MClement

We just placed a PO with Axis for a full Power Pmac system with all the trimmings and it has a 10 week leadtime. Is that going to be the norm for a leadtime on a unit? Our new prototype development is stalled while we wait for a Power PMAC system!!! Any way to improve this leadtime???

We started a project using Labview and Panel Pro and ended up scrapping the whole thing and starting over with C# and pcommserver. Labview and PanelPro was just to cumbersome to use for us. If you are a labview power user it should work fine.

Curt I verified that behavior on the machine. My I530 is on the order of 200 and it takes I533 gain as well to reach setpoint. Thanks

Curt I tried what you suggested and have a few questions. What exactly should the entry in the ECT be for the integration of address $10FF with no offset? 4 Y:$ 3508 $5010FF Integrated A/D conversion of location $10FF Y:$ 3509 $0 Bias term Is the above correct? Also where can I look to see that the values are getting integrated and look right? M567? M561? or RHY:$3509? Will these values only change when I106 doesnt equal 0? Thanks

I imagine I should reorder the ECT so that entry 4 comes after entry 5 or else there will be a servo cycle delay penalty? I will give this a try and report back.

Curt Thanks for your replies. We are actually not integrating the outer loop although there is an ECT entry to do it. It was not used as the output $3509 isnt being used anywhere that I can tell. We do come in and out of offset mode with I106=1(3) as needed. The last entry in the table simply multiplies entry 3 (output of tracking filter) by -1 (second entry not used). It just negates the output. Question: How would I properly setup to take the output from the tracking filter and THEN the negating entry through another entry to integrate the $10FF DAC Command from motor 5? I hope that made sense....basically what would be the approach to setting up the ECT.....

Curt Below is a copy of my ECT table. I believe we are integrating the force feedback before using it in motor 5. Encoder Table Definitions. Executed - Tue Sep 27 14:01:09 2011 Entry Address Y-Word Conversion Method ---------------------------------------------------- 1 Y:$ 3501 $078200 1/T extension of location $78200 <----position axis 2 Y:$ 3502 $1F8D00 A/D conversion of location $78D00 <--force axis feedback from 28E 3 Y:$ 3503 $D83502 Tracking filter from conv. location $3502 Y:$ 3504 $007D00 Maximum change in cts/cycle Y:$ 3505 $028283 Proportional gain Y:$ 3506 $000000 Reserved setup word Y:$ 3507 $000046 Integral gain 4 Y:$ 3508 $5010FF Integrated A/D conversion of location $10FF Y:$ 3509 $1FD801 Bias term 5 Y:$ 350C $C78208 Inc without extension of location $78208 6 Y:$ 350D $E50006 Summing Of Conversion Table Entry 3 with Entry 1 <----force axis feedback Motor #1 Position Axis (Z) I102=$78202 I103=$3501 I104=$3501 I105=$10FF ;Input from Phantom Axis (Axis #5) I106=0 I107=-96 I108=96 I109=96 Motor 5 Force Axis (W) I500=1 I501=2 I502=$10FF ; Output to Axis #1 I503=$350D ; FeedBack from Load Cell $3505 from 3507 I504=$350D ; FeedBack From Load Cell $3505 from 3507

Hello We are using a cascaded loop in a Turbo PMAC2 setup pretty much exactly as outlined here ->Force Loop The loop works fine and we can tune it and set it up etc however the output of the force loop saturates at a 16bit DAC limit. We read the ADC value from ACC28E into ECT and output the value to our motor 5 I503,i504. The output of motor 5 (I502) goes to memory address $10FF. We then setup motor 1 as the position axis and set I105=$10FF. We run with offset mode following. This all works fine. What happens is that when it takes a while to build up force (ie off the part for a while before coming into contact) the error builds up and the output which normally goes to a DAC (in our case goes to $10FF) saturates at the max DAC output (?+/-32767 ie I569=32767) and the force axes stops. We have made a change to I107 to get more travel before saturation by changing the ratio from -96/96 to -192/96. This works and provides 2x more displacement before it saturates. How can we handle this where we wont be limited to a 16bit output allowing more force error before the axes saturates.

Does something like this work in the script language? #define RADTODEG(x) ((x) * 57.29578) We do not have these macros. You can always use #define and make these macros in the script language. Thanks, Atul Is there a way to pass parameters to #define functions?

Atul See This post about install/uninstall errors on Sept release. http://forums.deltatau.com/showthread.php?tid=676 Thanks

We will be ordering soon but were you able to get the files Jeff? Matt When you order component lib. the documentation comes with it. If you want it without the lib. please email me and I will send you the help files which support vs2008 style help system. Atul

Clear now thanks!! The images were not showing up on my end so I didnt see the charts.

which firmware boot files are correct for which dates of UMACs? Matt