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Cannot regulate velocity of AKD controlled by cRIO through Interactive Test Panel (LabVIEW)
I am trying to control the AKM32H‐ ANCNC‐00 motor with the AKD P00606 NAAN 0000 servo drive from Kollmorgen. I am using CRIO 9074 controller and NI 9516 as drive interface module.
I have created a LabVIEW Project (LabVIEW 2018) and have add an NI Softmotion Axis. I have configured my C series modules using the Axis Configuration dialog box according to the “Getting Started with NI 9514/16 C Series Modules and AKD Servo Drives” guide of NI.
After that I configured the Drive in AKD Workbench also according to the guide and the characteristics of my motor (Torque Mode is used).
Then as instructed by the guide I went back on the interactive test panel in LabVIEW to test if the motor is working properly.
I have tried to test the motor both at relative and absolute motion at various target positions and move constraints. The position error limit is set at 1000 Revolutions.
Whatever settings I choose for velocity in move constraints, I always get a velocity of 7-8 revs/sec. The profile complete status turns green when the set velocity reaches the target position but the motor continuous to spin until the position error limit is reached and it stops.
Changing the Gains through the Gain Tuning panel change nothing.
I have to note that several times I have to rotate the motor by hand to start.
The encoder works fine since I have tried manually to rotate the motor and the encoder signal I get on the Interactive test panel is accurate.
I also have to note that The Hardware Enable Signal is shown to be not enabled on Workbench even though the brown cable of X8 connector is connected to pin 4 as suggested in the installation guide. On the other hand the motor receives a signal to start from CRIO so I guess this is not an issue.
I am stuck for several days and would be extremely grateful if you could suggest me how to proceed from this point in order to manage to control the speed and to avoid getting this position error.
Please let me know if u need any extra information.
Submitted by George A Tue, 02/23/2021 - 01:23
We have an agreement with National Instruments that they provide technical support for cRIO controllers.
We have no experience with the setup, programming, or troubleshooting of CRIO controllers.
Your observation in Workbench doesn't make any sense to me. I've not seen a case where the HW enable indication in Workbench
is red but the motor can move. I recommend for Workbench and AKD drive related questions and issues you contact our office in Germany for technical support.
Submitted by toddevans01 Thu, 02/25/2021 - 12:44