Contour move: Interupt

Hi ,all
I have faced several problems when using contouring function.
Below is the code which I modified from the sample. I load a seire of points and then send to contour move to complete the motion.
However, I don't know how to intrupt the contour motion. In other words, if something haapens when the contou move is excuting, I want to stop the current countour move and change to another new trajectory.
Another problem is I cannot adjust the requested interval. The default value is 20ms, but when I change it to 200ms, the error 70078 occurs: parameter out of range.
Thanks so much if anyone can help me ~

Bonjour,
Je ne pense pas qu'il y ait un réel problème. En utilisant LabVIEW + SoftMotion + SolidWorks, vous faites de la simulation pure, de la co-simulation pour être exact. Donc cela nécessite beaucoup de ressources processeur, en particulier pour les calculs réalisés par SolidWorks. Et la méthode de simulation ne peut pas être temps réel dans ce cas.
Par exemple, si vous diminuez fortement le pas mininum pour réaliser les calculs de simulation, vous verrez que la simulation mettra beaucoup plus de temps, de la même façon si vous avez un assemblage SolidWroks assez lourd avec plusieurs moteurs.
Ce qu'il faut voir c'est que quand on fait une simulation, LabVIEW et SolidWorks travaillent de manière synchronisée, c'est à dire que LabVIEW (LV) envoit la commande simulé du moteur à SolidWors (SW), SW recoit la commande, fait les calculs nécessaires, met à jour la simulation et renvoit les résultats à LV qui attend ce retour avant d'envoyer la nouvelle commande à SW.
D'ailleurs, vous devez pouvoir vérifier que la commande est correct et ne vaire pas dans le temps en réalité en rejouant le profil de commande demandé dans SolidWorks, dans ce cas, la simulation se fait normalement plus rapdiement que lorsqu'on fait la simulation.
Pouvez-vous faire une image du diagramme du VI utilisé pour qu'on soit sur de la fonction utilisé.
Comment vous obtenez l'interval entre les points ?
En espérant que celà puisse aider.
.mesLeft{float:left} .mesInfo{border-left:solid 1px #989898;font-size:x-small;color:#989898} .mesLogo{float:right;opacity:0.18} .mesLogo:hover{opacity:0.9}
Maxime R.
  CLD - Certified LabVIEW Developer / Développeur LabVIEW Certifié
  CLAD - Certified LabVIEW Associate Developer

Similar Messages

How to start a contour move from a non-zero position

Hi,
I am using a PXI 7344 motion controller under LabVIEW 8 to do a vector contour move. How can I start the contour from a non zero position ? I want to use absolute position mode. The test requires the x axis to move to a known distance and wait for a known time (more than a 1 hour) before the contour starts.

Hi Milinda,
Unfortunately the zero position is inserted at the beginning of the
array points by the firmware. As far as I know there is no way to stop
this happening. The only way to get round this is to use reletive
positioning and keep track of the current position.
Regards
Jon B
Applications Engineer
NIUK

Time interval for contoured move

I have a interpolator and it output the interpolated data with time interval 1ms. When I do the experiment using stepper motor controlled by 7344 (contoured move). the time interval is much bigger the 1ms, resulting in very low velocity. How to solve this problem? Increasing the time interval of interpolator? Is there anyone has any ideas? Thanks a lot!

In contouring mode you can set the time interval for the position buffer in the Configure Buffer function. Here is the parameter description:
Requested Interval (10 ms) is additional data for the Position
buffer type. The Position buffer type requires a Requested Interval parameter,
and indicates the time between contouring data points in milliseconds. For all
other buffer types, the Requested Interval parameter is ignored.
The controller uses the closest value it can that is greater than
or equal to the interval value you requested. Your time interval must be an even
multiple of the PID rate. Refer to the description for the Actual
Interval parameter for more information.
When used with Breakpoint or High-Speed
Capture, Requested Interval indicates how often, in
milliseconds, the onboard data is updated from the hardware, and the value is a
whole number.Please note that 10 ms is the fastest interval that you can set. If your data is sampled with a 1 ms time interval and you want to use the 10 ms time interval with your 7344 you simply should decimate your contouring data array by copying every 10th value to your contouring position array.
Best regards,
Jochen Klier
National Instruments Germany

Importing Contour movies to iMovie

Hi, I have tried to import Contour *.MOV files into iMovie. When I select the files for import all but two are greyed out. The two that are not greyed out have imported to iMovie OK. The only difference I can see is that the two that can be imported have a 'P' name [e.g. P1010133.MOV] whereas all those greyed out have an 'F' name [e.g. FILE0001.MOV]. I also imported them all the files to iPhoto and they play OK using that but when iMovie 'syncs' with iMovie it doesn't load those files that are greyed out.

I meant 'when iMovie syncs with iPhoto

Limit Switches and Contour Moves.

I am developing a 4 axis contour motion system and need to know how to handle if one of the axis activate a limit switch. Does the activated axis have to be moved off the switch so the contour move can continue or can you move it off with a co-ordinated contour move?
Configuraton
LabVIEW 2013 SP1
Softmotion 2013
cRIO Crate
NI 9514 C Series Servo Drive Interface with Encoder Feedback (all 4 axis_
Paul

The controller that I am developing is a four-axis inspection delivery tool. It is made up with a vertical pole that can be moved up and down and rotate. At end of the pole there is an "arm" that can be raised and lowered; the arm can also rotate +/-45 degrees. What I want to do is to move 2 to 3 axis simultaneously so the tool end can travel along set paths. For example if the tool end is to move horizontally, the arm has to be raised (rotated) while the overall tool is lowered. To calculate the coordinated time path of each axis, I use an inverse kinematic calculation that creates a table of positions (for each axis) with the set time interval, thus the use of multi-axis contour move.
The problem that I am worried about but have not had a chance to test, is what happens when on the axis activate a limit switch, say for example the tools vertical upper or lower travel limits. With standard single axis point-to-point movement, you can always command to travel off the limit (but not through it) but it is not clear what will happen when using contour moves (single or multiple-axis). Thus the question, how to handle, when one of the axis of a coordinated contour move motion activates a limit switch.
Cheers
Paul

Break Points during Contour Move

We are using PCI-7340 (Firmware Version 68331) for a 2 Axis laser cutting application. The contour points are generated and fed to the 2D Contoured move.vi which works great for most part.
In our application presently we can have 9 to 15 contours per sheet. The laser is turned ON before start of the contour move and turned OFF after finishing the move. And the cycle repeats until the sheet is processed.
We would like to increase the productivity by combining all the contour points into one big contour move but not loosing the control over laser (ON/OFF). So, Is it possible to have BreakPoints embedded in the Contour data? We can not have Breakpoints based on single axis position because for a particular contour move an axis may move through that position (X or Y) multiple times. We need to define the (X,Y) location where that I/O transition needs to happen. Alternatively we can identify the contour point (contour buffer array number) where the transition needs to happen.
Thanks.

Sorry, I just realized that I asked almost the same question a while back and it was answered by NI person.

Contour move quirks if bufferSize less or equal than totalPoints

I have two machines in wich I test my application: one with a PXI 7344 with NI-Motion 6.0 firmware and other with a PXI 7344 with FlexMotion 5.1 firmware.
Using the 6.0 firmware, I create a position buffer with N points in size and total points, write N numbers and run it. It then makes my robot move, but at the end of the trajectory it quirks.
I´ve found that it doesn't occur when I configure the buffer with N+1 (both bufferSize and totalPoints) - the trajectory is executed fine until it's aborted on oldDataStop.
But I can't make it work with a circular buffer (bufferSize < totalPoints).
Interesting to note is that I can work fine with N-sized buffers on the 5.1 firmware machine. I haven't (and currentl
y can't) tried a circular buffer with this machine.
I use Borland C++ Builder 4 and Windows NT4 on a NI PXI-1025 MegaPAC/PXI-8156B industrial PC.

Hello cavvieira,
Thank you for contacting National Instruments.
NI-Motion 6.1.5 fixed an issue that existed from 6.0.x to 6.1.4 related to the spline calculation between the final two points in a contour move. This sounds similar to the issue you are experiencing.
I would highly recommend upgrading to NI-Motion 6.1.5 (if you have not already done so). Version 6.1.5 is an update to any 6.1.x version. You can download version 6.1.2 and the update to 6.1.5 on the following webpage: Drivers and Updates: Motion Control
Let me know if this resolves your issue.
Regards,
Jesse D
Applications Engineer
National Instruments

Contour move: Interrupt

Hi ,all
I have faced several problems when using contouring function.
Below is the code which I modified from the sample. I load a series of points and then send to contour move to complete the motion.
However, I don't know how to interrupt the contour motion. In other words, if something happens when the contour move is executing, I want to stop the current contour move and change to another new trajectory.
Another problem is I cannot adjust the requested interval. The default value is 20ms, but when I change it to 200ms, the error 70078 occurs: parameter out of range.
Thanks so much if anyone can help me ~

Bonjour,
Je ne pense pas qu'il y ait un réel problème. En utilisant LabVIEW + SoftMotion + SolidWorks, vous faites de la simulation pure, de la co-simulation pour être exact. Donc cela nécessite beaucoup de ressources processeur, en particulier pour les calculs réalisés par SolidWorks. Et la méthode de simulation ne peut pas être temps réel dans ce cas.
Par exemple, si vous diminuez fortement le pas mininum pour réaliser les calculs de simulation, vous verrez que la simulation mettra beaucoup plus de temps, de la même façon si vous avez un assemblage SolidWroks assez lourd avec plusieurs moteurs.
Ce qu'il faut voir c'est que quand on fait une simulation, LabVIEW et SolidWorks travaillent de manière synchronisée, c'est à dire que LabVIEW (LV) envoit la commande simulé du moteur à SolidWors (SW), SW recoit la commande, fait les calculs nécessaires, met à jour la simulation et renvoit les résultats à LV qui attend ce retour avant d'envoyer la nouvelle commande à SW.
D'ailleurs, vous devez pouvoir vérifier que la commande est correct et ne vaire pas dans le temps en réalité en rejouant le profil de commande demandé dans SolidWorks, dans ce cas, la simulation se fait normalement plus rapdiement que lorsqu'on fait la simulation.
Pouvez-vous faire une image du diagramme du VI utilisé pour qu'on soit sur de la fonction utilisé.
Comment vous obtenez l'interval entre les points ?
En espérant que celà puisse aider.
.mesLeft{float:left} .mesInfo{border-left:solid 1px #989898;font-size:x-small;color:#989898} .mesLogo{float:right;opacity:0.18} .mesLogo:hover{opacity:0.9}
Maxime R.
  CLD - Certified LabVIEW Developer / Développeur LabVIEW Certifié
  CLAD - Certified LabVIEW Associate Developer

Contoured move and move constraints

The NI-Motion User Manul tells' A contoured move moves an axis or a coordinate space of axes in a pattern that you define. The trajectory generator on the motion controller is not used during a contoured move. The controller takes position data in the form of an array, and splines the data before outputting it to the DACs or stepper outputs' and ' The move constraints commonly used to limit other types of moves, such as maximum velocity, maximum acceleration, maximum deceleration, and maximum jerk, have no effect on contoured moves. However, the NI Motion Assistant prototyping tool can remap a user-defined trajectory based on specified move constraints, preserving move characteristics and move geometry.'. How the move constraints works in NI motion Assistant prototyping tool in the contoured move?

Thanks. Can I get the output position data of Smart Contouring?
In the contoured move, the motion time between two continous points is the sampling period, is it correct? I am really confused with the stepper motor controll by 7344 using closed-loop control.
I developend an interpoaltor in which I set the time interval between two sequential interpolated point is 1ms and this value can be changed. To get the smaller chorderror, the time interval also should be small. When I do the experiment using contoured move (stepper motor +7344 +closed loop), the velocity is very slow. I think the reason is that time interval of the control loop is much bigger than the time interval used in the interpolator. This means the motion time between two sequential point is increased consequently decreases the velocity. Anyway I am not sure about this. Is anyone has any idea?
^_^

Does the contoured move uses the PID parameters and position feedback?

Hello
I want to use the contourd move to generate a continuous movement,but i do not know if this kind of move just acst like a open-loop move .What i means is does it sends the target position directly to the DAC without the PID loop and position feedback?

The PID controller is still enabled when running the motor in
contouring mode. Otherwise you couldn't do any position control at all.
On a board level the only major difference between contouring mode and
any other mode is the source of the dynamic setpoints passed to the PID
loop through the spline engine. While in contouring mode the setpoint
information comes from the buffer in the onboard RAM, in other modes it
is dynamically calculated by the trajectory generator on the board.
Best regards,
Jochen Klier
National Instruments Germany

Jerky motion on contoured moves

I have setup a countoured moves but when it reach the final point there is a fast jerky move forward and then backward that is not acceptable for my application. I'm using a 7344 and a 7356 (the same behaviour) motion controller and i have already tried to change pid and everything else. The only way to get a smooth movement is to return to the initial position (let's say 1000 steps forward and 1000 steps backward). In this case no jerky motion is done. But this is not acceptable for the application i'm developing. I have the latest firmware and sdk 6.1.3.
I really need to solve this issue. Can Someone from NI help me?

Hi Falco,
the problem you are experiencing is a known bug of the 6.1.3 firmware version.
What you need to do is to download the latest firware version following this link
NI-Motion 6.1.5 FTP Download
Best regards,
AlessioD
National Instruments

Problem with Contour Move in Softmotion

Hi,
I got the 3 motors in SolidWorks , my table looks lika that:      40 50 60 , cordinate space consist of 3 axis and when i try to change on Active Mode an error occurs:
                                                                                         50 70 80
                                                                                          70 90 100
                                                                                          90 95 110
"An error occurred while attempting to switch the I/O scan mode. NI SoftMotion: The size of the buffer or array is incorrect."
Any idea why ?
Thanks,
Bartek

unfortunately, it didn't help
below is the link with photos of my Block Diagram:
http://www.iv.pl/images/20379110010119321835.jpg
Greet

Contouring wrong axis moves

I am trying to use the Contouring with the Motion Assistant generating my moves.
When I used the stand alone examples - it works fine, but when I configure a straight line move where the X-Axis is supposed to move, but the Y axis is supposed to stay the same the Start motion shows the Y axis trying to move. I have not changes the code generation technique between the correctly working 1st move that moves the Y axis first (trying to do a square, making the sides using contoured moves where one axis stays put while the other traverses).
The data arrays I am feeding to the Buffer VIs have X,Y interleaved properly. I am using the same code to generate the Vector Space in the move that runs properly vs the one that tried to move improperly. When I plot the data it appears to be generated correctly.
I don't know why the system keeps trying to move the Y axis on subsequent moves when the value for Y is its current position and the X axis is the one with the channging targets over time (per the contouring output). I get no generation errors from the Motion Assistant VIs, or the Vector Space setting VI.
Ryan Vallieu
Automation System Architect

I was mis-interpreting ABSOLUTE in the set-up for ABSOLUTE CONTOURING - it doesn't mean the absolute position from the home setting - every move is considered starting at 0,0 from your CURRENT location regardless of it NOT being true absolute 0,0....
ugh
"All contour moves are relative, meaning that the move starts from the current position of the axis or axes. In absolute contouring mode, positions are interpreted with respect to the starting position of the contouring move. In relative contouring mode, positions are interpreted with respect to the previous position in the contouring data array."
Ryan Vallieu
Automation System Architect

Halt causes jerk movement

Using PCI-7344 and MID-7604 and FLEXMOTION.
3-Axis control, stepper motors, closed loop with optical linear encoders.
1) When I am stationary and command a Halt, there is a resulting jerk movement, sometimes up to a few 1000 servo steps. Why?
2) The MAX PID Tune does not work at all. Is there a way to use the LabView PID VIs, including the Auto-Tune VI to tune the PID parameters? Do you have an example or documentation on how to do this?
3) I am having trouble with getting the move complete to complete. I realize one factor is the PID parameters. I have attempted to tune them manually with the Capture and Read Trajectory data (this is a very cool tool) but so far am not very successful at finding the correct PID parameters. Can I get more documentation on what factors are included in the move complete.
4) The pull-in moves at the end of the move do not appear to be limited by the commanded velocity and acceleration. Using the high rate data, I am often seeing velocities 4-5X the defined velocities, which then would throw-off the PID controller. Is this a design flaw? Why is this? The pull-in moves are usually completely un-successful at correcting the endpoint.
5) I am using a 3-D contour move to perform a curve. To define the geometery of the move, I need about 170 points. I would like the speed of this move to be approx 6000 steps/second. Due to the definition of the speed of a contour move to be dependant on the following parameters:
1) Distance between points
2) Time delay between points, limited to intervals
of PID rate which can be btwn 10-45 msec for the
fastest PID rate, or btwn 10-90 msec for slowest
This requies me to have a contour defined as 3500 points. This is a big drain on the system due to this restriction.
1) Why is this restriction here? Is there an work around?
2) When you change the PID update rate, what does that effect? High speed capture rate? All card processing?
3) There does not appear to be a way in LabView to change the PID rate? Am I missing it?

http://forums.ni.com/t5/Motion-Control-and-Motor-Drives/4-AXIS-MOVE-VI/td-p/58560

How can I run a Buffered Contour repeatitively using on-board programming?

I have a 400 point countour move that I would like to run for 100,000 cycles. How can I use the buffer over and over again using on-board programming?

Jed,
Thank you for your comments. They did not however answer the question. I am asking about buffered contour moves. Most of the Onboard programming examples and tutorials deal with repeating of linear or circular moves. I have been using the onboard programming for some time, and have set up and run may Onboard DO WHILE Loop programs with good result. I have however been having some problems with the onboard progams running reliably for more than 1000+ cycles. I have spoken with Mr. Austin about this, but we have not been able to resolve this problem.
The buffered contouring options are of great value to me, as I would eventually like to follow some pretty complex pathways that require changes in velocity as well. I can sucessfully complete one cycle o
f buffered contouring, but that is all. I can repeat this cycle, but only by buffering two or more iterations of these points. Each time you write to the buffer, it is memory intensive, and the HELP files urge you to not write to buffers too much while motion is in progress. I have worked with the vi that lets you progressively write a large number of points to a small buffer and a while loop. This works great for a few cycles, but I would like to preform 100,000 cycles. I am having trouble getting the same type of vs to work for this many points.
I would like to know if it is possible to have a buffer that you can read from recursively, without it being erased after it is read.
If not, how would it be best to approach this problem?
Thanks,
John

Contour move: Interupt

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