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hbausley last won the day on December 15 2022

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  1. The linux headers are supplied with the IDE. They are located C:\DeltaTau\PoewrPMAC\Compilers\opt\powerpc-405-rootfs\usr\src\linux- these are the headers the IDE compiles with to build kernel modules for usralgos.
  2. 1.) Make your disk writable mount -o remount,rw / 2.) Next you must update the repository list file. Debian lenny is used on a 460 CPU so you must change the repositories to archive.debian.org. deb http://archive.debian.org/debian/ lenny main non-free contrib deb-src http://archive.debian.org/debian/ lenny main non-free contrib deb http://archive.debian.org/debian-security/ lenny/updates main non-free contrib deb-src http://archive.debian.org/debian-security/ lenny/updates main non-free contrib The sources.list file placed in /etc/apt should look like what is above 3.) next issue the apt-get update command to reload the repositories. You can disregard the KEYEXPIRED warning message that comes back 4.) next issue the apt-get install lighttpd command to install lighttpd lighttpd is now installed. 5.) Make sure the modifications from the apt-get install command make it to the readonly etc folder. Do this by issuing the following command cp -a /.readonly/etc-tmpfs-mirror/* /.readonly/etc/ 6.) Put the disk back to readonly mode mount -o remount,ro /
  3. We send the units with software licence files in the C:\DeltaTau\MotionCore\opt\etherlab\etc\sysconfig folder. Disregard the dongle as It has been determined by Product Marketing we will use software licensing only for now on.
  4. The Com ports UART based. The LX86 (Linux GUI version uses Xenomai ) so they are available. The WX86 (Windows GUI occupies CPU 1,2). Linux PREEMPT RT resides on CPU 3,4. The COM Ports can be moved to the CPU's running the hidden linux RTOS running in CPU 2,3 by editing a text file. For the LX86 modbus can be placed on any of the Ethernet ports. For the WX86 modbus can be placed upon the the extra dedicated Ethernet port. Two Ethernet ports are allocated to Windows and two are allocated to Linux. One of the two for Linux is always pre-configured for EtherCAT. The other is not configured, it can be setup for EtherCAT or standard ethernet. For the LX86 the host operating system is not mounted readonly. This is a good idea so we will patch the union file system driver to the xenomai enabled kernel we compiled so with a script this that feature can be enabled in the near future. I suspect there will be many who want to use an LX86 headless instead of an EtherCAT ultralite. So your thought is a good one. For the WX86 the linux portion is readonly. In fact it runs its filesystem in RAM. The only connection to disk is through an NFS share to the Windows host. The usrflash is saved via NFS to the Windows disk. Windows should be shutdown using our tray icon application so it turns off all 4 cpu's. We have not tested with the Windows Enhanced Write Filter (EWF) this but I see no reason why it would be a problem. Communication for the WX86 it is done through a virtual Ethernet Connection. This allows applications already developed for our embedded PowerPMAC boards to function without modification. Currently you cannot get to the WX86's shared memory via Windows directly. Any normal backup utility should work with these systems. As far as pricing you have to contact customer service for that.
  5. Do you have ecat[0].enable=1 saved? What is likely happening is on power up the ethercat configuration is not valid since the robot device isn't present for a minute or two. If a project is not valid a factory default state is set. Check via the powerpmac's ftp site for pp_error_hist.log this will verify how the loading failure occurred. You can so set Ecat[0].enable=0 so there is not a power up fault. Once your ethercat robot controllers are up you can set Ecat[0].enable=1 in your code. Perhaps you can use an ecatsdo to see if the robot controller is up.
  6. Thank you for the detailed diagnostic. VendorID was suppose to stop the backup not Product Code.
  7. You have to be careful with OMRON drives. I have had feedback that they get occasional B2 warnings with our controller? I'm not sure of the root cause of this since I obviously don't have their code to know what triggers the error. In addition, in cyclic torque mode you must make sure that the drive has a scale factor for the torque command in their drive. By DS402 specification the torque command is written in thousandths of rated motor torque which would lead to horrible resolution. Copley has a nice way of overcoming this with a scale factor in its drive. Check out their doc below http://copleycontrols.com/Motion/pdf/Current-Scaling.pdf
  8. You can point the servo algo back to the built in servo Motor.Ctrl = Sys.ServoCtrl or deactivate the Motor[].ServoCtrl=0 If we were to call your user written servo when it was out of memory because it was being replaced with a newer version there would be a kernel mode crash resulting in a watchdog.
  9. We have done this on demos using mono and it will work. You must be careful to insure that you do not directly call Windows API functions directly as this would break mono compatibility, you must go through the C# classes. However, from a practical standpoint a 1Ghz single core PC with a GUI is not very responsive. But also take into consideration that much of the duty cycle of the PowerPMAC is constantly being used for motion control, now that PC runs more like a 500MHz PC. Furthermore, take into consideration the video adapter is fundamentally a USB 2.0 Video adapter as there were no good PCI express video chipsets at the time that would work with a PowerPC at design time. In summary you will not get stellar performance. In addition, consider the additional cost of the PowerPMAC Video Adapter and memory and it may cost you more than a separate PC. We are looking into the possibility of using faster processors and video adapters in the future and at that time it may be more practical.
  10. Yes. Since you don't have hardware interrupts with an axis card you must use the cpu's built in timer interrupt. In this case the cpu, power supply and ethernet card are all that is required. Therefore, Sys.ServoPeriod to the desired period usually 1000msec or 500msec and Sys.CPUTimerIntr=1 then save and power cycle. You must order the EtherCAT option when ordering the CPU so that you get the EtherCAT compatible network card. I assume you have done this. Also there is the Power PMAC Etherlite product http://www.deltatau.com/DT_Products/ProductDetailDescription.aspx?CatID=P10-POWER%20PMAC%20ETHERLITE
  11. I suspect the file /opt/etherlab/etc/sysconfig/ethercat Is being overwritten by the backup. This file contains the MAC address of the ethernet card used for ethercat. Issue the command system ethercat master The results will look as follows. If the line that contain Main: says has (waiting...) the file was overwritten and that is the problem. If it has (attached) then it is o.k. and the problem is elsewhere. system ethercat master Master0 Phase: Idle Active: no Slaves: 6 Ethernet devices: Main: 00:50:c2:12:c1:97 (attached) Link: UP
  12. You cannot use pmac variables with the system command. The system command forwards a string to be operated on by the operating system. Of course, ecatsdo command works fine. But I couldn't fix sdo problem yet... so I must use system ethercat command. How can I PPMAC variables with system commands?? Please let me know Thanks.
  13. When it happens again take a look at the log files in and the maybe that will give us a clue as to what is going on.
  14. If errors arise when building a project in the IDE related to vfork or fork the problem is usually caused by an offending application. See the links below http://cygwin.com/faq/faq-nochunks.html#faq.using.fixing-fork-failures http://cygwin.com/faq/faq-nochunks.html#faq.using.bloda When this problem arises errors similar to what is below typically show up. powerpc-405-linux-gnu-g++: vfork: Resource temporarily unavailable [main] powerpc-405-linux-gnu-g++ 7616 fork: child -1 - died waiting for longjmp before initialization, retry 0, exit
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