ACC-54E REV2
Contents
1. eeee eee aaa aaa aaa aaa aaa nace 19 UMAC Turbo Memory Mapping for Acc 54E ee eee eee eo eee aaa oaza naanacoa 20 Using PMAC with the USB DPRAM 2 eee eee ooo aaa owa aaa aaa aaa aaa aan 20 Getting the Best Performance from USB 2ueee eee aaa 21 PMAC ETHERNET PROTOCOL 2100 2020200000000000000000000000000000eo0aooeo wow ao oe o0 00a oO 00000 w OWO ORW A0 OOOO 23 Introd Oi RAE EE ERROR Eaa 23 PMAC Ethernet Protocol Command Packet Description se see eee ooo 23 PMAC Ethernet Protocol Command Set 222 eee eee aaa aaa aaa aaa aaa aaa aaa aaa eee 24 VR PMAC FLUSH z t nod dno ORO ya o Spaak 24 20 Z COMY DJ NY OE 25 VRS PMAC_GETLINE rogowe wc osi oO OWE p OSY eZ E aE A YE CIE 25 VR PMAC_GETBUEFER zec west dz oda OD AA OO CAE todo GO YE 26 VR_ 1PADDRESSG zizi OKO he wits OR A R AO AGE tt ete see as 26 VR PMAG SENDGTRECHA R jase R O NAA w BG EE naa ROEE 27 VR PMACZPORT e tests scene un eninasieai deus Bea yw e a a E Oda i aka d 27 VR PMAC_READREADY swych ow zest ca CE RAA OLO SOSA LEGE POP AUE E 27 VR CTRL REPONSE sinos enone aei EE AAAA OPEL EEE P EE POLS EE 28 VR PMAC_WRITEBUFEER cer cod adi did deda dode EWA d E GEJ 28 VRZEWDOWNEOAD z oko LEE Ada O EK a EE O die dE pe iske OO REG 28 VR PMACZGETRESPONSE ge z OO R e aE EA Costs dtp EE E 29 VREZPMAC_GETMEM wes day o z dO AA EE HEEL o 29 VR PMAC_SETMEM cer socctesacsoessvicvsse2. Listened l eu Can El Pee ge Ge ed pesii neni Gu ppo na MIE tape Me rece spa jra remm bh eee ype ems cede wy ka rt Pay kle Bp pope M eee C iria n un P edern sannt DRE TIET FP aen EE E m z Bulei mmmh St EKG M i tee ee rie Eo o e alo aul E L bed i ait ii IF Ung ine mimang DHD nerva micia Ewa Erstu nur DIEI mu nzer i aja a DHS serm _ Ethernet Software Setup 9 Acc 54E 10 Ethernet Software Setup Acc 54E USB SOFTWARE SETUP Device Driver Installation Starting with Pewin Pro with Service Pack 3 the USB driver support for this revision of the card is bundled with the Pewin Pro installation program The UMAC USB card will work only with Windows 98 Windows ME Windows 2000 and in the future Windows XP It will not function with Windows NT 4 0 this version of Windows does not support plug and play which is required by all USB devices One file is placed on your PC to achieve USB connectivity device driver PMACUSB SYS in the WINDOWS SYSTEM32 DRIVERS directory and the plug and play information file PMACUSB INF in the WINDOWS INF directory When the UMAC is plugged into the PC you will see a New Hardware Found Message A series of dialog boxes will appear indicating that Windows is installing the device drivers for the system Note Plug in the USB cable from the UMAC to the PC after you have installed the software Pewin Pro
3. USER MANUAL Accessory 54E JA DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components o
4. USB Root Hub ui Properties Refresh Remove Print OG 4 Ge If you do not see Delta Tau UMAC USB Device Licensed Pmacusb sys the device driver has not been installed if you have a red x through that line or a yellow exclamation point through that line then Windows had a problem installing the device The appropriate trouble shooting steps are to first reboot you computer and examine this list again If that doesn t work ensure that pmacusb sys is in the Windows system32 Drivers directory If this is true when using an older computer check with the manufacturer to make sure that there is not an update to the BIOS to enable USB on your PC Also if you do not see the Universal Serial Bus Controllers in your device manager dialog box make sure that it is enabled in the BIOS of your computer 12 USB Software Setup Acc 54E PEWINPRO SOFTWARE SETUP First Time User Register the Newly Installed Devices 1 Once the driver is installed it needs additional configuration by using the PmacSelect dialog The PmacSelect dialog is accessible by all programs created with PComm32Pro via the PmacSelect function call Launch the supplied Delta Tau application Pewin32Pro PMACTestPro or any application from the program menu and display the PmacSelect dialog General Setup and Options EGe5ewcz PAG Dhovions General wic When mu
5. VR_PMAC_GETRESPONSE EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons WORD strlen outstr strncpy char amp EthCmd bData 0 outstr WORD strlen outstr send sock char amp EthCmd ETHERNETCMDSIZE strlen outstr 0 recv sock szPmacData 1400 0 VR_PMAC_GETMEM This packet causes the Ethernet connection to retrieve DPRAM data from the PMAC Up to 1400 bytes may be received in a single packet The wValue field contains the byte offset to retrieve the data from while the wLength parameter indicates how many bytes to receive Example EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_GETMEM EthCmd wValue htons offset EthCmd wIndex 0 EthCmd wLength htons length send sock char sEthCmd ETHERNETCMDSIZE 0 recv sock char data 1400 0 VR_PMAC_SETMEM This packet causes the Ethernet connection to write data to the DPRAM shared between the PMAC and the Acc 54E Up to 1400 bytes may be written in a single packet The wValue field contains the byte offset to write the data to while the wLength parameter indicates how many bytes to write After sending the packet the programmer must wait to receive one byte via the Recv function before continuing The data received is irrelevant its purpose is to insure the sender s command was received Example packet setup thCmd RequestType VR_UPLOAD thCmd Request VR
6. and its Service Pack 3 If you plug in the USB cable before you have installed the software you will have to restart Windows New Hardware Found Delta Tau UMAC USB Device Loader Licensed macusbt sys Windows is installing the software for your new hardware New Hardware Found z Delta Tau UMAC USB Device Licensed Pmacusb sys Windows is installing the software for your new hardware To verify that the software device drivers have been installed properly you can right click on the My Computer icon on the desktop Select Properties from the drop down menu that appears The Windows tabbed dialog titled System Properties appears Click the tab titled Device Manager At this point a list of device categories appears Click the and you will see a list of USB devices Provided the device driver for Acc 54E has been installed properly you will see a dialog box similar to the following USB Software Setup 11 Acc 54E System Properties 24x General Device Manager Hardware Profiles Performance View devices by type View devices by connection 2 CDROM amp Disk drives m Display adapters 3 Floppy disk controllers Hard disk controllers 3 Keyboard z Monitors lt lt Mouse BY Network adapters Ports COM amp LPT m System devices EA Universal Serial Bus controllers Delta Tau UMAC USB Device Licensed Pmacusb sys Generic USB Hub Intel 823714B EB PCI to USB Universal Host Controller
7. packet causes the Ethernet connection to perform a write to DPRAM shared between the PMAC and the Acc 54E that sets bits in a 32 bit word to a new value The wValue field contains the byte offset to retrieve the data from The bData field of the Ethernet command packet must be stuffed with a mask indicating which bits to set in four bytes followed by four bytes that indicate the bits to clear in a 32 bit word After sending the packet the programmer must wait to receive 1 byte via the Recv function before continuing The data received is irrelevant its purpose is to insure the sender s command was received Example EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_SETBITS EthCmd wValue htons WORD offset EthCmd wIndex 0 EthCmd wLength htons 2 sizeof DWORD temp OxFFO3FFFF memcpy EthCmd bData amp temp sizeof DWORD temp 0x00030000 memcpy EthCmd bData 4 amp temp sizeof DWORD Send command request send sock char amp EthCmd ETHERNETCMDSIZE 2 sizeof DWORD 0O recv sock char amp errcode 1 0 30 PMAC Ethernet Protocol
8. 000000000000o000oe otoo oo eo wo owo woda o Sis os vsus Taass 7 Accessory S4E IP Setup zew taa dw Bd Act Gd a date Od HA EE OLEWA 7 Accessory S4E Protocol Setup iccse doo a O O AO Dao ad EEEE Eriu ERES EEES 8 Windows OS TCP IP Setup cee ceeccesscecsseceseeceseeessceceeeseneecaeeesneeceeeeeneeceaeeeeaeecaeeseneeceeeesaeceeeeeseneeeeee 9 USB SOFTWARE SETUP csccscsscssssccncssescscscscsscncssssncsscssssesescsescssssssosssssnessssnessessessessessnssssssesseses 11 Device Driver Installation sec sss owi cceck coleiccascccvaskadts cevinehacsckadiccsusteeshagesceubweseaceueduccousbessuisbacoanuseccuses cases 11 PEWINPRO SOFTWARE SETUP csssscsssssssscssssesesensscsssscsscsssesessenessssncssessssssssssnesssssessesssssoseeses 13 First Time User Register the Newly Installed Devices ccccesccescceseceseeesecececaeeeseeeseeeeeeeeeeereeteensees 13 USING DPRAM 0 csscsscssssscssenssscnsscesssesesesssnessssnescesnessesssssnessssnsssssnessosesssossssenessessessosssssessossnessessonenese 15 DPRAM for General Purpose Scratch Pad Data eeeeeeccseeseeseceeeeecneeseeseceaeeeesaeeeesaeeaeeseenareeeeaees 15 Setting DPRAM for Automatic Reporting Features for ACC 54E 0 ccsccesceeseceseceeeeeeeeeeeeeeereeeeeeeeees 16 UPGRADING ACC 54E FIRMWARE cscssssscssesscescscssesssenssesssscesssssescssssessssncssessssnssesenssssssesseses 19 Upgrading Bootloader sys A EEE EEE JA YYY EYE 19 Upgrading Ethernet or USB Firmware
9. D packet structure Every command then must issue a Recv command to either receive an acknowledgement character back via the Recv command or receive meaningful data define ETHERN ETCMDSIZE 8 send sock char amp EthCmd recv sock char amp EthCmd 1 0 PMAC Ethernet Protocol Command Set ETH ERNETCMDSI E 0 VR_PMAC_FLUSH This packet causes a X to be issued to the PMAC and will wait up to 10 msec for PMAC to respond with a X command with respect to the PC The packet that is sent should be set up as follows One byte will be returned upon successful completion of the command EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_PMAC_FLUSH EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength 0 EthCmd bData not used for this command Example int CALLBACK PmacSockFlush ETHERNETCMD EthCmd int rc iTimeout EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_PMAC_FLUSH EthCmd wValue htons FLUSH_TIMEOUT EthCmd wIndex 0 EthCmd wLength 0 send sock char sEthCmd ETHERNETCMDSIZE 0 i recv sock char amp EthCmd 24 1 0 r PMAC Ethernet Protocol Acc 54E The above example and all of the examples in this document do not perform error checking and timeout checking It is the application developer s responsibility to perform e
10. D strlen outstr EthCmd bData Not Used Example int CALLBACK PmacSockGetBuffer char instr R_DOWNLOAD EthCmd RequestType V VR_PMAC_GETBUFFER 0 0 EthCmd Request EthCmd wValue EthCmd wIndex H EthCmd wLength htons WORD strlen outstr send sock char amp EthCmd ETHERNETCMDSIZE 0 recv sock char instr 1400 0 r VR_ IPADDRESS This packet permits either setting or retrieval of the current IP address in the Acc 54E When setting the IP address to a new value it is required that the Acc 54E be powered down for the new address to take effect EthCmd RequestType VR_UPLOAD to retrieve the IP address or EthCmd RequestType VR_DOWNLOAD to set the IP address EthCmd Request VR_IPADDRESS EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons 4 EthCmd bData contains 4 bytes of data indicating the IP address set on the send command For the receive command four bytes of data are returned indicating the IP address 26 PMAC Ethernet Protocol Acc 54E VR_PMAC_SENDCTRLCHAR This packet permits sending of a single character or control character to the Acc 54E The packet below is what is to be sent The data received is irrelevant its purpose is to insure the sender s command was received EthCmd RequestType EthCmd Request EthCmd wValue EthCmd wIndex EthCmd bDat
11. ETHD i142 6 545 PMACT LS80 Plug and play PEWINPRO Software Setup Acc 54E USING DPRAM The Acc 54E contains its own on board DPRAM This DPRAM can be used for automatic reporting features or as general purpose scratch pad area for the users own custom data DPRAM for General Purpose Scratch Pad Data The UMAC Turbo can write to aay DPRAM memory location on the Acc 54E This can be done by using M Variables that point to an area in the address range defined in the SW1 DPRAM Address table p 2 usually 6C000 6CFFF However unpredictable results will occur if you write to the areas that are used for the DPRAM automatic reporting features The automatic reporting features memory area can be determined from the Turbo Software Reference Manual by examining the address in the 60000 60FFF however when using Acc 54E this range is from 6C000 6CFFF It is recommended you start your own variables at the 6CD60 this address is well outside the range of the automatic reporting features Below is an example of pointing to a series of DPRAM locations on the USB card and the count M1000 gt DP 6CD60 PmacDprGetMem 0 0x3580 4 amp dwData M1001 gt Y 6CD61 PmacDprGetMem 0 0x3584 2 amp wDatal M1002 gt X S6CD61 PmacDprGetMem 0 0x3586 2 amp wData2 M1003 gt F 6CD62 PmacDprGetMem 0 0x3586 4 amp fData The parameters passed to the function PmacDPRGetMem are e The device number for the ca
12. _PMAC_SETMEM td bd bd tg thCmd wValue htons offset thCmd wIndex 0 EthCmd wLength htons length PMAC Ethernet Protocol 29 Acc 54E VR_PMAC_SETBIT This packet causes the Ethernet connection to perform a write to DPRAM shared between the PMAC and the Acc 54E that either sets bits in a 32 bit word or clears bits in a 32 bit word If the wIndex parameter is supplied with a 1 a logical OR is performed that sets bits If it is 0 a logical AND is performed which clears bits It is the programmers responsibility to use the appropriate mask for setting or clearing bits The wValue field contains the byte offset to retrieve the data from After sending the packet the programmer must wait to receive 1 byte via the Recv function before continuing The data received is irrelevant its purpose is to insure the sender s command was received Example DWORD mask 0x00000001 R_UPLOAD R_PMAC_SETBIT tons WORD offset tons WORD on tons len EthCmd RequestType EthCmd Request EthCmd wValue EthCmd wIndex EthCmd wLength DPP GT generate the mask mask lt lt bitno zero based If clearing a bit compliment mask to prepare the firmware for AND if on mask mask memcpy EthCmd bData amp mask len Send command request send sock char amp EthCmd ETHERNETCMDSIZE len 0 recv sock char amp errcode 1 0 VR_PMAC_SETBITS This
13. a Not Used VR_PMAC_PORT This packet permits sending of a single byte or receiving of single byte from the Acc 54E via the Turbo PMAC 2 CPU host port To send data to the host port set the packet as follows After sending the packet the programmer must wait to receive 1 byte via the Recv function before continuing The data received is irrelevant its purpose is to insure the sender s command was received EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_PMAC_PORT EthCmd wValue htons WORD offset EthCmd wIndex htons WORD outch EthCmd wLength 0 To receive data from the host port set the packet as follows After sending the packet the programmer will receive one byte which is the value the Acc 54E read from the Turbo PMAC 2 CPU host port EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_PORT h 0 R_DOWNLOAD R_PMAC_SENDCTRLCHAR tons outch the character to write ll Sis EthCmd wValue htons offset EthCmd wIndex 0 EthCmd wLength 0 VR_PMAC_READREADY This packet permits determining if there is data on the Turbo PMAC 2 CPU ready to be read Two bytes will be returned The first byte if non zero indicates there is data to be read if zero there is no data to be read The packet will be set up as follows EthCmd RequestType VR_UPLOAD EthCmd Requ
14. bo PMAC 2 CPU and accessory 54E should be always next to one another and mated via their respective PC104 connectors In addition to providing communications the board also contains its own DPRAM Therefore it is not necessary to purchase the DPRAM option 2 on the Turbo CPU board In fact doing so will make it more cumbersome to use the on board DPRAM of Acc 54E Therefore the option 2 of the Turbo CPU board should not be ordered unless the customer needs to do so for very special circumstances All of the UMAC s automatic DPRAM reporting features can be used with this board including DPR Control Panel Motor Data Reporting Buffer Background Reporting Buffer Data Gathering Buffers Background Variable Copying Buffers The Binary Rotary Buffer Program Download Buffer Introduction 1 Acc 54E Introduction Acc 54E HARDWARE SETUP E1 On Board DPRAM Enable default 2 3 Install a jumper on 2 3 to hardware enable the Acc 54E on board DPRAM E2 Ethernet Option Indicator Install a jumper here to indicate that the board is being used in Ethernet mode Do not install a jumper here if the board is being used in USB mode This jumper has no critical hardware and its only purpose is to serve as an indicator that the Ethernet option is present for software that may be written in the future SW1 DPRAM Address Under no circumstances should the SW1 ever be changed from the default settings of all the swi
15. d to the offset calculation In practice it is not wise to call PmacDprGetMem for each item of data due to the structure of USB The reason is that each call can take 1 msec but so would a single call getting all the data More efficient coding would be as follows typedef struct 20 Upgrading Acc 54E Firmware Acc 54E DWORD dwData WORD wDatal WORD wData2 Float fData Data PmacDprGetMem 0 0x3580 12 amp Data Response to a request for 1KB of data with a PmacDprGetMem call would take 1 msec however if you called PmacDprGetMem for each byte it would have taken 1024msec Getting the Best Performance from USB To be assured of the best possible performance when using USB communications use a USB Host controller that is made according to the Open Host Controller Interface OHCD standard The USB Host controller built into Intel and VIA Chipsets is made according to the Universal Host Controller Interface UHCI standard All other chipsets i e ALi SiS etc use USB Host Controllers that conform to the OHCI standard Typically the UHCI systems operate 25 slower in practice than their OHCI counterparts The reasons for this are many and complex but to summarize UHCI systems have more of their functionality implemented in software while OHCI have more of their functionality implemented in hardware In addition a typical restriction of UHCI systems is that they only allow one USB request per millis
16. e qr F EP her Type aoe 7 tra M edt F mi r Thid ii Banica Oo 8 Ethernet Software Setup Acc 54E Windows OS TCP IP Setup Ethernet mode of communication is supported by dedicated network only A network card must be configured on the computer to which the PMAC connection is desired before going to the following steps Further A crossover Ethernet cable or a private hub along with two straight cables is required for this setup as is outlined in the RJ45 section of the Hardware Setup 1 From the control panel select properties of the network card you wish to communicate to PMAC via Ethernet Danha iniii Jinis Emane 1 Fi LIU Eaa Gor Girja PO hta FE Compin iih eo ee ubh d kry ea Cann inlr z NEJ iS Mi Bi ee r ZE Fila and Printer Eharng for toderowah Pertenece 1E inni Peria Cy maa awa Pim eee a te Tennamivsnn Crer rzal Pores tern el Arise Petes The citer etal oe nran Emi mei res pomm unimi en een E E Ore re eon ee aari u D Gere oe in iesbbereher coerce 2 Highlight the Internet Protocol TCPIP and select properties 3 Write the private area IP address say 192 6 94 2 for this card and enter the subnet mask 255 255 255 0 in the provided spaces 4 Close the properties page and restart your computer Your Ethernet card configuration on the computer is complete Note that the last digit in the IP address field must be a different value from any IP address es set via the EthConfigure program
17. econd while OHCI systems allow multiple requests per millisecond This restriction of UHCI systems leads to it being 25 slower than an OHCI system in practice To determine what type of Host Controller your computer has right click on the My Computer icon on the desktop then select Properties from the drop down menu that appears Click on the Device Manager Tab and select the on Universal Serial Bus Controllers The phrase Universal Host Controller or Open Host Controller will appear If your computer has a Universal Host Controller you can purchase a USB PCI card which has an Open Host Controller from your local computer store Most USB PCI cards use the OHCI system only if the chipset used on the USB PCI card is VIA is the card not an OHCI card To be certain that the USB PCI card is an OHCI get a card that is Macintosh compatible this will assure you that the card is OHCI compatible Upgrading Acc 54E Firmware 21 Acc 54E BAU niver eal Heat Contrada By Line Lonoke USG Riot Hubo USE Riess Huba Upgrading Acc 54E Firmware Acc 54E PMAC ETHERNET PROTOCOL Introduction This section is intended for application programmers who have a fundamental understanding of Berkley sockets used in the TCP IP protocol suite Before any attempt to read or understand the contents of this manual one should review basic sockets and understand them before proceeding The fundamental socket functions that must be understood a
18. esented with an Open File dialog box Select the boot loader firmware file with an iic extension supplied by Delta Tau to upgrade this firmware m FthCondigure 7 loottran fimeass hes mot been tore Boot plogeammed Pis sezon Done Utore Fia Dowunloading up bo 30 iira P I E 34 5 He Tyne i ADCF E t CPCI C DWAC Feii M Seal No Store ID Stone MAIC oo 50 C272 Co n Upgrading Ethernet or USB Firmware CAUTION Be especially careful not to stop the firmware upgrade in the middle of its loading and not to load application firmware into the boot loader and not to load boot loader firmware in the application firmware Doing so will result in having to return the card to the factory for repair Upgrading the application firmware can be done with the Store F W button in the same fashion as the boot loader firmware Probably at some time you will need to upgrade this firmware This firmware contains all of the code that performs USB and Ethernet communications To upgrade the firmware click the Store F W button You will be presented with an Open File dialog box so that you can select the version of firmware that you will load in to the Acc 54E It is possible to change a card that you purchased for Ethernet communications into one for USB communications by downloading the USB version of firmware into the card However it is not possible Upgrading Acc 54E Firmware 19 Acc 54E to change a USB ca
19. est VR_PMAC_READREADY EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons 2 Example ETHERNETCMD EthCmd char data 2 int ro EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_READREADY EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons 2 rc send sock char sEthCmd ETHERNETCMDSIZE 0 re recv SOCKET vh dwDevice hDriver data 2 0 return data 0 PMAC Ethernet Protocol 27 Acc 54E VR_CTRL_REPONSE This packet permits obtaining the response after sending a control character The packet is set up as follows The received data is the response to the sent control character Meaningful data is returned for the following control characters B 4C 4F 4G P and AV All other data control characters do not return meaningful data EthCmd RequestType VR_UPLOAD EthCmd Request VR_CTRL_RESPONSE EthCmd wValue htons outchar outchar ctrl char to send out EthCmd wIndex 0 EthCmd wLength htons len re send sock char amp EthCmd ETHERNETCMDSIZE 0 re recv sock outstr len 0 returned data appears VR_PMAC_WRITEBUFFER This packet permits writing multiple lines to the PMAC with just one packet The packet is set up as follows The received data is the response to the sent control character It is usually used for downloading a file Data should be of the form each line separated by null byte For Example OPEN PLC I CLEAR
20. ight through networking cable cannot be used in this scenario See left section of the figure below When using a connection to a network Hub or switch the standard cat 5 straight through networking cable must be used and not a crossover cable See right section of the figure below Performance can be degraded seriously by the use of a hub or switch Network hubs or the more intelligent network switches have processors inside them which can add delays of at least 15msec to the UMAC communications Network Switch or Hub lt A i oy Host PC Host PC UMAC Rack lB UMAC Rack Crossover Cable Required i Straight Through Cables Required P1 UBUS Backplane Connector This connector is to be plugged into the UBUS backplane after the card is mated to the UMAC Turbo PMAC 2 CPU card Therefore the Acc 54E is always adjacent to the Turbo PMAC2 CPU card Through this connector is how DPRAM is accessed from the Acc 54E card J1A J1B J2A J2B PC 104 Master Connector This combination of connectors comprises the Acc 54E s master PC104 Bus It is used to mate directly to the UMAC Turbo PMAC 2 CPU See the figure below regarding how to mate the two connectors Because the Acc 54E acts as a PC104 master a PC104 host computer and the Acc 54E cannot be used simultaneously The PC104 connector is used because backplane communications can be performed only through DPRAM ASCII With DPRAM ASCII several software issues make it an infe
21. ill slow down slightly since the PC is now continually reading the automatic data from DPRAM and placing it in PC memory 16 Using DPRAM Acc 54E Terminal PMAC 3 1 938 07 11 2001 QMAC TURBO Ethernet Port General Setup and Options Default Device General Download View When multiple PMAC devices exist and forms windows are opened PEwIN32 can prompt you each time for which device to use Alternatively you can have PEWIN32 use a default I Prompt for device number each time a new window opened Choose a default device number 0 7 Device Nene A ETHO 1P 192 6 94 5 2 SERO CO udrate 38400 Parity None 34 6 IP Address ay 12 6 4 DPRAM Functions M DPRAM Automatic Functions M DPRAM RealTime Update 70 Update Period ms 1 283 4 H5 HE H7 Ha UBaBBEEES I DPRAM BackGround Update 70 Update Period ms Using DPRAM 17 Acc 54E 18 Using DPRAM Acc 54E UPGRADING ACC 54E FIRMWARE The Acc 54E can have its firmware upgraded via its USB port This is useful for getting the latest firmware to take advantage of bug fixes and new features Upgrading Bootloader The bootloader contains the code necessary to load the application firmware from the local serial EEPROM to the Acc 54E static RAM This code rarely if ever will need to be upgraded or changed However in the rare instance that this firmware needs to be upgraded click the Store Boot button you will then be pr
22. imultaneously from a single host When doing so the additional Acc 54E must be programmed with a unique IP address Accessory 54E Protocol Setup The Acc 54E cards default protocol is UDP UDP has a little less overhead than TCP but should be restricted to point to point applications and not be used on a LAN UDP does not provide automatic re transmittal of dropped packets due to network collisions hubs noise etc Using TCP transmission control protocol is recommended TCP is a more robust protocol that can be used on a network TCP handles issues such as lost packets with automatic re transmattal If you wish to use the UMAC on a LAN the use of TCP is mandatory To use TCP it is necessary that the Acc54E be configured into TCP mode The active protocol mode is stored in EEPROM in the Acc54E using the EthConfigure exe program supplied with PewinPro To configure the Acc54 1 Plug a USB cable to Acc54E 2 Launch EthConfigure exe 3 Click the radio button labeled TCP in the Protocol Group Box see picture below This will change the protocol mode of the Acc54E to TCP and set up the Windows registry of the PC so that the Pcomm32 library of Delta Tau opens a TCP connection when a program using the Library executes After the protocol is configured remove the USB cable and power cycle the UMAC card a ther AFA AF wa zl HoA i Berio Mic Tul beter See Femi PRE i papi kona kim r l kij Smar Darrai rere al IE k H Fi F
23. ith the USB cable not plugged into the Ethernet card you will see the following message If you do not need to alter the default IP address of the Acc 54E card just click OK to the run the EthConfigure program EthcConfigure x AN Plug in the USB connector on the card to store a new IP address into the accessory or program new F W into the EEPROM PE y x hannis breraa here raihan Bic Bod Wipe ir ELLI Dama Siren EA Ao bonne p Trak WBA rari bia z FIG eed ihis sarian Tom FP E h oa s Hit Tepe By default the address 192 6 94 5 should appear in the Store IP edit box If it does not you should enter it there If you are trying to alter the address from the default you should enter your own IP in the Store IP edit box Press the Store IP button If you are plugged in via USB the address will be stored into Acc 54E EEPROM otherwise you will see the following message Ethernet Software Setup 7 Acc 54E Ethernet Configure q Xx I cannot write to EEPROM would you like to just setup the registry You must press YES to store the IP address in the registry so that software from the PEWIN Pro Suite can recognize the Ethernet accessory as an available PMAC Device Afterwards you will be presented with a dialog box requesting that you enter which instance of the card you are setting the IP address for This number is changed from O to another number only when you are talking to multiple Acc 54Es s
24. lt 00 gt P1 P1 1 lt 00 gt CLOSE lt 00 gt where lt 00 gt indicates a null byte The maximum data length is 1024 anything bigger must be separated into multiple calls of VR_PMAC_WRITEBUFFER Upon receiving this packet the Acc 54E sends back 4 bytes of data Byte 3 indicates if there was an error downloading If the value of this byte is 0x80 there was an error during the download If it is 0 there was no error during download Byte 2 indicates the PMAC Error type if there was a download error Consult the PMAC Software Reference under I6 Bytes 0 and Byte 1 together form a Word that indicates the line number which caused the error to occur Byte 1 is the MSB and Byte 0 is the LSB of that word Example char errcode 4 thCmd RequestType thCmd Request thCmd wValue thCmd wIndex thCmd wLength htons len VR_DOWNLOAD VR_PMAC_WRITEBUFFER 0 0 r r i bi i Hi Hi memcpy EthCmd bData data len send sock char sEthCmd ETHERNETCMDSIZE len 0 recv sock char errcode 4 0 VR_FWDOWNLOAD This packet permits writing raw data to the PMAC host port for firmware download The firmware takes the stream of data and then writes to the Turbo PMAC 2 CPU host port at address 5 6 and 7 The packet includes in the w Value parameter to command to start the download at host port address 5 This packet permits writing multiple lines to the PMAC with just I packet The packet is set
25. ltiple PROC gies cia and Tomia moos are opened PEWNIE can progi ou Bach teres for whith Cee 10 Uae Aero you can hava PERMIE usa a dafawie Farmptforcewica mumiber aach time amp m w wifet t w is opareci Choose m dsinult dewce number 0 7 Device 1 Product To Display the PmacSelect Dialog Pewin32Pro From the main menu item setup go to SetupiGeneral Setup and Options select the Default Device tab Press the Select button Pcomm32Pro Run the supplied PmacTest application From the main menu select Configure Communications Also you may call the PmacSelect function from any application you have coded PtalkDTPro Call the SelectDevice method of Ptalk from the supplied or self created programs 2 From the device selection screen select the device number where to insert a device and click insert Another window listing all configured devices will appear Available PMAC Devices k x PAC devices mot regatened Fmac SAD Fart LTU te Aas Prac POKI Prac SERD COM Prac LISEM Cancel 3 Select the device you desire to configure and press OK 4 Once a PMAC is listed in the PMACSELECT window it is registered and can be communicated with It is highly recommended to test a device upon registering At this time you should see a familiar screen and are ready to use this device in any application PEWINPRO Software Setup 13 Acc 54E 14 FRACS MA PMA S
26. lts will occur if you write to the areas that are used for the DPRAM automatic reporting features i e the ASCII communications buffer ranging from 6C3A7 6C410 The automatic reporting features memory area can be determined from the Turbo Software Reference Manual by examining the address in the 60000 60FFF however when using Acc 54E this range is from 6C000 6CFFF Start your own variables at the 6CD60 this address is well outside the range of the automatic reporting features Below is an example of pointing to a series of DPRAM locations on the USB card and the count M1000 gt DP 6CD60 PmacDprGetMem 0 0x3580 4 amp dwData M1001 gt Y 6CD61 PmacDprGetMem 0 0x3584 2 amp wDatal M1002 gt X 6CD61 PmacDprGetMem 0 0x3586 2 amp wData2 M1003 gt F S6CD62 PmacDprGetMem 0 0x3586 4 amp fData The parameters passed to the function PmacDPRGetMem are The device number for the case of multiple devices The DPRAM offset The number of bytes to retrieve The location to place the retrieved bytes The DPRAM offset is the number of bytes from the base DPRAM location To compute this value take the UMAC Turbo DPRAM address and multiply its offset by 4 The offset is always the last three digits of the DPRAM address For example for the address 6CD60 multiply D60 by 4 to compute the offset the offset for PMAC address 6CD60 is 0x3580 For X memory address the same applies except that 2 must be adde
27. on will retrieve multiple lines and will greatly enhance performance as opposed to using multiple calls of VR_ PMAC_GETLINE EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_GETLINE EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength Not used Example int CALLBACK PmacSockGetLine char instr EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_PMAC_GETLINE EthCmd wValue 0 EthCmd wIndex 0 PMAC Ethernet Protocol 25 Acc 54E EthCmd wLength htons WORD strilen outstr strncpy char amp EthCmd bData 0 outstr WORD strlen outstr send sock char amp EthCmd ETHERNETCMDSIZE 0 recv sock char amp instr 255 0 VR_PMAC_GETBUFFER This packet causes the Ethernet connection to return any available string that may be residing in the PMAC All characters up to an lt ACK gt or lt LF gt are returned If a lt BEL gt or lt STX gt character is detected only the data up to the next lt CR gt is returned The maximum amount of data that will ever be returned is 1400 Bytes It is the callers responsibility to logically determine if there is more data to follow and if VR_PMAC_GETBUFFER must be called again to retrieve all of the data available EthCmd RequestType VR_UPLOAD EthCmd Request VR_PMAC_GETBUFFER EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons WOR
28. r causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Acc 54E Table of Contents INTRODUCTION PA 1 HARDWARE SETUP 0 csssccccsssscssecesessssoecseossssstssesoasessssdsssdsesenissseeseosseesescucdessencetsssssossasssdeasectssestosoasecasessese 3 El On Board DPRAM Enable default 2 3 cccicccccssssesscsseseescsseseescsesseeecseeseeecsesseeecsesseeeeseeseeeenes 3 E2 Fthernet Option mdicaf r 0a a oo ADO oO o pa AO woo KOPER 3 SW TSIDPRAM Address lt tscccsscteded cadests odsccecetactvecatteriansteaseadsaveusecataadescoceauccaudeeessyaesecstandessscevubeasdeaianssetacbived 3 Jl USB Type B Receptacles ia ca siccsiise dO IDG OZ b Ak cba WO EEE TAES 4 J6 Ethernet RJ45 Connettori na cctacseuisheanccdethccckacdedaccackeeveuceescocedsbeasstecawe 5 P1 UBUS Backplane Connector c iccscssecsedseesvuenscascencssisnsnsspesteastedsssanesusdazcncvserenpasennobesaudbnoabbcsessnsnsosedts 3 JIA JIB J2A J2B PC 104 Master Connector ccccccccccesssssscecececsessececececeeseaecesececesesaeceeseeesenseaees 5 ETHERNET SOFTWARE SETUP 2 22020020200000000000000000000
29. rd into an Ethernet communication card since additional ICs are needed for Ethernet communications UMAC Turbo Memory Mapping for Acc 54E Official support for the USB card is not in PMAC DLL however the USB card uses the same technique for communicating with the PMAC as does an ISA card To establish communication with the card go to the MotionExe program included with PEWIN32 Using the Add menu button for device zero set up the card as if it has a Port Address of 0x210 an Interrupt Address of None and a DPRAM Address of None If you have PEWIN 2 38 you may click the USB Mode check box instead After doing this you will be able to use PEWIN 32 just as if the card was a PMAC on an ISA bus When using the UMAC USB card all of the BUS communication functions are available In addition there are a couple of DPRAM commands available Using either PTALK DT or PCOMM 32 you can write a program to interface to the UMAC through the following functions PVOID CALLBACK PmacDPRGetMem DWORD dwDevice DWORD offset size_t count PVOID val PVOID CALLBACK PmacDPRSetMem DWORD dwDevice DWORD offset size_t count PVOID val Using PMAC with the USB DPRAM The UMAC Turbo can write to aay DPRAM memory location on the Acc 54E This can be done by using M Variables that point to an area in the address range defined in the SW1 DPRAM Address table page 4 usually 6C000 6CFFF However unpredictable resu
30. re recv send and socket The examples in this manual are for demonstration purposes only and are to there to convey the concepts of how to communicate to the Delta Tau card Therefore the examples do not include error checking and timeouts Delta Tau s actual production code does however and application programmers are strongly encouraged to include error checking and timeouts in their code to prevent hang ups and unresponsive behavior The PMAC embedded Ethernet communications card talks using either the UDP or TCP protocol of the TCP IP suite of protocols on port 1025 9See the section on protocol setup Therefore the programmer should open a datagram socket on the port 1025 the PMACPORT sock socket PF_INET SOCK_DGRAM 0 change SOCK_DGRAM to SOCK_STREAM for TCP Embedded Ethernet s IP address The port that the embedded program is listening on sin sin_port htons PMACPORT connect sock struct sockaddr amp sin sizeof sin PMAC Ethernet Protocol Command Packet Description Command Packets All commands are sent over the socket in the form of the following structure Ethernet command structure typedef struct tagEthernetCmd BYTE RequestType BYTE Request WORD wValue JORD windex WORD Length w BYTE bData 1492 ETHERNETCMD PETHERNETCMD The following is a description of the fields in the ETHERNETCMD struct
31. rior communication medium as opposed to the host port which is attached to the CPU Note The UMAC Turbo PMAC 2 CPU must have its address set to 0x210 which is the default The drawing below shows how the two cards mate to one another Hardware Setup 5 Acc 54E Hardware Setup Acc 54E ETHERNET SOFTWARE SETUP Accessory 54E IP Setup Using the Acc 54E Ethernet option requires Pewin Pro with at least Service Pack 3 Earlier revisions of software are not capable of communicating with the Ethernet option Ethernet devices are configured by launching the application EthConfigure EXE provided by Delta Tau as a part of the Pewin32PRO Suite or any other Delta Tau standard installation Installation and configuration of Ethernet devices is independent of the operating system Therefore Ethernet devices are compatible with Windows NT 4 0 in addition to Windows 98 ME 2000 and Windows XP To configure the Acc 54E side run the application EthConfigure EXE from the Programs Pewin32PRO program group This application is provided as part of the standard installation and is placed in c Program files Delta Tau Common folder The Acc 54E card comes preprogrammed with a default IP internet protocol address of 192 6 94 5 stored in an on board EEPROM If you wish to change the IP address stored in the EEPROM you must plug in the USB cable to reconfigure the card after powering on the UMAC When launching the EthConfigure exe program w
32. rror checking and timeout checks to insure that his her application does not hang VR_PMAC_SENDLINE This packet causes the string NULL terminated in EthCmd bData to be sent to the PMAC The string should not be terminated with a carriage return as this is done by the firmware One byte will be returned upon successful completion of the command EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_PMAC_SENDLINE EthCmd wValue 0 EthCmd wIndex 0 EthCmd wLength htons WORD strlen outstr strncpy char amp EthCmd bData 0 outstr WORD strlen outstr Example int CALLBACK PmacSockSendLine char outstr thCmd RequestType VR_DOWNLOAD thCmd Request VR_PMAC_SENDLINE thCmd wValue 0 thCmd wIndex 0 thCmd wLength htons WORD strlen outstr trncpy char sEthCmd bData 0 outstr WORD strlen outstr u HM Fi FI M FH send sock char sEthCmd ETHERNETCMDSIZE strlen outstr 0 recv sock char amp EthCmd 1 0 VR_PMAC_GETLINE This packet causes the Ethernet connection to return any available string that may be residing in the PMAC All characters up to a lt CR gt lt ACK gt or lt LF gt are returned The available string in PMAC is returned and is captured via an Ethernet Recv command It is recommended that this function not be used Use VR_PMAC_GETBUFFER instead as this functi
33. se of multiple devices e The DPRAM offset e The number of bytes to retrieve e The location to place the retrieved bytes The DPRAM offset is the number of bytes from the base DPRAM location To compute this value take the UMAC Turbo DPRAM address and multiply its offset by 4 The offset is always the last three digits of the DPRAM address For example for the address 6CD60 multiply D60 by 4 to compute the offset the offset for PMAC address 6CD60 is 0x3580 For X memory address the same applies except that 2 must be added to the offset calculation In practice it is not wise to call PmacDprGetMem for each item of data due to the structure of USB The reason is that each call can take 1 msec but so would a single call getting all the data More efficient coding would be as follows Typedef struct DWORD dwData WORD wDatal WORD wData2 Float fData Data PmacDprGetMem 0 0x3580 12 6Data Response to a request for 1 KB of data with a PmacDprGetMem call can take a minimum of 1 msec however if you called PmacDprGetMem for each byte it would have taken at least 1024msec Using DPRAM 15 Acc 54E Setting DPRAM for Automatic Reporting Features for Acc 54E The dipswitch SW1 should always be configured with all of the switches set to the CLOSED position However in the rare case that SWI has been changed the DPRAM address 124 must be changed to match the address This variable gives you the abilit
34. ssetsnsyavesveles EEE EMEA dyads 29 VR__PMAC_SEITBIT zez zy i O teva tata dis az Zyd dada cy TO aid dad U E iw e tt 30 VR PMAGSETBELS z an aee a aaa Eaa Ea EE aa a Ea Aaa EENE A A E R SSS 30 Table of Contents Acc 54E ii Table of Contents Acc 54E INTRODUCTION The UMAC Accessory 54E is a USB universal serial bus or Ethernet communications board designed exclusively for the UMAC Turbo Simultaneous use of Ethernet and USB communications is not possible the card must be firmware configured for either USB or Ethernet An accessory 54E Ethernet card may be reconfigured to be a USB card by just downloading a different set of firmware since the hardware necessary for USB communications is always on the board However the converse is not true An accessory 54E USB card cannot be reconfigured to an Ethernet card without installation of additional parts by the factory Acc 54E provides a version 1 1 specification compliant USB connection between a personal computer and a UMAC In the future the card may be capable of USB 2 0 with a factory hardware change The actual communication with the UMAC is performed via the built in host port of the UMAC Turbo PMAC 2 CPU This port is accessed via the PC104 connector pins JIA J1B J2C and J2D on the UMAC Turbo PMAC 2 CPU This means under normal circumstances you cannot use a PC104 computer with the UMAC and a PC104 host PC at the same time In addition this implies that the Tur
35. tches CLOSED unless more than one Acc 54E are being used with the same UMAC If more than one Acc 54E is in the rack SW1 must be set differently for each Hardware Setup 3 Acc 54E SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 PMAC DPR Address Range Closed Closed Closed Closed Closed Closed 6C000 6CFFF default Closed Open Closed Closed Closed Closed 74000 74FFF Closed Closed Open Closed Closed Closed 6D000 6DFFF Closed Open Open Closed Closed Closed 75000 75FFF Closed Closed Closed Open Closed Closed 6E000 6EFFF Closed Open Closed Open Closed Closed 76000 76FFF Closed Closed Open Open Closed Closed 6F000 6FFFF Closed Open Open Open Closed Closed 77000 77FFF J1 USB Type B Receptacle This connector is to be used in conjunction with USB A B cable which can be purchased from any local computer store The A connector is connected to a PC or Hub device the B connector plugs into the UMAC USB card The figure below displays what the two ends on the cable should look like Series A plugs are Series B plugs are always oriented upstream always oriented towards the PC or Hub downstream towards the USB Device the UMAC When the Acc 54E is purchased with the USB option this connector is used to communicate with the host PC When the Acc 54E is purchased with the Ethernet option this connector is used to install and upgrade microcontroller E
36. thernet firmware for the Acc 54E communication card and to program the static Internet Protocol IP address into an EEPROM that reads on startup No cable should be attached to this connector when communicating to this accessory via Ethernet The maximum cable length according to the USB Specification 1 1 for a full speed cable is 5m 15ft According to the USB specification you can connect up to five USB cables together with a hub to create a maximum length of 30m 98ft In addition to extend the length of the USB connection there are USB active extension cables available Use a USB cable of high quality Using higher quality USB cables some people have managed to operate up to 10m 30ft cables without the use of an active extension cable or hub However violating the specification by running a cable more than 5m is not recommended or guaranteed 4 Hardware Setup Acc 54E J6 Ethernet RJ45 Connector This connector is used for Ethernet communications from the UMAC to a PC The PC must have a card dedicated solely to the UMAC network when using the UDP protocol The appropriate Category 5 10 100 Base T network cable that mates to this connector can be readily purchased from any local computer store The type of network cable to purchase depends on the configuration to the host PC When making a direct connection to a Host communication Ethernet card in a PC a cat 5 networking crossover cable must be used A standard cat 5 stra
37. up as follows The received data is the response to the sent control character It is usually used for downloading a file Data should be of the form each line separated by null byte After sending the packet the programmer must wait to receive 1 byte via the Recv function before continuing The data received is irrelevant its purpose is to insure the sender s command was received EthCmd RequestType VR_DOWNLOAD EthCmd Request VR_FWDOWNLOAD EthCmd wValue htons WORD bRestart bRestart 1 on start EthCmd wIndex 0 28 PMAC Ethernet Protocol Acc 54E EthCmd wLength htons WORD len memcpy EthCmd bData data len send sock char amp EthCmd ETHERNETCMDSIZE len 0 recv sock char amp errcode 1 0 VR_PMAC_GETRESPONSE This packet causes the Ethernet connection to send a string to PMAC then to return any available strings that may be residing in the PMAC All characters up to an lt ACK gt or lt LF gt are returned If a lt BEL gt or lt STX gt character is detected only the data up to the next lt CR gt is returned The maximum amount of data that will ever be returned is 1400 Bytes It is the caller s responsibility to logically determine if there is more data to follow and if VR_PMAC_GETBUFFER needs to be called again to retrieve all of the data available EthCmd RequestType VR_DOWNLOAD EthCmd Request
38. ure RequestType is used in certain commands to indicate whether the request is an input with respect to the PC or an output command with respect to the PC Delta makes the following defines VR_UPLOAD 0xCO0 for a command sent to host and VR_DOWNLOAD 0x40 for a command sent to the device Request indicates what type of command you are requesting from the PMAC Ethernet connection Below is a list of defines for the currently supported command set define VR_PMAC_SENDLINE OxBO define VR_PMAC_GETLINE 0xB1 define VR_PMAC_FLUSH 0xB3 define VR_PMAC_GETMEM OxB4 define VR_PMAC_SETMEM OxB5 define VR_PMAC_SETBIT OxBA define VR_PMAC_SETBITS OxBB PMAC Ethernet Protocol 23 Acc 54E defin defin defin defin defin defin defin defin defin ooo 0000 0 0 Bie dee Z BECTNA JO W o o Q U U Z H d R lt lt z MAC_PORT AC_GETRI AC_READREADY RL_RESPONSE AC_GETBUFFER ESPONSE AC_WRITEBUFFE _ PMAC_WRITEERROR R_FWDOWNLOAD IPADDRESS OxBE 0xBF 0xC2 0xC4 0xC5 0xC6 0xC7 0xCB OxEO wValue is Request specific and its use is indicated in under the description of each command wLength indicates the length of the bData field below bData is the meaningful data that is sent to the PMAC Every command that is sent to the Acc 54E uses the ETH ERNETCM
39. y to use the automatic reporting features for the DPRAM If you are using a UMAC Turbo that has on board DPRAM 24 will get reset to a value that does not match the address determined by the switch SWI when you perform a card re initialization via the command or by installing the E3 jumper on the Turbo PMAC2 CPU Note To determine whether or not the UMAC Turbo has DPRAM check for the presence of U45 in the middle of the UMAC CPU board If U45 is present the UMAC Turbo has DPRAM If not it does not To enable the DPRAM Automatic reporting features requires that the user turn on the DPRAM automatic features for the device To do this from Pewin Pro go to the Setup Menu Item AND select the General Setup and Options Menu Item Then Click the Select button from the Default Device tab of the General Setup and Options dialog box The PMAC Devices dialog will then appear from the list box highlight the appropriate device by clicking it with the mouse You can then click the Properties button to open a dialog box you can use to enable the DPRAM features Now you have the ability to Enable Disable DPRAM automatic real time background function from the SelectDevice menu You may also want to set the update period and motor mask After turning on DPRAM automatic features you will have to exit Pewin Pro then restart it before the automatic features will turn on After doing this the speed of response when running the executive probably w
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