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PTS Toolkit User Manual

1. PTS Toolkit User Manual Issue 1 2 Start automatically resets the display and commands the PTS to start sending data Stop will force the PTS to stop the data transfer The screen can be reset at any time using the Reset option on the File menu The Freeze option freezes the screen display with the next full screen of information this option only stops the screen update not the data retrieval from the PTS Note i If the Terminal Window is not open commands cannot be sent to the PTS and some functions of the Tuning Screen will be unavailable e g the Moves Speeds and Tuning Dialog boxes ii If the PTS is not in Privileged Mode the traces will not be displayed iii Advanced users may note that during data retrieval the screen update on the Terminal Window is disabled however commands can still be sent to the PTS they just won t be echoed on the screen 5 7 Adjusting the Tuning Screen Display Settings The Tuning Screen shows the Demand Actual and Averaged Velocities and the Position Error recorded on the PTS for the selected motor channel The screen display is split in two with the top half of the screen displaying the velocity traces and the lower half the position error To view the traces on the screen it may be necessary to adjust their Y axis or vertical scaling This is achieved by setting the maximum velocity and maximum position error values displayed on the screen The minimum values for the display are
2. Quin Systems Limited PTS Toolkit Software for Windows User Manual Issue 1 2 February 1996 Copyright Notice Copyright 1996 Quin Systems Limited All rights reserved Reproduction of this document in part or whole by any means without the prior written consent of Quin Systems Limited is strictly prohibited Software Versions This manual reflects the following software versions PTS Toolkit Software version 1 2 or higher MiniPTS PTS2 amp MiniPTS 2 1 firmware versions 1 7 or higher Important Notice Quin Systems reserves the right to make changes without notice in the products described in this document in order to improve design or performance or for further product development Examples are given for illustration only and no responsibility is assumed for their suitability in particular applications Although every effort has been made to ensure the accuracy of the information contained in this document Quin Systems assumes no liability for inadvertant errors Suggestions for improvements in either the products or the documentation are welcome and should be address to Quin Systems Limited Oaklands Business Centre Oaklands Park Wokingham Berkshire RG41 2FD Telephone 44 0 1734 771077 Facsimile 44 0 1734 776728 CompuServe 100572 1631 E Mail Support Quin co uk Quin Programmable Transmission System is a registered trademark of Quin Systems Limited CompuServe is a registered trademark of
3. Stop Bits Eecher OT7 8 1 C2 C On Off Parity Comm Port Flow Control Mana O Comi None O Odd Com2 Xon Xoft O Even Com3 O RTS CTS Com4 O Xon RTS Set the required parameters as described below and press OK to accept the new values The Terminal will save its settings when it is closed Page 10 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Baud Rate Specify the speed transfer rate for the serial port Quin motion controllers use 9600 baud Data Bits Specify the number of data bits in data packets sent across the serial port Quin products use 8 data bits Stop Bits Specify the number of stop bits used Quin products use 1 stop bit Parity Set the parity check used for communications Set to none for Quin products Comm Port Select the PC serial communication port to be used for the Terminal window This may need to be changed if the PC uses serial ports for other devices You cannot use the same serial port for multiple devices Flow Control Indicate what the Terminal should do if the buffer becomes too full Select XON XOFF for a standard Quin controller If the Terminal still reports errors select RTS CTS or Xon RTS See Appendix B for more information on using serial communication with the Windows operating system Note RTS CTS hardware handshaking is only available on the MiniPTS with firmware versions 1 7 or higher 4
4. although it may obscure the view of the traces display Note If the Terminal Window is not open commands cannot be sent to the PTS and the Moves Speeds Dialog box is unavailable 5 9 Changing Motor Tuning Parameters To enable easy tuning of the motors the four main motor tuning parameters can be set from within the Tuning Screen using the Tuning Gains dialog box This allows the user change motor tuning gains in the PTS without using the Terminal Window directly Proportional KP 256 Select the Tuning Gains option from the main Options selection on the main menu This will display the Gains dialog box Type in the new value required for each gain term The Update button will update all four gain values in the PTS The Cancel button will remove the dialog Copyright Quin Systems Limited 1996 Page 19 PTS Toolkit User Manual Issue 1 2 box without making any more changes A stop motor button is also provided to enable you to quickly stop the motor you are tuning The arrow buttons can be used to update each gain value individually gt increments amp lt decrements the gain value by 1 lt lt increments amp gt gt decrements by 10 The Tuning Gains dialog box is modeless and can be left displayed whilst the Tuning Screen is in use allowing parameters to be easily changed on the fly For more information on motor tuning refer to the PTS Installation Manual supplied with the Quin PTS WARNING Take care whe
5. e g 625 860 indicates the right hand point was recorded 625 msecs after the left hand point and that the Y value velocity or position error is 860 counts per second or counts respectively less than the value of the left hand point The third and fourth status boxes indicate the actual trace the points rest on e g LH Cursor on Dem Vel indicates that the left hand point lies on the Demand Velocity trace If the cursors are used whilst the Tuning Screen is updating it is advisable to use the Freeze function to stop the screen refresh at the end of each complete screen display Page 20 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 5 11 Tuning Screen File Menu Commands This section briefly describes the operations available from the Tuning Screen File menu Start Starts the Tuning Screen i e starts logging data from the PTS Reset Resets the Tuning Screen display Freeze Freezes the display at the end of the next full screen of information NB The software continues to retrieve data from the PTS Stop Stops retrieving data from the PTS Update View Updates the Tuning window display in Historical mode Open View Opens a previously created Tuning Screen or Scope display file Copyright Quin Systems Limited 1996 Page 21 PTS Toolkit User Manual Issue 1 2 Save View Saves current display view to a file on disk Print Prints the display on the Windows Default
6. 3 Modem Communications Between PTS Toolkit and a PTS equipped with amodem It is possible to use the PTS Toolkit remotely from a PTS by using modem communications The choice of the modem for use connected to the PTS needs some care If you wish to use this feature contact your Quin sales office 4 4 Terminal Window File Menu Commands This section briefly describes the operations available from the Terminal File menu New Text Opens a new blank text file see section 3 5 Open Text Opens an existing text file from disk see section 3 6 Open Log File Opens a text file on disk to record all information displayed in the Terminal window see section 4 8 Close Log File Closes the text log file Download Text File Downloads a PTS program file operators panel file or map profile data file to the PTS via the Terminal see section 4 7 Copyright Quin Systems Limited 1996 Page 11 PTS Toolkit User Manual Issue 1 2 Close Terminal Closes the Terminal window Closing the Terminal when either the Tuning Screen or PTS Scope is open will limit their available functions Recent Files List Displays a list of the last four text files opened Selecting a filename will open the text file if is not already open Exit Quits PTS Toolkit 4 5 Terminal Window Edit Menu Commands This section briefly describes the operations available from the Terminal Edit menu Copy Copies selected text to the Windows Clipboard ove
7. 5 9 Changing Motor Tuning Parameters 5 10 Using the Cursors to Measure Screen Trace Values 5 11 Tuning Screen File Menu Commands 5 12 Tuning Screen Edit Menu Commands 5 13 Tuning Screen Options Menu Commands 6 PTS SCOPE 6 1 Introduction 6 2 PTS Scope Scope Mode 6 3 PTS Scope Historical Mode 6 4 PTS Scope Accumulate Mode 6 5 Selecting Mode of Operation Copyright Quin Systems Limited 1996 ARA RA P Co OO OO OO SNNOO UI PTS Toolkit User Manual 6 6 Selecting Scope Trace Parameters 6 7 Starting and Stopping the Scope 6 8 Adjusting the Trace Display Settings 6 9 Adjusting the Scope X Axis Display Settings 6 10 Using the Cursors to Measure Screen Trace Values 6 11 Opening amp Saving Historical Scope Views 6 12 PTS Scope File Menu Commands 6 13 PTS Scope Edit Menu Commands 6 14 PTS Scope Options Menu Commands 7 MOTION GENERATOR PACKAGE 8 MISCELLANEOUS FEATURES 8 1 Introduction 8 2 PTS Toolkit Window Menu Commands 8 3 Using the PTS Toolkit Toolbar 8 4 Version Number 9 GLOSSARY OF TERMS APPENDIX A INSTALLATION GUIDE APPENDIX B IMPORTANT INFORMATION Issue 1 2 Page 2 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual PTS Toolkit User Manual 1 Introduction This document gives a description of the capabilities and use of the Quin PTS Toolkit software package The software has been designed to work under the Microsoft Windows operating system v
8. CompuServe Inc Hercules is a registered trademark of Hercules Computer Technology Inc IBM is a registered trademark of International Business Machines Corporation Microsoft MS DOS and Windows are registered trademarks of Microsoft Corporation Issue 1 2 PTS Toolkit User Manual Contents 1 INTRODUCTION 2 GENERAL DESCRIPTION 2 1 Text Editor 2 2 Terminal 2 3 Tuning Screen 2 4 PTS Scope 2 5 Motion Generator 3 PTS NOTE TEXT EDITOR 3 1 Introduction 3 2 PTS Note File Menu Commands 3 3 PTS Note Edit Menu Commands 3 4 PTS Note Options Menu Commands 3 5 Creating a New Text File 3 6 Opening an Existing Text File 3 7 Saving a Text File 3 7 1 Saving text with the current file name 3 7 2 Saving text to a new filename 3 8 Printing a Text File 4 TERMINAL WINDOW 4 1 Introduction 4 2 Configuring the Terminal Settings 4 3 Modem Communications Between PTS Toolkit and a PTS equipped with a modem 4 4 Terminal Window File Menu Commands 4 5 Terminal Window Edit Menu Commands 4 6 Terminal Window Options Menu Commands 4 7 Downloading a PTS Program File 4 8 Using a Log File 5 TUNING SCREEN 5 1 Introduction 5 2 Tuning Screen Scope Mode 5 3 Tuning Screen Historical Mode 5 4 Selecting Mode of Operation 5 5 Selecting the Required Motor Channel 5 6 Starting and Stopping the Tuning Screen 5 7 Adjusting the Tuning Screen Display Settings 5 8 Executing Basic Motor Moves amp Changing Motor Parameters
9. To return to software handshaking remove the PC connection and power the MiniPTS off and on If there is any risk that a user may connect a PC set for software handshaking with a lead configured for hardware handshaking the link on jumper J10 should be removed The MiniPTS 2 1 uses software to permit hardware handshaking on the serial ports To enable hardware RS232C handshake use command CF to set port A to RS232 with hardware handshake then power off and back on with the CTS pin 8 held high Power on with CTS off will revert to software handshake use command CF again to set port A to RS232 software handshake to inhibit hardware handshake and prevent any error in selection IMPORTANT The MiniPTS must be set back to software handshaking before removing the PC connection for any extended period of time If the connection needs to be removed without powering off the MiniPTS pins 7 and 8 on the programming port should be linked immediately after removing the PC connection This should only be used as a temporary measure until the MiniPTS can be safely powered off PTS The Quin PTS systems automatically detect the handshake mode without the requirement for any user configuration The Quin PTS 2 systems which use 4 axis servo controllers use the link between pins 1 and 2 of jumper J18 on the CPU20 board to permit hardware handshake when serial port pin 4 is high at power on IMPORTANT As for the MiniPTS systems above removal of the
10. are averaged over a period of 1 second giving a speed measurement accurate to 1 count per second The system keeps a running average of the speed which is updated at each 4ms sample so that the latest average speed is always available Note that whenever the averaging time is changed the current average value is reset to zero and the running average is restarted Cut amp Paste Cutting and Pasting are the terms given to the operation where selected text can be transferred to and from the Windows Clipboard The technique is useful for moving or copying blocks of text between different text files and or the terminal window Demand Position The Demand Position is the value calculated internally by the PTS for the motors required position It is measured in counts Demand Velocity The Demand Velocity is the value calculated internally by the PTS for the motors required velocity It is measured in counts per second Digital Inputs and Outputs I O The digital input and output lines can be monitored by the Scope and displayed on the PC screen as a value 1 high or 0 low Care needs to be taken to ensure that the Y axis scaling is set correctly Motion Generator The Motion Generator is a powerful software package developed for graphically designing custom machine motions The package allows the user to define any motion using a library of complex mathematical models The motion is stored as a set of parameters that describe the v
11. automatically set to the negative absolute value of the maximum setting All three velocity traces are set to the same scaling factor The scale on the X axis horizontal axis is the Time Base for the Tuning Screen It is measured in milliseconds per division where one division is one tenth of the time displayed across the whole width of the screen and is shown by the minor grid lines The user can select a time base value from a list of common values or specify a custom value In Scope Mode the Tuning screen retrieves data points from the PTS with a time of approximately 70 80 msecs between points This speed also depends on the speed of the computer running PTS Toolkit If the Time Base is very small or the computer very slow the resolution of the traces will be reduced In Historical Mode the time between successive data points is always 4 msecs All the scaling factors are set from the Display Settings Dialog box From the main menu select the Edit option then use the Display Settings option to show the dialog box Set the maximum velocity the maximum position value and the time base required and press the OK button to update The Cancel button will remove the dialog box ignoring any changes Display Settings Max Velocity 52 Max Position Error Time Base 800 msec div D Ausl 800 msec div Page 18 Copyright Ouin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 5 8 Executing Basic Motor Mov
12. ee ee ee ee ee ee ee ee ee 29 TUON anan AT 4 16 display colours iese ee 22 ETA Eegen 21 ole D 23 MONS Deech 22 JOIN POMMS es Ee ee AE EE 22 Page 43 PTS Toolkit User Manual legend se ate ate ata uate at nes 23 Mode of Operation s 17 MOUSE enable 1 eect ee ee 23 OPEN Vlew re 21 DERE eek DE NE ies es es ge 22 print setup see Re ee ee 22 SE EE EE ER EE E ee EP 21 SAVE VIEW RR RR RR RR Re Re ee ee ee ee 22 Start EE Ee 21 SLOP EE 21 trace ondoft ee ke ee ke 23 trace width 22 update view 21 ZOOM INEEN EE Re ER 22 ZOOM Be LEE 22 TUNING goals 20 Tuning Parameters iss esse ede ee 20 TUNING Green 4 16 display settiNgS iss ees RA ee 18 Edit men 22 File Men EE EE ee Ee ek Ee Ee 21 IEEZEL EE SEE a 17 Historical Mode sesse ee ee ee ee 16 Mode of Operation s es 17 Options men 22 TERRE EE E EE 17 Scope Mode ee 16 startiNg sesse esse aaea as 17 SLODDINGE EEN ee EE N ee be 17 Page 44 Issue 1 2 time DASE oo ee ee ee ee ee 18 Ee deet eege EE 18 KEE 18 Tuning Screen Historical Mode 16 Tuning Screen Scope Mode 16 U USING CUISOFS Seer Re EER EE EER EER EER ER 29 V Version Number 35 WwW Window Menu 34 arrange Jong 34 CASCADE AERE ENRE ER ER ER eek ks 34 oli E EEE EE 34 ell EE AE EN REEE EE 34 window Jet 34 Windows Default Printer o ae 8 X XON dei 11 Copyright Quin Systems Limited 1996
13. menu The mode cannot be changed if the Tuning screen is currently operating i e retrieving data from the PTS The Tuning Screen cannot be operated in Scope Mode if the Terminal Window is not open and connected to the PTS PTS Toolkit Tuning Screen Channel 1 ae el File Edit Tools KOSU Window Help ES Scope Mode Channel Select Trace OnOff Tuning Gains Moves Speeds Mouse Enable Legend On Off v Grid On Off Toolbar 5 5 Selecting the Required Motor Channel The Tuning Screen monitors the velocities and position error on a single motor channel on the PTS Before starting the user needs to select which of the PTS motor channels is to be monitored Using the Options selection from the main menu and selecting Channel Select a channel number can be chosen The number of the channel connected is shown in the title bar of the Tuning Screen Note If the Terminal Window is not open the channel cannot be changed the Tuning Screen will show Not Connected as the channel number 5 6 Starting and Stopping the Tuning Screen The Tuning Screen data retrieval from the PTS is controlled by the Start and Stop options on the File menu PTS Toolkit Tuning Screen Channel 1 el d Edit Tools Options Window Help Start Reset Freeze Stop Update View Open View Save View Print Print SetUp Close Tuning Exit i i i i Copyright Quin Systems Limited 1996 Page 17
14. operations available from the PTS Note File menu New Opens a new blank text file See section 3 5 Open Opens an existing text file from disk see section 3 6 Close Closes the current text file If the file has changed the user is prompted to save the changes before closing Save Saves the current text file see section 3 7 1 Save As Saves the current text file with a new filename see section 3 7 2 Print Prints the current text file on the Windows Default Printer see section 3 8 Download from Cursor Starting at the cursor you are prompted whether the current line should be downloaded to the PTS via the terminal Each line can be edited if required sent or skipped This feature is especially useful whilst debugging sequences and programs written for the PTS and is only available when a terminal window is open Recent Files List Displays a list of the last four text files opened Selecting a filename will open the text file if is not already open Exit Quits PTS Toolkit The user is prompted to save any changes to open text files 3 3 PTS Note Edit Menu Commands This section briefly describes the operations available from the PTS Note Edit menu Cut Deletes selected text and copies it to the Windows Clipboard overwriting previous contents Copy Copies selected text to the Windows Clipboard overwriting previous contents Copyright Quin Systems Limited 1996 Page 5 PTS Toolkit User Manual
15. snap shot Historical Mode Cursor Labels This option allows the user to customise the text displayed next to the selected point when the mouse buttons are pressed up to a maximum of 8 characters The mouse buttons can be used to interrogate the traces to obtain actual PTS parameter values 6 10 Using the Cursors to Measure Screen Trace Values PTS Scope makes use of a standard two button Windows compatible mouse to control two screen cursors Clicking a mouse button will select the nearest data point in the display screen to the current screen cursor position If the left hand mouse is clicked the data point selected is highlighted by a dot and an L character If the right hand button is used to select a data point it will be represented by a dot an R character The character string displayed when a mouse button is clicked can be changed in the Display Settings dialog box Copyright Quin Systems Limited 1996 Page 29 PTS Toolkit User Manual Issue 1 2 PTS Toolkit PTS Scope Eile Edit Tools Options Window Help 898 9056 488 352 LH Cursor on 1 Dem Vel RH Cursor on 1 Act Vel Trace information about the position of the selected points is shown in the status bar above the display The left hand status box shows the absolute position co ordinates of the left hand point e g 122000 4000 indicates the data time value is 122000 msecs since the PTS was powered up and that the Y trace val
16. valueS iese see ee ee ee ee ee 29 update view 31 x axis display settings ee 28 X axis SCALING ie ee ee 29 Y AXIS scaling iese ee ee 28 ZOOMMIN SS EE EG RR EG EE Ee SG Ee 31 ZOOM oU 31 Scope Mode ee 24 Screen Trace Values iese ee ee 20 Select KONT EE EE OE ER Re Ee ek EE ei 6 SETUR E XE assaia naasa EO Ee EE 38 snap shO sesse RA Re ee ee 16 Snapshot Position ees 26 37 Copyright Quin Systems Limited 1996 PTS Toolkit User Manual Stating KEE 38 SOP Eege EEN 11 System Requirements iese sesse ese 38 T TERMINAL see EE ee Ie 4 10 baud rate sees ee ee ee ee ee ee ee 11 COMM deel OR ER 11 Cut amp Paste iese ee ee ee ee 10 data DIS sesse ve ee Ne ge 11 flow Control 11 hardware handshaking sesse esse 11 eeh UTC 14 Open Close Port 12 Open Log File 11 Selection Ee Ee 13 eed ON 10 11 Geek EN 11 Terminal Settings ike ee 10 Terminal Window esse ees ee ee ee Ee 10 Edit MENU oe oe EE 12 File menu N eo 11 Options mem 12 eil e 4 5 NEW eh 5 Text File ee 5 COPY E 5 GUE E 5 delete moane 6 EXISTING EE H TING MEX ie De 6 NEW E E EE RE Ee N 5 7 eo RE N 5 ER RE AE EE 6 olie ER AA EA 5 BIDUUR oe Ss 8 Recent Files List 5 12 N a EL N 5 SAVE ASE Ee Re EE SEEM GE 5 SAV ING EE ee cess 8 le E UE 6 time date ese ee ee ee S 6 Keele TEE 34 EEN 34 CUT EE NE EE 34 TING E 35 find next 35 IN 34 ee RA RE 34 EE 35 GU 34 trace values iss ee
17. ES EE ES RE De ER Ee EE EE Es 10 E Position EFTOF esse ee ees ee ee ee 26 37 E E 5 Print SUD E 8 F UE 8 Privileged Mode 10 Flow Control 11 lte UE 33 ROIR E T A A TA 6 13 PTS Motion Te EE 38 G Window men 34 MAN EE EE EE IE 5 Generator A ae ART OE EE EE 5 EISE Ee tote Ge ae 36 Fil D EU sae ee se ges ls des 5 graphical dieplay e 16 Options EE 6 select Ionic srir krn ee ee ee 6 H PTS Program File iadi 14 aaauaaaaaaaauauassassssassssssIiIi downloading see RA ee 14 Historical Mode 24 AE ese RE OO EE 4 24 Copyright Quin Systems Limited 1996 Issue 1 2 accumulate mode iii ee ee 24 Edit MENU Ed 31 Fil MENU EE EE EG Ee de N ve 30 historical mode ees ee ee ee 24 Options men 32 SCOPE mode 24 Q QUINP TS HIP 38 R Reference Error 26 37 refresh oscilloscope ee 16 24 S SAVIN re 8 current le 8 NEW EEN 8 EE 4 24 le e EE 31 cursor Jabel 29 enable tracima aa 28 EEN 31 e lte DEEN 32 grid style eee 32 JOIN porte 31 legend rr 32 mode of operation 25 MOUSE enable ee ee ee 32 OPEN VIEW nennen nennen 31 Point Type 28 point line size 28 old OE ER 31 print Setup ee ee 31 SEE EE AO N N 31 SAVE VIEW ENNEN 31 El GE 31 starting esse RA ee ee 27 teo ME i aaae 31 StODPING rer 27 time base iese ee ee ee Re ee Ee 29 trace colour ese ese eek ee ee RR ee ee Ee 28 trace display settingS iese 27 trace parameters esse dd eee 25 trace
18. Historical Mode Selects the Historical or Snapshot mode of operation Scope Mode Selects the Scope or On line mode of operation Page 22 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Channel Select Selects the motor channel to be tuned Trace On Off Switches the display traces on and off Tuning Gains Displays the Tuning dialog box Moves Speeds Displays the Moves and Speeds dialog box Mouse Enable Toggles the mouse click enable When disabled mouse clicks are ignored within the Tuning Screen Legend On Off Toggles the trace legend display on the lower status bar on and off Grid On Off Toggles the screen grid display on and off Toolbar Toggles the toolbar display on or off Copyright Quin Systems Limited 1996 Page 23 PTS Toolkit User Manual Issue 1 2 6 PTS Scope 6 1 Introduction PTS Scope provides a PC based oscilloscope for monitoring signals or parameters from the Quin PTS The software allows up to 4 different traces to be plotted on the PC screen at a time chosen from up to nine different channel parameters or any available digital amp or analogue UO line the amount of I O available depends on the PTS configuration The Scope function can operate in three different modes Accumulate Mode Scope Mode and Historical Mode The selected mode of operation determines the functions available to the user All modes provide the ability to take a hard copy of the cu
19. Issue 1 2 Paste Pastes the contents of the Windows Clipboard into the text file at the current cursor position or overwrites selected text Delete Deletes the selected text Select All Selects all the text in the current text file Time Date Pastes the current time and date into the text file at the current position Find Searches current text file for characters or words Can match uppercase lowercase letters and search forwards or backwards Find Next Repeats the last search operation without opening the Find dialog box 3 4 PTS Note Options Menu Commands This section briefly describes the operations available from the PTS Note Edit menu Toolbar Toggles the toolbar display on or off Select Font Changes the display and print font of the current text file This font is NOT saved with the file Font Style Size Fixedsys T Footlight MT Light amp Helvetica El Helvetica Narrow Impact AaBbYy2z This is a screen font The closest matching printer font will be used for printing Page 6 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 3 5 Creating a New Text File Select the File option from the main menu Select New Text File A new blank text file will be opened and displayed at the front of the screen The default title for the text file will be PTS Note this will be updated with the file name next time the file is saved This command will display an error me
20. PC and Windows operating system used If problems still persist with Terminal errors try the following suggestions e t has been discovered that the Battery Managers on some Laptop computers can interfere with the serial communication If possible disable the battery management application e Running a network on the PC can interfere with the serial communication under Windows If possible disconnect the network and disable any network software that is running e Many new computers use the 16550 UART serial communications chip Customers are advised that problems may be encountered when trying to use this chip to communicate with PTS systems running firmware below version 1 7 Using a hardware handshaking protocol should overcome the problems in these cases e The standard communication drivers shipped with Microsoft Windows may have limitations when used for high performance communication A number of companies have produced custom communication drivers to replace the standard ones for use under Windows In Copyright Quin Systems Limited 1996 Page 39 PTS Toolkit User Manual Issue 1 2 particular these custom drivers generally implement more effective handshaking Contact your software supplier for more information e Windows for Workgroups WFWG can have potential problems when running a serial port in certain situations It is advised to replace some of the software drivers used by the operating system to eliminate these An update
21. Printer Print Setup Sets up the titles and comments to be included on the printout of the display Close Tuning Closes the Tuning Screen Exit Quits PTS Toolkit 5 12 Tuning Screen Edit Menu Commands This section briefly describes the operations available from the Tuning Screen Edit menu Join Points Toggles on and off to join points displayed in Historical mode Zoom In Zooms the display in between the current Left and Right cursor positions Does not affect the y axis scaling Zoom Out Zooms the display in back out after a Zoom In operation to show all the display information Display Settings Displays the trace scaling dialog box Sets the maximum and minimum scaling values for motor velocities and position error and the time base x axis display Display Colours Allows the screen colours to be changed for the background the grid and the four screen traces Choose the colour required from the Colours dialog box displayed and press OK Trace Width Allows the width for the four screen traces to be selected from thin medium and thick setting Grid Style Allows the line style of the grid major and minor axis to be changed Choose from solid Dash Dot DashDot or DashDotDot 5 13 Tuning Screen Options Menu Commands This section describes the operations available from the Tuning Screen Options menu Not all options will be available at any time the selections depend on the current mode of operation
22. a 2 Tx data Rx data O77 Tx data CTS RTS O _0 CTS 5 5 5 5 GND RTS cts O O RTS RTS O ZO GND GND 0 GND CTS O 9 way D type 25 way D type 25 way D type 25 way D type Note Pins 4 and 5 on the PTS system are only required to be connected if RTS CTS hardware handshaking is to be used See section B 3 4 for more information on selecting handshaking options on the PTS B 3 3 Serial cable connection between a PC and a Quin TRC Unit Page 40 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual The serial connections between a PC and Quin TRC units are similar to those used between a PC and a Quin PTS System The only difference is that hardware handshaking is not an option available on the Quin TRC units B 3 4 Handshake Selection on the Quin MiniPTS and PTS MiniPTS The Quin MiniPTS 4 channel uses XON XOFF software handshaking by default for serial communication using the programming port To select the hardware handshaking option insert a link between pins 1 and 2 of jumper J10 on the MiniPTS SRV 4 board see the Quin MiniPTS Installation manual for more details Connect the PC with hardware handshaking selected in the Terminal settings using a cable with the RTS and CTS lines connected Then power on the MiniPTS It is important that pin 8 CTS on the MiniPTS programming port is pulled high or logically ON when the MiniPTS is powered on Connecting the PC first should ensure that this happens
23. a list of common values or specify a custom value In Scope Mode the Scope retrieves data points from the PTS with a time of approximately 70 80 msecs between points This speed also depends on the speed of the computer running PTS Toolkit If the Time Base is very small or the computer very slow the resolution of the traces will be reduced In Historical Mode the time between successive data points is always 4 msecs and so the Time Base cannot be changed X Axis Scaling In the Historical and Accumulate Modes of operation the Scope X axis can be customised The X axis defaults to Time but can be changed by selecting the required parameter from a list This list contains up to five parameters time and the parameters selected in the Select Trace dialog box This allows the four chosen traces to be plotted relative to time or each other The maximum and minimum values for the X axis can be set individually or by using the AutoScale function Checking the AutoScale X check box will force the display to scale the X axis to fit the values currently stored in the Scope for the selected X axis This scaling will take place when the Update button is pressed and will overwrite any values currently shown in the maximum and minimum text boxes The No Points value sets the number of points that the Scope will store for each trace up to a maximum of 1000 points per trace This number also specifies the number of data points requested back from the PTS in
24. al supports Cut amp Paste operations between itself and text files a download facility for programming the PTS and historical logging facility for recording communications E Options Help El Terminal Tuning Screen PTS Scope To start the Terminal Window select the Tools option from the main menu Choose the Terminal option from the list of available tools The Terminal Window will automatically start up and try to open a serial port on the PC The port selected will usually be the port it used previously or COM1 as default If it fails to open a serial port correctly the software will display the Communication Settings window The Terminal Window cannot be used to connect to the PTS unless the serial port is free and configured correctly Note Some functions of PTS Toolkit require the PTS to be in Privileged Mode Currently the PM command is sent by the terminal when it is opened It assumes no password has been set up If a password has been set up it will be necessary for the user to use the PM command and password before continuing with some PTS Toolkit operations 4 2 Configuring the Terminal Settings If the Terminal window fails to work check the communication settings as described below Select the Options command from the main menu Select Settings to display the Communication Settings dialog box as shown below Communication Settings Baud Rate 110 300 6000 1200 19200 Data Bits
25. ce the display to scale the Y axis to fit the trace values currently recorded in the Scope This scaling will take place when the Apply button is pressed and will overwrite any values currently shown in the maximum and minimum text boxes The values set for the Y axis scaling relates only to the displayed values i e does not affect the actual trace values returned by the PTS If the scaling values are not set correctly the traces may not appear on the screen e g if the trace values are approx 1000 and the max Y is 500 the trace will not appear on the screen 6 9 Adjusting the Scope X Axis Display Settings The X axis display settings are obtained from the same menu From the main menu select the Edit option then use the Display Settings option to show the dialog box below Select the X axis tab Specify the settings required as described below and press the Apply button to update the display Page 28 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Display Settings Traced X Anis No E E Points Cursor Labels Left JL Right In Apply changes made in this tab ose Time Base In on line Scope Mode the scale on the X axis horizontal axis is the Time Base It is measured in milliseconds per division where one division is one tenth of the time displayed across the whole width of the screen and is shown by the minor grid lines The user can select a time base value from
26. ctly This is especially important when selecting the correct I O groups 6 7 Starting and Stopping the Scope The Scope data retrieval from the PTS is controlled by the Start and Stop options on the File menu PTS Toolkit PTS Scope Update View i EE ase 3 ES Open View Save View TGS SSR ae a aa KS Print Print SetUp Close Scope Exit Start automatically resets the display and commands the PTS to start sending data Stop will force the PTS to stop the data transfer The screen can be reset at any time using the Reset option on the File menu The Freeze option freezes the screen display with the next full screen of information this option only stops the screen update not the data retrieval from the PTS Note i If the Terminal Window is not open commands cannot be sent to the PTS and some functions of the Scope will be unavailable ii If the PTS is not in Privileged Mode the Scope traces will not be displayed iii Advanced users may note that during data retrieval the screen update on the Terminal Window is disabled however commands can still be sent to the PTS they just won t be echoed on the screen 6 8 Adjusting the Trace Display Settings The display settings for each trace are set from the Display Settings dialog boxes Each trace can be set up individually from the other traces From the main menu select the Edit option then use the Display Settings option to show the t
27. d These can be selected from up to nine different channel parameters or any available digital amp or analogue VO line depending on the PTS configuration From the main menu select the Edit option then use the Select Trace option to show the Select Trace dialog box shown below Use the list boxes displayed to select the channel required left hand list box and its associated parameter right hand list box If a digital VO line is to be monitored select the input or output group middle list box and the actual input or output line required right hand list box Select Trace channel Trace 2 2 _ Numeric Val Demand Velocity JE Trace 2 2 EE Tracet 3 Inout Se e Press the OK button to accept the selected parameters from the list shown below and remove the dialog box The Reset button clears all the trace selections Pressing the Cancel button will remove the dialog box and ignore any changes Copyright Quin Systems Limited 1996 Page 25 PTS Toolkit User Manual Issue 1 2 Demand Position The Demand Position is the value calculated internally by the PTS for the motors required position It is measured in counts Actual Position The Actual Position is the value of the current motor position as measured from the motor encoder It is measured in counts Position Error The motor Position Error is the difference between the calculated demand and measured actual positions of the motor It is measur
28. d SERIAL 386 file is available from Microsoft to replace the standard product shipped with WFWG It is also advised to use the COMM DRV file shipped with the standard Windows operating system in place of the WFWG file Contact your Windows software supplier for more information on how to obtain these files It must be emphasised that in general the majority of computers can be used to run PTS Toolkit without any problem These notes cover general problems that may be encountered by any Windows user trying to use a serial port for high performance applications B 3 Serial Port Connections This section provides detailed information relating to the actual serial connections required to interface a PC to a Quin motion controller B 3 1 Serial cable connection between a PC and a Quin MiniPTS PC MiniPTS PC MiniPTS 2 Rx data o_o Tx data Tx data ae Tx data Tx data O _ O Rx data Rx data 3 3 Rx data 4 7 GND 5o GND RTS e EER RTS e 5 CTS CTS CTS O CTS GND O O GND 9 way D type 9 way D type 25 way D type 9 way D type Note Pins 7 and 8 on the PTS are only required to be connected if RTS CTS hardware handshaking is to be used See section B 3 4 for more information on using hardware handshaking with the PTS B 3 2 Serial cable connection between a PC and a Quin PTS System PC PTS System PC PTS System 1 1 1 1 Gnd GC Screen Gnd O O Screen Rx data EA Rx data Tx data a Rx data Tx dat
29. d the PTS will send back 250 points at 4 msec intervals from the time it received the start command This mode of operation enables traces to be recorded at a much higher resolution but does not operate in real time The PTS measures the data immediately then buffers it up until it is ready to be sent to the Scope The number of points requested by the Scope can also be set by the No Points option in the X Axis Display Settings dialog box The data points retrieved back from the PTS are plotted on the screen as individual points These can be joined using the Join Points option under the main Edit menu WARNING To operate the Scope in historical logging or snap shot mode the Terminal Window must be open and connected to the PTS In addition the PTS must be in Privileged Mode see section 4 1 otherwise the Scope will not operate If the Terminal is not open the Scope will only allow the user to view previously created display files 6 4 PTS Scope Accumulate Mode PTS Scope Accumulate Mode provides the ability to accumulate trace data over a period of time to produce an emerging information picture The mode of operation resembles that of an oscilloscope with signals connected to both the X and Y axes but with each point plotted individually It is designed to work on line with the PTS and display the selected trace parameter values in real time to provide data logging for a cyclical process or repeating operation i e mapping Page 24 C
30. e products and techniques can be used Please contact the Quin Systems Sales Department for more information on available products B 2 Windows Serial Port Communication PTS Toolkit has been designed to work on all IBM compatible PCs extensive testing has been carried out at Quin Systems and on customer sites to ensure that this is the case However it is impossible to test the software on every single type and configuration of PC currently on the market This section provides a brief description of some of the potential problems with running PTS Toolkit on different PC types and configurations in particular these problems concentrate on running serial ports under the Windows operating system If the PTS Toolkit Terminal reports Buffer Overflow or Buffer Overrun errors this indicates that data sent by the PTS is being lost by the PC Using a handshaking protocol between the PC and PTS should eliminate this problem There are two main types of handshaking software XON XOFF and hardware RTS CTS The PTS Toolkit Terminal offers a third type which is a combination of these two see Configuring the Terminal Settings in section 4 2 If errors are being reported it is suggested that the Terminal should be set to hardware handshaking RTS CTS to communicate with Quin motion controllers see the next section for PC to Quin products connection information The handshaking operation still depends on the type and configuration of the
31. e Scope Edit menu AutoScale Automatically scales all Y traces enabled on the display screen Individual traces can be scaled using the Display Settings dialog box see below This function can be useful if a new logging operation has been started where trace values are unknown and cannot be seen on the current screen display Join Points Toggles on and off to join points displayed in Historical mode Zoom In Zooms the X axis display between the current Left and Right cursor positions Does not affect the y axis scaling Zoom Out Zooms the display in back out after a Zoom In operation to show all the display information Copyright Quin Systems Limited 1996 Page 31 PTS Toolkit User Manual Issue 1 2 Select Trace Displays the Select Trace dialog box Allows each of the four individual scope traces to be set up to display the motor channel parameter or UO line required See How to Select Trace Parameters for more information Display Settings Displays the Display Settings dialog box This dialog box allows trace display settings to be changed These include maximum X amp Y minimum X amp Y width point type colour and time base values to be set as required See How to Change Display Settings for more information Display Colours Allows the screen colours to be changed for the background and the grid display Choose the colour required from the Colours dialog box displayed and press OK Grid Style A
32. ector profile generated by the software These parameters can be easily downloaded to the PTS system and automatically translated into a PTS Toolkit profile or map Page 36 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Position Error The motor Position Error is the difference between the calculated demand and measured actual positions of the motor It is measured in counts PTS Scope PTS Scope provides a PC based oscilloscope for monitoring signals parameters from the Quin PTS The software allows up to 4 different traces to be plotted on the PC screen at a time chosen from up to 9 different channel parameters or any available digital analogue I O line Reference Error The Reference Error value is the absolute position error relative to the last valid reference input It is measured in encoder counts For more information see the Reference Commands section in the PTS Reference Manual Snapshot Position The Snapshot Position value is the absolute position measured when the last snapshot input signal was detected It is measured in encoder counts For more information see the PS configuration command in the PTS Reference Manual Terminal The Terminal provides a communications window between the PTS Toolkit software and Quin motion control products The Terminal supports Cut amp Paste operations between itself and text files a download facility for programming the PTS and historical logging facilit
33. ed in counts Demand Velocity The Demand Velocity is the value calculated internally by the PTS for the motors required velocity It is measured in counts per second Actual Velocity The Actual Velocity is the value of the current motor velocity as calculated from successive motor encoder positions It is measured in counts per second Averaged Velocity The Averaged Velocity is the measured actual velocity after applying an averaging mechanism as set up by the VT command It is measured in counts per second Reference Error The Reference Error value is the absolute position error relative to the last valid reference input It is measured in encoder counts Snapshot Position The Snapshot Position value is the absolute position measured when the last snapshot input signal was detected It is measured in encoder counts Analogue Input The Analogue Input is the measured value for the current analogue input signal voltage It is calculated as a number in the range 2047 to 2047 corresponding to 10V to 10V Page 26 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Digital Inputs and Outputs I O The digital input and output lines can be monitored by the Scope and displayed on the PC screen as a value 1 high or 0 low Care needs to be taken to ensure that the Y axis scaling is set correctly Note Care must be taken when selecting parameters to ensure that the PTS has been configured corre
34. erface avoiding the requirement for complex checking or handshaking protocols for its data transfer The result is quick and simple to use but could in theory lock the communication channel of the PTS processor It is therefore advised that the software should not be left active whilst connected to the programming port of the PTS system on a live automated system where safety or production could be at risk Appendix B contains more information on running PTS Toolkit and serial communications under the Windows operating system Copyright Quin Systems Limited 1996 Page 3 PTS Toolkit User Manual Issue 1 2 2 General Description The facilities and tools contained in the PTS Toolkit package are described briefly below and in more detail in the following sections of the manual 2 1 Text Editor The PTS Note Text Editor can be used to create view and edit PTS program files PTS Toolkit will allow multiple text files to be opened for viewing amp or editing at any time Cut amp Paste operations and a line by line download system are supported between open text files and the Terminal 2 2 Terminal The Terminal provides a communications window between the PTS Toolkit software and Quin motion control products The Terminal supports Cut amp Paste operations between itself and text files a download facility for programming the PTS and historical logging facility for recording communications 2 3 Tuning Screen The Tuning Screen
35. ersion 3 1 PTS Toolkit contains an integrated suite of machine design tools for use with Quin Systems Motion Control products The tools described in this help manual are all available for use within PTS Toolkit but may not all be included with your version of the software For more information on available tools or any other queries please contact your Sales Office or Quin Systems The information provided in this manual is also contained in electronic form in a Windows Help file QUINPTS HLP shipped with the PTS Toolkit software It can be accessed from the Windows Help file manager or from the Help menu in the PTS Toolkit main menu The appendices to this document contain complete installation instructions along with important information relating to the use of PTS Toolkit on different computers and in different control applications It is strongly advised that these are consulted before trying to use PTS Toolkit for a motion application Please Note The descriptions throughout this manual assume at least a basic knowledge of the Microsoft Windows operating system and the Quin Systems PTS If more information is required on either of these topics please refer to your Microsoft Windows software documentation or the Quin PTS Reference Manual respectively IMPORTANT NOTICE The PTS Toolkit software has been designed to make the maximum use of available PC processor and serial communications speed It uses a standard RS 232 serial int
36. es amp Changing Motor Parameters To enable easy tuning of the motors various motor moves the motor speed and the acceleration can be set from within the Tuning Screen using the Moves Speeds Dialog box This allows the user to send commands to the PTS to execute moves without using the Terminal Window directly Moves Speeds Motor Moves Motor Parameters Continuous Forwards Velocity z Continuous Backwards Accel 7 Decel 50000 Cyclic Moves Forwards Counts Backwards Counts Select the Moves Speeds option from the main Options selection on the main menu This will display the Moves Speeds dialog box Use the Motor Moves section to select the type of move required If a cyclic move is selected use the Cyclic Moves section to set the various parameters required The Start Motor button starts the motor moving with the selected move The Stop Motor button stops the current move The Quit button will remove the dialog box without making any changes WARNING The Start Motor button starts the motor moving Ensure that this is safe before starting Using the Motor Parameters section type in the required velocity and acceleration deceleration values Pressing the Update Parameters button will send the new information to the PTS The Quit button will remove the dialog box without making any changes The Moves Speeds dialog box is modeless and can be left displayed whilst the Tuning Screen is in use
37. file to be used or select an existing file from the directory list to overwrite Page 14 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual L Edit Tools Options New Text Open Text Open Log File Close Log File Download Text File Close Terminal When a log file is opened the Terminal window title will indicate the name of the log file To stop logging the serial communication and close the log file select the File option from the main menu and Close Log File A log file on disk can be viewed in the same way as a program file using the PTS Note Editor Copyright Ouin Systems Limited 1996 Page 15 PTS Toolkit User Manual Issue 1 2 5 Tuning Screen 5 1 Introduction The Tuning Screen provides the user with a graphical display for monitoring motor velocities as an aid to tuning The software enables the user to view a motors velocity profiles and its position error whilst tuning parameters and moves can be adjusted using Windows Dialog boxes The Tuning Screen shows the Demand Actual and Averaged Velocities and the Position Error recorded on the PTS for a selected motor channel The screen display is split in two with the top half of the screen displaying the velocity traces and the lower half the position error This enables the user to view both velocity and position error at the same time The Tuning Screen can operate in two different modes Scope Mode and Historical Mode T
38. ftware will exhibit improved performance on more powerful systems In particular the Tuning Screen PTS Scope and Motion Generator will run much quicker on faster processors A 2 Installing PTS Toolkit Use the SETUP EXE program on the installation first if two disc to install PTS Toolkit This program will automatically uncompress and install the required files from the installation disc in to the correct directories on the target hard disk To start setup Insert the disk into your floppy disc drive usually drive A Start up Windows on your PC From the File menu of the Program Manager choose the Run option E Go Ne Type a setup lt RETURNS gt where a is the name of your floppy disc drive 5 Follow the Setup instructions on the screen A 3 Starting PTS Toolkit Once the PTS Toolkit has been successfully installed the application can be started by double clicking the PTS Toolkit icon in the new program group This Reference manual explains how to use the software once it has been installed The information is also stored in a Windows Help file QU INPTS HLP shipped with the software It can be accessed from the Windows Help file manager or from the Help menu in the PTS Toolkit main menu The descriptions throughout this manual and in the Windows help file assume at least a basic knowledge of the Microsoft Windows operating system and the Quin Systems PTS If more information is required on either of these topics p
39. he selected mode of operation determines the functions available to the user Both modes provide the ability to take a hard copy of the current screen display using the Windows Print Manager to any Windows compatible printer capable of printing graphics Using the Mouse buttons to operate the Left and Right hand cursors trace information can be obtained from the screen to measure exact velocity and position error values To start the Tuning Screen facility select the Tools option from the main menu Choose the Tuning option from the list of available tools 5 2 Tuning Screen Scope Mode In Scope Mode the Tuning Screen acts in a similar manner to a standard refresh oscilloscope It is designed to work on line with the PTS and display the velocity and position error values in real time WARNING To operate the Tuning Screen in Scope Mode the PTS Toolkit Terminal Window must be open and connected to the PTS In addition the PTS must be in Privileged Mode see section 4 1 otherwise the Tuning will not operate If the Terminal is not open correctly the Tuning screen will only operate in Historical Mode and not all facilities will be available 5 3 Tuning Screen Historical Mode The Tuning Screen Historical Mode can be used for two types of operation the first is on line in a similar way to the Scope Mode of operation the other is simply as a passive application for viewing and saving previously created PTS Toolkit DAT Tuning and Sco
40. lease refer to your Microsoft Windows software documentation or the PTS Reference Manual respectively Page 38 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Appendix B Important Information B 1 PTS Toolkit Applications Notes As with all control software care should be taken when using the PTS Toolkit front end to connect to a live system The software allows the operator access to some of the more critical control parameters of a control system this can lead to a potentially hazardous situation PTS Toolkit should not be used to change update or modify the PTS whilst it is operating a machine unless the user is fully aware of the consequences The PTS and other Quin motion controllers have been designed to work as stand alone computers They are generally more rugged and immune to hardware and or software system failures than standard PCs especially in an industrial environment Leaving a PC connected to the programming port on the PTS during normal system operation may leave the control system susceptible to PC system errors PTS Toolkit has been developed as a machine design tool for use during development of a motion control system It is therefore advised that the PTS Toolkit software is used for system programming configuration and commissioning rather than long term data logging and or system monitoring If run time control and monitoring of a machine is required a number of more suitabl
41. lipboard overwriting previous contents Page 34 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Paste Pastes the contents of the Windows Clipboard into a text file at the current position or overwrites selected text In the Terminal window this operation sends the contents of the clipboard to the PTS Find Searches current text file for the next instance of the specified text Only available in the Text Editor Find Next Repeats the last find operation Only available in the Text Editor 8 4 Version Number The version number for the PTS Toolkit software can be found from the About dialog box under the main Help menu This manual describes the PTS Toolkit Software versions 1 0 or higher The note in brackets next to the version number details the options available in this software as follows e Mini contains the standard Text Editor and Terminal tools e Standard contains the standard Text Editor Terminal and Tuning Screen tools e Scope contains the standard tools and the PTS Scope function e Motion contains the standard tools and the Motion Generator package e Professional contains the standard tools the PTS Scope and the Motion Generator The text editor and terminal functions of this software are device independent The Tuning Screen and PTS Scope functions where included have been designed to work with the Quin PTS running version 1 6 or higher firmware RTS CTS hardware handshaking is
42. llows the line style of the grid major and minor axis to be changed Choose from solid Dash Dot DashDot or DashDotDot 6 14 PTS Scope Options Menu Commands This section briefly describes the operations available from the Scope Options menu Accumulation Mode Selects the Accumulation mode of operation where this option is available Historical Mode Selects the Historical or Snapshot mode of operation Scope Mode Selects the Scope or On line mode of operation Mouse Enable Toggles the mouse click enable When disabled mouse clicks are ignored within the Scope display Legend On Off Toggles the trace legend display on the lower status bar on and off Grid On Off Toggles the screen grid display on and off Toolbar Toggles the toolbar display on or off Page 32 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 7 Motion Generator Package The Motion Generator is a powerful software package developed for graphically designing custom machine motions The package allows the user to define any motion using a library of complex mathematical models The motion is stored as a set of parameters that describe the vector profile generated by the software These parameters can be easily downloaded to the PTS system and automatically translated into a PTS Toolkit profile or map A separate manual is provided with this feature and the related PTS embedded motion generator Copyright Quin Sys
43. n changing gain values to make sure the motor remains stable Large changes in a gain value may result in a dangerous unstable situation Note If the Terminal Window is not open commands cannot be sent to the PTS and the Tuning Dialog box is unavailable 5 10 Using the Cursors to Measure Screen Trace Values The Tuning Screen makes use of a standard two button Windows compatible mouse to control two screen cursors Clicking a mouse button will select the nearest data point in the display screen to the current screen cursor position If the left hand mouse is clicked the data point selected is highlighted by a dot and an L character If the right hand button is used to select a data point it will be represented by a dot and an R character PTS Toolkit Tuning Screen Channel 1 e File Edit Tools Options Window Help 859 7168 527 1536 LH Cursor on 1 Act Vel RH Cursor on 1 Act Yel Historical Mode Tuning Trace information about the position of the selected points is shown in the status bar above the display The left hand status box shows the absolute position co ordinates of the left hand point e g 122000 4000 indicates the data time value is 122000 msecs since the PTS was powered up and that the Y value velocity or position error is 4000 counts per second or counts respectively The next status box shows the position co ordinates of the right hand point relative to the position of the left hand point
44. nipts mise aprint pts sch E gt minipts examplel pts Ss mi misc example2_pts pallet pts pcmc pts phantom pts print pts Save File as Type Drives Pts fies Cots H sewe E 3 8 Printing a Text File Select the File option from the main menu Select Print Press OK in the Print dialog box to print the current text file on the Windows Default Printer Printer Default Printer HP LaserJet 474M Plus PS 600 on LASERJ4 Print Range D Selection D Pages be te C Print Quality 600 dpi 2l Copies hn C Print to File CO Collate Copies The Setup button in the print dialog box enables the current Windows printer setup to be modified see Windows documentation for more information Page 8 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Printer currently HP LaserJet 474M Plus PS 600 on LASERJ4 Specific Printer HP LaserJet 474M Plus PS 600 on LASERJ4 Orientation Paper amp Portrait Size A4 210 x 297 mm O Landscape Source The printer will use the font currently selected in the PTS text editor This font can be changed using the Select Font option found under the main Options menu see section 3 4 Copyright Quin Systems Limited 1996 Page 9 PTS Toolkit User Manual Issue 1 2 4 Terminal Window 4 1 Introduction The Terminal provides a communications window between the PTS Toolkit software and Quin motion control products The Termin
45. only available with the Quin PTS running version 1 7 or higher firmware Copyright Quin Systems Limited 1996 Page 35 PTS Toolkit User Manual Issue 1 2 9 Glossary of Terms Actual Position The Actual Position is the value of the current motor position as measured from the motor encoder It is measured in counts Actual Velocity The Actual Velocity is the value of the current motor velocity as calculated from successive motor encoder positions It is measured in counts per second Analogue Input The Analogue Input is the measured value for the current analogue input signal voltage It is calculated as a number in the range 2047 to 2047 corresponding to 10V to 10V For more information see the Analogue Control section of the PTS Reference Manual Averaged Velocity The Averaged Velocity is the measured actual velocity after applying an averaging mechanism as set up by the VT command It is measured in counts per second The measured motor velocity or Actual Velocity is calculated from successive encoder positions These are measured at 4ms intervals and so the measured speed is only accurate to 256 encoder counts per second The VT command sets up an averaging mechanism on the motor axis such that the number of samples of speed doubles for each increment in the value of VT At VT 0 the default no averaging is done and the Averaged Velocity is equal to the Actual Velocity At VT 8 the maximum value 256 samples
46. opyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual between multiple channels The number of points displayed on the screen can be used to control the amount of data recorded at any time The X axis variable can be changed using the Display Settings dialog box to allow the four traces to be plotted relative to up to five different parameters WARNING To operate the Scope in Accumulate Mode the Terminal Window must be open and connected to the PTS In addition the PTS must be in Privileged Mode see section 4 1 otherwise the Scope will not operate If the Terminal is not open the Scope will only allow the user to view previously created display files in historical mode Note Some versions of the PTS Toolkit Scope may not offer this Accumulate Mode option 6 5 Selecting Mode of Operation To choose the required operation select the mode required from the list under the Options choice from the main menu The mode cannot be changed if PTS Scope is currently operating i e retrieving data from the PTS PTS Scope cannot be operated in the Accumulate or Scope Modes if the Terminal WindowTerminal_Brief is not open and connected to the PTS PTS Toolkit PTS Scope Ed File Edit Tools TN Window Help Ei i Scope Mode Historical Mode Mouse Enable Legend On Off v Grid On Off v Toolbar 6 6 Selecting Scope Trace Parameters Before starting the Scope the screen trace parameters need to be selecte
47. pe files In the on line mode the Tuning Screen acts as a snap shot recorder for PTS data When started the Tuning Screen commands the PTS to start sending the velocity and position error information as recorded in 4 msec intervals starting from the time the Tuning Screen was started For example if the Tuning Screen Time Base is set to 100 msec per division when the Tuning Screen is started the PTS will send back 250 points at 4 msec intervals from the time it received the start command This mode of operation enables traces to be recorded at a much higher resolution but does not operate in real time The PTS measures the data immediately then buffers it up until it is sent to the Tuning Screen The data points retrieved back from the PTS are plotted on the screen as individual points These can be joined using the Join Points option under the main Edit menu WARNING To operate the Tuning Screen in historical logging or snap shot mode the Terminal Window must be open and connected to the PTS In addition the PTS must be in Privileged Mode see section 4 1 otherwise the Tuning will not operate If the Terminal is not open the Tuning screen will only allow the user to view previously created display files Page 16 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 5 4 Selecting Mode of Operation To choose the required operation select the mode required from the list under the Options choice from the main
48. provides the user with a graphical display for monitoring motor velocities as an aid to tuning The software enables the user to view a motors velocity profiles and its position error whilst tuning parameters are adjusted via a Windows Dialog box 2 4 PTS Scope PTS Scope provides a PC based oscilloscope for monitoring signals parameters from the Quin PTS The software allows up to 4 different traces to be plotted on the PC screen at a time chosen from up to 9 different channel parameters or any available digital analogue I O line 2 5 Motion Generator The Motion Generator is a powerful software package developed for graphically designing custom machine motions The package allows the user to define any motion using a library of complex mathematical models The motion is stored as a set of parameters that describe the vector profile generated by the software These parameters can be easily downloaded to the PTS system and automatically translated into a PTS motion profile or map Page 4 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual 3 PTS Note Text Editor 3 1 Introduction The PTS Note Text Editor can be used to create view and edit PTS program files PTS Toolkit will allow multiple text files to be opened for viewing amp or editing at any time Cut amp Paste operations are supported between open text files and the Terminal Window 3 2 PTS Note File Menu Commands This section briefly describes the
49. r font will be used for printing Copyright Quin Systems Limited 1996 Page 13 PTS Toolkit User Manual Issue 1 2 4 7 Downloading a PTS Program File To program a PTS controller with commands in a PTS program file the easiest method is to send the contents of the file directly from disk to the PTS through the serial port Edit Tools Options New Text Open Text Open Log File Close Log File Download Text File Close Terminal Select the File option from the main menu Select Download Text File Type the filename of the program required or select the file from the directory list Press OK Download Text File File Name Directories c minipts misc aprint pts es atemp pts gt minipts example1_pts Gs mi example2_pts pallet pts pcmc pts phantom pts print pts List Files of Type Drives PIS fies PTS E Bem 9 WARNING The PTS must be in Privileged Mode PM Mode before attempting to download a program file Errors may occur if an attempt is made to download a file when in Normal Mode 4 8 Using a Log File To view any serial communication since the terminal was opened the vertical scroll bar function can be used This will allow up to the last 32 768 characters received to be viewed To record the communication across the serial port over a longer period of time a Log File can be used Select the File option from the main menu Select Open Log File Type the filename of the
50. race settings dialog box Use the tab buttons to select which trace you wish to modify Specify the settings required as described below and press the Apply button to update the display Changes are not actioned until Apply is pressed Copyright Quin Systems Limited 1996 Page 27 PTS Toolkit User Manual Issue 1 2 Display Settings Trace 1 Fasn Emor Line Point DN Enable Trace Type AutoScale Trace Maz Y Size Min Y Colou B Apply changes made in this tab ese Enable Trace This check box turns the current trace On or Off checked or un checked Point Type This option allows the user to select the point type used in the Historical and Accumulate Modes Select from a list containing Dot Cross Star and Circle These point types are also used on the hard copy printouts to distinguish between traces Point Line Size The screen point size or line width can be select from a list of Thin Medium and Thick The default is thin and may need changing on screens with low resolutions or Laptop computers Colour Selecting this box displays a Windows Colour dialog box Select the colour required from the options displayed and the press OK button If using the keyboard press the Space Bar to select the colour Trace Scaling Y Axis The maximum and minimum values for the displayed Y axis for each trace can be set individually or by using the AutoScale function Checking the AutoScale Trace check box will for
51. rrent screen display using the Windows Print Manager to any Windows compatible printer capable of printing graphics Using the Mouse buttons to operate the Left and Right hand cursors trace information can be obtained from the screen to measure exact parameter values 6 2 PTS Scope Scope Mode In Scope Mode PTS Scope acts in a similar manner to a standard refresh oscilloscope It is designed to work on line with the PTS and display the selected trace parameter values in real time WARNING To operate the Scope in Scope Mode the PTS Toolkit Terminal Window must be open and connected to the PTS In addition the PTS must be in Privileged Mode see section 4 1 otherwise the Scope will not operate If the Terminal is not open correctly the Scope will only operate in Historical Mode and not all facilities will be available 6 3 PTS Scope Historical Mode PTS Scope in Historical Mode can be used for two types of operation the first is on line in a similar way to the Scope Mode of operation the other is simply as a passive application for viewing and saving previously created PTS Toolkit DAT Scope and Tuning files In the on line mode PTS Scope acts as a snap shot recorder for PTS data When started the Scope orders the PTS to start sending the selected trace information as recorded in 4 msec intervals starting from the time the start order was sent For example if the Scope Time Base is set to 100 msec per division when starte
52. rwriting previous contents Paste Pastes the contents of the Windows Clipboard to the PTS via the Terminal Select All Selects all the text contained in the Terminal window and scroll buffer Clear Buffer Clears the Terminal window and scroll buffer 4 6 Terminal Window Options Menu Commands This section briefly describes the operations available from the Terminal File menu Open Close Port Toggles the serial port open or closed Note Some functions of PTS Toolkit require the PTS to be in Privileged Mode Currently the PM command is sent by the terminal when it is opened It assumes no password has been set up If a password has been set up it will be necessary for the user to use the PM command and password before continuing with some PTS Toolkit operations Settings Displays the communications settings dialog box see section 4 2 Modem These features are an advanced use of the PTS Toolkit If you wish to use this feature please contact your sales office for a separate manual detailing this feature for both the PTS Toolkit and the PTS hardware Toolbar Toggles the toolbar display on or off Page 12 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Select Font Changes the display font of the terminal window Font Font Style ize Fixedsys Fixedsys T Footlight MT Light amp Helvetica El Helvetica Narrow pact AaBbYy2z This is a screen font The closest matching printe
53. serial lead with hardware handshake active can block control operations A temporary expedient is to link pins 4 and 5 of the programming port until power can be cycled Copyright Quin Systems Limited 1996 Page 41 Page 42 PTS Toolkit User Manual Issue 1 2 Index Historical Scope Views 30 l DAT E Ee Ee 16 24 PTSAERA RAS E 8 Installation Guide see eee 38 A L Accumulate Mode sees 24 Bee dol ER EE EE N 14 Actual Position 26 36 Actual Velocity cccccccccccscceseeeeees 26 36 M Analogue Input 26 36 Averaged Velocity ee ee 36 nle na a 33 measuring SCOPE traces 29 B measuring valuesg eee eee 20 EE EE EE Modem Communications see 11 12 Baud Rate iese RR RR RR RR RR RR RR Re Re ee 11 M tt ss n esch 4 Motion Generator 4 C Motion Generator Package ees 33 MOONS ss ss 33 Closing Scope views 30 Motor Channel 17 COMM Port 11 Motor Moes 19 Communication Gettngs sesse 10 Motor Parameters iss ee ee 19 TEE 20 Cut amp Paste A 36 N D MEE EED AA ARE DEE AE EA AE 7 Note 5 Data D s n nrnna nnn nnn rnnr nanena 11 Demand Position a e 26 36 O Demand Velocity eek ee 26 36 EE Digital Inputs and Outputs O 27 36 Open Log Eilen 11 Display Settings Dialog box 18 Opening Scope views ee 30 Download OSCIIIOSCOPE ee 16 24 text file from CUFSOF 5 Downloading sesse esse ed ese 14 P priviledged mode n 14 AE OE EE EE EE 11 E PM E
54. ssage dialog box and will not open a new file if the maximum number of text files is already open 3 6 Opening an Existing Text File Select the File option from the main menu Select Open Text File An Open dialog box prompts the user for a file name Type in the required filename or select one from the list File Name Directories c AAminipts mise aprint pts K ch atemp pts gt minipts example1_pts misc example2_pts pallet pts pcmc pts phantom pts print pts List Files of Type Drives Pis Fiestan E Bema E The selected file will be opened and displayed at the front of the screen PTS Note cannot open files larger than 32 Kbytes If a large file needs to be edited use another editor This command will display an error message dialog box and will not open a new file if the maximum number of text files is already open Copyright Quin Systems Limited 1996 Page 7 PTS Toolkit User Manual Issue 1 2 3 7 Saving a Text File 3 7 1 Saving text with the current file name Select the File option from the main menu Select Save The current text file will be saved with its current filename 3 7 2 Saving text to a new filename Select the File option from the main menu Select Save As A Save dialog box prompts the user to enter a filename for the text file NB Typically PTS program files use extension PTS The current text file will be saved with the new filename Save As File Name Directories c Ami
55. tems Limited 1996 Page 33 PTS Toolkit User Manual Issue 1 2 8 Miscellaneous Features 8 1 Introduction Some of the functions in the PTS Toolkit package are similar for all the different tools This section describes some of the common features of the PTS Toolkit programming package 8 2 PTS Toolkit Window Menu Commands This section briefly describes the operations available from the PTS Toolkit Windows menu These operations are common to most Windows compatible applications Cascade Cascades all non minimised windows open in PTS Toolkit Tile Tiles all non minimised windows horizontally Split Splits all non minimised windows vertically Arrange Icons Arranges icons of all minimised windows Window List Displays a list of current windows in PTS Toolkit Selecting the window required will display it in the package at the front of the screen 8 3 Using the PTS Toolkit Toolbar Some PTS Toolkit operations can be carried out quickly whilst in any tool by pressing the buttons displayed on the Toolbar The list below describes the buttons available in each tool and their corresponding action New Opens a new blank text file Open Opens an existing text file Save Saves the current text file Only available in the Text Editor See Cut Deletes selected text and copies it to the Windows Clipboard overwriting previous contents Only available in the Text Editor Fi Copy Copies selected text to the Windows C
56. ue is 4000 units depending on parameter currently displayed The next status box shows the position co ordinates of the right hand point relative to the position of the left hand point e g 625 860 indicates the right hand point was recorded 625 msecs after the left hand point and that the Y trace value is 860 again units depending on parameter currently displayed less than the value of the left hand point The third and fourth status boxes indicate the actual trace the points rest on e g LH Cursor on Dem Vel indicates that the left hand point lies on the Demand Velocity trace If the cursors are used whilst the Scope is updating it is advisable to use the Freeze function to stop the screen refresh at the end of each complete screen display 6 11 Opening amp Saving Historical Scope Views PTS Scope in Historical Mode can be used simply as a passive application for saving screen displays and viewing previously created PTS Toolkit DAT Scope and Tuning files To Save a screen display in Historical Mode simply select the File option from the main menu then Save View A Windows Save dialog box prompts for a filename for the data file NB the default extension used by the Scope is DAT The current Scope display will be saved with the specified filename The saved data file will contain information about the number of points trace set up and scaling current set in the Scope To open a Scope screen display from a file pre
57. viously created select the File option from the main menu then Open View A Windows Open dialog box prompts for a filename Type in the required filename or select one from the list If the selected file is a valid Scope display file the Scope display screen with be update with the new data NB The Scope will use the trace and scaling settings saved with the data file overwriting any current settings 6 12 PTS Scope File Menu Commands This section briefly describes the operations available from the Scope File menu Page 30 Copyright Quin Systems Limited 1996 Issue 1 2 PTS Toolkit User Manual Start Starts the Scope i e starts logging data from the PTS Reset Resets the Scope display Freeze Freezes the display at the end of the next full screen of information NB The software continues to retrieve data from the PTS Stop Stops retrieving data from the PTS Update View Updates the Scope display in Historical mode Open View Opens a previously created scope or Tuning Screen display file Save View Saves current display view to a file on disk Print Prints the display on the Windows Default Printer Scope needs to be frozen or stopped Print Setup Sets up the titles and comments to be included on the printout of the display Close Scope Closes the Scope Function Exit Quits PTS Toolkit 6 13 PTS Scope Edit Menu Commands This section briefly describes the operations available from th
58. y for recording communications Text Editor The PTS Note Text Editor can be used to create view and edit PTS program files PTS Toolkit will allow multiple text files to be opened for viewing amp or editing at any time Cut amp Paste operations are supported between open text files and the Terminal Window Tuning Screen The Tuning Screen provides the user with a graphical display for monitoring motor velocities as an aid to tuning The software enables the user to view a motors velocity profiles and its position error whilst tuning parameters are adjusted via a Windows Dialog box Copyright Quin Systems Limited 1996 Page 37 PTS Toolkit User Manual Issue 1 2 Appendix A Installation Guide A 1 PTS Toolkit System Requirements To install and run PTS Toolkit you should have certain hardware and software installed on your computer Requirements include e Any IBM compatible personal computer PC with an 80386 processor or higher e A hard disc drive with at least 1 5 Mbytes PTS Toolkit mini version 3 Mbytes PTS Toolkit all version of disc space free e A3 1 2 floppy disc drive e An EGA VGA 8154 Hercules or compatible display e Atleast 1 Mbyte of free memory e A Microsoft Windows compatible mouse e Microsoft MS DOS version 3 1 or later e Microsoft Windows version 3 1 or later in standard or enhanced mode These are the minimum requirements to run PTS Toolkit Some of the features of the so

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