NI 7358 problem with blended vector moves

[JulianG]

Hi!

I have a Problem with my Motion System. I'm using a PCI-7358 controler for some stepper motors. 

Two of them are coupled together to perform a X-Y- Motion and here is where the problem starts... 😉

The contour data is imported from a .txt file and stored in a 2D-Array. I want the system to combine these points to a continuous and smooth motion.

I've tried a lot and came to the conclusion that I could not use the "contoured move" because I want the motion to maintain a constant vector velocity but my imported data is not equally spaced. Also I need the ability to change the velocity sometimes or pause the whole movement during execution.

So I tried to blend straigt line moves from one point to the other. You can see this in my attached example file.

Thie works quite well if the spacing between two points is large (like in test2.txt file), but if it gets smaller, the motion becomes jerky and stops between the points. ( test2Interpol.txt uses the same points as before, but with interpolated additional points between them)

Is there a possibility to get rid of the jerk?

I tried to use the buffer like for the contour move, but this didn't work out. But maybe I made a mistake? Has anyone encountered a problem like this before?

Or, alternatively, is ther an option to control the contoured move during its execution?

Thanks very much in advance!

[jSturm]

Hey JulianG,

have you already seen the motion Sequence of Blended Vectr Moves.vi ?
Maybe that will help you:

Sequence of Blended Vector Moves.vi - National Instruments
http://www.ni.com/example/27443/en/

Creating a Sequence of Blended Lines and Arcs - National Instruments
http://www.ni.com/example/26088/en/

[JulianG]

Hey jSturm,

Thank you for your answer and the suggestion.

I already found these examples but unfortunately they produce the same result... 😕

[jSturm]

Hey JulianG,

I found some other documentation, which you can check up.

Can I Specify Acceleration and Velocity for a Contoured Move? - National Instruments
http://digital.ni.com/public.nsf/allkb/F58339DBA74CF728862573760005B0B1?OpenDocument

How To String Together Multiple Straight Line and Contour Moves in NI SoftMotion - National Instruments
http://digital.ni.com/public.nsf/allkb/D0C8800A27E5CB05862575BB004F807E?OpenDocument

Why Does Motion Assistant Exceed Velocity Constraints when Running a Contoured Move? - National Instruments
http://digital.ni.com/public.nsf/allkb/A243BDF938D4406B86256E710055E012?OpenDocument

How does Feedback Work with Closed Loop Contour Moves? - National Instruments
http://digital.ni.com/public.nsf/allkb/06B43DC74099D56B86256FBA006F3C29?OpenDocument

What is the Minimum Time Interval for a Contour Move? - National Instruments
http://digital.ni.com/public.nsf/allkb/2BA4B0E07B0ED46386256F10005889A4?OpenDocument

Mabye that will help you.