Find Reference with gearing Error 70166

Question

Hello,
I have an xy-Table with 2 linear motors per axis. The motors of one axis are fixed together. An axis is configured with gearing (X: master: axis1, slave: axis2; Y: master: axis3, slave: axis4;). Vector Space 1 are the master motors. With the settings I can move the axis with MAX. X and Y has respectively a limit switch that is connected to the ForwardLimit Switch of the master.
After Initialise and Configure Vector SpacesI wanted to execute the example "simultaneous Two-Axis Finnd Reference.vi". The Input Parameter are: Board ID: 1, First Reference Move: Forward Limit, Timeout: 4294967295.
When started the axis (X, Y) move forward then jumps. Seems to be that the slaves HALT and the master move forward until the position error is reached. Then I get for axis 1 and 3 (masters) the Error 70166.
Whats wrong.
Best Regards,
Andy
PCI-7356@UMI7764; PCIe-6320@SCB-68; LV2011; Motion Assistant 2.7; NI Motion 8.3; DAQmx 9.4; Win7

Answer 1

Hey,
I updated the Motion driver to 8.5.1 with no result.
I removed the mechanical joints between the master and slave axis. I changed the "Load Velocity" in the example "Master Axis - Slave Axis Gearing.vi" (attachement) to move one axis. To use the vi I executed the "Initialisierung 3D Gearing.vi" before, wich is the initialise VI for the program I develope. So some VIs were executed twice. The initialise VI I executed with the shown parameters (attachement). In MAX the gearing for master axis is disabled, for slave axis is enabled, relative, 1/1 to axis1 respectively 3. This setting are set in the programs too, so they will be overwritten.
The "Master Axis - Slave Axis Gearing.vi" runs perfectly.
To execute the "Simultaneous Two-Axis Find Reference.vi" example I run the "Initialisierung 3D Gearing.vi" before too. Because of the initialisaton all four motors are enabled. By finding the references only the master axis were moved until the switches were enabled. Then all motors HALT, but the "Wait Reference.vi" is not executed completely. This is reproducible. forward limit switches from Master are always enabled. I tried the situation with enable/disable forward limit switches for slave axis. Both with the same result.
I think the HALT slave motors generated in mechanically fixed situation the error 70166. But why they HALT? Why the  "Wait Reference.vi" is not executed completely?
To the Situation:
LV2011
NI Motion 8.5.1
PCI-7356@2xUMI7764
LinMot B1100-VF for every motor with  analog current command (http://www.linmot.com/fileadmin/doc/Manuals/E1100/​QuickStartGuide_B1100-VF_e_recent.pdf)
The digital signals (5V@PCI-7350 <--> 24V@B1100-VF)were fitted with a self made amplifier board.
Four linearmotors LinMot: stator: PS01-37x240-C; coil: PL01-20x365/220
The Limit switches give 0V or 5V to Forward Limit Switches of master axis (axis 1 and 3). The voltage source is the UMI-7764@PULS ML-15.
I will send the pictures of XY-table in next post.
If you need some more information, I can post it.
Best Regards,
Andy
PCI-7356@UMI7764; PCIe-6320@SCB-68; LV2011; Motion Assistant 2.7; NI Motion 8.3; DAQmx 9.4; Win7
Attachments:
Master_Axis_-_Slave_Axis_Gearingd.png ‏20 KB
Initialisierung_3D_Gearingp.png ‏15 KB
Initialisierung_3D_Gearingd.png ‏18 KB