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Delta Tau Data Systems

Delta Tau Data Systems. Software products for PowerPMAC. Software Products. Power PMAC IDE Power PMAC Component Library - Development tool for creating custom UI (HMI) Servo Analyzer IEC 61131 Based PLC development Software tools. PowerPMAC IDE. True Integrated development Environment

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Delta Tau Data Systems

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  1. Delta Tau Data Systems Software products for PowerPMAC PowerPMAC IDE, Delta Tau Data Systems, Inc.

  2. Software Products • Power PMAC IDE • Power PMAC Component Library - Development tool for creating custom UI (HMI) • Servo Analyzer • IEC 61131 Based PLC development Software tools. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  3. PowerPMAC IDE • True Integrated development Environment • Based on the most popular development environment - Visual Studio 2005/2008 next version based on 2010 • IDE run as a standalone Application. • Powerful and sophisticated interactive environment for developing Motion Program, PLC,CPLS and user servo. • Visual studio style PowerPMAC project system with debugging capabilities for C background programs and script PLC . • Backup, Restore and Recovery tools. • Powerful System setup tools allows to setup any type of motor, encoder and amplifier combination. • EtherCAT setup tools as part of the System setup. • Macro Setup tools (next release) PowerPMAC IDE, Delta Tau Data Systems, Inc.

  4. PowerPMAC IDE • Powerful Motor tuning interface, supporting various filters. • Gantry tuning available from the Tuning interface. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  5. PowerPMAC IDE – Typical look PowerPMAC IDE, Delta Tau Data Systems, Inc.

  6. Component Library • Allows User to create custom HMI. • SSH Protocol based Communication library object on the host computer. (Windows Only) • PowerPMAC IDE Uses the same Library • Developed In C# .NET and supports Framework 2.0 and above • Available window less Objects to use • Synchronous GPAscii • Asynchronous GPAscii • Synchronous OS • Asynchronous OS • Error • Unsolicited • Available Windows objects • Terminal PowerPMAC IDE, Delta Tau Data Systems, Inc.

  7. Component Library • Watch • Status • Position • PowerPMAC IDE style Device Dialog box available to interface. • Example program in VB and C# .NET under VS2005, VS2008, and VS2010. • Built In visual studio style Help. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  8. Delta Tau Data Systems PowerPMAC IDE PowerPMAC IDE, Delta Tau Data Systems, Inc.

  9. PowerPMAC IDE- Menu Structure • Delta Tau Monitoring, configuration and diagnostics tools are available under Delta Tau Menu. Tools are .NET user controls hosted in the IDE as visual studio tool-windows. • Add-ins are available under Tools menu. Tune, Plot, Task Manager, Scope and System Setup are the Add Ins. Add-ins are the application in it self but share the resource with the IDE. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  10. PowerPMAC IDE- Menu Structure Tool Bar: Delta Tau Tool bar is available for easy access to the common menu. The toolbar can be invoked by right clicking on the IDE and then selecting Delta Tau Controls. Terminal, Position, Watch, Status, Jog Ribbon and most important Communication setup are available as tool bar controls. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  11. PowerPMAC IDE- Common characteristics • Delta Tau Tool Menu supports… • Standard context menu on right mouse click. • standard communication dialog box. • Stores the information in .ini file for data persistency. • Context Menu • Ambient :Change color and Font properties. • Control : Control specific properties • Device : Setting PowerPMAC communication parameters like Ipaddress, port etc. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  12. PowerPMAC IDE- Common characteristics • All the menu windows are dockable or floating. These features are available through visual studio. The picture shows possible choices. The dockable control can be auto hide or tabbed. Click from menu title bar for auto hide. Drag the control to any control for Tabbed document. • All the menu windows will display name and connection status in the title bar. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  13. PowerPMAC IDE – Terminal Window • Basic window for sending command to PowerPMAC • Intellisense for Command syntax guidance. • Clear buffer to clear response area. • Supports copy buffer to clipboard and paste response to command window as context menu. Also supports save response Buffer to file. • Supports drag and drop variable to command window from editor or watch window. • Supports ^C,^V and ^X for copy, paste and cut. Response Window Command Window PowerPMAC IDE, Delta Tau Data Systems, Inc.

  14. PowerPMAC IDE – Terminal Window • Supports F1 help. Type valid command in the command window and press F1 to help. • Use General context menu for… • CheckHeartbeat :Continuously monitors powerPMAC communication by sending Ping command. • EhcoMode : To set how PowerPMAC respond. See help for details. • ShowResponseTime : Displays amount of response time on any command. • LogAllMessage : Log all the messages to IDE output window. • TerminalBufferLines : Set max. number of lines before the buffer will be cleared. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  15. PowerPMAC IDE – Terminal Window • Commands : Set the length of buffer for storing command in the list. These commands are accessed on Up/Down arrow. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  16. PowerPMAC IDE – Position Window • Displays motor positions , velocity and following error selectable from context menu Type. • Control-General context menu • No Of Motors: Set to display number of motors. This includes Motor 0. Default is 4 and it will display Motor 1,2,3. Motor 0 is available but by default its display property is false. • Update Period: Display update rate. Default 50 msec. • Control – Motor Specific context menu • Counts per units: allows you display in user units PowerPMAC IDE, Delta Tau Data Systems, Inc.

  17. PowerPMAC IDE- Position Window • Decimal places: Set display resolution • Display: Set motor display attribute for position window. False to Hide motor in the position window. • Position Units: Set user position units. Possible choices are mu, cts, mm, rev, um, m , inch. • Velocity Units: Set user velocity units. Possible choices are msec, sec, min. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  18. PowerPMAC IDE – Status Window • Displays different status selected by clicking Tab Menu. • Standard PowerPMAC online commands are used to show status. For motor status Backup Motor[n]. , coordinate system Backup coord[n]. , PowerPMAC IDE, Delta Tau Data Systems, Inc.

  19. PowerPMAC IDE-Status Window • Control – General context menu • Update TimeRate: Allows to set status refresh time. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  20. PowerPMAC IDE – Watch Window • Watch/Monitor any PowerPMAC variable. • Intellisense support for command guidance • Commands can be drag and drop to command column • Status bar displays communication speed. • Control context menu • General : Explained later. • Insert Variable: Insert variable between the rows. • Save watch Table : Allows to save watch table as file. • Restore Watch Table : Allows restore watch table from last saved watch table file. • Clear All Variable : Clears Table PowerPMAC IDE, Delta Tau Data Systems, Inc.

  21. PowerPMAC IDE – Watch Window • Display Format : Watch variable display formatting • Edit Unsafe Command: Opens “unsafecommand.txt” file where the unsafe commands like $$$, $$$**, save, reset ,etc. are added and watch window will automatically filter it. User can edit this file to add more commands of his/her choice. • Sort Command column: Sort the command column. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  22. PowerPMAC IDE – Watch Window Display format allows to format command output. Possible formats are integer, hex, float, binary and octal. Display format dialog can also be launched by double clicking the response column cell. • Edit Unsafe Commands : We recommend certain commands like $$$, $$$**, save, reset , reboot etc. must not be added as watch command. You can edit/append the file by selecting Edit unsafe command menu. On command it will open unsafemdfile.txt. • Control – General context menu • Echo mode: set echo mode. Default means no echo. To read more on echo mode type echo in terminal and press F1 for help. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  23. PowerPMAC IDE – Watch Window • Show Response Time: This will display the communication speed for all the received characters from watch table. • Update Period : Set watch window refresh time in msec. • DisplayComment : Set to display comment column. • LogAllMessage: Logs all the message in the output window under Delta Tau log menu PowerPMAC IDE, Delta Tau Data Systems, Inc.

  24. PowerPMAC IDE – Error Window • Error display displays PowerPMAC errors. This controls starts the background process “geterrors” in PowerPMAC. • Control Clear Errors context menu will clear the error window text buffer. • Control - General context menu • Update Period : Error display refresh rate in msec. • LogErrors : Set to start logging errors to file. • LogFilePath : Enter the file for error logging. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  25. PowerPMAC IDE – Error Window • Mask Word: Configure which errors need to be monitored and displayed. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  26. PowerPMAC IDE – Unsolicited Window • As the name suggest, it displays the unsolicited responses received from the PowerPMAC. The messages can be send from PowerPMAC script or CApp or CPLC as a SEND command. The messages can also be send from PC. On opening it starts the background process “sendgetsends”. All the messages are received at port DemoBox_4X example project shows the use of Send command. • Control Clear Message context menu will clear the unsolicited window text buffer. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  27. PowerPMAC IDE – Unsolicited Window • Control General context menu : • Buffers : There are 5 ports available for receiving the message. Set true for receiving/listening the message • UpdatePeriod : Refresh rate in msec. • ActiveSendPort : Set true to send messages from Host. • SendPortNumber: Set port number for sending messages . 5 ports are available to send messages.(0 to 4) • LogUnsolicited : Set to log the messages to the file spceified by LogFilePath • LogFilePath : Enter the file name for storing the message log. • The Get buffers specifies the port to listen. The Send buffers specifies to which port buffer message will be send. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  28. PowerPMAC IDE – Unsolicited Window • Unsolicited program will lock the requested buffer. At any given time one program can own the ownership of one unsolicited buffer. For example, if the USER- A set Buffer1 to true under control properties and starts receiving the messages. Now if USER- B opens the unsolicited control and decided to use Buffer1, it will receive the message that Buffer1 is used. This way USER B must chose another empty buffer to receive messages. USER - A USER - B PowerPMAC IDE, Delta Tau Data Systems, Inc.

  29. PowerPMAC IDE – Download Firmware • Available under Delta Tau- Configure menu. Used for updating PowerPMAC firmware and Kernel. • The dialog box shows the current firmware version and date. • To update the firmware you need the firmware file “powerpmac.deb” copied or downloaded on the host machine. Select Download Firmware and select the .deb file. The update process will start. All the messages are displayed on the right side pane. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  30. PowerPMAC IDE – Download Firmware • The kernel update Tab allows kernel update. Like firmware Tab it will show you current kernel version and date information. It is our experience that most of the customer will not need to update the kernel. Most common is firmware. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  31. PowerPMAC IDE – Encoder Conversion Tbl • ECT (Encoder conversion table) is found under Delta Tau-configure menu. It allows you set encoder table for motor encoder combination. User can select table entry number and type of the entry from the predefined list box items. • There are two different tabs, Detailed ECT setup is assisted ECT setup and the PowerPMAC structure is for advance user and it allows you to enter the table entries as PowerPMAC ECT structure PowerPMAC IDE, Delta Tau Data Systems, Inc.

  32. PowerPMAC IDE – Setup variable • Setup variable window is selected from Delta Tau-configure menu. It used for setting the PowerPMAC variables. Allows to set system, Motor, Coordinate, Encoder conversion table and Gate variables. It shows all the variables which are SAVED on save command. On the left pane select the type and on the right pane it will show you the corresponding variable list. • Highlights active Motors, coordinate system and Gate • On the left pane right click on any node element to copy, paste and compare. Allows motor, coordinate system cloning and comparing. • Changes are marked with (*) • Allows you to save and restore configuration. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  33. PowerPMAC IDE – Backup Restore • Available from Delta Tau-Tools menu. Use this option for PowerPMAC configuration backup, restore, and verify. It can be used to take the image of entire PowerPMAC for production. • Typical Tab: • Backup: Press Proceed key to start the backup. The progress bar will show the backup progress. The typical backup will write the .tar file on the host machine. The components which are backed up are displayed in the status bar. If Save PowerPMAC active parameters before backup is checked then the control will issue SAVE command before backup. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  34. PowerPMAC IDE – Backup Restore • Restore : This will restore typical backup file to PowerPMAC. The progress bar will be display the progress. • Verify : Verify allows to compare the typical backup file to the active configuration or to the saved configuration. If there is difference it will be notified in the message log area with RED text. The compared files are displayed in left and right pane and the difference is notified by BLUE text. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  35. PowerPMAC IDE – Backup Restore • Disk Image Tab: • Image backup : This option allows you to take full image of the PowerPMAC. Useful for duplicating the PowerPMAC. Like typical backup check the save PowerPMAC active parameters before backup so the image process will start after issuing the SAVE. If the Target location is set to Local USB/SD Drive then USB or SD disk must be present. Valid drive is displayed under PowerPMAC drive parameters. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  36. PowerPMAC IDE – Backup Restore If the Target Location set as Network drive then enter all the necessary information to access the network drive under Host Computer’s parameters. Press proceed to start the image process. The progress bar will display the progress. • Image Restore : This will restore the full PowerPMAC disk image. Just like backup process the restore image can be from local USB or SD drive or the network drive. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  37. PowerPMAC IDE – Backup Restore • Recovery Disk : This is very useful feature and works like our regular laptop or desktop recovery disk in case of the emergency or system corruption. Total six options. The recovery disk is created either on USB or SD card plugged into the PowerPMAC. • Recovery Options: • PowerPMAC No RT Load : Creates the recovery disk without PowerPMAC FW. • PowerPMAC Factory Reset : Creates the recovery disk to run PowerPMAC in factory default mode ($$$***). Similar to jumper E3 on turbo. • PowerPMAC Firmware Install : Creates the recovery disk with firmware. If the USB stick is plugged into PowerPMAC the current PowerPMAC firmware will be used in the recovery disk creation. If the USB is plugged in the Host machine user will need to provide .deb file and disk creation will use the given firmware file. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  38. PowerPMAC – Backup Restore • PowerPMAC Config Load : Recover to last Saved or active configuration. The configuration consist of Project system. Select Active or Saved from the dropdown list under configuration source. • PowerPMAC Firmware Install & config Load : Recover to last Saved or active configuration. The configuration consist of Project system. Select Active or Saved from the dropdown list under configuration source. It also includes the firmware and again .deb file must be provided by the user. This option also adds the current PowerPMAC IPAddress settings. • PowerPMAC Network Settings : Creates recovery disk to set Ipaddress of the PowerPMAC.(Another mechanism to change IPAddress) PowerPMAC IDE, Delta Tau Data Systems, Inc.

  39. PowerPMAC IDE – Jog Ribbon The jog ribbon allows easy Jog functionality for motor and axis without knowing the commands. Select Motor will list all the enabled motor.(Motor[n].ServoCtrl = 1) PowerPMAC IDE, Delta Tau Data Systems, Inc.

  40. PowerPMAC IDE - Commands • CTRL+ALT+K is global command for killing all the motors . This command is like software emergency stop and can be invoked from any window. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  41. PowerPMAC IDE – Tools Option • Select Tools –Option – PowerPMAC for selecting IP Address and changing IP Address • Communication Setup: Use to change the current IP Address to the new IP Address and this change is for all the controls. • Network settings: This displays the PowerPMAC network settings from/etc/interface file. It allows you to change the IP address of the PowerPMAC. On success all the control in the IDE will use the new IP address. (Please consult your Network/IT person for appropriate settings for Gateway) Factory default address: 192.168.0.200 PowerPMAC IDE, Delta Tau Data Systems, Inc.

  42. PowerPMAC IDE – Tools Option • Some of the IDE tools are really application. Tune, Plot, Scope, and system setup are these applications. To integrate these application into Visual Studio and share the resources, ADD-IN interface is used. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  43. PowerPMAC IDE – System Setup • Used for setting up PowerPMAC system. Allows to setup Motor, EtherCAT devices, Macro (Next release). Supports hardware diagnostics by detecting hardware connected to the PowerPMAC. It is called as System setup because it allows the configuration and testing of the complete system. The left pane list all the nodes which can be detected and configured. The right pane is variable and changes depending on the selected left node. On startup it will automatically connects to the current PowerPMAC and detect all the hardware under Hardware diagnosis node. The default selected node is PowerPMAC<IpAddress>. On the right hand side it will display current clock settings like Servo, Phase. The master clock device will be highlighted. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  44. PowerPMAC IDE – System Setup • In the bottom there are four tab windows, Output, PMAC Error, Setup messages, and Debug messages. The output window logs all the commands which are send to PowerPMAC from the system setup. The PMAC Error logs all the Pmac errors. Setup messages are the messages for Delta Tau support engineer. The Debug messages are for the DT software group. In case of problem user can send both setup and debug messages to Delta Tau support engineer. • Currently three major nodes, Hardware, Motor and ECAT. The hardware nodes shows the detected hardware. The Motor Node allows the configuration of the Motor and Ecat allows to configuration of ecat device. Macro will be supported in next release. • The Motor node of system setup tool is based on database and all the amplifier and Motor database can be exported and imported. • The ecat node detects connected ecat devices like I/O and Amplifier. It supports importing device xml file. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  45. PowerPMAC IDE – System Setup • The current DEMO box configuration uses Motor #1 and #2 • Amplifier : 3UAMP2 Bus Voltage – 24 V • Motor : Pittman Brush Motors. • Motor #3 and #4 • Amplifier : 3U042 Bus Voltage 48 V • Motor : Shinano Brushless motors. • Interactive: Using above information set up the Motor. If the motor does not exist in the database import it! • EtherCAT device setup demo PowerPMAC IDE, Delta Tau Data Systems, Inc.

  46. PowerPMAC IDE – Plot • Plot tool is used for static plots similar to Pmac Plot. Three tabs Quick Plot, Detailed Plot and manual. On start up the quick plot will list all the motors which are enabled (Motor[1].ServoCtrl = 1) select the motor by selecting checkbox On selection the gather variables will be listed into “Data To Sample window.” >> ,<< used for data variable navigation. Step 4 defines the plotting axis. • Set required sampling setting .After setting the source and sampling, press Gather data . The progress bar will show the gathering process. On completion select upload data and then plot data PowerPMAC IDE, Delta Tau Data Systems, Inc.

  47. Detailed Plot will list all the possible PowerPMAC variable which include Motor, CS, ECT, Gate, all the project variables under UserGlobal etc. • Manual is kind of backdoor for allowing user to plot which is not in the Plot list. • Plot program allows you the print the plot and it also allows multiple instances of plot for comparison. • file menu allows you to Open the saved plot file (.ppp). • Allows you to Open/Save configuration file (.cfg). • Allows you to Open /Save configuration file with data(.prj) • Allows Export raw data to file separated by space PowerPMAC IDE, Delta Tau Data Systems, Inc.

  48. PowerPMAC IDE - Tune • Motor tuning interface allows motor tuning. It includes various digital filter configuration as well as advance tuning such as Gantry tuning. It also support quick and simple auto tune as well as advance auto tune. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  49. PowerPMAC IDE - Scope • Scope program allows you dynamic plotting. Like Plot program it has two Tab Detailed and Manuel. Detailed list PowerPMAC memory map and manual is enter the address manually. It will also display your project global variable under userglobal node. Drag and drop the variable to Plot and then press Start from Toolbar. Press Stop to stop the Plot. • Graph properties like Auto scale and manual scale are settable. X axis properties are also settable. PowerPMAC IDE, Delta Tau Data Systems, Inc.

  50. PowerPMAC IDE - Scope • Gather Servo Cycle: Specify Gather time in terms of PowerPMAC servo cycle. Program will tell you the time units by checking servo period. • Plot Servo Cycles: This is like filter. You may be gathering at 1 servo cycle but your plotting will be very slow so this time will actually skips points to speed up the plot. This does not skip gathering. Select Plot all to plot all the gather Points. • SEC/DIV: This is the X axis time scale PowerPMAC IDE, Delta Tau Data Systems, Inc.

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