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Posts posted by MClement
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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.
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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
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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
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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.
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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 $10FF DAC Command from motor 5? I hope that made sense....basically what would be the approach to setting up the ECT.....
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Curt
Below is a copy of my ECT table. I believe we are integrating the force feedback before using it in motor 5.
Encoder Table Definitions.
Executed - Tue Sep 27 14:01:09 2011
Entry Address Y-Word Conversion Method
----------------------------------------------------
1 Y:$ 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
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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.
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Does something like this work in the script language?
#define RADTODEG(x) ((x) * 57.29578)
We make use of the macros in the Turbo PMAC:
@ON, @OFF, @SET_ON, @SET_OFF, @START_TIMER, @TIMER_RUNNING and so on. Is this functionality available in the PowerPMAC script language either directly, or as a VS add-on?
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?
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Atul
See This post about install/uninstall errors on Sept release.
http://forums.deltatau.com/showthread.php?tid=676
Thanks
The newer IDE and Firmware available for download.
IDE : 2011 Sept (1.4.0.xx)
FW : 2011 Sept (1.4.0.xx)
Download link is in the post
Where do I get the PPmac latest firmware and IDE?
Thanks,
Atul
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We will be ordering soon but were you able to get the files Jeff?
Matt
I am looking for the documentation for PPComm
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
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Clear now thanks!! The images were not showing up on my end so I didnt see the charts.
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which firmware boot files are correct for which dates of UMACs? Matt
Long Leadtime on Power PMAC boards???
in Power PMAC
Posted
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???