Position of reset Soft Motion

I have a question on the implementation of the method 'Reset the Position' in smooth movement.  I use the interface of axis of gentle movement.  My system is setup similar to the sample project "Interface Servo (9263 & 9401 & 9411)" unbound axis.  When I run a Reset Position method

It resets the position in the trajectory generator, but it does not implement the physical encoder reset.  I noticed that there are a freshly calculated position offset value in the generator of path data.

My encoder in the FPGA code has an entry to reset the position, but I'm not sure exactly the right order in the application of this.

Steve

Hi Steve,.

In your VI axis interface, you should be written the position of the encoder motor SoftMotion each evaluation period. Internally, SoftMotion knows when you reset the position, and it will automatically display the position of the encoder position to reset. So after a discount to zero position, it is likely that your position of encoder FPGA will be different from the position that reports SoftMotion. This is because done SoftMotion the scaling for you. Therefore, you don't have to use the Position offset value (and in fact probably does not yet need to be exposed to the user). The reason why Position Offset is an I64 is because it actually represents a fixed point value (this has been implemented before LabVIEW based point fixed so we have set up our own FXP). I think that the most significant 32 bits represent an integer I32 and the less 32-bit significant fraction, is similar to a +/-64,32 representation.

That being said, you see an incorrect reported position after performing a reset of the position? If so, what are your light?

Thank you

Tags: NI Hardware

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