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coles55

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Posts posted by coles55

    Reading encoder position at the phase rate

    in Power PMAC

    Posted

    We are currently going through some development effort with the PPMAC system and we have a question with regard to capturing high resolution encoder readings. Basically we have an ACC28E in the system collecting analog data from third party sensors at the phase rate. At the same time, we are reading the Motor[#].ActPos at the servo rate (ACC24E2A). Ultimately we would like to combine the 2 sets of data(encoder position with sensor data). However, our phase rate is running at 4 times the servo rate. Is there any way we could get higher resolution encoder readings (at the phase rate) without having to re-tune the motors (having to change the servo rate)? One suggestion was to increase the servo rate up to match the phase rate then use Motor[x].Stime to lower motor servo rate but this overloaded the PPMAC processor with 100% CPU usage.

     

    Thanks,

    Lei

    PowerPMAC system with ACC-28E

    in Power PMAC

    Posted

    Sina,

    E5,E6 and E7 jumpers are all on pins 2 and 3 (backplane +/-15V). We have been testing the card with nothing connected on the analog inputs. Only thing connected is the backplane.

     

    Thanks,

    Lei

     

    coles55,

     

    Can you please check the E5, E6 and E7 jumper settings on ACC-28E. Also can you please repeat your test with nothing connected on ACC-28E connectors. I'm concerned about the +/-15V signal on the backplane since ACC-24E2A uses the +/-15V on backplane for DAC outputs.

     

    Regards,

     

     

    PowerPMAC system with ACC-28E

    in Power PMAC

    Posted

    Sina,

    We switched the IOCard index to 1 but we are experiencing the same issue as before. With regard to adding the ACC-28E card, I would put in the card and do a '$$$***' then save and reset. Upon power up I would download the solution then the motor parameters. Please advise if there is anything else we could try.

     

    Thanks,

    Lei

     

    Can you change the address switch on ACC-28E such that it is addressed as IOCard index 1, and repeat the test?

     

    SW1-1   SW1-2   SW1-3   SW1-4
-----   -----   -----   -----
OFF     ON      ON       ON

     

    Also, after adding/removing hardware to/from a Power PMAC system, the CPU detects a change in the hardware and will not load your saved project/settings and loads the factory default settings only. Have you downloaded your project/settings after adding the card to the system?

     

     

     

    PowerPMAC system with ACC-28E

    in Power PMAC

    Posted

    Hi,

    In our PowerPMAC system, we have the following cards:

    PowerPMAC processor card

    ACC-11E

    ACC-24E2A (qty.2)

    Just recently we have added an ACC-28E card for analog data acquisition. The gate index is shown below for addressing:

    ACC-24E[4],ACC-24E[5],ACC28E[15]

    We are currently using ACC-24E[4] card for master clock of the system with 24kHz of phase freq and 12kHz of servo freq. We can power up all of the motors without any issues. However, we can't seem to get motion in any of the axis (with the jog command). We tried tunning but was not able to get any motion. Has anyone experienced similar issues?

     

    Thanks,

    Lei

    Backup robot motor configuration

    in Power PMAC

    Posted

    Sina,

    We have noticed that when we do a restore, the motor setup parameters does not get restored. We understand that we can save those parameters using the 'Save Configuration to File' in the 'Setup Variables' but shouldn't backup/restore also retain those values as well?

     

    Thanks,

    Lei

    ACC-14M Analog Input sampling frequency

    in Power PMAC

    Posted

    Charles,

    Is there any limitation in terms of the clock rate I can run at on the ACC-5E3 (in this case the Macro Master)? The manual indicate that the values for the Acc5E3[0].PhaseFreq ranges from 35.76 Hz to 2,343,463 Hz. However, when I increased the phase frequency to above 10kHz, the analog readings froze. At the same time, I would think there is a limitation on the clock rate of the ACC-14M as well. Since the ACC-14M has 2 Burr-Brown ADCs that samples at 500kHz at max speed, we would like to run at this speed.

     

    Thanks,

    Lei

    ACC-14M Analog Input sampling frequency

    in Power PMAC

    Posted

    Hello,

    Is there anyway to control the sampling rate on the ACC-14M? The manual indicate a Burr-Brown ADS8361 which samples at 500kHz maximum frequency. Which clock does the ADC use on the ACC-14M and is this clock adjustable? We are using the ACC-5E3 to communicate with the ACC-14M.

     

    Thanks,

    Lei

    Configuring ACC-5E3 with ACC-14M on PPMAC

    in Power PMAC

    Posted

    Hello Charles,

    Today I put a voltage driver on the analog input of the 14M and I tried to observe the variables ACC14M_1_ADC1 and ACC14M_1_ADC2 on the IDE scope. When I tried to read the data (clicking on the play button on the scope GUI) I got an error (attached to this message). Could you take a look and let me know how I can get around this error? It may be caused by the shifting of the bits. Also, is there anyway I can record the values for those variables in the IDE and export to a csv file?

     

    Thanks,

    Lei

    1097701645_scopefault.thumb.JPG.298f1f1710d7c2b45e9c832fecc3ba76.JPG

    Configuring ACC-5E3 with ACC-14M on PPMAC

    in Power PMAC

    Posted

    Sina,

    With the IDE I have access to IC #0 on ACC-5E3 card but not IC #1. In other words, the IDE sees Acc5E3[0] but not Acc5E3[1]. Could you advise on how to gain access to Acc5E3[1]?

     

    Thanks,

    Lei

     

    Coles55,

     

    Here is what you need to do to setup ACC-5E3 in order to have one servo node and one IO node enabled:

     

    Sys.WpKey=$AAAAAAAA;

// Assuming your ACC-5E3 has two DspGate3 chips
// You have to setup all the clocks on slave Gates first
Acc5E3[1].PhaseFreq = 8000;
Acc5E3[1].ServoClockDiv=1;
Acc5E3[1].PhaseClockDiv=0;
Acc5E3[1].PhaseClockMult=0;

// Setup the clock on master Gate
Acc5E3[0].PhaseFreq = 8000;
Acc5E3[0].ServoClockDiv=1;
Acc5E3[0].PhaseClockDiv=0;
Acc5E3[0].PhaseClockMult=0;

Sys.ServoPeriod = 0.25;
Sys.PhaseOverServoPeriod=0.5;

Acc5E3[0].MacroModeA=$403000;
Acc5E3[0].MacroModeB=$1000;
Acc5E3[1].MacroModeA=$1000;
Acc5E3[1].MacroModeB=$1000;

Acc5E3[0].MacroEnableA=$0FC00500
Acc5E3[0].MacroEnableB=$1F800000
Acc5E3[1].MacroEnableA=$2F800000
Acc5E3[1].MacroEnableB=$3F800000

Sys.WpKey=$0;

     

    Now you can access the node 2 registers, where I'm assuming you're setting your ACC-14M:

     

    Acc5E3[0].MacroOutA[2][0] : Writing to digital outputs , assuming MI14=0 or 3

Acc5E3[0].MacroInA[2][0] : Reading from digital inputs , assuming MI14=0 or 3

Acc5E3[0].MacroOutA[2][1] : Writing to 1st DAC
Acc5E3[0].MacroOutA[2][2] : Writing to 2nd DAC

Acc5E3[0].MacroInA[2][1] : Reading from 1st ADC
Acc5E3[0].MacroInA[2][2] : Reading from 2nd ADC

     

    I hope this gives you a head start.

     

     

     

     

     

     

    Configuring ACC-5E3 with ACC-14M on PPMAC

    in Power PMAC

    Posted

    Thank you, Sina. I don't suppose there is an ACC-5E3 manual out there? I have the ACC-5E manual but not sure if there is an ACC-5E3 manual out there.

     

    Regards,

    Lei

     

    Coles55,

     

    Here is what you need to do to setup ACC-5E3 in order to have one servo node and one IO node enabled:

     

    Sys.WpKey=$AAAAAAAA;

// Assuming your ACC-5E3 has two DspGate3 chips
// You have to setup all the clocks on slave Gates first
Acc5E3[1].PhaseFreq = 8000;
Acc5E3[1].ServoClockDiv=1;
Acc5E3[1].PhaseClockDiv=0;
Acc5E3[1].PhaseClockMult=0;

// Setup the clock on master Gate
Acc5E3[0].PhaseFreq = 8000;
Acc5E3[0].ServoClockDiv=1;
Acc5E3[0].PhaseClockDiv=0;
Acc5E3[0].PhaseClockMult=0;

Sys.ServoPeriod = 0.25;
Sys.PhaseOverServoPeriod=0.5;

Acc5E3[0].MacroModeA=$403000;
Acc5E3[0].MacroModeB=$1000;
Acc5E3[1].MacroModeA=$1000;
Acc5E3[1].MacroModeB=$1000;

Acc5E3[0].MacroEnableA=$0FC00500
Acc5E3[0].MacroEnableB=$1F800000
Acc5E3[1].MacroEnableA=$2F800000
Acc5E3[1].MacroEnableB=$3F800000

Sys.WpKey=$0;

     

    Now you can access the node 2 registers, where I'm assuming you're setting your ACC-14M:

     

    Acc5E3[0].MacroOutA[2][0] : Writing to digital outputs , assuming MI14=0 or 3

Acc5E3[0].MacroInA[2][0] : Reading from digital inputs , assuming MI14=0 or 3

Acc5E3[0].MacroOutA[2][1] : Writing to 1st DAC
Acc5E3[0].MacroOutA[2][2] : Writing to 2nd DAC

Acc5E3[0].MacroInA[2][1] : Reading from 1st ADC
Acc5E3[0].MacroInA[2][2] : Reading from 2nd ADC

     

    I hope this gives you a head start.

     

     

     

     

     

     

    Configuring ACC-5E3 with ACC-14M on PPMAC

    in Power PMAC

    Posted

    Charles,

    Thanks for providing the document. We are currently trying to setup the 5E card to read from the (qty.2) 14M card ADC channels. If anyone has had this experience before please let me know.

     

    Thanks,

    Lei

     

     

     

    I have not personally set that up so I am not completely sure how to do so. However, one of my coworkers recently worked with Power PMAC MACRO and wrote a small application note. I hope it helps you to some degree until someone posts something more comprehensive!

     

     

    Configuring ACC-5E3 with ACC-14M on PPMAC

    in Power PMAC

    Posted

    Hello,

    We are in the process of configuring an ACC5E3 card to talk with the PPMAC. We have qty. 2 ACC14M cards connected to the ACC5E3 via fiber. Since there is no written instructions on setting up the configurations for the ACC5E3 card with PPMAC, could someone provide some pointers in setting up the card?

     

    Thanks,

    Lei

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