DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Project Management November.

Slides:



Advertisements
Similar presentations
Code Composer Department of Electrical and Computer Engineering
Advertisements

Week 6: Chapter 6 Agenda Automation of SQL Server tasks using: SQL Server Agent Scheduling Scripting Technologies.
Genesis: from raw hardware to processes System booting sequence: how does a machine come into life.
9.0 EMBEDDED SOFTWARE DEVELOPMENT TOOLS 9.1 Introduction Application programs are typically developed, compiled, and run on host system Embedded programs.
Copyright © 2002 W. A. Tucker1 Chapter 1 Lecture Notes Bill Tucker Austin Community College COSC 1315.
Systems Software.
Drives, Directories and Files. A computer file is a block of arbitrary information, or resource for storing information. Computer files can be considered.
Operating-System Structures
1 Chapter 12 Working With Access 2000 on the Internet.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment Chapter 5: Managing File Access.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment Chapter 5: Managing File Access.
11.1 © 2004 Pearson Education, Inc. Exam Planning, Implementing, and Maintaining a Microsoft Windows Server 2003 Active Directory Infrastructure.
Copyright © 2012 Pearson Education, Inc. Chapter 1: Introduction to Computers and Programming.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment Chapter 12: Managing and Implementing Backups and Disaster Recovery.
A Guide to Oracle9i1 Creating an Integrated Database Application Chapter 8.
Customizing Outlook. Forms Window in which you enter and view information in Outlook Outlook Form Designer The environment in which you create and customize.
Systems Software Operating Systems.
The Operating System The operation system (OS) is a set of programs that coordinates: Hardware functions Interaction between application software and computer.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment, Enhanced Chapter 12: Managing and Implementing Backups and Disaster Recovery.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC as a Linux Computer January.
The Operating System. Operating Systems (F) What you need to know about –operating system as a program; –directory/folder.
Copyright © 2012 Pearson Education, Inc. Chapter 1: Introduction to Computers and Programming.
Chapter Introduction to Computers and Programming 1.
CHAPTER 4: INTRODUCTION TO COMPUTER ORGANIZATION AND PROGRAMMING DESIGN Lec. Ghader Kurdi.
Computer Systems Week 10: File Organisation Alma Whitfield.
© 2004 by The McGraw-Hill Companies, Inc. All rights reserved. McGraw-Hill/Irwin Programming the Web Using ASP.Net Chapter 2: The ASP.Net Template Dave.
System Calls 1.
User C Programs in Power PMAC December 2013
© Janice Regan, CMPT 128, Jan CMPT 128 Introduction to Computing Science for Engineering Students Creating a program.
Tutorial 11 Installing, Updating, and Configuring Software
Chapter 1. Introduction What is an Operating System? Mainframe Systems
Power PMAC Electronic Cam Tables April 2014
CSC141 Introduction to Computer Programming
Copyright © 2012 Pearson Education, Inc. Chapter 1: Introduction to Computers and Programming.
Chapter 1: Introduction to Computers and Programming.
Copyright © 2009 Pearson Education, Inc. Publishing as Pearson Addison-Wesley Chapter 1: Introduction to Computers and Programming.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment, Enhanced Chapter 12: Managing and Implementing Backups and Disaster Recovery.
70-290: MCSE Guide to Managing a Microsoft Windows Server 2003 Environment, Enhanced Chapter 5: Managing File Access.
chap13 Chapter 13 Programming in the Large.
Standard Grade Computing System Software & Operating Systems.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Data Structures January 2012.
Copyright © 2011 Pearson Education, Inc. Publishing as Pearson Addison-Wesley Starting Out with C++ Early Objects Seventh Edition by Tony Gaddis, Judy.
CHAPTER FOUR COMPUTER SOFTWARE.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Talking to Power PMAC November 2013.
Introduction to Interactive Media Interactive Media Tools: Software.
Chapter 1 What is Programming? Lecture Slides to Accompany An Introduction to Computer Science Using Java (2nd Edition) by S.N. Kamin, D. Mickunas, E.
Recall: Three I/O Methods Synchronous: Wait for I/O operation to complete. Asynchronous: Post I/O request and switch to other work. DMA (Direct Memory.
Silberschatz, Galvin and Gagne  Operating System Concepts Chapter 3: Operating-System Structures System Components Operating System Services.
Systems Software Operating Systems. What is software? Software is the term that we use for all the programs and data that we use with a computer system.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Operational Summary November.
COP4020 Programming Languages Subroutines and Parameter Passing Prof. Xin Yuan.
© Janice Regan, CMPT 300, May CMPT 300 Introduction to Operating Systems Memory: Relocation.
Lesson 3: Migrating and Configuring User Data
Operating System Structure A key concept of operating systems is multiprogramming. –Goal of multiprogramming is to efficiently utilize all of the computing.
We will focus on operating system concepts What does it do? How is it implemented? Apply to Windows, Linux, Unix, Solaris, Mac OS X. Will discuss differences.
1 Computer Systems II Introduction to Processes. 2 First Two Major Computer System Evolution Steps Led to the idea of multiprogramming (multiple concurrent.
1 Software. 2 What is software ► Software is the term that we use for all the programs and data on a computer system. ► Two types of software ► Program.
Chapter 1 Computers, Compilers, & Unix. Overview u Computer hardware u Unix u Computer Languages u Compilers.
Chapter 1 : Overview of Computer and Programming By Suraya Alias
1 Overview of Programming Principles of Computers.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Shared Memory December 2013.
DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Compensation Tables November.
OCR A Level F453: The function and purpose of translators Translators a. describe the need for, and use of, translators to convert source code.
Copyright © 2010 Pearson Education, Inc. Publishing as Pearson Addison-Wesley Chapter 1: Introduction to Computers and Programming.
1 Chapter 2: Operating-System Structures Services Interface provided to users & programmers –System calls (programmer access) –User level access to system.
Software Troubleshooting Eliminate possible programming and timing errors by stopping all programs ( and ). Use the Executive program terminal and send.
Machine Independent Features
9.0 EMBEDDED SOFTWARE DEVELOPMENT TOOLS
Chapter 2: Operating-System Structures
Chapter 2: Operating-System Structures
Presentation transcript:

DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Project Management November 2013

DELTA TAU Data Systems, Inc. 2 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Project Management Tools To facilitate and encourage good project organization Pre-defined project structure in IDE “Solution Explorer” Supports both Script and C Smart editor in IDE Debugger in IDE C cross-compiler in IDE Automatic downloading to Power PMAC –Full project download –Incremental download Ability to retain project in Power PMAC’s non-volatile flash memory –Can have separate project/version in active memory –Can retain multiple versions in flash

DELTA TAU Data Systems, Inc. 3 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data IDE Solution Explorer A “solution” contains one or more “projects”, each in a Power PMAC Each “project” organizes its files in folders in the Project Manager –“C Language” folder for routines and programs written in C “Background Programs” for independent applications running under GPOS “CPLCs” for scheduled PLC programs written in C “Include” for “.h” header files “Libraries” for called subroutines “Realtime Routines” for foreground (servo, phase, capture/compare) –“Configuration” for project action files –“Documentation” for user comments and notes –“Log” for automatically generated log files –“PMAC Script Language” for Script programs and files “Global Includes” for declarations and definitions “Kinematic Routines” for forward and inverse kinematic transformations “Libraries” for subprograms “Motion Programs” for top-level sequenced motion programs “PLC Programs” for top-level asynchronous PLC programs

DELTA TAU Data Systems, Inc. 4 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Download, Save, and Reset Actions

DELTA TAU Data Systems, Inc. 5 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Mapping User Variable Names Project downloader scans for declared and defined variable names in all PMAC Script Language folder files –Declared variables (e.g. global PartCount) are auto-assigned to Power PMAC variables –Defined variables (e.g. #define MachineState P1) use specified variables These variable names are made available for C programs by inclusion in pp_proj.h file in C Language/Include directory Numbered Power PMAC variable names are substituted for declared and defined variables in process of breaking out downloaded Script programs Table of declared and defined variables stored on Power PMAC for use by IDE and similar programs (through gpascii -2)

DELTA TAU Data Systems, Inc. 6 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Compiling and Downloading C Programs Done during “build” process: select “Build”, “Rebuild”, or “Build and Download All Programs” for project GNU cross-compiler compiles routines and programs for Power PMAC CPU Independent background C application executable files (.out extension) copied into var/ftp/usrflash/Project/C language/Background Programs directory C PLC program executable files (.so extension) copied into var/ftp/usrflash/Project/C language/CPLCs directory Foreground routine (servo, phase, capture/compare) executable files (.ko extension) copied into var/ftp/usrflash/Project/C language/Realtime Routines directory No source code automatically copied into Power PMAC –Helps protect intellectual property –User can do this separately if desired

DELTA TAU Data Systems, Inc. 7 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Downloading Script Programs Done during “download” process: select “Build and Download All Programs”, “Download All Programs”, “Download Selected Programs” Script header files (.pmh extension) copied into var/ftp/usrflash/Project/Global Includes directory Kinematic routine files (.kin extension) copied into var/ftp/usrflash/Project/Kinematic Routines directory Subprogram files (.pmc extension) copied into var/ftp/usrflash/Project/Libraries directory Motion program files (.pmc extension) copied into var/ftp/usrflash/Project/Motion Programs directory PLC program files (.plc extension) copied into var/ftp/usrflash/Project/PLC Programs directory

DELTA TAU Data Systems, Inc. 8 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Project Configuration Files Contain lists of Script on-line commands to be executed automatically in different stages of transferring project files Exist in new project with default commands Permit user to customize actions at these stages Located in “Configuration” folder of Project Manager pp_disable.txt – Commands executed in preparation for full download and/or build (e.g. abort all programs) pp_inc_disable.txt – Commands executed in preparation for incremental download and/or build pp_startup.txt – Commands executed after full download/build from PC, or from flash memory at power-up/reset (e.g. enable PLC programs) pp_inc_startup.txt – Commands executed after incremental download/build

DELTA TAU Data Systems, Inc. 9 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Project Properties Interactive window under IDE Project Manager permits easy setting of many key project properties –Files and folders on PC –Storage buffer sizes –Declared variable ranges –Starting template version –Communications properties Settings automatically used on next build and download to Power PMAC

DELTA TAU Data Systems, Inc. 10 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data pp_proj.ini Configuration File Contains key information about project configuration Simple example file, automatically generated: [LINUX_PROGRAMS] program1=/var/ftp/usrflash/Project/C Language/Background Programs/capp1.out run1=1 last_program_number=1 [RTUSRCCODE] usrrtmodule=/var/ftp/usrflash/Project/C Language/Realtime Routines/usralgo.ko ServoCtrlName0=user_pid_ctrl PhaseName1=user_phase [PMAC_PROGRAMS] PVARSTART=8192 QVARSTART=1024 MVARSTART=8192 file1=/var/ftp/usrflash/Project/PMAC Script Language/Global Includes/global definitions.pmh inc1=2 file2=/var/ftp/usrflash/Project/PMAC Script Language/Libraries/subprog1.pmc inc2=0 file3=/var/ftp/usrflash/Project/PMAC Script Language/Motion Programs/prog1.pmc inc3=0 file4=/var/ftp/usrflash/Project/PMAC Script Language/PLC Programs/plc1.plc inc4=0 last_file_number=4 [PMAC_BUFFERS] SymbolsBufSize= UserBufSize= ProgramBufSize= TableBufSize=

DELTA TAU Data Systems, Inc. 11 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Executing Downloaded Files After all project files downloaded into Power PMAC After pp_proj.ini file created and downloaded Built-in application projpp automatically executed in Power PMAC –Uses instructions from pp_proj.ini file –Can start independent C applications –Loads Script programs from files into active buffers –Executes commands from appropriate configuration files (e.g. pp_startup.txt) Any error messages in executing commands are stored in pp_error.log file, and uploaded to IDE

DELTA TAU Data Systems, Inc. 12 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Downloading Programs Outside Project Direct downloading of Script programs outside of project is possible Commonly used for “part programs” that are executed once Rotary motion programs are always outside of project Can simply use gpascii to send program lines These programs are directly entered into active program buffer These programs cannot be saved to flash memory

DELTA TAU Data Systems, Inc. 13 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Saving and Resetting Power PMAC “Saving” action implemented by on-line save command –Copies values of saved setup elements from active memory (RAM and ASIC registers) to non-volatile flash memory –Not done automatically on project download –Copies active project files in RAM (/var/ftp/usrflash/…) to non-volatile flash memory (/opt/ppmac/usrflash/…) –Retains last 4 previously saved versions of project in /opt/ppmac/usrflash.n/ (n = 1..4) “Reset” action implemented by cycling power or on-line $$$ command –Copies saved values of setup elements from flash to active memory –Copies saved project files in flash memory (/opt/ppmac/usrflash/…) to active project files in RAM (/var/ftp/usrflash/…) –Executes projpp using pp_proj.ini to finish loading of project into active memory –Executes commands in pp_startup.txt –$$$ command does not restart Linux computer; reboot does

DELTA TAU Data Systems, Inc. 14 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Re-Initializing Power PMAC Done on user-issued on-line $$$*** command Done automatically on power-up/reset with “problem” –Corruption of saved project files –Change in hardware configuration since last save operation Actions performed on re-initialization: –System clock source automatically specified based on ASICs present –Saved setup addressing elements automatically set based on servo interface hardware present –Saved setup (non-addressing) elements automatically set to factory default values –Active project directory in RAM cleared –Active program and table buffers in RAM cleared –Saved setup element values and saved project files in flash are not cleared (just not used)