Genral how do synchronized encoders work with a PCI-6602
Well, here is the work routine for syncronous data two encoders, and it seems to work very well.
I have this working with my two 2000 encoders of CPR, let's see how it works when I get the CPR 500 000 encoders later.
The three major problems that caused it does not work have been:
(1) argument to the task of createCOpulsechanfreq must be between 0 and 1 of the cycle Theduty. I had ' 50.0 ' before, it works when it is "0.5".
(2) the time base sample that I used (ctr7) necessary must be started before one of my two angle encoder tasks have been created
(3) the string "dev/PFI8" should be replaced by ' / dev/PFI8 ". I don't really understand why, but it was what seemed to fix it.
If this question has been answered... Now I have a different problem when playing 8 values PWM both with the Semiperiodcounter, which I'll post in a new a different thread.
Thank you!
"' Working code here
Public Sub Aquireposition(samples As Long, data0() As Double, data1() As Double)
Protected BaseTaskHandle as long
Dim encoder0TaskHandle As Long
Dim encoder1TaskHandle As Long
Dim TaskIsRunning As Boolean
Dim ReadCount as long
Dim strCounterString As String
On Error GoTo ErrorHandler
DAQmxErrChk DAQmxCreateTask ("base", BaseTaskHandle)
DAQmxErrChk DAQmxCreateCOPulseChanFreq(BaseTaskHandle, "/Dev1/ctr7", "base", DAQmx_Val_FrequencyUnits2_Hz, DAQmx_Val_Level1_Low, 0#, 200#, 0.5)
"Specify the continuous time
DAQmxErrChk DAQmxCfgImplicitTiming(BaseTaskHandle, DAQmx_Val_AcquisitionType_ContSamps, 200)
"Startup DAQmx code."
DAQmxErrChk DAQmxStartTask (BaseTaskHandle)
"DAQmx Configure Code
DAQmxErrChk DAQmxCreateTask ("encoder", encoder0TaskHandle)
TaskIsRunning = True
DAQmxErrChk DAQmxCreateCIAngEncoderChan(encoder0TaskHandle, "/Dev1/ctr0", "", DAQmx_Val_EncoderType2_X4, 0, 0#, DAQmx_Val_EncoderZIndexPhase1_AHighBHigh, DAQmx_Val_AngleUnits2_Degrees, 500, 0#, "")
DAQmxErrChk DAQmxCfgSampClkTiming(encoder0TaskHandle, "/Dev1/PFI8", 1, DAQmx_Val_Rising, DAQmx_Val_AcquisitionType_FiniteSamps, samples)
"second encoder.
DAQmxErrChk DAQmxCreateTask ("encoder1", encoder1TaskHandle)
TaskIsRunning = True
DAQmxErrChk DAQmxCreateCIAngEncoderChan(encoder1TaskHandle, "/Dev1/ctr1", "", DAQmx_Val_EncoderType2_X4, 0, 0#, DAQmx_Val_EncoderZIndexPhase1_AHighBHigh, DAQmx_Val_AngleUnits2_Degrees, 500, 0#, "")
DAQmxErrChk DAQmxCfgSampClkTiming(encoder1TaskHandle, "/Dev1/PFI8", 1, DAQmx_Val_Rising, DAQmx_Val_AcquisitionType_FiniteSamps, samples)
"Startup DAQmx code."
DAQmxErrChk DAQmxStartTask (encoder0TaskHandle)
DAQmxErrChk DAQmxStartTask (encoder1TaskHandle)
"DAQmx Code reading
DAQmxErrChk DAQmxReadCounterF64 (encoder0TaskHandle-1, 0.05 * samples, data0 (0), samples, ReadCount, ByVal 0 &)
DAQmxErrChk DAQmxReadCounterF64 (encoder1TaskHandle-1, 0.05 * samples, data1 (0), samples, ReadCount, ByVal 0 &)
"Everything is done! StopTask
' DAQmxErrChk DAQmxStopTask (TaskHandle)
"Work stoppage is not necessary because the clear task also stops task"
DAQmxErrChk DAQmxClearTask (encoder0TaskHandle)
DAQmxErrChk DAQmxClearTask (encoder1TaskHandle)
DAQmxErrChk DAQmxClearTask (BaseTaskHandle)
Exit Sub
ErrorHandler:
' MsgBox "error:" & Err.Number & ""& Err.Description, "Error".
' mlngPWM_ErrorCount (lngChannel) = (lngChannel) + 1 mlngPWM_ErrorCount
"MainForm.PWMErrorCount =" errors ("& lngChannel &"): "" & mlngPWM_ErrorCount (lngChannel)
Next summary
End Sub
Tags: NI Hardware
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