sutty

Thanks Steve! I upgraded using IDE V4.3.2.19 from V2.5.0.3 to V2.5.4.0 - and lost gpascii and other stuff - no connection to ppmac anymore. Serially I can still conect. /opt/ppmac only shows usrflash and usrflash.x directories, nothing else anymore. So how to successfully upgrade from V2.5.0.3 to V2.5.4.0 resp reinstall the lost directories?!

Hi! I run CK3E (2.5.0.3) with 2 Omron 1S-drives (Rev 10001). In master shift mode it's fine. Howto accomplish bus shift mode?! Why still do I have to set "ECAT[0].DCRefMaster=1" after loading Mapping to PowerPMAC?! What I do (without success) 1. set Clock adjustment to bus shift 2. Click "Load Mapping to PowerPMAC" 3. Set using terminal "ECAT[0].DCRefMaster=1" (where point 2 let it at 0) 4. Clicke "Activate EtherCAT" Why wihtout success: The drives would run in CSP, but reading the slaves register 0x92C would give for the first slave steadily 0 (!) and for the second slave <>0. Both should deliver <>0 values in case of bus shift mode. Regards, Anton

Thank you Atul! Maybe it was not clear - here a screenshot. First I entered into the terminal Motor[1].InvAmax=1 and let Motor[1].InvDmax=0.1 The UI shows wrong values with 1E-06 and 1E-07 for InvAmax and InvDmax.

Yes, I did chose ethercat for the topology! Concrning the ESI - does anybody confirm those importing error, or is it only my deal?!

Hi! Entering values to Motor[x].InvAmax rsp Motor[x].InvDmax get wrongly displayed in IDE Solution Explorer - Motor – Commission – Motor Acceleration Control – Max. Programmed Accel. rsp Max. Programmed Final Decel for values < 10 The other way around works correctly. See attached file. 200319_ODT_IDE_V4.3.2.19_bug_i117.pdf

I did inform Beckhoff on March, 12th - no reply so far. Remark: Inporting the ESI-Zip into TwinCAT3 does not produce any error. Still, I will insist once more... Actually importing the whole ESI-Zip from Beckhoff (02/21/2020) produces a bunch of errors. Could this still be an issue of EC-Engineer/IDE, or not?! --------------------------- EC-Engineer --------------------------- ESI file 'Beckhoff AX8yxx.xml' is invalid and can not be added: The element 'Profile' has invalid child element 'ScalingTable'. List of possible elements expected: 'VendorSpecific'. (Line: 5205, Position: 7) --------------------------- ESI file 'Beckhoff EJ7xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 102116, Position: 72) --------------------------- ESI file 'Beckhoff EL5xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 158703, Position: 51) --------------------------- ESI file 'Beckhoff EL72xx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 127196, Position: 72) --------------------------- ESI file 'Beckhoff EL73xx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 142194, Position: 72) --------------------------- ESI file 'Beckhoff EL7xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 359738, Position: 72) --------------------------- ESI file 'Beckhoff ELM31xx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 283221, Position: 72) --------------------------- ESI file 'Beckhoff EP3xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 221684, Position: 42) --------------------------- ESI file 'Beckhoff EP7xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 327728, Position: 72) --------------------------- ESI file 'Beckhoff EPP3xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 87790, Position: 42) --------------------------- ESI file 'Beckhoff EPP7xxx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 26247, Position: 72) --------------------------- ESI file 'Beckhoff EtherCAT Terminals.xml' is invalid and can not be added: The 'Physics' attribute is invalid - The value 'BB' is invalid according to its datatype 'PhysicsType' - The Pattern constraint failed. (Line: 173, Position: 12) ---------------------------

After removing all 'SdoUploadWithMaxLength' I succeded importing the ESI-File into IDE V4.3.2.19. Can I use this manipulated ESI-File without concern? But including the EL7211-0010, which actually is a drive, as a drive in the motors topology view does not work. There it does not show up at all. Will I have to do it by hand (commissioning - advanced settings), or is there some easier way?!!

Hi! On IDE V4.3.2.19 and also V4.2.0.19 I am trying to import ESI XML-File "Beckhoff EL72xx.xml". But it fails with EC-engineer error message: ESI file 'Beckhoff EL72xx.xml' is invalid and can not be added: The 'SdoUploadWithMaxLength' attribute is not declared. (Line: 127196, Position: 72) The XML-file I've downloaded today from: https://download.beckhoff.com/download/configuration-files/io/ethercat/xml-device-description/Beckhoff_EtherCAT_XML.zip Importing an older XML-file from July 2017 does not fail. I also send an inquiry to Beckhoff. Regards, Anton

Hi! Using a PMAC2-style Servo IC (DSPGate1 Rev D, like in Acc24E2) by when will OneOverTEna (Hardware 1/T) be available on Power PMAC?! Best Regards, Anton

This was my mistake - excuse me, Curt! After initialization-sequence in plc1 Motor[4].AbortTa would hold "-inf", what leads to "Motor[4].Desired.Pos=nan", and finally what blocks the start of any motion prog.

Hi! I have 8 active motors, where always 2 are cascaded (#1 with #21, #2 with #22, #3 with #23, #4 with #24) I use plc2 to start motion prog 10 in Coordinate-system &1: open plc2 plc[2].ldata.coord=1 jog/21..23 jog/24 enable 1 sys.cdtimer[3]=500 while (( sys.cdtimer[3]>0) && (m281==0 || m282==0 || m283==0 || m284==0)) // wait for desvel=0 { // } if ( sys.cdtimer[3]!>0) { M611=62 // Timout enable servos CS1 } else { abort 1 start1:10 // Joystick Prog start } disable plc2 close Using 3 (6) active motors (XYZ): - plc2 starts prog10, and it works correctly Using 4 (8) active motors (WXYZ) - plc2 starts prog10 but prog10 does not run (listpc shows line 1 of prog10) and delivers Motor[4].Desired.Pos=nan, - typing all the commands of plc2 manually into a terminal starts prog10 correctly - Issuing #24j/#4j=0 before launching plc2 let run prog10 correctly - after all, once Motor[4].Desired.Pos has a real number, prog10 can be started from plc2 any time without any problem What is going wrong here?! Regards, Anton

Hi! We are running a PPMAC ARM V2.3.2.5 on Phase/Servo/RTI 32/16/2 kHz, 2x3 cascaded motors (6 motors) Running the application w/o Lookahead doesn't cause any problems. But with Lookahead active (10ms Segmentation, 130 Segments) once in a while (every several minutes up to every several hours) run-time error occurs. Unfortunately, Coord[x].Ldata.Status always tells a 1 after such run-time error - it does not give any useful information. What is very confusing to us is that a few milliseconds before run-time error occurs Sys.RtIntTime peaks for the duration of only 1/16 of a millisecond!! Another characteristic is that as long Sys.RtIntTime stays below 750 us run-time error does not show up at all. Augmenting Sys.PreCalc does not help. Removing RtiCplc does not help neither. At last whenever a run-time error happens it almost always shows this kind of pattern. Today we started testings with V2.4.1.2 - results will follow. Questions: 1. Why would Sys.RtIntTime peak for less than 70us?! 2. Any suggestions which PPMAC-Variables to trace to get more useful data? Best Regards, Anton

Hi Stephen! On Turbo PMAC there was a real run-time error status-word with a bunch of bits telling the cause of any run-time error: = 1: Insufficient calculation time = 2: Program counter out of range (too low) = 3: Program counter out of range (too high) = 4: Unlinked conditional statement = 5: Subroutine stack overflow = 6: Jump to non-existent label = 7: Cutter compensation interference error = 8: Forward kinematic execution error = 9: Inverse kinematic execution error = 10: No axes remaining in C.S. On PPMAC there is only that one and only bit 16 in Coord[x].ErrorStatus - nothing else more anymore. Or am I missing up something?! Regards, Anton

Hi there! I am running a UMAC ARM PPMAC with Acc24E3. It seems to be an issue related to the overall load of the PPMAC, which is about 50% on both cores. I've tested two variants: With V2.4.1.2 and IDE 4.1.0.24 With V2.3.2.5 and IDE 3.0.1.0 On both Sys.ServoErrorCtr, Sys.ServoBusyCtr are incrementing on closing any window like Plot, Tune, Task-Manager...even on closing the IDE itself. After a $$$***, so almost no load, this behavior does not show up. Regards, Anton

Hi! In case of run-time error Turbo PMAC provided run-time error codes (Y:$002x14) ! Does Power PMAC also provide such informations?! Thanks, Anton

Hi! I was wondering why Sys.ServoErrorCtr would get bigger than 0 at all. Then I realized, whenever I close one of the windows within IDE (Plot, Tune, Task-Manager,...) or even open or close the IDE itself, Sys.ServoErrorCtr would increase tremendously. Can anybody copy this behavior?! Regards, Anton

By when will it be available on CK3E?!!

Hi! How come the CK3E does not show up any CPU-temperature?!! Ok, this feature was not available in 2017: http://forums.deltatau.com/showthread.php?tid=2370 Bot today?!It is quite an important information! Isn't there a way to get to know the temperature of the ARM-cores?! Is ODT thinking of introducing CPU-temperature to CKE3?! Thanks, Anton

Meanwhile I could manage to get it to run. I did not properly set up CompTable (using "Compensation Table" in IDE-DeltaTau). For now everything seems to work fine. Thanks nethertheless

Hi! I am trying to set up torque-compensation. The Setup-tool shows "LC Setup" but in there I cannot setup/start anything!!? I am using IDE V3.0.1.0 and V4.1.0.24 See pic Any idea? Thanks, Anton

I made the same experience on gathering Motor[1].CapturePos with following setup: CK3E PPMAC V2.4.1.2 PPMAC IDE V4.1.0.24 IDE-Plot sets up when pressing "Gather Data"-button: Gather.Type[1]=1542 Gather.Addr[1]=3355995152 ($c8086c10) but would not gather any changes on Motor[1].CapturePos If I manually change Gather.Type[1]=50694 and gather with Gather.Enable=2 any changes on Motor[1].CapturePos are registered correctly. By the way: Motor[1].CapturePos.a=$c8086c13 (3355995155) - how come it does not match Gather.Addr[1]?!

Hi! Besides PPMAC IDE and besides PDK (none license-free PowerPmacBuildAndDownload.dll) is there a (documented) license-free way to download an encrypted project to PPMAC?!! Best Regards, Anton

Hi Steve! I cant access this link - server not found - any other link to get this document?

Hi! After a small dozen $$$*** my CK3E (PPMAC UMAC ARM) connected to an ACC24E3 (both inside UMAC-Rack 5XX-602932-DTE) freezes its foreground-clocks (phase, servo, rti), but background-clock keeps on running. D15 on CPU dark, D13 on ACC24E3 base-board dark One more $$$*** puts it back to full work, some more $$$*** freezes again all foreground-clocks. Anybody has any idea/experience with that?! Using here: Linux version 3.14.28-ipipe (henry@henry-ThinkCentre-M93p) (gcc version 4.6.3 (Ubuntu/Linaro 4.6.3-1ubuntu5) ) #37 SMP Mon Apr 18 14:06:56 PDT 2016 V2.3.2.5 w uboot 0917 Regards, Anton

Hi! In rticplc.c how can I access (read/write) undefined M-Vars (eg. undefined M-Var M42: M42->*) without using GetPtrVar()? Best Regards, Anton