Omron Power PMAC development kit (PDK) Owner's manual

Single Source Machine Control Power▲ Flexibility ▲ Ease of Use

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Power PMAC PDK

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^4 Integrated Development Environment

April 20, 2017

^4O016-E-01

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



^4 Integrated Development Environment

April 20, 2017

^4O016-E-01

USER MANUAL

: AsyncDataArgs 1

Copyright Information

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized

without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be

updated from time to time due to product improvements, etc., and may not conform in every respect to

former issues.

To report errors or inconsistencies call or email Delta Tau Data Systems, Inc., Technical Support.

Phone:

(818) 717-5656

Fax:

(818) 998-7807

Email:

support@deltatau.com

Website:

http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc., motion controller products, accessories, and amplifiers contain static-

sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau

Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel

should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or

conductive materials and/or environments that could cause harm to the controller by damaging

components or causing electrical shorts. When Delta Tau products are used in an industrial environment,

install our products 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 directly exposed to hazardous or conductive materials and/or environments, we cannot

guarantee their operation.

Security Measures

To prevent computer viruses, install antivirus software on a computer where you use this software.

Make sure to keep the antivirus software updated.

Keep your computer's OS updated to avoid security risks caused by a vulnerability in the OS.

Always use the highest version of this software to add new features, increase operability, and enhance

security.

Manage usernames and passwords for this software carefully to protect them from unauthorized uses.

Set up a firewall (E.g., disabling unused communication ports, limiting communication hosts, etc.) on a

network for a control system and devices to separate them from other IT networks.

Make sure to connect to the control system inside the firewall.

Use a virtual private network (VPN) for remote access to a control system and devices from this software.

WARNING





Caution

A Caution identifies hazards that could result in equipment

damage. It precedes the discussion of interest.

Note

A Note identifies information critical to your understanding or use

of the equipment. It follows the discussion of interest.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

1

DESCRIPTION OF SAMPLE PROJECT

9/11/2017

DG

AG

A

UPLOAD INTO AGILE & ADD SECURITY

MEASURES UPDATE

8/8/2022

AE

DG

 
 
INTRODUCTION ......................................................................................................................................... 1 
DIFFERENCE BETWEEN PDK V2.X AND V3.X ..................................................................................... 2 
INSTALLATION .......................................................................................................................................... 3 
PDK PROJECT EXAMPLES ....................................................................................................................... 5 
Sample project ScreenShots .................................................................................................................. 5 
HOW TO AUTHORIZE PDK LICENSING ................................................................................................ 9 
CLASSES .................................................................................................................................................... 11 
AsyncDataArgs ........................................................................................................................................ 11 
Syntax ................................................................................................................................................... 11 
Inheritance Hierarchy in the .NET Framework ................................................................................... 11 
AsyncDataArgs Members ..................................................................................................................... 11 
AsyncDataArgs Constructor ................................................................................................................ 11 
AsyncDataArgs Properties .................................................................................................................. 12 
ComErArgs .............................................................................................................................................. 12 
Syntax .................................................................................................................................................. 12 
Inheritance Hierarchy in the .NET Framework .................................................................................. 12 
ComErArgs Members .......................................................................................................................... 12 
ComErArgs Properties ......................................................................................................................... 13 
CommandArgs ......................................................................................................................................... 13 
Syntax ................................................................................................................................................... 13 
Inheritance Hierarchy in the .NET Framework ................................................................................... 13 
CommandArgs Members ...................................................................................................................... 13 
CommandArgs Constructor ................................................................................................................ 14 
CommandArgs Properties ................................................................................................................... 14 
CommunicationGlobals ........................................................................................................................... 14 
Syntax ................................................................................................................................................... 15 
Inheritance Hierarchy in the .NET Framework ................................................................................... 15 
CommunicationGlobals Methods......................................................................................................... 15 
CommunicationGlobals Properties ...................................................................................................... 15 
CommunicationGlobals.PowerPMACValidation ..................................................................................... 15 
Syntax .................................................................................................................................................. 16 
Inheritance Hierarchy in the .NET Framework .................................................................................. 16 
CommunicationGlobals.PowerPMACValidation Members ................................................................ 16 
CommunicationGlobals.PowerPMACValidation Constructor ........................................................... 16 
CommunicationGlobals.PowerPMACValidation Methods ................................................................. 16 
Connect .................................................................................................................................................... 17 
Syntax .................................................................................................................................................. 18 
Inheritance Hierarchy in the .NET Framework .................................................................................. 18 
Connect Members ............................................................................................................................... 18 

 
Connect Methods ................................................................................................................................ 19 
deviceProperties ...................................................................................................................................... 26 
Syntax .................................................................................................................................................. 26 
Inheritance Hierarchy in the .NET Framework .................................................................................. 27 
deviceProperties Members .................................................................................................................. 27 
deviceProperties Constructor ............................................................................................................. 27 
deviceProperties Methods ................................................................................................................... 28 
deviceProperties Properties ................................................................................................................ 28 
DevicePropertyPage ................................................................................................................................ 32 
Syntax .................................................................................................................................................. 32 
Inheritance Hierarchy in the .NET Framework .................................................................................. 32 
DevicePropertyPage Members ........................................................................................................... 32 
DevicePropertyPage Constructor ....................................................................................................... 33 
ErrorsMaskArgs ...................................................................................................................................... 34 
Syntax .................................................................................................................................................. 34 
Inheritance Hierarchy ......................................................................................................................... 34 
ErrorsMaskArgs Members .................................................................................................................. 34 
ErrorsMaskArgs Constructor .............................................................................................................. 34 
ErrorMaskArgs Properties .................................................................................................................. 35 
FirmwareUpdater .................................................................................................................................... 36 
Syntax .................................................................................................................................................. 36 
Hierarchy in the .NET Framework ..................................................................................................... 36 
FirmwareUpdater Members ............................................................................................................... 36 
FirmwareUpdater Constructors ......................................................................................................... 36 
FirmwareUpdater Methods ................................................................................................................. 36 
GetErrorsArgs ......................................................................................................................................... 38 
Syntax .................................................................................................................................................. 38 
Inheritance Hierarchy in the .NET Framework .................................................................................. 38 
GetErrorsArgs Members ..................................................................................................................... 38 
GetErrorsArgs Constructor ................................................................................................................ 38 
GetErrorsArgs Properties ................................................................................................................... 39 
LogArgs .................................................................................................................................................. 39 
Syntax .................................................................................................................................................. 40 
Inheritance Hierarchy in the .NET Framework .................................................................................. 40 
LogArgs Members ............................................................................................................................... 40 
LogArgs Constructors ......................................................................................................................... 40 
LogArgs Properties ............................................................................................................................. 40 
RouteCommand ....................................................................................................................................... 41 
Syntax .................................................................................................................................................. 41 
Inheritance Hierarchy in the .NET Framework .................................................................................. 41 
RouteCommand Members ................................................................................................................... 41 
RouteCommand Constructor .............................................................................................................. 41 
RouteCommand Methods .................................................................................................................... 42 

 
SFTPArgs ................................................................................................................................................ 44 
Syntax .................................................................................................................................................. 44 
Inheritance Hierarchy in the .NET Framework .................................................................................. 44 
SFTPArgs Members ............................................................................................................................. 44 
SFTPArgs Constructor ........................................................................................................................ 45 
SFTPArgs Properties ........................................................................................................................... 46 
SFTPLogArgs ......................................................................................................................................... 48 
Syntax .................................................................................................................................................. 48 
Inheritance Hierarchy in the .NET Framework .................................................................................. 48 
SFTPLogArgs Members ...................................................................................................................... 48 
SFTPLogArgs Constructor ................................................................................................................. 48 
SFTPLogArgs Properties .................................................................................................................... 49 
UnsolicitedArgs ...................................................................................................................................... 49 
Syntax .................................................................................................................................................. 49 
Inheritance Hierarchy in the .NET Framework .................................................................................. 49 
UnsolicitedArgs Members ................................................................................................................... 50 
UnsolicitedArgs Constructor .............................................................................................................. 50 
UnsolicitedArgs Properties .................................................................................................................. 51 
UnsolicitedCompleteStatus ..................................................................................................................... 52 
Syntax .................................................................................................................................................. 52 
Inheritance Hierarchy in the .NET Hierarchy .................................................................................... 52 
UnsolicitedCompleteStatus Members ................................................................................................. 52 
UnsolicitedCompleteStatus Constructor ............................................................................................. 52 
UnsolicitedCompleteStatus Fields ...................................................................................................... 52 
INTERFACES ............................................................................................................................................. 55 
IAsyncGpasciiCommunicationInterface ................................................................................................. 55 
Syntax .................................................................................................................................................. 55 
iAsyncGpasciiCommunicationInterface Members .............................................................................. 55 
IAsyncGpasciiCommunicationInterface Methods............................................................................... 56 
IAsyncGpasciiCommunicationInterface Properties ............................................................................ 59 
IAsyncGpasciiCommunicationInterface Events .................................................................................. 61 
IAsyncTerminalCommunicationInterface ............................................................................................... 62 
Syntax .................................................................................................................................................. 62 
IASyncTerminalCommunicationInterface Members ........................................................................... 62 
IAsyncTerminalCommunicationInterface Methods ............................................................................. 62 
IAsyncTerminalCommunicationInterface Properties .......................................................................... 66 
IAsncTerminalCommunicationInterface Events .................................................................................. 67 
IFTPClientInterface ................................................................................................................................ 68 
Syntax .................................................................................................................................................. 68 
IFTPClientInterface Members ............................................................................................................ 68 
IFTPClientInterface Methods ............................................................................................................. 69 
IFTPClientInterface Properties .......................................................................................................... 76 
IFTPClientInterface Events ................................................................................................................ 77 

 
IGetErrorsEventInterface ........................................................................................................................ 78 
Syntax .................................................................................................................................................. 78 
IGetErrorsEventInterface Members ................................................................................................... 78 
IGetErrorsEventInterface Methods ..................................................................................................... 79 
IGetErrorsEventInterface Properties .................................................................................................. 81 
IGetErrorsEventInterface Events ........................................................................................................ 82 
ISyncGpasciiCommunicationInterface ................................................................................................... 84 
Syntax .................................................................................................................................................. 84 
ISyncGpasciiCommunicationInterface Members ............................................................................... 84 
ISyncGpasciiCommunicationInterface Methods................................................................................. 85 
ISyncGpasciiCommunicationInterface Properties .............................................................................. 94 
ISyncGpasciiCommunicationInterface Events .................................................................................... 95 
ISyncTerminalCommunicationInterface ................................................................................................. 96 
Syntax .................................................................................................................................................. 96 
ISyncTerminalCommunicationInterface Members .............................................................................. 96 
ISyncTerminalCommunicationInterface Methods ............................................................................... 97 
ISyncTerminalCommunicationInterface Properties ........................................................................... 101 
ISyncTerminalCommunicationInterface Events ................................................................................ 102 
IUnsolicitedEventInterface .................................................................................................................... 103 
Syntax .................................................................................................................................................103 
IUnsolicitedEventInterface Members ................................................................................................103 
IUnsolicitedEventInterface Methods ................................................................................................ 104 
IUnsolicitedEventInterface Properties ............................................................................................. 107 
IUnsolicitedEventInterface Events .................................................................................................... 109 
DELEGATES .............................................................................................................................................. 111 
AsyncDataReceiveEvent ......................................................................................................................... 111 
Syntax ................................................................................................................................................. 111 
Parameters ......................................................................................................................................... 111 
CommandResponse ................................................................................................................................. 111 
Syntax ................................................................................................................................................. 111 
Parameters ......................................................................................................................................... 112 
GetErrorsMask ....................................................................................................................................... 112 
Syntax ................................................................................................................................................. 112 
Parameters ......................................................................................................................................... 112 
GetErrorsResponse................................................................................................................................. 112 
Syntax ................................................................................................................................................. 112 
Parameters ......................................................................................................................................... 113 
LogMessages .......................................................................................................................................... 113 
Syntax ................................................................................................................................................. 113 
Parameters ......................................................................................................................................... 113 
sftp_LogMessages .................................................................................................................................. 113 
Syntax ................................................................................................................................................. 113 

 
Parameters ......................................................................................................................................... 114 
sftp_OnTransferEnd ............................................................................................................................... 114 
Syntax ................................................................................................................................................. 114 
Parameters ......................................................................................................................................... 114 
sftp_OnTransferStart .............................................................................................................................. 114 
Syntax ................................................................................................................................................. 115 
Parameters ......................................................................................................................................... 115 
sftp_TransferProgress ............................................................................................................................ 115 
Syntax ................................................................................................................................................. 115 
Parameters ......................................................................................................................................... 115 
SocketErMessages ................................................................................................................................. 115 
Syntax ................................................................................................................................................. 116 
Parameters ......................................................................................................................................... 116 
UnsolicitedResponse .............................................................................................................................. 116 
Syntax ................................................................................................................................................. 116 
Parameters ......................................................................................................................................... 116 
ENUMERATIONS .................................................................................................................................... 117 
ErEventMessageType ............................................................................................................................. 117 
Syntax ................................................................................................................................................. 117 
Members............................................................................................................................................. 117 
ResetType ............................................................................................................................................... 117 
Syntax ................................................................................................................................................. 117 
Members............................................................................................................................................. 117 
Status ...................................................................................................................................................... 117 
Syntax ................................................................................................................................................. 118 
Members............................................................................................................................................. 118 
StatusType .............................................................................................................................................. 118 
Syntax ................................................................................................................................................. 118 
Members............................................................................................................................................. 118 
UnsolicitedPortStatus ............................................................................................................................. 118 
Syntax ................................................................................................................................................. 118 
Members............................................................................................................................................. 119 
UnsolicitedStatus ................................................................................................................................... 119 
Syntax ................................................................................................................................................. 119 
Members............................................................................................................................................. 119 
 

Introduction 1

INTRODUCTION

The ODT.PowerPmacComLib namespace is reserved for the communication library of the Power

Programmable Multi Axis Controller (PMAC), which is a product of Delta Tau Data Systems, Inc. This

library provides motion (GpAscii), host operating system (Terminal), and FTP communications (FTP

Client) for the Power PMAC.

Namespace

ODT.PowerPmacComLib

Assembly

ODT.PowerPmacComLib (in ODT.PowerPmacComLib.dll) Version: 3.0.0.0

(3.0.0.0)

To start programming with this library use the factory class Connect to display a communication

interface.

Difference between PDK V2.x and V3.x: AsyncDataArgs 2

DIFFERENCE BETWEEN PDK V2.X AND V3.X

Installation: AsyncDataArgs 3

INSTALLATION

After successful installation the folder structure will look…Default installation path is C:\Deltatau

Note

Readme.pdf: Explains how to authorize the application with PDK on

customer machine. Customer does not need to purchase the license.

Only developer needs to purchase the license .

Installation: AsyncDataArgs 4

The exmplae projects are in the sample folder. There are four example project that get installed. The

sample folder look like this…

PDK Project Examples: AsyncDataArgs 5

PDK PROJECT EXAMPLES

Several example projects can be found in the PDK’s installation folder. By default, its location is as

follows:

C:\DeltaTau\Power PMAC\3\PDK\Samples\C#

As of the date of updating this manual, there are four examples. The example environment is

 VS 2015

 Laguage C#

Project

Description

CommunicationLibrary

Example project shows the available

communication objects clients and how to use it

in HMI program.

BuildAndDownload

Example project shows how to Build and

download the project from external HMI software

GatherTool

Example project shows how to gather

PowerPAMC data from external HMI software.

SingleFileDowloader

Example project shows how to download a single

file to PowerPMAC from external HMI

application

Sample project ScreenShots

CommunicationLibrary

PDK Project Examples: AsyncDataArgs 6

BuildAndDownload

GatherTool

PDK Project Examples: AsyncDataArgs 7

SingleFlieDownloader

PDK Project Examples: AsyncDataArgs 8

How to authorize PDK licensing: AsyncDataArgs 9

HOW TO AUTHORIZE PDK LICENSING

1. After completing the installation go to start menu to authorize the license.

2. Run License Tool

3. When the license tool opens select New/Renewal tab. The question will be asked. Select “No”

and you will get another message box with a question.

4. At this point it will provide you a default trial period of 30 days. This trial period is one time and

you will need to get the license key before it expires.

How to authorize PDK licensing: AsyncDataArgs 10

5. Please select “YSE” to start the 30 day trial. If you click “Yes” at step 3 then authorization dialog

appears.

6. The Authorization dialog explains how to get the authorization site key. Please follow the

instruction and email customer support at ODT to get the 120 day license authorization site key.

Once the customer support receives the site code license key will be emailed back.

7. Use the site key to validate

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Omron Power PMAC development kit (PDK) Owner's manual

Omron Power PMAC development kit (PDK) Owner's manual

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