Hello, I have a big problem of MACRO 16-axis station. My pmac framwork is:ultralite pci + 16-axis macro + 3 acc24e2a.
The following code is the configuration file. After downloading the code, 1-8 axes work fine, but 9-12 axes (the third acc24e2a) don't work.
I6840=$4030
I6841=$FB333
I6890=$90
I6891=$1FB333
I6940=$10
I6941=$2F8001
I6990=$10
I6991=$3F8001
I70=$3333
I71=$3333
I72=$3333
I73=$3333
I78=32
I79=32
I80=100
I81=2
I82=2
I100,16,100=1 //Enable Motor 1-16;
I116,16,100=50 //Max Vel 50000cts/sec;
I117,16,100=1 //Max Acc 1cts/sec^2;
I119,16,100=1 //Jog Acc 1cts/sec^2;
I122,16,100=50 //Jog Vel 50000cts/sec;
I124,16,100=$160001 //Disable Limits And Amplifier,Only For Pulse And Direction;
I130,16,100=2110 //Proportion Gain,Only For Pulse And Direction;
I131,16,100=0 //Derivitive Gain,Only For Pulse And Direction;
I132,16,100=5000 //Vff Gain,Only For Pulse And Direction;
I133,16,100=0 //Integral Gain,Only For Pulse And Direction;
I134,16,100=1 //Integration Mode,Only For Pulse And Direction;
I135,16,100=0 //Aff Gain,Only For Pulse And Direction;
I169,16,100=2184 //Max Effort Command Out Of Maximum 32767,Only For Pulse And Direction;
I102=$78422 //output register (default location +2)
I202=$78426 //output register (default location +2)
I302=$7842A //output register (default location +2)
I402=$7842E //output register (default location +2)
I502=$78432 //output register (default location +2)
I602=$78436 //output register (default location +2)
I702=$7843A //output register (default location +2)
I802=$7843E //output register (default location +2)
I902=$79422 //output register (default location +2)
I1002=$79426 //output register (default location +2)
I1102=$7942A //output register (default location +2)
I1202=$7942E //output register (default location +2)
I1302=$79432 //output register (default location +2)
I1402=$79436 //output register (default location +2)
I1502=$7943A //output register (default location +2)
I1602=$7943E //output register (default location +2)
MS0,MI1996=$1FB333 //Activate Nodes 16,17,20,21,24,25,28,29;
MS0,MI910=8 //Sets Only For Pulse And Direction;
MS0,MI916=3
MS1,MI910=8
MS1,MI916=3
MS4,MI910=8
MS4,MI916=3
MS5,MI910=8
MS5,MI916=3
MS8,MI910=8
MS8,MI916=3
MS9,MI910=8
MS9,MI916=3
MS12,MI910=8
MS12,MI916=3
MS13,MI910=8
MS13,MI916=3
MS16,MI910=8
MS16,MI916=3
MS17,MI910=8
MS17,MI916=3
MS20,MI910=8
MS20,MI916=3
MS21,MI910=8
MS21,MI916=3
MS24,MI910=8
MS24,MI916=3
MS25,MI910=8
MS25,MI916=3
MS28,MI910=8
MS28,MI916=3
MS29,MI910=8
MS29,MI916=3
Then I want to know what's wrong, and find that one MI variable:MS0,MI1996=$1FB333, can't be saved, as the picture illustrated.
I tried three other 16-axis macro stations in my hand, and find the problems are the same. Then I tried another ultralite pci card, the problem always appeared.
Someone told my distributor that make sure the SW1 setting is not set to 15. I checked the SW1 and find that SW1 setted to 7, and SW2 setted to 0, and ms0,mi3=$7.
The ultralite firmware version is 1.947 and Macro CPU firmware version is 1.203.
I am sure that the dial switches of the three acc24e2a are all right, and the hardwares are all right. But how to overcome this problem? PMAC错误.bmp