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PowerPMACIDETypical Screen for Integrated Development tchMotor StatusVelocityUser Written CodeMessage WindowProjectDELTA TAUData Systems, Inc.

Power PMAC IDEHardware SetupIntuitive and SimpleStep-by-Step proceduresOnly allows possibleconfigurations to be displayedDatabase structure forpreviously used hardwareor resource library

Dynamic Servo Analyzer for Turbo & Power PMACBode Plot generated for system identification byPMAC Dynamic Servo Analyzer for a Flexible orRigid body mechanical structure.Rigid Body Mechanical Structure1. The Bode Plot is generated by using a selectable white noise or other excitation.Flexible Mechanical Structure2. Bode plot data is used to derive the mechanical transfer function by non-linear curve fitting.3. Final step derives an automatically generated PMAC servo algorithm for the mechanical structure.

Power PMAC Script Language Math and Logic Ability to mix all variable and data types freelyOver 24 mathematical functions (e.g. sin, sqrt, cbrt, exp, abs)12 math/logic operators ( , - ,* ,/ ,%, &, , , , , , --)12 assignment operators (including delayed synchronous)Array access to any numbered variable typeVector and 2D matrix operations (e.g. inv, solve) (new!)8 conditional comparators ( , ! , , , , , , ! )Logical structures: while, do.while, if, else, switchSubroutines in motion and PLC programs: gosub, callsub, call– Callsub (in same program) and call (to separate program) permitlocal variables in subroutines (true argument pass and return)– Argument passing thru “G-code” letter/number format supported

Power PMAC Built-In Data Structures Main technique for user access to Power PMAC registers–––– Major structures pre-defined:–––– Will largely replace I and M-variable useFor hardware and software registers, control and status elementsKey setup elements saved to flash memory (like I-variables)Accessible from Script & C programs, on-line commandsSys, Motor[ ]., Coord[ ]., Gaten[ ].Chan[ ]., CompTable[ ]. etc.Indexable for easy program accesse.g.: Motor[Num].JogSpeed 133.3333Note that index numbers start at 0 (C convention)!User can substitute own name for structure element– e.g.: #define M2Vj Motor[2].JogSpeed User can define M-variable to any structure element

Running C/C Code on Power PMAC GNU public-domain cross-compiler built into Power PMAC IDEAdvanced editing/debugging features in IDECode can be for both real-time (e.g. servo) and non-real-time(e.g. PLC) tasksCan use automatically generated C code: e.g.:– IEC-1131 graphical programming for PLCs– MATLAB/Simulink Real Time WorkshopTM for servos (planned) Supplied header files give access to Power PMAC datastructures through shared-memory interface– Structure names in C are case-sensitive (unlike in Script) Supplied API gives access to Power PMAC function calls

IDE stands forIntegrated Development tor StatusVelocityUser Written CodeMessage WindowProject

Power PMAC PLC Program Enhancements Expanded math and logic capabilities of Power PMAC ScriptSubroutine and subprogram calls added– Local variables permit true argument passing Ability to command axis motion directly– RAPID-mode point-to-point or triggered moves– Can break into ongoing move at any point– Program execution does not pause until move over (unlike motionprograms) Improved debugging features– Automatic cycle counters can be put on instructions– Breakpoint capability (on specified cycle count)– Single-step capability

Power PMAC IDEPower PMAC IDEz Poweredby VS 2008z Full featured Windows-based systemz Limited featured web-based systemz Familiar environment for those whoalready programz Easy to use for non-programmersz Modular re-usable importable PMACfunctionsz IDE components available as customerlib

Power PMAC Project

Windows IDE Overview

Web IDE Overview

Power PMAC Project IntegrationThe PowerPMAC projectshows in theMS IDE as justanotherprogramminglanguage.

Project LocationzProject data can be on the PC,in the Power PMAC, or in amemory device connected toeither.Power PMACMemoryIDE OpenProjectHost PC Memory

File TemplatesAdd files fromdifferent softwaretemplates, whichadd structures tothe active database.

Hardware TemplatesAdd hardwarefrom differenthardwaretemplates, whichadd structures tothe active database.

Power PMAC IDE DatabaseUser InputTypingPredefined templatesSelecting items fromSoftware ResourcesSoftware ResourcesHardware LibraryList of all possible CPUand ACC hardwareSupplied by Delta TauSelected from itemtemplatesDatabase gives partnumbers and link tomanualCan include drives,motors, and otherhardware modules toallow easy setupHardware ResourcesCPU, ACC, Etc.User selected fromHardware Library orAuto detectedTreeviewWhen you click on anACC in the treeview yougo to a status/diagnostic/setup page for that ACCUsed by Intellisense, Lex& YakAutomatically generatedfrom HardwareResourcesIncludes user made#definesBuilds the PPMACsymbol tableTreeviewCross-linked viewer thatlists where (in what PLC,PRG, etc.) the resourcesare usedProgram Editor(IDE Configuration is alsopart of the project)Software LibraryCanned applicationprogramsSupplied by Delta TauAdded from templatesViewed in projecttreeviewPower PMAC Software &ConfigurationPLC, CPLC, PRG, Etc.User createdWindows IDE configurationPower PMAC Project

Why have a database?A Database gives the ability of intellisenseand Lex and Yac syntax parsing.

Why have a database?A Databasegives theability ofintegratedhelp.

Why have a database?A Database gives the ability of resourcetracking and mapping.

Editor Error and Bracket Matching

Power-flow debuggingPMAC script languageallows sophisticatedbreakpoints fordebugging programlogic and Power-flowvisualization fordebugging machineproblems.

Setup & DiagnosticsCombined function ofsetup and diagnosticscreens to allowimmediate testing ofthe softwareconfiguration.

Hardware TestingEach hardwareinterface has atest page whichdoes not rely onsoftware in PowerPMAC to function.

Static Plotting

Streaming And Static Plotting

Streaming And Static Plotting

Streaming And Static Plotting

Streaming And Static Plotting

Power PMAC Task Manager

Error Window

Error Window Zoom

First Release IDE (May 2009)zzzzzzzzzzzzNew Project (project templates)New File (Item templates)YAC and Lex Parser (Intelisensein editor)PPMAC Database (Intelisensefor controls)Upload/Download ProgramUser-Written Servo/Phase SetupOpen/Close/Save/Save AsFiles/ProjectRecent Files/ ProjectsActivate ProjectExclude File From DownloadCommunication Setup andStatusPPMAC Database ViewerzzzzzzzzzzzzTerminal & Watch withintellisenseMotor, CS, Global statusHardware Library ExplorerBasic Static and RT PlottingBasic TuningEncoder SetupBackup RestoreProgram/PLC/CPLC Status andViewCPLC compile, load, runCPU Resource Setup/StatusI/O, Servo, Feedback ACCBoard Setup/StatusIDE Installation and Operation inMS Vista & XP

Web IDE Overview

Power PMACEmbedded Web Server Web Server program is written inC#.asp.net and is platform independentEvery Power PMAC has a dedicatedIP AddressAny computer with a web browser cancommunicate with Power PMAC–––HTTP and FTP supportedMany standard windows are built in: – Terminal, position, watch– Backup and restore– Tuning and plotting– Status reportingRemote upload/download of firmware, programsand parametersUser can add his own web application for easyMMI/HMI implementationPMAC Library is accessible using webservice Data Systems, Inc.TerminalPositionLaptop with direct connectionOver company network*From anywhere in the world over theInternet* DELTA TAU* Must arrange to get through any firewallsMotor StatusStandard Web Server PagePlotWeb Server Plot ScreenWatch

Webserver Program Editor

Webserver Step Interface

Webserver Step Response

Webserver Change IP

DELTA TAU Data Systems, Inc. Power PMAC Embedded Web Server Web Server program is written in C#.asp.net and is platform independent Every Power PMAC has a dedicated IP Address Any computer with a web browser can communicate with Power PMAC – Laptop with direct connection

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