Gregs
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Posts posted by Gregs
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Hi Steve,
The timing/priority does change. The online home command will not execute until after the end of the current PLC scan, same as with Turbo. The buffered program command will execute immediately. Note that when issued in a PLC (unlike in a motion program), subsequent lines will execute without waiting for the command to finish; therefore, your timer is still needed, or something like this:
home3; // Start homing move for Motor 3
while (Motor[3].HomeInProgress == 0) { } // Wait for start
while (Motor[3].DesVelZero == 0) { } // Wait for end
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Try these motion program commands:
Normal K-1 ; Define XY plane
Inc(X,Y) ; Specify endpoint incrementally
Inc( R ) ; Specify circle center incrementally
Circle1 ; Specify Circle mode clockwise (Circle2 for counterclock)
X0 Y0 I-2 ; Full circle with 2 mm radius, center at -2mm in X from start/stop point
See attached examples from a slide in the Turbo class presentation.
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What is the code used for what you said: initialized M5000 to point at base address. then assigned M5000 to P2001?
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There should be a comma after the 6000:
WL: $6000,897093224, 131897093224, 132131413533172
The $6000 is the address of P0. That command line should write values 897093224, 131897093224, 132131413533172 into P0, P1, and P2, respectively. However, note that P variable values are stored in PMAC’s internal 48-bit floating point format, so you will need to enter values in that format. If you just write directly, i.e. P0=897093224, PMAC will convert the value for storage, and will convert back for reporting the value. The value will be stored in internal 48-bit floating point format.
The general floating-point format is 48 bits long, with a 36-bit mantissa and a 12-bit exponent. This provides a range of +2+2047, or +3.233 x 10+616, which should provide sufficient range for any foreseeable uses of the card.
See attachment below, copied from the Turbo Users manual.
For example, look at the PEWIN Terminal window entries in the below attachment. P0 can be written to and read normally: P0=value and P0 reads back same value. Similarly, writing with wl will read back the same value with rl; however, it is in PMAC’s internal 48-bit format, so P0 reports a converted value, e.g. 897093224 becomes 140737488355327. Using PMAC’s internal 48-bit format, you must enter WL:$6000, 117583803058205 to get P0=897093224.
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The outputs will provide either 0 volts or 5 volts CMOS, no pull-ups needed.
The inputs are only activated with 0 volts. Active high is OK, but then you need to provide 0 volts when not active. If the input devices are open when not activated, you could add pull-down resistors of about 470 ohms.
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I just had a similar Delta Tau support question, perhaps for the same thing.... Anyhow, I assembled some information that might be helpful.
Bits 0 to 15 of GpioDir[0] and GpioPol[0] correspond to io data points 0 to 15 on JTHW (J8), respectively. Similarly, bits 16 to 31 of GpioDir[0] and GpioPol[0] correspond to data points 0 to 15 on JOPT (J9). This is illustrated in the attached picture of an Excel table (couldn't attach the Excel file).
The columns on the right show the settings for your setup which would be:
Clipper[0].GpioDir[0] = $FFFF0000
// Direction Control for JTHW all inputs and JOPT all outputs (1=out, 0=in)
//
Clipper[0].GpioPol[0] = 0
// All non-inverted (When non-inverted, GpioData=1 corresponds to 5V and GpioData=0 corresponds to 0V)
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You might want to use an example in the Geo Brick User manual called "Calculating Motor Current Output Example". It will work with the Geo Brick LV, but note that the Max ADC values are different: 1.6925 A, 6.770 A, and 33.85 A for 0.25A/0.75A, 1A/3A, and 5A/15A Bricks, respectively.
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Expressions need to be in parentheses:
Change: cout 2:ctr2;
To: cout 2:(ctr2);
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Not yet, and probably not until sometime early next year.
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1.16 firmware is not compatible with the PC104 PMAC (should be 1.17). That could be why there is a watchdog error, and also why firmware cannot be reloaded.
Does the watchdog LED light if the E13 jumper is not installed? If you can communicate, find out the settings of I46 and I54 to determine the baudrate setting. Check the firmware version, with Ver command.
If the watchdog continues, try powering with E3 jumper installed. Also, make sure that the 5V supply is not dipping or spiking outside of 4.75 to 5.25 volts. The board needs repair if the watchdog continues.
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You're welcome, have fun, and best of luck to you!
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Both of those products are no longer in production. The Advantage 400 was a Delta Tau Europa (European) product. I could not say which would be the better choice. You would want to compare features.
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You're welcome. If the board is being used to replace a board in a working system, it might be a good idea to match the firmware, just in case there is a firmware difference that matters. Another reason could be that there is a particular firmware update feature that is desired; otherwise, I would not bother.
If you would like to get firmware, please email your request to Support@DeltaTau.com.
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1.17C was the last version of Non-Turbo firmware. 1.17B can be upgraded to 1.17C.
Perhaps you meant 1.16 firmware. That does go up to 1.16H....
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Yes, POWER PMACs in general support CANopen over EtherCat (COE).
Emerson, not Emersion?
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I am wondering if you should have Ixx06=3 for offset mode. That way, the axis position will not change (physically, it will) due to following, and it should not make the undesired move at the beginning of the motion program.
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I just placed an order for the EL7201 and EL7201-0010 and associated hardware for testing here at Delta Tau.
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It is hard to guess what is happening, basically because that code, as shown, should not even run. Two motion programs cannot run at the same time in the same coordinate system, even if one is a rotary program. Perhaps the first thing is to correct for that. Also, you could email the project to support AT deltatau DOT com, and then we can look for the issue(s).
Why are you using a rotary program? There are only two standard reasons: one is if a host is computing trajectories on the fly, and two is if the program is too large for a normal motion program buffer.
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DAC setup depends on which PMAC you have and is described accordingly in each specific hardware manual (manuals are on the FileDepot).
DAC values can be monitored in whatever address is pointed to by Motor[x].pDAC.
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Yes, the ACC-24S3 is a stack board that provides an additional 4 axes with an option of 4 analog inputs and 1 filtered PWM output.
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Unused motors could be assigned to the master encoders, e.g. I1903 = $3508 I1904=$3508 I2003=$3509 I2004=$3509. Then, #19Hmz and #20Hmz would zero Master position, as seen in positions of motors 19 and 20.
Note that that approach zeroes the motor positions of the masters, not the encoder positions. Encoder positions can only be zeroed by reset or power cycling. If, for some reason, you want to be able to zero the master position in the ECT, the actual position register of the master could be entered in the ECT and used for following....
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That would be undersized for the 5V. I copied the following from page 14 in the manual on the File Depot:
Electrical Specifications
Digital Power Supply
The +5V and ground reference lines from the power supply should be connected to TB1 terminal block of the Power PMAC Clipper board using 18 AWG stranded wire. The power requirement (± 5%) is:
+5 V (20W) @ 3.5 A (Four-channel configuration with a typical load of encoders)
+5 V (20W) @ 5.5 A (Eight-channel ACC-24S3 configuration with a typical load of encoders)
Note
Clipper base board requires 2.75A with no other connections. Size your application accordingly to your encoder load. The above assumes typical encoder loads at ~100mA per encoder.
DAC Outputs Power Supply
The ±12V lines from the supply, including the ground reference, can be brought in from the TB1 terminal block.
+12 to +15 V (4.5W) @ 0.30 A (Four-channel configuration with a typical DAC load)
-12 to -15 V (3.8W) @ 0.25 A
+12 to +15 V (4.5W) @ 0.50 A (Eight-channel configuration with a typical DAC load)
-12 to -15 V (3.8W) @ 0.45 A
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Try reducing TS.
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The MacroRingOrderClrf command should work.
How to conmmunication
in Turbo PMAC
Posted
In the Programs list in the Start menu, go to PMAC Executive Pro2 Suite \ Delta Tau Common, and in the PDF "PComm32 Driver Installation Instructions", see the section under "Non-Plug and Play [ETHERNET] Devices – Installation". Note that newer UMAC CPUs have write protection that must be disabled with jumper E1 before the IP address can be changed.
Please contact Delta Tau Support if you have any trouble:
Contact: West Coast Headquarters
Phone: (818) 717-5656
E-mail: support@deltatau.com
Office Hours: 8am-5pm PST
Greg Schons
Direct Phone: (818) 717-5681
GSchons@DeltaTau.com