Torque

Hi,
I am trying to use Torque to insert a new user to MySQL db but I always get the following exception:" java.sql.SQLException: The url cannot be null"
- This is the relevant part from web.xml file:
<servlet>
  <servlet-name>startserver</servlet-name>
  <display-name>StartServer</display-name>
  <servlet-class>com.StartServer</servlet-class>
  <init-param>
   <param-name>log4j-init-file</param-name>
   <param-value>WEB-INF/classes/log4j.properties</param-value>
  </init-param>
  <init-param>
   <param-name> database-properties-file</param-name>
   <param-value>WEB-INF/classes/Torque.properties</param-value>
  </init-param>
  <init-param>
   <param-name>debug</param-name>
   <param-value>2</param-value>
  </init-param>
  <load-on-startup>1</load-on-startup>
</servlet>- Here I trying to insert the user:
public class UserPeer
    extends com.base.BaseUserPeer
     static Logger logger = Logger.getLogger(UserPeer.class.getName());
     public void saveUser(String userName ,String password){
          User user = new User();
          try {
               user.setUsername(userName);
               user.setPassword(password);
               UserPeer.doInsert(user);          
          } catch (TorqueException e1) {
               e1.printStackTrace();
}I hope the information here is helping to somebody to solve this mystery.
Thanks

My dear friend. The part which is throwing the exception is certainly hidden in those methods which you are invoking there. Are they perfect? I suppose not.
And anyway, without a proper torque wrench designed, it's bad to apply torque.
Cheers.
Rich

Similar Messages

  • Torque control is not working for my system using analog feedback

    In the test bed, we are testing a brushless DC motor and a load motor generates torque to the test motor. The test motor is running with torque control scheme. They were connected together and I measured the torque signal to feedback the signal and control it. However, I just realized it only control when the torque was static. If I commanded a certain torque value (in this case, counts command), it kept generating that value. However, it did not generate the same torque in different position. I heard NI motion controller could develop torque values by mapping the torque signal with encoder signal. If it's true, the torque generation based on analog feedback, also, needs constraint by rotor position, right? W
    hen I turned on the load machine with constant speed (50 RPM), the torque from the test motor did not provide the constant torque that I commanded. It generated the fluctuated torque values. This means the max torque was generated at one point and decreasing by rotating the shaft and increasing the torque. Keep going in this way. Could you please tell me if this is the correct response when we are using analog torque feedback?
    Thank you.

    Try the following:
    1.-Set your test motor to encoder feedback instead of analog feedback.
    2.-Load a velocity move on the axis for the test motor.
    3.-Set the following error limit on you axis to 0 (disable following error).
    4.-Use the load torque limit function to limit the amount of torque the 73xx PID loop will generate,this value is in volts, so you will need to do a correlation between the voltage output from the controller and the torque reported by your torque cell.
    5.- Start the load motor.
    6.-Engage the cluch.
    7.-Start the velocity move on the test motor, you will see the torque ramp up to the torque limit.
    8.-Call the load torque limit function on the fly to vary the torque setpoint to where you want it.

  • How can I calculate the slope of an isometric torque curve with a trigger and time increments of 0-30ms, 0-50ms, 0-100ms etc....

    I am analyzing isometric muscle contractions of the quadriceps and want to calculate the rate of force development (not just peak torque) for the torque-time curve.  I want to set a trigger so that the slope of the torque curve is calculated when 7 newton-meters is reached.  From there I'm trying to calculate the slope in time increments of 0-30ms, 0-50ms, 0-100ms, etc....My data is sampled at 2000 Hz and written in text files.  Below is a copy of the VI I have developed so far.  I am very new to programming with LabVIEW but can definitely see its potential!  Any advice would be greatly appreciated. 
    Attachments:
    Dissertation Isometric RFD.vi ‏14 KB

    Fiddler918,
    When trying to implement something like this in LabVIEW, it is often helpful to think about how you would program this function in a traditional text-based language.  Try and break the problem down.  You need to locate the data point in your array that is 7 Nm or greater.  At this point, you will need to grab the data points that are 60 indices (for the 30ms gap, assuming your points are equally spaced 0.5 ms apart), 100 indices (for the 50 ms gap), and 200 indices (for the 100ms gap) ahead of this point in your data file, and calculate the slope using pairs of data points.  
    Here is a general description of a possible implementation of this code:
    You can wire the appropriate column of the data array into a For Loop on the block diagram and have it auto index through the points.  If you right click on the Use the Greater or Equal? function to generate a Boolean that will be true when you want to exit the For Loop.  Right-click on the border of the For Loop and select Conditional Terminal.  This will cause a small stop sign to appear.  If you wire the Boolean to the conditional terminal, the loop will stop at the value that is greater than or equal to 7 Nm.  If you wire the Loop Iteration terminal out of the For Loop to the right, this will give you the index of the value in the column that you’re interested in.  Having this value, you can then use the Array functions to grab the specific data points you need, and numeric functions to perform the necessary math.
    If any of this didn't make sense, the LabVIEW help files are a great resource to use.
    Here is a link to some video tutorials of the LabVIEW programming environment.  They may help you in the development of your code.
    http://www.ni.com/academic/students/learnlabview/
    Regards,
    Jared R.
    Precision DC Product Support Engineer
    National Instruments

  • How it is possible to control torque of dc motor by 0 rpm

    I want to realise a stand to test elements to get the max torque. The elements do not rotate. My plan is to take a dc motor if it is necessary additional a gearbox and impact it up to breakdown. In fact controlling dc motors torqu sounds easy because it is commensurate with the current.
    My requirements are:
    - possibility of setting dI / dt = dT / dt independant of U
    - I-signal logging as indikator for the torque
    - T<10 Nm
    Maybe someone of you has a better idea or a proposal how to solve my problem. I still do not have any equipment for measuring. So it is necessary to buy smth

    Hello,
    to give you some good advice there are several Information which are helpful.
    Do you have some Datasheets of your Motor, Converter and Gearbox.
    Do you want only measure or do you want also control and regulate the components of
    your test stand.
    After Data Acquisition do you want to analyze the Data or only generate an Report.
    Best Regards

  • Problems with apache.torque.Torque

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    2007-06-14 09:18:18,246 [Orion Launcher] CRIT grnds.syslog - SecureFileAccess Error: No Such Algorithm
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         at org.govgrnds.facility.config.ClassPropertiesConfiguration.getPropertyStream(ClassPropertiesConfiguration.java:232)
         at org.govgrnds.facility.config.ClassPropertiesConfiguration.<init>(ClassPropertiesConfiguration.java:107)
         at org.govgrnds.facility.config.ClassPropertiesConfiguration.<init>(ClassPropertiesConfiguration.java:124)
         at org.govgrnds.facility.GovGRNDSComponentLoader.loadComponent(GovGRNDSComponentLoader.java:205)
         at org.govgrnds.facility.GovGRNDSComponentLoader.load(GovGRNDSComponentLoader.java:170)
         at org.govgrnds.facility.GovGRNDSComponentService.init(GovGRNDSComponentService.java:149)
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         at org.apache.turbine.services.BaseServiceBroker.initServices(BaseServiceBroker.java:193)
         at org.apache.turbine.Turbine.init(Turbine.java:257)
         at javax.servlet.GenericServlet.init(GenericServlet.java:258)
         at org.apache.turbine.util.TurbineConfig.initialize(TurbineConfig.java:193)
         at org.govgrnds.facility.CommonFacilityBootstrap.execute(CommonFacilityBootstrap.java:359)
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         at com.evermind.server.Application.getHttpApplication(Application.java:886)
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         at com.evermind.server.http.HttpSite.setConfig(HttpSite.java:263)
         at com.evermind.server.http.HttpServer.setSites(HttpServer.java:259)
         at com.evermind.server.http.HttpServer.setConfig(HttpServer.java:160)
         at com.evermind.server.ApplicationServer.initializeHttp(ApplicationServer.java:2325)
         at com.evermind.server.ApplicationServer.setConfig(ApplicationServer.java:1498)
         at com.evermind.server.ApplicationServerLauncher.run(ApplicationServerLauncher.java:93)
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         at org.apache.torque.util.BasePeer.doPSSelect(BasePeer.java:2177)
         at gov.usps.ereassign.objectmodel.BaseSystemSettingPeer.doPSSelectVillageRecords(BaseSystemSettingPeer.java:430)
         at gov.usps.ereassign.objectmodel.BaseSystemSettingPeer.doPSSelectVillageRecords(BaseSystemSettingPeer.java:403)
         at gov.usps.ereassign.objectmodel.BaseSystemSettingPeer.doPSSelect(BaseSystemSettingPeer.java:317)
         at gov.usps.cache.SystemSettingCacheService.refresh(SystemSettingCacheService.java:132)
         at org.govgrnds.cache.RefreshableGlobalCacheService.initCache(RefreshableGlobalCacheService.java:531)
         at org.govgrnds.cache.RefreshableGlobalCacheService.init(RefreshableGlobalCacheService.java:387)
         at org.apache.turbine.services.TurbineBaseService.init(TurbineBaseService.java:108)
         at org.apache.turbine.services.BaseInitableBroker.initClass(BaseInitableBroker.java:149)
         at org.apache.turbine.services.BaseServiceBroker.doInitService(BaseServiceBroker.java:224)
         at org.apache.turbine.services.BaseServiceBroker.initServices(BaseServiceBroker.java:193)
         at org.apache.turbine.Turbine.init(Turbine.java:257)
         at javax.servlet.GenericServlet.init(GenericServlet.java:258)
         at org.apache.turbine.util.TurbineConfig.initialize(TurbineConfig.java:193)
         at org.govgrnds.facility.CommonFacilityBootstrap.execute(CommonFacilityBootstrap.java:359)
         at org.govgrnds.web.BootstrapServlet.doBootstrapFacilities(BootstrapServlet.java:199)
         at org.govgrnds.web.BootstrapServlet.init(BootstrapServlet.java:135)
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         at com.evermind.server.http.HttpApplication.findServlet(HttpApplication.java:4523)
         at com.evermind.server.http.HttpApplication.initPreloadServlets(HttpApplication.java:4617)
         at com.evermind.server.http.HttpApplication.initDynamic(HttpApplication.java:765)
         at com.evermind.server.http.HttpApplication.<init>(HttpApplication.java:497)
         at com.evermind.server.Application.getHttpApplication(Application.java:886)
         at com.evermind.server.http.HttpServer.getHttpApplication(HttpServer.java:688)
         at com.evermind.server.http.HttpSite.initApplications(HttpSite.java:545)
         at com.evermind.server.http.HttpSite.setConfig(HttpSite.java:263)
         at com.evermind.server.http.HttpServer.setSites(HttpServer.java:259)
         at com.evermind.server.http.HttpServer.setConfig(HttpServer.java:160)
         at com.evermind.server.ApplicationServer.initializeHttp(ApplicationServer.java:2325)
         at com.evermind.server.ApplicationServer.setConfig(ApplicationServer.java:1498)
         at com.evermind.server.ApplicationServerLauncher.run(ApplicationServerLauncher.java:93)
         at java.lang.Thread.run(Thread.java:534)
    2007-06-14 09:18:33,886 [HttpRequestHandler-8814537] ERROR grnds.syslog - javax.servlet.ServletException: error while including template: Connection object was null. This could be due to a misconfiguration of the DataSourceFactory. Check the logs and Torque.properties to better determine the cause.
         at com.evermind.server.http.EvermindPageContext.handlePageThrowable(EvermindPageContext.java:595)
         at com.evermind.server.http.EvermindPageContext.handlePageException(EvermindPageContext.java:537)
         at login.welcomeAdminStart._jspService(_welcomeAdminStart.java:113)
         at com.orionserver.http.OrionHttpJspPage.service(OrionHttpJspPage.java:56)
         at oracle.jsp.runtimev2.JspPageTable.service(JspPageTable.java:349)
         at oracle.jsp.runtimev2.JspServlet.internalService(JspServlet.java:509)
         at oracle.jsp.runtimev2.JspServlet.service(JspServlet.java:413)
         at javax.servlet.http.HttpServlet.service(HttpServlet.java:853)
         at com.evermind.server.http.ServletRequestDispatcher.invoke(ServletRequestDispatcher.java:765)
         at com.evermind.server.http.ServletRequestDispatcher.forwardInternal(ServletRequestDispatcher.java:317)
         at com.evermind.server.http.ServletRequestDispatcher.forward(ServletRequestDispatcher.java:220)
         at org.apache.struts.action.ActionServlet.processActionForward(ActionServlet.java:1759)
         at org.apache.struts.action.ActionServlet.process(ActionServlet.java:1596)
         at org.apache.struts.action.ActionServlet.doGet(ActionServlet.java:492)
         at org.grnds.structural.ic.struts.Struts10ErrorHandlingServlet.doGet(Struts10ErrorHandlingServlet.java:97)
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         at javax.servlet.http.HttpServlet.service(HttpServlet.java:853)
         at com.evermind.server.http.ResourceFilterChain.doFilter(ResourceFilterChain.java:65)
         at gov.usps.filter.EreassignServletFilter.doFilter(EreassignServletFilter.java:177)
         at com.evermind.server.http.ServletRequestDispatcher.invoke(ServletRequestDispatcher.java:604)
         at com.evermind.server.http.ServletRequestDispatcher.forwardInternal(ServletRequestDispatcher.java:317)
         at com.evermind.server.http.HttpRequestHandler.processRequest(HttpRequestHandler.java:790)
         at com.evermind.server.http.HttpRequestHandler.run(HttpRequestHandler.java:270)
         at com.evermind.server.http.HttpRequestHandler.run(HttpRequestHandler.java:112)
         at com.evermind.util.ReleasableResourcePooledExecutor$MyWorker.run(ReleasableResourcePooledExecutor.java:186)
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    Thank you very much BIJ001!! It works!!
    However i don't understand the reason you've given me. You've said:
    "The last time I programmed a servlet (as opposed to, say, a JSP) I programmed it in Java, thus no "linea" like your example was possible there."
    Why not? I use the "response.getWriter()" method to get a printWriter and then i create the html code for the servlet.
    Anyway, thanks again because i would never have solved it without your help.
    Regards,
    Aitor

  • SCC-SG24 & SCC68 (Torque transducer​)

    HW: PCI6229, SCC68, SCC-SG24, TRT-25 (Transducer techniques, torque transducer) using Virtual TEDS from ni.com
    SW: LV 8.2.1, DAQmx 8.3
    Hi guys, with the 'rig' above i'm trying to extract the torque of a motor.
    Based on what i know, the SCC-SG24 will detect the small change of
    voltage in the bridge of the transducer, amplify it can send it to my
    DAQ through the SCC68 connector block. The TEDS data will be used to
    properly scale my data so that i'll get an accurate Torque vs Sample
    graph. I have attached the screenshot from MAX and it shows the
    Amplitude vs Sample of my transducer. As you can see the values are
    very small, in the mV range. I've tried changing the max/min input
    limit to 200m/-200m but it doesn't allow me to do that. And how do i
    convert this voltage measurement to torque?
    Attachments:
    SCC-SG24.JPG ‏125 KB

    Hi Atma,
    Doing and average of the signal coming from the torque transducer will help better understand what is happening because the torque transducer can be very sensitive and that is why your readings oscillates between -0.35 and -0.39.  In the manual page 23 says that (in the picture) those are the offset nulling resistor for AIX.
    If no strain is apply to the torque transducer then yes change the resistor until your signal is in average in 0.  For the other three times it can be noise, it can be poor connections it will also depends on your torque transducer specs, this is a useful link for basics in torque measurements http://zone.ni.com/devzone/cda/ph/p/id/255, Another very good resource for strain measurements in general is http://zone.ni.com/devzone/cda/tut/p/id/3642 What are the values the other three times when it does not match the wrench?  How those the images look when you apply strain? Let’s say you apply a know strain how does the measurement looks like?
    JaimeF
    Message Edited by Jaime F on 08-29-2007 03:54 PM
    Jaime Hoffiz
    National Instruments
    Product Expert
    Digital Multimeters and LCR Meters

  • How to measure torque on a DC motor using Multisim?

    Hello,
    I would like to know how we measure torque on a DC motor using Multisim Education edition.
    I've searched for the component, "eddy current load brake", but could not find it. Is that component in Multisim?
    Thank you,
    Neil

    Hi,
    Please refer to this forum post.
    http://forums.ni.com/t5/Circuit-Design-Suite-Multisim/PM-DC-Motor-Model-Trouble/td-p/1931859
    Hope this helps.
    Regards,
    Tayyab R,
    National Instruments.

  • Problem in update database record with torque

    Can anybody correct my mistake. please........
    Torque.init("E:/Upendra_working_directory/msh2.0/Torque.properties");
    System.out.println("State:     " + Torque.isInit());
    System.out.println("Connection Sucessfully........");
    Criteria crit = new Criteria();
    crit.add(AttachmentPeer.DISPOSITION, "buildfail09.xml");//selecting particular record
    List attachment = AttachmentPeer.doSelect(crit);
    System.out.println(attachment.size());
    Attachment obj = (Attachment)attachment.get(0);
    System.out.println("Attachment Location:     "+ obj.getAttachmentName());
    System.out.println("Attachment MessageID     "+ obj.getMessageId());
    obj.setAttachmentName("sssss"); //setting new value
    AttachmentPeer.doUpdate(obj); //update
    obj.save();
    System.out.println(Attachment Location:     (afterupdate)"+ obj.getAttachmentName());
    console print updated value.but if i check the table in database, it is not updated.
    Thanks in advance

    For anyone referencing this... I had missed adding the field to the MapBuilder so I can definitely suggest that you check the field is present everywhere it should be as no errors will be found if its only looking for the first 4 fields but you want 5 fields to be updated!!

  • Why does my Kyocera Torque 4.1.2 and firefox always crashes when I try to open menu button!

    When ever I try to open the menu button on my Kyocera Torque 4.1.2 firefox always crashes plz help

    Do you have any crash reports? Type about:crashes in the address bar. We would need the crash IDs to be able to map it to a problem.

  • VFD noise on other sensor output such as : Thermocouples, Accelerometer, Torque meter

    Hi,
    I'm using a PCIe-6351 Daq board (and SCB-68) for my test rig. I'm collecting different kinds of sensor outputs through this DAQ board such as temperatures, acceleration, and torque meter output.
    beside that, I have connected a VFD (Baldor H2 inventor) using a USB cable to the PC case. I use this VFD to control motor speed. (http://www.baldor.com/products/accontrols/vs_inverter.asp)
    Here is my problem:
    when I turn on the VFD I get a lot of noise on every signal. This noise is like a peak which repeats every 5-6 seconds.
    So it's not 50-60 HZ noise of outlets.
    You can see related uploaded video clips on :
    http://www.megaupload.com/?d=4NHDIVV7
    http://www.megaupload.com/?d=2461Z7KN
    I have uploaded some pictures too.
    Is there any way that I can filter this noise in Labview?  ( I have tried Filtration VI in labview, but couldn't find a correct setting) 
    How can I get rid of this noise?
    I really appriciate your help on this matter.
    Thanks.
    -Jeff
    Attachments:
    Pics.zip ‏585 KB

    I can very much identify with this issue.  I have a test bench with two motors and corresponding Baldor H2 VFD's on it. I have a variety of sensors such as accelerometers, hall effect sensors, and a torque meter.  The bench was put together "professionally" but still get this kind of noise.
    The *only* sensor that I have this trouble with is the torquemeter.  I get an impulsive EMI blast every 12 seconds on this signal with just one drive turned on.  With the other drive turned on, the noise is excessive.  I have spent weeks troubleshooting assumed ground-loop faults with the torque meter company's tech rep - to no avail.
    I have confirmed that this EMI is from the drive.  I hooked up a wire to the signal lead of an oscilloscope's VFD (acting as an antenna) and the noise I get on this oscilloscope is very similar to what I get on my torquemeter. (The noise is present only when the drive is powered up)
    The noise from the VFD will not be cured by using a low pass filter.  Impulsive type events have very broad band noise.
    My new approach is to try and use adaptive noise cancellation to get rid of the the VFDs' EMI on the torquemeter.  I gather the noise signal on my DAQ card (PCI-7851-R) by plugging just one wire into the positive port of an AI port and tying a 1 mega Ohm resistor from that port's ground to the AI port; this provides a means of collecting the EMI from the drive with an "antenna." The wire dangles by the side of the VFD with the other end taped up.   See the following for a description of adaptive noise cancellation with labview (also possible on an NI FPGA device):
    http://zone.ni.com/reference/en-XX/help/372357A-01/lvaftconcepts/aft_noise_cancel/
    I believe this to be the only sound signal processing means of addressing this issue.  I am still struggling to get it to work myself.  I'll advice as I progress.
    Cheers
    Jordan McBain, PhD
    LabVIEW Controls Engineer
    Revolutionary Engineering

  • How to get data from a torque wrench to labview ?

     I have a torque wrench of N.I. and need to export the data when performing a calibration for (to) labview, and get the program show me if the torque is correct or not.
    I don't know how to begin ... I really need a support.
    an example would help.
    thanks....
    Bruna
    Solved!
    Go to Solution.
    Attachments:
    Program Torque.JPG ‏58 KB

    Olá Bruna!!
    Pelo que pesquisei não há driver para comunicação entre seu torquímetro e o LabVIEW.
    Mas é possível comunica-los através da função VISA.
    Para começar, o fabricante informa como os dados de leitura são enviados através da porta serial? Ou seja, você saberia em quais pinos chegam dados, e qual é a configuração destes, o que cada bit representa, para montarmos a informação completa?
    Sugiro que busque essa informação pois adinataria grande parte do processo.
    Caso o fabricante do seu torquímetro não ofereça nenhuma informação sobre isso, você terá de descobrir por conta própria.
    Minha sugestão é utilizar um software de monitoramento de porta serial, há diversos pela internet, basta dar um pesquisada, como exemplo há o do link abaixo:
    http://www.baixaja.com.br/downloads/Windows/Development/Debugging/Free-Serial-Port-Monitor_837.html
    Eu particularmente nunca utilizei, você pode procurar outras alternativas também...
    Aqui você encontra conceitos bem interessantes sobre comunicação serial, caso você não conheça muito bem:
    http://zone.ni.com/devzone/cda/tut/p/id/11390
    Bem como aqui:
    http://digital.ni.com/public.nsf/allkb/8B9F928887A0C77F8625769C004C13BA?OpenDocument
    Quando soubermos como estes dados são enviados ao computador, e qual a configuração destes, ou seja quando for possível "montar" a informação de leitura através dos bits da porta, podemos iniciar com o LabVIEW.
    Como eu disse você terá de usar a função VISA, você encontra bons exemplos da utilização desse VI em:
    Help -> Find Examples -> Search -> VISA
    Não é complicado, mas havendo problemas pode entrar em contato!
    E quanto a escrita de valores no Excel, estou anexando um exemplo que escreve os pontos de um sinal simulado em um arquivo, no seu caso basta trocar o "Simulate Signal" pela sua entrada real.
    Espero poder ajudá-la!!!
    Atenciosamente,
    Barbara Pracek
    Engenharia de Aplicações
    National Instruments Brasil
    Attachments:
    Salvar dados_baixo nível.vi ‏56 KB

  • JSP + JAVA Beans +Torque

    Hey,
    I am using Torque to connect MySQL DB to JSP page, so I am using JAVA Beans, which is created by torque, I wish to use pagination to retrieve the entries from database, plz tell me how can I implement it here.

    Try the following forum (about JSP technology)
    http://forum.java.sun.com/forum.jspa?forumID=45
    Also try the following forum (about JDBC technology)
    http://forum.java.sun.com/forum.jspa?forumID=48

  • XY-Graph TORQUE AND POWER IN FUCNTION OF ROTATE SPEED

    Dear,
    I have  made a program in Labview for my endwork so i have now one problem ; i read data (torque,temperature,power,speed of an engine with an USB-6009 daq-kaart.) now i want to make a graph of the torque (koppel in dutch) in funtion of rotate speed and also power(vermogen in dutch).  i have used xy graph but  i get nothing  . What do i wrong can some one help me? I send the program also as attachement ; on the y i will torque(=koppel) and x i will rotate speed (toerental)  
    thank you
    Attachments:
    Eindwerk_data.vi ‏346 KB

    Hey Drayton,
    Please have a look at the attached VI.  
    Left
    of the While Loop I created a 2 dimensional array.  Column zero is
    representing the RPM, column 1 the Torque (koppel) and column 2 is the
    Power (vermogen).
    Then I am simulating the measured data of RMP,
    Torque and Power.  As I would like to limit the number of elements in
    the array, I used the "Remainder and Quotient" function to round to a
    nearest lower multiple of 20.  This means you will have steps of 20 RPM
    in your graph.  The lenght of the array is in the case: 4000 RMP max /
    20 = 200 elements.  Of course you can change this but then also your
    array size will become larger (more processor time needed to analyze).
    Next
    step is to get the index number in the existing array which equals the
    current measured RPM.    This index is needed to replace the
    corresponding torque and power values in the array.
    If the newest
    torque or power value is greater than the already available value for
    the corresponding RPM,  then this value will overwrite the existing
    value. If not, then the existing torque and power value will be kept.  
    Finally I will extract the complete columns of the array for RPM, torque and power to apply them to the XY graph.
    You can almost copy/paste this into your VI.
    As
    your data is coming from Express VI, the wires contain waveform data
    which also inclused timestamp information.  As you cannot use waveform
    data with arrays and actually don't need it, you have to use the
    function "From DDT". This is also an express VI to convert the Dynamic
    Data Type from the Express VI into a scalar datatype.  You can show to
    analyze only one point at a time of by using an array.
    I have also seen that you have place additional numeric indicators on your front panel beside the meters.
    This is great. You only used an additional object to do so causing also an additional terminal appearing on your block diagram.
    Actually,
    the numeric front panel objects have already an numeric indicator
    related to it.  This way no additional block diagram terminal will show
    up.
    You only need to enable it.
    Right click on the object to open
    the shortcut menu ---> Visible Items --> Numeric Display.  There
    is your numeric indicator directly related to the object.
    If you do this for all you front panel objects, your block diagram will look much nicer and easier to read.
    Best regards,
    Joeri
    National Instruments
    Applications Engineering
    http://www.ni.com/ask
    Make our forums great:
    If you like the answer, don't forget to "Kudos!".
    "Accept the Solution" if your question is answered!
    Attachments:
    Arrays.vi ‏18 KB

  • Is it possible to do torque control using Flex Motion?

    I am trying to control the output torque to a motor?
    I know you can do velocity control using FlexMotion, how about torque control?

    To hold a servo motor at constant torque, all you need to do is provide a constant voltage. You can accomplish this using the analog output (DAC) of a FlexMotion board. To gain access to the DAC, configure the axis as an open loop stepper, then use the Load DAC.flx VI to output an analog voltage. The downside to this is that you won't have feedback, so you'll have no way to determine your position.

  • Why does the Ni-Motion Torque-Control Program give me such an oscillation???

    Hello,
    I really hope to find somee help here...I have a UMI-7744 and I would like to do force control for a servo motor. I have tried the NI-Motion example "Torque Cntrl Using Monitoring Force"...it seems to be quite easy - it constantly measures the current force and compares the ADC-values with the target force. The difference between the two is then new relativ position...
    When I test it with an actuator that does not touch the workpiece (current force==>0N) and then tell it to apply 50N (ADC-value of ~1000) then of course it starts moving towards the workpiece, but then overshoots quite significantly when it touches it, then undershoots, then overshoots, then undershoots....etc....
     (1) Apart from the big overshoot, I would have assumed that the failure decreases over time and the force will be maintained at some point, but the actuator keeps on oscilating around the target force with quite high amplitudes.......does any body have an idea for the reason?????....How is it possible that the controller actually approaches the target force, ie. the over/undershoot should get smaller with every cycle...
     (2) I was assuming that the problem is because I load quite large relative positions (1000 - 0 = 1000) while the actuator is not yet in contact with the workpiece which then causes the overshoot when the actuator touches the workpiece. Hence, I tried limiting the relative positions to +/- 100, but it seems that it does not improve anything. The actuator still never maintains a steady force.Any idea, why limiting the relative positions does not have an effect on the oscillation??
    (3) I have seen that the use a delay of 50ms. Hence every 50ms a new target position is loaded. Is there any experience of what the BEST time delay is for motion control???? Is it better to decrease the delay to adjust the relative position more often OR would this have negative effects because the moves don;t have enough time to complete??????
    I am grateful for any reply...

    Hi Jochen,
    thanks for the clarification on the pros and cons of the two Torque control approaches...very enlightening......
    To clarify my previous question: I am using the S200VTS-Servo Drive from Danaher Motion. The drive is able to run in Torque-mode, Velocity-mode and Position-mode. In the latter case it needs a "step and direction" input, instead of an analog input. My idea was to setup the S200-drive in Position-mode because in the "Torque Control using monitoring Force"-example the inner PID loop is for the position...so I thought, why shall I setup the S200-drive in torque mode, when actually the PID-loop tries to control the Position.....you know what I mean? It appeared to me, that with setting up the drive in torque mode and running the example code with the positional PID-loop I am mixing force and position....
    Kind regards and thanks a lot for your efforts.
    Well, let's take it like that: The second approach is ok, if the dynamics of the torque are very low. The worst case scenario for this approach is a solid actuator pressing against a solid workpiece. When these two pieces meet, a force occurrs almost instantaneously. That means, that very short move distances result in high force differences. With your current approach this means that it's very hard to control the force, as in fact the only way to generate force is to move the axis a bit. If you control the force directly instead (analog feedback), you will get a much better control behavior.
    To clarify the idea behind that:
    Just think of two metal plates lying on each other on the floor. Now you step on the upper metal plate. Does the upper metal plate move? No. Is there a change of the force applied to the lower plate? Yes.
    To summarize: 'Torque Control using monitoring force' works best in systems with very low dynamics and a soft contact between actuator and workpiece. still all the limitations that I have mentioned in my first post are true, so I strongly recommend to use analog force feedback.
    Your last statement about running the motor in position or torque mode is not clear to me. Are you referring to operation modes of your drive (by the way, which drive are you using?). In this case the clear recommendation is to configure your drive always in torque mode, regardless of the type of control provided by the 73xx device that you are using. From a drive's point of view 'torque mode' means, that the analog input voltage (command input) is converted into a proportional current signal and that's in both modes the best option.
    Jochen

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