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Amar

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  1. First build your project without PLC. Once it is succeeded then include your PLC and build and download it once again.
  2. Amar

    Cascade loop

    i haven't received any messages. please mail me on Kaustubh and mail id. kaustubh@intelmotion.com amar@intelmotion.com
  3. Amar

    Cascade loop

    Thanks.. Here i haven't described whole plc0. In plc0 i am taking care of, it will execute once and other task will execute over and over again. We are using same scenario in UMAC for Auto Mode in Antenna system for satellite tracking. Error will generate at continuous rate from integrated tracking receiver. I want to know what i missing in PPMAC. Why DAC is reaching at maxdac value? Till reaching at maxdac value of outer loop inner loop motor is following correctly. once outer loop dac output reach at maxdac value it will stop motion.
  4. Amar

    Cascade loop

    I am trying to implement cascade loop with analog feedback in PPMAC. Resolution of the analog feedback is +/-10 volts mapped into -32767 to 32767 counts. I am giving this signal to a virtual axis through encoder conversion table. I am closing the virtual loop by giving command #14j=32767. I want to make error zero. Somewhere i am making mistake. After some time Motor[14].IqCmd is reaching at 32767 and it will stop motion of inner loop if still error is there. Please suggest me if i am making any mistake. Below is the setting for encoder table, outer loop motor and gearing with inner loop. ptr ainError->Acc28E[4].AdcSdata[3] Sys.Idata[1501] = ainError + 32767; //(Error will be +/- 32767) //Encoder table settings EncTable[12].type = 1 EncTable[12].pEnc = Sys.Idata[1501].a EncTable[12].pEnc1 = Sys.pushm //Sys.Idata[1501].a EncTable[12].index1 = 0 EncTable[12].index2 = 0 EncTable[12].index3 = 0 EncTable[12].index4 = 0 EncTable[12].index5 = 0 EncTable[12].ScaleFactor = 1 EncTable[14].type = 1 EncTable[14].pEnc = Sys.Idata[3001].a EncTable[14].pEnc1 = Sys.pushm EncTable[14].index1 = 0 EncTable[14].index2 = 0 EncTable[14].index3 = 0 EncTable[14].index4 = 0 EncTable[14].index5 = 0 EncTable[14].ScaleFactor = 1/65536 //Cascade motor setup Motor[14].pDac = Sys.Idata[3001].a Motor[14].pEnc = EncTable[12].a Motor[14].pEnc2 = EncTable[12].a Motor[14].Servo.Kvfb = 0 Motor[14].Servo.Kp = 0.1 Motor[14].Servo.Ki = 0.0001 Motor[14].Servo.BreakPosErr = 0 Motor[14].Servo.Kvff = 0 Motor[14].Servo.Kaff = 0 Motor[14].pAmpEnable = 0 Motor[14].FatalFeLimit = 0 Motor[14].PosSf = 1 Motor[14].Pos2Sf = 1 Motor[14].AbortTa = 256 Motor[14].InvAmax = 256 Motor[14].JogTa = 256 Motor[14].JogTs = 32 Motor[14].JogSpeed = 16384 Motor[14].PwmSf = 1 Motor[14].MaxDac=32767 Motor[14].InPosBand = 100 Motor[14].FatalFeLimit = 32000 Motor[14].WarnFeLimit = 16000 Motor[14].pAmpFault=0 Motor[14].pLimits=0 //PLC for controlling inner loop using gearing open plc0 Motor[1].pMasterEnc = EncTable[14].a Motor[1].MasterPosSf = 1 Motor[1].MasterCtrl = 1 CMD "#14j=32767" close
  5. You can use Rotary Motion Programs.
  6. Dear Sir, We are interfacing Hengstler encoder with PPMAC through Beckhoff switch over EtherCAT and we are unable to update encoder device XML file. After clicking on update file button there is popup error message. Here we are attaching screenshot of error message and device XML file in text format. Please go through attached file in PNGformat. Earlier we managed to interface encoder with PPMAC (CPU 465) using unusual technique in which we directly copy and paste file into the folder "ECATDeviceFiles". With this technique we were detecting virtual encoder which is not actually detected by the EtherCAT Master. We mapped PDOS of this virtual encoder and we were getting data. Because of this unusual technique we are facing EtherCAT enable issue with ABB EtherCAT amplifiers which we are also interfaced with the PPMAC. All amplifiers are not getting enabled.But without interfacing encoder to PPMAC we can enable EtherCAT of all the amplifiers. Here I have also attached screenshot for firmware and IDE version. Please go through attached file in PNG format. Please help me to overcome from this problem. Hengstler ACURO.txt
  7. I have developed application using PDK licence copy and tried to deploy on other OS platform. Application running properly on Windows 7, windows 8. But on windows server 2012 its not running properly. Many functions working properly on windows server 2012 except Data gathering using data gathering utility of PDK ("DeltaTauGatherProgram.exe"). Our final application will run on windows server 2012 and data gathering is most important for us. So please help us to resolve this issue asap. I think may be problem with distribution DLL "cygwin1" for windows server 2012. For other OS one dialog box is appearing with option "Allow" when i start data gather but its not appearing in windows server 2012.
  8. Dear All, Thank you very much for yours valuable feedback.. I already tried all these things but nothing is worked. One more thing i need to notify is that same CPU (465) working properly with windows 7.
  9. No. I am not able to establish connection with CUP 465 at any instance. Even its not pinging. First time I am trying to connect with CUP 465. Before that I was working on CUP 460. And every thing is fine with CPU 460.
  10. Dear Sir, I am having Windows 8 as my OS. I have installed Power PMAC IDE (Ver 2.2.0.39). We have two types of PPMAC CPU i.e. AMP86xxx (465) and 460EX. My Power PMAC IDE is communicating properly with 460EX which is having firmware 2.1.0.39 but not with AMP86xxx (465) which is having latest firmware 2.1.1.3. Kindly reply at the earliest...
  11. I have already done this. But still i am missing something like setup parameter for motor or anything else. Please help me to solve this. Regards, Amar Intelligent Motion Technology Pvt. Ltd. Now its working. I didn't selected "usercode.c" file compile option. Before it was "content". After selecting "compile" option it's working.. Thanks...
  12. I have already done this. But still i am missing something like setup parameter for motor or anything else. Please help me to solve this. Regards, Amar Intelligent Motion Technology Pvt. Ltd.
  13. Dear Sir, I have only PPMAC CPU only. I am trying to run user servo algorithm. I have assigned below function on servo interrupt for one motor using servo setup utility. In below function i have assigned value to global variable. But its not working. Its not changing value of global variable. I think this function is not invoking on servo interrupt. double user_pid_ctrl( struct MotorData *Mptr) { double *p; p = pushm; MyGlobal = 10; return 0; }
  14. We are going to purchase PDK License copy. I would like to know, Is it Enterprise Edition?
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