wbzhong

Thanks for the comments. It turned out that I named a PLC "reset", and this PLC was assigned an ID of 3 by the IDE.

Hi, when we run "ecat reset" in the terminal, it reports an error: error#20: illegal cmd: ecat 3 Could you give us some insights in the error?

Thanks for the reply. We set Sys.RtIntErrorCtr to 0, and then reboot the system, the error can be cleared. I am not sure if this is due to the EtherCAT clock configurations.

The CK3M reports the Sys.RtIntErrorCtr error on startup. This error cannot be cleared with $$$***. The software manual doesn't discuss the possible cause for this error. Please advice on how to clear it, and what are the possible reasons? Thanks!

Hi Raghav, Do spikes occur at same positions of the same axis? If it is the case, the feedback may be containinated.

We have used two encoders for a single axis (a higer res. encoder for positioning mode, low res. for velocity mode). There two encoders are connected to two channels of ACC24E3. We used a PLC to switch the motor feedback. Renishaw has high-precision rotary encoder that uses two reader head but outputs one compensated signal. You will need to configure multiple Enocder Conversion Tables to process these feedback. The Motor[x].EncType does not control any function itself. You can manually set the affected parameters in PLC.

Hi Raghav, the encoder feedback should be ok since you have tested the output for the whole range (when motor is not on?) The amplifier/motor noise is highly suspectable, it may interference with the feedback. Chekc the wiring and make sure the feedback/motor cables are properly earthed, and they are separacted in the track.

Hi, you can upload the NC file to the PMAC with a FTP client (e.g. FileZilla). The destination folder should be in /var/ftp/usrflash/. Then, issue the following command to ininitialize the sub prog: // No space between -i and /var gpascii -i/var/ftp/usrflash/Temp/mysubprog.nc And don't forget to enclose the subprog code in the following structure: open subprog xxx <subprog code> return close

Hi, I am using the rotary buffer to run a large program file. I found the rotary buffer does not support while loop when initializing the buffer. For example, run the scripts in the terminal: &1 open prog 0 P0=0 while(P0<10){ P0+=1 } close PMAC reports "error #31: missing }: while(P0<10){" However, the fixed buffer is fine.

When user specifies a non-existent G/M-codes, i.e. the jump label is not defined in the G/M subprogram, PMAC will execute the command from the top of G/M subprogram. I can catch the error at the top, but how can I know which code does the user specified, i.e. the jump label?

Hi, is there any way to persist data/status in the motion/plc script? We would like to recover some persisted data/status after power on.

Hi, the acc 65E manual does not mention the output behaviou at power on. We are using the outputs to control some safety functions, which require determinstic behaviour at power on.

Thanks Steve and Alex. That's really helpful.

Thanks Steve. Initially, we would like to use S code to change the spindle command speed to any value, such as S5000. But it turns out that S code works like G/M code, the code value range is limited rather than an arbitrary value. We will find another way to implement this function.

Thanks Steve and Eric. But can you advise how to implement the restore project command using SSH command? We would like to change it on the fly without using the IDE, if possible.

The S code subprog is called when 0 <= code value <= 1000. Otherwise it only sets Ldata.D[53], but the subprog is not called. Is it a feature or bug? Firmware: 2.4.0.180 Coord[1].Sprog = 1004 Subprog implementation: open subprog 1004 P0 = Ldata.D[53] return close In the buffered program, commands S-1 or S1001 only updates the Coord[x].Ldata.D[53] value, but P0 is left unchanged. Commands S0 to S1000 work correctly.

Power PMAC saves upto 5 latest projects on its flash (usrflash.1 to usrflash.5). It loads usrflash.1 upon power on. Is there any command to load other projeccts after power on?

Many thanks for your reply. It is a big relief to avoid developing my own servo routines. I will try these techniques in my application, and let everyone know how it works.

The picture illustration of my question is attached. Many thanks.

The picture illustration of my question is attached.

Hi, I have computed all the servo reference positions offline. I would like to set them as the reference position for each servo update. Can anyone help me with the following questions: 1. There are hundreds of thousands of offline generated positions. How can I store it in the PMAC? and How does the servo routine access these data? 2. Is this possible to call the already tunned standard servo algorithm to generate the servo output, but use the offline position as the DesPos input? Many thanks, Wenbin