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PMC Operating instructions

PND Motion Control (PMC) is to control the actuators.

Instructions

  1. Power on the Raspberry Pi that running PMC server.
  2. Connect the tablet to the same network as the Raspberry Pi and open the downloaded app. You will see the following content:

Device Connection Interface

pmc_home

  • Click the Add Device button to enter the network configuration page.
  • Enter the PMC operation page.

Note

After the network configuration is completed, wait for the PMC card to show.

Device network configuration

pmc_network_setting

  • Open the network configuration pop-up box.
  • Enter the name and password of the Wi-Fi network, click the connect button. After the network configuration is successful, return to the device connection page.

Control Interface

pmc_actuator_config

  1. Device connection status: connected or disconnected

  2. Switch between device configuration tab and function tab

  3. Switch between configuration mode and operation mode

  4. Search for device list. Devices include actuators, IO boards, and encoders

  5. Clear device list

Actuator Configuration Interface

pmc_actuator_config

  1. Set actuator configuration parameters

  2. Submit actuator configuration parameters

  3. Reset actuator configuration parameters

Actuator Function Interface

pmc_actuator_function

  1. Enable or disable the actuator.

  2. Set the current position of the actuator.

  3. Set the parameters of the actuator.

  4. Continuous movement in the forward and reverse directions.

  5. Stepping movement in the forward and reverse directions. The step value can be set.

  6. Precise movement. The target value of the actuator can be set.

IO Config Interface

pmc_io_config

  1. Set the name of IO.

  2. Submit the new IO name.

IO Function Interaface

pmc_io_function

  1. Digital input.

  2. Analog input.

  3. Digital output.

  4. Pulse width modulation.

Programming Interface

pmc_graphical

  1. Drag area for programming instruction modules.

  2. Create a new programming record.

  3. Save the programming record.

  4. Delete the programming record.

  5. Undo operation.

  6. Redo operation.

  7. Clear the instruction modules in the workspace.

  8. Align the instruction modules in the workspace.

  9. Fold the instruction modules in the workspace.

  10. Run the module instructions in the workspace.

  11. Stop running the module instructions in the workspace.

  12. Zoom in/out the workspace.

  13. View Python code.

Clicking button 13 to view the Python code corresponding to the instruction module dragged into the workspace. 
def main():
    while 1:
        while io_state('809097DAD4D4_di_0') == True:
            enable({"req":[{"id":"EC396A5D8634","enable_cmd":1},{"id":"48116B5D8634","enable_cmd":1},{"id":"4C451D519140","enable_cmd":1},{"id":"34D59DEBD724","enable_cmd":1},{"id":"341ED5549434","enable_cmd":1},{"id":"681201519140","enable_cmd":1},{"id":"30DD6A5D8634","enable_cmd":1}]})
            sync_motion({"req":[{"id":"EC396A5D8634","max_vel":90,"target_pos":0},{"id":"48116B5D8634","max_vel":90,"target_pos":0}]})
            move_abs({"req":[{"id":"EC396A5D8634","max_vel":90,"move_abs_cmd":1,"target_pos":180}]})
            move_abs({"req":[{"id":"48116B5D8634","max_vel":90,"move_abs_cmd":1,"target_pos":180}]})
            enable({"req":[{"id":"EC396A5D8634","enable_cmd":2},{"id":"48116B5D8634","enable_cmd":2},{"id":"4C451D519140","enable_cmd":2},{"id":"34D59DEBD724","enable_cmd":2},{"id":"341ED5549434","enable_cmd":2},{"id":"681201519140","enable_cmd":2},{"id":"30DD6A5D8634","enable_cmd":2}]})
        time.sleep(1)