PAM System V2.6 Release Notes
Contents
1. States Diagram To set BOOT_REQUEST Choose START in the DEVICE menu and then select BOOT_REQUEST in the dialogue box or click on in the toolbar To set RUN Choose RUN in the DEVICE menu or click on in the toolbar To set RESET Choose START in the DEVICE menu and then select RESET in the dialogue box 2 2 PAM COMPILER COMPILATION Starting with this version PAM applications can be compiled in a DOS box when running Windows 3 x or Windows95 using the following procedure 1 Edit the application Doc No 006 8030 Page 2 2 Rev 04 June 1996 Changes from Previous Version PAM System V2 6 Release Notes Save the application as a pure ASCII file with the extension AGL Open a DOS box Move to the application s AGL directory Oye dee er te Compile the application by typing PAMCOMP lt APPLICA HW ON gt agl If the compilation is successful three files are generated in the AGL directory e lt application gt PAI the application to be downloaded to the PAM e lt application gt S YD application symbols information e lt application gt PSI application objects information APPLICATION SIZE Compressed application size is now checked at compilation which allows larger applications Previously the compression factor was defined as 2 now factors up to 3 are allowed HEXADECIMAL NUMBERS Syntax for hexadecimal numbers is now C like Old 4F2 New 0x4F2 BITWISE OPERATOR2. for example in the following statement CONDITION Il I2 the expression I1 I2 is a nameless equation Nameless equations can now be scanned using symbols like BEQ lt file gt _ lt ext gt _L lt line gt _C lt column gt For example the symbol BEQ_divzer_AGL_L109_C16 represents the equation located in file DIVZER AGL at line 109 and column 16 SEQUENCE SNAPSHOOT Starting with this version sequences snapshots can be taken Snapshots contain information about sequences states waiting causes and starting causes To take a snapshot choose Sequence Snapshot in Objects menu while the PAM is running or click on in the toolbar Snapshot information can then be saved and edited in a PSS PAM Sequence Snapshot file APPLICATION HANDLING Information on the application actually running in PAM as well as application saved in PAM is accessible Doc No 006 8030 Rev 04 June 1996 Page 2 1 Changes from Previous Version PAM System V2 6 Release Notes TIME AND DATE ADJUSTMENT Choose SET DATE TIME in the DEVICE menu to synchronize PAM internal time with the PC time PAM STATES PAM s current operating state see Figure 11 is displayed in the bottom status bar eZ 2 RESET p BUSY _ gt RUNNING K PA i NG Pa Pi N Pa S RUN BOOT re Fatal Error RESET F Power Up N fo Pa so x j ra a F FATAL C BOOTING BOOT REQUEST ERROR Ea l S NO p Figure 1 PAM Operating
3. S Three bitwise operators have been added OR amp AND NOT Examples MyVar lt 0x23FC 237 4 MyVar lt 0x3456 amp 0x0040 MyVar lt 456 COMPILATION PROBLEM Some executables have same name in DOS version PAM BIN and in Windows version SSOCATOOL you must not have both paths in the PATH command of your autoexec bat file PREPROCESSOR PROBLEM You must not put comments on a define line Wrong defin PI 3 14 This comment causes problems Right A comment define PI 3 14 Doc No 006 8030 Rev 04 June 1996 Page 2 3 Changes from Previous Version PAM System V2 6 Release Notes 2 3 PAM FIRMWARE The following problems have been solved e Ready condition after an axis STOP command didn t appear in some rare cases e In some cases if an EXCEPTION occurred during an ENCODER inquire this ENCODER was then unable to be accessed 2 4 CAMMAKER CamMaker has not been modified Refer to the CamMaker User s Manual p n 006 8028 for more information 2 5 PAMCAM2 PAMCAM 2 is an additional software which converts cams designed for PAM V2 0 V2 3 to PAM V2 6 format without any improvement keeps the PAM V2 0 V2 3 parabolic interpolation It is available on a separate disk and runs only on Windows 95 6 Doc No 006 8030 Page 2 4 Rev 04 June 1996
4. This upgraded and improved version replaces all the previous We reserve the right to amend this document without prior notice and decline all responsibilities for eventual errors Atlas Copco Controls SA En Montillier 4 CH 1303 PENTHAZ Switzerland Socapel PAM A Programmable Axes Manager PAM System V2 6 Release Notes Ordering Number 006 8030 Rev 4 June 1996 Doc No 006 8030 CJO June 1996 by Atlas Copco Controls SA previously SOCAPEL SA All rights reserved Table of Contents PAM System V2 6 Release Notes TABLE OF CONTENTS 1 INTRODUCTION 222 222 2222 22 nnn enn nn nner nn nen een ee nee 1 1 1 1 System 2 6 Software Installation 2 00 2 00 2002 000 0002 2002220025 1 1 2 CHANGES FROM PREVIOUS VERSION 2 1 2 1 PAM ToOols 2 2 0 n nn nnn nn nn cen nn nn cee n ence enn ence ee en nec e ee en nn ee eens nneeees 2 1 2 2 PAM Compiler 0 00 0002000en nee nn nen anne nce en sce eneen ence enneescceennes 2 2 2 3 PAM Firmware 222 222 2222 oe nen nnn nn nen en nnn ene ee een ee eee nee e eee ee eens 2 4 2 4 CamMaketl 200 20000 00n nn nennnee nn ne enn ne ence en nceenneen sceenneenscceenceescceennes 2 4 2 5 PAMCA M2 nnn2 222 2222 nnn nnn nn en ne en cern
5. floppy disk drive 4 Click on OK Follow the on screen installation instructions A Socapel tools group is created in the START MENU PROGRAMS The PAMTools and CamMaker programs are placed in it 6 To start any of these programs click on its icon The PAM compiler is placed in the same directory Socatool as the Windows programs Doc No 006 8030 Rev 04 June 1996 Page 1 1 Changes from Previous Version PAM System V2 6 Release Notes 2 CHANGES FROM PREVIOUS VERSION This chapter describes the differences in the operation and use of SYSTEM 2 6 component programs compared to Version 2 5 2 1 PAMTOOLS PAMTools is a general name applied to PAM system software but PAMTools is also the name of a specific program based on the old PAMDEBUG program for communicating with PAM The PAMTools program offers all the advantage of the Windows environment Toolbar etc in addition to the following new user friendly functions SCANNING MODIFYING OBJECTS It is now possible to scan and modify objects using their names instead of ID codes While the PAM is running choose SCAN or SEND MODIFY in OBJECTS menu or click on respectively or le in the toolbar In the dialogue box type the name of the object or select it from the list of available objects using the browser Dualport variables can now also scanned modified just like any other variables SCANNING NAMELESS EQUATIONS Some equation objects do not have names
6. nnn ene nen ne ene ee een ne nnn ene ee eee ene n en ee en ne eeeeen eens 2 4 Doc No 006 8030 Rev 04 June 1996 Page I Introduction PAM System V2 6 Release Notes 1 INTRODUCTION This manual provides information on the use of specific features and improvements introduced in PAM SYSTEM 2 6 software PAM SYSTEM 2 6 software includes PAMTools the Win95 based successor to PAMDEBUG the PAM Compiler and CAMMaker All PAM SYSTEM 2 6 programs may be run under Windows 3 X or Win95 This manual is a complement to the PAM Reference Manual 006 8007 B and the PAM User s Manual 006 8017 A All information contained in this document will be integrated into the next revisions of the PAM Reference and User s Manuals 1 1 SYSTEM 2 6 SOFTWARE INSTALLATION WINDOWS 3 X 1 Insert disk marked Disk 1 6 into the floppy disk drive 2 Inthe Program Manager select RUN from the FILE menu 3 Type lt DRIVE_NAME gt SETUP EXE where lt drive_name gt is the name of the floppy disk drive 4 Click on OK Follow the on screen installation instructions A Socapel Tools group is created The PAMTools and CamMaker programs are placed in it 6 To start any of these programs double click on its icon WINDOWS95 1 Insert disk marked Disk 1 6 into the floppy disk drive 2 Select RUN from the START menu 3 Type lt DRIVE_NAME gt SETUP EXE where lt drive_name gt is the name of the
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