StephenJ

Just as your customer is making an investment in modernizing their hardware, so too should they modernize their software. Up until Visual Studio 2008, a Visual Studio 6 project conversion utility was included. This converter did a pretty good job. The conversion report includes a list of issues you may want to fix, a list of issues you should fix, and a list of those you must fix. The easiest path would probably be to acquire a copy of VS2008 and convert the VB6 project to VB .Net. Once this is done, you can build it in the Visual Studio version of your choice.

Hi dzrong, Is your Motor[3].PosSf set up so your motor is in degrees? The CS definitions shows 1 motor unit/degree, and you are moving in increments of 1/100 of degree.

It is not clear from your post - is there a problem while moving, or only when in position? Is there an audible noise during the parabolic move? Since the speed is so slow, and the following error is so small, I would tend to say your parabolic plot does not look all that bad. The granularity in the plot is a result of the scale. Gantries can be tricky, especially if very rigid. The Ki gains for the two motors can fight each other, resulting in positional instability when it should be at rest. I would try setting your follower motor's Ki=0. I would also try setting the leader motor's .SwZvInt=1, which disables the integral gain when desired velocity!=0. Also - if motor #2 is your gantry follower, you should give it a null definition in your coordinate system (#2->0).

In your snip above, select "ControlType" = Torque. Then you must also select the "Command Signal Channel", "Amplifier Fault Level", and "Primary Feedback Channel" from the dropdown lists.

Hi Aims, Analog control is always torque or velocity - not position.

Hi dzrong, If you are talking about the error in the IDE code window (shown by the red underline) - the syntax checker in the IDE is incorrectly flagging the "..." as a syntax error. This will still build and download normally.

Does the Ethernet continue to communicate? Are you logging commands send by the Ethernet connection?

What OS and version of PEWin are you using? I have tested with Windows 8.1 x64 and the latest version of PEWin (4.4). I tested with two applications running on the same computer, as well as two separate computers and could not duplicate your results.

It will roll over from maximum value to minimum value. So $8000 0000 0000 is minimum value (-140737488355328). $8000 0000 0001 is minimum value +1 (-140737488355327), etc.

The 16 Axis MACRO CPU User manual has a pretty good description on page 3. http://www.deltatau.com/manuals/pdfs/16%20AXIS%20MACRO%20CPU%20USER.pdf?id=635331532604661507 There are 72 bits of data in a MACRO packet (one 24 bit word and 3 16 bit words). The data in these words varies by control method. If you are using torque control or velocity control, for example, the 24 bit control word (from PPMAC to the MACRO CPU) contains the servo output command, and the 3rd 16 bit control word contains control bits (e.g. amp enable). The first and second 16 bit control words are unused. In this case, the 24 bit feedback word (from the MACRO CPU to PPMAC) contains the ECT data, and the 3rd 16 bit feedback word contains status data (e.g. amp fault). In the case of direct PWM over MACRO, all registers are used (with PWM commands for each phase in the first three command words, and command data in the final word, and ECT data, ADC A, ADC B, Status occupying the feedback words). The breakdown of what bits go where in the flag registers can be found in the Turbo SRM "MACRO Flag Registers" section. http://www.deltatau.com/manuals/pdfs/TURBO%20SRM.pdf?id=635331532581848423 REMEMBER - in Power PMAC, the Bits are in the Upper 24 (or 16) bits of the 32 bit word, so you will have to +8 on the bit numbers.

Just call them all X, each in a different coordinate system. &1 #1->1000X &2 #2->1000X etc.

Luis, Most likely your saved configuration is getting overwritten by a file in your project. Check to make sure your project is not changing settings that you have saved.

Hi Dave Try: #include "../../PMAC\ Script\ Language/Global\ Includes/common globals.pmh"

Ixx20 values are 0 Ixx16 values are 32 We use two motors in one axis Say motor 1 and motor 2 and a dummy axis to integrate the two say motor 5. we close the 5th axis loop by giving #5j/ and run motor 1 and 2 in open loop #1o0 #2o0. A plc is wriiten which feed the command output of fifth into motor 1 and 2 output. Did you try setting Ixx67 of your dummy axis to 190*16? This should limit the servo output command of the virtual motor.

The example to which you refer applies to using the 11E in a MACRO ring. Is your ACC-11E in a MACRO rack? If you are using with a Turbo UMAC, then refer to "Using the ACC-11E with Turbo UMAC", starting on page 13.

Tom, If Motor[x].pAbsPos is set to the default value of 0, trigger, the hmz command causes Power PMAC simply to re-define the present commanded position as the home (motor-zero) position, without movement. However, if Motor[x].pAbsPos is set to a non-zero value, Power PMAC will read the register whose address is specified by the value for the present absolute position of the motor. The position data read at this address is processed according to the settings of Motor[x].AbsPosFormat, Motor[x].AbsPosSf, and Motor[x].HomeOffset

Please review the Acc-11E manual's section on Addressing Conflicts (starting on page 6). Check the addresses of all of your accessories and make sure you don't have a conflict.

What other accessory cards do you have installed in your rack? Have you checked the addressing on all accessory cards to make sure there is no conflict? Do the LEDs for outputs 9-16 only come on after downloading your configuration file? If you issue $$$***, do the LEDs go off?

http://forums.deltatau.com/filedepot/download.php?f=Power%20PMAC/Manuals/Hardware%20Reference%20Manual/Power%20PMAC%20EtherLite.pdf [FILE REMOVED]

Try the following: M89->X:$FFFFC2,4 I67=0 M89=1 M89=0 You should then be able to connect with your software. I don't know if you can restart the Modbus by setting I67 to a non-zero value or not - I think so, but if not, you will need to reset PMAC to restart the Modbus. Regards, Steve

Hi Chris, Does your S7 Modbus gateway accept multiple simultaneous Modbus clients? If yes - What happens if you connect the PC software first, then try to connect with the Clipper? Regards, Steve

NOTE: To unlock the MODBUS feature, please follow the instructions in your product's hardware manual for changing the IP address. For example, on a Clipper, you must install jumper E8 to disable the USB Ethernet CPU write protect.

Power PMAC uses a customized version of Debian Xenomai. Any software that runs on Debian should run on Power PMAC.