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

Similar Messages

PCI-7344 Servo Velocity Control

Hi,
I have several servos to control fast changing velocity with ComponentWorks++.
The samples included in samples directory take the following steps:
1.flex_load_rpsps
2.flex_load_rpm ;velocity
3.flex_load_target_pos;postion
4.flex_start.
For a velocity control, is it correct to call the function
flex_load_rpm and flex_start in repeat during a servo is running as a new velocity should be given?
And when the position is not important due to the velocity control and the very long length, which value can be given for flex_load_target_pos function?
flex_load_target_pos fucntion also can be overridden during servo runnig as like velocity?

You should call Flex_set_op_mode and set your controller for velocity mode. This way you don't have to load a target position. (flex_load_target_pos)
Yes you can repeatedly call flex_load_rpm and flex_start to change velocity on the fly.
Hope this helps.
Ken
Applications Engineer
National Instruments

PCI-7344 Servo Command Analog Ouput

Hi,
I am currently working on a project controlling several servos with PCI-7344.
Servo amplifiers are working with +/-10 V. But with the servo's direction command, the polarity of servo command decides the motor's rotation direction.
For an instance, with CCW direction, -10V means the maximum speed in reverse. and 0 means sero speed.
So the problem is how to configure DAC outputs to produce -10V and +10V for full speed and 0 for zero speed.

You have to enable the secondary feedback to the same encoder as the primary feedback. I know it sound crazy but it works. I scared half the maintenance crew to death the first time I tried to run autotune. Then tune manually start with real low values like 1. One of the techs sent the attached file it helped. Oh I found a work around for my stopping problem I break the command line to my drive and have a 100k resistor shorting the command out that takes it to 0 volt and stoppes the motor. Of the hundred plus drive we have in this plant none use torque command. So much for Industry standard :-) Hope this help you.
Attachments:
motion_control_hands-on_servo_tuning.pdf ‏435 KB

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

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

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 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

Connecting Yaskawa Sigma II Servo Drive (SGDH) to PCI-7344 and UMI-7774

Hi,
I have NI PCI-7344 and UMI-7774 and i want to
Connect the UMI-7774 to Yaskawa Sigma II Servo Drive (SGDH) , the servo motor drive is connected to the servo motor with original Yaskawa cables.
1.  do you know if National instruments provide special cables to connect the UMI-7774 to the Yaskawa Sigma II Servo Drive (SGDH) ?
     i know there is special cable to connect this servo drive to the NI PCI-7390
     http://zone.ni.com/devzone/cda/tut/p/id/5908
(you can find in this link that this cable exist: 50 Pin cable for connecting MCA-7790Y to Yaskawa Sigma II Servo Amplifier)
     but this is not the case here, i need to connect the Servo Drive to the UMI-7774..
2. Where can i find a tutorial on how to configure the PCI-7344 in MAX to send simple commands to the Servo Drive
      i.e. to run the servo motor from position A to position B (10,000 encoder pulses)
i'll be gratefull for any help
Regards
Moti

Hi MotiM,
We do not have a cable that will let you directly connect the UMI-7774 to a Yaskawa Drive. We do sell cables that will have the Dsub connector to match the UMI-7774 with pigtails to wire to the drive. If you take a look at the product page for the UMI-7774 you can see the different cables listed under the accessories.
To perform a simple move in Measurement and Automation (MAX) is very simple. In MAX under NI-Motion select your PCI-7344. Under this section select the settings option (by default it will be called Default 7340 settings). Select the Servo radio button. Initialize your controller. Then you can select Interactive and 1-D Interactive and command your motor from there. I have attached an image with the important areas highlighted for you.
Message Edited by Adam_H on 09-19-2008 03:41 PM
Adam H
National Instruments
Applications Engineer
Attachments:
MAX.jpg ‏93 KB

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.

Using Mitsubishi A500 inverter with PCI-7344

Another question..
I am planning to use PCI-7344 to implement speed control for 7,5 kW
induction motor. Mitsubishi A500 inverter driving the motor seems to
have only speed (frequency) setting input. This axis don't have to make
rapid movements, instead I'm looking for accurate speed and mostly
rotation in one direction only. In the same machine there are
servoaxises with Mitsubishi J2S servocontroller and they work OK.
Movements of servos should be syncronized to the rotation speed of main
axis.. I am asking this because it says in the manual that torque
control should be used.
There are two pulse encoders in that 7,5kW axis. One in the motor and
another in spindle axis after reduction gear. There is also orientation
control/PLG feedback/pulse train unit (FR-A5AP) installed to the
inverter. I'm not sure if that should be used or not.
Tommi

Tommi,
it's a bit easier to tune a system that works in torque mode as typically you only have to tune the position PID loop of the board. That's why torque mode is recommended but that doesn't mean that you can't get good results with velocity drives, too. With a drive that works in velocity mode you will also have to tune the velocity PID loop of the drive and you will probably have to use Vff and Aff parameters of the PCI-7344 to reduce or eliminate the following error.
In order to get very accurate velocity and position control you should use both encoders of your 7.5 kW axis. The encoder that is attached directly to the motor should be configured as secondary feedback device, the other one as the primary feedback device. Please follow this link for further instructions. Also have a look at this tutorial, especially at the "Dual position feedback" paragraph.
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

7344 servo motion switching between open and closed loop operation

I have a custom end-of-line test system presently using a 4-axis 7344 servo controller to perform various functional tests on small, brushed DC motors. The system is programmed in C/C++ and uses flex motion functions to control the motor during testing. Motors are coupled to external encoder feedback and third party PWM drives running in closed-loop torque mode from an analog command signal. The system uses all four motion axis channels on the 7344 board to independently and asynchronously test up to four production motors at a time.
In closed-loop mode, the system runs without issue, satisfying the battery of testing protocols executed by this system. I now have a request to add additional test functionality to the system. This testing must be run in open loop mode. Specifically, I need to use my +/- 10v analog output command to my torque drive to send different DAC output levels to the connected motor.drive while monitoring response.
I do not believe the flex motion library or 7344 controller includes functions to easily switch between open and closed loop mode without sending a new drive configuration. I am also under the impression that I cannot reconfigure one (or more) servo controller axis channels without disabling the entire drive. As my system runs each axis channel in an asynchronous manner, any requirement to shutdown all drives each time I change modes is an unworkable solution.
I am open to all ideas that will allow asynchronous operation of my 4 motor testing stations. If the only solution is to add a second 7344 controller and mechanical relays to switch the drive and motor wiring between two separately configured servo channels, so be it. I just want to explore any available avenue before I place a price tag on this new system requirement.
Bob

Jochen,
Thank you for the quick response. The 7344 board does an excellent job running my manufacturing motor assemblies through a custom end-of-line tester in closed loop mode. A portion of the performance history and test result couples the motor through a mechanical load and external shaft. The shaft is in contact with a linear encoder that closes my servo loop.
My new manufacturing requirement is to also sample/document how the small DC motor behaves in open loop operation. Your solution is exactly what I need to perform the additional functional tests on the product I am manufacturing. I see no reason why this cannot work. I was originally concerned that I would need to reinitialize the 7344 board after changing axis configuration. Initialization is a global event and impacts all four channels on the 7344 board.
Using flex_config_axis() to change axis configuration on a single channel without disturbing other potentially running axis channels will solve my concern. It will be several weeks before I can return to the manufacturing facility where the 7344-based testing machine is located. I will update this thread once I verify a successful result.
Bob

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.

Connecting Yaskawa Sigma FSP Motor Drive With UMI-7774 and PCI-7344

Hi,
i have PCI-7344 and UMI-7774 that i want to connect to this Servo motor drive of Yaskawa.
1) How do i know if this motor drive is compatible with the pci-7344 and umi7774 ?
     for example: inside the UMI manual is written that the Motor drive must support "Sinusoidal Commutation"
     i look indside the Motor Drive manual and i dont found anything about this.
     this is link to the motor drive:
     http://www.yaskawa.com/site/products.nsf/products/Servo%20Amplifiers~fspsigma.html
     http://www.yaskawa.com/site/products.nsf/products/Servo%20Amplifiers~fspsigma.html?openDocument&seq=...
2) How do i connect the feedback and control lines from the UMI to the Motor drive?
i'll appreciate any help including posting a link to a tutorial that helps to understand the signals from the motor drive and the encoder
And also the umi-7344 (Phase A, Phase B, Hall sensor, inhibit, Fault, etc... )
Some powerpoint or Pdf tutorial that National instruments provide will help as well.
P.S. i read the manual of the UMI-7774 and the pci7344 manual, but i'm yet not understand what i need to do
in order to configure my motion system :
PCI-7344 , UMI-7774 , Motor Drive (Sigma FSP Yaskawa) , Servo Motor (Yaskawa)
Thanks for any help.
Regards,
Moti
Solved!
Go to Solution.

Dear Nate,
Thank you for repling to my posts, i really appreciate that.
The links you provide is very helpfull.
i'm enginner in my education, but not in this area (i'm information systems eng.)
i decided that i need to learn more about it (ni-imaq, ni-motion, line-scan camera, servo, servo drives, encoder signals, motion i/o, umi, pci7344, etc..)
So, i download the manual and help files that is needed to my application i want to build
(high speed machine vision of color line-scan camera connected to motion with rtsi synchronization and also digital i/o)
and now i'm reading ALL this, its huge amount to read, and not all the thing i understand in the begining (english is not my lang..)
Thanks again for the replies.
Best Regards,
Moti

PCI-7344 Servo Torque Control

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