Pci 7344 fuzzy control

Currently I am using PCI 7344 to control 3 axes servo motor which lately I realize cannot used user defined controller. By any means can I still make use of fuzzy control algo on this flexmotion to do the tuning. I am stuck since have to complete my master thesis.
TQ.

Sadiah,
If you have already developed code using the SoftMotion software that I described previously, then the transition to a PAC may or may not require modification of your code. This is dependent upon what type of PAC you move to. If you developed your code on a PC with an M-series DAQ board and you move the code to a PXI chassis with an M-series DAQ device, then the code will not need to be modified. However, if you move the code to a cRIO or FieldPoint platform, then the code will require modification. There are several shipping examples that come with SoftMotion that demonstrate how to use each of these platforms. I would suggest starting with those examples and building your code from there.
For additional information on PACs and the benefits of their use, take a look at the following documentation:
PACs for Industrial Control, the Future of Control
http://zone.ni.com/devzone/conceptd.nsf/webmain/63b424952e7eb98b86256f9b00766805
A Comparison of PACs to PLCs
http://zone.ni.com/devzone/conceptd.nsf/webmain/bb14727c48c013ef86256f81007fb095
Please let me know if you have any additional questions on this issue.
Regards,
Scott R.
Applications Engineer
National Instruments

Similar Messages

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

How to get a stable DA output without feedback in PCI-7344

I have a motion controoler PCI-7344 to control a PZT stage without any kind of feedback. And PCI-7344 is expected to act as a DA output with trajectory generation and onboard programming. But I am confused about how to configurate this motion card.
Another thing I want to know is what is the normal noise level of the DA output. My card's noise is very large(roughly 70mV RMS). Is this noise is normal for the PCI-7344? Or this noise is caused by my incorrect configuration and use of PCI-7344. I have tried to use the analog feedback and none feedback to configurate motion card, and the noise are the same.

If you just want to output a trajectory profile without feedback a multifunction board like the PCI-6229 would be a better choice. Simply precalculate your trajectory profiles and send them to the outputs of the board.
Best regards,
Jochen Klier
National Instruments Germany

When using the analog inputs and analog outputs of the PCI-7344, what is the conversion between the voltage entering the card to counts? Similarly, what is the conversion between counts to voltage at the output of the card?

I am using the PCI-7344 to control my system. The analog inputs are connected to the output of my system while the analog outputs serve as feedback to the system. The system is a servo. I want to know what is the conversion between the voltage read at the input, to card counts, and finally to the voltage output to the system.

Carole,
If you are trying to do analog feedback with a servo motor, Chapter 14 of the manual talks about how to set up the torque feedback. Also linked below is a LabVIEW example of analog feedback.
Chapter 14
NI-Motion User Manual
Automatic Analog Feedback with FlexMotion example
A. Talley
National Instruments

PCI 7340 , PCI 7344 Confusion

Hi all,
I have recently purchased a PCI-7344 motion control card from NI. But it says PCI-7340 in MAX. What can be the reason. Have I received the wrong card by mistake?
Regards,
Giridhar Rajan
Automation Engineer, Design
Cruiser Controls
Mumbai, India

Giridhar,
everything is ok with your 7344. We have just recently switched to a new hardware revision and now all boards don't show up with their specific names but with the name of the board family:
Board Family    Specific Boards
NI 7330             NI 7332, NI 7334
NI 7340             NI 7342, NI 7344
NI 7350             NI 7352, NI 7354, NI 7356, NI 7358
MAX still knows the specific board configurations so you don't have to worry.
Best regards,
Jochen Klier
National Instruments Germany

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

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

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

CPU-Usage during control of a DC Motor with the PCI-7344 board?

Hello!
I want do control a DC-motor (no stepper motor). Now i´m using the PCI-6527 board and simulating the delay between "high" and "low" on the Simulate-signal-vi. This works fine while no other process on the PC is running. The CPU-usage rises up to 100%. Is it possible to use the PCI-7344 board for controlling my DC-motor and having enough CPU resources to do other things like capturing pictures with a cam at the same time? The CPU is a Pentium 3 1Ghz.

The PCI-7344 is a perfect solution for your problem. This board is designed for motion control applications and it's running everything on its own DSP and CPU:
Trajectory Generation, PID control, limit switch monitoring and so on.
Thus the PC's CPU is free for other tasks. Please note that you need a position feedback signal from a quadrature encoder.
Best regards,
Jochen Klier
National Instruments Germany

PCI-7344 Servo Torque Control

Hi,
Is there any body to have controlled torque with PCI-7344?
I have two servos to keep servo's torque constant as a target value. The target torque can be changed on cerain conditions.
So the servo's torque reaches the target, it shoud be stopped at that postion unless any change in servo's torque happens. If the servo's torque is below the target, it shoud be move forward to get more torque and vise versa also.
Now, I would like to know how to use PCI-7344 axis to control torque.

Hi Choijs,
It's really the motor amplifier that is doing the torque control rather than the motion controller.
Most amplifiers today are current(torque) amplifiers. In addition, a lot of amplifiers can operate in either torque mode, or velocity mode.
Now, the reason why torque amplifiers are also called current amplifiers is that torque is proportional to current. When the motion controller outputs a command voltage, it's up to the amplifier to convert that voltage into current, and it's up to the amplifiers internal control loop to hold that current. Essentially, the amplifier controls the torque via a current transformer. When there is a difference between the desired torque, and the actual torque from the current feedback, the amplifier will adjust the output vo
ltage to accomdate for the difference.
That's probably too much information, but you just need to know that the torque control is actually done at the amplifier level, and when you are using an amplifier in torque mode, all this control is done for you by the amplifier. So, there is nothing the 7344 needs to do.
Another way to think about this is whenever you tell a motor to go to a specified position and stay there (using a torque amplifier). You are doing torque control automatically, since it takes effort to hold a motor at a specific position. The control loop on the amplifier is constantly doing what you have described, without the 7344 knowing what it's doing.
Hope this helps.
Ken Sun
Applications Engineer
National Instruments

Controle de carte pci 7344

Bonjour,
Je desire transmettre une string pour piloter un moteur gammatic un axe.La carte PCI 7344 doit me permettre de transmettrea l'harmonic drive(variateur
sc510) mais j'aimerai egalement lire se que me renvoie le variateur.J'ai auparavant essaye motion assistant mais sans succes. Pourriez vous m'indiquer quel methode je dois suivre pour savoir si ce logiciel reconnait le moteur.D'autre part je n'arrive plus à désinstaller ce logiciel sur un autre ordinateur malgre que son repertoire soit effacé(le fichier a été supprimé) mais il doit rester des cles dans la base du registre et je ne peux plus le reinstaller. Que puis je faire pour le forcer a reinstaller? Pourriez vous également m'envoyer les VIs qui permettent d'écrire et lire sur cette
ca
rte.
Merci

Je pourrais trouver le manuel pour le Sc 610. Si la commande de Sc 510 est semblable, alors elle devrait avoir des entrées pour des signaux de Pulse/Step et de direction. Les 7344 peuvent être configurés pour le mode de moteur de pas en utilisant l'explorateur de mesure et d'automation qui obtient installé avec le conducteur de Ni-Mouvement. Vous pouvez alors employer une interface UMI-7764 pour relier les 7344 au Sc 510 et pour les conduire de cette façon.

Pci 7344

Dear Mr Scott R,
NI Application Engineer,
You already answered my question on the impossibility of implement fuzzy logic control on PCI 7344 card.
I would appreciate if you can suggest me any research that I could do on this system which involve 3 axes motion -using all ac servo motor (automated storage and retrieval system) - I have 3.5 months only to complete my thesis.
maybe anything related to PID or motion. You suggestion (also from others) very very much appreciated. Maybe to offline simulation.
Thank you.
SADIAH

TQ -
If you install NI-Motion drivers (available on our website: http://digital.ni.com/softlib.nsf/webcategories/85256410006C055586256BE60070AC71?opendocument&node=132060_US), you can add a 'virtual' 7344 motion board in Measurement and Automation Explorer. This will allow you to build NI Soft Motion or LabVIEW motion programs without actually having your PCI-7344 board installed. There are also a number of motion example programs available to get you started. (the following is how to do a ‘Three Axis Vector Move’: http://sine.ni.com/apps/we/niepd_web_display.display_epd4?p_guid=B45EACE3DF9956A4E034080020E74861&p_node=DZ52480&p_source=External
Good luck with your project!

Pci 7344 to compact field point

Is it a good idea to switch from using PCI 7344 motion controller card to compact PAC so that I can implement fuzzy motion algorithm to control three axis ac servo motors.
TQ.

If you need higher level control than PID for your motion application NI SoftMotion is highly recommandable. This software module will give you a trajectory generator, a spline engine and a complete motion API and it is independent from the hardware you use.
As a hardware option I would either recommend a cRIO-System with an embedded controller or a cRIO R Series Expansion system with a PXI-7811R in a PXI chassis with an embedded controller running LabVIEW RT. It's mandatory to run the supervisory application on a RealTime target like the PXI or cRIO embedded controllers as it needs to run in synch with the control application on the FPGA.
FieldPoint or Compact FieldPoint is only an option if your control algorithms are allowed to run extremely slow (more than 10 ms control loop rate). Typical motion applications require control loop rates of 1 kHz and above. The cRIO and PXI/RIO solutions support control loop rates up to 100 kHz and should be a much better choice.
The solutions that I have proposed are of course much more complex than using a PCI-7344 motion controller as all the software layers that are present in the firmware of the PCI-7344 need to be implemented in software. Additionally it incorporates LabVIEW RT and LabVIEW FPGA programming. SoftMotion is a great alleviation as you can concentrate on the control algorithm and the rest is done for you. Especially the shipping examples help a lot to get started.
In my opinion SoftMotion in combination with LV RT, LV FPGA and a corresponding target hardware is one of the best and simplest solutions in the market to create your own motion controller with your own control algorithm.
After the release of SoftMotion it took me only one working day to learn the API, setup the hardware and modify an existing example. After that I had a running motion control application.
Everything is done in LabVIEW, even the real-time and the FPGA programming but it's not a good idea to start such kind of a project as a LabVIEW novice.
Best regards,
Jochen Klier
National Instruments Germany

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.

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

Pci 7344 fuzzy control

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