Soder

Done, feel free to remove this thread.

Just noticed I have to change: I102 from $078002 to $078004 But this breaks everything. I can't move the motor. Other important variables might be: I103=$350B I104=$350B I105=$35C0 From what I can see from the Software reference manual I103 and I104 are non standard. I got this configration from a colleague. Trying to find out what they changed. Also worth mentioning is that this is a Geo Brick LV IMS-II.

Hi, I have been developing a position capture application with 2 stepper motors with built in encoders. Now I have moved to 2 stepper motors but without encoders. This is going to be used for demonstration purpose of the application only, in the end there will probably be encoders anyway. When I had the encoders everything worked fine, but since there are no encoders in the new setup there aren't any position to capture. Therefore I would like to set up a pseudo-closed loop for the new setup to be able to demonstrate the application. I know I have to set: I7mn0=8, and probably set I7mn6=2 to output the PFM, but I am not sure. I tested it by reading M101 for the current position. But as soon as the motor is moved the position endlessly increments/decrements. I also tried changing some PID parameters according to this suggestion: http://forums.deltatau.com/showthread.php?tid=310&highlight=Pulse+and+Direction But I had the same result. How do I properly setup the pseudo-loop? Thanks a lot. If my information is insufficient please tell me what to I need to add.

Yes, thank you very much.

Ok thank you very much. I will be doing position capturing from external trigger, on a flag input on the servo IC. The capturing function is level triggered, however I would like to be certain to catch the exact position at the time for the trigger and not catch multiple position overwriting in each other. So my question is what is the minimum time you have to keep the flag input active to catch exactly one position?

Hi, I am working on a host application where I have to read a set of register from the PMAC. My questions are: 1. Is reading/writing a single register from the host atomic in the PMAC? Or is it possible that a register is half-written when it's read? 2. Is reading a set of registers from the host atomic? for example: RL$004000 5 Or is it possible that a PLC/Motion program in between reads/writes any of the individual registers addressed? EDIT: This is done over TCP with ASCII communication. Thanks!

Thanks again, Steve. I have one more question regarding ASCII communication. I want to read multiple register within the the PMAC, several hundred registers, and I want to Issue the R[H]{address} online command. First example: Read 17 address in hexadecimal form: rhl$004000 17 100000078400 110000078400 120000078400 130000078400 140000078400 150000078400 160000078400 170000078400 180000078400 190000078400 1A0000078400 1B0000078400 1C0000078400 1D0000078400 E0000078400 1F0000078400 200000078400 Note that there is a new line and carriage return after 16 reported values. Second example, read 17 values in decimal form: rl$004000 17 17592186536960 18691698164736 19791209792512 20890721420288 21990233048064 23089744675840 24189256303616 25288767931392 26388279559168 27487791186944 28587302814720 29686814442496 30786326070272 31885837698048 32985349325824 34084860953600 35184372581376 Note that there is a new line and carriage return after 10 reported values. These tests are carried out in the PEWIN32 terminal over ethernet connection to the PMAC. How come there is a newline and carriage return after 16 values when reading in hexadecimal form and 10 when reading in decimal form? Seems weird that the number of reported values are somehow connected to the radix they are reported in. Is there a way to get rid of the newline and carriage return all in all?

Yes, using different Interface as far as I understand it is no problem. I want to know whether it is possible for one tcp conection for ascii communication and another for DPRAM communication without interference?

Thanks Steve! One further question, the current PMAC we are using doesn't have the dual-port RAM. But we are considering to use this in the future because we have to do big data transfers. My question is if there is dual-port RAM, can there be two TCP connections: 1st TCP connection: Handling ASCI communication. 2nd TCP connection: Only accessing the dual-port ram. Without interfering with each other? Or does the ASCI communication interfere with the dual-port RAM access as well? (by sharing an input/output buffer or something similar) Or you still need to configure it to modbus setup?

Thanks! I feel that one question wasn't answered fully. So if I for example have 2 TCP connections one for each application. 1st application, has its own TCP connection: Motion program which sends jog commands, status commands etc. 2nd application, has its own TCP connection: Poll for changes in the position capture register. I want to use VR_PMAC_GETRESPONSE, from what I understand this actually polls the device. I cite the User manual "This packet causes the Ethernet connection to send a string to Turbo PMAC, then to return any available strings that may be residing in the Turbo PMAC." Use case: 1st application, on its own TCP connection, sends ethernet command: VR_PMAC_GETRESPONSE. Concurrent to this: 2nd application, on its own TCP connection, send ethernet command VR_PMAC_GETRESPONSE. This seems like a racing condition to me. So depending on which TCP connection that performs the second part of VR_PMAC_GETRESPONSE, meaning "return any available strings that may be residing in the Turbo PMAC", first. This action may read the response meant for the other TCP connection. Essentially making the other connection timeout and fail to receive the response. Please read carefully! Is this assumption correct? Many thanks!

Hi, I have a Turbo PMAC2-PC/104 and just started a project where I need to get the position from the PMAC to a host connected with ethernet using TCP. The position has to be captured on an external events of about 14 Hz, this should be possible by using the Hardware Position-Capture function described in the user manual. By connecting the external event to the USER Flag it should be possible to configure the Hardware Position-Capture function so that the position is latched every time the external event occurs. Is this correct? Another requirement is retrieval of the position via ethernet using TCP. This TCP connection should preferably be initiated independently from the motion program, which has its own TCP connection, in that case there will be at least 2 simultaneous TCP connections to the PMAC. I noticed that there is a command SENDP which can be used on the PMAC which sends a message to the network communication port. From what I understand this message then has to polled via a TCP connection. This makes me believe that any TCP connection can flush this buffer which contains this message. Is this correct? If so it would compromise the retrieval of the position and also affect the motion program. There is also the possibility to retrieve register values directly from the TCP connection. My questions here are: Is retrieval from one TCP connection independent of another TCP connection? Or can the requested register value be flushed from another TCP connection? If the TCP connections are not independent from another and a requested value can be flushed from another connection, the last option would be to share the TCP connection between the two applications. Is this correct or is there any other alternative? Also worth to mention is that this Turbo PMAC has no DPRAM available. Thanks!