Eric Hotchkiss

If you clear Sys.MinPhaseTime and Sys.MaxServoTime by setting them equal to zero, what value do they reach after letting the IDE run and after reconnecting?

I can start gathering by running a C program with the following line after using the plot tool to initialize settings. pshm->Gather.Enable=2; I have a feeling the issue lies in the setup of the "Gather." variables usually configured by the plot tool. Can you try using the tool to set these up as a test? You should be able to close it before your actual gathering and keep the settings.

I was not able to replicate the issue by manually pasting lines into the terminal of IDE 4.5.2.9. I was able to get the IDE to freeze for a few seconds after dragging in 500 lines of "#1p" from the text editor. Does this happen when the computer is connected directly to the PMAC by an ethernet cable? Are these lines being issued programmatically? If so it may be preferable to go through an SSH connection.

According to the manual currently available from the Omron Automation website, all encoder phases are 10 MHz. https://automation.omron.com/en/us/products/family/CK3M

The plot tool does not actually gather Sys.Time by default, it gathers Sys.ServoCount and does further processing before the plot is created. Try setting: Gather.Addr[1] = Sys.ServoCount.a This matches the Gather.Addr[0] value when using the plot tool.

From the “Backup Restore” window, "Restore" is the second option on the left. Then "Project from Power PMAC usrflash memory" is the third option on the right. Then scroll down to select usrflash.1. You may need to expand the window to hit the "Proceed" button.

There is a copysign function, but it won't work because copysign(1.0, 0.0)=1.0; copysign(1.0, InputVar);

This would be very complicated if the program is compiled outside of the IDE. This could be done easily with a background C Application ("C Language" -> "Background Programs" -> "capp1"). Just declare a gobal variable in script and use it as a double in C. Printf statements will be visible over SSH. To call the program. From IDE Terminal/GPASCII: system /var/ftp/usrflash/Project/C\ Language/Background\ Programs/capp1.out From Script PLCs/Motion Programs: system "/var/ftp/usrflash/Project/C\ Language/Background\ Programs/capp1.out“

PEWIN32PRO2 Cannot be used to connect to Power PMAC. The main way to connect to Power PMAC for setup is the Power PMAC IDE, available here. https://automation.omron.com/en/us/products/family/PMAC%20IDE You can also connect over Serial/SSH for HMI access. This can be simulated manually using Putty. If you issue "gpascii -i" it will turn the Linux terminal into a PMAC terminal.

That would normally be fine. Do you need to reorder the table?

It seems to work for my system. I set pBreakeOut to Sys.Udata[10].a and the value changed when I issued a J/. Did you upload the settings to the project like in this thread? Is anything red in the motor status window?

0.7 might be a good initial guess.

You could rearrange the motors so you don't have to change the channel settings if you want. This is what I would try: 1. For each motor, manually set the following: Motor[x].pEncStatus=CK3WAX.Chan[j].Status.a Motor[x].pEncCtrl=CK3WAX.Chan[j].OutCtrl.a Motor[x].pCaptFlag=CK3WAX.Chan[j].Status.a Motor[x].pCaptPos=CK3WAX.Chan[j].HomeCapt.a 2. Sync motors with project as shown in the attached picture. I have alerted the software team that there is no way to change these settings from the wizard.

This attachment shows how to set up the ECAT network at the higher rate, but slow it down to 2 kHz for the NX-ECC203. I hope it helps.TaskID1Ext_Function.pdf

According to the compatibility table in the IDE manual firmware 2.3.2.5 is compatible with IDE 3.1.4.0. The table does not go back to 3.1.2.2, but I would assume it is the same as 3.1.4.0. I think you need to right click "usercode.c", select properties, and change build action from content to compile. This will get rid of the red symbol next to the fire in the solution explorer.

How was the motor's phase reference established? In rare cases improper phasing may lead to this issue.

What firmware version are you using on the PMAC?

If the motor sees some following error, it sounds like something is getting there. Are you able to jog the motor?

If you have the motor fully set up and working, then you can use the "Reversing Motor Jogging Direction" in the Power Brick LV ARM (or AC) manual to find all changes required to change the motor's positive direction. Or did you mean that the $ command fails because the other motor is not freely moving?

Are you using safety in this system? If so, it may work better with an EtherCAT rate of 2 kHz instead of 4 kHz. If you are not using safety, try to “Clear all coupler memory” on the coupler.

The issue is the MATLAB version. Are you able to use 2020b or 2016a?

Is there a reason both motors need their positive in the same direction? Would it work to swap the direction of one motor so they are both positive in or both positive out?

I don't think we support that trajectory generation function. Trajectories are usually controlled through motion programs written in PMAC script. Can you tell me more about what type of trajectory this is?

This will work. There is a low pass filter internal to PMAC.

Please contact your local Omron sales channel/representative.