kjcho
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Posts posted by kjcho
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I know that NC14 is provided two run-time license. Redistribution of applications developed using the sdk is possible without a license?
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Please check attached NC14's screen shot file.
Please tell me how to download the "sample software or screenshot" that has been developed using the PDK.
Thank you
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Hi.
Is it possible to create a such as NC14 program , by using the PDK?
Thank you
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Hi,
I'm using Power PMAC EtherCAT Master.
Is it possible to use EtherCAT Master without Axis Module?
I tried to use only power module & cpu module, but EtherCAT Master doesn't work...
Furthermore, I'm considering using only cpu module with external power supply. (even without rack)
How can I implement these system?
Thank you.
Teyun.
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Hi,
I want to use EtherCAT Drive support Modular Device Profile.
(One Drive, two axes operation...)
But as I know, IgH EtherCAT Master Stack doesn't support MDP devices.
How about PPMAC??
Does PPMAC EtherCAT Master supports MDP devices??
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Dear CharlesP,
I've found that example.
But I think... the example(User written servo) is not matched with PID Controller in my picture...
Look on printed page 545 of the Power PMAC User's Manual whereupon there is an example in C.
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It works!
Thank you!!
If your command is correct,
please test code below.
if you want to use system command with argument in terminal (on-line command),
as I know,
you should use with cx or cpx command.
p1=500
cx system"ethercat -m0 -p0 -t int16 download 0x607D 0 %d", p1
try it, and please check again.
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Hi, kycho.
You can use pmac variables with the system command.
Did you try like this?
p1=500
system"ethercat -m0 -p0 -t int16 download 0x607D 0 %d", p1
please check the code above.
Hi, sjlee.
Thank you for answer, but it didn't work...
system"ethercat -m0 -p0 -t int16 download 0x607D 0 %d", p1
sh: ethercat -m0 -p0 -t int16 download 0x607D 0 %d,: command not found
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Hi,
I want sample source code(C code, Formula or whatever) for "Power PMAC Basic PID Servo Algorithm".
Following image is in "Power PMAC User's Manual" 198p.
In this document, there is no sample code.
I have a difficult understanding Power PMAC controller..
I'll look forward to your reply.
Thank you.
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Hi,
I'm using 'system ethercat' command since this thread has been written.
I want to write PPMAC variables but PPMAC variables can't be input system command, like this...
p1=500
system ethercat -m0 -p0 -t int16 download 0x607D 0 p1
Of course, ecatsdo command works fine.
But I couldn't fix sdo problem yet... so I must use system ethercat command.
p1=500
p0=ecatsdo(0,0,$607D,1,p1,0)
How can I PPMAC variables with system commands??
Please let me know
Thanks.
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Hi, I have a question about Power PMAC EtherCAT Master.
Can PPMAC directly read/write the SII contents of the slaves?
(Generating ESI and modifying configured station alias, etc...)
If it isn't support on current version of PPMAC, when do you update this feature?
Thanks.
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The native command works.
Is this slaves's problem??
What is "-m0"? If I want to write SDO to 2nd slave, do I have to change "-m1"?
And when "ecatsdotype" command is updated?
Thanks.
How are you setting 0x607D?
Are you using an ecatsdo command?
P0=ecatsdo(0,0,$607D,0,$4444,0)
If so try the native command
system ethercat -m0 -p0 -t int16 download 0x607D 0 0x4444
then read back
system ethercat -m0 -p0 -t int16 upload 0x607D 0
If you find the native linux command works I suspect it is because if the incorrect length is requested an error is not being returned by your device. Our ecatsdo attempts the ethercat command above and if no error is returned it returns. It first attempts an 8 bit write, then a 16 bit, then 32 bit write. I think ecatsdo may be doing an 8 bit write and gets no error and returns. I have found most devices obey this.
We will consider adding a new command ecatsdotype(0,0,$607D,0,$4444,0,bitlength) that forces you to specify the bit length for future firmware updates.
Hi, I'm using TI ICE Board to implement EtherCAT Slave Controller.
To use PPMAC as EtherCAT Master, I set configure file manually.
But there's a problem. SDO data was not downloaded correctly.
For example, when I wrote "0x4444" to 0x607D:1(32bit object), slave receive only lower 8bit (0x44).
This problem isn't occurred when I use TwinCAT as EtherCAT Master.
As I know, TI ICE Board has been conformed by EtherCAT Technology Group. And I use TI sample EtherCAT CiA402 implemented source.
I attached wireshark packet capture file and PPMAC slave configure source.
Please help.
ECAT[0].Enable=0sys.maxEcats=1
ECAT[0].SlaveCount=1
ECAT[0].RTnotLRW = 1
ECAT[0].ServoExtension = 1
ECAT[0].DistrClocks = 1
ECAT[0].DistrClocksCount = 0
ECAT[0].DCRefSlave = 0
ECAT[0].DcRefPlus = 2
ECAT[0].DcRefMinus = 2
ECAT[0].DcRefBand = 50000
ECAT[0].Slave[0].VendorID = $59d
ECAT[0].Slave[0].ProductCode = $54490001
ECAT[0].Slave[0].Alias = 0
ECAT[0].Slave[0].Position = 0
ECAT[0].Slave[0].Enable = 1
ECAT[0].Slave[0].AssignActivate=$300
ECAT[0].Slave[0].Sync0Cycle = 500000
ECAT[0].Slave[0].Sync0Shift = 0
ECAT[0].Slave[0].Sync1Cycle = 500000
ECAT[0].Slave[0].Sync1Shift = 0
ECAT[0].Slave[0].PDO[0].index = $6040
ECAT[0].Slave[0].PDO[0].subindex = 0
ECAT[0].Slave[0].PDO[0].BitLength = 16
ECAT[0].Slave[0].PDO[0].Input = 0
ECAT[0].Slave[0].PDO[1].index = $60FF
ECAT[0].Slave[0].PDO[1].subindex = 0
ECAT[0].Slave[0].PDO[1].BitLength = 32
ECAT[0].Slave[0].PDO[1].Input = 0
ECAT[0].Slave[0].PDO[2].index = $6041
ECAT[0].Slave[0].PDO[2].subindex = 0
ECAT[0].Slave[0].PDO[2].BitLength = 16
ECAT[0].Slave[0].PDO[2].Input = 1
ECAT[0].Slave[0].PDO[3].index = $6064
ECAT[0].Slave[0].PDO[3].subindex = 0
ECAT[0].Slave[0].PDO[3].BitLength = 32
ECAT[0].Slave[0].PDO[3].Input = 1
ECAT[0].Slave[0].PDOMapping[0].index = $1602;
ECAT[0].Slave[0].PDOMapping[0].PDOCount = 2;
ECAT[0].Slave[0].PDOMapping[0].pPDO = ECAT[0].Slave[0].PDO[0].a
ECAT[0].Slave[0].PDOMapping[1].index = $1A02;
ECAT[0].Slave[0].PDOMapping[1].PDOCount = 2;
ECAT[0].Slave[0].PDOMapping[1].pPDO = ECAT[0].Slave[0].PDO[2].a
ECAT[0].Slave[0].SyncManager[0].index = 2;
ECAT[0].Slave[0].SyncManager[0].dir= 1;
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].Slave[0].SyncManager[1].index=3;
ECAT[0].Slave[0].SyncManager[1].dir= 2;
ECAT[0].Slave[0].SyncManager[1].PDOMappingCount = 1;
ECAT[0].Slave[0].SyncManager[1].pPDOMapping = ECAT[0].Slave[0].PDOMapping[1].a
ECAT[0].Slave[0].SyncManager[1].watchdogmode = 0;
ECAT[0].IO[0].Slave = 0
ECAT[0].IO[0].Index = ECAT[0].Slave[0].PDO[0].index
ECAT[0].IO[0].SubIndex = 0
ECAT[0].IO[0].BitLength = $10
ECAT[0].IO[0].Input = 0
ECAT[0].IO[1].Slave = 0
ECAT[0].IO[1].Index = ECAT[0].Slave[0].PDO[1].index
ECAT[0].IO[1].SubIndex = 0
ECAT[0].IO[1].BitLength = $20
ECAT[0].IO[1].Input = 0
ECAT[0].IO[2].Slave = 0
ECAT[0].IO[2].Index = ECAT[0].Slave[0].PDO[2].index
ECAT[0].IO[2].SubIndex = 0
ECAT[0].IO[2].BitLength = $10
ECAT[0].IO[2].Input = 1
ECAT[0].IO[3].Slave = 0
ECAT[0].IO[3].Index = ECAT[0].Slave[0].PDO[3].index
ECAT[0].IO[3].SubIndex = 0
ECAT[0].IO[3].BitLength = $20
ECAT[0].IO[3].Input = 1
ECAT[0].IOCount=4
ECAT[0].Enable=1
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Hi, I'm using TI ICE Board to implement EtherCAT Slave Controller.
To use PPMAC as EtherCAT Master, I set configure file manually.
But there's a problem. SDO data was not downloaded correctly.
For example, when I wrote "0x4444" to 0x607D:1(32bit object), slave receive only lower 8bit (0x44).
This problem isn't occurred when I use TwinCAT as EtherCAT Master.
As I know, TI ICE Board has been conformed by EtherCAT Technology Group. And I use TI sample EtherCAT CiA402 implemented source.
I attached wireshark packet capture file and PPMAC slave configure source.
Please help.
ECAT[0].Enable=0sys.maxEcats=1
ECAT[0].SlaveCount=1
ECAT[0].RTnotLRW = 1
ECAT[0].ServoExtension = 1
ECAT[0].DistrClocks = 1
ECAT[0].DistrClocksCount = 0
ECAT[0].DCRefSlave = 0
ECAT[0].DcRefPlus = 2
ECAT[0].DcRefMinus = 2
ECAT[0].DcRefBand = 50000
ECAT[0].Slave[0].VendorID = $59d
ECAT[0].Slave[0].ProductCode = $54490001
ECAT[0].Slave[0].Alias = 0
ECAT[0].Slave[0].Position = 0
ECAT[0].Slave[0].Enable = 1
ECAT[0].Slave[0].AssignActivate=$300
ECAT[0].Slave[0].Sync0Cycle = 500000
ECAT[0].Slave[0].Sync0Shift = 0
ECAT[0].Slave[0].Sync1Cycle = 500000
ECAT[0].Slave[0].Sync1Shift = 0
ECAT[0].Slave[0].PDO[0].index = $6040
ECAT[0].Slave[0].PDO[0].subindex = 0
ECAT[0].Slave[0].PDO[0].BitLength = 16
ECAT[0].Slave[0].PDO[0].Input = 0
ECAT[0].Slave[0].PDO[1].index = $60FF
ECAT[0].Slave[0].PDO[1].subindex = 0
ECAT[0].Slave[0].PDO[1].BitLength = 32
ECAT[0].Slave[0].PDO[1].Input = 0
ECAT[0].Slave[0].PDO[2].index = $6041
ECAT[0].Slave[0].PDO[2].subindex = 0
ECAT[0].Slave[0].PDO[2].BitLength = 16
ECAT[0].Slave[0].PDO[2].Input = 1
ECAT[0].Slave[0].PDO[3].index = $6064
ECAT[0].Slave[0].PDO[3].subindex = 0
ECAT[0].Slave[0].PDO[3].BitLength = 32
ECAT[0].Slave[0].PDO[3].Input = 1
ECAT[0].Slave[0].PDOMapping[0].index = $1602;
ECAT[0].Slave[0].PDOMapping[0].PDOCount = 2;
ECAT[0].Slave[0].PDOMapping[0].pPDO = ECAT[0].Slave[0].PDO[0].a
ECAT[0].Slave[0].PDOMapping[1].index = $1A02;
ECAT[0].Slave[0].PDOMapping[1].PDOCount = 2;
ECAT[0].Slave[0].PDOMapping[1].pPDO = ECAT[0].Slave[0].PDO[2].a
ECAT[0].Slave[0].SyncManager[0].index = 2;
ECAT[0].Slave[0].SyncManager[0].dir= 1;
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].Slave[0].SyncManager[1].index=3;
ECAT[0].Slave[0].SyncManager[1].dir= 2;
ECAT[0].Slave[0].SyncManager[1].PDOMappingCount = 1;
ECAT[0].Slave[0].SyncManager[1].pPDOMapping = ECAT[0].Slave[0].PDOMapping[1].a
ECAT[0].Slave[0].SyncManager[1].watchdogmode = 0;
ECAT[0].IO[0].Slave = 0
ECAT[0].IO[0].Index = ECAT[0].Slave[0].PDO[0].index
ECAT[0].IO[0].SubIndex = 0
ECAT[0].IO[0].BitLength = $10
ECAT[0].IO[0].Input = 0
ECAT[0].IO[1].Slave = 0
ECAT[0].IO[1].Index = ECAT[0].Slave[0].PDO[1].index
ECAT[0].IO[1].SubIndex = 0
ECAT[0].IO[1].BitLength = $20
ECAT[0].IO[1].Input = 0
ECAT[0].IO[2].Slave = 0
ECAT[0].IO[2].Index = ECAT[0].Slave[0].PDO[2].index
ECAT[0].IO[2].SubIndex = 0
ECAT[0].IO[2].BitLength = $10
ECAT[0].IO[2].Input = 1
ECAT[0].IO[3].Slave = 0
ECAT[0].IO[3].Index = ECAT[0].Slave[0].PDO[3].index
ECAT[0].IO[3].SubIndex = 0
ECAT[0].IO[3].BitLength = $20
ECAT[0].IO[3].Input = 1
ECAT[0].IOCount=4
ECAT[0].Enable=1
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I have downloaded some manual from web.()http://forums.deltatau.com/filedepot/ [FILE REMOVED]
but, "Power PMAC Software Reference Manual" have some problem that it's documentation does not displayed.
Other files are no problem.
Please re-link correct files.
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Display resolution of my notebook is full HD(1920 x 1080).....
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Unfortunately,
I already set the screen resolution to 100%.
Few weeks ago, I had similar to problem in system setup window. I can clear it by having changed screen display resolution to 100%.
But, I cannot clear still this problem on tune window.
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How to calculate servo filters such as notch, low pass filters?
Unfortunately,
There is some problem on Power PMAC IDE(Version : 1.4.0.62)
Some sections of filter calculation tool on tune window are not appeared.
So, I cannot implement servo filter on Power Pmac.
How to solve it?
In addition,
I want to know how to calculate advanced filters including 7th polynomial filer and trajectory prefilter, adaptive control setup.
Please let me know how to calculate these filter with examples (case by case).
Power Pmac Develoment Kit and NC14
in Power PMAC
Posted
Here's 3 questions.
1. Is NC14 still under developing?
Why NC14 is not listed on deltatau.com?
2. I want to developement my own NC system using Turbo pmac or Power pmac and it would be used on 10~20 machines.
Is it possible to use NC software developed with NC14 SDK in that way?
What is 2-runtime license? Is license needed using my own software developed with NC14 SDK?
3. I found NC14 on the web but I have no information about it.
Can I ask NC14 manual or application example??
Thank you.