NI softmotion with EPOS2 controller example problem

[Dr.Bubbo]

Hello,

I'm experiencing the same issue. Did anybody solve it?

I firstly tried to run the “EPOS2 1-Axis Motor Position Control.lvproj” example from the EPOS2 NI CompactRIO Library and everything was working perfectly.

Then, I had the FF0C error when running the “Maxon EPOS2 SoftMotion Driver.lvproj” example.

I followed the instructions in “Maxon Motor EPOS2 CANopen Driver Help.pdf” and I configured the NI SoftMotion Axis and CAN hardware according to it.
The initialization process (“CAN initialize.vi” and “EPOS2 Axis interface Start.vi”) works fine and I can get the Axis status from “Epos2 Axis Interface Status.vi” within the while loop.

The issue is when I try to move the motor, i.e. enabling the drive and axis through the “Interactive Test Panel” from the LabVIEW Project (right-click aixs and select "Interactive Test Panel") for performing test moves. As soon as I try to enable the drive I get the FF0C error (Interpolated Position Mode Error).

I guess that there is something wrong with the NI SoftMotion axis configuration, mainly in the “Position Loop” settings and in the “Encoder” settings. And I guess that these parameters should be specific for the Maxon hardware that I’m using. 

I am using the following hardware and software from Maxon and National Instruments:

Hardware from Maxon:
• Maxon position controller EPOS 2 24/3 Part no. 392159
• Maxon motor gearbox encoder combination Part no. 273174
• Maxon position controller motherboard Part no. 407582

Software from Maxon:
• EPOS2 NI CompactRIO Library (http://www.maxonmotor.com/medias/sys_master/8803612360734/EPOS2-NI-CompactRIO-Library-En.zip)

Hardware from NI:
• NI cRIO – 9068 
• NI 9853

Software from NI:
• LabVIEW 2013

Thanks!

Best,

Giulio

[MarcoPolo5]

FF0C error comes from the EPOS2 drive and is passed up through the CANopen communication link to the driver. So it sounds like your communication link is working correctly. This error is typically due to the EPOS2 drive and SoftMotion not getting or staying syncronized. Every scan cycle on the cRIO SoftMotion will generate position data to send to the EPOS2 (this allows for multi-axis coordination). The EPOS2 is set to expect this data at the scan rate; if there is a significant lag or missed or too many data points sent, the EPOS2 will generate an error.

Try these things:

1. Check that you are using the latest EPOS2 driver (currently 1.1.0.15 - compatible with LV 2013+) - LabVIEW Tools Network or the LV VI Package manager have the latest update.

2. Change your scan engine rate to 8mSec (vs the default 10mSec; this is done in the cRIO project properties). NI SoftMotion needs the scan rate set to 2^x rate (typically one of the following - 2mSec, 4mSec, 8mSec). Faster cRIO processors can handle faster scan rates

3. SoftMotion axis settings are detialied in the text on the front panel of "Readme & VI Tree.vi" on the driver pallette. Also can find them:

C:\Program Files (x86)\National Instruments\LabVIEW 2013\vi.lib\addons\Maxon Motor\Maxon EPOS2\Readme.txt

4. Don't open or probe the "EPOS2 Axis Interfave.vi" when running, probes will slow it down to where it doesn't meet CANopen timing and will give you an error. Also ensure there are no other high priority heavy tasks taking too much processing power away from the EPOS2 driver VI's.

5. In SoftMotion Axis Settings; try setting "Communication - Watchdog Timeout" to multiple scan periods (default is 1, try more).

Ensure that you can run the simpler CANopen "EPOS2 1-Axis Motor Position Control.lvproj" example and other similar examples first (use LV Example Finder and search for EPOS2). These do not use SoftMotion nor the scan engine and can help make sure that you have your EPOS2 settings correct.

All examples can also be found:

C:\Program Files (x86)\National Instruments\LabVIEW 2013\examples\Maxon Motor\Maxon EPOS2

Hope that helps!

[Dr.Bubbo]

Hello MarcoPolo5,

thanks for your help.

I've already tested my system with the "EPOS2 1-Axis Motor Position Control.lvproj" and it works fine with one axis.

However, following further tests I found out that I have the same issue (FF0C) using the the “Interpolated Position Mode” in EPOS studio as well.

I will firstly try to fix the proble in the EPOS studio,and then I'll move to NI SoftMotion using your suggestions.

Thank you!

Best,

Giulio

[JonathanAshwor]

What was the solution to this issue? I'm sorry to bring up old threads but I am running into a similar issue. 

I can use the Interactive test panel to control a single motor, however when I try control multiple motors/axis I get the FF0C error which seems to plague this thread. I have tried to increase my Scan rate to as fast as I can, however it doesn't seem to make a difference.

I can control each axis using the CAN Open examples, however I run into trouble when attempting to use Softmotion driver.

My system is as follows

CRIO 9063

NI 9881

EPOS2 36/2

[JonathanAshwor]

Additionally, I am running LaVIEW 2018 (32 bit)

The Maxon driver version is 2.0.0.20.

Thanks,

Jonathan