^2 Pcomm32PRO Installation and Troubleshooting
Contents
1. 0 ale Call cal Coal cal Col cdl el M DPRAM BackGround Update 100 BG Update Rate servo cycles 300 Monitor Rate rs M Enable Interrupts Cancel Ethernet Port DPRAM Configuration For Ethernet mode of communication along with DPRAM automatic update functions configuration the IP address can be viewed To set the Ethernet mode of communication or change the IP address use the Ethernet Configuration utility ti KI PMAC Device number 3 M DPRAM Automatic Functions F DERAM RealTime Update fzo RT Update Rate servo cycles 1 2 3 4 5 6 A Po SS es E se F DERAM BackGround Update fzo BG Update Rate servo cycles fzo Monitor Rate rs IPF Address 14 E 44 Cancel Firmware Downloads 19 PComm32PRO Installation and Troubleshooting Procedures Serial Port Configuration Select the Properties button in the Serial Devices menu to set the port number baud rate timeouts handshake options and others such as odd even parity checks Configure PMAC Serial Port PMAC Device number 46400 Jcom m ssa ml EN 20 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures TROUBLESHOOTING THE CONFIGURATION This section covers the issues of communication Firmware download and others related to changing the card Registry Issues under Windows 2000 and XP Part Give the appropriate group or user the right to load and unload device drivers in Windows XP cl2. Add Remove Hardware Wizard Completing the Add Remove Hardware Wizard The following hardware was installed PMAC ISA Motion Controller Check your hardware documentation to see whether you have to manually configure your new hardware For the hardware to work you will have to restart the computer To view or change the resources for this device click Resources To close this wizard click Finish lt Back Finish 12 Proceed to the First Time User section of this manual Application Installation and Setup 11 PComm32PRO Installation and Troubleshooting Procedures Non Plug and Play ETHERNET Devices Installation for all Supported Operating Systems Configure the Ethernet devices by launching the ETHConfigure EXE or ETH2Configure EXE for 10 Base T and 100 Base T applications respectively Delta Tau provides these files as part of the Pewin32PRO Suite or any other Delta Tau standard installation Installation and configuration of Ethernet devices is independent of the operating system The Ethernet mode is supported by a dedicated network only A network card must be configured on the computer with the PMAC connection before proceeding Furthermore a crossover Ethernet cable or a private hub along with two straight cables is required for this setup 1 Perform the steps outlined in the Software Installation section of this manual 2 From the control panel select the properties of the network card that will
3. To continue click Next 8 Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 3 From the Choose a Hardware Task screen select Add Troubleshoot a Device Add Remove Hardware Wizard Choose a Hardware Task Which hardware task do you wantto perform __ lt Back nes Cancer _ 4 From the Choose a Hardware Device screen select Add a New Device Add Remove Hardware Wizard Choose a Hardware Device Which hardware device do you want to troubleshoot Add a new device m ACPI Fixed Feature Button Programmable interrupt controller System timer Direct memory access controller ee Standard 101 102 Key or Microsoft Natural PS 2 Keyboard F Printer Port LPT1 Add Remove Hardware Wizard Find New Hardware Windows can also detect hardware thatis not Plug and Play compatible Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 6 From the Hardware Type screen select Other devices This is done for the first installation only Once the operating system s device database is updated all motion controllers will be listed in the hardware types list Use this for future PMAC hardware device additions Add Remove Hardware Wizard Hardware Type ata What type of hardware do you want to install Sy Select the type of hardware you want to install Hardware types am Imaging devices A Infrared
4. USER MANUAL Pcomm32PRO Installation and Troubleshooting Procedures DELTA TAU 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 cont
5. 2 NA FMAC 3 PCIO Plug and play Insert PMAC 4 NA PAC A Remove PMAC 6 ETHO 1P 192 6 94 5 PMAC USBO Plug and play Test Properties Cancel Firmware Downloads 17 PComm32PRO Installation and Troubleshooting Procedures 3 Once a PMAC is listed in the PMAC Select window it is registered After a device is registered it should be tested At this time the following screen displays and the device is ready to use in any application PCOMM32 EJ IA The PMAC was sucesstully detected ISA USB Modes DPRAM Configuration The DPRAM automatic realtime background update functions can be enabled or disabled from the properties option of the PMAC Devices menu The motor mask and global data update rate for both of these automatic functions can be selected Dialog l PMAC Device number 1 M DPBRAM Automatic Functions M DPRAM RealTime Update a RT Update Rate servo cycles 1 2 3 4 5 6 7 RE wie fw fw fo fo Dr l DPRAM BackGround Update f 0 BG Update Rate servo cycles 50 Monitor Rate ms Cancel 18 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures PCI DPRAM and Interrupt Configuration For PCI PMACs along with DPRAM automatic update functions the additional Enable Disable Interrupt option is available Dialog o PMAC Device number 0 M DPRAM Automatic Functions M DPRAM RealTime Update 24 RT Update Rate servo cycles fl 2 3 4 5 fh
6. BS Motion Controllers Eg PMAC PCI Motion Control Card BS Network adapters Other devices af Ports COM amp LPT ATEN USB to Serial Cable COMMS Ei Communications Port COMI Ei Communications Port COME jg ECP Printer Port LPT1 Sound video and game controllers System devices Setting up COM Port in Pewin32PRO 1 Open Pewin32PRO or similar product and select Setup from the Menu option 2 Go to General Setup and Options and click the Select button and Insert All available devices and COM numbers will display Available PMAC Devices PMAC devices not registered Prnac ETHO IF 192 6 94 5 Prnac ETH1 IF 10 0 0 121 Oe DTI 3 Select the COM port from the PMAC Devices dialog box Click Test to verify communication with a PMAC device PMAC Devices PMAC 00 SERS COMS Baudrate 38400 Panty None HA Remove Test Properties Cancel Application Installation and Setup 15 16 PComm32PRO Installation and Troubleshooting Procedures Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures FIRST TIME USER REGISTER THE NEWLY INSTALLED DEVICES Once the driver is installed use the PmacSelect dialog to continue with additional configurations The PmacSelect dialog is accessible by all programs created with PComm32Pro via the PmacSelect function Launch the supplied Delta Tau application Pewin32Pro PMACTestPro o
7. Edit drop down menu 6 The Permissions for the PMAC dialog box will occur From that dialog box click the Add button and then select the group or user to run Delta Tau Software Note Under XP if the Select Device from Pewin32PRO or the application cannot see a COM port locate the HKEY_LOCAL_MACHINE Hardware DeviceMap SerialComm key and give permission to all users to have full control over this key and all entries in it Firmware Downloads 21 PComm32PRO Installation and Troubleshooting Procedures Configure Reconfigure Parameters Here are some of the issues that may come out during launching a PMAC application where the applications may fail to establish communication The following items cover different modes of communication individually ISA PMACs I O Port Address DPRAM and Interrupt Assignment Full configuration of all ISA PMACs can be viewed and modified from the Device Manager A yellow or a red sign next to the PMAC ISA controller means that either there is a conflict between the parameters on PMAC and the host computer or DPRAM is not present while the card has been configured to use DPRAM General Device Manager Hardware Profiles Performance Viewdevicesbytype C View devices by connection ES al Computer rq 28 CDROM F o B Disk drives E m Display adapters Floppy disk controllers E H E Hard disk controllers 2 Keyboard H A Modem I E m Monitors lt gt Motion RE
8. com View the website at www deltatau com for the latest information and updates To speak to a technician directly call Delta Tau Monday through Friday from 9 00 a m to 4 30 p m PST or fax the request or problem and it will be handled on the next business day Delta Tau Data Systems Inc Email support deltatau com 21314 Lassen Street Voice 818 998 2095 Chatsworth CA 91311 Fax 818 998 7807 2 Introduction PComm32PRO Installation and Troubleshooting Procedures APPLICATION INSTALLATION AND SETUP This is a generic procedure for installing and setting up the application and communication drivers for the Delta Tau PMAC This procedure is applicable regardless of the application being installed e g PRO Suite PTalkDTPRO PComm32PRO etc Software Installation 1 Uninstall all old Delta Tau software applications including Pewin32 PmacPlot NCUI32 PComm32 PtalkDT and the setup programs P1Setup32 P2Setup32 and TurboSetup32 before beginning the new installation 2 Install PComm32PRO and or the application containing PComm32PRO i e PRO Suite PTalkDTPRO PmacPanelPRO etc A setup application is provided on a CD ROM or floppy disk with the Setup EXE application Follow the steps provided by the setup application 3 Restart the computer Automatic Detection of Plug and Play Devices 1 Perform the steps outlined in the Software Installation section USB and PCI Plug and Play devices are configured automatically a
9. communicate to the PMAC via the Ethernet Highlight the Internet Protocol TCPIP selection and select Properties Local Area PMA Properties a 2 gt lt Genera l Shearing Connect using Som EtherLink 10 100 PCI For Complete PE Management Mn Configure Components checked are used bw this canne ction l Client for icri a pL File and Printer Sharing tor bAicroasot Metworks Internet Protocol T CAFI Install Lininstall Description Transmission Control Protocolfinternet Protocol The default weide area network protocol that provides communication across drrerse interconnected networks Show icon in taskbar when connected 3 Type the private area IP address e g 192 6 94 2 for this card and enter the subnet mask 255 255 255 0 in the provided spaces Close the properties page and restart the computer The Ethernet card configuration on the computer is complete Internet Protocol TCP IP Properties E 2 gt lt General ou can getiP settings assigned automatically if our network supports this capability Otherwise you need to ask sour network administrator tor the appropriate IP settings Obtain an IF address automaticalky IP address 192 G gA z Subnet mask 255 55 255 0 Detault gatewas Obtain DWS server address autematicalls f Use the folowing OMS server
10. dewices 5 Memory technology driver Modems Z Multi port serial adapters Be Network adapters lt Bock cance _ 7 Once the device database is compiled Delta Tau Data Systems Inc will be added to the manufacturers list Scroll through the manufacturers list and select Delta Tau Data Systems Inc Add Remove Hardware Wizard Select a Device Driver Pha tae Which driver do you want to install for this device Sy Bei Select the manufacturer and model of your hardware device and then click Next Ifyou have a disk that contains the driver you want to install click Have Disk Manufacturers Models Delta Tau Data S PMAC ISA Motion Controller systems Inc Have Disk lt Back cancel 8 Select the model from the available list PMAC ISA Motion Controller Windows 2000 XP allows resource configuration during installation Therefore at this stage base address DPRAM configuration and or IRQ assignments can be configured The following table gives details of all configurations By default the basic configuration O is selected Configuration Number Modes of Communication Basic Configuration 0 Communication through host port only Basic Configuration 1 Communication through host port with DPRAM regular size enabled Basic Configuration 2 Communication through host port with DPRAM regular size and interrupts enabled Basic configuration 3 Communication through host port with interrupts enabled Basic Conf
11. E IE EE EN E see E EAN E A ee S EN A E E EN 21 DST ison si vase eased aise E saa oes yo usar E seeded E E snan are A E denen sate naaaeeiweoceese a 21 Confieure Reconfigure Parameters icsiescscccciesscdasvssstessvacacenavaondeedondaudenniovdassiceueaadbyoudsssastyecsanebadecthosacesduesees 22 ISA PMACs I O Port Address DPRAM and Interrupt ASSIQNMENL ccccccceeeeeccececeeenaeeeseceeseeeaaanees ZZ PCI PMACs I O Port Address DPRAM and Interrupt ASSIQNMENL cccccccsseeeeeeccceeeeeeeeeeecesesenaaeees 24 USB PAG COM IOUT O EEE E E E TE ENE E EEN I ETEN EE 24 CTIA POT ONO OOT aE E SS ES 23 Higher Baud Rate Considerations sccicsssiesssavencessdsoniensszsieatessusesesstavieadededsusuasseilceidesenseaieadsieentetetsadeassaaenteeeds 25 LODOS a OVET OT eens EEEE E AOE 23 PFCOCMCGIAIPCI To Serial AGQVICTS osia e E REE EEEE AEREE 25 LINEE T On CONTU COT eas EEE S E EEEE 25 PEUTIC TI COICO LOT crasirsarcrearcen scene nap reas seintateeunnasonesenccsess an csdnanceseeeastneseeenuossvassoeantaoedeesone EAN ESS 26 Changing Mode of Communication between USB and Ethernet cccccccccccccesssseeeecceeeeaaeeseceeeeeeaaaeess 26 PComm3ZPRO Benchmark TMS sscciiccatncsreasssinnvstansaneankoasinnass aganaanneqsnoandaasiocshsnenuaasugawwanesennenstessnmasauauneaay 27 FIRMWARE DOWNLOADS c seceucevansesecs secs seeeeesseaeiee ie 29 PMAC PMAC2 Firmware Downloading JUMPefPS c cccseeeeceecececeeeceeeeaeaeeseeseeeeeeeeeeeeeeeeeeaaaaaeaessees 29 Fi
12. E Turba UL Serial No Store ID 9 Proceed to the First Time User section of this manual Installing Serial Devices in Windows Operating Systems Configure the Serial Device to accept a Delta Tau product and identify which COM port each product is connected to Pmac Umac etc 1 Open the Device Manager in the Control Panel Go to Ports COM amp LPT and highlight the port being configured Right click and select Properties 3 Click on the Port Settings tab and verify that the settings are as follows e Bits per Second 38400 default e Data Bit 8 default e Parity None default e Stop bits 1 default e Flow Control None default Communications Port COM Properties General Port Settings Driver I Resources Bits per second EREMI a Flow control None wt Restore Defaults 14 Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures Installing USB to Serial COM Port Plug and Play After installing the USB to the Serial Device in Windows successfully the newly added COM Port displays in the Device Manager e g ATEN USB to serial cable COM3 with the new COM port number Device Ma nager ol 4ction view Help Hee PU NICK lt P Y Computer S Disk drives a Display adapters 4 DYDICD ROM drives Floppy disk controllers A Floppy disk drives IDE ATASATAPI controllers a Keyboards 1 Mice and other pointing devices Monitors
13. Fx 1ic file Click OK to start the download On completion select the correct hardware type e g ACC 54E CPCI QMAC and PC104 Enter the IP address in the address box and select the mode either UDP dedicated network or TCP on the same subnet St Se ee oe 9 Click Done to close the application 10 Remove the USB cable and power cycle the PMAC and the communication board to complete the process PComm32PRO Benchmark Times The following table provides detailed benchmark times for the PComm32PRO driver m SF ae at Turbo PMAC Turbo PMAC 2 0 100 base T 38400 Re il Ol eed E Rall FF Port only Port Port only a bull _ Asc a Fak a Asc ang 1 8 ms Raia 4 ms 5 ms 2 30 ms 115 Sse 8192 I Variables 8192 I Variables SetMem 8Kbyes GetMem 8Kbytes Firmware Downloads 27 28 PComm32PRO Installation and Troubleshooting Procedures Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures FIRMWARE DOWNLOADS This section describes the step by step procedure used to update or change the firmware for any PMAC with flash memory PMAC1 PMAC2 Ultralite Turbo PMAC1 Turbo PMAC2 Turbo Ultralite and UMAC All of the information in this document assumes that the user has a legal copy of the firmware for their PMAC If the user has any questions about uploading firmware contact Delta Tau Data Systems Inc To change the firmware place the card into bootstrap mode by powering up the controller wi
14. NEA SA Moton Conroter l lt gt FMAC Serial Port Motion Controller O blouse i 4 BA Network adapters PCMCIA socket qe a Parts COM amp LPT Refresh Remove Properties lt Cancel The properties page of the PMAC ISA will reveal the details of the parameters Configure the port address and add or remove DPRAM and interrupt according to the following table Configuration Number Modes of Communication Basic Configuration 0 Communication through host port only regular size enabled regular size and interrupts enabled enabled large size enabled large size and interrupts enabled 22 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures All ISA type PMACs are non Plug and Play and therefore require manual configuration for I O address DPRAM and Interrupt assignment Match the port address to PMAC s jumper settings or switch settings for PMAC2 map the DPRAM at an available space in the PC and assign an interrupt card The following figure gives the details of the alam of the troubled PMAC ISA device Gone Driver Resources e F 2 PMAC ISA Motion Controller oe rF Use auto matic setin 19s A Setingb based c on Essie coniguration 2 w S Renge 00000000 000D3FFF a Renan RETI 13 ieee E Lucent 56K V 90 PCI DFi Modem Interrupt Request 03 used by tell aG Holder for PCI IRC Steering Cancel Available or more important
15. PMAC before the DPRAM is used after firmware download is complete 5 The program will then ask for a bin file which is actually the firmware binary file The firmware file not provided with any installation is required and can be purchased as an Delta Tau Option OPT 10 For this example the file is for a UMAC Turbo PMAC2 type and is called TURBO2 BIN Once purchased store the binary file in any directory After the file is selected click the Open button am Frogram bir Turbot bin Es Turboe Files of type Firmware Files bin Cancel Open as read only we 6 The program will then ask for initiation of the download Click the Begin button Fress Begin to initiate firmware download Percent Done Firmware Downloads 31 PComm32PRO Installation and Troubleshooting Procedures 7 When the download file is complete the following screen displays There is a 5 second delay before the Done button is available Click the Done button Downloading Firmware 9 Power down the system and remove the bootstrap jumper Then restart the controller with the new firmware 32 Firmware Downloads
16. SCII communication 24 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures e For Turbo PMACs using an USB mode of communication the DPRAM is mapped at 6C000 instead of 60000 for ISA and PCI PMACs 124 determines the address of the DPRAM on a PMAC It must correspond to the USB address 6CO000 to establish communication Use the serial communication or some other mode to set I24 6CO00 before using the USB mode of communication e If the UMAC CPU has the onboard DPRAM option present reinitialize with the E3 jumper and manually change the value of 124 to 6CO00 Future generations of USB PMACs will be available in both with or without DPRAM option configurations See the ACC 54E User manual for detailed information Serial Port Communication Serial communication has its usual issues baud rate parity and handshake signals This driver requires all of these settings to be correct for successful communication Baud rate is the most essential of all e PComm32PRO will not function correctly if the baudrate on the serial port of the host computer is different from the PMAC settings e Having been able to communicate via Hyper Terminal is a necessary but not sufficient test in case there is a problem in establishing the communication e Normal PMAC firmwares with few exceptions do not support parity Furthermore this driver uses both RTS enabled and CTS checked handshake signals by default However it is
17. addresses Preferred DPS server Alternate DMS server P g g Advanced OK Cancel 12 Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 4 To configure the PMAC side run the EthConfigure EXE application from programs Pewin32PRO program group This application is provided as part of the standard installation and is placed in the c Program files Delta Tau Common folder Proceed to the main screen by clicking OK The following message is for future use Eth Configure E x lt AN Plug in the USB connector on the card to store 4 new IP address into the accessory or program new FAY into the EEPROM The following setup screen will appear Ethernet Configuration i x Code Program Done Bootstrap firmware has not been Store Bost programmed this session re Store F W Application firmware has not been programmed this session IP Address Protocol 192 6 4 5 UDP C TCP HAN Type ACC54E CPCI C OMAC C PC104 VME Turbo UL Serial No Store MAC ID E0 38 1 3 00 77 B5 5 Select the appropriate settings from the following a Enter the IP address e g 192 6 94 5 in the Store IP row Make sure that this address is in the same subnet as the IP address in the PC NIC card The last entry must be different from the one in the PC Ethernet Card b Select the correct protocol betwe
18. assic view is required or Windows 2000 Log on to Windows 2000 with administrator rights Open the Start Menu go to the Settings Menu Item and then open the Control Panel Next open the Administrative Tools Next open the Local Security Policy From the Local Security Settings window expand the Local Policies Tree Click the User Rights Assignment folder Se eS a SS In the windowpane on the right side double click the Load and Unload Device Drivers policy setting This will open the Local Security Policy Setting window 8 Click the Add button in the dialog box and add whatever group or user that will have the capability to load and unload the drivers that is anyone who will run software that communicates to Delta Tau Hardware Part Il Give the appropriate group or user the right to read and write to the HKEY_LOCAL_MACHINE System CurrentControlSet Services PMAC key 1 From the Run menu execute the program REGEDT32 EXE in Windows 2000 or REGEDIT EXE in Windows XP 2 From the Windows pull down menu in the registry editor select HKEY_LOCAL_MACHINE This step applies only to Windows 2000 Skip this step for XP 3 Expand the tree in the left panel to HKEY_LOCAL_MACHINE System CurrentControlSet Services PMAC 4 Highlight the PMAC key in the left panel Click the Security Menu item in the Registry Editor Then select Permissions from the drop down menu in Windows 2000 In Windows XP the Permission menu item is in the
19. d Firmware Download Supported Modes Starting with PRO Suite 2 0 all modes of communication support firmware downloads provided that a host port communication is available For UMAC via USB and Ethernet ACC 54E Revision 102 or above is required Firmware Download Steps 1 Apply the bootstrap jumper as described in the previous table 2 From Pewin32PRO menu go to the Setup menu and select General Setup and Options PEWIN32PRO C PROGRAM FILES DELTA TAUSPEWIN32PRO4 PEWIN32PRO0_Default_INI Fille Configure View Backup Setup Tools Window Help General Setup and Options Force All Windows to Device Number Show Message Window Fa Show Project Manager Fe 3 Select the appropriate device and then click on the Test button PHAC Devices PMAC 0 USBO Plug and pla IPMAC 1 SEARO COM Baudrate 36400 Parity Mone of tet i Properties Cancel Test 30 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures 4 The controller is now in bootstrap mode Click the OK button If Cancel is clicked the system will issue a CTRL R and restore normal operation to the PMAC PHAC Devices PMAC 0 USBO Plug and ola Ok PMAC 1 SERU COM Baudrate 38400 Parity None PCOMM 32 Insert N The PMAC is in Bootstrap Mode Remove r Test E Cancel Properties Cancel Important Note If an ISA PMAC is configured for DPRAM power cycle the
20. e database is modified Motion will be listed in the hardware types list Select the motion type for future device additions Add New Hardware Wrirard Select the type of hardware you wantto install Hardware types emors Technology Drivers ITOs a MICROTEK Scanners Miodem j Monitors SyMouse Miulti tunction adapters Network adapters Other devices PLMCIA socket aF Ports COM amp LPT lt Back cancel _ 6 Once the device database is compiled Delta Tau Data Systems Inc will be added to the manufacturers list Scroll through the manufacturers list and select Delta Tau Data Systems Inc Add Remove Hardware Wizard S Select a Device Driver Din Ras Vvhich driver do you want to install for this device SJ Bei Select the manufacturer and model of your hardware device and then click Next If you have a disk that contains the driver you want to install click Hawe Disk Manufacturers Models Delta Tau Data Systems Inc PMAC ISA Motion Controller Have Disk lt Back cancel Notes a Starting with ProSuite 3 2 Service Pack 2 and PComm32PRO version 10 47 serial device driver has been eliminated All PMACs now use Microsoft s default serial driver b This allows the use of most off the shelf USB to Serial converters Select PMAC ISA Motion Controller from the Models column as show in the previous screen Base address memory configuration and or IRQ assignment
21. e resources according to Jumper settings and available computer resources on the PMAC controller PMA IDS Paoton Controller Properties General DOi riser Resources es Prat ISA Motion Controller I Lise automati s ettin g Setting based on Basic configuration Conflicting device list elo conflicts 11 The following table provides the details for the different configurations Configuration Number Modes of Communication Basic Configuration 0 Communication through host port only regular size enabled regular size and interrupts enabled enabled large size enabled large size and interrupts enabled A computer restart may be required once the resources have been altered Once a device is configured successfully it is registered and available for use Registering a serial device along with its configuration such as port number baud rate timeouts handshake and parity options is completed at the application level Read the First Time User section of this manual for detailed instructions Windows 2000 XP Installation Steps Non Plug and Play ISA Devices 1 Perform the first three steps outlined in the Software Installation section of this manual 2 Select the Add Remove New Hardware option from the control panel Add Remove Hardware Wizard Welcome to the Add Remove Hardware Wizard This wizard helps you add remove unplug and troubleshoot your hardware
22. en UDP and TCP Only TCP mode is recommended for future Ethernet communication c Select the correct hardware type d Click the Store IP button 6 Click Yes to store the IP address in the registry Close the main screen The Ethernet PMAC has been added to the device list 7 For communication boards supporting both USB and Ethernet ports it is possible to configure one mode and disable the other mode by downloading the appropriate firmware in the communication board A special firmware file and USB cable is required not provided with standard installation Contact Technical Support to change the mode of communication For detailed instructions on how to switch the communication mode between USB and Ethernet on an ACC 54E board or any other PMAC supporting Ethernet and USB mode read the ACC 54E User manual Application Installation and Setup 13 PComm32PRO Installation and Troubleshooting Procedures 8 Similar to Ethernet Configuration utility a USB configuration utility is also provided with any standard installation The USB configuration utility configures the communication card for USB provided that the correct hardware type and serial number are selected USB Configuration x m Code Program Bootstrap firmware has notbeen store Boot programmed this session Store E W Application firmware has not been programmed this session HA Type C ACC54E C CPCI QMAC C PC104 VM
23. fault Windows 98 ME XP c windows system32 drivers Windows 2000 c winnt system32 drivers Proceed to the First Time User section of this manual Notes a For Plug and Play devices the I O port DPRAM base address and Interrupt are assigned by the operating system There is not an option to change or disable these parameters However the parameters assigned by the operating system can be reviewed in the Resources page of the Windows device manager as shown in the screen below b From the latest driver the interrupts can be enabled or disabled from the properties option of the PmacSelect function Proceed to the First Time User section of this manual for details PMA PCI Motion Control Card Properties E x General Driver Resources PRA POI Motion Control Card Resource settings Resource oe MS emors Range E1800000 E180FFFF BE npuy Output Range B000 B0FF B Interrupt Request 0s Setting Based orm Current configuration e Ose automatic settings hange Setting Conflicting device list Mo conflicts cance Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures Non Plug and Play ISA Devices Non plug and play ISA devices are configured through the standard Windows Add New Hardware wizard The steps involved in the installation of the PComm32PRO driver under Windows 98 ME and Windows 2000 XP are slightly different The next th
24. files ETHConfigure EXE ETH2Configure EXE USBConfigure EXE and USB2Configure EXE Ethernet and USB configuration applications are responsible for boot firmware download and the IP configuration application is responsible for USB and Ethernet modes of communication The illustration below shows how these modules are related 32 Bit Applications PMAC PComm32 Driver Structure Introduction I PComm32PRO Installation and Troubleshooting Procedures Supported Operating Systems The following operating systems are supported e Windows 98 e Windows ME e Windows 2000 e Windows XP Hardware Requirements The PComm32PRO for Windows requires minimum specification of hardware for reliable operation and acceptable performance These requirements include e 400 MHz Pentium II and above of course a faster computer will yield better throughput e Atleast 20 MB of free disk space and 64 MB of RAM PRO Suite requires a minimum of 50 MB of free disk space e A free serial communications port USB port Ethernet port PCI BUS slot or ISA BUS slot to talk to PMAC for on line processing e Any monitor with VGA resolution 800x600 with at least 256 colors suggested but 640x480 works fine Technical Support Delta Tau will respond to any questions or concerns regarding the PComm32PRO or other Delta Tau software packages based on PComm32PRO For the quickest response send the inquiry to the following e mail address support deltatau
25. iguration 4 Communication through host port with DPRAM large size enabled Basic Configuration 5 Communication through host port with DPRAM large size and interrupts enabled 10 Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 9 Select the appropriate configuration and after highlighting the resource click on Change Setting to set the values Add Mew Hardware Wizard Properties E E 7 x Resources lt gt Linknown Device Resource settings Resource pe In E uO utp ut Ran ge o210 021F Setting based on Basic configuration 0000 lise sutemeatic settings Change Setting Conflicting device list Ho conflicts i 10 Select the driver file PMACISA SYS Browse to the correct folder For Windows 2002 it is located in C WINNT System32 Drivers and for Windows XP it is located in C Windows System32 Drivers folder Files Needed is x AA The file pmacisa sys on Delta Tau Data Systems Inc Installation Disk 1 System is needed Cancel Type the path where the file is located and then click OF Copy files fram CA WN system ae drivers Y Browse 11 Finish the installation and restart the computer Review and reconfigure the resources before restarting the computer Furthermore these resources can be changed at any time by launching the Device Manager and the Add Remove Hardware Wizard and clicking Resources
26. iled information on the comparison of the two protocols their advantages and disadvantages Firmware Downloads 25 PComm32PRO Installation and Troubleshooting Procedures Ethernet RJ45 Connector This connector is used for Ethernet communications from a UMAC to a PC The PC must have a card dedicated solely to the UMAC network The appropriate Category 5 10 100 Base T network cable that mates to RJ45 can be purchased from any local computer store The type of network cable to purchase depends on the configuration of the host PC e When making a direct connection to a Host communication Ethernet card in a PC a Category 5 networking crossover cable must be used A standard Category 5 straight through networking cable cannot be used in this scenario See the left section of the diagram below e When using a connection to a network Hub or switch the standard Category 5 straight through networking cable must be used and not a crossover cable See the right section of the diagram 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 15 msec to UMAC communications Netvyrork Switch or Hub Host Pl UMAC Rack UMAC Rack Crossover Cable Required J Straight Through Cables Required Changing Mode of Communication between USB and Ethernet UMAC CPCI and PC104 with both USB and Ethernet options prese
27. interrupts No steps are required in configuring the interrupts Similarly if the option is present DPRAM is configured and mapped automatically Bootsprap mode is recognized automatically The correct sequence for loading the device is to install the driver first and then add the PMAC PCI On the next boot the device will be recognized and the driver will be loaded by the operating system automatically If the PMAC PCI was added and then the software driver was installed later once the driver files are loaded update the driver manually The driver can be loaded easily by giving the right path for the Setup Information file PMACPCI Inf and the driver file PMACPCI SYS These files are located in lt WINDIR gt Inf and lt WINDIR gt System32 Drivers folders respectively where lt WINDIR gt c windows for Windows 98 ME XP lt WINDIR gt c winnt for Windows 2000 The easiest way to reload a PMAC driver is to install the PC driver first Then reinstall the hardware and reboot the host computer USB PMACs Configuration USB PMACs behave similar to the PCI PMACs with one exception USB PMACs can be plugged in and out at any time The device will be added to or removed from the device manager automatically Sometimes it is possible to unplug the USB device even if an application is communicating to it e For the current hardware all USB PMACs have DPRAM and the DPRAM 1s available for automatic DPR functions along with the DPRAM A
28. ite Universal 602182 182 E3 E23 UMAC Turbo 603382 10x E3 E23 Turbo a Flex CPU PMACI PMAC2 ed CPU Memory Part Number Re Initialization Bootstrap P1 PC VME Flash only 603605 10x E51 E7 P2 PC VME Flash only 603605 10x E3 E7 MINI PC Ultralite VME Ultralite Firmware Downloads 29 i 5 Universal PComm32PRO Installation and Troubleshooting Procedures Re Initialization This copies the factory default values of I variables conversion table settings and VME and DPRAM address settings from the firmware EPROM into active memory Bootstrap PMAC enters a special re initialization mode that permits the downloading of new firmware on flash only CPUs PMAC can communicate over the PC STD bus port or over the serial port at a baud rate of 38 400 regardless of the setting of the baud rate jumpers Battery Backed CPU There are EPROMs for the firmware EEPROM for the basic variables most I variables conversion table settings and VME and DPRAM address settings and battery backed RAM for the rest of the I variables programs definitions buffers and tables Flash Only CPU This has segmented flash EEPROM that consists of two sections one holds the firmware and the second holds all the user settings To bypass the firmware download procedure send lt CTRL R gt Universal CPU This is a CPU that can be built as a battery backed or flash only CPU Turbo CPU This is similar to the flash only CPU CPU piggyback boar
29. ly unavailable parameters are listed in the Device Manager menu of the computer Important Note e IfanISA PMAC is configured for DPRAM and after firmware download has been completed power cycle the PMAC before the DPRAM can be used e Large DPRAM 64Kbytes is supported under ISA mode of communication However under Microsoft operating systems it is configured at even addresses only and therefore only two ranges DOOOO DFFFF and E0000 EFFFF are supported for large DPRAM option Firmware Downloads 23 PComm32PRO Installation and Troubleshooting Procedures Computer Pro ue ties View Resources Pem E input output 7 0 pee Memory Pele eh ca ae 5 i Seting l EIERE using the setting ee T I 00000000 0009FFFF Unavailable tor use by devices oo040000 0004FFFF RAGE MOBILITY M1 AGP English a im 00060000 000BFFFF RAGE MOBILI T M AGP English f a m DO0COO00 OO0CFFFF RAGE MOBILITY M1 AGP English po i OOODO000 O00D3FFF PMAC ISA Motion Controller PF 00004000 000D7FFF System Reserved i ie il NOOE DNDN QO0EfFFF Unavailable for use by devices 7 H ar memi request IRG s Direct memory access DMA El annar annn OCOC lda oe De faun PCI PMACs I O Port Address DPRAM and Interrupt Assignment All PCI PMACs are plug and play and therefore are configured at boot time For PCI PMACs the interrupt is configured automatically The Delta Tau driver works on the basis of shared
30. ndows 98 ME than Windows 2000 XP Therefore the following steps are necessary to assign the appropriate resources to the PMAC ISA configuration Steps for resource reconfiguration are as follows There are essentially four configurations available for ISA BUS They are I O Port only I O Port with DPRAM I O Port with DPRAM and IRQ and finally I O Port with IRQ only These four configurations are mutually exclusive Under Windows 98 ME these resources can be changed only from the System s device manager The Device Manager can be launched from the Control Panel s System Properties menu or directly by clicking the Properties option in My Computer on the Desktop System Properties General Dewice Manager Hardware Profiles Peformance View devices by tepe VWiew devices bs connection E Computer gy CDROM E Disk drives al Display adapters Sa Flopp disk controllers Sa Hard disk controllers EFE Keyboard Modern T pAonitars lt gt KA otiaon En a o Erte ISA beotian Controller Ey Mouse B Metwork adapters Ports COM amp LE Sound vided and game controllers m System devices Properties Roetresh Remowe Print HEEseaEag Close sth ea Application Installation and Setup 7 PComm32PRO Installation and Troubleshooting Procedures 10 From the System Properties screen of the PMAC ISA Motion Controller select the desired configuration and change th
31. nt allow changing the mode of communication between the two PComm32PRO library and Pewin32PRO Suite come with two utility programs USBConfigure EXE and EthConfigure EXE To activate these utilities e Enter the IP configuration serial number and part identification number e Download the boot firmware Procedures involving these updates are USB Boot Firmware 1 Call Delta Tau Technical Support to get the latest boot firmware file Connect a USB cable from PMAC s communication USB port to the computer s USB port Turn on power to the PMAC board Launch USBConfigure EXE from the Programs menu Click the Store F W button Browse to get the path of the PmacUSBxxxFx 1ic file Click OK to start the download On completion select the correct hardware type e g ACC 54E CPCI QMAC and PC104 Enter the serial number from the communication board in the box provided and click Store ID Se a aS es Se S Click Done to close the application 10 Power cycle the PMAC and the communication board to complete the process 26 Firmware Downloads PComm32PRO Installation and Troubleshooting Procedures Ethernet Boot Firmware Call Delta Tau Technical support to get the latest boot firmware file Connect a USB cable from PMAC s communication USB port to the computer s USB port Turn on power to the PMAC board Launch ETHConfigure EXE from the Programs menu Click the Store F W button Browse to get the path of the PmacETHxxx
32. possible to change these settings Once changed the serial port may require a reset Reboot the host computer to ensure that the changes have taken effect Higher Baud Rate Considerations For customers asking for a baud rate higher than 38400 the following table may be helpful PMAC CPU Speed Supported Baud Rates All PMACs 9600 19200 38400 BPS 60 MHz 90 MHz 120 MHz 150 MHz 9600 19200 38400 57600 115200 BPS Note Most PMACs support 76800 BPS However 76800 BPS is non standard for most PCs and Microsoft Windows and is not listed in the Com Port settings USB to Serial Converter Starting with Service Pack 2 most of the USB to Serial converters are supported PComm32PRO now supports the Microsoft serial driver PCMCIA PCI to Serial Adapters Similar to an USB to Serial converter PCI to Serial converters can be used also as long as the COM port is created in the Device Manager Ethernet Port Communication Ethernet communication does not involve any Ring O driver The commands are directed from the DLL directly to the Socket Therefore there is no Ethernet PMAC device listed in the Device Manager Follow the installation steps in the Ethernet Basic Configuration section The following additional steps can ensure reliable Ethernet communication 1 Ping the Ethernet card from a command prompt 2 For maximum speed only the dedicated mode of communication is recommended Read the ACC 54E Revision 2 User manual for deta
33. r any application from the program menu and display the PmacSelect dialog adaalat aed sl za tc twti i SOSC drrsS General View Default Device OK When multiple PMAC devices exist and forms windows are opened PEVINS 2 can promptyou each time tor which device ta use Alternatively you can have PEVvVING use a default Inser M Prompttor device number each time a new window is Rete opened Choose a default device number 0_ 7 Device 1 Select Cancel Eropemes Cancel Pewin32Pro From the main menu item setup select Setup General Setup and Options rr Select the Default Device tab Click the Select button Pcomm32Pro Run the supplied PmacTest application From the main menu select Configure Communications Also call the PnhacSelect function from any application that has been coded PtalkDTPro Call the SelectDevice function of PTalk from the supplied or self created programs 1 From the PMAC Devices screen select the device number and click Insert The following window listing all configured devices will appear West FLUE Available PMAC Devices a x PMAC devices not registered PmacETHO IP 1926 945 Fmac ISAD Fort 0x210 Intr M A Fmac PCIO Fmac SERU COM Fmac USB0 2 Select the device to be configured and click OK PMAC Devices x PMAC D ISAD Port 0x210 Int N A DPRAM 0xD4000 PMAC 1 SERO0 COM1 Baudrate 36400 Parity Mone PMAC
34. ree sections describe all the necessary steps involved Windows 98 ME Installation Steps Non Plug and Play ISA Devices 1 Perform the three steps outlined under the Software Installation section of this manual 2 Select the Add New Hardware Wizard from the control panel Add New Hardware Wizard This wizard installs the software tor a new hardware device Before continuing close any open programs To begin installing the software tor your new device click Next Windows will now search for any new Plug and Play devices On your system our screen may qo blank during this process This is normal Toa continue click Ment Cancel 4 Continue the installation wizard by selecting NO from the Search for New Hardware selection on the following screen Add New Hardware Wizard Vindows can now search for hardware thatis not Plug and Play compatible or you can selectyour hardware trom a list When vvindows detects new hardware tt automatically determines the current settings for the device and installs the correct driver For this reason itis strong recommended that you heave Windows search forsour new hardware Do you want windows ta search for your new hardware T C Yes Recommended cancel Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 5 The first time the software is installed select Other Devices from the following screen Once the devic
35. rmware Download Supported Modes cccccccccccccssssssssseeseeeeeeeeeeeeeeeeaseeeessseseeeeeeeeeeeseeeeeeeaauaaaeeganes 30 Firmware Download Steps scccvncascecessacrcccsunsosenssastveddzaduncee ainean nsare ASEENA E ASENA AnA EEEE S E EE 30 Table of Contents i PComm32PRO Installation and Troubleshooting Procedures Table of Contents PComm32PRO Installation and Troubleshooting Procedures INTRODUCTION The 32 bit PComm32PRO Communication Driver is a set of more than 500 functions written as a development tool for the creation of PMAC 32 bit applications on Windows 98 ME 2000 XP Nearly all methods of communication to PMAC are included All types of PMACs Turbo and non Turbo use PComm32PRO for communication to the host computer The routines were designed with robustness speed and portability in mind A Global View of the Library PComm32PRO can be used for Windows 98 ME and Windows 2000 XP application development The library is structured so that an application using the library created for the Windows 98 ME will also be able to run under Windows 2000 XP as long as the application itself uses no operating system specific functions PComm32PRO consists of five sets of files e PComm32 DLL A 32 bit DLL PmacServer EXE A Server application responsible for transferring the Global Data PmacISA SYS PmacPCLSYS PmacUSB SYS Windows 98 ME 2000 XP kernel drivers PmacISA SYS PmacPCI SYS or PmacUSB INE Windows Setup Information
36. roller by damaging components or 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 exposed to hazardous or conductive materials and or environments we cannot guarantee their operation PComm32PRO Installation and Troubleshooting Procedures Table of Contents INTRODUC Ue ene re renee err S 1 A Global View of the LIDrary sarcenecorstnncesausauaasnacnenstavandedanteptennaecauadeonaganah EEANN EN EE ESEESE ASARES eea l Supported Operating Systems seeneeesssssssssssseeeterreressssssssssssttrrrrerssssssssssseeeteerresssssssssseseeerereressssssssseees 2 Hardware ReguiremMeMiSssisoseesrsosrrierast ensenen reai SO E Ea NR EN EES OEN ASE RRES EAE SAREEN EEES EAEE 2 Technical SUP ONL eessen era NESA EEOAE EEE E E EEE EEES EAS 2 APPLICATION INSTALLATION AND SETUP eeeeeeecccccccccccssscscscccccsccsccccccccccccsccsccccscccessssssssssssessesssss 3 Sonwa HIS EAM ALOR sensoorne EEEE EAEE EEEE EEEE 3 Automatic Detection of Plug and Play Devices ssnsnnnennnnnsssssssssssssssestereesssssssssssssseereeresesssssssssseeeeereeeo 3 Non Plug and Play ISA DeVIces ccccseseeeececccecccecaeeeesssseeeeeccccccceeessaeaeessssseeeeeeeeceeeeeesaaansaaggggsssses 5 Windows 98 ME Installa
37. s are re configurable Serial port configuration such as port number baud rate timeouts handshake and parity options are completed at the application level Application Installation and Setup PComm32PRO Installation and Troubleshooting Procedures 8 If asked to specify the path of driver files browse to find the Windows System32 Drivers folder Copying Files X The file pmacisa sys on Unknown cannot be OK found Cancel setup could nottind a file onthe specified path the path appears below make sure itis correct Click OK to try copying again skip File Copy files from Details 9 At this stage the driver is installed on the computer Restart the computer after the driver installation and before further use Add New Hardware Wizard lt lt Vindows can install your hardware using the following settings VWierning Cour hardware may not be setto use the resources listed ou can use Device Manager to adjustthese settings before restarting your computer Click start pointta Settings click Control Panel click System and then click the Device Manager tab To change your hardware settings see the documentation that came with your hardware To continue installing the software needed by your hardware click Miest Resource i Print Input Output Range O210 021F The above steps are necessary to add a new device Assigning resources base address etc 1s different under Wi
38. t boot time In addition the USB communications port is configured automatically whenever it is plugged in Note e USB devices are listed in the Universal Serial Bus Controllers class while ISA and PCI devices are listed in the Motion Class in the device manager as shown in the screen below e USB PMAC can be plugged in at any time once the computer has been restarted after the PComm32PRO installation e Serial and Ethernet devices are not listed in any category No device drivers are required to communicate to PMAC over serial or Ethernet modes Follow the instructions for the Ethernet configuration as outlined in the Non Plug and Play Ethernet Devices section of this manual Device Manager fon Controller BB PMAC PCI Motion Control Card BF PMAC PCI Motion Control Card BE Network adapters Ports COM amp LPT Kf Sound video and game controllers m System devices Universal Serial Bus controllers a Delta Tau PC104 USB 2 0 Device Pe SiS 7001 PCI te USB Open Host Controller sis SiS 7001 PCI to USB Open Host Controller He sis 7002 USB 2 0 Enhanced Host Controller USB 2 0 Root Hub 1 E H 2 Restart the computer Application Installation and Setup 3 PComm32PRO Installation and Troubleshooting Procedures The computer will recognize and configure the new hardware If prompted give the path of driver files Depending on the operating systems these files are in the following folders by de
39. th the bootstrap jumper in place The bootstrap jumpers are listed in the table in this section Use caution when changing firmware because all information will be erased from the PMAC memory before the firmware is downloaded Make sure there are complete backup files for the application prior to downloading the new firmware file Note If downloading firmware via serial port communications user must set the baud rate to 38400 regardless of the setting of the baud rate jumpers PMAC PMAC2 Firmware Downloading Jumpers rr PMACI o ee CPU Memory Part Number Re Initialization Bootstrap PC VME STD Battery backed 602 271 272 273 398 10x E51 Replace chip PC VME STD phoney 602 401 403 405 10x E51 lt CTRL R gt E51 lt CTRL O gt PC VME eat 602 705 10x E51 E4 CPU PC VME Turbo 602866 10x E51 E7 Lite 3 602399 10x E51 Replace chip Lite e 602402 100 1 2 E51 lt CTRL R gt E51 lt CTRL O gt Lite Flash oi 602402 103 E51 E106 2 3 Mini Universal 602812 10x E51 E104 Universal C PMAC2 Ee CPU Memory Part Number Re Initialization Bootstrap PC VME Pahon 602 401 403 405 10x E3 lt CTRL R gt E3 lt CTRL O gt PC VME 602 705 10x E3 E4 CPU PC VME ee 602866 10x E3 E7 Lite Flash ane 602406 100 E3 lt CTRL R gt E3 lt CTRL O gt Lite 602406 101 E3 EO 2 3 Mini universa 602405 10x E3 E0 2 3 VME Ultralite Universal 602643 10x E3 lt CTRL R gt E3 lt CTRL O gt PC Ultralite Flash oniy 602415 10x E3 E0 PC Ultral
40. tion Steps Non Plug and Play ISA D VicCes 1 1ccccccccceseeeeseseeceeeceasaaseeees J Windows 2000 XP Installation Steps Non Plug and Play ISA De viceS cccccccssseesseeseceeeeesaeeseeeeees S Non Plug and Play ETHERNET Devices Installation for all Supported Operating Systems 12 Installing Serial Devices in Windows Operating Systems ccccccccccsssseccccccceeeaaeesseececeesaaaeeeeeeeseseaaanees 14 Installing USB to Serial COM Port Plug And Play ccccccccscccecccccccccsssesecseccceecaaeessecceeeeaaaeeeeeeeessuaanees 15 Seting up COM Port IP CWI ZERO asspsesiresiisrirosnsuressrirore rasane EnS E EPN EEE PEENE EEE TEES E Snina 15 FIRST TIME USER REGISTER THE NEWLY INSTALLED DEVICES cccsssssssssssssssssees 17 ISA USB Modes DPRAM Configuration cccccccccssesseceeececcnnanssseecccccaaaussseeececeuaaasseeeecessuaaaaseeseeesauananes IS PCI DPRAM and Interrupt Configuration ccccccccccsccccccccccecceeseseeeecceeeeaaeesseeeceeeaaaaeeeeeeeeeesaaeseeeceeessaaanees 19 Ethernet Port DPRAM Configuration sas sucesssavencecssnaieoctnsiestiaicatsnaleactbeisenseanastiencistestacsesestownidesenneestnietenias 19 SOP FOTE O O ea E E E nclbae vali tusuaneiesdsawanccedewnaeeesniaeuse 20 TROUBLESHOOTING THE CONFIGURATION ssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssso 21 Registry Issues under Windows 2000 and XP ais cdss condcniesan cocci tasaealie needa E EE ANRE 21 DOE OE ENEE EI AT TE
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