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1、Talking to Power PMACFebruary 2012Power PMAC CommunicationsPower PMAC provides powerful communications tools using standard interfaces and protocolsEmploys standard 100 MHz / 1 GHz Ethernet physical linkUses protocols from all 4 “layers” of Internet Protocol SuiteActs as “server” in client/server mo

2、del, host computer is “client”Can communicate in direct link to host computer for setup or in applicationCan communicate over LAN and/or InternetAccepts text commands using Telnet or SSHCommands can be to Linux computer promptCommands can be to Power PMAC applicationCan transfer files using FTPCan t

3、ransfer HTML information using HTTPGeneral Internet Protocol Suite OverviewSet of communications protocols for Internet and similar networksConsists of 4 “encapsulated” abstraction layersLink Layer (lowest)Handles specific networking requirements on the local linke.g. ARP, NDP, MAC (for Ethernet, DS

4、L, FDDI)Internet LayerProvides basic datagram transmission between (potentially) different networkse.g. IPv4, IPv6Transport LayerEstablishes data channels between host portse.g. UDP, TCP, RTP, DCCP, RSVPApplication Layer (highest)Implements process-to-process communications across network(s)e.g. Tel

5、net, SSH, FTP, HTTP, DHCP, POP, SMTPPower PMAC Internet Protocol Suite UseLink layer protocol supported:Media Access Control (MAC) for EthernetUses unique physical address of device (not changeable)Internet layer protocol supported:Internet Protocol Version 6 (IPv6)Each Power PMAC has a user-settabl

6、e IP address (e.g. 00)Transport layer protocol supported:Transport Communications Protocol (TCP)For reliable, ordered data transmissionApplication layer protocols supportedTelnet: for open text communications by virtual terminalSecure Shell (SSH): for protected text communications by virtual termina

7、lFile Transfer Protocol (FTP): For moving entire files (of any type)Hypertext Transfer Protocol (HTTP): For hypermedia information (e.g. web)Starting a Terminal Utility to Talk to Power PMACAlmost all PCs have terminal utility programs installedTo start Windows “cmd.exe”:Windows XP: Click on “Start”

8、, “Run”, type “cmd”, click on “OK”Windows 7: Click on Windows logo, type “cmd” enterAt prompt, type “telnet IPAddress”To start Windows XPs HyperTerminal:Click on “Start”, “Programs”, “Accessories”, “Communications”, “HyperTerminal”Can provide connection name and icon, then click “OK”For “Connect usi

9、ng”, select “TCP/IP (Winsock)”For “Port Number”, enter “22” (for SSH) or “23” (for Telnet)For “Host Address”, enter IPAddress (e.g. “00”)Click “OK”In both cases, should now get login prompt from Power PMACStarting Power PMAC SSH/Telnet Session At login prompt e.g.: Power PMAC Debian Based GNU/Linux

10、5.0powerpmac login:Type “root”At password prompt, type password (“deltatau”)Will get response like the following: - Power PMAC 440EP bash shell -root00:/opt/ppmac#You are now talking to the Linux computer (but not the PMAC app)Type “gpascii -2” to start the PMAC communications appWill get response:S

11、TDIN Open for ASCII inputYou are now talking to the PMAC application, and can now use Power PMAC in terminal modeExample Terminal SessionIDE Communications to Power PMACTerminal and status windows use text communications through gpascii and SSH (older versions use Telnet)Project manager uses FTP to

12、copy project files to Power PMACTuning and plotting use SSH for setup, FTP for transferring gathered dataFTP Access to Power PMACFTP protocol permits access to Power PMACs directories and files for the active projectCan be used from Browser program, as shown hereAccess limited to active directories

13、with user project files (/var/ftp/usrflash)Changing Power PMACs IP AddressSelect “Options” from IDE “Tools” menuExpand “Power PMAC” from left section of pop-up windowSelect “Network Settings”Enter new desired IP addressClick on “Test”If successful, click on “Apply Permanently”Finding an Unknown IP A

14、ddressMethod 1:On PC, create root-level folder named PowerPmacIP on USB memory stick or SD card that employs FAT32 partitioning (very standard)Plug USB stick or SD card into Power PMACTurn on Power PMACAfter boot sequence is complete (when relay clicks), turn off Power PMAC and remove USB stick or S

15、D cardOn PC, view contents of interfaces text file in PowerPmacIP folder to find IP addressMethod 2:Connect host computer RS-232 port to Power PMAC RS-232 portStart terminal utility (e.g. HyperTerminal, PuTTY) on PC to use this COM portTurn on Power PMAC, wait for command promptLogin as root, then e

16、nter password (deltatau)Watch terminal display for IP addressOn-Line vs. Buffered Script CommandsOn-line Script commandsExecuted immediately, not stored (cannot be listed back)Some are motor-specific, acting on addressed or listed motorSome are coordinate-system-specific, acting on addressed or list

17、ed C.S.Some are globalIndependent addressing of motor and C.S. for different communications threadsBuffered Script program commandsStored in open program buffer for future executionSeparate step required for actual executionIllegal command empties and closes open bufferIf no program buffer open when

18、 sent:Rejected with error if not also valid as on-line command (e.g. X10)Executed immediately if also valid as on-line command (e.g. P1=1)On-line and buffered commands have separate chapters in SW Reference ManualAddressing Motors and Coordinate SystemsMany on-line commands are motor or coordinate-s

19、ystem specificEach communications thread has independent addressing of motor and C.S.Power-on/reset default addressing is Motor 0 (#0) and C.S. 0 (&0)#x command, &x command modally address Motor x, C.S. xWith modal addressing, do not need to precede each command with addressing (useful for interacti

20、ve work)#list (e.g. #1.3), &list (e.g. &2,4,6) specify multiple motors, C.S.s affected by immediately following command, do not affect modal addressing of thread#*, &* specify that all motors, C.S.s be affected by immediately following command (e.g. #*k, &*a), do not affect modal addressing#, & commands query for modally addressed motor, C.S.Echo Mode of Variable Query Responsesecho constant command specifies format of many variable query command responses for this communications threadconstant value (0 . 15) has 4 independent control bitsB