Turbo PMAC
Discussion about Turbo PMAC Products (including UMAC Accessories, Geo Brick products, Turbo Clipper, and more) along with their software, including PeWin32Pro2 and PMAC NC PRO2.
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Hi all, I'm facing some problem in homing operation. We have a 2 axis independent stage. After homing is done, the counts on Z axis is 0, but X axis retains a few count of around 200. I tried to reset the value using "#1hmz", but it didn't work. Also many a times I see the kill command "^k" or "Kill all" button in Winpro32 application also don't work. Kindly let me know what i need to do for solving these two issues.
Last reply by Sina.Sattari, -
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Dear all, I have Turbo UMAC CPU (160MHz and 240MHz) with on-board USB2/Ethernet Communications boards (w/ DPRAM option) to be used with high-speed 3,5 axes cnc applications. Roughly speaking the targeted block rate should be around 1000 blocks/sec. Now I would like to know expert's opinion for the following questions: 1) Can the communication channel (host<->UMAC) become the bottleneck or does it matter at all which option (USB/Ethernet/PC-104) to choose to satisfy above mentioned block rate requirements? 2) The best (fastest) way to communicate with the host (Xp/Win 7)computer? Is it USB 2.0 with remote pc or should one use the old good pc/104 (isa) with 3…
Last reply by Tuomo, -
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when PMAC2'S digital current loop is used, is it to say that the current loop is closed in the pmac？if it is like that,so what the driver will do ? the driver will not close any loop!!!thank you ?
Last reply by Sina.Sattari, -
- 3 replies
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Hi, Recently I had to remove my encoder in order to clean it. Till then the hmz command was working fine. But after placing back the encoder, the command seems to be working weirdly. After homing operation, the cts doesn't become zero and instead shows some random value every time I do homing operation. As a quick-fix when I try to use the zero move home command #1hmz or homez 1, it doesn't respond properly. Instead of 0 cts, the value is some random cts. This happens with the GUI we had developed also. Kindly suggest a solution for this issue. Thanks in advance.
Last reply by curtwilson, -
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encoder line ｃｏｕｎｔ (um) ? electrical cycle (mm) ? phase position resolution ? I want to ask what are those meaning for linear motor? please tell the detail! thank you! My grating resolution of my linear motor is 50nm,it is to say that 1VM=20cts!
Last reply by JayL, -
- 2 replies
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Hi there, I search to create a system with that configuration: Axe 1 goes from 0 to 360° and could make many round, but I can ask for any time to go to 0 to an other end position without make the roll in the other displacement. Example: I ask first to go from 0° to 1 round plus 40° (=400°). After if I ask for go to 30°, the motor have only to do -10°. Axe 2 goes from -5 to 185°, and goes never from 185° to 355°. Can I program that complex system easily with the PMAC system?
Last reply by franz91, -
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Hi all, We are extensively using PMAC Turbo2 for our projects. I'm new to PMAC and it is extremely difficult for me to understand the PMAC set-up without a fundamental training on the initial set-up and functionalities of PMAC. Kindly let me know from where I could get the training for understanding and programming of PMAC. Thanks in advance.
Last reply by Sina.Sattari, -
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Will USB/Ethernet's communication speed with DPRAM be faster than that without DPRAM? Or it's only designed for virtual shared memory interface so higher level routines can work as if there were direct access.
Last reply by steve.milici, -
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Since a power down I cannot connect to an input on the J6 connector. I have tried directly accessing the memory to no avail. Any ideas?
Last reply by Omron Forums Support, -
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LS, Summary: Observation: Motor runs fast in opposite direction after hitting Positive end-switch. Cause: Configuration of "Overtravel Limit Use Bit" for motor #2 servo, which was used in series with #1 servo. Solution: Ignore Overtravel Limit switches for #2. Technical nitty gritty: When a motor hits an EndSwitch, moves in that direction are forbidden. When using 2 filters in series (#1 and #2), the #2 filter receives the #1FilterOutput through the #2MasterPosition input into its #2FollowingError. Positive changes to the #1FilterOutput are forbidden and ignored... ... but Negative changes to the #1FilterOutput are forwarded to the #2 Filter. In the presence of noise…
Last reply by meindert.norg, -
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LS, I have a question about what happens to a motor's setpoint when the master position is engaged (e.g. I106 is changed from 0 to 1). This is my configuration: 1 motor (#1) with encoder feedback ADC input connected to #1 master-position Master Pos Following off (I106=0) During startup, one of the first things that happens is motor-homing. During this phase, the ADC value for the master-position can be changing, but is ignored. After homing is complete, and the motor is moved to zero, the motor must start following the 'master position'. The ADC voltage represents the absolute motor-position, lets say 1V = 1 degree (with e.g. "Master Scale Factor" I107 = 1000),…
Last reply by meindert.norg, -
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Has anyone configured an acc24E2A to issue pulse up/pulse down instead of step and direction? If so, how was it done? Thanks Jim
Last reply by Sina.Sattari, -
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LS, The Clipper manual suggests: for the DAC (=PWM) Outputs Power Supply. My question: Are these +/-12 or +/-15 V used directly for the PWM H-bridge (and thus determine the maximal and minimal output voltage, and ultimately the servo-loop-gain) or does the Clipper have a 10 V regulator on board that limits the actual PWM output voltage to +/- 10 V? Thank you, Regards, Meindert
Last reply by curtwilson, -
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All, I need help implementing the following function. I called it a "catch the egg"-move. The function goes as follows: A motor with normal feedback needs to move from A to C as fast as possible. Because of varying friction between A and C, the maximal allowable velocity is determined by the highest level of friction. Let’s say that is at location B. If we’d want to go faster, we would get a servo error while passing location B. In case of the ‘catch the ball’-move, [list=1] [*]first we start a normal move ([b]action I[/b]). [*]After leaving A, and accelerating to a certain speed, the motor is placed open-loop (while maintaining the controller output at t…
Last reply by jwkuehne, -
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I am new to turbo PMAC2. Can anyone help how to configure PMAC2 as velocity loop using PMAC PID. I am giving +/- 10V analog voltage from external supply as a velocity command signal.
Last reply by jwkuehne, -
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Hello, I need your help about the IP Address of TPmac2 card I try to change the IP Address of the card with DeltaTau software EthUSBConfig.exe but each time i run the software, there is the default IP Address again and again, i try to plug the Pmac card on my laptop : same problem i try 3 different pmac card: same problem if somebody can help me about this problem ? thank's Pascal
Last reply by Sina.Sattari, -
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when I adjust the pid parameters, what is it relationship between the step move size and time and the motor accuracy? because different step move size and time will have different PID parameters for the same motor! how can i konw which move size and time will be the most suitable?
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Dear Sir I made Program with .pmc file which will have I variable , M variable and PLC program. After downloading this in PMAC through PEWIN32PRO software, I have given following command through TERMINAL WINDOW, Motor #1 started rotating in closed loop (motor #2 is in open loop ---motor #1 and motor #2 coupled through big wheel). #1o0 #2o0 (motor #1 , #2 amplifier enbled) i122=10 (jog speed) #1j+ ( closing axis #1 by giving jog command) After these commands I have given SAVE command. But I am able to save only I variable, M variable and PLC program , Not command…
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I am new to Delta Tau products and am trying to setup to hardware we have. I will give a brief description of my system. One 16-axis MACRO CPU, one PMAC2 VME ULTRALITE, two ACC-24E2A analog servos (4 channels), and four ACC-24E2S encoder steppers. I also have a second 16-axis MACRO CPU that is currently not installed. I have noticed what appears to be a discrepancy between the base board address of the servo IC's in the ACC-24E2A user manual (pg. 7) and the 16-axis MACRO CPU manual (pg. 7). Is there a difference between a base address and a board base address? I am also am failing to understand the differences between a servo channel and a node (as well as man…
Last reply by Sina.Sattari, -
- 2 replies
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Dear All, I have to collect all the declaration of conformity for a UMAC / Macro system that I am integrating at the moment. Unfortunately, not all the devices have the "Declaration of Conformity" section in their respective manual. I'm looking for the certificate of: Acc 66E : 48 digital input Acc U8: backplane Geo Macro Driver do you have any ideas on where I can find them? thanks for your support Gigi
Last reply by piefum, -
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What units does the GPL return the bus voltage in? I get readings but not sure what they mean. Turbo PMAC with GPL102 Amp, looking at motor 3, M313->Y:$78216,0,12 (lower 12 bits of ADC3B input) Strobe I7206=$880003 (for bus voltage) The IGBT Temperature appears to be in 1/100 deg C. Correct?
Last reply by jbeebe, -
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LS, I was able to read Gathered data into Matlab using the ActiveX COM interface (supplied through the "Pcomm Server Pro 2 Library", as suggested by Charles in http://forums.deltatau.com/showthread.php?tid=354). The simplest code showing how to get data into Matlab is: hPcommServer = actxserver('PcommServer.PMacDevice'); hPmacDevice = hPcommServer.invoke('IPmacDevice'); results1 = hPmacDevice.Open(0); DataString = hPmacDevice.GetResponseEx(0,'list gather',1); The attached Matlab code includes error checking and data conversion that is required to generate the original values. regards, Meindert Norg DT_GatherData_v2_1.zip
Last reply by meindert.norg, -
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I received a question on how to inject a sinusoidal disturbance before / after PID in PMAC for some system identification purpose, so I wrote the following code and I'm posting it since it might be useful for others too. [code] close del gat #define servoperiod P5 servoperiod=(I10/8388608) #define RTIperiod P6 RTIperiod=(I10/8388608*(I8+1)) #define SinFreq P10 #define MaxCycle P11 #define Counter P12 #define SinPeriod P13 #define Magnitude P14 #define OutputReg M10 // Injection before Servo -------------------------------…
Last reply by meindert.norg, -
- 2 replies
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LS, Threat http://forums.deltatau.com/showthread.php?tid=407&pid=1457 speaks of injecting a sine-signals for identification purposes. In that threat, a PLC0 is used to calculate this sine signal on the fly. Does anyone have a method to calculate and inject a random signal (noise) instead of a sine-signal? Thanks. Meindert
Last reply by meindert.norg, -
- 7 replies
- 17.5k views
Hi all, I would like to execute moves and define traces (gather data) on a Turbo PMAC2 from Matlab. Does anyone know how to do this? Maybe download a motion program from Matlab (and start it) and define traces (and retrieve the data) into Matlab? Maybe a direct way to use a serial-port communication to enter motion commands, just like what is possible from the terminal in Pewin32PRO2? My ultimate goal would be to perform fully automated motor-calibrations or frequency response measurements from Matlab. Thanks for your input. regards, Meindert
Last reply by meindert.norg,
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