piefum

Dear All, I have to collect all the declaration of conformity for a UMAC / Macro system that I am integrating at the moment. Unfortunately, not all the devices have the "Declaration of Conformity" section in their respective manual. I'm looking for the certificate of: Acc 66E : 48 digital input Acc U8: backplane Geo Macro Driver do you have any ideas on where I can find them? thanks for your support Gigi

Hi Sina [quote='Sina' pid='891' dateline='1291393219'] As long as the documentation from Heidenhain shows, there are only 2 reset commands avaiable: 101010 for EnDat2.1 and 101101 for EnDat2.2. Since we support both of these modes one or the other one should reset the encoder. Did you cycle power on the UMAC after sending the reset command? [/quote] I finally get the reset of the encoder. The procedure that I have adopted is quite cumbersome (reboot, reset, reboot, reset, reset, reboot....)... but it worked! Now the encoder is alive and counting correctly. Thanks again for your kind support!! gigi

Hi Sina, [quote='Sina' pid='884' dateline='1291319370'] [code] WX:$78C00,$2D3425 [/code] [code] WX:$78C00,$381425 [/code] [/quote] I'm sorry but this is not working. The encoder still replies with a $80000 on the upper word. Heidenhain support tells me that the circuitry should be safe and probably there are some alarm flags set, and I have to reset them. There are some other "uncommented" reset commands? thanks a lot gigi

[quote='piefum' pid='881' dateline='1291302027'] but they are not responding. Should I perform some other tasks before resetting the encoders? [/quote] Heidenhain is telling me that probably I should reset some alarms generated by the pin-swap; the simple reset command quoted on the acc84 manual probably is not enough. Do you have any idea on how to perform such an alarm-reset? thanks gigi

sorry All, but I have just discovered that the all the encoders on my device has been soldered in the wrong way. I have just replaced a connector of a brand new actuator (that has never been turned on) ... and it works! Now I have to reset the two encoders that I powered on with data and clock pins inverted. How can I reset them? I tried to send the encoder the command [code] wx:$78c00,$2D1425 [/code] but they are not responding. Should I perform some other tasks before resetting the encoders? thanks a lot gigi

Hi Sina [quote='Sina' pid='879' dateline='1291220657'] You're correct. The UMAC Config Pro2 will not show ACC-84E since this accessory was designed and built after the release of UMAC Config Pro2 and the software has no clue about the new part number. [/quote] ok, thanks a lot [quote='Sina' pid='879' dateline='1291220657'] I checked the manual and there were some errors in the addressing which were Brick style addresses and not UMAC. So I have fixed the manual and it should be updated on the manuals section of the website shortly, but meanwhile use this PDF to guide you through the setup of your EnDat encoder: I have setup and used EnDat2.2 encoders with ACC-84E and it works fine. [/quote] ok, great. So, here what I'm doing: the first accessory 84E is CS10, dip switch configured as default (all on==close). I made [code] M5000->X:$78C0F,0,24 ; first acc84, control register M5001->X:$78D0F,0,24 ; second acc84, control register M5011->X:$78C00,0,24 ; 1st channel - 1st acc84 control word M5021->Y:$78C00,0,24 ; lower bit reading M5031->Y:$78C01,0,24 ; higher bit reading + flags [/code] I'm using an Heidenhain eqn437, endat 2.2, over a 55m extension. The encoder has 25 bit/rev + 4096 (12 bit) different revolutions, for a total of 37 bit. I'm trying to configure (via the terminal, not on the plc1) as follow: [code] M5000 = $2003 ; 1MHz clock, I'm not pretty sure about triggering, but I''ve tried all the possibility M5011 = $380025 ; read endat 2.2, 37 bit total [/code] what I'm getting as a result is: [code] M5011 = $380425 ; it activates the bit#10, that should be Data Ready M5021=0 M5031 = $80000 ; timeout error [/code] Any idea on what I am doing wrong? thanks to all gigi

Hi all I've just installed and configured a brand new UMAC on my system. The system comprehends 2 acc 24e2s (configured as IC2 and IC3) and 2 acc84e (configured as CS10 and CS12). First question is: the "Umac config pro2" does not see the two acc84e. Is this correct? Second, more important: I can not configure the endat2.2 encoders. The manual (version April 27,2010) is pretty confused and most of the tables and portions of codes have wrong addresses (it seems that the tables have been copied from the yaskawa encoder configuration and pasted without correcting the addresses). Did anyone try to configure endat2.2 encoders on such a boards and have some hints to share? thanks a lot gigi

first of all, thanks to all for your kind help! [quote='curtwilson' pid='493' dateline='1278528262'] The commutation source in Turbo PMAC is limited to a 24-bit cycle (16M LSBs) by Ixx71. Your encoder has 25 bits per mechanical revolution (32M LSBs). However, if you have a 4-pole motor, which is likely, your commutation cycle is still within the 24-bit range. You will be able to set Ixx71 to the maximum value of 16,777,215, and Ixx70 to 1, to specify your cycle size. [/quote] my first application with the 25bit_per_rev/endat22 encoder is with a stepper motor in a high reduction gearbox. So, i'm not going to use any commutation. We build two kind of actuators for out stewart platform: - direct drive, with huge torque motor and, at least, 10 pair of poles - gearhead drive, with small 4- or 5- pole motor I use the heidenhain encoder for commutation only for the direct drive solution, so I think I will be fine for future applications [quote='curtwilson' pid='493' dateline='1278528262'] (Note: Technically, the commutation cycle would be 16,777,216 LSBs in this case. If your motor could travel hundreds of thousands of revolutions, this might be a problem, as it would get 2 LSBs off per mechanical revolution. But I doubt this will be a problem in a Stewart platform. Even after 1024 mechanical revolutions, the torque reduction from the accumulated error is one part in a million.) [/quote] yes, exactly. [quote='curtwilson' pid='493' dateline='1278528262'] If you want to keep full resolution in the servo loop, this will have to be a separate entry from what you use for servo feedback. [/quote] this is exactly what I want: use the full 25 bit information for the repositioning. How can I implement this? thanks a lot gigi

Hi All I am very interested in the use of two ACC-84E with a series of 6 Heidenhain EQN 437 Encoders (multiturn, full digital endat2.2) for a Stewart platform. First of all,how can I use the commutation/on going track of the encoder that has 25 bit per revolution. Am I limited to the 24 bit of the EncoderConversionTable? Then, I'd like to know if it is possible to read the Endat2.2 additional information via the ACC-84E (in my application, it will be very useful to read the temperatures of the six sensors). The manual does not cite any information on how to read the Endat additional information, but these information are standard in the endat2.2 protocol, so I'm assuming that a PLC can easily read them. thanks gigi

Hi Sina [quote='Sina' pid='318' dateline='1268067540'] The development on Geo MACRO drives has been stopped for a while now. Although Delta Tau is in process of developing a new replacement for these drives with much more capabilities, it has been delayed because of various reasons. [/quote] thanks a lot for your info. Can you tell us something about the schedule of these new drivers? When we can expect them? thanks gigi

Hi All do someones know if there are plans to upgrade the GeoMacro drivers in order to use the EnDat 2.2 (full digital, no incremental signals) encoders? thanks gigi

[quote='Unit101' pid='284' dateline='1263389951'] With both USB and Enet out it sounds like a voltage spike or surge has damaged the communication section on your UMAC. [/quote] I thought the same... the UMAC is 4 years old, it has the ethernet and usb on board and I think these two connection are controlled by the same chip (the cpu board shows a chip with a deltatau label "eth usb"...) [quote='Unit101' pid='284' dateline='1263389951'] I don't think there is anyway to fix this in the field. You will need to contact your Delta Tau Distributor and get this sent to factory for repair. Where are you located ? [/quote] I'm in Italy, I'm in contact with both out local vendor (Triveneta Engineering) and Delta Tau in Switzerland. I can use another UMAC that I have here in house, hoping that the repairing will not take too much... many thanks for your kind help gigi

Hi All I have an old (3 years) UMAC @ 80MHz, that suddely stopped working. Before Christmas vacation everything was working good. At return from holidays, I powered on the UMAC and the communication was completely broken. Usually I command the UMAC via ethernet, but at power on the leds on the RJ45 socket are not blinking when the cable is plugged. I tried then to change IP address via USB, but even the USB connection is not working: when I connect the umac the pc says that the USB hardware connected is not recognized. I tried anyway to change IP address via ethusbconfigure software, but without success (it can't communicate with the UMAC). I tried the following, without success: - replace all the hardware (cable, switch, ...) - replace host PC - insert the UMAC in another rack, with working backplane and working power supply - hard reset (E3 pin) The watchdog LED on the UMAC is always off. Any ideas? Could it be that it is broken the chip that controls the ethernet and usb communication (it seems that this is a single chip that holds both the links). thanks gigi

Hi All I'm using a GeoMacro with Endat 2.1 encoder (Heidenhain EQN 425). I use the digital absolute data for the initial position and then the incremental sin tracks for the normal motion. Some weeks ago I expected one problem with my actuator prototype: I gave a spark to the encoder 5V line (the 5V terminal broke and then touched the metallic body of the encoder) and then the encoder stopped working. The digital data that I can get was all 0 and one bit 1. This is an error word that the Heidenhain encoder returns, and in particular the meaning of my error bit was an overcurrent on the 5V line. To reset the error, I disconnected the encoder from the GeoMacro and connected it in the heidenhain board in my computer and reset it sending an "endat command" to the encoder. It is possible to reset the heidenhain encoder using the GeoMacro? In my application the encoder is mounted on an actuator that service a telescope completely remote controlled, and the encoder cable is not accessible nor the actuator can be easily dismounted. thanks ciao gigi