Power PMAC

2,351 topics in this forum

1. 

   Improvements to Script Mode access in C

   October 18, 2011 by daves

   • 3 replies
   • 7.2k views

   Hi Firstly I am really pleased about the script mode and enum access to global variables. I would like to suggest an improvement and it looks like the code is almost in the pp_proj.h but not quite finished... In the _PPScriptMode_ section you have 'enum globalP' and the XXXEnumGlobalXXX() functions, but they seem to be pointless (the enum is not generated). Is this right? In my code I use a structure representing an axis and store references to my variables for that axis in the structure. I currently store the P or M number, then I can pass instances of the structure to a function which can then call SetGlobalVar on the reference to perform actions common to e…

   

   Last reply by KEJR, October 19, 2011
2. 

   Execute move every n triggers

   October 6, 2011 by andyf

   • 13 replies
   • 23.9k views

   I have a timing card that generates a pulse every millisecond. I need to trigger a motor to move every n milliseconds. I was planning to purchase a timer/counter card to count the pulses and then generate a trigger pulse to the Delta Tau digital i/o card. However, I am curious if the PPMAC can do the counting accurately...perhaps in a PLC....or if there is another feature of the PPMAC that might help in this scenario.

   

   Last reply by andyf, October 18, 2011
3. 

   OpenMacro() function not working in Sept2011 IDE

   October 14, 2011 by KEJR

   • 1 follower
   • 4 replies
   • 8k views

   Hello, I have a project that compiles and works in the Feb 2011 IDE/Firmware but after installing the Sept 2011 firmware I get the following: PMAC variables are mapped successfully. Build Process For XYOilerMain.out has started. U:\QA Power PMAC Project\XYOilerCode\C Language\Background Programs\XYOilerMain\xyoilermain.c(670,0): Error : 'OpenMacro' was not declared in this scope Build Process For XYOilerMain.out has ended. Any ideas? As you can see in the output the project is a background C app. KEJR

   

   Last reply by Omron Forums Support, October 18, 2011
4. 

   New way of accessing P vars - How do I enable it?

   October 14, 2011 by KEJR

   • 1 follower
   • 7 replies
   • 12.2k views

   Hello, How do I configure my project for auto-generating the P vars in pp_proj.h so that I can access them by name in C code vs the old way where they were defined as an integers? I am in the process of converting my project in the new Sept 2011 IDE and want to know where this is. Thanks, KEJR

   

   Last reply by KEJR, October 18, 2011
5. 

   Script PLCs and strings

   March 4, 2011 by kmonroe023

   • 8 replies
   • 16k views

   I have a couple of questions relating to how PowerPmac and the IDE handle string arrays. The guys writing the HMI application (running on a separate host PC) for our machine have asked that I store the machine alarm message strings in the Pmac. Creating and saving the 'string array' seems simple enough, I plan on having a PLC run at startup that will populate the shared user memory with all the alarm strings needed. The script code would be as shown below. local indexStart,strgLen; indexStart=16000; // byte offset into share user memory strgLen=72; // default length of alarm string stringIndex=sprintf((indexStart+(1*strgLen)),"Alarm Mess…

   

   Last reply by BoneSkier, October 18, 2011
6. 

   Determining that a motion script has aborted

   October 11, 2011 by gshort

   • 1 follower
   • 11 replies
   • 18.5k views

   I would appreciate some advice on determining when a motion script has aborted. I am controlling the execution of the motion script from a background C program. What I've found is that when the script errors, such as if I provoke an excessive following error (FatalFeLimit), it aborts as I expect but I don't really see any difference in Coord[x].Ldata.Status. It merely changes from 0x60 to 0x01 which is what happens on a normal termination of the script. I can see that "list apc" is correctly telling me where the abort has taken place which is useful but it is an awkward method to determine programmatically that an abort has occurred. Can you suggest a simpler method ? Th…

   

   Last reply by gshort, October 18, 2011
7. 

   Prevent program auto-start

   October 14, 2011 by shansen

   • 1 follower
   • 1 reply
   • 4.4k views

   Is there any way to prevent the IDE from starting programs after a download? -Steve

   

   Last reply by Sina.Sattari, October 14, 2011
8. 

   EtherCat vs Modbus

   October 13, 2011 by JeffLowe

   • 2 replies
   • 14k views

   Now that Modbus has been included in the Power PMAC what are the relative strengths of each option, excluding servos? Is either one easier to program? Ladder support?

   

   Last reply by hbausley, October 14, 2011
9. 

   Real-time socket

   October 10, 2011 by daves

   • 1 follower
   • 8 replies
   • 19.2k views

   I have implemented my own TCP library so my Windows application can get and set blocks of user shared memory (basically a Dual Port Ram emulator). This works well. However I am seeing a process called 'gatekeeper/0' running at high CPU (20%). I have read up on xenomai real-time socket programming and discovered I am having a lot of unwanted Mode SWitches. The recommended approach is to use the RTDM functions (access the drivers using rt_dev_* functions). The rtdm.h header appears on the PC folders: "C:\Program Files (x86)\Delta Tau Data Systems Inc\2.0\Power PMAC Suite\powerpc-460-linux-gnu\opt\eldk-4.2\debian_rootfs\usr\local\xenomai-2.4.10\include\rtdm" and …

   

   Last reply by daves, October 14, 2011
10. 

    Siemens Step7 PLC TCP to PowerPMAC Communication

    October 11, 2011 by hbausley

    • 0 replies
    • 2.9k views

    If there is anyone out there that wants to try to communicate between a Step 7 Siemens PLC and the PowerPMAC over Ethernet there is an open source project http://libnodave.sourceforge.net/ that does this. Attached is an IDE project SiemensPLC.zip containing a few of the samples from the project. The original code along with its documentation can be downloaded from http://sourceforge.net/projects/libnodave/files/libnodave/libnodave-0.8.4.6.tar.gz/download?_test=goal

    

    Last reply by hbausley, October 11, 2011
11. 

    Old i-variables

    October 3, 2011 by daves

    • 3 replies
    • 6.4k views

    While upgrading our UMAC project to PPMAC I have managed to translate most of the setup i-variables to the new structures. Some of them can be found by searching the help (e.g. i8 is found in the help under Sys.RtIntPeriod). Some of them can be worked out by seeing where they point in the terminal (e.g. i168-> tells me I168->Motor[1].Servo.Kfff so I can tell what it is called now). Some I think can be ignored (e.g. I48 deals with DPRAM which does not exist). However I feel like there are some I am guessing. Is there a definitive translation guide (especially the non-motor variables i1-99 which are now part of motor 0 so give no help in the terminal)? As a q…

    

    Last reply by Omron Forums Support, October 10, 2011
12. 

    Action on $$$

    October 7, 2011 by daves

    • 2 replies
    • 5.8k views

    Is there any way to define actions which happen just after $$$ is issued and before the reset, in a configuration file for example (like the disable/startup scripts)? I am finding that unless I manually disable my CPLCs then a $$$ breaks PPMAC. I would like to insert UserAlgo.BgCplc[31]=0 etc before the reset automatically. I have filed a bug report (#591) with test cases to get this properly fixed, but I wondered if there was a convenient way around the issue as it is quite frustrating at my current stage of testing... Dave

    

    Last reply by daves, October 10, 2011
13. 

    Power PMAC clock accuracy

    October 5, 2011 by andyf

    • 4 replies
    • 8.5k views

    What is the accuracy of the clock in the PPMAC board in PPM?

    

    Last reply by andyf, October 7, 2011
14. 

    Setting thread priorities in C code

    October 4, 2011 by Guest DavisG

    • 2 replies
    • 6.7k views

    In your background C code you can set priorities to get the speed up. You will not want to set it higher than 49 as this can starve your real time processes. In your c code use the following lines: #include //this is before the main routine code //now in the main code: struct sched_param param; param.__sched_priority = 49; // from 1 - 100. 100 Highest // 1 lowest pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);

    

    Last reply by hbausley, October 5, 2011
15. 

    IDE Improvements / Wishlist

    September 30, 2011 by shansen

    • 3 replies
    • 7.9k views

    First of all, let me say that I have been very happy with the Delta Tau IDE (for the most part), and I am excited to see the constant updates and improvements released by DT. Unfortunately, after using Visual Studio for several years I have become spoiled with certain features. Here are some features that I hope DT can look at adding to the IDE in the future: 1) Auto-indenting brackets 2) Complete Intellisense (i.e. local/global variables, structures, and functions should be auto-recognized and added to the Intellisense list) 3) Integrated Debugger (obviously this won't work for the real-time threads but it would be great if the Visual Studio debugger could be…

    

    Last reply by shansen, October 4, 2011
16. 

    Hardware Mismatch

    September 28, 2011 by PaulD

    • 1 follower
    • 3 replies
    • 6.8k views

    [/php]When I updated to the Sept. ver. IDE . I am getting a hardware mismatch in the Hardware interface tab in the system setup. It seems to happen when I scroll from the feedback type to the hardware interface tab. It also will not accept any changes made to the Current Feedback or Amp Fault level. Anyone else having issues?

    

    Last reply by PaulD, October 3, 2011
17. 

    Wireless Mouse and Keyboard?

    September 17, 2011 by shansen

    • 2 replies
    • 6.6k views

    Does DT or anyone else have a recommendation for a wireless mouse/keyboard that is compatible with the Power PMAC right off the bat? I tried using a Logitech set that I had kicking around but I couldn't get it to work, I'm assuming its a driver issue with Debian. Has anyone had any luck with any specific brands?

    

    Last reply by shansen, September 29, 2011
18. 

    IDE changes attributes of project files

    September 22, 2011 by mjm

    • 7 replies
    • 14.5k views

    Why does the September release IDE remove the read-only attribute from files in the solution/project? It may be convenient for the IDE, but these are my files, and I should be able to decide whether or not they are writable. Mick

    

    Last reply by mjm, September 29, 2011
19. 

    Any examples of strtod in script code

    July 15, 2011 by daves

    • 5 replies
    • 10.5k views

    I see in V1.3 FIRMWARE UPDATES details of string functions on particular strtod looks useful to me. I cannot get it to work or find any examples... Any advice?

    

    Last reply by daves, September 29, 2011
20. 

    Interesting September additions

    September 28, 2011 by daves

    • 0 replies
    • 2.9k views

    I have seen some interesting new things in the September release. rtpmacapi.h enum progstatus {PROG_RUNNING, PROG_STOP_ON_PAUSE_STEP, PROG_STOP_ON_LIMIT, PROG_STOP_ON_BKPT, PROG_STOP_CODE_ERR, PROG_STOP_STACK_ERR, PROG_STOP_LVAR_STACK_ERR, PROG_STOP_CALL_ERR, PROG_STOP_AXIS_ASSIGN_ERR, PROG_STOP_KINEMATICS_ERR, PROG_NOT_IN_USE = 16}; //------------------------------------------------------------- /// Returns enum of Plc Status /// /// \param[in] num - number /// \return enum progstatus enum progstatus PlcStatus(int num); //------------------------------------------------------------- /// Returns enum of Coord Program Status /// /// \param[in] num - number /// \re…

    

    Last reply by daves, September 28, 2011
21. 

    Libraries break TaskManager

    September 21, 2011 by daves

    • 1 follower
    • 3 replies
    • 6.4k views

    This is a complicated combination of things and I'm not sure of the logic but I have managed to recreate with a simple project: * $$$*** * New project * Add CPLCs 20, 21, 24 (empty programs will do) * Add Libraries alib, blib (empty programs will do) * Build and Download All Programs * Open TaskManager CPLC20 is missing. Some interesting points: If you then delete libblib.so from "var/ftp/usrflash/Project/C Language/CPLCs/user" and hit Refresh List, you get CPLC20 but not 21 and 24. If you then delete libalib.so from the same place and refresh, the list is fixed. This is very confusing on a bigger more complicated project and needs fixing. Maybe thi…

    

    Last reply by daves, September 28, 2011
22. 

    C Language Libraries

    September 19, 2011 by daves

    • 1 follower
    • 12 replies
    • 26.7k views

    Hi I have the September release of the IDE and firmware. One of the things I was really looking forward to was the ability to have libraries of functions available to C programs. This is reportedly included in this version, but I am struggling a little. I have the following library under "C Language/Libraries/lib1", h and c files: void DoThing(int Value); #include #include // Global Rt/Gp Shared memory pointers //------------------------------------------------------------- // The following is a projpp created file from the User defines //------------------------------------------------------------- #include "../../Include/pp_proj.h" void DoThing(int V…

    

    Last reply by daves, September 27, 2011
23. 

    EnDat encoder on ACC-24E3

    September 15, 2011 by horacevan

    • 1 follower
    • 2 replies
    • 9.9k views

    I'm sorry for posting this twice, but I see that my initial post went into Manuals and Documentation, and it probably won't get seen as much there. I'm just starting to hook up a Heidenhain EnDat encoder to an ACC-24E3 channel that already has a quadrature encoder. It looks like the serial encoder strobe signal uses the same connector pins as the quadrature encoder's index signal. The Heidenhain doesn't have a strobe signal. Is this going to cause a problem with being able to use the quadrature encoder's index? Is there some way to switch which encoder gets to use the pins? In the ACC-24E3 hardware reference, on page 30, there is very little information on setting u…

    

    Last reply by horacevan, September 23, 2011
24. 

    PowerPMAC with UMAC MACRO

    September 16, 2011 by pnewhook

    • 1 follower
    • 6 replies
    • 11.6k views

    I have a PowerPMAC system communicating to a UMAC rack over MACRO that contains the ACC24e2a interface cards. I'd like to use the new ACC24e3a cards, but apparently I'd also need to have an updated Macro CPU and ACC5e Macro interface card, is this correct? Any expected release date for this? Thanks!

    

    Last reply by pnewhook, September 23, 2011
25. 

    Define Globals from C app?

    September 23, 2011 by KEJR

    • 0 replies
    • 2.8k views

    Hello, I'd like to have my system library code define globals like you can do in the *.pmh files, but from C code. The reason is that I have several system variables I want mapped to fixed P vars, but still use the symbolic string based reads through gpascii from my HMI program. Otherwise I have to have my HMI programs cross reference the P vars with duplicated definitions across different project environments (which is what I do now, but gets into version nightmares if I remap the system vars). The reason I can't do it in the project *.pmh files is that this is my system library that gets included across multiple projects. Is this possible/practical to do?…

    

    Last reply by KEJR, September 23, 2011