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orhirshfeld

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  1. This list was last updated 3 years ago in 2017 I wonder if you have any updates Thanks Or Hirshfeld SW Control Engineer FFRobotics https://www.linkedin.com/in/orhirshfeld/
  2. We have NY-51 Controller with Linux Ubuntu installed We have some issues with our EtherCAT communication and we wish to diagnose it. But we are suffering many crashes when we are using Diagnosis mode in EtherCAT. We tried the IDE on different PC but got the same results it's very frustrating and hard to diagnose the problem We are using IDE version 4.1.0.25 did you encounter a similar problem? is there a way to slove it? Can we use EC-Enginner by Acontis to diagnose the communication?
  3. Can I install PowerPMAC IDE Patch Release (Version 4.2.1.19) if I have 4.1.0.24 already installed? What are the changes made in this version?
  4. Is still not supported? I'm using Power Pmac IDE version 4.1.0.24 with PPMAC NY-51 Controller (CPU:X86 Firmware:2.5.0.0) I wish to connect to FESTO CTEU and they provide few different ESI I'm not sure which one I should load, also the ESI Manager doesn't let load all files, I believe because there are two files with the same name. They give two types, one suitable for OMRON Sysmac Studio and other type is for suitable for BECKHOFF TwinCAT readme file of FESTO: Festo CTEU-EtherCAT ESI files Default behaviour of our CTEU-EC is Modular Device Profile (MDP). To change it please take a look on "CTEU-EC Config fix-mdp_EN.pdf" for reprogramming the EEPROM. In this package you find following ESI files for OMROM Sysmac Studio and Beckhoff TwinCAT: OMROM Festo CTEU-EtherCAT Modular - use it if PLC support MDP (work Sysmac Studio > V1.06) Festo CTEU-EtherCAT Fix - can be used after reprogramming the EEPROM on most PLCs TwinCAT Festo CTEU-EtherCAT Modular - use it if PLC support MDP Festo CTEU-EtherCAT Fix - USINT - can be used after reprogramming the EEPROM on all PLCs Festo CTEU-EtherCAT Fix - BYTEARR - can be used after reprogramming the EEPROM on most PLCs Please install only one Fix configuration ESI files at the same time.
  5. I encountered a similar issue and I got an error from IDE also, I succeed to connect with ssh but when I try to run "gpascii" or "sendgetsends" i get the following error: rtpmac open, Err Msg: (No such device or address) Segmentation fault I attached photos to this post to demonstrate to errors I got I wonder if you encountered a similar issue to what I described in this post? also I saw that there are two versions of MotionCore.zip files on the fieldepot: MotionCore.zip old version: ftp://ftp.deltatau.ch/Virtual-PowerPMAC-pack/OLD/MotionCore.zip MotionCore.zip latest version ftp://ftp.deltatau.ch/Virtual-PowerPMAC-pack/MotionCore.zip I tried both and failed, did you tried both? Host OS : Ubuntu 16.04 VM SW: VirtualBox 6.0.6 IDE 4.1.0.24 running on Virtual Machine of Win10 Thank you, Or Hirshfeld SW Control Engineer FFRobotics https://www.linkedin.com/in/orhirshfeld/
  6. the motor status shows AmpFault The AmpFault indicate error source in Motor (pAmpFault=ECAT[0].IO[4127].Data.a) Axor motor error code indicating Error in getting SYNC msgs ECAT[0].MasterState=8 (OP) "ecat slaves" return all OP mode Motor Conversion = 2184.53 pulses/mm RapidSpeedSel=0 MaxSpeed=3276.7949 (1.5 m/s) in 1st fast movement and 218.453 (0.1 m/s) in 2nd slow movement. JogSpeed=3276.7949 (1.5 m/s) JogTa=-0.030517625 (15 m/s^2) JogTs=0 The motor is running at Rated Speed, 3000 RPM (1.5 m/s) We measured torque and found that motor only using below 20% of rated torque at worst case. Triggered moves can be homing, jogging or rapid from in program.
  7. Motor Status Window show AmpFault and Axor Motor return a manufacturer specific EtherCAT error code, the error indicates that it didn't get SYNC msgs for 3ms according to Axor Support. in "ecat slaves" all stay in Operational (OP) EtherCAT Mode Triggered moves can be homing, jogging or rapid from in program.
  8. We have MotionCore IPC connected to Axor motors using EtherCAT the movement of the motors is split into three parts, the first part is moving fast according to the required profile, the second part is to move slow and stop when the sensor detects an object (digital input from the motor PDO communication), the third part is returned to the same position as started. so we decided to implement the first part with Linear movement mode and the second part with Rapid movement mode. But we encountered many communications errors when Controller switches from Linear to Rapid mode. The motor needs to get SYNC0 signal and if it doesn't get for 3ms it makes motor stops with failure. so when switching from Linear to Rapid mode it seems that the SYNC0 signal is delaying. Now we switched the second part of the movement to linear mode but it requires that we move in small intervals and check between intervals which makes this movement much slower than what we need. is only Rapid mode provide an option to simultaneity move and interact with sensor digital input? Why we are suffering from communication problems when switching movements modes?
  9. I switched the master to diagnosis mode and was able to view the SDO But I still have the issue to get this data when it's not in diagnosis mode
  10. I suddenly succeed in getting some SDO information until I mistype an address and it stops working, I attached a picture to illustrate it returned the following msg: " Error: BgThread sem_timedwait(emIoctlFinish_sem) timed out " I notice a suspicious configuration in my EtherCAT Configuration in Slave configuration -> Advanced Option -> SDO Access is set to 0, what does it mean that, is timeout disabled? or access to SDO is disabled?
  11. It worked like a charm I changed the ProgramData\DeltaTau permissions and now I can see the list I meant just the EtherCAT settings for viewing in IDE, I disconnect the network and import the ENI file to my project and now I can see all configurations but I'm not sure what would happen once I reconnect the PPMAC controller, is it going to load all EtherCAT configuration from ENI file to the controller? or it wouldn't change anything until I press "Load Mapping To PowerPmac" or "Build And Download All Programs" Also Another question: in Slave configuration -> Advanced Option -> SDO Access is set to 0, what does it mean that there is no timeout or access SDO is disabled? I'm asking it because I have problems to access SDO using ecattypedsdo() function you can see more info about ecattypedsdo() issue I'm encountering in my other post: http://forums.deltatau.com/showthread.php?tid=1063 Setting up EtherCAT involves making an ENI file for PMAC. If you use the built in copy of EC Engineer, the "Import Slaves" option will internally pass that ENI file. If you already have an ENI file, then you can use the "Import Slaves from ENI" option to browse for it. I'm not sure I understand, are you asking about just the ethercat settings?
  12. I tried changing the permissions and got the same results by the way, in my PC it was installed by default in "C:/delta tau" path
  13. We had some issue before reloading configurations Is it possible to load configuration only to the IDE project, for viewing and editing, without downloading to the PPMAC? What is the purpose of "Import Slaves from ENI"? is it just loading to IDE project? The loaded ENI files aren't Omron products, it's Axor Motor Mack Tron and Festo Fieldbus Module CTEU. FESTO-CTEU-EC ESI file: https://www.festo.com/net/el_gr/SupportPortal/default.aspx?documentId=273305&cat=4821 When importing any new ENI to the ESI Manager it's rebuilding cache and already imported file can be viewed in the ESI Manager but as soon as you close the ESI manager window and re-open and it would disappear. Festo CTEU-EtherCAT Modular - 20180719.xml.txt File_ETH_MKT_MKUN_Omron_rev2.xml.txt
  14. I tried importing ENI but it seems unavailable I attached picture also from where I should import the ENI? is it "eni.xml" in the folder i uploaded from PPMAC? for example \192.168.0.136_16_6_15\Configuration\eni.xml also, as i asked above, why I don't see which ESI files I uploaded to the IDE using ESI Manager? thank you, Or Hirshfeld Control SW Engineer FFRobotics
  15. Firmware version in IDE terminal: "vers 2.5.0.0" OS version in SSH terminal: "Welcome to Ubuntu 16.04.3 LTS (GNU/Linux 4.1.18-xenomai-2.6.5 i686)"
  16. We have MotionCore IPC with code and EtherCAT configuration was downloaded from one computer. I uploaded the code from Pmac to another PC and I can view the code. But when I try to view EtherCAT configurations I can't see the configuration tabs in master or slaves. also, I uploaded successfully XML files to ESI Manager but when I close and open it again, the new ESI files don't appear. Although when I try to upload it again it says that it's already loaded. I attached some screenshots to this post
  17. My EtherCAT slave is working well with my IPC MotionCore but i'm trying to get data on slave using SDO i tried the following in terminal and watch list "L0=ecattypedsdo(0,3,1,$6060,0,0,1) L0" and got "-nan" than i tried to get data using /opt/etherlab/bin/ethercat but got an error as following: " root@192.168.0.136:/opt/etherlab/bin# ethercat upload -m 0 -p 2 -t int8 0x6060 1 -bash: /opt/etherlab/bin/ethercat: cannot execute binary file: Exec format error " Slave num 2 and 3 are MackTron motors by Axor and working well with CSP mode. It's PowerPmac IPC MotionCore with Sys.EcatType=1 (Actonics) I tried when ECAT[0].enable=1 (enable) and also when ECAT[0].enable=0 (disable) EDIT: By checking the EtherCAT file info, I found out it was built for 32bit ARM CPU but the IPC MotionCore running Intel x86_64 CPU with OS Ubuntu i686 (32bit) is it affecting the watch window command ecattypedsdo? I believe that I should get a different build of this executable, how should I do it? I checked the executable info as following: " root@192.168.0.136:/opt/etherlab/bin# file ./ethercat ./ethercat: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, for GNU/Linux 2.6.32, BuildID[sha1]=9caa83c5c319dcc87a78e1f31b56584283f604b8, not stripped " and also checked the CPU model and OS version as following: " root@192.168.0.136:/opt/etherlab/bin# cat /proc/cpuinfo | grep 'model name' | uniq model name : Intel® Core i7-4700EQ CPU @ 2.40GHz root@192.168.0.136:/opt/etherlab/bin# uname -a Linux lx-ppmac 4.1.18-xenomai-2.6.5 #9 SMP Tue Oct 10 12:20:19 PDT 2017 i686 i686 i686 GNU/Linux " EDIT 2 : * I tried in OP and PRE-OP modes and got the same results * I tried also reading SDO from Pneumatic Outputs, Festo CTEU module, and got the same results
  18. orhirshfeld

    SDO

    This thread is very helpful but I encounter a problem trying these examples I tried the following lines: L0=ecattypedsdo(0,3,1,$1016,0,0,4) L0 L0=ecattypedsdo(0,3,1,$6060,0,0,1) L0 L0=ecattypedsdo(0,4,1,$6007,0,0,2) L0 but all i get is "-nan" Slave num 3 and 4 are MackTron motors by Axor and working well with CSP mode. It's PowerPmac IPC MotionCore with Sys.EcatType=1 (Actonics) I tried when ECAT[0].enable=1 (enable) and also when ECAT[0].enable=0 (disable) any tips how to get it working? Please see the attached .pdf for a couple of SDO read/write examples. You may also want to try typing any PMAC command into the terminal window and press the, "F1" key for help. Then set the filter, pull down menu to PMAC. This was not implemented in older versions of the IDE but now is available and very useful. NOTE: Etherlab Master Stack can use either ecatsdo(), or ecattypedsdo() commands. Acontis Stack only uses the ecattypedsdo() command. The 465 with EtherCAT comes equipped with the Etherlab Master Stack. You can test this by issuing the sys.ecattype command. sys.ecattype = 0 (Etherlab) sys.ecattype = 1 (Acontis)
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