THORLABS BMS001 User manual

a dvanced p ositioning t echnology
STEPPER MOTOR CONTROLLER
Model Numbers BMS001 and BMS002

THORLABS
About the Company
Thorlabs Ltd is an a leading manufacturer of motion control systems, vibration isolation
systems, machine vision products and multi-element optical systems for fiber-optic,
semiconductor and reprographic applications.
We offer customers an in-depth understanding of optical component manufacture,
allowing us to quickly and confidently develop optimal positioning solutions.
As a part of Thorlabs inc., manufacturers of innovative photonics products, we are
committed to providing the service, relationships and attention to detail that make
businesses excel.
Trademarks
Windows is a trademark of Microsoft
Corporation.
ActiveX is a trademark of Microsoft
Corporation.
Visual Basic is a trademark of Microsoft
Corporation.
LabVIEW is a trademark of National
Instruments Corporation.
THORLABS is a registered trademark of
Thorlabs Inc.
Revision History
Issue No. Date Summary
1 250804 Initial Issue

1
Contents
1 For Your Safety ......................................................................................... 3
Safety Information ..........................................................................................................3
Warnings ........................................................................................................................4
Declarations Of Conformity ............................................................................................4
For Customers in Europe .......................................................................................4
For Customers In The USA ....................................................................................4
2 Overview and Setup .................................................................................. 5
Introduction .....................................................................................................................5
Mechanical Installation ...................................................................................................6
Siting ......................................................................................................................6
Electrical Installation .......................................................................................................6
Connecting To The Supply ....................................................................................6
Rear Panel Connections ........................................................................................7
Front Panel Controls and Indicators ..............................................................................8
Remote Jog Handset.......................................................................................................9
Benchtop (Local Mode) Operation Basics ....................................................................10
Changing the Channel Selection .........................................................................10
Menu Navigation ..................................................................................................10
Motor Moves ........................................................................................................11
Installing APT Software for PC (Remote) Operation ....................................................12
Introduction ..........................................................................................................12
Software Installation .............................................................................................12
Software Upgrades ..............................................................................................13
APT PC Software Overview .........................................................................................13
Introduction ..........................................................................................................13
APTUser Utility .....................................................................................................14
APT Config Utility .................................................................................................15
APT Server (ActiveX Controls) ............................................................................16
Verifying Software Operation .......................................................................................18
Initial Setup ..........................................................................................................18
3 Benchtop (Local Mode) Tutorial ............................................................ 19
Introduction ...................................................................................................................19
Checking Motor Calibration Factor ...............................................................................19
Homing The Motors ......................................................................................................20
Moving to an Absolute Position (channel 1) .................................................................21
Moving a Relative Distance (channel 2) .......................................................................22
Changing Motor Velocity (channel 2) ...........................................................................23
Jogging .........................................................................................................................24
Switching Operating Modes .........................................................................................26
Changing Default Values ..............................................................................................27
Continued...

2
4 PC (Remote Mode) Tutorial ....................................................................28
Introduction .................................................................................................................. 28
Select the Stage Type .................................................................................................. 28
Using the APT User Utility ............................................................................................ 30
Homing Motors ............................................................................................................. 32
Moving to an Absolute Position .................................................................................... 33
Changing Motor Parameters ........................................................................................ 34
Jogging ......................................................................................................................... 35
Creating a Simulated Configuration ............................................................................. 36
Stage/Axis Tab ............................................................................................................. 38
5 Reference - Benchtop (Local) Operation .............................................. 39
Introduction .................................................................................................................. 39
Front Panel Parameter Reference ............................................................................... 39
6 Reference - PC (Remote ) Operation .....................................................47
Introduction .................................................................................................................. 47
GUI Panel ..................................................................................................................... 47
Settings Panel .............................................................................................................. 49
Appendices
A Rear Panel Connector Pinout Details ................................................... 54
Rear Panel Motor Control Connector ........................................................................... 54
Rear Panel Drive Channel Connectors ........................................................................ 56
B Preventive Maintenance ......................................................................... 57
Safety Testing .............................................................................................................. 57
Fuses ........................................................................................................................... 57
Cleaning .......................................................................................................................58
C Specifications and Associated Products ............................................. 59
Specifications ............................................................................................................... 59
Associated Products .................................................................................................... 59
D Stepper Motor Operation - Background ............................................... 60
How A Stepper Motor Works ........................................................................................ 60
General Principle .......................................................................................................... 60
Positive and Negative Moves ....................................................................................... 61
Velocity Profiles ............................................................................................................ 61
Positioning a Stage ...................................................................................................... 61
General ........................................................................................................................61
Home position .............................................................................................................. 62
Limit Switches .............................................................................................................. 62
Minimum and Maximum Positions ............................................................................... 63
Power Saving ............................................................................................................... 63
Error Correction ............................................................................................................ 64
Backlash correction ...................................................................................................... 64

3
Chapter 1
For Your Safety
1.1 Safety Information
For the continuing safety of the operators of this equipment, and the protection of the
equipment itself,the operator should take note of the Warnings, Cautions and Notes
throughout this handbook and, where visible, on the product itself.
The following safety symbols may be used on the equipment:
Warning, risk of danger. Refer to the handbook for details on this hazard.
Warning, risk of electric shock. High voltages present
Equipotentiality (bonding) terminal
Functional (EMC) earth/ground terminal.
The following safety symbols may be used throughout the handbook:
Warning. An instruction which draws attention to the risk of injury or death.
Caution. An instruction which draws attention to the risks of damage to the product,
process or surroundings.
Note. Clarification of an instruction or additional information.
!

4
Chapter 1 For Your Safety
1.2 Warnings
• The unit must be connected only to an earthed fused supply of 110 to 230V.
• The Equipment, as described herein, is designed for use by personnel properly trained in
the use and handling of mains powered electrical equipment. Only personnel trained in
the servicing and maintenance of this equipment should remove its covers or attempt any
repairs or adjustments.
• If this equipment is used in a manner not specified by the manufacturer, the protection
provided by the equipment may be impaired. Do not operate the instrument outside its
rated supply voltages or environmental range. In particular, excessive moisture may
impair safety.
• This unit is intended for operation from a normal, single phase supply, in the temperature
range 5° to 40°C, 20% to 80% RH.
1.3 Declarations Of Conformity
1.3.1 For Customers in Europe
This equipment has been tested and found to comply with the EC Directives
89/336/EEC ‘EMC Directive’ and 73/23/EEC ‘Low Voltage Directive’ as amended by
93/68/EEC.
Compliance was demonstrated by conformance to the following specifications which
have been listed in the Official Journal of the European Communities:
Safety EN61010: 2001 Installation Category II, Polution Degree II.
EMC EN61326: 1997
1.3.2 For Customers In The USA
This equipment has been tested and found to comply with the limits for a Class A
digital device, persuant to part 15 of the FCC rules. These limits are designed to
provide reasonable protection against harmful interference when the equipment is
operated in a commercial environment. This equipment generates, uses and can
radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likelyto cause harmful interference
in which case the user will be required to correct the interference at his own expense.
Changes or modifications not expressly approved by Thorlabs Ltd could void the
user’s authority to operate the equipment.

5
Chapter 2
Overview and Setup
2.1 Introduction
The miniAPT Stepper Motor Controller has been designed to address the need for
driving smaller frame, lower powered (<5W) stepper motors. As a member of the
Thorlabs family of APT motion controllers, the miniAPT controller inherits a fully
featured set of hardware and software functionality as described in the remainder of
this handbook.
The unit is availablein single (BMS001) and two channel (BMS002) versions.Control
of the unit can be performed in both ‘Local’ (benchtop) and ‘Remote’ (PC) modes. In
‘Local’ mode, the unit is operated via a set of front panel buttons and associated 16 x
2 character LCD display. Usingthe frontpanel,full access to all operating modes and
parameters is possible without the need to connect a controller PC. However, in those
applications where operation using a PC is required (e.g. to automate operation or
combine operation with other PC based software) ‘Remote’ mode is available. In
‘Remote’ mode, the unit can be connected to a PC via the USB port. A fully featured
software suite is provided (the APT system software) and once installed on the PC,
complete control of the stepper controller is possible. The APT software supplied
includes out-of-the-box utilities that allow immediate user interaction. Additionally, a
rich set of ActiveX programming interfaces (via a set of ActiveX controls - see Section
2.8.) is provided to allow PC programmers to develop automated motion control
applications in any language supporting ActiveX controls. This software
programmability is seamlessly integrated with the complete range of APT controllers
and allows the possibility of easily combining operation of the miniAPT stepper motor
driver with other APT hardware.
In the remainder of this handbook, operation of the unit is described for both benchtop
(Local) and PC (Remote) operation. Tutorial sections (Chapter 3 and Chapter 4)
provide a good initial understanding on using the unit and reference sections (Chapter
5 and Chapter 6) cover all operating modes and parameters in detail.

6
Chapter 2 Overview and Setup
2.2 Mechanical Installation
2.2.1 Siting
The Stepper Motor controller is designed to be mounted free standing on a shelf,
benchtop or similar surface.
Caution.
When siting the unit, it should be positioned so as not to impede the operation of the rear
panel power supply switch.
Ensure that proper airflow is maintained to the rear of the unit.
Environmental Conditions
Warning. Operation outside the following environmental limits may adversely affect
operator safety.
Location Indoor use only
Maximum altitude 2000 m
Temperature range 5oC to 40oC
Maximum Humidity Less than 80% RH (non-condensing) at 31°C
To ensure reliable operation the unit should not be exposed to corrosive agents or
excessive moisture, heat or dust.
If the unit has been stored at a low temperature or in an environment of high humidity,
it must be allowed to reach ambient conditions before being powered up.
2.3 Electrical Installation
2.3.1 Connecting To The Supply
Warnings.
• The unit must be connected only to an earthed fused supply of 110 to 230V.
• Use only power supply cables supplied by Thorlabs, other cables may not be rated to
the same current.
• The unit is shipped to the UK, Europe and the USA, with the appropriate power plug
already fitted. When shipped to other territories the appropriate power plug must be
fitted by the user. Cable identification is as follows:
Brown - Live
Blue - Neutral
Green/Yellow - Earth/Ground

7
BMS001 and BMS002 Stepper Motor Controller
2.3.2 Rear Panel Connections
Fig. 2.1 Rear Panel Connections (Dual Channel Version)
DRIVE CHANNEL 1 -provides connection to the stepper motor actuator associated
with channel 1. Refer to Appendix A for details of pin outs.
DRIVE CHANNEL 2 - Provides connection to the stepper motor actuator associated
with channel 2. Refer to Appendix A for details of pin outs.
MOTOR CONTROL - The ‘MOTOR CONTROL’ connector exposes a number of
electrical signals useful for external control (e.g. a remote handset). Interlock enable
lines are used to enable/disable the motor drive outputs and are a useful mechanism
for implementing an external emergency stop feature. Motor jogging lines can be
used to jog the motor in both forward and reverse directions. Jogging parameters (e.g.
jog distance) can be set from the front panel or via the PC. Refer to Appendix A for
details of pin outs.
Note. Thorlabs supply a remote jogging handset (Part Number RCU601).
If a remote handset is not used, the terminator supplied must be fitted - see Chapter 2.3.2
for details.
USB - provides connection to a PC for use in remote operation mode - see Chapter
4 for more details on Remote operation.
motor connections
motor control interlock plug or manual control pad
USB
!
POWER
100 - 240 VAC,
47 - 63 Hz,
200 VA
FUSES F1 and F2:
T 2A, ANTISURGE CERAMIC
DRIVE CHANNEL 2DRIVE CHANNEL 1 MOTOR CONTROL
Manufactured by Cambridge, UK
Chan 1 Chan 2

8
Chapter 2 Overview and Setup
2.4 Front Panel Controls and Indicators
Fig. 2.2 Front Panel Controls and Indicators
Main Display - As default, the display shows the current position of the motors. When
in Setup Mode, the display shows the parameter currently selected.
Local Controls - These controls allow all moves to be initiated and move parameters
to be viewed and altered (see Chapter 3 for more details).
Jog Arrows - Press to jog the motors, up/down for channel 1 and left/right for
channel 2 - see Section 3.7. for more details on jogging.
Menu (Save) - Allows access to the set up level. Also saves any parameter values
(see Chapter 3 for more details).
Mode - Used to select the type of move:
Home Mode - A homing sequence is initiated when the Move key is pressed.
Rel Move Mode - A relative move is initiated when the Move key is pressed.
Abs Move Mode - An absolute move is initiated when the Move key is pressed.
Move - Initiates the move selected using the Mode key.
Stop - Stops the move currently in progress (applies to all types of move, including Home).
Chan - Not applicable to single channel units. Selects the channel(s) to which
move and parameter settings are applied. This is indicated by the associated
LEDs.
Channel Enable - Used to enable and disable the associated motor drive channels.
Menu
Save
Mode
Move Chan
Stop
1
2
LOCAL CONTROLS
CHANNEL ENABLE
1 2
apt-α STEPPER MOTOR CONTROLLER
Pos Ch1 Pos Ch2
000.000 000.000
Channel enable keys Local controlsMain display
Menu
Save
Mode
Move
Stop
LOCAL CONTROLS
ENABLE
1
apt-α STEPPER MOTOR CONTROLLER
Pos Ch1
000.000
BMS002 - 2 channel variant
BMS001 - 1 channel variant

9
BMS001 and BMS002 Stepper Motor Controller
2.5 Remote Jog Handset
It is often convenient to jog the motors while closely watching the device being
positioned, which can prove difficult when using the front panel keys or a remote PC.
To allow this kind of use, Thorlabs can supply a jog handset, which enables the
motors to be jogged at some distance from the controller itself or a remote PC. The
handset is supplied with 1.5m (4.9 ft) of cable.
Fig. 2.3 Remote Jog Handset
If required,a custom jog handset or other formof remote jogging can beimplemented,
using the pin configurations detailed in Appendix A Section A.1.
Chan 1 Chan 2

10
Chapter 2 Overview and Setup
2.6 Benchtop (Local Mode) Operation Basics
2.6.1 Changing the Channel Selection
When making move commands and parameter changes, channel selection is made
by pressing the key. Repeated pressing results in the following sequence:
In this way, moves can be initiated on one or both drive channels.
Note. The key and associated LEDs are not present on single channel units.
2.6.2 Menu Navigation
As default, the display showsthe present position of the motors. To access the ‘Setup’
mode, press the key. The display then shows the parameter most recently
selected.
Use the and keys to scroll through the parameter list. Parameters with a sub
menu are indicated by a ‘>’ symbol in the right hand side of the display (e.g. Vel.
Settings >). To access the sub menu press the key and to leave a sub menu
press the key.
Once the required parameter has been selected, press the key to enter the ‘Edit’
mode. For value parameters, the least significant digit is highlighted. To change this
digit, press the and keys. To select other digits to edit, use the and
keys to navigate to the digit of choice. For other types of parameter, the first letter of
the current setting is highlighted. To select other options, use the and keys.
After editing the selected parameter, press the key to enter the ‘Change’ mode.
The unit asks whether you want to save the change by displaying ‘Change
Setting? < No Yes >’. Press the key to save the change or use the
key to leave the value unchanged.
Refer to the Benchtop (Local Mode) Tutorial (Chapter 3) for examples on changing
both numerical and textual parameter types.
Note. Parameters are set on a per channel basis. If both channel LEDs are lit, then the
unit displays ‘Select Ch1 or Ch2’ to prompt the user to select a specific channel
on which to perform the setting changes.
Note. If no keys are pressed, the display reverts to the operation mode after several
seconds .
Cha
n
Press 1 1
2Press 2 1 2Press 3
1
2
Cha
n
Men
u
Sav
e
Men
u
Sav
e
Men
u
Sav
e

11
BMS001 and BMS002 Stepper Motor Controller
Fig. 2.4 Editing Menu Parameters
2.6.3 Motor Moves
Motor moves are performed using the ‘Mode’, ‘Move’ and Arrow keys, and are
described in more detail in Chapter 3.
Pos Ch1 Pos Ch2
000.000 000.000
Chan Calibration
001.000
Local / Remote
Local (Panel)
Menu
Save
Menu
Save
Menu
Save
Local (Panel)
Remote (USB)
Oper. Limits >
Max Vel. Lim.
Max Accn. Lim.
Max Position
Min Position
press to enter 'Setup' mode scroll through the parameter list
press to enter 'Edit' mode
press to change
parameter selection
press to change
parameter selection
then
press to enter 'Edit' mod
e
then
press to adjust values
OR

12
Chapter 2 Overview and Setup
2.7 Installing APT Software for PC (Remote) Operation
2.7.1 Introduction
When ‘Remote’ mode is selected, direct operator interaction with the miniAPT
controller is accomplished through intuitive graphical user interface panels (GUIs),
which expose all key operating parameters and modes The user can select multiple
panel views displaying different information about a particular hardware unit. The
multitasking architecture ensures that the graphical control panels always remain live,
showing all current hardware activity.
2.7.2 Software Installation
The installation procedure is dependent upon the version of Windows running on the
host PC and detailed instructions for each version are included on the APT Software
CDROM. A typical procedure is detailed below, and the software must be installed in
the order given.
A) Install the USB Drivers
1) Power up your PC.
Caution. Item 2) must be performed before item 3).
2) Insert the Installation CD into your CD drive.
3) Using the USB cable provided, connect the APT unit to your PC.
4) Switch On the power to the unit and wait while Windows recognises the new hardware.
5) Follow the onscreen instructions.
B) Install the APT Server
Run setup.exe from the ‘APT Server’ folder and follow the instructions on screen.
C) Install the APTConfig Utility
Run setup.exe from the ‘APT Config’ folder and follow the instructions on screen.
D) Install the APTUser Utility
Run setup.exe from the ‘APT User’ folder and follow the instructions on screen.
If you experience any problems when installing software, contact Thorlabs on
[phone] and ask for Technical Support.
Caution. Some PC’s may have been configured to restrict access to the registry. If this
is the case, the following registry keys must be set to allow write access by everyone:
HKEY_LOCAL_MACHINE\SOFTWARE\THORLABS\APT SERVER
HKEY_LOCAL_MACHINE\SOFTWARE\THORLABS\APT USER
For further information, consult your system administrator.

13
BMS001 and BMS002 Stepper Motor Controller
2.7.3 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.
Detailed instructions on installing upgrades are included on the APT Software
CD ROM.
2.8 APT PC Software Overview
2.8.1 Introduction
As a member of the APT range of controllers, the miniAPT stepper controller shares
many of the associated software benefits. This includes USB connectivity (allowing
multiple units to be used together on a single PC), fully featured GUI panels, and
extensive software function libraries for custom application development.
The APT software suite supplied with all APT controllers, including the miniAPT
stepper driver, provides a flexible and powerful PC based control system both for
users of the equipment, and software programmers aiming to automate its operation.
For users, the APTUser (see Section 2.8.2.) and APTConfig (see Section 2.8.3.)
utilities allow full control of all settings and operating modes enabling complete ‘out-
of-box’ operation without the need to develop any further custom software. Both
utilities are built on top of a sophisticated, multi-threaded ActiveX ‘engine’ (called the
APT server) which provides all of the necessary APT system software services such
as generation of GUI panels, communications handling for multiple USB units, and
logging of all system activity to assist in hardware trouble shooting. It is this APT
server ‘engine’ that is used by software developers to allow the creation of advanced
automated positioning applications very rapidly and with great ease. The APT server
is described in more detail in Section 2.8.4.
Aside
ActiveX®, a Windows®-based, language-independent technology, allows a user
to quickly develop custom applications that automate the control of APT system
hardware units. Development environments supported by ActiveX® technology
include Visual Basic®, LabView™, Borland C++ Builder, Visual C++, Delphi™,
and many others. ActiveX® technology is also supported by .NET development
environments such as Visual Basic.NET and Visual C#.NET.
ActiveX controls are aspecific form of ActiveX technology that provide botha user
interface and a programming interface. An ActiveX control is supplied for each
type of APT hardware unit to provide specific controller functionality to the
software developer. See Section 2.8.4. for further details.

14
Chapter 2 Overview and Setup
2.8.2 APTUser Utility
The APTUser application allows the user to interact with a number of APT hardware
control units connected to the host PC. This program displays multiple graphical
instrument panels to allow multiple APT units to be controlled simultaneously.
All basic operating parameters can be altered and, similarly, all operations (such as
motor moves) can be initiated. Settings and parameter changes can be saved and
loaded to allow multiple operating configurations to be created and easily applied.
For many users, the APTUser application provides all of the functionality necessary
to operate the APT hardware without the need to develop any further custom
software. For those who do need to further customise and automate usage of the
miniAPT stepper driver (e.g. to implement a positioning algorithm), this application
illustrates how the rich functionality provided by the APT ActiveX server is exposed
by a client application. The complete Visual Basic source project is provided as a
useful aid to software developers.
Use of the APT User utility is covered in the PC (Remote Mode) tutorial (Chapter 4)
and in the APTUser online help file.

15
BMS001 and BMS002 Stepper Motor Controller
2.8.3 APT Config Utility
There are many system parameters and configuration settings associated with the
operation of the APT Server. Most can be directly accessed using the various
graphical panels, however there are several system wide settings that can be made
'off-line' before running the APT software. These settings have global effect; such as
switching between simulator and real operating mode, associating mechanical stages
to specific motor actuators and incorporation of calibration data.
The APTConfig utility is provided as a convenient means for making these system
wide settings and adjustments. Full details on using APTConfig are provided in the
online help supplied with the utility.
Use of the APT Config utility is covered in the PC (Remote Mode) tutorial (Chapter 4)
and in the APTConfig online help file.

16
Chapter 2 Overview and Setup
2.8.4 APT Server (ActiveX Controls)
ActiveX Controls are re-usable compiled software components that supply both a
graphical user interface and a programmable interface. Many such Controls are
available for Windows applications development, providing a large range of re-usable
functionality. For example, there are Controls available that can be used to
manipulate image files, connect to the internet or simply provide user interface
components such as buttons and list boxes.
With the APT system, ActiveX Controls are deployed to allow direct control over (and
also reflect the status of) therange of electronic controller units, including the miniAPT
stepper driver. Software applications that use ActiveX Controls are often referred to
as 'client applications'. Based on ActiveX interfacing technology, an ActiveX Control
is a language independent software component. Consequently ActiveX Controls can
be incorporated into a wide range of software development environments for use by
client application developers. Development environments supported include Visual
Basic, Labview, Visual C++, C++ Builder, HPVEE, Matlab, VB.NET, C#.NET
and, via
VBA, Microsoft Office applications such as Excel and Word.
Consider the ActiveX Control supplied for the miniAPT stepper controller unit.
This Control provides a complete user graphical instrument panel to allow the motor
unit to be manually operated, as well as a complete set of software functions (often
called methods) to allow all parameters to be set and motor operations to be
automated by a client application. The instrument panel reflects the current operating
state of the controller unit to which it is associated (e.g. such as motor position).
Updates to the panel take place automatically when a user (client) application is
making software calls into the same Control. For example, if a client application
instructs the associated stepper motor Control to move a motor, the progress of that
move is reflected automatically by changing position readouts on the graphical
interface, without the need for further programming intervention.

17
BMS001 and BMS002 Stepper Motor Controller
The APT ActiveX Controls collection provides a rich set of graphical user panels and
programmable interfaces allowing users and client application developers to interact
seamlessly with the APT hardware. Each of the APT controllers has an associated
ActiveX Control and these are described fully in system online help or the handbooks
associated with the controllers. Note that the APTUser and APTConfig utilities take
advantage of and are built on top of the powerful functionality provided by the APT
ActiveX Server (as shown in Fig. 2.5).
Fig. 2.5 System Architecture Diagram
Refer to the main APT Software online help file, MG17Base.hlp, for a complete
programmers guide and reference material on using the APT ActiveX Controls
collection. Additional software developer support is provided by the APT Support CD
supplied with every APT controller. This CD contains a complete range of tutorial
samples and coding hints and tips, together with handbooks for all the APT
controllers.

18
Chapter 2 Overview and Setup
2.9 Verifying Software Operation
2.9.1 Initial Setup
1) Install the APT software as detailed in Section 2.7.
2) Connect the controller to the stepper actuators or the relevent axes of the
associated stages (see Section 2.3.).
3) Fit the interlock plug (supplied) to the MOTOR CONTROL connector on the rear
panel.
4) Run the APTUser utility and check that the GUI panels appear and are active.
5) Press the key until the channel 1 led is lit.
6) Click the key and check that the motor axis associated with channel 1 moves.
The position display for channel 1 should increment.
Follow the tutorial steps described in Chapter 3 for further verification of operation.
Note. The 'APT Config' utility can be used to set up simulated hardware configurations
and place the APT Server into simulator mode. In this way it is possible to create any
number and type of simulated (virtual) hardware units in order to emulate a set of real
hardware. This is a particularly usefulfeature, designed as an aid to application program
development and testing. Any number of 'virtual' control units are combined to build a
model of the real system, which can then be used to test the application software offline.
If using real hardware, ensure that Simulator Mode is disabled. If using a simulated
setup, enable Simulator Mode and set up a ‘Simulated Configuration’ - see Section 4.8.
or the APTConfig helpfile for detailed instructions.
Cha
n