Read multiple axis status

The problem is the slowness of some commands in Labview 8.2 (winxp and PXI-8105 controller)
I am trying to control the speed of a three axis robot using a PXI-7350 motion controller, but I need to update very fastly the control loop (1-2ms)
I found that the more time consuming functions are "read per axis status" and "load velocity".
These are probably the main issues to be considered
1. I need only to read the "motor off", "following error", "Move Complete" while the "read per axis status"returns many other variables.
2. Both the vi must be called three times, one time for each axis.
Is it possible to build a single vi that, using a single command, queries the motion controller only for few specified variables and sets all the axis velocities?
In case, the variables are:
"motor off"
"following error"
"Move Complete"
"vector space position"
Thanks

The application is: to move the end effector as a function of an
analog feedback signal, avoiding auto-collision (like moving a robot
with a joystick).
The problem is that the signal is correlated to
the motor displacements via a unlinear process so the control board
cannot be configured using that signal. I have to measure the signal
and to calculate on the fly the velocities of the motor that make the
end effector follows the feedback signal. I need to optimize the
"control loop" in order to avoid vibrations, jitter and to permit the
PXI to make other things like data communication with other pc in the
network. Another important issue is the critical routine for
auto-collision avoiding: the robot must stop as soon as particular
combination of axes position occurs.
It's incredible, I
spent so much time in optimizing the kinematic calculations (a 9x9
non-linear sistem of equations solved in 2ms) and now I see that the
critical routine is the communication between PXI-controller and motion
controller!!!
(I know that the best solution would be to
build a motion controller by myself using a NI-FPGA device, but I
really don't know how to implement a matrix inversion calculation on a
FPGA processor...)
Fabrizio Patanè

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One-Axis Move (Accel - Max Velocity - Decel) with read status.vi ‏26 KB

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TIME_A      DATE,
TIME_B      DATE
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Values
   (TO_DATE('03/09/2013 22:54:09', 'MM/DD/YYYY HH24:MI:SS'), 'L', 6587797, TO_DATE('03/09/2013 22:48:35', 'MM/DD/YYYY HH24:MI:SS'), TO_DATE('03/09/2013 23:00:22', 'MM/DD/YYYY HH24:MI:SS'));
Insert into T2
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   (TO_DATE('03/09/2013 22:54:09', 'MM/DD/YYYY HH24:MI:SS'), 'O', 6587797, TO_DATE('03/09/2013 23:03:00', 'MM/DD/YYYY HH24:MI:SS'), TO_DATE('03/09/2013 23:05:54', 'MM/DD/YYYY HH24:MI:SS'));
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Values
   (TO_DATE('03/09/2013 22:54:57', 'MM/DD/YYYY HH24:MI:SS'), 'H', 6587797, TO_DATE('03/09/2013 23:00:22', 'MM/DD/YYYY HH24:MI:SS'), TO_DATE('03/09/2013 23:03:00', 'MM/DD/YYYY HH24:MI:SS'));
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Values
   (TO_DATE('03/09/2013 18:26:55', 'MM/DD/YYYY HH24:MI:SS'), 'O', 6583483, TO_DATE('03/09/2013 18:27:01', 'MM/DD/YYYY HH24:MI:SS'), TO_DATE('03/09/2013 18:33:10', 'MM/DD/YYYY HH24:MI:SS'));
COMMIT;
Query used:
SELECT time_stamp,
       UPPER (SUBSTR(status,1,1)) as status,
       Unique_ID,
       Time_A,
       Time_B,
       CASE
            WHEN time_stamp BETWEEN Time_A AND Time_B
          THEN
               'Y'
          ELSE
               'N'
         END   as flag
FROM t2;
the query provided above doesn't work with these rows:
TIME_STAMP,                STATUS,     UNIQUE_ID,      TIME_A,                             TIME_B,                                    FLAG
2013/03/09 6:26:55 PM,   L,              6583483,          2013/03/09 6:15:51 PM,     2013/03/09 6:26:28 PM,              N
2013/03/09 6:26:55 PM,   O,              6583483,          2013/03/09 6:27:01 PM,      2013/03/09 6:33:10 PM,             N
because here where time_stamp is same and time_stamp is not between time_a and time_b therefore it should be flagged Y on the row where status is *' O '*
Edited by: 855161 on Apr 10, 2013 7:36 AM

Hi,
Sorry, it's unclear what you want.
855161 wrote:
Hi All
I need some help here:
1. I have to read multiple rows to check where time stamp is same for example rownum (1-3) : *'2013/03/09 10:54:09 PM'*
2. And status is unique for example *(H,L)*
3. And if TIME_STAMP is between TIME_A and TIME_B then flag it as Y else flag it as N.
and if the above condition is not true then
1. Flag the row with ' Y ' where time_stamp is same i.e. : '2013/03/09 10:54:09 PM'
2. And the status is *( ' O ')*
3. the other rows where time_stamp is same, and unique_id is same, and STATUS is either or both ( ' H ' , ' L ' ) flag it as *' N '*
the query provided above doesn't work with these rows:
TIME_STAMP,                STATUS,     UNIQUE_ID,      TIME_A,                             TIME_B,                                    FLAG
2013/03/09 6:26:55 PM,   L,              6583483,          2013/03/09 6:15:51 PM,     2013/03/09 6:26:28 PM,              N
2013/03/09 6:26:55 PM,   O,              6583483,          2013/03/09 6:27:01 PM,      2013/03/09 6:33:10 PM,             Nbecause here where time_stamp is same and time_stamp is not between time_a and time_b therefore it should be flagged Y on the row where status is *' O '*What are the complet, correct results you want from thissample data?
Are they the same as what you are currently getting, except that the 2 rows above should have flag = 'O'?
Why should the row that has status='L' get flag='O'?
Why don't the other rows that currently have status='O' and flag='N' need to be changed?
To see if there are other rows with the same time_stamp, you can use the analytic COUNT function, like this:
SELECT time_stamp,
       UPPER (SUBSTR(status,1,1)) as status,
       Unique_ID,
       Time_A,
       Time_B,
       CASE
            WHEN time_stamp BETWEEN Time_A AND Time_B
                THEN
                    'Y'
            WHEN COUNT (*) OVER (PARTITION BY time_stamp) > 1
         AND       UPPER (SUBSTR (status, 1, 1)) = 'O'
             THEN
              'O'
                ELSE
                    'N'
         END   as flag
FROM t2
ORDER BY time_stamp
,            status
;The results that this produces are :
`                        UNIQUE
TIME_STAMP           S      _ID TIME_A               TIME_B               F
09-Mar-2013 18:26:55 L 6583483 09-Mar-2013 18:15:51 09-Mar-2013 18:26:28 N
09-Mar-2013 18:26:55 O 6583483 09-Mar-2013 18:27:01 09-Mar-2013 18:33:10 O
09-Mar-2013 22:54:09 H 6587797 09-Mar-2013 23:00:22 09-Mar-2013 23:03:00 N
09-Mar-2013 22:54:09 L 6587797 09-Mar-2013 22:48:35 09-Mar-2013 23:00:22 Y
09-Mar-2013 22:54:09 O 6587797 09-Mar-2013 23:03:00 09-Mar-2013 23:05:54 O
09-Mar-2013 22:54:57 H 6587797 09-Mar-2013 23:00:22 09-Mar-2013 23:03:00 N
09-Mar-2013 22:54:57 L 6587797 09-Mar-2013 22:48:35 09-Mar-2013 23:00:22 Y
09-Mar-2013 22:54:57 O 6587797 09-Mar-2013 23:03:00 09-Mar-2013 23:05:54 OI don't think this is what you wat, but I'm not sure.
Can you explain, in a different way than before, what flag is supposed to show? What role (if any) does the so-called unique_id play in this problem?

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Hi,
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