Our set up consists of a PCI-7334 connected to a UMI-7764. One axis is wired to a MCB15081 Bipolar Microstep Driver driving a 200 step Lin Eng. motor. The same axis is wired to a US Digital S6D-1024-I encoder.
I have some C++ code that will move the motor in open-loop mode. That seems to work fine. I am just trying to read the encoder output while the motor is turning.
Here is a code snippet:
//////////////////////////////////////////////////
//
// Start the motor.
//
if( !error )
{
status = flex_start(BOARD_ID, axis,
0 );
if( status != NIMC_noError )
{
error =
true;
printf(
"flex_start()\n");
nimcHandleError(&status);
}
}
//////////////////////////////////////////////////
//
// Wait until the motor move completes
//
if( !error )
{
status = WaitDone( &error, axis );
if( status != NIMC_noError )
{
error =
true;
printf(
"WaitDone()\n");
nimcHandleError(&status);
}
}
Here is the WaitDone() routine:
/****************************************************************
**
** WaitDone
**
** PURPOSE: Wait for a move to complete
**
** PASS: Nothing
**
** RETURN: FLEXFUNC containing status
**
** NOTES:
**
***************************************************************/
FLEXFUNC WaitDone(
bool *error, u8 axis )
{
int i = 0;
u16 axisStatus;
u16 moveComplete;
i32 status, encoder_counts, position;
do
{
i++;
//printf("%i\n", i);
axisStatus =
0;
moveComplete =
0;
// Check the move complete status
if( !(*error) )
{
status = flex_check_move_complete_status(BOARD_ID, axis,
0, &moveComplete);
if( status != NIMC_noError )
{
*error =
true;
printf(
"flex_check_move_complete_status()\n");
}
}
if( !(*error) )
{
status = flex_read_axis_status_rtn(BOARD_ID, axis, &axisStatus);
if( status != NIMC_noError )
{
*error =
true;
printf(
"flex_read_axis_status_rtn()\n");
}
}
if( !(*error) )
{
status = flex_read_encoder_rtn(BOARD_ID, (u8)(axis+ENC_OFFSET), &encoder_counts);
status = flex_read_pos_rtn(BOARD_ID, axis, &position);
if( status != NIMC_noError )
{
*error =
true;
printf(
"flex_read_encoder_rtn()\n");
printf(
"flex_read_pos_rtn()\n");
}
printf(
"Ecoder 0X%0X:\t%05i\tPos: %05i\r", (u8)(axis+ENC_OFFSET), encoder_counts, position );
//printf("Ecoder 0X%0X:\t%05i\r", (axis+ENC_OFFSET), i );
}
Sleep(
50);
}
while( !moveComplete && !(*error) &&
!( axisStatus & NIMC_FOLLOWING_ERROR_BIT ) &&
!( axisStatus & NIMC_AXIS_OFF_BIT ));
printf(
"\n");
return status;
}
<End Snippet>
The motor moves as expected. I get no change in encoder_counts. position displays as expected.
I'm sure there can be a whole host of reasons for this. I suspect it is a wiring issue. Is there anyhting in the configuration or set up I could be missing?
Any Thoughts?
Chris
Chris
