Contour move quirks if bufferSize less or equal than totalPoints

[cavvieira]

I have two machines in wich I test my application: one with a PXI 7344 with NI-Motion 6.0 firmware and other with a PXI 7344 with FlexMotion 5.1 firmware.

Using the 6.0 firmware, I create a position buffer with N points in size and total points, write N numbers and run it. It then makes my robot move, but at the end of the trajectory it quirks.
I´ve found that it doesn't occur when I configure the buffer with N+1 (both bufferSize and totalPoints) - the trajectory is executed fine until it's aborted on oldDataStop.
But I can't make it work with a circular buffer (bufferSize < totalPoints).

Interesting to note is that I can work fine with N-sized buffers on the 5.1 firmware machine. I haven't (and currentl
y can't) tried a circular buffer with this machine.

I use Borland C++ Builder 4 and Windows NT4 on a NI PXI-1025 MegaPAC/PXI-8156B industrial PC.

[JesseD]

Hello cavvieira,

Thank you for contacting National Instruments.

NI-Motion 6.1.5 fixed an issue that existed from 6.0.x to 6.1.4 related to the spline calculation between the final two points in a contour move. This sounds similar to the issue you are experiencing.

I would highly recommend upgrading to NI-Motion 6.1.5 (if you have not already done so). Version 6.1.5 is an update to any 6.1.x version. You can download version 6.1.2 and the update to 6.1.5 on the following webpage: Drivers and Updates: Motion Control

Let me know if this resolves your issue.

Regards,

Jesse D
Applications Engineer
National Instruments

[Martin.D]

The upgrade worked for me.