Smakarem

Wouter, After speaking with the firmware team, unfortunately, at this time they aren't accessible during EtherCAT operation. Kind regards, Shadi

Hi Wouter, You can use the ecattypedsdo command to read any item that shows up in the device’s Object Dictionary. If you want to read it frequently, you may be better off modifying a PDO Mapping to include it, assuming the device supports reading that object as a PDO. -Shadi

We can use the GetResponse command to issue the script command "PLC[14].Running" to PMAC and get a result. One method for retrieving the status of your PLC parameter can be seen in the code below: char *Cdata; Cdata = (char *)pushm; char szdata[100]; GetResponse((char*)"Plc[14].Running",&szdata, sizeof(szdata), 0); Cdata[10]= szdata[16] - 48; For your second question: "What if my PLC is declared textually, i.e. 'open plc ScanLogPLC'?" Answer: It's best practice to use the PLC ID number (i.e. Plc[14]).

FYI for anyone else who would also like to see this PLC file I've attached it to this post.PLC1.txt

Hi Shane, I've sent you the email, please let me know if you had any trouble receiving the PLC File attached.

Hi Shane, Sorry for the delay, we don't have the ability in firmware currently but we have a PLC example that may be able to do what you are asking. If you'd like the file, please provide me your email and I can send it to you directly or you can email me at shadi.makarem@omron.com and I'll reply to your email with the PLC file attached. Kind regards, Shadi

Hi Raghav, I have a useful document that has some GUI examples using the PDK and contains the code or instruction needed to communicate with PMAC. If you want, just send me an email at shadi.makarem@omron.com and I can send you the attachment, the document is too large to attach on a forum post. Regards, Shadi

Chris, Sounds good let me know. Also, do you happen to have any PLC's active in your system that could be messing with your motor as you're trying to issue an online jog command from the terminal? I might suggest disabling all your PLC before you test the ability to do a "#1j/" to see if the issue is still present. This could be a problem just generated by a PLC you have enabled. Regards, Shadi

Hi Chris, Are you able to do an open loop test using the IDE tool and screenshot the plot? I'm curious to see how your motor responds, if it's a saw-tooth pattern it's likely fine and there's no wiring issue. Also, how does your tuning feel on the motor? Is it able to hold torque in a given spot pretty well when you enable it "#1j/"? It could be a tuning issue, your amp enable bit might indicate everything is fine but the tuning gains for the motor might be poor to where it doesn't actually drive the motor. Feel free to send a screenshot of your plot from the tuning tool as well. Are there any other status indications in your motor 1 status display that are red when the motor doesn't move? Check the feedrate of your motor in the terminal with the "%" command. It should be %100 under normal operating conditions unless specified otherwise. Regards, Shadi

Hi Clark, Has this motor's servo loop been tuned? Do you have a plot of what a step and settle move looks like for the motor after modifying some of the tuning parameters? The motor might be bouncing around and going into a fatal following error because of poor tuning. Kind regards, Shadi

Hi George, After confirming some information, it sounds like you are correct. PrevEnc is the unintergrated position value and does not use the scaling from the first encoder table. Regards, Shadi

Hi Max, I have replicated your issue with Ctrl getting reset to 7 as you described. I will bring this up with the software team and ask them to investigate further. Regards, Shadi

Hi Matsuzawa, If your looking for pulse output pinouts for Terminal Block option on the encoder channel its: For Differential: Pin 11 (Pulse+) and Pin 12 (Pulse-) For Single-Ended: Pin 11 (Pulse+) and Pin 8 (Ground) If your looking for pulse output pinouts for DB15 option on the encoder channel its: For Differential: Pin 9 (Pulse+) and Pin 1 (Pulse-) For Single-Ended: Pin 9 (Pulse+) and Pin 3 (Ground) I've added the attachments for the pinouts, I hope this answers your question! Regards, Shadi

Hi George, After testing this myself, I see that I am able to create a custom folder by also editing the .ppproj file however when I import the .plc file through the IDE and create a sample plc routine, I am unable to query or use that plc from the terminal. I don't have a clear work around. However, I discussed with the IDE team and it looks like cannot support this method of adding additional custom folders for program routines and we cannot advise users to go this route other than our supported software specifications. Just so I understand, what is preventing you from using the pre-existing "PLC Programs" folder and adding PLC routines there exactly? I apologize I am unfamiliar with the target of your project. Kind regards, Shadi

Hi, Yes, fsave writes to pp_custom_save.cfg, and pp_custom_save.cfg is reloaded on start. An fload is what effectively restores the "last saved" machine state information. So you are correct, PPMAC does this on power up. Regards, Shadi