Robot project with 6 DOF/ Motor control with LV Softmotion RT mode

[holgerSE]

I'm working on a robot project, in which a 6 DOF (6 rotating axis) robot should be controlled and moved with Softmotion in RT mode.

I use LV 2009.

At the moment, there are just 2 axis connected with the computer/controller.

The way i did so far:

 - Hardware Connection

System:

Chassis cRIO 9114

Real Time Controller cRIO-9022

Servo Drive Interface Module (with encoder feedback) NI 9514

Servo Amplifier Minimotor BLD 5603-CC4P

Servomotor Faulhaber 3242-IE3-65L

 - Connected the Hardware to Softmotion, creation of the axis 1 and 2 and coordinate space 1 with both

 - Gain tuning until the motors were working (as standalone)

 - Added the VI from the example library for a one axis straight move (path: C:\Program Files\National Instruments\LabVIEW 2009\examples\motion\FunctionBlocks\Axis Straight Line Move) and adapted to the project

According to the gain tuning panel are the control loops now working quite well. I tried to run the motors apart from the VI, but after an instant i lost the connection to the target. I lost the connection every time i tried to control one of the axis,.

Hence my questions:

Is ist possible in my case to use this example to control the motors and get the plots of position and velocity?

Which exaple was better in my case?

Why do i lose the connection?

What has to be done to control all the motors simulaneously from ONE control panel and which "buidling blocks" can i use to reach this goal?

I'll upload some screenshots and fotos if it is helpful.

Thank you for your help,

Holger

[holgerSE]

I tried to reach one motor from the control panel of another simple vi (s. addition).

The connection problem occurs furthermore.

Always when i deploy all components to connect the hardware with my project and the VI and start the vi afterwards, appears a error window  ("communication error occured"). When "ok" is clicked, another window appears with the notice "Warning: Connection to the real-time target (...) has been lost". I have attached some screenshots.

While the first try, my error out showed me the errorcode 77003:

Possible reason(s):

NI SoftMotion:  The NI Scan Engine has transitioned from Configuration mode to Active mode. Any system state information is lost. You may need to initialize the system again

What could be a solution for this problem?

Generally, is there sth. wrong with my VI? Which parts are still missing to communicate sucessfully with my hardware?

If i take the control panel, the motors can be moved.