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

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Axis getting stuck at limit switch

Hi all,
The problem I'm having is that although I can control the position of the axis fairly well, if it hits a limit switch, I can't get it to move from there. It's a stepper motor controlled by a PCI-7344. I have forward and reverse limit switches as well as a home switch. I actually have two axes doing the same thing. They are facing each other so while one stepper has a positive rotation and the other a negative, they both turn the same way, if you get what I mean. Anyway one of them is working fine and stops at the limits and comes back at the next command, but the other stops and thows up a 70119 error when I try to get it to move back from the limit. I'm pretty sure everything (ie. limit switches) is wired up correctly so assuming it is, can anyone make a suggestion as to what the problem could be???
Thanks,
Damo.
PS. OMG robot smilies!!!!

Error 70119 means:
In general this error occurrs, if you either try to move further into the active limit switch or if you try to move out of an active limit switch while the forward limit switch is connected to the input of the backward limit switch and vice versa.
If you are 100% sure that the wiring is correct, please check the version of your NI-Motion driver and the board's firmware. In NI-Motion 6.0 there was an issue with this error that was fixed in later versions. The current version of NI-Motion is 7.6.
I hope this helps,
Jochen Klier
National Instruments

Finding reverse limit switch

When I issue a flex_find_reference to search for the reverse limit switch and this switch is active I get a modal error -70119. If the switch is not active, the the functions finds the reverse limit without errors. Is this the correct behaviour for this situation ?

This behavior would be normal if activating the limit also sets it to the state where it would be when the stage enters the limit. This will depend on the polarity that you have configured for the limit switch. An easy way to figure this out is to go inside Measurement and Automation Explorer and under the motion controller settings go into the 1-D interactive advanced panel. If the light for reverse limit is red even when the limit is disabled, it means that you need to change polarity configuration under Axis Configuration and reinitialize your board. You will now be able to run a find reference without getting the error. Also know that if you start a find reference while sitting at a limit (e.g. find forward limit while sitting at reverse limit), you will get this err
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Hi,
I'm using 3 stepper motors w/ incremental encoders (by Agilent technologies), NI 7344 board and NI MID-7604 power controller.
I don't have hardware limit switches and I don't have a need for them. I found the software limit switch option under MAX and tried configuring them. I've been testing with LabView's One Axis Find Reference with Status Monitor.vi and I'm having problems.
Under max my motors are configured as closed loop/absolute position/2000 steps per cycle. I set my software limits to 2000 forward and -2000 reverse. In the vi i'm specified Find Center under search type and the motor just seems to keep turning in clockwise direction and then abruptly stops with a modal error: -70166 saying that the axis tripped on the following error.
I would greatly appreciate detailed information on what I may be wrongly configuring in MAX and how to do it properly. Thanks in advance.
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Hello Jochen,
I have a correct setting for my encoder counts and my steps per revolution. I have manually checked the rotation and the encoder outputs 1600. That is the number I have set.
I'm using the load software limits vi and I'm not having any luck with this. I'm including my vi for your review. Your help is greatly appreciated.
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Attachments:
One-Axis Find Reference with Status Monitor.vi ‏120 KB

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Hi guys, recently i am trying to create a robot that uses RF controller, arduino and labview. The issue i facing now is i am unable to trigger my limit switch to make my motor movement reverse when it hits on it. For normal motor trigger from lab view, it is working perfectly. But when comes to limit switch, it has no response. The following files is my VI and arduino coding. For the arduino coding, lets just focus on case '1' since the triggering is not yet complete. The motor i use is only a normal DC motor without encoder and connected to a L298 board. Is it my VI problem?
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Movement Control Key control5.vi ‏70 KB

1. Basically, i just remove it?
2. The limit switch is wired like a (pull up resistor concept) and connected to other digital port in arduino. It sends signal into interupt the motor movement.
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digitalWrite(in3o2,LOW);
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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?
^_^

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I'm developing a six degrees of freedom machine with servo motors,UMI flex6 and Labview-5.1.I was unable to access the limitswithes.So I would like to know the connections diagram,UMIflex6 board settings and the Vi's to be included in the program.please help me out in solving this problem.

Hi Kolakanuru,
Thanks for using our discussion forums. How you connect your limit switches depends on what type of motion board you are using. For example, if you look at the connection diagram for a PCI-7344, you can see that Forward Limit switches connect to pins 39, 45, 51, and 57. These will then pin out directly to the UMI. For the connection diagram for your particular motion control board, you can go to www.ni.com/manuals and pull up the necessary information. In regards to reading this in LabVIEW, the first thing you will want to check out is Measurement and Automation Explorer. In the interactive windows for your board, you can check the limit switch status there- Press your limit switch on and off and make sure that it changes the LED in MAX. Once that i
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Hello Nick F,
Thank you very much for your reply and i am so sorry for less details of my previous message so, here more discussion:
I control the position of a reobatic arm, at starting of the program the arm may be in any position so i must move the arm to a referance position by making a program to give analog 5V through analog output pin of the DAQ to the to the DC motor controller card to then to the motor which drive the arm, when the arm arrives to its referance position hitting a limit swich which will give a digital signal to digital input pin of the DAQ, here, my object is to stop the obove program (or loop) to stop the arm, at the same time i want to run another program or another while loop on the same program which is an LV example (control single channel.vi) (which is an PID controller program to move the arem to a desired position.
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Thanks Jeff,
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Attached is something an old collegue used to perform partial closures. I think he used timing here. I would like to use the partial limit switch to re-energise during my test rather than timing. Can you advise how to modify this code to do this?
Attachments:
Example FAT.zip ‏95 KB

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Hi Steve
Do you have the inhabit switch enabled in MAX? This should kill the axis signal. Take a look at this I think it might help.
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It doesn't allow me to select ethernet as an option for internet connection, only dchp, ppoe and one more which isn't ethernet.
DHCP is correct setting. .it will use ethernet but the new AC TC has problems.. it needs a crossover cable with some switches. Or you need to return it and get it replaced as there is something wrong with its wan port.. the new AC model needs a hardware revision and about 3 or 4 firmware upgrades before it hits the status of the Gen4 it replaced.
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Should I be able to use the hdd on the 2nd (older) time machine as essentially a networked hdd for putting movies and music on, and use my new time capsule as the sole backup (occurring both over ethernet for my iMac and wifi for our laptops)
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Limit Switches and Contour Moves.

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