sbrun

Yes Brad, i did $$$*** in first of all. In my projet on the PC (created with "file"+ "new projet" in the IDE 1.7.0.49), i have no file "pp_save.tpl" (??), only a "pp_custom_save.tpl" (of 0 octets). I done a backup, and inside the .tar, a pp_save.tpl is present in "usrflash/project/configuration/". Attached is this file. PS: i attach also the result of the commande "backup ecat[0].." done in terminal at the end of SystemSetup when both slaves were working. pp_save.tpl .txt Answer to command backup ecat[0].. .txt

With Firmware 1.6.1.11, IDE 1.7.0.49 I configue two drives on Ethercat with SystemSetup and they work perfectly well as slave 0 & 1 on motor #1 &2 at the end of the setup. When i do : - "Save" or "Configuration" + "Upload Config File" or "Generate Config File", or in SystemSetup "Export Ethercat ...", Nothing is generated in the config files regarding the Slave nb1 (no lines with ECAT[0].Slave[1]...) Of course after a $$$, Slave 1 works no more over Ethercat. Attached is the pp-save.cfg and the .xml exported. Have i missed an operation or is there a problem ? Thanks. Exported_Ethercat_config.xml .txt pp_save.cfg .txt

Thank you Brad and Richard, You're absolutely right, and the final projet will be composed with several PowerBrick with SinCos-ACI option drived in Torque mode. For the moment, and quickly, we have to validate the process of the machine. For that, we have to drive a linear motor with a sincos encoder and our PowerBrick has not the option Sincos installed. We have only a Power-UMAC with Macro and Acc24E3 available to read the SinCos. It's why we try to work with the PowerBrick in Macro-PWM mode.

Sorry Brad, Here is attached the configuration of our coordinating PPmac (UMAC). Motor 1 is configured as this : - Encoder sinCos+hall on local Acc-24E3, - Motor and limits, drived as Node-0 (of a PowrBrick) in PWM Umac_conf_macro&motor.pmh

Hello Brad, Thank you, Here-under my parameters and find attached the global pp_save.cfg. pp_save.cfg.txt

On a PowerBrick-LV, (Firmware 1.6.1.1, IDE 1.7.0.44) configured as Macro-auxliary, we have declared a brushless motor as slave Node 0, drived in PWM over MACRO (by a rack Power-UMAC). We activated the motor as Macro-slave by : Motor[1].pMotorNode = PowerBrick[0].MacroInA[0][0].a Motor[1].MotorNodeOffset = 64 Motor[1].MotorMode = 5 // PWM by MACRO Problem on the PowerBrick: The Motor phase measured current "Motor[1].IaMeas, .IbMeas" are not copied in PowerBrick[0].MacroOutA[0][1] and [2] (instead, there is a bad value depending of the encoder position ??, same value is in .MacroOutA[0][1] and .MacroOutA[0][2], but shifted of 16bits left in .MacroOutA[0][1] !) Ps: the values written in PowerBrick[0].MacroOutA[0][0] (encoder pos) and PowerBrick[0].MacroOutA[0][3] (Status & Flags) are full ok Have we missing something ?, or is there a real problem and what is the way to turn around it ? PS: with Motor[1].MotorMode =0 (Local contol) the motor works ok. Thanks for your Help, S.Brun

Thank you Brad, I understood that, as i work with Gpascii -i, i have to kill the thread. I initialize my rotary Gpascii with the command: "gpascii -2 -i/media/shared/_rotary.56k" In order to kill this gpascii thread from Linux, the only way i found is : - send a linux command: ps –ef | grep "gpascii -2 -i" - parse the answer for seek the PID of the thread (the number of a thread is named PID under Linux) . - kill the thread with the command linux "kill xx" (xx= n° PID found) Have you a better way to found the number of this thread ? For information, i found two other ways to kill this thread : - From the connection who send the gpascii -i command, send a character Ctrl-C (=$03) - From a script Plc send: cmd "&n delete rotary" Thanks.

The running of Programs with rotary buffer works perfectly in normal case. I need stop it suddenly when running (on Emergency stop for example). In this case, i send with a plc the followings commands : "lh\ 1" and, when motors are stopped, "abort 1" and "&1 clear rotary" Problem: the thread gpascii (which sends the program) is still running !! To stop it the only way i found is to do : "&1 delete rotary" "&1 define rotary 2048" (to recreate the buffer) Is it the only way to stop the gpascii thread or is there a best one ? Thanks, Stephane

Thank you very much Brad, 1) Now it's ok for the diagnostic flags. The correct ptr for Acc72E[2] are : Ptr pGlobal_bits->u.io:$E6FD00.24.8 Ptr pCAN_State->u.io:$E6FD20.24.8 Ptr pErr_node_adr->u.io:$E6FD04.24.8 2) If somebody knows how send individual SDO messages ? We can write the message in Acc72E[2].OutputMsg[0] (and answer in Acc72E[2].InputMsg[0] ). But, no informations are given in the Acc72e Turbo documentation (page 13), how to works the SDO handshaking (it's only given for PDO). Probably we have to set the bit 'Cmd' in PmacFlags to send message. And test the bit 'Ack' in PmacGateway in order to know if the answer is came back ? (For what use are the bits 'PMACAck' and 'Command' ?). Additional information would be apréciated. Thank you in advance.

I use a Acc-72e CanOpen master (base address Acc72E[2] =$E68000), 1) With Turbo, I use the "diagnostic flags" with : pGlobal_Bits ($6D000 + ($1F40)/2 ) : M1000->Y:$6DFA0,16,8,U pCAN_State ($6D000 + ($1F41)/2 ) : M1001->X:$6DFA0,16,8,U pErr_node_Adr ($6D000 + ($1F42)/2 ) : M1002->Y:$6DFA1,16,8,U Could you help me to convert them in PPmac ptr ? Is there alias for those flags (not found) ? 2) How to send SDO messages in Acc72E[2].OutputMsg[0] Could you explain me the right way to use flags to do that ?

When, after a link break, i try reconnect for "unsolicited" : the .StartUnsolicitedEvent() make an exception with the message : "Error: The following SendFiles are locked and being used, 0, 1, 2, 3, 4" I use PPcomLib v1.0.0.1 (PowerPmacComLib.dll dated 29/06/2012) PPmac firmware 1.5.8.0 In my application (or with demo "PowerPmacComLibVBDemoApp") : - All ways to communicate with PPmac (including Unsolicited) work ok - When i disconnect the Ethernet link, - Problems of connections are normaly detected and i close all communications - I connect again the ethernet link - I launch all the re-connections, - All is ok execept for "unsollicited" where an exception occurs on .StartUnsolicitedEvent() with the message : "Error: The following SendFiles are locked and being used, 0, 1, 2, 3, 4" Same test can be done simply with the IDE and a unsolicited box opened : - Disconnect the Ethernet link, - Restore the Ethernet and reconnect the IDE - In the Unsolicited box, the red message is displayed : "Unable to connect to SSH's Unsolicited thread with error Error: The following SendFiles are locked and being used, 1, 2, 3, 4" - The only way that i found to restore, is to send to PPmac a "$$$"

Thank you Charles. and i confirm that i have no problem from Rti-Cplc or Bg-Cplc.

Yes Sina, as show above : #include "../../Realtime Routines/usrcode.h" , and with only this include (and no call to CfromScript) i have no build error.

I have CfromScript functions which work very well when i call them from Script or from Kinematic. I try to call those functions from a C Background-Program (C-app application). I get errors in the Compilation. I put in my c-App code : #include "../../Realtime Routines/usrcode.h" double cr; cr = CfromScript(1,0,0,0,0,0,0); // for test or cr = CfromScript(1,0,0,0,0,0,0,NULL); and in usrcode.h there is at the moment: #ifdef __KERNEL__ #include #else #define EXPORT_SYMBOL(x) // x #define KERN_ALERT #define printk printf #endif #include // Global Rt/Gp Externals and structures #include double CfromScript(double arg1,double arg2,double arg3,double arg4,double arg5,double arg6,double arg7,LocalData *Ldata); EXPORT_SYMBOL(CfromScript); What is the correct call for declaring a call for CfromSript in C code ?

We are using CFromScript for our kinematic calculation. The CFromScript is called in a script .kin with the links DeltaTau give us: KinPosMotor1… , KinPosAxisX… This works fine. We also use pmatch, pread, &1p… so we have the parameter “UserAlgo.CFunc = 1;” set as written (=1) We also need to do kinematic calculations outside of the PPMAC standard “functions”/ “process” Example, We want to check that a commanded position X,Y…, send trough a “home-made” user-interface, is inside of the axes limits before launching the move. For that we need to call the inverse Kinematic “function” from a script plc or from a C plc. For the script: How can we be sure that a call to the CFromScript function from one of our PLC, during a movement, will not interfere with the internal DetlaTau .kin script call. For the “C”, is it possible: -To use “.c” and “.h” code stored in the folder “Library” inside: o CPLCs (bgcplc and rticplc) o Realtime Routines Or (going around if the use of « Library” is not possible): o To call the « CfromScript » from CPLCs (bgcplc et rticplc) Our wish is not to have to duplicate the kinematic code “manually”. Thank you,

It works perfectly. Thanks to all.

In a Cplc (Rti or Bg) : I would like get the time (or TickCounts) in order to calculate the duration of my process. In PLCScript, i use Sys.Time, but in Cplc "pshm->Time" occurs a compile error. What is the best way to do that ? (Do i have to use a "struct timespec" in library or anything else like that ?)

Just try http://ipaddress/index.html it's works.

Where can i find the complete documentation for all the AppWare available ? (as for "GetErrors" published by Brad in the http://forums.deltatau.com/showthread.php?tid=364)

How to install the demo PPmac web site "powerpmacweb.deb" (found with the firmware relase 1.4.0.27) ? Do i have to copy it in a folder on linux and do the command : dpkg -i powerpmacweb.deb ? (I have the PPmac firmware 1.4.0.189 installed)

Hi Dzrong, Your client has he managed to do it ? I have the same ask.

I have no problem to get Gather with PcomServer and the traditionnal method (like Plot32). Have you an example, or some additionnal documentation to get continus mesurement with rotay gathering method under TurboPmac2. Thanks.

Thank you KEJR, You found my problem, At bootup, SDcard must absolutely be plugged before, and USB must not (only after bootup)

Thank you hbausley, but as wfsteele, on my old Power PMAC (without video option) i have no folder begining with disk under /media. And, in order to manualy mont my SD card, under /dev, i don't have /sdb1 or /sdc1 but only sda, sda1, sda2, sdb, shm What can i do ?

Is the EXCEL calulator '603910 Calculator.xls' from Sina has been uptated for BISS encoder protocol ?