Motion Software Made Simple

Visual Programming Simplifies Development

SAW's visual programming environment brings ease-of-use and maximum functionality to Motion Server by aiding developers in creating machine control Windows applications. Windows components, such as buttons, lists and text editors, can be specified using point-and-click maneuvers. Advanced components (e.g. joysticks and storage scopes) available in pop-up catalogs can be incorporated directly into an application saving valuble development time. A physical instrument feel can be obtained through the use of bump graphics and bitmaps.

Capable On-Board Real-Time Language

Real-time behavior is described with Douloi Pasca, an object-based, expressive language using familiar statements and constructs. Motion and machine control support is provided through built-in classes representing individual axes, axis groups, vectors, and interface components. Developers can create their own arrays, record types, and object types containing methods. Procedures and functions with parameters help describe machine actions. Control constructs such as if-else, for loops, while-do, and repeat-until cleanly manage program flow. Structured exception handling, implemented in a try..recover format, allows the use of modern error recovery techniques that simplify software structure. These resources all help describe and organize the machine control solution.

High Speed Applications

Unlike the slow command interpreters of many motion controllers, Douloi Pascal compiles to 32 bit 486 object code providing uncompromised speed and predictable, hard-real-time performance. Entire processes can execute every controller sample period enabling sample-rate kinematics and coordination tailoring.

Multithreading Convenience

Up to 12 independent and concurrent program activities or "threads" are available in addition to motion activities. Threads simplify machine control by supporting a "divide and conquer" strategy where each thread manages a section of the machine. Normally started automatically in response to a button click, threads can also be managed directly. Threads communicate to each other through shared data structures. Control panels described with SAW communicate with threads through a built-in "mail" system. By responding to mail SAW acts as a "server" providing Windows and file system services on behalf of these real-time threads. Unlike a general purpose Windows visual programming tool, SAW specifically supports the development of real-time software critical for effective machine control. The real-time application executes on Motion Server realizing performance not possible under Windows alone while the developer and machine operator benefit from the familiarity and ease-of-use of Windows.

Two Mouse Clicks...

Compiling the real-time program, downloading it into Motion Server memory, constructing the operator interface in Windows, and connecting the interface to Motion Server is accomplished with two mouse clicks by selecting the menu commands "Run" and "Start App". It's that simple.