Gregs

No, my apologies. I failed to notice that this was a Power PMAC question, not Turbo, and so my answer was completely wrong. You should be getting a correct, and more favorable, answer shortly.

No, PMAC does not store the source code for code which is compiled (i.e. compiled PLCs or open servo algorithms).

Sorry, no online courses of yet. Closest thing would be the website tutorial videos in the Video Center, under the Resources tab, and note that those are for Power PMAC (not Turbo).

You could use a PLC to issue axis commands. The command positions could be in a variable that is mapped to a handwheel, probably best in incremental mode.

Are the following set up correctly: Linear mode Coord[1].Ta, Coord[1].Td and Coord[1].Ts (Set time in acceleration, deceleration, and S-curve accel) Motor[x].MaxSpeed Frax (Use Frax command to choose which axes are used in vector feederate calculations)

Are the following set up correctly: Linear mode Coord[1].Ta, Coord[1].Td and Coord[1].Ts (Set time in acceleration, deceleration, and S-curve accel) Motor[x].MaxSpeed Frax (Use Frax command to choose which axes are used in vector feederate calculations)

Hello Ashish, I think that the best idea that I have is to wire the index signal into the User Flag input on J9. This approach would require two home moves. First, home to the Home Flag. Second, change I6812 and I6813 for using the User Flag, and home again.

Hello Ashish, I think that the best idea that I have is to wire the index signal into the User Flag input on J9. This approach would require two home moves. First, home to the Home Flag. Second, change I6812 and I6813 for using the User Flag, and home again.

Maybe a Clear Rotary command needs to be issued so that pre-existing lines in the buffer are not being unexpectedly executed. Is BUFFER_SIZE greater than 2048?

Maybe a Clear Rotary command needs to be issued so that pre-existing lines in the buffer are not being unexpectedly executed. Is BUFFER_SIZE greater than 2048?

You might try combining PLC 9 and 16 into PLC 0, and perhaps reducing I8: Open PLC 0 Clear IF (P1011>0 AND P1012>0) M4602=4095 //DAC ch#1 = max M525 =P1011 WHILE (M525>0) I5112=1*8388608/I10 WHILE(I5112>0) END WHILE M525=M525-1 ENDWHILE M4602=0 //DAC ch#1 = min M525 = P1012 WHILE (M525>0) I5112=1*8388608/I10 WHILE(I5112>0) END WHILE M525=M525-1 ENDWHILE ENDIF Close Also, is 1ms enough resolution? I5112=1*8388608/I10 could be reduced (e.g. I5112=0.5*8388608/I10). If this is a Turbo PMAC2, there is probably a better way which uses position compare pulse modulated output. I attached a document describing how to do this. Position-Compare Pulse-Modulated Output (2).doc

You might try combining PLC 9 and 16 into PLC 0, and perhaps reducing I8: Open PLC 0 Clear IF (P1011>0 AND P1012>0) M4602=4095 //DAC ch#1 = max M525 =P1011 WHILE (M525>0) I5112=1*8388608/I10 WHILE(I5112>0) END WHILE M525=M525-1 ENDWHILE M4602=0 //DAC ch#1 = min M525 = P1012 WHILE (M525>0) I5112=1*8388608/I10 WHILE(I5112>0) END WHILE M525=M525-1 ENDWHILE ENDIF Close Also, is 1ms enough resolution? I5112=1*8388608/I10 could be reduced (e.g. I5112=0.5*8388608/I10). If this is a Turbo PMAC2, there is probably a better way which uses position compare pulse modulated output. I attached a document describing how to do this.

Sorry, PMACs with ISA bus are no longer repaired, just PCI bus versions. PCI versions are also still in production....

Sorry, PMACs with ISA bus are no longer repaired, just PCI bus versions. PCI versions are also still in production....

There are no settings that would cause this. Possibly, there is a gate hardware issue. Can you change any of the other gate I-variables, e.g. I901 or I902? A quick test would be to close the HMI (anything that might write to PMAC), issue $$$*** Save $$$, and then see if you can change I900/I905. If you can, then some program is the culprit; otherwise, it looks like the PMAC is the problem.

There are no settings that would cause this. Possibly, there is a gate hardware issue. Can you change any of the other gate I-variables, e.g. I901 or I902? A quick test would be to close the HMI (anything that might write to PMAC), issue $$$*** Save $$$, and then see if you can change I900/I905. If you can, then some program is the culprit; otherwise, it looks like the PMAC is the problem.

Does this happen if PLCs are disabled (Ctrl D), no motion programs running (Ctrl A), and no HMI running? Did you try reinitializing ($$$***)? Note, be sure to have a backup configuration.

Does this happen if PLCs are disabled (Ctrl D), no motion programs running (Ctrl A), and no HMI running? Did you try reinitializing ($$$***)? Note, be sure to have a backup configuration.

Hi Dwayne, We spoke earlier on the phone. Reversing the JMACH connector would put DAC and enable outputs into encoders, so conceivably PMAC DAC outputs as well as encoders could be damaged. It looks like the PMAC is damaged because the DACs remain saturated even when the board is reinitialized.

Hi Dwayne, We spoke earlier on the phone. Reversing the JMACH connector would put DAC and enable outputs into encoders, so conceivably PMAC DAC outputs as well as encoders could be damaged. It looks like the PMAC is damaged because the DACs remain saturated even when the board is reinitialized.

I am just passing along this information, so hopefully this answers your question: #define matrixsize 10 global matrix(matrixsize); matrix(0)=1,2,3,4,5,6,7,8,9,10 The #define is available to use in your programs.

MI160 requires 1.204 or newer MACRO16 firmware. Is that the problem? Enter MS2,I0 to check the firmware version. -Greg

Looks like you have a conflict with ACC-36E and ACC-65E both on address $8800.

Hi Dave, You're welcome for my small part in this, and thanks for posting the setup information. It's nice to see someone utilizing that many nodes with Gate3.

Hi Dave, I do not know if MI198/199 should work like that, but a transfer variable like MI71 should work. Did you check the following settings: On Power PMAC (assuming Gate2, not Gate3): Gate2.MacroEnable? For example, Gate2[0].MacroEnable = $FF3FF for master station 0 with I/O nodes 2,3,6,7 and servo nodes 0,1,4,5,8,9,12,13 enabled. Gate2.MacroMode? For example, Gate2[0].MacroMode = $30 for IC0 as the synchronizing master. On the MACRO STATION (Assuming MACRO16 CPU): MI19 is set (usually=4)? MI975? (=$CC to match above) MI996? (= $FF3FF to match above) MI71? For example, MI71=$10C0A8219800 for using nodes 6 and 7 with ACC-14E at base address $9800 Should be able to then set outputs with Gate2[0].Macro[7][0]. For example, Gate2[0].Macro[7][0] = $FFFFFF to activate all outputs. Note that mirror words are needed to write to individual bits. Individual bits of Gate.Macro[j][k] inputs can be read. For example Gate2[0].Macro[6][0].0.1 for first input.