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  1. In the PowerPMAC IDE bgcplc environment, when assigning the master register address as follows: pshm->Motor[6].pMasterEnc = pshm->EncTable[12].pEnc; I get this warning during the build: ...warning : assignment from incompatible pointer type How can I typecast this address assignment so the warning is avoided, or should I put this assignment in a Command(TS) call? Thanks, Geoff.
  2. I am testing a custom cam profile generator in a background C program but I cannot assign the values of CamTable[m].PosData and CamTable[m].OutData without crashing the program. As required, I first redefine the table with PScript Command("") calls defining Nx and PosData[0], then set up the rest of the parameters as shown in the attached snapshot. The first assignment statement in the for loop which assigns values to the PosData and OutData crashes in the debugger. The cam table has been initialized with its parameters. The User Manual suggests that after table memory allocation, the data can be entered in the C environment. What am I doing wrong?
  3. Here is a simple compile of a background program that tests the setup of a cam table. The "syntax error, unexpected EOF" is from the file ECATMap.h with pp_proj.h the only other include file. Note that the other Intellisense warnings come from the pp_proj.h file as shown in the attached snapshot. There are no warnings in the build or just when in the scope of the Current Project. The pp_proj.h file can be modified with every build depending on global definition changes and possibly other things. After clicking on a warning that opens the pp_proj.h in the editor, is it possible that it can be corrupted if it is left open during a build and does not get updated properly?
  4. Thanks for the guidance, Eric. I set up a virtual motor with the configuration (Motor_1_AngleSensor.txt) that scales the output in degrees. A few EncTable parameters were added to those you suggested and the encoder configuration (Encoder_AngleSensor.txt) was used to integrate the motor output for the angle control. Because of a different physical encoder setup, we no longer required the exponential filter that was on the virtual motor's output encoder. Cascade control is switched on and off with the MasterCtrl signal on the inner loop motor. Encoder_AngleSensor.txt Motor_1_AngleSensor.txt
  5. Hi Eric, Here is the Error list with the Syntax "warning". Note the ~ on the line after the #endif directive. The error/warning/~ disappears if I uncomment the dummy function shown just above it. Please see attached PNG. I am working on the program to see what I can do to get rid of the "Unable to navigate to error"
  6. In trying to get a clean compile of cplc programs bgcplc01 and bgcplc02, I have added a dummy function call to remove the IntelliSense warning "Syntax Error - EOF" which it throws at the end of a header file. I am left with several "already defined" warnings for pp_proj.h functions such as "void SetEnumGlobalVar(enum globalP var, double data);". As well, the Navigation Error "Unable to navigate to error" appears for bgcplc02.o: In function 'user_plcc'. Please see the attachment. How should I go about debugging this problem? I don't see any issues in the files in the project Log directory. Regards, Geoff.
  7. In following the instructions in the Cascading Servo Loops section and Encoder Conversion Table Setup in the Power PMAC Users Manual, I have had a problem entering the information for an outer loop motor driving an inner loop of a cascade control using an ECT entry. For ECT entry number 10 and the outer loop motor = #1 Type = “Floating-point read” After entering in PowerPMAC Structure: pEnc = Motor[1].IqCmd.a pEnc1 = blank ScaleFactor = 1/256, Index6 = 0 Detailed ECT Setup left at defaults: First Entry = 1, ScaleFactor = 1.0, Second entry = 2, No integrate, None When trying to download, we get the error “Invalid number entered for integer input. First correct the entered value in box before downloading.” We’ve tried a lot of different combos to get rid of this message. Could you please clarify what needs to be entered on each page of this ECT setup? Attached is the error message.
  8. The configuration was missing a slave to slave association necessary to make the SL3300 work properly. Readers may find the following articles useful in setting up their FSoE system: "acontis stack procedure v1.8 - Mike Sayre - March 3, 2018.pdf", and "CK3E-SL3500 setup O025-E1-01.pdf"
  9. Hi Tony and Eric, I guess it would help if I sign in so I could see the attachments. Thanks for the tips. I think this has solved more than one problem. With the Sync unit cycle at 1000 us and the shift time at 500 us, the ECAT activates and, without the SL3300 in the loop: 1) Error 62 on the three 1S drives disappeared 2) The Flashing red TS disappeared on the first ECC203, and 3) The flashing red error on the second ECC203 coupler's PC0030 power supply distribution module disappeared. However, even with a careful SL3300 reinstall and rebuild of the safety program, it fails reactivation with the errors shown in previous postings. I shall pursue this further because I'm probably missing some trick in the configuration. Regards, Geoff.
  10. Hi Tony, In this Acontis system, all the ECAT[0].DC... settings are at the defaults and the time is in frequency control units. It's not clear what I should change. - Geoff
  11. Hi Eric, Thanks for your interest. Here are some background details which may prove helpful for the ECC203 as slave 1001 and no SL3300. Then the results of your suggestions. Topography and noise: the system is housed in 2 steel cabinets - the CK3E and slaves 1001-1004 in one, slaves 1005-1007 in the other. Filtered power (120VAC) supplies 24VDC power (Omron S8VKs) individually to controller, drive and field IO modules in each cabinet. EtherCat cables (Omron XS6W-6LSZH) 0.2m and 0.5m connect modules within the cabinet. A 5m EtherCat cable is used between cabinets. Grounding: All modules are safety grounded to DIN-mounted ground terminal blocks. DC power supplies are single-point grounded in the cabinets. A 14AWG ground wire connects the two cabinets in case there is poor grounding between power lines for the cabinets. (Not the case in our test environment.) Commissioning motors: Going directly from the IDE EtherCat type motor “Commission” box to “Motor Jog” does not activate the servo functions correctly, evidenced by the command and position not matched in the watched variables for the slave. The axis trips immediately on a following error when the loop is closed. We rebuild, download and reset the CK3E to get the axis servo going and that works OK. We see the position following the jog command nicely. Startup: Activating ECat communications on the CK3E can cause Er 62.00 (Control Right Release Error) on all three R88D-1SN drives. This does not prevent a motor from jogging on the configuration menu. Occasionally, there are errors (flashing red) on the NX-ECC203-PC0030 or other coupler modules. They will appear often after a few seconds or minutes. DCClockDiff: The time difference is at 0 when EtherCat communications are deactivated. Typical values while EtherCat is activated are -15521, 2039, 4379, -14630, 1120… (DCRefBand = 10000) Repositioning the ECC203 as slave 1004: After EtherCat activation, the Er 62.00 occurs on all R88D-1SN slaves, a flashing red error is on ECC203 slave 1004-PC0030 and ECC203 slave 1007–OD4256. See the attached screenshot “Repo ECC203.png” for activation details in IDE messages. Rebuilding the ECC203 slave with SL3300: In the EtherCat list in Sysmac Studio project: I repositioned the ECC203 slave and did the “Transfer to Coupler” to update the Config info, Unit op settings and Unit app data. (The node label “Node1” stays the same even though it is repositioned…? No hardware bus addresses were changed.) In PowerPMAC IDE project: I scanned the EtherCAT network, loaded mapping variables to PMAC, rebuilt and downloaded this empty project, entered “ecat reset” on PMAC terminal, then activated Ethercat. See the resulting errors on the PowerPMAC Messages screenshot “Reinstall SL3300.png”. The indicators on the ECC203 slave with the SL3300 show: TS red FS(1 s), UNIT POWER Lit, RUN Not Lit, ERR Not Lit, L/A IN Lit, L/A OUT Lit. I can’t find this exact code combination in the manual. Any ideas? Regards, Geoff.
  12. We cannot activate the EtherCat with the SL3300 safety CPU on the NX-ECC203 coupler, with the error shown (see Activation fail ECC203-SL3300.png). The SL3300 Safety CPU has been loaded and partially tested with a validated program that uses the safety IO shown on the two couplers. However, the CK3E activates EtherCat without the SL3300 on the coupler (see Activation OK no SL3300.png).In this case, using a blank project, the Power PMAC variables load and appear to be monitored correctly, indicating changing encoder positions, digital and analog IO. What's the trick to getting the safety CPU operational on the coupler? We have heard of an app note for this (Mike Esposito?) but can't find it anywhere. We would appreciate any ideas. Thanks. Our environment is: CK3E-1310, arm LS1021A, firmware PMAC IDE (Acontis) Sysmac Studio Standard Edition 1.40, Module version NX-ECC203 unit version 1.6 NX-SL3300 unit version 1.1 NX-SIH400 unit version 1.1 NX-SOD400 unit version 1.0 Windows 10 Pro version 1909
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