AKD Drive Ethercat Torque Mode

I know that similar questions have been asked before without a satisfactory answer (thread), but we are trying to operate an AKD drive in torque mode over an EtherCat interface using a cRIO-9022. I have located and been testing PaulRB's workaround (link), but we seem to have a problem.
When attempting to use "Test App.vi" to run my drive, I receive the error "Error -70228 occured at Axis when executing 'Power' on Axis 1 at Invoke Node in Test App.vi". Labview seems to think that the drive is not enabled, but I have checked that the hardware enable is active (works in Kollmorgen Workbench). Additionally, I can get the drive to move using the Interactive Test Panel in Labview using the built-in AKD axis binding. I am using:
LabVIEW 2012
LabVIEW Real-Time 2012
NI SoftMotion Standard 2012
NI RIO 12.0.1
NI Industrial Communication for EtherCAT 2.4
It is unclear to me if this problem is related to the fact that we are using Softmotion Standard 2012 instead of Softmotion Premium 2012, or is something else entirely. Our group is currently on a tight budget and I would hate to advise them to upgrade the Softmotion module only to have this problem persist (or discover some other issue).
Assuming that the Softmotion module is the problem, is there a way for us to evaluate the Softmotion Premium module before I recommend an upgrade?

Hi MrFisher,
I don't think it's likely that upgrading to Softmotion Premium will solve your issue, but if you would like to test this you can download the Softmotion evaluation. When you download the evaluation from National Instruments it should be the premium version. You can find this download here, http://www.ni.com/labview/softmotion/ .
As for this error, I've seen it pop up for two reasons. One is if the drive enable input is not connected. The second is if the emergency disable has been triggered or manually turned on. Do you think either of these could be the case in your system?
Miles G.
National Instruments
Applications Engineer

Similar Messages

Torque mode servo drive.

Hello I come here to verify some information.
I've an DAQ card which outputs a analog voltage +/- 10 [V]. The DAQ is connected to a servo drive. The servo generates a pulse width modulation signal and passes it to the motor. Now the voltage represents a certain torque which the motor should deliver.
The manual states that I can put the servo into current ("torque") mode. My question is what do I need to understand about the term "torque mode". Is it correct then that I just can send my signal (which represents a certain torque) over a resistor to the servo then?

Current=torque. The analog signal is proportional to the current that the drive will put out. I am not sure why you need a resistor. If the DAQ is +/-10VDC, and the drive is +/-10VDC, then you should be able to connect them directly. 10VDC=max current that the drive is set up for.

Current measurement on AKD Drive + AKM Motor

Hello All,
I was wondering if there is any way to measure the phase currents/voltages that are being source to the AKM motor by the AKD drive? If not, can I design an observer in LabView to get an estimate of these values?
Regards,
Ansari

Thanks for the reply, Blizzard.
A little bit of background on my requirements may be in order. I am looking to build a complete evaluation system for brushless servo control, for research purposes. I would like to be able to apply the theory of sensored and sensorless control, linear and non-linear control, torque ripple reduction techniques, robust control, etc. on my system. For these reasons, I would like a number of quantities to be measurable from the system. I can get the rotor position and speed information from the encoders. The other critical measrements I require are:
- At least two of the three, phase currents going into the motor
- The phase or line voltages of the motor
At this point I am open to any of the configuration options suggested in this white paper(Building an NI Motion Control System). I went through the document you suggested, and concluded the following (please correct me if I am wrong):
1. The drive configuration using AKD WorkBench allows you only to set the continuous current sourced by the AKD drive to the motor. This setting is based on the motor ratings. The fields under the "Motor" tab are auto-populated if an AKM motor is selected.
2. The analog outputs on pins 7 and 8 from connector X8 give the tachometer voltage and hence, the actual motor speed information.
3. The analog inputs on pins 9 and 10 will take the speed setpoint information, that can be used in speed regulation or speed control in closed loop.
4. The AKD drive does not provide real time measurements of the currents and voltages that are being sourced to the motor it is driving.
Theoretically, I could insert an ammemeter in each of the lines of my AKD-to-AKM cable, and hook a couple of voltmeters between phases a-b and b-c, but I guess that will not be recommended by NI or Kollmorgen, as it would require cutting open the AKD-to-AKM motor cable.
I contacted Kollmorgen too, a few days ago. Still waiting to hear from them. Having said all this, is there anyway to obtain these measurements?
Thanks for taking the time to read.
Regards,
Ansari

Blue screen when booting from USB drive in UEFI mode (2013.07)

SOLUTION for me was to update the firmware on my ASRock mb as thatu pdate changed the EFI software (by American Megatrends) version from 2.00 to 2.31. However, other users are still experiencing the blue screen.
SHORT VERSION
When I try to boot Arch Linux 2013.07 with an USB drive in UEFI mode (for installation), I get a blue screen (which is rather a literal description and not a hint towards the old Windows' one) with the message
Failed to install override security policy (14): Not found
LONG VERSION
I made an USB installation media (product: Intenso Rainbow) by following this advice on the wiki.
I used the july release of Arch for that. First of, after installing the image to the USB stick I found that I needed to correct the label in the archiso-x86_64.conf file to ARCH_201307 (or was it the label of the usb stick, can't remember right now). (Pretty sure it was the same problem with "Linux Live USB Creator" which I used 3-4 months ago...)
After doing that, I rebooted and selected the entry
UEFI Intenso Rainbow
from this list of entries:
SATA HDJ ... something (the hard drive where Win 7 64 bit is installed with all programs)
SATA something (hard drive which only contains data)
Windows Boot Manager
USB: Intenso Rainbow
UEFI: Intenso Rainbow
It went to a blue screen with a message in white text saying
Failed to install override security policy (14): Not found
Below that was an OK button which had a black rectangle over it.
After I experienced the bluescreen, I tried booting the
USB Intenso Rainbow
entry and the boot process then worked fine, I got to that Arch menu where I could choose
Boot Arch Linux (x86_64)
Boot Arch Linux (i686)
Boot existing OS
Run Memtest...
and so on...
But just to make sure, I then did the check for UEFI mode according to this and only saw a folder acpi and ... something else I can't really remember, but it definitely was not efi. Thing is, I needwant to boot into UEFI mode as I have Win 7 already installed in UEFI mode.
Some info about my motherboard: it's from ASRock and is called H67M. The BIOS is dated to 2011-10-26 and is version 1.7.
So far, I only found a mention of the problem here at superuser.com.
Last edited by jones (2013-07-15 07:15:18)

Ok then, so this thread has also become about the blank screen problem when booting (in this particular case, Arch 2013.06 since 2013.07 seems to be worse).
srs5694 wrote:Typically, you adjust kernel boot options using your boot manager or boot loader. In GRUB, you hit the "e" key to open an editor. In rEFInd, you hit F2 or Insert twice. I don't recall offhand what key does the job for gummiboot (which I'm pretty sure the Arch installer uses), but I'm certain it's got the feature.
You are right. Thanks. I realized I had the gummiboot config right in front of me all the time. It's the file 'archiso-x86_64.conf' in \loader\entries (on Windows).
An addendum: I think the USB: Intenso Rainbow boot option takes me into a GRUB menu. Hitting 'e' in this "big" and fully designed menu didn't do anything IIRC. Hitting 'Tab' did the trick to get into editing the boot command line.
Hitting 'e' worked in the gummiboot menu though.
So I tried booting with the following options (also by combining some of them)
nomodeset
acpi_backlight=vendor
radeon.modeset=0 (I have a Gigabyte 7870 card in this desktop machien)
i915.modeset=0
but it did not help.
To be rather safe than sorry: I should mention that there are two grey-ish bars visible on the top and bottom of the screen after I try to boot the first entry, Arch Linux archiso x86_64 UEFI USB. Always has been with those two older Arch version (2013.05+2013.06). I also found another thread where one user talks about using the VGA port of the monitor, which I am currently not, I am using the DVI one, so that's worth a try too. EDIT It did not help either. What I did was setting the primary graphics adapter in the UEFI north bridge configuration menu to 'onboard' which worked immediately when rebooting (I hit the button labeled "Source" on my monitor and it showed it is using the "Analog" mode), but the problem just stayed the same. Adding aforementioned boot options or a combination thereof did not change anything.
Thanks for the e-mail addresses, I sent one to James Bottomley.
Last edited by jones (2013-07-07 11:12:05)

How to Back Up a Hard Drive from Recovery Mode when Disk Can't Boot

I have a mid-2009 MBP that is experiencing problems booting. I was trying to repair my disk because I was experiencing problems with my finder and spotlight not returning any results upon my requests. I read some support discussions that indicated it might have been because my preferences/plist files had been corrupted. I deleted the files and they regenerated but then my computer froze and so I rebooted it.
My actual back-up for my hard drive is back in the u.s. (I'm currently doing field work in Brazil) but I have acquired another external hard drive to use for either booting or backing up my computer. I would normally just return my computer to a prevoius Time Machine backup, but I have valuable work from the last week that is not backed up I need to recover that my Time Machine does not include.
I tried resetting my pram and starting the computer to the command line interface and doing the fsck, but neither worked; my disk could not be repaired because of an incorrect node structure, and it exited with signal 8.
Is there a way to access migration assist or to copy my user files beyond the core to my hard drive in recovery mode or otherwise?

Just turn off your wireless router until you can run Time Machine to backup your Mac notebook.
Or remove the drive from the system and connect it to another Mac and copy all your files off it. But again it would be best to disable any and all Wifi systems in your house before you do that.
Not sure but there may be a way to turn off the Wipe command and or it is only issued once. Never had to use it so I'm uncertain on how it actually works.

How do I find a adress in the drive or walk mode.

It seems impossible to make at route in the drive or walk mode, as maps won´t search for any roadnames?

Yes. We're now looking at a different problem.
You began by saying that Maps won't search for roadnames:
Now you have the problem that Maps won't find roadnames
I pointed out the way to prove that Maps does search for roadnames.
Finding roadnames is usually a questions of two simple issues.
1 - make sure you actually have digital maps installed on your phone.
2 - make sure you enter sufficient data, correctly spelled, to enable Maps to find the location.
Since you say you've typed it in correctly, I tend to agree with cjlim. Make sure you have the correct maps installed. I'm in the UK, and I entered your address on my N97, and it was found in about 10 seconds.

Finder crashes with External Drive on Sleep Mode

I purchased my new iMac 21,5" less than a week ago, and I haven't had a problem with it except for one that it's been bugging me a lot.
I have a LaCie 1TB Quadra d2 external drive that I use to store footage (since it's HD, the filesize won't fit in my 500TB internal hard drive), but I noticed that sometimes when LaCie external drive enters in Sleep Mode, the Finder freezes and the only two ways around this, is to force reboot, because the Finder won't answer and won't open again, or unplugging the external drive without ejecting him first, which it's not safe for me to do, because I'm afraid of hurting the device, and the files in it are pretty important.
This happens almost everytime, especially after a long time on sleep mode. I usually leave Final Cut Pro transferring files all night (since it takes a long time) so I kinda need the sleep mode, but when I wake up, Finder and Final Cut Pro won't answer.
I updated to Snow Leopard 10.6.8 on day one. Is there a way to fix this? Is it normal? I read somewhere that some users were having trouble with external drives on Sleep Mode, but I can't seem to find any further information about this problem.
Thanks!

I've got a MacBook Pro 13.3" that's a little over a month old, with a LaCie 1TB LaCie d2 Quadra with USB 3.0, #301542U and I'm suffering the same problems and a few others with it. I've got a partition on it set up as my Time Machine backup drive. I've turned off the Put the hard disk(s) to sleep when possible in the Energy Saver preferences but I'm still having the sleep problem with it. According to the LaCie Manual:
By default, your drive will enter Eco Mode after 30 minutes of inactivity in order to conserve energy. To exit Eco Mode, simply access data on the drive and the disk will automatically restart. You can manage this feature using LaCie Desktop Manager. Click the Eco tab.
The LaCie Desktop Manager (in my case) only takes me to the Energy Saver Preferences in OS X to adjust the time there. Turning off Put the hard disk(s) to sleep when possible doesn't seem to make any difference, the drive still goes to sleep after 30 minutes. However, after 15 minutes the drive seems to wake back up, but then during the next 15 minutes goes comatose (no power light). Sometimes it will go through multiples of these sleep wake cycles without going into a coma, but eventually it does go into a coma. This happens in between hourly Time Machine backups.
After locking up Finder, Disk Utility and Time Machine multiple times trying to access the drive in this state I figured out that I could cycle the power switch to regain use of it (with a Finder warning of course) but this will only lead to file corruption eventually and I shouldn't have to resort to this. I've also dismounted it, expecting it to turn off and instead it goes into an extended spin down cycle (rapidly flashing light) and never turns off (or goes to sleep or what ever it's supposed to do) and once again requires turning the power switch off.
This is just too unpredictible and unrelable for me and as soon as I get the opportunity to do a 7 pass erase I'll be returning to the place of purchase. Based on the reviews of other external hard drives a drive from another company doesn't look to be much better of a prospect so I'm not sure what I'm going to do.

MB's optical drive interrupts sleep mode for no apparent reason

Noticed this over the past few days: When I shut my MacBook's lid, the optical drive spins once or twice and even though the screen is dark, I don't think the MacBook is actually entering sleep mode-- instead, I have hit the "sleep" command from the Apple menu. Each time this happened, there's been no disc in the drive. It happened just now as well. So am I crazy, or is this unusual?
The MacBook in question is: 2.0ghz Core Duo 2 chip; 120 GB hard drive; 2 GB of RAM; Superdrive. It's a one-month-old black MacBook, if that makes any difference.
Two nights ago, it happened while the following programs were running [but hidden]: Firefox, Activity Monitor, iChat, iTunes, iCal, iJournal, Mail, LaunchBar, NewsFire, System Profiler, and Pages trial.
However, this also happened last night and only LaunchBar would have been running at the time. I actually had to turn the MacBook off last night, because I wanted to make absolutely sure the optical drive would stop spinning.
Right now, the only peripheral "hooked up" to my Mac is a bluetooth-enabled Logitech wireless mouse. Is it possible this is what's preventing the MacBook from staying asleep? I've fiddled with the Bluetooth pane's "allow Bluetooth devices to wake this computer" setting but that doesn't appear to affect when or how often my optical drive interrupts sleep mode. It's annoying when I'm trying to sleep and the optical drive spins up every 30 seconds or so until I have to shut the whole computer off. Any advice would be greatly appreciated.
13.1-inch black MacBook w/ Intel Core Duo 2 chip Mac OS X (10.4.8)

Take it in for service since it's in warranty. There may be a serious hardware problem.

How set parameters of AKD driver with LABVIEW ?

Hi
I am looking a simple example to set or read paramaters of AKD driver with Labview .
The AKD has ethernet communication and the control is analogue - AKD-P00306-NBAN-0000
I want to use Labview to read the same paramerters like Kollmorgen WorkBench
Thank you for you help
Solved!
Go to Solution.

Hi k-usa,
We use Workbench to access these parameters, and unfortunately for many of them there isn't a way to access them in LabVIEW. The manual for using the AKD with our C-Series modules (http://www.ni.com/pdf/manuals/375516b.pdf) specifies setting these parameters in Workbench for this reason. I apologize that there isn't a way to access many of them in LabVIEW.
Julian R.
Applications Engineer
National Instruments

AKD driver slow for given application

Dear Sir
I am using kollmorgan servomotor and AKD Drive for my inverted pendulum project application. Also I am using Labview softmotion for programming( ni 9514 servo drive). But here the driver is taking the command only after first command is finished execution. For my application the motor has to be continously moved according to the instantaneous command(Angular reading from encoder). Please help me in disabling the existing function in AKD drive or an alternative method to solve this
in the attached word document this problem is demonstrated by doing a program of to and fro motion. i have also attached vi programs that used for balancing inverted pendulum
Thank You
Atul R K
8904410206
Attachments:
dox.docx ‏852 KB
forcedOscillation.vi ‏112 KB
motionThree.vi ‏252 KB

amsciarillo wrote:
My computer has been running very painfully slow for a while now. Is this because I need more RAM?
Yes. Here is a link to OWC, one of the best online retailers for Mac upgrades: http://eshop.macsales.com/MyOWC/Upgrades.cfm?sort=pop&model=360&type=Memory
OWC only does Macs and will only sell you the parts that work on your specific machine. The link above shows memory upgrades for your specific model MacBook Pro.
However, the advice you were given above is incorrect. You would be wasting your money if you only bought 4 GB. Older machines upgraded to Yosemite need at least 8 GB. Buy the 8 GB kit from OWC. If you really want good performance, you should purchase an SSD to replace your hard drive. Since you are still using your original hard drive, you can purchase a smaller 240 GB SSD that will give you more space, much faster speed and is still quite inexpensive. The 2.5" hard drives that come with notebooks tend to fail after 2-3 years anyway. You are overdue for a hard drive failure.
I should caution you that there are other parts of your machine that could fail over time. There is a possibility that after upgrading your RAM and hard drive, your logic board could fail. Electrical components wear out over time. Your machine is 6 years old. You should seriously consider a new Mac.

Cannot Format Hard Drive in Recovery Mode

Hello everyone,
I am trying to perform a fresh OS X install on my MacBook Pro Mid-2012 13." I booted into internet recovery mode (to install Mountain Lion instead of Mavericks), but when I try and partition my hard drive, Disk Utility gives an error that reads "Partition failed with the error: File system formatter failed." Disk Utility then leaves me with a greyed-out volume labeled disk1s1. My MacBook Pro has the stock 500 GB HDD.
As an experiment, I successfully formatted the disk as NTFS with a Windows 7 boot CD, and also as FAT32 from Disk Utility, so I don't think the disk is failing. Also, verify disk runs without errors before I try and partition the disk. After partitioning, it tells me that I need to reformat.
I think the problem can be narrowed down to partitioning the drive with Disk Utility as JHFS+ (I also tried HFS+ via DiskUtil). Does anyone have any advice or suggestions?
Thank you in advance.

You can not use the recovery drive itself to reinstall OS X, but you can reinstall OS X without de-encrypting the drive.
WARNING: following these steps will remove all data from your harddrive. This process will in all likelyness not be reversible. Use at your own risk.
1. Prepare a recovery USB stick [1].
2. Boot from this stick
3. Start Disk Utility
4. Select the hard drive
5. Select the Partition tab
6. Change Volume Scheme to 1 Partition
7. Enter Macintosh HD in the name field
8. Click Apply
Your hard drive is now empty, you can use the installer on the same USB stick to re-install a clean OS X on your machine.
[1] http://support.apple.com/kb/dl1433

My computer will only boot off it's drive in safe mode

Short Story...
My computer will only boot in safe mode and in normal mode displays grey apple that turns into a grey cross. Surface scan in techtool pro 4.5.1 passed
Long Story... (all the issues I've had as they are all back to back and most likely cause by what sloved the previous one).
When i first got my macbook i already had a 500gb hdd in my macmini running 10.6 (or 10.6.1 I forget) and as soon as a had the macbook running off this drive it would give me one error for each and every movie file that was visible (in an open folder or on the desktop) saying quick look helper had unexpectedly quit. I tried everything and for some reason ended up changing all the permissions on the computer which royally screwed it up. anyway after repairing permissions in disk utility the error messages stopped but shortly after start up it was giving me a couple of dozen error messages saying something about .kext's (if requested i can supply full text of this error message) so i tried reinstalling the OS and since in 10.6 there is no archive and install (without messing around in terminal) i just ran the snow leopard disc which brought me back to 10.6 then I upgraded to 10.6.2 and restarting a couple of times over a day or so. After a few restarts I found the computer wouldn't start (it chimed, loaded up the apple symbol and loading wheel and then after a few minutes replaced the apple symbol with a crossed circle) I tried running the snow leopard disc again and this time not upgrading but after about 3 restarts the same thing happened. now i can only start up in safe boot mode or off my backup drive which still displays a few dozen of the .kext errors at start up. Sorry about the length of this description I would appreciate absolutely any help or ideas.

Tezz wrote:
Short Story...
My computer will only boot in safe mode and in normal mode displays grey apple that turns into a grey cross. Surface scan in techtool pro 4.5.1 passed
I would try troubleshooting your problem [using the steps given by Apple here|http://support.apple.com/kb/TS1892].

Keeping hard drive in sleep mode while not in use

I've got a spare hard drive in my box, which I'm currently using for backups with rsync scheduled to be done once a day via crond. Since it's only used once a day, I figured it would be a good idea to put it into sleep mode by adding `hdparm -Y /dev/sdb` to my backup script. However, I've got a problem with it randomly waking up while opening GTK save dialogs and such. How can I stop it from doing that or make it automatically go into sleep mode after a set amount of time while keeping my root drive awake at all times? And yeah, I know all the downsides of doing that, but noise is the primary issue here.

You can check laptop-mode-tools for the various tunables they use to optimize disk usage and let it spindown as much as possible.

Old G4 450 Sawtooth - Multiple Drives - Target Disk Mode ?

So I have had this old computer a long time and have upgraded it over the years as much as it can handle - faster processor, max ram, multiple drives ...
The problem I am having at the moment is only one of the drives will show up in TDM - the one that shows up is the original 20Gb drive. I have a Seagate 500Gb and another Seagate 1.5 Tb drive too. Neither of the Seagates show up in TDM. I haven't cracked it open in a while but seem to remember they are connected via a SATA controller card. Just verified the two SATA connections. The 500Gb drive is my boot drive.
So is there something obvious here that I should understand? Thank you.
Oh I'm connecting to a circa 2007 MBP and Mavericks. The G4 is running Leopard.

I think I found my answer .... unless someone has an idea or info otherwise.
Tip: FireWire Target Disk Mode works on internal ATA drives only. Target Disk Mode only connects to the master ATA drive on the Ultra ATA bus. It will not connect to Slave ATA, ATAPI or SCSI drives.
Doesn't mention SATA but inferring it does include SATA.
Found at:
http://www.appleexaminer.com/MacsAndOS/Analysis/HowTo/Acquisition/acquisition.ht ml

T440 - solid state drives and sleep mode, shutting down, etc.

First time with a solid state drive. With my T61, i tend not to actually shut it down unless i really need to. I just leave it on, close it, and let it go into sleep mode - which i can tell its in because of the moon icon/light. if i just need to move it around the house, i also only put it in sleep mode. If I take it somewhere of course I shut it down first. But that's always a pain, I tend to have multiple browser windows open with many, many tabs. I just hate having to book mark it all (even using bookmark all tabs) then opening them all up again.
So, I'm wondering
1) there doesn't seem to be any light to indicate that its in sleep mode - but maybe it doesn't exist in the same way with a SSD? I was always under the impression that the point of that was to make sure the moving parts of the drive had stopped before you moved the laptop.
2) is it still ok for me to just leave it on most of the time like I do with my T61?
3) Can I get away with not shutting it down when I take it someplace? Other than the battery running down - why would that be a problem since it doesn't have a spinning hard drive?
4) Windows 8, ok this is really a different topic, but I'm here already. When you shut it down, if for example, you have a bunch of browser windows and tabs open and maybe a couple of word docs - when its started back up, will it automatically open all that? Or do i have to re-open all the windows, find the word files, etc.?
5) Anything else I should know about a SSD or windows 8 that is significantly different from what i've had with my T61? (other than the logo being upside down on the top cover)
Moderator Note; subject edited; system type added

Hi again,
1. The red dot over the i in ThinkPad will pulse slowly when your machine is in sleep mode.
2. Yes, absolutely. I use sleep instead of shut down almost exclusively on all machines I use
on a daily basis.
3. Same as before, you don't have to worry about doing anything different. The machine won't
run out of battery during sleep mode for days.
4. It doesn't matter wether you run Windows 7 or 8, you use your browser settings to set it to
open the tabs where you left off.
In Internet Explorer -> Internet Options -> General Tab -> Startup -> Start with tabs from the last session.
In Chrome -> Settings -> On Start Up - Continue where you left off.
Same option is available for Firefox too.
But if you shut your machine down, your programs won't start up automatically with the files you had open
before shutdown, but I'm sure you meant to say sleep, right? When you resume from sleep, everything you
had open will be right there.
5. No, not really. It's just a new generation of a ThinkPad workhorse with a new version of Windows, you
don't have to change any of your daily routines you've gotten used to.
Cheers,
Atli Jarl.
ThinkPad W540 (20BG) - i7-4800MQ/24GB // ThinkPad T440s (20AQ) - i7-4600U/12GB
ThinkPad T440p (20AW) - i7-4800MQ/16GB // ThinkPad Helix (3698-6EU) - i5-3337U/4GB
ThinkPad W520 (4282-W4Q) - i7-2720QM/32GB // ThinkPad T400 (2767-W1C) - P9500/8GB
ThinkPad T61 (7665-CTO) - T7700/4GB // ThinkPad T60p (8741-C2G) - T7400/4GB

AKD Drive Ethercat Torque Mode

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