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User Manual - Observatory Sciences

1. close VI 3 3 2 and the value of the stop button is passed to the loop to stop the loop from executing This will result in the application exiting Figure 13 Test application velocity value change event If the value of the velocity is changed in the input box then this event case is triggered The set velocity VI 3 3 8 1s called with the currently selected axis number and the velocity value Page 27 LabVIEW PMAC Developers Guide 3 Axis Value Change Figure 14 Test application axis value change event If the selected axis is changed using the drop down selection menu then this event case is triggered The get velocity VI 3 3 9 is called with the newly selected axis value and the velocity value is set accordingly m Je Position Demand Value Change Y p Position Demand L Figure 15 Test application position demand value change event If the value of the position demand is changed in the input box then this event case is triggered The move absolute VI 3 3 12 1s called with the currently selected axis number and the position demand value Page 28 LabVIEW PMAC Developers Guide m Pte Home value Change Figure 16 Test application home value change event If the home button is clicked then this event case is triggered The home VI 3 3 14 is called with the currently selected axis number Page 29
2. error x PMAC Reference Response error que Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Command String The ASCII command to send to the PMAC controller Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Response String The ASCII response received from the PMAC controller Error out Error Standard LabVIEW error output Description This VI provides an ASCII command interface to the PMAC controller All on line commands defined in the software reference manual Ref 2 can be sent and any responses read using this VI 3 3 6 OslPmac SetEnabled vi slPmac ekEnabled vi FAC Reference Temm Pa oen FAC Reference Axis pee Enable error in no error error out Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to set Enable Boolean Enable true or disable false the axis This sets Ixx0O Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains Page 14 LabVIEW PMAC Developers Guide information re
3. this screen Select the version of LabVIEW that you would like to install the package into and click on the Install button to begin the installation You must accept the End User License Agreement to continue with the installation see figure 2 below Page 6 LabVIEW PMAC Developers Guide YVI JKI VIPM OSL PMAC Fil Help Package Information Select an action bo perform on Ehe package License Agreements You must accept the licenise s below to proceed 13 Package Mame License Agreement OSL PMAC v1 0 0 2 IMPORTART PLEASE READ CAREFLILLY THIS IS 4 LICENSE AGREEMENT aA This SOFTWARE PRODUCT is protected by copyright laws and E international copyright treaties as well as other intellectual property laws and treaties This SOFTWARE PRODUCT is licensed not sold End User License Agreement This End User License Agreement EULA is a legal agreement between vou either an individual or a single entity and Observatory Sciences Lid with regard to the copyrighted Software herein referred to as SOFTWARE PRODUCT of SOFTWARE provided with this EULA The SOFTWARE PRODUCT includes computer software the associated media any printed materials and any online or electronic documentation Use of any software and related documentation Software provided to vou by Observatory Sciences LEd in whatever Form or media will constitute your acceptance of these terms unless separate terms are provided by the software supplier in whic
4. Close the connection once complete Multiple connections to different PMAC controllers can be opened but only one connection to an individual PMAC controller should ever be opened The reference returned by the open VI must be used in all further VI calls Data corruption can occur if more than one connection is opened to the PMAC 3 3 Vl List and Descriptions API The following sections list each VI provided along with a description of the inputs outputs and purpose of the VI Page 10 3 3 1 OslPmac Open vi Inputs Name IP Address Port License Key Error in Outputs Name PMAC Reference Error out Description LabVIEW PMAC Developers Guide slPmac pen vi IP Address PMAC Reference Port 1025 License Key error aut error in na error Type String Unsigned 16 String Type Reference Error Description The IP address of the Delta Tau PMAC controller to attempt a connection with The port of the Delta Tau PMAC controller to attempt a connection with Defaults to 1025 License key obtained from Observatory Sciences Ltd to enable unlimited use of the VIs If this is left blank then a 30 day trial period is provided Standard LabVIEW error input Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Standard LabVIEW error output Attempts to open a connection to a Delta Tau PMAC controller on the specif
5. MAC RESPONSE VR PMAC GETBUFFER VR PMAC WRITEBUFFER VR PMAC WRITEERROR VR FWDOWNLOAD VR IPADDRESS PMAC specific request value For full details see the PMAC user manual Ref 2 This value is request specific For full details see the PMAC user manual Ref 2 This value is request specific For full details see the PMAC user manual Ref 2 This value should be set to the size of the array of data passed in below If it is set to zero then the size is automatically calculated from the data array The actual data to send to the PMAC controller The number of bytes to read in response to the supplied data Defaults to 1 byte the acknowledgement byte Standard LabVIEW error input Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection The response data returned by the PMAC controller Standard LabVIEW error output This 1s the standard communications VI that is used by many other calls within the VI set It is not expected to be used explicitly by a developer but if specialist control of the PMAC is required then it can be achieved by implementing calls to this VI It performs a request write read operation on the PMAC controller returning the raw data as an array of unsigned 8 bit integer values Page 13 LabVIEW PMAC Developers Guide 3 3 5 OslPmac AsciiCommand vi slPmac AsciiCommand vi PMAC Reference Command error in no
6. MAG TOOIKI i0 cei cech eei eI AE III 10 3 1 Understanding the ASICS RETE TO TE OE eissi piai idonei itia 10 3 2 Higher Level Control cccccccccccsssseeceeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeesseeeeseeeeeeessaeaeeceeeesseaeaeeeseeeessaaaaeess 10 3 3 Vi Listand Descriptions APU 10 CREME cES S QUERER 11 da2 OSPA COSE VI Lux ssa md mn hes ILLI MM MEE EI D 11 Foa gt cd e A Tm 12 3 3 4 OslPmac Command vi ccccccceececceeeeeeeeceeeeneeeeeeeeeeseeeaeeeeaeeeeaeneeeueneeeaeseeeaeneeeaeneeeseneesaeseeeaseatseneesseseeeaeseetseneeeas 12 3 3 5 OsiPmac AsciiCommand EE 14 336 OsliPinac SENADO M IET mt E a er E E E T O O EEr ai 14 crc MEL Gne s icto 510 MR i aE AE A E A aa 15 230 Lo cs fs Moc Ar lt 0 0 152 17 Ieee men eee Em 15 33 9 MR Sue GelVelotily Vi mt 16 3 3 10 Os Pimac SetACCClEatiOn PT u 17 3 3 11 Os Pimae GelAccelerallOn Vi sacos cuc dete deitate dete neut uedes eit rediens cede gus dede deua reeucus cte seup dede gru dede aene eklleg eur dete deu ur dugiue 17 3 3 12 OslPmac MoveAbsolute vi sseeesssesseeeeeenenenne en n nnne nnnnn nn nnnn nn nnn nena nena nenas sinas sinas sinas sinas nenas 18 3 3 13 OsIPMac_MOVEREIAtIVE Vi MMMEEEMEEEMMEEMEEMEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEENNMMMMMMMMMMMMMMAE 18 3 3 14 OsiP mac HOME Viereisen TEE TEE 19 3 3 15 OSP mac GSI FOSON Mmm a oo ee ore eee eee 20 3 3 16 since 51 EO
7. N nem een tert nT nr OO et Tum 20 3 3 17 OSIPMaC AXISPV E Vi s sccsscsaseksevdnceiansavendin 21 3 3 18 OslPmac e isch ae eee 21 Example Application Step By Step Guide es cepi 23 4 1 R n the FO ONG ALO Mid aet csacnce ERR m Eaa EEEE AE 23 4 2 Application Block DiaQrams ccccccseecccceeeeeeseeeeceeeeeeseeeeesaeeeseaueeeseeeessaueeeseeeeesaueeessaeeeesaaeeeesneesssaes 24 Page 3 LabVIEW PMAC Developers Guide 1 Introduction This document describes how to use the NI LabVIEW software for the control of a Delta Tau Turbo PMAC motion controller over Ethernet The software has been designed and produced by Observatory Sciences Ltd in collaboration with Delta Tau UK Ltd 1 1 Purpose This document provides a detailed guide of how to install and use the PMAC LabVIEW toolkit to communicate with and control a Delta Tau PMAC motion controller A reasonable level of understanding of LabVIEW is assumed A thorough description of every VI is presented along with some simple example applications that can be used out of the box by simply loading the VI into the LabVIEW development environment Detailed descriptions of how to setup a PMAC motion controller is outside the scope of this document but suitable documentation is available see reference 1 1 2 Intended Audience This document is intended for developers of motion control software for the Delta Tau PMAC motion controller Kno
8. e Requirements e Standard PC with network connection e Delta Tau Turbo PMAC motion controller with Ethernet interface 2 3 Windows Installation Download the latest VIPM package available from the Observatory Sciences Ltd website http www observatorysciences co uk The package can be found under the Downloads gt Delta Tau Drivers or Downloads gt LabVIEW Software pages Open the package with VIPM and you will be presented with the installation screen Page 5 LabVIEW PMAC Developers Guide VT JKI VIPM OSL PMAC File Help Package Information Select an action to perform on Ehe package 2009 HS OSL PMAC Product Homepage OSL PMAC 1 0 0 2 by Observatory Sciences Ltd Author Alan Greer Copyright copyright c 2014 Observatory Sciences Ltd CRE haein Palettes License OSL EULA Ss Compatible LabVIEW Versions 2009 Compatible 05 Versions ALL el Show Examples Description Easily interact with the Delta Tau PMAC motion control product range using this set of driver VIs You can simply supply the IP address and port number of the PMC and the connection VI will return a reference to Ehe PMAC thak can be used by all of the other driver VIs Release Notes 29th May 2014 Initial release of OSL PMAC driver vIs under VIPM Upgrade available Click bo show Browse All versions Figure 1 Installer welcome screen The version of the software is listed on
9. e of hardware limit The selected axis can be changed by simply selecting a new axis from the drop down menu on the left hand side of the panel When a new axis 1s selected the status information updates to reflect the current state of the new axis To exit the application simply click on the Exit button 4 2 Application Block Diagrams The diagram below shows the overall block diagram of the application For Full instructions on how this example was created see section 4 2 of the user manual The user manual can be accessed from the Help menu Help gt Observatory Sciences Ltd gt OSL PMAC M Tmeot o vk IP Address Positive Limit Negative Limit In Position Homed Figure 8 Block diagram for the test application Page 24 LabVIEW PMAC Developers Guide When the application is started the values of IP Address and Port are passed into the open VI 3 3 1 which attempts to establish communications with the PMAC The status of the connection is then checked using the status VI 3 3 3 If the status is bad then nothing more happens and the application simply stops but if the status 1s good then the application enters the True case statement and continues Once the connection has been made the velocity of the currently selected axis 1s checked using the get velocity VI 3 3 9 and then two while loops are started The lower while loop executes with a 500 ms delay and simply checks the status of the currently selected a
10. econd Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Error out Error Standard LabVIEW error output Description This VI sets the jog velocity of an axis The velocity is specified in units of counts millisecond This sets the value of the PMAC variable Ixx22 3 3 9 OslPmac GetVelocity vi slPmac GetVelociby vi PRC Reference Velocity tcksImsec error out PMAC Reference Axis error in no error Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Velocity Double Currently set velocity in counts millisecond Error out Error Standard LabVIEW error output Description This VI returns the current jog velocity of the specified axis in units of counts millisecond It reads the PMAC I variable Ixx22 Page 16 LabVIEW PMAC Developers Guide 3 3 10 OslPmac SetAcceleration vi slPmac 5SetAcceleration vi PMAC Reference PMAC Reference Axis Acceleration time msec error in na error er
11. ences co ukfemail php and leave a message requesting a license key For the LabVIEW PMAC VI sek You will be contacted with details of how to proceed Alternatively call 44 0 1223 508257 Figure 6 Trial period expired For the trial period all of the VIs are fully functional providing the opportunity to develop a complete application during this time Once satisfied with the VI set the license can be activated by simply setting a single string value to the key provided resulting in no disruption to the developed application License keys have no time limit To purchase a license visit http www observatorysciences co uk email php and leave a message requesting a license key for the LabVIEW PMAC VI set You will be contacted with details of how to proceed Alternatively call 44 0 1223 508257 Page 9 LabVIEW PMAC Developers Guide 3 Using the LabVIEW PMAC Toolkit 3 1 Understanding the Basics The LabVIEW PMAC Toolkit uses a TCP socket communications protocol to communicate with the PMAC over Ethernet Three levels of VI are provided 1 Atthe lowest level TCP sockets are opened LabVIEW queues are created and references to hold data structures are stored Control of the reference provides protection against multi threaded applications corrupting the communications with the PMAC controller you can place as many VIs in as many loops as you like and the communications order is preserved so no data is corrupted The lower leve
12. erence to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to move Position Demand Double The demand position relative to the axis current position in counts that the axis should move by Error in Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Error out Error Standard LabVIEW error output Description This VI jogs the axis to the specified demand position relative to its current position For example if the axis was set to 1 and the position demand set to 10000 then this VI would issue the command 1J 10000 to the PMAC controller If the axis was already at position 10000 then after this move the axis would be at position 20000 The relative position demand is set in counts 3 3 14 OslPmac Home vi slPmac Home vi PMAC Reference PMAC Reference Axis error in na error error oue Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to home Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connectio
13. etStatus vi slPmac GetbsStatus vi PROC Reference rx E Pho Reference Axis S foc ni Positive Limit error in na error i Negative Limit m In Position error ouk Inputs Page 21 Name PMAC Reference Axis Error in Outputs Name PMAC Reference Positive Limit Negative Limit In Position Homed Error out Description Type Reference Integer Error Type Reference Boolean Boolean Boolean Boolean Error LabVIEW PMAC Developers Guide Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection The axis number to check Standard LabVIEW error input Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection State of the PMAC positive limit flag for the specified axis State of the PMAC negative limit flag for the specified axis In position state of the specified axis Has the specified axis got a valid reference position Standard LabVIEW error output This VI returns status items for the specified axis The values returned are the positive and negative limits the in position and homed state It reads the values from the PMAC in one command which is more efficient than using a separate call for each of the values The PMAC limit flags will be true if the axis is currently on a hard or PMAC soft limit Page 22 LabVIEW PMAC Develope
14. h case certain additional or different terms may apply IF vau do not agree with Ehe terms of this EULA da not download install copy or use the Software By installing copying or otherwise using the SOFTWARE PRODUCT you agree to be bound by the terms of this EULA IF you do not agree to the terms of this EULA Observatory Sciences Ltd is unwilling En license the SOFTWARE PRODUCT to vau a C Show in Palettes iz Show Examples Upgrade available re is available For license solely to Click bo show ee nam v Yes I accept these license Agreement s PA Mo I do nat accept these license Agreements Browse All versions Install Packages Abort Install Figure 2 Installer EULA screen Once the license agreement has been accepted the installation will begin During the installation process the LabVIEW application is started if necessary Page 7 LabVIEW PMAC Developers Guide VT JKI VIPM OSL PMAC Fil Help Package Information Select an action bo perform on Ehe package Here are Ehe results of the last action cn Product Action Status 1 Install J OSLPMAC 1 0 0 2 installed No Errors 1 C Show in Palettes i Show Examples LIpgrade available Include Dependencies Click to show Select Deselect All Browse All versions Figure 3 Installer completed screen Once installation has completed you will be presented with the screen shown in the figure above Click on the Finish bu
15. ied IP address and port The reference to the PMAC returned by this VI should be passed to all other VI calls 3 3 2 OslPmac Close vi Inputs Name PMAC Reference Error in Outputs Name Error out PMAC Reference error in no error Type Reference Error slPmac Close vi error ouk Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Standard LabVIEW error input Description Standard LabVIEW error output Page 11 LabVIEW PMAC Developers Guide Description Closes a connection to the referenced Delta Tau PMAC controller The reference is invalidated by this VI and as such is not passed as an output 3 3 3 OslPmac Status vi slPmac 5Eatus vi PMAC Reference Eem Pap poco PMAC Reference Skakus error in na error error aut Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Status Boolean The current status of the connection to the PMAC controller If the connection is lost or the application failed to make a connection then this value will be false If the last VI communicating w
16. ith the PMAC completed successfully then this value will be true Error out Standard LabVIEW error output Description This VIreturns the current status of the connection to the PMAC controller A status of true means the application is currently connected and calls can be made A status of false means the connection has been lost or was never made 3 3 4 OslPmac Command vi slPmac Command vi PIMAC Reference PMAC Reference FAC Request Type VR DIONWIL Response PMAC Request VR PMAC SENDL error aut value 0 Index 0 Size size of Data Data error in na error bytes to read 1 Inputs Page 12 Name PMAC Reference PMAC Request Type PMAC Request Data bytes to read Error in Outputs Name PMAC Reference Response Error out Description Type Reference Enumeration Enumeration Unsigned 16 Unsigned 16 Unsigned 16 Array of Unsigned 8 Integer 32 Error Type Reference Array of Unsigned 8 Error LabVIEW PMAC Developers Guide Description Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection VR UPLOAD VR DOWNLOAD PMAC specific request type For full details see the PMAC user manual Ref 2 VR PMAC SENDLINE VR PMAC GETLINE VR PMAC FLUSH VR PMAC GETMEM VR PMAC SETMEM VR PMAC SETBIT VR PMAC SETBITS VR PMAC PORTI VR PMAC GETRESPONSE VR PMAC READREADY VR P
17. l VIs handle the locking and unlocking of the reference and so these VIs are never used directly by a programmer They are not listed in section 3 3 for this reason 2 The next level of VIs provide an interface to the basic communication protocol The VIs allow any type of PMAC data packet to be sent to the PMAC and the raw data bytes 1s returned This level of VI is provided for advanced users so that all available interactions can be achieved using the LabVIEW PMAC toolkit but for most users this will never be required See section 3 3 4 for more details 3 The main public interface VIs provide a simple to use set of control and status VIs offering the most commonly used features for individual PMAC axes Note developers are free to make use of any of the VIs and controls provided there is no restriction placed on how they should be utilised Most of the public VIs are built on top of the ASCII command interface provided by the PMAC controller All PMAC variables and motor parameters can be set and read using this interface A basic ASCH VI is provided see section 3 3 5 to allow a developer the option of creating many more helper VIs if necessary The complete list of PMAC variables available can be found in Ref 2 3 2 Higher Level Control When using the LabVIEW PMAC Toolkit the general sequence of operations is as follows 1 Open a connection 2 Check the connection status 3 Read status write commands 4 Repeat 2 and 3 5
18. lating to the Ethernet connection Error out Error Standard LabVIEW error output Description This VI enables or disables a specific axis by setting the PMAC I variable Ixx00 to either 1 or 0 3 3 7 OslPmac GetEnabled vi slPmac GetEnabled vi PMAC Reference merum xim PMAC Reference Axis Enabled error in no error error aut Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Enabled Boolean Enabled state Ixx00 of the axis Error out Error Standard LabVIEW error output Description This VI returns the current enabled state of the specified axis It reads the PMAC I variable Ixx00 3 3 8 OslPmac SetVelocity vi OslPmac_Set elocity yi PMAC Reference PMAC Reference Axis Velocity cEs msec error in na error error ouk Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to set Page 15 LabVIEW PMAC Developers Guide Velocity Double Set the velocity of the axis in units of counts millis
19. n Error out Error Standard LabVIEW error output Description This VI starts a home move on the specified axis For example if the axis is set to 1 then this VI would issue the command 1HM to the PMAC controller Page 19 LabVIEW PMAC Developers Guide 3 3 15 OslPmac GetPosition vi UslPmac GetPosition vi PMAC Reference Position cts error out PMAC Reference Axis error in na error Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Position Double Current position of the axis in counts Error out Error Standard LabVIEW error output Description This VI returns the current position of the specified axis in counts 3 3 16 OslPmac_GetError vi slPmac GetError vi PMAC Reference Following Error ticks error ouk PMAT Reference Axis error in na error Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Descriptio
20. n PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Following Error Double Current following error of the axis in counts Page 20 LabVIEW PMAC Developers Guide Error out Error Standard LabVIEW error output Description This VI returns the current following error of the specified axis in counts 3 3 17 OslPmac AxisPVE vi slPmac AxisPVE vi PMAC Reference Position velocity Following Error error out PMAC Reference Axis error in na error Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Position Double Current position of the axis in counts Velocity Double Current velocity of the axis in counts millisecond Following Error Double Current following error of the axis in counts Error out Error Standard LabVIEW error output Description This VI returns the current position velocity and following error of the specified axis It reads the values from the PMAC in one command which is more efficient than using a separate call for each of the values 3 3 18 OslPmac G
21. nning the VI the IP address of the PMAC controller should be entered The default port number of 1025 should work with all PMAC controllers Once the IP address is correct start the VI and it connects to the PMAC If the VI cannot connect then it will stop execution Once connected the status items on the right hand side will update for the specific axis selected Starting from the top right hand side Velocity This shows the current velocity in counts millisecond It can be changed for the current axis by setting a new value in the input box Position Demand Entering a new value into this input box will send a position demand to the selected axis The position demand is specified in counts Home Click on this button to initiate a home PMAC command nHM where n is the axis number search Page 23 LabVIEW PMAC Developers Guide Position This indicator displays the current position of the selected axis in counts Following Error This indicator displays the current following error of the selected axis in counts In Position This indicator is lit if the selected axis is currently in position Homed This indicator is lit if the selected axis has successfully completed a home position search Positive Limit This indicator 1s lit if the selected axis has reached its positive limit switch software or hardware limit Negative Limit This indicator is lit if the selected axis has reached its negative limit switch softwar
22. ror ouk Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection AX S Integer The axis number to set Acceleration time Double Set the acceleration time of the axis in units of milliseconds This 1s the time it takes for the axis to reach its velocity Error in Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Error out Error Standard LabVIEW error output Description This VI sets the acceleration time of an axis The acceleration time is specified in units of milliseconds This sets the value of the PMAC variable Ixx20 3 3 11 OslPmac GetAcceleration vi slPmac GetAcceleration vi PMAC Reference Acceleration time msec error out PMAC Reference Axis error in no error Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection AX S Integer The axis number to check Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Page 17 LabVIEW PMAC Developers Guide Acceleration time Double Currently se
23. rs Guide 4 Example Application Step By Step Guide 4 1 Running the Application This section describes the test application provided with the VI set demonstrating methods for connecting to a PMAC and providing status about a selected axis It also provides methods for setting the velocity and a demand position for the axis The front panel of the application is shown below P OslPmacTestApplication vi File Edit View Project Operate Tools Window Help bare IP Address 10 2 2 28 Port 11025 Axis Axis 5 zT ex Enter a valid IP address and port number For the PMAC and then start the VT Select the axis using the axis selector an the left and the status indicators an the right hand side will display the status For that axis You can specify 4 velocity and demand position For the axis by entering the values into the input boxes on the right hand side To request a home move simply click an the home button For Full instructions on how this example was created see section 4 2 of the user manual The user manual can be accessed From the Help menu Help gt Observatory Sciences Lid gt OSL PMAC Velocity 10 Position Demand 10000 HOME Position cts 10000 Following Error tects In Position Homed Positive Limit Negative Limit Figure 7 Demonstration application front panel When the application is first opened in LabVIEW the IP Address input box is blank Before ru
24. t acceleration time in milliseconds Error out Error Standard LabVIEW error output Description This VI returns the current acceleration of the specified axis in units of milliseconds It reads the PMAC I variable Ixx20 3 3 12 OslPmac MoveAbsolute vi slPmac MoveAbsolute vi PMAC Reference PMAC Reference Axis Position Demand cEs error in na error error ouk Inputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Axis Integer The axis number to move Position Demand Double The demand position in counts that the axis should move to Error in Error Standard LabVIEW error input Outputs Name Type Description PMAC Reference Reference Reference to the Delta Tau PMAC controller This contains information relating to the Ethernet connection Error out Error Standard LabVIEW error output Description This VI jogs the axis to the specified demand position For example if the axis was set to and the position demand set to 10000 then this VI would issue the command 1J 10000 to the PMAC controller The demand position is set in counts 3 3 13 OslPmac_MoveRelative vi slPmac MoveRelative vi PMAC Reference PIAC Reference Axis Position Demand cEs error in na error error out Inputs Name Type Description Page 18 LabVIEW PMAC Developers Guide PMAC Reference Reference Ref
25. tton to close the screen 2 4 Licensing You are provided with a thirty day free trial of the VIs which starts when they are first run When executing the OsIPmac Open vi for the first time a window opens notifying the operator of the beginning of the trial period You have started a 30 day trial of the OSL PMAC Labview VIsek To purchase a license visit https WIAA obseryatorysciences co ukfemail php and leave a message requesting a license key For the LabVIEW PMAC VI sek You will be contacted with details of how to proceed Alternatively call 44 0 1223 508257 Figure 4 Trial period notification After this initial window has opened you will then receive a notification each time you run the software which will show how many days are left for the trial Page 8 LabVIEW PMAC Developers Guide Time left for trial license Your license will expire in 10 days To purchase a license visit http WW Observatory sciences co uk email php and leave a message requesting a license key Far Ehe LabVIEW PMAC VI set You will be contacted with details of how to proceed Albernativelv call 44 0 1223 508257 Uncheck to stop this message From opening Figure 5 Trial time remaining notification The notification can be turned off by un checking the box in the dialog It will return if the VI is reloaded Your trial license of the OSL PIMAC VI toolkit has expired To purchase a license visit https WIA obseryvatorysci
26. wledge of the PMAC motion controller is assumed as is a degree of proficiency with LabVIEW 1 3 Document Overview Section 2 provides details of how to install the LabVIEW PMAC Toolkit and information regarding the licensing and the free 30 day trial Section 3 discusses how to use the toolkit providing detailed explanations of each of the VIs available for use Section 4 describes the example application provided with the toolkit providing details on how to run the example VI and how the example VI works 1 4 References 1 Turbo PMAC User Manual 3Ax 602264 TUxx September 12 2008 2 Turbo PMAC PMAC2 Software Reference Manual 3Sx 01 937 xSxx December 19 2012 Page 4 LabVIEW PMAC Developers Guide 2 Installing the LabVIEW PMAC Toolkit Installation of the LabVIEW PMAC toolkit is straightforward as it comprises only of native LabVIEW VIs These VIs can simply be added to an existing project The VIs are provided with a free 30 day trial A license key can be purchased which removes the thirty day restriction this is achieved by simply adding the key to the relevant VI as explained below 2 1 Software Requirements e LabVIEW development version 2009 or later e Windows XP Windows VISTA Windows 7 e LabVIEW VI Package Manager required for installation e No PMAC drivers are required no additional software is needed to use these VIs The VI driver set communicates with the PMAC using a native protocol over Ethernet 2 2 Hardwar
27. x dodi v SJJ N gt Q by ue c O Observatory Sciences Ltd LabVIEW Interface for the Delta Tau PMAC Motion Controller Issue 1 1 June 12 2014 Observatory Sciences Ltd William James House Cowley Road Cambridge Cambridgeshire CB4 OWX UK E contact observatorysciences co uk www observatorysciences co uk T 44 01223 508257 F 444 0 1223 508258 LabVIEW PMAC Developers Guide Document Control Authors em 9mm 0000000 Alan Greer Observatory Sciences Ltd Zu Document Approval m oe em 000000000 Philip Taylor Observatory Sciences Ltd Revision History me me m emm 0 12 June 2014 Updated to reflect latest installation instructions Page 2 LabVIEW PMAC Developers Guide Table of Contents 4 InjigerelUreiife cbe c c Ee 4 1 1 Fe KE T TN 4 1 2 Rig oio Aud i c TRE ee E E A ee ene a ree Peer eet eeepc 4 1 3 Document loi ay ch ene eee ee ee er eae eee ae ren eee en eae ae ne ae ee ee ere ne ere 4 1 4 FAC IONE INC IRR TTL EE 4 Installing the EabVIEW PMAG TOOIKILU a rne Ino vec sesusveccdussvescdacaviveccusteruecscces 5 2 1 Ter arse itur MEME 5 2 2 Hardware Requirement ccccscccccssccccceseecceuseecceseeecsseesseeeecsageeecsuseeeseueeessaueeessaeeeessueeesseeeeesseseessaneeeess 5 2 3 VIEICIONS M TOI HOT aa E S E 5 2 4 ECCAS WN PR E oe une none tcaddemeceataceoacectcas qeeeneneaee 8 Using the LabVIEW P
28. xis The diagram below shows the loop Positive Limit ug bp B T Position cEs Following Error cEs OBL POEL Pii Negative Limit naa ETF In Position ETF Jut Figure 9 Test application status while loop The axis number is read and used to make calls to the get position 3 3 15 get error 3 3 16 and get status 3 3 18 VIs The return values from these calls are used to populate the status indicators The status 3 3 3 VI is also checked and if communication is lost with the PMAC then the loop is stopped The upper loop in the block diagram is used to handle user events which include clicking on any of the buttons or selecting a new axis The upper loop is shown in the diagram below Page 25 LabVIEW PMAC Developers Guide Li H M M MP RU Figure 10 Test application user event while loop This loop contains an event structure to handle the events that might occur during operation The selected axis number is passed into each event case Each event case is explained in detail below pal Timeout v Figure 11 Test application timeout event This event case 1s unused Page 26 LabVIEW PMAC Developers Guide EHM A m um m um uma 11 stan value Change Figure 12 Test application stop value change event If the operator clicks on the exit button then this event case 1s trigger Communication with the PMAC is stopped using the

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