christerEngblom
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Posts posted by christerEngblom
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Hello,
just stumbled onto this thread as I am looking into upgrading my firmware from 2.0.2.14 to the newest of 2.3.2.5 on my Powerbrick LV platform (command 'type' returns 'POWER PMAC BRICK').
I would just like to clear up something before proceeding:
When I send the query command 'cpu', I get 'PowerPC,APM86xxx' as a response. If I follow the flowchart, I should get the 'powerpmac465.zip' package.
But according to the flowchart, it says that the response 'Power PC, 460 EX' is the one corresponding to the Powerbrick LV hardware.
Should I still continue with the 'powerpmac465.zip' package?
Thanks in advance,
Christer
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Check to see if Motor[4].Ctrl = Sys.PosCtrl - this would make the output of the PID a position command not a torque or velocity command. It should be Motor[4].Ctrl = Sys.ServoCtrl.
Hi Steve and thanks for your response. I checked the parameter and Motor[4].Ctrl is already set to Sys.ServoCtrl.
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Hello,
I am currently setting up a cascading loop and I am having abit of an issue of the outermost motor output, Motor[4].IqCmd. It seems this outputs values that are proportional to the motor position rather than velocity or torque.
The setting is as follows:
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Motor[4].pDac=Sys.pushm;
Motor[4].EncType=5
EncTable[4].type=1;
EncTable[4].pEnc=PowerBrick[1].Chan[1].ServoCapt.a;
EncTable[4].index1=0;
EncTable[4].index2=0;
EncTable[4].index3=0;
EncTable[4].index4=0;
EncTable[4].MaxDelta=0;
EncTable[4].ScaleFactor=0.00390625;
Motor[4].pEnc=EncTable[4].a
Motor[4].pEnc2=EncTable[4].a
Motor[4].pLimits=0
Motor[4].pAmpEnable=0
Motor[4].pAmpFault=0
Motor[4].JogTs=-0.1
Motor[4].JogTa=-0.1
Motor[4].JogSpeed=8;
Motor[4].Stime=4;
Motor[4].Servo.Kp=0.079999998;
Motor[4].Servo.Kvfb=0.40000001;
Motor[4].Servo.Ki = 0.55000001;
Motor[4].Servo.Kvff = 0;
Motor[4].Servo.Kaff = 0;
Motor[4].Servo.Kvifb = 0;
Motor[4].Servo.Kviff = 0;
Motor[4].Servo.OutDbOn=0;
Motor[4].Servo.OutDbOff=0;
Motor[4].FatalFeLimit=2000;
Motor[4].MaxDac=32768;
Motor[4].ServoCtrl=1;
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The cascade uses Motor[x].MasterCtrl=1 and sets Motor[x].pMasterEnc=EncTable[11].a.
The innermost loop then sets EncTable[11].pEnc=Motor[4].IqCmd.a, but since the IqCmd already gives out positional values there is no need to integrate, and EncTable[11].index4=0;
This setup is problematic since the PID wont work well with a servo out that is proportional to position, and I have issues of extremely limited range as well. Have I forgotten something?
Best Regards,
Christer
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As outputs, each line is an open collector that can be pulled up externally to 5V, and is capable of sinking 10 mA while holding a standard TTL “low” output level.
Pin49 +V on J4 & J5 connector is internal +5V signal. I do not recommend you to apply external power to this pin.
ah, thanks for the response on the matter! I was hoping to avoid additional modifications on the cabling between the device and the ACC-14E but maybe it is unavoidable.
The TB1 connector (GND and 5V, unconnected) is however on the card and not (seemingly) connected to J4 & J5. This should always remain unconnected?
Best Regards,
Christer
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they are at 10kohms
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Hello,
I am currently using the ACC-14E to interface with other TTL GPIO equipment and I have run into abit of a snag. It seems that the ACC-14E can't output enough power to keep 5V; it goes down to 3.4V when I plug in more than one output on the same DataRegister.
I could solve this by adding a electronic buffers to each and single output but that would require soldering which I would preferably avoid.
My question is, could I beef up the power output of the card? When I pull out the card I see an empty connector for GND and 5V (TB1)? Could I plug in an external 5V powersource into this?
I couldn't find anything in the documentation on the matter, but perhaps I missed something?
Best Regards,
Christer
2.3.2.5 Firmware Update: Which Version?
in Power PMAC
Posted
ah thanks Tony!