Power PMAC Application Development Tools

Power PMAC Application Development Tools

Power PMAC Integrated Development Environment (IDE)
Includes all the necessary tools for setting up, developing, managing, and diagnosing your Power PMAC application: Microsoft Windows 8, 7 and Vista 32/64-bit operating system support Advanced editor with built-in debugging features Extensive project and resource-management features Integrated GNU C cross-compiler Interactive terminal window Many status and setup windows Tuning and plotting graphics screens Intellisense and Syntax Checking Structured Programming Let’s take a look at Power PMAC Integrated Development Environment or IDE. This environment was developed based upon Microsoft Studio Shell and for those users who are familiar with Microsoft Visual Studio; this should feel just like home. The IDE provides interactive terminal, status and watch windows. It also includes an advanced editor with intellisense and syntax check and debugging features. The IDE also includes tuning, plotting and comprehensive system setup applications which enables the users to quickly get a system up and running from scratch. The good news is Power PMAC IDE, unlike PMAC Executive PRO2 Suite for Turbo PMAC, is included with the Power PMAC. This means no extra cost to get the software and no licensing headaches for you.

Power PMAC Integrated Development Environment (IDE)
The IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. Project Management provides an organized tree structure for each function or structure within the Power PMAC Program editor with color code, syntax checking and structured programming Display windows for Position, Following Error, Velocity, etc… Intellisense and Auto-completion of programming commands Error and status monitors, parameter watch table displays. As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

Power PMAC Project Structure
Project Overview As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

PMAC Script Language As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

C Language As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

Project Configuration As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

Download Types Complete Download Incremental Download Configuration Download As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

Configuration Files Auto-generated Manual As mentioned earlier the IDE was designed using Microsoft Visual StudioTM, comprised of several “.Net” components which can also be used with your custom application software. These “.NET” components are included in Power PMAC Comm. Library Package and can be redistributed through your own HMI. This will save you hours and hours of software development. Watch window, position window, terminal window and status window are examples of these “.NET” components.

Complete Download Process
Power PMAC Project Complete Download Process Project Developer’s PC Complete Download Power PMAC Non-Volatile Storage (Flash) Power PMAC Volatile Storage (RAM) Power PMAC CPU RAM-Drive (/vat/ftp) PMAC Script Parser Program & Table Buffers Active Setup Elements Next, all files within the PMAC Script Language folder are parsed and downloaded to PMAC. The files are downloaded in alphabetical order within each folder, starting from Global Includes folder. At last, the online commands within pp_startup.txt are parsed and executed. After pp_startup.txt execution, any Background C programs set to start on power up are executed. Next: Save process First , online commands within pp_disable.txt is parsed and executed. These commands can affect active setup elements and buffers. This is the place to stop any motion and make sure the machine is in a safe state before changing any parameters. Build and Download is initiated from the Power PMAC IDE on the Developer’s PC All C Language programs which are set to be compiled are compiled on the PC using appropriate cross-compiler and header files are generated A copy of the project, including compiled C-programs, is transferred to RAM drive (volatile) on Power PMAC. Files within the Configuration folder control the download process from this point. Since all of these files and settings are user customizable, download and power up can be very flexible. It is important to make sure download of new parameters is safe for the machine.

Power PMAC Project Save Process
Developer’s PC Power PMAC Non-Volatile Storage (Flash) Power PMAC Volatile Storage (RAM) Power PMAC CPU -n Save Slot (/opt/ppmac/usrflashn) RAM-Drive PMAC Script Parser -1 Save Slot (/opt/ppmac/usrflash1) Latest Save Slot (/opt/ppmac/usrflash) Program & Table Buffers Active Setup Elements If an IDE project is connected at this point, the pp_save.cfg and pp_custom_save.cfg are updated on the project to reflect the latest version. These files are only for reference and not meant to be modified. Next: Reset Process A copy of the active project is made from RAM-Drive and placed into the prepared slot in the non-volatile memory location. pp_custome_save.tpl file is called and processed, which generates the pp_custom_save.cfg file. The pp_custom_save.tpl is maintained by user and can be used to store desired non-saved elements such as user variables and user buffer contents. SAVE command is received by Power PMAC pp_save.tpl file is called and processed, which generates the pp_save.cfg file. The pp_save.tpl is maintained by Delta Tau and is updated as a part of the firmware. pp_save.cfg includes all of the “Saved Structure Elements” as noted in the PPSRM. A save slot is prepared on the non-volatile memory for saving the project by shifting the previous copies of saved projects. Power PMAC maintains a maximum of 5 last saved states of the project in a FIFO fashion.

Power PMAC Project Reset Process
$$$ or Power Up Project Developer’s PC Power PMAC Non-Volatile Storage (Flash) Power PMAC Volatile Storage (RAM) Power PMAC CPU -n Save Slot (/opt/ppmac/usrflashn) RAM-Drive PMAC Script Parser -1 Save Slot (/opt/ppmac/usrflash1) Latest Save Slot (/opt/ppmac/usrflash) Program & Table Buffers Active Setup Elements Next, all files within the PMAC Script Language folder are parsed and downloaded to PMAC. The files are downloaded in alphabetical order within each folder, starting from Global Includes folder. Next: Re-initialization process Next, online commands within pp_disable.txt is parsed and executed. These commands can affect active setup elements and buffers. This is the place to stop any motion and make sure the machine is in a safe state before changing any parameters. At last, the online commands within pp_startup.txt are parsed and executed. After pp_startup.txt execution, any Background C programs set to start on power up are executed. First, the pp_save.cfg is parsed. This will update all of the saved structure elements in Power PMAC’s active memory. $$$ command is received by Power PMAC or hardware has completed the boot cycle after a power cycle. A copy of the latest saved project is copied from the non-volatile memory to the RAM-drive. Second, the pp_custom_save.cfg is parsed. This will update all of the user register values which were defined by pp_custom_save.tpl which is maintained by user.

Power PMAC Project Re-initialization
$$$*** Project Developer’s PC Power PMAC Non-Volatile Storage (Flash) Power PMAC Volatile Storage (RAM) Power PMAC CPU -n Save Slot (/opt/ppmac/usrflashn) RAM-Drive PMAC Script Parser -1 Save Slot (/opt/ppmac/usrflash1) Latest Save Slot (/opt/ppmac/usrflash) Hardware Detection Program & Table Buffers Active Setup Elements Next, pp_save.tpl is parsed and executed. This time the resulting structures, instead of pp_save.cfg, are stored in pp_default.cfg. This file is hardware specific and later can be used for auto-generation of user configurations which will be explained later. Next: Generate Configurations Hardware detection process is executed. Based upon detected hardware, default values will be assigned to active setup elements and structures (Motors, ECT, C.S.). All non-volatile memory contents (project, active setup elements, buffers) and attached hardware are cleared and reset. $$$*** command is received by Power PMAC or external storage media with PowerPmacFactoryReset folder is detected during boot process. A blank project is placed into the RAM-Drive. This empty project is embedded in the firmware and it is not specific to any hardware.

Generate Configuration
Power PMAC Project Generate Configuration Generate Configuration Project Developer’s PC Power PMAC Non-Volatile Storage (Flash) Power PMAC Volatile Storage (RAM) Power PMAC CPU -n Save Slot (/opt/ppmac/usrflashn) RAM-Drive PMAC Script Parser -1 Save Slot (/opt/ppmac/usrflash1) Latest Save Slot (/opt/ppmac/usrflash) Program & Table Buffers Active Setup Elements A copy of the pp_diff.cfg is uploaded to project and is stored under project’s Configuration folder with user specified filename. The difference is placed in a file called pp_diff.cfg and it is placed in project’s Configuration folder. The output of the pp_save.tpl is compared with pp_default.cfg file. The difference would be any saved setup element which has been modified from factory default. Generate Configuration is selected from the context menu for Configuration folder of the project.

Power PMAC Integrated Development Environment (IDE) Features and Tools
Power PMAC System Setup Hardware Auto-identify Easy-to-use Diagnostics Step-by-step Motor Setup Step-by-step Network Setup MACRO EtherCAT Expandable & Portable Motor, Amplifier, Motor Setup Database The System setup application allows setting up a Power PMAC from scratch. This software supports all Power PMAC form factors. The System Setup software provides diagnostic tools for the hardware in addition to step by step network and motor setup guidance. This is a database driven software and it has all Delta Tau hardware and amplifier products data built-in. The amplifier and motor database can be expanded by user to include the typical motor / amplifiers used by each customer. Furthermore the custom motor / amplifier database can be shared between users with import/export features of the application. The system setup also guides the users in setting up MACRO and EtherCAT networks both with auto-detect and setup and diagnostic tools.

Power PMAC System Setup Support for MACRO Automatic/Manual Setup of MACRO Servo/IO Nodes Automatic Detection of Slave Stations Automatic Setup of MACRO Ring Error Detection Parameters Support for up to 4 Individual rings The System setup application allows setting up a Power PMAC from scratch. This software supports all Power PMAC form factors. The System Setup software provides diagnostic tools for the hardware in addition to step by step network and motor setup guidance. This is a database driven software and it has all Delta Tau hardware and amplifier products data built-in. The amplifier and motor database can be expanded by user to include the typical motor / amplifiers used by each customer. Furthermore the custom motor / amplifier database can be shared between users with import/export features of the application. The system setup also guides the users in setting up MACRO and EtherCAT networks both with auto-detect and setup and diagnostic tools.

Power PMAC System Setup Automatic Detection and Categorization of Slave Devices Supported Categories Amplifiers IO Devices Communication Devices The System setup application allows setting up a Power PMAC from scratch. This software supports all Power PMAC form factors. The System Setup software provides diagnostic tools for the hardware in addition to step by step network and motor setup guidance. This is a database driven software and it has all Delta Tau hardware and amplifier products data built-in. The amplifier and motor database can be expanded by user to include the typical motor / amplifiers used by each customer. Furthermore the custom motor / amplifier database can be shared between users with import/export features of the application. The system setup also guides the users in setting up MACRO and EtherCAT networks both with auto-detect and setup and diagnostic tools.

Power PMAC System Setup EDS Library Imports XML files The System setup application allows setting up a Power PMAC from scratch. This software supports all Power PMAC form factors. The System Setup software provides diagnostic tools for the hardware in addition to step by step network and motor setup guidance. This is a database driven software and it has all Delta Tau hardware and amplifier products data built-in. The amplifier and motor database can be expanded by user to include the typical motor / amplifiers used by each customer. Furthermore the custom motor / amplifier database can be shared between users with import/export features of the application. The system setup also guides the users in setting up MACRO and EtherCAT networks both with auto-detect and setup and diagnostic tools.

Power PMAC System Setup Distributed Clock Setup Power Up SDO Setup Full Access to Dictionary Objects The System setup application allows setting up a Power PMAC from scratch. This software supports all Power PMAC form factors. The System Setup software provides diagnostic tools for the hardware in addition to step by step network and motor setup guidance. This is a database driven software and it has all Delta Tau hardware and amplifier products data built-in. The amplifier and motor database can be expanded by user to include the typical motor / amplifiers used by each customer. Furthermore the custom motor / amplifier database can be shared between users with import/export features of the application. The system setup also guides the users in setting up MACRO and EtherCAT networks both with auto-detect and setup and diagnostic tools.

Tune Tool Simple-Auto-Tune Advanced-Auto-Tuning Interactive Tuning Tool Allows achieving optimal performance The tuning application in Power PMAC has been improved significantly compared to Turbo PMAC software, allowing users to achieve better tuning on their motors very quickly by introduction of simplified auto-tuning method. In this new added feature, most motors can be tuned to an acceptable performance by simply deciding how tight or aggressive the servo loop tuning should be by using a slider tool. For advanced users, traditional interactive tuning is also available with Fast Fourier Transform frequency analysis tool and a user friendly plotting interface.

Tune Tool Trajectory Pre-Filter Advanced Feedback/Feed-forward Filter Calculator Single Notch Double Notch Single Notch + Low Pass Double Notch + Low Pass Low Pass Velocity Loop Filter The tuning software also provides advanced servo loop filter and trajectory pre-filter calculators. The filter calculators in the Tuning software allow calculation of single notch, double notch, low pass , single notch plus low pass, double notch plus low pass filters on position loop and second order filters on velocity and velocity feed forward loops.

Tune Tool Gantry Support Cross Coupled Gantry Support Adaptive Control Support The other features embedded in the tuning application are tuning traditional gantry and also cross-coupled gantry systems. Tuning software also provides a means to adjust the parameters, such as the gain limitation and sampling timings, required for using the adaptive servo control in Power PMAC.

Plot Tool Access All Data Structures User Defined Variables Scale and Offset Adjustment Bitwise Operations Integration and Derivation Export/Import of Data to/from Files Scope Tool Real-time Plot of Data Great Tool for troubleshooting There are a few other useful applications embedded in Power PMAC IDE such as Plot and Scope tools. As their name suggest, these applications allow users to monitor, gather and plot any parameters or registers in Power PMAC memory. This tool can be very useful in both troubleshooting and development of a machine.

Power PMAC Servo Analyzer Overview

Servo Analyzer Features
Servo Loop Tuning software tool for design and analysis of robust and high performance motion control systems. Main components: FFT- based frequency response model identification Plant transfer identification by freq. domain nonlinear curve fitting techniques Model based advanced controller designer Simulated responses with existing controller gains based on the identified plant model

Servo Analyzer Features
Servo Loop Tuning software tool for design and analysis of robust and high performance motion control systems. Main components: FFT- based frequency response model identification Plant transfer identification by freq. domain nonlinear curve fitting techniques

FRF Measurement Configurations

Dual Feedback Configuration
Enables estimation of FRF Function of for dual feedback systems.

Frequency Response Function Measurement
Frequency Response Function Measurement Screen

Frequency Response Function Measurement (cont.)
Enables rapid estimation of plant, loop and closed loop Bode plots (and Coherence plot) through a chirp or random excitation Cross Power Spectrum Freq. Response Function Auto-power Spectrum

Plant Transfer Function Identification
Detects resonances &anti-resonances automatically Estimates poles and zeros of the plant model Plant Transfer Function Identification Window

Identification Example
Example (cont.) Identification Example

Model Based Control Design
Given the estimated plant model, and user selected design parameters, computes LTR controller in regulation or tracking configurations. Shows (simulated) closed loop and loop bode plots with phase & gain margin, closed loop bandwidth info Shows (simulated) unit step response

Controller Implementation
Simulates Step and Parabolic Velocity Responses with present servo gains if identified plant model exists Actual Step and Parabolic Velocity Responses for comparing with the simulated responses Controller Implementation Screen

Simulated vs Actual Response Example
Actual Response Plot Simulated Response Plot

Power PMAC Cam Sculptor Overview

Power PMAC Electronic Cam
Here’s a picture of a mechanical cam taken from Wikipedia. It shows the master cam shape and the follower. As the master cam moves, it moved the follower vertically. The motion of the follower depends completely on the motion of the master cam. Since the exerted force on the follower is not vertical at all time, the pressure angle is not zero and there will be a horizontal action on the follower which makes it break in time. Making the master cam in that specific shape using a very hard material is not easy and due to a nonzero pressure angle the master shape or follower may change in time. For these reasons, electronic implementation of cams have become more common recently.

Power PMAC Cam Table Functionality
Table-based commanded motion as function of another position Up to 256 total cam tables stored simultaneously Table size limited only by total memory Three separate table outputs as a function of master position Commanded position/position-offset for target motor Torque offset for slaved motor General-purpose output word (multiple discrete outputs or analog command) Outputs computed every servo cycle 3rd-order interpolation between table generated points for position and torque when Power PMAC executing the cam Automatic indefinite rollover of table in both directions Position and torque values are floating-point, scalable units Easy to offset both source and target position references Easy to switch from one table to another Presenter: read from the slide

Returning Cam Table Action
This graph shows a returning cam. The bell shaped designed cam will be repetitively implemented. Power PMAC smoothly slews to the designed cam from the point where the cam is enabled.

Non-Returning Cam Table Action
This slide shows a non returning cam. According to which point in the plot the cam has been enabled, Power PMAC merges to one of the closest cam profiles to the activation point. There are sophisticated settings in Power PMAC that a user can benefit, enabling, disabling and slewing to the electronic cam smoothly.

Comparing Cam Table to External Time Base
Cam table features Fully reversible: master can go in either direction indefinitely Motion defined by table, not motion program Motion of multiple motors must be defined by multiple tables No point computation or logic during execution of table Table points must be evenly spaced Cam tables have torque offsets and direct outputs as standard features External time base features Limited reversibility: master must generally move in positive direction Motion defined by program, not table Motion of multiple motors can be defined by a single program Possibility for point computation and logic during program execution Programmed moves do not need to be evenly spaced No torque offsets; synchronous assignments for direct outputs Presenter: Read out from the slide.

Tool to create cam Power PMAC Cam Sculptor is a cam generator windows application tool developed specifically to generate cam position, output, torque tables. Power PMAC user has design tools in this application to get the desired result: Advanced offline plot tool Online plot comparing actual running cam with the design Wide range of standard profiles for different sections of the cam Numerical value constrains as well as profiles constraints could be set Optimization algorithm finds the smoothest cam satisfying the constraints Direct digital outputs could be set Designed cam could be tuned using a learning control method Presenter: Read out from the slide.

Cam Sculptor Features To design user specified sized Table-based electronic cams Position, torque offset and direct output commands are output from the application Design includes section by section trajectory moves of the target motor’s position vs. source motor’s position 7th order polynomial at every section of the cam Presenter: Read out from the slide.

Cam Sculptor Features User can set a standard profile move to every desired section or set unrestrained User can set a number constraint to the velocity, acceleration or jerk values of every section end point or set unrestrained Cam Sculptor runs an optimization curve fitting algorithm to find a minimal power trajectory for the unrestrained sections Optimized MinPower trajectory guarantees the minimum changes on the acceleration and jerk plots and thus least shake of the machine and minimum motor effort Presenter: Read out from the slide.

Cam Sculptor Features Direct digital output can be set up for any cam point so flags go high as the cam is running Cam iterative learning-control algorithm can be used to automatically find torque offset values at every cam point to overcome external un-modelled disturbances Cam Sculptor come with a sophisticated plotting tool portraying the position, velocity, acceleration and jerk plots as well as a rotary mechanical cam. Generated cam’s design, equations and generated points can be saved or exported to Power PMAC Suite IDE for further project development Presenter: Read out from the slide.

Cam section and points Left Point of the Section Right Point of the Section Source Motor Position x1 x2 Target Motor Position y1 y2 Target Motor Velocity v1 v2 Target Motor Acceleration a1 a2 Target Motor Jerk j1 j2 Every cam section needs to be specified by target and source position values of its end points User has the option of adding numerical constraints to v, a, j values of section end points User has the option of setting a standard profile constraint Optimization algorithm finds “smoothest” cam considering all the constraints Presenter: Read out from the slide. The picture shows a section of a cam that the user can design. Cam Sculptor user has capability to set the position and its subsequent four derivatives in time to smoothly design the cam.

Example: Types of Constraints
Section with a standard profile constraint No constraint- optimization algorithm runs Numerical constraint at a cam point Point with no constraint This is a screen image of the cam sculptor application. Presenter explain the boxes that correspond to the left point and right point of the position, velocity, acceleration and jerk values of the section user can design. Also explain the section constraint users can put on their sections.

Different types of standard profiles
Dwell (constant position) Constant Velocity Constant Acceleration Different shapes for different standard profile constraints are illustrated here.

Full Cycloidal Half Cycloidal Different shapes for different standard profile constraints are illustrated here.

Full Harmonic Half Harmonic Different shapes for different standard profile constraints are illustrated here.

Un-constrained section
Cam Sculptor application uses a 7th order polynomial profile type called “MinPower” for sections that do not have any standard profile constraint. Optimal values for v, a, j for the end points of this section are calculated minimizing the peak of jerk overall the whole cam. Presenter: Read out the slide.

Example of a designed cam
This is a screen image of the cam sculptor application where a cam is designed. Presenter: Note the audience that in the cam sculptor application Discontinuities are permitted and at the same time notified.

Example of a designed cam
Cam Rotary plot: (if source is 0 to 360 degs) 7th order polynomial equations: Here’s a rotary image of the cam of the last slide. Equations where the cam is made of can also be taken out fro cam sculptor

Setting up Cam Parameters
User can view the setup parameters (PMAC variables) and set outputs and dac offsets.

Method to Generate Cam Zones/Points
Auto (cam sculptor determines how many zones to generate to get a min error threshold of comparing to a linear interpolation between points. Also considering generating points so they possibly coincide the cam user points for direct output setup. Number of zones (explicitly determined by user) Zone length (in the source motor units) Error tolerance (the maximum error between a linear interpolation between the generated points and the original cam designed equations) Presenter: Read out the slide

Digital Direct Output Setup
The generated points table can be viewed before download to PMAC Table includes 4 columns: Setup direct output are color coded in the table and plot for convenience Source Position Target Position Torque Offset Direct Output Presenter: Read out the slide

Downloading Cam to PMAC
After the cam is designed and parameters are setup carefully, the table of generated points can be downloaded to PMAC in two ways: Clicking on the “Download” button Exporting the designed cam (saving the .pmh file) which later be imported as a “Global Includes” file to a Power PMAC Suite IDE project Presenter: Read out the slide

How to use MATLAB® Embedded Coder (Real-Time Workshop) Generated Code in Power PMAC
This presentation discusses how MATLAB’s embedded coder (previously called Real-time Workshop) can be used to generate C code which is deployable on Power PMAC. MATLAB ® and Simulink® are registered trademarks of Mathworks Inc.

Overview of RT-Workshop Technology
Simulink® Blocks* MATLAB Embedded Coder Technology C/C++ Here’s an overview of the Real-time workshop technology: After a Simulink model is created using the Simulink Blocks from the library browser, C or C++ code can be generated with Real-Time Workshop Technology. The generated C code can then be deployed on a compiler or IDE tool chain and eventually executed on Power PMAC. Compiler/ IDE toolchain .exe running on TARGET

Automated Code Generation: Mathworks®’s Simulink® interface for Power PMAC
Objective: Facilitating user-servo code generation for Power PMAC using Simulink®’s Embedded Coder (previously known as Real-Time Workshop). The objective is to fully automate code generation for Power PMAC’s servo loop closure routines (as well as background tasks) utilizing Simulink®’s control blocks. The objective of using MATLAB’s interface for Power PMAC is for custom user-servo code generation. This interface fully automates the generation of C code that can be used either as Power PMAC’s servo loop closure routines or for other non-servo foreground tasks.

Automated Code Generation: (cntd.)
Who should use this interface? Users who may find the Power PMAC’s already built-in servo algorithms not suited for their application and wish to use their own servo algorithms. Also those who wish to use Power PMAC’s servo interrupt routine for predictive time slice non-servo tasks. The built-in servo algorithms in Power PMAC include: Basic PID and feed forward servo control Extensive additional non-linearities and polynomials (higher order filters) Cross coupled dual gantry control Automatic adaptation to system inertia changes Who should use this interface? Users who need to develop their own custom servo algorithm when the built-in servo filter and extensions are not sufficient or when any other non-servo real-time routines are needed for the application.

Requirements: Knowledge on MATLAB® and Simulink® Useful to know C Programming Language (not required) Computer running MATLAB®, Simulink®, Simulink Coder, Embedded Coder and Power PMAC IDE Users of this interface need to have knowledge in the use of MATLAB and Simulink but there is no need to know or write any C code. This interface has been tested and verified on Windows 7, 32bit and 64bit for MATLAB® Release 2012a.

ppmacTarget folder mainly includes : Power PMAC Input Block for Simulink® Power PMAC Output Block for Simulink® Power PMAC ERT (Embedded Real Time) Code Template Power PMAC File Process Template Power PMAC Target files (Edited ERT library) Among other things this folder includes Power PMAC’s input and output blocks which gives users read and write access to Power PMAC’s memory. files named PowerPMAC.tlc, ppmac_default_set.p, ertlib.tlc, formatexport.tlc

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