PiCPro for Windows Version 13.0-SP3 Monitor Edition Readme

IMPORTANT

It is important to read this document. It provides late-breaking product information such as:

• A list of new features in this release
  
• Tips and helpful hints on using the product
  
• Information so new it isn't in the documentation
  
• Known problems and work-arounds

TABLE OF CONTENTS

• Technical Support
• PiCPro V13.0-SP3 Information
  • Notes
    
  • New Hardware Supported
    
  • PiCPro Changes
    
  • Motion.lib Changes
  • PID.lib New in SP3
  • Firmware Changes
• PiCPro V13.0-SP2 Information
  • Motion.lib Changes
• PiCPro V13.0-SP1 Information
  • PiCPro Changes
    
  • Firmware Changes
  • Motion.lib Changes
• PiCPro V13.0 New Features/Changes
  • Auto Update
    
  • Structured Text
    
  • Cross Reference Table
    
  • Resumable E-Stop
    
  • Command Based Master/Slave
    
  • Firmware
    
  • Windows XP
• Known Problems and Work Arounds
  
• Reasons to update your firmware
  
• How to update CPU Firmware
  
• Other files in PiCPro Firmware Directory
  
• Tutorials
  
• Manuals
  
• Software Notes
  
• Before Running PiCPro for Windows V13.0
  

TECHNICAL SUPPORT

For technical support call Giddings & Lewis at 1 800 558 4808 or send an e-mail to glmotion.info@danahermotion.com.

PiCPro V13.0-SP3 INFORMATION

Notes:

• Install PiCPro V13.0-SP3.
  
• Update your firmware if you have an MMC for PC SERCOS CPU or a SERCOS module. Use MMCPCS06.hex for an MMC for PC SERCOS CPU. Use SERCO05.hex for a SERCOS module.
  
• Check V13-SP3 Addendum.pdf for detailed information on features included in this release.

New Hardware Supported:

• DLS
  
  • Digital Line Shaft (DLS) Module is available for use with an MMC for PC SERCOS CPU.
  • In Servo Setup, if the target CPU is an MMC for PC, any SERCOS or time axis can be specified as a DLS Communications Master Axis and any digitizing axis can be a DLS (image) axis.
  • MMC for PC SERCOS firmware was changed to support DLS (MMCPCS06.hex).
  • 3 new Function Blocks and 1 new Function have been added to the DATA group in Motion.lib for DLS functionality with an MMC for PC SERCOS CPU.
    
    • DLS_INIT - This Function Block starts and monitors DLS communications during startup.
    • DLS_RECV - This Function Block reads the most recent send data from an MMC for PC.
    • DLS_SEND - This Function will broadcast the value of DATA to all communication slaves when programmed into the ladder of an MMC for PC communication master and will send ladder data to the Communications Master when programmed in a slave ladder.
    • DLS_STAT - This Function Block indicates a bit array of communication status and communication errors.
• J-K Thermocouple
  
  • Block I/O J-K Thermocouple module is supported. The module is available in Hardware Declarations | Block I/O | Input | Input Temp. J-K (8 ch.).
  • 2 new Function Blocks and 1 new Function have been added to the JKTHERM group in IO.lib for functionality with a new Block Input J-K Thermocouple Module (8 channel).
    
    • BTMPCHIT - This Function initializes a Block I/O J-K Thermocouple or A/D channel and sets up the range for the channel.
    • BTMPCHRD - This Function Block reads the temperature or A/D value from hardware.
    • BTMPMGR - This Function Block initialzes the Block Input J-K Thermocouple module. It also performs periodic communication with the Block Input J-K Thermocouple module. It also performs periodic calculation of temperature compensations and scale factors.

PiCPro Changes:

• Servo Setup. Proportional Gain View and Force List
• Corrected a servo tune view and force problem with Proportional Gain. When forcing KP, if the value entered is out of range for high resolution KP, validate for KP. When viewing KP, if the value returned when scaled for high resolution KP is 0, rescale for KP and display.
• Structured Text Editor
• Fixed program exception if ‘select all’ is performed twice from a ST element (to select the entire ladder) and then an operation such as cut/copy was performed.
• Fixed a possible program exception if enter was pressed on a ST element that had selected text.
• Fixed program exception if ‘select all’ is performed when the focus in an ST element that is not in view.
• ESC cancels ‘select all’ and now returns the ST cursor to the original point before the selection was made instead of top left corner.

Motion.lib Changes:

• Updated the READ_SV Function in the DATA group. Variable #1 "Actual position" has been updated to reflect the DLS Module. A new Variable #65 "SERCOS Velocity Compensation Factor" has been added. The "SERCOS Velocity Compensation Factor" is the value used to multiply the change in master axis feedback delta when calculating a slave axis' SERCOS velocity compensation.
• A correction was made for Servo axes using S-Curve acc/dec. Previously, the axes could jump at the beginning of a commanded move after an E-Stop occurred.
• A correction was made to registration. Previously, registration could incorrectly determine if a mark is within the ignore distance.
• A correction was made for servo axes using S-Curve acc/dec. Previously, a DISTANCE move could travel an incorrect distance if it was preceded by a VEL_STRT/VEL_END move that was preceded by a DISTANCE move.

PID.lib New in SP3:

• A new PID.lib has been added to enhance PID functionality. PID.lib includes the following.
  
  • PID2 - This Function Block is a simplified version of the existing PID Function Block in the IO.lib. Many of the filtering options available in PID have been omitted in PID2. PID2 utilizes the Independent gains algorithim.
  • PWDTY - This Pulse Width Duty Cycle Function Block accepts an input value between the minimum and maximum input range and converts this to a duty cycle.
  • RAMP - This function generates a ramp output from step inputs.
  • TAUFFAC - This Function calculates a first order filter factor to be used in the first order filter function TAUFILT described below.
  • TAUFILT - This Function provides a first order filter response.

Firmware Changes:

• Firmware for MMC-PC SERCOS, MMC standalone SERCOS, and PiC900 SERCOS has been changed to properly ignore one-time CRC errors. A ring fault will still occur in the event of 2 consecutive errors in accordance to the SERCOS specification. This corrects a condition where the STATUS was not being updated in the event of one CRC error. (MMCPCS06.hex and SERCO05.hex)

PiCPro V13.0-SP2 INFORMATION

Motion.lib Changes:

• Time Axis Position Moves
• Corrected a problem with time axis POSITION moves. The time axis could move to an incorrect endpoint. This problem was introduced with the release of PiCPro v13.0. This problem only applies to POSITION moves with a time axis.

PiCPro V13.0-SP1 INFORMATION

PiCPro Changes:

• Scan Loss
  
  • A scan loss problem has been fixed. In some cases, if a ladder containing structured text was animated and then the cursor position was changed by scrolling the ladder using page up, page down, or the arrow keys, animation would not turn on when the scrolling was completed. Attempting to turn on animation caused a scan loss.
    
• Printing
• A ladder printing problem in Windows 95/98/ME has been corrected.
  
• Find
• Network labels are now alphabetized in the find dialog.
  
• SERCOS
• Display an error if the IDN list is too large to upload.  Fixes program exception.

Firmware Changes:

• TCP/IP firmware was changed to correct an initialization problem which resulted in a corrupt Ethernet address (TCPIP03.hex). This change is applicable to both PiC900 and standalone MMC Ethernet modules.
• MMC for PC firmware (MMCPCA04.hex and MMCPCS05.hex) was changed to correct a communications problem.  If using reconfigurable I/O or reconfigurable ASIU options, it was possible to experience communication problems after an I/O or ASIU error was detected.

Motion.lib Changes:

• WRITE_SV Variable 21 (Reversal not allowed) could not be written to 0 after it had been written to 1. This problem has been corrected.

PiCPro V13.0 NEW FEATURES/CHANGES

This release contains the features and changes listed below. Features are documented in the Version 13.0 manuals (.pdf files) found on your CD and/or in the on-line help found in PiCPro.

Auto Update:

• The Auto Update feature provides an easy method for updating PiCPro, ensuring our customers are always working with the most up-to-date version of our software. A small client application is installed along with PiCPro. When the client is run, it checks for PiCPro service packs on the internet. If it finds a newer version than that already installed, the service pack can be downloaded and installed.
• The update client can be run in both automatic and manual modes. To run the client in auto mode, select 'View | Options' from the PiCPro menu and check the 'Automatically Check for Updates' checkbox. In auto mode, if the number of days between checks has elapsed, the update client will check for updates and display a dialog if new updates are available. To run the client in manual mode, select 'Help | Check for PiCPro Updates...' from the PiCPro menu or select 'Start | Programs | PiCPro for Windows | Check for PiCPro ******** Updates' from the Windows Start menu.

Structured Text:

• Structured Text is a high level textual programming language specifically developed for industrial control applications.
  
• Structured Text provides constructs for assigning values to variables, creating expressions, conditional evaluation of statements, and looping.
  
• Statements for control structures include conditional (IF-THEN,IF-THEN-ELSE, ELSF-THEN-ELSE,CASE) and Iteration statements (FOR-DO, WHILE-DO, REPEAT-UNTIL).

Cross Reference Table:

• An "&" output has been added to the Cross Reference Table for array variable names when used on coils.
  

Resumable E-Stop:

• Provides the ability to resume axis motion with the current move after a User Set or Excess Error E-Stop has occurred.
  

Command Based Master/Slave:

• All master/slave functions (RATIOCAM, RATIOPRO, RATIOSLP, RATIOSYN, RATIO_GR and RATION_RL) now support basing the slave axis motion on the master axis' command position.
  

Firmware:

• PiC900 and MMC for PC firmware has changed to support 704K and 768K Application Memory configurations. Con704.hex and Con768.hex have been added to the firmware directory.
• PiC900, PiC90, MMC (not MMC4PC) firmware has changed to allow more time for the TCP/IP module to complete DHCP setup at power on time before ladder scans.
• TCP/IP firmware has changed to improve the DHCP operation.
• PiC900, PiC90, MMC, and MMC4PC firmware has changed to prevent communication to a non-discrete block I/O module in the event of a block I/O failure. Additionally, an error will be returned to the ladder functions that try to access these blocks. This will prevent a situation where improper programming of the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• MMC for PC firmware has been improved to allow the ladder to continue scanning in the presence of an ASIU.
• SERCOS module Firmware and MMC for PC SERCOS Firmware have been modified to detect additional CRC errors from slaves.
• SERCOS firmware was changed to handle a variable length IDN in the startup list with an odd number of characters. Prior to this change, STRTSERV would return error 8 if the start up list contained a variable length IDN with an odd number of characters.
• Firmware for 947 and 9041 processors has been modified to prevent a false 3** blink code indicating a Block I/O error which would sometimes occur at start up.

Windows XP

• PiCPro V13.0 has been tested on a limited basis under Windows XP. No major problems have been found.
• We do not recommend using 'switch user' when logging off of Windows XP if any PiCPro applications are active.

KNOWN PROBLEMS AND WORK AROUNDS

• Storing a Constant in a Variable in Structured Text

  In a Structured Text or Ladder Network, storing a constant in a variable, whose value is out of range for the data type of the variable, does not presently produce an error or warning message. Only the least significant bits of the constant equal to the number of bits in the variable data type will be stored in the variable and the most significant bits of the constant will be ignored. For example, if A is defined as an SINT and the Structured Text statement "A := 3889;" is executed, then the value 49 will be store into A. In the future we plan to correct this problem by issuing an error message that will prevent you from doing this.

• Saving .G&L Files From E-mail

  Please be aware that if you attempt to save a compressed project file (.G&L) from within an e-mail by right-clicking and then selecting "Save As" from the popup menu, the "&" is removed from the filename extension in the Save Attachment dialog.
  To fix the problem, you must manually add this "&" back in. This problem has been diagnosed in Microsoft E-mail and has not been observed in other e-mail packages.
  To avoid this problem, save a .G&L file attachment by double-clicking on it and selecting "Save it to disk" on the Opening Mail Attachment dialog.

• Serial or Ethernet Connection Icons May Disappear

  If your connection icon or IP address does not appear on the status bar. To remedy this situation you need to display the Communication Settings dialog (Online | Comm Settings) and select OK.

• Dependencies in a Compressed Project File

  To make sure that all of the files that your project requires are actually included in the compressed file,

  1. Perform an Update Project tree (select this from the File menu) to list all missing source files (.LDO, .SRV, .SRC, .PRO) to the Information Window.  If you were to compress your project without these files, you won't be able to build the associated function/function blocks. Make sure that if you really need these files, they are in the locations specified in the project library paths.
     
  2. To ensure that all required functions are found, do a rebuild all (Compile | All UDFBs found) and also compile your main .LDO. If any errors are found, correct and compile again. When all errors are resolved, now you can compress your project.

     Note: Step (2) can only be done if the version of PiCPro you are running matches the version of PiCPro in the project.

• Printing Help Windows

  Printing help windows that contain graphics using Windows 95 and Windows 98 may produce unexpected results. The problem does not occur when using Windows NT 4 or Windows 2000.

• Infrared Communications Drivers

  If your system PC has Infrared Communications Drivers, you need to be aware that under Windows default settings, COM1 and COM3 use the same interrupts, and COM2 and COM4 use the same interrupts. The communications settings option in PiCPro for Windows, when checking for valid communications ports, may initiate execution of some Infrared Drivers. Communications problems will occur if the Infrared Driver is using one member of the above pairs and PiCPro for Windows is using the other.
  To avoid communication problems, either (1) disable the Infrared Driver in the control panel or (2) change the communications port used by the Infrared Driver so that it does not conflict with the communications port used by PiCPro.

• Power Save Option: The Power saver option in BIOS should not be set when using an MMC for PC as it will cause a communications error when it shuts the computer down.

REASONS TO UPDATE YOUR FIRMWARE

• V13.0-SP3
• MMC for PC SERCOS (MMCPCS06.HEX)
  • To utilize DLS.
  • To properly ignore one-time CRC errors.
• SERCOS (SERCO05.HEX)
  • To properly ignore one-time CRC errors.

• V13.0-SP1
• TCP/IP for PiC900 and Standalone MMC Ethernet Modules (TCPIP03.hex)
• To correct an initialization problem which resulted in a corrupt Ethernet address.
• MMC for PC Analog Servo (MMCPCA04.HEX)
• If using reconfigurable I/O or reconfigurable ASIU options, this change will correct possible communication problems after an I/O or ASIU error is detected.
• MMC for PC SERCOS (MMCPCS05.HEX)
• If using reconfigurable I/O or reconfigurable ASIU options, this change will correct possible communication problems after an I/O or ASIU error is detected.
• V13.0
• PiC900 (P94X11.HEX)
• To utilize new Application Memory Configurations.
• To allow more time for the TCP/IP module to complete DHCP setup at power on time before ladder scans.
• To prevent communication to a non-discrete block I/O module in the event of a block I/O failure.
• To prevent a situation where improper programming of the the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• To prevent a false 3** blink code indicating a Block I/O error which would sometimes occur at start up.
• PiC90 (P904X08.HEX)
• To allow more time for the TCP/IP module to complete DHCP setup at power on time before ladder scans.
• To prevent communication to a non-discrete block I/O module in the event of a block I/O failure.
• To prevent a situation where improper programming of the the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• To prevent a false 3** blink code indicating a Block I/O error which would sometimes occur at start up.
• Standalone MMC (MMC04.HEX)
• To allow more time for the TCP/IP module to complete DHCP setup at power on time before ladder scans.
• To prevent communication to a non-discrete block I/O module in the event of a block I/O failure.
• To prevent a situation where improper programming of the the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• MMC for PC Analog Servo (MMCPCA03.HEX)
• To utilize new Application Memory Configurations.
• To allow the ladder to continue scanning in the presence of an ASIU error.
• To prevent communication to a non-discrete block I/O module in the event of a block I/O failure.
• To prevent a situation where improper programming of the the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• MMC for PC SERCOS (MMCPCS04.HEX)
• To utilize new Application Memory Configurations.
• To prevent communication to a non-discrete block I/O module in the event of a block I/O failure.
• To prevent a situation where improper programming of the the ladder update of a non-discrete block I/O module can keep the communication watchdog timers alive such that discrete block I/O modules will keep their outputs on even though they are not being updated.
• To improve error detection in SERCOS communication.
• To handle a variable length IDN in the startup list with an odd number of characters.
• SERCOS (SERCO04.HEX)
• To improve error detection in SERCOS communication.
• To handle a variable length IDN in the startup list with an odd number of characters.
• TCP/IP Firmware (TCPIP02.HEX)
• To improve the DHCP operation.

HOW TO UPDATE CPU FIRMWARE

NOTE: If the current firmware in the control is dated newer than the .hex file that you want to download, do **NOT** update the control's firmware with this file unless you're sure you want to downgrade. You can determine your control's firmware date by selecting Online | Status from the main menu in PiCPro for Windows. Use Windows Explorer to find the hex file in the Firmware directory to determine its date.

• For CPUs with loadable firmware (MMC for PC, standalone MMC, 94X or 904X), download the appropriate hex file by selecting the following from PiCPro's main menu bar: Online | Download Hex. The hex files are installed in the Firmware directory.
  • If you have an MMC for PC processor, use the MMCPCA04.HEX file for an Analog CPU, or MMCPCS06.HEX for a SERCOS CPU.
    
  • If you have a standalone MMC, use the MMC04.HEX file.
    
  • If you have a PiC900 with a 486 processor (941, 943, 945, 947), use the P94X11.HEX file.
    
  • If you have a PiC90 with a 486 processor (9041, 9043), use the P904X08.HEX file.
• PiCTurbo2, part number 502-3814-00 with a 486DX processor is not compatible with PiCPro Version 13.0 or later. Use PiCPro Version 12.x or earlier.
  
• All other PiC CPU models with a 186 or 486SX processor, are not compatible with PiCPro version 11.0 or later. Use PiCPro version 10.x or earlier.

OTHER FILES IN PICPRO FIRMWARE DIRECTORY

There are several other firmware and memory configuration .HEX files in the PiCPro Firmware directory.

• Firmware files are provided for updating Ethernet and SERCOS modules.
  • If you need to upgrade the firmware in the Ethernet module (either the PiC rack module or the standalone MMC option module), use the TCPIP03.HEX file.
    
  • If you need to upgrade the firmware in the SERCOS module (either the PiC rack module or the standalone MMC SERCOS configuration), use the SERCO05.HEX file. DO NOT load this SERCOS firmware file into an MMC for PC SERCOS configuration. If you do, please reload MMCPCS06.HEX.
• Memory Configuration Files are provided for configurable memory in PiC94x or MMC for PC processors. (The following memory sizes represent the approximate number of bytes.)
  • For 512K application memory and 256K RAMDisk memory, use the CON512.HEX file (this is the factory default).
    
  • For 640K application memory and 128K RAMDisk memory, use the CON640.HEX file.
    
  • For 384K application memory and 384K RAMDisk memory, use the CON384.HEX file.
  • For 704K application memory and 64K RAMDisk memory, use CON704.HEX.
  • For 768K application memory and 0K RAMDisk memory, use CON768.HEX.
• For standalone MMC and MMC for PC processors, if you need to clear out a ladder application that is not scanning correctly, use the CLRAPP.HEX file.
• To clear the flash memory in the controller, use the CLRFLASH.HEX file.

TUTORIALS

MANUALS

The following manuals can be found in the folder "Manuals" on your CD:

• 13.0 PiCPro Software Manual (PiCPro for Windows Software Manual)
  
• 13.0 F-FB Ref (Function/Function Block Reference Guide)
  
• 13.0 PiC900 Hardware Manual (PiC900 Hardware Manual)
  
• 13.0 MMC Hardware Manual (Standalone MMC Hardware Manual)
  
• 2.0 MMC for PC Hardware Manual (MMC for PC Hardware Manual)
  
• 2.0 Block I/O Modules Manual (Block I/O Modules Manual)

They are .pdf files and can be opened, read, and printed using Adobe Acrobat Reader. You MUST use Acrobat Reader 4.0 or newer. It can be downloaded free of charge from Adobe at http://www.adobe.com/supportservice/custsupport/download.html.

If you would like to order a hard copy of any manual, call 1 800 558 4808 from within the US or 920 921 7100 from outside the US and Canada.

Part Numbers for the hard copies are:

• M.1301.0403 PiCPro for Windows Software Manual Version 13.0
• M.1301.0401 Function/Function Block Reference Guide Version 13.0
• M.1301.2289 PiC900 Hardware Manual Version 13.0
• M.1301.2244 Standalone MMC Hardware Manual Version 13.0
• M.1301.2309 MMC for PC Hardware Manual Version 2.0
• M.1301.0405 Block I/O Modules Manual Version 2.0

SOFTWARE NOTES