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Manual for the UPT programming tool

1. MKT Doc Nr 85110 Version 1 6 Page 63 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT MKT Doc Nr 85110 Version 1 6 Page 64 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 9 2 CANopen objects for Analog l O Modules CiA DS401 specifies the CANopen Device Profile for I O Modules with analog inputs and or outputs If you want to connect any of these objects via SDO to a variable of your terminal program you have to know the object s index and subindex Here are some of the specified objects hex channel not converted 1 4 Unsigned16 ee converted 1 4 Unsigned 16 la ER 1 4 Unsigned 16 Determines which events cause an Unsigned 8 unl interrupt for a specific channel 1 4 Unsigned 8 0x6423 Globally enable disable Interrupt 0 Boolean rw When enabled interrupt triggered 0 set when analogue input rises above this 1 4 Unsigned 32 value not converted 0x6425 When enabled interrupt triggered 0 Unsigned8 nil when analogue input falls below this ies mmm value not converted 0x6426 When enabled interrupt triggered 0 Jnsigned8 when analogue changes by more than 1 4 Jnsigned 32 thisvalue from previous reading rising or falling not converted 0x6443 Output Fault Mode Unsigned8 wo 0x6444 Default Output Fault value i unconverted More info
2. Default Background Color Special Background Filler MKT Doc Nr 85110 Version 1 6 Page 30 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 10 4 The Format String in display lines A format string is one of the display line properties of a display line definition The format string can 1 bea simple constant text string 12 contain special place holders like for numeric digits 19 be used to show icons in backslash sequences like iMylcon Special characters in a format string are will be replaced by a numerical digit or a string expression will be replaced with the sign of a numeric value NN displays a single backslash ow displays a character cN sets the text color to N CN sets the background color to N mN switches the draw mode for all following letters i lt Icon Name gt lt Invert Flag gt Inserts an Icon see below Some format string examples VOLE Age SAFRA ge V Icons iF ok kd iF no iF stop DrawModes m0 Normal m5 Invers m8 Blink Inserting Icons in a display line See the second example Here three icons named F_ok F no and F stop are inserted in a single display line Each icon will be treated as a letter when shown on the screen That means if you change the X Y position of the display line you will also move all icons of that line You may
3. ak User s Manual Systemtechnik Version 1 6 Programming Tool for User Programmable Terminals to be used in CANopen Networks or for display terminals configured via CANdb MKT View CDP Document Number 85110 English Original C CBProj UptWin1 DOK U art85110_ Manual UPT Toolodt Mkr Doc Nr 85110 Table of contents Systemtechnik 1 VERSION HISTORY ubuni aiaiai 4 2 TEA ini satan kitten aana aaa eene i gt B FURTHER INFORMATION S i iile to ba iiim ona ueste pa Elo deb ilie bn Eie Eo BECAME qM Ee peel bb tO EK adt 7 7 DESCRIPTION OF THE PROGRAMMING TOOQL e eere eene eene nounou 9 JA HE MAN WINDOW i aab n E al bc e bc a cL EU Sela P uiu EL a Rc CUN cU S vu E UEERE UDER UI 9 T NAN VE eno N 10 Ee A a E N AE EN a ee A 10 74 THE ONLINE HELB SYSTEM niiina epi epa deo esa Ora SEMEL aa aeoiee kis dde S VER c So kN EE EE aaas 11 ql THESIHPLE POOR EDUOEL A de ir eds cb deb es an esc ru turn aes 12 TOLL D SIMULATOR DADO ee ee Pe ee ee eran tar c dame ede i ote fe chu te Coo dite bn totu o clau oe Eu Ee TF rea dud 16 Tg SYSTEM COMMANDE INTERPRETER ask as cati c erbe dot ndr ea dicc d cna IT 320 COMMUNICATION CHANNELS eiie misisin eni teri isa een asta cia bad i cieh ideis monis is testi E vi E e prE wie 18 Hd NIE IC E RR us ase 19 UON MESES UI TNR 20 45 3 Communication channels for CANdb signals aii esas itis daa iib acklE ta deca ad 23 7 9 APPLI
4. Syntax fi lt x1 gt lt yl gt lt x2 gt lt y2 gt lt pattern0 gt lt pattern1 gt where x1 left border yl top x2 right border y2 bottom pattern0 pattern1 optional filling pattern default 0xFF solid All old contents of the rectangular area will be overwritten by this command unless you use a draw mode that does not write both display pages blink phases The optional filling pattern allows drawing rectangles with different shades Both patterns are 8 Bit Masks where a 1 Bit will be set a 0 Bit will be reset lt Pattern0 gt will be used to fill all even graphic lines lt Pattern1 gt will be used to fill all odd graphic lines Some examples of useful filling patterns are fi 10 10 30 20 OxFF OxFF will draw a solid black rectangle fi 10 22 30 30 OxFF 0x00 will draw a rectangle that consists of horizontal lines fi 10 32 30 40 0x55 0x55 will draw a rectangle that consists of thin vertical lines fi 10 42 30 50 0x55 OxAA will draw a 50 percent gray shaded rectangle If you omit the filling patterns the interpreter assumes that you want to draw a solid rectangle the used filling pattern will be OxFF OxFF then MKT Doc Nr 85110 Version 1 6 Page 57 69 ia Doc Nr 85110 Programming tool for User Programmable Terminal UPT Systemtechnik 8 6 6 The Draw Mode command dm This graphic command is used to set the draw mode for all follow
5. There are different types of communication channels 19 SDO channel Service Data Object a slow device to device connection which allows to exchange data from a device s object dictionary PDO channel Process Data Object a fast communication channel that is used to transfer process data with a high priority for example digital inputs analogue values from sensors etc CANdb Messages only for a few special variants Quite similar as a CANopen RPDO but any CAN identifier can be used CANdb signals and messages are defined in a CAN database file Up to 64 signals can be contained in a message Channel number 30 identifies a variable which is connected to a CANdb signal gt w NO aw NO Note that the terminal can only listen to PDO channels It can not request the transmission of a PDO from another device via RTR because this may cause a lot of trouble You have to define at least one communication channel for every device that the terminal shall communicate with The channels will later be used to transfer values from other devices into the variables of your terminal program MKT Doc Nr 85110 Version 1 6 Page 18 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 8 1 SDO channels SDO channels provide a slow device to device connection which allows to exchange data from a device s object dictionary You have to define the CAN ident
6. names of variables must never exceed 8 characters length Usually the input of variables originates from a communication channel But you may also assign new values to a variable with the command of the command interpreter If a variable is used as an application variable which is connected to a communication channel you may access any of the following components f reads the flag field of a variable ut reads the update timer of a variable in reads the latest input value from a communication channel ed reads the edited value which is currently visible on the display ou reads the latest output value for a communication channel de reads the default value from the variable definition table mi reads the minimum value from the variable definition table ma reads the maximum value from the variable definition table fa reads the scaling factor from the variable definition table di reads the scaling divisor from the variable definition table of reads the scaling offset from the variable definition table uo checks the output update flags of the variable If you don t specify a component name or forget the dot after the variable name the interpreter uses the edited value of the variable The edited value is also the only part of a variable that you can modify directly by assigning a value MKT Doc Nr 85110 Vers
7. Doc Nr 85110 Version 1 6 Page 49 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 1 1 5 PDO Functions of the UPT Interpreter The numeric interpreter has some built in functions that can be used to access the PDO Channels Some of these functions may be used for event definitions or as part of numeric expressions You do not need these functions to read values from a received PDO or put values into a transmitted PDO connect Variables to a PDO channel to do this All PDO functions described here require an index to define which PDO channel shall be used You may use pdo0 pdol pdo2 or pdo3 If you want to use a flexible index use an expression like pdo PHoNr or similar A dot is used to separate the keyword pdo from the pdo structure component as described later Most three letter component names may be abbreviated by the first letter for example pdo 0 cnt is the same as pdo 0 c etc pdo N cnt Returns the value of a counter Use this function to find out how often a particular PDO has been received or transmitted since power on pdo N cyc Returns the cycle time for the transmission of a PDO in milliseconds You can also assign a new TX cycle time for a PDO using a formal assignment like this pdo 0 cyc 1234 The TX cycle is similar to the PDO Event Timer as described in CANopen DS301 V4 0 see object 0x1400 subindex 5 pdo N dat T Returns th
8. sr Function a very efficient tool to convert arbitrary error codes into text messages on the screen Maybe there are more functions which have not yet been described here check the Help System of the UPT Programming Tool if there s more info MKT Doc Nr 85110 Version 1 6 Page 53 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 3 Interpreter Commands The UPT s firmware has a built in system interpreter which is used for 12 event reaction methods which are usually goto or call commands t graphic output commands for complex display pages 17 commands to control signal LEDs commands to control the four User timers assign command to set a new value of a variable Some interpreter commands procedures expect a list of parameters others don t require any parameters Most parameters can be numeric expressions For testing purposes you may send commands to the interpreter using the status bar of the programming tool or via the new Test Command window 8 4 Program control commands 8 4 1 Goto Call and Return These commands for the UPT s built in command interpreter are used to switch between pages of your application All of these commands must be entered in abbreviated form single letter Syntax goto g lt page number gt or g page name call c lt page number gt or c page name return r Goto
9. Note The size of icon memory displayed in the dialog box is the available FLASH memory that could be used for icons If you have problems with a display page with many different icons the possible reason is a shortage of RAM memory inside the real UPT The programming tool does not know how much RAM will be available in the real UPT when a particular display page is visible At the present time the UPT s firmware cannot unload Icons from its RAM if there is too few RAM to load more icons from ROM MKT Doc Nr 85110 Version 1 6 Page 40 69 Aker Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 17 General Settings The General Settings are used to define or display some basic features that do not depend on your terminal application This includes 3 CAN Baudrate to establish a connection to the programmable terminal 33 Terminal node ID CAN Terminal Programming Tool V1 0 Iof x File Edit Transfer Options Help Run Stop Channels Variables Page 0 AllPages Icons General Settings Errors M Terminal Constants and Settings i seals Tool Settings CAN_Baudrate 500 kBit sec S Terminal Node ID m The constants may change when you upload or These settings must match the settings of your target download a program depending on the target hardware hardware Y ou have to update them yourself Simulator Running CAN Donge
10. 8051 compatible CPU and a 128 64 pixel graphic display This results in a display update rate of about 4 screens per second depending on the complexity of the screen If always redraw page is not activated only the text lines with modified contents may be updated to save some CPU time A typical display update rate will be about 10 screens per seconds but this depends very much on the number of display lines with flexible contents MKT Doc Nr 85110 Version 1 6 Page 27 69 Aker Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 10 2 Definition of Display Lines To define lines of text that you want to display on the terminal s LCD screen you may use the tab display lines on the page definition sheet Header Display lines Other Commands Event definitions Display line properties Nr O X position n Y position y 5 Bassjdo 4 9 Drehz U m Drehz1 0 J a z P 3 21 ACVVolts V Spamg O 2 Tex Drive Demo D 32 none 1 1 Draw Mode inverse cei J Font Jerg i2 4 3 43 Spg HEX QOx Spanng O VE Verbis none Bi Access neaa weice m b 4 Flags Undo Apply Help inset Delete Drive Demo none 5 2 Update output channel while editing The table on the left shows all currently defined display lines on the current display pa
11. Automation www can cia de if you need MKT Doc Nr 85110 Version 1 6 Page 25 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 9 2 Variables on PDO channels The input of a variable can be connected to a part of a PDO channel a PDO can carry up to 8 bytes of information and you will usually only use a part of that data field To connect a variable to a PDO channel you have to Variabl is assigned to PDO MENUEDOESSE SE define these parameters on a special dialog panel Ex Count of Bits 16 d Number of first bit 24 the UPT internal number of the PDO channel the number of data bits that shall be transferred from the PDO into the variable the number of the fist data bit in the PDO which is the least significant bit starting with bit 0 Values Sealing data type access rights min max values scaling default 0 factor fi etc like any other variable min divisor D ooo Do m Wa 3W 30 TIO NA Data type INTEGERIE 3 w NO Access rights g EET IT w NO Notes 1 only 1 bit parameters can be read from any bit position in the PDO 19 8 16 24 or 32 bit Parameters must start on a BYTE boundary in the PDO data field so the number of the first bit in the PDO must be a multiple of 8 Parameters with more than 8 databits are always transferred in low to high byte order If the Programmiertool de
12. CANLIB from the CD which should have been shipped together with the device or install it from the Kvaser site After that there should be a new item named Kvaser Hardware in the windows system control Use it to configure and test your Kvaser CAN interface Set the font display scaling to 100 somewhere in the windows system menu For Users of a german windows installation only Setzen sie die Zeichenanzeige auf Normalgr fe dies ist die Defaulteinstellung in der Taskleiste Start Einstellungen Systemsteuerung Anzeige Einstellungen Schriftgr e Kleine Schriftarten 100 Normalgr e 10 Punkt Arial mit 96ppi If you don t set the font display scaling to 100 the dialog elements of the programming tool will look very ugly Start InstallUptToolX exe or depending on the target InstallCANdbTerminal exe from CD ROM or your download folder and follow the instructions of the UPT Tool Installer Note that as of 2010 there were three different terminal programming tools available from MKT Systemtechnik InstallUptTooll exe Old programming tool only for UPT 515 not for UPT 128 InstallUptTool2 exe Programming tool for display terminals with CANopen protocol for example UPT 128 UPT 320 and many others InstallCANdbTerminal exe For all devices which use CANdb rather than CANopen CANdb is the name of a file format by Vector which describes all signals in a CAN network It
13. Definitions hex coded strings 0x5700 57FF Text Array Definitions strings 0x5800 58FF reserved for other arrays numeric 0x5C00 5COF reserved for onboard frequency counter etc The data format of the definition tables is very similar to the text file format that is used to save your UPT program on a disk drive In fact we use the same conversion routines in the UPT as in the programming tool Since May 2001 some UPT firmware versions have a few objects from the CANopen communication profile implemented DS301 Object index range 0x1000 Ox1BFF These objects only exist to detect a UPT device in a network It is impossible to modify UPT settings via these objects The PDO communication and mapping objects do not carry useful information yet CANopen Index Contents 0x1000 Device Type Only DS301 at the moment 0x1018 Identity Object 0x1018 1 MKT s vendor ID 0x004D4B54 0x1018 2 Product Code 70055 UPT515 etc 0x1018 3 Revision Number ex 0x00010002 V01 02 0x1018 4 Serial Number expect this to be ZERO MKT Doc Nr 85110 Version 1 6 Page 66 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT MKT Doc Nr 85110 Version 1 6 Page 67 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 10 Transferring the application into the programmable device To transfer the display application upt
14. Kkr Doc Nr 85110 Programming tool for User Programmable Terminal UPT Systemtechnik After that a special dialog opens where you can edit the new item Icon tool Insert an Icon symbol bitmap graphics Use this tool to insert small bitmap graphics Icons on the display page Note Before you can insert bitmaps here they must be imported on the tabsheet Icons in the programming tool After inserting an icon you can modify its appearance colour zoom different symbols depending on the value of a variable etc Use the arrow tool for this and double click on the icon in the editor screen 35 Button tool Insert a graphic button First select this tool then click into the screen to add a button After that a special dialog opens where you can edit the button Bargraph tool Insert a bargraph First select this tool then click into the screen to add a bargraph After that you can modify the bargraph in a special dialog window Button tool Insert a diagram After selecting this tool click into the screen to add a diagram d Cut tool Cut out the selected item First select the item which you want to remove with the Arrow tool then select the Cut tool scissors When cutting the selected item is copied into an internal clipboard like memory but this is not the windows clipboard Copy tool Copy the selected item First select the item which you want to copy with the Arrow tool then
15. Terminals C cbproj Upt in1 i programs defa t c i File Assistant Edit Transfer View Options Tools Icon Run Stop Reset Help CANdb Variables Global Events Page 0 Welcome al Pages Icons Settings Text Array Errors next gt m A m gl _ amp 4 EI ten TEXT Supply Voltage Ed Welcome to the Programming Tool Editor Display Page Header Display Lines Event Definitions Other Commands for terminals with CANdb support zuga 0d z2 KKK Fa Load one of the demo files or create your oun aprrlication Supply Voltage 18 5 U 4n F3 e T id o o qa Ed PE System Temperature 16 4 C i Simulator Gestoppt Warning Parameter nr display pages limited from 222 to 100 The toolbar of the simple page editor contains these buttons R Arrow or Pointer tool Move or modify items on the screen Hold the mouse pressed and move it to change the position Use the CTRL key or pull a marker frame start in an empty region on the screen to select multiple items at once Single click on an item to select it for cut copy paste operations Double click on an item to open a special property editor for it A Text tool Insert a simple alphanumeric TEXT line on the screen First select this tool click at the symbol in the toolbar Single click into the screen to place a new text item there MKT Doc Nr 85110 Version 1 6 Page 13 69
16. also use an optional state expression to invert the icon s color depending on a numerical argument after the icon s name separated by comma This feature has been implemented to simplify graphic function keys just above the Keys F1 F4 In the example the Icon F ok will be inverted as soon as the first function key is pressed because the expression kd0 is TRUE while F1 is pressed Notes 19 If the Icon in a i lt Icon Name gt sequence is unknown because it is not defined on the Icon Page the sequence will be displayed as normal text MKT Doc Nr 85110 Version 1 6 Page 31 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 1 You should activate the option always redraw this page completely in the page definition header if you use invertable icons in a display line Reason The interpreter may not notice that the state of the lt Invert Flag gt has changed because the Invert Flags are evaluated only if a display line is redrawn You should activate the option always redraw this page completely in the page definition header if you use the m lt Draw Mode gt sequence in a format string and lt DrawMode gt is a variable expression Reason Same as above If you want to separate multiple Icons in a single display line use the space character The width of the spaces depends on the standard font used for this display line
17. command to set the digital outputs but also a function named out that reads back the current state of the digital outputs Not all devices used as User Programmable Terminal have own digital outputs To access outputs on a remove I O module you must use a communication channel Perhaps your UPT515 only has four digital outputs and six digital inputs The UPT s digital inputs and outputs are simulated by the programming tool The state of the outputs is displayed as round shapes in the simulator window 3 1 NO gt w gt w NO NO MKT Doc Nr 85110 Version 1 6 Page 60 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 7 3 Timer commands and functions The UPT s firmware has some built in functions and procedures to control four User Timers These timers can be used to generate time intervals of up to 65534 100ms which is more than one hour These timers are intended to produce events but you may also use them for any other purpose Timer procedures ts0 ts3 timer start Starts one of the four User Timers for a given time interval The timer will count down from the starting value to zero when it generates a timer event Starting a timer again before it reaches zero will prevent the timer event The maximum time for a user timer is 65534 100 ms Syntax tsO timer starting value in 100ms gt Example ts0 40 starts the first
18. into the help system for details on color bitmaps in the UPT Before you can load icons into your application you must reserve memory for the icons This is done with a special dialog MKT Doc Nr 85110 Version 1 6 Page 39 69 Akr Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 16 1 Reserving memory for icons and other special features Icons and page definitions share the same memory inside the user programmable terminal Therefore you have to sacrifice some pages if you want to use icons in your application If you reduce the number of pages in your application there will be more memory for icons As an example if the terminal has enough memory for 50 display pages but you decide to use only 40 there will be about 50 40 1600 Bytes that you can use for icons Since April 2000 a part of the memory can also be used to store a text array see chapter 7 18 Change number of display pages max number of display pages 90 max number of text messages 1024 size of icon memory bytes You may sacrifice display pages and or text lines if you need more memory for Icons 5 Cancel Help Click on the Icon Memory button on the icon page to start this dialog for reserving icon memory Since the introduction of the Text Array the size of FLASH memory for icons also depends on the number of text array lines text messages
19. left corner of an object will be aligned to the nearest grid point when moving the object with the mouse At the time of this writing the following display elements were supported by the simple page editor TEXT simple text with or without variables use asterisks as placeholder characters ICON small bitmap graphics symbols BUTTON graphic button BARGRAPH DIAGRAM Y t or X Y diagram Other special functions or graphic items can be created or modified as explained in the online help system of the programming tool which by the way will always be more up to date than this document MKT Doc Nr 85110 Version 1 6 Page 15 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 6 LCD simulator window The LCD simulator window is used to show the contents of the LCD screen which you will see later after uploading your application into the user programmable terminal ET Cae IL MEE OXI In most cases this window will display the current page Iriue ue Ueno Drehz 090 07 Um As long as the LCD simulator window has the input HC Ualts c aama a8 uU focus blue title background all keyboard inputs will be passed on to the terminal simulator This allows you to test your programmed event handlers SpatHEX B BaBBOGOS D ialInt BIN Zaaaaaaaa Q 12652 KdownslB matrix 0 D0 T The LCD simulator window can be moved and sized F Keys O0000
20. or cvt into the programmable device display you have different choices depending on the available hardware Details about this can only be found in the Online Help System HTML Here just a few examples Transfer via memory card SD or Compact Flash Transfer via RS 232 unfortunately this reliable and easy to use interface has been replaced with the flawed unreliable and utterly complex USB on most PCs Transfer via CAN bus requires a CAN bus interface or another device equipped with a CAN via UDP server which can act as a bridge between Ethernet LAN and CAN Transfer directly via Ethernet LAN In addition to the application upt cvt other files may have to be loaded into the device for example certain audio files user defined fonts etc If you don t have a memory card reader connected to your PC you can used the file transfer utility which is integrated in the programming tool Details about this File Transfer Utility are also in the online help system see document filetransfer 01 htm englisch or filetransfer 49 htm deutsch 11 Error Messages 11 1 SDO error codes Here are some error codes that may occur during program upload or download Most of these error codes are taken from CANopen DS301 V4 Some of these errors may also be caused by external devices on the CAN bus For a more sophisticated explanation of these errors you should check the CiA literature or other CAN protocol descript
21. select the Copy tool The selected item is copied into an internal clipboard like memory but this is not the windows clipboard B Paste tool Paste item into selection First select the item which you want to overwrite with the Arrow tool If you don t want to overwrite a selected item select nothing The item stored in the internal clipboard like memory will be pasted to the screen If an item was selected marked with a red selection frame it will be replaced with the pasted item If no item was selected the item will be inserted at the position of the insert cursor which is marked with a small red dot The insertion cursor can be set before inserting an item with a short click into a non occupied screen area After inserting an element the insertion cursor will be moved down or right at the bottom of the screen depending on the size of the object which has been inserted so that there will be no overlap It s easy to fill a page with equally spaced items this way Undo tool Undo recent operation s MKT Doc Nr 85110 Version 1 6 Page 14 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT Click this UNDO button to undo the recent operation In the page editor up to 20 operations can be undone because they are saved in an undo history Caution If you exit from the current page in the editor the changes cannot be undone anymore Red
22. to receive the state of digital inputs of an I O Module The I O Module uses its PDO1 tx to transmit process data which contain the digital inputs The node ID of the I O Module is set to 1 so the resulting CAN Identifier will be 384 1 385 decimal To receive this PDO with the UPT you want to use the first PDO channel of the UPT Just enter the value 385 in the column CAN ID of PDO Set the Direction Column to Receive from the UPT s point of view The UPT is now able to receive a PDO with this identifier and you may define variables that use the PDO data as input values In the User Programmable Terminal a variable can now be connected either to a TX PDO or an RX PDO A variable can never be connected to two channels at the same time But you may connect several variables to a PDO channel Caution In a CANopen network one CAN Identifier may only be transmitted by one single device in the net So you have to make sure that all PDO channels transmitted by the UPT will never be transmitted by anyone else Some components of a PDO channel definition are described in the following chapters For a detailed and up to date explanation you should read the Help System of the UPT Programming Tool MKT Doc Nr 85110 Version 1 6 Page 20 69 ia Doc Nr 85110 Programming tool for User Programmable Terminal UPT Systemtechnik 7 8 2 1 PDO Transmission Direction Since Apri
23. 00000000000 independent of the main window You may even maximize it to a real full screen view On the panel at the bottom of the simulator window you can see the current state of some LEDs and the user programmable function keys The appearance of this window will change in future versions of the programming tool There may also be a display for optional onboard I O lines of the UPT By clicking into the LCD simulator window you can select or move a single text display line The MAIN window of the programming tool will automatically switch to the display definition tab where you can modify all properties of the selected line Holding the left mouse button pressed on a visible display line in the simulated display while slowly moving the mouse allows to move the display line aroud only works for normal text display lines from chapter 7 10 2 not for general graphic commands like line rectangle from chapter 8 6 MKT Doc Nr 85110 Version 1 6 Page 16 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 7 System Command interpreter The system command interpreter is a part of the UPT firmware but almost the same code is also implemented in the programming tool Most of your user program is executed by the system command interpreter The system command interpreter is used to evaluate formulas event definitions and to execute complex graphic
24. 95 98 Win XP therefore you will need a PC with windows installed We have never tested Windows ME nor Windows 2000 but they may work as well Sorry but a LINUX version of this tool is not available Furthermore you need aCAN interface for your PC the newest CAN driver software which the manufacturer of the CAN interface must provide the windows programming tool software by MKT Systemtechnik aw 3W AC MKT Doc Nr 85110 Version 1 6 Page 6 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 5 Installation The programming tool will be delivered on CD ROM or can be downloaded from the MKT website To install Ensure Windows preferrably XP not Vista is installed properly on your PC Install a CAN Interface and the required driver software not a produkt of MKT If you use a CAN Interface from PEAK you should install the newest CAN driver software from PEAK along with Peak s large CAN driver called PEAK CAN Driver V2 x and Peak s tools like NetConfig etc Further Info can only be provided by Peak If you use one of ESD s CAN Interfaces install their NTCAN driver system which is supplied with the CAN interface Carefully read ESD s manual before installing the interface because you may seriously damage the PC Laptop and or the interface if you don t follow the installation procedure If you use a CAN interface by Kvaser AB install Kvaser s CAN API
25. Added a few new interpreter functions V0 4 31 May 2000 W B scher Added a lot of new interpreter functions text array TX PDOs SYNC onboard digital I O Lines Now incompatible with older software Programming Tool Version 1 1 beta or later required First german translation of the manual now available V0 5 07 June 2000 W B scher General UPT Options implemented and described here V0 6 V0 7 Key combination to enter UPT setup can now be modified how is described here V0 8 V0 9 V1 0 27 Feb 2002 W B scher Added some notes for users of the CANdb controlled display terminal whatever its name will be V1 1 2003 05 28 W B scher Notes about DriverLINX removed Didn t This document is totally outdated Switched from doc to odt odt OpenDocumentText V1 3 2008 09 17 W B scher Added a few fragments for the new MKT View II copied from the online help system including the simple page editor 2011 06 08 Added notes about the file transfer options 2013 04 15 Copied a few chapters from the online help V1 6 2014 06 18 W B scher Added CDP CAN Display Terminal to this document s front cover page a T MKT Doc Nr 85110 Version 1 6 Page 4 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 2 Preface This manual describes a windows program that can be used to program a special terminal c
26. Aw AW AW Some examples for numeric expressions Voltage 100 230 Voltage gt 230 a comparison usable for events ce amp kd0 CAN Error AND F1 pressed Expressions may consist of 12 Numbers 19 Operators Variables Function Calls 30 AQ a 8 1 1 1 Numbers The numeric interpreter accepts numbers in the following formats 19 decimal with optional prefix 12 hexadecimal with 0x or 9 prefix C or Pascal style binary with prefix Aw 5 7 Any number may also have a signum or which should precede the base prefix Hexadecimal digits may be upper or lower case Some examples for numbers 12345 12345 112345 OxOABCD OxABCD SABCD 010101 MKT Doc Nr 85110 Version 1 6 Page 45 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT Note The numeric interpreter does not support floating point values only 32 bit signed integer values Therefore 123 45 is not an allowed number MKT Doc Nr 85110 Version 1 6 Page 46 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 1 1 2 Numeric Operators The numeric interpreter can handle the following simple operators operators with two inputs and one output Add Subtract x Multiply Divide w o fraction Modulo calculate the fraction from a division co
27. CATION VARIABLES ccccessssssssecccsccesessssssnscescccsessssssucesscccscessessueuesscccesessssssuscssccesesseseteasanes 24 QUEE 0 3 5k af Dunay LUES NORTE 28 Uri kgqa o NE eet 30 GREG Oeria nono AD RTT 34 7 11 DEFINITION OP SPECIAL DISPLAY COMMAND iiit aac ce a taces rib a Ceo Ea bacc Cia aai iiai 34 7 12 DEFINING EVENTS AN OVERVIEW a scias ira con t Es ccc uc topo ncn c ce trata 35 Jl 3 THE EVENT DEFINITION TAE nsi ici sis sis minces ies run acturi EAM Mic eei d a ME Ute PASE RA USED EDU SEE 3 7431 Defining Events the definition Idibus cu iiec acute cp Ea LaL Ra LU La ai 36 ON SA MAUS oT EOE eer eer ener Tete eee ene ere tere er eer eetee cer rer Tee 37 LODEO Pe T E a ENERO 38 LOTHE ICON PAGE au ca a cibos a riv te deve E VEL EU SU Dir aves 39 7 16 1 Reserving memory for icons and other special features eese 40 CN FS TEES BSE UU TETUER 41 LaTi GRE GET OPNO RET 42 DETETA A a p E Es E IM E D EE EE 43 119 THE ERROR PAGE uia cba a ned d way d Ec obo La iO ER ad UK C eu b tua ETE US cua ui 43 MKT Doc Nr 85110 Version 1 6 Page 2 69 Mkr Doc Nr 85110 Systemtechnik Table of contents 8 5 THE ASSIGN COMMAND aiaa iiaa iaa aata a aa aa 55 8 6 GRAPHIC OUTPUT COMMANDS citati eei dea eg oria Ex re o Ee v send re a ed ed EE ree ER tai A p ERE MENT 56 66 1 The ICON command G H 56 UEROPEEA 28A ESeLn uu E CNITRRERIDPRRPROCEPRPRCREERT
28. RECHT Lang HEX 61 86680008 DiaTn anaaaaaa You may click on any of the page icons to switch to the page definition sheet where you can modify the page s contents Double Clicking on one of the pages here will also switch to the display page definition sheet The current display page is marked by a colored frame This mark will also be switched if the UPT simulator lets your application run and executes goto or call commands You may stop this with the command Stop in the main menu of the programming tool MKT Doc Nr 85110 Version 1 6 Page 38 69 Programming tool for User Programmable Terminal UPT Aker Doc Nr 85110 Systemtechnik 7 16 The Icon page The Icon Page is used to import and browse icons for your application CAN Terminal Programming Tool 1 0 Iof x Fie Edit Transfer Options Help Run Stop Channels Variables Page 0 AllPages lcons General Settings Errors Icon List col 1 row 1 Icon Cati28 Invert 113 52 2 o Catl28 1128 64 B zuszae 32 16 E Icon Memory 2000 impor Export Inset Delete Help Simulator Running CAN Donale initialized You may import icons from monochrome windows bitmap files If the device supports color bitmaps like UPT167 Color you can also import color bitmaps In this case you must use the Import color bitmap function from the main menu not the Import button on the icon page Take a look
29. RRTRRERHIREUERERCHRERURPPERDPSRPUR 56 DEG uniche o uUR S RR 56 UHR B R2 hmet 04 dst eC ii 603 The FILL RECTANGLE command FO asp ital ndis ble i se uad pp d 57 EQUES SL ou os RECINTO 58 8 7 OTHER INTERPRETER COMMANDS ssccsscccccccssssssssesscssesssssssssessessesuaussssssssssessuausssssseusessseusssssuuesssennes 59 8 7 1 The led Command essen nenne nenne nth net nenne rr rena e nre Rn rri peni aaa 59 8 7 2 The ou Command o oco det die n aM EE 60 9S CANOPEN OBJEC Th ui iisixks e aor rd en i Ec sa En Dn El C cf a EDU En EE HR Dr Rr CR c ud dec 63 9 1 CANOPEN OBJECTS FOR DIGITAL I O MODULES csssccssesesesesecesesesesssesessseseseseessseessseseunessssssesenes 63 92 CANOPEN OBIECTS FOR ANALOG MODULES iier tte ERR ER RE LER aiidata EER ERE EX RE ERR R GeikkR 65 9 3 CANOPEN OBIECTS INSIDE THE UPT oc sa ih rallado reb s son ur Da deoa cd 66 10 TRANSFERRING THE APPLICATION INTO THE PROGRAMMABLE DEVICE 68 11 ERROR MESSAGEN itiisic ean et eee bbs scu RE Sra bibas cu o Este bi aa aaa R con bb Ra PER OM FM MER adi 68 MT res TP ACD PE UNDER ROT ISI URINE 68 MKT Doc Nr 85110 Version 1 6 Page 3 69 Programming tool for User Programmable Terminal UPT Ak T Doc Nr 85110 Systemtechnik 1 Version history Remarks Modifications Creation of this manual english very preliminary First external release still preliminary Programming Tool Version 1 0 beta 22 Mar 2000
30. Ts O SDO transfer ready OK Cancel All you have to do is click on the Start button to freeze the actual LCD contents in an internal buffer of the connected terminal The buffered data will then be transferred to the snapshot utility pixel by pixel After completion of the transfer you may click OK to save the received image as a bitmap file or click CANCEL to discard the received image close dialog without saving The Screen Snapshot via CAN does not work yet for color terminals because they don t have enough memory to buffer a complete video screen internally MKT Doc Nr 85110 Version 1 6 Page 44 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 The Display Interpreter Note The Display Interpreter is available in all of MKT s programmable devices even in the ancient UPT 515 It must not be confused with the Script Language which is something completely different and not compatible with the display interpreter because the script is compiled rather than interpreted Details about the script language can be found in document 85122 8 1 General syntax 8 1 1 Numeric Expressions The UPT s firmware includes an interpreter for numeric expressions These expressions may be used as complex event definitions i e comparisons calculated values for variable assignments parameters for some system commands
31. Use the 4 6 pixel font for a good resolution If you just want to draw a single Icon with variable coordinates use the icon command instead of a backslash sequence in a format string gt w NO gt w NO Aw NO MKT Doc Nr 85110 Version 1 6 Page 32 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 10 5 Using Display Lines as Menu Items Some Display Lines can also be used to implement a simple selection menu For this purpose set the Flag This line is a menu item in the display line properties of a display line definition This turns a normal display line into a menu item which can be seleced using the CURSOR keys Next define what the UPT firmware shall do if the User presses the ENTER key on that menu item In most applications this will be a goto command to an other display page Example g Menu2 assuming there is a display page called Menu2 in your program This command has to be entered in the Var Expression column of a display page definition There are some UPT interpreter functions that give you additional control over this kind of menu 19 mi returns the line number index 0 n of the current menu item 19 mm returns the current menu mode It may be one of the following values 0 Menu is Off that means the menu selection bar is invisible 1 Mode Selecting that means the menu selection bar is v
32. alled user programmable terminal There is a special variant of the programming tool called Programming tool for CANdb display terminals Unfortunately there is no special manual available for this yet If you are a user of the CANdb controlled display terminal please ignore the chapters CANopen SDO PDO and all paragraphs with the note UPT only The software and accompanying written materials including instructions for use are provided as is without warranty of any kind Further MKT Systemtechnik does not warrant guarantee or make any representations regarding the use or the results of the use of the software or written materials in terms of correctness accuracy reliability currentness or otherwise The entire risk as to the results and performance of the software is assumed by Licensee and not by MKT Systemtechnik or its distributors agents or employees There are no other warranties either expressed or implied including but not limited to implied warranties of merchantability and fitness for a particular purpose with respect to the software the accompanying written materials and any accompanying hardware Note In constrast to the programming tool s online help system HTML this document is a bit outdated New functions are initially described only in the HTML files and later in due course transferred into this document too MKT Doc Nr 85110 Version 1 6 Page 5 69 Ak T Doc Nr 85110 Sys
33. and Call both switch to another display page which may be defined by the page number or preferrably by the page name Call also saves the number of the current old page on a special call stack before switching to the new page The called page may switch later switch back to the calling page using the return command Call Return should always be used together If you enter a page with a call you should also return to the caller and not jump back to the caller with a goto this would cause an overflow of the call stack furthermore it does not make too much sense The reason to use Call amp Return instead of Goto is when many different callers use a common subpage like a subroutine After the subroutine has done its work for example display an error message and wait for a key the normal operation can resume Note Neither Goto nor Call have an effect if the target new page is the current old page MKT Doc Nr 85110 Version 1 6 Page 54 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 5 The assign command This command is used to assign a new value for a variable Syntax lt Varname gt lt expression gt Example Ypos Voltage 63 230 Notes 19 You can only assign values to variables that have been defined in the variable table 19 You should not assign values to variables t
34. any logo for a short while after power on MKT Doc Nr 85110 Version 1 6 Page 61 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT MKT Doc Nr 85110 Version 1 6 Page 62 69 Programming tool for User Programmable Terminal UPT Ak T Doc Nr 85110 Systemtechnik 9 CANopen objects Note This chapter only applies to devices which use the CANopen protocol There are other devices for example the MKT View terminal which do not use CANopen and use low level CAN communication described in a CAN database CANdb file 9 1 CANopen objects for Digital I O Modules CiA DS401 specifies the CANopen Device Profile for I O Modules If you want to connect any of these objects via SDO to a variable of your terminal program you have to know the object s index and subindex Here are some of the specified objects hex Unsigned8 Input Lines any change ee Boolean Unsigned 16 Unsigned32 Unsigned8 Unsigned8 Unsigned8 0x6220 Write State for 1 Ouput Line 0 nsigned8 max 32 oolean 1 0x6250 Fault Mode for 1 Output Line O nsigned8 1 max 32 i wc oolean max 32 Boolean max 2 Jnsigned16 max 2 nsigned16 max 4 nsigned16 max 1 max 1 nsigned32 nsigned8 0x6327 Fault State for 32 Output Lines 0 nsigned8 max Jnsigned32 o 4 4 4 4 4 4 4 4 C COGIC cic cle caa GIG nsigned32 o o
35. ay commands see online help on sa and sr You will find a simple example for text arrays in the file demol upt or later 7 19 The Error Page The error page is used to display any errory that may occur during programming or transfer of the program into the User Programmable Terminal If errors occurr during program upload or download you may find some hex coded SDO error codes in the error display A table of most common SDO error codes can be found in the appendix of this manual chapter 11 1 MKT Doc Nr 85110 Version 1 6 Page 43 69 Aker Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 20 Screen Snapshot via CAN To generate a printed documentation for the user of your UPT application you may include screen photographs of the terminal s displays You don t need a camera for that purpose it is possible to take a screen snapshot via CAN Bus Start the Snapshot dialog from the Transfer menu of the programming tool Screen Snapshot via CAN x KEY MATRIX 0000 OOOO 0000 0000 5080 SYSTEM TIME 0002345 3 SEC STOTEN TINE E The parameters on the right side are used for the DIGITAL INPUTS 00000000 CEIN e DIGITAL OUTPUTS O0000000 EIN CAN Node ID communication between the tool and the terminal fi You will usually not have to modify these values only if you want to make snapshots from devices hz that are not UP
36. commands they all will be explained later A description of some commands can be found in the appendix You may enter a system command in the status line where usually error messages and warnings are displayed This feature is only intended for experienced users and for debugging purposes Some of the commands that you can enter are directed to the display list interpreter and may result in strange behaviour of the program see help system for detailed info All commands that cannot be processed by the programming tool will be directed to the terminal s interpreter The format of these commands will be equivalent to the syntax of event reactions MKT Doc Nr 85110 Version 1 6 Page 17 69 Programming tool for User Programmable Terminal UPT Akr Doc Nr 85110 Systemtechnik 7 8 Communication Channels This page is used to define the communication channels which the terminal uses to exchange data with other devices on the CANopen network CAN Terminal Programming Tool 1 1 beta imi x File Edit Transfer View Options Icon Help Run Stop Channels cononen Variables Global Events Page 3 All Pages Icons General Settings Text Array Errors SDO CAN ID client server CAN ID server client 1538 1410 1539 1411 Help on SDO channels PDO Help on PDO channels Undo Apply Simulator Stopped rvarning Parameter nr display pages limited from 200 to 150
37. ctivate the option redraw page completely in the page definition header 7 11 Definition of special display commands The following special display commands are used to display graphic elements on the LCD icon ic draws a small image icon line li draws a line pixel pi sets a single pixel frame fr draws a rectangular frame fill rect fi draws a solid rectangular shape To set some additional parameters that affect the graphic drawing commands you may use the following commands draw mode dm sets the draw mode These commands may be entered in an abbreviated form into one command line A more detailed description of all system interpreter commands can be found in chapter 8 6 If some graphic elements or text lines on the screen overlap you should be aware of their drawing order see chapter 7 10 6 You will find a detailed and up to date description of all interpreter commands only in the online help system of the programming tool MKT Doc Nr 85110 Version 1 6 Page 34 69 Aker Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 12 Defining Events an overview An event is the occurrence of a special situation that you want to handle in your terminal program An event can be User presses or releases a certain key on the terminal The value of a variable exceeds a certain value may have been received via CAN One bit of a variables i
38. e current value of the I th data byte from PDO channel N You will usually connect a variable to a PDO to extract one or more data bytes from the PDO s data field so you usually do not need this function only for very special cases Can also be modified as a formal assignment pdo N id Returns the current CAN identifier used for a PDO You can also set a new CAN identifier for a PDO using a formal assignment like this pdo 0 id 2047 BUT YOU SHOULD BE EXTREMELY CAREFUL WITH THIS BECAUSE THE UPT S INTERPRETER DOES NOT VERIFY DURING RUN TIME IF A VALID CAN ID IS USED pdo N rcv This numeric function checks if a PDO telegram has been received since the last function call The flag will be reset internally by reading it This function is intended to be used in event definitions only This function can be used for watch or guarding purposes like the Syn rcv function pdo N trn This numeric function checks if a PDO telegram has been transmitted since the last function call MKT Doc Nr 85110 Version 1 6 Page 50 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT The flag will be reset internally by reading it This function is intended to be used in event definitions only pdo N tx Procedure to trigger the transmission of a PDO immediately pdo N mod This numeric function checks if a PDO telegram has been modified and not yet transmitted Retur
39. ge The property panel on the right shows more detailed information about one single display line You may edit the properties of a display line in the table or on the property panel the information will always be updated on both parts If the simulated LCD screen is visible you will immediately see the effects of the changes to a display line For example if you change the Y Position of a display string via up down scroller in the display line property panel you will the text moving on the simulated LCD screen The currently edited display line can be marked in the LCD simulator window with a thin dotted frame If some graphic elements or text lines on the screen overlap you should be aware of their drawing order see chapter 7 10 6 The order of the definition lines can be modified with the mouse Hold the left button pressed while moving the mouse in the column Nr up or down A black horizontal bar shows the location where the moved entry will be inserted when the mouse button is released This row moving procedure is also possible in some other tables of the programming tool The button Insert is used to insert a display line at the current position in the grid The button Delete removes the display line which is currently marked in the grid Some special functions for editing display lines may be found by clicking into the grid with the right mouse button A popup menu will open and show you all possible optio
40. hat get their values from a communication channel MKT Doc Nr 85110 Version 1 6 Page 55 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 6 Graphic output commands 8 6 1 The ICON command ic This graphic command is used to draw a small picture icon on the screen Syntax ic lt icon name gt lt x position gt lt y position gt The icon name must match the name that you defined on the icon page Otherwise the display list interpreter inside the programming too will generate an error 8 6 2 The LINE command li This graphic command is used to display a graphic line on the screen Syntax l lt x1 gt lt yl1 gt lt x2 gt lt y2 gt de 8 6 3 The PIXEL command pi This graphic command is used to display a single pixel on the screen Syntax pi lt x gt lt y gt MKT Doc Nr 85110 Version 1 6 Page 56 69 Programming tool for User Programmable Terminal UPT Ak T Doc Nr 85110 Systemtechnik 8 6 4 The FRAME command fr This graphic command is used to display a rectangular frame on the screen The interior of the frame will not be affected by this command it remains unchanged Syntax fr lt x1 gt lt yl gt x2 lt y2 gt where x1 left border yl top x2 right border y2 bottom 8 6 5 The FILL RECTANGLE command fi This graphic command is used to fill a rectangular shape on the screen
41. ifiers of all SDO channels which the terminal shall use to communicate with other devices You will find the Identifier values in the description of the device that transmits a particular SDO or in the CANopen Draft Standard 301 CiA DS301 Most I O devices use a pre defined connection set with the following definitions for the SDO s CAN Identifier which DS301 calls COB IDs SDO server gt client CAN Identifier 1408 node ID 1409 1535 SDO client gt server CAN Identifier 1536 node ID 1537 1663 All CAN Identifiers here are decimal values The client gt server ID will be transmitted from the client which is the UPT to the server which may be an I O module to initiate a transfer request The server client ID will be transmitted back from the server to the client answer The node ID is a number between and 127 on many simple I O devices it can be set via DIP switch Always be aware An SDO connection is just a point to point link between two partners You must take extra care to use only SDO connections that are not yet occupied by other devices If a simple I O device only has one SDO channel and this SDO is already occupied by an other device maybe a PLC SPS a servo drive or something else you can NOt connect the UPT to this device via active SDO request because this would cause severe collisions on the network same CAN ID transmitted by several devices SDO
42. in Window The main window will be displayed immediately after starting the programming tool CAN Terminal Programming Tool 1 1 beta Iof x File Edit Transfer View Options Icon Help Run Stop Channels CanOpen Variables Global Events Page 3 Ai Pages icons General Settings Text Array Errors Header Display lines Event definitions Other Commands NX Y Text Var Expr Display line properties Nr 1 D o D Drive Demo bs cea See X posttion a 3 Y posttion s Base io M 4 9 jDrenz 7 U m jDrehzt ii i gm 2 s 21 ACVVolts 7 V Spanng Tet Drehz U m ajo 2 Draw Mode Front c m Fot ois ia m b Variable Prenz J Access Read Write J Undo Insert Delete col 3 row 2 Apply Copy Paste More P Help Simulator Stopped VVarning Parameter nr display pages limited from 200 to 150 Note There may be more functions in the latest software release It contains of several pages in a tabbed style 1 Channels define Communication Channels PDO SDO the programming tool for CANdb terminals has a tab to import CANdb files instead 1 Variables define Variables for your application 1 Global Events for common reactions of your application 1 Page x is used to define everything on a certaion display page screen 1 AllPages displays an overview of all used pages Icons used to import icons graphic images
43. ing graphic output commands The display in the UPT 515 has two video pages which are alternated every 0 5 seconds to achieve Blink Effects etc Syntax dm new draw mode gt vann parameters for the draw mode are Standard output into both video pages Pagel output only into page 1 Page2 output only into page 2 Blink1 draw into pagel erase in page 2 Blink2 draw into page2 erase in page 1 inverse output into both video pages inverse output only into page 1 inverse output only into page 2 Inverse blinking 1 page 1 normal page 2 inverse Inverse blinking 2 page invers page 2 normal Se Tae ee ye S Note Color displays do not have two video pages Some draw modes are not available on such displays for example the UPT 167 COLOR MKT Doc Nr 85110 Version 1 6 Page 58 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 7 Other Interpreter Commands 8 7 1 The led Command The UPT s firmware of some variants of the User Programmable Terminal has one command to control the a built in signal LEDs Syntax led lt led number gt lt led blink pattern gt or abbreviated le lt led number gt lt led blink pattern gt Parameters lt led number gt is the index of the LED that shall be switched 0 1st LED 1 2nd LED lt led output pattern gt is an eight phase code for the LED blink rhythm Eve
44. initialized The settings Terminal Node ID and CAN Baudrate must match the settings in the terminal if you want to upload programs successfully In the terminal UPT515 you have to check these settings in the terminal s setup menu which you may enter for firmware release 29 May 2000 after simultaneously pressing F2 and F3 Use the cursor keys to find the menu entries C AN Baudrate and Modul NodeID in the UPTS515 to check or modify these parameters After modifying the parameters in the UPT515 you have to save the new settings permanently with the Save amp Exit function second entry in the system menu MKT Doc Nr 85110 Version 1 6 Page 41 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 17 1 General UPT Options The General UPT Options dialog can be used to set some settings that will be transferred into the UPT when you upload your application It can be started from the main menu or by clicking into the corresponding field in the General Settings table The option Enable System Menu may be turned off if you are shure that you do not need the UPT s system Enable Debugging menu functions because you need the key combination v Enable System Menu F2 F3 yourself or you don t want that the user enters the system menu Key combination to enter UPT System Menu Even if Enable System Menu is turned off you ma
45. into your program 9 General settings used to display and modify some terminal settings 1 Errors shows all kinds of errors and other messages from the system At the bottom of the main window you will see a status bar which displays system information and error messages The status bar will be explained in the next chapter MKT Doc Nr 85110 Version 1 6 Page 9 69 Aker Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 2 Main Menu CAN Terminal Programming Tool 1 1 beta Iof x File Edi Transfer View Options Icon Help Run Stop The main menu is used to load programs from ASCII files upt 17 save programs as ASCII files 19 transfer programs to or from the terminal via CAN 19 open auxiliary windows for debugging etc View 19 import or create new Icons for the UPT program start the online help system start and stop the system interpreter w Aw ano 30 30 NO NON 7 3 Status Bar At the bottom of the main window you will see the status bar which will display some information about the current system state e g Transfer in progress and so on ii Running CAN Dongle initialized By clicking at the Simulator button you may switch to the LCD simulator window if it s not already visible The second panel from the left here Running shows a quick info about the current state of the programming tool or the applicatio
46. ion 1 6 Page 48 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 1 1 4 Numeric Functions The numeric interpreter can only recognize function names that begin with a lower case letter this greatly simplifies the analyses for slow CPUs like 8051 compatible processors All Events can be evaluated as a part of an expression because they are internally treated as functions The only difference between event polling functions and the following functions is that event functions always return a boolean value while normal functions return a numeric value The following functions return numeric values cs CAN Status bitcoded status of the CAN controller EVO sis tv3 Timer Values of the user programmable timers ti global time incremented every 100ms kd ku kb Keyboard Functions See chapter 7 13 1 events lim value min max Limit function returns value if value gt min and value lt max min if value lt min max if value max pn reads the current page number inp reads the current state of the UPT s digital inputs out reads the current state of the UPT s digital outputs pdo some functions to control PDO channels See next chapter s syn some functions to control the CANopen SYNC message See next chapter s An up to date overview of all numeric functions can only be found in the help system of the programming tool MKT
47. ions Error Code Meaning 0x05030000 TOGGLE BIT NOT ALTERNATED 0x05040000 SDO PROTOCOL TIMED OUT 0x05040001 COMMAND SPECIFIER NOT VALID OR UNKNOWN 0x05040002 INVALID BLOCK SIZE 0x05040003 INVALID SEQUENCE NUMBER 0x05040004 CRC ERROR 0x05040005 OU F MEMORY O 0x06010000 UNSUPPORTED ACCESS TO AN OBJECT 0x06010001 ATTEMPT TO READ A WRITE ONLY OBJECT 0x06010002 ATTEMPT TO WRITE A READ ONLY OBJECT UP C G 0x06010047 UNSUPPORTED ACCESS INTERNAL INCOMPATIBLE 0x06020000 OBJECT DOES NOT EXIST IN DICTIONARY 0x06040041 OBJECT CANNOT BE MAPPED TO THE PDO 0x06040042 MAPPED OBJECTS WOULD EXCEED PDO LENGTH 0x06040043 GENERAL PARAMETER INCOMPATIBILITY MKT Doc Nr 85110 Version 1 6 Page 68 69 Aka Doc Nr 85110 Systemtechnik 0x06040047 0x06060000 GEN I ERAL INTERNAL ACC ESS FAIL I iD DUE 0x0606002F 0x06070010 0x06070010 0x06070012 0x06070013 0x06090011 0x06090030 0x06090031 0x06090032 0x06090036 0x08000000 0x08000020 0x08000021 0x08000022 0x08000023 ACC L L L S G E BP B lt D ESS FAIL DATA TYPES z Q NGTH OF NGTH OF ED DUE DO NOT PARAM D PARAM T PARAM T EX DOES NOT TH OF Programming tool for User Pr
48. is widely used in the automotive sector but not in the automation industry To remove this software from your computer use the deinstaller start programs UptWinl unwise exe You may find this manual as a printable file in a subdirectory Doku Aw Aw AW AW AW NO NO NO NO No Aw NO Aw NO Aw NO gt w NO 6 Further Information is available in the following documents Some of them are contained in the installation archive of the programming tool folder Doku or can be downloaded from the MKT website MKT Doc Nr 85110 Version 1 6 Page 7 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT Document Nr 85110 Manual for the UPT programming tools Document Nr 85111 Additional info for terminal parametrised via CANdb e g MKT View MKT View MKT View II and others Document Nr 85113 Description of the CAN Logger utility Document Nr 85115 Description of the System Menu inside the terminal Document Nr 85116 Specification of download protocol only for developers Document Nr 85118 Description of the CAN Snooper CAN monitor in some terminals Document Nr 85130 Introduction and first steps with the MKT View II coming soon MKT Doc Nr 85110 Version 1 6 Page 8 69 Programming tool for User Programmable Terminal UPT Aker Doc Nr 85110 Systemtechnik 7 Description of the programming tool 7 1 The Ma
49. isible the user may move the selection between all menu items on the current page using the cursor Other modes are only valid for numeric edit field for example 2 editing the value There are also some SET Procedures for this kind of menus which have the same names as the GET Functions 12 mi new item allows setting the current menu item under program control 12 mm new mode allows setting the current menu mode under program control You may find an example for this kind of menus in the file programs NEWMENUS UPT Note If you use a Display Line as a Menu Item you cannot show the contents of a numerical parameter in that line MKT Doc Nr 85110 Version 1 6 Page 33 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 10 6 Overlapping graphics For some special effects you may place some visible elements text or graphics in front of other visible elements For example there may be a large icon in the background and a little text display line in front of the icon To achive this effect the icon must be drawn first and the text must be drawn afterwards The sequence or drawing order is defined by the row number in the screen definition tables Any element with the row number 0 will be drawn first the element number 1 will be drawn second and so on When using overlapping graphics you should always a
50. l 2000 the UPT515 supports Reception and Transmission of PDOs Therefore you have to specify if a PDO channel shall receive 1 transmit 2 or be passive 0 Note Transmit and Receive has to be seen from the UPT s point of view 7 8 2 2 PDO Transmission Type Since April 2000 the UPT515 supports different types of PDO transmission The PDO transmission type is defined by a numerical value It is taken from CiA DS301 You may find more information on this in CiA Draft Standard 301 Version 4 0 16 6 1999 Page 9 83 in the description of Objects 1400h 15FFh PDO Communication Parameter Table 54 Description of transmission type T Dr ue e A transmission type of zero means that the message shall be transmitted synchronously with the SYNC object but not periodically A value between 1 and 240 means that the PDO is transferred synchronously and cyclically the transmission type indicating the number of SYNC which are necessary to trigger PDO transmissions receptions The transmission types 252 and 253 mean that the PDO is only transmitted on remote transmission request The UPT515 treats both 252 and 253 exactly the same way Transmission type 254 is manufacturer specific which is not defined yet Transmission type 255 is defined in the decive profile which does not exist here Note By the time of this writing the UPT515 did not support all of the transmission types shown above The Simulator i
51. max values scaling etc Values Scaling default 123 factor 10 min 10 divisor 256 max 10000 offset 2 like any other variable 7 9 1 1 Usage of Index and Subindex for SDO variables For a variable which is connected to an SDO channel you have to define an index and a subindex The objects of a CANopen device are located in a so called dictionary Every object of this dictionary is defined by its Object Index and Subindex The Object Index is a 16 bit number which is usually defined in hexadecimal format Hexadecimal Numbers always have to be entered beginning with the 0x or prefix otherwise the interpreter would treat them as decimal numbers The Subindex is an 8 bit number which is often used for arrays or structured objects For example a DS401 type module with 5 digital inputs may have an Object 0x6020 which contains the state of the digital inputs Subindex 0 of this object will have the content 5 to indicate that there are 5 digital inputs subindex 1 will hold the actual state of the first digital input subindex 2 the state of the second input and so on Index and Subindex of CANopen Objects are often defined in a device s manual But for many objects you may also find the required information in a so called Device Profile There are device profiles for different types of CANopen devices for example DS401 Device Profile for I O Modules You may obtain these profiles at CiA Can in
52. mpare equal lt gt compare not equal lt compare less lt compare less or equal gt compare higher gt compare higher or equal amp bitwise AND amp amp boolean AND bitwise OR boolean OR bitwise EXOR bitwise NOT prefix boolean NOT prefix A very special operator from the C Programming language is the arithmetic if then else statement Syntax lt argl gt lt arg2 gt lt arg3 gt Function if lt arg1 gt is not zero then result lt arg2 gt else result lt arg3 gt Boolean operators return either TRUE or FALSE which are the values 1 and 0 here Inputs for boolean operators are TRUE if the argument is not zero and FALSE if the argument is Zero The priority of the operators determines the evaluation sequence The interpreter only knows two different priority levels with the lower level for add subtract compare or etc and the higher level for multiply divide modulo and In case of doubt you should use braces A braced subexpression will always be evaluated with the highest priority MKT Doc Nr 85110 Version 1 6 Page 47 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 1 1 3 Numeric Variables The numeric interpreter can only recognize variable name that begin with an upper case letter this greatly simplifies the analyses for slow CPUs like 8051 compatible processors In the UPT515
53. n program Some possible labels are Running Your application is running i e it is being executed Stopped Your application has been stopped for any reason Transfer A program upload or download is in progress The right field in the status bar will display the last error message if any or other system messages In the example shown above the last system message was an indication that the CAN interface has been successfully initialized You may switch to the error display page by double clicking into the status message field For debugging purposes you may also send a command string to the system command interpreter by typing it into the status message field MKT Doc Nr 85110 Version 1 6 Page 10 69 Akr Doc Nr 85110 Systemtechnik 7 4 The Online Help System You will always find the latest information about the UPT programming tool in the online help system which works like most other windows applications The screenshot on the right shows an example for the online help system If you are not familiar with this system you should consult a Windows manual Programming tool for User Programmable Terminal UPT E User Programmable Terminal Iof x Datei Bearbeiten Lesezeichen Optionen at ues ze onere lt lt gt Display Line Properties The display line property panel shows the properties of a single display line that you selected in the display line table Display line p
54. ns MKT Doc Nr 85110 Version 1 6 Page 28 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT MKT Doc Nr 85110 Version 1 6 Page 29 69 Programming tool for User Programmable Terminal UPT Aka Doc Nr 85110 Systemtechnik 7 10 3 Colours For devices with colour display like MKT View II the programming tool allows you to select individual colours for each display element Text Button Bargraph etc But we recommend that for most display elements you set the individual colour to 1 in the programming tool s edit field Colour value 1 minus one means use the page s default colour which is defined on the tabsheet Display Page Header like in the example below Assigning colours this way means that most if not all display elements on a page share the same foreground and background colour This greatly simplifies to switch between day and night design as explained in the programming tool s built in ONLINE HELP SYSTEM Page properties always redraw this page completely Do NOT clear screen automatically Do NOT update the screen if keyboard buffer is full Do NOT clear keyboard buffers before entering this page Circular wrap when navigating up down Inverse Screen dark background light letters v include this page in the pscan sequence Page update interval ms o Night mss CN AN Default Text Color
55. ns TRUE The PDO s data field has been modified but not been transmitted yet FALSE The PDO s data field has not been modified since the last transmission pdo N syn This numeric function returns the count of SYNC intervals of a paricular PDO channel since its last transmission or evaluation This counter is internally required for CANopen Transmission Types 2 241 See DS301 for more information MKT Doc Nr 85110 Version 1 6 Page 51 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 1 1 6 SYNC Functions of the UPT Interpreter The numeric interpreter has some built in functions that can be used to control or receive the CANopen SYNC Message Some of these functions may be used for event definitions or as part of numeric expressions You do not need these functions if you simply want to receive SYNC messages all PDO channels with synchronous transmission check SYNC messages theirselves syn rcv abbreviated as syn r This numeric function checks if a SYNC telegram has been received since the last function call The flag will be reset internally by reading it This function is intended to be used in event definitions only For example you may create a special watcher for periodic SYNC receptions Define Syn rcv as a global event and a timer start command like ts0 50 as the corresponding reaction This will re start Timer 0 for 500ms on every SYNC recepti
56. nside the UPT Programming Tool does not support any real time PDO Transfer at all because the CAN Controller used in the PC s CAN Interface is not compatible to the Controller in the real UPTs MKT Doc Nr 85110 Version 1 6 Page 21 69 ia Doc Nr 85110 Programming tool for User Programmable Terminal UPT Systemtechnik 7 8 2 3 PDO Definition Flags These Flags have been implemented for very special PDOs You can see them on the Communication Channel Definition screen on page 18 Only the last PDO channel can be configured to be a System State PDO by setting the FLAG value to 1 see Online Help System oe System State PDO has the following contents Byte 0 UPT run mode Status please ignore this byte 35 Byte 1 digital Inputs of the UPT 19 Byte 2 current display page of the UPT 12 Byte 3 Key Matrix 0 the first 8 keys of the keyboard driver Byte 4 Key Matrix 1 the next 8 keys of the keyboard driver N W NaN You should leave all flags zero to use flexible TX PDO Mapping from Variables MKT Doc Nr 85110 Version 1 6 Page 22 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 8 3 Communication channels for CANdb signals Not for CANopen but exclusively for the mobile bus used in the automotive area Channel number 30 is reserved as a dummy fo
57. o tool Redo recent undo operation s aka un undo Click the REDO button to undo the recent und operation In the page editor up to 20 undo operations can be undone there is an extra buffer for this Caution If you exit from the current page in the editor the changes can neither be undone nor redone anymore The selected object is marked with a red frame in the drawing area The combo box in the editor s toolbar allows you to select individual display elements in addition to selecting them with the arrow tool This may be necessary for example if a display element is completely obscured by another and cannot be selected with the mouse directly Selecting an object in the drawing area with the arrow tool will automatically select that object in the combo box too The entries in the combo box can be interpreted as follows line number ELEMENT TYPE element text Example from the screenshot at the begin of this chapter 9 TEXT Supply Voltage which means The currently selected display item is defined in line number 9 an array index numbering starts at zero the item is a simple TEXT alphanumeric the display text begins with the string Supply Voltage Graphic controls can be aligned to an 8 8 pixel grid To show this grid or let a coordinate snap to the grid select Option Page Editor in the programming tool s main menu If the option Snap coordinates to 8 8 pixel grid is active the upper
58. ogrammable Terminal UPT INCOMPATIBI TO HARDWAR TO CAN MATCH OES NOT OO HIGH OO LOW EXIST E RANGE EXCEE DED lt D RANGE TOO H VAI E RANGE TOO L MAX IGH OW VALUE IS I GEN RAL ERROR DATA d q OBJ CANNOT BE ue to local c ue to devic TRANSE ERR ontrol ECT DIRECTORY G stat EN I LEY E ERROR ESS THAN MINIMUM VALU ERROR MATCH Gl ED TO APPLICATION RATION FAILS MKT Doc Nr 85110 Version 1 6 Page 69 69
59. on Define annother global event t0 and reaction like g NoSync Create a display page named NoSync This page will be displayed when the UPT does not receive SYNC telegrams anymore syn cnt abbreviated as syn c This numeric function returns the value of a counter for all SYNC telegrams You may use this value for testing purposes for example to find out if the UPT received any SYNC telegrams at all without resetting the syn rcv flag MKT Doc Nr 85110 Version 1 6 Page 52 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 2 String Functions In May 2000 a text array has been implemented Some string functions can be used to read single lines from this text array Most of the string functions will begin with the letter s to tell them from numeric functions At the present time May 2000 string functions can only be called from text display commands see chapter 7 10 2 sa lt text array INDEX gt Returns one line of the Text Array specified by its array index sr lt text array REFERENCE gt Returns one line of the Text Array specified by the user reference number The REFERENCE Number is entered into the text array along with the text string see chapter 7 18 Text Reference Numbers may be any 32 bit values they do not even have to be sorted The Interpreter performs a simple linear search for the reference number This makes the
60. protocol violations etc In the User Programmable Terminal a variable can be connected via SDO to an other device in the network MKT Doc Nr 85110 Version 1 6 Page 19 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 8 2 PDO channels PDO channels provide a fast communication channel that is used to transfer process data with high priority for example digital inputs analogue values from sensors etc You have to define the CAN identifiers of all PDO channels which the terminal shall transmit or receive You will find the Identifier values in the description of the device that transmits a particular PDO or in the CANopen Draft Standard 301 CiA DS301 Most I O devices use a pre defined connection set with the following definitions for the PDO s CAN Identifier which DS301 calls COB IDs PDOl tx CAN Identifier 384 node ID 385 511 PDOl rx CAN Identifier 512 node ID 513 639 PDO2 tx CAN Identifier 640 node ID 641 767 PDO2 rx CAN Identifier 768 node ID 769 895 All CAN Identifiers here are decimal values Note that tx rx in this table has to be seen from the I O devices point of view so the tx PDO s are transmitted by an I O module and can be received by the UPT The possible values for node IDs are 1 127 Simple devices like I O Modules often use a DIP switch to set the node ID Example You want
61. r all UPT variables connected to a CANdb compatible signal CANdb means database for CAN In a CAN database file extension DBC so called messages and signals are defined and some other objects which are ignored here The programming tool has the possibility to import DBC files and convert some of the information contained in a DBC file into the definition of an UPT variable Detailed information on how to achieve this can only be found in the online help system of the programming tool Switch to the tab sheet CANdb and hit the Help button on that page MKT Doc Nr 85110 Version 1 6 Page 23 69 Aker Doc Nr 85110 Systemtechnik 7 9 Application Variables Programming tool for User Programmable Terminal UPT This page is used to define all variables which the terminal will use to show and modify parameters 1 8D0 ob 6411 02 10 PDO cb h 0 10 PDO ch fb 0 SD0 0b 6401 01 10 PDO ch 16 fh 24 10 PDO ch 1 b 4 0 SD0 0b 6401 02 1000 ms 1 1000 ms 2000 ms 3000 ms 500 ms 1500 ms 1500 ms w ww 9 Qo A A W 1000 ms Variable properties are Name Channel PDO SDO definition Update Time Data Type Access Rights Flags Default Value Minimum Value Maximum Value Factor Divisor Offset Most of your variables will be connected to a communication channel but they can also be used as internal variables which keep temporary values etc The Channel Number al
62. rmation about these objects can be found in DS401 MKT Doc Nr 85110 Version 1 6 Page 65 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 9 3 CANopen objects inside the UPT All information inside the User Programmable Terminal can be accessed via CAN Bus as part of the manufacturer specific profile of a CANopen object dictionary The programming tool uses these objects to transfer your user program into the terminal As you upload or download a program into from the terminal there may be some error messages with a CANopen index in the range of 0x5100 to 0x57FF The possible cause for such errors may be a compatibility problem between an old terminal and a new programming software or vice versa The following table may help to trace such errors CANopen Index Contents 0x5080 MKT s CAN snapshot utility 0x5101 Constants max number of variables etc 0x5102 Names of the terminal s keys 0x5103 General Settings number of display pages etc 0x5104 Run Mode Run Stop Transfer etc 0x5105 current Display Page 0x5106 Save Permanent transfers RAM data to FLASH or EEPROM 0x5180 global Events Definitions as strings 0x5200 52ff SDO Channel Definitions as strings 0x5300 53ff PDO Kanal Definitions as strings 0x5400 54ff Variable Definitions as strings 0x5500 55ff Display Page Definitions as strings 0x5600 56FF Icon
63. roperties Mr 3 Mpestion Y postionpi Base o 4 ret acX volts v on may start the Online Help System by clicking at the menu entry Help in the main menu to get an overview of all topics in the help file 35 35 interpreter 17 clicking at any Help Button to get help on a particular dialog 1 pressing F1 to get context sensitive help on the dialog element that has the input focus i7 pressing F2 to get command specific help about any command of the UPT s command If you have problems because Windows cannot find the help file you may enter the complete path and file name for the help file in the General Settings tab see chapter 7 17 for details MKT Doc Nr 85110 Version 1 6 Page 11 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 5 The Simple Page Editor The simple page editor is an alternative and possibly simpler method to edit or create the graphic user interface in your application An application contains various display pages which can be modified on the tabsheets of the programming tool as shown below As already mentioned a complete reference can be found in the online help system of the programming tool MKT Doc Nr 85110 Version 1 6 Page 12 69 Aka Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT O x Programmiertool f r CANdb
64. ry bit of this pattern controls a 100ms Interval After a cycle of 8 100ms the whole cycles starts again from the beginning All LED blink cycles are synchonized that means if two LEDs have the same blink pattern they will flash exactly at the same time Here are some useful blink patterns 0x00 LED is OFF this is the default state after power on OxFF LED is permanently ON OxFO LED blinks slowly 400ms ON 400ms OFF and so on 0x55 LED blinks quickly 100ms ON 100ms OFF and so on 0x01 LED gives short flash pulses 100ms ON 700ms OFF MKT Doc Nr 85110 Version 1 6 Page 59 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 8 7 2 The out Command This command is used to control the state of the UPT s built in digital outputs There are two different flavours of this command out lt 8 bit value gt This format is used to control all digital outputs at once Bit 0 controls the first output and so on out output nr new state This format is used to control the state of one single output Examples out SFF turns all outputs on out 00 turns all outputs off out 0 1 turns the first output on out 3 0 turns the fourth output off out out S02 inverts the state of the second output Notes 19 There is not only an output
65. s set to a certain value and more combinations AW AW AW AW NO NA NO NO For every event you also have to define a special event reaction on every display page where the event shall be handled Possible event reactions are Switching to an other display page Setting a certain variable to a certain value which may be sent via CAN AW AW 5 7 5 7 For the definition of events we use a simple event definition language but you may also define events for a display page by selecting them from a list in the UPT programming tool The programming tool will then generate the interpreter code automatically 7 13 The event definition tab To define events and reactions the programming tool has the following tab sheet Event definition Nr 3 Event kao Add event Delete event Reaction fgs Add reaction Delete Reaction m b Undo Apply Inset Delete MKT Doc Nr 85110 Version 1 6 Page 35 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT In this example there are only a few keyboard event definitions 7 13 1 Defining Events the definition language To define events in your UPT application you may use this event definition language if required kh any key has been hit system key kc reads and removes system key from buffer Eo cb J CAN Error Bus Off ce CAN Error se
66. so defines the TYPE of a communication channel 17 Channel 0 9 is used for SDO Client channels or future Reserve 12 Channel 10 19 is used for PDO channels also with Reserve 17 Channel 20 29 will be used for a special serial communication link in future 4 Channel 30 is used for signals defined in a CANdb file 35 17 Channel 255 means this variable is not connected to any communication channel The other columns of a variable definition will be explained later MKT Doc Nr 85110 Version 1 6 Page 24 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 9 1 Variables on SDO channels A variable can be connected to an object in an other device in the network via SDO channel The objects of a CANopen device are located in a so called dictionary Every object of this dictionary is defined by its Object Index and Subindex These parameters are defined on the following panel which will be visible if the current variable is connected to an SDO channel Variable Drehzi is assigned to SDO To connect a variable to an object of a CANopen Object Index Subindex device you have to define 0 5401 0x01 12 the SDO channel number which connects the UPT to a certain device Lae WES INTEGER16 9 xl 12 the index and subindex of the CANopenobject Access rights Read w rite 1 Fj 19 data type access rights min
67. tects obvious Errors for example conflicting data types and value ranges it will mark some of the edit fields with red color and issue a warning message MKT Doc Nr 85110 Version 1 6 Page 26 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 10 Page Definitions The Page Definition tab is used to define a single display page that you will see on the LCD screen of the programmable terminal A display page consists of a header definition some text display definitions some graphic display commands and other specials some event definitions see chapter 7 12 AW AW W W NON NO NO To switch to an other page of your terminal program you may use the page overview where you can see all pages that you have already programmed see chapter 7 15 7 10 1 Page Definition Header The Page Definition Header contains general information about a display page Some of these options are 1 Always redraw this page completely If this option is checked activated the whole page will always be updated completely This requires quite a lot of CPU time but may be necessary if you use overlapping graphics or moving graphics A complete screen update always includes erasing the screen so there will be no remaining rubbish on the display if you let an icon move across the screen A typical display update with the option always redraw takes about 250ms on terminals with an
68. temtechnik Programming tool for User Programmable Terminal UPT 3 Purpose and Terminal Features The main purpose of the user programmable terminal is to display parameter values in a CANopen Network The most important features of the terminal are 19 UPT 515 graphic LCD with 128 64 pixel 19 UPT 167 MKT View I graphic LCD with 320 240 pixel 12 MKT View II TFT screen with touchpanel 480 272 pixel 17 UPT terminals communicate with other devices in a CANopen network t one or more SDO servers which may be used to communicate with other devices 17 one SDO client which is used for setup and program transfer 1 the terminal can listen to PDO channels and transmit PDO telegrams 19 MKT Views are parametrized using CANdb files Database for CAN no CANopen 1 values from input channels are stored in variables 17 user program can evaluate or modify these variables 17 display screens are arranged as user programmable display pages i7 every display page can display up to lt n gt numerical parameters 17 every display page can have a set of flexible event definitions and reactions 1 an event definition can be a simple keyboard event 19 an event definition can also be a comparation of numeric values 19 an event reaction can be a simple switch command to an other display page 4 System requirements The programming tool for the user programmable terminal is a windows application W
69. timer for a time of 4 seconds After 4 seconds there will be a t0 event which you can handle on one of your event definitions global or local tr0 tr3 timer reset Resets one of the four User Timers This will stop the timer and prevent the generation of a timer event Internally a timer that has been reset contains the value OxOFFFF which means stopped This value is the default value for all timers after power on Timer functions t0 t3 Checks if a user timer has run off that means Timer 0 Timer 3 has been decremented from 1 to 0 Returns Zero FALSE if the timer is not running or has not yet reached Zero One TRUE if the timer has counted down to zero where it stops tv0 tv3 timer value Reads the current value of a user timer This value runs from the started value down to zero decremented every 100 ms ti global time Reads the current system clock as a 32 bit value The system clock is a 32 bit counter incremented every 100 ms It does not depend on the four user timers and can neither be stopped nor modified by the user program After more than 6 years of uninterrupted operation of the User Programmable Terminal this value will become negative because it will be incremented from 2 power 31 1 to 2 power 31 which is a negative value for 32 bit Numbers After power on of the UPT the global time always starts at zero Some demo programs use this function to show a comp
70. vere iw CAN Warning ich CANardware fault ico X CAN Error Overflow ct JCANErmorontranmit Oo O tO t3 User timer TimerCommands nr 0 3 has run off Current page has just been entered Page Enter lIpg Current page will soon be left Page Quit Note There will certainly be more event functions Check the Help System of the programming tool The terminal s interpreter evaluates the event definition as a boolean expression You may also use more complex numeric expressions as event definitions If the result of an event definition or expression is non zero the system interpreter executes the corresponding reaction method An event reaction method is internally coded a string of interpreter commands A more detailed and up to date description of the event definition language can be found in the help system of the programming tool A short description of numerical expressions can be found in chapter 8 1 1 of this document MKT Doc Nr 85110 Version 1 6 Page 36 69 Ak T Doc Nr 85110 Programming tool for User Programmable Terminal UPT Systemtechnik 7 14 Global Events You may define global events for situations that are independent of the current display For example you may wish to call a certain display page whenever there is a severe error on the CAN Bus This can be achieved by the following example Event Def ce
71. which means if there is a Can Error Reaction c CanError call the page CanError Define this Event and it s reaction method on the Global Event page so you don t have to define it on every used page remember the number of lines on a page is limited There are some rules for global events that you should use 35 17 35 17 35 17 Use global events for all events that would otherwise be equal on every page definition Don t use display output commands in the reaction methods of global events because this might interfere with the screen output of some of your pages If you defined a certain event as a global event like ce in the example above you should not define this event again as a local event on any display page However defining an event twice does not hurt the event handler If multiple event definitions are TRUE at the same time all their correspondig reaction methods are executed MKT Doc Nr 85110 Version 1 6 Page 37 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 15 Display Page Overview The Page Overview tab shows an overview of all pages that are currently defined in your terminal application Channels Variables Page 0 All Pages Icons General Settings Errors New Page Delete Page Pagel pagel A a AGENTI T ARN Pr Drehz 00 00 U m Spannung 8668 8 Vac ZEILE OHNE 2AHL ABER
72. y Bit 0 1st key etc 7 still enter the UPT s system menu if you hold F2 F3 Examples 6 F2 F3 7 F1 F2 F3 during power on J OK X Cancel d The option Enable Debugging was intended to be used by the programmer of the UPT firmware only because he didn t have a target debugger You should leave this option off The key combination to enter the UPT s system menu can now be changed from the programming tool because the old fixed combination F2 F3 collided with the application of a customer Be careful with this option because not all key combinations can be detected by some targets especially those with multiplexed keyboard hardware If you entered an impossible key combination you can only enter the UPT s system menu by pressing F2 F3 during power on MKT Doc Nr 85110 Version 1 6 Page 42 69 Ak T Doc Nr 85110 Systemtechnik Programming tool for User Programmable Terminal UPT 7 18 The Text Array Page The Text Array is used to define an array of single text lines that you may use in your application to display text messages depending on a numerical value To use a text array you have to define how much memory shall be used for text lines You must sacrifice some display pages to get more text lines This is done with the same dialog as for icons see chapter 7 16 1 To read lines from the text array in your application you may call some string functions in text displ

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