mjunker

Hi Curt, I have the jumpers E11-E14 already installed on the board. The AENA only seems to output 0.15V (Low) and 3V (high) when not connected to anything. When it is connected to the amplifier in sinking configuration, the levels are at 2.3 and 2.8V low and high respectively. I have tried in both the sinking and sourcing configuration and neither are producing acceptable pulse levels for Pulse, Dir, and AENA simultaneously. I have attached the specifications of the amplifiers I am using. I will also contact the amplifier manufacturer to find out why it may be pulling the levels down. Cheers, Mark

I have had trouble with motor motion when no commanded moves are given and moves in only a single direction. I have the step, direction and AENA outputs connected to an IMS MForce amplifier with a grounded reference to drive the motors. I strongly suspect the problem is with TTL levels being drawn down when attached to the amplifier. The step and direction levels drop from 5V to 3.4V when connected to the amplifier resulting in a not totally defined high or low state. There are major problems with the AENA. First off, is it an input or output? You have it listed as both an input and I/O in the manual. I do not understand your design if is meant to be an input only. How are we intended to enable the amplifier otherwise? There are similar discrepancies in the ACC24E2A manual about amplifier enable. Some places you have it listed as an input and some as an output (specifically for the AE_COM pin).

I have just checked that the counts change when I apply an encoder signal into the device and switch from internal to external feedback. Can you explain why it will not work using internal feedback?

I cannot seem make the position and velocity output on motor channels 25 and above. The position error is incrementing correctly but the position and velocity address seem to be not be mapped correctly. All of the other motors are working properly. I am using internal stepping from the ACC-24E2A card. I have a Delta Tau MACRO setup with 2 16-axis MACRO CPU's (2 macrostations) communicating over fiber with a MACRO Ultralite Turbo PMAC2 VME board with 4 servo IC's. I have followed consistent mapping of the Ixx02, Ixx03, and Ixx04 variables but cannot find what the problem is with the output position. The MS{node},MI910 variable is also correctly set to internal feedback as well. I am using I2502=$7B422 (+2 for stepper output) I2503=$3532 I2504=$3532 as described in the software reference manual. I also have MS48,I916=2 I have been trying to sort this out for over a year now and it still is not working. Cheers, Mark

I have I70..77=$3333 and the motor channel is enabled Ixx00=1. The following error increments but the position does not follow and the limit flags do not respond.

Ixx69-Ixx73 are all the default values and the same as every other motor channel so I do not think that is the problem. I believe my Ixx25 setting is correct as well but I do not see any feedback from the flag inputs (limits). I have I2525=$3470 which is directly from the SRM for the flag register address. I2501=0 (no commutation) and I2524=$70001 or $40001 (disabled and enabled, respectively) Does this sound like a MACRO misconfiguration?

Yes it is set to 2.

I cannot seem make the position and velocity output on motor channels 25 and above. The position error is incrementing correctly but the position and velocity address seem to be not be mapped correctly. All of the other motors are working properly. I am using internal stepping from the ACC-24E2A card. I have a Delta Tau MACRO setup with 2 16-axis MACRO CPU's (2 macrostations) communicating over fiber with a MACRO Ultralite Turbo PMAC2 VME board with 4 servo IC's. I have followed consistent mapping of the Ixx02, Ixx03, and Ixx04 variables but cannot find what the problem is with the output position. The MS{node},MI910 variable is also correctly set to internal feedback as well. I am using I2502=$7B422 (+2 for stepper output) I2503=$3532 I2504=$3532 as described in the software reference manual. Does anyone have any ideas what could be wrong? Cheers, Mark

Brian, I have tried several values from 0 to 4000 and nothing changes the output of the DAC. I have double checked and E1 is set to 1-2 as well as J3. SW-1 are all closed (on). I removed the only other board in the crate, ACC-24E2A, and there is still no change in output voltages.

I have an ACC-59E in a UMAC turbo crate that only seems to output -10V between DAC+ and ground for all output channels. The ADC inputs are working fine but I cannot change the output voltage. Everything is configured according to the example in the manual. M6001->Y:$78C08,0,12 ; DAC Channel #1 M6002->Y:$78C09,0,12 ; DAC Channel #2 M6003->Y:$78C0A,0,12 ; DAC Channel #3 M6004->Y:$78C0B,0,12 ; DAC Channel #4 M6005->Y:$78C08,12,12 ; DAC Channel #5 M6006->Y:$78C09,12,12 ; DAC Channel #6 M6007->Y:$78C0A,12,12 ; DAC Channel #7 M6008->Y:$78C0B,12,12 ; DAC Channel #8 Setting M6001=xxxx, where xxxx is a positive integer, does not alter the output of the card. Any hints?

I have two UMAC crates with a 16-Axis MACRO CPU in each one connected to a VME Ultralite by a fiber ring. I cannot seem to find what the appropriate SW1 and SW2 settings for each of the CPU card in any of the manuals. I currently have SW1=7 SW2=0 for the first macro station card and SW1=7 and SW2=2 for the second macrostation card. I would like all nodes activated.

I am running a stepper motor using an ACC-24E2S in open loop on MACRO ring. The motor has an encoder on it and I want to know if I can monitor the position of the motor using the encoder without actually closing the loop? i.e. MSx,MI910=8 and still access the encoder value. Is it still stored in the ECT and how can I access it? Cheers, Mark

I Sina, I found the PEWIN32 Software Manual and tried following the Quick Getting Started Steps on page 56 for the MACRO RING and cannot get past step 1 "MACRO RING ASCII -> Reset MACRO Ring -> Reset All Stations to Default". I am now getting an "A" error on the MACRO CPU and have to power cycle the VME Ultralite and UMAC before I can do anything else. I am really lost at the moment as to how to set up the MACRO RING. It shouldn't have to do with the SW1 DIP settings of the ACC-24EAx cards should it? Also, Is there any reason the code on page 56 of the 16-AXIS CPU Manual should not work (I have tried it and it does not as per error "C" mentioned earlier.) By the way, I have been able to clear "C" error using clrf and msclrf15.

Sina, I have made a bit of progress but I cannot seem to active nodes higher than 16 using the MSSAVE (error E0000000) or MS$$$ (nothing happens) commands from the terminal. When I try MSSAVE0, it confirms the command has been completed successfully. When I try MS$$$ after that, there is no response from the terminal and I receive the error "C" on the 16-axis MACRO CPU. Any ideas why this does not seem to work? Regards, Mark

I am new to Delta Tau products and am trying to setup to hardware we have. I will give a brief description of my system. One 16-axis MACRO CPU, one PMAC2 VME ULTRALITE, two ACC-24E2A analog servos (4 channels), and four ACC-24E2S encoder steppers. I also have a second 16-axis MACRO CPU that is currently not installed. I have noticed what appears to be a discrepancy between the base board address of the servo IC's in the ACC-24E2A user manual (pg. 7) and the 16-axis MACRO CPU manual (pg. 7). Is there a difference between a base address and a board base address? I am also am failing to understand the differences between a servo channel and a node (as well as many other concepts)? Is there any documentation that would be a good for a new user? Kind regards, Mark