cRIO 9064 Python with FPGA library

[Mariusjuv]

I have asked a question earlier about Crio 9064,  but I think I understand a bit better how to frame my question.

I have updated all firmware and drivers as of Jan 2022. Matching host and remote 

I see in Labview that I have access to Linux. See attached files

Is there a library/ driver package with a simple code example showing how to control a Kollmorgen AKM motor without going via Labview?

I see there are some documentation on doing it via FPGA in Labview, but since I’m not familiar with that language, I was hoping I could just find a library /API showing how to control the motors (and or generating FPGA code) with standard Python code?

The project I’m working on also contain a DAQmx which control all the sensors. There I used the nidaq package from NI which worked perfectly, and was easy to understand, does it exist something similar for cRIO?

[GerdW · Accepted solution]

Hi Marius,

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@Mariusjuv wrote:

I have asked a question earlier about Crio 9064

The project I’m working on also contain a DAQmx which control all the sensors. There I used the nidaq package from NI which worked perfectly, and was easy to understand, does it exist something similar for cRIO?

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Well: "modern" cRIOs also support DAQmx.

But: your cRIO is not modern, it's rather old. The 906x devices do NOT support DAQmx!

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@Mariusjuv wrote:

I see there are some documentation on doing it via FPGA in Labview, but since I’m not familiar with that language, I was hoping I could just find a library /API showing how to control the motors (and or generating FPGA code) with standard Python code?

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I'm not an expert in "Python for NI devices", but never heard of FPGA support for Python. And even if that would exist I doubt it will support those older cRIO devices…

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@Mariusjuv wrote:

Is there a library/ driver package with a simple code example showing how to control a Kollmorgen AKM motor without going via Labview?

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NI used to sell Kollmorgen motors together with its SoftMotion module, so there will be examples for that module.

They will not be useful for you as SoftMotion is not supported any more (AFAIK)…

Read the manual of the Kollmorgen AKM drives to learn how to control them remotely.

[rolfk]

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@GerdW wrote:

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@Mariusjuv wrote:

I see there are some documentation on doing it via FPGA in Labview, but since I’m not familiar with that language, I was hoping I could just find a library /API showing how to control the motors (and or generating FPGA code) with standard Python code?

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I'm not an expert in "Python for NI devices", but never heard of FPGA support for Python. And even if that would exist I doubt it will support those older cRIO devices…

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NI supports Python access to the CompactRIO API. https://nifpga-python.readthedocs.io/en/latest/

But that does not replace LabVIEW FPGA. You still develop the FPGA code in LabVIEW and create a bitfile and then install that file to the target and from there can use the NI Python RIO API to load the FPGA bitfile and communicate with its FIFOs and FP registers.

This should work for all NI Linux RT based controllers which your 9064 is too.

This link gives you some further information how to communicate with Kollmorgen devices without using SoftMotion. You will of course need a servo drive controller (such as the AKD mentioned in those linked documents) in addition to your AKM motor.