kandauru
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Posts posted by kandauru
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Hi,
there is a question regarding stopping on hardware limit:
I have some problem with Z axis. When it runs with a high speed, it does not stop on the limit immediately. So, what is the parameter that allows to change deceleration when hardware limit was detected? Thanks.
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Even the motor defined like:
Motor[2].CmdMotor = 1 //leader id/
Motor[2].ServoCtrl = 8 //follower
should it be as target in compensation table?
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Hi again,
I have couple of questions regarding compensation table:
1) the values entered into the table - what is this? The difference (correction) between target position and measured one when the target was reached
or absolute corrected position?
2) I built 2 compensation tables using GUI in PowerPMAC IDE. Although Sys.CompEnable=2, I didn't see it working. For point 100 mm I put the correction of 50 mm, just to see it working, but running distance, anyway, was 100 mm. Please, advise.
3) If I have two motors in gantry mode, should I prepare something specific, or it is enough to setup up compensation table for "master" motor only?
Thank you in advance!
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Thank you for helping me!
I have checked CSV file with data for one dimension correction - it is working.
Best regards from China.
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Hi,
I see there is an option to load compensation tables from CSV file.
But I cannot find a format (what data that should be included and how organized) of the file. Could you give me an example? Thanks.
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Thank you, Brad!
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Hi,
We want to use CAD/CAM/CATIA files directly with PPMAC.
In the introduction_the_power_pmac.pdf file (attached) it is written:
"Want the controller to execute a complex “G-code” motion sequence generated by an industrystandard CAD/CAM program? Just download the program file to the Power PMAC and let the builtin interpreter and automatic motion sequencer take over".
What is the general way to implement this? Any example? Please.
Thank you in advance.
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The problem was in decimal points of positions.
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&1
Coord[1].FeedTime = 1000 //sec
Coord[1].SegMoveTime = 0
Coord[1].AltFeedRate = 300 //mu/s
Coord[1].MaxFeedRate = 300 //mu/s
Coord[1].Ta=10
Coord[1].Td=0
Coord[1].Ts=50
Coord[1].Tm=-200
Coord[1].NoBlend=0
#1->533.3432x
#2->0 //position follower
#3->533.3432xx
#4->0 //position follower
#5->799.9702y
#6->799.9702yy
#7->2719.5545z //Ua
#8->2719.5545zz //Ub
#9->2777.957u // Ba
#10->2777.957uu // Bb
//#11->0//a
//#12->0//aa
//#13->0//b
//#14->0//bb
#15->1927.0626v
#16->1927.0626vv
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And here are my points:
XX4240YY-3065ZZ256UU-175VV-90
XX4240YY-3065ZZ256UU-175VV-90
XX4240YY-3065ZZ257UU-175VV-89
XX4239YY-3065ZZ258UU-175VV-88
XX4239YY-3065ZZ259UU-175VV-87
XX4238YY-3065ZZ260UU-175VV-86
XX4238YY-3065ZZ261UU-175VV-85
XX4237YY-3065ZZ261UU-175VV-84
XX4237YY-3065ZZ262UU-175VV-83
XX4236YY-3065ZZ263UU-175VV-82
XX4236YY-3065ZZ264UU-175VV-81
XX4235YY-3065ZZ265UU-175VV-80
XX4235YY-3065ZZ266UU-175VV-79
XX4234YY-3065ZZ266UU-175VV-78
XX4234YY-3065ZZ267UU-175VV-77
XX4233YY-3065ZZ268UU-175VV-76
XX4233YY-3065ZZ268UU-175VV-76
XX4233YY-3065ZZ267UU-175VV-77
XX4234YY-3065ZZ266UU-175VV-78
XX4234YY-3065ZZ265UU-175VV-79
XX4235YY-3065ZZ264UU-175VV-80
XX4235YY-3065ZZ263UU-175VV-81
XX4236YY-3065ZZ263UU-175VV-82
XX4236YY-3065ZZ262UU-175VV-83
XX4237YY-3065ZZ261UU-175VV-84
XX4237YY-3065ZZ260UU-175VV-84
XX4238YY-3065ZZ259UU-175VV-85
XX4238YY-3065ZZ258UU-175VV-86
XX4238YY-3065ZZ258UU-175VV-87
XX4239YY-3065ZZ257UU-175VV-88
XX4239YY-3065ZZ256UU-175VV-89
XX4240YY-3065ZZ255UU-175VV-90
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Send me some plots of the motion in position/velocity vs time.
Attached are plots of XX,ZZ,VV.
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Here is a video where you can see my problem: https://drive.google.com/file/d/0B6Q9gPky33lbdXpXeHkwcE1paXM/view?usp=sharing.
On second video you can see what I want to have when it moves from point to point: https://drive.google.com/file/d/0B6Q9gPky33lbdW54ZTNCRTNNWWc/view?usp=sharing
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Additional questions:
in my system I have 12 axes. I define all my axes in CS1 when my application is started.
While the application is running CS1 definition is not changed.Is it OK? Or I should define axes in CS
before each simple movement (or complex trajectory movement)?
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Hi Steve,
I have implemented the rotary buffer according to what you had described but the result was same.
I have seen all my points in the buffer (using list Rotary command) before I sent the command &1b0r. So, if all points were
in the buffer, then I think the problem is in ta, ts, td parameters. Or maybe I should go for lookahead feature?
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Thank you, Steve!
I will check it and let you know a result.
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Guys,
could you give me a small example of rotary buffer? How to do it in right way.
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Thank you for your reply, Gregs.
The following part is defined in 0-coordinate_system.pmh
&1
Coord[1].FeedTime = 1000 //sec
Coord[1].SegMoveTime = 0
Coord[1].AltFeedRate = 300 //mu/s
Coord[1].MaxFeedRate = 300 //mu/s
Coord[1].Ta=1
Coord[1].Td=0
Coord[1].Ts=5
Coord[1].Tm=-5
Coord[1].NoBlend=0
#1->1865x
#2->1865xx
#3->1865y
#4->1865yy
#5->1865z
#6->1865zz
#7->680.9714v
#8->324.8089u
#9->680.9714vv
#10->324.8089uu
Motion program 1:
open prog 1
frax(X,Y,Z)
F20
cmd "&1a"
cmd "&1 delete rotary"
cmd "&1 define rotary 600000"
cmd "&1 open rotary abs linear close"
cmd "&1b0r"
while (RunProg == 1) //RunProg - global variable
{
cmd "&1 open rotary X-207Y308Z573V186U-249 X-207Y309Z573V186U-249 X-208Y311Z573V186U-249 X-208Y312Z573V185U-249 X-209Y314Z573V185U-249 X-209Y315Z573V185U-249 X-210Y317Z572V184U-249 X-211Y318Z572V184U-249 X-211Y320Z572V184U-249 X-212Y322Z572V183U-249 X-212Y323Z572V183U-249 X-213Y325Z572V183U-249 X-214Y326Z572V182U-249 X-214Y328Z572V182U-249 X-215Y329Z572V182U-249 X-215Y331Z571V181U-249 close"
Sendallcmds
cmd "&1 open rotary X-215Y330Z570V180U-249 X-214Y329Z571V181U-249 X-213Y327Z571V181U-249 X-213Y326Z571V181U-249 X-212Y324Z571V182U-249 X-212Y323Z571V182U-249 X-211Y321Z571V182U-249 X-210Y320Z571V183U-249 X-210Y318Z571V183U-249 X-209Y316Z571V183U-249 X-209Y315Z571V184U-249 X-208Y313Z571V184U-249 X-207Y312Z572V184U-249 X-207Y310Z572V185U-249 X-206Y309Z572V185U-249 X-206Y307Z572V185U-249 close"
Sendallcmds
}
close
So, there is only one motion program. This is a small example that was implemented as a motion program and didn't work in the past.
In a real application trajectory will be computed on the fly, that's why I need a rotary buffer.
If you see something wrong, please, tell me.
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Finally, I see that rotary buffer is working, but not exactly what I wish. Axes move from point to point with a small stop, not smoothly.
You can see it here: https://drive.google.com/open?id=0B6Q9gPky33lbd2J0V3l6OVl0VGs .
Below you can find a motion program and parameters:
&1
Coord[1].FeedTime = 1000 //sec
Coord[1].SegMoveTime = 0
Coord[1].AltFeedRate = 300 //mu/s
Coord[1].MaxFeedRate = 300 //mu/s
Coord[1].Ta=1
Coord[1].Td=0
Coord[1].Ts=5
Coord[1].Tm=-5
Coord[1].NoBlend=0
&1
#1->1865x
#2->1865xx
#3->1865y
#4->1865yy
#5->1865z
#6->1865zz
#7->680.9714v
#8->324.8089u
#9->680.9714vv
#10->324.8089uu
open prog 1
Ldata.coord=1
frax(X,Y,Z)
linear
abs
F20
cmd "&1a"
cmd "&1 delete rotary"
cmd "&1 define rotary 600000"
cmd "&1 open rotary abs linear close"
cmd "&1b0r"
while (RunProg == 1)
{
cmd "&1 open rotary X-207Y308Z573V186U-249 X-207Y309Z573V186U-249 X-208Y311Z573V186U-249 X-208Y312Z573V185U-249 X-209Y314Z573V185U-249 X-209Y315Z573V185U-249 X-210Y317Z572V184U-249 X-211Y318Z572V184U-249 X-211Y320Z572V184U-249 X-212Y322Z572V183U-249 X-212Y323Z572V183U-249 X-213Y325Z572V183U-249 X-214Y326Z572V182U-249 X-214Y328Z572V182U-249 X-215Y329Z572V182U-249 X-215Y331Z571V181U-249 close"
Sendallcmds
cmd "&1 open rotary X-215Y330Z570V180U-249 X-214Y329Z571V181U-249 X-213Y327Z571V181U-249 X-213Y326Z571V181U-249 X-212Y324Z571V182U-249 X-212Y323Z571V182U-249 X-211Y321Z571V182U-249 X-210Y320Z571V183U-249 X-210Y318Z571V183U-249 X-209Y316Z571V183U-249 X-209Y315Z571V184U-249 X-208Y313Z571V184U-249 X-207Y312Z572V184U-249 X-207Y310Z572V185U-249 X-206Y309Z572V185U-249 X-206Y307Z572V185U-249 close"
Sendallcmds
}
close
BTW, way frax(X,Y,Z,U,V) is not acceptable with projpp? I am getting the following error:
Error : ( error #31) invalid data : frax(z,y,z,v,u).
So, my main question is how to make it moves smoothly?
Thank you in advance!
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Under the topic "Constraints on Linear/Circle Moves" I have read the following:
With very short moves, user must be careful not to overwhelm Power PMAC real-time calculation capabilities (run-time error would result and program would halt).
It looks like it is my case, isn't it?
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I see in CS1 Error Status "RunTimeError". What to check?
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Hi,
I am facing a new problem using rotary buffer: the rotary buffer stops running after first line was executed.
Please, advise how to fix this problem.
Here is my source code:
CS defined as below:
&1
#1->x
#2->0 //position follower of #1
#3->xx
#4->0 //position follower of #3
#5->y
#6->yy
#7->z
#8->zz
#9->u
#10->uu
//#11->a //not used in current configuration
//#12->aa //not used in current configuration
//#13->b //not used in current configuration
//#14->bb //not used in current configuration
#15->v
#16->vv
Then in my application written on C#:
//buffer initialization
cmds.Add("&1a");
cmds.Add("&1 delete rotary");
cmds.Add("&1 define rotary " + ROT_BUF_SIZE); // ROT_BUF_SIZE = 4096
cmds.Add("&1open rotary linear abs close");
cmds.Add("&1b0r");
SendCommands(rotComm, cmds, out res);
//buffer filling
cmds.Add("&1open rotary X92028 Y1089221 Z1631730 U-500011 V173488 close");
cmds.Add("&1open rotary X92087 Y1089385 Z1636252 U-500125 V172850 close"); //at this line the execution stops
cmds.Add("&1open rotary X92152 Y1089550 Z1640774 U-500238 V172212 close");
cmds.Add("&1open rotary X92221 Y1089714 Z1645296 U-500352 V171575 close");
cmds.Add("&1open rotary X92296 Y1089878 Z1649817 U-500465 V170937 close");
cmds.Add("&1open rotary X92376 Y1090042 Z1654338 U-500579 V170300 close");
cmds.Add("&1open rotary X92461 Y1090206 Z1658858 U-500692 V169662 close");
cmds.Add("&1open rotary X92552 Y1090370 Z1663377 U-500806 V169025 close");
cmds.Add("&1open rotary X92648 Y1090533 Z1667895 U-500920 V168387 close");
cmds.Add("&1open rotary X92749 Y1090697 Z1672411 U-501034 V167750 close");
cmds.Add("&1open rotary X92855 Y1090860 Z1676927 U-501147 V167112 close");
cmds.Add("&1open rotary X92966 Y1091024 Z1681440 U-501261 V166475 close");
cmds.Add("&1open rotary X93083 Y1091187 Z1685953 U-501375 V165837 close");
cmds.Add("&1open rotary X93205 Y1091350 Z1690463 U-501490 V165200 close");
cmds.Add("&1open rotary X93332 Y1091513 Z1694971 U-501604 V164563 close");
cmds.Add("&1open rotary X93464 Y1091676 Z1699478 U-501718 V163925 close");
SendCommands(rotComm, cmds, out res);
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Hi,
I try to build/rebuild my project, but I get a very strange error (see picture).
Does anybody know how to fix this problem?
Firmware version: 2.0.2.14
PPMAC IDE: 2.0.3.40
CPU: PowerPC,460EX
Thank you in advance.
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Dear Charles,
first of all, thank you for your reply.
in the following lines you can find a plc program I am trying to run:
//defined in global definitions
Global minPos
Global maxPos
open plc HomeTest
// --------------------User Code Goes Here------------------------
minPos = motor[1].MinPos
maxPos = motor[1].MaxPos
motor[1].MinPos = 0
motor[1].MaxPos = 0
//Motor[1].pLimits = 0 //disable limits
Motor[1].HomeVel = POSITIVE_HOME_SPEED
Motor[1].JogTa = JOGTA_VALUE
Motor[1].JogTs = JOGTS_VALUE
Motor[1].HomeOffset = HOME_OFFSET_VALUE
Gate3[0].Chan[0].CaptFlagSel = PLUS_LIMIT_FLAG
Gate3[0].Chan[0].CaptCtrl = CAPTURE_FLAG_ON_LOW_SIGNAL
home 1
while(Motor[1].HomeComplete != 1){}// Wait until Home Complete
//Motor[1].pLimits = Gate3[0].Chan[0].Status.a //restore limits
Motor[1].MinPos = minPos
Motor[1].MaxPos = maxPos
close
The situation is :
1) If I run with pLimits enabled, axis stops on the limit, post-trigger move does not happen.
2)if I run with pLimits disabled , axis passes the limit and continues running until mechanical stopper.
Could you tell me what is wrong?
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Does anybody know why post-trigger move is not running?
What could be a reason for this?
An axis is doing homing on positive direction to a limit.
When the limit is reached, I want the axis go out of the limit.
To do that I am using HomeOffset parameter of motor structure,
but nothing happens, the axis just stops moving.
Stop on hardware limit
in Power PMAC
Posted