServoLib DLL The different parameters given to the Compile command help focus in on where errors are located in the event there is a mistake in the Douloi Pascal program Note that InitializeCompiler needs to called before you use the Compile command however it only needs to be called once at the beginning of the application regardless of the Using the Servolib Dynamic Link Library number of times Compile is used Most of InitializeCompiler s activity is including the system constants that
9. i e should there be some way after responding to an escape code in a recover block to resume execution at the point where the escape occurred Douloi Pascal does not include resumable exceptions Motion sys tems in particular tend to have a physical state as well as an informa tional or program state If something goes wrong it is usually neces sary not to go back to where things failed but rather to go back before that point to some prior physical state to setup another attempt Rather than reproduce this setup in the recover block it is usually better to take a fresh full cycle attempt through an enclosing repeat loop or higher level repeat loop For example repeat try begin XAxis BeginMoveTo aDestination TroubleEncountered false end recover begin TroubleEncountered true if EscapeCode MotionOverrunEscapeCode then XAxis WaitForMoveToFinish motion stop else Escape EscapeCode end until not TroubleEncountered A discussion of multitasking capabilities will follow later in the document however one point needs to be made now Once a task is started even by another task it is accountable to no one and operates on its own Escapes generated within a spawned task do not travel back to recover blocks in the task which spawned the escaping task They will instead travel up to the default handler Tasks need to take 158 Douloi Pascal Language responsibility for their own errors Error
10. The following is a list of all of the commands available Additional details about the commands can be found in the on line help Primitive Data Types TSB emani a tin bora GR 16 bit numeric data type A on aia 32 bit numeric data type A A O 32 bit floating point number Double asistan 64 bit floating point number SINSA a tiaveana E 31 character variable for holding letters A A e true false type TMathCoprocessorBuffer Temporary storage area type for math coprocessor state TNVector Objects Multidimensional Vectors with N ranging from 2 to 6 tii Set the components of the vector to the indicated values E A r een eye Ee Return the magnitude of the vector ARCOM p ita Returns x component of vector DLL only NGOMP retar Returns y component of vector DLL only LCOMP seesvceed ieee ee a Returns z component of vector DLL only UComp neta cti adas Returns u component of vector DLL only A Apert ernie ner Returns v component of vector DLL only WComip istic E Returns w component of vector DLL only Math Coprocessor Operations Douloi Pascal only Pints soning odnenauerene Initialize math coprocessor sao oil Add top two numbers A ns ana E Replace the top number with its sin ESC nsaan aunn Replaces the top number with its sine and cosine O Replace the top number with its square root A oe aes Push Pi onto the coprocessor stack Py sid A II A Replace the top two numbers by top 1 divided by the top EN ss Replace
11. circles together Five circles are then drawn by the routine DrawCircleFigure This routine has the following description Procedure DrawCircleFigure index integer const ShadowOffset 3 var Radius integer var Location T2Vector begin Radius RadiusArray index Location CircleLocation index SetBodyColor black draw shadow DrawEllipse Locat Locat Locat Locat ion X Radius ShadowOffset ion Y Radius ShadowOffset ion X Radius ShadowOffset ion Y Radius ShadowOffset SetBodyColor ColorArray index DrawEll Locat Locat Locat Locat end ipse ion X Radius Y Radius X Radius Y Radius io io YP YP YP io The circle being worked on is indicated by the index The radius and location are loaded from the corresponding arrays The shadow is then drawn by offsetting the location of the circle and using a black color The circle itself is then drawn using the color of the circle found in ColorArray The BeginDrag method is used to determine which of the 5 circles is being selected for movement The BeginDrag procedure has the following description procedure var Del var Len var Min var sca begin for sca begin BeginDrag taVector T2Vector gth integer imumDistance integer nner integer nner 1 to NumberOfCircles do DeltaVector Mou sePosition CircleLocation scanner Length DeltaVector Lengt
12. oj a ol 1 ol El E Er al E 49 User Manual for Motion Server and Servo Application Workbench From the main menu select Run Start App You should now see the default application running with the recently created button Pushing the button shows the characteristic button movement but no action is performed because none has been specified Close the window and return to SAW Modify a Button Appearance In the SAW drawing area select the button by clicking inside the button shape Relocate the button within the boundaries of the default window frame by dragging the button to a new location Resize the button by dragging one of the four corner handles to a new location Double click on the button in the SAW drawing area A button editor should appear similar to the one shown below Button Editor Legend Button Default O Button Events procedure Click Default Select the Legend field currently containing the word Button and change that word to some other word such as Test Close the button editor by clicking Ok From the main menu choose Run then choose StartApp Note that the legend on the button has changed Close the window Modify a Button Behavior Double click on the button in the SAW drawing area Note that on the lower section of the button editor there is a list of Event Procedures SAW supports the event user interface model used by Win
13. The following object definition describes a data structure that contains 2 vectors The object has been given a procedure so as to draw itself on a plate However when used the expected line does not appear type GuidanceLine object Endl T2Vector End2 T2Vector procedure DrawOn aPlate TPlate begin DrawLine End1 X Endl Y End2 X End2 Y end end What s wrong We forgot to use the parameter to DrawOn The idea is to put the line on the specified plate Why didn t we get a compiler error Ifno receiver is specified the object definition uses the nearest plate as the receiver in this case the plate that contains this object definition which is visible within the current scope The correct object definition is shown below type GuidanceLine object Endl T2Vector End2 T2Vector procedure DrawOn aPlate TPlate begin aPlate DrawLine Endl X End1 Y End2 X End2 Y end end Runtime Error 104 The following section of code correctly plays back motion by reading coordinate pairs from a file However after working correctly several times a Runtime error 104 is generated procedure PlaybackMotion var MotionFile TFile var Destination T2Vector begin MotionFile Assign MoveFile txt MotionFile Reset While not MotionFile EndOfFile do begin MotionFile Readln Destination X Destination Y XYAxis MoveToVector DestinationVector end end 188 Douloi Pascal L
14. eee Configures motor for servo or stepper operation Sethriable nm pipi Allow amplifier to power motor 268 Chapter SEUVIOLOR oieee eia aE Turns motor operation on and off SetloopliversiO oasis Include an additional sign inversion in control law SetCoordinateInversion coccion Reverse which way is regarded as the positive direction SetAccal can Set acceleration rate for trapezoidal moves SU Ne A te auiccues deceleration rate for trapezoidal moves BSUS PEC Miele iia sel eerste denis Set speed of slew phase of trapezoidal moves SM ti Aa Set compensation parameter for servo Sec ii ni compensation parameter for servo SetIntegrator occ eects compensation parameter to eliminate steady state position error SetErrorlimit irte Set permissible tracking error before disable occurs SetPosivebiiMlbagitaciecisawientas Set boundary for movement in the positive direction SetNegative Limit s civcesesvectostevrsiebecs Set boundary for movement in the negative direction SetActualPosition ooccicininnonnoninncncnnns Define current position coordinate SetCommandedPosition Set commanded position for non trapezoidal moves SetCommandedPositionVector Set commanded position for group ArmInputCapture cian ces Prepares axis to latch position based on input signal Aruinden Capturado bas Prepares axis to latch position based on index signal SetCommanded Torque 00 Set output voltage when not servoing Motion Move to absolute coordi
15. 248 Stop 248 StopMotion 248 storage area 129 storage scope 103 storage scope buffers 127 straight line 33 40 straight through cable 27 string constants 129 Strings 122 129 strongly typed 115 struct 33 styles 60 subassemblies 43 Subplates 89 subroutine capability 65 subroutines 139 Superimposition of motion critieria 209 superseded 39 symbol scoping 92 symbolic constants 126 symbolic names 118 symbolic names for escape codes 155 synchronizing tasks 151 system constants 235 245 system control menu 61 system menu 47 T T1Axis 125 TIAS aoaie single axis of motion 124 TZA ia 2 coordinated axis of motion 124 T2Vector 80 T2Vector 2 dimensional vector 124 T2Vectors 211 T3Axis axis group 193 TSANIS 0 ee 3 coordinated axis of motion 124 T3Vector 124 T3Vector 3 dimensional vector 124 T4AXiS 4 coordinated axis of motion 124 T4Vector 119 T4Vector 4 dimensional vector 124 TSA Sinuna 5 coordinated axis of motion 124 T5Vector 5 dimensional vector 124 T6Axis 125 TOAXiS oooo 6 coordinated axis of motion 124 T6Vector 6 dimensional vector 124 Tangent or Knife Cutter Servoing 217 tangent servoing 225 TangentAngle 217 219 target 39 Task synchronization 175 TaskOverranSample 171 174 TaskPresent 174 TaskPresent function 176 TAxis 208 TButton Windows Button Control SAW onl 124 TEdit Windows Ed
16. 26 Amplifier enable 26 amplifier enable inputs 26 amplifier enable lines 260 AnchorVector 218 AND 145 angular accumulation 217 angular displacement 222 annotate 57 ANSI committee for C 153 AnswerDisplay 168 Appendix B 118 AppendMoveBy 41 AppendMoveTo 41 application 16 arc tangent function 217 arctan 218 arm 24 array 62 array bound declarations 134 array declarations 161 array information 62 Arrays 126 arrays 59 121 ASCII 34 ASCII information 191 ASCII interface 191 ASCIIZ strings 235 assembly level INC 135 Assignment 129 assignment operator 129 133 assignment statements 131 Attached 90 Attached Subplates 89 AUTOEXEC 13 axis 24 axis group 33 axis group types 125 axis groups 125 B B 26 backup 23 backwards 26 BasePosition 194 BeforeVector 214 Begin 36 BeginDrag 64 79 105 111 BeginMoveBy 241 BeginMoveBy 34 36 39 40 BeginMoveByVector 40 BeginMoveTo 34 36 40 BeginMoveToVector 40 BeginStop 36 37 BeginTask 174 176 BeginTaskAtCName 245 bi directional behavior 203 Bi directional force 221 Bi directional Force Reflection 221 Bi directional Force Reflection mode 203 binary search technique 214 BIOS routines 171 172 bitmaps 83 blocks 179 boolean constant 186 boolean plate variable 175 285 Boolean variables 121 booleans 144 border 60 Borland s Turbo Pascal for Windows 116 boundary position 175 BufferSize 104 built in home behaviors 264 Bump Graph
17. 5 Set Width E El 2 8 AJA 219 a O Y S E EN El E a _ E papa Lines are considered rectangular graphics and can be resized with the four handles typical of a rectangle Note that the selection of a line is based on the area of the described rectangle Accordingly horizontal or vertical lines are not selectable by touching since they have no area However they can be selected by being enclosed by the chooser tool 85 User Manual for Motion Server and Servo Application Workbench Drawing a Rectangle The next tool down on the toolbar is the tool for drawing rectangles and has a rectangle on its surface Select this tool and drag a diagonal to indicate the size of the rectangle Double clicking on the rectangle produces the graphic editor allowing you to change the color of the inside the pattern of the inside the width of the describing outside line and the outline color By control dragging the selected rectangle you can make a copy the size size By making the copy black and sending to the back you can create a graphic shadow effect such as is shown below Drawing a Rounded Corner Rectangle By using the tool below the rectangle tool you can draw rectangles with rounded corners The figure below has a diagonal pattern a Creating an Ellipse An ellipse can be made with the next tool down If the sides of the dragged rectangle are the same the ellipse will be a circ
18. Close the application Using only the concepts learned so far a four function calculator has been built which has a more physical feel than many commercial Windows calculators By sharing code sections through user procedures most click procedures were only one or two lines long containing calls with button specific parameters Servo Application Workbench Tutorial Lesson 7 Using Plate Drag Methods Objective Plates support several different methods related to mouse activity including BeginDrag Drag and EndDrag These methods are illustrated in this lesson Create a Display Use the text tool to create a text item named Display Place the text in the center of the window near the top The result should look similar to what is shown below File N El ol ol ol El El El Ej m E el Al 8 E m E m m E SAW Untitled dit Tool View Arrange Defaults Run a Title Static Text Editor Display 79 User Manual for Motion Server and Servo Application Workbench Edit the BeginDrag Method Plates respond to the mouse being clicked down on their surface by invok ing their BeginDrag method To edit the BeginDrag method double click on the default plate select the BeginDrag method from the list of plate procedures displayed in the plate editor and select Edit Change the BeginDrag method to have the following text Procedure Editor E
19. EscapeCode 0 TNAxisSetServo XAxis 1 EscapeCode 190 Chapter 7 7 Predefined Types Purpose SAW comes with some predefined object types to help simplify the creation of applications The general nature of these object types are described here Details of the objects and their use is found in the on line Help reference manual Reading and Writing Conventions Many objects which interact with ASCII information respond to Read Readln ReadLongint ReadlnLongint Write and Writeln methods These methods take a variable number of parameters of various types making them much more versatile than conventional fixed parameter fixed type interfaces The particular way in which an object interprets reading and writing information varies depending on the nature of the object TFiles write by placing the information into a DOS file ListBoxes write by adding the information to the list Text objects write by changing the currently displayed text to an ASCII representation of the information This uniform ASCII interface to predefined objects simplifies programming In general IO error management is accomplished through the exception mechanism If an object is not able to read a ReadEscapeCode will be generated This most often occurs when a type conversion problem exists for example reading a value for the machine speed but having a name in the editor rather than a number If writing is not possible for example a file is not open
20. Fundamental Principles The foundational specification in an electronic cam application is the the cam s shape This is most easily done by representing the shape in an array of T2Vectors This point pair array contains for the X com ponent the angular location of the point pair and for the Y value the displacement of the cam at that location The total extent of the X component values represents 360 degrees of cam rotation The array should describe a single valued function i e a curve fitting through the points should have only one Y value for every X value From this array it is possible to interpolate between point pair vectors to calcu late for any arbitrary input angle the corresponding displacement of the cam This mapping principle is then used every sample period to calculate the commanded setpoint displacement for an axis based on the input angle of the cam which can come from any source Examples of sources might be a virtual axis for profiled movement of the cam or an encoder monitoring the speed of an uncontrolled axis external to the control system or a sensor monitoring material flow Note that this approach does not require a large number of vectors since interpolation can be performed between vectors Implementation The main components of an electronic cam application include the cam s descriptive geometric array the procedure to interpolate be tween these descriptive points to calculate the CamOutputPosition
21. UserHasDisabled iss eciaeitisenisiecs Indicates if any disable input is asserted 266 Chapter l l Numeric O De ertar Un Ren Ser rote Returns sin of parameter in degrees SAW only not real time COS ON Returns cos of parameter in degrees SAW only not real time AECA Returns arctan of parameter as degrees SAW only not real time Slider Returns square root of parameter HishInteser odrine i Retreives the upper 16 bits of a 32 bit longint Douloi Pascal only L wlntege A awe mat cat Retreives the lower most 16 bits of a 32 bit longint Douloi Pascal only Exception Handling Escape ciana rele Generates an exception to Douloi Pascal only WriteVerboseEscapeCode Displays text explanation of escape code SAW only a nsee ea ones Returns current escape value Douloi Pascal only TPlate Objects Assembly Foundations Drawing Surfaces SAW only CN hea ina E eee Causes plate created with POPUP to go away PopUpPrucin call Causes plate to be created i e a dialog box A Ieee er ee Causes drawing activities to be updated and take effect A Erases all graphics on plate Cl arLast ai Removes last graphic added to plate Dba WL ss details Draws line between two specified points DrawRectan gle noticia Draws a rectangle specified by two corner points Draw Drama dis Gt eave etidens Draws diamond inscribed in specified rectangle DrawEllipse eect Gtr thence alten Draws ellipse inscribed in specified rectangle DrawRoundedRecta
22. YAxis SetCommandedPosition XAxis ActualPosition div 2 end This procedure properly updates the commanded position of the YAxis In order for this to occur on an ongoing basis we need to schedule the task to run every millisecond This might be done in the setup procedure of the main plate or by a button s click procedure which you push when you want the mode to begin An example of the latter case is TurnOnElectronicGearingButton Click begin ScheduleTask TaskAddr PerformGearing 1 end In implementing any advanced mode there are behaviors which may or may not be desirable Often the application will clearly indicate what the more desired behavior would be Having the mode imple mented in the application level allows you to tailor the mode to be suitable for those needs For example note that the PerformGearing procedure bases the position of the driven shaft on the actual position of the driving shaft This is most suitable if the driving shaft is not being servo controlled i e is a encoder based handwheel However if the driving shaft is under servo control this may result in a compromise in performance The slave not only tracks the position of the driving shaft but at tempts to follow the errors of the driving shaft You may instead really want the driven shaft to be following at a fixed ratio with respect to where the driving shaft is supposed to be not with respect to where it actually is This difference would
23. error detection as possible is needed particularly for motion control applica tions It is not appropriate to discover programming errors at run time in procedures with names like AbortMotion Procedures such as these need to work since machine and operator safety can be influenced by program correctness Object principles effect the architecture of the language very much Douloi Automation believes the leading language system that provides very strong type checking Object characteristics and industrial familiarity is Object Pascal Question What are the primary differences between Object Pascal such as Borland s Turbo Pascal for Windows and Douloi Pascal 116 Douloi Pascal Language Douloi Pascal is designed with fundamental trade offs primarily related to its use with real time motion applications The following list of differences reflects these trade offs Douloi Pascal generates 32 bit 386 object code for fast program execution speed Most compilers need to generate code compatible with 8086 and 80286 machines and accordingly generate 16 bit code Douloi Pascal does not provide dynamic data management All data structures are defined as either global or local stack based at compile time Douloi Pascal does not support inheritance at the application level Douloi Pascal does not support local procedures i e procedures declared within the bodies of other procedures If you are a C or C programmer you won t miss th
24. var DeltaVector T2Vector const NumericThreshold 50 217 218 User Manual for Motion Server and Servo Application Workbench var CurrentAngle single var LastAngle single static var RevAccumulator longint var LastAnswer longint begin XYAxis GetActualPositionVector CurrentVector DeltaVector CurrentVector AnchorVector if DeltaVector Length gt NumericThreshold then begin FPushLongint DeltaVector Y FPushLongint DeltaVector X FPArcTan PopSingle CurrentAngle if CurrentAngle LastAngle gt pi then RevAccumulator RevAccumulator 1 else if CurrentAngle LastAngle lt pi then RevAccumulator RevAccumulator 1 LastAngle CurrentAngle AnchorPosition CurrentPosition LastAnswer round CurrentAngle 2 pi RevAccumulator CountsPerRev end TangentAngle LastAnswer end The variables identified as static in the declaration section are best defined in a plate procedure rather than in this procedure so that they can be initialized prior to their use here The AnchorVector repre sents a base point from which an angle calculation will be made The DeltaVector is calculated as the different between the current posi tion and the anchor When the length of the delta vector is large enough we can expect there to be good numeric resolution for calculating the angle Without this check we d be taking the arctan of displacements of only a few counts leading to very quantized cal
25. 100 const NumberOfColumns 10 const NumberOfRows 10 begin for ColumnScanner 1 to NumberOfColumns do additional details I don t care about yet end The next items we are concerned with are the local variables that help describe the problem This procedure apparently is concerned about rows and columns It does some operation as many times as there are columns What happens for each column Read over an other indentation level and read additional details procedure DrillHoles var RowScanner integer var ColumnScanner integer const RowSpacing 100 const ColumnSpacing 100 const NumberOfColumns 10 const NumberOfRows 10 begin for ColumnScanner 1 to NumberOfColumns do for RowScanner 1 to NumberOfRows do additional details I don t care about yet end Apparently every column the procedure works through all of the rows and does something This means that every row and column intersection will be visited and something done there What happens at every row and column intersection Read to the right for further details procedure DrillHoles var RowScanner integer var ColumnScanner integer const RowSpacing 100 const ColumnSpacing 100 const NumberOfColumns 10 const NumberOfRows 10 Douloi Pascal Language begin for ColumnScanner 1 to NumberOfColumns do for RowScanner 1 to NumberOfRows DrillHole RowScanner 1 RowSpacing ColumnScanner 1 ColumnSpacing end By reading fu
26. 1000 Now do the command XAxis BeginMoveBy 20000 Immediately follow the command with XAxis SetSpeed 20000 The motor should speed up to a much higher speed and promptly finish the move which was started at a slower speed Now set the decel to be a very small value i e do the command XAxis SetDecel 10000 Start another move with the command XAxis BeginMoveBy 20000 The motor should quickly speed up and then start almost immediately slowing down in a gradual manner Because the decel is so slow it has to start slowing down early in order to come to a stop by the time it gets to the destination Now do the command XAxis SetDecel 100000 Introduction to the Motion System The motor should accelerate up to its slew speed and then decelerate at the higher decel rate to complete the move Reset the motor position by using the command XAxis SetActualPosition 0 It s possible for a single axis move to have the destination changed on the fly Begin a move with the command XAxis BeginMoveBy 20000 Before the command has a chance to finish do the command again i e give another XAxis BeginMoveBy 20000 Wait for the move to finish and inspect the actual position with the com mand Prompter Writeln XAxis ActualPosition You see that the position is farther than 20000 The first move was super seded by the second move which spliced a move by 20000 counts onto the current position of the
27. 107 User Manual for Motion Server and Servo Application Workbench The plate Setup procedure establishes a coordinate frame for the plate These coordinates are used for drawing lines and reporting mouse position The SquarePosition is initially set to be the center of the window and the initial color is Blue The square is drawn with the UpdateSquare routine Questions and Answers Question Why didn t the plate name have to proceed the use of plate functions such as DrawLine Answer The standard format for communicating to objects is to indicate the name of the object the receiver the operation to perform the method and any parameters that might be used by the method Because these procedures are part of the plate itself the plate serves as the default receiver for the methods If you had wanted to write on a different plate for example a child plate with respect to this plate you would have had to use that plate s name explicitly to indicate you were not referring to the default plate Technique Applications Dragging and dropping objects is a very convenient way to relate to a machine when using a computer Imagine that the EndDrag method included the statement XYAxis MoveTo MousePosition The coordinate space for the window is set during the Setup routine and can be set to indicate the count sized space of the machine The Window would then represent the entire range of a 2 axis machine s operation As well as the ima
28. 60 Plate Drag Methods 79 plate editor 123 Plate Editor 59 plate editor 61 Plate Event Procedure 64 plate procedure 256 plate symbols 133 plate variables 123 plate variables 126 PlateXXX 91 PlaybackVectorFile 196 plotter 33 point of symmetry 221 point pair array 211 pointer 143 PointIsSelected 121 pole 15 polygon 87 polymorphism 116 Pop Up Subplates 93 pop up subplates 93 Popup 90 PopUpPlate 93 position 24 25 position capture 15 Position Control Configuration 25 position deltas 170 position following mode 203 position information 122 Position Maintenance 170 position servo 222 position tracking 203 PositioningTable Init XAxis YAxis 125 PositioningTable MoveBy 20000 30000 125 PositioningTable SetServo On 125 Power Amplifiers 25 power system 25 precedence 136 Predefined aggregate types 124 predefined record and object types 124 predefined type 161 Predefined Types 191 private 116 procedure calls 157 procedure FAdd 166 procedure FCos 166 procedure FDiv 166 procedure Flnit 166 procedure FMul 166 procedure FSin 166 procedure FSqrt 166 procedure FSub 166 procedure Init 194 procedure invocation ladder 155 procedure Length 194 Procedure links 131 Procedure MakeManySquares 140 Procedure MakeSquare 140 Procedure MakeSquare aSideLength longint 141 Procedure names 140 Procedure Platel 114 procedure template 65 140 procedure with parameters 141 P
29. Arrange Defaults Run a Title COC lekaleekin lal 5 lololo ol m This new subplate is drawn as a gift wrapped package with red ribbons and a red bow Also displayed in the upper left corner of the package is the package name As is characteristic of most objects in SAW you edit subplates by double clicking on the subplate object 89 90 User Manual for Motion Server and Servo Application Workbench Double clicking causes the package to open up The parent plate on which this subplate is mounted is not displayed and the gift wrapping is gone to show what is inside the package Since this is a default plate there is simply an empty plate waiting for objects to be attached to it Double click on this plate and you will see the familiar plate editor such as was used to edit the default plate earlier To go back to the top level close the plate editor by selecting Ok and double click anywhere outside of the plate This causes the view to ascend back to the original default plate showing this subplate as a giftwrapped package Double click on the subplate gift wrap again and double click on the subplate itself so as to return to the plate editor On the left side of the plate editor is the style selection Click on next multiple times to see all of the options Subplates have more options than the main plate Underneath the graphical picture of each plate style is a descriptive word The word changes fr
30. EAI OR RACK RRA ACK KIK RRA ICR AK RKKKKKKKK PR RRA IOK AK RAK RK KR RARE ICRA RRR KIA AAR ESTRADA RKKKKKKKK TPW DLL Direct Call Example 3 Created By Randy Andrews Creation Date 13 oct 92 Description This illustrates how to begin a seperate task to perform motion while Windows continues to perform operations with the user KAKA AAAS RRA ALK REREN ERR ICE ARS BOK ARRIR RR N ROR AOR RAK KK AK KR RK AK KK BRA AAA AK EEK AK KR KAA KK TK AR RK RK KY BROKER EKEREN EAA RK AAA AKKKKKKKK EK RRA ER TERA RAI KIRKE REA KERR L IR KARE SRR RAIS EAE RRL EK EK ARR ALK KE KERR RB KAS RAIA I AKI OKRA I KERR KKK KOKA ARSE KR KEK KE EEE RR LODE IKK KBR IRA ICL KER A KKK BAKKER KKK RL AK KK program TPWDLL_3 uses Servolnt WinCrt var ErrorCode integer var BookMark array 0 79 interface unit to ServoLib DLL conventional system IO simulation unit of char 233 234 User Manual for Motion Server and Servo Application Workbench var ErrorString array 0 79 of char var Row Column integer begin Writeln TPW DLL Example 3 InitializeServoSystem 800 0 ErrorCode Writeln Initializing Compiler InitializeCompiler Writeln Compiling Program Compile ManyMove dps BookMark Row Column ErrorCode ErrorString if ErrorCode lt gt 0 then begin writeln Compiler problem ErrorCode
31. Functional Description The Position Capture input can be used for high speed registration applications The position of the encoder is recorded in hardware in response to a position capture signal Most often the signal is used as a homing input Even without an encoder the level of the signal can be monitored in software with the CaptureBit command Electrical Description The Position Capture signal is the side of a 3486 differential receiver The side of the receiver goes to a 2 volt reference Stan dard TTL level can be used and voltage up to 24 volts maximum can be tolerated There is no on board pullup resistor for this input If the sensor being used is an open collector style drive a 4 7k pullup resistor to 5 volts available on the axis connector should be used 275 User Manual for Motion Server and Servo Application Workbench Position Compare Functional Description Position Compare is an output signal that is set when the encoder hardware detects a specific encoder position The output can also be used as a general purpose output Electrical Description Position Compare is a TTL level output with a 12 ma sink and approximately no source capability This signal is the most exposed signal on the axis connector set coming directly from a FPGA device on the board with no additional buffering or protection Motor Command Functional Description The Motor Command signal is a 10 volt signal most often used
32. GlobalErrorCode SetServo XAxis 1 GlobalErrorCode T1AxisMoveTo XAxis 8 GlobalErrorCode T1AxisMoveTo XAxis 5666 GlobalErrorCode T1AxisMoveTo XAxis 16666 GlobalErrorCode T1AxisMoveTo XAxis 6 GlobalErrorCode XAxis 2666 GlobalErrorCode XAxis 4666 GlobalErrorCode T1AxisMoveTo XAxis 0 GlobalErrorCode SetServo XAxis 0 GlobalErrorCode If GlobalErrorCode lt gt 6 Then MsgBox Motion Problem End If DisengageHighSpeedClock R MsgBox Motion Done 247 248 User Manual for Motion Server and Servo Application Workbench Explanation After initializing the servo system the XAxis is directed to move to different destinations It is extremely important that the dimension of the procedure match the dimension of the function ie T1AxisMoveTo should only be used with a T1Axis parameter Note that while motion is ocurring Windows interaction comes to a halt By using the MoveTo and MoveBy routines the program waits for the moves to finish Although simple to synchronize this ap proach is very limiting for an interactive application The following examples show ways to not have this limitation The Servolib DLL provides the procedure Stop used to tell a T1Axis or TNAxis group to stop moving Visual Basic uses STOP as a keyword To prevent a problem the visual basic global file used to import the library Stop procedure aliases the name to StopMotion to make it distinct from the STOP
33. Heiarchy 89 Hello World 54 help 14 high frequency multitasking 152 high speed position capture 264 higher abstraction 140 history 35 HOME catalog 264 HomePositionVector 130 Homing 263 homing sensors 263 IF 146 If Construct 146 If Else Construct 147 INC instruction 135 include files 97 incremental electronic gearing 206 incremental motion control 263 index 24 index pulse 25 263 indirect data item 116 inductive load 26 infinite loop 151 Infix 135 infix notation 165 Infix notation floating point operations 122 Infix operations 135 infix operations 137 infix operators 135 214 inheritance 116 117 inheritance mechanism 116 inheritance relationships 116 Init 130 Init constructor 164 Init procedure 164 initialization 24 initialization behavior 64 initialization command 125 InitializeElectronicGearing 209 InitializeServoSystem 226 Input4OnMask 186 InputCapturePosition 122 InputPosition 214 instability 29 integer range 130 Integers 121 integers 144 integrator 29 integrators servos 223 interactive application 239 interactive variable dialog 161 interface definition 225 intermediate stack frames 157 interpreted environment 225 Interpreter 31 interpreter 34 43 interrupt handler 169 IO 16 IO error management 191 IO Errors 195 iteration 121 145 iterations 104 iterative construct 148 J Jog 34 37 Jog mode 205 L language 17 Language Overview 115 Last
34. Init PartPrompter Writeln Load next part PartPrompter done PerformMachingingOperation end In the current release of SAW there is little benefit to creating your own prompter This technique may be useful in the future when prompters have attributes that you would want to setup once and simply achieve by referring to the appropriately configured prompter Chapter 8 Advanced Motion Capabilities Purpose This section illustrates how the different features of Motion Server can be combined to provide advanced motion capabilities Although some motion controllers provide these capabilities as built in to the controller Motion Server is able to provide similar capabilities at the more flexible and tailorable application level rather than unchangeable firmware level This list is no way is comprehensive but serves rather to illustrate how familiar modes might be implemented 201 User Manual for Motion Server and Servo Application Workbench 202 Advanced Motion Capabilities Electronic Gearing Description The conventional meaning of Electronic Gearing is a driven shaft rotating at some fixed speed ratio to a driving shaft If the driving shaft rotates one turn the driven shaft rotates half a turn in the same direction for a ratio of 0 5 for example If the driving shaft rotates 4 revs in the opposite direction the driven shaft rotates 2 revs in the opposite direction The driven shaft behaves as if it
35. Pascal Language Procedures and Functions Purpose Procedures Organizational activities speed up when you are able to put things into bags and manage the enclosed group as a single item Procedures and Functions provide bags which can contain statements orga nized to accomplish a particular objective Once organized this behavior can then be requested from many different points in a program to provide a specialized capability Procedures are like subroutines in basic and void functions in C Functions are proce dures which return an answer The syntax of a procedure without parameters is procedure lt procedureName gt lt optional local variables gt begin lt statements gt end The first word is procedure a keyword indicating that a procedure is being defined Following is a space and the name of the procedure followed by a semicolon At this point you may choose to include local variables Local variables are temporary storage areas which remain intact only for the duration of this particular execution of the subroutine Following any local variables is begin followed by statements followed by end 139 140 User Manual for Motion Server and Servo Application Workbench If you are using SAW you are provided with a procedure template when you create new plate procedures An example template looks like Procedure Editor Edit Search Procedure Proci begin your c
36. Select Add A dialog box appears showing the different sorts of things that can be attached to a plate 61 User Manual for Motion Server and Servo Application Workbench Type Definition runas Select the default choice Variable A variable editor appears that allow you to specify a name for the variable a type and array information if the variable is to represent an array Type into the Name field the word Counter and select from the Type combination box the type Longint Do not check Is An Array Name Counter Type A Cancel Array Information Variable is an array O Lower Array Bound Upper Array Bound Co When these items have been indicated select OK to leave the variable editor and Ok to leave the plate editor so that you are back to the SAW drawing area Change a Plate Variable Change the name of the Text item in the application to the name Display Add to the plate a button with the legend Reset Make the click procedure for reset contain Servo Application Workbench Tutorial Procedure Editor Edit Search procedure Click begin Counter 0 Display Clear end Add to the plate a button with the legend Count Make the click proce dure for count contain Procedure Editor Edit Search procedure Click begin Counter Counter 1 Display Writeln Counter end Run the application Push Reset The D
37. Task 170 Legend 50 legend 50 libraries declarations 247 Limit Switches 261 LIMITS catalog 261 linear control 28 LinkTo 41 list box 51 ListBoxes 191 local procedures 117 local variables 139 local variables 180 Location X Radius ShadowOffset 111 Location Y Radius ShadowOffset 111 Location CircleLocation index 111 Long Integers 122 Longint 73 122 longint 130 longints 144 loop definitions 134 looping 171 M MachineStatus Ready 129 manager procedure 158 ManyMove dps 245 Math Coprocessor 165 math coprocessor 122 mechanical coordinate system 261 memory 19 Merged 90 Merged plates 97 Merged Subplates 97 MessageBox routines 199 metaphors 59 method 32 33 mod remainder operator for integer division 136 mod operator 214 modal 34 motion 31 Motion Overrun 40 MotionOverrunEscapeCode 156 motor 23 24 26 28 motor command 25 Motor Control Laws 170 motor current 25 motor torque 25 mouse 43 MousePosition 80 107 MoveBy 34 35 40 MoveByVector 40 Movelndex 112 movement 29 MovementFile 151 MoveTo 34 35 40 MoveToVector 40 multi axis 15 multiaxis 40 multiaxis playback 196 multidimensional axis groups 193 multidimensional vectors 193 multiple parameters 141 Multitasking 117 multitasking 16 17 289 multitasking capabilities 158 Multitasking System 169 MyInteger Round MyRealP8P24 130 N n dimensional space 137 Name 55 name 33 57 name collisions
38. The following 214 Advanced Motion Capabilities procedure would make the connection between these elements procedure SetCamPosition begin XAxis SetCommandedPosition Cam0utputPosition ZAxis ActualPosition end It may be desirable to scale the cam output so as to provide various sized cams This routine is a good place to do such scaling such as the variation below shows procedure SetCamPosition begin XAxis SetCommandedPosition round CamOutputPosition ZAxis ActualPosition 1 53 end In order for this cam to take effect the procedure SetCamPosition needs to operate every millisecond This is done by scheduling the cam to run with ScheduleTask A good place for this might be a button click procedure Note that the first step before scheduling the task to run is to get the XAxis in position so that no sudden change in position occurs when the cam engages procedure Click begin XAxis MoveTo round CamOutputPosition ZAxis ActualPosition 1 53 ScheduleTask TaskAddr SetCamPosition 1 end If you are planning to scale the cam it is better to create a constant to represent the number and use that constant i e const CamScaleFactor 1 53 Note that the constant appears in two seperate places the SetCamPosition routine and the button click procedure which needs the information so as to contact the cam with the XAxis before engaging the cam Using constants helps these two different uses of the
39. Y longint 7 procedure Length longint returns vector magni tude Imagine that you had a three dimensional machine named Mill The following button click procedure would move the mill along a constant vector displacement each time you clicked the button The movement is with respect to a BasePosition of type T3Vector that has previously been established procedure Click var DisplacementVector T3Vector begin DisplacementVector Init 1000 2000 3000 BasePosition BasePosition DisplacementVector Mill MoveToVector BasePosition end The following button click procedure should write out 1414 procedure Click var aVector T2Vector begin aVector Init 1000 1000 Prompter Writeln aVector Length end Chapter TFile SAW only Description Methods TFiles are used to read and write information to DOS files TFiles are an objectified version of the familiar Pascal file IO conventions Write Writeln Read and Readln are not global procedures as in conven tional Pascal but rather methods to a receiver which indicates where the information goes TFile objects respond to the following methods procedure TFile Assign Filename string allocates TFile associates file procedure TFile Reset prepares file for reading procedure TFile Rewrit prepares file for writing procedure TFile Close completes file management procedure TFile Write appends info to current line procedure TFile Writ
40. and a routine to set the commanded position every millisecond based 211 User Manual for Motion Server and Servo Application Workbench on some cam driving criteria An example of a descriptive cam geometry is shown below X Cam Input Position Y Cam Output Position The domain or x axis of the figure represents the range of positions that would be the input to the cam If the cam is to driven by an encoder the length of this x axis would be the encoder resolution of this driving encoder This would cause the cam to behave as if it was mechanically attached to the driving encoder shaft The range or y axis of the figure represents the corresponding displacement that should occur given an input position Note that the points that describe the curve are not necessarily evenly spaced The size of this range can match the size of displacement you would like to achieve If you want a variable displacement the y axis scale of the cam description can be set arbitrarily and the final position calculated by multiplying the output displacement from the curve by a scaling factor to achieve variable cam amplitudes The simplest way to describe a cam geometry is with an array of T2Vectors two dimensional vectors The X component of any particular vector represents the x position of the curve point in the figure The Y position corresponds to the amplitude of the cam s displacement at that point The number of vectors is determined b
41. are described in the file STANDARD INC If you do not use these constants you can reduce the time delay of InitializeCompiler by deleting the symbols you do not need The host program then begins the Douloi Pascal program with the command BeginTaskAtCName as distinct from a pascal style name Strings in ServoLib are passed as null terminated ASCIIZ strings or C style strings The motion program is now operating running the motor while the host Windows application is free to do whatever it would like including terminating The motion system is quite independent of any particular Windows application once it has been started and does not required the application to remain present to operate This degree of independence requires some thoughtful consideration since you would not want to start an operation and then lose the means of stopping it Also note that an operating mo tion program will continue to operate even if the Windows applica tion that started it experiences a UAE For these reasons it is a good idea to hook up a hardware switch to one of the several User Disable inputs so as to be able to shutdown the motion system in the event that your Windows application does not perform as expected Note that the program turns on the high speed clock but does not turn it off You must turn off the high speed clock yourself with the Servolgnition utility or more likely in the close procedure of your Window applications Main Window Make
42. are variables which can contain words Douloi Pascal sup ports variable length strings with the default being 31 characters although you can specify different sizes when you describe the variable Examples of string variables names might include PartName ErrorMessageText LastRecordedCommand Single Precision IEEE Floating Point Reals Single precision reals are 32 bit variables which contain about 7 or 8 signficant digits of resolution over a range of 10 37 to 107 38 Floating point operations in single precision reals are available even if your machine does not have a math coprocessor The floating point routines operate about one sixth the speed of a 32 bit longint multi ply so you do incur a speed penalty for using floating point If you need more resolution or more speed the best approach is to have a math coprocessor which is supported as a calculator for use by application programs Double Precision IEEE Floating Point Reals Double precision reals are 64 bit variables which contain about 15 or 16 significant digits of resolution over a range of 10 307 to 107 308 Infix notation floating point operations in double precision reals are available even if your machine does not have a math coprocessor However the math coprocessor is much faster if you have one Double precision reals are provided primarily for the benefit of DLL connectivity since some DLLs require parameters of this type For real time calculations however
43. be implemented by referring to the XAxis commanded position rather than actual posi tion for the PerformGearing procedure as shown below 204 Limitations Advanced Motion Capabilities procedure PerformGearing begin YAxis SetCommandedPosition XAxis CommandedPosition div 2 end Note that gearing of the YAxis is absolute based on the position of the XAxis This may not be what s desired if you were to run the YAxis on some other criteria and then engage the YAxis to be a driven shaft at some location which is not a simple ratio of X Ac complishing a phase offset between the YAxis and XAxis is accom plished by adding an offset in the PerformGearing routine This routine then becomes procedure PerformGearing begin YAxis SetCommandedPosition XAxis ActualPosition div 2 PhaseAdjustment end In this procedure PhaseAdjustment might be a global variable de fined in a plate procedure One limitation of this approach is continuous motion gearing If the driving shaft was told to jog at a constant speed indefinitely eventu ally there would come a point the where driving shaft wrapped around its position counter Although Jog mode handles this cor rectly the driven shaft would see the driving shaft position suddenly change from a very large positive number to a very large negative number and attempt to jump to this new location The system would shut down the YAxis when it experienced this unreasonable reque
44. be started The problem with this approach is that there is no way to know how long PositionDisplay Writeln will take Ifanother Windows application takes control and doesn t let go it may be several seconds This means that there may be an unnecessary delay between the completion of one move and the start of the next An additional problem with this approach is that writeln is being performed far too many times A screen refresh rate of 5 Hz is just fine but this will attempt to constantly update the display A delay instruction could be included to reduce the flicker of the display but this introduces a constantly present unneeded delay between moves To avoid that delay you could write a delay routine that pre maturely exited if the polling condition was found to be true This solution approach just seem to be getting worse A two task approach which simplifies things all around is procedure ShowPosition begin PositionDisplay Writeln XAxis ActualPosition end procedure MoveAxis begin ScheduleTask Addr ShowPosition 200 while true do begin XAxis MoveTo 20000 XAxis MoveTo 0 end end These cleanly separates the original task into two separate tasks One task is responsible for displaying information and the other for performing the motion Each is quite simple The motion task does not send any mail and so will never be blocked There will be no delays in the movement regard less of what Windows do
45. can check the box indicating the variable represents an array and indicate the array bounds Douloi Pascal allows the lower bounds and upper bounds of an array to be set An example of an array being declared is shown below Note that the bounds may be symbolic constants The C language as I understand it compels the lower bound to be 0 The 126 Douloi Pascal Language reason for having the lower bound be 0 is one less adjustment of the index before accessing the array in the assembly language code which is generated The Douloi Pascal Compiler however offsets the array s basis when referencing the array eliminating this overhead Accordingly there is no run time penalty for using a non 0 lower bound Arrays of longints are frequently used as storage scope buffers to collect position or servo information at the controller sample rate to be later plotted showing step response results or other information To create a variable array start with the VAR keyword and follow it with the name of the array Following the name place a colon as you would for a normal variable declaration Following the colon place the keyword array followed by a left square bracket the lower bound either as a number of constant two periods the upper bound as a number of constant a right square bracket the word of and then the type of the array s components followed by a semicolon An example of an array declaration might be var Data
46. configured the XAxis to be a servo motor the motor should now be displaying stable servo behavior by resisting any applied torques If the motor is a stepper motor the amplifier should be enabled and the stepper motor holding position Now type the following command XAxis MoveBy 20000 After typing in the command click the do 1t button The X axis motor should move to a point 20000 counts away about 10 turns for a typical 500 cycle rev encoder To bring the motor back do the command XAxis MoveBy 20000 Command Structure Motion Server commands follow an object oriented structure which has become popular with languages such as Object Pascal C and Visual Basic The basic structure of a command is lt receiver gt lt method gt parameters The lt receiver gt part of the command is filled in with the name of an object in the language system In the example the object name was XAxis Introduction to the Motion System and referred to the first motor controlled by the system Objects include items such as a particular axis a group of axis a control plate or a control element such as an editor In general objects contain some sort of state information as well as operators that can change the state These are all bundled together into a single unit Motion Server permits developers to create their own objects Details about this can be found in the section on User Defined Types The lt method gt
47. convention the pin number corresponds to the wire number counting sequentially from the end of the wire This pro duces a back and forth counting pattern on the IDC connector The other connector often used is a D subminiature style This connector has a pin definition which can often be read on the con nector itself Small inscribed numbers next to the pins indicate that the pin numbering is sequential along the length of the connector and then resumes at the beginning of the next row This is quite different from the back and forth convention of the 2 row IDC connector It is most convenient to use D connectors by splitting apart the 60 pin IDC cable and then crimping IDC style D connec tors NOTE THAT THE PIN NUMBERING CONVENTION EOR D CONNECTORS ATTACHED TO THE RIBBON CABLE IS DIFFERENT THAN THE IDC 2 ROW CONVEN TION FOR THE CABLE ITSELF Please refer to the proper table when preparing to wire to the controller 277 User Manual for Motion Server and Servo Application Workbench Axis Group Connector Definitions 2 Row IDC The following Table defines the connectors for the axis groups These connectors are designated Axis 1 4 Axis 5 8 Axis 9 12 and Axis 13 16 on the printed circuit board silk screen The signal definitions is a regular pattern both along the connector and from one connector to the next For example Pin 3 is always an Encoder B signal with the axis defined by which connector the pin is o
48. coordinate no wait BeginMoveByVector moves by relative vector with no wait SetAccel set the acceleration rate SetDecel sets the deceleration rate SetSpeed sets the slew speed during moves Introduction to the Motion System SEPA ar causes the axis to decelerate to O and stop execution wait for stop to finish BeginSt Op oisxt siisii causes the axis to decelerate to 0 and stop execution immediately continues ADORE se oleh ihe sees abandons motion and stops immediately LINKTO tell 5 soe ted associates a data storage area to the for holding curve info AppendMoveTo adds an absolute component to a curved path AppendMoveBy adds a relative component to a curved path APPeNGAT Gis see it add an arc segment to a curved path MoveAlongCurve begins motion along continuous curved path When referring to acceleration and speeds for a multiaxis group the accel erations and speeds refer to the vector path of motion not of any particular axis Note that Motion Server is not aware of any physical gear reductions in the mechanism that makes one axis have a different counts inch ratio than another axis This may result in physical velocity discrepancies be tween two directions of motion although the path will be correct In general it is helpful to the motion controller for the physical scale of the machine i e counts inch to be the same in all directions for uniform behavior If this is
49. directional force reflection is to use a PD position servo for each mechanism and continually command each servo to move to the average position of the two Implementation Implementing bi directional force reflection requires continually calculating the average position between the driving master end of the shaft and the driven slave end of the shaft This might be imple mented with a procedure such as is shown below procedure PerformForceReflection var AveragePosition longint begin AveragePosition XAxis ActualPosition YAxis ActualPosition div 2 XAxis SetCommandedPosition AveragePosition YAxis SetCommandedPosition AveragePosition end The procedure PerformForceReflection will need to operate on a continual basis Before turning it on however it would be good for one of the two axis to move to the position of the other so as to not have a sudden change in position expected on the first sample An appropriate procedure to launch the force reflection might be TurnOnForceReflection Click begin YAxis MoveTo XAxis ActualPosition ScheduleTask Addr PerformForceReflection 1 end begin YAxis SetCommandedPosition XAxis ActualPosition div 2 PhaseAdjustment end Advanced Motion Capabilities Limitations For force reflection to work it is necessary for the integrators of the servos to be off i e XAxis SetIntegrator 0 and YAxis SetIntegrator 0 or the elastic behavior which the meth
50. ep a hE E a a a a r AE 97 Creating a Merged GLU AUC EA oee i E a a Ea E ai 97 Adding Graphics to Alesis 98 Comparing with Attached Plate it AA A a Ac 98 SUI si ta 99 Application Sketche Sirasi GO HON 101 ADOS A E Na 101 SIMplEICAXIS Storage SCONES iin is ribs anii ogre ana als 103 pe a aa r ERA T E DA E 103 How It Works a eat AR e ASA eal bea A aE 103 Dragging and Dropping a Square lalo ci 105 Descriptio Nas an a 105 How It Works anta a DA AAA IAS AE E vdeo 105 QUESTIONS and ANSWErS a as 108 Technique Applications a A ic 108 Mouse Indicated Selectiva lid 109 ES AA A AAA AA EA 109 A O ER A E AE AES 109 Passing Object Parameters esis sais dae sii snbsies Goudy tuos EE eii 113 Descriptions A Ea 113 ELOWETE VOLS ri ai AS ATA AA iO 113 Cuestionsand ANSWERS rad iS 114 6 The Douloi Pascal Langue EA SISI 115 Introduction to the Language System srt lA Os 115 POSE A A A AEREE 115 LANUS aaa 115 Formats and Conventions a ii e 118 Viales a ia 121 PESOS A A a a A A a a A a 121 Fundamental Types ti is Pe A cie 121 Boolean ioken a ARO AA 121 S E EA E A AE RO 121 EONBIT r aei E E sae A past va ncn EE E E eR em ES AN 122 SENTING O R teats 122 Single Precision IEEE Floating Point Reals serial asis 122 Double Precision IEEE Floating Point Reals ts 122 o O 123 PORE OAS TV DCS aa 123 A A 126 PASS OMIM E so io 129 POSE e288 chi A A A AA RE 129 PASSION TIE CR Simple Wy oS hase solos tok tetas Adrada in 129 Assignmentof Aggregate NVI ay GMs lt t
51. for writing a WriteEscapceCode will occur 191 User Manual for Motion Server and Servo Application Workbench 7 192 Predefined Types TNVector Description Fields TN Vector is a generic term for the following predefined vector types T2Vector T3Vector T4Vector T5Vector T6Vector These multidimensional vectors of dimension 2 through 6 are very conve nient for working with multidimensional axis groups i e you can use a 3 dimensional vector to store the destination for the move of a three dimen sional machine a T3Axis axis group TN Vector object contain the following fields longint longint longint longint longint longint I d E i Vectors only contain as many components as their dimension ie a T3Vector does not have a U component These components can be handled as longints by specifying the vector name followed by a period followed by the component name i e XAxis MoveTo DestinationVector X 7 193 194 User Manual for Motion Server and Servo Application Workbench Methods Examples Vector infix operators are supported automatically because of Douloi Pascal s component by component application of infix operators to every member of an object structure Note that vector cross or dot product multiplication is not implied by a vector times a vector but rather compo nent by component multiplication Additional methods supported by TN Vectors include procedure Init X longint
52. gravity load may pose a greater safety hazard than leaving the motors active Note that regardless of whether the User Disable jumper is in place or not you must have a routine which notices the level of this line and takes action 1 e telling the machine to abort or stop If you remove the User Disable jumper the input has no effect at all on the hardware By removing the jumper you are taking full responsibility to determine what should happen during an emergency stop and scheduling a task to notice that the line has asserted so as to start that task All three user disable inputs are or ed together that is to say that closing any switch to ground will result in the same effect You may also use any of the remaining 24 input lines as emergency stop signals by including them in the routine which is scheduled to check for system integrity Safety is important If you have any questions about how to design safety into your system please contact Douloi Automation for recommendations This type of support comes with the purchase price of a controller so please do not hesitate to call System Design Issues Initialization Purpose Most motion control systems are incremental motion control systems These systems can precisely change positions but do not have any funda mental hardware knowledge of where they actually are They only know their change in position from some initial starting condition The purpose of this section is t
53. information stay in synch 215 216 User Manual for Motion Server and Servo Application Workbench Limitations An electronic cam is a geometric description of what will become a movement It is quite possible to create cam geometries which are unrealistic just as there can be unrealistic mechanical cam geom etries Sudden changes in the slope of the cam produce large accel erations Slopes of the cam represent speeds There will be a cam input velocity beyond which the servo will not be able to track The Slew Accel and Decel that describe a trapezoidal profile do not come into play here since electronic camming is providing another basis for determining the motor s commanded position With the flexibility of specifying an arbitrary commanded set point for the motor comes the responsibility of making sure that you ask the motor to do something reasonable In this type of application the main expression of what constitutes reasonable or unreasonable is in the shape described by the cam geometric array Douloi Automation is available to assist you through any misunderstandings that may occur in the application of this technique Please feel free to call Advanced Motion Capabilities Tangent or Knife Cutter Servoing Description Tangent of Knife Cutter servoing is a motion mode where an axis often the ZAxis controls an oriented tool such as a knife while the X and Y axis are performing a contour As the X and Y axis mo
54. it is much better to use the math coprocessor or to user single precision or integer formats for your calculations Usage Douloi Pascal Language Variables are most easily used when given meaningful names and meaningful structure You express your desire to have a variable through a variable declaration Many of the variables you ll use will be plate variables created with the plate editor in Servo Applica tion Workbench The plate editor allows you to add delete and change variables with a dialog box and select the type you would like the variable to have from a list You may also declare variables in procedures and functions for use locally within those procedures and functions using the var statement This statement has the form var lt variable name gt lt variable type gt After the word var is a space followed by the name you would like to use for the variable After the name no space required is a colon and after the colon no space required is the variable type followed by a semicolon which means end of statement Example variable declarations include var MoveDistance longint var FirstTimeThroughProcedure boolean var TorqueValue integer var UserMessage string Variable names must not have any spaces although you may use the underscore character and in general should only be composed of letter and numbers Variable names may include numbers but may not begin with numbers
55. neS a oeirer aiene E AA EEE RE EEE K E EE E 170 Motor Control AWS roso e enert aE EE tutor gous E T date E E REER E vee 170 Profile Management seiors ica ici til iia nai 170 Conventional TASKS erat dida IA ai Ri Weak ADA A EA AA 170 A A E a caset ae Sue et sora 170 Cooperative Multitasking ienser sestiere irr r E E E E E E rE see Cicas 171 Windows Mailetan e ald E AEE N I E E a E a dard gene olde tated os 171 M ltit sker Command Ss ASA AA 174 E 174 Saturating limit switch routine racial 174 Task svAchroniZ ti n erat didas 175 Synchronization Approach 1 Shared Variables sino cidcid idear 175 Synchronization Approach 2 Task Status ii A Ac 176 Synchronization Approach 3 Don t multitask sisiccsswncensd sncesecasrinesastacwsteosadnasebhiintsvasbuiieduess be 177 Program ForMatting it loa 179 PUP DOSE ta A AA AEEA STA 179 PTICIDIES ici A AA AAA AA AS A AAA ARA AAA AAA ia 179 SUMMA is 182 CO iaa ts 183 PUTOS rt AR Cages AA E A ta 183 Statements Apparently Fail to Execute tia laa 183 Unexpected Escape During File Reads asa ii ea cana 184 Information Being Collected Does Not Change ici io da aca 185 Program Locks While Waiting for Motion To Finish ssssssssesesessssssssisiseseresinessrsesrrrenesessrses 186 Incorrect Branching When Using Masked Inputs did diras 186 Subplate Does Not Appear When Application Starts ati iia Ra adi 187 Drawn Lines Do Not Appear On Plate 1 ass id en Seunass 187 Drawn Lines Do Not Appear On Pla
56. of times depending on how many coordinate pairs are in the file Note also that if there is no information in the file this loop never executes at all i e it handles the empty case While loops are best for iteration where the number of times desired may be unknown and perhaps none at all There are some cases where you would deliberately want to create an infinite loop This is most simply done in Douloi Pascal by saying while true do begin lt instructions gt end True is always true There are some synchronizing tasks where the objective is to do nothing at all until a certain event occurs and then to proceed with an operation For example you might want to turn on a glue gun after the x axis has passed the 10000 count mark XAxis MoveTo 0 XAxis BeginMoveTo 20000 while XAxis ActualPosition lt 10000 do yield TurnOnGlueGun Note the yield instruction inside the otherwise empty while statement For some single tasking systems doing nothing is an option but in a multitasking system doing nothing is quite selfish Ifa task is simply waiting it is important to yield to other system activi ties Yield is a multitasking management procedure that directs a task 151 152 User Manual for Motion Server and Servo Application Workbench to give up execution because the application developer knows that nothing interesting will happen until the next sample Execution will return to this procedure in
57. on the Grid Create a Bump Using Bump Graphics Bump graphics provide applications with a more physical appearance that helps the user feel more comfortable with instrument type interfaces Bumps are a convenient means of creating these appearances This lesson introduces you to the use of bumps The grid in SAW causes the cursor to snap to a discrete array of points helping retain alignment of buttons and graphics that are placed on the screen It is most convenient to develop with the grid on From the SAW main menu select View Grids to see the following dialog A grid size of 10 by 10 is convenient for many types of applications After typing in 10 for X and 10 for Y select OK Select the default plate and drag the upper left corner as well as the lower Grid Sizes pixels right corner so as to snap these points onto the grid The left column of tools is primarily used to provide cosmetic graphics to an application Select the Bump Tool which is depicted as a chamfered surface near the bottom of the left column of tools Drag a rectangle over the surface of the default plate When you release the mouse a bump has appeared on the screen in default colors and depth Place the upper left point on the left margin under the caption bar and the lower right point at the lower right point of the default plate Select the bump by clicking inside its area Drag one of the bump handles to a new location to resi
58. procedure where this construct is being used By being local the variable is safe from being changed by some other activity that would confuse the loop operations The variable must also be an integer or longint since it needs to increment from one loop to the next Although it is possible to assign a loop variable inside the for statement this is considered very bad style since it breaks the abstrac tion of the code body looping a specific number of times If you feel you need to assign a value to the loop variable what you really need to do is use one of the following constructs which are specifically designed for more conditional termination A While loop is used to perform a group of instructions while a certain condition remains true The syntax of a while statement is while lt expression gt do statement The expression is evaluated and if found to be true the statement is executed This continues until the statement is found to be false For example Douloi Pascal Language While not MovementFile EndOfFile do begin MovementFile Readln XCoord YCoord XYAxis MoveTo XCoord YCoord end This would check to insure there is information remaining in the MovementFile a TFile SAW object for accessing the DOS file system If information is still in the file that information is retrieved and the system moves to that location until the information is all used This will iterate various numbers
59. provided as an expression or function result Functions are similar to procedures with the additional feature of returning an answer The syntax of a function is similar to a proce dure however the keyword is function instead of procedure and following the declaration is a colon type name and semicolon instead of just the semicolon 1 e function lt name gt lt parameters gt lt type gt The result of a calculation can be returned by the function and used by the caller To return a value perform an assignment statement to the function name inside the body of the function To use the answer include the function name anywhere you might use an expression An example function might square a parameter function SquareOf aNumber longint longint begin Square0f aNumber aNumber end procedure ReportSquares begin Prompter Writeln Square of 4 is SquareOf 4 Prompter Writeln Square of 8 is SquareOf 8 end If while inside a function body the function name is used as a source expression i e on the right side of an assignment statement Douloi Pascal simply interprets the function name as a temporary variable that responds with the value last assigned to it Douloi Pascal will not perform recursion as would normally be the case with other pascal implementations Douloi Automation recommends against using the function name in this way since it develops non standard habits for you Use a local
60. reserved word Using the Servolib Dynamic Link Library Visual Basic Example 2 Direct Access Description Source Code Explanation This example illustrates how to continue with program execution during a motion The following was written in the click procedure of a single button on the default form VBDLL_2 FRM Object Proc _ 2 u uo Sub Command1_Click InitializeServoSystem 866 6 GlobalErrorCode EngageHighSpeedClock GlobalErrorCode SetServo XAxis 1 GlobalErrorCode TiAxisBeginMoveBy XAxis 56066 GlobalErrorCode MsgBox Free to Continue Let Counter 6 While Not MovelsFinished XAxis GlobalErrorCode Let Counter Counter 1 Wend If GlobalErrorCode lt gt 6 Then MsgBox Motion Problem End If DisengageHighSpeedClock MsgBox Motion Done As in the first example the first operation is to initialize the system Instead of performing motion with MoveBy and MoveTo the command BeginMoveBy is used Commands that start with Be gin imply that they do not wait for their operation to be complete The move is started and program execution immediately continues The program then performs other operations in this case simply incrementing a variable and periodically checks to see if the motion is completed by interrogating the servo system to find out when motion is complete Although a small improvement over the first example in terms of allowing other
61. reset button now to initialize the plate because the initialization behavior has been put into setup Now run the application The initial appearance of Display should be blank Pushing Count should display 1 and ascend with subsequent clicks Close the application Servo Application Workbench Tutorial Create a Plate User Procedure Summary Plate procedures provide subroutine capability to SAW Double click on the default plate to invoke the Plate Editor Click on Add near the Plate Symbol list Choose Procedure from the list of different user symbols An editor should appear with a procedure template Edit the procedure to look like the following Procedure Editor Edit Search Procedure Increment begin Counter Counter 1 Display Writeln Counter end N Close the editor by choosing close from its system menu or by double clicking the system menu Edit the click procedure for the Count button to read procedure click begin Increment end Close this editor and close the Plate Editor by clicking Ok Run the application The behavior should be the same Plates provide a framework for declaring application related procedures and variables Plates respond to events and can have event response procedures which invoke when events occur 65 66 User Manual for Motion Server and Servo Application Workbench Servo Application Workbench Tutorial Lesson 5 Objective Turn
62. safety limit switch task which gets a last shot at execution after the profiler and conventional tasks have executed This task has the opportunity to super seded the commanded positions that were established by the motion profiler or the conventional tasks making it the best place to manage limit switch information 170 Douloi Pascal Language Cooperative Multitasking Note that the tasks have the opportunity to run every millisecond and that they are part of the interrupt handler and are not in the foreground Windows is in the foreground The tasks must execute cooperatively in the interrupt handler region in the same way that Windows applications need to cooperate in the foreground region It is bad for a single task to take over the entire time slice or worse to attempt to take over the entire machine By doing so the task overruns its fair share of the interrupt time possibly the sample period and possibly produces a reentrancy to the handler if it lasts too long Although the handler can survive a limited number of reentrancies this clearly is not a steady state permissible situation and eventually the system will lock As was mentioned in the language section on looping it is important for tasks to yield to the system and not perform empty loops waiting for a system event to occur The routines TaskOverranSample CheckTask and TimeRemaining can be used to determine if a task is taking too much
63. supports and invites the use of symbolic names These symbols are used to represent your problem and the corresponding solution The clarity of a program and its ability to be correctly written the first time corrected and maintained is dramatically effected by the choice of symbolic names The proper description of a problem is half of the distance to having a solution and much of the description occurs in the naming process of the operations and information in the program If you are unable to meaningfully name a variable this may be a strong indication you don t fully understand the problem There is no run time penalty for lengthy variable names There is no merit to long names for the sake of simply being long however long names are sometimes required in order to be clear The only mainstream method of keeping tight correspondence between documentation about a program and the program itself is to Douloi Pascal Language have the program be self documenting i e writing the program with such expressive symbol naming that to read the program is to read a description of the program Douloi Pascal allows symbols to be up to 60 characters long Symbols are generally composed of letters numbers and the underscore character but should not contain other characters i e no spaces There is no distinction made between capital and small letters One symbol naming school of thought is to have multiple word symbols separated by the underscor
64. sure the ignition is turned off before leaving Windows or invoking a DOS shell 235 User Manual for Motion Server and Servo Application Workbench 236 Using the Servolib Dynamic Link Library Turbo C for Windows DLL Examples C Example 1 Description Source Code Borland Turbo C To make use of the ServoLib DLL from a Turbo C application place an include directive in the application source code that includes the ServoLib h header file You will also need to include as a component to the project the ServoLib Lib file through Project Add The following examples illustrate how calls can be made to the motion system as well as the compiler Direct Access This example uses direct calls to move the XAxis motor to several different locations and to write out commanded position informa tion This would represent the simplest use of ServlLib Example 1 The following example is based on a borland Object Windows Library demo program and must be compiled with OWL include lt owl h gt include tcwdll_1 h include servo servolib h header file for ServlLib DLL int ErrorCode class TMotionApp public TApplication public TMotionApp LPSTR Name HINSTANCE hInstance HINSTANCE hPreviInstance LPSTR l1pCmd IN nCmdShow TApplication Name hInstance hPrevInstance lpCmd nCmdShow virtual void InitMainWindow y 237 238 Use
65. the CamArray looking for the vector which is next to the InputPosition on the high side The technique shown here is a simple linear search suitable for arrays of less than 20 vectors or so Ifyou have more vectors you can save time with a binary search technique Consult Douloi Automation for further recommendations if you have a high resolution CamArray The vector found beyond the InputPosition is called the AfterVector The BeforeVector is the previous one The InputPosition lies in between The DeltaVector is the difference in both X and Y be tween the AfterVector and the BeforeVector i e the DeltaVector is what gives you the AfterVector when added to the BeforeVector Note that the DeltaVector is quite simply calculated as the difference between the two vectors Douloi Pascal supports infix operators on vectors for addition and subtraction The CamOutputPosition is then calculated to be the Displacement of the BeforeVector plus an additional amount based on scaling the difference between the vectors by the excursion into that section of the CamArray To achieve motion with the cam array a procedure must be written that connects system information to the cam Let s suppose that the ZAxis is being used to provide the cam input position i e the Z axis encoder is connected to a section of the machine perhaps externally driven that represents where the electronic cam should be The XAxis displacement will be the electronic cam output
66. this case simply incrementing a variable and periodically checks to see if the motion is completed by interrogating the servo system to find out when motion is complete Although a small improvement over the first example in terms of allowing other operations to continue during the motion program this is not a very complete solution either Although other activities can occur during motion Windows is still locked out i e try to move the window by dragging on the title bar during operation of the motion The next example illustrates how to have an indepen dent motion program operating at the same time as Windows inter action Using the Servolib Dynamic Link Library TPW Example 3 Combined Access Description This example uses a seperate Douloi Pascal program to operate the XAxis while Windows continues operation in an independent man ner Douloi Pascal Source Code Douloi Pascal Program for DLL ManyMove dps filename Example 3 procedure PerformManyMoves begin XAxis MoveTo 10000 XAxis MoveTo 0 XAxis MoveTo 20000 XAxis MoveTo 0 XAxis MoveTo 30000 XAxis Moveto 0 XAxis MoveTo 40000 XAxis MoveTo 0 end Source Code PRR AREA RARER RR RR AN ER RK ARR SNK ROI BERRA IK RTE RRR LRA BK TR TE A AHH RRR RR RE FER KERR RRR RARER KN ERA RRA ORK KS RRR LONER DB KE KKK RRA IEA RRR KR KRIE KK IKK RIK A ARIK KKB REN KK RIB A ROKK CK EEK KKK KAKA PRERTERA RAR fA BORK RK KK PR
67. time As unfortunate as a locked system may appear to be during development because of a programming mistake in practice it has not been that inconve nient Douloi Automation has never lost saved information or system integrity when performing a soft or hard reset from the locked condition created by this effect However any work on an application that was per formed but not saved will be lost It is good practice to save your work before attempting to run an application If a locked system seems to be a severe consequence for a programming error bear in mind that although Motion Server and SAW simplifies access to a real time multitasking motion control system you never the less are still working with one For the privilege of having real performance you must take the risk of possibly having real problems Douloi Automation is available to work with you to understand application development prob lems Don t hesitate to call Save your work frequently Windows Mail Many responsibilities performed by a program can be accomplished with the resources available right within a task Motion profiling array manage ment and data collection computations etc are performed entirely by the real time tasks themselves However there are times when tasks need to interact with Windows and or with the operating system for example to display information on a graph or write information to a file The real time tasks do not have the authority to dire
68. to specify requested current from a servo motor amplifier The signal can also represent requested voltage or velocity depending on the amplifier mode selected In most cases torque mode is most suitable Electrical Description The Motor Command signal is 10 volts with 3 ma drive Many amplifiers have differential receivers In this case use the motor command signal on the side of the receiver and ground from the axis cable set on the negative side Providing Motor Command and ground in a twisted pair can improve noise immunity Step Pulse Direction Functional Description Step Pulse and Direction signals are used for controlling stepper motors Standard firmware supports narrow 1 microsecond step pulses Alternate firmware for 4 axis controllers is available for supporting wide step pulses 30 microseconds if the stepper driver is unable to respond to narrow pulses 276 Chapter l 2 Step Pulse and Direction signals are open collector outputs driven by a 74LS07 Electrical Description 5 Volts Ground Description 5 Volts and Ground are available for providing encoder power sensor power and pull up references These signals come directly from the PC s power supply Pin Numbering Conventions There are two different connector styles most often used with the Motion Server Controller The first is 2 row IDC style connectors which are the style commonly used with computer disk drive ca bling etc In this
69. true false or yes no type of answer If this condition is true the program behaves one way If the condition is false it behaves another The following are examples of conditional expressions XAxis ActualPosition gt 2000 Inputl On NumberOfPartsMade gt NumberOfPartsRequired Conditional expressions often involve the following comparison operators lt less than gt greater than lt less than or equal to gt greater than or equal to lt gt not equal to equal to Douloi Pascal supports the basic logical operators AND OR and NOT as well as compound conditional expressions 145 User Manual for Motion Server and Servo Application Workbench RequiredPartsCompleted and NoNewBuildsRequested not XAxis MoveHasCompleted UserAbort or SystemProblem The following statement is also legal in a conditional expression XAxis ActualPosition gt 2000 and YAxis ActualPosition lt 1000 This would need to be broken up into separate statements A discus sion of control structures now follows If Construct If constructs are used to conditionally execute instructions The format of an If construct is IF lt some conditional expression gt then lt statement gt An example of an If construct would be If XAxis ActualPosition gt 2000 then XBeyondLimit true If you have just one statement that needs to be performed you can simply place that statement after the then
70. used to configure E Stop with a jumper or to cable to EStop The jumper can be used to disable E Stop connect I O signal 1 to be E Stop or can serve as a cable connector for an external E Stop cable assembly External Bus Connector There is 1 26 pin connector which supports an external 8 bit bus allowing Motion Server to control additional hardware elements 273 274 User Manual for Motion Server and Servo Application Workbench Axis Signal Descriptions Encoder A A B B I I Functional Description Encoder signals provide position feedback from a rotary or linear encoder In general these signals are provided in a quadrature format indicating both position and direction change Encoders are necessary for servo motors and optional for stepper motors Differen tial signals are desirable demonstrating improved noise immunity however single ended encoders may also be used When using a single ended encoders connect the signals to the inputs The inputs have a pull center resistors connecting the inputs to the differential receivers to a 2 volt reference This provides a default signal level in the absence of the actual signal In certain rare cases it may be necessary to change this default reference value This can be done by removing or switching an resistor network which is socketed on the board Consult Douloi Automation before attempting any change no The I signal is the index pulse for an opt
71. with a var keyword Question What happens when a constant expression or function is used to provide a VAR call by reference parameter How can an explicit number or function be pointed to Answer If an explicit parameter or function is found for a call by reference call the compiler creates behind the scenes a temporary variables The compiler then arranges for that constant or function expresssion to be placed into the temporary variable and then uses a pointer to that temporary variable for the VAR reference pointer Note that this takes more time to execute than simply passing a value to the routine For small variables ie integers booleans longints and single types it is faster to simply pass the variable by value rather than by reference 144 Douloi Pascal Language Control Structures Purpose In order to organize a solution to a problem you need a way to express a strategy Control structures allow you to create strategies to solve your application problem Control Structure Principles Douloi Pascal supports several of the familiar Pascal style control structures Control structures are used to conditionally execute certain instructions or to accomplish repeated execution of certain instructions iteration with criteria to determine when the iteration is completed Most control structures use the notion of a conditional expression Conditional expressions when evaluated will produce either a
72. your work and run the application You should see the default plate with the sub plate containing the display and button such as shown below Now add exactly the same elements to the top plate Add an integer variable named Counter and a button that increments the value and writes the value into a text object named display You can save time making the button by descending into the subplate selecting the button selecting Edit Copy ascending back to the parent and selecting Edit Paste Then position the copy of the button on the left Edit the setup procedure for the main default plate which is different than the one for the subplate and assign the counter value to 0 Now run the application Each button should operate its own seperate count display such as shown below Even though the variables have the same names they remain distinct Each variable first associates with the plate nearest it Subplates have access to all of the variables of the parents and grandparents etc without any additional help If they have variables of their own with the same name their own variables take precedent over their parents variables If you particularly want the parents variable you can indicate so by giving the full path to the parent variable For example edit the main default plate and give it the name main as distinct from the default name PlateXXX Now edit the subplates button procedure to display Main Counter instead of just Counter
73. 0 User Manual for Motion Server and Servo Application Workbench Variables may be assigned from another variable i e CurrentPosition LastPosition Variables of the same type may always be assigned Variables of different types are converted automatically if the assignment falls into the following cases A longint can be assigned from an integer The integer always fits An integer may be assigned from a longint however some information may be lost It is the your responsibility to make sure you are not assigning a value beyond the integer range Singles and doubles may be assigned to integers only after using the ROUND operation i e MyInteger Round MyRealSingle Integers and longints may be assigned to singles and doubles how ever it is the programmer s responsibility to insure they will properly fit into the range of the chosen floating point type Doubles can hold most anything however singles will lose information if a very large longint is assigned Assignment of Aggregate Types Aggregate types are often assigned on a component by component basis For example a variable named HomePositionVector of type T3Vector might be assigned with the statements HomePositionVector X 500 HomePositionVector Y 600 HomePositionVector Z 700 Because this is tedious most object aggregates include procedures that consolidate assigning all of the object component values into a single statement usually named Init The sa
74. 10 Axis 14 28 Direction Axis 2 Axis 6 Axis 10 Axis 14 29 5 Volts Axis 2 Axis 6 Axis 10 Axis 14 30 Ground Axis 2 Axis 6 Axis 10 Axis 14 278 Cables and Connectors Pin Number Description 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 Encoder A Encoder A Encoder B Encoder B Encoder I Encoder I Amp Enable High Amp Enable Low Position Capture Position Compare Motor Command Step Pulse Direction 5 Volts Ground Encoder A Encoder A Encoder B Encoder B Encoder I Encoder I Amp Enable High Amp Enable Low Position Capture Position Compare Motor Command Step Pulse Direction 5 Volts Ground Axis 1 4 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 5 8 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 9 12 Axis 11 Axis 1 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12
75. 2 do some activities repeat yield until Operation2IsFinished PrompterWriteln Both Operations Done end procedure Operation2 begin do operation 2 activities Operation2HasFinished true end The variable Operation2IsFinished is a boolean plate variable which can be accessed by both tasks Operation sets the variable to be false i e Operation2 has not finished in fact it has not even started yet and then begins Operation2 as a separate task Operation continues executing instructions that follow When all of the remaining instructions are com 175 User Manual for Motion Server and Servo Application Workbench pleted Operation1 waits for Operation2 to finished by looping remember the yield inside an otherwise empty loop until the variable Operation2IsFinished is set to true If this was a single tasking system this would wait forever since nothing in the loop changes the value of Operation2HasFinished In a multitasking system there are other agents active however Operation2 upon completion sets the variable to true signalling to anyone who is concerned including Operation1 that Opera tion2 has finished Note that Operation takes responsibility for initially setting the variable Operation2HasFinished to false It may seem like a good idea to have Operation2 set the variable to false when it first starts and set it to true at the end However there are situations where this might not work c
76. 4 error handler 156 Error handling 159 error management 157 error result 157 ErrorCodes 226 ErrorLimit 260 ErrorPosition 260 escape 153 escape 40 escape code 154 Escape EscapeCode 155 EscapeCode parameter 189 EscapeProperlyHandled 159 event 43 event procedure list 64 Event Procedures 50 event procedures 59 170 event response 65 exception 40 Exception handling 153 exception handling 40 exceptions distinguished 154 F far cross 83 Field names 124 field names 161 File Bring To Front 70 File Send To Back 70 File Choose 83 FillCamArray 213 FillVectorArray 196 filter 15 FinishFile Click 197 FInit function 218 fixed parameter 191 fixed phase angle 207 fixed point real type 130 fixed point real types 129 fixed type interfaces 191 Floating point operations 122 For Loop 148 Formats and Conventions 118 FractionalUserVariable 6 5 129 Frame Outside 69 free format 118 function body 142 function call 115 function PushLongint aLong longint 166 function PushReal16P16 aReal Real16P16 166 function PushReal8P24 aReal Real8P24 166 function return result 143 Functions 139 142 288 G Gain 25 gain 25 29 gains 29 gear 41 Geometric Graphics 85 gift wrapped 89 Global File 247 global function EscapeCode 154 global procedures 195 sotchas 183 goto 157 Grid 67 Group Send To Back 69 groups 40 H HalfWidth 105 109 halts 37 handle 48 handles 47
77. 8 NJ A o 9 al Ol 1 o al aj 54 Edit the click procedure for this button to be procedure Click begin PushNumber 1 end PushNumber is a routine yet to be written that handles the action of a calculator key being pressed 72 Servo Application Workbench Tutorial Control Drag the button to create a copy and place it adjacent to the first Change the legend of this button to read 2 Edit the click procedure for this button to be procedure Click begin PushNumber 2 end In a similar manner create the other 8 keys for the calculator keypad Having the number 1 key in the upper left conforms to the telephone keypad Normally calculators have the number 1 in the lower left Change from the telephone arrangement to the calculator arrangement by dragging buttons to the correct locations Note that you are allowed to drop buttons into the empty area beside the calculator and pick them up later after you ve freed up the spot where they will be placed Save your work Create Procedure PushNumber PushNumber handles the case of one of the number keys being pushed Double click on the default plate to invoke the plate editor A good place to click plates covered with bumps is the title bar area Clicking on the body of the plates generally produces the bump editor for the overlaying bump graphic representing the calculator surface which is not the item you want at this point
78. 92 native 17 nesting level 181 none of the above response 156 NOT 145 ntegrator 15 NumberEditor 168 NumberOfPartsRemaining 121 numeric stack 165 NumericThreshold 220 O object 32 116 Object Based 116 Object Based Pascal 115 Object characteristics 116 object component values 130 Object Oriented 116 object oriented 32 Object Pascal 16 32 object procedures 117 Object programming 163 object structure 116 object syntax 225 object types 191 Objects 125 offset file 264 Ok 50 52 on line help 34 on the fly 41 one action from many 148 open polygon 87 Open Polygons 87 operating modes 25 OperationBufter 76 operator synchronization 199 Operators 135 OR 145 ordinal constants 118 OriginalPosition 106 oscillate 29 oscillation 29 overfilled 134 P parameter 33 parameter lists 164 ParameterBuffer 76 parameters 32 parenthesis 136 PartHasBeenRemoved 121 Pascal 33 115 Pascal file IO conventions 195 Pascal parameters 114 pass by reference 114 PASS_OBJ SAW 113 passing status parameters 156 path 40 41 PD position servo 222 PerformForceReflection 222 PerformGearing 204 208 PerformGearing routine 205 PerformManyMoves 256 period 28 33 persistent variables 95 phase advance 208 phase advance angle 208 phase advancing 207 phase offset 205 PhaseAdjustment 205 physical 28 physical axis 15 PI control 25 PID control 25 PID control law 170 plate 59 Plate Appearance
79. Axis 12 Axis 12 Axis 12 Axis 13 16 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 279 280 User Manual for Motion Server and Servo Application Workbench Axis Group Connector Definitions D Style If the 60 pin axis cable is split into 4 15 pin groups it is possible to attach 15 pin IDC style connectors for a simple cable assembly However the D connector pin numbering convention does not correspond to the wire number sequentially across When using IDC D connectors please refer to the following table D Pin Number Description 1 Encoder A 2 Encoder B 3 Encoder I 4 Amp Enable High 5 Position Capture 6 Motor Command 7 Direction 8 Ground 9 Encoder A 10 Encoder B 11 Encoder I 12 Amp Enable Low 13 Position Compare 14 Step Pulse 15 5 Volts Cables and Connectors I O Connector Definition The 50 pin connector provides TTL level inputs and outputs Outputs sink 12 ma The pin number is the YO number with the exception of 49 5 and 50 ground Input or output sense is configured in 4 bit groups The groups are defined by splitting the connector into 2 1x50 strips and then slicing those strips into 12 groups of 4 bits each This partitioning was chosen so that the even pin strip could be con
80. Buffer array 1 DataBufferSize of longint 127 User Manual for Motion Server and Servo Application Workbench 128 Douloi Pascal Language Assignment Purpose Having a place to put everything is a good start for getting organized however no progress is made until those storage areas get used Assignment is one of the main ways information gets placed into a storage area This section explains assignment for simple types and the implications of assignment for advanced types Assignment of Simple Types In Douloi Pascal the assignment operator is a colon followed by an equals sign For example the variable DrillDepth a longint might be assigned with the statement DrillDepth 500 The semicolon at the end of the statement indicates that the pro grammer believes the statement to be complete Assignments to single or doubles types allows the use of a period to indicate the decimal point i e FractionalUserVariable 6 5 Strings may be assigned by using single quotes 1 e MachineStatus Ready Upper and lower case letters in string constants are kept distinct Note that although the hardcopy of the manuals or even this page may show a back quote for the leading quote this is a result of the printer that produced the documentation The intended symbol is always the conventional single quote most often found under the double quote to the right of the semicolon and the left of the enter key 129 13
81. CCESS ienet eneeier iiite EER RR RE AA ADA 237 PESCA pUON an aaa a aaas aa a ea eo ak aae raaa aaa a a ia a S 237 O A A E aaia 237 A tea venice EO an wleca phen tavea Gta deaneg A AT A A R 239 CH RH Example 2 Direct ACCESS aiii id deidad 240 pr antag E a a A a e a a au 240 O 240 EXPAND AMO tt A A a A acdc A E 241 C Examples COMBO ACES es 243 ESCAPA OS 243 Doulennbastal Source Code dara Ad A add 243 Source ST E RT A E 243 EPI AO E a EA NA ANA A AAA AAA 245 Mistial Basie DLL EXAMEN 247 Visual Basic Example 1 DIETA td A ar 247 DESTA AAA E EEEN EERE 247 SOUPCE COE reer E EEA E A E ER ARA RARA AA AE AA 247 Explanation reaa e a a a a e a aad 248 Visual Basic Example 2 Direct ACCESS estando dd a aci AAA A EAS 249 DESTINO O A O R 249 SOMES COA ti E E Doing A E a as an 249 EX BAIA aida aa ld tai 249 Visual Basic Example 3 Combined Access ol EN A ES Ai 251 DESTIPUON ti A A AAA 251 Doulol Pascal Source COJE sein A AAA td 251 SOUPCEC OCS a dll dis 251 o A O A ag LE RS 252 SAW Implementation of DLL Example canina dias 253 SAW Implementation of Example Tsonga diia 253 PO A A edat tated Sis 253 Source Code a A AA A AO 253 EXPAN ALlOM serisi eE AEE ERA T E A EEE 254 SAW Implementation of Example 2 assisi nnne aa A dai ea a aa 255 O 255 So ree COIE di AA AE AAA 255 EXPLO st AR a A AAA A AAA AAA e 255 Saw Implementation Or Example Sarna dais igibadra s 256 A busine A E e EE A E ges Siac yal hes dade 256 SOIKEA e R E
82. Change Color Solid Set for Bump for Dip 3 Set Height C Frame Outside O Frame Inside O Frame Corners a aal Mal i fe al Em gm a EFE Ej EE When graphics are on top of one another the order of display is important To study this issue create a new application by selecting File New and confirm you want to start over Create a button in the middle of the default dialog Create a bump that completely covers the button Note that the button is now hidden Select the bump if its not still selected and select the menu option Ar range Send To Back Graphics are recorded in a list The list is drawn from the back to the front By sending the selected graphic to the back you are indicating that you want it drawn earlier i e in back of the rest of the 69 70 User Manual for Motion Server and Servo Application Workbench Summary graphics in the image Select graphics and Arrange Bring To Front and Arrange Send To Back to become familiar with this ordering principle There can be times when multiple graphics are on top of one another or are the same size that selecting a particular graphic is difficult Sending to the back a graphic which insists on being selected is one technique which can help you select the desired graphic Another technique which can be used is to temporarily move out of the way a graphic which seems to insis
83. Click Add and choose Variable Edit the name of the variable to be DisplayValue and give it a Longint type The variable editor should appear as shown below Variable Editor Name Displayvaue si yc EES conce Array Information Ls Variable is an array O Lower Array Bound Upper Array Bound DisplayValue will remember the value of the calculator display Click on Ok to confirm this new variable 73 74 User Manual for Motion Server and Servo Application Workbench Click Add and choose Procedure Edit this new user procedure to be Procedure Editor Edit Search Procedure ClearCalculator begin DisplayValue 0 Display Writeln DisplayValue end Edit the Setup procedure for the plate to be Procedure Editor Edit Search procedure Setup begin ClearCalculator end Click Add and choose Procedure Edit this new user procedure to be Procedure Editor Edit Search Procedure PushNumber aNumber integer begin DisplayValue DisplayValue 10 aNumber Display Writeln DisplayValue end A Servo Application Workbench Tutorial Each time a number key is pushed this will cause the calculator display to shift to the left and accumulate the contribution of that particular key value Save your work and run the application Clicking numbers should cause the calculator display to change Create Calculat
84. E AA E EE A 20 Hardware Installation iaa a 23 External Connections AI Ai 23 SENO MIO LOr Seti dia 24 Hooking up the Encoder issiria marenea niin illinois 24 Confirming Proper Encoder Operation psi a dia ici da 24 Connecting Motion Server to Servo POWerAMpl AS ii 25 Confirming Proper Amplifier Operation ssessssssssssessresssrsrisrsrestsstertsrerssrstrnrssrstesesrrsserrererrens 26 Tuning the SV SES Is aah relied AA aaa A don ids E a 27 Staring a o 28 Interpretation A A AA eis 28 Avoid SALUTATION vivan nin AAA ANA AAA AA AMA ASAS AAA AAA 28 Tuning Guides ii illa ARAA 29 Achieving U Steady o A aged cacicaga nds apa Samed eesh cade a S eai 29 Stepper Motor SetU Prusia neni Pach va aE etl elt E teu 30 3 Introduction to MOON a nse dite aioe 31 RUIDOSO A Rad 31 Preliminary Moti OM ia atan 31 Command Structures dis 32 Single Axis Modes Of MOON voii 34 Dynamic Profilin goess evan sassensdaysten Aaa 38 Multiple Axis Modes of Motion sitiar dada anda 40 4 Servo Application Workbench Tutorial oonococconcconcnnonccconcconancconacnnracnnnnoo 43 Introduction to SAW pa A ATEKA TEER S ES 43 Lesson 1 Running a Minimum SAW Application 4s s s0 niocnedecatendoondsoustornedavervedunenmibeenens vowels 45 OTEN E EA E E 45 A O A A 45 R n th Default Application i snesen ba ratne tiean a ESA A a A KRS 46 Modify the Default Application escindida dos dia iia 47 UI NA A Ata 48 Lesson 2 Creating BUON sra A 49 O hse E sings on vndsiees Min
85. E ade baie dese Neu esiualredaeaet isan Wa danergdeccannatted 256 EXPL AIVALIOIN O 257 10 System Design ISsues src tddi 259 Safety oaiae a A E EE E a E e A Ea a a E Eion iaai 259 PUIPOSE APA PP ono A o o E 259 Limitations of Application 259 Responsibility ason eaa Ad E AO R R 259 B ilt In Safety ES id AR E AE TAE AAE EEE 260 IES WIENES NAS diras 261 Emergency Stop Considerations lolo 261 O EE E E E EEEE EEES 263 A O A TE 263 Traditional Homing Strategy a ae e aa ea a 263 10 11 Command Summary III AAA AAA AA ii 265 RUIDOS Ao ARA ao ia CONS 265 Primitive Data IES O 265 TNVector Objects Multidimensional Vectors with N ranging from 2 to 6 0 eee 265 Math Coprocessor Operations Douloi Pascal Only oonononicnnnnnnincnncnconancnnanicncananacinannos 265 Multas ias 266 A eiri raa eek een eles oot ctor r EA aa 266 Safety A AAA AS 266 Nunca 267 Exception Flatline sacose eien iio ai E E E EE E EEE Santee E 267 TPlate Objects Assembly Foundations Drawing Surfaces SAW only ooooncnocnncnconionicncoo 267 TStatic Object Static Text Display Object SAW only oooooocioconoconncnncnccnancnncnaninacancnnnins 267 TEditor Object Single Line Text Editor SAW Only 2 occonciristoriciott propinas 268 TListBox Object List Box Text Selection Object SAW only ooooncincnncnnononicncninacananncinncnns 268 Trile Object DOS File Access Object SAW only inicia it cr 268 THPGLFile Object SAW Oli 268 TPrompter Object Message Box Obj
86. ErrorCode lt gt 0 Then sgBox Motion Problem End If sgBox Application and Windows free to do other things End Sub 251 252 User Manual for Motion Server and Servo Application Workbench Explanation Examples 1 and 2 could have been done with a conventional PC based motion control card This example is the point where Motion Server s architecture begins to make a contribution The motion task is specified in the file ManyMove dps dps stands for Douloi Pascal Source Note that the program is written in Douloi Pascal and not in the language of your DLL invoking host environment i e not in TPW or C or VB This program is then compiled by your program at run time through the Compile command implemented in the ServoLib DLL The different parameters given to the Compile command help focus in on where errors are located in the event there is a mistake in the Douloi Pascal program Note that InitializeCompiler needs to called before you use the Compile command however it only needs to be called once at the beginning of the application regardless of the number of times Compile is used Most of InitializeCompiler s activity is including the system constants that are described in the file STANDARD INC If you do not use these constants you can reduce the time delay of InitializeCompiler by deleting the symbols you do not need The host program then begins the Douloi Pascal program with the command Begi
87. Instruction Manual for Motion Server amp Servo Application Workbench March 1999 Copyright 1992 1993 1994 1995 1996 1997 1998 1999 Douloi Automation Inc All Rights Reserved Douloi Automation Inc 3517 Ryder Street Santa Clara CA 95051 0714 Voice 408 735 6942 O Fax 408 735 6946 QU Cl EMail support douloi com AUTOMATION Table of Contents 1 Introduction sen a aaa E E eveseueccagecnevense 13 Welcome td oi EEA as 13 Objecuve or DOCUMERL cai A od eee EO 14 Moti n Server Spec ICONS AA AROS 14 MOON A AA AA A RA tata 14 SEO Capabilities riscahsssusdiaradasadsaegunnlalerqaanids Gonan aaa Ince EN a S 15 SEED Per CAMA A O A peat dead a A 15 Timer Event aeee n aandaa E E E O earn nana EO E E E RA ERN 15 Multiple Motion Application Threads mirra di iaa 16 Microsoft Windows 95 and Windows Nalda tas dv id dida 16 LONG OE SA ROR AA O A A 16 Servo Application Workbench asi A AAA 16 ME o e dl A 18 Servo Application Workbench adi idas dd td A cs Ea 18 22 bit Dynamic na idad dida aldo 18 ASCII AS no E IAEA ita 18 Binary Commands adria id id 18 2 Setting Wp tes er Ti oi 19 UTD OSE preseron e hota S PO Eaa EEEE S eN EN EE E AST NEEE OEE Uae peed N V E EN 19 System Requirements ii ccc tent agian A 19 Software Install outs 19 Servo Application Workbench Installation seccion aiii distancia cdi 19 Think amp Do Instalada dad dad 20 Vis l C and sal BIO rl A AI a 20 Example Setup Procedure siii eeoa EE aE EA EE
88. Now when you run the example the subplate display reflects the value in the main display rather than its own counter variable 91 92 User Manual for Motion Server and Servo Application Workbench Summary This ability to use the same symbolic names and not have conflicts is a very useful feature of SAW and high level languages in general that support scoping Scoping permits subassemblies to be constructed seperately from their place of use and to work correctly regardless of the environment they are placed into In general it is good practice to keep variables close to their use and minimize the amount of variable paths which are used to travel outside an objects scope Scoping is particularly useful when working with Catalog components Catalogs permit dropping into applications prefabricated subplates that contain functions such as joysticks or storage scopes Being able to use these components without concern for name conflicts is very helpful Attached subplates allow an application to be arranged in a heiarchical manner with isolation between the symbols used in the parent plate and symbols used in the subplate This isolation prevents name collisions and problems that would otherwise occur without a symbol scoping mecha nism Servo Application Workbench Tutorial Lesson 11 Using Pop Up Subplates Objective Although an application may require many controls to properly operate it is very confusing to see all of a
89. ONAGA LELLI L Hier a Move the cursor over one of the handles The cursor shape should change to a four way shape indicating its over a handle Drag the handle to a new location to change the shape of the window From the main menu choose Run then choose Start App You should see the running application window again but with a different size reflecting the alteration you made SAW is able to immediately provide a default application which has funda mental behaviors such as dragging and displaying a system menu This foundation application is what motion applications are based on Servo Application Workbench Tutorial Lesson 2 Creating a Button Objective Create a Button Although we ve created an application it hasn t done anything yet Buttons are the simplest way of asking for program behavior This lesson should familiarize you with the general behaviors of buttons Select from the tool bar on the left of side of SAW the tool which is in the right most column second from the top which has the rectangle being pushed by a finger This is the button tool Move the cursor to the upper left interior of the default Window in the SAW drawing area and drag to the lower right area When you release the mouse button you should see a Windows button in the drawing area of SAW such as shown below SAW Untitled dit Tool View Arrange Defaults Run im File a Title ii E a el AJA
90. R REESE E IK AR AR KE KERE program TPWDLL_1 uses Servolnt interface unit to ServoLib DLL WinCrt conventional system IO simulation unit var ErrorCode integer var MoveOver boolean var MoveDurationCounter longint begin Writeln TPW DLL Example 2 MoveDurationCounter 0 InitializeServoSystem 800 0 ErrorCode EngageHighSpeedClock ErrorCode SetServo XAxis 1 ErrorCode T1AxisBeginMoveBy XAxis 50000 ErrorCode if ErrorCode lt gt 0 then begin Writeln Motion System Problem ErrorCode DisengageHighSpeedClock exit end 231 232 User Manual for Motion Server and Servo Application Workbench writeln Free to continue repeat MoveOver MovelsFinished XAxis ErrorCode if ErrorCode lt gt 0 then begin Writeln Interogation problem DisengageHighSpeedClock exit end Perform other operations here while waiting Inc MoveDurationCounter until MoveOver Writeln Move Duration Counter MoveDurationCounter Writeln done end Explanation As in the first example the first operation is to initialize the system Instead of performing motion with MoveBy and MoveTo the command BeginMoveBy is used Commands that start with Be gin imply that they do not wait for their operation to be complete The move is started and program execution immediately continues The program then performs other operations in
91. Servo Application Workbench 246 The procedure Disengage HighSpeedClock is called when the appli cation finishes operating This call should be made before you leave the application and definitely before you attempt to leave Windows or invoke a DOS shell If you must go to DOS during the operation of the application use the Servo Ignition utility to manually turn off the high speed clock while you spend time in DOS Using the Servolib Dynamic Link Library Visual Basic DLL Examples To make use of the ServoLib DLL from Visual Basic you will need to include the libraries declarations in the Global File of the application The simplest way to do this might be to use Notepad to view the vb_inter glo file provided in the SERVO installation directory Edit Copy the entire file onto the Windows clipboard and paste it into the global file for your visual basic application The following examples illustrate how calls can be made to the motion system as well as the compiler Visual Basic Example 1 Direct Access Description Source Code This example uses direct calls to move the XAxis motor to several different locations and to write out commanded position informa tion This would represent the simplest use of ServlLib The following was written in the click procedure of a single button on the default form VBDLL_1 FRM Object Proc Sub Command1_Click InitializeServoSystem 866 6 GlobalErrorCode EngageHighSpeedClock
92. View Grids 67 virtual axis 208 211 virtual method table 131 visual 43 Visual Basic 13 14 32 116 VMT needs 131 void functions 139 W w longint 193 Watchdog Safety System 260 While 149 While Loop 150 wind up 217 winding mandrel 211 Windows 50 windows controls 117 Windows language system 225 Windows Mail 171 Windows memory 117 294 wrap around point 213 Write 191 195 WriteEscapceCode 191 WriteEscapeCode 195 Writeln 34 35 39 56 191 195 WriteSquares 197 X X 32 33 x longint 193 Xlongint 124 XAxis 35 39 104 XAxis value 198 XYAxis MoveTo 108 Y Y 33 y longint 193 Y longint 124 YAxis value 198 Yield 174 yield instruction 151 yield instruction 185 Z z longint 193 Z longint 124 ZAxis MoveTo 119 zero 15 29
93. aDouble double The following procedures perform operations on the parameters currently pushed on the stack and leave results on the top of the stack procedure FAdd a b a b procedure FSub a b a b procedure FMul a b a b procedure FDiv a b a b procedure FSqrt a sqrt a The following trigonometry routines are available The parameters are in units of radians procedure FSin a sin a procedure FSinCos a sin a cos a The following numbers are often used and these routines provide short cuts for loading them into the calculator procedure FLdPi Load Pi pi procedure FLdZ Load Zer t0 procedure FLdl1 Load One os Ly Douloi Pascal Language The following routines are available for moving results from the math coprocessor back into normal Douloi Pascal variables function PopLongint longint o aaa function PopSingle single n function PopDouble double Mm Math Coprocessor Examples Adding Two Numbers The following routine implemented as a button click procedure would be an example overkill though it may be of adding together two numbers procedure Click var Buffer TMathCoprocessorBuffer var Answer longint begin FSave Buffer EINDE PushLongint 2 PushLongint 3 FAdd Answer PopLongint FRestore Buffer Prompter Writeln Answer you should see the value 5 end 167 168 User Manual for Mot
94. age But ton Up The EndDrag method invokes when the mouse button is re leased This gives you an opportunity to act on the indicated change in mouse position You can establish a specific coordinate frame with SetCoordinateFrame By using the BeginDrag Drag and EndDrag methods it is possible to perform operations based on mouse movement BeginDrag invokes when the mouse button goes down Drag invokes while the mouse button moves and EndDrag invokes when the mouse button releases 81 82 User Manual for Motion Server and Servo Application Workbench Servo Application Workbench Tutorial Lesson 8 Objective Using Bitmap Graphics The appearance of an application can be enhanced with several different graphical techniques One technique bump graphics has been discussed in a previous lesson This lesson introduces the use of bitmaps which can be made with programs such as the Paint program that comes with Win dows Bitmaps allow detailed images to be incorporated into an application Select the Bitmap Filename Crop Bitmap Position Bitmap Select the File Choose Bitmap menu item Select the provided bitmap EARTH BMP found in the Servo subdirectory This is the bitmap that will be used for subsequent bitmap operations Select the cropping tool the tool with the 90 degree opposing right angles This is used to drag on the surface of a plate a region which the bitmap will show through The bitmap will be constra
95. alPosition Y SquarePosition X SquarePosition Y end The procedure UpdateDragLine draws a line from the OriginalPosition to the SquarePosition and will be used to indicate drag displacement 106 Procedur Application Sketches Platel BeginDrag begin SetLineColor Red OriginalPosition SquarePosition SquarePosition MousePosition UpdateSquare UpdateDragLine Update end BeginDrag sets the line color for drawing to Red remembers the OriginalPosition of the square sets the square s new position to be the mouse position and updates the square and the line representing the drag displacement Note that assignment between vectors is supported i e all of the components of MousePosition are assigned to the respective compo nents of SquarePosition for example In general this is true for record object and array types Procedure Platel Drag begin SquarePosition MousePosition UpdateSquare UpdateDragLine Update end Drag assigns the SquarePosition to the current MousePosition and updates the image Procedure Platel EndDrag begin SetLineColor Blue SquarePosition MousePosition UpdateSquare Update end EndDrag puts the color back to blue updates the square position one last time and redraws the square Procedur Platel Setup begin SetCoordinateFrame 100 SquarePosition Init 0 0 SetLineColor Blue UpdateSquare Update end 100 100 100
96. allation Detailed descriptions of each Motion Server connector and signal are found in the Connectors chapter towards the end of the manual Differ ent amplifier vendors choose different names for signal functions If you have any confusion regarding how to hook up Motion Server to your servo amp stepper drive or IO module please contact Douloi Automation for advise Faxing a data sheet of the signals definition for the device in ques tion helps us best help you The introduction of any new piece of hardware in a PC has the possibility of causing hardware problems Before installing Motion Server perform a complete backup of your computer If you are unfamiliar with backing up your system contact Douloi Automation for a recommendation The value of your work can easily be lost by a hard disk failure or hardware conflict Safeguard you work by having a consistent pattern of backups After back ing up your system install the hardware into your PC External Connections Connections from Motion Server to other parts of the system can be made with IDC to terminal breakout modules or by using D style IDC connec tors on the split apart axis cables creating identical axis connectors During initial setup it is most desirable to work with a motor system which is not attached to a machine or if attached has the freedom to spin without encountering limits It is not a significant problem if this is not the case however additional care should be ex
97. anOperator integer begin ParameterBuf fer DisplayValue OperatorBuf fer anOperator DisplayValue 0 end Save your work Servo Application Workbench Tutorial Create Equals Key Control Drag a copy of the Plus key below the list of operation keys Make the legend and edit the click procedure to read Procedure Editor Edit Search procedure Click begin if OperatorBuffer Plus then DisplayValue ParameterBuf fer DisplayValue else if OperatorBuffer Minus then DisplayValue ParamneterBuf fer DisplayValue else if OperatorBuffer Multiply then DisplayValue ParameterBuf fer xDisplayValue else if OperatorBuffer Divide then DisplayValue ParameterBuffer div DisplayValue Display Writeln DisplayValue end Create Clear Key Control Drag a copy of the Plus key below the equals key Make the legend C and edit the click procedure to read Procedure Editor it Search procedure Click begin ClearDisplay end R 77 78 User Manual for Motion Server and Servo Application Workbench Test the Calculator Summary Run the application One possible appearance is shown below Calculator Click on several number keys The number should accumulate in the calculator display Click on an operator Click on some additional number keys and click on The answer should appear in the calculator display C should clear the display back to 0
98. anguage What s the problem here Assigning a file requests from the operating system a file handle which is used to represent the file Closing a file releases the handle back to the operating system to be recycled and used again Because this procedure never closes MotionFile the operating system eventually runs out of file handles and produces the run time error The correction is to close MotionFile before leaving the routine procedure PlaybackMotion var MotionFile TFile var Destination T2Vector begin MotionFile Assign MoveFile txt MotionFile Reset While not MotionFile EndOfFile do begin MotionFile Readln Destination X Destination Y XYAxis MoveToVector DestinationVector end MotionFile Close file handle now available for use again end Nothing Happens When a DLL Call Is Made The following Turbo Pascal for Windows routine is trying to turn on the XAxis servo but nothing happens procedure SetupMachine var EscapeCode integer begin TNAxisSetServo XAxis 1 EscapeCode What s wrong here Remember that the EscapeCode parameter is both an input as well as an output to the DLL routines An EscapeCode value which is not 0 instructs the DLL to not do anything because a problem has occurred This is corrected by setting EscapeCode to 0 before the call 189 User Manual for Motion Server and Servo Application Workbench procedure SetupMachine var EscapeCode integer begin
99. anize a solution to your problem and a basic need in getting organized is having a place to put things Variables provide the places where information about your application is put Douloi Pascal provides simple variables ageregate variable mechanisms and arrays to help provide appropriate data structures to store information Fundamental Types Boolean Integer Variables come in different shapes and sizes known as Types to accommodate the different shapes and sizes of information that you need to put somewhere The fundamental types provided by Douloi Pascal include Booleans are able to remember yes no information Boolean variables are helpful for decision related information and often have names such as PartHasBeenRemoved ProcessHasFinished PointIsSelected Integers are scalar numbers that have a range of 32767 to 32768 These are typically used for small numbers and use 16 bits of storage Integers are often used for iteration and quantities such as NumberOfPartsRemaining DataBufferIndex CurrentMotorTorque 121 User Manual for Motion Server and Servo Application Workbench 122 Longint String Longint or Long Integers are 32 bit quantities and may have a range of about 4 billion to 4 billion Longints are often used for position information expressed in counts which can cover this range Longints might have names such as RegistrationPosition InputCapturePosition DistanceToGo Strings
100. arious communication methods available Long Slot ISA Format Motion Server occupies a single ISA long slot The end of the Motion Server card furthest from the mounting bracket holds the on board 486 processor The heat sink and fan assembly protrudes from the board further than the board to board spacing preventing the placement of another long slot card immediately in front of Motion Server however shorter cards can fit if necessary Host performance does not effect Motion Server s real time performance however some operations are performed by the host on behalf of Motion Server when Motion Server sends mail requesting that these operations are done on its behalf Performance of these non real time operations is enhanced with a faster host Servo Application Workbench Servo Application Workbench SAW is a Windows application which greatly simplifies the creation of multithreading motion application pro grams and operator control elements to direct them Applications may Introduction contain conventional Windows controls such as buttons and text items as well as more specialized controls such as components available in the software catalog browser Inside Servo Application Workbench is a high level language compiler The compiler changes the descriptions of the motion applications into native 32 bit 486 object code which executes on Motion Server very quickly The compiler knows about the motion system the multithreading
101. ator number keys and a vertical rectangular dip on the lower right to group the operation keys Save the project development so far by selecting File Save As and type the name CalcTest Run the application to test what has been done so far You should have a result something similar to what is shown below Calculator 71 User Manual for Motion Server and Servo Application Workbench Create Calculator Number Keys Add a Text Item inside the dip near the top of the calculator Rename this text item to be called Display When placing the text you may discover that the dip is not the right size or in the right place After positioning the text drag corners of the dips possibly moving other things out of the way so as to have the dip symmetrically around the display It may be good to make the dip deeper as is often the case in physical calculators Add a small button inside the lower left dip Place on this button the legend 1 In general buttons will be the size of the dragged rectangle however a button will enlarge itself so as to hold the legend If the button grew it most likely is because of the size of the default legend button Change the legend first to 1 a much shorter legend and then resize the button by dragging the button s corners Your work should appear similar to the following picture SAW Untitled dit Tool View Arrange Defaults Run im File Calculator e 2
102. avoid some standard pitfalls that often nab pascal programmers in general or Motion Server SAW programmers specifically Statements Apparently Fail to Execute What do you suppose the following loop does while not aFile EndOfFile do scanner scannertl aFile Readiln XCoord YCoord XYAxis MoveTo XCoord YCoord Prompter Writeln done It may look like it reads a series of point pairs from a file performs moves to those coordinates and then writes done on a display However what actually happens is nothing at all except a locked system Why Without a begin end compound statem ent around the indented group of statements the compiler regards the while loop as While not aFile scanner scan EndOfFile do ner 1 The while statement performs the statement which follows in this case an increment Because that statement never changes the state of aFile the condition never is accomplished problem 1 and the task never yields problem 2 Because the loop never terminates the task overruns multiple samples and the system locks performing a hard reset is to loop with a begin end up The correction to this problem after enclose the instruction which are inside the 183 184 User Manual for Motion Server and Servo Application Workbench while not aFile EndOfFile do begin scanner scannertl aFile Readln XCoord YCoord XYAxis MoveTo XCoord YCoord end Display Wri
103. awing area 62 SAW Implementation 253 SAW main menu 61 SAW Objects 131 SAxis 208 scalar numbers 121 scale 41 Scanner 104 ScheduleTask 173 174 215 scoping 92 ServILib 237 Servo Ignition utility 246 Servo program group 14 servo system 134 ServoInt Interface unit 229 ServoLib DLL 225 237 ServoLib DLL call 225 ServoLib Dynamic Link Library 225 set behavior 118 SetAccel 34 36 40 SetActualPosition 39 SetBodyColor black 111 SetBodyColor ColorArray index 111 SetCamPosition 215 SetCommandedPosition 174 SetCoordinateFrame 107 113 SetDecel 34 36 40 SetLineColor 107 setpoint displacement 211 SetSpeed 34 40 SetTangentAxis 219 220 Setup 64 setup 19 SETUP procedure 261 setup routine main plate 213 shared variable flags 175 short real types 144 simple variables 121 SIMPSCOP SAW 103 Single Axis 34 single ended 24 Single Precision IEEE Floating Point Reals 122 Single precision reals 122 single valued function 211 single tasking systems 151 sketch 101 Slew 216 slew 34 slew speed 15 small variables 144 software cam 213 software failures 260 source expression 142 spliced 39 splicing 15 SquarePosition 106 107 111 SquarePosition Init 107 stability 26 stable 27 standard criteria 116 standard protocol 164 STANDARD INC 245 statement groups 179 Status 104 status line 103 steady state error 29 step 28 step response 27 28 29 stiction 35 Stop 34 36 41 STOP reserved word
104. awn will be This is both added to and subtracted from the center position of the square in each direction to result in coordinates for the square SquarePosition T2Vector 105 User Manual for Motion Server and Servo Application Workbench SquarePosition is a 2 dimensional vector used to remember where the square currently is OriginalPosition T2Vector OriginalPosition is a 2 dimensional vector used to remember where the square was when the drag was started and serves as the other end of the line indicating drag displacement Procedure Platel UpdateSquare begin Clear DrawSquare SquarePosition X HalfWidth SquarePosition Y HalfWidth SquarePosition X HalfWidth SquarePosition Y HalfWidth DrawLine SquarePosition X HalfWidth SquarePosition Y HalfWidth SquarePosition X HalfWidth SquarePosition Y HalfWidth DrawLine SquarePosition X HalfWidth SquarePosition Y HalfWidth SquarePosition X HalfWidth SquarePosition Y HalfWidth end This UpdateSquare procedure is responsible for drawing the square The first method is Clear Because this is a procedure defined on a plate Clear applies to the associated plate DrawSquare similarly is sent to the associ ated plate to produce the outline of a square DrawLine is used to produce the diagonal lines inside the square Update causes the appearance to take effect Procedure Platel UpdateDragLine begin DrawLine OriginalPosition X Origin
105. ble provided by the call If the procedure or function assigns a new value to the variable that change is not reflected in the variable found in the callers scope Parameters can be thought of as temporary variables By placing the word var in front of a procedure or function parameter you are indicating that the parameter is to be called by reference This means that you are not working with a copy but changing and effecting the object that was provided by the call In general objects that you intend to modify should be passed as var call by reference parameters since your changes would not take effect with a call by value parameter In this case it doesn t make any difference since TPlotters are almost completely indirect anyway 114 Chapter 6 The Douloi Pascal Language Introduction to the Language System Purpose Motion Server through SAW uses a procedural language similar to Object Based Pascal to express behavior and relationships in a mo tion control application This language system follows many of the principles of Pascal allowing developers with pascal background to feel at home with a familiar tool The purpose of this section is to describe the capabilities and use of the language Application of the language is best understood by working through the tutorial indi cated in the last section This section may be helpful when encoun tering an unfamiliar construct for understanding that construct through a more deta
106. cases destina tion and motion type This permits motion mode splicing without stopping For example a positioning move can be changed to a jog at a new speed on the fly 15 User Manual for Motion Server and SAW The third timer event function is multitasking Multiple user written motion application programs can be resident in Motion Server The timer event contains a multitasker which activates and manages the operation of these programs Multiple Motion Application Threads As many as 12 separate motion application threads or programs which are distinct from motion profiles can be running concurrently and inde pendently at any particular time These programs are written in Douloi Pascal a dialect of Object Pascal Programs can communicate to each other through shared data structures They can access the motion control system communicate to auxillary analog input and serial port I O boards attached to Motion Server communicate with Windows applications created by the Servo Application Workbench and to the disk file system if SAW is present Microsoft Windows 95 and Windows NT Microsoft Windows serves as the most common development and target environment for motion control applications using Douloi products The familiar interface aids both developers and users of the resulting applica tions reducing the developers learning curve and the operators training time Motion Server can be used with other operating systems through v
107. ce its maximum positive desired output at 10 volts and the maximum negative desired output at 10 volts This gives Motion Server the maximum possible numeric range for working with your amplifier system Consult amplifier documentation for gain values and the possible need to adjust the amplifier gain Note that adjusting the amplifier gain on a live system may result in sudden unexpected movement Gain 25 User Manual for Motion Server and Servo Application Workbench 26 settings are best adjusted on the bench with an inductive load rather than the actual motion system Consult your amplifier documentation and vendor for information The safety of the system will be enhanced by using the amplifier enable outputs from Motion Server if the amplifiers you are using have amplifier enable inputs Amplifier enable is a signal used to instruct the amplifier when it should interpret the analog signal If the amplifier enable line is not active the amplifier disregards the analog signal This provides Motion Server with two different ways of requesting 0 amplifier power through expressing 0 voltage to the analog input and by disabling the amplifier If the amplifier has an amplifier enable input Douloi Automation recom mends using it to improve the safety of your system Use of the amplifier enable signals is particularly important if the host computer power can be turned off while the amplifier power remains on as the analog command voltages can
108. checks for each of these conditions using the symbolic names for escape codes These names can be found in the on line help by searching for the word escape If the escape was neither of these two cases the recover block escapes with the value of EscapeCode so that the routine which called it can possibly respond Note that the chain of recourse for an escape is up the call ladder An escape will attempt to get an answer from the immediate routine then the caller then the caller of that etc until either it finds an answer or finds the top level default recover block which displays the escape code on the screen Note that this ascent up the call chain is enabled by using Escape EscapeCode in the recover block If you do not issue an 155 156 User Manual for Motion Server and Servo Application Workbench escape for unhandled escape codes you are basically ignoring the problem of an unhandled escape and sweeping the escape under the carpet This is not a good practice because an important piece of run time information relating to something failing is not being acknowledged Always end recover blocks with a none of the above response of Escape EscapeCode Up till now we haven t strongly motivated the reason to have Try Recover It seems that there are several simpler alternatives for accomplishing what we are doing with Try Recover such as using an unconditional jump to an error handler or passing status param
109. contained a gear in mesh with a gear on the driving shaft To be strictly correct most commercial implementations of elec tronic gearing do not really implement the gear model since in a mechanical system it would be possible to apply a torque to the driven shaft that results in rotating the driving shaft Gears trains of high efficiency can be made to move by driving from either end To be less ambiguous about this case some manufacturers refer to elec tronic gearing more accurately as position tracking or position following mode Note that achieving the bi directional behavior is possible with Motion Server and is discussed under the Bi direc tional Force Reflection mode Fundamental Principles If we consider the case of just one shaft being the driving shaft and the other always being the driven shaft we can state the behavior of electronic gearing with the following statement Pn Pd Gr where Pn Position of Driven Shaft Pd Position of Driving Shaft Gr Gear ratio 203 User Manual for Motion Server and Servo Application Workbench Implementation Implementing electronic gearing simply involves setting the position of the driven axis to some factor times the position of the driving axis every sample period Suppose the XAxis is the driving shaft the YAxis is the driven shaft and the gear ratio is to be 0 5 The following procedure would imlpement the electronic gearing equation procedure PerformGearing begin
110. ctly access these resources themselves You may have heard the statement DOS is not re 171 User Manual for Motion Server and Servo Application Workbench entrant This is the case Tasks cannot access the operating system directly because they are often performing their work while in the midst of inter rupting DOS already which would break this rule In order to relate to Windows and DOS tasks send mail to SAW requesting services on behalf of the tasks In a manner analogous to the BIOS routines a certain template of information is filled out by the task and mailed The task waits until it receives a response to the letter it sent SAW in its good time subject to the multitasking state occurring in Windows gets around to discovering mail has been sent SAW then reads the letter to understand what service is needed and what data relates to that service performs the service and then sends mail back indicating that the service has been accomplished The task is then free to continue executing The fact that a mail operation is being used to accomplish a certain task is completely hidden from you You simply use a method such as Writeln to display some information Internally that method results in mail It is important to note that task execution blocks while waiting for the service to be performed What this means is that any operation that involves interacting with Windows or DOS is not real time There is
111. cula tions The math coprocessor is needed to perform the actual arctan function real time The FInit function should be placed in the plate setup procedure to prepare the math coprocessor for use After calculating the arctan the RevAccumulator is maintained by check ing for large leaps in position Such large leaps are indicitive of crossing over the arctan range and for the actual motion system represent accumulated rotations of the cutting knife If sufficient movement for good numeric resolution has not occured yet the function just returns the last answer from the previous calculation Advanced Motion Capabilities In order to have the knife cutter move by this calculation a relation ship between the calculation and the mechanism must be made This is provided by the following procedure procedure SetTangentAxis begin Try ZAxis BeginMoveTo TangentAngle Recover begin if EscapeCode lt gt MotionOverrunEscapeCode then Escape EscapeCode end end SetTangentAxis tells the ZAxis to begin moving to the TangentAngle This motion is performed with a trapezoidal velocity profile so that the ZAxis moves in a well behaved manner regardless of how suddenly the angle might change 1 e turning a right angle corner during the cutting operation BeginMoveTo is used instead of MoveTo because it is necessary to immediately continue calculating the angle It is quite likely that the ZAxis will never get to the first dest
112. d axis of motion FOARS fe cee e dian cat 6 coordinated axis of motion TRUt PON xo sch 2 is a Windows Button Control SAW only TE bosta Windows Edit Control SAW only TEA a a So DOS File SAW only THPGLFile HPGL File Interpreter SAW Only THUS BOK eek oe ees List Combo box style control Saw Only EP Lat Orie wield amp Ss a Assembly Base for applications SAW only TPE OMPE ST a Eaa Modal dialog for operator SAW only TECK ise Output text display SAW only The first group are different types of vectors and are collectively referred to as TNVector In actual usage the N in TNVector is replaced with a number between 2 and 6 representing the dimension of the vector These vectors contain vector component compart ments which are longint types The names of the compartments are XY Z U V W if you have all six The language definition for a T3Vector for example is Type T3Vector object X longint Y longint Z longint object procedures end A compartment or field of an object or record is indicated with a period after the variable name followed by the field name The period indicates that the name following is specifically related to that variable Field names can indicate component storage areas in an ageregate variable such as a record or object For example to assign Douloi Pascal Language the Y component of a variable named HomePosition of type T3Vector you could use the command
113. d be left on the stack and program execution would be corrupt by a confused stack Try Recover manages the stack frames automatically Question What s the advantage of exception handling over simply an error result Why not just provide procedures with an additional var parameter that indicates if the operation was successful Answer That method of solutions is a good one to consider for systems which do not have exception handling mechanisms The disadvantage of the error result approach is that you have to check or at least record the error result for every call made to the routine or you may lose an error indication This is tedious and programmers are tempted to disregard the information 157 User Manual for Motion Server and Servo Application Workbench This requires that error results get shipped back from called procedures explicitly i e the only way to get an error result back from a low level procedure is to pass it back through intermediate procedures as a variable or to record it globally and have all of the procedures in between check the error and leave prematurely if an error exists This is very tedious to thoroughly implement Most likely an error will occur and the absence of a check will cause a man ager procedure to incorrectly continue as if everything is fine resulting in future problems One language design question with respect to exception handling which comes up is Should exceptions be resumable
114. d in the help system 125 User Manual for Motion Server and Servo Application Workbench The remaining predefined types are for use specifically with Servo Application Workbench Some of these types are declared graphically while others are declared with the var keyword In general these other types provide Windows components that can be manipulated by the programs you write to display information and create program behaviors Arrays Up until this point variables have been named symbolically and their access has been explicit on the part of the programmer Arrays are a tool that give the program itself the ability to specify what storage area will be used to save information Arrays are linear arrangements of variables of a particular type When referring to information in an array you refer to the name of the array itself and to which particular item in the array you are concerned with for example the first one or the third one The location of the storage area of interest can be expressed numerically giving the program the ability to indicate a desired location Arrays may be specified in SAW as plate variables through a dialog box such as shown below Variable Editor Name DataButfer Type Longint E Cancel Array Information Variable is an array J Lower Array Bound Upper Array Bound 1 DataBufferLength Any variable has the capacity to be part of an array When defining a variable you
115. des of Motion Motion Server supports vector coordination of groups of axis for group sizes from 2 through 6 Groups are coordinated so as to all start at the same time stop at the same time and transition from accel to slew and slew to decel at the same time This results in straight line joint space vector motion in whatever dimension of space the machine occupies Note that if the machine has rotary joints that straight lines in joint space do not create straight lines in Cartesian space Accomplishing straight cartessian space lines on a mechanism with rotating joint such as a cylindrical or scara configuration robot requires kinematic equations Motion Server is very well suited for performing high performance kinematics Consult Douloi Automation for additional information The methods for multiaxis machines include the commands for single axis machines with additional parameters as needed for the additional axis included The following methods are provided for multiaxis groups CommandedPosition returns distance along vector path MOVE To avi move to absolute coordinate MoveBY oooooooo moves relative to current commanded position MoveToVector moves to absolute vector coordinate MoveByVector moves by relative vector coordinate BeginMoveTo moves to absolute coord but doesn t wait BeginMoveBy moves to relative coord but doesn t wait BeginMoveToVector moves to absolute vector
116. diana teros tone annn a KRE R AEA REAREN KERRE 276 12 Electrical POSSE POE OM ia a AAA Naa 276 Step Pulse DIPECHO ns A A A A EAER 276 a E 276 lect ical Desc ON ea n ae O T 277 ES VOS EAU lid 277 DESCIPUON vii AAA ADA AAA ARA AE AAA AA AAN 277 Pin Numbering Conventions rai cda 277 Axis Group Connector Definitions 2 Row IDC sdoninta iia 278 Axis Group Connector Definitions D Style cnn iaa 280 VO CONME CLO PISTON crasas ataron rd EE ESTEE 281 EStop Connector Definitions pida NAAA 282 External Bus Connector iodo 283 O 285 1 Introduction Welcome Welcome to Motion Server and Servo Application Workbench tools to simplify and accelerate the creation of motion control applications Douloi Automation wants to encourage your project s success Free techni cal support is available to answer your questions assist you through trouble spots in product use and to recommend strategies and approaches for solving different aspects of a motion control problem Sample code application prototypes and application notes can be provided to response to specific questions you may have We would much rather have you call and get answers than to be frustrated or slowed in your automation project Please feel free to contact us at voice 408 735 6942 e fax 408 735 6946 e EMail support douloi com Motion Server is a hardware component that can communicate through several methods The easiest environment to use Motion Server is M
117. dit Search procedure BeginDrag begin Display Writeln MousePosition X MousePosition Y end Run the application Click the mouse on the plate The coordinates of the mouse should be shown in the Display text object Move the mouse to a different area and click again The coordinates dislpayed should be differ ent The BeginDrag procedure invokes whenever the mouse button goes down normally the beginning of a drag operation i e the name BeginDrag The behavior in this case of BeginDrag is to write the coordi nates of the mouse into the Display MousePosition is a T2Vector that contains the coordinates of the mouse as defined in the current coordinate frame of the plate Edit the Drag Method Now edit the Drag method in the plate event procedure list and give Drag the same statement as BeginDrag Run the application again Click the mouse on the plate and move the mouse while continung to hold down the mouse button Note that the display coordinates change in response to the mouse position The Drag method invokes at about 18 Hz whenever the mouse moves with the mouse button down Servo Application Workbench Tutorial Edit the EndDrag Method Summary Now edit the EndDrag method to contain the following statements procedure EndDrag begin Display Writeln Button Up end Run the application Now when the mouse button is released the display changes from showing the coordinates of the mouse to the mess
118. ditor by double click on the upper left icon Close the button editor by selecting Ok Start the application You should see a window with a button in it as before Now click on the button You should see a prompter window appear with the text I was just clicked afitte was just clicked Click on the OK button below I was just clicked to acknowledge the prompter Buttons are created by selecting the Button Tool and dragging a button shape in the SAW drawing area on the application window By double clicking on the button picture a button editor is provided to alter button attributes such as the legend and the behavior of the button when clicked Servo Application Workbench Tutorial Lesson 3 Creating Text Objective Create a Text Item This lesson illustrates the use of text in an application both passively for annotation and actively as a mechanism for displaying information Select from the tool bar on the left of side of SAW the tool which is in the right most column third from the top which has the capital A This is the text tool Move the cursor to the upper left interior of the default Window in the SAW drawing area and drag to the lower right area When you release the mouse button you should see a dotted rectangle that contains the word Text as illustrated below From the main menu select Run Start App You should now see the default application running wit
119. dows Different objects can experience different events and produce a related behavior For buttons the most frequently experienced event is a mouse click But tons are provided with a procedure named Click which defines what should happen if the user clicks the mouse on the button Servo Application Workbench Tutorial Button Editor Name Button2 Legend Button Button Events o o o E O Select the click procedure in the list box and then select the Edit button adjacent to the list box An editor should appear similar to the one shown below Procedure Editor Edit Search procedure Click begin your code goes here end R Position the cursor on the line which says Your code goes here and replace that line with the line Prompter writeln I was just clicked Note that the word after Prompter and the period is write line with line abbreviated to LN not 1N Also note that the quotes around I was just clicked should be single quotes i e un shift of double quote not un shift of tilda and that both quotes are the same despite whatever help the manual publishing system has provided by making one appear to be a back quote 51 52 User Manual for Motion Server and Servo Application Workbench Summary Procedure Editor Edit Search procedure Click begin Pronmpter Writeln I was just clicked end Close the e
120. drift during the shutdown of the computer power supplies If you have a choice it is much better to choose amplifiers which default off without being deliberatly turned on by the controller rather than amplifi ers which are active by default Confirming Proper Amplifier Operation Double click the Check Amps icon The Check Amps icon looks like Check Amps This instrument is useful for checking the basic stability of the servo system The main concern at this point is whether the motor wires are hooked up correctly or are backwards In a closed loop servo system the commands sent to the motor direct the motor towards a desired goal reducing an error and converging towards the goal If wiring in the system is backwards the motor will be directed away from the desired goal increas ing error and diverging Check Amps identifies which of these two cases is currently configured Select the axis to test with the Select Axis button and perform the test with the Perform Test button Things can get backwards in many different places in a closed loop servo system and it is generally easier simply to measure what you have rather than try to determine ahead of time what you have If Check Amps determines that something is backwards you have several options on what to change Inverting the A and B channels of the encoder can solve the Setting Up the System problem however this can be inconvenient to do if you are using pl
121. dure Platel PlaceDrawingln var var begi aPlo aPlo for a aPlo end aPlotter TPlate scanner integer n tter Clear tter SetCoordinateFrame 0 0 200 200 scanner 1 to 20 do Plotter DrawLine scanner 10 0 200 scanner 10 scanner 10 tter Update 113 User Manual for Motion Server and Servo Application Workbench This procedure clears the plotter passed as a parameter sets the coordinate frame for that plotter and then places into the plotter 20 lines in a sweeping pattern After the lines have been drawn the plotter is asked to update its appearance Note that an object such as a plotter can be passed as a param eter The variable aPlotter serves as a reference to the plotter in the caller This is called pass by reference The following setup procedure establishes which plotters are which colors Procedure Platel Setup begin Plotterl SetLineColor red Plotter2 SetLineColor blue Plotter3 SetLineColor black end The drawings are made by the button which has the following click proce dure Procedure Platel Button5 Click begin PlaceDrawingIn Plotterl PlaceDrawingIn Plotter2 PlaceDrawingIn Plotter3 end Questions and Answers Question What s the difference between call by reference and call by value Answer Pascal parameters to procedures and functions are normally call by value What this means is that the procedure or function operates on a copy of the varia
122. e If var is not the first word the parameter will be call by value The distinction between call by reference and call by value is important and will be discussed in the following section The name of the parameter follows a colon after the name and a type after the colon similar to a conventional variable declaration You may have multiple parameters however you must separate them with semicolons The right parenthesis completes the description of the parameter list and a semicolon follows just as it had in the original procedure definition Usually pascal languages allow you to specify multiple parameters of an identical type with commas separating consecutive names Douloi Pascal requires that you explicitly provide the type of each parameter even if it is the same as its neighbor The previous example can be rewritten to produce squares of various sizes Procedure MakeSquare aSideLength longint begin XYAxis MoveBy XYAxis MoveBy XYAxis MoveBy XYAxis MoveBy end aSideLength 0 0 aSideLength aSideLength 0 0 aSideLength r IS es eS Procedure MakeManySquares begin XYAxis MoveTo 0 0 MakeSquare 1000 MakeSquare 2000 MakeSquare 3000 end 141 142 User Manual for Motion Server and Servo Application Workbench Functions The parameter aSideLength is provided in the calling routine with explicit numbers and produces 3 squares of different sizes The parameter could also have been
123. e EQUALS KEY si cs dd A A Via A ii ES A OS ET 77 Testthe Calla td e a a A OR a 78 SUMA ASA AAA ed pce eee 78 Lesson 7 Using Plate Drag Metro rantaoineesesonersunten 79 ODJECE nanea ara e a a TA 79 Created Display chesina o EA E E E E EE E A A REA 79 Edit the BeginDrag Method ic A td AAA 80 Edit the Drag Method rescatan dll idad 80 Edit the End Drag A A a a ae Eaa aE aE n nN E E SEERE 81 UI A A A E E A E A EAN 81 Lesson 8 Using Bitmap Graphics AAA A 83 A A A A yeas 83 Selectthe BIMENES 83 CORBIN stoig es toca des vasa aaane an O E neato eu oT vo 83 ps O a a cba Tenteathtagednins 83 SUMINA A a TSE nro om E OS No at 84 Lesson 9 Using Geometric Graphics id di asia 85 Objectives A a E O alta Sa TN ly 85 Drawings MS foes aa tees raves ii O a ee ome aaa ped hy aya E E E a 85 Drawinga Rectangle usina ias 86 Drawing a Rounded Corner Rectangle uretra AR e E ii 86 Creating aM EMSC sara sand oa e a ara a a aa eaa a a a a 86 Drawing Closed Polygons cteni priiis AA i aai ade ddd des 87 Drawing Open Poly cons issen AA A E AR 87 Summa e a O eens 88 Lesson 10 Using Attached Subplates cancion iria ideas 89 COSES AS ERA als a baie AA A ala rhe Sa leg A IAE 89 Creating asubplate di A A ai 89 A A aa a a a N 92 Lesson 11 Using Pop Up Subplates Ai esiia sevaiuasintgravensadstoxeneunnenrgnaucrpnercomnran Sia 93 CODO rt A A A IS 93 Ereatino a pop up s bplates arsy ld Aa iria 93 A O 95 Lesson 12 Using Merged Subplates uta pedis id acta 97 CD RIS Jany
124. e array in the declaration and the number of times the iterations should occur are represented by the same number If the size of the array is changed as well the number of iterations will automatically change to keep the two together and avoid a programming defect Each time through the loop the program waits for SampleDelay milliseconds and then assigns the next element in the array to be the actual position of the x axis After all of the data has been collected the status is updated to indicate that the next process is plotting The plotter the name of the storage scope screen is told to clear fit the data array and plot the data array The status is then told to indicate Ready Application Sketches Dragging and Dropping a Square Description How It Works This DRAG_SQR SAW example illustrates how to use the BeginDrag Drag and EndDrag plate event procedures to move a graphic around the window When not being handled the rectangle is displayed in a blue color When dragged with the mouse the rectangle becomes red in color and a red line is drawn from the original location of the square to the current location When the mouse is released dropped the square assumes the new position and goes back to a blue color Drag Square Example This example application is composed of a single plate The plate contains the following items const HalfWidth 10 The constant HalfWidth is used to indicate how large the square dr
125. e artist who misses the bar lands on the safety net and then rolls to the end of the net to get off program execution is captured by the net and rolls to the recover block end of the net and continues execution with the instructions in the recover block If no problem was encountered during the try statements there is no need for recovery and the statements in the recover block are ig nored The following example would illustrate how a try recover block might be used Try SpeedEditor Read aSpeed Recover Prompter Writeln Speed value not a number In this example the Read method is expecting to get from the editor information compatible with the type of the Read parameter If the user types in a name instead of a number an exception is generated by the Read method and execution moves to the recover block where an error is displayed If there are several statements and different types of exceptions could occur how are the exceptions distinguished Exception types are identified by unique numbers When responding to an exception in a recover block it is good practice to look at the number of the excep tion to gain some understanding as to what problem occurred and what a suitable response might be The exception number or escape code is found with the global function EscapeCode Typical recover blocks have a set of tests that check if it is this problem or that prob lem If the problem is beyond the capabilities of t
126. e as if it was a space for example drill_head_home_position Another school of thought is to use capitalization to emphasize where a new word begins for example DrillHeadHomePosition The second approach is used for predefined objects and methods in Douloi Pascal so your program may appear more consistent using the second method Either choice is fine Another industrially encountered convention used by Douloi Pascal is a capital T before symbols that are type definitions i e the predefined 4 dimensional vector type is called T4Vector The leading capital T is a clue that the symbol has something to do with type definitions Again this is optional but you may choose to con form to the standard for the sake of consistency Douloi Pascal supports curly bracket comments Anything inside curly brackets is disregarded and may be used to provide notes to describe the nearby program Comments are not nestable i e the one thing a comment cannot contain is another comment The following program fragment indicates how a comment might be used procedure RaiseDrillHead This procedure is used to move the head clear of the table and should be called before any table movement is performed begin ZAxis MoveTo DrillHeadClearancePosition end 119 User Manual for Motion Server and Servo Application Workbench 120 Douloi Pascal Language Variables Purpose The language system s purpose is to help you org
127. e previous data items for a hole there is now a drill procedure allowing holes to drill themselves This kind of reasoning comes up frequently in object programming where objects take on active responsibilities We could test out this object with the following code procedure test var aHole THole begin aHole init 1000 2000 500 aHole Drill end Drilling through an array of holes now becomes const NumberOfHoles 20 var HoleArray array 1 NumberOfHoles of THole procedure DrillAllHoles var scanner integer begin some process establishes hole data for scanner 1 to NumberOfHoles do HoleArray scanner Drill end The convenience of objects includes the ability to specify a standard protocol for objects being used For example all of the different TNVectors respond to the Init procedure to conveniently fill in values The parameter lists for each Init procedure are different because the dimensions of the vectors are different A TNAxis axis group also has an Init constructor If you need to know how to initialize an object there is a good chance that the way is to use Init You may need to look up the parameter list in the on line help documentation but you ll know where to look Douloi Pascal Language Using the Math Coprocessor Purpose Douloi Pascal supports infix notation for 32 bit single precision and 64 bit double precision numbers that can be calculated on systems without a math coprocessor H
128. e servos may go beyond the specified ErrorLimit and shutdown If you plan on aborting from high speeds make sure the ErrorLimit is large enough to prevent the servos from shutting themselves down There are some situations where you need to stop motion but continue to do operations while the motor is slowing down to complete the stop This can be achieved with the method BeginStop which immediately returns after telling the motor to start decelerating Jog is used to run a motor at a specified speed indefinitely Only do the following test if your mechanism has no movement limitations Do the command XAxis Jog 1000 The motor should begin jogging at a speed of 1000 counts second Now do the command XAxis Jog 2000 The motor should speed up by a factor of 2 While in the middle of a move in this case an indefinite move it is possible to request a new move 37 User Manual for Motion Server and Servo Application Workbench Dynamic Profiling One of the strengths of Motion Servers motion system is the ability to change a move while in the midst of the move It is possible to change the acceleration deceleration speed and even destination on the fly for a single axis during any part of the accel slew decel velocity profile It s possible to change a jog to a move or a move to a jog while in the midst of doing either one Let s study some examples of this Set the X axis speed to 1000 with the command XAxis SetSpeed
129. ect SAW only ooooonononononanonanonaconaconaconnconncrnnonos 268 TNAxis Object Multi Axis Motion Objects 268 Escape Code Constants aia reiro neva E aS Na MO ame 270 Mathematical Constants dis 271 Boolean Constante as E ETE 271 Torque Deserprons O ade 271 Penna les iia dies 271 PEC id adi 271 APGE Command Constants sad da 271 12 Cables and Connectors ri an E TOARE 273 IES CEU OM eia r a a ie es Peon bcd envied E ates 273 AXIS Group COMES sisii i gtir A aa RAEES E EEE a cane ons A AEE E EE N ETAR 273 OLENE A E E Sis iia 273 E StOp CONNECTOF anien e ea a ia ae aaa a AESA Aa ONA a 273 External BUS CONNECTOR ea u A a a a s 273 AXIS Signal D scriptio NS e iet ie ee E EE ER ER EE IE EEEE EGER 274 Encoder A A B B I l coococonononononononononononononononononononononononononononononononononnno nono nonnnnnnonenons 274 F nctional Description seye nosati evs E a E NEA RA E A EREA 274 Electrical Descriptions esin dl el ree oy E idos 274 Amp Enable High Amp Enable LOW seri eii dit eii 275 Functional Descripti N rl AA 275 Electrical DeSGripti OMen irin iriri aea EEE EEE A EAR N E EE ARRE 275 POSITION Capture ssri giaa A tt 275 Functional Des tail aii aiai i aoet E E A E E AS 275 Electrical Descrip ninii a A AA a a RS 275 Position COMPTE e asia 276 Functional Description stale si e n ar n R I adie a Ra 276 Electrical Description cnisa a a G aif tntgelinledes 276 ADO COMA A A EREE E OESE TEATA ds 276 Functional Descriptio tics
130. ed i e an interpreted environment This also allows you to start special behaviors such as electronic gearing or tangent servoing which operate on their own while you manipulate the servo system through other means You are not able to access SAW objects with this approach because SAW is not present however much of the real time system behavior that you have studied in the Servo Application Workbench can be accessed Functionality through Direct Calls It is also possible to access primarily the motion system through direct DLL calls These calls have basically the same names as their Douloi Pascal method names with the exception of procedures with dimension depen dent parameter list lengths These procedure names are prefixed with their class name A syntax rearrangement is needed since DLL s do not support object syntax as part of the interface definition Parameters from a normal 225 226 User Manual for Motion Server and Servo Application Workbench Usage object procedure call become sandwiched between a new first parameter which is the receiver and a new last parameter which is the error code For example if you wanted to move the XAxis by 20000 counts in Douloi Pascal you would type XAxis MoveBy 20000 Any problems with this procedure would result in an escape Using the DLL interface however you must type T1AxisMoveBy XAxis 20000 ErrorCode The first parameter is what had been the receiving object in Douloi Pa
131. ed Subplates Objective The sub plates described so far are very independent having their own appearances drag methods and regions Merged plates on the other hand are primarily organizational packages Components in a merged plate attach to the parent plate almost as if they had been defined on the parent plate The only difference is that the component names are prefixed by the merged plate s name to help prevent name collisions Merged plates are very analogous to include files in a text only programming environment The objective of this lesson is to show what a merged plate does and when you would want to use one Creating a Merged Subplate In a manner just like the creation of other subplates select the plate tool which is on the right side of the tool bar at the top Drag a square in the drawing area of SAW within the area of the default plate When you release the mouse you should see a gift wrapped package Double click on the subplate package to open it up Double click on the plate shown to invoke the plate editor Use the Next button near the plate style to advance through the style options unti you find a plate style named Merged The appearance of the style shown is that of a set of controls on top of a graphic surface with no other apparent window features The Plate editor should appear like the one below Plate Editor Plate Style Name Plate2 or Title a Title Plate Symbols EA le Merged Pla
132. ed as a referenced piece of informa tion in the caller All of the referencing and dereferencing is handled automatically by the compiler When you change the value of a parameter that is being assessed through call by reference the value of the parameter in the caller changes It s as if the single variable in the caller has two names its original name and the param eter name in the called function Call by reference allows informa tion to travel from the function back to the caller in a way besides a function return result For example a procedure can have a var parameter and through assignment to that parameter change the value of a variable in the calling routine In some cases when you want to return more than one item of information in one call call by reference is the best way to go Call by reference also incurs less stack space than call by value for structures which are large Douloi Pascal creates temporary stack space for all call by value parameters 143 User Manual for Motion Server and Servo Application Workbench regardless of size Some language systems default to call by refer ence Developers who are familiar with this technique may choose to use the VAR keyword to better simulate a parameter passing method they are familiar with The general principle for choosing between the two is If you expect the value of the variable in the calling routine to be changed by the function use call be reference by indication
133. ed by calculations which occur every sample period Within a sample the value does not change Without a request to release control until the next sample period the loop simply collects the same value of XAxis Commanded Torque many times The correct and most likely intended implementation of this loop would be for scanner 1 to TorqueDataSize do begin TorqueData scanner XAxis CommandedTorque Yield end By including a yield instruction we are indicating that we want to wait until the next sample period before continuing with this program Waiting allows the control law calculations to provide a new value so that the TorqueData will really represent the time history of torques over many samples 185 186 User Manual for Motion Server and Servo Application Workbench Program Locks While Waiting for Motion To Finish The following section of code might appear in an initialization procedure The idea is to have the motor back up in the negative direction until a homing switch is activated The motor should then stop XAxis Jog 40 repeat until InputLong 1 and InputlOnMask gt 0 XAxis Abort However when this procedure runs the computer locks up Why does this occur Tasks must release control every sample and not attempt to execute pro grams greater than their sub millisecond time slice The repeat until loop retains control for a period that might well be several seconds while the motor is looking for the home po
134. eed position compare e 10 volt command signal with 12 bit resolution Stepper Capabilities Timer Event When configured to run a stepper motor the hardware provides e 2 Mhz step rate for 4 axis 500 kHz step rate for 16 axis e configurable step pulse polarity Motion Server provides motion control functions by responding to a timer which occurs generally at 1 kHz although the frequency is programmable This times event performs three major functions The first function is control law execution Servo control is accomplished with the familiar zero pole integrator filter used in many motion control systems This PID control law operates at a 1 kHz sample rate providing comfortable closed loop system frequencies of 100 Hz and below Stepper motor control is accomplished by updating pulse generating electronics at a frequency of of 1 kHz providing continuous velocity control of stepper motors The second function of the timer event is motion profiling Motion Server is able to profile motion for up to 16 physical axes These axes can be combined in different arrangements to form various coordi nated multi axis groups Any particular axis group can perform coordinated motion along an arbitrary path Multiple axis groups can perform motion concurrently and independently The motion profiler uses a dynamic profiling technique which permits changing profile parameters on the fly including acceleration deceleration slew speed and in some
135. een illustrated through DLL access from conventional languages systems are also presented in Servo Application Workbench SAW is not accessible from another language system but rather is its own language system more similar to Visual Basic than any of the other languages illustrated in this example set This is included in the section on DLLs to provide a basis for comparison SAW Implementation of Example 1 Description This example moves the XAxis motor to several different locations and to write out commanded position information Source Code The following was written in the click procedure of a single button on the default plate Procedure Editor Edit Search procedure Click begin KAxis SetServo on KAxis MoveTo 0 X xis MoveTo 5000 X xis MoveTo 10000 X xis MoveTo 0 X xis MoveBy 2000 X xis MoveBy 4000 X xis MoveTo 0 Prompter Writeln Done 253 User Manual for Motion Server and Servo Application Workbench Explanation Initialization is handled for you when SAW first starts It is not necessary to worry about the dimension of the method when used in the object format of Douloi Pascal as compared to the DLLs If the wrong number of parameters is provided a compiler error will inform you of that All TNAxis machines use the same procedure names ie TNAxis machines of dimension 1 through 6 all know how to MoveTo a set of coordiantes Each procedure is matched to its respectively dim
136. efault window An editor should appear similar to figure below Plate Editor Plate Style Name Plate1 Title la Title Plate Symbols N Plate Events Next function CanClose boolean Default Edit procedure BeginDrag Default procedure Drag Default rocedure EndDrag Default This is called a Plate Editor The default window is called in SAW terms a plate rather than just a window Plates appear as windows but contain additional information much of which is available to alter with this plate editor The idea behind the word plate is the action of attaching items to plates Already text items and buttons have been attached to this plate As well it is possible to attach non spatial items to a plate including data structures such as variables and arrays and behaviors such as event proce dures and user procedures and functions These different things become part of the plate and travel along with it Click on the Title field and change that field to the title Test Applica tion Close the Plate Editor by clicking Ok and run the application Run Start App Note that the caption is now Test Application instead of a Title 59 User Manual for Motion Server and Servo Application Workbench Test Application Close the application by double clicking on the upper left system menu icon on the Test Application window Change a Plate Appeara
137. eln appends to line advances line procedure TFile Read reads next item in line procedure TFile Readin reads next item advances line function TFile ReadLongint longint returns next longint in file function TFile ReadlnLongint longint returns next longint and advances line function TFile EndOfFile boolean indicates if file is finished r TFiles know how to Writeln and Readln information IO Errors that might occur during file handling are indicated with escapes generally ReadEscapeCode and WriteEscapeCode TFiles operate by sending mail to Windows which performs the DOS operations on behalf of the TFile It is not possible for TFiles to directly access DOS because of the DOS re entrance limitation Accordingly do not expect TFile operations to be real time They are subject to physical time delays as well as Windows coopera 195 196 User Manual for Motion Server and Servo Application Workbench tive multitasking delays An example of a physical delay is reading disk information which is not in the disk cache requiring the hard disk read write heads around to get the information An example of a Windows delay might be dragging an application title block to move the application to a new location Windows blocks all other Windows activity until the title bar is released Examples The following code section might be used to perform a multiaxis playback of vector infor
138. en tion that type definitions begin with a capital T to help direct the reader in understanding the purpose of the symbol A function that might use such a type could be procedure DrillHole aHole THole begin XYAxis MoveToVector aHole Location ZAxis MoveTo aHole Depth ZAxis MoveTo 0 end You can then create an array of holes through an array declaration such as const NumberOfHoles 20 var HoleArray array 1 NumberOfHoles of THole You could then have the drill perform all of the holes assuming they were all initialized to appropriate values with the routine procedure DrillAllHoles var HoleScanner integer begin for HoleScanner 1 to NumberOfHoles do DrillHole HoleArray scanner end The array is composed of THoles Any particular item in the array is a THole and accordingly can be passed as a parameter to a function expecting to have a THole User defined types help elevate the abstraction of a program by allowing the program to manipulate items that are more like items in the actual problem i e a drill is concerned with holes It is very Douloi Pascal Language convenient to be able to directly discuss holes rather than being constantly concerned with lower level details of holes such as x and y locations and drill depths User Defined Object Types Objects are similar to records and have similar type declarations The difference between an object and a record is that as well as field
139. ensioned machine so as to collect the correct num ber of parameters Explicit error checking is not required since a problem will genereate an escape and notify the operator directly You have the ability to trap escapes to alter the error behavior Note that while motion is ocurring Windows interaction comes to a halt just like the DLLs There many situations where it is important to not continue until a procedure is finished Buttons do not allow Windows activity to occur until their procedures are finished This is not restrictive however since buttons can have as their behaviors the scheduling of tasks 254 Using the Servolib Dynamic Link Library SAW Implementation of Example 2 Description Source Code Explanation This example illustrates how to continue with program execution during a motion from within a single task The following was written in the click procedure of a single button on the default form Procedure Editor Edit Search procedure Click var MoveDurationCounter longint begin MoveDurationCounter 0 KAxis SetServo on R XAxis BeginMoveBy 50000 Pronpter Writeln Free to continue repeat yield MoveDurationCounter MoveDurationCounter 1 until XAxis MovelsFinished Prompter Writeln Move Done end This uses BeginMoveBy to start the motion and then performs other activities checking to see if the motion is complete Although a small improvement over the first exa
140. entire process Fundamental Principles A statement of the position of a driven shaft with respect to a driving shaft including phase advance is Pn Pd Gr Ta where Pn Position of Driven Shaft Pd Position of Driving Shaft Gr Gear ratio Ta Fixed Phase Advance The more general expression is Pn Pd Gr T t where Pn Position of Driven Shaft 207 208 User Manual for Motion Server and Servo Application Workbench Pd Position of Driving Shaft Gr Gear ratio T t Phase advance angle as a function of time Implementation The desired phase advance angle or total amount of phase advance is usually a number that results from some registration information in the process for example in the initial illustration the total amount of distance that the carriage was lagging was 2 inches The phase advance angle shown in the equation above needs to smoothly change in value from 0 to the desired total phase advance angle It would be possible to create a function which generated a smoothly varying numeric value to use as a function in the electronic gearing equation however this would be re inventing the wheel The activity of creating smoothly varying numbers is extremely common in motion controllers and is typically caller profiling The com manded setpoints for a motor during a trapezoidal move is calculated by the profiler with all of the conveniences of having a settable accel decel and slew The simplest way
141. er through binary commands Details of binary commands are explained in the Binary Command Manual Visual C and Visual Basic If you are using Visual C or Visual Basic you should install the Binary Command Interpreter for the operating system you intend to use Details of binary commands are explained in the Binary Command Manual Example Setup Procedure After choosing a particular setup option a setup procedure similar to the following will appear Different selections have difference dialogs however this is representative Run REI Type the name of a program folder or document and Windows will open it for you Open b setup y Cancel Browse An installation screen will appear You will be shown the following intro ductory dialog 20 Setting Up the System Welcome to the Servo Application Workbench Setup program This program will install Servo Application Workbench on your computer Itis strongly recommended that you exit all Windows programs before running this Setup program Click Cancel to quit Setup and then close any programs you have running Click Next to continue with the Setup program WARNING This program is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible under law Select the Ne
142. ercised when setting up a limited motion system External connections will be made incrementally checking out the correctness of the connections as you move along An example will be walked through for a single axis Repeat the following procedure for each axis in the system 23 User Manual for Motion Server and Servo Application Workbench Servo Motor Setup Hooking up the Encoder Motion Server expects to interpret quadrature encoders A 5 voltage is provided on the axis encoder connector to power the encoder If you have a 12 volt encoder the signals can be properly interpreted however you ll need to supply the encoder power from an alternate location such as a disk drive connector plug The encoder may be two channel or three channel single ended or differ ential The type if not explicitly known can be inferred from the types of signals being returned Channels are typically labeled A and B for the main quadrature information and I for the index pulse a once per revolution signal useful for initialization or position integrity checks If the encoder has differential outputs there should be corresponding A B and I signals one complement signal for each line If your encoder does not have differential outputs simply leave the differential inputs disconnected An internal voltage reference provides a suitable level for these lines in the absence of an external signal Do not ground the A B or I inputs Ground i
143. es The other task may get blocked while its performing PositionDisplay Writeln but we don t care All that means is that the position information displayed is a little out of date It will correct itself as soon as the offending Windows application lets go and the screen refreshes Also note that the 5 Hz PositionDisplay update rate is provided quite easily through ScheduleTask 200 is the specified number of millisec onds in between each invocation of ShowPosition 173 174 User Manual for Motion Server and Servo Application Workbench This illustrates one of the benefits of multitasking By separating out the movement responsibility from the display responsibility the tasks become decoupled and each is simpler The familiar saying the sum of the whole is greater than the sum of the parts might be restated as the complexity of the whole is greater than the complexity of the sum of the parts Decom position is almost always a good idea Multitasker Commands Techniques The following commands manage the operation of the multitasking system Details of command syntax and usage may be found in the SAW on line help BeginTask Causes a specified task to begin execution SuspendTask Causes a specified task to hold off execution ResumeTask Causes a specified suspended task to continue executing ScheduleTask Causes task to periodically begin execution ADOGETASK odd vide ss Causes a specified ta
144. ese objects Edit the name of the text item to be Display such as shown below 5 Swicteatdor Name Display N Legend Hello World Close the Text editor Create a new button and place it below the text item as shown in below SAW Untitled dit Tool View Arrange Defaults Run im File O E El ol ol 9 El 3 al COCCO lal Double click on the button and change the button legend to Push Me 55 User Manual for Motion Server and Servo Application Workbench 56 SAW Untitled File Edit Tool View Arrange Defaults Run a Title ll les lolo fool E LLLI ILI Halek ales Select the Click procedure in the event list and select Edit Modify the click procedure to include procedure click begin Display Clear Display Writeln Pushed end Run the application Push the Push Me button You should see new text in the Display text item Pushed Push me Close the application and return to the SAW drawing area Select the Push Me button While holding down the control key on the keyboard drag the Push Me button to a new location Note that you have created a copy of the button by holding down the control key Copies contain the same shape attributes and procedures as the original however the name has been changed Edit the legend of this button copy to be Servo Application Workbench Tutoria
145. etails of usage Note that conforming to the Windows API model pointers are manipu lated as longints the cross language universal 32 bit pointer type offering the most general usage but least pointer type protection The details of the DLL commands are found in the help system Click on DLL Command Reference from the help index The following pages provides some example programs of how the DLL might be used For those first moving to C or Visual Basic from a Pascal background mindset be aware that the following action quite intuitive and correct to a Pascal programmer will create a compiler detected but non obvious error SetServo XAxis 1 ErrorCode Although this looks completely reasonable it does not work Procedures and functions in both C and Visual Basic must have parameter parenthesis even if they don t have parameters Without the parenthesis both languages interpret XAxis as some thing besides the XAxis function in the ServoLib and the program does not compile Remember to add an empty parameter list to all procedures and functions i e TNAxisSetServo XAxis 1 ErrorCode 227 User Manual for Motion Server and Servo Application Workbench 228 Using the Servolib Dynamic Link Library Turbo Pascal for Windows DLL Examples Turbo Pascal for Windows makes use of the ServoLib DLL most conve niently through the ServoInt Interface unit This unit should be included in the uses clause of your pr
146. eters The next example makes an important distinction between try recover and these other techniques Imagine the following proce dures procedure PerformMotion Destination longint begin XAxis BeginMoveTo Destination end procedure PerformManyMoves var scanner longint begin for scanner 1 to 10 do PerformMotion scanner 1000 end try PerformManyMoves recover begin if EscapeCode MotionOverrunEscapeCode then Prompter Writeln Motion Overrun Occurred else Escape EscapeCode end The first procedure abbreviates an X axis motion The second proce dure performs many of these motions The try statement invokes PerformManyMotions however it is possible for the motor to be actively moving to a destination from some previous activity If the BeginMoveTo which eventually gets called in PerformMotion cannot successfully splice a new destination onto the current motion a MotionOverrunEscapeCode will be generated PerformManyMoves contains no error management code at all Never the less the MotionOverrunEscapeCode will travel through Douloi Pascal Language this intermediate procedure and get caught in the recover block of the routine which called PerformManyMoves This emphasizes the safety net model of try recover Escapes can traverse through different call levels to find a solution to a problem The ability of Try Recovers to be nested indirectly through proce dure calls is a ve
147. figured as inputs allowing a standard OPTO 22 cable to plug into the connector without contention between the cable grounds located on all the even pins and signals normally available on those pins Description Pin Pin Description Group 1 YO 1 YO 2 Group 2 Group 1 YO 3 YO 4 Group 2 Group 1 VO 5 VO 6 Group 2 Group 1 VO 7 YO 8 Group 2 Group 3 YO 9 YO 10 Group 4 Group 3 YO 11 YO 12 Group 4 Group 3 YO 13 YO 14 Group 4 Group 3 YO 15 YO 16 Group 4 Group 5 YO 17 YO 18 Group 6 Group 5 YO 19 YO 20 Group 6 Group 5 YO 21 YO 22 Group 6 Group 5 YO 23 YO 24 Group 6 Group 7 YO 25 YO 26 Group 8 Group 7 YO 27 YO 28 Group 8 Group 7 YO 29 YO 30 Group 8 Group 7 YO 31 YO 32 Group 8 Group 9 VO 33 VO 34 Group 10 Group 9 VO 35 VO 36 Group 10 Group 9 VO 37 YO 38 Group 10 Group 9 VO 39 YO 40 Group 10 Group 11 YO 41 YO 42 Group 12 Group 11 VO 43 YO 44 Group 12 Group 11 VO 45 YO 46 Group 12 Group 11 VO 47 YO 48 Group 12 5 Volts Ground 281 282 User Manual for Motion Server and Servo Application Workbench EStop Connector Definition The EStop connector has 6 pins defined as follows pin 1 Not Connected pin 1 is closest to the mounting bracket rear of PC pin 2 Ground pin 3 E Stop input pin 4 I O 1 from 50 pin connector pin 5 12 Volt Input for Unlocking Flash Memory pin 6 12 Volt Source from PC Placing a jumper between pins 2 and 3 enables the E Stop which must be maintained at ground against its 4 7k pullup This is not recommended if d
148. ge being dragged and dropped a servo controlled mecha nism can be dragged and dropped This provides a powerful endpoint specification technique for two dimensional mouse joystick movement In a similar manner the SquarePosition could be constantly updated by a scheduled task to have the current actual position of the machine shown on the display as a picture moving in two dimensions This allows the con struction of visual model of the machine s activity with the connection going both ways 108 Application Sketches Mouse Indicated Selection Description This DRAGCIRC SAW example illustrates how to select one item from among several for dragging The 5 circles in the figure can be individually dragged to a new location by clicking within their radius dragging to a new location and releasing the mouse Drag Circle Example How It Works This example application is composed of a single plate The first constant is NumberOfCircles const NumberOfCircles 5 The constant NumberOfCircles is used to size arrays which contain circle information and as an upper bound for iterating over the circles in the application There are three arrays in the application var CircleLocation array 1 NumberOfCircles of T2Vector var RadiusArray 1 NumberOfCircles of integer var ColorArray 1 NumberOfCircles of integer 109 User Manual for Motion Server and Servo Application Workbench These arrays contain the attribu
149. gency stop even without a descriptive legend You can swing at such a button and successfully hit it much quicker than finding the mouse and clicking a Windows control This button should be connected to the EStop input This can be accessed with a 6 pin plug or by placing the jumper on pins 1 and 2 the pins closest to the Motion Server mounting bracket In this latter case input bit 1 on the general purpose IO cable becomes the EStop input The EStop input is used to make a normally closed continuous loop to ground If any EStop button in the loop is opened the Motion Server hardware shuts down power to the drive regardless of what the software is requesting The watchdog system always turns the servos off The interpretation of a watchdog event is that controller integrity has been lost Without the controller operating correctly the servos are basically not being controlled at all and any expressed request for power is potentially dangerous 261 262 User Manual for Motion Server and Servo Application Workbench An emergency stop on the other hand represents not a loss of system integrity but some insight from an operator that the machine needs to stop Accordingly it is possible to consider an emergency shutdown plan that gracefully decelerates the motors etc to perform a stop The more conser vative choice is to leave the User Disable jumper in place and simply turn the motors off However coasting motors or motors dropping from a
150. h if scanner 1 then 111 112 User Manual for Motion Server and Servo Application Workbench begin MinimumDistance Length Movelndex 1 end else if Length lt MinimumDistance then begin MinimumDistance Length Movelndex scanner end end CircleLocation Movelndex MousePosition UpdateDisplay end For each of the cricles the DeltaVector is calculated which is the vector pointing from the circle to where the mouse clicked This shortest length and corresponding circle index is then remembered to identify the nearest circle The location of the nearest circle is updated to be the mouse position and the display is updated to show this change The currently selected circle is remembered in the Movelndex The Drag procedure uses this to con tinually update the circle location as the mouse is dragged procedure Drag begin CircleLocation Movelndex MousePosition UpdateDisplay end Application Sketches Passing Object Parameters Description PASS _OBJ SAW illustrates how parameters to functions can be objects In this example three different plates are passed as parameters to a function which performs a drawing operation Each plate has its own color and each can independently zoom in on the image that has been placed into it Passing Object Parameters How It Works This example is composed of four plates 5 bumps and one button The plate contains the following procedure Proce
151. h the word Text on it Close the window and return to SAW SAW Untitled dit Tool View Arrange Defaults Run im File a Title L E Hel SA oj al ofc ar E E z E 53 User Manual for Motion Server and Servo Application Workbench Change Text Interactively In the SAW drawing area select the text item by clicking inside the dotted rectangle shape Relocate the text within the boundaries of the default window frame by dragging the text item to a new location Resize the text window by dragging one of the four corner handles to a new location The size of the text is currently fixed The length of the box determines how long a section of text can be accommodated Double click on the text box in the SAW drawing area A text editor should appear similar to what is shown below Static Text Editor Name Static3 Legend Text Select the lower field currently containing the word Text and change that word to some other word such as Hello World Select Run Start App The appearance should have changed to what is shown below Hello World Close the application and go back to SAW Servo Application Workbench Tutorial Change Text with a Program Double click on the text box again The upper field is called Name Objects being placed into the application such as buttons and text items have names which are used to refer to th
152. handling can be shared by writing a single handler routine which is used by many different tasks i e function EscapeProperlyHandled anEscape integer boolean begin EscapeProperlyHandled true if anEscape MotionOverrunEscapeCode then else if Prompter Writeln Motion Overrun anEscape EditorExpectingLongintEscapeCode then Prompter Writeln Expecting longint else EscapeProperlyHandled false end try lt do task operations gt recover if not EscapeProperlyHandled EscapeCode then Escape EscapeCode The routine EscapeProperlyHandled can be used by many different tasks in top level recover blocks to avoid having to copy the recover behavior into each one 159 User Manual for Motion Server and Servo Application Workbench 160 Douloi Pascal Language User Defined Types Purpose Getting organized can be aided by having containers that are the right size and shape for items you need to have stored Douloi Pascal supports user defined types for records and objects that permit creating special storage containers for information This section describes the creation of user defined types User Defined Record Types If you find a need for a special data type that has not been provided as a predefined type you can create your own When creating user defined type definitions you are moving out more on your own than with general t
153. he recover block the block ends by issuing an exception itself in the hopes that a proce 154 Douloi Pascal Language dure or function that called it may know how to handle the problem Exceptions climb up the procedure invocation ladder looking for a recover block that is willing to handle their problem This recover block exception is created with the statements Escape EscapeCode Escape is a procedure which causes an exception to be generated The value of the escape is EscapeCode the currently unhandled error If no one knows how to handle the problem the exception eventually makes its way back to SAW which has a default recover block that displays the escape code on the screen An example of a more advanced try recover block might be the following try begin DestinationEditor Read aDestination XAxis BeginMoveTo aDestination end recover begin if EscapeCode ReadEscapeCode then Prompter Writeln Please provide a longint else if EscapeCode MotionOverrunEscapeCode then Prompter Writeln Impossible move requested else Escape EscapeCode end In this example there are two statements in the try block The first statement the editor read has the capacity to escape if the user provides a type which is not suitable The second statement the x axis movement has the capacity to escape if while in motion a desti nation is given to the axis which it cannot perform The recover block
154. he same meaning use a constant to insure these two values stay in synch in the event of a future change An important place for constants is in array bound declarations Arrays are often used to store information about the servo system during data collection It is very important that an array is not over filled Accordingly whatever procedure is filling the array should use constants to indicate the range of filling which are the same constants used to define the array size This insures that as the array size is altered that the filling operation is automatically altered as well to insure consistency Note that symbolic names may be typed into the lower bound and upper bound fields in the variable declaration dialog box allowing this technique to be used with SAW 134 Douloi Pascal Language Operators Purpose Beyond merely shuffling items from one place to another organiza tion is accomplished by combining and operating on items to pro duce new items This section describes common infix operators used in Douloi Pascal Operators for simple types Douloi Pascal supports different infix operators Infix means that expressions are written in a conventional math sense with the operator in between the two parameters it relates to For example to add two variables and assign them to a third is done with Sum Operand1 Operand2 Spaces are not required between the operator and the operands A frequently encou
155. he start of the array by having the same value at both ends The next step is to create a function which will provide a displace ment value given any number between 0 and 2000 the range of cam rotation This will be accomplished by interpolating between the points provided that specify the cam The function CamOutputPosition is shown below function CamOutputPosition InputPosition longint longint var BeforeVector T2Vector var AfterVector T2Vector var DeltaVector T2Vector var scanner integer var AfterVectorFound boolean begin InputPosition InputPosition mod 2000 AfterVectorFound false scanner 2 repeat 213 User Manual for Motion Server and Servo Application Workbench if CamArray scanner X gt InputPosition then AfterVectorFound true else begin scanner scanner 1 if scanner gt CamArrayLength then Escape CamOutputPositionFailure end until AfterVectorFound AfterVector CamArray scanner BeforeVector CamArray scanner 1 DeltaVector AfterVector BeforeVector Cam0utputPosition BeforeVector Y DeltaVector Y CamInputPosition BeforeVector x div DeltaVector X end The procedure starts by using the mod operator The InputPosition could represent any rotational location The mod provides the remainder of rotation realized after all of the integer number of turns have been removed giving a number in the range 0 to 1999 A loop is then performed which scans through
156. here the home sensors are and stopping upon finding the home sensors The machine then travels in the reverse direction at a very slow rate waiting for the home sensors to untrip At that point the ma chine then performs a relative move by a small amount determined during the machine s initial construction so as to optimize the location of the index marker on the encoder The machine then moves at a slow speed and waits for the index pulses to occur At this point the position of the ma chine is accurately known 263 User Manual for Motion Server and Servo Application Workbench The additional move between the untrip of the home switch and the search for the index pulse is provided to maximize the likelihood of finding the correct motor rev The home switch basically gets the machine to within a motor rev and the index pulse to within a count However it would be possible in certain situations to select the wrong motor rev Imagine that after the home switch has untripped that the index pulse is currently active i e you happen to be right on the index pulse If you had untripped a small amount sooner you would immediately come upon the index pulse as you advanced from this point If however the home switch had untripped a moment later you would have already missed the index pulse and wouldn t find it again for an entire rev This ambiguity of an entire motor rev is a large uncertainty To avoid this uncertainty the machine should sta
157. i Pascal does not necessarily execute the loop body For example for scanner 1 to 1 do Prompter Writeln This will never write Setting up explicit numeric bounds such as this would probably never occur However the following frequently occurs for scanner 1 to NumberOfPointsInArray do begin PlotPointAtVector DataBuffer scanner if scanner gt 1 then Plotter DrawLine DataBuffer scanner 1 DataBuffer scanner 1 DataBuffer scanner DataBuffer scanner X Y r X A end In this case data in an array is being plotted with discrete points as well as lines between data values Iterating over collections frequently occurs and having to handle an empty collection as a special case is annoying i e if the body of the for loop always executed at least one time you would be obliged to write the previous example as 149 150 While Loop User Manual for Motion Server and Servo Application Workbench if NumberOfPointsInArray gt 0 then begin for scanner 1 to NumberOfPointsInArray do begin PlotStarAtVector DataBuffer scanner if scanner gt 1 then Plotter DrawLine DataBuffer scanner 1 DataBuffer scanner 1 X Y F DataBuffer scanner X DataBuffer scanner Y end end To simplify management of empty collections Douloi Pascal does not require executing the for statement at least once The loop variable must be a local variable 1 e defined inside the
158. ical encoder This signal can be used for higher speed more repeatable homing or for en coder drift detection Electrical Description Encoder signals go into a 3486 style differential receiver The receiv ers are rated for a maximum differential mode voltage of 25 volts and common mode voltage of 15 volts In most cases the en coder signals are 5 volt signals Chapter 2 Amp Enable High Amp Enable Low Functional Description The amplifier enable signal is a digital output which allows the motor amplifier to apply power If the amplifier is not enabled the amplifier will not produce motor current regardless of the level of the motor command voltage Different amplifiers have different conventions for what enable means Some apply power if the signal is a high logic level Some apply power on a low logic level To accommodate these differences both a high and a low level signal are provided Review amplifier documentation to learn which level is required Douloi Automation recommends setting the amplifier if the option is available to be inactive until a deliberate amp enable signal is provided by the controller Providing both a high and low level signal places the decision of amplifier enable sense into the machine wiring harness not an on controller jumper which could be misconfigured Electrical Description The amplifier enable signals are driven by a 74LS07 with open collector outputs Position Capture
159. ice on how to best proceed System Requirements Servo Application Workbench requires an IBM or compatible PC Wintel computer running Microsoft Windows version 3 1 3 11 Windows for Workgroups or Windows 95 Also required is a VGA monitor 8 mega bytes of memory mouse 2 megabytes of available hard disk space This document presumes that you are familiar with Microsoft Windows Pascal familiarity is helpful but not necessary Software Installation Software needed to use Motion Server and SAW may be installed in your system by running double clicking the SETUP HTM file in the root directory of the CD ROM Instructions specific to particular browsers are described in this file Servo Application Workbench Installation If you ve licensed Servo Application Workbench install the SAW Full Development Environment If you have not licensed SAW Douloi Auto mation recommends that you install the SAW Run Time Edition This provides access to diagnostic software and allows Douloi Automation to guide you through diagnostic procedures if required The Run Time Edition allows you to load SAW applications but not to save any of your work Make sure you choose the appropriate operating system 19 User Manual for Motion Server and Servo Application Workbench Think amp Do Installation If you are using Think amp Do Software install the Binary Command Interpreter under the Windows NT section Think amp Do communicates to Motion Serv
160. icrosoft Windows In Windows users can describe real time activities that execute on the Motion Server card independent of the host processor These behaviors can then be retained in Motion Server for use in other operating systems Motion Server can be used with any Windows language system which communicates to Windows Dynamic Link Libraries DLLs such as Visual Basic or Turbo Pascal for Windows Servo Application Workbench is a particular language system which greatly simplifies the use of Motion Server by providing convenient access to the functionality of Motion Server as well as providing components for creating control panels for servo or stepper motor controlled machines After creating a motion control application with SAW the system can be configured to start the application independently from the Program Manager or AUTOEXEC BAT file as if the application was a conventional Windows application 13 14 User Manual for Motion Server and SAW Objective of Document The purpose of this document is to provide information in the order you will need it in the course of setting up and using a system Specific details on features are found in the SAW on line help reference manual accessed through the Help menu selection in SAW or the Help icon in the Servo program group The on line help serves as the Reference Manual for the system This document serves as the User Manual Information can be found by either following information paths from
161. ics 67 bump handles 67 Bump Tool 67 Bumps 67 bumps 103 button 49 Button Tool 52 Button Up 81 button specific 78 Button5 114 Buttons 49 254 buttons 17 43 By 35 C C style strings 235 C 32 116 cable 27 CalcTest 71 Calculator 71 Calculator Project 71 Call By Reference 143 call by reference 114 141 Call By Value 143 call by value 114 141 called by reference 114 caller profiling 208 calling routine 142 143 cam geometry 212 cam rotation 213 CamArray 214 CamOutputPosition 211 213 214 CamScaleFactor 215 caption 60 Cartesian 40 Case statements 148 Catalogs 92 chamfered edges 70 channel 24 Channels 24 channels 26 Check Encoder 24 CHECKAMP EXE 26 CheckTask 171 174 Clear 33 106 113 Click 47 50 click procedure 51 57 click procedures 170 clicking 43 clip art 17 Close 47 50 53 54 55 56 closed polygons 87 Code 117 Collect 104 collection size 103 Combined Access 243 commanded 28 34 commanded position 174 208 commanded setpoint 170 CommandedPosition 34 35 40 260 commands 32 comparison operators 145 compartment labels 161 compartments 123 compensation 28 29 35 Compile 245 compile time evaluation 136 compile time error detection 116 compiler 17 complement 24 component compartments 124 component storage areas 124 compound conditional expressions 145 compound statement 146 Conditional expressions 145 conditional jumps and iterati
162. iled explanation than is provided in the tutorial Throughout this section there will be italic paragraphs that provide a detailed explanation of related principles to a topic being covered These paragraphs are provided to answer questions advanced devel opers may have but are entirely optional If you find the initial italic paragraphs helpful read future ones and if not skip future ones Language Overview Motion Server through SAW may be programmed through the provided Object Based Pascal language referred to as Douloi Pascal The instructions you write are compiled into 32 bit 386 object code for quick execution During this compilation step certain program ming errors might be detected SAW attempts to provide you with an opportunity to correct those errors by presenting the offending instructions in a suitable editor for you Douloi Pascal is strongly typed which means that everything you say must be clearly explained Strongly typed languages generally do not help you by automatically creating variables or accepting as correct different types of parameters for a function call but rather insist on issues being clear up front 115 User Manual for Motion Server and Servo Application Workbench Question Why is the language described as Object Based rather than Object Oriented Object oriented languages are making important inroads as industrial tools primarily through C The definition of an object oriented
163. imilar to the IF construct if more than one statement needs to execute enclose that group of statements in a begin end compound statement The thing that s hard to remember about if else constructs is that a semicolon does not follow the statement preceding the else The entire construct from the compilers point of view is one single statement Semicolons do not come until the end of the statement If an unnecessary semicolon is provided before the else the compiler will let you know so you can remove it 147 148 User Manual for Motion Server and Servo Application Workbench For Loop If Else statements can be nested to produce one action from many type selections i e if Today Monday then Prompter Writeln What happened to the week end else i pro else i Pro else i Pro else i Pro else Prompter Writeln Love that weekend Today Tuesday then pter Writeln Where is the coffee Today Wednesday then pter Writeln Half way there Today Thursday then pter Writeln We are almost there Today Friday then pter Writeln TGIF 35333 th The Last else catches all the cases that did not qualify in the pro ceeding tests Note again that the semicolon does not occur until after the last statement to conclude the entire group Douloi Pascal does not provide a Case statement Case statements can be simulated with the illustrated If Else type construct
164. in black border Run the application and you should get an appearance similar to what is shown below Servo Application Workbench Tutorial Note that the circle on the main plate is partially obscured by the subplate Attached subplates are responsible for the entire appearance of the screen that they cover Accordingly if an attached subplate has a white back ground that background imposes itself on the assembly obscuring what lies underneath Merged plates on the other hand do not take responsibility for a section of the screen but simply add their contents to what is already in the parent allowing graphics to blend together Summary Merged plates should be used when adding primarily graphic subassem blies to an application or when adding subassemblies which do not specifi cally have appearance such as a collection of procedures for operating a third party IO board Use attached plates when you want to delegate a section of the application s appearance to another part of the program Use a pop up plate when you want a section of the application to come and go in the course of execution 99 User Manual for Motion Server and Servo Application Workbench 100 Chapter 5 Application Sketches Purpose Application Sketches provide examples of certain functions can be per formed Functions such as collecting and displaying real time data drag ging and dropping figures and graphically presenting information in va
165. ination since the destination will be updated on the next sample giving the ZAxis a continually moving target for the motion The recover block is provided to catch the case where the ZAxis is not able to turn around quickly enough Motion Overrun In this case the ZAxis will simply stop which is necessary if you need to turn around and will be able to head towards the destination the next time around when that move request is made again Some applica tions may require a snappier response from the ZAxis These application can simply set the ZAxis position directly from the angle information and go around the profiler This routine would then be just procedure SetTangentAxis begin ZAxis SetCommandedPosition TangentAngle end The only problem with this is the sudden change that will be asked of the ZAxis if the XYAxis makes a sharp corner This could result in sudden and surprising motion as well as more demands on the power electronics and mechanical structure than is necessary for the appli cation 219 220 Limitations User Manual for Motion Server and Servo Application Workbench For SetTangentAxis to have an ongoing effect it must scheduled The following routine might be placed in a click procedure for a button named engage procedure Click begin LastAngle 0 XYAxis GetActualPosition AnchorPosition RevAccumulator 0 LastAnswer 0 ZAxis MoveTo 0 ScheduleTask Addr SetTangentAxis 1 end Thi
166. indows interaction comes to a halt By using the MoveTo and MoveBy routines the program waits for the moves to finish Although simple to synchronize this ap proach is very limiting for an interactive application The following examples show ways to not have this limitation 230 Using the Servolib Dynamic Link Library TPW Example 2 Direct Access Description This example expands on the first by starting a motion and then performing another operation while the motion is taking place Source Code SER AIRE KE KOK E ERER KIERR KEEKEKE KERER ERIR EE EKE LORE AK KKB ROKK IKKE RA KOR REKER ERK RR AA KE KN li E A BERK ERA EKER KOK RR REAR RR RRR RENAL RR O KOREN LRN KER ER RR EERIE KERR FORK CAI RY RK RRA ACK RIE RK AR ARK RER AR A kkk TPW DLL Direct Call Example 2 FR A ke a VRR ERRER RE KEK RAK AK EK PRR AA ASA IER EER KAKA RK EK x Created By Randy Andrews Creation Date 12 oct 92 kx k RAR AA ACK IER FORK AIRIS RI ROR KKK EKE Description REAR ARK KE KY PR EAA AIK IO ERR EAR xxxxxxx This moves an axis while performing other activities XX x xxxxx during the move This illustrates the use of direct AERA AEA KAAS x xx X Calls to learn about motion status during movement RATE ERIK Bef PR RA AAA IEL EX PERR RRR R N KRIER RAR AR EKAR KEAR IE IE AERA EAR KKB BRK Dd EIE KR ER ARER DER PORE ICR REK KKK BOK AK REE KEE RERE RAO ASR SO R KERE ARNA AEI AEE E E
167. ined or cropped to the inside of this rectangle After selecting the tool drag a box across the default plate approximately the size of the default plate The cursor should now change to a fat cross Drag the cross over the center of the plate and note that the bitmap image in this case a small bitmap of earth follows the fat cursor Release the mouse button and the bitmap becomes fixed to the last position If you are not happy with the bitmap location select it by touching it with the Choosing tool select Edit Cut and try again Run the application An example result is shown below 83 84 User Manual for Motion Server and Servo Application Workbench Summary Close the running application select and cut the bitmap and place the bitmap again into the application with the cropping tool However this time crop a much smaller rectangle about half the size of the bitmap The bitmap only is shown through the more restricted size of the cropping The result of this smaller cropping rectangle is shown below Bitmaps may be used with other graphics techniques For example bitmaps can be used in conjunction with bump graphics to produce panels such as is shown below application not fully functional Aft View Destination i Mars Retros E Pluto irene Pon Earn Remember that it may be necessary to order the grahics appropriately so that the you see what you would like to Drag methods work thro
168. ing the answer and restoring the coprocessor to its previous condition all in one sample This allows calculations being performed by other programs to complete correctly The template for this process is shown as follows procedure CoprocessorExampleUse var Buffer TMathCoprocessorBuffer begin FSave Buffer FInit perform calculations FRestore Buffer end 165 User Manual for Motion Server and Servo Application Workbench 166 Calculation Procedures and Functions The following list briefly describes procedures and functions used with the math coprocessor Additional information can be found in the on line help In general the procedures map directly to math coprocessor instructions The notes use a Forth style comment notation indicating the before condition of the stack on the left side of the dash and the after condition of the stack after the operation The following procedure should be used when first starting the application to put the coprocessor into a known state procedure FInit Typically this would be in the setup procedure for the main windows although it may also be in the procedure that uses the coprocessor as shown in the examples following The following routines are used to put types found in Douloi Pascal onto the top of the math coprocessor stack function PushLongint aLong longint GSS 1 function PushSingle aSingle single Cy function PushDouble
169. ion gt 20000 This causes the XAxis to hop a small step repeatedly until the absolute position is greater than 20000 Repeat constructs are unusual in that they are the only construct which permits a group of statements between the repeat and until keywords without an enclosing begin end construct although Try Recover Douloi Pascal Language you re welcome to put the begin end in there if you like The structure of the construct explicitly delimits the range of instructions so the compiler is able to distinguish the range without any addi tional help For the same reasons as explained for while constructs it is never appropriate to have an empty repeat construct i e the following would be the minimum repeat body repeat yield until XAxis ActualPosition lt 20000 or some other condition Try Recover provides structured exception handling Exception handling has been recently approved by the ANSI committee for C and is regarded as a powerful new capability that will simplify program design in the future Douloi Pascal provides an exception handling mechanism through Try Recover Although more in volved than other control structures Try Recover can simplify application design It is important to understand Try Recover be cause many object methods use this structure and may expect appli cations calling these methods to respond appropriately An exception or escape is a syste
170. ion Server and Servo Application Workbench Calculating The Sin of a Number The following routine calculates the sin of a number provided in degress The number is read from an editor named NumberEditor and the result is placed into a text object named AnswerDisplay as well as returned in the function Note that the FSave occurs after the readln which involves task yielding and the restore is performed before the writeln which also involves yielding The setup calculation and retreival of the answer are all performed in the same sample Function GetSin Single var UserNumberInDegrees Single var Answer Single var Buffer TMathCoprocessorBuffer begin NumberEditor Readln UserNumberInDegrees FSave Buffer FInit PushSingle UserNumberInDegrees FSin Answer PopSingleReal FRestore Buffer AnswerDisplay Writeln Answer GetSin Answer end Douloi Pascal Language Multitasking System Purpose Getting organized can be simplified by having more than just one person doing the job By having a group of participants each covering a particular responsibility the total task is accomplished with each sub task more easily expressed than a description of the entire task as a single unit Motion Server provides support for high frequency multitasking to provide this kind of advantage to a motion control application program This section describes the principles of multitasking for this system the
171. ion Starts You ve constructed an application that uses a sub plate on which you intend to draw lines and placed into one side of the main window How ever when the application starts the sub plate is not there Why didn t the sub plate get created along with the application Sub plates can have different releationships to their parent window Sub plates can be merged basically adding their elements to the set already on the parent plate attached where they are created as distinct windows and get constructed when the parent gets constructed or as popup windows where they get constructed only after receiving a PopUp instruction Most likely the plate style is popup and the plate is waiting for a PopUp instruction to display itself What was probably intended was attached Double click on the plate and use the Next and Previous keys underneath the display of the current style until you find an attached plate with the desired border and try again Drawn Lines Do Not Appear On Plate 1 The following code fragment does not draw the desired line DrawLine 0 0 100 100 expecting to see line but line isn t there What s wrong here In order to reduce screen flashing a plate does not update its appearance until you tell it to with Update After adding all the new geometry use Update DrawLine 0 0 100 100 Update 187 User Manual for Motion Server and Servo Application Workbench Drawn Lines Do Not Appear On Plate 2
172. irectional behavior for a gear ratio of 1 to 1 Fundamental Principles The following figure shows an elastic shaft model that will be used to determine how to implement bi directional force reflection Slave end of shaft Slave angle constrained to O Slave end temporarily grounded Master angle G Master end of shaft One end of the shaft represents a master joint and the other end of the shaft represents the corresponding slave joint Consider the case that the slave has encountered an obstacle and constrained not to rotate is temporarily grounded A torque applied to the master end of the shaft causes an angular strain theta proportional to that ap plied torque Half way down the length of the shaft a strain of Theta 2 has occurred The point of symmetry in this problem is the middle of the shaft since either mechanism can direct the system Torque applied to Master end of shaft 221 222 User Manual for Motion Server and Servo Application Workbench behavior in force reflection mode By establishing a reference frame along the rotated theta 2 section of the shaft midpoint it can be seen that each end of the shaft is attempting to elastically return to 0 angular displacement with respect to this frame The most fundamental behavior of a position servo is to apply a restoring torque proportional to an angular displacement from a commanded set point Accordingly one simple implementation of bi
173. is since those languages don t support local procedures either Douloi Pascal provides built in support for multitasking Multitasking is important for motion control application development Douloi Pascal has limited code and data sizes Data is limited to approxi mately 70K maximum data memory 16KBytes default and Code to approximately 256K bytes Although this may seem incredibly small bear in mind the following points 1 Borland s original release of Turbo Pascal generated programs with only one code segment and one data segment approximately 60K bytes each but was still an extremely useful tool 2 By definition a real time application must be quick There simply is not enough time to execute a large amount of code in a real time applica tion 3 Because all of the user interface for SAW is done through Windows in standard mode this data and code space is only needed for what is critically real time Windows memory up to 16 megabytes is still available for windows controls bitmaps graphics etc Much of the functionality of a SAW based application is through behaviors of these objects separate from the real time code which consumes none of this space Douloi Pascal allows object procedures and functions to be elaborated directly inside the object type definition 117 User Manual for Motion Server and Servo Application Workbench 118 Douloi Pascal does not support sets directly although ordinal constan
174. isplay should clear Push Count The Display should show 1 Push Count again and the display should show 2 The figure below shows the application after several button presses Close the application to go back to SAW 63 User Manual for Motion Server and Servo Application Workbench Change a Plate Event Procedure Like buttons plates have different events that they respond to through event procedures Double click on the plate to invoke the plate editor The event procedure list for plates near the bottom includes names such as BeginDrag Drag EndDrag and Setup BeginDrag occurs when the mouse button is pushed down over a plate Drag occurs when the mouse moves with the button down over a plate and EndDrag occurs when the mouse buttons is released Examples of how to drag and drop including drag ging a 2 axis mechanism with the mouse are discussed in the Drag and Drop Application Sketch Select the Setup event procedure and choose Edit Setup is an event proce dure which invokes when the window first appears Edit the setup proce dure to be the reset button behavior Procedure Editor Edit Search procedure Setup begin Display Clear Counter 0 end Close this window by double clicking on the window s sytem control icon and then close the plate editor by clicking Ok Select the Reset Button and choose Edit Cut Cutting the selected object removes it from the plate We don t need the
175. it Control SAW only 124 temporary variables 114 Text 53 text 17 33 43 53 text editor 54 Text Item 53 Text item 62 Text objects 191 TFile 131 TFile DOS File SAW only 124 TFiles 191 195 theoretical 28 third party IO board 99 THPGLFile HPGL File Interpreter SAW Only 124 time critical activity 172 TimeRemaining 171 174 TListBox Windows List Combo box style co 124 TNAxis 174 TNAxis axis group 164 TNAxis machines 254 TNAxis types 125 TNVector 124 193 TNVector types 137 TNVectors 164 To 35 tool bar 49 53 torque 25 28 29 torque command 25 Torque Control 25 torque offsets 223 torques 32 TPlate 113 T Plate ome Assembly Base for constructin 124 TPrompter 131 199 TPrompter Modal dialog to interact witho 124 track 29 tracking 35 Transconductance Mode 25 trap 40 trapezoidal motion profiles 208 trapezoidal move 208 trapezoidal profile 209 216 trapezoidal profiler 169 trapezoidal velocity profile 219 trigonometry routines 166 TroubleEncountered 158 Try Recover 153 TRER PA Output text display SAW only 124 TUNEAXIS SAW 27 tuned 27 Tuning the System 27 Turbo Pascal 116 117 Turbo Pascal for Windows 13 TurnOnForceReflection 222 tutorial 14 43 two dimensional 33 two dimensional vectors 212 type combination box 62 type conversion 131 type conversion problem 191 type definitions 119 Type T3Vector object 124 U u l
176. ject List Box Text Selection Object SAW only O oa ae Read information from list box Readii naa a ees Read information from list box Write oo ccccesessccocsssecossnesevesvacscvssnecsosses Add information to list box W itelils hiba od Add information to list box Clear E E E E ETEEN Resets list to contain no items SetDecimalPlace vans Specifies output format for single numbers SetSelectionIndex ot eee eee Preset list box selection to indicated index GetSelectionIndex 0 0 eee Returns the index of the current list box selection TFile Object DOS File Access Object SAW only FISSION rra ads Associates TFile to DOS filename Closed a Concludes associated established with Assign LN Prepares file for writing A Prepares file for reading EndOfFile A O Returns true if no more information is in file PASSION A a A Associates TFile to DOS filename A A Concludes associated established with Assign A A cot nate ae caanide Prepares file for writing R set erena aE Prepares file for reading Bnd OtPile avis Returns true if no more information is in file ReadCommand nenas Returns HPGL command information TPrompter Object Message Box Object SAW only T e oein ees eae ee NEER Creates Windows mechanism for prompting Wind Write information into prompter Wicca sa Write information into prompter and interact with user TNAxis Object Multi Axis Motion Object Configuration O penrian Associate object with a system axis SetMotorType
177. l Clear and edit the click procedure to read procedure click begin Display Clear end Run the application again Now the Push button fills the text item and the Clear button clears it Pushed Questions and Answers Summary Question Does the button name matter Usually button names are not used although they do need to be unique The names provided for you by SAW should be unique names It is possible to refer to the click procedure of a button however by referring to the name of the button followed by click For example if the clear button in the above example was named ClearButton we could have invoked the click procedure for that button in the Push Me button by referring to ClearButton Click Text items can be created during development to annotate an application Text items can also serve as display mechanisms to show values being produced by application programs In a manner similar to buttons spatial attributes of text can be set by dragging the Text item in the drawing area Other attributes an be changed by double clicking on the text time and editing the attribute 37 58 User Manual for Motion Server and Servo Application Workbench Servo Application Workbench Tutorial Lesson 4 Using Plates Objective Change a Plate Title Several different metaphors are used by the Servo Application Workbench This lesson introduces the plate metaphor Double click on the d
178. language is not completely standardized however the general consensus includes at tributes such as polymorphism encapsulation and inheritance Douloi Pascal does contain the concept of an object an aggregate of state information with related operations to alter that state Douloi Pascal uses the familiar variable method syntax rooted in record field access which has become standard for languages such as Visual Basic C and Turbo Pascal However Douloi Pascal does not meet the standard criteria Although there is object structure this structure is publicly accessible and not private limiting the degree of encapsulation which may be claimed for the language Generally polymorphism requires dynamic allocation so that a single indirect data item could refer to different objects Douloi Pascal does not support dynamic allocation so there is no polymorphism possible Although many of the system objects are internally constructed with inherit ance relationships there is no inheritance mechanism available at the application level i e you cannot create two object types and have one be a descendent of the other The literature s common response to languages which display some object oriented behaviors but not these three in particular is to refer to those languages as Object Based rather than Object Oriented Question Why was Object Based Pascal Chosen Douloi Automation believes that strong typing and as much compile time
179. le The following figure shows several ellipses drawn across the surface of the plate Servo Application Workbench Tutorial Drawing Closed Polygons The next tool draws closed polygons Select the tool and drag a line After releasing the mouse button go to another point and touch the plate An additional line is added to the polygon Continue clicking points to add vertexes On the last vertex double click This concludes the operation by adding the double click vertex and connecting that vertex to the original point It takes a bit of practice to remember to double click before you get all the way back to the original point Creating a polygon with a shadow and two shadowed spheres is shown below SAW Untitled dit Tool View Arrange Defaults Run im File Op a Title E Graphic Editor Change Fill Color Solid Set Change Outline Color 0 Set Width N al al o 2 El E CEUC IL le lclal gt a Drawing Open Polygons The last geometric graphic tool is the open polygon tool located just below the closed polygon tool This tool works in much the same way as the closed polygon however the final line connecting the last vertex to the first vertex is not drawn Below is a session where the width of the polygon has been increased to 10 and the color bar has popped up in response to a request to change the color of the polygon 87 User Manual f
180. m response to some problem that occurs For example getting a word from the user when a number was explicitly requested generates an exception Discovering that a file contains no more information when more information was expected generates an exception Attempting to control an axis which is currently being controlled by something else generates an excep tion In a sense exceptions are problems which actively seek out their solutions Using Try Recover involves making arrangements so that exceptions will find their solutions The syntax of Try Recover is Try lt try statement gt Recover lt recover statement gt 153 User Manual for Motion Server and Servo Application Workbench In a manner similar to the 1f else construct you don t want to have a semicolon before the Recover keyword During execution the Try keyword is encountered and the program constructs a kind of safety net with one end pegged to the Try keyword and the other end of the net pegged to the recover key word The statement between the try and recover is then spanned by this safety net Execution of the try statement begins and is most likely a compound statement with begin end bracketing a group of statements If at any time during this group of statements an excep tion is generated the execution of those statements stops at that point and execution drops out onto the safety net Like the circus per forming trapez
181. mation stored in a file named playback vec Note that this routine may be put on hold if Windows becomes preoccupied and does not read its mail procedure PlaybackVectorFile var PlaybackFile TFile var Destination T2Vector begin PlaybackFile Assign playback vec PlaybackFile Reset while not PlaybackFile EndOfFile do begin PlaybackFile Readln Destination X Destination Y XYAxis MoveToVector Destination end PlaybackFile Close end It may be important for that previous process to operate with the possibility of interruption The best way to handle that is to move all the information into an array and have the system move from the array This removes the mail based file IO from operating while in the midst of motion The following example moves information from a file into an array procedure FillVectorArray var VectorFile TFile var scanner integer var NumberOfVectors integer begin VectorFile Assign playback vec scanner 0 while not VectorFile EndOfFile do begin scanner scanner 1 Chapter VectorFile Readln VectorArray scanner X VectorArray scanner Y end VectorFile Close NumberOfVectors scanner for scanner 1 to NumberOfVectors do XYAxis MoveToVector VectorArray scanner end The following routine creates a file of numbers followed by their squares procedure WriteSquares var SquareFile TFile var Scanner longint begin SquareFile A
182. me 3 dimensional vector from the previous example may be assigned in a single statement HomePositionVector Init 500 600 700 Douloi Pascal Language Question Is Init a constructor Answer Generally no Init is a conventional procedure Because Objects in Douloi Pascal are not dynamic and do not support inheritance there is no virtual method table Procedure links are established at compile time Accord ingly Douloi Pascal does not use constructors or destructors for dynamic alloca tion or VMT needs However there are some SAW Objects such as TPrompter and TFile which when initialized in a SAW program result in the creation of a dynamic object in the Windows environment When used in assignment statements all of the components of the source object or record on the right side are copied into the corre sponding components of the destination on the left side For example if the following symbols were 6 dimensional vectors of type T6Vector this statement would copy 6 longints TaughtPositionVector CurrentPositionVector When records or objects are copied in this manner there is never any type conversion Records and objects in an assignment statement must be of the same type 131 User Manual for Motion Server and Servo Application Workbench 132 Douloi Pascal Language Constants Purpose Description Many different tools are needed in the process of getting the problem and solution organized This secti
183. mes limit switches are used for initialization to establish the mechanical coordinate system Motion Server does not provide built in support for limit switches since Douloi Automation regards limit switch behavior to be application depen dent However there is a library of limit switch behaviors available which can possibly be used directly or more likely modified to suit your particular needs These limit switch behaviors are available through the LIMITS catalog The behaviors merge to your application s main plate and auto matically start operation through the SETUP procedure which is part of the limit switch behavior You can browse through the LIMITS catalog to determine if there is a limit switch behavior suitable for your application Emergency Stop Considerations If you provide a way to start a machine you should provide at least one way to stop it You will need to determine what type of stop is appropriate Although it may only seem necessary to provide a stop at end of cycle it is generally advisable to provide some means to stop the machine much sooner in the event of machine motion endangering someone You can include an abort button in a SAW application Although this is a good thing to do don t expect someone to perform precision mouse clicks during a crisis A better solution is a hardware button The large red round latching mushroom buttons are very suitable Their purpose is almost universally understood to mean emer
184. motion You can perform the same set of exercises with MoveBy With a starting point of 0 the results should be the same 35 36 User Manual for Motion Server and Servo Application Workbench SetAccel and SetDecel are used to change how rapidly the motor comes up to speed and how quickly it slows to a stop respectively These methods take parameters in units of counts per second squared Generally values of 100 000 are gentle values of 1 000 000 sharper Do the command XAxis SetAccel 1000000 Repeat the MoveBy test You should notice a quick acceleration with the same previous deceleration Stepper motors can slip or lose steps if they are asked to produce excessive accelerations You will need to understand the limits of your own system based on manufacturer information about your drive electronics and motors as well as the demands placed on the system by the loads you are moving Set the acceleration back by doing the command XAxis SetAccel 100000 An important issue in motion control applications has to do with synchro nization Motion systems are often positioning effectors of some kind such as a drill head Typically you want to move to some position drill a hole move to a new position drill another hole etc You certainly do not want to drill the hole before you get to the destination and you do not want to move while you are drilling It is important for the activities of drilling and the activities
185. motor somewhere on its way to the original target of 20000 You may be thinking that there are some problematic situations with dynamic profiling It seems possible to ask for unreasonable things This is indeed the case For example perform the previous test however instead of having the second move be a move by 20000 use a parameter of 0 What we are saying is while in motion move to where you currently are that is to say stop instantaneously Start the motor with a first move command of XAxis BeginMoveBy 20000 Immediately follow the command with XAxis MoveBy 0 39 User Manual for Motion Server and Servo Application Workbench The result should be a prompter box indicating that an escape has oc curred and the motor slowing at the specified decel rate The escape code indicates a Motion Overrun This is the case It is impossible to satisfy the command to stop immediately while maintaining the specified decel rate The behavior of the system when given impossible commands is to gracefully stop after raising an exception Douloi Pascal supports struc tured exception handling a powerful tool for responding to these sorts of problems Additional details of the use of exception handling will be discussed in the language section Using the language system it is possible to trap this exception and respond in an appropriate manner so as to achieve the desired application behavior Multiple Axis Mo
186. mple in terms of allowing other operations to continue during the motion program this is not a very complete solution either Although other activities can occur during motion Windows is still locked out i e try to move the window by dragging on the title bar during operation of the motion The next example illustrates how to have an indepen dent motion program operating at the same time as Windows inter action 255 256 User Manual for Motion Server and Servo Application Workbench Saw Implementation of Example 3 Description This example operates the XAxis while Windows continues opera tion in an independent manner Source Code The follwoing code is in the click procedure of a button placed on the default plate Procedure Editor Edit Search procedure Click begin BeginTask Addr PerformManyMoves The procedure PerformManyMoves is created as a plate procedure and has the same form as the Douloi Pascal ManyMove dps file Procedure Editor ggi Procedure PerformManyMoves begin XAxis MoveTo 10000 X xis MoveTo 0 X xis MoveTo 20000 XAxis MoveTo 0 KAxis MoveTo 30000 XAxis Moveto 0 XAxis MoveTo 40000 XAxis HoveTo 0 end Using the Servolib Dynamic Link Library Explanation By putting the XAxis activity in a seperate procedure PerformManyMoves and starting that procedure as a seperate task BeginTask Addr PerformManyMoves the button is able to com plete its j
187. n Each pin in any particular connector has 3 other counterparts spaced a multiple of 15 away For example pin 18 pin 3 15 is also an Encoder B signal as well as pin 33 pin 3 30 and pin 48 pin 3 45 Pin Number Description Axis 1 4 Axis 5 8 Axis 9 12 Axis 13 16 1 Encoder A Axis 1 Axis 5 Axis 9 Axis 13 2 Encoder A Axis 1 Axis 5 Axis 9 Axis 13 3 Encoder B Axis 1 Axis 5 Axis 9 Axis 13 4 Encoder B Axis 1 Axis 5 Axis 9 Axis 13 5 Encoder I Axis 1 Axis 5 Axis 9 Axis 13 6 Encoder I Axis 1 Axis 5 Axis 9 Axis 13 7 Amp Enable High Axis 1 Axis 5 Axis 9 Axis 13 8 Amp Enable Low Axis 1 Axis 5 Axis 9 Axis 13 9 Position Capture Axis 1 Axis 5 Axis 9 Axis 13 10 Position Compare Axis 1 Axis 5 Axis 9 Axis 13 11 Motor Command Axis 1 Axis 5 Axis 9 Axis 13 12 Step Pulse Axis 1 Axis 5 Axis 9 Axis 13 13 Direction Axis 1 Axis 5 Axis 9 Axis 13 14 5 Volts Axis 1 Axis 5 Axis 9 Axis 13 15 Ground Axis 1 Axis 5 Axis 9 Axis 13 16 Encoder A Axis 2 Axis 6 Axis 10 Axis 14 17 Encoder A Axis 2 Axis 6 Axis 10 Axis 14 18 Encoder B Axis 2 Axis 6 Axis 10 Axis 14 19 Encoder B Axis 2 Axis 6 Axis 10 Axis 14 20 Encoder I Axis 2 Axis 6 Axis 10 Axis 14 21 Encoder I Axis 2 Axis 6 Axis 10 Axis 14 22 Amp Enable High Axis 2 Axis 6 Axis 10 Axis 14 23 Amp Enable Low Axis2 Axis 6 Axis 10 Axis 14 24 Position Capture Axis 2 Axis 6 Axis 10 Axis 14 25 Position Compare Axis 2 Axis 6 Axis 10 Axis 14 26 Motor Command Axis 2 Axis 6 Axis 10 Axis 14 27 Step Pulse Axis 2 Axis 6 Axis
188. n applications controls at one time Pop up subplates allow the construction of dialog boxes that allow the operator to focus on one particular aspect of an application s operation and then dismiss the controls after they have been used This section describes how to create pop up subplates Creating a pop up subplate In a manner just like the creation of an attached subplate select the plate tool which is on the right side of the tool bar at the top Drag a square in the drawing area of SAW The subplate does not need to reside on the surface of the main default plate but can be off to the side or partially overlapping When you release the mouse you should see a gift wrapped package Double click on the subplate package to open it up Double click on the plate shown to invoke the plate editor The default Window style is shown on the left as Pop Up There are several frame styles for a pop up subplate which can be seen by choosing Next and Previous Change the name of the plate to be PopUpPlate no spaces and change the title of the plate to be Pop Up Test The Plate editor should appear like the one below Plate Editor Plate Style Name PopUpPlate Title Pop Up Test N Plate Symbols Pop Up Plate Events function CanClose boolean Default Edit procedure BeginDrag Default procedure Drag Default rocedure EndDrag Default 93 94 User Manual f
189. nTaskAtCName as distinct from a pascal style name Strings in ServoLib are passed as null terminated ASCHZ strings or C style strings The motion program is now operating running the motor while the host Windows application is free to do whatever it would like including terminating The motion system is quite independent of any particular Windows application once it has been started and does not required the application to remain present to operate This degree of independence requires some thoughtful consideration since you would not want to start an operation and then lose the means of stopping it Also note that an operating mo tion program will continue to operate even if the Windows applica tion that started it experiences a UAE For these reasons it is a good idea to hook up a hardware switch to one of the several User Disable inputs so as to be able to shutdown the motion system in the event that your Windows application does not perform as expected Note that the program turns on the high speed clock but does not turn it off You must turn off the high speed clock yourself with the Servolgnition utility or more likely in the close procedure of your Window applications Main Window by calling the routine DisengageHighSpeedClock Make sure the ignition is turned off before leaving Windows or invoking a DOS shell Using the Servolib Dynamic Link Library SAW Implementation of DLL Examples The examples motions that have b
190. nals from this connector should only be for signal level power If you need any significant current use a disk drive connector Additional details about the use of this bus are available from Douloi Automation on request Pin Description 1 Data 0 2 Data 1 3 Data 2 4 Data 3 5 Data 4 6 Data 5 7 Data 6 8 Data 7 9 Addr 0 10 Addr 1 11 Addr 2 12 Addr 3 13 Addr 4 14 Addr 5 15 Addr 6 16 Select 17 Write Read 18 Comm_Capture_1 19 Comm_Capture_2 20 Comm_Capture_3 21 Comm_Capture_4 22 Reset 23 12 Volts 24 12 Volts 25 5 Volts 26 Ground 283 User Manual for Motion Server and Servo Application Workbench 284 Index Symbols Multiplication operator 136 BMP 84 Plus operator 135 Minus operator 135 real division i e fractional 136 2 dimensional vector 106 3 channel encoder 263 3 dimensional vector 193 32 bit 386 object code 115 32 bit short reals 165 386 INC instruction 135 4 dimensional vector type 119 5 Hz PositionDisplay 173 6 dimensional vectors 131 80 bit real format 165 A A 26 Abort 34 37 41 abort button 261 AbortMotion 116 absolute 34 35 40 Accel 216 acceleration 15 34 actual 28 actual position 35 39 ActualPosition 39 260 AddPointToFileButton Click 197 AdvancePhaseButton Click 209 AfterVector 214 aggregate structures 123 Aggregate Types 123 130 aggregate types 137 aggregate variable mechanisms 121 amp enable signal 260 amplifier 25
191. nate Move to relative coordinate Start move to absolute coordinate Start move to relative coordinate Perform absolute coordianted move to vector parameter Perform relative coordinated move by vector parameter Start absolute coordinated move to vector parameter Start relative coordinated move by vector parameter ES Perform coordinated multiaxis motion along curve petii Begin coordinated curved motion E ES Add absolute vector segment to curve description a Add vector segment to curve description relative to last segment ARRE Add circular or helical arc description to continuous path curve ds Erase any established motion curve info Associate TNAxis with vector array of same dimension a E endemic Move indefintely at constant speed A E EN Gently stops any motion that may be in progress o e ADR r adidee Begins to stop but immediately does next instruction E cet TA E NEE Suddenly aborts any motion that my be in progress Query A ne ienai Return current compensator gain value LAO id Return current compensator zero value territori Return current compensator integrator value Accel Maen er ETT Her trea on Sen trrerete Return current acceleration parameter in counts per second squared Do Return current deceleration parameter in counts per second squared A tate a Return current speed in counts per second 269 User Manual for Motion Server and Servo Application Workbench ActualPosition 5 axiavais ssi sc5stbdtovnsensven Return current act
192. nce Double click on the default window to invoke the Plate Editor again Plates can display with different Window frame styles On the left side of the plate editor is a small picture of the current style By clicking on Next or Previous alternative styles can be chosen Advance through the selec tion of styles until a thin black line border without a caption is chosen Close the plate editor by clicking Ok Plate Editor Title Test Application Plate Symbols Add Pop Up Plate Events function CanClose boolean Default Edit procedure BeginDrag Default procedure Drag Default Reset rocedure EndDrag Default Bl El Add a text item to the center of the plate which reads OK Now What Servo Application Workbench Tutorial SAW Untitled dit Tool View Arrange Defaults Run im Ok Now What Run the application The plate appears without the caption bar and most noticeably without the system control icon which allows you to close the application Ok Now What From the SAW main menu select Run Stop App to close the application even when the application itself is lacking a system menu Create a Plate Variable Double click on the default plate to invoke the plate editor In the middle of the plate editor is a list for Plate Symbols These are different procedures variables and constants that may be attached to the plate
193. nch Tutorial Procedure Editor Edit Search procedure Click begin Close end Is Close is a method of the subplate The default receiver for the Close method is the plate the button is attached to in this case the PopUpPlate Run the application Click the main plate button You should see the thick framed subplate and the Ok button Select the button to cause the plate to close Popup plates can descend multiple levels however it is usually not good user interface design practice to have deep structures Users tend to get lost in the structure unable to get back to a place they once were at but can no longer find Flat structures tend to work better in helping users find familiar pop up panels Pop up plates have all of the capabilities and privileges as the main default plate They can have their own locally specified persistent variables their own procedures their own controls and their own subassemblies Pop up plates provide a simple way to create dialog type user interface components and allows the application developer to conceal seldom used controls until requested by the user By using subplates in a pop up man ner an application can be made simpler to use and less overwhelming because only the relevant controls for the current operation need be seen at one time 95 96 User Manual for Motion Server and Servo Application Workbench Servo Application Workbench Tutorial Lesson 12 Using Merg
194. nd Prompter Writeln XAxis CommandedPosition The following message box should have appeared on your screen The prompter is another object which knows how to display information in a modal manner i e press ok before anything else happens Writeln is a method understood by many objects to display information as readable ASCII characters CommandedPosition is an object function which returns the position the receiver axis is currently commanded to position to The Introduction to the Motion System display should have indicated a value of 0 for the XAxis Commanded Position You may also see the actual position of the motor by typing the command Prompter Writeln XAxis ActualPosition This should be a value close to 0 but may not quite be 0 due to stiction compensation and other effects that determine the tracking quality of a servo In general To is indicative of absolute motion and By is indica tive of relative motion Now do the command XAxis MoveTo 20000 The motor should move about 10 turns Check the position with the prompter again to see that it moved to the position 20000 Now move the motor back to 0 by picking the desired command from the history list and then clicking the do it button interpreter Instruction XAxis MoveTo 0 History XAxis MoveTo 20000 Prompter Writeln X xis CommandedH XAxis MoveTo 0 X MoveBy as has been seen performs relative
195. nd lines between different statements and even between words within a statement The main principle in program formatting is to create a spatial representation of the pro gram structure and particularly of statement groups or blocks The main formatting principle being shown here is to indent the text whenever a new group of statements represents a new level of ab straction The reader of the program can modulate the level of detail by changing how far to the right he starts reading text For example the most abstract part of a procedure is its name It may be particularly if the name is well chosen that all you need to know about a procedure is the name Accordingly the procedure declara tion is furthest to the left and everything else about the procedure will be indented to the right When reading the thought that might go through the reader s mind might be procedure DrillHoles additional details I don t care about yet When reading the text your eye catches procedure and finds a procedure declaration Since everything else about the procedure declaration elaborates what the name says it will be indented to the right Suppose you want to learn more about how the procedure works Then you read in the next level of indentation procedure DrillHoles var RowScanner integer var ColumnScanner integer const RowSpacing 100 179 180 User Manual for Motion Server and Servo Application Workbench const ColumnSpacing
196. ng a predefined type SAW provides a predefined instance of a TPrompter named Prompter Most of the time you can simply use Prompter rather than creating your own TPrompters are most often used for operator synchronization i e to write messages such as Load the part and press ok to continue TPrompters respond to the following methods TPrompter Init TPrompter Done TPrompter Write TPrompter Writeln TPrompters know how to Write and Writeln information For TPrompters write accumulators information for display and writeln invokes the prompter to popup All of the accumulated information is displayed The TPrompter object then waits for the user to push the ok button before continuing with the program Init and Done only need to be used if you are creating your own TPrompter object Note that these routines have constructor destructor behavior i e you really have to call them if you are declaring your own TPrompter before using any other methods or a Windows failure will occur The following code section might be found in a machine that was perform ing a machining operation on a part 199 200 User Manual for Motion Server and SAW procedure MachinePart begin Prompter Writeln Load next part PerformMachiningOperation end The following example might be used to do the same operation with an internally provided TPrompter procedure MachinePart var PartPrompter TPrompter begin PartPrompter
197. ngint begin if NumberOfPoints mod 2 0 then begin if NumberOfPoints gt 10 then LoadShallowCam NumberOfPoints else if NumberOfPoints gt 4 then LoadMediumCam NumberOfPoints else LoadDeepCam NumberOfPoints end else Prompter Writeln Even Number Required end Here we read if the number is even do something otherwise ex plain that an even number is required To learn what happens when the number is even you read another indentation level in If you don t care what happens when the number is even your eye can just drop down to the same indentation level of the if to find the corre sponding else statement that goes with it Keywords of a particular structure are found at the same indentation level The formatting method described can help a program be more readable to others and even to yourself at a later time The time required to format a program is saved many times over by the effi ciency with which you can study and alter the program The format ting style presented here is not represented as being best or stan dard but simply serves as an example style that you may encounter in example programs and software catalog components Gotchas Purpose Douloi Pascal Language Any language or tool has gotchas problems that are characteristic of the tool typical misunderstandings or surprises intrinsic to the structure that can mislead and confuse a developer The following list may help you
198. ngle Draws rectangle with rounded corners SetCoordinatePrame mdasunilindi s Establishes coordinate frame for drawing Sete Ml ind Sets the outline style of the next graphic created A Sets the outline color for the next graphic created SetBodyColot micironininictis Sets the fill or body color of the next graphic Piteo fearr e E Sets coordinates to fit around data in array A een Ree ep eee e airea Draws data in array A A a aes Stretches coordinate frame to include array GetOpenFilename sitiar Provides filename dialog to get a filename for opening GetSaveFilename aci as Provides filename dialog to get a filename for saving TStatic Object Static Text Display Object SAW only A A Read information from display A A o Read information from display WIS aia since icees Ssastoonbarartententerlebeevte Write information to display Write lit oiia taneasnoelsncutes Write information to display O ee Erases text SetDecimalPlace uti Specifies output format for single numbers 267 User Manual for Motion Server and Servo Application Workbench TEditor Object Single Line Text Editor SAW only Read oo eeeceeeceessseesssessssccssssesssseessseens Read information from editor REACTS chs ta cit Read information from editor WI dd Write information into editor Writeln E EE EA AEA Write information into editor E i ET T EA AA ETA Erases text SetDecimalPlace reek och settee cs Specifies output format for single numbers TListBox Ob
199. no way of knowing how long it will take SAW to get a chance to execute with the Windows cooperative multitasking mechanism A paint operation on a graph can hold up the delivery of mail for several seconds Although this may appear to restrict real time usefulness this limitation can be avoided with the simple principle If it s time critical don t send mail How do you know if you re sending mail if the mail mechanism is con cealed from the developer The general principle is if it produces any visible effects or it relates in any way to the operating system then it s being performed through mail It should always be possible to factor a task into two tasks one real time task and another support task so as to accomplish unhindered time critical activity Consider as an example the following procedure which moves an axis while displaying the position of the axis during motion procedure MoveAxisAndShowPosition begin while true do begin XAxis BeginMoveTo 20000 repeat PositionDisplay Writeln XAxis ActualPosition until XAxis MovelsFinished XAxis BeginMoveTo 0 repeat 172 Douloi Pascal Language PositionDisplay Writeln XAxis ActualPosition until XAxis MovelsFinished end end This type of approach would be necessary if multitasking was not available While waiting for the move to finish you maintain control panel operation while polling to determine if another move should
200. not possible it to accomplish there is a technique which can be employed to make the mechanism appear to be so For additional information contact Douloi Automation Multiaxis groups do not permit changing the destination of an in progress move on the fly however accel decel and speed may be changed on the fly It is also possible to specify continuous motion along a curve This capabil ity will be discussed in a later section 41 42 User Manual for Motion Server and Servo Application Workbench Chapter A 4 Servo Application Workbench Tutorial Introduction to SAW The interpreter used in the previous section has provided an opportunity to perform motion using individual commands Servo Application Work bench provides a way to package commands and direct application behav ior This section describes how to learn to use SAW Developing an application with Servo Application Workbench is similar to using a drawing program and similar to procedural programming The visual arrangement and constitution of a program is described with drawing tools to include objects such as buttons text items editors and subassem blies which themselves can contain such parts Behaviors and relationships between these objects are then created using programming techniques SAW uses an event model of operation Different activities such as clicking the mouse button create events that the program responds to Different object
201. nstance Application hInstance hPreviInstance Using the Servolib Dynamic Link Library Explanation After initializing the servo system the XAxis is directed to move to different destinations It is extremely important that the dimension of the procedure match the dimension of the function ie T1AxisMoveTo should only be used with a T1Axis parameter Note that while motion is ocurring Windows interaction comes to a halt By using the MoveTo and MoveBy routines the program waits for the moves to finish Although simple to synchronize this ap proach is very limiting for an interactive application The following examples show ways to not have this limitation 239 User Manual for Motion Server and Servo Application Workbench C Example 2 Direct Access Description This example illustrates how to perform other program activities during a motion Source Code Borland Turbo C Example 1 The following example is based on a borland Object Windows Library demo program and must be compiler with OWL include lt owl h gt include tcwdll_2 h include servolib h header file for ServlLib DLL int ErrorCode long MoveDurationCounter class TMotionApp public TApplication public TMotionApp LPSTR Name HINSTANCE hInstance HINSTANCE hPreviInstance LPSTR l1pCmd int nCmdShow TApplication Name hInstance hPreviInstance lpCmd nCmdShow virtual void InitMainWindow y
202. nta ON q rate oli don diia 211 A O A A SAN CPR SNOT NE SCRE 216 Tahgentor Knife Cutter SEO ME iaa 217 Descriptio sesinin r a a dit 217 Fundamental Prncipl S eien ae E a A T A ARAA AN 217 A erakin ste EDT se KEANNA SEEK SA a CREP Cnn rTP tase Penne KE SEAE SAE iaoiae 217 AI A E A weston Saga eas Bes A A 220 Bi directional Force Reflections ra 221 DESTINA A A Sag E tre AED ep A A Se ane 221 Fundamental Principles vr A a id ian co 221 Implementation catas a a a steel Du e dl Eos es aTa 222 O a e O AAE E N O E TOE 223 Using the ServoLib Dynamic Link Library sssesessssssesesssessesssrssressesssessseseresres 225 Purpose A O ue one TN Guna Hea 225 Functionality through Doulor Pascal atinada 225 Functionality through Direct Calls raro di ci 225 O RN O 226 Turbo Pascal for Windows DLL Examples residan apiana 229 PMV Example te Dic ACCESS Abus aii naaa Adi 229 A r a a E S 229 Source COS a it a as Sle Sarna A A A E E E E A SE 229 EX Pleat OI ieai See Wert EERE REE E ERE EERO E R KERERE 230 TPW Example 2 Direct ACCESS tiristora a ia a aa a aa a eaa Si a 231 A II EAS 231 Source CO AA A ie 231 A A n a EEEE T E iasls sa R EE AA see E E AEE R 232 TPW Example d Combined ACES Tn 233 DESC UL ON a re te eet ala acc A E A E E antl 233 Doulo Pascal So rce Code mari la A E E 233 SOLE A A ns vhon stor utah dead co neu BOe eed Leto E E eta ese 233 Explanation nar dd A E E 234 Turbo C for Windows DLL Examples aa o 237 ER Example Direct A
203. ntered need is to increment a variable by one In pascal this is usually done with the command NumberO0fPartsCompleted NumberO0fPartsCompleted 1 Question Isn t that a lot of overhead for a simple increment Does Douloi Pascal provide an INC instruction to tell the compiler just to generate an assembly level INC Answer The compiler in Douloi Pascal recognizes that the destination of this operation and the source are the same and that the amount being added is one In this case the compiler will directly generate a 386 INC instruction of a size suitable for the integer or longint type Infix operations include Addition operator lt Subtraction operator 135 User Manual for Motion Server and Servo Application Workbench 136 x Multiplication operator div integer division floating point division i e fractional mod remainder operator for integer division and logical and operator or logical or operator xor logical exclusive or operator Operations may be grouped with parenthesis to explicitly control precedence i e Answer 2 4 6 would be a different answer from Answer 2 4 6 Douloi Pascal automatically holds multiplication and division at a higher precedence than addition and subtraction however it s best to be explicit Douloi Pascal supports compile time evaluation of certain constant expressions The previous examples would have resulted in only a run time assignment of the answer into the
204. o have a commanded value of 0 and it has not been asked to do any thing yet so it returns as its position 0 The electronic gearing begins and operates as has been discussed Now it is time to perform a phase advance This is accomplished by simply moving the RAxis to a new location the amount of phase advance desired For example the following click procedure would advance the phase by 20000 counts procedure AdvancePhaseButton Click begin RAxis MoveTo 20000 end The RAxis commanded position value smoothly changes from the value 0 to the value 20000 with the well behaved properties of a trapezoidal profile The procedure PerformGearing is superimpos ing in real time two independent criteria for positioning the YAxis the electronic gearing criteria and the phase advance criteria Super imposition of motion critieria is a very powerful technique yet very easy to implement 209 User Manual for Motion Server and Servo Application Workbench 210 Advanced Motion Capabilities Electronic Cam Description Electronic Cam is a motion mode where an axis performs periodic motion based on usually a geometric specification as distinct from accel decel speed time related specifications The axis moves back and forth as if driven from a mechanical cam The conceptual cam is sometimes driven by an independent piece of information such as the speed of a winding mandrel or some other uncontrolled master in the machine
205. o the command BeginMoveBy is used Commands that start with Be gin imply that they do not wait for their operation to be complete The move is started and program execution immediately continues The program then performs other operations in this case simply incrementing a variable and periodically checks to see if the motion is completed by interrogating the servo system to find out when motion is complete Although a small improvement over the first example in terms of allowing other operations to continue during the motion program 241 User Manual for Motion Server and Servo Application Workbench this is not a very complete solution either Although other activities can occur during motion Windows is still locked out i e try to move the window by dragging on the title bar during operation of the motion The next example illustrates how to have an indepen dent motion program operating at the same time as Windows inter action 242 Using the Servolib Dynamic Link Library C Example 3 Combined Access Description This example uses a seperate Douloi Pascal program to operate the XAxis while Windows continues operation in an independent man ner Douloi Pascal Source Code Douloi Pascal Program for DLL Example 3 filename ManyMove dps procedure PerformManyMoves begin XAxis MoveTo 10000 XAxis MoveTo 0 XAxis MoveTo 20000 XAxis MoveTo 0 XAxis Moveto 0 XAxis MoveTo 40000 0
206. o 16 axis Motor Control Laws for up to 16 axis Profile Management for up to 16 profiles 169 User Manual for Motion Server and Servo Application Workbench Conventional Tasks for up to 12 tasks These interrupt handler components are now discussed Position Maintenance The motion system is able to describe motion over a range of 4 billion The actual hardware only monitors position changes over a range of 64K counts The Position maintenance section accumulates these smaller position deltas to maintain the absolute position of each of the axis Motor Control Laws A PID control law is performed for each axis which has the servo active The corresponding motor command for that axis is then set to reflect the results of the calculation Profile Management As many as six axis of motion can be independently active i e six separate single axis moves The calculations for these profiles are done in this region of the interrupt handler so as to calculate the commanded setpoint that will be used in the next sample period Conventional Tasks Six conventional tasks can be arranged to run each sample although it is much more common for only a few tasks to operate every sample while other tasks are scheduled to execute at much lower frequencies These tasks are what you create when you fill in click procedures for buttons or event procedures for plates Last Task You may optionally have a last task This is most often a
207. o help direct you through design choices that will allow your machine to repeatably know where it is after start up so as to insure consistent operation of your motion application Traditional Homing Strategy Homing is used to describe a process which a machine goes through so as to precisely know its position Typically this process is done once when the machine is first turned on Once the control system knows where the machine is position information should be reliably retained automatically The homing process typically uses homing sensors These sensors trip at some particular point in the workspace often near the limits of motion The machine is commanded in its uninitialized state to move in a particu lar direction known to be towards the home sensor When the sensor trips the machine has gained some reference information about where it physi cally is Because home sensors are usually not very precise the home sensors are used in conjunction with the index pulse on a 3 channel en coder to provide high performance initialization Effectively the home sensor is able to get the machine to within a motor rev of the home posi tion and the index pulse is used to identify what particular count within that motor rev The combination of these two provides repeatability to within a count of machine operation from one power on cycle to the next The process usually is performed by initially moving at a moderate speed for the corner w
208. ob very quickly and allow execution to return to Windows The operation of PerformManyMoves then proceeds on its own to completion 257 User Manual for Motion Server and Servo Application Workbench 258 Chapter l 0 10 System Design Issues Safety Purpose Motion control applications among the broad range of application of computer technology present some of the most physical consequences to software quality to be found It is entirely possible to ask a machine to perform an action which may not be safe to perform Safety primarily of the operators and people near equipment and secondarily of the equipment itself should be part of any motion control application design from the beginning This section describes different design issues you may want to consider to enhance the safety of your application Limitations of Application Douloi Automation does not authorize the use of Motion Server and or SAW for any application which involves human life support activity where the failure of the motion system could endanger the lives of people Responsibility You are ultimately responsible for the safety consequences of a machine controlled through Motion Server and SAW There is no way for Douloi Automation to inspect and assume responsibility for the day to day opera tion of a machine being controlled by Motion Server and or SAW What constitutes safe behavior is application dependent The decision of what constitutes an error
209. objects respond to the method Clear A text object responds by erasing the text in its window A T2Axis responds by erasing any curve information which may have been recorded 33 User Manual for Motion Server and Servo Application Workbench Single Axis Modes of Motion Single axis are the most versatile movers in Motion Server A single axis can respond to the following trapezoidal profiling methods MOVETOs lt 6 ss es move to absolute coordinate MoveBy moves relative to current commanded position BeginMoveTo moves to absolute coord but doesn t wait BeginMoveBy moves to relative coord but doesn t wait DOG eb eed saumes moves at a constant speed indefinitely SetAccel set the acceleration rate SetDecel sets the deceleration rate SetSpeed sets the slew speed during moves SEP causes the axis to decelerate to O speed and stop execution waits for stop to complete BeginStop causes the axis to start to decelerate to 0 speed and stop execution immediate continues ADOTE ess kee abandons motion and stops immediately Details of these methods can be found in the on line help by entering the help system selecting search and typing in the name Let s review each motion mode one at a time MoveTo performs a move to an absolute coordinate Do the command XAxis MoveTo 0 The X axis motor should move to the position 0 From the interpreter you can check the result by doing the comma
210. od is based on is not operating Also note that there should be no signifi cant torque offsets A torque offset cannot be distinguished from an external torque each producing a position error that results in the opposite axis following and both motors spinning even without an external torque 223 User Manual for Motion Server and Servo Application Workbench 224 Chapter Using the ServoLib Dynamic Link Library Purpose There are several ways to make use of the ServoLib DLL to simplify the construction of motion control Windows applications This section de scribes alternative techniques and provides a command reference that provides the needed information to link to the library from your own Windows programming environment Functionality through Douloi Pascal It is possible to access the multitasking capabilities and high speed program execution of Douloi Pascal from your Windows language system In this approach you would write as a conventional text file Douloi Pascal proce dures and variable declarations such as in the tutorial and example pro grams for SAW You then have your application compile this text file into high speed object code through a ServoLib DLL call After the program has been compiled the Douloi Pascal routines can be started or scheduled to run periodically through the DLL This approach is very useful when you want high speed performance even though your Windows language system might not be high spe
211. ode goes here end The following procedure moves the XY axis in a square Procedure MakeSquare begin XYAxis MoveBy 1000 0 XYAxis MoveBy 0 1000 XYAxis MoveBy 1000 0 XYAxis MoveBy 0 1000 end r Procedure MakeManySquares begin XYAxis MoveTo 0 0 MakeSquare XYAxis MoveTo 2000 2000 MakeSquare end Now whenever you need to make a square you can simply say MakeSquare rather than the individual statements MakeSquare has accomplished several things It has bagged the four movement instructions so that now the behavior can be accomplished with one statement instead of four It has also raised the level of abstraction Now instead of describing the problem in terms of movements the problem can be described in terms of squares a higher abstraction description of a problem Procedure names are excellent places to convey meaning about program behavior Take the time to make descriptive and meaningful procedure names Douloi Pascal Language What if you want to make squares of different sizes Procedures are able to take parameters The syntax of a procedure with parameters is Procedure lt ProcedureName gt var lt ParamName gt Type another To include parameters follow the procedure name with a left paren thesis After the parenthesis comes a description of the parameter If the first word in the description is var the parameter will be ac cessed using call by referenc
212. of moving to be synchronized in such a way as to properly wait for each other Move To and MoveBy are methods which wait for the move to finish before going to the next command The program is sus pended until the motion is complete For an application like the drill application waiting is extremely important In other applications however just the opposite may be important In order to save time it may be neces sary for other activities to be preparing while the drill is moving to a new location For cases where it is important to continue doing activities while the motors are in motion there are commands which start with the word Begin i e BeginMoveTo BeginMoveBy BeginStop One obvious command that is relevant to an axis in motion is the com mand Stop Begin another move using BeginMoveBy and then do the command XAxis Stop Introduction to the Motion System The motor should stop Stop slows the motor down at the specified decel eration rate Abort halts the motor dead in its tracks Again begin a move and do the command XAxis Abort The motor should suddenly stop The difference between Stop and Abort is the deceleration of the motor Abort should generally be used in emer gency situations where movement may be dangerous The jolt to the machine is usually not good for the mechanics particularly when aborting from a high speed As well aborting from a high speed may result in such a large following error that th
213. ogram Actual access to the DLL is performed by references from Servolnt You may find it necessary to edit Servolnt if you intend to locate the ServoLib DLL in a directory different from the current directory when your application runs The following examples illustrate how calls can be made to the motion system as well as the compiler TPW Example 1 Direct Access Description This example uses direct calls to move the XAxis motor to several different locations and to write out commanded position informa tion This would represent the simplest use of ServlLib Source Code PERIFERIA IRE RAK ARIA RR FER AK TREN KR AAA KER KKK IRIE KKK ER IRON IRE RRB KK ARK KER KAA IKK N FRAARRARR ARA RA RA RRA RRA ARA RRA RRA RRA RRA RRA RRA RRA RRA RRA RRA RRA RRA RRA RRA KK eR RARER KEK RKKKKKKKK AERA AES RKKKKKKKK PR EAA RAE RERA RKKKKKKKK RKKKKKKKK RKKKKKKKK PERRIER EK RAK RACK RE AERA ER RKKKKKKKK TPW DLL Example 1 Created By Randy Andrews Creation Date 05 oct 92 Description This represents a simple program to move the XAxis to several different positions This illustrates initialization and direct calls AKKKKKKKK KY AK RR RER KKK Y AKKKKKKKK KY AKKKKKKKK EK AKKKKKKKK KY AKKKKKKK KK KAKA AAA RY KKKKKKKKKK KKKKKKKKK KY KKKKKKKKK EK KKKKKKKKK KY KKKKKKKK KK ARRE AER R RK RK AON KIRK RR DORE GR BERBER A BAKER TER AER AER SKS BASIE RRR BER ACARREAR AN
214. oing anything besides bench testing free spinning motors Placing the jumper between pins 3 and 4 redirects the EStop to be from the general I O connector where an OPTO 22 module rack may be hooked in or some other IO interconnect that has been chosen for general purpose I O A third option is to put a 6 x 1 plug into this header with a cable for pins 2 and 3 A normally closed switch would serve as an E Stop switch If the switch disconnected or the cable was missing the controller will not enable power to the amplifiers The on board Flash memory chip is used to store application programs If the board contains a 28F class Flash Memory chip a 12 volt level must be supplied to the chip to unlock the chip and permit alteration of its contents This level can be provided by turning on switch number 4 on the board itself In some applications accessing switch 4 may be inconvenient In this case an external switch can be provided that connects pin 5 and pin 6 allowing the memory device to be programmed Alternately consult with Douloi Automation regarding a newer 29F class memory chip which does not require the 12 volt level Cables and Connectors External Bus Connector The remaining 26 pin connector provides a simplified 8 bit bus that can be used to connect to additional hardware Note that Douloi provides a PC 104 bridge accessory that is driven by this connector The PC 104 format allows the use of many third part cards Power sig
215. om Popup to Attached to Merged These are the three different ways a subplate can relate to its parent This lesson is concerned with the attached relationship Attached subplates are created the same time their parents are created and travel around with the parents conveying a sense of being attached to the parent plate Note that the plate editor for the subplate operates on a different plate than the main default plate When you create a variable in the subplate that variable is distinct from variables in the main plate You can even use the same variable name They remain distinct each plate having its own set of variables Note that the subplate because it is a child of the main plate is able to see all of the variables and objects in the main plate directly as well as its own The main plate routines can access variables in the subplate if the subplate name is included as part of the variable path This is illus trated in the following exercise Create a variable in the subplate named Counter and make it an integer Create a text object in the subplate and name it Display Create a button that contains the click procedure procedure click begin counter countertl Display Writeln Counter end Servo Application Workbench Tutorial Edit the setup procedure for the plate to assign Counter to 0 procedure Setup begin counter 0 end Select the subplate frame style that has the thin border Save
216. on 184 conditional termination 150 confused stack 157 const CamArrayLength 212 const ShadowOffset 3 111 Constant 76 constant declaration 134 Constant Editor 76 133 constants 61 133 constructor 131 199 continuous 41 control key 56 control law 29 control law calculations 185 Control Structure Principles 145 Control Structures 145 Control Drag 73 control dragging 86 controller 29 controller sample rate 127 conventional math 135 Conventional Tasks 170 Cooperative Multitasking 171 coordinated 33 coordinated motion 15 copy 56 copy activity 133 cropping 83 cross product 137 Current Control 25 current position 39 CurrentMotorTorque 121 CurrentPosition LastPosition 130 CurrentVector 220 cursor 48 cursor shape 48 curve 41 curved 41 custom axis coordination 169 D Data 117 data structures 59 117 121 DataBufferIndex 121 Decel 216 deceleration 15 34 37 decrementing loop variable 149 default 46 default application 53 default choice Variable 62 default parameter passing model 143 default plate 61 default recover block 155 default Window 53 default window 60 Delay 174 DeltaVector 112 214 218 demo programs 118 descriptive cam geometry 212 desk organizers 123 destination 15 destructor 199 destructors 131 differential 24 direct DLL calls 225 disable 25 DisengageHighSpeedClock 246 disk 19 23 displacement 33 displacement value 213 Display 72 di
217. on describes the role constants play in program readability and maintenance Constants provide a way to give a symbolic name to a piece of infor mation that you do not intend to change in the course of a program s execution For example if you are writing software for a machine that produces 50 parts in every batch of parts it manufacturers you might create the constant const PartsInBatch 50 Constants can also be created as plate symbols using the Constant Editor such as shown below Constant Editor Name AE Go x Value 50 Cancel The equals sign is used instead of the assignment operator to convey that these two things PartsInBatch and 50 are equivalent There is no copy activity that occurs in the program at run time Using a constant is just as efficient as using the explicit number in terms of the resulting code however the program is much easier to under stand The following statement may appear in the application pro gram if NumberOfPartsMade PartsInBatch then It s quite clear that the decision has something to do with the batch being finished If the number 50 was there instead that would not be as clear 133 User Manual for Motion Server and Servo Application Workbench The place where the use of constants makes a dramatic difference is when you are told that there s been a change and the number of parts in a batch is now 75 The number of parts in a batch may be u
218. ongint 193 UAE 245 unconditional jump 156 uncontrolled master 211 underscore character 119 pdate 106 113 pdateDisplay 110 pdateDragLine 106 107 pdateSquare 106 107 ser Defined Object Types 163 ser Defined Record Types 161 ser Defined Types 161 ser Disable inputs 245 er disable inputs or ed 262 ser Procedure 65 er procedures 59 ser Symbols 61 GEE Ge Glee CECE lt var 114 v longint 193 var lt variable name gt lt variable type gt 123 var DataBuffer array 1 DataBufferSize of longint 127 var DeltaVector T2Vector 111 293 var ErrorMessageText string 127 122 var FirstTimeThroughProcedure boolean 123 VAR keyword 144 var LastRecordedCommand string 63 122 var Length integer 111 var Location T2Vector 111 var MinimumDistance integer 111 var MoveDistance longint 123 var PositioningTable T2Axis 125 var Radius integer 111 VAR reference pointer 144 var scanner integer 111 var statement 123 var TorqueValue integer 123 var UserMessage string 123 variable cam amplitudes 212 variable declaration 123 141 variable declaration dialog box 134 variable editor 62 variable names 118 variable paths 92 Variables 121 variables 59 61 vb_inter glo file 247 vector 40 vector addition and subtraction 137 vector coordinate 40 vector cross 194 vector displacement 194 vector multiplication 137 Vectors 137 Vectors infix operators 194 vertexes 87 VGA 19 vibrate 29
219. operations to continue during the motion program this is not a very complete solution either Although other activities 249 User Manual for Motion Server and Servo Application Workbench 250 can occur during motion Windows is still locked out i e try to move the window by dragging on the title bar during operation of the motion The next example illustrates how to have an indepen dent motion program operating at the same time as Windows inter action Using the Servolib Dynamic Link Library Visual Basic Example 3 Combined Access Description This example uses a seperate Douloi Pascal program to operate the XAxis while Windows continues operation in an independent man ner Douloi Pascal Source Code Douloi Pascal Program for DLL Example 3 filename ManyMove dps procedure PerformManyMoves begin XAxis MoveTo 10000 XAxis MoveTo 0 XAxis MoveTo 20000 XAxis MoveTo 0 XAxis MoveTo 30000 XAxis Moveto 0 XAxis MoveTo 40000 XAxis MoveTo 0 end Source Code The following code is in the click procedure of a button placed onto the default form Sub Command1_Click InitializeServoSystem 800 0 GlobalErrorCode InitializeCompiler Compile ManyMove dps GlobalBookMark GlobalRow GlobalColumn GlobalErrorCode GlobalErrorString EngageHighSpeedClock GlobalErrorCode SetServo XAxis 1 GlobalErrorCode BeginTask TaskAddr PerformManyMoves GlobalErrorCode If Global
220. or Motion Server and Servo Application Workbench After selecting the plate style select Ok Ascend back to the main plate by double clicking outside of the subplate The subplate should become gift wrapped Add to the main plate a button Edit that button s click procedure to be Procedure Editor Edit Search procedure Click egin PopUpTest PopUp end Run the application Select the button shown on the main plate The subplate should pop up Double clicking on the subplates system menu should cause the subplate to disappear Plates which are configured to be pop up plates recognize the method PopUp When they pop up these plates perform their setup procedures Attached plates perform their setup plate procedures when the plate they are attached to first appears Pop up plates perform their setup procedures when they pop up Note that the sequence of setup routines is not speci fied Attached plate setup procedures may invoke before the setup proce dure of their parent plate 3 Closing Under Program Control Pop up plates respond to the Close method to disappear This is necessary if you choose a frame style for the pop up plate that does not have a system menu control For example edit the subplate style to be a pop up plate with a thick border frame but no title bar or system menu control Place on the plate a button with the legend Ok and the button procedure shown below Summary Servo Application Workbe
221. or Motion Server and Servo Application Workbench Summary 88 SAW Untitled dit Tool View Arrange Defaults Run im File E Graphic Editor Change Fill Color Invisible Set Change Outline Color pue El aj el AJA Ej 8 ojoj co 1 2 PA E EE al mE Geometric graphics can add color shape and context for controls and displays in an application Using the geometric drawing tools it is possible to add lines rectangles with and without rounded corners ellipses and closed and open polygons The color and pattern of these objects can be changed by double clicking on the graphic object to produce the graphic editor which changes the attributes of the graphic Servo Application Workbench Tutorial Lesson 10 Using Attached Subplates Objective Hierarchy is a powerful organizational tool SAW is able to create hierar chies of plates allowing the construction of modular simpler more capable applications Subplates may be created as components that are part of a plate and relate in different ways including attached popup and merged This lesson discusses the subplate relationship of being attached Creating a subplate Select the plate tool which is on the right side of the tool bar at the top Drag a square over a part of the default plate When you release the mouse you should see a gift wrapped package such as is shown below SAW Untitled File Edit Tool View
222. or Operation Keys Control Drag one of the number keys into the vertical dip area where the calculator operations will be placed Edit the legend of the key to read Change the click procedure for this button to be Procedure Editor Edit Search procedure Click egin PushOperator Plus end Control Drag a copy of this button to the space below Change the legend to the sign and change the click procedure to be Procedure Editor Edit Search procedure Click begin PushOperator Minus end R In a similar manner create multiply x and divide keys with the PushOperator parameters of multiply and divide 75 User Manual for Motion Server and Servo Application Workbench 76 Invoke the Plate Editor and click on Add Choose Constant from the set of choices Constants relate names to values which do not change Type the name Plus and set the value to 1 so that the Constant Editor looks like the one shown below None Pud jca ok Value 1 cancel Click Ok to confirm this new symbol In a similar manner create the constants Minus Multiply and Divide with values of 2 3 and 4 respectively Add a new Variable named ParameterBuffer and make it a longint variable Add an integer variable named Operator Add a new procedure with the following body Procedure Editor Edit Search Procedure PushOperator
223. orrectly Even though Operation1 performs a BeginTask to get Operation2 started no other task actually does anything until Operation yields The behavior of BeginTask is really to setup the task to run when given an opportunity to do so If there are no yields between the time that BeginTask is given and the check is made in the repeat loop Operation2 would never have had a chance to initialize the variable to the correct value false and this would fail to work correctly This is an example of a race condition when performing task synchronization By having Operation set the boolean it is guaranteed to hold off Operation and the particular timing of each task no longer matters In general the task that will regard the flag information should perform the initialization so as to not outpace the initialization otherwise done in some other task Synchronization Approach 2 Task Status Another way to have Operation1 wait for Operation2 to finish is to use the TaskPresent function This approach would look like procedure Operationl begin BeginTask TaskAddr Operation2 do some activities repeat yield until Not TaskPresent TaskAddr Operation2 PrompterWriteln Both Operations Done end procedure Operation2 begin do operation 2 activities end 176 Douloi Pascal Language Operation2 becomes present as soon as it is setup for execution TaskPresent will report that Operation2 is present after being se
224. ove the step frequency At this point you can increase the zero which limits at 255 or more likely reduce the gain to move below this vibrating instability Achieving O Steady State Error At this point you can include the integrator to reduce steady state error Start with a value of 1 and increase by 1 The initial effect will appear small however the steady state value will more accurately converge on the desired value As the integrator value is increased the motor will more quickly converge to the desired value However as the integrator gets too large in value another instability is likely to occur causing the system to again oscillate In this case back off the integrator to a lower value to restore the benefits of zero steady state error with stable behavior In general the integrator value should not be greater than 1 4 of the gain value Record the values of gain zero and integrator for each axis These values characterize your system and will be helpful when constructing applica tions to return the system to this current compensation At this point you should be ready for some preliminary servo controlled movement 29 30 User Manual for Motion Server and Servo Application Workbench Stepper Motor Setup Stepper motor drives are connected to signals on the axis group connec tors Stepper motors and servo motors user the same amplifier enable signals Stepper motors user the step and direction signals Often ste
225. owever when an application requires higher trigonometric functions or fast floating point performance the best approach for a real time system is to use a math coprocessor PC s based on the 486DX have a math coprocessor built in 386 machines will require the external plug in math coprocessor to benefit from the following capabilities Calculator Model The math coprocessor is provided to application programs as an RPN Reverse Polish Notation calculator that directly maps to the structure of the device If you ve used an HP calculator this approach to calculating is very familiar The calculator contains a numeric stack onto which you push parameters After a sufficient number of parameters have been provided an operation can be performed which often replaces the param eters with a result This result most often remains on the stack to become a parameter for the next operation Most RPN calculations are performed from the inside out when compared to a conventional algebraic equation Douloi Pascal provides routines that push and pop Douloi Pascal numeric types Once these types are on the stack operations can then be performed benefitting from the full 80 bit real format used by the math coprocessor The math coprocessor is a shared resource of the computer The most considerate technique for using the math processor requires saving its current state to a buffer initializaing it to have a fresh start performing your calculations sav
226. p ErrorCode if ErrorCode 0 MessageBox HWindow Motion Problem Error MB_ OK ErrorCode 0 MessageBox HWindow Task Started Application and Windows free to do other things Status MB_ OK void TMotionApp InitMainWindow MainWindow new TTestWindow NULL Motion Application int PASCAL WinMain HINSTANCE hInstance HINSTANCE hPreviInstance LPSTR lpCmd int nCmdShow GI TMotionApp MotionApp Motion Application hInstance hPrevInstance lpCmd nCmdShow MotionApp Run DisengageHighSpeedClock shutdown system before leaving return MotionApp Status 244 Explanation Using the Servolib Dynamic Link Library Examples 1 and 2 could have been done with a conventional PC based motion control card This example is the point where Motion Server s architecture begins to make a contribution The motion task is specified in the file ManyMove dps dps stands for Douloi Pascal Source Note that the program is written in Douloi Pascal and not in the language of your DLL invoking host environment i e not in TPW or C or VB This program is then compiled by your program at run time through the Compile command implemented in the ServoLib DLL The different parameters given to the Compile command help focus in on where errors are located in the event there is a mistake in the Douloi Pascal program Note that InitializeCompiler needs to called before you u
227. part of the command is filled in with the name of one of the operations or methods of doing something that the object has been trained in performing In the example the method was MoveBy The method is separated from the receiver by a period The period may remind you of the separator between a Pascal record variable or struct in C anda field of that record The parallel is quite direct Objects are supersets of records allowing operations as well as static fields to be related to that object MoveBy has the behavior of moving the motor by a certain dis placement The displacement is indicated as a parameter to the MoveBy method In this example the parameter was 20000 Different methods take various numbers of parameters For example the following command would move both the X and Y axis in a coordinated straight line move XYAxis SetMotor On XYAxis MoveBy 20000 30000 Here the receiver is the XYAxis an axis group of type T2Axis which represents the coordinated X and Y axis together MoveBy is the method however it has a different number of parameters than the MoveBy for a single axis For a two dimensional axis group MoveBy requires two param eters For a 3 dimensional axis group you would provide 3 parameters etc The same method name can be used by different objects each providing the appropriate response to that behavior and taking as parameters the appropriate amount of information For example several different
228. particular procedures used to manage tasks and usage techniques Multitasking Model Multitasking can be designed into a system such as Motion Server in different ways depending on the system s design objectives The driving criteria for Motion Server is suitability for motion control Although general purpose multitasking has a potential role to play in any program the main benefit of multitasking in a motion control system is creating custom axis coordination We would like to create programs which can prescribe specialized criteria for a motor position that has as much resolu tion and performance as the built in trapezoidal profiler i e we want to be able to create at the application level through a multitasking mechanism custom profiles to perform activities such as electronic gearing cam trajec tories etc that can operate while other application procedures are also operating This implies that the multitasking system needs to be able to run a com manded position setpoint program at the rate of the built in profiler 1 KHz To properly understand application responsibilities involved in using the multitasking system some details of the system will now be discussed The multitasking system is part of the 1 KHz sample rate interrupt Every millisecond the 486 is interrupted from the job of executing Windows and performs the interrupt handler The interrupt handler performs the follow ing functions Position Maintenance for up t
229. peCode ReadEscapeCode WriteEscapeCode ObjectNotInitializedEscapeCode ConversionErrorEscapeCode ParameterOutOfRangeEscapeCode WatchdogFailed ToResetEscapeCode OptionNotPresentEscapeCode 270 Mathematical Constants pi Boolean Constants True False On Off Torque Descriptions MaxTorque 2039 MinTorque 2040 Pen line styles Solid 0 Dash 1 Dot 2 DashDot 3 DashDotDot 4 Pen colors Black 0 Red 1 Green 2 Blue 3 Yellow 4 Magenta 5 Cyan 6 White 7 HPGL Command Constants HPGLUndefinedCommand 0 HPGLEndOfFile 1 HPGLInit 2 HPGLSC 3 HPGLSelectPen 4 HPGLPenUp 5 HPGLPenDown 6 HPGLPlotAbsolute 7 271 User Manual for Motion Server and Servo Application Workbench 272 Chapter 2 12 Cables and Connectors Description Cabling to Motion Server is performed through flat ribbon cables terminated with IDC connectors Axis Group Connectors There are 4 60 pin connectors for axis information called Axis Group connectors Each 60 pin ribbon cable supports 4 axis of signals The 60 pin ribbon cable can be split apart into 4 identical 15 pin axis sub cables The signals have been chosen in a very regular pattern so that all of the 15 pin sub cables are identical in layout I O Connector There is 1 50 pin connector containing 48 bits of configurable I O Signals are configured as input or output in 4 bit groups E Stop Connector There is 1 6 pin header
230. pper motors use opto isolators on their inputs The step direction and enable signals are all open collector signals Subsequent sections will describe preliminary motor movement If the motor turns the wrong way you can SetCoordinateInversion command to cause movement in the opposite direction Chapter 3 3 Introduction to Motion Purpose This section will review the different motion capabilities of Motion Server In the course of describing motion capabilities some groundwork for the language system will be made in preparation for describing motion control applications This document describes motion related commands from an overview vantage point Details of commands outlined here are found in the on line help which can be invoked from the Help menu item under SAW or from the Help icon in the Servo group directly Preliminary Motion From the SAW menu of select Run Interpreter A dialog should appear This interpreter can be used to submit individual commands to the control system The command interpreter looks like the following picture Interpreter Instruction Tij History 31 User Manual for Motion Server and Servo Application Workbench Click inside the command line and type the command XAxis SetMotor On After typing in the command click the do it button The dialog box should appear as shown below Interpreter Instruction XAxis SetMotor on History If you
231. pportunity to change it While the switch is as Douloi Pascal Language serted and the commanded position for that axis is greater than the bound ary position the saturating limit switch routine changes the commanded position to the boundary position When the commanded position comes back into a normal operating range the limit switch routine simply lets the value pass through unaffected This allows the saturating behavior to work regardless of how the commanded position is accomplished Task synchronization Suitable decomposition of a problem into separate tasks can simplify a motion application There are times however when it is important for one task to wait until another task has finished The management of having one task wait for another can be referred to as task synchronization Synchronization Approach 1 Shared Variables A simple approach to synchronization is shared variable flags In this technique a single boolean variable is used by two different tasks The variable is given an initial state by the first task the second task is started and the first task waits until the second task changes the value indicating that the second task has finished As an example consider the following two tasks The first task named Operation1 begins Operation2 which performs some other activities and then waits for Operation2 to finish procedure Operationl begin Operation2IsFinished false BeginTask TaskAddr Operation
232. r If the value is not 0 the call will immediately exit and not attempt the operation leaving the variable unchanged This allows you to construct linear se quences of motion system calls without having to constantly check if a failure occurred Ifa failure does occur in the sequence the offending routine exits with a non zero error code and subsequent commands will be internally skipped At the end of the sequence you can interrogate the Using the Servolib Dynamic Link Library variable to determine if the entire sequence operated correctly or if there was a problem Example1 demonstrates this technique If you do detect that an error has occured you must set the error variable to 0 yourself before making another call Otherwise the routine will see the non 0 error code and not even attempt its operation Examples on the uses of the DLL are provided in the following secitons The same set of examples is implemented in the four language systems Turbo C Turbo Pascal for Windows Visual Basic and Servo Applica tion Workbench for comparison purposes Skip the languages you are not concerned with and go to the examples in your language system The interface mechanism i e prototype headers and LIB file for C interface unit for TPW and global library declarations for VB is provided in the appropriate LINK2xxx directory If your language system supports projects then open up the examples as projects The examples should clarify the d
233. r Manual for Motion Server and Servo Application Workbench class TTestWindow public TTestWindow PTWindowsObject AParent public TWindow LPSTR ATitle virtual void CMCreat y TTestWindow TTes TWindow AParent ATitle AssignMenu COMMANDS void TTestWindow CMCreat TMessage amp Msg tWindow PTWindowsObject AParent CM_FIRST CM_CREATE LPSTR ATitle InitializeServoSystem 800 808 amp ErrorCode ErrorCode ighSpeedClock 1 l Engage SetServo XAxis TMessage amp ErrorCode T1AxisMoveTo XAxis 0 amp ErrorCode T1AxisMoveTo XAxis 5000 amp ErrorCode T1AxisMoveTo XAxis 10000 amp ErrorCode T1AxisMoveTo XAxis 0 amp ErrorCode T1AxisMoveBy XAxis 2000 amp ErrorCode T1AxisMoveBy XAxis 4000 amp ErrorCode T1IAxisMoveTo XAxis 0 amp ErrorCode if ErrorCode then 0 MessageBox HWindow Mo ErrorCode 0 tion Problem Status MBOK MessageBox HWindow Motion Done Status MB_ OK DisengageHighSpeedClock void TMotionApp InitMainWindow MainWindow new TTestWindow p Py int PASCAL WinMain HINSTANCI LPSTR lpCmd int nCmdShow TMotionApp MotionApp Motion lpCmd nCmdShow MotionApp Run return MotionApp Status hInstance O NULL Motion Application p Py HINSTANCE hPrevi
234. r Windows programs or from binary or ASCII commands 32 bit Dynamic Link Library Dynamic Link Libaries are a common and simple method of adding features to any Windows language system A dynamic link library provides procedures and functions to control the Motion Server hardware The dynamic link library uses Binary Commands which are described in detail in the Binary Command Manual ASCII Commands ASCII commands provide a simple method of accessing the basic functions of Motion Server including single axis and multiple axis coordinated motion and I O Characters are sent through an RS 232 port on an acces sory card which connects to Motion Server Binary Commands Binary Commands provide low level register access to Motion Server without requiring that position information and command parameters be converted into an ASCII format Binary Commands are constructed by the 32 bit Dynamic Link Library or can be constructed directly with register reads and writes for use with non Windows operating systems Chapter 2 2 Setting Up the System Purpose The first step in preparing to use Motion Server and the Servo Application Workbench is configuring and installing the software and hardware A procedure for hooking up Motion Server to other motion elements is provided along with checks to insure the integrity of your work If at any point during the setup process you have a question please feel free to call Douloi Automation for adv
235. rPosition is greater than the ErrorLimit of an axis then the axis is disabled Note that the check really only occurs during motion Although the check is performed while an axis is stationary there is no way for Motion Server to distinguish between a motor correctly holding position and a failed encoder Both report 0 position change Motion Server hardware provides amplifier enable lines one for each axis in the system These digital signals are connected to the enable input of an amplifier to indicate to the amplifier when it should regard the analog input If the amplifier enable is high the amplifier provides power as directed by the analog input If the level is low the amplifier provides no power regardless of the analog input These affords two different ways for the control system to request 0 amplifier output through a 0 analog voltage and as well through a digital signal Typically the amplifier enable signal is pulled up internally to allow the amplifier to be enabled as the default condition making the use of the amplifier enable line optional However if the amplifier provides for an amp enable signal you are advised to use it to enhance the safety of the system Chapter 0 Limit Switches Limit Switches are often provided on equipment to represent end of mechanical travel Limit switches typically are used to shut down a system since in normal operation you should never tell the machine to go to its very limit Someti
236. respective variables Douloi Pascal Language Operators for aggregate types A unique attribute of Douloi Pascal is support for infix operations on ageregate types Aggregates i e objects and records respond to infix operators by performing the operator on a component by component basis for each component in the structure Motion control applications often involve calculations having to do with space Vectors and specifically the TNVector types are pro vided to represent n dimensional space Having infix operators between objects means that vector addition and subtraction are directly supported For example consider NewPositionVector OldPositionVector DeltaPositionVector The variables NewPositionVector OldPositionVector and DeltaPositionVector can be declared as vectors of any dimension supported This statement performs vector addition to create anew n dimensional location Note that all of the variables need to be of the same dimension i e infix operators when used with aggregates only work if the aggregates are exactly the same type Note that infix operators on some aggregates may be meaningless for example adding together the XAxis and YAxis produces a meaning less T1Axis Also note that vector multiplication is not supported in the dot or cross product sense however it is supported in the component by component sense 137 User Manual for Motion Server and Servo Application Workbench 138 Douloi
237. rious windows are illustrated with short simple examples that can show a particular technique or approach to the problem given the resources of Servo Application Workbench In the same way that a hand drawn sketch can convey a concept without providing a great deal of detail application sketches convey principles of application construction Explore the Application Sketches through the descriptions written here as well as dismantling the sketches provided with SAW and located in the SERVO directory 101 User Manual for Motion Server and SAW 102 Application Sketches Simple X Axis Storage Scope Description This SIMPSCOP SAW example displays the position of the X Axis verses time Pressing the Go button causes the data collection to start and operate for 1 second The status line indicates the particular point in the storage scope process of Ready Collect and Plot Pressing Go again causes a new plot to be shown Simple XAxis Storage Scope How It Works This example is based on two plates one for the instrument and one for the storage scope screen one button one text object for the status line and three bumps The plate contains the following data items const BufferSize 100 The storage scope needs a buffer to hold the position information This constant will be used to symbolically refer to the size of the buffer By using a constant rather than a number a change to this constant can be made at a f
238. rocedures 139 procedures 61 Procedures and Functions 139 ProcessHasFinished 121 Profile Management 170 profile parameters 15 profiling 15 Project Add 237 projects 43 Prompt command 199 Prompter 34 35 39 199 prompter 34 40 pulse 24 Push Me 55 56 PushNumber 72 73 PushOperator 75 Q quadrature 15 24 quantization effect 220 R race condition 176 Radius RadiusArray index 111 RaiseDrillHead 119 RAxis 208 Read 184 191 195 ReadEscapeCode 191 195 ReadIn 184 191 195 Ready 104 real time 117 real time code 117 real time motion applications 117 real time calculations 122 receiver 32 33 34 record 33 Record and Object type declarations 123 record field access 116 Records 125 recover block 154 recursion 142 reentrancy 171 referencing and dereferencing 143 RegistrationPosition 122 relative 34 35 40 Relocate 50 54 Repeat 149 Repeat Loop 152 Reset Button 64 ResetButton Click 197 Resize 50 54 restoring torque 222 resumable exceptions 158 RevAccumulator 218 reverse 27 rotary joints 40 ROUND operation 130 RPN Reverse Polish Notation 165 RPN calculations 165 Run Start App 50 53 54 Run Stop App 61 Runtime error 104 188 S safety 26 safety limit switch task 170 sample rate 15 sample rate interrupt 169 291 SampleDelay 104 saturate 28 saturating 29 saturating limit switch routines 174 saturation 29 SAW dr
239. rt the search for the index pulse one half motor rev back from where it actually is Then the home switch has an entire plus or minus half rev of tolerance to miss with and still pick the right motor rev The delta move then is chosen when the machine is first assembled so as to be in the neighborhood of half a rev away The alternative is to mechani cally set the location of the index pulse to be half a motor rev away from the home position however such mechanical adjustment is usually inconve nient when changing a number in the program accomplishes the same result You can setup an offset file that is read during initialization to contain the machine specific calibration numbers so that the software running a series of machines can all be identical Using high speed position capture it is possible for the initialization process to occur at a higher speed since the capture can be used for both the home input and index pulse allowing the initialization process to significantly speed up However since initialization is normally performed just once during the day it usually is not very important for initialization to be fast Motion Server does not have any built in home behaviors however you may choose a home behavior from the HOME catalog which includes the above procedure as well as some others Please contact Douloi Automation for guidance on initialization if you have further questions 264 Chapter l l 11 Command Summary Purpose
240. rther to the right we discover that every intersection gets a hole Note that the level of detail usually includes the nesting level of the construct also Each nexted construct should be on its own level The end of the level helps indicate the end of the con struct Consider the following conditional case function RequiredPostageForWeight PackageWeight single single begin if PackageWeight gt 4 the Escape PackageTooHeavy else if PackageWeight gt 3 then RequiredPostageForWeight 0 98 else if PackageWeight gt 2 then h 1 h n ry scapeCode RequiredPostageForWeight 0 75 else if PackageWeight gt then RequiredPostageForWeight 0 52 else RequiredPostageForWeight 0 29 end Suppose you know that the problem with this procedure occurs when the weight is greater than 2 Each conditional expression can be examined and if it is not true your eye can skip down to the next place where the level of indentation is the same The block of in structions related to the conditional is indented in and regarded as a greater level of detail that you are concerned about In this particular case you want to know what happens when the condition is true 181 182 User Manual for Motion Server and Servo Application Workbench Summary Nested indentations are particularly helpful when you are examining nested conditions Consider the following example procedure SetupCamPattern NumberOfPoints lo
241. ry powerful capability This allows subordinate routines to attempt recovery operations themselves handling the day to day problems as underling managers However if major problems come along that they cannot handle they have a way to express that they cannot cope with the problem and request help from their manager Exception handling allows a high level procedure to express respon sibility for handling a particular class of problem and permits inter mediate manager procedures from having to be concerned at all Ifa low level exception is generated execution goes right past the inter mediate managers directly to the one that expressed responsibility where it gets handled This greatly simplifies error management Question Try Recover just looks like a complicated way to handle a goto Why don t you just goto the recover block if you have a problem Answer For the simplest case this might work however you would encounter at least the following two problems 1 Imagine that the procedures called by the try statement are used by different routines How would the procedure know where to go with a Goto You would have to have distinct procedures for every procedure use thwarting the generality procedures bring to programming or pass pointers in some manner 2 If an exception occurs several levels down in procedure calls and you simply performed an unconditional jump the intermediate stack frames that were created woul
242. s The For loop is an iterative construct that is most useful when you know how many times you want to do some group of statements The syntax of the For loop is For lt local variable gt lt expression gt to lt expres sion gt do lt statement gt The local variable after the For keyword will contain successive values during the execution of the loops The first value it will contain is the value in the first numerical expression after the assign ment After each execution of the following statement this variable will be incremented by one The iteration continues while the local variables value is less than or equal to the second numeric expression For example For DestinationIndex 1 to 5 do XAxis MoveTo DestinationIndex 1000 This will cause the XAxis to move to the coordinates 1000 2000 3000 4000 and 5000 in quick succession Douloi Pascal Language Douloi Pascal does not support DownTo Iterative loops that have a decrementing loop variable may be created with a While or Re peat construct In Douloi Pascal the criteria for performing the statement is the loop variable value being less than or equal to the upper range numeric value If a loop is constructed where this is never the case the associ ated statement will never execute This detail varies among pascal implementations Some implementation execute the body of a for loop at least once regardless of the loop criteria Doulo
243. s representing information objects can have fields which represent behaviors i e functions and procedures that are specifically under stood by that object These procedures and functions can access the information in the object as well as other procedures and functions Procedures and functions may be written directly in the body of the type declaration The type definition for an object is lt ObjectName gt object Datalteml1 gt lt DataltemlType gt Typ lt A Dataltem2 gt lt ProcedurelNa lt procedure Procedure2Na lt procedure lt Function Dataltem2Type gt me gt body gt me gt body gt FunctionlName lt FunctionlType gt Body gt nd Object programming kindles the imagination because it invites thinking of objects in much more active terms than the physical object might ever portray For example we can turn around the previous hole drilling example by making active hole objects instead of having inactive hole records Consider the following object typed definition for a hole Type THole objec Location T2Vector Depth longint procedure Init XPos longint YPos longint HoleDepth longint begin Location Init XPos YPos Depth HoleDepth end 163 164 User Manual for Motion Server and Servo Application Workbench procedure Drill begin XYAxis MoveToVector Location ZAxis MoveTo Depth ZAxis MoveTo 0 end end As well as specifying th
244. s may be programmed to respond to different events to create program behavior The most straightforward way to understand SAW is to use it The tutorial following in the next section will lead you through the use of different SAW capabilities in lessons with occasional projects that combine prin ciples from the lessons in a practical result Douloi s version of Object Pascal is used in the tutorial If you are familiar with most any programming language you should be able to navigate the tutorial aided by the specific commands provided The chapter discussing the Douloi Pascal Language provides more specific language details 44 User Manual for Motion Server and Servo Application Workbench Servo Application Workbench Tutorial Lesson 1 Running a Minimum SAW Application Objective Start SAW The purpose of this lesson is to understand how little is required to make an application with the Servo Application Workbench and to gain experi ence in starting applications Double click on the SAW icon An About Box is shown introducing SAW Servo Application Workbench Version 2 14 Application Development Environment for Microsoft Windows r Full Development System Copyright 1992 1996 c Douloi Automation Inc Click on the Ok button after the SAW title is shown 45 User Manual for Motion Server and Servo Application Workbench 46 SAW s work area should then be similar to what is shown below
245. s not a suitable voltage reference and may cause the encoder to appear to not work Confirming Proper Encoder Operation Regardless of whether or not Servo Application Workbench has been purchased for development a run time version has been provided to run some installation instruments to assist you in the course of setting up your system Start Windows and double click on the Check Encoder icon in the SERVO group The icon looks like this EJICEN Z 568 Check Encoders After a few moments a position display instrument should appear indicat ing the position of the encoders Rotate the motor and note the change in the position display window for that axis Press the reset button to zero the current position and arm the index capture Rotating the motor should Setting Up the System cause a position change and if rotated at least one rev should also indicate that the index pulse was detected by changing the Armed status to Tripped assuming you have a three channel encoder Repeat this encoder installation procedure for each axis in your system After checking the encoders close the application by double clicking on the system menu Connecting Motion Server to Servo Power Amplifiers Motion Server takes position information from the encoders and in combi nation with directives from the application program creates a motor com mand which is a request to the power system for a certain amount of mo
246. s procedure resets some of the variables used to recognize changes in system state moves the ZAxis to an initial position and schedules the SetTangentAxis routine to run every controller sample As illustrated angles are based on the actual positions that the ma chine realizes This may be good or bad depending on the nature of the application For machines where the X and Y axis are handwheels this technique could allow automatic rotation of the knife while an artist directed the contour If the motion is machine generated it is possible to base the CurrentVector not on the actual machine positions but rather on the commanded positions providing a smoother theoretical basis for the angle rather than empiral basis The value of NumericThreshold must tradeoff between being small enough to not delay the calculation of an angle in a timely way while at the same time not being so small that the quantization effect causes the knife to move in a chunky manner Advanced Motion Capabilities Bi directional Force Reflection Description Bi directional force reflection is a more complete implementation of electronic gearing With a physical gear train of high efficiency it is possible to apply torque to either end of the drive train and have motion result If opposing torques are encountered by the output end of the gear train those torques are realized at the driving end of the gear train This section describes how to implement such a bi d
247. s teats O 130 SESE NUS iia a oa 133 A eM i cecal ted Lakes bole saan aii stet MO Aa as cide heen oP stshe a A 133 SCT ODN sacle geri ete uate stants dt Sa ghee PAS Ea 133 Operators ai ode 135 PUR OSE ace cds cies cae A AAN AAA ew ROEA 135 Operators f r simple TYPOS vereis da AS AAA 135 Operators foraggreg te types ios 137 Procedures and FUNCHONS ronda 139 PUDO A A ES AAA AA tera R TS 139 Procedure doit 139 A A A II ada N ses ahi ad ceded 142 Call By Value and Call By Reference ansia di a airada 143 A A encase ea ee Re oe 145 A A A Mant seas duel Saadeh verde A mica de taste 145 ControlStu cture Principles 5 c2s ssa issues cases bas aa 145 E A e e e EA i E A TEE Se AE S ERA 146 IREE CONSTUCE a aa a EA 147 FOR LOOD A le a a htt nat al a a a a a o oa 148 While LOO Pcs clear saeco ah ln AAA A AAA AAA 150 Repeat LOOP rniii eeii ox cass EAE PEE SESA een eee SEAE S NT OER OREN 152 Tys RECOVEM aeaea a e aa a e a a a a a i 153 User Defined Types ts 161 PUDO E RAR AREA O ea eet SAR eat AA ER R 161 User Defined Record DES ao id ll i 161 User Defined Object PES Ea AA LAA GS EA RN E 163 Using the Math Coprocessor toa 165 PURPOSE detona idea 165 eco AA A O tad bedeyy ss 165 Calculation Procedures and Functions e aa 166 Math Coprocessor Examples vinci no ii da dd cb 167 ACIS WO UDS da Alda 167 Calculating The MOS INUNDA ance dents coi 168 M ltitasking TM idea aa dno 169 A 169 M ltitasking Model a a iii 169 P sition Maitena
248. scal The last parameter is filled with what would have been an escape code in Douloi Pascal ErrorCodes of 0 indicate that no problem was encountered The exact syntax is governed by the nature of your language system Included is a DLL Interface Unit for Borland Pascal Borland C and a Global File for Visual Basic Direct calls are very helpful when you are programmably deciding what to do and cannot afford to wait for the compiler to process new Douloi Pascal programs for you The best strategy is to use both approaches at the same time each one doing what it does best You can compile and spawn processes which perform real time custom coordination or data collection activities on their own while you direct the motion of the motors with direct DLL calls You are free to make direct calls and access the functionality of the Servo Library only after you have first called InitializeServoSystem This call prepares the system for operation If you forget to make this call the DLL will fail and cause your application and possibly development system to fail with it resulting in loss of work and a restart of your application devel opment environment Most functions take a pass by reference integer parameter for reporting escape code information After a call this error reporting variable will be 0 if all went well and non zero to indicate the particular error In all cases except InitializeServoSystem this variable is also an input paramete
249. se the Compile command however it only needs to be called once at the beginning of the application regardless of the number of times Compile is used Most of InitializeCompiler s activity is including the system constants that are described in the file STANDARD INC If you do not use these constants you can reduce the time delay of InitializeCompiler by deleting the symbols you do not need The host program then begins the Douloi Pascal program with the command BeginTaskAtCName as distinct from a pascal style name Strings in ServoLib are passed as null terminated ASCUZ strings or C style strings The motion program is now operating running the motor while the host Windows application is free to do whatever it would like The motion system is quite independent of any particular Windows application once it has been started and does not require the application to remain present to operate This degree of independence requires some thoughtful consideration since you would not want to start an operation and then lose the means of stopping it Also note that an operating motion program will con tinue to operate even if the Windows application that started it experiences a UAE For these reasons it is a good idea to hook up a hardware switch to one of the several User Disable inputs so as to be able to shutdown the motion system in the event that your Windows application does not perform as expected 245 User Manual for Motion Server and
250. sed many times and in many places throughout the program If you has used the explicit number 50 and were told that the number changed from 50 to 75 you would need to search through your program finding all of the 50s making sure that the particular 50 related to the number of parts in a batch as distinct from some other quantity which might happen to also have the value of 50 and make the change Subtle problems can occur if you missed one of the 50s somewhere There s also a tendency for 49s and 51s to appear par ticularly in loop definitions and these are easily missed However if you have a constant named PartsInBatch all you need to change is the constant declaration const PartsInBatch 75 All of the places that were concerned with the number of parts in a batch are now automatically updated The places where you might have had 49s or 51s now become PartsInBatch 1 and PartsInBatch 1 It may appear that this is less efficient because of the additional operations taking place to calculate that value however this is not a problem The compiler is aware that the expression PartsInBatch 1 is composed of values all known at compile time so the compiler itself performs the calculation once creating the 51s and 49s or 76s and 74s if the PartsInBatch is 75 Using constants allows you to centralize a machine attribute and derive other values from it to manage application information If a numerical value is used in more than one place for t
251. sition The correction to this problem is to include a yield instruction inside the repeat until loop The correct code fragment is shown below XAxis Jog 40 repeat yield until InputLong 1 and InputlOnMask gt 0 XAxis Abort Incorrect Branching When Using Masked Inputs The following code section is written to perform a certain procedure if Input 4 is high however the branch is never taken if InputLong 1 and Input4OnMask On then PerformOperation The problem here is that On is a boolean constant with the value 1 Input4OnMask has a value of 0008 hex The result of the and expression will either be 0 or 0008 but never 1 so the branch will never be taken There are two style solutions to this type of misunderstanding One approach is to use the on mask instead of on ie If InputLong 1 and Input4OnMask Input4OnMask then PerformOperation Douloi Pascal Language An alternative style is to check for anything positive i e If InputLong 1 and Input4OnMask gt 0 then PerformOperation The advantage of this second style is that the input bit number in the Input4OnMask symbol only occurs once If the input was to change to another bit you would only have to make one edit It would be possible to forget the second occurance of the bit number in the positive value with the first style Both approaches generate the same amount of code and take the same amount of time Subplate Does Not Appear When Applicat
252. situation and the appropriate responses to that error situation are in the problem and knowledge domain of the user of the motion system and are appropriately your responsibility Douloi Automa tion is available to help advise and direct you in the creation of safety responses by the motion control system however Douloi Automation assumes no responsibility 259 260 User Manual for Motion Server and Servo Application Workbench Built In Safety Features Motion Server provides several features to assist in creating a safe system The primary feature with respect to system integrity is the dual Watchdog Safety System This is a hardware system in the Motion Server hardware which continually confirms that the hardware is receiving its due attention from the on board processor If for any reason the processor does not participate in the motion control relationship which Motion Server hard ware expects the watchdog hardware disables the amplifiers and shuts off the servos Examples of failures that this system would protect against include software failures in Motion Server or SAW Motion Server provides a safety feature which is useful during motion Axis which are servoing are expected to have their ActualPosition close to the CommandedPosition If there is a large difference between the two there most likely is some problem This difference the ErrorPosition is monitored by Motion Server If an axis is supposed to be servoing and the Erro
253. sk to terminate Yield othe do te Causes a task to wait until next sample DST ay ke tas a Causes task to wait lt n gt of milliseconds TaskOverranSample Returns true if the task took too much time Ch ckTask nc dds less Escapes if a task took too much time TimeRemaining Returns microseconds left in sample period TaskPresent Returns true if the task is present Task Addict Returns a task address given the task name Saturating limit switch routine The Last Task is provided primarily to allow the construction of saturat ing limit switch routines For example one possible limit switch behavior is to have an axis stop its movement when a limit switch is encountered while allowing all of the other axis to continue their operation as if there was no problem This is often seen on plotters when a drawing is off the page When the drawing comes back onto the page the stopped axis re sumes Operation To create this behavior a plate procedure can be written to detect when a limit switch asserts and to record the boundary position for the axis at that point On subsequent cycles the commanded position for that axis may attempt to advance the axis The commanded position might be implicitly set through a profiled moved or explicitly set through the use of TNAxis SetCommandedPosition in an electronic gearing task for example In any case the last task gets to see the commanded position after every other agent has had an o
254. splay 57 display coordinates 80 DisplayValue 73 DistanceToGo 122 div integer division 136 DLL 225 DLL connectivity 122 DLLs 13 doit 32 35 DOS batch file 199 DOS files 195 DOS rentrance limitation 195 dot 137 dot product multiplication 194 Double click 26 27 45 50 54 55 double click 52 double clicking 52 Double Precision IEEE Floating Point Reals 122 Douloi Pascal 16 115 Douloi Pascal Language System 115 Douloi Pascal ManyMove dps file 256 DownTo 149 dps 245 Drag 46 48 64 79 105 drag 49 56 Drag and Drop 64 DRAG SQR SAW 105 109 dragging 57 DrawCircleFigure 111 drawing area 50 DrawLine 106 113 DrawOn 188 DrawSquare 106 drill head_home position 119 DrillHeadClearancePosition 119 DrillHeadHomePosition 119 driving encoder 212 dynamic allocation 116 131 dynamic data management 117 dynamic object 131 Dynamic Profiling 38 dynamic profiling 15 39 dynamic respons 29 E EARTH BMP 83 Edit 56 Edit button 51 editor 50 51 59 editors 43 Electronic Cam 211 Electronic Gearing 203 Electronic gearing 207 electronic gearing 209 221 225 ellipse 86 emergency 37 Emergency Stop Considerations 261 empty collections 150 empty loops 152 enable 26 encapsulation 116 Encoder 24 encoder 24 25 27 encoder based handwheel 204 encoder resolution 212 encoders 24 25 EndDrag 64 79 105 Endif 146 endpoint specification 108 287 equals sign 133 error checking 25
255. ssign squares txt for Scanner 1 to 10 do SquareFile Writeln The square of Scanner is Scanner Scanner SquareFile Close end A file of vectors that might be used for a vector playback could be generated with the following click procedures procedure ResetButton Click begin Recorder Assign playback vec Recorder Rewrite end procedure AddPointToFileButton Click begin Recorder Writeln XAxis ActualPosition YAxis ActualPosition end procedure FinishFile Click begin Recorder Close end 197 User Manual for Motion Server and Servo Application Workbench Note that in the AddPointToFileButton routine the XAxis value and the YAxis value is seperated by an additional string literal parameter which is a space string If this was missing the two values would be concatinated together in the file making one very long number instead of two seperate numbers Also note that there is not direct support available for writing out objects You must write out the components of the object individually 198 Chapter 7 TPrompter SAW only Description Methods Examples TPrompters are used to display some information and suspend the execu tion of a program until that information has been acknowledged by the user TPrompters are very similar to and implemented with the Windows MessageBox routines The purpose is very similar to the Prompt com mand in a DOS batch file As well as providi
256. ssisans a invade E E a wou elves a Genie ues aue T S 49 PC ATS seh BUON ofa pecs saan A ian estenae a 49 Media B tton Appearance tai A REE E o AA 50 Modity a Button Behavior soiseid aa 50 A a eve R EAE AERE VEE E A E E E RIR EE 52 Lesson 3 Greating Teta Ao 53 My IS td A E AS 53 Create a TEXNO A o tein ay ut Svea ea aie uv EEE ne a Wee ease ee 53 Change Text Interactive ly asistidas 54 Change Textwithia Proa a A E TA aE E a aai 55 Questions MAS a aci n 57 UV A A A A OA 57 Lesson Using Plates sarria anar i 59 MSC VE id ae vanes ASA AAA A av catw ated acuta EA A 59 Chang a Plate il A id ean eed tunaaeiomv an A 59 Cha gea Plate pedra rad dd dad 60 Great Plate Varla ple rl EE tintin IAEA iaa 61 Change a Plate Van Oikos Sze eae a abreast Sta de epee AE nn ge lots enemas oma 62 Changea Plate EVenEPrO OSUNA 64 Create Plate User Procodore quin a ib 65 SUMMAT A A a A toa ibe 65 Lesson 5 Using Bump Graphics ii oe 67 Objective tihnik anp id 67 Turm A A A AA RT A E AEA a AA E 67 Cr ate a BUMP AE 67 Moditya BUMP eiri ensia E EA A E E E TE a e E 68 Place a Dip Top of a Bumpin td rd a a aa a i 68 Reorder Graphics at A AENA ES 69 A na TEA E ns we neem ventana owner E eee eens 70 kesson 6 Calculator Project erroreei anioe tied eaten Reon aes 71 OEA Id 71 Create Calculator Faceplate ia A AREA AA xt caia 71 Create Calculator NumberkKeys sesties ieai aa adas 72 Create Procedure PUSIERA AE ET 73 Create Calculator Oper OS ii E dise 75 Creat
257. st If you need to implement electronic gearing on a continuous basis the PerformGearing routine would need to measure the change in position of the driving shaft between this sample and the last calcu late a ratio on this delta and then add to the driven shaft position this ratioed delta This approach solves the continuous motion problem but has the possibility of accumulating small errors over time The absolute position ratioing approach has the advantage of sustaining no accumulating errors Which method is best depends on the nature of the application Having the ability to tailor the motion mode 205 User Manual for Motion Server and Servo Application Workbench allows you to responsd to the requirements of your particular prob lem For additional details on incremental electronic gearing feel free to call Douloi Automation 206 Advanced Motion Capabilities Electronic Gearing with Trapezoidal Phase Advance Description Electronic gearing most often involves a fixed phase angle between the driving shaft and driven shaft However there are times when phase advancing the driven shaft is desirable For example a process might note the actual position of a piece of material as being several inches behind where it was expected to be on a moving carriage that is being driven in electronic gearing mode It would be appropriate to advance that carriage ahead the lacking 2 inches while maintaining the carriages relationship to the
258. system and Windows This permits the application developer to access different system resources in a consistent way without having to worry about how these resources are being provided Servo Application Workbench allows the developer to construct motion applications in a clip art fashion by pasting pre fabricated parts and assemblies into the application After screen painting the application and filling in the program s behavior Servo Application Workbench compiles the motion application programs and creates the associated Windows application to operate them This ability to create new real time behavior and download into Motion Server is constrained to the Windows environ ment because the language compiler is a Windows DLL However new motion controller capabilities beyond the standard command set can be created in SAW downloaded into Motion Server and remembered in flash memory for use under another operating system 17 18 User Manual for Motion Server and Servo Application Workbench Methods Of Use Motion Server can be used in a number of ways Certain capabilities are available only in certain development methods The following sections describe resources available Servo Application Workbench Servo Application Workbench is the easiest method for development of real time machine behavior This behavior can be downloaded into the controller and invoked from a control panel also written in SAW from othe
259. t on getting selected so as to make sufficient clearance to pick a particular graphic you would like to work with After modifying the desired graphic you can easily move the offending graphic back into place By using the Bump Tool cosmetic graphic effects can be added to a plate to enhance the texture or physical appearance of the plate to produce effects such as chamfered edges and indentations These features can help group and organize an application as well as make the application appear more comfortable and familiar to the user Servo Application Workbench Tutorial Lesson 6 Calculator Project Objective Enough principles have been learned to make your first application This lesson will lead you through the construction of a simple 4 function calculator This calculator illustrates the relationships between the different features learned so far Create Calculator Faceplate Turn on the grid with 10 pixels for each X location and 10 pixels for each Y location Resize the default plate to be about half the size of the SAW drawing area Change the name of the default plate to Calculator Add a bump to the surface of the default plate and make the bump 5 pixels high Frame the outside of the bump and frame the corners Add three dips to the surface of the default plate with a depth of 3 i e 3 Make a wide narrow dip near the top for the calculator display a more square dip near the bottom to group the calcul
260. te 2 escindida li tdi 188 Runtime Error LOA sssrinin na uani Ea o Eaa A Eaa S aE aO S LE ASRS 188 Nothing Happens When a DLL Call Is Made sidad diia diia 189 7 Predefined Types eese a aerae raaa eE eoe leaa 191 Prose sieren dardos 191 Reading and Writing Convento da 191 Ms O aistoeudneniene 193 Desc ia A 193 A A IN 193 Nae e CE sc sciae Sayere E E sansa sation deaiee Sanesduausaaanees aes iatredunedsecasnuadiye 194 A niseosy ER E A E desi cs brings avn lease E E A E E E GAA 194 TFile SAW Only serein oie Ia 195 Descriptio Nse aey ongiari A sane clin casa ban R RAE D E O ig R A R 195 A O 195 amblEs nidad li a a RN 196 TPrompt r SAW OMY O EEN 199 DESIDIA a E an tu ng e a a 199 Methods O SR AS A AR 199 A O int avanis a CenPagek 199 8 Advanced Motion Capabilities usina talas ocios 201 LUPO aa 201 A co E AT EREN EN Noe eE SORBETES KRATES SE EEEE ERS 203 Description ia A A 203 Fundamental Principles agitada nl at e AAA SATA NAAA AAA 203 implementation n AAA Ea 204 A su aig eS ete ee re a ond a bois on Subp na ease og Neo 205 Electronic Gearing with Trapezoidal Phase Advance coconccinccocnnoninncnncnncnancnncnncnnnrancna cinco 207 DESC o 207 Fundamental Principles iii A A E EEE 207 implementation ada Aaa 208 Electronic Cam oo ceccceccccecccecccecccccecccccececececucececeueccusecaeceuececsecesccusecuuecaueceaeeesesenseeeeceues 211 DESTINA AA td EAS RA Ad EN IA 211 Fundamental Principles scuri ii tii ia ARA ERROR REEERE 211 IMplene
261. te Events procedure Setup Default Edit Note that when you select the merged style the Drag procedures are not listed in the Plate Event Procedure list Merged plates do not support 97 User Manual for Motion Server and Servo Application Workbench seperate drag methods because there is no physical plate there Merged plates in their unobtrusive manner allow the drag procedures of the plates they are children of to operate through them Merged Plates do retain the setup procedure which is useful for initialization After setting the plate style to be merged press the Ok button to leave the plate editor Adding Graphics to Plates To illustrate the relationship between a merged subplate and the assembly it attaches to add a graphic to the subplate for example a blue ellipse Now ascend to the parent and add a graphic which overlaps the graphic area of the subplate for example a red ellipse Run the application You should see overlapping graphics such as is shown below The elements on the merged plate behave as if they had been directly applied to the parent assembly Yet they remain in a group with their own internal relationships maintained Comparing with Attached Plate To most easily see the difference between a merged plate and an attached plate close the application go back to the subplate editor and backup two styles with the Prev key to specify an attached plate with a th
262. teln done Remember that indentation although good formatting practice is not recognized by the compiler Begin ends are recognized and must be included to groups multiple statements into one statement for conditional jumps and iteration Unexpected Escape During File Reads A file has been written which contains on each line a coordinate pair The following loop reads the file but apparently attempts to perform an extra read producing a read escape despite the loop terminating on EndOfFile while not aFile EndOfFile do begin aFile Read XCoord YCoord XYAxis MoveTo XCoord YCoord end aFile Close What s the problem here The problem is the difference between Read and Readln Read takes from the file enough characters to get the next variable in this case 2 variables one for each coordinate That seems correct How ever read does not remove the new line character at the end of the line This won t be removed until the next read which will remove it in its search for the next number On the very last line after the very last number pair has been read there still remains in the file one last new line This new line although containing no information is still not the end of the file so EndOfFile returns false at this point The loop then attempts to read the next number pair removes the new line and discovers there s nothing left creating an escape event because a number was expected The fix is to
263. tes for the circles numbered 1 through 5 Each circle can have its own location radius and color These arrays are initialized in the setup procedure of the plate which states the following procedure Setup begin SetCoordinateFrame 100 100 100 100 CircleLocation 1 Init 80 80 CircleLocation 2 init 30 30 CircleLocation 3 init 0 ae Cirelenocation tal anivi30 30 CircleLocation 5 init 80 80 ColorArray 1 blue ColorArray 2 red ColorArray 3 cyan ColorArray 4 green ColorArray 5 magenta RadiusArray 1 10 RadiusArray 2 15 RadiusArray 3 8 RadiusArray 4 15 RadiusArray 5 10 UpdateDisplay end The Setup procedure sets initial values for each of the 5 locations colors for each of the 5 circles and radius values The last call is UpdateDisplay which draws the circles UpdateDisplay has the following description Procedure UpdateDisplay var scanner integer begin Clear for scanner 1 to NumberOfCircles 1 do DrawLine CircleLocation scanner x CircleLocation scanner y CircleLocation scanner 1 x CircleLocation scanner 1 y for scanner 1 to NumberOfCircles do DrawCircleFigure scanner Update end Scanner is declared to be a local variable This will be used to iterate over the five circles The first instruction clears the plate so as to have a clean drawing surface Four lines are drawn connecting the center points of the 5 110 Application Sketches
264. the effectiveness of the system will be at least reduced and perhaps in extreme situations unstable The green Setting Up the System line indicating commanded torque is an example of this The red lines on the commanded torque plot indicate the limits of the torque s expression If the green line pegs into the red lines for extended periods then the system is saturating The controller would really like to ask for more torque however it can t request more torque with the implementation it has This type of saturation confuses the controller which presumes that the system is not encountering such boundaries Tuning Guidelines The ability of the motor to track the step can be improved by adjusting the compensation that is the gain zero and integrator terms of the control law Initially it is best to leave the integrator at 0 and study the behavior of the system in light of just the zero and gain These two parameters are the main influences on the system s dynamic response Generally a zero value of 232 or so is useful Increase the gain value pushing the set button after each new value and observe the effects on the step response plot The motor will most likely sound snappier as it more closely follows the step with higher gains However there will come a point where the gain be comes excessive and the motor may audible or visually begin to vibrate This can usually be seen on the plots as an oscillation well ab
265. the index or searching by keyword or topic The primary method of explaining Motion Server and SAW is through interactive tutorials and application sketches which illustrate how differ ent system features are used A section is included illustrating how to access Motion Server from other language systems such as Visual Basic and Visual C Motion Server Specifications Motion System e 486 DX5 128 MHz 32 bit processor e 4 8 12 or 16 axes per system e Servo or Stepper on per axis basis e Multiple independent coordinated axis groups e Trapezoidal and S Curve profiling e Custom profiling at application level e 32 bit position management e Sample rates from 1 to 4 kHz e Linear circular curve interpolation e Electronic gearing with phase adjust e Electronic camming e Tangent servo e Master slave coordination e High speed registration Kinematics e Motion superposition e Coordination tailoring e On board real time operating system supporting 12 seperate activi ties as well as motion control e 48 general purpose configurable I O Introduction e 1 Capture signal per axis e User Disable signal e 2 amp enable signals per axis one active high the other active low e watchdog safety system Servo Capabilities When configured to run a servo motor the hardware provides e 4 MHz quadrature inputs with 3 bit filters for 4 axis 1 MHz quadra ture rate for 16 axis high speed position capture high sp
266. the next millisecond so you really are not yielding control very much However it is extremely important that you are willing to let go Douloi Pascal supports high frequency multitasking however it is cooperative in nature A task must not attempt to control the CPU for longer than it s share of a 1 millisec ond sample Forgetting the yield instruction would cause the system to lock Principles of multitasking will be discussed later at greater length however the point to be made here is that in Douloi Pascal there are usually no empty loops Repeat Loop The repeat loop has a similar purpose to the while loop of han dling iteration for an indeterminate number of times however it is organized so as to ask the question at the end rather than the begin ning and it asks the question in the opposite sense The syntax of a repeat loop is repeat lt statements gt until lt expression gt This is the only construct in Douloi Pascal which is guaranteed to execute its body at least one time Execution passes by the repeat keyword and immediately performs the instructions in the repeat body After doing these instructions a condition is evaluated If the condition is true execution falls through the until keyword and continues past the block If the condition is false execution returns to the location indicated by Repeat and the loop is repeated For example repeat XAxis MoveBy 100 until XAxis ActualPosit
267. the top two numbers with their product A EA Change the sign of the top most number A AA nists Sandee Sah nh chey Replace the top two numbers with the arctan of top 1 top A en Aa Stores the coprocessor state into a MathCoprocessorBuffer PRESTO aa Replaces a previously filled MathCoprocessorBuffer PopLongint seras Transfer the top number into the specified longint variable A stsce nantes seatas Transfer the top number into the specified single variable 265 User Manual for Motion Server and Servo Application Workbench POD Oli a Transfer the top number into the specified double variable Push Ponce aio ill elas Transfer the specified longint onto the coprocessor stack PrshSinclens adios Transfer the specified single onto the coprocessor stack PushDouble upon Transfer the specified double onto the coprocessor stack Multitasking BeginTask Sais ssscetaagcacsntsemtetadsstocauteaes Spawn a new real time execution thread Se edule Task Periodically spawn a new real time execution thread Abort asilo Stop the execution of a task currently running Suspend Task aiii Temporarily prevent a task from running ResumeTask AA Ge cates la ee Allow a suspended task to continue executing Execute Task Perform task and wait for completion before continuing DLL only SetIgnition irc Turns on and off high speed multitasking A stasis Give other tasks a chance to run Douloi Pascal only O tee Suspends task for specified number of samples TaskOveranSample 0 0 0 Re
268. to achieve smooth phase changes is to make use of the profiler The simplest way to use the profiler for general numeric activity is through a virtual axis A virtual axis behaves just like a regular axis however there is no motor attached In Motion Server the virtual axis are named RAxis SAxis and TAxis The RAxis has a commanded position just like the XAxis does The RAxis can have its accel set just like the XAxis The RAxis can be told to move and its commanded position will change to the new position with the smooth motion characteristic of trap ezoidal motion profiles We will take advantage of this smoothly changing position value to implement a smooth phase advance in the real mechanical system The PerformGearing procedure shown in the last motion capability discussion is now shown here with an additional phase angle term procedure PerformGearing begin YAxis SetCommandedPosition XAxis ActualPosition div 2 RAxis CommandedPosition end Advanced Motion Capabilities Before this routine is schedule the following prepartion routine is run most likely in the setup procedure of the associated plate procedure InitializeElectronicGearing begin RAxis SetCommandedPosition 0 RAxis SetAccel 1 RAxis SetDecel 1 RAxis SetSpeed 10 ScheduleTask TaskAddr PerformGearing 1 end When this initialization routine begins the RAxis reports as its commanded position the value 0 The RAxis was last assigned t
269. tor torque This motor command is expressed as an analog voltage in the range 10 volts to 10 volts plus voltage indicating a request for positive torque and negative voltage indicating a request for negative torque This is a common torque request format for many amplifier suppliers Connect the motor command signal to the torque command input of the amplifier If the amplifier input takes a differential pair then use the Motor Command signal for the plus side of the differential receiver on the amp and a ground wire for the minus side Use a twisted pair for these two motor command and ground signals Modern amplifiers are quite versatile and often have a number of different operating modes For use with Motion Server the desired mode is most likely called by one of the following names in the amplifier documentation Torque Control Current Control Transconductance Mode Position Control Configuration The objective of the mode is to provide a motor current proportional to the analog input voltage It is important to disable any integration feature of the amplifier These are most often encountered with amplifiers designed to directly support PI control internally Motion Server provides PID control but will conflict with any other agents attempting to do the same Often the default gain of an amplifier i e amps output volts input is quite high The most useful amplifier gain setting is provided by setting the amplifier to produ
270. ts can be used to simulate set behavior Douloi Pascal uses null terminated strings since this format is most standard for DLL compatibility The default string length is 32 characters not 255 but strings of various lengths can be specified Formats and Conventions Douloi Pascal like pascal in general is a free format language You are not obliged to complete a single command on one line It does not matter where the command begins i e you do not have to start in column 1 In order to make code as readable as possible however it is a good idea to follow a format guideline There are many differ ent conventions religiously defended by as many corresponding users The chapter titled Program Formatting contains a particular format used by Douloi Automation and encountered in the demo programs Other conventions are described in books on Pascal programming Which convention you use does not matter however using some convention consistently does matter Use whatever convention makes the most sense to you Because commands can start on one line and end on another you need to be explicit about where a command actually ends In Pascal the end of a command or statement is indicated with a semicolon The semicolon serves to both clarify possibly ambiguous cases and to check up on you to insure that what you believe to be a complete statement is what the compiler also believes to be a complete state ment Douloi Pascal
271. tup with BeginTask even if it has not had an opportunity to run yet This eliminates the need for the intermediate variable by directly accessing the task state Synchronization Approach 3 Don t multitask Another approach is to recognize that you may be over using multitasking and to simply not multitask If Operation really doesn t have anything important to do until Operation2 is finished it is much simpler to just call Operation2 Subroutine calls suspend the calling operation until the called function has had a chance to finish The example then becomes procedure Operationl begin Operation2 PrompterWriteln Both Operations Done end procedure Operation2 begin do operation 2 activities end Multitasking is useful but makes matters complicated when used unneces sarily Don t forget that conventional procedure calls are available and by far represent the simplest way of keeping a set of statements in a particular order if you are willing to suspend the calling task 177 User Manual for Motion Server and Servo Application Workbench 178 Douloi Pascal Language Program Formatting Purpose Principles The ease with which a program can be read and understood is dra matically influenced by the program s formatting There are many formatting guidelines This note presents one particular style which is used in Douloi Pascal examples and software catalog components Douloi Pascal allows spaces a
272. turns true if a task took too much time Douloi Pascal only Sr Tash sc sist diccrnm Meena bade Causes an escape if a task took too much time Douloi Pascal only TimeRemaining puerasairdda ibid Amount of time remaining in sample period Douloi Pascal only Execute WindowsApplication Launch a Windows application SAW only pa O Provides address of task procedure for use by other calls IO Operations Motion Server IO SetOutputEnable conciso Tell Motion Server compare output bits to become active SetO utputBit corde se Pacer ants Change state of output bit on Motion Server hardware InputBit 20 eee ET Returns the true false value of an input signal General Expansion Bus IO Douloi Pascal Only PGW Tite BYtC iso td Write to third party IO space card in 8 bit manner PortWrite Word yitaacamaa Write to third party IO space card in 16 bit manner PortRead Byte sacude Read from third party IO space card in 8 bit manner PortRead Word nta naciona Read from third party IO space card in 16 bit manner MemWriteByte retiene Write to third party memory space card in 8 bit manner Mena Write Wotd cid Write to third party memory space card in 16 bit manner MemRead Byte cnia takin Read from memory space card in 8 bit manner MemReadWord satus seesianr odds Read from memory space card in 16 bit manner Safety ResetWatchdog sroiciotoaidss Allow tripped safety system to resume servo activity WatchdogHasTripped eee Returns status of watchdog system
273. ual motor position CommandedPosition c ccccicicinincnnnns Return ideal or target position for motor DestinationPosition eee Return absolute coordinate of end of move ErrorPosition seseris Return discrepency between current and ideal position CapturePoso asocia Return position recorded when latch event occurred GetActualPositionVector Fill in vector with actual axis coordinates GetCommandedPositionVector Fill in vector with ideal coordinates GetErrorPositionVector ccccicinincno Fill in vector with discrepencies between actual and ideal locations MovelsFinished isi 5s3c9ss cssinietodnress Return true if move has finished CommandedTorque cecseee Return current analog output value ProfileVelocity sssccnscencestearsassaieane Return current ideal profile velocity CaptureHasTripped 1 0 0 eee Indicate if latch event has occurred Mi n Return true if motor is currently powered and active EME O Mili ed Return true if amplifier is powered Escape Code Constants DivideBy0EscapeCode SampleOverrunEscapecode AxisNotValidEscapecode SpeedNegativeEscapeCode NotImplementedEscapeCode CurveBufferNotLinkedEscapeCode UserAccellsOOrNegativeEscapeCode User DecellsOOrNegativeEscapeCode AxisNotAvailableEscapeCode UnableToResumeTaskEscapeCode UnableToBeginTaskEscapeCode AppendMoveToOverflowEscapeCode InsufficientNumberOfSegmentsEscapeCode MotionOverRunEscapeCode AxisIsBusyEscapeCode FileResetEscapeCode FileRewriteEsca
274. ug in cables and modules It is not a good idea to swap wires inside an encoder cable since this makes the cable special in a somewhat invisible way and replacing the cable with a straight through cable can cause the system to mysteriously fail if that swapped wire cable is not carefully marked The most suitable place to switch things is to invert the motor wires on the motor Do not attempt to invert the plus and minus voltages on the ampli fier In a closed loop system the positive direction is established by the encoder not by the motor leads so there is no penalty for reversing the motor leads It is also possible to reverse Motion Server in software using the SetLoopInversion command However it is better to solve the problem through a wiring change If the system setup is somehow lost the system will default to no loop inversion It is better for the hardware system to instrinsicaly be stable rather than having to help the system be stable with a software configuration Tuning the System In order for your servo system to operate at its full potential the servo system needs to be tuned This adjustment process is performed with the SAW Application TUNEAXIS SAW which implements the classic step response test The Tune Axis icon is a tuning fork and looks like this E fp Tune Axis 27 28 User Manual for Motion Server and Servo Application Workbench Starting the Test Interpretation A
275. ugh graphics Bitmap graphics allow the addition of detailed images to Windows applica tions These images can serve as a context for controls i e a picture of a machine on which buttons effect corresponding aspects of a machine and can be used with other graphic techniques such as bumps Bitmaps may be created with the Windows Paint program or any other program that pro vides BMP format Windows bitmap files Servo Application Workbench Tutorial Lesson 9 Using Geometric Graphics Objective Drawing a Line Geometric graphics of various shapes are available to enhance an application s appearance These shapes are more simply constructed than bitmaps having tools for construction as part of SAW The creation of lines squares squares with rounded corners and ellipses will be described Select the line drawing tool which has the diagonal line and is positioned on the left side of the tool bar Create a line by dragging across the surface of the default plate Double click on the line and the graphic editor should appear allowing you to change the outline color and width of the line Most graphics have insides as well as outsides and can have different colors and attributes for each Lines just have outsides The session at this point might look like the figure below SAW Untitled dit Tool View Arrange Defaults Run E a Title Graphic Editor Change Fill Color Solid Set Change Outline Color
276. use Readln instead of Read Readln removes the new line after getting every thing it collects This results in the file being empty and the loop terminat ing correctly A simple principle to help remember is to use Readln if the file was con structed with Writeln and Read if the file was constructed with Write When you have opposite combinations bugs like this can appear Douloi Pascal Language Information Being Collected Does Not Change The following fragment is supposed to collect commanded torque values in an array to be used for plotting in another section of the application TorqueDataLength is the upper bound of an array named TorqueData for scanner 1 to TorqueDataLength do TorqueData scanner XAxis CommandedTorque When the toque data is plotted however it s just a straight line The entire array contains just one value What s the problem here The problem is that we forgot to wait for new information Programs have an opportunity to run every sample period The program containing this sample code was started on a particular sample and because there was no instruction to yield control the entire program including the filling of the entire data array occurred in one sample Interestingly enough for an array size of 100 the system did not have a problem with filling the array in one sample period so there was no overrun problem with a much longer task than the writer intended How ever the torque value is only chang
277. uture time for example to enlarge the collection size and all of the uses of that value automatically effected const SampleDelay 10 103 104 User Manual for Motion Server and Servo Application Workbench The storage scope waits between each collection for the duration of the SampleDelay Making this number smaller would cause the scope to collect finer resolution info but not collect as long a duration Buffer array 1 BufferSize of Longint This buffer is used to store the XAxis positions Note that the upper bound is BufferSize the constant rather than an explicit number Procedure Platel Setup begin Status Writeln Ready end The setup procedure for the plate is used to display a Ready message in the text object which has been named Status Procedure Platel Button3 Click var scanner integer begin Status Writeln Collect for scanner 1 to BufferSize do begin delay SampleDelay Buffer scanner XAxis ActualPosition end Status Writeln Plot Plotter Clear Plotter Fit Buffer Plotter Plot Buffer Status Writeln Ready end All of the work occurs in the button s click procedure First the Status writes the word Collect indicating that the storage scope is now collecting data Scanner is a locally declared variable used to loop through the collec tion process BufferSize times This is the advantage of using a symbol for the constant BufferSize Both the size of th
278. variable instead Douloi Pascal Language Do not forget to assign the function value to be something In gen eral pascal compilers do not check to insure that the value of a func tion was ever assigned Douloi Pascal does not support return types of arrays strings or aggregate types however you can access and modify such structures from a procedure or function by passing them as call by reference or var parameters Call By Value and Call By Reference Call by value and call by reference are two different parameter passing models supported by Douloi Pascal Which model is appro priate to use depends on what you are doing Call by value is the default parameter passing model In this case copies of the parameters are provided to the calling routine which regards the parameter names as temporary variables The routine can freely read or write to these parameter variables and cause no effect on the variables that were used in the calling routine to fill in the parameters The only way for an answer to get back to the caller when using call by value is through a function return result This approach is generally regarded as the safest way to go because there is less of a connection between the activities of the function and the information in the caller Call by reference is a technique where a pointer to the information in the caller is given to the function The var keyword indicates that the parameter is being pass
279. ve the Z continually needs to reorient the knife so that the knife is cutting in the direction of motion rather than scraping sideways against it The method shown has the capacity to orient the knife to the actual contour experienced not just the commanded contour intended Fundamental Principles The basic approach is to monitor the displacements of the X and Y axis When the displacement is numerically significant the arc tangent function in the math coprocessor is used to calculate what angle represents this current direction of travel The ZAxis is then told to move to this angle The tricky thing about tangent servoing is handling wind up correctly For example if you were cutting a spiral on a planar surface such as the groove in an LP record the range of angles returned by an arctangent function would always be in the range 180 to 180 However you don t want the knife to spin 360 degrees as you cross through the angle that on one side is 180 and on the other is 180 Although 180 and 180 are the same angle they are 360 degrees apart from the servo s point of view In order to prevent the ZAxis from snapping backwards with 360 degree spins some additional measures must be taken to track total angular accu mulation Implementation The following procedure calculates the appropriate angle for a tangent servoing application function TangentAngle longint var AnchorVector T2Vector static var CurrentVector T2Vector
280. void Saturation Double click on the Tune Axis icon to start this utility You should see a screen similar to the following Tune Axis Version 1 02 The motor is instructed to step back and forth a small displacement instantly in the TUNEAXIS application How well the motor is able to perform this sudden step is a measure of its performance No physical system can exactly track a step change in displacement Typical responses show the motor moving towards the desired step position overshooting the goal and returning to the desired point Select the axis you would like to tune by pushing the Select Axis button Start the stepping motion by pushing the Start Step button then push the Trigger button to trigger the storage scope and collect information The red line indicates the commanded or theoretical step being requested The black line indicates the actual response which is being performed by the motor The green line indicates the torque being requested of the motor during the step The period of the step displacement and compen sation parameters can be changed by altering the numbers in the appropri ate box and pushing the set button When using the step response test it is important to not saturate any of the system elements Digital control as well as linear control requires room to move the elbows If the calculations or implementation of the control system encounters boundaries
281. xt button to continue The next decision is where should the software be placed The following dialog suggests c Douloi SAW as the default directory Choose Destination Location Setup will install Servo Application Workbench in the following directory To install to this directory click Next To install to a different directory click Browse and select another directory You can choose notto install Servo Application Workbench by clicking Cancel to exit Setup Destination Directory c Douloi SAW Browse Cancel 21 22 User Manual for Motion Server and Servo Application Workbench A default program folder named SAW is offered Select Program Folder x Setup will add program icons to the Program Folder listed below You may type a new folder name or select one from the existing Folders list Click Next to continue Program Folders Existing Folders Accessories Adobe Adobe Acrobat America Online Borland Delphi 2 0 Conner Backup Exec Corel PHOTO PAINT 8 Corel VENTURA 5 Defect Control System 2 00 DELPHI be Cancel After files are installed onto the hard disk the following dialog concludes the installation Setup Complete El Setup has finished installing the application on your computer You may launch the application by selecting the icons installed Click Finish to complete Setup EZ Setting Up the System Hardware Inst
282. y the number of points you would like to use to describe the cam In the figure 9 points are used The array is most easily created as a SAW plate variable The conventional declaration is shown below const CamArrayLength 9 var CamArray array 1l CamArrayLength of T2Vector 212 Advanced Motion Capabilities There are many ways to fill the array with information You can read information from a file calculate the cam geometry or simply assign it The following procedure would initialize the cam geometry with a set of values covering a domain of 2000 counts procedure FillCamArray begin CamArray 1 Init 0 200 CamArray 2 Init 400 250 CamArray 3 Init 600 700 CamArray 4 Init 900 800 CamArray 5 Init 1100 900 CamArray 6 Init 1200 900 CamArray 7 Init 1300 400 CamArray 8 Init 1500 300 CamArray 9 Init 2000 200 end You would probably want to call this procedure in the setup routine of your main plate so as to have it all ready to go when the applica tion starts The X values range from 0 to 2000 always increasing The Y values range from 200 to 1000 Note that the last value Y value is the same as the first This is important since a physical cam has a continuous position and does not suddenly change displacement This software cam needs to be continuous also at the wrap around point Y displacement motion should flow smoothly off the end of the cam array and connect to t
283. ypes or predefined types The following code fragments would be placed into a Type definition user symbol from the SAW plate editor After the leading type definition you would then include variable and array declarations explicitly i e the interactive variable dialog box is not aware of special types you create and accordingly cannot provide you with the type name when creating a variable Type definitions can be made for records and objects Records will be discussed first since they are simpler The syntax of a record type definition structure is Type lt type name gt record lt FieldNamel gt lt FieldTypel gt lt FieldName2 gt lt Fieldtype2 gt lt FieldName3 gt lt FieldType3 gt end The type name is the name you will use in future variable declara tions to indicate a variable with this structure The field names are the compartment labels that you will use to indicate that particular part of the variable The fields have types described by their respec tive type names For example imagine that a drilling machine was designed to drill holes in various locations to various depths 161 162 User Manual for Motion Server and Servo Application Workbench A helpful data structure for such a machine might be Type THole record Location T2Vector Depth longint end Holes have a location and a depth This is reflected in the structure of this variable The name THole is used to conform to the conv
284. ze the bump 67 User Manual for Motion Server and Servo Application Workbench SAW Untitled File Edit Tool View Arrange Defaults Run A E l let es gt o Jo lolo co et L Modify a Bump Double click on the bump A Bump Editor appears allowing you to alter the properties of the bump Indicate a different depth for the bump by changing the depth value to a larger number Click on Set after changing the value Click on Ok to close the Bump Editor Bump Editor for Bump for Dip 3 Set cion J Frame Outside O Frame Inside O Frame Corners Place a Dip on Top of a Bump Select the bump tool again and drag another bump on the surface of the first bump Now you have a bump on a bump Reorder Graphics Servo Application Workbench Tutorial Double click on the new bump to invoke the Bump Editor Make this bump have a negative depth i e 3 and click the Frame Outside checkbox to remove the unnecessary outline Click Ok to have the new depth take effect Note that the bump now appears to go down instead of up i e a dip instead of a bump Dips generally are nicer without being outlined If dips or bumps are particularly large drawing in the corners helps define the shape Experi ment with these different outline options to see the effect SAW Untitled dit Tool View Arrange Defaults Run E a Title Bump Editor

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