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.
Subforums
-
- 137
- posts
864 topics in this forum
-
- 2 followers
- 6 replies
- 12.9k views
Dear All, I'm currently try to use the 4th amplifier of the ACC 24E axis board. The 3 amplifiers are used for the axes and now I need to use the 4th amplifier for providing a controlled 0-10V supply to my device in open loop. I had tried to setup the basic I variables and use "m414=1" cmd to enable the amplifier. But I see no output from the amplifier even if I vary I469 value and use O-cmd to be 100% (#4o100). Kindly help me out with the problem and let me know if there are any initialization procedure i need to follow. Thanks. Regards, Raghav
Last reply by JohnR, -
- 1 follower
- 4 replies
- 8.9k views
This is a new system with a PMAC and 6 Macro drives in a ring - it is also new driving software... I have a simple motion program which is repeatedly executing:- CLOSE END GATHER DELETE GATHER DELETE TRACE OPEN PROG 1 CLEAR LINEAR ABS FRAX(W) TA700 TS100 F100 DWELL0 P96=1 X500Y130Z0W500 DWELL0 P97=1 CLOSE Only the line 'X500Y130Z0W500' changes as the machine moves, Occasionally the cycle stops with Motor Status Bit 11 Block Request set, the motion program appears to have uploaded correctly and an '&1 B1 R' command in the terminal window runs the program normally. What is the likely cause of the Block request bit being 'stuck on'?
Last reply by caslen, -
- 3 replies
- 7.1k views
Dear All, I'm new to PMAC and currently I'm in the process of building a new precision machine using UMAC. We have 2 identical stages and I'm facing problem with one of the axis while the other axis is working fine all the time. The following are the problem with the axis: 1) There are run-away and jerky motion of the stage which eventually ends up in tripping of the amplifier and fault error flag in PMAC. 2)After entering the compensation value in descending order of the motors, the second motor which has the above mentioned problems, continues to have the same amount of Following error. But the comp tables are save for both the motor which is seen from the List comp o…
Last reply by Omron Forums Support, -
- 1 follower
- 8 replies
- 18.9k views
I am working on a high speed laser cutting application using linear motors. We are controlling X X' & Y gantry and we are using the Linear and circle commands. With this application we have a lot of small moves mixed in with larger moves. These small moves need a Low TA TS for the smaller moves to complete quicker. When we use a the same TA TS for the larger moves we get a lot of jerk in the system. I was wondering if anybody has some experience the dynamically changing the TA/TS to eliminate Jerk based the type of move. The goal is to optimize the cycle time with the least jerk and following error. Thanks Chris
-
- 1 follower
- 8 replies
- 17.9k views
I have a robot with NSK Megathrust linear motors. The servo packs are closed loop outside of UMAC. The NSK ESA servo pack outputs encoder data that is a derived from the ESA computer, also the only input option I have is RS232 or Step and Dir, or CCW CW. How can I close the loop on the UMAC with this system I have tried all the utilities and I still get a following error.
Last reply by lasertom, -
- 2 replies
- 6.3k views
I use "DWELL" in my motion program. Now I have a question: 1.Using the mark bit (Dwell in progress),it seems that i could check this bit to know how long the motor stay still. Setting "Dwell 10000 ",the truth is that,in my VC interface, I use a 100-ms timer to check this bit. And I get 8.3s in my interface. So does it mean the accuracy of VC timer is not good enough or does it mean the accuracy of CLIPPER is not good enough? 2.Another question. I see "servo cycle" in every Turbo Manual. But how long is servo cycle in Clipper? I find it nowhere in the manuals. Thanks guonaldo
Last reply by guonaldo, -
- 1 reply
- 4.4k views
LS, Where in the control loop is the TCOMP (Torque Compensation Table) added to the PID output? In my specific application, the controller output is allowed to clip (as set by Ix69), but the TCOMP still needs to be active, even if the PID output is 'clipped'. It would be great if the TCOMP ADD location (and of other compensations) can be added to the graphs on page 152 and 159 in the Turbo PMAC User Manual. Thanks. Meindert
Last reply by curtwilson, -
- 1 follower
- 2 replies
- 6k views
"If I62 is set to the default value of 0, these messages are terminated with a . If I62 is set to 1, the is suppressed. With I62 set to 1, if it desired for a Turbo PMAC program to cause a to be sent, the SEND^M command must be used (the carriage return character is )." But in my clpper board,when I type a plc program as follows: I62=1 SENDS “1“ From COM3 , I get "02 31 0D"(in ascII),where do 02 and 0D come from? However,I changed the program : I62=0 ; SENDS “1“ ; And again I get "02 31 0D"(in ascII). So my questions are: 1. How can I surpress 02 and 0D in COM output? 2. I62 doesn't work.Is there something else I forgot ? Thanks Guonaldo
Last reply by Sina.Sattari, -
- 1 follower
- 3 replies
- 6.9k views
LS, The Turbo PMAC/PMAC2 Software Reference, page 289 says about "DEFINE TCOMP": It seems to me that the last sentence should be: or even better: Am I seeing this correctly? regards, Meindert
Last reply by Sina.Sattari, -
- 1 follower
- 2 replies
- 6.9k views
Does anybody know who to save the data collected with "Gather" command in a formatted (columns) text file by using the commands in a PLC or a motion program (not by using the PMACPlotPro)? Let's say for the DAC output and the Following error of motor 1 Thanks,
Last reply by meindert.norg, -
- 3 replies
- 6.7k views
We seem to be having and issue with the On-Line {axis}={constant} command. Rather than using a program PSET, or writing directly to default Mx64 a customer wants to set his axis positions before hand using this method. When a x=0 command is issued in the terminal, all axes are set to zero instead of just the X-axis. Does this command imply that all other axes in the CS are = 0 is they are not entered?
Last reply by Omron Forums Support, -
- 1 follower
- 3 replies
- 19.2k views
LS, Is there an easy way to calculate and plot the frequency response (bode plot) of a controller, using the controller I-variables? For example, I can see that the I-variables file can be read into Matlab, and using the clock parameters and PID parameters, the controller frequency response can be calculated and plotted. Did anyone already do this, or something similar? regards, Meindert
Last reply by Omron Forums Support, -
- 1 follower
- 2 replies
- 5.9k views
Hi, I've been experimenting with serial communication between my UMAC controller and Matlab, using the COM1 serial port on my PC and the main serial port on the controller. I3 defines the "I/O Handshake Control" method. I'd like to change it from 2 to 0, to see if not getting the < ACK > value at the end of the the returned strings from the controller makes parsing those strings a little easier. However, when I do the following: [list] [*]change I3 from 2 to 0 from the PEWIN32PRO2 Terminal [*]exit PEWIN32PRO2 [*]start PEWIN32PRO2 [*]check I3 value [/list] it seems as if PEWIN32PRO2 changes this value back to 2. Even when I just restart the terminal and wat…
Last reply by meindert.norg, -
- 1 follower
- 1 reply
- 4.4k views
Hi there, How stop motor movement if rotor is bloqued by something? I have tried current limit registers and the fatal following error registers but they does not help for that I want. Best regards.
Last reply by Sina.Sattari, -
- 2 followers
- 15 replies
- 37.1k views
Hi there, I'm very new with Turbo PMAC. I searched in the documentation but I did not find the answer. What is the difference between a PLC program and a PLCC program? PCL acronym is for "Programmable Logic Controller"? And for PLCC? Can I put all PLC programs in the same file (pmc)? Can I name all PLC programs as I want? As you see there are a basic question! Best regards, franz91
Last reply by franz91, -
- 1 reply
- 4.7k views
Any listing of what changed in the new firmware?
Last reply by Omron Forums Support, -
LS, At the "See Also" section of the GATHER function on Page 303 in the [url=http://www.deltatau.com/manuals/pdfs/TURBO%20SRM.pdf?id=634305158885508733]Turbo PMAC/PMAC2 Software Reference[/url] a reference to "Data Gathering Function (Analysis Features)" is given. Where can I find this info on "Data Gathering Function (Analysis Features)"? regards, Meindert
Last reply by Omron Forums Support, -
- 5 replies
- 10.2k views
Hello, I have a Stewart Platform and the tuning of the servos seem to be off. I'm having trouble tuning the motors while they are coupled to the top platform of the Stewart Platform. Are there any documents on manual tuning of motors? Also this platform changes from being horizontal to vertical so should I tune for both of the different configurations and find some happy medium or can you change tuning settings on the fly. I should also mention that this Stewart Platform was my first motion project with more that one axis and also my first with a Delta Tau project so I'm probably behind the curve on tuning and other motion concepts. I can post more information ab…
Last reply by Omron Forums Support, -
- 1 follower
- 2 replies
- 6.2k views
I'm looking for an example or documentation the shows how to capture all axis position (counts) when an external trigger occurs. The external trigger will occur multipule times during a move at a regular interval as fast as every 2 milliseconds. The position data will be saved in a rotary buffer and extracted by the user software before buffer is full. Any help will be greatly apperciated. Thanks, Islay
Last reply by IslayRod, -
- 1 follower
- 4 replies
- 8.7k views
I see a different behavior between plc and terminal: command "#9j/" gives a fatal following error when run from the plc (even if given repeatedly or with time delays) and works without problem when given from the terminal. My axis is a rotary motor with hall and encoder feedback, I have a secondary encoder (linear feedback). Both encoders and motor/hall are connected to a GeoMacro drive controller via Macro from a GeoBrickLV. Vertical application. This problem happens during initialization: At start-up, position and velocity feedback are from primary encoder. First do "$" with hall sensor, turn off brake, then "hm" to primary encoder index. Run axis into limit and reve…
Last reply by Sina.Sattari, -
- 2 replies
- 5.8k views
LS, I have a Turbo PMAC2 system with an ACC 24E2A (2 axes expansion board). I have 2 motors connected to this ACC 24E2A. When I want to know the actual motor 2 position, I check M626 which is linked to [b]Servo IC 0[/b] channel 2: see the suggested M-variables: [quote]; Servo IC 0] Registers for PMAC2 Channel 2 (usually for Motor #2) ; Motor #2 Status Bits M262->D:$00010B ; #2 Actual position (1/[Ixx08*32] cts)[/quote] However, when I connect a user-bit to the front-panel flag connectors on the 24E2A (USER2), I need to read M1015, which is the USER2 flag input of [b]servo IC 2[/b], channel 2 (the suggested M-variables list indeed suggests that this is the Fi…
Last reply by meindert.norg, -
- 2 replies
- 5.9k views
I am trying to debug a PLC program I wrote for homing all axes connected to a 6-axis GeoBrick, which communicates over USB port to host PC. I am using latest version PEWIN32PRO2. As the built-in PCL debugger does not seem to work right, I am adding SEND"start home X-axis" statements in my PLC code to figure out where PCL program fails. When I run PLC program, these text strings are not displayed in the PEWIN terminal window. I tried all versions: SEND, SENDS, SENDP, SENDR, SENDA and none of them work. Does the SEND command not work when using USB port? Same with COMMAND (CMD) command. Which one do I use for USB port CMD, CMDS, CMDP, CMDR or CMDA.
Last reply by PeterS, -
- 1 follower
- 1 reply
- 4.4k views
I experienced a weird behavior that I finally was able to explain. Observations: [list] [*]A audible 'click' from the motor every (approx.) 1 second [*]After turning a motor off (#2K), that same motor was enabled within (approx.) 0.5 second (this was what really freaked me out....) [*]I had no PLCs or motion programs running. [/list] Cause: [list] [*]A $7820A entry in a Watch Window [attachment=1422:name] [/list] Background info: [list] [*]Over the past few weeks, while getting to know the Delta Tau controller architecture and software, I added several entries to the Watch Window, never deleting the old entries, unless I needed some space in the window. [*…
Last reply by Sina.Sattari, -
- 9 replies
- 17.7k views
LS, I noticed a "Sine Sweep" function in the TuningPro software to measure frequency responses. However, it seems that the sine can only be 'injected' into the setpoint. In most applications, a servo can follow a (e.g.) 1 Hz sine-setpoint of (e.g.) 1000 increments, but not at 100 Hz. The result is that I can only measure very small frequency ranges in one measurement. One could solve this (I guess) by selecting several frequency ranges with decreasing amplitudes values, and 'merge' the measured results manually, but I have not tried this. Does Delta Tau have a tool available to measure frequency responses by injecting a sine or even noise into the controll…
Last reply by Omron Forums Support, -
- 1 follower
- 1 reply
- 5k views
On our system we have a ball screw (Z) axis and a linear encoder that acts as our v-axis. There is not an actual motor connected to v just an encoder. In our application we drive the z axis down until we get 5mm compression upward on the v-axis. From this point we slave the z-axis to v-axis and run our motion in x and y. On a three dimensional surface the z will move up and down to keep the 5mm compression on the v-axis. We are using the electronic gearing to accomplish this. Our z-axis is tuned well by itself but noisy when following. I have found that if I make adjustments to the gains on the v axis this effects the following axis. So, what would be the appr…
Last reply by steve.milici,
-
Upcoming Events
No upcoming events found -
Most Contributions
-
-
Topics
-
-
Popular Contributors
