1 Power PMAC Additional Advanced Training Material
2 Stepper Motor Setup
3 Types of Stepper ControlFully Closed Loop Uses an encoder for position feedback and commutation Acts virtually just like a 50 pole pair brushless DC motor (for 200 step stepper motors) or 100 pole pairs (for 400 step stepper motors) Setup is identical to brushless servomotor Direct Microstepping Does not involve an encoder Integrate quadrature current command to use for simulated position feedback and commutation position by means of a special (EncTable[n].Type = 11) Encoder Conversion Table entry which converts floating point phase position into integer Uses predetermined servo loop gains Yields 102,400 motor counts per revolution for 200 step steppers Hybrid Uses an encoder for position feedback, but Direct Microstepping for commutation Fundamentally, the only difference between Hybrid and Direct Microstepping is that the Encoder Conversion Table entry is Type = 1 and points to the encoder register, instead of integrating IqCmd for position feedback Delta Tau does not recommend this method because there is almost always a mismatch between encoder resolution used for position feedback and microstepping resolution used for commutation, making tuning the velocity loop very difficult Requires additional servo loop tuning (treat as velocity mode amplifier) 3 Power PMAC Training Stepper Motor Setup
4 Typical Closed Loop Stepper Setup// Motor Active Motor[2].ServoCtrl = 1; // Encoder Conversion Table // This is default for quadrature encoders // Use Two Phase Mode for all steppers BrickLv.Chan[1].TwoPhaseMode = 1; // Overtravel Limits, set = 0 to disable Motor[2].pLimits = PowerBrick[0].Chan[1].Status.a; // ADC Mask Motor[2].AdcMask = $FFFC0000; // Amplifier Fault Level Motor[2].AmpFaultLevel = 1; // Phase Offset Motor[2].PhaseOffset = 512; // for 2-phase motors // Phase Control Motor[2].PhaseCtrl = 4; // GLOBAL DcBusInput = 48; // DC Bus input voltage [VDC] –User Input, but defined earlier in our example setup #define Mtr2DCVoltage 24 // Motor #2 DC rated voltage [VDC] –User Input Motor[2].PwmSf = 0.95 * * Mtr2DCVoltage / DcBusInput; // For Quadrature Encoder: #define Mtr2StepAngle 1.8 // degrees per step, almost always the same for all steppers #define Mtr2NumPolePairs (360.0/(Mtr2StepAngle*4.0)) #define Mtr2CountsPerRev // -User Input Motor[2].PhasePosSf = * Mtr2NumPolePairs / (256.0 * Mtr2CountsPerRev) Power PMAC Script 4 Power PMAC Training Stepper Motor Setup
5 Typical Closed Loop Stepper Setup// Motor #2 I2T Settings Example #define Ch2MaxAdc // Max ADC reading [A rms] -–User Input #define Ch2RmsPeakCur 4 // RMS Peak Current [A rms] -–User Input #define Ch2RmsContCur 2 // RMS Continuous Current [A rms] --User Input #define Ch2TimeAtPeak 1 // Time Allowed at peak [sec] --User Input Motor[2].MaxDac = Ch2RmsPeakCur / Ch2MaxAdc * * 0.866; Motor[2].I2TSet = Ch2RmsContCur / Ch2MaxAdc * * 0.866; Motor[2].I2tTrip = (POW(Motor[2].MaxDac,2) - POW(Motor[2].I2TSet,2)) * Ch2TimeAtPeak; // Current Loop Tuning Motor[2].IiGain = 2; Motor[2].IpbGain = 16; Motor[2].IpfGain = 0; // Phasing #define Mtr2PhasingTime 1000 // Total phasing time [msec] --User Input Motor[2].PhaseFindingTime = Mtr2PhasingTime * 0.5 / (Sys.ServoPeriod * (Sys.RtIntPeriod + 1)) Motor[2].PhaseFindingDac = Motor[2].I2TSet / 3 // Phasing search magnitude --User Input Motor[2].AbsPhasePosOffset = 2048 / 6 // Qualifying motor movement Motor[2].PowerOnMode = Motor[2].PowerOnMode & $5 // No power-on phasing Gate3[0].Chan[1].EncCtrl = 7; // Servo Loop Tuning Motor[2].Servo.Kp= Motor[2].Servo.Kvfb=200 Motor[2].Servo.Kvff=200 Motor[2].Servo.Kaff=3500 Motor[2].Servo.Kfff=100 Motor[2].Servo.Ki=0 Motor[2].FatalFeLimit = 10000 Power PMAC Script 5 Power PMAC Training Stepper Motor Setup
6 Notes on Closed Loop Stepper (FCLS)FCLS Notes Need to tune current loop and position loop gains just like a Brushless DC Motor, recommend doing it interactively Provides the most reliable control method for stepper motors because the position can always be verified (i.e. if the encoder is functional) and matches the commutation resolution 6 Power PMAC Training Stepper Motor Setup
7 Direct Microstepping Operating Principle7 Power PMAC Training Stepper Motor Setup
8 Typical Direct Microstepping Setup// Motor Activate Motor[4].ServoCtrl = 1; // Use Two Phase Mode for all steppers BrickLv.Chan[3].TwoPhaseMode = 1; // Encoder Conversion Table // This is a special entry that integrates the IqCmd for feedback // This entry reads a 64-bit floating point number and turns it into an integer for feedback EncTable[4].type = 11 EncTable[4].pEnc = Motor[4].PhasePos.a EncTable[4].index1 = 5 // Shift data up to the MSB of the word (32 bits - ( )), // 11 bits from 2048 phase positions, first 8 bits comes from entry type 11 //which scales up by 256 by default, last 8 comes from index 5 // This generates more resolution from the data EncTable[4].index2 = 0 EncTable[4].index3 = 0 EncTable[4].index4 = 0 EncTable[4].index5 = 255 EncTable[4].index6 = 1 // Selects 64-bit double for reading EncTable[4].ScaleFactor = 1 / (256 * (EncTable[4].index5 + 1) * EXP2(EncTable[4].index1)) // Scales double to int Motor[4].pEnc = EncTable[4].a; Motor[4].pEnc2 = EncTable[4].a; // End result is in same units as commutation counts and we have 50*2048/4 = 102,400 cts per rev Power PMAC Script 8 Power PMAC Training Stepper Motor Setup
9 Typical Direct Microstepping Setup// ADC Mask Motor[4].AdcMask = $FFFC0000; // Overtravel Limits, set = 0 to disable Motor[4].pLimits = PowerBrick[0].Chan[3].Status.a; // Amplifier Fault Level, Low True Motor[4].AmpFaultLevel = 1; // Phase Offset, For 2-phase Motor (Stepper) Motor[4].PhaseOffset = 512; // Phase Control Motor[4].PhaseCtrl = 6; // Unpacked, commutation enabled, PMAC needs to do slip calculations // Third Harmonic, disable Motor[4].PhaseMode = 1; // Commutation Cycle Size Motor[4].PhasePosSf = 0; // Force this to 0 so the contents of pPhaseEnc's register has no effect // Then firmware ignores pPhaseEnc and gets phase position directly from integrating IqCmd * SlipGain // Absolute Power-on Phase Reference address location Motor[4].pAbsPhasePos=PowerBrick[0].Chan[3].PhaseCapt.a; // Power-On mode, Establish Phase Reference Automatically on Power-up Motor[4].PowerOnMode = 2; // Servo Error Input Magnitude Limit, Increase Limit Motor[4].Servo.MaxPosErr = ; // Slip Gain, Constant Motor[4].DtOverRotorTc = 0; // PMAC does not compute SlipGain; we must dictate it Motor[4].SlipGain = Sys.PhaseOverServoPeriod; Power PMAC Script 9 Power PMAC Training Stepper Motor Setup
10 Typical Direct Microstepping Setup// Commutation Phase Advance Gain // This advances your phase position internally proportional to speed for purposes of calculating the // voltage command from the current loop // This is calculated based on "filtered velocity" which is a moving sum of the last 16 velocities sampled // Hence, need to divide by 16. // Advance Gain is used per phase cycle, but filtered velocity is in units of servo cycles, // so we convert to phase by multiplying by sys.phaseoverservoperiod // (0.25/Sys.ServoPeriod/Sys.PhaseOverServoPeriod) is the time delay between reading ADCs and actually using them, // which is 4 phase cycles as a result of the sigma delta method (successive approximation) Motor[4].AdvGain = 1/16*Sys.PhaseOverServoPeriod*(0.25/Sys.ServoPeriod/Sys.PhaseOverServoPeriod) // Position Loop Gains Motor[4].Servo.Kp = 1 Motor[4].Servo.Kvff = 1 Motor[4].Servo.Kaff = 1 Motor[4].Servo.Kvfb = 0 Motor[4].Servo.Ki = 0 Motor[4].Servo.Kvifb = 0 Motor[4].Servo.Kviff = 0 // PWM Scale Factor #define Mtr4DCVoltage 24 // Motor #4 DC rated voltage [VDC] –User Input Motor[4].PwmSf = 0.95 * * Mtr4DCVoltage / DcBusInput; // DcBusInput defined earlier in presentation Power PMAC Script 10 Power PMAC Training Stepper Motor Setup
11 Typical Direct Microstepping Setup// Motor #4 I2T Calculation #define Ch4MaxAdc // Max ADC reading [A] --User Input #define Ch4RmsPeakCur 4 // RMS Peak Current [A] --User Input #define Ch4RmsContCur 2 // RMS Continuous Current [A] --User Input #define Ch4TimeAtPeak 1 // Time Allowed at peak [sec] --User Input GLOBAL Ch4MaxOutput = 0; // Calculation Holding Register Ch4MaxOutput = Ch4RmsPeakCur / Ch4MaxAdc * * 0.866; Motor[4].I2TSet = Ch4RmsContCur / Ch4MaxAdc * * 0.866; Motor[4].I2tTrip = (POW(Ch4MaxOutput,2) - POW(Motor[4].I2TSet,2)) * Ch4TimeAtPeak; // Magnetization Current // Increase for stiffer holding current, decrease for higher top speeds // PMAC uses IdCmd to move the motor, basically just locking the rotor into each phase of the motor // successively throughout its revolution Motor[4].IdCmd = Motor[4].I2TSet / 2; // Maximum Output Value #define Mtr4MaxRpm 1500 // Motor Maximum Speed [RPM] --User Input #define Mtr4StepAngle 1.8 // Motor Step Angle [degrees] --User Input Motor[4].MaxDac = Mtr4MaxRpm / * (360 / (4 * Mtr4StepAngle)) * 2048 * Sys.ServoPeriod // Current Loop Tuning Motor[4].IiGain = 1; Motor[4].IpfGain = 0; Motor[4].IpbGain = 7; Power PMAC Script 11 Power PMAC Training Stepper Motor Setup
12 Direct Microstepping NotesOnce Motor[x].PhaseCtrl bit 1 is set to 1, the firmware starts integrating Motor[x].PhasePos += Motor[x].IqCmd*Motor[x].SlipGain every phase cycle Motor[x].SlipGain = Sys.PhaseOverServoPeriod because multiple phase cycles can happen between servo cycles, so multiplying by Sys.PhaseOverServoPeriod will scale the sum to the correct value (e.g. if phase is 10 kHz and servo is 2 kHz, the firmware would add the same Motor[x].IqCmd five times and the integrated IqCmd would be 5 times too large, but multiplying by Sys.PhaseOverServoPeriod is the same as dividing this by 5, bringing the sum to the correct IqCmd value) Stepper motors require four current fields 90 degrees apart throughout each commutation cycle in order to commutate one electrical cycle Since there are 2048 entries in PPMAC’s commutation sine table, the maximum number of entries the motor can traverse per phase cycle is 512 (90 degrees of electrical cycle) or 1024 per servo cycle (180 degrees) before PPMAC loses track of the motor’s rotation direction Thus, Motor[x].MaxDac is limited according to the servo period such that the stepper motor can still achieve its nominal speed Motor[x].AdvGain is the “Phase Advance Gain” and is used to internally rotate the rotor’s phase position a certain amount “ahead” of where it actually is proportional to the rotor speed for the purpose of properly computing torque commands to the motor; without this, there is a torque loss proportional to speed Phasing is “automatic” because the rotor is only ever at maximum 0.9 degrees out of phase with one of its coils as a result of the “steps” being 1.8 degrees apart (for typical stepper motors) BrickLV.Chan[j].TwoPhaseMode (if using Power Brick LV) is set to a value of 1, so the amplifier channel is placed in 2-phase operational mode, using the U and W output lines to drive the first phase, and the V and X output lines to drive the second phase. 12
13 Introduction to EtherCAT13
14 EtherCAT Ethernet for Control Automation Technology (EtherCAT) 14Power PMAC Training Introduction to EtherCAT
15 EtherCAT 15 Power PMAC Training Introduction to EtherCAT
16 EtherCAT 16 Power PMAC Training Introduction to EtherCAT
17 CAN over EtherCAT Controller Area Network (CAN) Standards: CAN DS301 and DSP402 17 Power PMAC Training Introduction to EtherCAT
18 Distributed Clock (DC)DC Clock Syncs to First Servo Drive Clock 18 Power PMAC Training Introduction to EtherCAT
19 Distributed Clock (DC)DC Provides Synchronized Communication with Slaves Distributed Clock = PPMAC Real Time Interrupt (RTI), (default that equals Servo Update Rate) Typical EtherCAT Distributed Clock settings, or servo update rates. 500 Hz update rate (robot arm) 1 kHz update rate (typical for most servo drives) 2 kHz update rate (available on some servo drives) 4 kHz update rate (available on fewer servo drives) 8 kHz update rate (Delta Tau Motion Machine, future servo drives) Process Data Objects are updated at the DC, or Servo Update Rate 19 Power PMAC Training Introduction to EtherCAT
20 PDOs versus SDOs Process Data Object (PDO) – DC Update Rate PDO’s are cyclically updated at the Real Time Interrupt (if Ecat[i].ServoExtension = 0). PDOs are mapped through System Setup. PDO communication begins when Ecat[i].Enable is set to 1. DC Mode = updated every servo cycle, generally used for closed loop motion control Freerun Mode = asynchronous update, generally used for I/O Service Data Object (SDO) Read/Write access to objects asynchronously using ecatsdo() commands Used to configure the slaves during setup Used for troubleshooting Query an Object (e.g. 0x6041, Status Word, to determine if logic power is applied to slaves) Can be considered “startup commands” for EtherCAT devices When to Use PDO/SDO Communication It is important to use the correct method of data transfer for all EtherCAT communications. Use PDOs for cyclic synchronous update of data, e.g. for servo drives Use SDOs for one time, or occasional peeking, or poking at Objects using ecatsdo() Do not overuse SDOs while EtherCAT is enabled; it may interfere with the synchronized nature of the Distributed Clock. If used while Ecat[i].Enable=1, all use of SDO communication is at your own risk. It is best to carry out all SDO communication while Ecat[i].Enable=0 20 Power PMAC Training Introduction to EtherCAT
21 SDO Read/Write Read/Write access to Objects via SDO communicationsL0 = ecatsdo(rw, slave, $index, subindex, value, master); rw =1 to read, rw =0 to write L0 holds read value. Examples of SDO Read/Write Example SDO read – read slave 0’s status L0 = (1, 0, $6041, 0, 27, 0); read, slave 0, StatusWord(6041), sub-index 0, value, master 0 Then query L0 to access the value that was read Example SDO write – set slave 1’s mode of operation to cyclic synchronous position mode L0 = (0, 1, $6060, 0, 8, 0); write, slave 1, ModeOfOp(6060), sub-index 0, CSP(8), master 0 21 Power PMAC Training Introduction to EtherCAT
22 EtherCAT CapabilitiesSynchronous and Asynchronous Communication DC sync Mode, or Freerun Mode – Servos can be in Sync mode while I/O is in Async mode Maximum Device Distance Maximum 100m cable (CAT6) distance between devices (longer distance requires fiber optics) Maximum Number of Devices Theoretical max of 65,535 devices (PPMAC max is 256, some customer applications use 90+ devices) CAN over EtherCAT (CoE) Controller Area Network (CAN) over EtherCAT (CoE) - PPMAC uses for Servo Drives and I/O) Ethernet over EtherCAT (EoE) Not currently implemented; used for remotely setting up devices, as opposed to using USB conn. File over EtherCAT (FoE) PPMAC uses this protocol to update Device Firmware, using sii_write() command Fail Safe over EtherCAT, or Field Safety over EtherCAT (FSoE) Currently: Limited implementation on PPMAC, future implementation planned, ongoing dev. 22 Power PMAC Training Introduction to EtherCAT
23 EtherCAT Setup 23
24 PPMAC EtherCAT Stack (Implementation)There are many different implementations of EtherCAT: EtherLab Master Stack (2008 to Present on EtherCAT-Enabled PPMACs) Open source Real Time EtherCAT kernel modules for Linux, Acontis Master Stack (On CK3E and NY51[]-A) Proprietary EtherCAT kernel modules, Check which Master Stack implementation you are using, enter into the terminal window: If Sys.EcatType = 0 (EtherLab Master Stack in use) If Sys.EcatType = 1 (Acontis Master Stack in use) Sys.EcatType Power PMAC Script All examples and setup information depicted herein utilize the EtherLab Master Stack implementation of EtherCAT on the PPMAC Motion Controller. Note 24 Power PMAC Training EtherCAT Setup
25 Overview – EtherLabs This is the typical procedure for setting up the system from scratch: Step 1: $$$***, save, $$$ (clear the PMAC, not necessary if continuing from existing setup) Step 2: Set the System Global Clock (generally equal to the Servo Update Rate) Step 3: Update the slave device files (ESI.xml device files) Step 4: Right click, “Configure the Master” Step 5: Set Distributed Clock (DC) to match Servo Update Rate Step 6: Set Startup (set Interpolation & Cyclic Sync Mode, e.g. Pos., Vel., or Torque) Step 7: Map the Input and Output PDOs (Process Data Objects) Step 8: Setup the Motors for each slave drive Step 9: Tune Motors (when using CS Velocity, or CS Torque modes) Step 10: Right click, “Export EtherCAT Variables” Step 11: Right click, “Generate Configuration File” Step 12: save, $$$, and then test your EtherCAT setup. 25 Power PMAC Training EtherCAT Setup
26 Overview – EtherLabs from ConfigUse the following steps to set up the system from an existing *.cfg file: Step 1: $$$***, save, $$$ (clear the PMAC) Step 2: Right click on the file you want to download, “Check To Download Config File” Step 3: Right click on the Configuration folder, “Download Config Files” Step 4: save Step 5: $$$, and then test your EtherCAT setup 26 Power PMAC Training EtherCAT Setup
27 Making Use of Template.tpl FilesChoose which PPMAC structures backup to pp_custom_save.cfg, copy/paste them to your .cfg: Step 1: Double click on the, “pp_custom_save.tpl file (to open the file for editing) Step 2: From the IDE Main Menu, left click, File, “Save All” Step 3: Right click on the Project, “Build and Download All Programs” Step 4: save Step 5: Double click the, “pp_custom_save.cfg” file to view the configuration data Step 6: Right click the Configuration folder, Add, “New Item”, to add a Custom Config file Step 7: Copy and Paste the contents to your own configuration file, “MyConfig.cfg” Step 8: From the IDE Main Menu, left click, File, “Save All” backup Sys. backup Motor[1].. backup EncTable[0].. backup Ecat[0]. Power PMAC Script 27 Power PMAC Training EtherCAT Setup
28 Virtual Motors
29 Why Use Virtual Motors? Development ApplicationsWhen developing logic for a system, it may be beneficial to verify logic without moving actual motors Allows for developers to test that a program will perform as expected without a full system Applications Some systems will want to use virtual motors in their actual application Less common, but allows for motor following Sometimes multiple Encoder Conversion Table entries will be required for one motor, and this allows you to view intermediary steps if desired 29 Power PMAC Training Virtual Motors
30 Configuring Virtual Motors//To Configure Motors 5-8 as Virtual Motors: //Speed and Accel Motor[5].InvAmax=1,1,1,1 Motor[5].MaxSpeed=1000,1000,1000,1000 // Motor CS Def Scale Factors Motor[5].PosSf=1,1,1,1 Motor[5].Pos2Sf=1,1,1,1 // Set derivative gain term in servo loop to zero // This is a Type 1 servo (single integration); does not need Kd Motor[5].Servo.Kvfb=0,0,0,0 Motor[5].FatalFeLimit=0,0,0,0 // Lower proportional gain term from default Motor[5].Servo.Kp=40,40,40,40 //Hardware Interfacing – Repeat for Motors 6-8 with sequential values for sys.udata[x],.a Motor[5].pDac=sys.udata[15].a Motor[5].pLimits=0 Motor[5].Ctrl=sys.PosCtrl Motor[5].pAmpFault=0 Motor[5].pAmpEnable=0 Power PMAC Script Virtual Motors Power PMAC Training
31 Configuring Virtual Motors//Encoder Conversion Table Entries EncTable[5].pEnc=sys.udata[15].a EncTable[5].pEnc1=sys.udata[15].a EncTable[6].pEnc=sys.udata[16].a EncTable[6].pEnc1=sys.udata[16].a EncTable[7].pEnc=sys.udata[17].a EncTable[7].pEnc1=sys.udata[17].a EncTable[8].pEnc=sys.udata[18].a EncTable[8].pEnc1=sys.udata[18].a EncTable[5].type=1,1,1,1 EncTable[5].index1=0,0,0,0 EncTable[5].index2=0,0,0,0 EncTable[5].index3=0,0,0,0 EncTable[5].index4=0,0,0,0 EncTable[5].index5=0,0,0,0 EncTable[5].MaxDelta=0,0,0,0 EncTable[5].ScaleFactor=1,1,1,1 EncTable[5].TanHalfPhi=0,0,0,0 EncTable[5].CoverSerror=0,0,0,0 EncTable[9].Type=0 Motor[5].ServoCtrl = 1,1,1,1 Power PMAC Script Virtual Motors Power PMAC Training
32 Making a GUI with C#
33 Basic Program StructureC#’s syntax is nearly identical to C’s. The main difference is the program structure. C# has no “main” function but rather has a namespace containing the main class which executes when your program starts. A class is like a struct but can contain functions AND variables, whereas C’s structs could only contain variables. The class has a constructor that runs when the class is instantiated (or a new object is made from the class). The class also contains methods which are basically like functions. Example of Simple Program: // Hello1.cs public class Hello1 { public static void Main() System.Console.WriteLine("Hello, World!"); } C# Code This section will not deeply explain C# but rather will teach only what is needed to make a simple GUI that communicates with PPMAC. Note Power PMAC Training Making a GUI with C#
34 Basic Program StructureYou can put more methods inside your class and just call them by typing the name of the class, then the . operator, then the function name, as though the method were just a field in a C structure. Here is a simple example: using System; using System.Collections.Generic; using System.Linq; using System.Text; namespace ExampleBasicProject{ public class Class1 { public static void Main() { double b=8.0; // Console.WriteLine prints to screen Console.WriteLine("b starts with this value: " + b); b = Class1.MyFunc(b); Console.WriteLine("Then, we pass it to MyFunc and it becomes: " + b); Console.WriteLine("Press any key to exit..."); Console.ReadLine(); // Reads from user input return; } public static double MyFunc(double input){ return input * 2.0;} C# Code Power PMAC Training Making a GUI with C#
35 Using GUI Tools First we need to learn how to design our GUI in Visual Studio. Let’s make a GUI we can use as a general framework for the communications examples. Within Visual Studio, click FileNewProject…, which opens the following dialog box: Select “Windows Forms Application” Click OK once finished Type your project name here Power PMAC Training Making a GUI with C#
36 Using GUI Tools The Solution Explorer organizes your source files for you The appearance of your GUI is here Select controls from the Toolbox here to add to your GUI Power PMAC Training Making a GUI with C#
37 Using GUI Tools Example: Transmitting Text to PMAC and Reading the Response Let’s select the Button control from the toolbox and drag it to the GUI frame. Drag it to here Grab the Button control here Power PMAC Training Making a GUI with C#
38 Using GUI Tools Now let’s rename the button in the Properties menu to “Transmit”: Change the “Text” field to change what text is inside the button Change the (Name) field to the name of the button when it is referenced inside your source code Power PMAC Training Making a GUI with C#
39 Using GUI Tools Now double-click the button in the Design Editor:Power PMAC Training Making a GUI with C#
40 Using GUI Tools Double-clicking the button opens up the source code of the method that executes when the button is clicked when your program is running: } These “using” parameters are necessary as they include functions necessary for your form Form1 is your Form’s class This method executes when your form loads up Transmit_Click is the method that executes when the button is clicked while the program is running Power PMAC Training Making a GUI with C#
41 Using GUI Tools Now go back to the Design tab and add a Label and a TextBox (controls highlighted on left). Change the Label to display “Enter text to transmit to PMAC:” (as shown in center below). You can change these by going to Properties and then altering the Label and (Name) fields (shown on right) below. Then, double-click the TextBox in the center of the Design tab. Power PMAC Training Making a GUI with C#
42 Using GUI Tools Double-clicking the TextBox opens up the method that executes whenever the user changes the text inside the box (it is appended to the bottom of your Form1 class’s code before the closing bracket): Inside the textBox1_TextChanged method, we want to store the text the user entered such that we can transmit it to PMAC. using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; namespace ExampleProject{ public partial class Form1 : Form{ public Form1() { InitializeComponent();} private void Transmit_Click(object sender, EventArgs e) { } private void Form1_Load(object sender, EventArgs e) { } private void textBox1_TextChanged(object sender, EventArgs e) { }}} C# Code Power PMAC Training Making a GUI with C#
43 Using GUI Tools We need to add a String to be globally accessible within the Form1 class and then fill it up with the text from the TextBox. namespace ExampleProject { public partial class Form1 : Form String commands = String.Empty; // Store the commands in this string public Form1() InitializeComponent(); } private void Transmit_Click(object sender, EventArgs e) private void Form1_Load(object sender, EventArgs e) private void textBox1_TextChanged(object sender, EventArgs e) commands = textBox1.Text; // Fill the string with the textbox’s contents C# Code Power PMAC Training Making a GUI with C#
44 Using GUI Tools Now let’s add another TextBox to contain PMAC’s response, a label to label that TextBox, and a RichTextBox to show communication status information. These objects are highlighted on the left. Then, change the form’s text from “Form1” to “PMAC Communications Example” in the Form’s Properties box (on right). After some superficial rearrangement of items, your GUI should look like the center image (you can make it wider if desired). Power PMAC Training Making a GUI with C#
45 Adding the Reference To use any of the features of the Power PMAC Component Library, you must add a reference to the DLL file. To do this, go to the Solution Explorer on the right, right-click References, and then “Add Reference”. Power PMAC Training Making a GUI with C#
46 Adding the Reference Now, browse to the location where you installed the Power PMAC Component Library. It is typically in C:\Program Files\Delta Tau Data Systems Inc\Power PMAC Component. Then, pick the file labeled “PowerPmacComLib.dll” and click OK. Power PMAC Training Making a GUI with C#
47 Using GUI Tools GUI Design Complete – Now What?Now that the GUI’s design is complete and the code framework is in place, we just need to add the standard code snippets for opening communication with Power PMAC and for sending strings to/reading strings from PPMAC. Before moving on, you may want to save (FileSave As…) a separate copy of your GUI project as a design template for a general communications GUI before any additional code is added. You can use the same code for opening and closing communication regardless of application. However, there are two different methods of actually transmitting and receiving information to and from PMAC: Synchronous Communication Synchronous Communication transmits a string to PPMAC and forces the entire program to wait for PMAC to respond within a timeout period specified. This is fine for very simple programs, but is less efficient than Asynchronous Communication because the program sits there doing nothing until it receives a response from PPMAC. Asynchronous Communication This is the recommended method of communication. It uses events, which are basically software interrupts. The program transmits a string to PPMAC and then returns to its other tasks. The event is triggered when PPMAC sends its response to the host computer, at which time the interrupt service routine executes to process the received data. There is no need to poll or wait for the host. This way, the program can make use of the time between sending the string to PPMAC and waiting for the response, doing other things in the intermediate time. Power PMAC Training Making a GUI with C#
48 Synchronous CommunicationTo use Synchronous Communication, we just need to copy-paste some standard code into the Form we already created. First, make sure you put all of these namespaces above your project’s namespace: using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; using PowerPmacComLib; using System.Threading; C# Code These may overlap with that which you are already using, so just be careful to delete any duplicates. Power PMAC Training Making a GUI with C#
49 Synchronous CommunicationPut these variables just under the namespace declaration of your project: // namespace My_Project_Name // { delegate bool ComErrorInvokeDelegate(); delegate void AppendTextDelegate(String message); C# Code Put these variables just under the class definition of your Form: // public partial class Form1 : Form // { Put these variables under where the above code from earlier appears ISyncGpasciiCommunicationInterface communication = null; deviceProperties currentDeviceProp = new deviceProperties(); deviceProperties currentDevProp = new deviceProperties(); ManualResetEvent sync = new ManualResetEvent(false); int noOfCommandsSent = 0; Char ACK = '\x06'; String commands = String.Empty; // If you already added this, don’t add this again String response = String.Empty; // For storing the response from PPMAC C# Code Power PMAC Training Making a GUI with C#
50 Synchronous CommunicationNow we need to add code to start the dialog box that starts communication. To do this, use this as your Form’s constructor: public Form1(){ InitializeComponent(); try { if (Globals.isValidLicense){ // Check for a valid PPMAC Comm Lib license communication = Connect.CreateSyncGpascii(CommunicationGlobals.ConnectionTypes.SSH, null); Globals.isValidLicense = true; } } catch (Exception ex) { AppendTextToOutPut(ex.Message); Globals.isValidLicense = false; } currentDevProp.IPAddress = Settings1.Default.defaultIPAddress; currentDevProp.Password = Settings1.Default.defaultPassword; currentDevProp.PortNumber = Convert.ToInt16(Settings1.Default.defaultPort); currentDevProp.User = Settings1.Default.defaultUser; currentDevProp.Protocol = CommunicationGlobals.ConnectionTypes.SSH; if (communication == null) { AppendTextToOutPut("Invalid license"); return; } DevicePropertyPage devicePage = new DevicePropertyPage(currentDevProp, communication.GpAsciiConnected); devicePage.OnConnect += new DevicePropertyPage.OnConnectFunction(devicePage_OnConnect); devicePage.OnDisConnect += new DevicePropertyPage.OnDisConnectFunction(devicePage_OnDisConnect); devicePage.ShowDialog(); C# Code Power PMAC Training Making a GUI with C#
51 Synchronous CommunicationNow we need to add code that handles connections, disconnections, and errors. Just add the following methods to your Form’s class: bool devicePage_OnDisConnect() { if (communication == null) AppendTextToOutPut("Invalid license"); return false; } bool bSuccess = false; if (communication.GpAsciiConnected) bSuccess = communication.DisconnectGpascii(); label1.Text = "Not Connected"; return bSuccess; C# Code Power PMAC Training Making a GUI with C#
52 Synchronous CommunicationContinued from previous slide bool devicePage_OnConnect(deviceProperties DevProp) { if (communication == null) AppendTextToOutPut("Invalid license"); return false; } communication = Connect.CreateSyncGpascii(DevProp.Protocol, communication); bool bSuccess = communication. ConnectGpAscii(DevProp.IPAddress, DevProp.PortNumber, DevProp.User, DevProp.Password); if (bSuccess) currentDevProp.IPAddress = DevProp.IPAddress; currentDevProp.Password = DevProp.Password; currentDevProp.PortNumber = DevProp.PortNumber; currentDevProp.User = DevProp.User; AppendTextToOutPut("Connected to the device ' " + DevProp.IPAddress + " '\n"); label1.Text = "Connected to " + DevProp.IPAddress; communication.ComERROR += new SocketErMessages(communication_ComERROR); Settings1.Default.defaultIPAddress = DevProp.IPAddress; Settings1.Default.defaultPassword = DevProp.Password; Settings1.Default.defaultPort = DevProp.PortNumber.ToString(); Settings1.Default.defaultUser = DevProp.User; Settings1.Default.Save(); return bSuccess; C# Code Power PMAC Training Making a GUI with C#
53 Synchronous CommunicationContinued from previous slide: void communication_ComERROR(object sender, ComErArgs e) { Invoke(new ComErrorInvokeDelegate(devicePage_OnDisConnect)); Invoke(new AppendTextDelegate(AppendTextToOutPut), "Device has been disconnected due to a communication error."); } C# Code Now add a method that appends text to our RichTextBox for displaying communications status: void AppendTextToOutPut(String message) { richTextBox1.AppendText(DateTime.Now.ToLongTimeString() + " : \n"); richTextBox1.AppendText(message + "\n"); richTextBox1.AppendText(" \n"); richTextBox1.ScrollToCaret(); } C# Code Power PMAC Training Making a GUI with C#
54 Synchronous CommunicationNow, we need to fill in the method that runs when the “Transmit” button is clicked. Use this as your Transmit_Click() method: private void Transmit_Click(object sender, EventArgs e) { if (communication == null) AppendTextToOutPut("Invalid license"); return; } if (communication.GpAsciiConnected) // GetResponse is the actual method that sends and receives the string Status communicationStatus = communication.GetResponse(command, out response); if (communicationStatus == Status.Ok) textBox2.Text=response; // Populate textBox2 with the response else // Send an error to the communication status RichTextBox richTextBox1.AppendText("Please connect to a device first !\n"); C# Code Power PMAC Training Making a GUI with C#
55 Synchronous CommunicationNext, we need to create the global licensing variable. Just append this as a separate class in your namespace: public class Globals { public static bool isValidLicense = true; } C# Code Power PMAC Training Making a GUI with C#
56 Synchronous CommunicationLastly, we need to add a settings file to retain the communications settings for talking to PPMAC. To add a settings file, in the Solution Explorer, right-click the project name, then AddComponent… Power PMAC Training Making a GUI with C#
57 Synchronous CommunicationScroll down and select “Settings File” and name is “Settings1.settings” and then click “Add”: Power PMAC Training Making a GUI with C#
58 Synchronous CommunicationThen, right-click the settings file in the Solution Explorer and click “Open”: Power PMAC Training Making a GUI with C#
59 Synchronous CommunicationFill it out the screen that opens such that it looks just like the screen below: Power PMAC Training Making a GUI with C#
60 Synchronous CommunicationNow, your GUI should be ready to go. Save your work and then click the Start Debugging button to run the program: Power PMAC Training Making a GUI with C#
61 Synchronous CommunicationOnce the program starts, the Communications Dialog Box pops up (shown below). Enter your communications settings, then click “Apply: Power PMAC Training Making a GUI with C#
62 Synchronous CommunicationNow your program is running! Just type your text into the first box, click “Transmit,” and then look at the response in the second box! Power PMAC Training Making a GUI with C#
63 Asynchronous CommunicationFor the Asynchronous Communication example, we can use the exact same GUI we designed for the Synchronous Communication example. Not much changes except now we have to instantiate a different type of class for the communication object, and we have to create a separate function to run once the host receives data back from PMAC. We will list the example in full, however, in order that these examples may be read separately. Power PMAC Training Making a GUI with C#
64 Asynchronous CommunicationTo use Asynchronous Communication, we just need to copy-paste some standard code into the Form we already created. First, make sure you put all of these namespaces above your project’s namespace: using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; using PowerPmacComLib; using System.Threading; C# Code These may overlap with that which you are already using, so just be careful to delete any duplicates. Power PMAC Training Making a GUI with C#
65 Asynchronous CommunicationPut these variables just under the namespace declaration of your project: // namespace My_Project_Name // { delegate bool ComErrorInvokeDelegate(); delegate void AppendTextDelegate(String message); C# Code Put these variables just under the class definition of your Form: // public partial class Form1 : Form // { // Declare and initialize variables global with this form deviceProperties currentDeviceProp = new deviceProperties(); deviceProperties currentDevProp = new deviceProperties(); IAsyncGpasciiCommunicationInterface communication = null; ManualResetEvent sync = new ManualResetEvent(false); int noOfCommandsSent = 0; String dataReceived = String.Empty; Char ACK = '\x06'; String commands = String.Empty; C# Code Power PMAC Training Making a GUI with C#
66 Asynchronous CommunicationNow we need to add code to start the dialog box that starts communication. To do this, use this as your Form’s constructor: public Form1() { InitializeComponent(); // Start the Asynchronous Communication try if (Globals.isValidLicense) communication = Connect.CreateAsyncGpascii(CommunicationGlobals.ConnectionTypes.SSH, null); Globals.isValidLicense = true; } catch (Exception ex) AppendTextToOutPut(ex.Message); // Print an error message if we can't open communication Globals.isValidLicense = false; // Set default connection settings currentDevProp.IPAddress = Settings1.Default.defaultIPAddress; currentDevProp.Password = Settings1.Default.defaultPassword; currentDevProp.PortNumber = Convert.ToInt16(Settings1.Default.defaultPort); currentDevProp.User = Settings1.Default.defaultUser; currentDevProp.Protocol = CommunicationGlobals.ConnectionTypes.SSH; C# Code Power PMAC Training Making a GUI with C#
67 Asynchronous CommunicationContinued from previous slide: if (communication == null) { AppendTextToOutPut("Invalid license"); return; } // Initialize communication dialog DevicePropertyPage devicePage = new DevicePropertyPage(currentDevProp, communication.GpAsciiConnected); devicePage.OnConnect += new DevicePropertyPage.OnConnectFunction(devicePage_OnConnect); devicePage.OnDisConnect += new DevicePropertyPage.OnDisConnectFunction(devicePage_OnDisConnect); devicePage.ShowDialog(); // Start the communication dialog C# Code Power PMAC Training Making a GUI with C#
68 Asynchronous CommunicationNow we need to add code that handles connections, disconnections, and errors. Just add the following methods to your Form’s class: bool devicePage_OnDisConnect() // This runs when we disconnect from the device { if (communication == null) AppendTextToOutPut("Invalid license"); return false; } bool bSuccess = false; if (communication.GpAsciiConnected) bSuccess = communication.DisconnectGpascii(); label1.Text = "Not Connected"; communication.AsyncDataAvailable -= new AsyncDataReceiveEvent(communication_AsyncDataAvailable); return bSuccess; C# Code Power PMAC Training Making a GUI with C#
69 Asynchronous CommunicationContinued from previous slide: bool devicePage_OnConnect(deviceProperties DevProp) // This runs when we connect to the device { if (communication == null) { AppendTextToOutPut("Invalid license"); return false; } communication = Connect.CreateAsyncGpascii(DevProp.Protocol, communication); // Instantiate the Async communication object bool bSuccess = communication.GPAsciiConnect(DevProp.IPAddress, DevProp.PortNumber, DevProp.User, DevProp.Password); // Connect to the device if (bSuccess) // If successful // Set the communication parameters with what the user entered into the communication dialog currentDevProp.IPAddress = DevProp.IPAddress; currentDevProp.Password = DevProp.Password; currentDevProp.PortNumber = DevProp.PortNumber; currentDevProp.User = DevProp.User; richTextBox1.AppendText("Connected to the device ' " + DevProp.IPAddress + " '\n"); label1.Text = "Connected to " + DevProp.IPAddress; communication.AsyncDataAvailable += new AsyncDataReceiveEvent(communication_AsyncDataAvailable); // Create a thread for receiving the data communication.ComERROR += new SocketErMessages(communication_ComERROR); return bSuccess; } C# Code Power PMAC Training Making a GUI with C#
70 Asynchronous CommunicationContinued from previous slide: Now let’s add a method that appends text to our RichTextBox for displaying communications status: void communication_ComERROR(object sender, ComErArgs e) { Invoke(new ComErrorInvokeDelegate(devicePage_OnDisConnect)); Invoke(new AppendTextDelegate(AppendTextToOutPut), "Device has been disconnected due to a communication error."); } C# Code void AppendTextToOutPut(String message) // Print the text into the output box { richTextBox1.AppendText(DateTime.Now.ToLongTimeString() + " : \n"); richTextBox1.AppendText(message + "\n"); richTextBox1.AppendText(" \n"); richTextBox1.ScrollToCaret(); } C# Code Power PMAC Training Making a GUI with C#
71 Asynchronous CommunicationNow we need to add the function that runs when the event (the host receiving PPMAC’s response) occurs. This is C#’s version of an interrupt service routine: void communication_AsyncDataAvailable(object sender, AsyncDataArgs e) // This function runs when the thread receives data from PPMAC { try dataReceived += e.Response; // Store the data in dataReceived int noOfCommandsReceived = 0; for (int i = 0; i < dataReceived.Length; i++) if (dataReceived[i] == ACK) noOfCommandsReceived++; } if (noOfCommandsReceived > noOfCommandsSent) sync.Set(); catch (Exception ex){} C# Code Power PMAC Training Making a GUI with C#
72 Asynchronous CommunicationNext, we need to create the global licensing variable. Just append this as a separate class in your namespace: public class Globals { public static bool isValidLicense = true; } C# Code Power PMAC Training Making a GUI with C#
73 Asynchronous CommunicationNow, we need to fill in the method that runs when the “Transmit” button is clicked. Use this as your Transmit_Click() method: private void Transmit_Click(object sender, EventArgs e) { if (communication == null) AppendTextToOutPut("Invalid license"); return; } if (communication.GpAsciiConnected) // If we are connected String OutputString = String.Empty; sync.Reset(); noOfCommandsSent = 0; dataReceived = String.Empty; // Send the commands stored in "commands" Status communicationStatus = communication.AsyncGetResponse(commands); if (communicationStatus == Status.Ok) if (sync.WaitOne(10000, false)) // Use a ms timeout period // For each string received, parse and print to output box for (int i = 0; i < dataReceived.Length; i++) C# Code Power PMAC Training Making a GUI with C#
74 Asynchronous CommunicationContinued from previous slide: if (dataReceived[i] != ACK) // Get rid of the ACK character from what we print on screen OutputString += dataReceived[i]; else break; } textBox2.Text = OutputString; // Put the received text into textBox2 richTextBox1.AppendText("Received all data from the device!\n"); { richTextBox1.AppendText("Cannot receive data from the device. Please check communication."); richTextBox1.AppendText("Please connect to a device first.\n"); } C# Code Power PMAC Training Making a GUI with C#
75 Asynchronous CommunicationLastly, we need to add a settings file to retain the communications settings for talking to PPMAC. To add a settings file, in the Solution Explorer, right-click the project name, then AddComponent… Power PMAC Training Making a GUI with C#
76 Asynchronous CommunicationScroll down and select “Settings File” and name is “Settings1.settings” and then click “Add”: Power PMAC Training Making a GUI with C#
77 Asynchronous CommunicationThen, right-click the settings file in the Solution Explorer and click “Open”: Power PMAC Training Making a GUI with C#
78 Asynchronous CommunicationFill it out the screen that opens such that it looks just like the screen below: Power PMAC Training Making a GUI with C#
79 Asynchronous CommunicationNow, your GUI should be ready to go. Save your work and then click the Start Debugging button to run the program: Power PMAC Training Making a GUI with C#
80 Asynchronous CommunicationOnce the program starts, the Communications Dialog Box pops up (shown below). Enter your communications settings, then click “Apply: Power PMAC Training Making a GUI with C#
81 Asynchronous CommunicationNow your program is running! Just type your text into the first box, click “Transmit,” and then look at the response in the second box! Power PMAC Training Making a GUI with C#
82 Introduction to MACRO
83 MACRO Overview "Motion and Control Ring Optical”Developed by Delta Tau High bandwidth, non-proprietary fiber optic or wired field bus protocol Used for machine control networks Based upon 100BASEFX (FDDI) and 100BASETX (Ethernet) hardware technologies. 125 Mbit/s transfer rate Permits phase clock frequencies even beyond 40 kHz Noise-immune when using fiber optic cables that can be up to ~2.2 km long Visit for a thorough description of this protocol. Note 83 Power PMAC Training Introduction to MACRO
84 Nodes and Addressing StructureGate3-based MACRO hardware has two sets of MACDRO banks: “A” and “B” Each bank consists of 16 nodes: 2 Auxiliary (for Communication and internal firmware use) 8 Servo Nodes (for feedback data, flags and output commands) 6 I/O Nodes (for digital and analog I/O data transfer, or other miscellaneous data) Each motor requires one servo node, so one Gate3 chip can control up to 16 motors The number of I/O nodes used depends on what I/O devices Gate3 is controlling Power PMAC Training Introduction to MACRO
85 Nodes and Addressing StructureThe nodes’ individual functionality is depicted in the following diagram: Each node consists of 8 registers: four 32-bit “Input” registers, which can be accessed by the structure Gate3[i].MacroInA[j][k] for bank A and Gate3[i].MacroInB[j][k] for bank B, and four 32-bit “Output” registers, which can be accessed by the Power PMAC structures Gate3[i].MacroOutA[j][k] for bank A and Gate3[i].MacroOutB[j][k] for bank B. 85 Power PMAC Training Introduction to MACRO
86 Nodes and Addressing StructureWhen controlling non-Gate3 MACRO Stations, ACC-5E3 will have its servo node information split up differently within each node j depending on the commutation method being used. The three modes involved are as follows: Analog Output Mode Motor[x].PhaseCtrl = 0 Motor[x].pAdc = 0 UV Commutation Mode (a.k.a. Sinusoidal Commutation Mode) Motor[x].PhaseCtrl > 0 Direct PWM Mode Motor[x].pAdc > 0 (= Gate3[i].MacroInA[j][1] for MACRO motors) I/O Nodes can be arranged in any way desired, regardless of motor control method, and will be described in detail in the MACRO I/O Setup section of this training. Note 86 Power PMAC Training Introduction to MACRO
87 Nodes and Addressing StructureThe contents of each servo node are arranged in each MACRO bank according to the control mode used (described on the previous slide) as follows: 87 Power PMAC Training Introduction to MACRO
88 Nodes and Addressing StructureMACRO Bank B’s contents are arranged identically those of A: 88 Power PMAC Training Introduction to MACRO
89 Bit Layouts MACRO Status Flag Registers (Gate3[i].MacroInA[j][3]/Gate3[i].MacroInB[j][3] and Gate2[i].Macro[j][3]) Bit 0 – 18 (Reserved for future use) 19 Position captured flag 20 MACRO node reset (power-on or command) 21 Ring break detected elsewhere 22 Amplifier enabled at station 23 Amplifier/node shutdown fault 24 Home flag input value 25 Positive limit flag value 26 Negative limit flag value 27 User flag value 28 W flag value 29 V flag value 30 U flag value 31 T flag value MACRO Command Flag Registers (Gate3[i].MacroOutA[j][3]/Gate3[i].MacroOutB[j][3] and Gate2[i].Macro[j][3]) Bit 0 – 18 (Reserved for future use) 19 Position capture enable 20 Node position reset flag 21 Ring break detected 22 Amplifier enable 23 – 31 (Reserved for future use) 89 Power PMAC Training Introduction to MACRO
90 Nodes and Addressing StructureThe contents of I/O nodes is arranged as follows for Gate3-style MACRO: Each I/O node, with Power PMAC3 MACRO style IC, possesses structure elements for inputs and outputs separately: PMAC3 Style MACRO IC I/O Node Registers Inputs Outputs Gate3[i].MacroInA[j][0] Gate3[i].MacroOutA[j][0] Upper 24 bits Gate3[i].MacroInA[j][1] Gate3[i].MacroOutA[j][1] Upper 16 bits Gate3[i].MacroInA[j][2] Gate3[i].MacroOutA[j][2] Gate3[i].MacroInA[j][3] Gate3[i].MacroOutA[j][3] Note The above I/O node addresses represent Bank A. For Bank B addressing, replace the suffix A with B. 90
91 MACRO Motor Setup
92 Overview Step 1: Configure System Clocks for MasterStep 2: Enable Nodes and Error Testing Parameters on Master Step 3: Establish Communication with Slave Step 4: Enable Nodes and Error Testing Parameters on Slave Step 5: Configure System Clocks for Slave Step 6: Point Motor Pointers to MACRO Registers Step 7: Tune Motor as Normal 92 Power PMAC Training MACRO Motor Setup
93 Step 1: Configure ClocksGate3 Clocks (i.e. the Master EtherLite’s clocks) are determined by the following structures: Gate3[i].PhaseServoDir // =0 if this IC outputs clocks, =3 if not Gate3[i].PhaseFreq // Determines the Phase Clock Frequency Gate3[i].ServoClockDiv // Determines the Servo Clock Frequency Sys.ServoPeriod // Reports the Servo Period to Internal Software Sys.PhaseOverServoPeriod // Reports the Phase Period to Internal Software Note All Power PMAC EtherLite Masters have Gate3-based MACRO hardware. In contrast, no MACRO Slave product currently has Gate3-based MACRO hardware. Note There are other clock settings in the Power PMAC Master, but they are related to PWM, encoders, ADCs and DACs, and are not completely relevant to this training. 93 Power PMAC Training MACRO Motor Setup
94 Step 1: Configure ClocksGate3[i].PhaseServoDir Settings: Gate3[i].PhaseServoDir = 0: Internal phase clock, internal servo clock Gate3[i].PhaseServoDir = 1: External phase clock, internal servo clock Gate3[i].PhaseServoDir = 2: Internal phase clock, external servo clock Gate3[i].PhaseServoDir = 3: External phase clock, external servo clock Generally, this value is set correctly at $$$***, but to ensure the value is correct: The Gate3 on the Master with the lowest-numbered index should set this structure to 0, and all other clock-generating devices in the rack should be set to 3. 94 Power PMAC Training MACRO Motor Setup
95 Step 1: Configure ClocksGate3[i].PhaseFreq This structure determines the phase clock. Make sure that the phase clock is set identically on the MACRO Master (the EtherLite) and all of the Slave devices on the MACRO ring. Set Gate3[i].PhaseFreq equal to the frequency you want for the Phase Clock [Hz]. Example (for Gate3 at index 0): Gate3[0].PhaseFreq= ; // Phase Clock: kHz PPMAC Script 95 Power PMAC Training MACRO Motor Setup
96 Step 1: Configure ClocksGate3[i].ServoClockDiv This structure determines the servo clock on the Master. This does not need to be set the same between Master and Slave. The formula to use for this structure is: Gate3 i .ServoClockDiv= Phase Frequency [kHz] Servo Frequency [kHz] − 1, Example (for Gate3 at index 0): Gate3[0].ServoClockDiv=Gate3[0].PhaseFreq/2.259 – 1.0 // = 3 // for kHz Servo PPMAC Script 96 Power PMAC Training MACRO Motor Setup
97 Step 1: Configure ClocksSys.ServoPeriod This structure does not set any clocks, but it is needed for reporting the servo period to internal programs. The formula to use for this structure is: Sys.ServoPeriod=1000∙ (Gate3 i .ServoClockDiv+1) Gate3 i .PhaseFreq , Example (for Gate3 at index 0): Sys.ServoPeriod=1000.0*(Gate3[0].ServoClockDiv+1.0)/Gate3[0].PhaseFreq PPMAC Script 97 Power PMAC Training MACRO Motor Setup
98 Step 1: Configure ClocksSys.PhaseOverServoPeriod This structure does not set any clocks, but it is needed for reporting the phase period to internal programs. The formula to use for this structure is: 𝐒𝐲𝐬.𝐏𝐡𝐚𝐬𝐞𝐎𝐯𝐞𝐫𝐒𝐞𝐫𝐯𝐨𝐏𝐞𝐫𝐢𝐨𝐝= 1 𝐆𝐚𝐭𝐞𝟑 𝒊 .𝐒𝐞𝐫𝐯𝐨𝐂𝐥𝐨𝐜𝐤𝐃𝐢𝐯+1 , Example (for Gate3 at index 0): Sys.PhaseOverServoPeriod=1/(Gate3[0].ServoClockDiv+1) PPMAC Script 98 Power PMAC Training MACRO Motor Setup
99 Step 1: Configure ClocksBelow is an example setup file with clock settings grouped together Putting this into a “clock settings.pmh” file (or similar name) in the Global Includes folder in your IDE project is recommended. Sys.WpKey=$AAAAAAAA; Gate3[0].PhaseServoDir=0; // This Gate3 transmits clocks; set =3 to receive clocks Gate3[0].PhaseFreq= ; // Phase Clock: kHz Gate3[0].PhaseClockMult=0; // Do not multiply output phase clock Gate3[0].PhaseClockDiv=0; // Do not divide down internal phase clock Gate3[0].ServoClockDiv=3; // Servo Clock: kHz Sys.ServoPeriod=1000*(Gate3[0].ServoClockDiv+1)/Gate3[0].PhaseFreq; Sys.PhaseOverServoPeriod=1/(Gate3[0].ServoClockDiv+1); Sys.WpKey=0; PPMAC Script Issuing Sys.WpKey=$AAAAAAAA is required before modifying any Gate3 structures. Note 99 Power PMAC Training MACRO Motor Setup
100 Step 2: Enable Nodes on the MasterYou must enable the same servo node on the Master that you enable on the node Enabling a node begins the transfer of feedback, command, and flag data Enabling nodes is done through the following structures: Gate3[i].MacroEnableA // Node Enable for MACRO Bank A Gate3[i].MacroEnableB // Node Enable for MACRO Bank B Gate3[i].MacroModeA // Communication mode for MACRO Bank A Gate3[i].MacroModeB // Communication mode for MACRO Bank B 100 Power PMAC Training MACRO Motor Setup
101 Step 2: Enable Nodes on the MasterGate3[i].MacroEnableA and Gate3[i].MacroEnableB are both 32-bit words comprising the following information: Each of the Node Enable Bits controls a node. Bit 0 controls node 0, bit 1 node 1, etc. A value of 0 in the bit disables the node, and a value of 1 enables the node. Sync Packet Node Number: Set these four bits to 1 to indicate that node 15 should be used. Master Address: Specifies the number of the master address for this IC. For Bank A, set this to 0; for Bank B, set this to 1. 101 Power PMAC Training MACRO Motor Setup
102 Step 2: Enable Nodes on the MasterGate3[i].MacroModeA and Gate3[i].MacroModeB are both 32-bit words comprising the following information: The status bits in bits [11:08] can be useful for troubleshooting Generally speaking, the only settings that need to be changed are as follows: For Master devices, set bits [13:12] both to 1; slaves, set them to 0. For Master Devices, set bit 22 to 1 to permit node 15 to be used for broadcasting; for slaves, leave this at 0. This makes the usual setting for a Synchronizing Master Gate $403000, and $9000 for a Non-Synchronizing Master Gate. Component Bits Hex Digit # Functionality (Reserved) 31 – 24 1 – 2 (Reserved for future use) MacroMasterChkDisA 23 – 16 3 – 4 MACRO A master check disable MacroSyncEnaA 15 5 MACRO A phase clock sync enable MacroSyncRcvdA 14 MACRO A sync packet received status MacroStationTypeA 13 – 12 MACRO A station type MacroUnderrunErrA 11 6 MACRO A data underrun error status MacroParityErrA 10 MACRO A parity/CRC error status MacroCodeErrA 09 MACRO A byte coding error status MacroOverrunErrA 08 MACRO A data overrun error status 07 – 00 7 – 8 102 Power PMAC Training MACRO Motor Setup
103 Step 2: Enable Nodes on the MasterThere are three parameters for MACRO error checking which must be set : Macro.TestPeriod This is the period in servo cycles at which PMAC checks for errors on the MACRO ring. The recommended value for this variable is 50. Macro.TestMaxErrors This is the maximum error count PMAC can receive in one test period (whose duration is specified by Macro.TestPeriod) before triggering a fault. The recommended value is 2, meaning that the ring would shut down on a third error in a given evaluation period. Macro.TestReqdSynchs This is the number of sync packets in one period (whose duration is specified by Macro.TestPeriod) that PMAC must receive before triggering an error. The recommended value is 2, meaning that the ring would shut down if only 0 or 1 sync packets were received per test period. 103 Power PMAC Training MACRO Motor Setup
104 Step 2: Enable Nodes on the MasterBelow is example setup code for configuring node 0 (one servo node) and error testing: Sys.WpKey=$AAAAAAAA; //MACRO Communication Setup // Activate 1 Servo Node and 0 IO Nodes of MACRO A Gate3[0].MacroEnableA=$0FC00100; Gate3[0].MacroModeA=$403000; // Set MACRO A as master, sync to no other clock // Activate 0 Servo Nodes and 0 IO Nodes of MACRO B Gate3[0].MacroEnableB=$1FC00000; Gate3[0].MacroModeB=$9000; // Set MACRO B as master, synchronize to A’s clock // MACRO Ring Check Period [servo cycles] (Related to I80 in Turbo) Macro.TestPeriod=50; // MACRO Maximum Ring Error Count (Related to I81 in Turbo) Macro.TestMaxErrors=2; // MACRO Minimum Sync Packet Count (Related to I82 in Turbo) Macro.TestReqdSynchs=2; Sys.WpKey=0; PPMAC Script Issuing Sys.WpKey=$AAAAAAAA is required before modifying any Gate3 structures. It is recommended to keep these settings in a “macro settings.pmh” file in the Global Includes folder of your IDE project. Note 104 Power PMAC Training MACRO Motor Setup
105 Step 3: Communicate with the SlaveThe first step of communicating with the Slave is setting its Station Number and Master Number. Depending what the MACRO Slave Device is, the MACRO Station Number and Master Number will either be set by rotary switches (in this case, see the device’s hardware reference manual) or the Ring Order Method, where the station number gets set automatically and sequentially based on its position in the ring. 105 Power PMAC Training MACRO Motor Setup
106 Step 3: Communicate with the SlaveExample of MACRO Station Number set with rotary switches (from Copley Accelnet MACRO Drive): No command needs to be issued to the Slave; the Station Number is entirely set by these hardware switches. 106 Power PMAC Training MACRO Motor Setup
107 Step 3: Communicate with the SlaveExample of Ring Order Method being used to set Station Numbers Power EtherLite Master #0 First connection in ring: Master to Slave Station 1 Last connection in ring: Slave Station 3 to Master MACRO I/O Peripheral Becomes Station 3 Geo MACRO Drive 1 Becomes Station 1 Geo MACRO Drive 2 Becomes Station 2 Third connection in ring: Slave Station 2 to Slave Station 3 Second connection in ring: Slave Station 1 to Slave Station 2 107 Power PMAC Training MACRO Motor Setup
108 Step 3: Communicate with the SlaveWhen setting up Station Numbers through the Ring Order Method, the Stations must first be initialized to factory default, because before initialization, the Stations will all be at Station #255. Some common examples of how to initialize are as follows: If using MACRO IC #0 (Bank A of Gate3[0]), to reinitialize the slave, type MacroSlave$$$***15, then MacroSlaveSAVE15, then MacroSlave$$$15. If using MACRO IC #1 (Bank B of Gate3[0]), type MacroSlave$$$***31, then MacroSlaveSAVE31, then MacroSlave$$$31. If using MACRO IC #2 (Bank A of Gate3[1]), use MacroSlave$$$***47, then MacroSlaveSAV47, then MacroSlave$$$47, and so on for other MACRO IC #s. Then, the Station Numbers can be set automatically with the MacroRingOrderInit0 command If you want to set a Station Number manually, type MacroStation255 to access the station whose number has not been set. Type I11=n in order to assign this device to Station #n. Type
109 Step 4: Enable Nodes on the SlaveThe MACRO parameters that need to be configured on the Slave are as follows: MI996 // Configures which nodes to enable on the Slave MI995 // Configures which Master IC to use MI8 // Ring Check Error Period MI9 // Ring Error Shutdown Count MI10 // Sync Packet Shutdown Count 109 Power PMAC Training MACRO Motor Setup
110 Step 4: Enable Nodes on the SlaveMI995 is a 24-bit word comprising the following information: Each of the Node Enable Bits controls a node. Bit 0 controls node 0, bit 1 node 1, etc. A value of 0 in the bit disables the node, and a value of 1 enables the node. Sync Packet Slave Address specifies the slave number of the packet that will generate the “sync pulse” on the Station. Always set all of these bits to 1 on the Slave. Master Address: Specifies the number Master IC. Can be set 0 to 15. 110 Power PMAC Training MACRO Motor Setup
111 Step 4: Enable Nodes on the SlaveMI996 is a 24-bit word comprising the following information: For MACRO Slaves, configuration bits 4 and 5 are set to 0. Slaves should synchronize themselves to the sync node, so configuration bit 7 should be set to 1. In most applications, slaves will accept only packets from their own master so bits 8 to 15 are all set to 0. All other bits are status bits that are normally 0. This makes the usual setting of MI995 equal to $0080. Bit # Value Type Function 1($1) Status Data Overrun Error (cleared when read) 1 2($2) Byte Violation Error (cleared when read) 2 4($4) Packet Parity Error (cleared when read) 3 8($8) Packet Underrun Error (cleared when read) 4 16($10) Config Master Station Enable 5 32($20) Synchronizing Master Station Enable 6 64($40) Sync Node Packet Received (cleared when read) 7 128($80) Sync Node Phase Lock Enable 8 256($100) Node 8 Master Address Check Disable 9 512($200) Node 9 Master Address Check Disable 10 1024($400) Node 10 Master Address Check Disable 11 2048($800) Node 11 Master Address Check Disable 12 4096($1000) Node 12 Master Address Check Disable 13 8192($2000) Node 13 Master Address Check Disable 14 16384($4000) Node 14 Master Address Check Disable 15 32768($8000) Node 15 Master Address Check Disable 111 Power PMAC Training MACRO Motor Setup
112 Step 4: Enable Nodes on the SlaveThere are three parameters for MACRO error checking which must be set: MI8 This is the period in units of phase cycles at which PMAC checks for errors on the MACRO ring. It should be set according to the following formula: 𝑀𝐼8=50 𝑀𝐴𝐶𝑅𝑂 𝑅𝑖𝑛𝑔 𝑅𝑎𝑡𝑒 (𝑃ℎ𝑎𝑠𝑒 𝑅𝑎𝑡𝑒 𝑜𝑓 𝐴𝑙𝑙 𝐷𝑒𝑣𝑖𝑐𝑒𝑠) 𝑅𝑖𝑛𝑔 𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑆𝑒𝑟𝑣𝑜 𝑅𝑎𝑡𝑒 For example, if the phase clock of all devices on the ring is twice that of the servo clock of the ring controller (e.g. Power PMAC), MI8 would be set to 100. MI9 This is the maximum error count PMAC can receive in one test period (whose duration is specified by MI8) before triggering a fault. The recommended value is 2, meaning that the ring would shut down on a third error in a given evaluation period. MI10 This is the number of sync packets in one period (whose duration is specified by MI8) that PMAC must receive before triggering an error. The recommended value is 2, meaning that the ring would shut down if only 0 or 1 sync packets were received. 112 Power PMAC Training MACRO Motor Setup
113 Step 4: Set the Slave NodesAssuming the MACRO Station numbers have been successfully set already, type MacroStation
114 Step 5: Configure Clocks on the SlaveThe MACRO Slave Devices’ clocks are determined by the following parameters: MI992 // MaxPhase Frequency Control MI997 // Phase Clock Frequency Control MI998 // Servo Clock Frequency Control Note Remember to set the Phase Clock on the Slave to the same frequency as it is on the Master! Note There are other clock settings in MACRO Slave devices, but they are related to PWM, encoders, ADCs and DACs, and are not completely relevant to this training. 114 Power PMAC Training MACRO Motor Setup
115 Step 5: Configure Clocks on the SlaveThe formulas for computing MI992, MI997, and MI998 are as follows: fmp is the desired maximum phase frequency [kHz], fp is the desired phase clock frequency [kHz], and fs is the desired servo clock frequency [kHz]. MI992= ∙ 𝑓 𝑚𝑝 −1 MI997= 𝑓 𝑚𝑝 𝑓 𝑝 −1 MI998= 𝑓 𝑝 𝑓 𝑠 −1 Example: When Node 0 is being used for the Slave, setting default clocks Then, issue MacroSlaveSAVE15 followed by MacroSlave$$$15 to save the changes on the Station. MacroSlave0,MI992=6527 MacroSlave0,MI997=0 MacroSlave0,MI998=3 PPMAC Script 115 Power PMAC Training MACRO Motor Setup
116 Step 6: Assign Motor Pointer RegistersPosition Feedback Address Motor[x].pEnc and Motor[x].pEnc2 must be pointed to EncTable[n].a for the Encoder Conversion Table Entry that processes the MACRO motor’s encoder, assuming a single sensor for the motor. Generally: Select EncTable[n].type=4 for 32-bit single-register read over MACRO. Point EncTable[n].pEnc to Gate3[i].MacroInA[j][0].a or Gate3[i].MacroInB[j][0].a. Set EncTable[n].index2=8 to eliminate the empty bottom 8 bits of this register. Set EncTable[n].index1=8 to put the position data at the MSB of this register. Set EncTable[n].ScaleFactor=1/exp2(EncTable[n].index1) If you do not have a full 24 bits of data, you may need to increase index1’s value. You may also want to consider setting a MaxChange filter on the ECT. Command Output Address Set Motor[x].pDac = Gate3[i].MacroOutA[j].[0].a or Gate3[i].MacroOutB[j][0].a Input Flag Addresses Set Motor[x].pLimits, Motor[x].pAmpFault, and Motor[x].pCaptFlag to Gate3[i].MacroInA[j][3].a or Gate3[i].MacroInB[j][3].a. 116 Power PMAC Training MACRO Motor Setup
117 Step 6: Assign Motor Pointer RegistersInput Flag Bits The user must specify which bits of the above Flag Addresses to use for which flags as follows: Motor[x].AmpFaultBit = 23 Motor[x].LimitBits = 25 Motor[x].CaptFlagBit = 19 When using quadrature encoder feedback with 5 bits of 1/T sub-count extension, the following settings should be used to process whole-count captured data, as for homing: Motor[x].CaptPosShiftLeft = 13 Motor[x].CaptPosShiftRight = 0 Motor[x].CaptPosRound = 1 117 Power PMAC Training MACRO Motor Setup
118 Step 6: Assign Motor Pointer RegistersOutput Flag Addresses Set Motor[x].pAmpEnable=Gate3[i].MacroOutA[j][3].a or Gate3[i].MacroOutB[j][3].a Output Flag Bits Set Motor[x].AmpEnableBit=22 Commutation Addresses If Power PMAC is performing the phase commutation for a motor controlled over MACRO, set Motor[x].PhaseCtrl=4 for “unpacked” data transfer. Set Motor[x].pPhaseEnc=Gate3[i].MacroInA[j][0].a or Gate3[i].MacroInB[j][0].a Use Motor[x].PhaseEncLeftShift and PhaseEncRightShift, if needed, to shift out garbage from the lower bits of the register, and shift back up to move the MSB to bit 31. 118 Power PMAC Training MACRO Motor Setup
119 Step 6: Assign Motor Pointer RegistersPhase Position Scale Factor To scale the commutation data properly, set Motor[x].PhasePosSf according to this formula: where N is the number of LSBs of the feedback. For most quadrature encoders, N will be 213, because there are 5 bits of fractional count data from 1/T extension and 8 bits of “garbage” at the bottom of the position register, yielding the LSB as 13. Thus, a common value for a rotary motor with a quadrature encoder commutated over MACRO will be Motor[x].PhasePosSf=2048/exp2(13). Motor x .PhasePosSf= 2048 𝑁 119 Power PMAC Training MACRO Motor Setup
120 Modbus Setup
121 Overview Modbus is a communication protocol designed for Machine Control Many different implementations of it over different connection types Delta Tau uses a TCP/IP implementation known as Modbus TCP through the normal communication port An Ethernet Switch or Hub may be used to allow for simultaneous communication with the IDE and Modbus devices Server/Client One Device will be specified to be a server Multiple different Clients can connect to a server and access its memory Generally, the PMAC will function as a Server It will wait for multiple clients to connect to it and access its memory A user-written PLC can then monitor for changes to the variables and react accordingly Clients could be either devices such as HMIs or individual devices, such as relays Configuring the PMAC as a Server is easy and just requires enabling The PMAC can also function as a Client This requires more configuration, as it must be able to identify a specific Server Can connect to multiple Servers using different ports More complex, as the client performs the actual “work” of writing data into server memory and reading from it Power PMAC Training Modbus Setup
122 Modbus Server CommandsDescription Sys.ModbusServerEnable Enables a socket for Modbus Server Communication ModbusServerQuery Displays the last Modbus Client Query to the Server ModbusServerResponse Displays the last response from the Modbus Server to a Client ModbusServerState Displays the status of one or more Server Sockets ModbusServerLinuxError Displays any Linux Socket Errors for one or more Sockets Power PMAC Training Modbus Setup
123 Modbus Server 0x0000 – 0x0FFF Sys.ModbusServerBuffer[0-8190]To configure a Power PMAC as a Modbus server, set Sys.ModbusServerEnable = 1 and wait for Client Communication Clients can then access thousands of I, M, P, and Q Variables from their Modbus addresses More data can be stored in other registers accessible by Sys.ModbusServerBuffer You can then monitor your registers from inside of a PLC to react appropriately Modbus Reference Address Access from PPMAC 0x0000 – 0x0FFF Sys.ModbusServerBuffer[0-8190] 0x1000 – 0x3FFF I-Variables 0x4000 – 0x7FFF M-Variables 0x8000 – 0xBFFF P-Variables 0xC000 – 0xEFFF Q-Variables for Coordinate Systems 0-5 Mulytiply the Reference Address by 2 to access a parameter by Sys.ModbusServerBuffer. Note Power PMAC Training Modbus Setup
124 Modbus Client CommandsDescription Modbus[x].Config.ServerPort Select which port to use (0 defaults to port 502) Modbus[x].Config.ConnectTimeOut Minimum of 5200 msec (zero defaults to OS Timeout) Modbus[x].Config.SendRecvTimeOut Minimum is 3100 msec (zero defaults to 6300 msec) Modbus[x].Config.ServerMode Determines whether MSW or LSW is transmitted first (0 defaults to MSW, LSW) Modbus[x].Config.UnitID ID Number sent with Modbus message to identify device Modbus[x].Config.ServerIpAddr[] IP Address of Modbus server, broken up into 4 bytes Power PMAC Training Modbus Setup
125 Modbus Client Commands, Cont’d.Description Modbus[x].Config.KeepAliveEnable Enables socket KEEPALIVE feature Modbus[x].Config.KeepAliveIdle Determines how long before the first KEEPALIVE request are sent to the server over TCP when no Modbus queries are being sent, in seconds Modbus[x].Config.KeepAliveInterval Determines how frequently to send KEEPALIVE requests after the first one is sent, in seconds Modbus[x].Config.KeepAliveCnt Determines the total number of KEEPALIVE messages that will be sent Power PMAC Training Modbus Setup
126 Modbus Client On-Line CommandsDescription ModbusPing # Pings for a Modbus device at the address specified by Modbus[x].Config.ServerIPAddr[] ModbusConnect # Attempt to connect to the specified server ModbusAscii # Issue ASCII strings to the specified server ModbusState # Determines the status of the server ModbusClose # Close communication with the specified server ModbusCloseAll Close communication with all servers ModbusRegister Read/Write a specified address as a register ModbusFloat Read/Write a specified address as a float ModbusDiscrete Read a specified number of discretes (input bits) ModbusCoil Read/Write a specified number of coils (output bits) ModbusQuery # Displays the last Modbus client query to the Modbus server ModbusResponse # Displays the last Modbus server response to the client query Power PMAC Training Modbus Setup
127 Modbus Client 0x0000 – 0x0FFF Sys.ModbusServerBuffer[0-8190]To configure a Power PMAC as a Modbus server, set Sys.ModbusServerEnable = 1 and wait for Client Communication Clients can then access thousands of I, M, P, and Q Variables from their Modbus addresses More data can be stored in other registers accessible by Sys.ModbusServerBuffer You can then monitor your registers from inside of a PLC to react appropriately Modbus Reference Address Access from PPMAC 0x0000 – 0x0FFF Sys.ModbusServerBuffer[0-8190] 0x1000 – 0x3FFF I-Variables 0x4000 – 0x7FFF M-Variables 0x8000 – 0xBFFF P-Variables 0xC000 – 0xEFFF Q-Variables for Coordinate Systems 0-5 Mulytiply the Reference Address by 2 to access a parameter by Sys.ModbusServerBuffer. Note Power PMAC Training Modbus Setup
128 More Information Sample project in the IDE installationGenerally in “C:\DeltaTau\Power PMAC IDE\PowerPMACProjectExamples\ PowerPmacModbusExample” Sample project opens both a socket and a client connection to the socket Documentation folder contains list of full parameters for Modbus in addition to explanations of each of the commands Power PMAC Training Modbus Setup
129 Connecting to PowerPmacNC 16
130 Overview With the PDK, the software is fully customizablePowerPmacNC 16 comes in two versions, with and without the PDK With the PDK, the software is fully customizable We will focus on connecting to the default configuration of it Set up your Power PMAC in the IDE Configure all axes, I/O, and system logic We will use 3 Axes for our system This requires us to set up at least one virtual motor on our system A full configuration with 8 virtual motors is in the sample project included with the NC Software Make sure that the USB Hardware Key is inserted into the system Find the PowerPmacNC.ini file in \PowerPmacNC\bin\Debug Look for the lines that specify the Axis Labels and Line Numbers Verify that each line only has 3 terms in it Run the NC Software The specific file is “\PowerPmacNC\bin\Debug\PowerPmacNc.exe” Once it loads, press “Log In” to go to the main screen Power PMAC Training Connecting to NC16
131 Machine View Select the Machine View Tab in the top left corner The Machine View tab details the general status of the system We will focus on connecting to the default configuration of it Controller We will go here and verify that the IP Address is correct Displays the status of the Power PMAC Axes Displays the positions, torques, and feedrates for the system Tool Displays the known parameters about the spindle tooltip NC File Displays statistics for the current NC file G-Codes Displays the G-Codes currently loaded into the system M-Codes Displays the M-Codes currently loaded into the system Tool Offsets Displays the Tool Offset Table, if one is loaded Work Offsets Displays the Work Offsets Table, if any are loaded After verifying the device IP Address, Press “Go Online” and then “Run” Power PMAC Training Connecting to NC16
132 Passing Parameters to PowerPmacNC 16PowerPmacNC 16 automatically queries predefined variables to get its parameters In the “PPCNC_ProjectSource” project, they are detailed in “ppnc_ncinterfacedefinitions.pmh” Some key parameters are outlined below P10X: Axis Position P100 for the X Axis, P101 for Y Axis, P102 for Z Axis, etc. P11X: Distance to Go P12X: Torque P14X: Following Error The parameters must be calculated in a PLC to force them to continually update A Sample PLC to perform this is detailed in “ppnc_positionreport.plc” in the sample project Power PMAC Training Connecting to NC16