Open Loop Problem of PCI-7344

Dear Partners
I have a big trouble....
Any suggestion would be appreciate!
Here is the hardware and software that I am using
S/W : MAX 3.1.1
           LabVIEW 7.1
           NI Motion 7.0
H/W : PCI-7344
           UMI-7764
           YASKAWA Servo Driver
I've tested my motion B/D step by step
1) Start Max3.1.1 / MySystem / Devices and Interfaces /NI Motion Devices /
       PCI7344(1)/Interactive/1-D Interactive
2) Slect "OPEN LOOP"
3) Input steps : Velocity, Acceleration, Deceleration
4) Input steps : Target Position = 100000
5) Click "Apply"
6) Click "Start"
But sometimes it stops generating steps.
it occurs very very irregularly.
I can't understand because I use "OPEN LOOP"
and "Current Trajectory Position" must increase until "TargetPosion" whether the asis move or not.
Also there is no limit signals..
Please see the image file attached.
It's very simple I control motion b/d with OPEN LOOP MODE.
and, I think the servo Driver works well because command steps and encoder pulses are equal.
Please Help me!!!
Crane
Attachments:
7334error.GIF ‏117 KB

Thank you Jasper S.
I think you understand me well.
I tell you more informations.
1) The computer is working in Windows XP Professional (Just Theme).
2) It happens also at low velocity and acceleration.
3) I think when the motor stops moving, it fails to translate into hardware steps.
Because when the motor stops, "Current Trajectory Position" and "Encoder Counts" are equal.
4) I checked status registers on the card when it works abnormally, but can't find any error message and flgs.
5) To make matters worse it happens occasionally, so it's difficult to find out the reason.
6) Strange as it may sound, when I touch the motion connector correctly, the abnormal behavior frequency decrease.
So I tried to exchange a new motion b/d and a motion cable but it was just same error situation.
I can't understand because I just use "OPEN LOOP", it is no matter whether servo driver works well or not.
7) Do I have to change PC? I already tried to exchange PCI Slot position.
I need more information about this.
I'm in trouble because this system is operating at foreign country.
It is fatal error even if it happens once per day....
Please help me once more. Thank you.

Similar Messages

Problems with a PCI-7344 motion controller

Hi all,
I've run into a weird problem with a NI PCI-7344 motion controller, where I
have a program that provides the motion control for my program that works
reasonably well, but when I make minor changes gets motion errors. The changes
are not specifically to the motion parts, just changing a couple of globals
that provide communication with another part of the program (and another piece
of hardware). The errors I get indicate that I am trying to enable limits
switches at the wrong time in my program. I will add that I do not get any
errors when I go through the program in debug mode
Tnx,
P.W.Monroe

The portion of my program that gets the errors uses the "Flexmotion" Find Home
and Find Index routines, which are built into the 7344 controller. In the
exampes for using these VIs, they are followed by a loop that has a VI that
monitors the status of these VIs for completion, both move complete and Home or
Index Found. The globals that I mentioned are being used to terminate the loops
if an error condition occurs elsewhere, and do not cause the program to do
anything other than terminate looking at the status and then go into a wait
loop. It crashes when it goes into the loop when I substitute a different
global, which is baffling to me, as they aren't triggering something that would
result in a race condition.

Windows 2000 upgrade from win98--will i have problems with my pci-7344, pci 6110e & ni5411?

I am running win98 with my Labview 5.1. It running fine, but I would like to upgrade the os to windows 2000.
When I was running a check of the hardware, win2k said that the following hardware may not run:
pci-7344, pci-6110 & ni-5411.
will i need new drivers?
will i run into any problems?
any suggestions?
thanks!
Byron Golden
Allied Geophysical Labs
U of Houston

Byron,
You should not have any problems when you upgrade your OS. Depending on what driver versions you have for that hardware, you may want to go ahead an upgrade your drivers anyway, though. The drivers for these devices are all available for free from our website at:
Current Driver Versions
http://digital.ni.com/softlib.nsf/webcategories/9AD71162B755F0E786256BBC005F001A?OpenDocument&node=132060_US
Try that and let me know if you have any trouble.
Regards,
Scott R.
Applications Engineer
National Instruments

PCI-7344 motion controller encoder reset problem

I'm using a PCI-7344 motion controller for my application. I'm currently working on simple display of position and velocity using an encoder. I am able to read the encoder pulser, but I am unable to reset it. I want the encoder pulses to be display continously till I press a reset button on the screen. After pressing the reset button on the front panel, the encoder count should become zero and start counting again till I press stop button. Kindly give me a simple example of encoder reset using push button. Thanks.
Regards,
Giridhar Rajan
Cruiser Controls
Mumbai, India

This should do what you are looking for. I am not at the computer that has a motion controller card in it, so I have not tested it.
It resets the encoders for Axis 1 and Axis 2. Unless you have a different configuration for encoders and axes, it should work.
Hope that this helps,
Bob
Bob Young - Test Engineer - Lapsed Certified LabVIEW Developer
DISTek Integration, Inc. - NI Alliance Member
mailto:[email protected]
Attachments:
Reset encoders.vi ‏66 KB

Position Control of compumotor 406LXR linear servo table and GV-U6E(motor drive) with PCI-7344

Since I had the answers referring:
http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000DD490000&USEARCHCONTEXT_CATEGORY_0=_14_&USEARCHCONTEXT_CATEGORY_S=0&UCATEGORY_0=_14_&UCATEGORY_S=0
Wiring step was done well. However, I still have a problem that MAX configuration doesn't fit in compumotor drive settings. Therefore, the setup is shown below, and I want to know how I can set up PCI-7344 configuration in MAX or LabVIEW VI.
;Uploaded from device address 0
;Gemini GV Servo Drive Setup
;Motor Setup
DMTR 1703 ;Motor ID (406-x-LXR-M-x-D13-x-x-x-x-E5-x-x-x)
DMTIC 2.48 ;Continuous Current (Amps-RMS)
DMTICD 0.00 ;Continuous Current Derating (% derating at rated speed)
DMTKE 17.6 ;Motor Ke (Volts (0-to-peak)/krpm)
DMTRES 10.10 ;Motor Winding Resistance (Ohm)
DMTJ 119.300 ;Motor Rotor Inertia (kg*m*m*10e-6)
DPOLE 1 ;Number of Motor Pole Pairs
DMTW 40.5 ;Motor Rated Speed (rev/sec)
DMTIP 7.40 ;Peak Current (Amps-RMS)
DMTLMN 3.4 ;Minimum Motor Inductance (mH)
DMTLMX 3.4 ;Maximum Motor Inductance (mH)
DMTD 0.000000 ;Motor Damping (Nm/rad/sec)
DMTRWC 0.23 ;Motor Thermal Resistance (degrees Celsius/Watt)
DMTTCM 20.0 ;Motor Thermal Time Constant (minutes)
DMTTCW 0.33 ;Motor Winding Time Constant (minutes)
DMTAMB 40.00 ;Motor Ambient Temperature (degrees Celsius)
DMTMAX 90.00 ;Maximum Motor Winding Temperature (degrees Celsius)
DHALL 1 ;Disable Hall Sensor Checking
DMTLQS 0 ;Set Q Axis Inductance Saturation
DMTLDS 0 ;Set D Axis Inductance Saturation
DTHERM 0 ;Disable motor thermal switch input
;Drive Setup
DMODE 2 ;Drive Control Mode
DRES 8400 ;Drive Resolution (counts/rev)
DPWM 16 ;Drive PWM Frequency (kHz)
SFB 1 ;Encoder Feedback
ERES 8400 ;Encoder Resolution (counts/rev)
ORES 8400 ;Encoder Output Resolution (counts/rev)
DMEPIT 42.00 ;Electrical Pitch (mm)
SHALL 0 ;Invert Hall Sensors
DMTLIM 1.5 ;Torque Limit (Nm)
DMTSCL 1.5 ;Torque Scaling (Nm)
DMVLIM 119.000000 ;Velocity Limit (rev/sec)
DMVSCL 119.000000 ;Velocity Scaling (rev/sec)
;Load Setup
LJRAT 0.0 ;Load-to-Rotor Inertia Ratio
LDAMP 0.0000 ;Load Damping (Nm/rad/sec)
;Fault Setup
FLTSTP 1 ;Fault on Startup Indexer Pulses Enable
FLTDSB 1 ;Fault on Drive Disable Enable
SMPER 8400 ;Maximum Allowable Position Error (counts)
SMVER 0.000000 ;Maximum Allowable Velocity Error (rev/sec)
DIFOLD 0 ;Current Foldback Enable
;Digital Input Setup
INLVL 11000000 ;Input Active Level
INDEB 50 ;Input Debounce Time (milliseconds)
INUFD 0 ;Input User Fault Delay Time (milliseconds)
LH 0 ;Hardware EOT Limits Enable
;Digital Output Setup
OUTBD 0 ;Output Brake Delay Time (milliseconds)
OUTLVL 0100000 ;Output Active Level
;Analog Monitor Setup
DMONAV 0 ;Analog Monitor A Variable
DMONAS 100 ;Analog Monitor A Scaling (% of full scale output)
DMONBV 0 ;Analog Monitor B Variable
DMONBS 100 ;Analog Monitor B Scaling (% of full scale ouput)
;Servo Tuning
DIBW 1500 ;Current Loop Bandwidth (Hz)
DVBW 100 ;Velocity Loop Bandwidth (Hz)
DPBW 40.00 ;Position Loop Bandwidth (Hz)
SGPSIG 1.000 ;Velocity/Position Bandwidth Ratio
SGIRAT 1.000 ;Current Damping Ratio
SGVRAT 1.000 ;Velocity Damping Ratio
SGPRAT 1.000 ;Position Damping Ratio
DNOTAF 0 ;Notch Filter A Frequency (Hz)
DNOTAQ 1.0 ;Notch Filter A Quality Factor
DNOTAD 0.0000 ;Notch Filter A Depth
DNOTBF 0 ;Notch Filter B Frequency (Hz)
DNOTBQ 1.0 ;Notch Filter B Quality Factor
DNOTBD 0.0000 ;Notch Filter B Depth
DNOTLG 0 ;Notch Lag Filter Break Frequency (Hz)
DNOTLD 0 ;Notch Lead Filter Break Frequency (Hz)
SGINTE 1 ;Integrator Option
SGVF 0 ;Velocity Feedforward Gain (%)
SGAF 0 ;Acceleration Feedforward Gain (%)
Regards,
JinHo

First of all, before connecting the drive to the 73xx controller I would check that the drive and motor configuration works correctly independent from the controller. The Gemini drives have a utility called the Motion Planner that allows you to configure your motor and drive for independent operation so you can test if the motor and drive combination are working by themselves. Refer to page 18 of the Gemini GV installation guide which you can find at the compumotor site or download from:
http://www.compumotor.com/manuals/gemini/Gemini_GV_HW_Install_Guide.pdf
Once you have tested your motor and drive combination, make sure that the drive is configured in torque mode and that the command signal is configured to be sent from the I/O connector and not through RS232 using the Motion Planner. The next step would be to connect the 7344 through the UMI-7764 breakout box in the following order:
---- UMI7764 GVU6E
---- AOut Cmd+ (pin23)
---- AOGnd Cmd- (pin24)
---- InhOut Enable- (pin2)
---- +5V Enable+ (pin24)
7344 --> EncA AX+ (pin8)
---- EncA- AX- (pin9)
---- EncB BX+ (pin10)
---- EncB- BX- (pin11)
---- Index ZX+ (pin12)
---- Index- ZX- (pin13)
---- +5V Encoder +5V (pin5)
Verify that your enable line is connected in an open collector mode (as shown in the diagram above). Our inhibit outputs can sink current but not source it so if your enable line is not behaving properly you want to make sure that the +5v supply you are suing for the UMI can source enough current for your enable line to work. Consult Compumotor on the specs of their enable switch.
Once the connections are done properly, all you need to do is configure and initialize your board for servo operation in MAX and then you can start your tuning process. Refer to the Tuning PID for servos tutorial in:
http://www.ni.com/support/motnsupp.htm
for instructions on tuning your servomotor properly. Also for more information on using MAX, refer to the following tutorial:
http://zone.ni.com/devzone/conceptd.nsf/webmain/081957EE013C7A4586256B92007818E0?opendocument

PCI-7344 motor interfacing help

Hi,
I've been provided with a PCI-7344 together with a UMI-7764 by my university for my course final year project. My project consist of controlling 1 stepper motor, 3 dc motors and 1 servo motor. Also included is 4 digital proximity sensors. As im still new with motion control cards, I would appreciate it anyone can help guide me.
I'll be using thrid party motor drivers for the stepper motor and dc motors (H-bridge). I know that i'll be connecting the stepper motor output to my stepper motor driver but im confused about where would i get a output for my dc motors. Can i use the digital output for motion i/o (inhibit) to generate a pwm signal for my dc motors or it's possible to connect my dc motor driver to the stepper output? Finally, is it possible to use the digital inputs for the motion i/o (encoder, home switch) with my proximty sensors?
The problem is that i only can use the I/O from the motion i/o port because the SCB-68 that is required for the digital I/O port may not be accessible to me.
Any help and suggestions would be greatly appreciated. Thank you
-Terence

Terence,
the PCI-7344 can control up to four axes. Any combination of 0 to 4 open loop or closed loop stepper motors and 0 to 4 servo motors (always closed loop) is allowed.
I don't see a good way to control 5 motors with this board. If you need PWM signals to control (not to drive!) additional DC motors in open loop mode, you could use two static PWM outputs on the Digital I/O connector (yes, you will need an SCB-68 to access those). These outputs are static. That means, that you can adjust the frequency and the duty cycle in software only so you can't generate trajectory profiles on these outputs.
In general you can't use stepper outputs to control DC motors, as you can't control the duty cycle of a stepper output. All other digital I/O signals are static and can't be used to generate control signals. If you really need to provide PWM signals for you DC motors' drives, you could use an additional counter board like the PCI-6601. Still you won't be able to generate trajectories with this board. If you need to create trajectories for open loop DC motors, it might be a better option to generate analog waveforms on the analog outputs of a mutlifunction DAQ board and use a DC motor drive, that converts an analog input signal to a PWM power signal.
Please note that the 7344 can't drive motors directly, so you will have to use power drives for all axes.
You can use proximity sensors as limit switches with a 7344 but you need to be careful with that. The lilmit switch inputs of the 7344 are pulled up to +5V with 3.3 kOhm. Many proximity sensors switch between +5V and 0V but they typically have a high output impedance, resulting in a voltage divider with the 3.3 kOhm resistor. You may get around this issue by connecting a resistor from the limit switch input to ground to reduce the voltage level when the proximity sensor has switched to low level. This is not a very clean approach and you should use a potentiometer instead of a fixed resistor to find the right value for the resistance.
A much better approach is using a UMI-7774 instead of the UMI-7764, which provides direct connectivity for proximity sensors.
I hope this helps,
Jochen Klier
National Instruments

Why are my steppers misbehaving in closed loop mode, but work fine in open loop

I have a 7344 controlling a 4 axis prototype machine, which is configured with 50,000 steps/rev and linear encoders providing 50800 counts per inch. The physical properties of the machine are less than perfect (prototype!), so there is a considerable amount of backlash in the hardware (about 0.008" - 0.010").
The observed behaviour is as follows: when repeatedly blending in the X,Y plane using vector space 1 in closed loop mode, an axis will be driven (uncommanded) to the zero encoder reading (home position) occasionally (about 1 move in 600). I have kept a log of the commanded positions being passed to the controller (via the flex_load_vs_position function) and a move to zero is not being com
manded. The application is single-threaded, so there is no chance of race conditions. The ready state of the board is being confirmed by means of the flex_check_blend_complete function call before any blend is commanded. The programmed relationship between steps and counts/revolution have been independantly confirmed as being correct.
An A-B-A test with the only change being to initialise the X & Y steppers in open loop instead of closed loop then 'works' - although the physical positioning of the hardware is unsatisfactory due to the physical characteristics of the prototype machine already mentioned, hence the necessity to run closed loop.
I am inclined to interpret the evidence as suggesting that the 7344 is causing an 'occasional' uncommanded move to zero as a result of some interaction between pull-in moves and commanded position on a system where there is a considerable degree of 'elasticity' between the commanded position and the achieved position allied to a rapid-fire de
livery of blend moves.
This problem can be replicated under versions 5.0.1 and 5.2 of the FlexMotion software.
I can clearly run without bumping into the problem by running open loop, but unfortunately that is not acceptable in this situation. Any ideas, anyone?

Hi, and thanks for coming back so promptly. I think I need to give you some more information - sorry if it turns into a long post!
The system behaviour when it 'misbehaves' is that it starts the anomolous behaviour well clear of any home or limit switch (>6"). When it 'goes wrong', it then slews one or both axes to the zero position. Having arrived at the zero position, it then carries on with the next blend without killing the motor.
The initialisation functions include a seek to home switch, a search for the nearest index point, and a zeroing of the encoder count at the index pulse: hence the zero point is a little displaced from the home microswitch.
I believe that once the system has 'gone wrong', it is stopping at the zero point *not* the h
ome switch.
I have carried out some further tests that may be of help:
If I place a large (1 sec) inter-blend delay in the calling functions, the anomalous behaviour is not noticed. However, the start/stop nature of each move means that this test is knocking the bejezus out of a rather fragile prototype machine, so I can't do this too often!
The encoder positions are being read back on each move cycle and monitored, and they are not showing any anomolous behaviour, so I don't think they are the culprit. I have placed a 'scope on the quadrature encoder inputs and the edges are good and sharp with no real indications of noise.
I could test with a blend factor other than -1 if you think that might be illuminating?"

Position Control of compumotor linear servo table and GV-U6E with PCI-7344

I'm referring PCI-7344 (not 7334).
I have the GV-U6E which is a drive only and does not possess control functionality. the drive only version does not store or use programs. So, serial commands can not be sent through COM port by LabVIEW even though A few basic commands can be emulated.
I am trying to do position control as I mentioned. For example, the motor should move A point to B point exactly with a certain speed. The points must be aboulte position.
I would like you to see the reference comment that I have been contacting with in your website forum.
http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000DD490000&USEARCHCONTEXT_CATEGORY_0=_14_&USEARCHCONTEXT_CATEGORY_S=0&UCATEGORY_0=_14_&UCATEGORY_S=0
Regard,
Jin Ho Lee
----- Original Message -----
From:
To:
Sent: Thursday, September 26, 2002 5:00 PM
Subject: Re: (Reference#1549-QYW196) "Position Control of linear servo table and GV-U6E with PCI-7344
>
> Note: Your reference number is included in the Subject field of this
> message. It is very important that you do not remove or modify this
> reference number, or your message may be returned to you.
>
>
> JinHo. Compumotor is a very popular brand, and I know of several customers
> who integrate our 7334 with Computmotor drives. However, when you say that
> the MAX configuration doesn't fit in the compumotor drive settings, are you
> referring to the specs from the 7344? It looks like the 7344 and the
> Compumotor will work well together through a UMI break out box. If you're
> referring to specific commands that the Compumotor receives, I'd have to
> know more about the protocol. If the Compumotor needs serial commands,
> then you can send them through the computer's COM port from LabVIEW.
> Please let me know exactly what kind of configurations you're trying to
> set. The 7344 can be completely configured in MAX and LabVIEW.
>
>
> Best Regards
>
> Kyle Voosen
> Applications Engineer
> National Instruments
> http://www.ni.com/support
>
> ------------------------------------------------------------------------------
>
> Problem Description :
> "Position Control of compumotor 406LXR linear servo table and GV-U6E(motor
> drive) with PCI-7344"
>
> "Since I had the answers referring:
> http://exchange.ni.com/servlet/ ProcessRequest?RHIVEID=101&RPAGEID=135&
> HOID=506500000008000000DD490000& USEARCHCONTEXT_CATEGORY_0=_14_&
> USEARCHCONTEXT_CATEGORY_S=0& UCATEGORY_0=_14_&UCATEGORY_S=0
>
> Wiring step was done well. However, I still have a problem that MAX
> configuration doesn't fit in compumotor drive settings. Therefore, the
> setup is shown below, and I want to know how I can set up PCI-7344
> configuration in MAX or LabVIEW VI.
>
>
> -----------------------------------------------------
>
> Uploaded from device address 0
>
> Gemini GV Servo Drive Setup
>
>
>
> Motor Setup
> DMTR 1703
> Motor ID (406-x-LXR-M-x-D13-x-x-x-x-E5-x-x-x)
> DMTIC 2.48
> Continuous Current (Amps-RMS)
> DMTICD 0.00
> Continuous Current Derating (% derating at rated speed)
> DMTKE 17.6
> Motor Ke (Volts (0-to-peak)/krpm)
> DMTRES 10.10
> Motor Winding Resistance (Ohm)
> DMTJ 119.300
> Motor Rotor Inertia (kg*m*m*10e-6)
> DPOLE 1
> Number of Motor Pole Pairs
> DMTW 40.5
> Motor Rated Speed (rev/sec)
> DMTIP 7.40
> Peak Current (Amps-RMS)
> DMTLMN 3.4
> Minimum Motor Inductance (mH)
> DMTLMX 3.4
> Maximum Motor Inductance (mH)
> DMTD 0.000000
> Motor Damping (Nm/rad/sec)
> DMTRWC 0.23
> Motor Thermal Resistance (degrees Celsius/Watt)
> DMTTCM 20.0
> Motor Thermal Time Constant (minutes)
> DMTTCW 0.33
> Motor Winding Time Constant (minutes)
> DMTAMB 40.00
> Motor Ambient Temperature (degrees Celsius)
> DMTMAX 90.00
> Maximum Motor Winding Temperature (degrees Celsius)
> DHALL 1
> Disable Hall Sensor Checking
> DMTLQS 0
> Set Q Axis Inductance Saturation
> DMTLDS 0
> Set D Axis Inductance Saturation
> DTHERM 0
> Disable motor thermal switch input
>
>
>
> Drive Setup
> DMODE 2
> Drive Control Mode
> DRES 8400
> Drive Resolution (counts/rev)
> DPWM 16
> Drive PWM Frequency (kHz)
> SFB 1
> Encoder Feedback
> ERES 8400
> Encoder Resolution (counts/rev)
> ORES 8400
> Encoder Output Resolution (counts/rev)
> DMEPIT 42.00
> Electrical Pitch (mm)
> SHALL 0
> Invert Hall Sensors
> DMTLIM 1.5
> Torque Limit (Nm)
> DMTSCL 1.5
> Torque Scaling (Nm)
> DMVLIM 119.000000
> Velocity Limit (rev/sec)
> DMVSCL 119.000000
> Velocity Scaling (rev/sec)
>
>
>
> Load Setup
> LJRAT 0.0
> Load-to-Rotor Inertia Ratio
> LDAMP 0.0000
> Load Damping (Nm/rad/sec)
>
>
>
> Fault Setup
> FLTSTP 1
> Fault on Startup Indexer Pulses Enable
> FLTDSB 1
> Fault on Drive Disable Enable
> SMPER 8400
> Maximum Allowable Position Error (counts)
> SMVER 0.000000
> Maximum Allowable Velocity Error (rev/sec)
> DIFOLD 0
> Current Foldback Enable
>
>
>
> Digital Input Setup
> INLVL 11000000
> Input Active Level
> INDEB 50
> Input Debounce Time (milliseconds)
> INUFD 0
> Input User Fault Delay Time (milliseconds)
> LH 0
> Hardware EOT Limits Enable
>
>
>
> Digital Output Setup
> OUTBD 0
> Output Brake Delay Time (milliseconds)
> OUTLVL 0100000
> Output Active Level
>
>
>
> Analog Monitor Setup
> DMONAV 0
> Analog Monitor A Variable
> DMONAS 100
> Analog Monitor A Scaling (% of full scale output)
> DMONBV 0
> Analog Monitor B Variable
> DMONBS 100
> Analog Monitor B Scaling (% of full scale ouput)
>
>
>
> Servo Tuning
> DIBW 1500
> Current Loop Bandwidth (Hz)
> DVBW 100
> Velocity Loop Bandwidth (Hz)
> DPBW 40.00
> Position Loop Bandwidth (Hz)
> SGPSIG 1.000
> Velocity/Position Bandwidth Ratio
> SGIRAT 1.000
> Current Damping Ratio
> SGVRAT 1.000
> Velocity Damping Ratio
> SGPRAT 1.000
> Position Damping Ratio
> DNOTAF 0
> Notch Filter A Frequency (Hz)
> DNOTAQ 1.0
> Notch Filter A Quality Factor
> DNOTAD 0.0000
> Notch Filter A Depth
> DNOTBF 0
> Notch Filter B Frequency (Hz)
> DNOTBQ 1.0
> Notch Filter B Quality Factor
> DNOTBD 0.0000
> Notch Filter B Depth
> DNOTLG 0
> Notch Lag Filter Break Frequency (Hz)
> DNOTLD 0
> Notch Lead Filter Break Frequency (Hz)
> SGINTE 1
> Integrator Option
> SGVF 0
> Velocity Feedforward Gain (%)
> SGAF 0
> Acceleration Feedforward Gain (%)
> -----------------------------------------------------
>
>
> Regards,
> JinHo"
> NI Software :
> LabVIEW version 6.0
> NI Hardware :
> Motion Control device PCI-7344
> Driver Version :
> no
> OS :
> Windows 2000
> CPU :
> Pentium
> RAM :
> 128
> Vendor :
> DELL
> Customer Information :
> Jin Ho Lee
> North Carolina State Univ.
> US
> [email protected]
> Ph: (
> 919
> )
> 512-9929
>
>

Yes, we used an NI PXI-7344 motion control card with an NI UMI-7764 box connected to a Gemini GV-U12E servo drive. (which is a drive only.)
We did positional control in absolute position mode.
I can send you an AutoCAD schematic detailing how to connect the UMI-7764 to the Gemini GV servo drive.
In regard to the Rs232 interface to the GV servo drive,
the GV drive only model is "configurable" not "programmable". You can create unique GV configuration files with Compumotor's Motion planner then download the configuration via Rs232 using LabVIEW as desired. Or, using LabVIEW via Rs232 you can change individual GV drive parameters on demand,
or use the GV's two analog outputs back to LabVIEW's analog inputs to measure commanded motor current or torque, etc.etc.etc

Error -70006 when using stepper motor in Open Loop Mode

We have a LabView program that runs a test in which a table is rotated. At the end of the test, the table is supposed to rewind. Instead, the following message appears:
Error -7006 occurred at Read Trajectory status.flx
Possible reasons: For FlexMotion, an invalid axis number or other resource ID (Vector Space, Encoder, I/O Port, and so on) was used.
We have the PCI-7344 interfaced with a UMI-7764 and a Zeta4 that is controlling a ZETA83-93 stepper motor. There is no encoder in the system for this motor. The stepper loop mode was originally set to closed loop but the motor behaved erratically (moving multiple times when instructed by MAX to move once). The stepper loop mode was changed to open loop and the m
otor started behaving properly, but that is when the error message starting appearing. Are there any other configuration settings, such as Primary Feedback (which is now set to Encoder) or ? that I may need to correct to resolve this error?

First of all I would check a couple of things. The reason why your motor was not behaving properly in closed loop stepper configuration is most probably related to the fact that you don't have the encoder counts per revolution adn the stepper steps per revolution properly configured for your motor. Please follow the instructions found in the following knowledgebase:
http://digital.ni.com/public.nsf/websearch/29edb56146f274a386256a1c00624310?OpenDocument
When you configure an axis in closed loop stepper mode, we use the information of the encoder to generate the adequate velocity profile. If the encoder counts and steps per revolution are not properly matched, then the motor will not execute the moves properly. What you need to do is the following:
1.-Configure your axis as closed loop stepper in the Axis Conifguration Section in MAX.
2.- In thbe 1-D Interactive Basic panel, kill the motor and click on reset position.
3.- Manually rotate the motor one revolution.
4.- In the advanced panel on 1-D interactive, read the Encoder Value. This is the value you should enter on the Axis Encoder Counts per Revolution under Axis Configuration. Press Apply.
5.- Go back to the 1-D interactive Basic Panel. Change the bullet selector unbder Stepper Loop Mode from Closed to Open. Run a 10000 step move.
6.- When the move is finished, read the encoder counts from the advanced panel. This will tell you how many counts you have in 10000 steps. You can now calculate the stepper steps per revolution by the following formula:
(# of steps per count)*(# counts per revolution) = # steps per revolution.
Your motor should work fine in closed loop stepper configuration now and the error should not appear. Please make sure you are using the latest version of our driver (Ni-Motion 6.0.1)to avoid older firmware errors and fixed bugs from affecting your system. You can get it from:
http://digital.ni.com/softlib.nsf/webcategories/85256410006C055586256BB9002C16DF?opendocument&node=132070_US

How to come true a constant temperature control through PCI 7344

I have one PCI-7344 to control three motors.I also need to come true a constant temperature control through 7344.
using "Analog Input"and "Analog Reference",is it possible to come true the control.
To come true it, what others I need?
Waiting for your answer!
Thanks
帖子被langtian在12-20-2005 08:58 PM时编辑过了

Langtian,
In general the PID control loop of the 7344 can be used for a wide
variety of control applications. You can use the analog inputs to
acquire the feedback signals and the analog outputs to control e. g.
torque, flow rates and so on. For temperature control the board seems
to be a bit oversized as temperatures typically change very slowly
compared to the high control loop rates of the 7344 but this shouldn't
result in a problem.
Please note that the "Analog Reference" Output can't be used for
control tasks as this is a static analog output fixed to 7.5 V which
can't be changed.
For more information about how to use NI motion control boards with analog feedback please refer to this link and to this document.
Best regards,
Jochen Klier
National Instruments Germany

PCI-7344 not found in MAX 3.1.1 after installing NI-Motion 7.0

Hi,
I updated my PCI-7344 + LabView 7.0 system with the newest NI-Motion 7.0. After the update the card was not anymore detected in MAX. There was a "broken" device PCI-7344 under NI Motion Devices, which status said something like "This device has been removed or could not be detected" and the Reset command said something like "Could not communicate with the device. Power cycle the computer..". I removed the device from the "Devices and interfaces" list and since that, MAX hasn't had a clue about the card. I've tried the "Create new.." function, but it doesn't show any NI Motion Devices or PCI-7344 anywhere else. I've also tried the Tools/Install legacy driver support, but MAX only notifies that the updates are OK. I've also tried removing the physical device, starting the computer and MAX, reinstalling the device and restarting MAX, but nothing changes. The device is recognised by BIOS as "Unknown device"; in Windows 2000 Pro, the device is well recognised as National Instruments PCI-7344.
One thing that could cause the problem is that I also have LabView 6i installed on the system, although I'm not currently using it for any purpose. Anyway, this seems to prevent the MAX from detecting the correct updates needed when using the "National Instruments Product Updates.." from Tools menu. Perhaps I need some driver software to correct this problem?
I also tried to uninstall the NI-Motion 7.0 and to install the NI-Motion 6.1.5, but after this, the MAX did not work correctly. For example, none of the branches in the configuration tree would expand and the MAX locked up when trying to use the Create New.. / NI Motion Device. Is there a way to uninstall the NI-Motion 7.0 and to replace it with NI-Motion 6.1.5 without removing all NI software from the system?
Before the update, with NI-Motion 6.1.5, the PCI-7344 card was correctly found in MAX and well usable in LabView 7.0.

Jouni,
A valid serial number is any number > 0. If you have multiple boards in you system, they must each have a unique serial number. This would be the case for any board coming out of manufacturing. The board Jochen had probably came from R&D and was a prototype board.
Your problem with downgrading from NI-Motion 7.0 to NI-Motion 6.1.5 was most likely due to the data stored in the MAX database. When you uninstall NI-Motion, the data in the MAX database remains. The NI-Motion 6.1.5 driver would not have been able to read the data correctly. The easiest way to "clear" this database is to delete the c:\Program Files\National Instruments\MAX\data folder. The only other way is to uninstall MAX, which requires that you uninstall everything. WARNING, Deleting the MAX data folder will delete all MAX settings and set them back to defaults for all NI hardware (uninstalling everything has this same affect, by the way). Downgrading is never as clean as upgrading.
The firmware on a Motion board can always be downgraded by forcing the download of firmware files. To do this, select the board in MAX under Devices and Interfaces. Click on the Firmware tab at the bottom on the window. Highlight "PCI-73XX Firmware" by clicking on it once. Right click on one of the items in the "Firmware name" column to the right. Select "Download All Files".
I do not have a good explaination for why NI-Motion 7.0 did not recognize your board. Do you have a second board you can try in the system? If not, could you ask your local sales representative if they have one you borrow for a quick test? Since the board is recognized by Windows 2000 Device Manager, I don't think there is an issue with the board, but it doesn't hurt verify this.
My best guess is that there was a confict during the installation process and your system did not get all of the required files. Though we do significant installer testing, there are rare occasions when a system is in such a state that the installation process does not function as expected. It is my experience that these rare instances do not occur on clean machines, but on machines that have had multiple products installed and uninstalled. If you do get a chance to try NI-Motion 7.0 again you may want to use these parameters to get the installer to create a log of the installation: "c:\setup.exe l*v c:\log.txt". This assumes that the setup.exe is in the c:\ directory. Go to start>>run and type this in without the quotes. The log file will be named log.txt in the c:\ directory.
Finally, you can technically use NI-Motion 7.0 in LabVIEW 6. You just need to copy the C:\Program Files\National Instruments\LabVIEW 7.0\vi.lib\Motion folder to the vi.lib folder of LabVIEW 6. Though this is not officially supported, there is no reason it shouldn't work.
Regards,

System identification for open loop unstable plant?

Hello,
I have been trying to use system identification on labview. My problem is that my plant is open loop unstable and none of the tutorials or examples I have found seem to cover this so I cannot get it to work. Does anyone have any suggestions as to how I should go about it? My plant has an RC servo so it needs a PWM signal to stimulate it.
Thanks
Adam

adamkse wrote:
I want to control my plant with lead/lag control but I do not know the plant model which makes this very difficult. I cannot theoretically calculate it because the information I need to obtain a numerical transfer function or state space model is unavailable.
I have it controlled with PID at the moment but this is not ideal.
I am trying to use the system identification toolkit to obtain a transfer function but I do not know what to do because the examples do not work for open loop unstable plants.
Adam
Ok Open loop unstable functions cannot be predictably controlled (hence the terms; open loop and unstable,) Not being able to model the actions is a bit of a problem too.
Somehow, someway you need to get some kind of model or some kind of feedback to either provide stability in the plant or close the loop.
Adding hardware (sensors) is the most likely solution.
tell me more about the plant, I do this kind of thing for a living, so I could offer some ideas.
Jeff

Seems like my PCI-7344 has one axis faulty. Please help

Hi all,
I have a PCI-7344 with UMI7774. I am trying to read the position of a encoder connected to Axis1. But when I move the encoder shaft, the counts dont change in LabVIEW or MAX. When I connect the same encoder to Axis 2,3 or 4 then the change in encoder counts occurs. When I press the "Test resources" button in MAX it says that "The device passed the resource test successfully !". What can be the reason? Does it mean that the UMI 7774 is faulty? What does "test resources" mean??
Regards,
Giridhar Rajan
Automation Engineer, Design
Cruiser Controls
Mumbai, India

Giridhar,
"Test resources" only tests if the PCI-7344 is installed correctly in the PC by checking the communication resources that are assigned to the board. This is not a functional test of the board.
The problem that you see could be caused by a defective UMI-7774, PCI-7344 or the motion cable. If possible please exchange these components one by one with other components that you know that are working properly. I think the most probable reason for this behavior would be a defective UMI-7774 but there is also a small chance that one of the other components is broken.
Best regards,
Jochen Klier
National Instruments Germany

Why do I get a Track out of memory error while running open loop frequency response?

MatrixX Build 61mx1411: I get a "Track out of memory" error when I run the Open Loop Frequency Response from the MatrixX pull down tools. What can I do to prevent this? We are running on an HP B1000 with 768 MB of RAM under HP-UX 10.2.

In the old days of Mx say Version 5 and prior the user actually selected the amount of memory that would be allocated. Depending on the size of the model etc. you would have to allocate memory. In version 6.0 and going forward there is no need for the user to manually allocate the memory.
Build {rstack=50000,istack=200000,sstack=50000,cstack=500 000}
If this is a command in a script file that you are running and the error is resulting from that then I would try commenting out everything after the letter d in the word build and then starting it back up.
i.e. only use Build
I don't believe that there is a way to manually allocate the initial SystemBuild Stack size.
I believe initially the stack size is set to 10010.
However, one way
you can manually set the initial SystemBuild stack size,is to create a large StateSpace as soon as you start up SystemBuild. This will prevent piece-meal reallocs while using SystemBuild.
You can created a new SuperBlock in SystemBuild and then drop down a StateSpace Block with 199 inputs and 199 Outputs and 1 State and entered ones(200,200)as the StateSpace Matrix without any problems. This would resize this internal stack to at least 40000.
You really should not have to do this but if that helps then you might think about doing this in your startup.ms file you could use SBA or load the file then you could delete the superblock and begin working.
"Bob" gave me this little tid bit.
Please let me know if any of this is of use.
Garrett
Garrett Thurston
[email protected]
Phone: 781.993.5540

Open loop with nestedLineStyle

Hi,
Could someone confirm, that InDesign will go into open loop if
app.findTextPreferences.appliedCharacterStyle = charStyle;
and in some story, some paragraph(s) has this charStyle set as a nestedLineStyle further then from 1st line
(from 2nd and next)
i.e setting looks like:
[None]          for     1     line
charStyle       for     2     lines
My ID CS5 gone out of memory with that...
Only way to run is place mouse insertion point somewhere inside "charStyle" range of text.
Did you notice that also?
rgds
PS
I mean when story.findText() is run from script not from UI
Message was edited by: Jump_Over

Thank you Jasper S.
I think you understand me well.
I tell you more informations.
1) The computer is working in Windows XP Professional (Just Theme).
2) It happens also at low velocity and acceleration.
3) I think when the motor stops moving, it fails to translate into hardware steps.
Because when the motor stops, "Current Trajectory Position" and "Encoder Counts" are equal.
4) I checked status registers on the card when it works abnormally, but can't find any error message and flgs.
5) To make matters worse it happens occasionally, so it's difficult to find out the reason.
6) Strange as it may sound, when I touch the motion connector correctly,  the abnormal behavior frequency decrease.
So I tried to exchange a new motion b/d and a motion cable but it was just same error situation.
I can't understand because I just use "OPEN LOOP",  it is no matter whether servo driver works well or not.
7) Do I have to change PC? I already tried to exchange PCI Slot position.
I need more information about this.
I'm in trouble because this system is operating at foreign country.
It is fatal error even if it happens once per day....
Please help me once more. Thank you.

Open Loop Problem of PCI-7344

Similar Messages

Maybe you are looking for