[mini-d Connectors for ACC24E3]

Hi,

 

Does anyone have a good source for solder cup mini-d connectors (plug) for the Acc24E3 (digital PWM outputs)? I'm having trouble sourcing them for a test setup.

 

Thanks

 

Ross

[simple pmc code]

Ah Many thanks,

 

I now have a simple motion program up and running.

 

Is there no way though to setup coordinate systems from a plc script? Would you always have to use the on-line system to do that? It's not a huge deal but I can imagine if you had a large number of motors in a complex coordinate system you would want to automate that

[simple pmc code]

If you are able to close the loop on the motor and jog it this should work as you have implemented it.

 

Did you "Begin" the program in the C.S. (&1B1)?

What is the exact message you get from the IDE when you try to run it (&1R)?

 

Yes I can close the loop and jog the motor without any problems.

 

&1B1 doesn't work from the terminal. I'm really really struggling to find in the documentation how to run simple motion control programs and how to setup coordinate systems from a plc. For example I wrote a simple PLC that sets up a single axis coordinate system.

 

open plc 2
&1;
#1->X;
disable plc 2
close

 

This just will not compile/transmit to the PMAC.

 

Maybe I'm missing a document (I have the user manual and the reference manual) but I'm having no luck at all with the basics (but I can happily compile my own servo code in C....)

[simple pmc code]

Hi,

 

I have a really basic question - How do you assign a coordinate system to a pmc?

 

open prog 1

X1000

close

 

&1 does not work and the IDE complains that no coordinate system is assigned when I try to run it. I've done a &1; #1->X

[Setting up Home on power pmac with sinusoidal encoder and reference mark]

Hi All,

 

I'm having difficulty setting up homing using a reference mark with a sinusoidal encoder. The reference is input into the INDEX pins on the ACC24E3. It reads a differential of +0.5V when at the reference point.

 

How do i setup a PLC to use this reference mark for homing? I would also like to drive to a limit and the move out from that limit to the reference point. I think this is possible from the manual but I'm having difficulty implementing it

[Change register in background C program]

tga->WpKey=0xAAAAAAAA Did the trick! Thanks everyone and as always it was in the software reference manual although I was being distracted by:

 

"Furthermore, in the Script environment, many elements are write-protected so user code cannot change their values, but these elements can be read at any time. In the C environment, any element for which you are provided access (that is, whose name is provided in the RtGpShm.h header file) can be written to. "

 

Which I wrongly assumed meant that the registers were not write-protected.

[Change register in background C program]

I put a sleep in (1 second) and I still see the same effect. I also check using the terminal to see if the bit has been set to zero.

 

Another think I tried was just writing the value to the register i.e.

 

tga->Chan[0].InCtrl = 4194375;

 

And that did not work either.

[Change register in background C program]

Yes the SetPmacVar does work so long as you make sure that WpKey is set. It's strange though that I can't set it by simply addressing the pointer in C. It might be a write protect issue but I though that there was no write protect when accessing variables from C?

[Change register in background C program]

Hi Charles

 

Unfortunately that doesn't work. I know from doing the following the the bit-operation works:

 

inCtrl = tga->Chan[0].InCtrl
inCtrl &= ~(1<<18) // When printed this sets bit 18 to zero

[Change register in background C program]

I'm running a toy model to try and switch Gate3[1].Chan[0].AtanEna in a background C program. (the AtanEna is bit 18 of inCtrl). I can read the bit without any problems and it recognizes when I flip the bit using the terminal, however, when I try and set the bit in a background C program it does not work. Am I able to do this? Code below

 

int main(void) 
{
volatile GateArray3 *tga;
int inCtrl;

InitLibrary();
tga = GetGate3MemPtr(1);

inCtrl = tga->Chan[0].InCtrl;
printf("before %i\n",inCtrl); //AtanEna = 1
tga->Chan[0].InCtrl &= ~(1<<18); //AtanEna should = 0
inCtrl = tga->Chan[0].InCtrl;
printf("flipped %i\n",inCtrl); //Still shows 1
CloseLibrary();	
return 0;
}

 

There is no change in the value of inCtrl upon setting the bit to zero.

[Step and direction motor crashes IDE]

I'm using version 1.4.0.62 of the PMAC IDE and Firmware 1.4.0.27

 

I can address each of the cards without a problem from the command line but I'll recheck the base addresses

 

tweekzilla,

 

Are you sure that your ACC-24E3s (and all other cards in the rack, for that matter) have distinct base addresses? That is, their addressing SW settings are set distinctly? Check your cards' manuals for instructions on setting the addresses.

 

Also, what version of the IDE and the firmware are you using?

[Step and direction motor crashes IDE]

I'm having a couple of issues at the moment trying to setup a step and direction motor in the IDE. The amplifier has the step and Direction command clicked. There are, however, no options available under the Hardware Interface section (I have two Acc24E3 and I'm trying to use the sinusoidal encoder to output the signals) . If I manually set the pointer:

 

Motor[1].pDac to Gate[1].Chan[3].Pfm.a

 

the system setup crashes the whole IDE when the hardware interface section is clicked.

[Acc24E3 Step and Direction options]

Hi All,

 

I have two version of the Acc24E3:

 

1) Sinusoidal Feedback with 16-bit ADC Digital PWM

2) Sinusoidal Feedback with 16-bit ADCs Two Phase 16-bit DAC

 

Is it possible to do step and direction on an Acc24E3 using either of the above options or do I need a Digital Feedback Mezzanine Board?