JohnR

Now that Omron has killed off Delta Tau Where can I access this ? "ftp://support.deltatau.com/DT-USA/Application Notes/Gate3 Position Compare VER 4.zip"

Check the Error Status to determine what caused the RunTimeError Coord[x].ErrorStatus Power PMAC Software Reference Manual - Page 667

I've encountered a problem using Gantry Follower involving the LimitStop Status bit. I have 2 motors setup #6 as ServoCtrl =1 and Motor #14 as ServoControl=8 and CmdMotor = 6. pLimits for both motors are pointing the master motor limit hardware channel (Gate3[2].Chan[2].Status.a) The Gantry moves fine, as expected until a limit is hit. The gantry stops at the limit and I can jog it out of the limit. The LimitStop bit on the master clears as soon as the motor moves, however the follower LimitStop bit won't clear when jogging the master. It will clear if I attempt to jog the follower ( of course the follower doesn't actually move) of if I #14J/ the motor. With the CS.LimitStop bit set this inhibits the Coordinate system from executing an axis move. Is there an explanation for this behavior that I missed ? Is there another way to clear the LimitStop bit on the Gantry follower ?

From a user servo how can I execute a standard servo algorithm like Sys.ServoCtrl ? Is it as simple as double (*servo)(struct MotorData *Mptr); double myServoOut; servo = pshm->ServoCtrl; myServoOut = servo(Mptr);

Thanks Charles, The app note is helpful. I understand the limitation of the single FRAX function. Would it be possible to implement an additional FRAX function (e.g. FRAX(x,y,z) FRAX2(XX,YY,ZZ)) and use the longest move time for the move so that the 3 space vector move calculation would be correct on each gantry.

Thanks Charles, Vince. I do check these values. However with the number of motors that are in the coordinate system this can become cumbersome when each axis has different limitations and user units. there is also to problem of having only a sing FRAX command for use with two gantries. I was looking for some way to determine "real time" which axis/motor/CS parameter was limiting the vector move.

What is the best method for determining the limiting parameter(s) in a coordinated move using lookahead and multiple axes. My coordinate system has 14 motors. The system consists of (2) 5 axis gantries within the single coordinate system. When a move is commanded the system does not move at the MaxFeedRate for the FRAX axes nor the AltFeedRate for the other axes.

I know this maybe a little off topic, however I’ve seen this issue several times in the forum and it’s happened to me many times. Is/could there be a way to determine the limiting parameter in a motion move?

I know this maybe a little off topic, however I’ve seen this issue several times in the forum and it’s happened to me many times. Is/could there be a way to determine the limiting parameter in a motion move?

I am trying to configure two Bosch-Rexroth AES Fieldbus Couplers using EtherCat. Rexroth has supplied two xml filess but the system setup utility doesn't seem to read one (AES_Slot) correctly and allow me to UpdateDeviceFile with it. The other loads and updates but does not help me to define any of the ports. Also when I try to change the State machine from PREOP -> OP it switches back to PREOP state. What is required for the state to switch ? AES_Slot.zip AES_EcatKoppler.zip

Depending on the computer you are using there may not bee enough power from the USB port. With laptops they will sometimes change available power on the USB if the laptop is powered or running on battery. Might want to connect the PPMAC to a powered USB hub and then plug the hub into the computer. That way PPMAC will be fully powered before the PC detectes the device.

I use Axes for jogging my gantries, using kinematics. I use the following "&1 cpx rapid inc Y+1000000" and "&1A" this will "jog" my Y axis to a very large location ( clearly off of the system ). I don't like the fact that I am using and abort to stop, but thats all i've been able to come up with so far. Hope it helps.

I'm using a phamtom motor as well and I have square velocity profile. ( within 1 severo loop ) I3119=0 I3117=10 I3120=0 I3121=0 Hope this helps

During my installation Windows 7 32 bit, I was having problems with the installation. After several calls with Microsoft support we were able to resolve the issues. In a nut shell it was all about assembly version ( new DLL hell ! ). This is a summary that was sent to me from Microsoft. I may help to shed some light on this issue. To briefly summarize: You were encountering the following error dialog reporting a TypeLoadException on the following type: {"Could not load type 'Microsoft.VisualStudio.Web.ToolboxItemConfiguration' from assembly 'Microsoft.VisualStudio.Web, Version=9.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a'.":"Microsoft.VisualStudio.Web.ToolboxItemConfiguration"} This error occurred when the toolbox was attempting to refresh itself, after opening a winform in the winform designer. We investigated the scenario and found that the TypeLoadException was occurring due to an older (RTM version) of Microsoft.VisualStudio.Web.dll installed under the …\common7\ide directory. On a couple of other machine this error was not encountered. Upon further investigation (using ildasm.exe) we found that the ToolboxItemConfiguration class is implemented in a more recent version of Microsoft.VisualStudio.Web.dll (from VS 2008 SP1), and installing VS 2008 SP1 on the problem system cleared up the problems. You had an additional question related to the DeltaTau Powermac isolated shell installation. Specifically, after installing the DeltaTau software, you were encountering an error dialog “Cannot find one or more components. Please reinstall the application. To fix this, we had you download and install the VS 2008 Isolated Shell with SP1 redist, and this fixed up the problem with the DeltaTau software.

Are there any examples for setting up the ACC-24E2S within the PPMAC system. I know that the IDE does not handle them so any configuration will have to be done through M vars ( I presume ). Is there a recomended Mvar list available ? Do I need to try to translate the Turbo address space to the PPMAC address space for these boards ? When will ACC-24E2S IDE support be available ? Thanks John