softmotion module using 9505?

[SaraBaber]

Hello

I need some help regarding softmotion module.

I am using compacrio 9074, drivers for my stepper motor 9505 and DIO module 9504 for my encoders input.I am using softmotion module to create the closed loop spline generation in fpga mode

I have few questions:

1.I want to implement the closed loop axis configuration using my stepper drive 9505. Is it possible with 9505 or I have to use 9512 for thispurpose. beacuse when I try to adjust my axis settings with 9505 it gives me option of only open loop with stepper motor

2. Can we use interactive test panel only in scan interface programming mode or also in fpga mode?

3. Do we have to set the axis setting of softmotion module in fpga mode too?

Thanks

Sara

[SaraBaber]

Sorry the module is 9501!I wrote it by mistake

[Marshall_B]

Hi Sara,

Take a look at the Getting Started with LabVIEW NI SoftMotion and C Series Drive Interfaces tutorial from our website.  

It explains that the interactive test panel is used for debugging purposes, while the Axis Configuration dialog box is used to set the axis properties.  Both of these options will be available from the Project Explorer window, both when the cRIO chassis is in Scan Interface mode and LabVIEW FGPA Interface mode.  

The settings you make in the Axis Configuration dialog box will be transferred to the device regardless of the mode that you are in.

With regard to the NI-9501 c series module, you will only be able to configure the device in an open-loop setting, since the device does not have any connections for encoder feedback.  Take a look at the linked manual for more information.

I hope this helps you out.

[SaraBaber]

Thanks for the reply!

I am also having 9401 module, the DIO module for my getting the reading of encoders! But yes it is not in my driver module like in 9512 we find the encoders within the module. So does that mean that If I donot have the encoders with my driver and have them separetly so I cannot use it as closed loop? I can only program it in open loop as I am using 9501?

I am urgently waiting for response!

Thanks

[Marshall_B]

Hi Sara,

You will not be able to configure the 9501 device for closed-loop control in the Axis Configuration settings as this is not a supported property of that module.  

However, your code in LabVIEW could be made to acquire data from both your 9501 and 9401 modules for closed-loop control.  The 9501 module will still need to be set to open-loop in the Axis Configuration settings but your code will effectively "close" the loop for feedback control by reading in data from your 9401 module.

Let me know if this helps.

[SaraBaber]

Thanks Yes I am understanding what you are saying.

I have attached my code!I have used an built in example for open loop traectory control of 9505 for this and changed according to my needs

Now I am not understanding how should I make it close loop! because the motor stops as soon as the interpolation stops! It doesnot depend on encoders rather it depends upon spline interpolation, when it finishes it stops the motor!

How can I say that interpolation starts when the encoder start changing its value??

Thanks

Sara

[Marshall_B]

Hi Sara,

What target (Windows/Real-Time/FPGA) is each of your three VIs running on?

Which modules are being called within the "Untitled 2" VI and what are you trying to do in this part of the code?  Would I be right in assuming that the first module node is referencing your 9401 DIO module and the final module mode is referencing your 9501 module?  Is this VI running on your FPGA target?

Would I also be right in thinking that the "Offline Traj" VI is on your Real-Time target.  I can see that you are reading in various control options for your 9501 Stepper Drive module, determining whether a fault has occurred and waiting for the drive status to be enabled before continuing.  You are then setting your position controls and writing the resulting profile to a DMA FIFO.

Your Windows Host VI ("Calculate Move Profile") reads in properties set on your Front Panel and calculates the Straight-Line Move Profile via an Invoke Method Node.  The trajectory is then displayed on an graph indicator.  Note that this will only perform the desired action once and then stop.  You also do not appear to be communicating between the Host VI and the Real-Time target.  This may be the cause of the behavior that you are seeing.  

What other VIs are you using in your Host VI?  I can see three VIs which I do not appear to have on my own system:

nimc.create.vi and nimc.destroy.vi (two instances)

Kind regards,