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I am using serial port to communication,the format is not ASCII,but Hex,datas is receive well except 0x13 ,0x0D.Also it is a linix problem,but hope helping. I had try c_lflag &= ~(ICRNL | IXON);,but the problem is still there.

When build the project,IDE tell me some error happenned: Syntax error,unexpected '.' Maybe caused by this line: Void sendf(int sendportnum , const char *fmt, ...) What should I do?

Hello CharlesP, Would you share the project which can be made by "Manually Scheduling Threads in Power PMAC.pdf" step by step? If you have! Not only the most important two files. I try that as "the Manually Scheduling Threads in Power PMAC.pdf",but IDE give me some error. So a complete project will a good beginning of me. Thanks

Is the Power clipper selling now?

Hello CharlesP, Is't possble to save and read data from a SD card instead of flash memory of PPmac? For the flash memory chips has a long life.

Hello, Why the window of max number of motor status in IDE is 15,the biggers status of motors can't be check. The version of IDE my using is 1.6.0.109. Thanks

Hello, Why the window of max number of motor status in IDE is 15,the biggers status of motors can't be check. The version of IDE my using is 1.6.0.109. Thanks

Hello Akira, For some reason,your Email can accept my message, so do you have other Email? You can send it to my Email.

Hello Akira, For some reason,your Email can accept my message, so do you have other Email? You can send it to my Email.

I had same problem,PLC0 stop running itself.Maybe 2~3 times one year.

I had same problem,PLC0 stop running itself.Maybe 2~3 times one year.

Well,some trying had been done! The clocks we used now is the default 2.25KHz. Gate1[*].PwmPeriod = 6527; Gate1[*].PhaseClockDiv =0; Gate1[*].ServoClockDiv =3; These are default will be right. We found the feedback of Encoder is normal when the problem is appear( the machine shake),of course we plot the data of ENC. And if we kill the motor and use the "out" CMD then,even out10, the speed reach the max. 10% of the max speed will be right in fact. So the problem is the CMD of speed can't be send correctly when the problem appeared. We also check the parameters about how to send PWM signal from ACC-24E2S in the slave station: MacroSlave0,i900=$197F ; //6527 ms0,i916=0 ms0,i994=15 These seems right! Input of IO will be lost,but Output also right when the problem happenned. After the parameter of MacroSlave0,i996 is set to $FCCFF,if the master been reset,the MacroSlave0,i996 will be set to $f8cff automaticly.Who know the possble reason?

Well,some trying had been done! The clocks we used now is the default 2.25KHz. Gate1[*].PwmPeriod = 6527; Gate1[*].PhaseClockDiv =0; Gate1[*].ServoClockDiv =3; These are default will be right. We found the feedback of Encoder is normal when the problem is appear( the machine shake),of course we plot the data of ENC. And if we kill the motor and use the "out" CMD then,even out10, the speed reach the max. 10% of the max speed will be right in fact. So the problem is the CMD of speed can't be send correctly when the problem appeared. We also check the parameters about how to send PWM signal from ACC-24E2S in the slave station: MacroSlave0,i900=$197F ; //6527 ms0,i916=0 ms0,i994=15 These seems right! Input of IO will be lost,but Output also right when the problem happenned. After the parameter of MacroSlave0,i996 is set to $FCCFF,if the master been reset,the MacroSlave0,i996 will be set to $f8cff automaticly.Who know the possble reason?

Masters, I would like to check the parameters,because the machine is not beside me and my customer,it's in the terminal customer there,so test it not so easy now. I have to get more key to prepare to find the problem,and fly to the machine to check PPMAC next week. Thanks a lot!

Masters, I would like to check the parameters,because the machine is not beside me and my customer,it's in the terminal customer there,so test it not so easy now. I have to get more key to prepare to find the problem,and fly to the machine to check PPMAC next week. Thanks a lot!

My customer ask answer to me,help needed!

My customer ask answer to me,help needed!

Hello, It's new! And It's Power CPU,before are UMACs. I'm sure nobody had set that about phase clock,it should be default value there,so the phase clock should same on the master and the slave. The 24 amplifiers customer using are the same, and works in velocity mode,and I'm sure it's not cause by Closed loop oscillation.

Hello, It's new! And It's Power CPU,before are UMACs. I'm sure nobody had set that about phase clock,it should be default value there,so the phase clock should same on the master and the slave. The 24 amplifiers customer using are the same, and works in velocity mode,and I'm sure it's not cause by Closed loop oscillation.

Macro setting problem Hello, I have total 24 axis,20 axis in Power UMAC rack,and 4 in another rack with Macro 16 CPU connected by ACC-5E3 thought MACRO. The 24 axis work well normally,but the last 4 aixs(20~24) closed-loop though MACRO(ACC5E3,MACRO 16 CPU,ACC24E2S) was not stable sometimes,the position was changed very big size(about 3000 cts max)because ix11 was set by 0,so the close loop is still work.Of cousrse nobody send any command in this situation.So the machine shake there.When the problem appeared,have to recycle the power supply,and if it was still bad,have to recycle the power again,untile it become well,may need 3 or 4 times.And I'm sure it's not cause by Closed loop oscillation. I geuss the reason was the parameter about MACRO Clock synchronization was not correct，but I'm not sure. Thanks a lot!

Macro setting problem Hello, I have total 24 axis,20 axis in Power UMAC rack,and 4 in another rack with Macro 16 CPU connected by ACC-5E3 thought MACRO. The 24 axis work well normally,but the last 4 aixs(20~24) closed-loop though MACRO(ACC5E3,MACRO 16 CPU,ACC24E2S) was not stable sometimes,the position was changed very big size(about 3000 cts max)because ix11 was set by 0,so the close loop is still work.Of cousrse nobody send any command in this situation.So the machine shake there.When the problem appeared,have to recycle the power supply,and if it was still bad,have to recycle the power again,untile it become well,may need 3 or 4 times.And I'm sure it's not cause by Closed loop oscillation. I geuss the reason was the parameter about MACRO Clock synchronization was not correct，but I'm not sure. Thanks a lot!

I see the M162->d:$8B.It's a 48 bit data. What I want to know if a moter roll and roll,and some day the position will bigger then $7FFF FFFF FFFF,what will happen?

Curtwilson, Thank very much! I will ask my customer try again by using ixx40.

First,Thank you very much for so long and detal answer。 But,the filter solution have problem,because it's change the path,one circle will not be one circle after low pass filter in one plane. I ask this question because one of my customer do Laser cutting software based PMAC,But the speed can't reach the machine controlled by PA, I check the PA controller,Jerk control inside.So the Impact will be controlled,so acc can be more big. How holpful Jerk will be control in lookahead mode by PMAC.

Hello Everyone, I have a path by a series point(not equal distance) in XY plane,usually we are using lookahead to control the max speed and the max accel in liner mode,but can't control the Jerk as my mind. If i want to control the Max Jerk of the path,include the max speed and acc of course,What can i do? Or is't a simple way to control TS? because it seems the TS can control the Jerk.