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sutty

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Posts posted by sutty

    CK3E EtherCAT Acontis - howto accomplish bus shift mode

    in Power PMAC

    Posted

    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?!

    CK3E EtherCAT Acontis - howto accomplish bus shift mode

    in Power PMAC

    Posted

    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

    Import of Beckhoff ESI XML-File for EL72xx fails

    in Power PMAC

    Posted

    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)

    ---------------------------

    Import of Beckhoff ESI XML-File for EL72xx fails

    in Power PMAC

    Posted

    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?!!

    Import of Beckhoff ESI XML-File for EL72xx fails

    in Power PMAC

    Posted

    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

    RESOLVED - Motor[4].Desired.Pos delivers nan (not a number)

    in Power PMAC

    Posted

    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

    Unpredictable / not traceable run-time error w/ Lookahead active

    in Power PMAC

    Posted

    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

    ppmac_arm_v2.3.2.5_run-time_error_after_RtIntTime_peaks.thumb.jpg.b409a93e77afb89e52814de0e6118c6f.jpg

    ppmac_arm_v2.3.2.5_run-time_error_after_RtIntTime_peaks_detail.thumb.jpg.c29bd2eaa833529d859611a8797791b5.jpg

    Run-time error codes like in Turbo PMAC

    in Power PMAC

    Posted

    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

    IDE closing windows increases Sys.ServoErrorCtr

    in Power PMAC

    Posted

    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

     

    I do not get this issue on my IDE 3.1.4.0 and FW 2.4.0.180.

     

    What hardware platform are you using?

    ILC not working

    in Power PMAC

    Posted

    Send your table setup to support and we'll try it here. in the mean-time I will make my own test.

     

    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

    ILC not working

    in Power PMAC

    Posted

    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

    ILC_not_working.thumb.JPG.93f47de4b0737a9c51414e7693ac26ae.JPG

    Incorrect Gather.Type[i] for Motor[x].CapturePos

    in Power PMAC

    Posted

    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]?!

    CK3E w ACC24E3 freezes foreground-clocks after $$$***

    in Power PMAC

    Posted

    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

    680535223_umac_acc24e3_foreground_clocks_freeze_after_starstarstar-reset.JPG.3e2047c2e2e577d03d3dceed3dd8e5c4.JPG

    2133606117_umac_acc24e3_foreground_clocks_freeze_after_starstarstar-reset_02.JPG.65afbfd9c4b7a77962356e9733a931e9.JPG

    154422241_umac_acc24e3_foreground_clocks_freeze_after_starstarstar-reset_03_cputop_accnext.thumb.JPG.678959299c3426c565e0c23f0dfadc1f.JPG

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