Pulse/counter of encoder data wrong servo motor

First of all, I am very new to the use of labview.  I'm trying to complete a project, a former employee was working on that.

For a quick background on what I'm working with, I use an NI DAQCard-6036E connected to a SC-2345.  SC-2345 is then connected to a load cell, Omron R88D servo driver and an omron servo motor.  The actuator is an incremental encoder with resolution of about 2048 pulses per revolution.  My labview program includes a counter that records the data of the encoder on the servo-motor.  I was able to get accurate data during the test through the program of measurement and automation of the engine manually.  Also when running through the specific DAQ assistant, I use for my counter, I'm getting correct readings by turning manually engine.  Once I run my full program, instead of get 2048 pulses per turn, I'm between 34000 and 36000 pulses per revolution.  The more logical assumption is that I get vibrations in the engine itself or some kind of noise disturbs my signal.  First, I tried to change the possible settings via the omron servo driver that could reduce the vibrations of the engine.  I try to change the stiffness settings, enable, and disable the automatic adjustment feature and a few other parameters specified by the user manual which could cause vibrations.  If turn the settings from rigidity as low as possible, I am able to get around 2000 impulses per turn, but data are very sporadic. In addition, my equipment must be very stiff, and with setting the lower rigidity for the servo driver, I can almost stop the engine with a minimum of force.  My equipment must be able to travel at a near constant speed with fluctuations of up to 200 N force.  Any suggestions on the direction in which I should go in search of a countermeasure?

Thank you

Experience with actuators is that they can produce large quantities of electrical noise.  I guess that noise can enter the signal of coders.  Look carefully at your wiring and make sure that you do not have a ground loop between your hardware OR and the actuator.

Tags: NI Hardware

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