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StephenJ

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Posts posted by StephenJ

    Legacy VB6 HMI app using PTalk needs to communicate with the Power PMAC

    in Power PMAC

    Posted

    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.

    How to eliminate noise and vibrations?

    in Power PMAC

    Posted

    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).

    Macro Servo Node Input/Output Information

    in Power PMAC

    Posted

    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.

    save command etc.

    in Power PMAC

    Posted

    I have the problem or conflict between PowerPmac System Setup and the configuration file. It looks that the save on PowerPMAC does not save the System Setup, and if I open the System Setup and Accept each Motor it will recognize the setup other wise the configuration is not stable some times yes it works and after turn off and On the configuration is not in PPMAc. I am using Absolute Encoders and the plc to read the encoders are working but the Setup and configuration are not. any Idea why? And yes, I update to 1.6 version ,and $$$*** and save and redo a new solution. I need to have very clear why the settings on the System Setup are changing and why the configuration file does not take the system set up file.... The System Setup does not let me Save setup the file.. because is online?

     

    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.

    Following Error

    in Turbo PMAC

    Posted

    Thank you for the reply.

    Unless I am misunderstanding your question, could you not simply set Ixx20 (for jog moves) or Ixx16 (for programmed moves) to limit the speed of the motor?

     

    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.

    MACRO Absolute Position Read

    in Power PMAC

    Posted

    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

    Does this acc-11e breakdown?

    in Turbo PMAC

    Posted

    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?

    Multiple Modbus Connection Problem

    in Turbo PMAC

    Posted

    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

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