1. DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Data Structures January 2012

2. DELTA TAU Data Systems, Inc. 2 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Data Structures Main provided method of organizing Power PMAC information –Both hardware (I/O) and software (memory) registers –Includes saved setup elements (like old I-variables) –Includes unsaved control elements –Includes read-only status elements –Mostly replaces I & M-variable use of PMAC/Turbo PMAC Pre-defined by Delta Tau –User cannot create own data structures/elements in Script environment No need to know numerical addresses of structure elements –Mostly replaces “memory & I/O map” of PMAC/Turbo PMAC Accessible through on-line commands, Script and C programs IDE has “intellisense” database of structure names –Automatically presents possible “completions” as you type –Can select from list to finish name –F1 function key “help” provides full manual description

3. DELTA TAU Data Systems, Inc. 3 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Script Environment Access From both on-line commands and buffered program commands Structure and element names are not case sensitive No need to “include” any header files for access No need to declare these pre-defined elements Script environment automatically performs type-matching –No need to worry about element data length or format Power PMAC prevents user changes to “write-protected” elements –Error returned for on-line command attempt –Buffered program attempt results in “no-op” (no error reported, no abort) Power PMAC prevents out-of-range values from being assigned –Error returned for on-line command attempt –Buffered program attempt results in “no-op” (no error reported, no abort)

4. DELTA TAU Data Systems, Inc. 4 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Classes of Data Structure Elements Saved setup elements –Have factory default values set on re-initialization ($$$***) command, or on power-up/reset with a fault or configuration change –Last-saved values copied from flash memory on normal power-up or reset –Present active values copied to flash memory on a save command Non-saved control elements –Have default values (usually 0) set on power-up, reset, re-initialization –User can set values at any time in application –Not affected by save command Status elements –Values automatically set by Power PMAC –Most are write-protected in Script environment –Some permit user writing for special operations Each class of element has a separate chapter in Software Reference

5. DELTA TAU Data Systems, Inc. 5 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Important Data Structures Sys.Global “system” elements Motor[x].Motor elements, indexed by Motor # Motor[x].Servo.Motor servo algorithm elements Coord[x].Coordinate-system elements, indexed by CS # EncTable[n].Encoder table elements, indexed by entry # CompTable[m].Comp table elements, indexed by table # Gate1[i].DSPGATE1 Servo IC elements, by IC # Gate1[i].Chan[j].DSPGATE1 channel elements, by channel # Gate2[i].DSPGATE2 MACRO IC elements, by IC # Gate2[i].Chan[j].DSPGATE2 channel elements, by channel # Gate3[i].DSPGATE3 Servo IC elements, by IC # Gate3[i].Chan[j].DSPGATE3 channel elements, by channel # GateIo[i].IOGATE I/O IC elements, by IC # Gather.Data gathering elements Macro.MACRO ring elements

6. DELTA TAU Data Systems, Inc. 6 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Specifying Data Structure Indices Index is in square brackets, not in parentheses Index must be integer constant or local L-variable –No expressions, no fractions –If calculating index value, must do this in separate program command that assigns value to L-variable, e.g. L0=Ldata.Motor; Motor[L0].JogSpeed=100; Indices always start at 0 –Motor[x]. index value matches Motor number (#x) –Coord[x]. index value matches C.S. number (&x) –ASIC index value matches ASIC number (but ASIC numbering scheme different from Turbo PMAC) –ASIC channel index (0 – 3) is one less than ASIC channel number (1 – 4) –Constant index values can range from 0 to Sys.MaxItems - 1 –Variables used for index can range from L0 to L(1022 – Sys.MaxItems)

7. DELTA TAU Data Systems, Inc. 7 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Specifying the Address of an Element The “.a” suffix added to the end of an element name specifies the “address of” the element –Generally do not need to know the numerical value of this address –Actual numerical value can vary with system type and compilation –Can get numerical value by querying {element name}.a A “p” at the beginning of an element name specifies “pointer to” –These elements are set to an address value –When queried, Power PMAC reports back element name with “.a” suffix (if the address is that of a known element) Examples: Motor[1].pDac=Gate1[4].Chan[0].Pwm[0].a// Set motor output pointer Motor[2].pDac// Query motor output pointer Gate1[4].Chan[1].Pwm[0].a// Power PMAC response Gate1[4].Chan[0].Pwm[0].a// Query element address $d5700008// Power PMAC response

8. DELTA TAU Data Systems, Inc. 8 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data C Access to Data Structures Must include header file in C compilation build: #include Must access software elements with pshm->{data structure element} –C functions have pshm declared automatically –Independent C applications must declare: e.g. struct SHM *pshm; –Sys structure name is implicit: e.g. pshm->ServoPeriod (for Sys.ServoPeriod) –Other structure names must be used: e.g. pshm->Motor[1].JogSpeed Must respect variable type of each element according to C rules Element names in C are case-sensitive No write-protection or out-of-range/saturation protection Some “internal use” elements not accessible (in lieu of write protection) For hardware elements, only “full-word” (32-bit) structure elements can be accessed from C program –Full-word elements often contain multiple partial-word elements e.g. Gate1[i].PwmCtrl contains Gate1[i].PwmPeriod and Gate1[i].PwmDeadTime –Must mask (and maybe shift) to isolate “partial-word” element –Script full-word element of same name may be less than 32 bits e.g. in script, Gate1[i].PwmCtrl is 24 bits (high 24 of 32)

9. DELTA TAU Data Systems, Inc. 9 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data C Access to Hardware Data Structures Hardware (I/O) data structures not part of “pshm” shared memory Two methods of C access to hardware data structures 1 st (recommended) method: define your structure variable –Use API function provided by Delta Tau – e.g.: GateArray1MyFirstGate1IC;// Declaration of structure variable MyFirstGate1IC = GetGate1MemPtr(4);// Assignment to address –Now use element(s) in this structure – e.g.: MyFirstGate1IC->Chan[0].CompA = MyCompPos << 8; MyTriggerFlag = MyFirstGate1IC->Chan[3].Status & 0x80000 >> 19; 2 nd (slightly faster) method: define int pointers to structure & element –Use base address offsets auto-detected by Power PMAC – e.g.: MyFirstGate1Ptr = pshm->OffsetGate1[4]; –Compute absolute address of particular element pointer – e.g.: MyFirstGate1Ch0CompAPtr = (int *) piom + ((MyFirstGate1Ptr + 0x3C) >> 2); –Use this pointer variable – e.g.: *MyFirstGate1Ch0CompAPtr = MyCompPos << 8;