Position control with 9505

hi any one help me position control of dc motor with 9505 card which position i give motor should stop

Hi,
I would suggest you start by looking at LabVIEW shipping examples. These can be found using the example finder in LabVIEW.
Also, please elaborate a little more on what specifically you need help with.
Regards,
Greg H.
Applications Engineer
National Instruments

Similar Messages

Stepper position control with myRIO

Hello,
I am developing a position control system to move a linear stage back and forth using a stepper motor (file 1). The stage will ultimately need to follow the motion path set out in a function that I have defined (file 2).
I have been able to get the motor to move using a Big Easy Driver from Sparkfun (file 3), sending it a PWM signal from one myRIO pin, and setting another pin on the myRIO to high or low in order to establish the direction. From what I understand, each low-to-high transition in the PWM signal causes the motor to take one step (or microstep). Therefore the PWM frequency is equal to steps/second, the motor speed. Using timed loops along with this information, I am able to control how many rotations the motor performs at a constant speed.
However, I would like to be able to count steps, so that I can give the motor a position (number of steps to take from some defined "home") and it will go there, and vary speed accordingly to get there and ultimately follow my function. I will apparently need to implement some sort of PID control eventually, in order to accomplish this task. Right now I would just like to know how I can keep track of the position of my motor and control it that way.
I greatly would greatly appreciate any advice on how to implement this process.
Best,
E
Attachments:
Stepper_PK244-02AA.pdf ‏764 KB
PositionFunction.png ‏133 KB
BigEasyDriver_A4988.pdf ‏383 KB

Hi E,
How are you implementing PWM with the myRIO? Are you just using the myRIO express VI or are you writing your own code?
Also, just as a heads up, the Academic Hardawre Products page is a little more specific to the myRIO and is monitored by NI Developers who work with that device. If you post this question there, you may get a better response.
Ryan K.

NI 9505 Closed Loop Position Control Example

Hello, I have a cRIO 9073 with a NI 9505 module that I'd like to use for simple position control of a unit along a lead screw.
I don't have the softmotion module, and am trying to write a program bassed off of the "Position Control (closed loop) - NI 9505" example to control the position the small motor attached to the lead screw (Faulhaber 2342S024CR with a 512 count/rev encoder that we had laying around)
I've reviewed the manual PID tuning example, and have not had much luck getting the response that I'd like when making large position moves simply by adjusting Kp,Ki,Kd gains of the position loop, as the overshoot remains too high for this application when making large moves. The system is also oscillating about the set point, and doesn't ever seem to dampen out unless I change things other parameters on the fly such as the current limit, or current loop parameters (osciallations get worse as current limit is increased).
Can someone advise me if the components of this example are up to this task? Or on the interactions between the current limit, current loop parameters, and position loop parameters from this example, and which parameters would have the most impact on achieving desirable system performance?
Is there a VI available that can autotune such a motor?

Hello - there are many reasons why a closed loop controller can oscillate - from correct settings of controller (kp,ki,kd) to making sure signals act in the appropriate direction to deadband/friction in the actuator to badly sized signals/actuators.
Firstly, have a look at the signal your controller is outputing (ideally in LabVIEW so you can graph it). Does it oscillate - perhaps as a sawtooth, a sinewave or simply switching between maximum and minmum values. I presume the electrical motor driving the screw which is driven from some AO signal from the cRIO (could also be a PWM signal driving the motor).
I expect (from what you say about current limit) the control signal will be oscillating by switching between maximum and minimum (e.g. +10V to -10V) or oscillating like a sinewave. What values of kp, ki, kd are you using ? If kd is non-zero, set it to zero (you only need worry about this if you want to get maximum performance). Is ki non-zero ? Try setting it to zero - any better ? If you are still getting big oscillations in your control signal, keep reducing kp (e.g. half each time?) until oscillations disappear (as you reduce kp, control signal *should* get smaller - maybe not straight way though).
If this does not make oscillations go away, then it may be that you have a sign wrong in your loop - i.e. a positive control signal makes lead screw move in opposite direction controller expects. This should be a fundamental thing sorted out when setting up the loop - you could do an open test to check which way +ve voltage moves lead screw. If you find it moves in opposite direction - you can either re-wire, or put a "-1" gain on controller output.
If there is any more subtle oscillations / obersvations, then try to show some plots of the lead screw motion and control signal, as that always helps when trying to diagnose what is going wrong.
Good luck.
Consultant Control Engineer
www-isc-ltd.com

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

Understanding velocity control on 9505 FPGA VI

I was able to quickly use the 9505 Servo Drive example to do closed loop position control on the FPGA but I'm having trouble with figuring out how to modify the code to support velocity control (which I need for a different axis). I'm trying to make my modifications on the FPGA VI itself rather than on the RT Softmotion side.
Here are the issues I'm having:
If I use the PI Velocity Loop with my Velocity and an arbitrary control setpoint velocity, I can see the velocity stabilizes (motor output looks uniform) but I can't correlate it with the velocity setpoint other than a bigger number is faster. Velocity (from the Encoder loop) seems to readback in values of just 0-2 on my FPGA VI (I don't fully understand the units but I see my position change on my encoder readback in thousands of counts per second). Why are they so different/how do I scale my encoder velocity correctly?
Using just the shipping 9505 Servo Drive example (position control), how do I set the velocity of a move from within the FPGA code (in interactive mode)?
Solved!
Go to Solution.

I was able to get my velocity readings to match my velocity setpoints when using velocity control mode by increasing my Timer Config.Target Period and Encoder 'calls per sample encoder' from 2000 to 40,000. Now my velocity readback is +/- 1 of my velocity setpoint for my drive range. This makes sense to me now - if you read the encoder to quickly it hasn't accumulated enough points to accurately calculate the velocity. It was in the documentation but I didn't fully understand it.
So now I'm down to one question - (from last post):
I still don't understand how to set the velocity of a move if I'm using position control (out of the box example) from within the FPGA code (on the 9505 example). Is the best way to do this just to limit the 'Current Output Range' depending on the max velocity requested? The NI Softmotion RT VIs and Express VIs are able to set 'Velocity' but I'm really unclear what that the SoftMotion RT VIs are actually doing in terms of interacting with the FPGA code. Can you explain how that works?

How do I handle a count overflow while running "end's" rotation drive in position control?

Hi everyone!
We run a direct drive in position control mode and normally do oscillating movements i.e. +-10°. The Signal we get is a TTL with 120 counts/°. And with those counts we do our control.
But now we want to run the motor permanent one direction for some days (or 4 ever :-). That means that we get sooner or later a overflow on the count variable. So I think we have a problem when the setpoint is on Overflow -32767 and the Position is 32767. ( I know that I can increase the Integer Value but that does not solve it at the end :-)
How can I handle that?
Is there any programmatic approach?
Thanks for Help!

Hi Petric,
I do see the math but that does not help when I have more then one overflow, right?
Well, you have to make sure you NEVER miss such an overflow event. It would be a big problem if you would detect just every second overflow…
I got a big issue when the setpoint is jumping due to overflow! I have to handle that primarly.
Have your control loop work with arbitrary units.
Convert your measurement signal to arbitrary unit with handling overflows in this step.
Convert your control output to output signal handling overflows as well…

NI pci 6251 position control

Hi
Im new to this forum and new to Labview and NI pci 6251 as well ;(
I'm using NI-PCI-6251 (DC Motor ) with Labview to control the position of a DC motor we developed the program that reads the encoder and display the position of the DC motor shaft
but the problem is that the counter 0 (cnt0) always increases whether the disc rotating clockwise or anticlockwise??!! and when the desired position is reached the controller does nothing to stop the motor ?
i don't know what is the problem or why its happening.

Hi,
I am also doing something similar.
The problem is the motor is the DC motor from Quanser. (DCMCT).
I know the encoder channel of the motor is ctr0 and when I test from "Measurement and Automation Explorer" (Labview>>Tools) I can only read the PFI8 channel.
The motor read 4096 pulses per revolution and no reading is available from PFI10. As per Quanser the motor should be about to do position control. I have seen lab tutorials for position control in internet.
I tested both the vi is mentioned above. The "Example" vi reads the motor position in terms of pulses. But when I rotate the motor in the other direction the count increment not decrement.
Also the quadratureencoderMseries vi did not read the angle position when I set the channel values.
I have attached the parameters that I set.
Can any one please check..
Thanks.
Attachments:
encoder issue.JPG ‏357 KB

Analog Fedback for position control

Hi all,
Its been a long time since I have written into this discussion forum. I have a question. Till now I have been using encoder as a feedback device for position control in PCI 7342 motion controller. Now I want to know about position control using the analog input channel. I cant figure out how the controller understands the equation between input voltage and position.
Say X Volts = How many mm of movement?
With the encoder f/b the motion controller knows the encoder pulse per revolution and it keeps counting the feedback and generates motion accordingly. How is it done with analog feedback. My application involves an LVDT which give proportional analog feedback with respect to the displacement. Please help me oiut on this. Also is position compare and breakpoint feature relevant to this particular problem?

Hi Giridhar,
it's good to see you back in the forums.
I have posted a document to another thread that contains a detailed description of the analog feedback feature.
I hope that helps,
Jochen Klier
National Instruments Germany

PC - Generating a 'Dashboard' report on the status of the controls already planned for the 1st quarter of 2014, shows the control with status Submitted.

Hi;
I have a problem in GRC-PC I can't solve. My User is generating a 'Dashboard' report on the status of planned for the 1st quarter of 2014 (compliance controls), this controls not planned, but presented the control with status Submitted.
I appreciate any help...
Thanks all....
Regards....

kaeandcolesmon,
If you open the recovery drive (partition) it should only have a single folder (Recovery).
To make sure that your not saving restore points to that drive.
See:
Start, Control Panel, System, System Protection tab. Make sure the D drive partition is set to OFF so that it does not save there.
I am a volunteer. I am not an HP employee.
To say THANK YOU, press the "thumbs up symbol" to render a KUDO. Please click Accept as Solution, if your problem is solved. You can render both Solution and KUDO.
The Law of Effect states that positive reinforcement increases the probability of a behavior being repeated. (B.F.Skinner). You toss me KUDO and/or Solution, and I perform better.
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Position Control - HR or Finance?

It is believed that HR should manages the org structure and control the increases/decreases in positions. Since Finance is managing the Budgets how do the increases, decreases or movement of positions monitored and reflected in the financial budgets? Does Finance approve the changes to the number of position? or does Finance get a report to monitor the budget of positions? If yes, which would be the best report so that Finance can get the information they need to monitor position budgets?
I just like to know how other international organizations manage their org structure and position control and the Finance department's involvement in controlling the budgets. If available kindly send me links to documents or white papers on the subject.
Thanks for your help.

as you said
HR shd manage the Organisational structure
and Finance Budgets right
The finance people can know Cost incurred for all the employees
based on the PERSONAL NUMBERs and the results will posted to fico and u will get thru Cost Center and that is assigned to GL account
here the Personal number is assigned to the Position and cost Center is assigned to Position or Personal Number
so when u hire an employee he shd occupy certain postion and that position shd assigned to Cost Center
and Cost Center will gives the details of the Balances and Expenses Right
>here there might be a question wht in case for Vaccant Positions as there are not used these position will not come into the PICture unless they are assigned to the person
so the control shd be with in the HR as some times the Person may move form one orgunit to another orgunit at that time
the cost center will get differs right ??? and the first person who gets intimation towards tranfer of the employees is the HR

Position Control

Can somebody please throw some light on 'Position Control' like
a) What is the purpose of Position Control?
b) How can 'Position Control' be used?
If there is any document or metalink id, which can help me understanding more about 'Position Control', do please let me know.
Appreciate your help in this regard.
Cheers,
Sriram

Thanks for all the pointers.
We are a single business group client and we have been live with Oracle HRMS for the past 3 years. We have been using the 'Define Position' PUI to create/update positions.
Now we need to implement approvals for
a) New positions that are created
b) Existing positions that are updated.
Is Position Control a solution where I can route the position changes to people for approvals before we have the changes commited? Is there a web based interface that users can use to update positions that will be routed for approvals? Or should users user some PUI interfact for position updations/creations with approvals? Is Position control integrated with AME, where I can set complex approval rules?
Also our Position update will involve updating anything in a position ranging from Position Name to location and fte and etc.
Any suggestions/pointers?

Position control and organizations

Hi,
I would like to ask about the meaning of (position control) and (Top node position control enabled), which is in the path:
(Oracle project costing> Setup> Resources and organizations> HR foundation> Work structures> Organizations> Hierarchy)
And regarding the screen with the path: (Oracle project costing> Setup> Resources and organizations> HR foundation> Work structures>Organizations> Description)
Does the sysadmin enter the organization name or it is retrieved from the HR????
Thank you very much
Tasneem Ghnaimat

Hi
Position Control and Position Hierarchy have no meaning in the standard functionality and processes of Oracle Projects.
I assume Position Hierarchy may be used when customizing some of the Approval Processes Workflows.
For example a person is assigned in a position of project manager, and another person is assigned in the position of Engineering department manager. In the position hierarchy the various project managers are set up as reporting to that manager.
Now in Oracle Projects you could setup a workflow for approving a project and for approving the budgets. That workflow could send the approval request from the project manager to the higher level on thta hierarchy, to the Engineering Department Manager.
Dina

LIFA+servo position control

HI all, I have installed the Labview Interface for Arduino.
I just need VI s for the position control of servo motor
I have few questions regarding this
1) what is closed loop position control , can i do that with servo motor ( I am using RC servo -VS-2)
2)can i control my servo without using Arduino code , directly from m Labview
3)How to implement PID controller for position control of Servo
Thanx

If you want to control servo directly from LabVIEW, you need NI Daq card.
Your starting point should be from this link : http://zone.ni.com/devzone/cda/tut/p/id/3367
CLA 2014
CCVID 2014

Position Measurement with PCIe-6321

Hi,
I have PCIe-6321 card and I want to use it for linear position measurement. I have an interpolation device that provides A and B channels that I`m going to put in the counter inputs of the card. Are there any examples of using the position information with LabView (Graphing the position, using it for control purposes etc.) There are some examples in the example library of LabView but in most of the, PCI6321 isn´t on the compatible cards list although most PCI62xx cards are. Can I still use these examples? Thank you in advance.

Hi
You can try it with this examples, but there is another easy way. Please do not forget that you need at least the DAQmx 9.0 driver.
1. Open the MAX and create a task for your linear position measurement with the PCIe-6321
2. There you can see all the connections you need and you can set all parameters fot the acquisition
3. Save the Task
4. Close MAX and open LabVIEW
5. In the block diagram go to Measurement I/O >> NI-DAQmx >> insert Task Const (DAQmx Task Name)
6. Right click on the task constant and choose >> Generate Code >> Configuration and Example
7. Run your VI and have fun
Kind regards
Beat
NI Germany

PID position control : guide me

Dear member
I want to built a PID position control
i read the DC position through potentiometer with -128 to 127 [full 360 degree]
so the input to the pid is voltage range between -128 to 127
the input of dc motor is PWM and the motor rotate direction
so the PID output will be PWM
what about direction bit ??? What will be it circuit
also how to control the speed in same system ?? is thire another PID??
best regards
hi ?Q>
Solved!
Go to Solution.

nathand wrote:
mangood wrote:
what about control the position and the speed at same time ???
That's a complicated problem. A quick internet search turned up this paper which describes some possible approaches:
http://www.idt.mdh.se/kurser/ct3340/ht09/ADMINISTRATION/IRCSE09-submissions/ircse09_submission_22.pd...
okkkkkk
terrific paper
hi ?Q>

Position control with 9505

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