xiaomupeng2009

Can the turbo PMAC2 use the c++ code to write the servo algorithm and use the download function to the card ?if i use the Windows library function,the pamc can recognition it ?

how does the DAC output command in pmac change to the current command in the drive when using in torque mode ?thank you! is it directly change to q axis current？

Does the IMAC can use the serial communication with the PC?when i connection the IMAC to the PC,it can't communication successful! How can i do ?

when i use the PLC to monitor the PID parameter,everytime i open the PMAC ,The pid parameter is return to the PID parameter which i monitored.if I want to change the PID parameters,i have to send a command "disable plcc16"to the terminal window,I use the "open plc16 clear"command to clear the plc ,but it can't be cleared! so in this situation,everytime i have to send a command"disable plcc16"to the terminal window before i want to change the pid parameters!this is the normal situation?

can the pmac communication with one PC using IP and communication with another pc using serial for the same time

Brain，can you tell me how to detect the drive signal in the pmac?

when i use Torque mode to control the motor,how can i detect the current of the motor in the PMAC card!

thank you!but I also do not know the format of m166->X:$00009D,0,24,S,if i according to the definition of the above table.it should be the m166->x:$00009D. Motor present desired velocity (X-register units 3/[ixx08*32] cts/msec at %100; Y is fractional) .what is it the mean of X-register units 3/[ixx08*32] cts/msec at %100; Y is fractional? can you take an example?

(1) X:$000x9D/1D ; Motor present actual velocity (unfiltered) (1/[ixx09*32]cts / [ixx60+1] servo cycles) m166->x:$00009D,0,24,S ; motor actual velocity they are all point to the actual address?who can tell me the different!thank you? what is the "1D"? (2) D:$000x86/06； Motor present desired velocity (X-register units 3/[ixx08*32] cts/msec at %100; Y is fractional) when i use the m167->D:$000086 to show the desired velocity,why the display speed is vary a lot with the velocity of program(for example F6 in program)? what it is relationship of D:$000X86/06 and the command velocity? how can i visit the command velocity like visit the actual velocity?

YES !thank you!but i want to know that the PID parameters address that M variables visit and L variable visit is the same address? for example,X:$000X9F/1F is the address of IX33，but in here,the L6->X:(R1-$11).is I133.they are represents the same address of I133? or they are some different?

#define K16 0.000015259 ; Constant of 2^-16 #define K128 0.0078125 ; Constant of 1/128 #define K23 0.000000119; Constant of 2^-23 #define Ix08 L1 L1->Y:(R1-$27) #define Ix09 L2 L2->Y:(R1-$14) #define Ix30 L3 L3->Y:(R1-$17) #define Ix31 L4 L4->X:(R1-$1E) #define Ix32 L5 L5->X:(R1-$21) #define Ix33 L6 L6->X:(R1-$11) #define Ix35 L7 L7->Y:(R1-$1D) #define Ix63 L8 L8->Y:(R1-$11) #define Ix69 L9 ; Note that this is 24-bit value, not 16 L9->Y:(R1-2) #define STATUS L10 L10->X:(R1+0) #define IPOS F1 ; Integrated position error register F1->L:(R1-$12) ; Automatically zeroed on motor open loop #define PDVEL F2 ; Previous desired velocity register F2->L:(R1-$29) ; Automatically zeroed on motor open loop #define AVEL P0 ; Floating-point actual velocity #define DVEL P1 ; Floating-point net desired velocity #define FE P2 ; Floating-point following error #define APOS P3 ; Floating-point actual position #define DPOS P4 ; Floating-point net desired position #define DACOUT P5 ; Floating-point commanded output OPEN SERVO CLEAR COPYREG P0 ; Copy Motor AVEL,DVEL,FE,APOS,DPOS to float P0..4 If (STATUS&$12000 = $12000 Or STATUS&$10000 = 0) ; Test Ix34 mode IPOS = FLIMIT(ITOF(Ix33)*FE*K23+IPOS, ITOF(Ix63)*ITOF(Ix08)*2) ; Scale Ix63 to include Ix08 EndIf DACOUT = FLIMIT(ITOF(Ix30)*K16 * ( FE + K128 *(ITOF(Ix32) * DVEL + ITOF(Ix35) * (DVEL - PDVEL) - ITOF(Ix31) *AVEL) + IPOS), ITOF(Ix69)) PDVEL =DVEL ; Store for next cycle RETURN(FTOI(DACOUT)) CLOSE this is a program in the instruction,when I put it into the software to run,it show the error that " PLCC illegal command or format string",why? this is not a plc program,why it show PLCC illegal? the address of the PID parameter in normal algorithm can use it in the user defined algorithm?wish for your detail instruction!thank you!

In programming ,how to express the position error rate?what register can I use?THANK YOU!

i have no the card,can you tell me how does the adaptive algorithm work? when we use the adaptive algorithm, during the adjusting,it is to adjust the Pid parameters?thank you

If I want to detect the change of the load of the linear motor,for example ,i want to detect the velocity,I can use the M parameters to visit the register,then i can change the PID parameters according to different velocitys. but how can i know the change of the load and how to detect the change of the load? thank you?

what is it about the adaptive algorithm of the powerpmac ?is it LMS or LS?