Jump to content
OMRON Forums

Eric Hotchkiss

Omron
  • Posts

    558
  • Joined

  • Last visited

  • Days Won

    8

Eric Hotchkiss last won the day on October 26 2022

Eric Hotchkiss had the most liked content!

2 Followers

About Eric Hotchkiss

Recent Profile Visitors

The recent visitors block is disabled and is not being shown to other users.

Eric Hotchkiss's Achievements

Proficient

Proficient (10/14)

  • Dedicated Rare
  • First Post
  • Collaborator Rare
  • Posting Machine Rare
  • Conversation Starter

Recent Badges

17

Reputation

  1. You can name the PLC something like "ResetPLC" to keep the descriptive name and avoid the short word issues.
  2. This would be a technical support issue. Please contact ODT's direct technical support with your full issue details at: ODT-Support@Omron.com You can also contact Omron TSG at "ia.techsupport@omron.com" but make sure to have PMAC or Delta Tau in the subject line for proper routing.
  3. Take a look at the "Step and Direction, PFM Output" section of the Power Brick LV ARM manual. It has a PLC which can temporarily be used to select a frequency divider, as well as instructions to manually output a frequency and motor settings. I believe you should also be able to issue something like #1out50 for 50% of Fmax. https://automation.omron.com/en/us/products/family/Brick LV
  4. It sounds like 1 is the real issue and 2 happens because encoder settings aren't properly saved. Can you please share...? Your IDE version, firmware version, and CPU type. (in the green bar at the top of the IDE) A screenshot of the encoder setup page. A screenshot of the motor setup topology page.
  5. Here they are. Position Following.pdf
  6. This is possible. You could servo the motor to a position of zero and then write a position to Motor[1].MasterPos every servo cycle. There will be a delay of one servo cycle. I am including training slides on position following. Not everything applies when just writing to MasterPos directly. Offset/normal following mode applies, as well as the speed and acceleration limit features on the last slide. It would be best to do this from a custom servo routine attached to Motor 0 (written in C, pshm->Motor[x].MasterPos=Value;).
  7. We have a tool to remove vibration called a Trajectory Pre-Filter, sometimes referred to as vibration suppression. We used to have a demo where a linear motor had a block and spring on top. When vibration suppression was enabled, the block did not vibrate. Typically either a Low-pass or notch filter would be used. I would recommend to start with a Low-pass. The concept is discussed in the Power PMAC Users Manual and the tool to implement the filter in interactive position loop tuning. There is also a way to use MATLAB to generate a trajectory, but it's much more complicated and I don't know if it would have input shaping functionality.
  8. Firmware versions will typically be distributed directly to customers through Omron Distributors rather than being available for download for anyone. If you need to upgrade the firmware on your unit or obtain a specific other version, contact your Omron Distributor for more information. You may need to provide some information about the product so that the correct file and procedure are provided. These can be obtained by issuing "CPU", "TYPE", and "VERS" into the terminal window, so please be prepared to provide the responses to these commands, too.
  9. Yes, we have an application note on hot connect groups. Here it is. DeltaTau_HotConnectDisableEnableSlave_Ver1.2.pdf
  10. I am attaching an application note on how these values are used and how to set them in PMAC. It may be that MaxSessions was added repeatedly because a step was missed. I hope this is helpful. Configuring an SSH Timeout In Power PMAC.pdf
  11. The name "homeSlvEpoxyChanger.pmc" does not matter. The problem is that homeSlvEpoxyChanger is used for a global variable name as well as after "open program". I would suggest changing it to "Open Prog homeSlvEpoxyChangerProg" to make the program name unique.
  12. The name "homeSlvEpoxyChanger.pmc" is not really used. What name appears after open subprog? Does it say "open subprog homeSlvEpoxyChanger"?
  13. PowerPMAC IDE 4.3.0.107 is compatible with an arm, 1020 CPU with Firmware 2.6.0.0. Are you able to build and download a new project after $$$***? Is the name "homingSlvEpoxyChanger" used for anything else in the project like a program name?
  14. I believe you are trying to set up Motor 4 as Gate3[1].Chan[0], even though the IDE expects it to be Gate3[0].Chan[3]. This was an issue in previous IDE versions, I am not sure exactly when it was corrected, but it seems to work fine in my IDE 4.6.0.14. If you do not wish to update the IDE, you will have to set the following variables. These can be dragged into the terminal from the editor window. Motor[4].pEncStatus=CK3WAX[3].Chan[0].Status.aMotor[4].pEncCtrl=CK3WAX[3].Chan[0].OutCtrl.aMotor[4].pCaptFlag=CK3WAX[3].Chan[0].Status.aMotor[4].pCaptPos=CK3WAX[3].Chan[0].HomeCapt.a To sync these settings with the IDE project, right click on the motor folder and select "Sync All Motor Settings (PMAC to Project)". If this is a sinusoidal encoder, you may also want to make sure the following settings are in affect: Arctangent Enabled: Gate3[1].Chan[0].AtanEna = 1 With Standard Sinusoidal: Motor[4].EncType = 6 With ACI: Motor[4].EncType = 7
  15. I am assuming you are using the IDE plot tool for settings and have it open. What firmware and IDE versions are you using? It's possible they we released far enough apart that gathered data does not upload correctly. There is a legacy mode that might be able to help if the firmware is too old for the IDE. Firmware version is visible in the top bar of the IDE or after the command "vers" is issued in the terminal. IDE version is visible in the top bar. It can also help to Start Gather, Stop Gather, Upload and Plot once manually first if the gather tools is misbehaving. What type of encoder is the motor using? Quadrature? Sinusoidal? Serial? Plotting velocity while moving and checking if Gate3[i].Chan[j].CountError is automatically set true (after manually setting it to 0) can help diagnose encoder issues.
×
×
  • Create New...