error 200141 on parallel angular measure

I've been browsing the pages of discussion about this error, but so far the proposed resolutions have not worked.  I have included my highest level as well as the necessary Subvi VI in a zip folder.  On the schema of the structure BUSINESS here is "RELAXING" Mode  There are 2 ZIP files: 1 for the case which does not cause the error but 200141 poses problems of CPU load and the other that uses QUEUING but excites error 200141.

A summary of this VI is that there are 2 meters read the angular position of 2 motors in parallel.  In conjunction with the tasks of meter is a READ DAQ which reads in 2 analog signals from 2 Motors indicating the amount of torque being applied.  A time meter & signals are read, they are treated by a regulator PID VI & the control signal is sent by a WRITE of data acquisition.  The counters, READ, & WRITE all tasks are synchronized by the sample to the WRITING task clock & resident in the same loop.  Unfortunately, WRITING on FILE & SIGNALS VI GRAPHICS place a heavy burden on the CPU that the rate of loop iteration is seriously hindered.  To reduce this burden, I added a parallel loop & employees QUEUING to show data & file.  It resulted in significant improvement of control performance.  However, 200141 intermittently error especially if the user makes changes in the PID tuning parameters.  This error not manifest on the VI that doesn't have the parallel loop with QUEUING.  I would like to use FILES but is unable to avoid this error, threatening!

SUGGESTIONS?  Oh, by the way I use a USB 6229 DMA data acquisition is not an option & are of the highest level VI "Integrated servo control".  If you respond with any VI I use LabView 8.5.1

Another possibility that I'm exploring but have never been implemented before, is that when error 200141 that the VI is not completed successfully. Therefore, the tasks may not actually STOP or CLEAR.  Is there a way to make sure that the tasks are DISABLED before execution of the loop & this could be a source of error 200141?

The VI "without problem" as far as I know always completes successfully even if an intermittent DAQ error occurs.

Tags: NI Hardware

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