Eric Hotchkiss

Matsuzawa, You should ask your distributor or local Omron representative for the firmware version you need. Are you having trouble getting help?

Can you try making the code add a space after the dwell0? That seemed to make the issue go away when I got it to show up.

This section from the Global Includes file "ppnc_ncinterfacedefinitions.pmh" has some masks that set the bits you are looking for. //PowerPMAC NC Jog Options #define UI_JogX1 $00001 #define UI_JogX2 $10000 #define UI_JogX3 $00002 #define UI_JogX4 $20000 #define UI_JogX5 $00004 #define UI_Axis_X 16 // $00000010 #define UI_Axis_Y 32 // $00000020 #define UI_Axis_Z 64 // $00000040

Bruce, I don't see the response. If it was an attachment, there is an extra button click to add the attachment after uploading that is easy to miss.

I believe it is a 465 CPU. You can confirm by entering the "CPU" command in the terminal. The response for a 465 is "PowerPC,APM86xxx".

No. For that I would suggest IDE 3.1.4.0, the most recent IDE V3. Available on our older software center: http://www.deltatau.com/DT_SoftwareDownload/SoftwareUpdates.aspx Direct Link: http://www.deltatau.com/Common/support/downloads/PowerPMAC%20IDE%20(3.1.4.0).zip IDE 3 will be able to handle your whole project as long as you don't have user written phase/servo routines. If you wish you can set up just ethercat in IDE 3 and take a config to get settings that can be pasted into an IDE 4 project to set up ecat and ecat motors before continuing setup in IDE 4. There is a little bit more information here. http://forums.deltatau.com/filedepot/download.php?f=Power%20PMAC/Application%20Notes/EtherCAT/Using%20EtherLab%20with%20IDE%204%20Projects.pdf [FILE REMOVED]

You said GCODE with a 10mm move got the correct Do you get the same speed after f10? 32 mm/msec sounds like our default jog speed. Maybe this is a rapid move? Is there a G0 before the move? If you try G1 X10, does that behave differently? I would not suggest using the Commissioning screen to view PMAC speeds/rates, only to set them. If you put Motor[1].JogSpeed into the watch window, it will be shown in Motor Units (mm in your case) per millisecond.

I believe the newest firmware is 2.5.2.0. You can request firmware from your local Omron representative. The most recent IDE 4.4.0.99 is available here https://automation.omron.com/en/us/products/family/PMAC%20IDE

That global variable flag may be taking affect too early, while the program is still technically running. You might try adding a small delay to the PLC before the motors are killed to test this theory. Does the code being inserted into the rotary buffer have a synchronous assignment like below? (double equal) so the flag is not set early? MyVar==1 DWELL 0 CLOSE

Does anything in your coordinate system status screen look off when this happens? What value does Coord[x].ErrorStatus have? It sounds like your motor is just saying the motion program died without telling it how to do it's next move.

I think the issue is that if angle is 25 (or less than 25.1) it will be increased at the end of a loop of code. angle = 0; while (angle < 25.1) { ﹒﹒Code ﹒﹒angle += 1.0; } If you want the angle variable to be equal to 25 at the end you may have to adjust the format of the code. Here is one possible example. angle = -1; while (angle < 24.1) { ﹒﹒angle += 1.0; ﹒﹒Code }

1. This really comes down to exactly how loaded your CPU is. The background takes as long as it needs to to complete a cycle (which includes multiple runs of each bgcplc) and then waits for a specified amount of time (default 1 ms) before repeating. If your code is not too math heavy (I mean things like trig that actually cause some CPU load) you should be able to make it an rticplc. This way it would run at the real time interrupt frequency. 2. Glad to hear it.

I think installing firmware by USB would work well in your case. Take an empty USB stick and make a folder on it named 'PowerPmacFirmwareInstall'. Place the firmware file inside as 'powerpmac.deb' and boot PMAC with the USB inserted.

1. would use a bgcplc (background c plc) instead of a background app. They already run a set number of times per background cycle. 2. The easiest method would be unsolicited messages. The feature was really meant for sending strings to an HMI, but the IDE is easily capable of receiving and displaying the messages. Take a look at the send command in the software reference manual for more information about building formatted strings to display. Also see attachments.

I believe that is referring to an internal part of the development of the NC SDK. You can probably take it to mean the NC SDK.

Yes We changed the firmware distribution process a while ago. I believe you would ask your distributor. If you have any trouble with that route let me know. Also, I would suggest trying firmware 2.3.2.5. If you have a new enough version of IDE V4 there is a device imaging tool that can be used to create a whole disc image which can be used to restore. It has instructions for what to plug in where. I would recommend using it.

Our G54 implementation does not include the C axis. If you wanted to add that functionality yourself, I believe our code is open enough it would be possible, but not easy. I know the code that runs on PMAC much better than I know our NC HMI. When you run a G54 that will run on PMAC and here is the standard implementation. // G54 set work coordinate system 1 n54000: dwell 0 // Stop lookahead and blending ThisCs = Ldata.Coord // Coordinate system executing program XworkOfs = CS1WorkG54X YworkOfs = CS1WorkG54Y ZworkOfs = CS1WorkG54Z //Cancelling Locals XlocOfs = 0 YlocOfs = 0 ZlocOfs = 0 GCodesGroup0 &== ~Group0_G52 gosub 50000 // G50 disable scaling gosub 50100 // G50.1 disable mirroring gosub 69000 // G69 disable rotation MacroGCodesGroup14 = 54 GCodesGroup14 == Group14_G54 return You would need to declare and set C versions of the variables that exist for X/Y/Z and set them in this code. Then you would have to search for where in the project the X/Y/Z variables are used and do the same thing for C. That is in addition to editing the code you're looking at to include the C axis. If you want to make those changes I can ask the CNC team your questions. I asked how the C axis was used because there might be an easier way to do the same thing.

I have a feeling this might go deeper than you thought and require editing the G-Code library saved in the controller, as well as the front end for the NC display. What is the C axis used for?

If you click the file depot button in the top right of the screen, my attachment will show you where to go from there. Is this a 460 or 465? You can enter the command CPU into the terminal and share the response.

Since it sounds like you have two identical systems and one works correctly, can you show the response both give when "ecat slaves" is entered into the terminal? I want to see if everything is the same revision.

You should be able to add your startup script to "/.readonly/etc/init.d" and then place symbolic links in "/.readonly/etc/rc2.d/SXXntp" following the already existing naming conventions and using the number in the name to determine run order. Don't run update-rc.d.

Then it looks like the drive is reporting an error. It could be to do with setup or it could just be a problem with the drive. Taking a look at the version of the IDE manual that would be in your IDE. On the DC tab, did you set Sync 0 Shift? If not could you try setting it to half of the Sync 0 Cycle?

When the device refuses to go into OP mode and the slave status shows the error, what response do you get if you enter "ecat slaves" in the terminal?

Good. :) I learned the current IDE has a line length limit of 8192, but I was not able to confirm if it applies to IDE versions that old yet.

S_shirshov is correct. Firmware 2.4+ is a huge speed up for CK3E.