Gregs

Hi Jarry, I cannot get an explanation as to why changing I19 would make a difference. Maybe that is a coincidence. Changing addressing, on the other hand, is something that could make a difference. What other I/O cards are in the rack? For type A I/O cards, I recommend using the first chip select (jumper E1 on) for the first three type A I/O cards 1, 2 ,and 3 by using low, middle, and high byte addressing, respectively. Then, move up to the next chip selects as needed. Whatever cards you have (type A or B), I recommend building evenly by using all the addresses of chip select 1 before using chip select 2, etc. Also, make sure that there are no address conflicts (see under Hardware Address Limitations in the manual). Is the card found with the UMAC Configurator with and/or without chaning I19?

Hi Raghav, The PMAC Executive Pro2 Suite (PEWIN) is not a one-time purchase, but the price is reduced on additional purchases.

Hello Raghav, Here is a link to a free 30-day trial period of the PMAC Exective Pro2 Suite: http://www.deltatau.com/DT_Products/SoftwareDevelopment.aspx Please contact your distributor for purchasing a licensed copy. I recommend the following for setup documentation: The PEWIN manual:http://www.deltatau.com/manuals/pdfs/PEWIN%2032%20PRO%202%20SOFTWARE.pdf?id=634939535553153092 In PEWIN, use the Turbo/UMAC Setup Pro2 tool from the Tools menu. The ACC-24E2A manual: http://www.deltatau.com/manuals/pdfs/ACC-24E2A.pdf?id=634939535575183214 Also, see the Turbo Software Reference and User manuals. The latest version of PEWIN32 Pro2 works with Windows 7, and with 64-bit systems the following is necessary: Right click on the Pewin32 Pro2 icon, select Properties, and then the Compatibility tab. Then, check the box for Run this program as an administrator.

No, it would be M33->D:$86. x takes on different values, depending on what motor is addressed, and the last two digits are either 86 or 06, again depending on what motor is to be addressed. Correctly if I am wrong, if I want to address one of the available M variables , like for example M33, to point to the register of motor one that indicates desired velocity I should do it like this: M33->D:$000x86/06

Hello Corto, Registers for that data are listed in the memory map in the Turbo PMAC SRM manual: Page 493 (prints as 475): D:$000x84/04 Motor present desired acceleration (X-register units 6/[ixx08*32] cts/msec2 at %100; Y is fractional) Mot #1 is at D:$84. D:$000x86/06 Motor present desired velocity (X-register units 3/[ixx08*32] cts/msec at %100; Y is fractional) Mot #1 is at D:$86. There is no register holding actual acceleration. One method to get this is to bring actual velocity into the encoder conversion table as a timebase entry, scale factor = 1, and divide the result by one servo cycle. Note that all these values can be plotted using Quick Plot in PMAC Plot Pro2.

Hi Steven, I changed your comp table definitions below. The entries must be in descending order and cannot be repeated, so now it goes down in the order of #3, #2, #1. #3 and #2 are the source motors in the first two entries, respectively. The #1 in the last entry is only a place holder because the source motor is specified as #3. I moved the numbers 30000, 30000, and 300000, assuming that these values represent the number of table entries. Should the cross comp table (entry #1) have a count length of only 2? #3 DEFINE COMP 30000 20 #2 DEFINE COMP 30000 20 #1 DEFINE COMP 300000 #3,#2, 2 Note that deleting entries must be done in reverse order (start with #1 entry).

Are you sure that the camera requires a unit id = 2, because based on what I have learned, the unit identifier number is probably ignored. Based on the following description of the unit identifier field, it should not be needed: The unit identifier field was intended to facilitate communication between Modbus TCP/IP Ethernet devices and traditional Modbus serial devices by using a bridge or gateway to route traffic from one network to a serial line sub-network. In this case, the destination IP address identifies the bridge or gateway device to send the message to, while the bridge device itself uses the Modbus Unit Identifier to forward the request to the specific slave device of the sub network. Recall that serial Modbus uses addresses 1 to 247 decimal, and reserves 0 as a broadcast address. Thus, the unit identifier assumes the same assignment for these applications. Further, this is the only way that broadcast messages are supported with Modbus TCP/IP, as TCP alone only sends unicast (point-to-point) messages. With TCP/IP devices, a Modbus server is addressed using its IP address, rendering the unit identifier non-functional and FFH is used in its place. The hex address FF remains non-significant to a gateway or bridge and will continue to be ignored if the network is later expanded or augmented with serial bridge or gateway devices.

Vincent, Unfortunately, the unit identifier is fixed at zero on Turbo PMACs.

You can disable the position limits by changing bit 17 of Ix25 to a 1 (see page 97, PDF page 79 in the Software Reference manual). Or, tell me what Ix25 is now, and I will tell you what the new value should be. If you disable the hard limits with Ix25, you could regain some level of safety by setting software limits with Ix13 and Ix14. Note that these limits will be in the wrong place before the machine is homed. Do you see the limits if you simply remove/attach a wire between a LIM input and AGND? I would follow the instructions that Steve posted, except try a wire instead of the switch. To return the board for evaluation/repair, contact your distributor or go to the website at Services \ Repair Request and fill out a repair request. You will need to "Create New Account" if you are not already registered. Enter my name (Greg) in the "Engineer Contacted" field.

If after Steve's test, you still do not see the limit switches, I would check the 60-pin ribbon cable for continuity, especially at the IDC connectors.

I have to correct myself: there is no set convention for any case in which the divisor is negative, and the methods that Delta Tau uses provide advantage in handling rollover. For example, rollover in 24-bit registers can be handled with the following equations: Delta = (New24 - Old24)%-2^23 ;Handles rollover in both directions Delta = (New24 - Old24)%2^24 ;Handles rollover in positive direction

Here is the math for each case: 11%-4: -4 x -2 = 8, and so 8 + remainder of 3 = 11 -11%-4: -4 x 2 = -8, and so -8 + remainder of -3 = -11 3%-2.5: -2.5 x -2 = 5, and so 5 + remainder of -2 = 3 -3%-2.5: -2.5 x 2 = -5, and so -5 + remainder of 2 = -3 There are different ways of doing the math for cases in which the dividend and divisor are both negative, and unfortunately, there is no convention on which method to use. One method was just picked. The other posibilities are standard.

Mike, Are you using the System Setup utility, under Tools in the IDE? Also, it was suggested that you look at pages 12 and following of the "Power PMAC Basic Motor Setup" manual for configuring Pulse and Direction, which is commonly used for stepper motors.

I attached the com firmware for the ACC-65ETH and the PMAC; they should be used together. Downloading to the ACC-65 works the same as for PMAC. Also, you should have the latest PCOMM Server running. I also attached the boot strap firmware, just in case that is needed. Instructions for downloading com firmware are posted: http://forums.deltatau.com/showthread.php?tid=63&highlight=firmware Acc65ETH.zip

Attached is a document instructing on how to route wires and connect the Power PMAC CPU cooling fan.