chrisb
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If your are not using amplifier fault bits, try disabling them: Motor[1].pAmpFault = 0 Motor[2].pAmpFault = 0 Motor[3].pAmpFault = 0 Motor[4].pAmpFault = 0 ….. -Chris
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PowerBrick Controller Power Consumption, I/O Current
chrisb replied to ricky_v8's topic in Power PMAC
Hi Yes, the output circuits are very similar to the ACC-65E. I recommend that you use a separate 24VDC 5A supply for the I/O so you retain Opto-Isolation between the I/O and the Brick logic power. -Chris -
Hi, You could process the SIN/COS encoder through the ECT and then create a virtual axis that follows the position of the processed SIN/COS encoder. Reference the section(s) below in the Power PMAC SRM which describes how-to configure the PFM Output to generate quadrature outputs (simulated quad encoder): Gate3.Chan[j].PfmFormat Description: IC channel PFM output format control Range: 0 .. 1 Units: Boolean Default: 0 Gate3.Chan[j].PfmFormat determines the signal output format of the PFM circuit on Phase D of the IC’s channel. It is only active if Gate3.Chan[j].OutputMode is set to a value of 8 or greater to specify PFM output on Phase D. If Gate3.Chan[j].PfmFormat is set to the default value of 0, the output is in pulse-anddirection mode. This mode is useful for control of traditional stepper drives and the excitation of MLDT sensors. If Gate3.Chan[j].PfmFormat is set to 1, the output is in quadrature mode. This mode is useful for creating a synthesized incremental encoder signal. (In some pre-release versions of the Power PMAC firmware, this element was named Gate3.Chan[j].PfmOutFormat.) Gate3.Chan[j].PfmFormat constitutes bit 19 of the full-word element Gate3.Chan[j].OutCtrl. It is write-protected, so it cannot be changed without first writing the proper key value into Gate3.WpKey (which happens automatically in the script environment if the proper key value is in Sys.WpKey) To change direction of the quadrature output: Gate3.Chan[j].PfmDirPol -Chris
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Hi, Since you are not using the amplifier fault bits, try disabling them: Motor[1].pAmpFault = 0 Motor[2].pAmpFault = 0 Motor[3].pAmpFault = 0 Motor[4].pAmpFault = 0 -Chris
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The JTHW is TTL level only. You cannot drive or input 24VDC. You would need to use external Opto-isolators.
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Power Brick AC or L.V. require a startup PLC to setup the amplifiers, it is in the manual, do you have this? I've attached mine as an example (this is for LV). You will need to change some of the naming conventions for the Power Brick AC. 01- poweronreset - Copy.txt
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As a stop gap until you can fix the welds (this is likely one of the root causes) you can try cross-gantry coupling. On Turbo, this is a bit difficult to setup and you need a spare encoder channel. Below is a link to the White paper: http://www.deltatau.com/Common/technotes/Gantry%20with%20Cross%20Coupling.pdf 1. Are you commanding both motors in the same C.S as X (or same)? 2. Avoid master/slave, this will certainly cause poor performance. Regards, Chris
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I've deployed hundreds of Turbo PMAC2 (all varieties) systems, running a PLC0 and/or PLCC0: i5=3 and have never encountered this issue. If not a code problem, possible H/W issue? Have you checked your CPU load while your system is running all axes and PLC0 activated? Chris Maybe it's difficulty to check the load while the system is running when this problem occurs. after all, just three times in one entire year. what I feel strange is :Why are the same programs run time and time again over the days, but just several times, this problem comes out? My thought with PMAC CPU load was while the system is functioning normally and PLC0 is running. What is the average and peak loads on the PMAC CPU..??? Regards, Chris
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I've deployed hundreds of Turbo PMAC2 (all varieties) systems, running a PLC0 and/or PLCC0: i5=3 and have never encountered this issue. If not a code problem, possible H/W issue? Have you checked your CPU load while your system is running all axes and PLC0 activated? Chris Maybe it's difficulty to check the load while the system is running when this problem occurs. after all, just three times in one entire year. what I feel strange is :Why are the same programs run time and time again over the days, but just several times, this problem comes out? My thought with PMAC CPU load was while the system is functioning normally and PLC0 is running. What is the average and peak loads on the PMAC CPU..??? Regards, Chris
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I've deployed hundreds of Turbo PMAC2 (all varieties) systems, running a PLC0 and/or PLCC0: i5=3 and have never encountered this issue. If not a code problem, possible H/W issue? Have you checked your CPU load while your system is running all axes and PLC0 activated? Chris
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I've deployed hundreds of Turbo PMAC2 (all varieties) systems, running a PLC0 and/or PLCC0: i5=3 and have never encountered this issue. If not a code problem, possible H/W issue? Have you checked your CPU load while your system is running all axes and PLC0 activated? Chris
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In addition to checking your +5VDC Power Supply, you may also want to check for any ground loops between the USB Ground on the Host Computer and USB Ground on the Clipper.
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In addition to checking your +5VDC Power Supply, you may also want to check for any ground loops between the USB Ground on the Host Computer and USB Ground on the Clipper.
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Hello, I had a similiar issue (not really an issue) - this PLC allowed me to recover from "(n)L" fault you're describing. Most of this is covered in the GEO L.V manual. Modify to fit your needs. //***************************************************** End Gat Del Gat Close Open PLC 5 Clear If (p143 = 1) I5112=100*8388608/I10 While(I5112>0)Endw // Axis 1 Settings CMD"WX:$78014,$F8CCFE" ; Select axis # and set motor mode (Servo) I5112 = 50 * 8388608/I10 While(I5112 > 0)EndW CMD"WX:$78014,$F84CFE" ; Clear error(s) on selected axis in Servo mode I5112 = 50 * 8388608/I10 While(I5112 > 0)EndW CMD"WX:$78014,$F00CFE" ; Save and write protect channel from strobe word changes I5112 = 100 * 8388608/I10 While(I5112 > 0)EndW p143 = 0 Endif If (p243 = 1) I5212=100*8388608/I10 While(I5212>0)Endw // Axis 2 Settings CMD"WX:$78014,$F9CCFE" ; Select axis # and set motor mode (Servo) I5212 = 50 * 8388608/I10 While(I5212 > 0)EndW CMD"WX:$78014,$F94CFE" ; Clear error(s) on selected axis in Servo mode I5212 = 50 * 8388608/I10 While(I5212 > 0)EndW CMD"WX:$78014,$F10CFE" ; Save and write protect channel from strobe word changes I5212 = 100 * 8388608/I10 While(I5212 > 0)EndW p243 = 0 Endif If (p343 = 1) I5312=100*8388608/I10 While(I5312>0)Endw // Axis 3 Settings CMD"WX:$78014,$FACCFE" ; Select axis # and set motor mode (Servo) I5312 = 50 * 8388608/I10 While(I5312 > 0)EndW CMD"WX:$78014,$FA4CFE" ; Clear error(s) on selected axis in Servo mode I5312 = 50 * 8388608/I10 While(I5312 > 0)EndW CMD"WX:$78014,$F20CFE" ; Save and write protect channel from strobe word changes I5312 = 100 * 8388608/I10 While(I5312 > 0)EndW p343 = 0 Endif If (p443 = 1) I5412=100*8388608/I10 While(I5412>0)Endw // Axis 4 Settings CMD"WX:$78014,$FBCCFE" ; Select axis # and set motor mode (Servo) I5412 = 50 * 8388608/I10 While(I5412 > 0)EndW CMD"WX:$78014,$FB4CFE" ; Clear error(s) on selected axis in Servo mode I5412 = 50 * 8388608/I10 While(I5412 > 0)EndW CMD"WX:$78014,$F30CFE" ; Save and write protect channel from strobe word changes I5412 = 100 * 8388608/I10 While(I5412 > 0)EndW p443 = 0 Endif If (p543 = 1) I5512=100*8388608/I10 While(I5512>0)Endw // Axis 5 Settings CMD"WX:$78114,$F8CCFE" ; Select axis # and set motor mode (Servo) I5512 = 50 * 8388608/I10 While(I5512 > 0)EndW CMD"WX:$78114,$F84CFE" ; Clear error(s) on selected axis in Servo mode I5512 = 50 * 8388608/I10 While(I5512 > 0)EndW CMD"WX:$78114,$F00CFE" ; Save and write protect channel from strobe word changes I5512 = 100 * 8388608/I10 While(I5512 > 0)EndW p543 = 0 Endif If (p643 = 1) I5612=100*8388608/I10 While(I5612>0)Endw // Axis 6 Settings CMD"WX:$78114,$F9CCFE" ; Select axis # and set motor mode (Servo) I5612 = 50 * 8388608/I10 While(I5612 > 0)EndW CMD"WX:$78114,$F94CFE" ; Clear error(s) on selected axis in Servo mode I5612 = 50 * 8388608/I10 While(I5612 > 0)EndW CMD"WX:$78114,$F10CFE" ; Save and write protect channel from strobe word changes I5612 = 100 * 8388608/I10 While(I5612 > 0)EndW p643 = 0 Endif If (p743 = 1) I5712=100*8388608/I10 While(I5712>0)Endw // Axis 7 Settings CMD"WX:$78114,$FACCFE" ; Select axis # and set motor mode (Servo) I5712= 50 * 8388608/I10 While(I5712 > 0)EndW CMD"WX:$78114,$FA4CFE" ; Clear error(s) on selected axis in Servo mode I5712 = 50 * 8388608/I10 While(I5712 > 0)EndW CMD"WX:$78114,$F20CFE" ; Save and write protect channel from strobe word changes I5712 = 100 * 8388608/I10 While(I5712 > 0)EndW p743 = 0 Endif If (p843 = 1) I5812=100*8388608/I10 While(I5812>0)Endw // Axis 8 Settings CMD"WX:$78114,$FBCCFE" ; Select axis # and set motor mode (Servo) I5812 = 50 * 8388608/I10 While(I5812 > 0)EndW CMD"WX:$78114,$FB4CFE" ; Clear error(s) on selected axis in Servo mode I5812 = 50 * 8388608/I10 While(I5812 > 0)EndW CMD"WX:$78114,$F30CFE" ; Save and write protect channel from strobe word changes I5812 = 100 * 8388608/I10 While(I5812 > 0)EndW p843 = 0 Endif Close //***************************************************** Regards, Chris
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Looking at the step response, your step move is ~0.25mm (10nm res?). What happens when you try to perform a larger step (say 1mm)? If you can provided more information (see my previous post) this would be helpful to understand the limitations of your mechanics. -Chris