shane
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Posts posted by shane
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That make sense, Thanks, Eric
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Hi Eric,
My IDE version is 4.3.0.107
From the image,my system's resonant frequency is 700Hz, but The Notch filter's Lightly Damped Zero Frequency and Heavily Damped Pole Frequency are not 700Hz.
It seemed Lightly Damped Zero Frequency = 0.9 * Resonant Frequency ; Heavily Damped Pole Frequency = 1.45 * Resonant Frequency ;
Generally，for a notch filter, the numerator and denominator frequencies will be set same with resonant frequency; but in IDE , they are different .
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Why are the pole-zero frequencies obtained by the notch filter calculator different in IDE？
Is there any advantage compared to the same pole-zero frequency?
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Thank you, Smakarem
My Email is:
wuxx@advancenb.com
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How should I kown the remaining time of each axis until end of the motion, such as a rapid motion, is there a structure data can get this infomation?
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yes , if push the motor by hand，it's clearly the static friction will be larger than Coulomb friction
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Hi Eric
How can I kown how big this value should be, is there a recommend move to test it ?
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In Ver 2.6.1 firmware , it have two parameters for static friction compensation, is there a notes about how to tune Motor[x].Servo.Ksff and Motor[x].Servo.SffCycles ?
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The lookahead functuon and Data stucture Sys.PreCalc are all act on calculation in advance , I am confused about their different , if I setup Lookahead,will i need to optimazied Sys.PreCalc or not ? Can someone explain their difference for me , thank you!
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In order to solve this problem ,I update my pmac firmware to 4.1.18. $$$*** -> save -> $$$ -> download the motor stup -> download the .eni file .
It is worked, problem disappered, my machine can run again.
but after a few hours , I poweron the pmac, Error monitoring: "FileConfigErr" and also "PwrOnFault". then I find I can't move my motor again.
the I clear the pmac, redownload project and motor setup, no error occured , but when I power cycle , there is no project load in pmac.
how can I sove this problem?
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my powerpmac is CK3E-1410,firmware ,2.2.0(not remember exactly);IDE is 3.1.1.0;
Today,After I buid and download my project to pmac, then save, then $$$. the project in pmac is still the older one . I have tried a lot of time ,It is still the same result.
then I clear the pmac ($$$***, save, $$$),the older project is still in pmac. they have not been cleared.
by the way , everytime I issue ' save' ,terminal window returns :
save
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_cintelli.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_global.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl0.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl0.txt': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_mrc.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_prog.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_local.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_stn_mro0.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl2.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_subprog.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl1.txt': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_mtrcfg.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_ectcfg.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl1.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl3.txt': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl3.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_swtbl2.txt': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_hardware.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/pp_mro0.sym': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/rom Firm.war': Read-only file system
cp: cannot create regular file `/opt/ppmac/usrflash/Database/move
SaveToFlash: mount
SaveToFlash: Finish SAVING to Flash.
Save Complete
before today everythig is normal . does somes guys know why?
Inaddition ,after powercycle of $$$, I can't move my motor, It is seem that my motor setup is not load or loosed.
my motor setup is saved in where inside the pmac's flash ? is it in project database?
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i have tried system" gather -u /var/ftp/usrflash/sample.txt" and system"/opt/ppmac/gather_csv/gather_csv -u /var/ftp/usrflash/sample.txt",and they have the same effect, all creat a txt file named sample in /var/ftp/usrflash.
but I still dont now why they are same.
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Yes - you can use the "gather_csv" executable from the Linux prompt using the "-u" with a filename option:
gather_csv [-u] [filename]
The “-u” will without the filename parameter will stream the contents of the most recent data gather to the standard output as in the current SSH, Telnet or serial port connection.
The “-u” with the filename parameter will stream it to that file. Using the “/var/ftp/usrflash/” directory is recommended as this is already writable and will allow ftp uploads without any permission changes.
For example:
gather_csv -u /var/ftp/usrflash/mygatherfile
This puts the last gathered data in a text file named “mygatherfile” in the “/var/ftp/usrflash/” directory where ftp access is available.
I wondered about what was written. The command is not gather_csv it is just gather. So you should do gather -u /var/ftp/gather/ggg.txt to send the already gathered data from the structures inside the ppmac to the file ggg.txt.
I just tested this and it is working. My test was simple. I open the plot program and gathered some data and plotted it to be sure the gather worked. Then I ran the command and saw my file was created. Then I listed the file contents to verify it had the data inside.
gather -u /var/ftp/gather/ggg.txt
what is the difference between gather_csv and gather?
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In powerpmac,after I used data gather function ,such as :
Gather.enable=2
x10
x20
Gather.enable=0
Can I export the gather data as a *.txt file or other file format for outside use.Not use the powerpmac ide's ploting funtion.
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Set up reporting by setting Coord[x].TPCoords to specify which axes to report and Coord[x].TPSize to the number of moves ahead you need to report. Then just use "t" to show the current target position.
If you want the next target position, just query Coord[x].TPData[1].Pos[j]. Per the software reference manual, page 819, i = 0 is always the currently executing move, so i = 1 will always be the next move (i.e. while the moves are executing). Querying them after all the moves are done will not produce meaningful information.
did you see my attached pic ,the move are executing.from the Coord[3].TPExec.Pos[6]
,shows the current target position is 100, but the Coord[3].TPData[0].Pos[6] is 300.
P.S:Coord[x].TPCoords and Coord[x].TPSize all have been set
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Now,I need to kown the target position of next move. but Coord[x].TPExec.Pos[j] only include the destination presently executing .so I consider Coord[x].TPData.Pos[j], but it's value do not match the description in pmac software manul.
Coord[x].TPData[0].Pos[j] only represent the first line of prog, not the presently executing move ,and
Coord[x].TPData[1].Pos[j] the second line,
Coord[x].TPData[2].Pos[j] the third line ,and so on .
How i can I get the next move target position behind the prensently executing move?
Question about Complex poles and zeroes detection of Power PMAC Servo Analyzer
in Power PMAC
Posted
In the procedure of plant transfer function Identification , the complex poles and zeros frequency can be detection automatic, but the damping factor of the poles and zeros need to trial and err for a right model. it takes a long time and you may not get the correct results;
is there any tips about how to choose a initial damping factor？