AnthonyLH

On brushless motors I get the message "MOTOR NOT PHASED"... that true ... PhaseFound==0 ... but how do I clear the HomeComplete bit ? i have to set PhaseFound to 1 ? Or do you have another solution ? Thank you

I just installed the new IDE (4.2.1.19). I still have the same compilation errors, this even on new projects on which the only modification made is the activation of "usrcode.c" compilation. I work with a PowerClipper, firmware version 2.4.0.180. Do i need a new firmware to avoid having thoses error messages? Thank you

Thanks, so starting at ID4 the script files are not ordered alphabetically. My issue then might be the mapping done for the C code ("pp_proj.h") which seems to still map using alphabet order. Please have a look at the attachment. Mapping for C and Script seems different (look at P_01 and P_02: P_01 is P8193 in Script, but is mapped has P8192 in pp_proj.h

Thank you for your reply Tony. I think the IDE is not supposed to work that way... the IDE has to order alphabetically automatically. I tried to uninstall the IDE 4 and to re-install it... same behavior...

Dear all, On the IDE 4, the scripts files I add or insert are not ordered alphabetically. It cause variables mapping desorder (between variables in the script (plc/prog) and variables interrogation through gpascii). Comparing IDE3 and IDE4 project files I found this new tag: 2 How can i remove this option ? Thanks

Thank you Steve, On Deltatau website there is only one IDE, the IDE 4.2.0.13. Can this IDE be used with all PPMAC products? CK3E (ARM_Posix), PowerBricks (460ex) , PowerClippers (apm866xx)...

Yes, sorry, i did the test again today and go the message "error#27: Program encrypted.." So perfect! I must have missed a step on the last test.

Dear all, I need to use the encryption option on some projects. Is there a way to forbid the commands that show the script code lines like the "list" command ? Thank you, Anthony

Hello, I will also have to develop a kernel module, to build it and to fournish is to our customer. This kernel modul will contain the kinematic that should be called from the CfromScript (usercode.ko/so). It will really help me if one of you had an example/doc that could be shared. Thanks you!

Dear all, I get the following warning at "Realtime Routines" (usrcode) build: the frame size of # bytes is larger than 1024 bytes [-Wframe-larger-than=] I get this warning on cpu 465, it is not present on cpu 460. I know that a declare big structures (warning appear for 2 functions, with frame sizes around 3000bytes). Does someone had the same issue? What will be a good solution? Can i use "malloc" in usrcode to get around this issue? Thoses functions are used by the kinematic (forward/inverse) through the CfromScript function. Thank you!

Thank you Brad

Dear all, Is it possible to increase the number of provided P and Q variables? From my understanding the limits are 65,536 P variables and 8,192 Q variables. I would like to increase thoses limits. Thank you.

Thank you Curt!

Dear all, Is there a way to know if a forward() kinematic fonction was called in purspose to move axes (pmatch) or just to read positions (&1p, pread, GetCoordPos) ? I would like to react differently depending on the caller. Thank you.

Dear all, What is the best and fastest method to read BrickLV and BrickAC status from C (BusOverVoltage, BusUnderVoltage, ...) ? On PowerBrickLV (firmware 2.1.1.3, APM86xxx), asking "pshm->BrickLV.BusOverVoltage" always returns 1... so does not work. Remark1: BrickLV.BusOverVoltage is set at 1 when there is no power, in combinaison with BrickLV.BusUnderVoltage Remark2: I currently have a situation where i can be ClosedLoop without power on the BrickLV. I will get a FollowingError when i will ask for a move.

Dear all, Do someone know if a solution was found to get the IDE version in the running code? Thanks

Dear all, If i active the encloss function for a serial encoder on a PowerBrick directly in a plc at startup, i will trigger the EncLoss error. I had to apply a timer of 8s to get ride of the error. Is it normal? Is there a status i can read instead of a timer, or a command i can send to speed up the startup? The encoder configuration (Acc84B) is made before the enloss activation Motor[1].EncLossBit=31 Motor[1].EncLossLevel=1 Motor[1].EncLossLimit=0 call timer.wait(8000); Motor[1].pEncLoss=Acc84B[0].Chan[0].SerialencDataB.a Thank you!

Thank you Charles! I did not know this one. In the configuration manager (Menu>Build/Configuration manager) it is possible to create configurations or to configurations. In which purposed did you opened this possibility? Can i use it to create/use my own make files? I succeed to create a new one but i can not see what is inside and could not find where it was created. I can not edit it. Do we have access to it ? I have currently 2 needs: - First need: Furnish our code to customers to be included in their projects. We want our code to be unreadable, so compiled as a librairy will be the best. We have functions that need to be executed in capps, but some also in the rtcplc, bgcplc and usercode (c from script and phase). The only solution i see is to be able to link it in the make file.. - Second need: We would like to use rt_queue functions in the rti and bgcplc. I tried to include . From my understanding (i might be wrong), a ".so" (rtcplc & bgcplc) needs its own links to the libs, even when the main application is already using theses libs. So i need the xenomai lib for that (-lxenomai ), which is included in the capps make file, but not in the rtcplc/bgcplc make files. Am I correct? Why did Deltatau choose not to include the xemonai lib in the rtcplc? Was it on purpose?

Is it possible to add custom lines to the makefiles in the latest IDE (2.0.3.40) ? I can not find any input. I also need to include static/dyn libraries.

Dear all, Using ECAT and reading LPIO... If I disconnect the ECAT Ethernet cable, I cannot find a way to restart the connection without rebooting the CPU. The command ECAT[0].Enable=2 always generate the error ECAT[0].Error=-10 (Invalid PDI configuration. ECAT[].LPIO[] is not properly configured.). I tried a lot of things to reconfigure the full ECAT structure but i could not get it running. It is not a big issue for me but i would like to understand...

I can not succeed to have correct values for "Coord[x].TPExec.Pos[j]" using the plot tool (data gathering), when i have correct values in a watch windows. Also, i can not read it in C using standard "pshm->Coord[1].TPExec.Pos[8]", i get the error "request for member 'Pos' in something not a structure or union". Thank you!

Does someone has a solution for the rint/lrint issue?

Can i use the "abort" command to stop "jog" moves? I currently use "J/" (Motor.JogTa and Motor.JogTs) to do a soft stop during jog moves. I would like to stop faster on errors, using "abort" will be a good solution. All my motors are in the same CS. Thank you!

Hello Brad! We play TM=10 ms sampled trajectory, written in a .pmc file, using "gpascii -i". At some point, i want to exit this trajectory mode and end the motion in a new commanded position, position not present in the .pmc file. In the idea sending something like "cpx linear TM10000 TA1000 X0Y0Z0A0B0C0". I would like the target position to be changed without passing by an 0 velocity/acceleration phase (no stop/abort). Thank you!

dear all, we are executing trajectory moves using the rotary buffer and gpascii -i which reads the .pmc file. i would like at some point to change the target position (with new TM and TA), this without passing by a 0 velocity/acceleration phase (no stop/abort). it would have been possible just by adding a new line in the rotary (linear TM## TA## X##..) , but it seems that using the gpascii -i lock the access to the rotary. i tried a cpx command, it seems that a motion prog can not be launch when another is already running. does someone have a solution? thank you!