Power PMAC
Discussions about Power PMAC products (including UMAC Accessories, Power Brick products, Power Clipper, CK3x products, and more) along with their software, including Power PMAC IDE, NC16 HMI, and Power PMAC PDK.
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Do you see any obstacles to us doing our cross-compilation and uploads on a 32-bit or 64-bit x86 Linux system?[hr] There is no issue cross compiling on a 32-bit or 64-bit x86 Linux system. This is how we develop internally our "firmware". You can grab the ELDK 4.2 we use at www.denx.de it contains the cross compiler 4.2.2 . Assembler 2.17.50.0.12. This way you can see all the details regarding compilation.
Last reply by hbausley, -
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- 5.5k views
What is the password of root for the new boards: 460-CPU Firmware 1.0.0.17 Thanks, Luis A. Aguirre. 512-984-5233
Last reply by bradp, -
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I had expected to be able to use the unary negation operator (!) yet I can find no documentation supporting this and it causes an error. How do I do a logical negation in a script plc?
Last reply by bradp, -
- 0 replies
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Below is a simple program that jogs the X-axis in "continuous" mode: close // Continuous axis jogging PLC example ptr XJogPlusButton->u.io:$A00000.12.1; ptr XJogMinusButton->u.io:$A00000.13.1; csglobal XJogDecelDist; XJogDecelDist=1.0; /****************************************/ open plc 28 Ldata.Coord=1; // Work with C.S.1 if (XJogPlusButton) { pmatch; // Use present, not end position, as ref rapid inc X(XJogDecelDist); // Command next distance from present } if (XJogMinusButton) { pmatch; // Use present, not end position, as ref rapid inc X(-XJogDecelDist); // Command …
Last reply by bradp, -
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Right now there is no manual for the C API. Right now we supply a sample CPLC in the default IDE project and a header file which is what everyone uses to get going. Mostly what people need to know is how to get the pointers to the different memory locations and that comes from the header file. I attached the sample CPLC and header files. [attachment=1326:name] [attachment=1327:name]
Last reply by bradp, -
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Do the Telnet and FTP servers have to be running? We would strongly prefer to use SSH. Are there other servers running?[hr] To use our IDE you will need telnet and ftp running. If you are ambitious enough to develop your own complete IDE you can turn off or on any feature yourself but please understand that our IDE cannot support certain features being turned off. We do have the ssh daemon and cifs daemon running. Here is a screen shot of what is running [attachment=1325:name]
Last reply by bradp, -
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You state that you are using a real-time version of Linux. There are a variety of different ways of implementing real-time with Linux, so which version of real-time Linux are you using? Are you using a 2.6.x kernel or an ancient 2.4.x kernel? Did you roll your own Linux distribution, or did you derive it from some existing distribution like MontaVista, Debian, RedHat, etc.? Do you make your own custom modifications to the Linux kernel? Do you track security updates as Linux security flaws are found?[hr] We use kernel version 2.6.28.8 from denx and we patch it with aufs and xenomai 2.4.7 and do no custom modifications. We will be locking in our version of …
Last reply by bradp, -
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Which USB device classes do you support? I could easily envision wanting to connect USB-to-RS232 adapters or USB hard disks.[hr] USB RS232 Converters and Mass Storage devices are supported
Last reply by bradp, -
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What goes in the 64 MB of NOR flash as opposed to the 512 MB of NAND flash? Do you provide copies of the initial contents of the NOR and NAND flash? Can we reflash them in the field? How would we reflash them? Is there a chance of "bricking" the board when reflashing it? Where is the Linux kernel or the root filesystem stored? How would I arrange for my own servers to be started when the system boots? I normally start my servers with an /etc/init.d style script.[hr] The NOR flash consist of a bootloader, kernel and device tree. The initial contents can be flashed using the flashcp command available in linux. Our IDE provides an interface to do this so no …
Last reply by bradp, -
- 3 replies
- 8.9k views
I want to raise the servo and phase clock from their default values to 20KHz. I set Gate1[4].PwmPeriod=2947, Gate1[4].ServoClockDiv=0, Gate1[4].PhaseServoDir=0, and Sys.ServoPeriod=0.0499894884, do a save and reset yet the TaskManager window/Tasks tab still shows the default values. What am I missing? The next step will be to change the Fundamental Time Unit from 1 mSec to 0.1 mSec which I assume can be done by setting Sys.ServoPeriod = Sys.ServoPeriod/10
Last reply by bradp, -
- 0 replies
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Power PMAC memory is arranged in sections of 64 addresses, 32 addresses for what was Turbo PMAC Y-memory then 32 addresses for what was Turbo PMAC X-memory. If the difference between the two Turbo PMAC addresses is less than 8 the conversion can be simplified to the following: OFFSET = (UMAC_Address – UMAC_Base) If converting an UMAC X-Memory location PPMAC Address = 32 + OFFSET*4 + PPMAC Base If converting an UMAC Y-Memory location PPMAC Address = OFFSET*4 + PPMAC Base These simplified equations will not work if OFFSET > 7. In this case the OFFSET must be recalculated as follows. OFFSET = INT((UMAC_Address – UMAC_Base)/8)*64 + ((UMAC_Address – UMAC_Base)%8)*4…
Last reply by bradp, -
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- 3.5k views
In my Turbo PMAC application I used a PMAC PLC program to calculate a position. I then wrote this position to a free memory location where I used it as the Master position for another motor by setting Ixx05 to point to that same memory location. In Power PMAC the Motor[n].pMasterEnc can only point to and ECT entry. How do I accomplish the same thing I had in Turbo PMAC?[hr] In Power PMAC the data for the Master position and feedback position must go through the ECT. Also, open memory in Power PMAC is the user buffer, there is no other place. So to accomplish your task you need to slightly modify your setup. You can still do the same PLC calculations and write the …
Last reply by bradp, -
- 0 replies
- 3.7k views
In Turbo PMAC we used the suggested M-variables M108->Y:$078207,0,24,S ; ENC1 compare A position M109->X:$078207,0,24,S ; ENC1 compare B position M110->X:$078206,0,24,S ; ENC1 compare autoincrement value M111->X:$078205,11 ; ENC1 compare initial state write enable M112->X:$078205,12 ; ENC1 compare initial state M114->X:$078205,14 ; AENA1 output status M115->X:$078200,19 ; USER1 flag input status M116->X:$078200,9 ; ENC1 compare output value To use the gatearray compare end EQU feature. I do not see PowerPMAC structures for all of these variables so what is now the procedure?[hr] M108 is Gate1[4].Chan[0].CompA ; ENC1 compare A position M109 …
Last reply by bradp, -
- 1 reply
- 5.1k views
In Global Definitions.pmh I have a user variable defined as: [code]Ptr OutputWord1->u.user:$4.0.32; // Front Panel 1 Output[/code] My plcs use these fine and share them, but I don't understand how to add them to the watch window. Adding local variables is easy with the PLC.n. structure, but globals give me a syntax error. Thx.
Last reply by Sina.Sattari, -
- 1 follower
- 2 replies
- 6.9k views
My Visual studio development enviornment has some additional tools, notably the National Instruments Measurement Studio. In the Filter box under the Index I have the option of filtering just for my Measurment Studio content, but no corresponding filter to filter for only Delta Tau content. Is this an oversight or is there some way to turn this option on. I am specifically looking for the syntax on the ptr command because ptr IoCard0Pt00->u.io:$A00000.8.1 is giving an error for an unexpected $ Thanks,
Last reply by JeffLowe, -
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- 4.2k views
How do i make an FTP connection to Power PMAC?[hr] The ftp root on the powerpmac is /var/ftp. You cannot place anything there. You can only place data in the subfolders. From a Windows host you can use the Explorer and enter in the IP address as ftp://192.168.0.200 Then you will be able to explore the FTP area as any other drive. This will allow drag and drop of files to and from the PPmac From a Windows host you can also use the old DOS shell (now called CMD) and just enter the address as ftp://192.168.0.200 Then you can use the DOS commands to navigate. From a Linux host you can use the Nautilus file browser and enter in the IP address as ftp://192.168.0.20…
Last reply by bradp, -
- 1 reply
- 5k views
We try to do Array with PTR format pointing to User memory. So, we do: PTR Myvar(16)->u.user.$1000 After download, we see that Myvar is M8192 on our mapping and of course, next 15 M_variables are reserved, which is OK. We check then the pointing of M8192 to M8208 and they are all pointing to the same location, address $1000 We see: M8192->u.user:$1000 M8193->u.user:$1000 M8194->u.user:$1000 and so on. We should have an index of 4 (because of the u format): M8192->u.user:$1000 M8193->u.user:$1004 M8194->u.user:$1008 and so on. We did the same test with d format instead of u format and we have same problem. We see: M8192->d.user:$1000 M8193->…
Last reply by bradp, -
- 0 replies
- 5k views
What we want to achieve is the ability to have a CPLC receive an asynchronous message from windows. We don't want to use a scanf-type statement in the CPLC which would cause the CPLC to do nothing else while it waits for a message. I'm not sure which protocol would be better. We don't want it to be real complicated. What protocol does GPASCII use? This is very similar to what we would want to do --- sending commands or queries and getting responses.[hr] The attached file contains an example Power PMAC C app to do what you desire. To write the Windows side you could use our PowerPmac ComLib and implement the generic telnet connection. Then through this connecti…
Last reply by bradp, -
- 0 replies
- 3.8k views
Any idea on how I can get a teach mode working? I tried the attached PLC on my system with real axes today and I still get locations of zero(0). What I am doing is: 1. Run the attached PLC 2. Jog XYZA axes to some location 3. Set the CurrentTeachIndex global to 1 for the first location, 2 for the second location, etc 4. Set the TeachPositionNow global to 1 to teach the point 5. Now look at the XTaughtPosition(1), YTaughtPosition(1), ZTaughtPosition(1), and ATaughtPosition(1) values that were saved. global XTaughtPosition(100); global YTaughtPosition(100); global ZTaughtPosition(100); global ATaughtPosition(100); global T…
Last reply by bradp, -
- 3 replies
- 7.6k views
I tried to add the following command in the pp_disable.txt file: #*K on download, there is a error on this line ! This on-line command is correct for PPMAC. Any idea ?
Last reply by sgaut, -
- 0 replies
- 3.8k views
How do I process byte-wide data in the encoder conversion table?[hr] This word document explains how the ECT works byte-wide parallel data such as an ACC14E. [attachment=1283:name]
Last reply by bradp, -
- 0 replies
- 3.8k views
I am converting Turbo PMAC code to Power PMAC code and have a problem with subroutines. I have the following code: N98000: // M98 --- DWELL 0; //disable blending through m-codes read(X,Y,Z); if (Q100 & $800000)DT_XData = d24; if (Q100 & $1000000)DT_YData = d25; if (Q100 & $2000000)DT_ZData = d26; DT_MCode = 98; while(DT_MCode > 0.0) dwell 50; close When I try and use it Q100 indicates no arguments were passed.[hr] Power PMAC is slightly different than Turbo PMAC. We now use D0 to indicate the past arguments. N98000: // M98 --- DWELL 0; //disable blending through m-codes r…
Last reply by bradp, -
- 0 replies
- 3.6k views
I want to set up a pointer called ADC1 to the address reported by AdcDemux.ResultLow[0].a so that I can use meaningful names in programs and in the watch window. How do I do it? I tried this: ptr ADC1->u.io:$d6f7c0e0.0.12 but it does not work.[hr] With many items you can just point the pointer to the structure element. ptr ADC1->AdcDemux.ResultLow[0] On the other hand you can #define anything. Just do #define ADC1 AdcDemux.ResultLow[0] in the GlobalDefintions.pmh After downloading or mapping the variables (done with right click on the project) the editor language service has ADC1 available. It is also available and the intellisense in the termin…
Last reply by bradp, -
- 0 replies
- 3.9k views
I am converting a Turbo PMAC system to a Power PMAC and want to convert my PID gains instead of tuning from scratch. Are there conversion equations?[hr] The control loop in PPMAC is more capable than that in Turbo PMAC due to some new features and better numerical resolution. Therefore to get the most out of the system it is probably best to retune your motors but having a starting point for tuning is very useful and when you are converting the machine from Turbo PMAC to Power PMAC the PID from the turbo PMAC is a good starting point. These equations do not include the effect of the any low pass or notch filters so if you have used these in the Turbo PMAC you shou…
Last reply by bradp, -
- 2 replies
- 6.4k views
How can we make Array with PTR definitions. We have seen in a document something like: PTR MyVar[16]->*u but this gives errors during download. In general, we need a syntax list of all possible existing pointers.
Last reply by sgaut,
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