ksambo Posted August 26, 2015 Share Posted August 26, 2015 I am having a problem with implementing hand wheel control on one of our customers machines. The machine is using a PMAC Brick controller. A hand wheel is connected to an axis channel on the Brick. I am using Ixx6=1 to engage the master. A problem occurs when we are slaved and move the master axis. Of course the slave follows and this works well. However when we disengage the slave from the master, and execute a motion program, the axis that was slaved moves the amount loaded into the master position register, then it moves and executes the program as it should. We tried to zero the master position register of the slaved axis; this causes the axis to move abruptly to the original position. We have tried executing the PMATCH command from within our PLC and this doesn’t seem to do anything. Can we manipulate the MXX61..64 variables to eliminate this unwanted motion? Do you have any suggestions on how we should implement this hand wheel so that when we disengage it and run a program the programs run normally. Link to comment Share on other sites More sharing options...
Omron Forums Support Posted August 27, 2015 Share Posted August 27, 2015 Have you tried setting Ixx06=0 for the slave? Is that what you meant by disengaging the slave from the master? Can you also try redirecting the slave's Ixx05 to $35C0? Link to comment Share on other sites More sharing options...
ksambo Posted August 27, 2015 Author Share Posted August 27, 2015 Yes, I set Ixx6=0 to disengage the master axis. I will look at Ixx05 and verify what is being done. Link to comment Share on other sites More sharing options...
ksambo Posted August 31, 2015 Author Share Posted August 31, 2015 I tried putting Ixx05 = $35C0. Even though Ixx06 is set to 1, the axis suddenly jumps. I don't think this method will work for us. Link to comment Share on other sites More sharing options...
ksambo Posted August 31, 2015 Author Share Posted August 31, 2015 I meant Ixx05 = 0 Link to comment Share on other sites More sharing options...
ksambo Posted August 31, 2015 Author Share Posted August 31, 2015 I meant Ixx06 = 0 Link to comment Share on other sites More sharing options...
Omron Forums Support Posted August 31, 2015 Share Posted August 31, 2015 This seems like abnormal behavior. I would probably need to see more of your code. Can you email our technical support? Something else that came to mind is perhaps you could set Ixx07=0 while the accumulated position is dispensed, and set it back to your desired value when you are ready to follow again. Link to comment Share on other sites More sharing options...
ksambo Posted August 31, 2015 Author Share Posted August 31, 2015 I have attached my code. The lines that end with ;*** are changes I have made for testing purposes.IHIPendantExperiment.pmc Link to comment Share on other sites More sharing options...
Gregs Posted August 31, 2015 Share Posted August 31, 2015 I am wondering if you should have Ixx06=3 for offset mode. That way, the axis position will not change (physically, it will) due to following, and it should not make the undesired move at the beginning of the motion program. Link to comment Share on other sites More sharing options...
ksambo Posted August 31, 2015 Author Share Posted August 31, 2015 Ixx06 doesn't work. Extra motion is added when the program is started. I basically want to switch to a mode where I can use the hand wheel to precisely position an axis and then exit this mode. Any motion that occurred with the hand wheel will be forgotten. In other words, when I return to the normal run mode and start the program, the axis moved by the hand wheel will return on path. motion added by the hand wheel is removed and the program will resume as normal. Is the approach I am taking the wrong one. Someone mentioned using jog commands to accomplish this positioning. I know jog would work correctly but I don't quite know how to program hand wheel motion using jog commands. Link to comment Share on other sites More sharing options...
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