Naresh

we are working on Power PMAC with MATLAB. I request OMRON team to Kindly share a latest matlab component of 2022a to work with Matlab.

Thank you for your suggestion. I checked E13 jumper on ACC-24E2A card it is 2-3 pins. Even I checked the PMAC resources all are showing some frequencies that are not changing. I removed all other cards other than Turbo PMAC2 CPU and ACC-24E2A. after doing all these things also coming same error " "Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error." Please suggest us to solve this problem.

Thank you unit101 for your suggestion. In Global status window I checked " phase clock error " bit but it is not set. I checked all I variables related to servo ICs. in our turbo UMAC we have Servo IC 2 and I19 also normal and with internal phase clock and internal servo clock. But we are facing the same problem of " "Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error." Motor is moving in normal way in open loop mode. but for closing the loop error is coming. Please suggest us. Thank you.

Thank you for your suggestions. I issued the commands $$$*** and $$$ and SAVE. after this also same error is coming. I did not done anything regarding firmware.In our Turbo UMAC we have only one Turbo PMAC2 CPU, One 4-axis interface card (ACC-24E2A), one SSI card, one Digital I/P and Digital O/P card, one A to D card and One Power supply card. In all these now I am using only Turbo PMAC2 CPU card and ACC-24E2A card.In Global status window I am seeing the error of Servo/Macro IC config error and after Issuing a command #1J/ error is "Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error." Even DAC offset also continuosly coming and motor is moving in open loop mode. when i kept the motor in position mode it is not moving but when i keep it in velocity mode and torque mode then only it is moving. Could you tell me the procedure to download the firmware to CPU. what are all things to be done to do this. Please help me in this issue.

Thank you very much for your reply.I tried with your suggestions.Following are the observations. I checked the value of I19 it is 7207, i4900 is showing $4 from this I can say it is a Servo IC number 2, this number is matching to I19 of 7207.I checked the value of i7207 it is zero from this i can say it is internal generation of phase clock and internal generation of servo clock. I corrected the counting direction of simulated encoder pulses as per the motor shaft movement. Even i7216 value is 3 then it is a DAC output. I made i180=0. after all this my observations are DAC output is continuosly coming with 0.7 volt. In global status window i observed there is a error with Servo/Macro config error. after giving a command of #1J/ again the "Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error" is coming. our amplifier fault signals are status+,status- , this is a digital output but axis interface pins having analog fault inputs ,can i bypass the giving of fault input status to UMAC. please give the suggestions

I am using a UMAC turbo PMAC2 CPU. I am trying to move the Baldor AC brushless motor with Motiflex E100 drive through the UMAC. when I am giving a #1j command to enable axis the following error is coming "Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error." I am not using a UMAC for commutation purpose. I am able to read a resolver count in position window.I set the following varibles I100=1, I101=0,I102=$78202,I103=I104=$3501,I124=$820001 I am enabling the drive from outside with 24V not through the UMAC. when switch on the UMAC automatic DAC output of 0.7voltage is coming out and motor is moving. I am not able to control the motor through the UMAC.. Please anybody help me for this problem...