vignesh90

I'm trying to use the PMACTerminalGather for one of my applications. I have uploaded some files in the following link: https://www.dropbox.com/sh/dy7837bgrj6sqlu/AAD0IjPahdUffNQAnTHP5Pc4a?dl=0 I used PMACTerminalEdit to create SubVIs (VI wrapper) for the LVX1 and LVUA1 programs. I have uploaded the VIs and related PMC files. I'm facing a couple of issues: 1. The block diagram shows grey question marks for PMACGatherStep.VI. There's a "VI is not loadable" error when I open the VI. Uploaded screenshots of the error messages int he above link. 2. I removed the PMACGatherStep part from PMACTerminalGather and tried to replace the SubVI with the custom SubVI created for either of the programs. The modified VI is named PMACEncoderTurtle. When I run the VI, the Program Run and Gather indicators turn on but my program does not execute. Based on the PMACPanelPro2 User Manual that I'm referring to (uploaded as well), the program should work when replaced with a custom created SubVI. I'm not sure if I am doing something wrong or missing something. Any help to resolve this issue will be great. Thank you!

I'm trying to use the PMACPanel Pro2 VIs to synchronize motion with NI data acquisition board. I have attached my current code. I want to add logging of position, velocity data of 4 motors along with the DAQ data acquisition. I have looked at the PMAC Tutor 10, PMAC Terminal Motors and PMAC Terminal motors XY mentioned in the PMACPanel Pro2 User manual. I can't seem to find a way to set sampling rate for logging data from encoder. I currently log data on NI board at 1000Hz and would like to log the position, velocity data at the same rate as well. Any help on how to go about this, would be great! Thanks! Gamma_Delay_Program.zip

I have a motion profile that I run in PVT mode. I have attached the code. The motion loops for a certain number of cycles. The Y axis motion has a sharp edge at the end of a cycle and beginning of next cycle due to direction reversal. I've marked this in the attached Y axis position plot. How do I use the blend function to make this a smooth transition? UYA1.txt

Got it. I corrected the velocity and it works well. Thanks for the help!

Hi Dave, Yes those were excel plots. Is there any documentation on how PMAC calculates the velocity so I can understand this better? Thanks!

Got it, thanks! Set I68 > 0 and it worked.

Hi Dave, I had made an error in the time step calculation. I have corrected it in the attached code. Could you please check the commanded velocity plots for this program? On the other hand, I'm still not sure how to fix PMACPlotPro2. UYmotion_correct.txt

Hi Dave, Thanks for the help with this. Noted the changes to motion program, I'll implement those. I'm not sure why the commanded velocity is distorted. If you see the plots vU and vY in the attached PDF, the velocity looks clean. That's one cycle of the run. I guess this is what causes the "jittery" motion. UYmotion.pdf

Attached the text file. UY.txt

Hello, I'm trying to use PMACPlotPro2 to log the response of motors to a motion program. Attached the program, data points and the position and velocity plots. I tried a simple jog motion of X axis as well. Attached the plots. The plots I get out of PMACPlotPro2 doesn't make any sense! The connection to the PMAC works well and I have checked this multiple times. It would be great if I can get any help on how to fix this. Thank you! UY.pdf UYmotion.pdf PlotTest.zip

Attached data points and plots for easier reference.UYmotion.pdf

Thank you curtwilson! This is helpful.

Hello, I'm quite new to PMAC so pardon my ignorance. I need to run two axes of my gantry system in a loop. I'm trying to use PVT mode in the motion program. My code is attached. I have blending enabled (Isx92 = 0) and segmentation time 5ms (Isx13). When I run the program the axes motion is jittery, as if the motor stops after every commanded point. Am I missing something? Any help on how to fix this will be greatly appreciated. Thank you! UY.pdf

Hi mbalentine, I understand the difference between 'online' commands and 'motion program' commands. I'm trying to assign different axes to different co-ordinate systems in a motion program. WHat would be the command to activate co-ordinate system in a motion program (if it is even possible)? I have no idea about PLC so don't want to spend time on that at this point. It would be great if I can use 'motion programs' to achieve what I want. Thanks for the tip about specifying the CS to run program in. Say I activate CS 1 and 2 in prog2 and define different axes. Will I be able to run the same program in two co-ordinate systems with the commands &1B2R and &2B2R ?

I checked the manuals and found &1, &2 etc. are mentioned as commands to activate co-ordinate systems. I understand this works as online commands but I found some motion program examples where this is used as well. How do I go about assigning different axes to multiple co-ordinate systems in a motion program? The X axis needs to run the entire length at a constant velocity while the other axes perform complex looping motions. I thought it would be easier to program X in linear mode instead of splitting the motion piece-wise. It would be great if this can be done easily on PVT, please let me know how. For example, X needs to run 7500mm at 100mm/s while Y, U and A perform sinusoidal motions.

Hello! I am new to PMAC so pardon my ignorance. I need to assign different axes to multiple coordinate systems - X axis to C.S.1 and Y, U and A axes to C.S.2. I need to do this because I have to run X axis in linear mode and the other axes in PVT mode, all synchronized to start at the same time. A part of my code is below: (I have other prog to run motion programs for Y, U and A axes). CLOSE END GATHER DELETE GATHER DELETE TRACE open prog2 clear ta 100 // set acc time to 100 ms ts 100 // set s-curve time to 100 ms f 200 // set feedrate to U*1000 units/s linear abs // absolute mode I68=1 UNDEFINE ALL &1 #1->240X &2 #2->500Y #3->666.667U #4->138.889A X7500 close When I run this with "B2R" there's an error that says Line: 17, "&2;17" Error 0x3, Data error or unrecognized command. All the axes get assigned to C.S.1. It will be great if I could get some help on how to fix the code. Thanks!

I'm relatively new to LabVIEW and PMACPanelPro2 so pardon my ignorance. I move a motor with the "Jog To" button in the Motor Jog Control Cluster. The mechanical action of the button is set to Latch when Pressed. I need to synchronize the motor movement with a data logging operation. I use a 'Save' button to start logging, which is set to Switch when Pressed. I want to start the motor movement 2 seconds after the logging starts. The flow I want is Run VI -> click Save -> wait for 2 seconds -> programmatically click "Jog To" -> Stop VI after motion is complete. How do I go about programming the click action for the "Jog To" button? Uploaded the code 'Force_triggered.vi' here: https://www.dropbox.com/s/qwxq7hdkvgnidfb/Force_triggered.vi?dl=0 To explain a little better: I'm working with an NI DAQ and a Turbo PMAC. I need some sort of a trigger for the Jog. Currently, in the 'Force_triggered.vi' , I use the Motor Status Jog Cluster to trigger saving the data from DAQ. What I want to do is to start logging the data and then automatically Jog the motor, a few seconds after "Save" is pushed. I tried state machine. Uploaded the code 'Force_delay.vi' here: https://www.dropbox.com/s/d5hwzfzl651fb3k/Force_delay.vi?dl=0 The 2 second delay seems to generate a DAQ buffer error. Attached a screenshot of the error as well. I've never worked with state machine before, so again, pardon my ignorance. Any help would be greatly appreciated! Thanks!

Hello all, I am trying to control a carriage with 4 motors (corresponding to 4 axes: X, Y, a small x and a rotary motor) and a Turbo PMAC CPU using Labview. I just want to input an equation for the motion and move one of the axes according to the equation. The rotary motor is disconnected from the carriage but all the other axes are connected and functioning. I try to initialize the system with the "pmac_initialize.vi" as shown in the attached snapshot, but get an error that one of the motors is in open loop. Is this the rotary motor that's disconnected? If so, is there a function in PmacPanelPro2 that will disable the motor? The code that I want to run eventually is "towing.vi". Attached a snapshot of the code. I would like to send commands to the PMAC at 150Hz. Is this the right way to do it or should I be using the DPRAM to send commands and receive responses? Please let me know. Any help on this would be greatly appreciated. Thanks!