Motion Control and Motor Drives

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contouring wrong axis moves

I am trying to use the Contouring with the Motion Assistant generating my moves.

 

When I used the stand alone examples - it works fine, but when I configure a straight line move where the X-Axis is supposed to move, but the Y axis is supposed to stay the same the Start motion shows the Y axis trying to move.  I have not changes the code generation technique between the correctly working 1st move that moves the Y axis first (trying to do a square, making the sides using contoured moves where one axis stays put while the other traverses).

 

The data arrays I am feeding to the Buffer VIs have X,Y interleaved properly.  I am using the same code to generate the Vector Space in the move that runs properly vs the one that tried to move improperly.  When I plot the data it appears to be generated correctly.

 

I don't know why the system keeps trying to move the Y axis on subsequent moves when the value for Y is its current position and the X axis is the one with the channging targets over time (per the contouring output).  I get no generation errors from the Motion Assistant VIs, or the Vector Space setting VI.

Ryan Vallieu CLA, CLED
Senior Systems Analyst II
NASA Ames Research Center
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I was mis-interpreting ABSOLUTE in the set-up for ABSOLUTE CONTOURING - it doesn't mean the absolute position from the home setting - every move is considered starting at 0,0 from your CURRENT location regardless of it NOT being true absolute 0,0....

 

ugh

 

"All contour moves are relative, meaning that the move starts from the current position of the axis or axes. In absolute contouring mode, positions are interpreted with respect to the starting position of the contouring move. In relative contouring mode, positions are interpreted with respect to the previous position in the contouring data array."

Ryan Vallieu CLA, CLED
Senior Systems Analyst II
NASA Ames Research Center
0 Kudos
Message 2 of 2
(5,417 Views)