guonaldo2

In the latest vesion of Turbo SRM, I saw an update as follows: 11 INCORPORATED V1.946-47 FIRMWARE UPDATES ADDED TO I43 DESCRIPTION FIXED TYPOGRAPHICAL ERRORS 12/19/12 CW C. WILSON This means that using I43, I can send the data as I want through serial port. Now the firmware version is V1.945. Is this function(I43) still available in this version? Or Should I update to V1.946 if I want to take advantage of the update?

Hi steve.milici, I have another problem. In the latest firmware, I43 has an additonal function which allows users to access the serial port in their own way. Now, the main serial port has the 255-byte long commandbuffer: X:$003600 … $0036FF "Only the low byte (bits 0 – 7) of each word in the command and response queues is used." I want to send the M162 (which stand for the actual position*Ixx08*32) through main serial port. And in my case, the motor will not exceed 360 degrees which means M162 will not exceeds 0x481200000 which is a integer of 36bit. So if I define the M variable as follows : M162->D:$00008B P1 = M162 M1->X:$003600,8 M2->X:$003601,8 M3->X:$003602,8 M4->X:$003603,8 M5->X:$003604,8 M6->X:$003605,8 M7->x:$003606,8 M100->X:$FFFFE6 M101->X:$FFFFE0,23 then: M1 = P1%256 P1 = P1/256 M2 = P1%256 P1 = P1/256 M3 = P1%256 P1 = P1/256 M4 = P1%256 P1 = P1/256 M5 = P1%256 P1 = P1/256 M6 = P1%256 P1 = P1/256 M7 = '$' and each time I have to DIVIDE 256 one by one. So does the second axis. M100 = 7 M101= 0 M101 = 1 ;initiates the transmission of data Is there any other easier way that I can choose? Or is there anything wrong with my code since the firmware of my clipper is updating in Deltatau.

Thanks. Is M variable 16bit or 32 bit? I want to use M variable to send the angle and speed.

Any other solutions?

Thanks. That's really helpful. Why not try further? I wonder if clipper could send all the information I need in one package. When I look at the signal on the oscilloscope, they've been seperated since I used multi commands such as sendp commandp. So how do I transfer all the data in one package? Or what if I wrote my data into the serial send buffer? Any possiable solutions?

Thanks. That's really helpful. Why not try further? I wonder if clipper could send all the information I need in one package. When I look at the signal on the oscilloscope, they've been seperated since I used multi commands such as sendp commandp. So how do I transfer all the data in one package? Or what if I wrote my data into the serial send buffer?

Thanks! But 0x0D 0x02 are always added after every SENDP, how can I get rid of them? BTW: If I use RS232 on the clipper and want to send the axis angle at 200hz from RS232, will PLC program fulfill the task exactly?

Thanks. Take a look at this thread. http://forums.deltatau.com/showthread.php?tid=1359 Can you help me? What should I do if I want a delay of less than 100us?

How about the delay in response when using CMD P99 in PLC program?

I have a idea. What of I use CMDP"P201" in PLC program. Since I get multi axis, if I do as follows, I will not be able to distinguish each other P201 Axis1 P202 Axis2 P203 Axis3 [undefined=undefined] OPEN PLC 0 CLEAR CMDP"P201" CMDP"P202" CMDP"P203" Close[/undefined] So what should I do if I want to add seperator between each axis and send them to upper computer? e.g. My desired protocol **Axis1//Axis2//Axis3**

Hello everyone, I am using Clipper for my multi-axis control system. Since we did not purchase the DPRAM option, so I want use the Ethernet to get the current angle and velocity for further purpose. For example , I wrote a PLC program to calculate the angle in arc-second and save it in P101. And I wrote a program in my upper computer which runs real time operating system constantly get the actual angle. The result is that, there is a unbearable delay during the response. I send P101 to PMAC and wait for its return, it took about 1.5 ms!! I wonder if there is any good ways of getting the angle with less than 50us delay. Thanks!