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wlewis

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Everything posted by wlewis

  1. We have a recently purchased 8 Axis MACRO CPU that is not saving all the configuration values. Most values are saved, but the ms0,mi112 and ms0,mi113 values used for setting the power-up position source address are not saved by the 'mssave 0' command. These need to be set manually each time we reset the UMAC MACRO chassis. UMAC MACRO CPU Firmware version: 1.120 UMAC MACRO CPU Firmware date: 03/27/17 PowerPMAC CPU firmware version: 2.0.2.14 IDE version: 4.1.0.24
  2. We have a PowerPMAC with a single MACRO station connected to it. When I issue a 'macroringorderbackup' command, followed by a 'save', a new 'bkupring0stn1.cfg' file is generated in /opt/ppmac/usrflash/Project/Configuration. Two questions: - is there a way of having this file automatically uploaded to the IDE project in the same way that the pp_save.cfg and pp_custom_save.cfg files are uploaded? - is there another way of backing up the MACRO station to the PowerPMAC? I ask this because if I set the MACRO station number to something like 28 (i.e., not the number assigned by the 'macroringorderinit' command) then the 'macroringorder...' commands no longer see the MACRO station. Or am I doing something wrong on the MACRO master in the PowerPMAC in this situation? Thanks, Wayne
  3. We have the following physical setup: PowerPMAC CPU in UMAC chassis ACC-5E3 MACRO fiber link 8 Axis MACRO CPU ACC-24E2S Stepper drive With this configuration, and the default ms0, mi903 of 2258, we cannot modulate the stepper speed very well. As we increase the open loop output (#1 out ), the motor jumps from stopped to rotating at a speed equivalent to a step output frequency of 150 steps/second. This occurs when the output magnitude reaches 1. It appears that with this configuration, the stepper speed is limited to discrete values. The next step is a motor speed of around 300 steps/second. Changing ms0, mi903 to 2298 (increasing PFM clock divider from 2 to 7) reduces the lowest achievable speed, and reduces the increments for each speed change. The ACC-5E3 manual states that only the high 16 bits of Gate3.MacroOutA[j][2] are transferred across the MACRO link. Is there a configuration change we can make on the ACC-24E2S other than the PFM clock divider, to allow better speed modulation? What I would like is for the stepper speed to respond correctly to fractional changes in the motor output command.
  4. Is there an option available for BiSS-C encoder support on the GeoMACRO drive?
  5. Thanks Richard. If it's a UMAC PowerPMAC, can you please confirm that we would use a ACC-5E to provide the interface from the UMAC rack to the GeoBrick-LV?
  6. Can a Power PMAC control motors connected to a GeoBrick-LV over a MACRO interface?
  7. OK. Thanks for the confirmation.
  8. Is the Geo MACRO Drive capable of driving a two phase stepper motor? My reading of the user manual suggests not, but I wanted to get confirmation of this. We have a stepper motor that is larger than can be driven by our GeoBrick-LVs, and we are not able to use the step/direction outputs from the GeoBrick as we are using absolute encoders on all channels.
  9. I will get back to you with some configuration files.
  10. Some followup on our findings: - changing I7104 to 3 (our default setting) did not change the amplifier fault behaviour - changing the startup PLC to change Channel 6 to 'no amplifier' (issue COMMAND"wx$78114, $F9CCFE", do not issue COMMAND"wx$78114, $F94DFE") in our amp config startup PLC resolve the amp fault problem on Channel 6, but the faults remain on the other channel. Some other notes: - amp faults are not isolated to the Channel 5-8 range, so it appears to not be related specifically to the ASIC - we have an expansion board in this GeoBrick-LV with absolute encoders (BiSS-C) configured. The channel we are using for step/direction output is not set up for an absolute encoder input. We are using absolute encoders on encoder inputs 4 and 7. - we see the following amp faults on the status display: 3C5C7C8C. These appear only after channel 6 output is killed.
  11. Thanks for the response. The I7104 setting is one of the ones I was going to experiment with. I will return it to its original value and see if the pulse width is sufficient for the external motor drive. We have a repackaged version of the GeoBrick LV where we do not have the handwheel port available externally.
  12. We have two GeoBrick LVs where we are using one channel on each for step/direction output. On each of these, when I command an output on the channel configured for step/direction, I get amplifier faults on some other channels of the controller that are using the GeoBrick amplifiers. Example: - Channel 6 is configured for step/direction - #6o10 - Channel 6 moves as expected - Amp fault status immediately reports 6C error code - #6k - Amp fault now also reports 1C and 8C error codes, in addition to 6C - Motors on channels 1 and 8 cannot be moved. PeWinPro reports Amplifier Fault. - Clear amplifier faults (enabling startup PLC) - Motors on channels 1 and 8 can now be moved normally. The configuration for Channel 6 for step/direction is as follows: - PFM enabled on encoder connector (5V->Pin 8) - I600=1 (enable channel) - I601=0 (disable commutation) - I602=$7810C (use output C) - I624=$100401 (amp fault ignored) - I669=200 (limit output frequency to ~2 kHz) - I7100=1473 - I7103=1778 (clock divider to allow 2 kHz PFM) - I7104=20 (to get desired pulse width) - I7126=3 (PFM on output C) A few questions: - Should Bit 16 of I624 be set to 1? We are not using the amp enable output in this application. Or does the setting of this bit not matter? - Does Bit 10 setting in I624 matter? - Are there any settings on the other channels that should change? - Does the value in I7104 have any bearing on the other amp channels? - Is there anything else that I've missed?
  13. Are there any quoted values for PFHd (Probability of Dangerous Failure per Hour) or MTTFd (Mean Time To Dangerous Failure) for the Safe Torque Off function of the GeoBrick-LV amplifiers? I am doing an assessment of a system based on ISO 13849-1 principles.
  14. Thanks Curt. I will test this at the next available opportunity, which will be in a couple of weeks. I'll let you know how it goes.
  15. I am using a GeoBrick LV to drive a brushless servo motor on channel 3 using Hall sensors as the encoder input (I70300 = 11). When jogging the motor at speeds up to approximately 600 ct/s, the motor runs correctly. At any higher speeds, it runs too fast, then slows down significantly as the position loop error increases sufficiently, then speeds up again to faster than the requested velocity. In open loop, the speed increases linearly until approximately 10% output (#3O10) where it is running at bit over 600 ct/s, and then it jumps non-linearly to around 1200 ct/s when the output is increased to 11 or 12%. I have tried a different channel on the same controller (channel 2 vs channel 3) and the result is the same. Some of the settings on this controller are: I357=2963 I358=0 I366=1399 I369=8383 I370=1 I371=192 I372=683 I7000=1473 I7030=11
  16. Thanks Richard. I'm finally now testing out this application. A couple of questions: - given that the Hall sensors are single-ended, should I be connecting the A-, B- and C- encoder pins to 2.5V? - the Turbo PMAC Software Reference Manual documentation for I7mn0 says that the 6x decode option is only available on Version B or later of the DSPGATE1 chips. Is there a way of finding out if my GeoBrick LV has the correct version? Or when did Version B of the DSPGATE1 start shipping? Thanks, Wayne
  17. Cancel this request. I found the problem. The BiSS global and channel control registers had been assigned to certain M variables. This M variable assignment was changed recently to resolve a clash in the M-variable assignments. The effect did not become apparent until the power cycle of the Brick Controller. This leads me to another question: are there any standard or recommended M-variable assignments for absolute encoder control and data registers?
  18. I have a Brick Controller configured with the BiSS-C encoder interface option. This has been working successfully until this morning. Two events occurred this morning prior to observing that the encoders were not reading: - power cycle of controller - modify one DAC output to use 'AGND for Phase A' instead of 'DAC A-' When this system was working, the encoders would initialize to their power-on position, and I would see the counts changing in response to ambient vibration. Now after a power-on or $$$ reset, all encoder channels read zero. The encoders are Renishaw Resolute. Encoder power is being supplied by the Brick Controller. The status LEDs on the encoders look OK. Are there any diagnostics I can run on the BiSS-C interface board?
  19. Is it possible to commutate a brushless servo using only the Hall sensors on a GeoBrick LV? Or is it essential to have an encoder to measure the motor position?
  20. Is there any way of overriding the abort input on a GeoBrick-LV? With I35 set to 1, the system goes into the abort state as expected when the abort input is triggered. However, setting I35 to 0 does not override the abort input. The only way I've found so far to recover from this condition is to remove the abort input condition or reset the controller using $$$.
  21. On a GeoBrick LV with the resolver feedback option, the Excitation Output is shown on Pin 15 (GeoBrick LV User Manual, p52). Is this the positive excitation signal? If so, is the negative excitation signal on the same pin as the Common Ground (Pin 12)?
  22. I wish to drive a small solenoid from the using the GPIO on a GeoBrick LV. Details from the manufacturer documentation follows: My concern is with another statement that they put in their documentation: Is this required, or is there sufficient protection in the GeoBrick LV output circuitry to avoid the need for the bypass diodes?
  23. Sina, Thanks for the explanation of the function of Ixx71 in direct microstepping mode. At this stage, I'm using a value of 4096, and the motors are performing well. I will do some testing of different values to see if I can observe performance changes/improvements. Wayne
  24. I've seen that the recommended value for Ixx71 (counts per N commutation cycles) for direct microstepping is 65536. When I set Ixx71 to this value, the motor moves quite slowly, and I have to put large values in for velocity, acceleration and following error. Is there an advantage to having this value set so high, as opposed to something like 4096?
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