dzrong Posted August 12, 2015 Share Posted August 12, 2015 Hello, For some reason,I want to motor to follow a position every servo cycle,the position was calculated by the foreground PLC.Usually I will set ECT to get data from a user address and make Ix05 point to the ECT in Turbo,so the moter will follow the value of the address.But how to do that in Power Pmac? Or there are some simple way to do that? Link to comment Share on other sites More sharing options...
curtwilson Posted August 12, 2015 Share Posted August 12, 2015 In Power PMAC, simply write your value into Motor[x].MasterPos. This is a floating-point register, with the position units of Motor x. Make sure that Motor[x].MasterCtrl bit 0 is set to 0, so the automatic position following function does not also try to write to this register. Link to comment Share on other sites More sharing options...
dzrong Posted August 12, 2015 Author Share Posted August 12, 2015 If the position was calcalated in the realtime routines ,is Data Structure of Mptr->MasterPos supported in the user_pid_ctrl(struct MotorData *Mptr) or user_phase(struct MotorData *Mptr)? Link to comment Share on other sites More sharing options...
Omron Forums Support Posted August 13, 2015 Share Posted August 13, 2015 This should be available. You can try it. Link to comment Share on other sites More sharing options...
dzrong Posted August 14, 2015 Author Share Posted August 14, 2015 How to access Motor[2].MasterPos in the user servo program of motor 1 ? Motor[2].MasterPos can't be used directly. Link to comment Share on other sites More sharing options...
Omron Forums Support Posted August 14, 2015 Share Posted August 14, 2015 pshm->Motor[2].MasterPos Link to comment Share on other sites More sharing options...
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