[PPMAC MPG routine]

Thanks for the reply. I emailed support and Mr. Milici sent me a pdf with a snippet of a Handwheel routine.

[PPMAC MPG routine]

Can anyone give suggestions, tips, or tricks for using an MPG wheel input as a separate encoder? My current MPG.plc is basically a variable jog command that accounts for click direction and accumulated clicks since the last scan.....basically a carry over from PMAC PCI.

 

My routine works great for singlets and steady clicks: So if I turn one click on my MPG wheel and my increment is set to 0.001, the routine sends a jog 1=* command and it moves 0.001.....that works in both directions and quick change of direction no problem.

 

Problem:

Starting with the axes at 0.000 with my MPG increment set to 0.001:

If I'm clicking slow and whip to say 10 clicks I would expect the axis to move to 0.010 but sometimes it will move to 0.013, next time the same scenario may yield 0.017, etc.... With this being said, I have zero issues with commanded moves.

 

Is there a better way to MPG rather than using a jog command based on clicks? I can't find many examples in the manuals or exactly what I'm looking for on the forum. I feel that there must be an easier way with PowerPMAC.

 

If anyone is truly interested, I can post a snippet of my routine.

 

Thank you for any insight.

[Homing Routine Timers]

Here is a snippet for X axis in my Home.plc

 

I understand the concept about calling Timers in a subroutine via creating a subroutine in the Libraries folder, but I would like to keep the execution as local as possible to the plc. The variable I'm most concerned with is AXIS1_DWELL_TIME.

 

Any insight or constructive criticism to optimize or clean up this routine would be appreciated.

 

I've included the snippet in a file as well because of the formatting within this thread window.

 

/**********************

AXIS 1

**********************/

// WATCH FOR MOTOR #1 HOME COMMAND

if ((AXIS1_HOME_STATE == 0 && M1_HOME_INPROGRESS == 1) &&

(AXIS1_HOME_POS != 0)){

AXIS1_HOME_STATE=1;

}

 

// WAIT FOR AXIS TO BE AT HOME OFFSET POS

if (AXIS1_HOME_STATE == 1 && abs(M1_ACTUAL_VELOCITY) < 1000 &&

M1_IN_POS == 1 && M1_HOME_COMPLETE == 1){

if (AXIS1_TIMER_STARTED==0){

AXIS1_DWELL_TIME = (200 * 8388608)/Sys.ServoPeriod;

TIMER5_START = Sys.ServoCount;

AXIS1_TIMER_STARTED = 1;

}

TIMER5_ELAPSED = Sys.ServoCount - TIMER5_START;

 

AXIS1_HOME_OFF_COMPARE = abs(M1_COUNTER_POS - M1_HOME_POS) -

abs(M1_HOMEOFFSET/16);

 

if (AXIS1_TIMER_STARTED == 1 && TIMER5_ELAPSED >

AXIS1_DWELL_TIME && abs(AXIS1_HOME_OFF_COMPARE) <

AXIS1_AT_HOME_BANDWIDTH){

AXIS1_TIMER_STARTED = 0;

AXIS1_HOME_COMPLETE = 0;

AXIS1_HOME_STATE = 2;

}

}

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P3Home.txt