Alex Anikstein

I'd agree with Dave--I always try to split my troubleshooting for stuff like this into pieces. Rather than using a C PLC, which brings with it it's own set of questions (Did it generate an error on build and I didn't notice? Is it actually enabled? Are the pointers correct? Etc.), start basic. -If you issue the specific command to turn an output on through the terminal window, does the LED indicator turn on? -Can you turn them all on (GpioData[0] = $FFFF0000)? -After that, can you turn them off? As he noted in the previous post, 9/18/27 are inputs--you'll need to bring in the reference voltage into those pins. If you see the LEDs toggle, but aren't seeing your devices toggle, that's a likely cause. Finally, I'd check if your code was loaded properly and actually running.

Moving this to the Power PMAC forum, as I believe this is on a CK3M or other Power PMAC. If this is a Turbo PMAC, let me know and we can instead move this to the Turbo PMAC forum.

Moving this to the Power PMAC forum

I do not believe this topic is related to Code Reading, however this sounds like more of a technical support issue altogether. Please reach out to Omron Technical Support and they may be able to assist you more easily. If you are based in the US, this can be done by phone by calling 1 (800) 556-6766 or by email to ia.techsupport@omron.com.

I am not sure what your "standard procedure" was, so I can't really comment on what specifically needs to be done differently. Telnet on all current production versions of Power PMAC is disabled on the factory image, as it is not considered “secure” communication. Re-enabling this is a “Linux task” and would be outside of the scope of technical support. Also, note that the Linux commands to execute this could “brick” the firmware easily if done incorrectly. Use “SSH” communications instead (fully supported in the PDK and IDE). That said, please see attached for our generally recommended procedure. Enabling or Disabling Telnet on Power PMAC.pdf

Interestingly, another thread about this error popped up a few weeks ago. 1. Can you share what firmware version you're using? 2. Are you using any cutter compensation features, as mentioned in that thread?

@Sanjay_RSS, can you share what firmware version you're using?

To add on a tiny bit-- While it is allowed, it is generally considered bad practice to have short words like that (reset, status, etc.) as #defines or variable names. Any string which is either a command or part of a command (for instance, a variable named "AbsPos" would be considered part of Motor[x].AbsPosSf) should be avoided. A better option would be to name your parameter "ResetVar" if it is a variable or "_reset" if it is not. This way it is similar, but unique.

That's actually a topic we've gone back and forth on a few times over the years. Disabling it will not impact any functionality of our software--it only matters if a user intends to use it for their own purposes (a custom HMI, etc.). We initially had it, then (I believe) disabled it by default for a while for security concerns, then enough customers wanted it on by default that we re-enabled it, and I believe the plan is a future firmware update (mainly focused on security) will be disabling it again. Please see the attached document. Know that at this time, all Power PMAC products are on Debian 8, however we decided to expand the document a bit to pre-emptively "future-proof" it. Enabling or Disabling Telnet on Power PMAC.pdf

There is! I'm attaching an app note. In short, if you issue the "gather" command at the Linux prompt, it will effectively tap into the data being gathered and stream it to your terminal. If you'd prefer, you could even map the host computer as a network drive on your PMAC and then directly write to a file on it. Advanced Data Gathering on Power PMAC.pdf

Not directly from a UMAC--there are analog input/output modules, but I don't think anything that designed to work with a thermistor. I suppose with a 59E3, you could output a small voltage/current across it, then measure the resulting voltage drop, but it's not something I've done before myself. If your UMAC has EtherCAT, you could use an NX-TS module in conjunction with an EtherCAT Coupler for a simpler solution.

I've flagged to the web team that the CK3C manual seems to have been missed--it does exist, though. That said, the EQU signal on the CK3C should not be different from any other Power PMAC--it is still 5V TTL, and the Gate3 itself should handle the rollover. CK3C User's Manual.pdf

Just to add on a tiny bit, to explain the table Greg shared but in picture form... If the data PMAC is receiving is simply shifted, such that 0V corresponds with an ECAT[i].IO[j].Data value of 32k, then the data would look like this: However, it is also possible that the data is coming across in the incorrect data type--the device is sending signed data, but PMAC is reading it as unsigned data. In that case, 0V would correspond with ECAT[i].IO[j].Data having a value of 0, and it would "track" up to the value of 32767. However, what PMAC interprets as the most significant bit would actually be a sign bit, so any negative value sent by the device, PMAC would interpret as 32768 or greater. In this case, the data would look like this: To correct this case, you would have to compensate for the incorrect ESI file provided by the manufacturer and "trick" PMAC to reading the data as being signed. The easiest way to do this is to make use of Sys.nData[x] (such as .IData or .Udata in this case) to read the data as a different type than what PMAC originally believed.

To expand a little bit on the "purpose" for that file-- If users use the "System" folder of their project to configure their system (clocks, motors, etc.), when users perform a download, the IDE will first take all of the settings from that folder and compile them into "systemsetup.cfg". Because of this, like Steve said--if you aren't using the "System" folder, but instead using the older method of configuring things with files in Global Includes or manually loading a Configuration file, you should set the file to not download.

Can you explain a little more what you are asking? If this is on a PMAC (CK3M), this is not the correct location--please let us know and we can move this thread.

I can replicate behavior with STEP_OMG6 system. I suspect the device is not properly identifying itself as a "drive", but I am still consulting with software team. I hope we can provide an answer soon.

"- Incorrect command is issued to show the value of array data" As you stated, if the correct name (with index--"gHomeEna(0)" instead of "gHomeEna") is issued, this should not cause problem. However, if you are concerned about user issuing wrong command, you can set Sys.NoShortCmds = 1. This will disable the "short" version of all commands, so "H" will no longer be valid, and instead "Hold" must be used. However, it will also disable short versions of other commands. There is no way to only disable "H" command, so it would either be all short commands or none.

What happened when you right clicked the master to "Load Mapping to Power PMAC"--did anything come up in the "Output" window? Can you also share the "ecmaster0.0.log" file? (Right click "Logs" folder of System Setup, select "Upload Log Files"). What Firmware and IDE version are you using? We have seen errors when ESI files have special characters (such as the "degrees" symbol)--those answers may help us find the cause.

Can you share a link to the post? If we can see the broken link, we may be able to re-attach the file.

I don't have a great answer myself, since when I played with it last, I couldn't find a single command that worked on every PMAC/computer pair. That said, I used a few different arguments when I was trying to do it myself: mount -t cifs -o vers=3.0,user=UserName,password=Password123,domain=192.168.0.114 //192.168.0.114/PMAC_Shared /mnt/shared Including the password directly in the command may not be reasonable for how you are trying to do it, so feel free to leave that out. I know that on at least one computer it started working after adding the "vers=3.0" (and I did also try 2.1 and 2.0, though I can't remember if that "fixed" any computer/PMAC pairs), but it was not a perfect solution, either.

Automatically sending files from the PMAC onto a Windows system may not be that simple--typically in a case like that, you would be better off with making an HMI on the Windows computer which queries the variables at some frequency and logs them. That said, the "scp" command teremock listed should work if you write to the IP Address of the Windows machine, using the username of that machine. Another option would be to try to map a section of a windows computer to your PMAC as a network drive. I'm attaching an app note which tried to do the same thing, though some users have reported that it did not work for them. It seems highly dependent on a bunch of settings for Windows that we don't fully know, but take a look at Example 4 anyways. For the second question, can you explain where it fails--does capp1 even run? I know when writing that app note, we ran into issues where we couldn't fully automate C Application execution that we intended to write to a file, as it was being blocked by the firmware. We ended up needing to introduce some new "gather" options to allow for this (Example 5 in the document). Advanced Data Gathering on Power PMAC.pdf

scp is a great way to do it from the PMAC. If the file is already located in the /var/ftp/ directory and you want to transfer it to a computer, an even easier way may be to just go to "ftp://192.168.0.200/" into the Address Bar of File Explorer on Windows, then navigate to the file and drag to copy it to your desktop.

Alternately, if you wish to keep the EtherCAT license, but just temporarily change the function of the port, this may be able to be accomplished directly. Since there are two versions of Power Brick LV ("Power Brick LV" and "Power Brick LV ARM"), I can't guarantee this application note will work on your system, but if you have the ARM version, it may do what you want. Changing a PMAC EtherCAT Port to Ethernet.pdf

It is not easily possible, and in general is not supported. Theoretically, though... Using the "system" command, users can issue Linux commands through the IDE terminal (or from a PLC/motion program). If the user were to change the ENI file, then issue "ecat reset" to re-initialize the EtherCAT stack, it is possible. Seeing as the EtherCAT stack always uses "eni.xml" located in /var/ftp/usrflash/Project/Configuration, If you made multiple different ENI files on your PMAC, such as-- eni.xml <-The one PMAC will use eni-Config1.xml <--The first possible configuration you'll encounter eni-Config2.xml <--The second possible configuration you'll encounter You could overwrite eni.xml with one of your configurations, then issue "ecat reset" and PMAC will load your config. There are still potential problems, such as if pointers change, or if ECAT[x].IO[y].Data that were being used (possibly by firmware for motor-related purposes) now contain different data, so you would likely need to change more than just that, however it is an option. Another option (that is supported) would be to make a singular ENI file that contains all possible devices, then selectively enable/disable devices with ECAT[i].Slave[j].Enable. I believe this requires firmware 2.7.x.x, but now your EtherCAT mapping would always be consistent which may simplify things.

Please make sure the devices are all properly connected--it may be useful to disconnect and reconnect them all. What is the response to Sys.Gate3AutoDetect? On each of the modules (AX module, MD modules) there should be a rotary switch for addressing. Make sure these are all at unique addresses (likely 0, 1, and 2). If you just have a single module (Power Supply + CPU + either AX1515 -OR- MD7110 -OR- MD7120), does the device show up? If the address switches are set at unique values, then please try each module one at a time to verify they work on their own, and if they do, then try two modules at a time and see if they work.