AnthonyLH

Hello, did someone already started a KEB F5 Drive with EtherCAT? I am trying to activate PDOs.. without much success until now. From the "PowerPmac System Setup": My drive is recognised but in "IO Devises". I can read this in "Setup Messages": 1/23/2014 :11:36 AM - 192.168.16.215, Module - Setup Motor : Ethercat device returns error on command system ethercat slaves -m0 : response: 0 0:0 PREOP E 00F5060-F000. Cannot add device to list. KEB provide XML files. I am able to import it. I tried to configure the PDOs from "PowerPmac System Setup", and also manually by typing the all structure in a terminal. Example below. Thank you Exemple: ECAT[0].Enable=0 Sys.maxecats=1 ECAT[0].SlaveCount=1 ECAT[0].DistrClocksCount=0 ECAT[0].RTStateCheckCount=0 ECAT[0].LPStateCheckCount=0 ECAT[0].DistrClocks=1 ECAT[0].RTStateCheck=0 ECAT[0].LPStateCheck=1 ECAT[0].ServoExtension=0 ECAT[0].LPnotLRW=0 ECAT[0].RTnotLRW=1 ECAT[0].tcritical=50000 ECAT[0].IOCount=0 ECAT[0].LPIOCount=0 ECAT[0].Slave[0].Enable=1 ECAT[0].Slave[0].Alias=$0 ECAT[0].Slave[0].Position=$0 ECAT[0].Slave[0].VendorID=$14 ECAT[0].Slave[0].ProductCode=$8c8 ECAT[0].Slave[0].PDO[0].index = $301D ECAT[0].Slave[0].PDO[0].subindex = 1 ECAT[0].Slave[0].PDO[0].BitLength = 32 ECAT[0].Slave[0].PDOMapping[0].index = $1A00; ECAT[0].Slave[0].PDOMapping[0].PDOCount = 1; ECAT[0].Slave[0].PDOMapping[0].pPDO = ECAT[0].Slave[0].PDO[0].a ECAT[0].Slave[0].SyncManager[0].index = 3;// For Inputs ECAT[0].Slave[0].SyncManager[0].dir= 2;// For Inputs ECAT[0].Slave[0].SyncManager[0].PDOMappingCount = 1; ECAT[0].Slave[0].SyncManager[0].pPDOMapping = ECAT[0].Slave[0].PDOMapping[0].a ECAT[0].Slave[0].SyncManager[0].watchdogmode = 0; ECAT[0].IOCount = 1;// ECAT[0].IO[0].Slave = 0 ECAT[0].IO[0].Index = ECAT[0].Slave[0].PDO[0].index ECAT[0].IO[0].SubIndex = ECAT[0].Slave[0].PDO[0].subindex ECAT[0].IO[0].BitLength = ECAT[0].Slave[0].PDO[0].BitLength ECAT[0].IO[0].Input = 0 ECAT[0].IO[0].Type=0 ECAT[0].IO[0].Name[0]=0 ECAT[0].LPIO[0].Slave=0 ECAT[0].LPIO[0].SubIndex=0 ECAT[0].LPIO[0].Index=$0 ECAT[0].LPIO[0].BitLength=0 ECAT[0].LPIO[0].Input=0 ECAT[0].LPIO[0].Type=0 ECAT[0].LPIO[0].Name[0]=0 ECAT[0].AmpEnaTimeout=0 ECAT[0].DCRefSlave=0 ECAT[0].DCRefBand=0 ECAT[0].DCRefPlus=0 ECAT[0].DCRefMinus=0 ECAT[0].DCRefMaster=0 ECAT[0].Enable=2

I would like to create a shared memory "personal/application specific" structure that could be used in Capps, CPLCS, RTCPLC... (no Script need). The structure should use all type of variables, for example: typedef struct ST_mystruct{ char String[256]; int Id; double Value; } ST_mystruct; Does someone see a solution in PPMAC world? Is it possible to use "pushm" doing something like: int main(void){ void *pushm; ST_mystruct * pst_mystruct; InitLibrary(); pushm = GetUserBufferPtr(); pst_mystruct= (ST_mystruct *)(pushm); ... I looked at Xenomai "Shared memory services" (shm_open, mmap...). I couldn't get an operational shared memory structure. Is someone using those services? Does Deltatau have recommendations/restriction for the use of direct Xenomai functionalities? Thank you all Anthony

Thank you Bradp, Do you see a reason why i can't get the -h option working?

I got this infos on this forum thread, just above : Input Options: -iFILEIN -oFILEOUT -sSLEEP(usec) -h not working: root@192.168.16.211 192.168.168.211:/opt/ppmac# gpascii --h Error: Illegal input option 192.168.168.211:/opt/ppmac# gpascii --help Error: Illegal input option root@192.168.16.211 192.168.168.211:/opt/ppmac# gpascii -h Error: Illegal input option

Bradp, it seems i have a recomposition of the "usrflash" folder that works. Do you have comments on this?: 1/ On the "destination" PPMAC, upload the « /var/ftp/usrflash » : • From any working project, or • Simply after: « $$$*** », « save », « $$$ ». 2/ On the "compilation" PPMAC, • Build and download (during my test, the loading after download was successful, i don't know if it will also work if loading fails) • Upload of « /var/ftp/usrflash » (no « save » needed) 3/ We now have 2 « usrflash » folder . We need : • Take the « usrflash » folder from the "destination" PPMAC, • Replace the « Project » folder by the one of the "compilation" PPMAC, this except the following files (which must come from the "destination PPMAC) : o Project\Configuration\pp_default.cfg o Project\Configuration\pp_diff.cfg o Project\Configuration\pp_save.cfg o Project\Log\pp_proj.log

Dear all, I can't get gpascii -s option working : 172.23.1.169:/opt/ppmac# gpascii -s100 Error: Illegal input option Could someone help me on that, thank you. My goal: My C applications have time execution picks that seems to come from the "gpascii -i" i use to fill my rotary buffer. I would like to reduce thoses picks.

Thank you Bradp, 1/ At the moment... & 3/ Also... : Do you mean here to do a "No Device" build? When i do that i am not able to easily generate the usrflash tree of files. So what i did is that i build and download on another PPMAC, then i copied the "/var/ftp/usrflash"... As you said i got "load errors"... but i finally succeed.. with 2 exact material configuration. A good way to check hardware config is the file "/var/ftp/usrflash/Database/pp_hardware.sym". At minimum, this file needs to be exactly the same.. If you have a way to generate a projet with a different hardware config, please let me know.. (upgrading the project but not the hardware config by mixing files.. or so..) 2/ You must... : I understand the firmware compatibility. We will deal with that. I also did the test of putting: /media/disk-0/PowerPmac/powerpmac.deb and /media/disk-0/PowerPmac/usrflash It upgraded the firmware and my project (no idea in which order).

Is the RTnet lib still a library Deltatau would like to add to the projet? Did someone already used it? Another question on Eth port: Do the 2 Ethernet ports, Eth0 and Eth1, have: - independant hardware ? - independant driver/software ? I would like to send UDP data on port Eth1 without disturbing Eth0 which i use for standard communication. Thank you

Dear all, I would like to be able to upgrade a PPMAC from a USB key/SD card, without having the concerned PPMAC available.... (for distant project upgrad) It means to be able to generate the folder "usrflash" without a PPMAC or with PPMAC witch have a different hardware configuration. Thank you.

Does someone know if the "sudo" command should be working? Should i install the sudo package? Using the IDE "Install Package"?

Thank you Richard, We want to be able to set outputs (throught M variables) on every motion point (line), so every 10ms. I used "delay 0" on Prog4 just because i observed that it cancel the Prog1/Prog2 behaviour. We can't use DWELL 10 as it will clear the lookahead. "Prog3" and "Prog4" are just "tricks" to solve my lack of understanding. You explained why on "Prog1" M1 was not set: "Both assignments will be executed at the start of X0" , for the code below X0. M1==1 N0 X0 M1==0 I still don't understand the behaviour on "Prog2". I found a simple way to test what i don't understand, see the prog below: -----Prog5----- N0 X0 dwell 0; TM10 TA5 TS2.5; dwell 0; N1 X0 N2 X0 N3 X0 If you do a datagathering on Coord[].Nsync , you will observe that "N1" is never set

i have another situation... (i am not a network specialist) my configuration is given below. i am always physically connected to eth0. when the IP adress of my PC is: IP : 172.23.0.50 Sub-mask : 255.255.255.0 i can't ping the PPMAC on adress 172.23.1.169 (ping eth1 adress, physically connected to eth0), which is the result i expected when i change the sub-mask of my PC to: Sub-mask : 255.255.0.0 i am able to ping the PPMAC at the adress 172.23.1.169 (ping eth1 adress, physically connected to eth0), i didn't expect this behaviour could someone enlight me on my "issue".. thank you!! ------------------------------------------- # The loopback network interface auto lo iface lo inet loopback auto eth0 iface eth0 inet static address 172.23.0.165 netmask 255.255.255.0 gateway 172.23.0.165 auto eth1 iface eth1 inet static address 172.23.1.169 netmask 255.255.255.0 gateway 172.23.1.169

I can't understand a behaviour i am having on a synchronous variable assignement inside of a rotary buffer... You will find 4 "cleaned" to strict necessary lines program below. They all assign M variables from the beginning of the program. Prog1 : M1 variable assignement set (to 1 and then to 0) is ignored. M2 ok. Why M1 assignment is ignored? Prog2 : M1 variable assignement set (to 1 and then to 0) is ignored. M2 ok. Why M1 assignment is ignored? Prog3 : Working but.. i have 10ms (oscilloscope on output) between the rising and falling edge of M1. M2 ok. Why 10ms between M1 rising and falling edges? Prog4 : Working. I still have 10ms (oscilloscope on output) between the rising and falling edge of M1. M2 ok. Why 10ms between M1 rising and falling edges? M2 ok : means I have 10ms between rising and falling edge M1 and M2 are Mvariable pointing on outputs i spy on an oscilloscope. More infos about my PPMAC: ServoPeriod: 0.25ms RtIntPeriod: 3 (RTI at 1ms) SegMoveTime: 10ms (= to the TM) -----Prog1----- TM10 TA5 TS2.5; M1==1; N0 X0 M1==0 N1 X0 M2==1 N2 X0 M2==0 N3 X0 N4 X0 N5 X0 -----Prog2----- TM10 TA5 TS2.5; M1==1; N0 X0 N1 X0 M1==0 N2 X0 M2==1 N3 X0 M2==0 N4 X0 N5 X0 -----Prog3----- TM10 TA5 TS2.5; M1==1; N0 X0 N1 X0 N2 X0 M1==0 N3 X0 M2==1 N4 X0 M2==0 N5 X0 -----Prog4----- TM10 TA5 TS2.5; M1==1; delay 0;// or N0 X0 delay 0;// or N0 X0 N0 X0 M1==0 N1 X0 M2==1 N2 X0 M2==0 N3 X0

A note concerning the use of the "Optional Software Low-Pass Filter" or "tracking filter” with the Acc59e3. It seems there is a mistake in the Acc59e3 manual. This manual gives: EncTable[#].index2 = 512.0*zeta*wn*Ts; // Calculate index2 I had unstable values with this formula. Using the "Power PMAC Software Reference Manual", i changed the formula to: EncTable[#].index2 = 256 - 512.0*zeta*wn*Ts; // Calculate index2 Index2 must be >= 32 to activate the filter.

Hi, We are going to use a Telnet LabVIEW library. So we stopped all test of the "PowerPmacComLib". I have a very basic example i gave to DT europe. How do i post it? or I can sent it to you by mail.. Sorry for the udge delay... i just saw the post today..

I had "reset" issues when i was using the "Useralgo.Cfunc" option that allow Cfromsript function to be called (&1P, GetCoordPos,...). If this can help..

I was able to change the "root" password, found the way to change the IDE default password (http://forums.deltatau.com/showthread.php?tid=463&highlight=root), but i still have one step to climb to get my IDE compatible with my new root password. When i built my projet i get the message: "Could not Connect to Power Pmac FTP Client, Please make sure that you have a valid IP address." Does someone know where I can find the FTP configuration used by the IDE? Thank you! Anthony

My goal: use gpascii from a non-root user. I am a linux beginner. I was able to change the root password, to create new users and groups. 1/ I can't get the "sudo" working, i always get as reply "-sh: sudo: command not found". I was tring to launch a gpascii from a ssh connexion of a user i created. 2/Could i have some more details about this extract: 2.) Add xeno_nucleus.xenomai_gid=1001 to boot parameter addmisc (Note: 1001 is the gid of the group created above) ie. From the bootloader via RS232 setenv addmisc 'setenv bootargs ${bootargs} xeno_nucleus.xenomai_gid=1001' Could i modify a file (i guess not as /sys/ is not part of ./Readonly) If i have to use RS232 case, which software will you advice to interface and send the command? Is 'setenv bootargs ${bootargs} xeno_nucleus.xenomai_gid=1001' the exact and complete command? 3/Could we imagine that my PPMAC C application (autolaunch) sending system commands to modify those rights after a standard PPMAC boot? Thank you! Anthony

Rotary... i use it through the "gpascii -i" macro (just for info "gpascii -2 -i" works well with P, Q, structures..) There is 5 differents questions below: 1/ End a rotary inside the program 2/ End a rotary outside the program 3/ Local variables in rotary 4/ Index of structure (ex: "Coord[x].") in rotary 1/ What is the good way to end a rotary INSIDE a rotary program? Currently i use the following sequence: dwell 0 dwell 0 abort 1 begin 1:1 dwell 0 close It ends the rotary correctly but the buffer isn't cleared (this sequence is still inside). 2/ What is the good way to end a rotary OUTSIDE the rotary program? First i use a standard "abord" to stop the move: rotary prog is ended (ProgActive=false…), "gpascii -i" is still running. Then i tried different commands: - « close rotary » : it restarts the move!! (the rotary restarts where it stopped) - « begin 1 :1 » : rejected with error - « delete rotary » : is the only command i found which end the rotary ( "gpascii -i" is ended with error) 3/ Are local variables allowed in rotary? - I did not succeed to declare locals like "local Lvar0, Lvar1, Lvar2, and Lvar3;" - It is possible to use "undeclared" local ("L0", "L10"...) but I got some "rotary prog" crash/stop using them (the rotary prog just stop behing active/executing, no error). I did some checks after reading the thread "http://forums.deltatau.com/showthread.php?tid=789". What i could observe was: a/ locals are shared between "prog", including the rotary (or prog0) b/ it is very dangerous to use "undeclared local" as the kinematics use some local memory (after the "stack offset") for its needs ("Ln for Motor n position") c/ but... the line "b/" doesn't seem to be true in a rotary... the position(Ln) i was able to observe (Coord[x].Ldata[0],10,1) in the test didn't changed. d/ where are stored the local of the .kin ("forward" and "inverse" fonctions) ? 4/ I succeed to index structures ONLY by using local variables: - « Coord[Ldata.coord].DesTimeBase=0; » don't work in a rotary - « Coord[Q_Gr_Rotary_iGr].DesTimeBase=0 ; » don't work in a rotary - « Coord[L10].DesTimeBase=0 ; » is working.. but use undeclared locals.. which crash the rotary (see 3/)

Hello all, I am trying to get: - ECAT[].MasterState - ECAT[].LinkUp - ECAT[].Slave[].State From C applications (Capp, Cplcs..). - pshm->ECAT[].MasterState need to be written in a "ec_master_state_t" structure and result are different from script: - ec_master_state_t.al_states > 3 in C - ECAT[].MasterState > 12 in Script.. - pshm->ECAT[].LinkUp is not recognised and "ec_master_state_t.link_up" give also different results: - ec_master_state_t.link_up > 0 in C - ECAT[].LinkUp > 1 in Script.. Does someone has a documentation or example of ECAT use in C environnement?

Hello all, I have an Acc72E, CANopen Master Version. I would like to send and receive SDO using the structures: Acc72E[2].OutputMsg[] Acc72E[2].InputMsg[] Acc72E[2].GatewayFlag Acc72E[2].PMACFlag Before that, i was trying to use the "SyCon" "Message Monitor" interface to send my SDO... i can't succeed to get this working. ID+Node : 600h+7=607 DCL : 8 Cmd : 40h Object : 1001h (the standard "Error register") Could someone help me writing it correctly in the OutputMsg[] struct. Also if someone as a working exemple/params for the "SyCon" "Message Monitor".. i will be very useful... Thank you

Thank you Bradp, I just made the test of calling some code (a basic counter) stored in the library folder. It is working in: -Background Programs / capps... -CPLCs / bgcplc... -CPLCs / rticplc... It is NOT working in: - Realtime Routines / usercode (CfromScript function) What about Folding/Outlining ? Is it a Visual Studio license limitation ? Did someone succeed to add "AddIn" in the IDE or is it also a license limitation ? (we do not have any Visual Studio license).

Dear all, Did someone succeed to activate some Folding/Outlining/Regions in the IDE. My code start to be quite long and as we can't have librairies in CPLC and RealtimeRoutines, i am looking for a way to quickly access the code section i want to reach. #pragma region name //code........... #pragma endregion Region_1 Thank you!!

Thank you Sina!!

Hello!, I am looking for "PowerPmacComLib" integration example in LabVIEW. Did someone succeed to use the library in LabVIEW? Thank you!