PMAC PLOT

PMAC PLOT
^1 USER MANUAL
^2 PmacPlot
^3 Software User Manual
^4 5xx-09WPRO-xSxx
^5 January 28, 2003
Single Source Machine Control
Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained
in this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or
handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components 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 Plot User Manual
Table of Contents
GETTING STARTED.................................................................................................................................. 1
What’s New with PMAC Plot 1.19 ............................................................................................................ 1
Installation.................................................................................................................................................. 1
Command Line Parameter.......................................................................................................................... 1
QUICKPLOT................................................................................................................................................ 2
QuickPlot ................................................................................................................................................... 2
Plot title ................................................................................................................................................. 2
Motors to Gather ................................................................................................................................... 3
Define Gather Buffer ............................................................................................................................. 3
Begin Gathering .................................................................................................................................... 3
End Gathering ....................................................................................................................................... 3
Upload Data .......................................................................................................................................... 4
Possible Choices.................................................................................................................................... 4
Add to Left ............................................................................................................................................. 4
Add to Right........................................................................................................................................... 4
Left Plot Axis ......................................................................................................................................... 4
Right Plot Axis....................................................................................................................................... 4
Remove Item .......................................................................................................................................... 4
Horizontal Axis ...................................................................................................................................... 5
Plot Data ............................................................................................................................................... 5
Open ...................................................................................................................................................... 5
Exit......................................................................................................................................................... 5
Saving and Loading Gathered Data............................................................................................................ 5
A Typical Quick Plotting Scenario ............................................................................................................ 5
DETAIL PLOT............................................................................................................................................. 7
Detail Plot .................................................................................................................................................. 7
Items to Gather........................................................................................................................................... 8
Specify a Variable to Gather (>>) ........................................................................................................ 9
Scaling and Processing............................................................................................................................... 9
Scaling and Processing for one Item ................................................................................................... 11
Scaling and Processing for two Items.................................................................................................. 12
Items to Plot ............................................................................................................................................. 13
Configure Items to Plot dialog box...................................................................................................... 13
Configure a Plot dialog box. ............................................................................................................... 14
Define Gather, Begin Gather, End Gather................................................................................................ 14
Upload Data ............................................................................................................................................. 15
Plot Data................................................................................................................................................... 15
Others ....................................................................................................................................................... 15
Saving and Loading Gathered Data.......................................................................................................... 15
PLOT WINDOWS ..................................................................................................................................... 17
Plot Window ............................................................................................................................................ 17
Tools ........................................................................................................................................................ 19
Data Editor.......................................................................................................................................... 19
Change PmacPlot Option ......................................................................................................................... 19
Scale .................................................................................................................................................... 19
Series ................................................................................................................................................... 20
Save Plot Files.......................................................................................................................................... 21
Save plot data into PPL-File ............................................................................................................... 21
Save plot data into a text file and recreate the plot from Microsoft Excel .......................................... 21
Save plot data into a Matlab file (M-file) ............................................................................................ 21
FFT (Fast Fourier Transform) .................................................................................................................. 22
Table of Contents
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PMAC Plot User Manual
Frequency Range................................................................................................................................. 22
Logarithmic Plot.................................................................................................................................. 22
USING SIMULATED MODE................................................................................................................... 23
INDEX ......................................................................................................................................................... 25
LICENSE STATEMENT AND LIMITED WARRANTY ..................................................................... 26
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Table of Contents
PMAC Plot User Manual
GETTING STARTED
What’s New with PMAC Plot 1.19
There are numerous new features implemented in PMAC Plot Release 1.19 Software.
•
•
•
•
FFT Conversion for quick or detailed plot
Saving gathered data in quick or detailed plot
Simulation mode
Different default plot color for ease of printing
Using these new features is intuitive, but for users interested in knowing more about them more
information is provided in the following.
Installation
Run the Setup.Exe application on Disk #1 of this distribution. This will place all required files in
the appropriate locations on your system.
The default location for PmacPlot is C:\Program Files\Delta Tau\PmacPlot.
We suggest you reboot your system at the end of the installation process.
Command Line Parameter
PmacPlot is a 32-bit application separate from PEWIN32. You can launch PmacPlot from a
PEWIN32 menu item. You can also run PmacPlot by itself.
If you run PmacPlot alone, you can use the PMAC device number as a command line argument.
Example: Assume you have two PMACs in your system: the first PMAC is device 0, and the
second PMAC is device 1. If you want to talk to the first PMAC, you can run PmacPlot as
follows:
C:\Program Files\Delta Tau\PmacPlot\PmacPlot.exe 0
The method of communication is determined by the settings of Motion Applet. If you want to
switch from PC-bus communication to serial port communication, you need to change the settings
in Motion Applet and then launch PmacPlot.
Getting Started
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PMAC Plot User Manual
QUICKPLOT
QuickPlot
The quick plotting dialog box makes data acquisition and presentation easy. You are not required
to know any PMAC memory locations to gather and plot some common motor parameters. A
few simple menus and buttons control the address mapping for the user.
Main Quick Plot Screen
Plot Title
In this field, you may give your plot a title. This title will appear above the plot.
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QuickPlot
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Motors to Gather
This button opens a window that lets you choose what information will be collected and for
which motors. You are permitted to gather commanded encoder values, actual encoder values,
and servo command output for up to eight motors. The servo command output is DAC output for
PMAC and current quadrature for PMAC2. Use the mouse to toggle the check mark for the
desired source on and off. A check mark indicates you wish to gather data for that item.
You must also specify the Gather Period (I19), which tells PMAC how often to collect data from
your selected items. The units for the gather period are in servo cycles. With PMAC in its
default jumper setting for the servo interrupt, 1 servo cycle is equivalent to 440 µsec. Thus, if
you choose the Gather Period to be 1, you will be gathering data every 440 µsec. If the entered
Gather Period is zero or negative, the PmacPlot will give you a warning and prompt you for a
reasonable value.
The number of motors displayed in this dialog box depends on the type of PMAC in your system.
If you have an 8-axis controller PMAC in your system, you will see eight motors in this dialog
box.
Define Gather Buffer
After you have selected which motors to gather data for, select this button to set up the
appropriate PMAC I-Variables for data gathering.
Note:
You cannot gather data until this is done.
Begin Gathering
When you are ready to start gathering data, select this button. The amount of elapsed time is also
displayed in the Gather Time field.
End Gathering
When you have gathered enough data for your purposes, select this button to stop data gathering.
You will see Gather Time field stop changing. At this point, you are ready to upload the data.
QuickPlot
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Upload Data
Once data has been gathered, press this button to upload existing gathered data from PMAC's
memory into your PC's memory.
Possible Choices
Before plotting the data, you may need to specify what items you would like to see on the plot.
This is done by adding the highlighted Possible choice to the left or right plot axis.
Note
You must have at least one selected item to be plotted. Up to four items may be
plotted against each vertical plot axis.
The motors you select to gather data for determine which items you may select to plot. Example:
If you specify to gather data for motor #1's actual position only, you may only plot motor #1's
actual position, actual velocity (1st time derivative of position), actual acceleration (2nd
derivative), or actual jerk (3rd derivative). In this example, you cannot plot commanded position,
velocity, etc. because data has only been gathered for motor #1's actual position. If you wanted to
plot the following error for motor #1, you need to gather data on motor #1's actual and
commanded position since following error is defined as the difference between the two.
Add to Left
This button adds the selected item from Possible choice to the left plot axis.
Note
Up to four items can be added. This means that only four items can be plotted
against the left plot axis. A total of eight items can be plotted with four items per
vertical axis at a time.
Add to Right
This button adds the selected item from Possible Choices to the right plot axis.
Note
Up to four items can be added. This means that only four items can be plotted
against the right plot axis. A total of eight items can be plotted with four items
per vertical axis at a time.
Left Plot Axis
This field lists the items to be displayed on the left plot axis. You can have up to four items
plotted against the left plot axis.
Note
Up to eight items, four items per vertical axis may be plotted at a time.
Right Plot Axis
This field lists the items to be displayed on the right plot axis. You can have up to four items
plotted against the right plot axis.
Note
Up to eight items, four items per vertical axis may be plotted at a time.
Remove Item
This button removes the selected item from the plot axis.
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QuickPlot
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Note:
You must have at least 1 item on the left plot.
Horizontal Axis
This list box allows you to specify what item is to be plotted on the horizontal axis. In most cases,
the horizontal axis is Time. However, you can choose other items as horizontal axis.
Example: You can choose one motor’s commanded position as vertical axis, and another
motor’s commanded position as horizontal axis.
Plot Data
Select this button to view the plot you have just created. You may resize this plot window, and
the plot will automatically rescale itself to fit within the new sized window. See the Plot
Windows section below for more information on plot windows.
Open
This command button opens your previously saved plot file (PPL-file).
Exit
This command button saves the current settings of your configurations automatically (both
QuickPlot and DetailPlot) and exits the PmacPlot program.
Saving and Loading Gathered Data
In addition to PPL files, now PMAC Plot can save the gathered data in both quick plot and
detailed plot. Simply click the Save menu and click again Gathered Data, and a save screen will
open to let the user save the file into a .Qgd file
Likewise, to upload a saved gathered data, choose open menu, then choose Gathered Data From
File menu. The saved data can be uploaded from a similar window as above.
A Typical Quick Plotting Scenario
Goal: To analyze the DAC output for motor #1 and #3 during program execution.
Launch the QP (Quick Plot) interface and select the Motors to Gather button. From the motors
to gather interface, select DAC, Actual and Commanded fields for motor #1 and motor #3 and
press the OK button.
Back in the QP interface, select the Define Gather button to set up PMAC for data gathering.
Now, click the mouse on the Terminal window of PEWIN executive, start the desired program
and click back to the QP interface.
QuickPlot
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PMAC Plot User Manual
When the program reaches the point that you wish to analyze, the select the Begin Gathering
button to start gathering data.
After a suitable amount of time (user-defined) that the program has been executed, select the End
Gathering button to stop PMAC's data gathering function.
Note:
At this point the program is still running. If you want to abort the program, click
on the PEWIN Terminal window and press ^A.
Select the Upload Data button to copy the gathered data from PMAC to the PC.
At this point, you have all the data you need for the analysis. Now, you can configure and display
the plot(s).
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DETAIL PLOT
Detail Plot
In contrast to quick plotting (which allows you to only plot position, velocity, acceleration, jerk,
and command output for one or more motors), detailed plotting gives you much more control and
flexibility over how your plots look and what information they contain. By using detailed
plotting, you can generate plots that also contain I/O bits, various internal registers (such as status
registers, A/D registers from PMAC accessory boards, etc.), DPRAM registers, M-, P- and Qvariables, and virtually anything in PMAC’s memory. This powerful tool is recommended for
those who have some experience with quick plotting and are familiar with PMAC’s memory map.
Main Detailed Plot Screen
Detail Plot
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PMAC Plot User Manual
The basic steps needed to create a detailed plot are:
1. Specify the addresses you wish PMAC to gather (called sources). There are a total of 24
sources that can be specified and gathered (these pertain to PMAC I-variables I21 through
I44).
2. Specify how these sources are to be scaled and processed (i.e. whether a source is to be
differentiated (to obtain velocity, acceleration, etc.) or to be bit-masked and so on. These
processed sources are called items. There are a total of 24 items.
3. Specify which items (i.e. plot curves) are to be included on a plot (for example, items 1 and 2:
commanded and actual position for motor #1). On any given plot, you may have up to four
items (or curves)-- two for the left vertical axis and two for the right vertical axis. There are a
total of 26 plots.
4. Proceed to initiate data gathering on PMAC by using the DEFINE GATHER, GATHER and
END GATHER commands. You can use these as on-line commands, or you can include both
the GATHER and END GATHER commands in your motion/PLC programs (i.e. CMD
”GATHER” and CMD ”END GATHER”).
5. Upload the gathered data into the Executive and plot the results.
Items to Gather
This dialog box allows you to specify what PMAC addresses are to be gathered. We will refer to
these addresses as gather sources. There are a total of 24 sources. You may instruct PMAC to
gather all 24 at the same time (it’s like having a 24-channel scope!).
Address to Gather Dialog Box
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In this dialog box, you must specify the Gather Period (I19), which tells PMAC how often to
collect data from your selected sources. The units for the gather period are in servo cycles. With
PMAC in its default jumper setting for the servo interrupt, 1 servo cycle is equivalent to 440
µsec. The specified Gather Period has to be greater than zero. There are 24 input fields (labeled
as source #1 through #24). Type any valid PMAC address (X, Y, L, D, DP, or F -type addresses).
A cross mark placed by the corresponding source field indicates what source will be gathered.
Specify a Variable to Gather (>>)
Next to each address field is a button labeled with a >> mark. Selecting this button opens up a
small dialog box, allowing you to specify an M-, P-, or Q- variable to gather. When you select
the OK button, the address of the variable you select is then copied into the corresponding source
field. This feature allows you to easily specify gathering a PMAC variable without having to
look up its address in PMAC’s memory map.
Example: If you want to gather M-variable 121, you just select M-variable, and enter 121 as
variable number. You can also click on “->” to check which address the M121 points to.
Specify a Variable to Gather Dialog Box
You may save the sources you specify to a file on disk by selecting the Save to disk button.
Conversely, you may load a set of sources from disk by selecting Load from disk. You can also
upload the gather sources from PMAC’s memory (I-variables I21 through I44) by selecting
Upload from PMAC. Lastly, selecting Use defaults will copy default addresses into all source
fields. Remember that when you select OK, your specified sources will be sent to PMAC
immediately (I-variables I19 through I44).
Scaling and Processing
This dialog box allows you to specify how to scale and process a source. We refer to these
processed sources as items. Many times it becomes necessary to scale the values gathered by
PMAC.
Detail Plot
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PMAC Plot User Manual
Example: If you are gathering a position register for a motor, to obtain data in units of encoder
counts, you would have to take the “raw” gathered position value, and divide by: 32 * Ix08
(where x is the motor number). The default value for Ix08 is 96, so you would have to divide
your “raw” gathered value by 32 * 96 or 3072. Since the PmacPlot will always multiply the scale
factor you specify, you will need to multiply by 0.0003256 (which is the same thing).
Scaling and Processing Dialog Box
Select one of the 24 items (labeled A through X) by double clicking it with the mouse, or
highlighting it and selecting the Edit button. A second dialog box will appear:
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Detail Plot
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Scaling and Processing for one Item
Scaling and Processing Dialog Box for one Item
Item Name
This field contains the name or title of the item, as it will appear in the legend of your plot.
Units
This field contains the units of the item, as it will appear in the legend of your plot.
Source
This list box allows you to choose the source you wish to use for this item. Your choices are
from Source 1 to Source 24. The previously specified address of the selected source is shown in
parenthesis. If the source is shown with an asterisk next to it, this indicates that the source has
not been selected to be gathered.
Scale Factor
This field contains the scale factor that will be used to multiply the raw data samples from the
specified source. When plotting position, velocity, acceleration or jerk in units of counts, this
scale factor will need to be set to:
The default value for Ix08 is 96. Therefore, this scale factor is equal to 1 / (32*96) or 0.000326.
If your selected source is something other than position, velocity, acceleration or jerk, your scale
factor will be different (usually 1).
Detail Plot
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PMAC Plot User Manual
Differentiate
This list box allows you to specify whether or not your source samples are to be differentiated.
Differentiation is commonly used for deriving velocity (Once), acceleration (Twice), and jerk
(Three times). In most cases, this will be set to None.
Bit masking
You may specify a source to be bit-masked with a value. This technique is often used to plot the
values of certain bits in a number. Select Use bit mask to enter a value for your bit mask
(hexadecimal values must be preceded with a $).
Note:
The Source address for bit masking has to be 24 bit (X or Y). You may also place
a check mark on Shift result to LSB to shift the bits of the masked result to the
right. The value in the source will be treated as an unsigned data. Your mask
cannot be more than seven digits in hexadecimal value.
Combine above with a Second Source
Selecting this button takes you to a different dialog box where you can combine two scaled
sources. This is commonly used for items like following error, where the difference of two
sources (command position and actual position) needs to be calculated and plotted.
Scaling and Processing for two Items
The dialog box allows you to implement a mathematical operation on any two gathered sources.
This is commonly used for items like following error, where the difference of two sources
(command position and actual position) needs to be calculated and plotted.
Scaling and Processing Dialog Box for two Items
The items in this dialog box function the same as in the previously described dialog box. Two
sources and two scale factors must be specified.
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Detail Plot
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Combining Operation
This operation allows you to specify how the two sources will be combined. This operation is
performed after the individual sources are scaled.
Do not Combine with Primary Item
This takes you back to the previous dialog box where only one source is to be used instead of
combining two sources.
Items to Plot
This dialog box allows you to specify which of your scaled and processing items are to be used
for plotting. Up to 24 plots may be specified. Each plot may contain up to four plot items.
Configure Items to Plot Dialog Box
Select one of the 24 plots (labeled A through X) by double clicking it with the mouse, or
highlighting it and selecting the Edit button. A second dialog box will appear:
Detail Plot
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PMAC Plot User Manual
Configure a Plot Dialog Box
Plot Title
This entry field is where you specify the plot title as it appears at the top of your finished plot.
Horizontal Axis
This list box allows you to specify what item is to be plotted on the horizontal axis. In most
cases, you will be plotting “Time.” However, you may generate a plot where you plot one item
(on the horizontal axis) versus another item (on either the left or right vertical axis).
Example: If you are data gathering a program that commands two motors to move in a circle,
plotting each motor versus time will result in sine wave plots. If you plot one motor versus the
other (by specifying one of the motors to be on the horizontal axis), the plot will yield a circle. If
you want advanced stability analysis, you can create a phase plane with following error as
horizontal axis and its derivative as vertical axis.
Left Vertical Axis
This list box allows you to specify what item(s) are to be plotted on the left vertical axis. You
must specify at least one item (and may specify up to two items). If only one item is desired,
select “None” for the second list box.
Right Vertical Axis
This list box allows you to specify what items are to be plotted on the right vertical axis. You
may specify up to two items. If only one item is desired, select None for the second list box. If
no items are to be plotted, select None for both list boxes.
Define Gather, Begin Gather, End Gather
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These buttons allow you to issue all necessary commands to initiate data gathering (by using the
DEFINE GATHER, GATHER and END GATHER commands). You can also issue them from the
terminal window.
Upload Data
This button uploads gathered data from PMAC into the PmacPlot program prior to plotting.
Plot Data
This button plots the data you specified in the Select Plot list box. You can make different
number of plots in Select Plot list box without reloading the data.
Others
Save to Disk
This allows you to save all detailed plotting configuration information to disk for later retrieval.
Load from Disk
This allows you to load a previously detailed plotting configuration file.
Open
This command button allows you to open your previously saved plot file (PPL-file).
Exit
This command button automatically saves the current settings of your configurations (both
QuickPlot and DetailPlot) and exits the PmacPlot program.
Saving and Loading Gathered Data
In addition to PPL files, now PMAC Plot can save the gathered data in both quick plot and
detailed plot. Simply click the Save menu and click again Gathered Data, and a save screen will
open to let the user save the file into a .Dgd file
Likewise, to upload a saved gathered data, choose open menu, then choose Gathered Data From
File menu. The saved data can be uploaded from similar window as above.
Detail Plot
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Detail Plot
PMAC Plot User Manual
PLOT WINDOWS
Plot Window
Data from the quick or detail plot interfaces produce plot windows. This is where the desired
data is displayed.
By default, the legend of each curve is displayed on the right side of the plot with color indicator
corresponding to the color of the curve.
When the plot window is shown, you will also see the toolbar. Its features include:
Plot Windows
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PMAC Plot User Manual
Open Plot File - Open a saved plot file (PPL-File).
Save Plot File - You can save the plot in three different formats: PmacPlot format (PPL-File),
Excel format (tab delimited text file), and Matlab format (M-File).
Copy to Clipboard as Bitmap - Copy the plot to clipboard as a bitmap image.
Copy Data to Clipboard as Text- Copy the data of the plot to clipboard in a text file format.
Print – Print the current plot
Change Colors - Change the background color of the plot by selecting a color and “dropping” it
to the plot.
Zoom - Select a region in the plot to zoom in by left clicking the mouse, holding the button and
stretching a rectangle box over the region. If you want to see a region precisely, refer to the
settings of Scale of Change PMACPLOT Option.
Show or Hide Legends - Display the legend box or hide it.
Vertical Grid - Turn on/off the vertical grid.
Horizontal Grid - Turn on/off the horizontal grid.
Edit Titles - Create the titles for your plot.
Change Text Font - Change fonts for titles and legends.
Tools - includes Data Editor features. See the following section.
Change PmacPlot Option - Change the settings of Scale and Series. See the following
section.
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Tools
Data Editor
When you click on the Tools button, a menu pops-up. Among the menu selections, Data Editor is
the most useful feature. Data Editor is a switch. By default, the switch is set to off. If the switch
is on (there is a check sign before Data Editor), the current plot window will display all the data
in columns. If the switch is off, the plot window shows the plot instead of the data.
With the Data Editor on, you can even change the values of a specific point in a particular curve.
Change PmacPlot Option
This button allows you to change the scale of the Horizontal, Vertical, and Right Vertical Axis. In
addition, you can also change the settings of Series and General to configure how the curves are
displayed.
Scale
The Scale gives you a very useful feature to zoom in the area of your interest precisely.
Example: If you want to see the position change between 1 second and 1.2 second, you can
select Horizontal Axis and enter 1 as Minimum and 1.2 as Maximum. You can do the same things
for both Vertical Axis and Right Vertical Axis to see a particular region on the plot.
You can also scale your vertical axis values using your selected logarithmic base.
Plot Windows
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PMAC Plot User Manual
Series
Series allows you to change the colors of curves. You can also decide to show all points with
individual marker or a line connecting all points.
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Save Plot Files
Save Plot Data into PPL-File
If you want to save current plot data and be able to reopen it from PmacPlot in the future, you can
save the plot into a default PPL-format file by clicking the Save Plot Files icon on the toolbar.
The FFT conversion works for PPL, but it cannot convert PPL data saved in frequency domain
back to time domain. That is,
•
If you plotted position, velocity, acceleration, jerk, following error or DAC/Current
information, saved them in time domain, the FFT operation WILL generate Frequency
Domain information.
•
If you plotted position, velocity, acceleration, jerk, following error or DAC/Current
information, converted them using FFT, saved them in time domain, The FFT operation will
not generate Time Domain information.
Save Plot Data into a Text File and Recreate the Plot from Microsoft
Excel
PmacPlot can now save the plot data into a tab-delimited text file, which can be loaded into
Microsoft Excel to recreate the plot for your report. To open the saved text file from Excel,
select File, then Open; select the text file name and be sure the Files of Type is Text Files (*.prn,
*.txt, *.csv), and click Open. Excel will launch Text Import Wizard. At step 1 of the wizard,
select Delimited at Original Data Type. At step 2, select Tab as Delimiter. Then click Finish
at step 3.
Note
The data of the horizontal axis (usually it is Time) will appear at the first column.
The legends of the series will appear at the first row.
After the file is successfully loaded, you can use Excel to regenerate the plot from the data.
Save Plot Data into a Matlab File (M-file)
The PmacPlot can also save the data into M-file, which can run in Matlab. In other words, you
can export all the data to Matlab for further mathematical analysis.
If you save the data into an M-file and run it in Matlab, you will see the following texts displayed
in Matlab Window:
*********************************************************
* This file is generated by Delta Tau Data System's PmacPlot Software
* If you have any problem about this file,
* Please contact Delta Tau at (818) 998-2095
* The following column vectors are created:
* x_v : TIME (SEC)(X-Axis)
* y_0 : Mtr 1 Act Vel (Left Axis)
* y_1 : Mtr 1 Act Pos (Right Axis)
* Use the above vectors to generate your plots
* Ex. Plot(x_v, y_0)
Plot Windows
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*********************************************************
The information displayed will tell you the variable names for those created vectors. Usually, the
data of your horizontal axis will be stored in the vector x_v, and the data of your vertical axis and
right vertical axis will be stored in the vectors y_x , where x is an index number.
FFT (Fast Fourier Transform)
This feature is added for version 1.19, and may be used to translate time domain data to
frequency domain data. The algorithm used in the conversion is called Danielson-Lanczos
Transformation, and may be found from the book Numerical Recipe. This algorithm is based on
the premise that the number of data points is a power of 2, and zero padding is done to ensure the
property.
Frequency Range
It is important to note that setting the gather period (I19) and servo period (I10) will affect the
frequency range of the FFT.
•
•
If only the low frequency range data are relevant, increase the gather period. For instance, if
you have I10 set to the default value (3713991) and gather period to 10 (I19=25), the
resulting frequency range is 0 to 45 Hz.
If higher frequency range data are needed, decrease the gather period. For instance, if you
have I10 set to the default value (3713991) and gather period to 10 (I19=5), the resulting
frequency range is 0 to 225 Hz.
In addition, a sufficient number of the data points is needed to ensure data integrity. When I19 is
set high, make sure that data gathering is done for sufficient time so that the number of data
points are adequate to perform FFT. If not enough points are gathered for FFT, an error message
will appear.
Logarithmic Plot
You are prompted to choose whether the FFT will be plotted in the Cartesian or logarithmic scale.
Using logarithmic scale may help you identify the finer detail in certain cases.
PMAC Plot 1.19 has Simulated Mode operation capability, meaning it no longer requires a
PMAC to be run on Windows 95/98/NT. You may load the previously saved gathered data in
Qgd, Dgd or PPL formats, and process and plot the gathered data. The following step may be
taken to start simulated mode.
22
Plot Windows
PMAC Plot User Manual
USING SIMULATED MODE
The following steps will enable simulated mode:
1.
First, make sure the PMAC drivers are unloaded in your PC. This is done by selecting the
unload button from the MotionExe.exe applet in Windows NT. In Windows 95/98,
unplugging PMAC will ensure that no drivers for PMAC are loaded.
2.
Start the PMAC Plot 1.19. Following message will be displayed.
3.
Click Yes to start the simulation mode. Click No to end the program.
4.
Load your gathered data files or PPL files.
5.
Now you are ready to plot.
Using Simulated Mode
23
PMAC Plot User Manual
24
Using Simulated Mode
PMAC Plot User Manual
INDEX
Bit masking.......................................................13
Possible Choices ................................................ 5
Change colors ...................................................20
Save Plot File................................................... 20
Change Pmacplot option..20–21, 20–21, 20–21
Scale .... 10–11, 10–11, 10, 12–14, 12–14, 12–14,
20–21, 20–21, 20–21
Change text font ...............................................20
Combining operation ........................................14
Copy data to clipboard as text ..........................20
Copy to Clipboard as bitmap ............................20
current quadrature...............................................4
DAC output ....................................................4, 6
Scale factor .................................................11, 12
Series ..................................20–23, 20–23, 20–23
servo command output....................................... 4
Show or hide legends....................................... 20
Source4, 9–10, 9–10, 9–10, 12–14, 12–14, 12–14
Data Editor .....................................20–21, 20–21
sources. 9–10, 9–10, 9–10, 13–14, 13–14, 13–14
Differentiate......................................................13
tab-delimited text file....................................... 23
Do not combine with primary item...................14
TOOLS ...........................................20–21, 20–21
Edit titles ..........................................................20
Units .........................4, 10–11, 10–11, 10–11, 12
Gather Time........................................................4
Upload from PMAC ........................................ 10
Horizontal grid .................................................20
Use defaults ..................................................... 10
item........................... 1, 4–6, 4–6, 4–6, 12, 14, 16
Vertical grid..................................................... 20
Item name .........................................................12
Zoom ..........................................................20, 21
Open Plot File...................................................20
Index
25
PMAC Plot User Manual
LICENSE STATEMENT AND LIMITED WARRANTY
(If you have any questions, contact our Customer Service Department at (818) 998-2095)
IMPORTANT: Carefully read all the terms and conditions of this agreement before installing this software. Installing this software
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except that you may copy it onto a computer to be used, and you may make archival copies of the software for the sole purpose of
protecting your investment from loss.
By saying, "just like a book," Delta Tau means that this software is free to be used by any number of people and that it may be freely
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All Delta Tau products are trademarks of Delta Tau. Copyright 1995, 1996 Delta Tau. All right reserved.
26
License Statement and Limited Warranty
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