^1 USER MANUAL PMAC 32-Bit Communication Driver
Contents
1. Interface Programs Delta Tau Driver COM Interface IPmacNC COM Interface Exported DLL IPmacDevice Communication Functions PcommServer exe Pcomm32W dll Contains communications and NC A wrapper for the PmacDevice code Uses threads to buffer serial Interface for legacy programs busses rotary buffer memory W DLL updating and Ethernet sockets Contains all global memory A wrapper for the PmacDevice Interface for legacy programs COM WinSock2 i System Function s System Function s PmacServer uses this for PmacServer uses this for SERIAL communications ETHERNET communicaations PmacUSB sys PmacPClL sys PmaclISA sys USB Hardware PCI Hardware ISA Hardware PmacETH sys ETH Configure Introduction 1 PMAC 32 Bit Communication Driver User Manual Supported Operating Systems The following operating systems are supported e Windows 2000 e Windows XP Hardware Requirements The PMAC 32 Bit Communication Driver for Windows requires a minimum specification of hardware for reliable operation and acceptable performance These requirements include e 500 MHz Pentium III 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 Suite2 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 SVG2. USER MANUAL PMAC 32 Bit Communication Driver DELTA TAU Iy 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 2004 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 dama
3. i Test Device 1 Select ErapemteS Cancel Cancel ae 1 From the PMAC Devices screen select the device number and click Insert The following window listing all configured devices will appear tt HEL Available PMAC Devices FMAC devices not registered Biew Cancel 2 Select the device to be configured and click OK PMAC Devices PMAC 0 ISAQ Port0x210 Intr MiA DPRAMOxD4000 PMAC 1 SERO COM Baudrate 3o400 ParityNone PAC 2 NA PMACG 3 PCD Plug and play Inger PMA 4 NA PMA 5 NA eee PMAC 6 ETHO IP192 6 94 5 PMAC USBO Plug and play mae BS PEELE Properties Cancel 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 NN The PFMAC was sucessfully detected Troubleshooting the Configuration 13 PMAC 32 Bit Communication Driver User Manual Note To add a previously configured Ethernet device follow the instructions below Insert a Pre configured Ethernet Devices in Delta Tau Applications 1 Connect the USB cable between the PMAC and the host computer 2 Power cycle the PMAC unit 3 Launch any Delta Tau application and select the PmacSelect function PMAC Devices PMA 00 SER4 COM4 Baudrate 35400 Party None PMAC 01 NA PMAC 02 NA PMAC 03 NA PMAC 04 MA PMAC 05 NA PMA
4. Browse to get the path of the PmacETHxxxFx 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 ee a ae 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 22 Troubleshooting the Driver Configuration PMAC 32 Bit Communication Driver User Manual Delta Tau Driver Benchmark Times The following table provides detailed benchmark times for the driver Communication ISA PCE USB Ethernet Turbo PMAC Turbo PMAC 2 0 100 base T 38400 Re MHz 80 MHz BPS Lasalle pa Port DPR Port only Port only Port only pa ASCII oo Bi ily 0 ef 0 a 0 a 1 8 ms 1 4 ms 5 ms 2 30 ms 115 K 8192 I Variables 8192 I Variables SetMem 8Kbyes GetMem 8Kbytes Troubleshooting the Driver Configuration 23 24 PMAC 32 Bit Communication Driver User Manual Troubleshooting the Driver Configuration PMAC 32 Bit Communication Driver User Manual 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 PMACI Turbo PMAC2 Turbo Ultralite and UMAC All of the information in this document assumes that the user has a legal copy of the firmware f
5. 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 Ultralite Universal 602182 182 E3 E23 UMAC Turbo 603382 10x E3 E23 Turbo i 5 Universal Flex CPU PMAC1 PMAC2 SUA Part Number Re Initialization Bootstrap P1 PC VME Flash only 603605 10x E51 Mini PC Ultralite VME Ultralite Firmware Downloads 25 PMAC 32 Bit Communication Driver User Manual 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 buil
6. Multi port serial adapters Be Network adapters gent Apm Legacy Suppor Other device dha DOIA adantare x 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 ta Which driver do you want to install for this device Sy Eg Selectthe manufacturer and model of your hardware device and then click Next Ifyou have a disk that contains the driver you want to install click Hawe Disk Manufacturers Models PMAC ISA Motion Controller Have Disk Beck 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 Configuration 4 Communication through host port w
7. 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 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 oo ee a A 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 5 Click the Security Menu item in the Registry Editor Then select Permissions from the menu in Windows 2000 In Windows XP the Permission option is in the Edit menu 6 The Permissions for the PMAC dialog box will display From that window click the Add button and then select the group or use
8. bAlicroasott Metworks ae ad File and Printer Sharing tor bAicroasotft Metwaorks i Internet Protocol T Cer 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 now complete Internet Protocol TCP IP Properties a E i ra gt lt General l ou can get lF setings assigned asutomeaticalh if wour network supports this capability Otherwise you need to ask wour network administrator tor the appropriate IP settings C Obtain an IF address automaticallky IP address Subnet mask Detaul gateway Obtain DONS serer address sutomeaticalls Preferred DMS server lternate DMS serrer A i Advanced E Lise the following DMS server addresses OK Cancel 4 To configure the PMAC side run the ETHConfigure EXE 10 Base T ETH2Configure EXE 100 Base T or USBETHConfigure EXE USB 100 Base T from programs Delta Tau Pro Suite2 Delta Tau Common program group These applications are provided a
9. 18 ISA PMACs I O Port Address DPRAM and Interrupt ASSIQNMENL cccccccseeeccceccceeee ae eeseeceeeecaaaaeeseseeeeesaaaaeeeeeeeaas I8 PMAC PCI I O Port Address DPRAM and Interrupt Assignment nnnneeeennnsnnnnnnnnsssseennnnsssseeeenessssseerssssssseerressss 20 PAC CSE O O D eea E A E E T EO E E 20 DA O TINUE AN a reece E E N E shad E E E E E E E E E 20 SETI T O COTON CO O osese E E E O E E O E E EN E O 20 Higher Band Kate COnsideral ONS vasssserstciesaseciea e E EEES REES EEEE ENS E SEE ENSEN RSE 21 BITONTO TT E E E E tps earidusascicnasaSancetereaniepesasentesedeneecekeuadeses 2l PCMCIA CU Ci AUOT S aE E EEES NER ARESE 21 PVCU ITC LE TOT C OmmTUnI CANON isses EE css mee E EE EE NEES EA secede seen atte eee 2d L TIA COCCI ON e E E E AS 21 Changing Mode of Communication between USB and Ethernet cccccccccccssseeseccecccecenaesseeceeeeeaaaeceeeceeeeeeaaaaseeseeeaaas 22 Delta Tau Driver Benchmark Times isons creratienestoeahaan onsen sas necanaicnnesstanenien nna quauieeteaatinanhelasnenstian enamndqnaveatinneneasnanetengsusamoanetcanees 23 FIRI RE VIN cscs cess cs ca ceecetew E 25 PMAC PMAC2 Firmware Downloading Jumpers cccccccccscssssssessssssseeeeccceeeeeeeeeeaaaaesesseeeeeeeeeeeeeeseeeaaaagansnseseeeeeeess 25 Firmware Download Supported MOdes c ssssssssseeecccceeeeeceecaaeesssssseeeeeeeeeeeeeeeseaaeaeaaeeesseseeeeeeeeeeeeeseesaaaasaeaseseeeeeeeess 26 Firmware Download SECIS saccmeceesearanauseasboeusedauies
10. A resolution 800x600 with at least 256 colors 2 Introduction PMAC 32 Bit Communication Driver User Manual APPLICATION INSTALLATION AND SETUP This is a generic procedure for installing and setting up the application and driver for all Delta Tau products This procedure is applicable for all Delta Tau software packages Software Installation 1 Uninstall all old Delta Tau software applications including Pewin 32 Pro PmacPlotPro NCUI32 PComm 32 Pro Ptalk DT Pro and the setup programs P1Setup32Pro P2Setup32Pro and TurboSetup32Pro and other programs based on Pcomm32Pro or Ptalk DT Pro before beginning the new Driver based applications 2 Install Pro Suite2 or NCUI32 versions 4 0 or 5 0 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 at 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 ProSuit
11. C Ob NA PMAC 0 NA Available PMAC Devices PMAC devices not registered 6 Select the Ethernet radio button and click OK PMAC Ethernet IPF Address a Cancel 14 Troubleshooting the Configuration PMAC 32 Bit Communication Driver User Manual 7 Enter the previously configured IP address and click OK This will add an Ethernet device to the registered device list PMAC Devices PMAC 00 SER4 COM4 Baudrate 30400 Parity None PMAIC 01 MA PMAC 02 MA PMA 03 MA PMAC 04 ETHO IP 192 6 94 5 PMA 05 NA Remove PMA 06 MA PMAC 0 MA 4 Fropernies Cancel Note a The above procedure only adds a previously configured device in the host computer s registry It does not reconfigure the PMAC device b All PMACs with Ethernet port are pre configured for Ethernet mode of communication and the default IP address of 192 6 94 5 c The above procedure requires that the device is connected to the host computer via a USB cable and visible in the Device Manager with no errors DPRAM IP Address and Interrupt Configuration The following window helps configure enable disable or change the DPRAM automatic realtime background update functions change the IP address and enable or disable the Interrupts for PMAC ISA or PCI Test Device 7 DPRAM RealTime Update Sampl RT Update Rate servo cycles 1 2 9 4 5 6 7 HD Eee 7 DPRAM BackGround Update sampl BG Update Rat
12. Cancel 4 Application Installation and Setup PMAC 32 Bit Communication Driver User Manual 3 From the Choose a Hardware Task window select Add Troubleshoot a Device Add Remove Hardware Wizard Choose a Hardware Task Which hardware task do you wantto perform __ lt Back nes __ conrei 4 From the Choose a Hardware Device window 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 PMAC 32 Bit Communication Driver User Manual 6 From the Hardware Type window 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 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 dewices 5 Memory technology driver Modems Z
13. From Pewin 32 Pro2 go to General Setup and Options and click the Select button and select Insert All available devices and COM numbers will display Available PMAC Devices PMAC devices not registered Hew Pmac ETHO IP 192 6 94 5 Pmac ETH1 IP 10 0 0 121 Cancel De DTI 3 Select the COM port from the PMAC Devices dialog box Click Test to verify communication with a PMAC device Application Installation and Setup 11 12 PMAC Devices PMALC 00 Properties PMAC 32 Bit Communication Driver User Manual Remove Test Cancel Application Installation and Setup PMAC 32 Bit Communication Driver User Manual FIRST TIME USER REGISTRATION Once the device driver is installed use the PmacSelect dialog to continue with additional configurations The PmacSelect dialog is accessible by all programs created with the driver via the PmacSelect function Launch the supplied Delta Tau applications Pewin 32 Pro2 PmacTuningPro2 or other setup programs from the program menu and display the PmacSelect dialog General Setup and Options gt lt PMAC Devices x General WELE Default Device When multiple PAC devices exist and forms wing ows are opened PEVVING can pramptyou each time for which device to use Alternatively you can have PEVVINS2 use a default Insert rp Prompttor dewice number each time 4 new window is Perncye opened Choose a default device number 0 7
14. OM amp LPT Properties Refresh a Remove Te coef 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 18 Troubleshooting the Driver Configuration PMAC 32 Bit Communication Driver User Manual 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 window shows the details of the parameters of the troubled PMAC ISA device PMAC ISA Motion Controller Properties z EEE Driver Resources n a i o _PMACISA Motion Controller ea g r Use automatic satin gs Le Seting b based on S ee Pa rere 00000000 000D3FFF E Conflicting device list interrupt Request 03 used iby Lucent 56K 90 PCI DFi Modem Interrupt Request 03 used by ACH IRG Holder for PCIIRO Steering Available or unavailable parameters are listed in the Device Manager Important Note e IfanISA PMAC is c
15. Properties Important Note If a PMAC ISA is configured for DPRAM power cycle the 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 fora 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 Ope Look ir a s1 939 c a Fboott bin am Frogram Biri Turbol bin z T urboZ bin 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 Press Begin to initiate firmware download Percent Done Firmware Downloads 27 PMAC 32 Bit Communication Driver User Manual 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 28 Firmware Downloads
16. d give the start address of the DPRAM 6C000 to establish communication e For those boards if the UMAC CPU has the onboard DPRAM option present reinitialize with the E3 jumper and manually change the value of 124 to 6C000 e The latest generation of USB PMACs is available with and without DPRAM option configurations See the ACC 54E User manual for detailed information e A universal method of determining the presence of DPRAM option is used The two registers X 320f and X 3210 determine the starting address as well as the length of the DPRAM if present The first register gives the starting address and the next register gives the end address If the two have different values then the PDRAM is present with size equal to the difference of the two Otherwise no DPRAM is present 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 The driver will not function correctly if the baud rate on the serial port of the host computer is different from the PMAC settings e Communicating via a Hyper Terminal is a necessary but not sufficient test in case there is a problem in establishing the communication 20 Troubleshooting the Driver Configuration PMAC 32 Bit Communication Driver User Manual e Normal PMAC firmwares with few exceptions do not support par
17. e servo cycles IF Address change I to O O D E Enable Interrupts Ethernet Port Change IP Address For Ethernet mode of communication along with DPRAM automatic update functions configuration the previously configured IP address can be viewed and changed This requires a successful communation to previously configured IP address through Ethernet cable A power cycle to the PMAC UMAC and communication board is required to implement the IP address change The Ethernet configuration utility can also be used to set the Ethernet mode of communication or change the IP address Troubleshooting the Configuration 15 PMAC 32 Bit Communication Driver User Manual Serial Port Configuration Select the Properties option 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 38400 Jcom m ssa ml _ 16 Troubleshooting the Configuration PMAC 32 Bit Communication Driver User Manual TROUBLESHOOTING THE DRIVER 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 classic view is required or Windows 2000 Log on to Windows with administrator rights Open the Start Menu go to the
18. e 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 entering 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 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 PMAC USB Configuration PMAC USB behaves similar to the PMAC PCI with one exception PMAC USB 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 DPRAM on PMAC USB e For some of the old hardware the USB communication boards had DPRAM present by default and the DPRAM was available for automatic DPR functions For those boards the DPRAM was mapped at 6C000 instead of 60000 for ISA and PCI PMACs 124 was used to determine the address of the DPRAM on those PMACs 124 woul
19. e2 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 lt Device Manager Acton Wiew m Monitors S E Moton Controllers o hE PMAC ISA Motion Controller BB PMAC PCI Motion Control Card BE PMAC PCI Motion Control Card BE Network adapters Ports COM amp LPT Kf Sound video and game controllers System devices Universal Serial Bus controllers a Delta Tau PC104 USB 2 0 Device ae SIS 7001 PCI te USB Open Host Controller ne SIs 7001 PCI to USB Open Host Controller He sis 7002 USB 2 0 Enhanced Host Controller USE 2 0 Root Hub 1 H H m 2 Restart the computer 3 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 default Windows XP c windows system32 drivers Windows 2000 c winnt system32 drivers Application Installation and Setup PMAC 32 Bit Communication Driver User Manual 4 Proceed to the First Time User Registration section of this manual Note 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 disab
20. ed Changing Mode of Communication between USB and Ethernet UMAC CPCI and PC104 with both USB and Ethernet options present allow changing the mode of communication between the two Delta Tau Driver library and Pewin32PRO Suite come with two utility programs USBConfigure EXE and EthConfigure EXE To activate these utilities 1 Enter the IP configuration serial number and part identification number 2 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 CO NAA AWN Click Done to close the application 10 Power cycle the PMAC and the communication board to complete the process Ethernet 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 ETHConfigure EXE from the Programs menu Click the Store F W button
21. eeesaaaeseseeeeeeaaaes 4 Non Plug and Play ETHERNET Devices Installation cccccccccccccccccccceee eee eeeeeeeeeeeea ae eeeeeceeeeeaaaeseseeeeeeaaaaaaeseeeeseaaaes 7 Installing Serial Devices in Windows Operating Systems ccccccccssssesseeseeeeeeeeeeeeeeeeeenea eee eeeeeseeeeeeeeeeeeeeaaeaaaaaaaaanees 10 Computers without Built in COM Ports Installing USB to Serial COM Port Plug and Play oossoo lI DEANE COM TON MI EWN TTO ee E EEE O a O Il FIRST TIME USER REGISTRA TION sais ceesasesesctccceereeewns sceeccscevenceneecteesscevanccseesbectocewenseteestpecseeteuccocessvececevensetecss 13 Insert a Pre configured Ethernet Devices in Delta Tau Applications u cccccccsseccccccccccsneeeeseecceeeeeeaaessececeeeaaaaseeeseeeeeaas 14 DPRAM IP Address and Interrupt COnfi guration cccccccccssscccccccccsneussseeccccccaaasseeeeccecaaausseeeeceseuaaasseeeeesessansaeeeseeeeaas 15 Eihernet Fori Change IF Address oreson eE EEEE EEE EE EOE EEEE EEE 15 Der TO CON OUTAT OT ooi EE ERE E E E EERE acess 16 TROUBLESHOOTING THE DRIVER CONFIGURATION ccccccsssssssssssccccscssccccsccsccscsccscsscscscscssccssscssscscsssecns 17 Registry Issies under Windows 2000 and DOP cocina cp dee taancussicnatacapace tinea E E EEEE Ea ERa 17 TE A EEEE AEE E PEE EE E AE EE EE TE E A A EA TATE AAE AE EET AT TT 17 P a E atest Gasceie aed ace doasacmas one eas staseacnet os et eucieets 17 Comigure RECOnmeure Parameters iscrisse aa R rE EEEN EEEa aaiae rasis
22. ging 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 PMAC 32 Bit Communication Driver User Manual Table of Contents i Do WC DO el HON a a eee 1 PATIO Dal We Wr Or Ce IVC E EEE E EA SEEE l S pported Operating Systems cacsnecaneaenieancmnonnesings roancaianeonbiementonrcuunnettegsinnannecenonmsogeabasnalanaweations Neashounbenetaaanbopadennanatemstioaseecuaaaaes 2 Hardware Reguirements ae sa raas ne cnrnoristeonemaneeanavsattans tenakoqueabyanbasad unemsaitaanneanke OaE EOE RAEE AAE SEARRE EEE SO AREENA 2 APPLICA TION INSTALLA TION AND SETUP rccccsccscsccses ccc cccesctvecscccssczectessecswestsect aaa apana araar ESEP 3 Oy Gil aa O eere EE EE EA EE OE 3 Automatic Detection of Plug and Play Devices cccccccccccccccccccceeesessesseeeeeceeeeeeeeesaaasassseeseeeeeeeeeseeseeesaaaaasasseseeseeeeess 3 Non Plug and Play ISA De Vie auctsncenwesaaetendiemceqeapnaatneddnoewesohinedadounetyacsteas luasteedaPaetaed dnd desousraotnaeduiactendsisetnegtaddueunavneveadoen 4 Windows 2000 XP Installation Steps Non Plug and Play ISA Devices cccccccccccssssscccecceeeeneeessseeeee
23. he 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 Registration section of this manual Non Plug and Play ETHERNET Devices Installation Configure the Ethernet devices by launching the ETHConfigure EXE ETH2Configure EXE or USBETHConfigure EXE for 10 Base T and 100 Base T applications respectively Delta Tau provides these files as part of the ProSuite2 or any other Delta Tau standard installations Installation and configuration of Ethernet devices is independent of the operating system Application Installation and Setup 7 PMAC 32 Bit Communication Driver User Manual 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 communicate to the PMAC via the Ethernet Highlight the Internet Protocol TCPIP and select Properties Local Area PMAC Properties E 2 lt General l Sharing Connect using Som EtherLink 10 100 PCI For Complete PE Management Mn Configure Components checked are used by this connection m Client tor
24. ith DPRAM large size enabled Basic Configuration 5 Communication through host port with DPRAM large size and interrupts enabled Application Installation and Setup PMAC 32 Bit Communication Driver User Manual 9 Select the appropriate configuration and after highlighting the resource click on Change Setting to set the values Add Mews Hardware Vizard Properties Ose automatic settings Change Setting Conflicting device list Ho conflicts i 10 Select the driver file PMACISA SYS Browse to the correct folder For Windows 2000 it is located in C WINNT System32 Drivers and for Windows XP it is located in C Windows System32 Drivers folder ala 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 CAIN 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 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 t
25. ity Furthermore this driver uses both RTS enabled and CTS checked handshake signals by default However it is 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 To have 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 Windows Service Pack 2 most of the USB to Serial converters are supported The driver 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 o
26. le 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 Registration section of this manual for details PMAC PCI Motion Control Card Properties E 2 gt General Driver Resources PRA POI Motion Control Card Resource settings Resource MS Memory Range E1so00000 E180FFFF BE npuy Output Range B000 B0FF B Interrupt Request 0s Seting based an Current configuration I Use automatic settings Change Setting Conflicting device list Mo conflicts Cancel Non Plug and Play ISA Devices Non plug and play ISA devices are configured through the standard Add or Remove New Hardware wizard The next section describes all the necessary steps involved in configuring Delta Tau devices under Windows 2000 or XP 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 Add Remove New Hardware 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 To continue click Next
27. naen tne Ene Oa ae RE OE SUE S AEEA OEE AEREE 26 Table of Contents i ii PMAC 32 Bit Communication Driver User Manual Table of Contents PMAC 32 Bit Communication Driver User Manual INTRODUCTION The PMAC 32 bit communication driver provides all channel of communication between the host computer and PMAC controllers All methods of communication to PMAC are included All types of PMACs Turbo and non Turbo use this driver for communication to the host computer A Global View of the Driver The driver can be used for Windows 2000 XP application development The driver consists of following sets of files e PcommServer exe A Server application responsible for core communication and transferring the Data between the host computer and PMAC controllers e PmacISA SYS PmacPCLSYS PmacUSB SYS Windows 2000 XP kernel drivers e PmacISA INF PmacPCILINF or PmacUSB INF Windows Setup Information files e ETHConfigure EXE ETH2Configure EXE USBConfigure EXE USB2Configure EXE and USBETHConfigure 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 Furthermore PmacETH SYS loads the Ethernet mode at startup e Acomplete Source Code along with a simple User Interface for Linux operating system is packed in the file pmac 0 0 1 tar gz The illustration below shows how these modules are related
28. nly the dedicated mode of communication is recommended Read the ACC 54E Revision 2 User manual for detailed information on the comparison of the two protocols their advantages and disadvantages 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 Troubleshooting the Driver Configuration 21 PMAC 32 Bit Communication Driver User Manual Netvyrork Switch or Hub Host PE Host PC UMAC Rack UMAC Rack Crossover Cable Required Straight Through Cables Requir
29. onfigured for DPRAM and after the 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 DPRAM _ Computer Prope rties View Resources Resenve Shs IS nN cc a OEE is Interrupt request RO C Direct memory y access DMA Aa Arian mie A s input output 0 0 z G Memon Seamer Sry Herdwara EEE s e ee T 00000000 O009FFFF Unavailable tor use by devices o o0040000 000AFFFF RAGE MOBILITY M1 AGP English 00080000 000BFFFF RAGE MOBILITY M1 AGP English a oooco000 000CFFFF RAGE MOBILITY W11 AGP English s 2 000D0000 00003FFF PMAC ISA Motion Controller HEE 000D4000 00007FFF System Reserved fy oe QO0E FFF Unavailable for use by devices Troubleshooting the Driver Configuration 19 PMAC 32 Bit Communication Driver User Manual PMAC PCI I O Port Address DPRAM and Interrupt Assignment All PMAC PCIs are plug and play and therefore are configured at boot time For PMAC PCIs the interrupt is configured automatically The driver works on the basis of shared interrupts No steps are required in configuring the interrupts Similarly if the option is present DPRAM is configured and mapped automatically Bootstrap mode is recognized automatically Th
30. or the 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 with 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 set the baud rate to 38400 regardless of the setting of the baud rate jumpers PMAC PMAC2 Firmware Downloading Jumpers PMAC1 CPU Memory Part Number Re Initialization Bootstrap PC VME STD Battery backed 602 271 272 273 398 10x E51 Replace chip PC VME STD Benen 602 401 403 405 10x E51 lt CTRL R gt E51 lt CTRL O gt PC VME een 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 PMAC2 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
31. ort both USB and Ethernet mode of communication and do not require a change of firmware 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 Users manual 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 Application Installation and Setup 9 PMAC 32 Bit Communication Driver User Manual Bootstrap firmware has not been programmed this session Application firmware has not been Sule Bi programmed this session HA Type C ACC54E C CPCI C QMAC C PC104 YAE Turbo UL Serial No Store ID 9 Proceed to the First Time User Registration 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 Prope
32. r 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 Troubleshooting the Driver Configuration 17 PMAC 32 Bit Communication Driver User Manual Configure Reconfigure Parameters Here are some of the issues that user may come across 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 The 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 ie View devices by ype 8 Hey devices by connection di Computer T H CROM H Disk drives m Display adapters c Floppy disk controllers 529 Hard disk controllers H 3 Keyboard E Modem mm hMonitors lt gt Motion Babe MAC ISA Motion Controll er lt gt PMAC Serial Port Motion Controller be louse j cht Network adapters E 2 PCMCIA socket HY Ports C
33. rties 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 Resources Bits per second EREMI Restore Defaults 10 Application Installation and Setup PMAC 32 Bit Communication Driver User Manual Computers without Built in COM Ports 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 Manager File Action View Help m Ea CPU MICKSF Fi Computer g Disk drives a Display adapters 4 OWOICD ROM drives Floppy disk controllers A Floppy disk drives IDE ATA ATAPI controllers 28 Keyboards 19 Mice and other pointing devices F Monitors E8 Motion Controllers Eg PMAC PCI Motion Control Card 8 Network adapters Other devices 9 Ports COM amp LPT OTEM USE to Serial Cable COMS af Communications Port COM 1 4 F Communications Port COME i ECP Printer Port LPT1 Sound video and game controllers Y System devices Setting up COM Port in Pewin 32 Pro2 1 Open any of the Pro Suite 2 programs and select Setup from the Menu option 2
34. s part of the standard installation and are placed in the c Program files Delta Tau Common folder Proceed to the main screen by clicking OK Ethconfigure a x AN Plug in the USB connector on the card to store 4 new IP address into the accessory or program new FAY into the EEFR GM 8 Application Installation and Setup PMAC 32 Bit Communication Driver User Manual The following setup screen will appear Ethernet Configuration g l x m Code Program Done Bootstrap firmware has not been atore Boot programmed this session eS ere Store E W Application firmware has not been programmed this session IP Address 1 Protocol 192 6 94 5 UDP TCP HAN Type ACC54E Pete C QMAC C PC104 YME 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 between UDP and TCP Delta Tau recommends only TCP mode for all Ethernet communications 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 The new boards supp
35. t as a battery backed or flash only CPU Turbo CPU This is similar to the flash only CPU CPU piggyback board 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 FILESSDELTA TAUSPEWIN32PRO PEWIN32PRO_Default INI File Configure View Backup Setup Jools Window Help General Setup and Options Force All Windows to Device Number w Show Message Window Fa Show Project Manager F2 3 Select the appropriate device and then click on the Test button PHMAC Devices USBO Plug and pla SERO COM Baudrate 36400 Parity None Ieee Remove al Test Properties Cancel 26 Firmware Downloads PMAC 32 Bit Communication Driver User Manual 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 USB Plug and pla Ok PMAC 1 SEARO COM Baudrate 38400 Parity None PCOMM 32 Insert AN The PMALC ts in Bootstrap Mode Remove Me eors Cancel
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