iclim
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Posts posted by iclim
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Issue resolved, issue was caused by MacroMode configuration issue
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Also I have two MACRO stations on the ring and both have the same behavior.
I am assuming there is some PPMAC variable that has not been set correctly, but I cannot determine what could be causing this
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Hello,
So I have encountered another current tuning issue on the same development setup and I have no idea why this started.
For some reason my PPMAC reset to default values and now the current control for my motors is doing the following. Has anyone ever encountered this
I have checked all the previous setting and both GEO MACRO and PPMAC have the same PhaseFrequency
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Can I please have an update on this, specifically for the C API. Base on previous comments, at present I am looking at pshm->Coord[x].Ldata.Status However it looks like this bit is set when the Coord system is trying to hold a position. ie. [code] int status = pshm->Coord[1].Ldata.Status & 0x1; return !status; [/code] Are there any other bits that I should be looking at? FYI I am using this bit to determine if I need to send an "abort" command and reissue a motion program Thanks
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Hello,
I am trying to run a PLC program which queries a register on a Macro station.
according to the documentation, I thought the following command should work
cmd"MacroSlaveRead %d,%u,%u",8,I920,P1;
however the only method which I can get to work correctly is the following
cmd"MacroSlaveRead %d,I%d,P%d",8,920,1;
In my first method am I doing something incorrectly ?
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Thanks Steve
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Thanks Brian, I am assuming it outputs a CSV file somewhere?
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Hello,
The software manual refers to a "gather_csv utility
program" a couple of times.
Could someone please tell me
- Where it is located i.e. where the program is in the file directory of the PPMAC
- The arguments to give to the programs
- Where it outputs to
Thank you
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I have a motion program which runs a durability program.
Is there an elegant method of setting Gather.Enable if the Coordinate system goes out of closed loop? Or do I need to write a PLC program which monitors the ClosedLoop state ?
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Hello,
I wanted some clarification on the feed forward acceleration. We have a cascaded servo loop setup. For our inner loop I wanted to examine the DesAccel (second derivative of DesPos). I see there is DesPos and DesVel, is there in internal register which holds the value of DesAccel or again is this something which must be determine via post processing.
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Thanks Steve, that is all I needed to know, I can post process it
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Hello,
I am trying to examine the affect of the Servo.BreakPosErr deadband on a few things and I was wondering is Motor[x].PosError variable pre or post the application of the Servo.BreakPosError ?
It looks like it is Pre application of the Pos Error. If I am correct is there a variable that I could examine ??
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All,
I found that the Plot tool that is provided with the IDE really has limitation in displaying plots with any more that two signals.
If any of you are using Python there are some great FREE modules out there that people have written.
I created a couple of (quick and dirty) programs to make data display easier (this literally took me 30 mins and is by no means finished or polished). Here is an example of one of the plot outputs
If anyone is interested I have attached the Python scripts (rename to .py). You will also need Python3 and matplotlib
To use the program setup you gather as usual and after you Upload
Chose Export Gather Data from the file menu. This will create two files the gat file and the gat.set file. The program uses the .set file to figure out the axis names and the gat file for the raw data.
I will continue to refine my program (e.g. colours and other presentation stuff), so if you like it let me know and I will keep you in the loop.
Choon
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Hello,
We encountered a strange issue, which I am hoping someone can shed some light on.
The EPICS framework uses the clock_gettime function from to determine timestamps. However for some reason everytime after a reboot of the machine the return value of this function appears to be the time since reboot.
In comparison the time () function returns the correct time in seconds since the Epoch regardless of weather the machine has been rebooted or not.
We have temporarily solved this problem by calling the clock_settime function with the value returned from the time function, however if we are synchronizing from a NTP server there is the possibility for time drift.
Can someone please explain this behavior ?
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Did anyone from Delta Tau ever advise whether you can use the full IDE if you disable the FTP account or service? I'm trying to secure my ppmac and that requires changing the root password and the ftp password.
I seem to be able to browse the ftp server without even entering a password. If you just enter FTP as the username it logs in without ever asking for a password.
No one ever advise if you could use the full IDE, however we have been using it for a few months and have not encountered any issues
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Hello,
We have a thermal sensor integrated into our motor.
Does the GEO MACRO Drives provide a means of measuring this ?? ?
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This still does not work in the latest IDE.
Will there be a solution to this issue?
Has anyone else experience this problem?
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Hi we are having an issue with the Comp Table Setup tool and we wanted to know if this is common and if others are experiencing the same issue.
We have two specific issues with the Comp Table Setup:
1. The 'boundary mode' cannot be set to 0 or 1 but NOT 2. If this something that will be fixed in the next IDE release ??
2. When we attempt to upload compensation values it returns the following error
Bad data in line 256 with error: Index was outside the bounds of the array. Resetting data to 0.0.
Bad data in line 1 with error: Index was outside the bounds of the array. Resetting data to 0.0.
Uploaded CompTable 4 from PowerPMAC successfully
Again are these issues that Delta Tau is aware of and is it something that will be fixed ?
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Hi,
We are having issues with out position capture.
We have a new installation and have not been able to obtain a position capture.
Here is what we have tried.
1. We have confirmed the wiring is correct
2. To arm to position capture we first set
Gate3[0].MacroOutA[12][3]=$0
then to arm
Gate3[0].MacroOutA[12][3]=$80100
We also read out the value of ms12,i921
We have performed multiple jog moves back and force and have not been able to set bit 19 of Gate3[0].MacroInA[12][3]
We are trying to capture the index position from a linear encoder.
Our encoder setting are:
ms12,i912 = 0 and 1
ms12,i915 = $C0
As a note: The only time it does trigger is when the cable is disconnected...
Is there something that we are missing ?
Thanks
We solved the issue. Silly mistake
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Hi,
We are having issues with out position capture.
We have a new installation and have not been able to obtain a position capture.
Here is what we have tried.
1. We have confirmed the wiring is correct
2. To arm to position capture we first set
Gate3[0].MacroOutA[12][3]=$0
then to arm
Gate3[0].MacroOutA[12][3]=$80100
We also read out the value of ms12,i921
We have performed multiple jog moves back and force and have not been able to set bit 19 of Gate3[0].MacroInA[12][3]
We are trying to capture the index position from a linear encoder.
Our encoder setting are:
ms12,i912 = 0 and 1
ms12,i915 = $C0
As a note: The only time it does trigger is when the cable is disconnected...
Is there something that we are missing ?
Thanks
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Hi,
We noticed that the ftp server, specifically the vsftpd was running on our PPMAC.
We stopped the daemon
/etc/init.d/vsftpd stop
and checked that we could still upload files to the PPMAC. I also checked that we could gather and plot data.
Could you please tell me if this is a server that we still need to have running on the PPMAC and if there is some feature on the IDE which requires this server?
Thank you
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Hello,
I am trying to setup a cascaded servo loop.
I have my outer loop output an
"emulated" target encoder pointing to &Mptr->PrevPhaseLoadEnc. However the setup variable for the EncTable[x].pEnc will not allow me to assign the address e.g.
EncTable[5].pEnc = Motor[5].PrevPhaseLoadEnc.a
stdin:90:19: error #70: Struct Write Data Error: EncTable[5].pEnc = Motor[5].PrevPhaseLoadEnc.a
Can you please suggest a list of allowed register addresses that can be written to and allocated to the EncTable.pEnc
AND/OR
Can you please tell me if there is a file with allowed script/setup variable commands which can be edited
Thank you
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Thank you for the suggestions.
I already had implemented a low pass tracking filter. FYI my gains were
index1 = 80
index2 = 140
index4 = 2
Which I believe is about a 100Hz cutoff at 2.25kHz Servo period.
I also tried implementing the same filter for the phasing of the motor.
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So after trying a plethora of low pass filters. We cannot achieve the performance that we require with the limited 12 bits (4096 counts) per revolution. In addition the significant noise to signal ratio does not allow us to use the velocity signal to achieve a good damping ratio.
Before I completely give up on this idea, I wanted to ask if anyone has experience with applications of the Geo Macro resolver function, their definition of acceptable performance and what they needed to implement to achieve acceptable performance.
For reference
I have used 2nd order filters for
Inner Velocity, Position and Encoder
C_API MacroMotorNode
in Power PMAC
Posted
Can someone please tell me how the C function MacroMotorNode defined in the rtpmacapi.h works, i.e. what definition does it look at to determine the Macro Node.
I would really love an equivalent for the EncTable as I intend to use multiple MACRO nodes for a single motor node.
Thanks