Motion Control System PANTERM User Manual
Contents
1. Page 6 Page 9 comments eee eee eee eee Page 6 communication mode Page 11 communications port 0 Page 10 configuration lt lt lt Page 3 configuring 0 eee eee eee ee Page 10 editor candies Saunas AGS Page 6 editor nName_ 0c e eee eee ee Page 11 file loading delay o Page 10 Handshaking 000 e eee Page 11 loading files aaaaaaaaaa Page 9 Page 10 repeating commands Page 7 RB9 2832 0224 A ae oh ok Page 5 sequences oo ee ee eee een eee Page 7 Seriaklink ias cata ir oda Sybo ea ds Page 5 serial mode aee Page 10 slow or fast mode lt e Page 11 Software or Hardware Handshaking Page 11 spreadsheet 44444 Page 8 System programme files Page 10 terminal mode 2 Page 6 Personal computer communications programme Page 5 Programme example sz eee es Ce ER Rr n Page 14 RS 232 CONNECTIONS ma tia Bee t n a a a Page 5 Serial port connections occcccccc eee Page 5 default settings eee eee Page 5 Software handshaking 2 Page 11 Terminal emulator lt eee eee Page 3 User programme download 5 a toten g E tear dom es Page 3 modification lt Page 3 modify save ee eae ee weet Page 3 Copyright 202. 18 CH1 ST XT CH2 ST CH1 ST GA EI ES77 IE 5 17 CH2 S5V1750 VC IE 5 17 WT64 1I8 RP IE 5 17 CH2 ST XT Copyright 2001 Pan Controls Limited If in jog mode do Seq77 Set coarse adv ret increment Set medium adv ret increment Set coarse adv ret increment Set advance retard tables if req Phase retard print Mask advance amp retard push buttons Negative shift on colour 1 Negative shift on colour 2 coarse medium Jog positive off Advance button Set jog speed 8 direction col 1 Test advance button still pressed Stop colour 1 on button release Set jog speed amp direction col 2 Test advance button still pressed Stop colour 2 on button release Stop trap if colour changed during jog Jog negative off Retard button Set jog speed amp direction col 1 Test retard button still pressed Stop colour 1 on button release Page 21 Appendik sample programme PANTERM User Manual Revision 1 3 1E 5 18 CH1 SV1750 VC Set jog speed 8 direction col 2 TE 55 18 WT164 T118 RP fTest retard button still pressed IE 5 18 CH1 ST XT Stop colour 2 on button release CH2 ST CH1 ST GA EI Stop trap if colour changed during jog AE KKK KKK KKK K K K KKK K KK KK ERE KAKA KAKAK AKA KAKAK KA KAKA KAKAK AKA KAKAK KAKA KA KAKAK AKK START OF INITIALISATION OF REGISTER POSITION E FKK KKK KK e e e K K KKK K K RRE K KA K K K K K K K K KKK K K K K Ke KAKA KAKA KAKAK AKK KK AKA KA KAKAK Ke e e e x ES120 Initiali
3. 53 Colour 1 steppers ready Ms 54 Colour 2 steppers ready Ms 55 Startup complete Ms 56 Reset E Stop prompt 59 Power up header 60 Diagnostic service screen 70 Phase advance print setup 71 Phase advance print 72 Phase retard print setup 73 Phase retard print 76 Jog positive off Advance button 77 Jog negative off Retard button 120 Initialisation of registration seq called via RE 122 Fine reg correction col 1 123 Fine reg correction col 2 124 Adjust the repeat length 140 0ne shot correction sequence 145 0ne shot correction sequence complete colour 1 146 0ne shot correction sequence complete colour 2 200 Tick driven sequence 201 Machine settings update 202 Set new ratio 203 Change direction mode 204 E stop relink 250 Motor off sequence 252 E stop Auto restart sequence 253 Default system parameters called from 255 254 Default variable values called from 255 255 Autostart system setup Ak Ho dh de de Gk E de de Gb kk Kk EEE TE EEE EEE EEE TE EEE EEE EEE EEE EEE TET EV BEMIS54 PAN DW100010 JD KKK ko e e e e he KK KKK K K e K AKA EKER ee he hec KAKAK AK KAKA KAKA KAKAK AKA KK e he AKA KA KAKAK I e kkk MAIN MENU d FER KKK KKK e e e e he ke Kk ke ke e e e he heck Sk Sk ke K e e he he hec kc ke ke ke e e e he Kec Kc KKK K e ke he he KKK sk ke K e e hec Kec Kc ke ke ke ke ke e e c Ke e KKK ES20 Escape key sequence CEO ABK XS30 ES30 Start screen Ivy5 Load y wi
4. correction with variable Q ES145 One shot correction sequence complete colour 1 El EKE Enable all inputs CH3 RE120 IEyd MD1 PRINT MODE Clear advance retard message ES146 One shot correction sequence complete colour 2 EI EKE Enable all inputs CH3 RE120 IEyd MD1 PRINT MODE 4 Clear advance retard message FER KKK KKK e e e e he KK AKA KK KK AKA KAKA e e he he EERE e e KK AKA KAKA KAKAK AKA e e e he Kec Kc kc ke ke ke ke e e c Kc e kkk START OF TICK DRIVEN ACTIVITY FER KKK KKK K KK e he K KKK K e e e e AKA KAKA KAKAK AKA K K K KAKA KAKA KAKAK AKA KK KK AKA KA KAKAK Ke e e e x ES200 Tick driven sequence VM 43 hn VDnpnz System var 43 to cts min then per foot IG9 99 n MD3 15 Refresh only if n lt 99 Page 22 Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 Appendik sample programme IEyd MD3 Press speed n Update display if in run page IG 10 Y MD4 15 Refresh only if Y lt 10 IEyd MD4 Actual Repeat X Y IEnb XS201 When press speed is 0 update settings ES201 Machine settings update IF 1 14 XS202 If repeat length has changed set new ratio IE 250 c XS204 Relink after E stop CEO Disable tick ES202 Set new ratio El1 El2 El3 VA 1 b 14 IVKO Copy repeat length into 14 reset offset correction CH2 ST FD15 FMVG LM3 Set up starting link CH1 ST FD15 FMVG LM3 Setup starting link VAGbD VAGbE Copy starting ratio to working reg CEO RE120 Turn off tick arm reg ES204 E
5. incorporates a delay mechanism so that you can check the response of the control system to your command file You can type Alt S Slow or Alt F Fast to slow down or speed up the loading A very slow speed combined with pausing can be useful for spotting errors While in terminal mode you may want to record what some of the commands and definitions currently on the control system are You can start this recording by typing Alt R You will be prompted to enter a name for the recording file Both the commands that you type and the control system s response will be recorded You can stop the record at any time by pressing Alt R again While loading a command file you may wish to abort the load and return to the terminal mode Press Alt T terminal if you wish to do this Pressing Control C which stops many programs will not affect PANterm this gets sent straight to the control system You might have aborted because you spotted an error in your command file If so you will want to edit your file PANterm allows you to type Alt E which will start up your editor without leaving PANterm provided that PANterm has been told which editor to use in the configuration section You may use your editor as normal On exiting your editor you will return immediately to PANterm in its terminal mode By leaving PANterm in your PC s memory in this way restarting PANterm is considerably speeded up Copyright 2001 Pan Controls Limited Page 9 PANTERM communi
6. stop relink 1V 250 0 CH2 ST PC LM3 Relink colour 1 CH1 ST PC LM3 Relink colour 2 FE KKK KKK ee e e K KK KKK K e e K ke ke KA K ke e e e he KKK KK K RARE K KKK ERRE KK KKK K e K K Kec Kc KKK KAKAK Ke e kkk ERROR REACTION ACTIVITY FEK Ak ko e e e e K KK KKK K K e KAKA KAKA KAKAK AKA K K K KAKA KAKA KAKA KAKAK e e KAKA KA KAKAK I e kkk ES250 Motor off sequence CEO MI3 CH2 MO CH1 MO IV 250 1 Set an E stop marker IVkO Reset average counter XS252 E stop Auto restart sequence FER KKK KKK e e e e he KK Sk ko ke K e e e heck KKK K e e he he hec kc ke sk ke e e K K hec Kc kc ke ke K e e K K Kec kc KKK e e K he Kec Kc kc ke ke ke ke e he c Ke e KKK START OF POWER UP AUTOSTART ACTIVITY FKK KKK KK e e e he KK Sk sk ke K e e e ke K Sk Sk ke K e e e he hec KKK K e e e he Kec Kc KKK K e e K he Kec kc KKK e e e he kc Kc kc ke ke e e e he c I e e e x AS255 ES252 E stop Auto restart sequence MIT MD Clear display XS50 Start screen XS56 Reset E Stop prompt II10 RP Wait for reset XS51 Drive ready prompt MI Mask inputs WI32 Drive 1 ready TDA1 X2 4 147 X552 WI31 Drive 2 ready TDA2 X2 4 146 XS53 WI30 Stepper drives colour 1 ready SA1R X1 15 145 X554 W129 Stepper drives colour 2 ready SA2R X1 15 144 WT512 Delay the enable signal CH3 RE120 Set reference trigger sequence to initialise XS30 Start screen Copyright O 2001 Pan Controls Limited Page 23 Appendix sample programme EI ES2
7. to use to edit the control system command files By default it is set to ed 5 8 Automatic baud rate configuration PANterm has the facility to set its baud rate automatically to that of the controller to which it is connected Having established the baud rate of the controller PANterm sets the baud rate of the PC to match and updates the PANterm configuration file accordingly This feature is invoked by typing Alt B Copyright 2001 Pan Controls Limited Page 11 PANTERM communications programme PANTERM User Manual Revision 1 3 5 9 Alt B Alt C Alt D Alt E Alt H Alt L Alt R Alt T Alt U Alt X Page 12 PANTERM command summary Baud rate set Sets PANTERM to the baud rate of the controller automatically Configure Allows configuration PANTERM Dos Starts an MS DOS shell Editor Temporarily leaves terminal mode and loads your editor for editing control system command files Help Display a list of possible commands and other help information on screen Load Starts loading of a control system command file When your file has been loaded the program will revert to the terminal mode Record Allows recording of control system commands to a file You will continue to record all commands until you repeat the Alt R command Terminate Terminates loading of a control system command file and returns to terminal mode Upload Starts loading of a control system S record file This is used for changi
8. 000 to get cts repeat Scale repeat to integer amp decimal Web repeat 228571 cts 1000 Web divide by 1000 to get cts repeat Autostart sequence Startup Synpro banner Clear display Start screen Reset E Stop prompt Set control OK Wait for reset Delay to clear stepper startup Drive ready prompt Mask inputs Drive 1 ready TDA1 X2 4 147 Drive 2 ready TDA2 X2 4 146 Stepper drives colour 1 ready SA1R X1 15 145 Stepper drives colour 2 ready SA2R X1 15 144 Waiting startup complete message Default variable values Delay the enable signal Set start up shift colour 1 selection Set start up shift colour 2 selection Default system settings Set default shift Start screen Enable inputs Set reference trigger sequence to initialise Reference input on master axis Slave axis position snapshot linked to input 1 Advance Pb Retard Pb Set colour 2 for shift Set colour 1 for shift E stop monitor to MO motors Slave axis position snapshot linked to input 1 POSITION TRIGGERED OUTPUT CH1 POn m p System diagnostic sequences if required ES101 0V 1 HOV 9 0V 17 Channel 1 system test Channel 1 status Channel 1 mode Channel 1 error Copyright 2001 Pan Controls Limited Page 25 Appendix sample programme 0V 25 0V 33 0V 41 0V 49 ES102 KOV 2 0V 10 0V 18 0V 26 0V 34 0V 42 0V 50 END Page 26 Channel Channel Chann
9. 01 Pan Controls Limited Index Page 27
10. 2001 Pan Controls Limited Page 1 User Manual Revision 1 3 3 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY MAINTENANCE REFERENCE Highest priority interrupts TERMINAL MARKERS DEMAND Position data GENERATOR i 9 COMMAND POSITION DISPLAYS O MEASUREMENT INTERPRETER Hardware interrupt CONTROL ALGORITHM GLOBAL DATA DEBOUNCE SOFTWARE Polled scan Switch state EXTERNAL INPUTS Data flow diagram The control software is highly deterministic being interrupt driven by a hardware timer The control algorithm is implemented every time this hardware timer generates an interrupt every 1 256 second In addition polling of the external inputs is carried out during the same servo loop closure process Serial character receipt and transmission is also handled by the interrupt mechanism and a special high priority interrupt is used for reference marker detection This gives a response time of better than 15us The command interpreter is executed in background mode together with display routines The modular approach to the software means that system can be easily adapted to particular situations Page 2 Copyright O 2001 Pan Controls Limited Revision 1 3 User Manual 4 MODIFICATIONS TO THE USER PROGRAMME The user programme consists of sequences of instructions which are stored in non volatile memory on the Pan co
11. 53 CH2 GE145 FD15 LW111110 RAO SA60000 SZ80000 KP100 KF970 SE8000 SW100 CW1011011 PC WT64 ID DB25 GW110 SBVF CH1 GE146 FD15 LW111110 RAO SA60000 SZ80000 KP100 KF970 SE8000 SW100 CW1011011 PC WT64 ID SBVF CH3 SBVW AP gt 3 1 VT5 ES254 IE 1 b 1V 1 2100 VA 1 bA VD 1 jAo IV 10 10 1V 500 500 IV 99 99 VM 9 4 Q IV 11 0 IV 12 0 IV 13 0 IV 14 0 IV 15 1500 IV 16 1500 IV 17 1 IV 18 2 IVG30966 IVIO IVK2000 IVPO IVU10 IVV15 IVXO IVYO IVZ3 IVa 1 IVbO IVc1 IVd2 IVe3 IVf4 IVg5 IVh60 IVi216000 IVj100 IVkO IV1100000 Page 24 PANTERM User Manual Revision 1 3 Enable inputs Default system parameters for testing Set reference complete trigger sequence colour 1 tables 16 bit num DF DS average use demand Acc Dec HGain terms Error Setup control word Enable drive and initialise demand RF X4 2 Debounce inputs Set slave bounds to current repeat Set reference complete trigger sequence colour 2 tables 16 bit num DF DS average use demand Acc Dec HGain terms Error Setup control word Enable drive and initialise demand RF X4 2 Set slave bounds to current repeat Set web bounds to current repeat Set a default value for CH3 FM Average the web velocity to smooth out Default variable values If the saved repeat is 0 then default to 21 Copy 1 to A add O to 1 Scale repeat to integer amp decimal Lower one shot value also counter k target Upper one s
12. Motion Control System PANTERM User Manual Revision 1 3 September 2001 TU PAN CONTROLS LIMITED DRUMMORE DOUNE PERTHSHIRE FK16 6AX SCOTLAND Telephone 44 0 1786 850261 Fax 44 0 1786 850387 email sales pancontrols com internet http www pancontrols com Revision 1 3 User Manual Table of Contents 1 DOCUMENT MANAGEMENT be kb oe U M E RE SERERE A n o Page 1 O n zm nana M kolko d BA M leo EE Rp CR ak a M bodne desk M alee Page 1 2 INTRODUCTION asia tah bota s ix ead aproto u o abane en a aa u e otev Ge Page 1 3 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY aa Page 2 4 MODIFICATIONS TO THE USER PROGRAMME 0000 ea ee Page 3 5 PANTERM communications programme for personal computer Page 5 5 1 MPO CUCHON e AAN AN o See Page 5 5 2 Setting up the serial link e a bag Page 5 5 3 Using PANTERM as a simple terminal lt cee ee Page 6 5 4 Preparing system command files ee Page 6 5 5 Loading command files usage A AS Page 9 5 6 Loading system programme files 00000 eee ees Page 10 5 7 Configuring PANTERM 55 a ee ae o ct aaa a cake Ae cM cti ie Page 10 5 8 Automatic baud rate configuration 0 0 0 es Page 11 5 9 PANTERM command summary occ Page 12 6 APRENDO A A face ta O ke eRe eue a ban R O ee E Page 13 6 1 Standard set up for Value controller_ eee es Page 13 6 2 Standard set up for Multi axis controller ee Page 13 6 3 Sampl
13. ODE SYSTEMS MD2 Machine starting MD3 waiting for i MD4 Colour 1 drive ready ES52 Colour 2 drive ready MD MD1 JODE SYSTEMS E MD2 Machine starting MD3 waiting for MD4 Colour 2 drive ready ES53 Colour 1 steppers ready MD MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for i MD4 Col 1 stepper ready ES54 Colour 2 steppers ready MD MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for MD4 Col 2 stepper ready ES55 Startup complete MD MD1 JODE SYSTEMS i MD2 Machine starting MD3 waiting for MD4 Startup Completion ES56 Reset E Stop prompt MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for j MD4 E Stop to be reset ES59 Power up header MD Clear display amp address each line MD1 Control by 4 MD2 JODE SYSTEMS s MD3 for i MD4 SYN i WT200 MD4 SYNPRO WT200 MD4 SYNPRO M WT200 MD4 SYNPRO M I i WT500 FE KKK KKK e e e e he KK AKA KK KK AKA KAKA KAKA KAKAK KK KAKA KAKA KAKA KAKAK e e KAKA KA KAKAK Ke ke kkk DIAGNOSTIC SCREEN FEK Ck ko e e e e he kk ko sk ke e e e e ke ke Sk Sk K K e e K he hec K ke ke ke e e e K Kec Kc KKK K e e he he Kec kc kc ke ke e e e he Kc Kc kc ke ke ke ke e e c I e KKK Page 20 Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 Appendik sample programme ES60 Diagnostic service screen F3 MK EKK Mask F2 8 F3 Ivy4 Load y with run value MD Clear displ
14. This can be changed by means of the BD baud rate command PANterm defaults to the same settings but can be changed by means of the configuration menu Copyright 2001 Pan Controls Limited Page 5 PANTERM communications programme PANTERM User Manual Revision 1 3 5 3 Using PANTERM as a simple terminal PANterm is started from the MS DOS command prompt A gt or C gt by typing PANTERM There are no command line options The PC will then display its copyright message for a few seconds before going into terminal mode When you receive your copy of PANterm it should already be configured to work with your control system Typing RETURN at this point should produce a control system prompt on the screen 1 If this does not happen you will need to configure PANterm to work with your control system which is explained in the Configuration section below At this stage control system commands such as CH1 PC MR1000 etc can be typed and will be transmitted directly to the control system The responses from the control system such as 1 1 and 2M will be displayed on the PC Your PC is now working as a terminal on the control system To leave the PANterm terminal program and return to MS DOS type Alt X Exit 5 4 Preparing system command files PANterm has been designed not just to send single commands to a control system but also for the preparation and issuing of files of command to the systems PANterm can also be used to receive a set
15. VDFj 9 z VD951 j Ao IVt228571 VM 1 tW VDW1Wz CH1 SBVF CH2 SBVF CH3 SBVW MD2 MD3 MD4 MD3 Saving settings SPV XS30 Edit sequence F1 11f press is running go back to menu 2 Mask F keys 3 Load y with run value 8 Go to line 13 9 10 Wrong length input message 11 12 Go to line 13 13 Wrong resolution entered 1 4 14 15 16 If length out of range go to line 8 17 If length out of range go to line 8 18 If resolution is not 25 go to line 12 Repeat 228343 cts 1000 Divide by 1000 to get cts repeat Bounds 100 cts 0 01inch Scale repeat to integer amp decimal Web repeat 228571 cts 1000 Web divide by 1000 to get cts repeat Set slave bounds to current repeat Set slave bounds to current repeat Set web bounds to current repeat Save values ES41 Reset working values IV 1 1700 IV 2 1 IV 3 2 IV 4 0 JD KKK ko ke e e K KKK KK K K e K ke KKK K K K K K K hec KKK K K e K K K K KKK K K K K he KKK KK K e K he kc Kc KKK e ke e KKK KKK STARTING UP MESSAGE SCREENS FE KKK KKK e e e e he K KKK ke K e e e ke ke KKK K K K K he hec KKK K e e e K he Kc KKK K e e K he Kc kc kc ke ke e e e he hec Kc kc ke ke e ke e he c A e KKK ES50 Starting up screen MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for Copyright O 2001 Pan Controls Limited Page 19 Appendik sample programme PANTERM User Manual Revision 1 3 ES51 Colour 1 drive ready MD MD1 J
16. ar machine This means that any subseguent changes accidental or intentional can be identified If the file loading mode is set to C checksum The programme is downloaded by pressing ALT U The user is then prompted to enter a file name e g ICI6 1 and the programme will then be transferred If the programme uses stored profiles these will need to be downloaded in the same way e g ICI6 PRF ASCII programme Volatile memory RAM y y Non volatile memory Flash Personal Computer Diagnostic terminal PAN controller PANTERM programme maintenance environment Page 4 Copyright O 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 PANTERM communications programme 5 PANTERM communications programme for personal computer 5 1 Introduction The program can be run on an IBM Personal Computer or compatible MS DOS computer PC to make that PC act as a terminal to a PAN digital control system Please note that this programme operates best outside of a Windows shell This is because the interrupt response time of a Personal Computer is degraded by the time slicing requirements of a multi tasking operating system If the Personal Computer being used is running Windows 95 it is recommended to use the option Restart the computer in MS DOS mode Once installed and running most commands entered on the PC are transmitted directly to the control system and any responses from the control system are displayed on the PC In ad
17. ay MD2 PANMC V154 6 MD3 Rev 15th Sep 1999 MD4 BEMIS54 PAN FE KKK KKK ke e e e he KK KK K K K e K A KK AK K K e K he K KK KK K K K K AK KKK K K K K K KK KKK K e K K AK KKK ke ke e KKK KKK START OF PUSH BUTTON ADVANCE amp RETARD CONTROL n AE KKK KKK ke e e e K KK KKK K K e K ke kc KKK K K e K he K KK KK K K K K Ke K KKK K K ce K K KKK ke ke e e e he Kec Kc kc ke ke e e e he c I e e e k ES70 Advance setup sequence MI7 MI8 EK MKA MKB MKC MKD MKE CEO REO Mask F keys IEay XS76 GA EI EK XT I15 116 1V0230 I15 116 IVQ100 II5 116 IVQ3 XS140 XS71 ES71 CH3 CEO REO IE 5 17 CH2 PGP IE 5 18 CH1 PGP IEyd IGQj MD1 ADVANCING IEyd IEQj MD1 ADVANCING IEyd IGjQ MD1 ADVANCING HIT in jog mode do Seq76 Set coarse adv ret increment Set medium adv ret increment Set fine adv ret increment Set advance retard tables if req Phase advance print Mask advance 8 retard push buttons Positive shift on colour 1 Positive shift on colour 2 coarse medium ES72 Retard setup sequence MI7 MI8 EK MKA MKB MKC MKD MKE CEO REO Mask F keys IEay XS77 GA EI EK XT I15 116 1V0230 I15 116 IVQ100 II5 116 IVQ3 XS140 XS73 ES73 CH3 CEO REO IE 5 2617 CH2 PGN IE 5 18 CH1 PGN IEyd IGQj MD1 RETARDING IEyd IEQj MD1 RETARDING IEyd IGjQ MD1 RETARDING ES76 IE 5 17 CH2 SV1750 VC IE 5 17 WT64 II7 RP IE 5 17 CH2 ST XT 1E 5 18 CH1 SV1750 VC IE 5 18 WT64 1I7 RP IE 5
18. cations programme PANTERM User Manual Revision 1 3 5 6 Loading system programme files The controller system programme can be changed by using the UP command from the boot programme A system programme in Motorola S record format must have bee prepared in advance and this can be uploaded using the Alt U option Otherwise this option is similar in operation to the Alt L load file option 5 7 Configuring PANTERM PANterm will generally be configured when you receive it This facility allows you to set up differences required for your system once and then to use that version in future without further difficulty To reconfigure PANterm type Alt C when you are in terminal mode A new window will appear with the header Configuration Each entry together with its default value is explained below Communications Port Normally PCs have up to 4 serial ports one of which will be used to talk to the control system PANterm is set up to use Port 1 by default Some PCs have more than four ports because this is not standard and methods of implementation between different computers vary it has not been possible to write PANterm to use other ports Baud Rate This item indicated the speed at which PANterm will attempt to talk to the control system This is normally set at 9600 baud because this is the default speed at which the control system will communicate You may want to change this value if you are talking to a different device other tha
19. dition some special commands are provided which are not transmitted to the control system but are handled locally by the PC These commands allow text files to be edited locally on the PC and then transmitted to the control system This allows complex command strings for the control system to be created and amended using the PC and then transmitted to the control system together 5 2 Setting up the serial link Some PAN control systems have more than one serial port The port marked Terminal should be used Most PCs have up to four serial ports referred to as COM1 COM2 COM3 amp COM4 PANterm assumes that COM1 will be used but this can be changed RS 232 levels should be used and it is assumed that the PC has a 9 way or 25 way D connector plug If the PC has a different connector type then the PC and control system should be linked with a four wire lead having the following connections The connections between a PC and the Control Board are as follows Connections for cable for IBM compatible Personal Computer 9 pin plug Controller 25 pin socket PC 9 pin socket PC 2 gt 3 2 RX 3 lt 2 3 TX 5 lt gt 7 5 GND Hardware 7 lt 4 7 RTS Handshake 8 gt 5 8 CIS Connect these 4 gt 8 1 DCD lines together j tems 6 6 DSR when using hardware gt 22 9 RI handshaking lt 20 4 DTR RS 232 serial connections PAN control system s terminal ports are configured to run at 9600 baud and to use hardware handshaking by default
20. e PC3 100 Host control board The machine is a 3 axis flexographic printer with axes defined Desc CH3 CH2 CH1 Master Slave Master Slave 1 Slave 2 Axis Web Colour 1 7 Colour 2 8 Encoder ppr 1000 Counts rev 4000 6 75 4 6 75 4 Distance rev 444 5mm 17 5 1 repeat 1 repeat Counts mm A The type roll is driven via a 140t 1 4 pitch gear mounted on the impression roll whose circumference is 889mm 35 Set slave motor to 280ppr gives 1120 cts rev so 35 is approx 7560cts Master is 4000 cts for 17 1 2 so gives 8000 cts per 35 an approximate ratio of 1 1 This is a fixed nominal ratio Store web slave counts inch 1000 cts 0 001 multiply by repeat in 0 01 then divide by 100000 G 15483 H 15483 Ratio starting values for FM FD 14 G 30966 H 30966 Ratio starting values for FM FD 15 Modification History Mod 28 07 99 Link ratio resolution increased to achive finer correction using FD15 32768 and FM 30966 Mod 06 08 99 Added F4 to allow operation with no registration Mod 10 08 99 Made fine adv ret 3 was 10 Mod 11 08 99 Added a jog mode on F5 for type roll clean up operation making use of the advance retard buttons with the colour select switch conditions Machine must be in machine mode Press must not be inched during this mode When ESC is used to guit jog rolls will realign to last position before jog was used also modified S122 to pass the reg error to both co
21. e programme listing ios uan e eto ed ets ee tet ao eate ado Page 14 7 INDEX it Soke EN a dob Ta kn a PRSE ede eke oud donee SG Page 27 Copyright 2001 Pan Controls Limited Page i Revision 1 3 User Manual 1 DOCUMENT MANAGEMENT 1 1 Release Issue Date Comments Software 1 1 August 1998 First release V1 91 1 2 April 2001 V1 92 1 3 September 2001 50 line display V1 93 amp V2 1 2 INTRODUCTION This document describes the PANTERM programme for use on a personal computer with the Pan Controls motion control system PANTERM requires a 80x86 based personal computer which is capable of running MS DOS or a MS DOS emulation e g under Windows 95 98 It needs a standard RS 232 serial port preferably with a FIFO buffer the software will automatically recognise this if it sees a serial port with FIFO It is recommended that the programme is put in a directory in the executable path e g C WINDOWS COMMAND The programme can then be executed in any directory where the user might want to keep code It will automatically create a local configuration file in the directory from which it is being used Version 1 93 of Panterm is named PANTERMV and is specifically designed for use with the value controller It can however be configured to operate with the multi axis control system Version 2 3 is designed for the multi axis control system and allows features such as 50 line display continuous display of axis positions etc Copyright
22. el Channel Channel Channel Channel Channel Channel Channel Channel Channel PANTERM User Manual Revision 1 3 bound count position velocity position error system test status mode error bound count position velocity position error Copyright 2001 Pan Controls Limited User Manual Revision 1 3 7 INDEK Connections serial port aaa ga n xh Page 5 Default serial settings lt 4444 4 44 Page 5 Example programme 2 Page 14 Handshaking hardware mi se genn iai watered tee datet mn Page 11 SOMW O 0 ti Bee a de Page 11 Hardware handshaking c eee eee eee eee Page 11 IBM PC communications programme Page 5 PANTERM 2 ei ran a ana Nah a Sach it hc Page 3 Page 5 File loading mode esses Page 11 alt Bories z o e ag rte Page 11 Page 12 AFG sna et fades reet n keen kose gu Page 10 Page 12 al D c LA E PHA Page 12 aE zum D ema st PCI eR IUS Page 9 Page 12 t AN Page 9 EN Ren R et TRUE PEE Page 12 AL cok on s eet ede steinen Page 9 Page 12 AER pe niihi m bns Page 9 Page 12 AES is os hie Ek tebe ide et ERE ERAS Page 9 alb D ele Sas eve re E A e nua Ks Page 9 Page 12 alt U oce e Lr ERRARE Page 10 Page 12 o toe aee DH Page 6 Page 12 automatic baud rate setting Page 11 baud rate ee Page 10 Page 12 07210 CES casein eU n a ngan Gne I M Page 5 colour or MONO coco Page 11 command files
23. ething wrong with communications The leads should be checked Also the PANTERM configuration can be modified by pressing lt ALT gt C A sample screen might appear as follows Configuration Communications Port 1 4 1 Baud Rate 9600 Serial mode RS232 422 or 485 232 File loading delay milliseconds 0 File loading mode Transparent or Check for acknowledge C Software or Hardware handshaking S Colour or Mono display C Parity None or Even E Number of lines 25 or 50 25 Editor name edit In order to modify a source programme it is necessary to access the editor by pressing lt ALT gt E The user is then prompted to enter a file name e g ICI6 1 The editor then enables the user to move around the programme using the cursor keys and the lt Page Down gt 8 lt Page Up gt keys Modifications can be made until the user is satisfied The user can then leave the editor by pressing lt esc gt followed by E to Exit and save followed again by lt esc gt In order to download a source programme from the personal computer to the Pan controller it is first necessary to ensure that the controller is in the privileged mode see command PM It is suggested that the user resets Copyright O 2001 Pan Controls Limited Page 3 User Manual Revision 1 3 the controller to its default state by using the RS command particularly when doing a final installation This will enable a definite checksum to be established on a particul
24. hot value Upper limit to refresh display Shift value Starting actual repeat value Reset reg average counter 1 Reset reg average counter 2 Reset first time stored length comparison Lower coarse band Upper coarse band Constant Constant Ratio starting value Starting error average values FOffset ch 2 Starting DF accumulator Fine error gain values Starting actual display Number of samples for reg correction Constant Constant Constant Constant Constant Constant Constant Constant seconds to min Constant slave counts per 1000 Constant Number of samples before correction counter reset Constant for slave repeat correction Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 IVp2473 IVrO IVs120 IVxO IVwO VM 1 iF VDF1FZ VD 1 j Ao IVt228571 VM 1 tW VDW1Wz ES255 MI1 XS59 MD XS50 XS56 CO8 II10 WT64 RP WT350 XS51 MI WI32 XS52 WI31 XS53 WI30 XS54 WI29 XS55 XS254 WT512 II9 IV 5 1 II9 IV 5 2 XS253 XS140 XS30 EI CH3 RE120 RW1 DEFINED INPUTS CH3 DR3 CH2 PS2 DI7 XS70 DI8 XS72 DI9 1V 5 2 DI9 IV 5 1 DI10 XS250 RCH1 PS1 Appendix sample programme Constant for counts per foot on the web Reset initialisation average total Set RE sequence trigger to initialisation sequence Reset initialisation value for x Reset increment total value Repeat 228343 cts 1000 Divide by 1
25. lour 2 type roll EI S07 SKK20 XS20 Clear output 7 8 go to menu header screen ES36 Display screen with registration F2 IF 43 b XS20 XT If press is running go back to menu MK EKK EKE EI Mask F Keys enable ESC 8 F5 jog IVy2 Load y with run value MD Clear display CE200 PL256 Tick sequence per second MD1 PRINT MODE z MD2 Print Repeat A o MD3 Press speed n MD4 Actual Repeat X Y ES38 Display screen with registration disabled F4 IF 43 b XS20 XT 1f press is running go back to menu Ivy3 Load y with run value MK EKK MI1 MI2 MI3 CH2 ST FD15 FMVG LM3 CH1 ST FD15 FMVG LM3 Page 18 Mask F keys 8 register inputs Set up starting link Setup starting link Copyright O 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 Appendik sample programme MD Clear display MD1 PLAIN MODE a MD2 Please note that MD3 Registration is MD4 DISABLED P Lo KK KK K K K a KK KAKA KAKA KAKAK AKA KK KK A KAKA KAKAK AKA LL LLLI CC K E eu EDIT MENU FE KKK KKK KKK a a KAKA KAKA K K K KERR RR K K K A K EERE K K K K KK KKK K K K K AK KKK E LE KKK ES40 IF 43 b XS20 XT EK MKA MKB MKC MKD MKE MKK Ivy1 MD MD1 EDIT MODE 4 MD2 Enter Repeat length MD3 1700 4700 inch 100 GL14 MD1 EDIT MODE i MD2 Length out of range MD3 1700 4700 inch 100 GL14 MD3 xx00 xx25 xx50 xx75 VK4 1 WK IVt1700 IGt 1 GL9 IVt4700 1G 1 t GL9 IVt25 VD 1 ttz IFzb GL13 VM 1 iF VDF1Fz
26. lours simultaneously using pointer system gt lt Variable used list A Repeat Length mm B Ch2 DS colour 1 error C Page 14 Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 Ak Hh dh YE de dh de de E dk Wk de WE kWh ok k dE Wk ok Wk EEE TE EEE EEE ETE EE TE ETE EE dE k E kk kk ETE ETE N lt ME GAYO NO VUOZETAC HTO NMY N MX E lt Ort 9 Oo ODE F XU F D0 410 O0 50905 INPU OOo DON Scaled colour 1 Ch2 FM Slave bounds used to calculate adv ret shift Nominal FM for Col 1 CH2 running average total Desired offset ch 2 Error signed ch 2 Cumulative CH3 DF 5 samples Correction for one shot PGC Repeat for display use Speed for display use Registration error for display use Colour 1 error multiplier for FM Colour 1 error divisor for FM Web bounds used to monitor actual repeat Display actual repeat integer Display actual repeat decimal Number of samples for reg correction Constant 1 Constant Constant Constant Constant Constant Constant Constant 60 Constant 216000 Counts per 1000 Constant 100 Number of samples before correction Constant 100000 Web modified bounds Slave modified bounds Correction limit value S122 123 Counts per foot for speed conversion S200 calculated reg error to load into Q Reset initialisation average total Set RE sequence trigger
27. n a control system Serial mode RS232 422 or 485 PANterm is designed to operate in conjunction with the standard 16450 or 16550 UART device This option allows the use of an RS 422 or RS 485 converter as manufactured by KK systems to be connected to the standard RS 232 serial port of a personal computer The hardware handshake mode see below can only be selected if the RS 232 option is selected since the RS 422 and RS 485 adaptors do not have hardware handshake facilities The RS 485 option uses the RTS line to control the direction of data flow File Loading delay The rate of loading a file to the control system will be controlled by this value which is in milliseconds You may also speed up file loading by pressing Alt F which has the effect of halving the delay time on each press or pressing Alt S which has the reverse effect When you start to download a new file the initial delay time will revert to this value The default value is 0 milliseconds Page 10 Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 PANTERM communications programme File loading mode Transpareni or Check for acknowledge This determines how PANterm communicates with the control system Under transparent mode PANterm will load files using Alt L exactly as they are entered on the keyboard Under check for acknowledge mode PANterm always waits for acknowledge after each lt CR gt character and before starting to transmit the nex
28. nd The only exception to this rule is the repeat RP command This is used as the last command on a line and causes all the previous commands on that one line to be repeated in order the specified number of times Copyright 2001 Pan Controls Limited Page 7 PANTERM communications programme PANTERM User Manual Revision 1 3 Spreadsheet programs can also be used instead of editors to prepare control system command files Any spreadsheet which allows the user to output columns to a disk file in an ASCII format can be used The following example shows how a spreadsheet might be set up to create a move profile lt A gt lt B gt lt C gt lt D gt lt 1 JOLT FREE PROFILE CALCULATION 2 1 3 Parameters 2 4 3 5 Move distance 500 Counts 4 6 Move time 30 Ticks 5 7 6 8 w 2 3 14159 B6 2094393 7 9 8 10 Formula used in cells E2 to E31 9 111 10 12 Profile B5 B6 Dn SIN B8 Dn B8 11 13 12 14 where n is the row number 13 115 14 116 15 128 27 129 28 130 29 131 30 32 If the spreadsheet is used to print column E to a disk file then that disk file would be a suitable control system command file Note that the printout should include row 32 containing a blank entry Note also that column E should be formatted so that the numbers in it are integers It will be obvious to any computer programmer that programming languages such as Basic C and Fortran can also be used to
29. ng the system low level programme and can only be used from the boot controller programme using the UP command When the file has been loaded the program will revert to the terminal mode eXit Exits the PANterm terminal program and returns to MS DOS Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 6 APPENDIK Appendik sample programme 6 1 Standard set up for Value controller Panterm Ver 1 93 Communications Port 1 4 1 Baud Rate 9600 Serial mode RS232 422 or 485 232 File loading delay milliseconds 0 File loading mode Transparent or Check for acknowledge C Software or Hardware handshaking S Colour or Mono display C Parity None or Even E Editor name edit 6 2 Standard set up for Multi axis controller Panterm Ver 2 1 Communications Port 1 4 1 Baud Rate 9600 Serial mode RS232 422 or 485 232 File loading delay milliseconds 0 File loading mode Transparent or Check for acknowledge C Software or Hardware handshaking H Colour or Mono display C Parity None or Even E Number of lines 25 or 50 25 Editor name edit Copyright 2001 Pan Controls Limited Page 13 Appendix sample programme PANTERM User Manual Revision 1 3 6 3 Sample programme listing PANMC V154 3 Rev 6th July 1999 Pan Controls PC3 100 board Issue F No of wait states 0 AMD 1048576 bytes flash memory Operator Interface V106 5 OI 19980530 PC3 120 Issue C Hardwar
30. ntroller To make the management of the construction of the user programme simple a system has been developed to allow the user to develop and modify a master copy of the user programme on a personal computer The sequence of programme development can be summarised as follows 1 Develop programme on personal computer using any editor which will generate an ASCII file i e no embedded control codes 2 Download programme from personal computer to Pan controller to the controller s RAM volatile memory 3 Save the programme from the controller s RAM to EEPROM non volatile memory This procedure means that a master copy of the programme is always maintained on a personal computer and can be copied and maintained for archiving purposes A utility programme called PANTERM is supplied to run on an MS DOS based personal computer This enables the personal computer to emulate a terminal and to allow file transfer The personal computer must have a serial port COM1 COM2 COM3 or COM4 It is suggested that a batch file be set up to enable the user to enter the programme by entering a single name e g control This will start the PANTERM programme and prompt the user to press a key to start terminal emulation If the Pan controller is connected to the personal computer and switched on then any keys which are pressed on the personal computer will be echoed back to the screen If characters are not echoed then there is som
31. of commands which actually exists on a control system and place these commands in a file You are then able to edit this file as reguired and issue the new commands to the control system in a similar way You may edit a file of commands with any text editor PANterm also allows you to set up a specific editor for use with the program and this is explained in the configuration section Note that your editor must be able to prepare a file which contains pure ASCII test without hidden control codes Most editors will do this in non document or ASCII mode The resulting file should contain a list of control system commands in exactly the same format as you would type them in direct terminal mode The file could look like this move forward and back CH1 PC SA500 SV1000 MR5000 SV200 MR 5000 move complete Note that comment lines can be put in the file by starting the line with a pound or hash symbol In due course we will see what happens to these comment lines When the above example is sent to a control system it would cause the system to execute the move forward and back immediately This assumes that the control system is ready to move and the velocity and accelerations are sensible If an error occurs perhaps because the motor cannot achieve this acceleration then the system will respond in the normal way with an error message If the move fails early on then all the subsequent move commands will generate errors and a wh
32. ole batch of error messages may be received by the PC Error messages can be recorded to a file disk using the Alt R PANTERM command In addition the last error on the control system can be interrogated using the LE last error command Page 6 Copyright O 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 PANTERM communications programme If you do not want the seguence of commands to be executed immediately but to be stored on the control system for future use we could edit the file to look like F enter sequence to move forward and back ES1 CH1 PC SA500 SV1000 MR5000 SV200 MR 5000 end of sequence now define input line 1 DI1 XS1 When this is sent to the control system the sequence will be stored and input line 1 will be set up so that when it is activated perhaps by an operator pushing a button then the seguence will be executed Note that the file contains a blank line at the end of the seguence This tells the control system that the end of the seguence has been reached This blank line must also be included when entering profiles and maps Note that this command file could be written on fewer lines by putting several commands on one line with a delimiter between them F enter sequence to move forward and back ESI CH1 PC SA500 SV1000 MR5000 SV20 MR 50000 end of sequence now define input line 1 DI1 XS1 Putting several commands on one line has no effect on the way the control system will respo
33. produce control system command files By using such a language or a spreadsheet it is possible to produce complicated profiles and maps and load them into a control system far more easily than can be done by hand Also this approach is far quicker when it comes to making amendments For instance in the above example a second profile move numbered 2 of 600 counts could be created by amending just two cells E1 and B5 Page 8 Copyright O 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 PANTERM communications programme 5 5 Loading command files Once you have prepared a control system command file and set up PANterm in its terminal mode you are ready to transmit command files to the control system This is called loading To do this type UP to put the controller in Upload mode followed by Alt L Load You will then be asked the name of the file that you wish to load Type its name and press return PANterm will now start sending the file to the control system The characters that you will see on your screen are all echoed back from the control system so that you know they have been received correctly The exception to this rule is the comment comments are not sent but printed directly to the screen in reverse colours When your command file has been loaded the programme will revert to the terminal mode Also pressing any key while loading will cause the load to be paused a second keypress will continue the load PANterm
34. sation of registration seq called via RE IE 43 b CH3 RE120 EI XT If press is stopped reset reg and eXiT MI3 VA 12 0 12 Mask reg input amp inc counter 12 CH2 DSOB VSKBM VAMI I HGet current reference error into variable B 1G 12 Z XS122 If average total complete do correction col 2 CH3 DFOR VAPRP Collect DF samples VAKck TGk 10 X8124 Increment k to average error CH3 RE120 EI Rearm reg seq trigger ES122 Fine reg correction col 1 VDI 12 Mz Divide total error by number of samples IGM 16 IVM1500 Limit correction to value approx 6 coarse IG 15 M IVM 1500 Limit correction to value approx 6 coarse IGM 15 1G 16 M VMMUM VDMVMz Fine correction scaling VAMGD AP gt 2 VD AP gt 1 VD Scale FM load AP for col 1 8 col 2 FM lt IVIO IV 12 0 HAction FM on both channels using AP value ES124 Adjust the repeat length VDPKPZ VSWPm VMm 1 11 VD 11 W 11 2 Calc act rpt on web in 11 IVkO IVPO VD 11 jXY Reset accumulator totals 8 calc display IG 10 Y MD4 15 Refresh only if Y lt 10 IEyd MD4 Actual Repeat X Y FE KKK KKK e e e e he KK KKK K e e K ke ke KKK K K e K he KK KKK K K K K A K KKK K K K K he KK KKK K e K K Kc Kc KKK KAKAK K e kkk START OF ADV RET POSITION CONTROL FE KKK KKK e e e e he KK AKA KK KK AKA KAKA KAKA KAKAK e e KAKA KAKA KAKA KAKAK e e KAKA KAKAK KKK KKK ES140 One shot correction sequence CH1 CUC3000 CLC600 PGCVQ Load correction with variable Q CH2 CUC3000 CLC600 PGCVQ Load
35. t line It also performs a checksum check on the complete file at the end of transmission If this fails the personal computer displays the failure and waits until the operator presses a key before continuing Software or Hardware Handshaking If set to software handshaking PANTERM will use the XON and XOFF characters for flow control If set to hardware handshaking PANTERM will use to dedicated hardware lines CTS and RTS for flow control Hardware handshaking is only allowed when the RS 232 serial mode has been selected For the Value controller use software handshaking otherwise it is recommended to use hardware handshaking Colour or Mono display You should set this to colour if you have a colour screen for better presentation The default is mono Even parity or none This should normally be set to Even This performs parity checking on incoming data and generates a parity bit for outgoing data 25 or 50 lines If you want more information on the screen set this to 50 line display Host controller software V157 1 and later is designed to operate in either 25 or 50 line mode A regular update window for monitoring axis positions and I O is displayed at to bottom of the 50 line display The XW auXiliary output word selects which information is sent to the controller Bit 1 of the display word can be cleared to send the correct number of lines for long listings e g LI Editor name This item is used to set the editor that you wish
36. th run value ABK Abort keypad activity EK WT128 Enable keys wait to clear pending tick Copyright 2001 Pan Controls Limited Page 17 Appendik sample programme MD MD1 SYNPRO M I MD2 Use function keys MD3 to select required MD4 option i SKA40 SKB36 SKC60 SKD38 SKE32 SKK20 EK MKE SKO PANTERM User Manual Revision 1 3 Clear display 8 address each line F1 key executes seg 40 Edit F2 ditto 36 Run F3 ditto 60 Diag F4 ditto 38 Plain run F5 ditto 32 Jog mode ESC ditto 20 Enable F keys mask jog mode AE KKK KKK e e e e he K KKK K K K e KAKA KAKA KAKAK AKA K K K KAKA KAKA KAKAK AKA e e e he hec Kc kc ke ke ke ke e he c I e kkk RUN SCREEN FER KKK KK KK KK e K K KKK K K e e K ERE KAKA KAKAK AKA e e e KA KAKA KAKAK AKA KAKAK KAKA KA KAKAK I e e e x ES32 Display screen with jog facility F5 IF 43 b XT If press is running go back to last menu IVy 1 CEO Load y with jog value turn off update tick MK EKK MI3 SKK34 Mask F keys 8 register input CH2 DPOu ST Record colour 1 position CH1 DPOv ST Record colour 2 position MD CO7 Clear display 8 set output 7 MD1 JOG MODE o MD2 Use Colour MD3 to jog type rolls MD4 Esc to Quit jog ES34 Guit jog mode seguence IVyO Clear jog mode flag MD Clear display MD1 JOG MODE MD2 Resetting type rolls MD3 Please wait MD4 u CH2 ST MAVu LM3 Reset colour 1 type roll CH1 ST MAVv LM3 Reset co
37. to initialisation sequence Testing variable O DOV O Initialisation offset value for registration Reset initialisation value for x run mode flag Division remainder TS to Panax from machine devices Web registration detector Colour 1 registration detector Colour 2 registration detector Coarse advance retard inc HS Fine advance retard inc HS Copyright O 2001 Pan Controls Limited Appendix sample programme Page 15 Appendix sample programme PANTERM User Manual Revision 1 3 7 Phase advance HS 8 Phase retard HS 9 Select colour 2 for advance retard HS 10 E Stop has been reset 29 Stepper drives colour 2 ready SA2R X1 15 144 30 Stepper drives colour 1 ready SA1R X1 15 145 31 Drive 2 ready TDA2 X2 4 146 32 Drive 1 ready TDA1 X2 4 147 OUTPUTS from Panax to machine interface Control OK monitor relay R1 123 Ak Hk dh de GE Gk dh GE GE Gk Hh GE Gk Gk CHE EE EE Gil GE GE Gk ch WE E Gk WEE WE bk fk fk Kk tk A Wk Wk dk oh E Wk WE dk E WE dE dk dk dE TE Wk fe EE OONOGARONVN Page 16 Copyright 2001 Pan Controls Limited PANTERM User Manual Revision 1 3 Appendik sample programme SEQUENCE LIST 20 Escape key seguence 30 Start screen menu 36 Display screen with registration 38 Display screen with registration disabled 40 Edit sequence 41 Reset all working values sequence 50 Starting up screen Ms 51 Colour 1 drive ready Ms 52 Colour 2 drive ready Ms
Download Pdf Manuals
Related Search