guonaldo

Dear Sina, If I send the CLIPPER back and add DPR option on it. Will it be the same dimension as original?

Hi I am using Clipper . I connected one of the I/O with an input of pulse . The tick is 1s. This tick is used for synchronization. What I want the clipper do is : every time Clipper receive the pulse, Clipper output the current velocity and angle through ethernet port. I think a PLC program can do this. But I do not find any function that can cope with this need. Need you help! Thanks!

My platform is CLIPPER. I have a strange problem these days. Using PeWin32Pro,I wrote and downloaded a simple Motion Program. No PLC programs is loaded. After 5 hours' test,I used command "A" and command"K" to kill to motor. And then I used command "j/" to enable the amplifier once more.Just at this time, jog command failed. No matter j+ or j-,the motor refused to move. So I use command "%" to see the override coefficient. It turned out to be ZREO! So I added command "%100". Then I checked it once more. It stayed at ZERO! I promise I didn't changed the override coefficient during the test. Why PeWin32Pro changed it without any intimation ?

Thanks,Sina. When motor stopped ? is 890400078000 ?? is A80030020000000000 Global Status is unknow because I didn't record it then motor stopped and till now I havn't met the problem again in my lab. >_<

Hi,I have a troublesome question about clipper now. I write a simple trajectory using Motion Program which could periodcally stay at 0 degree and 180 degrees. In my lab which has a ideal envirnoment, we perform the trajectory correctly for five days. Clipper is excellent! Before we move out,I set warning follow limit to 0 and shielded the soft travle limit in order to test out equipment in a "worse" situation. When we move out equipment to a truck. Troublesome issue appeared.The moter randomly stopped at an angle,such as 30.5 degrees.And at this time Jog Command is invalid. But using "?" , I get 89200784000, there seemed to be no error occured. Besides,the velcity was around zero and the following error didn't increase.I think it means the Motion Program has stopped or the following error would increase while moving from 0 to 180. This problem did occur threes times which we had ten tries. When we bring back to the lab, everything is ok. Is there any other possible solutions? Here is my program: OPEN PROG 1 CLEAR[/u][/i] ABS F 4 ;4 degrees per sec while(1<2) X0 DWELL 20000 X180 DWELL 20000 ENDWHILE CLOSE And I didn't download my PLC program during the test.

Thanks.That's sound really nice! But in my case,it is not possible to extend DPR on clipper any more now. So is it possible to send position data to Ethernet continously? Using a simple PLC program, it can be realized simply. But I can get no data in TCP/IP debugger on my PC. >_<

In my case, I need to get the acual position from CLIPPER every 5-ms. As I know,the position register value is converted into string and send to the communication port one after another. Actually, the string length is usually 9-bytes. Besides the head and the tail of a fame,there are 13bits in total. The baudrate is supposed to be 13*1000*8bits/5s= 20800bps=20.8Kbps. I had an experiment later. Using Pcom32.dll,I tried to send 'M162' using Ethernet. Clipper responsed to me. The fact is that one cycle spent more than 5ms. So does it mean that 'request-respond' takes quite a long time? What should I do if I want CLIPPER send position data from Ethernet continously? Could I recieve proper data using TCP/IP debugger? If clipper could send float number through RS-232 at 115200bps, that will be nice! Thanks guonaldo

Thanks a lot, CharlesP.

I use "DWELL" in my motion program. Now I have a question: 1.Using the mark bit (Dwell in progress),it seems that i could check this bit to know how long the motor stay still. Setting "Dwell 10000 ",the truth is that,in my VC interface, I use a 100-ms timer to check this bit. And I get 8.3s in my interface. So does it mean the accuracy of VC timer is not good enough or does it mean the accuracy of CLIPPER is not good enough? 2.Another question. I see "servo cycle" in every Turbo Manual. But how long is servo cycle in Clipper? I find it nowhere in the manuals. Thanks guonaldo

Does anybody know the answer?

"If I62 is set to the default value of 0, these messages are terminated with a . If I62 is set to 1, the is suppressed. With I62 set to 1, if it desired for a Turbo PMAC program to cause a to be sent, the SEND^M command must be used (the carriage return character is )." But in my clpper board,when I type a plc program as follows: I62=1 SENDS “1“ From COM3 , I get "02 31 0D"(in ascII),where do 02 and 0D come from? However,I changed the program : I62=0 ; SENDS “1“ ; And again I get "02 31 0D"(in ascII). So my questions are: 1. How can I surpress 02 and 0D in COM output? 2. I62 doesn't work.Is there something else I forgot ? Thanks Guonaldo