steveneads Posted February 16, 2016 Share Posted February 16, 2016 I'm currently trying to convert some existing PMAC code to PPMAC and have come across a feature that I've previously used that I can't find in the PPMAC manual. In PMAC I have an M variable pointing to X:$00022E,8,16,s: the "#4 PID internal filter result". In my application I write to this directly from a PLCC when I need to generate a current in the motor at a time when it's open loop. I need to do the same in PPMAC from the rtiplc code. How do I do this? There's no notes in the equivalent section in the PPMAC ref manual. Thanks Steve Link to comment Share on other sites More sharing options...
Omron Forums Support Posted February 16, 2016 Share Posted February 16, 2016 This is Motor[x].ServoOut according to page 1315 of the Power PMAC Software Reference Manual. I do not think you can write to this, however, so if you want to add a bias programmatically, you can write to Motor[x].DacBias temporarily. Link to comment Share on other sites More sharing options...
steve.milici Posted February 16, 2016 Share Posted February 16, 2016 The Power PMAC structure Motor[x].IqCmd is the closest equivalent to the old Turbo PMAC PID result. This you can write to if the servo is deactivated. As mentioned by Charles Motor[x].DacBias can be used under most circumstances. Link to comment Share on other sites More sharing options...
steveneads Posted February 17, 2016 Author Share Posted February 17, 2016 OK, thanks for your help - the DAC bias seems to do what I need. Link to comment Share on other sites More sharing options...
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