Finishing up 1st H2-CTRIO Project

[eric14779]

I am finishing up my first CTRIO OUTPUT project.

I have got the CTRIO to setup for Dynamic Positioning, Load my Pulse profile File, and output pulses to drive my servo...

now the next issue is that the servo is slaved to the CTRIO output so it just does what it is told...  (no move complete signal from the Servo)

I know that there is a output 0 active bit ( B2022.4 )  Is there a OUTPUT COMPLETE  bit ??   or could someone show me how to use B2022.4 to know that it is in position so I can proceed ??

Thanks

[Greg]

Yes, the problem with Dynamic Position is there is no encoder feedback. Here's how to do it:

1. Write your new position value.
2. Set the GotoPosition bit.
3. When you see the PositionLoaded bit come ON, use that to Reset the GotoPosition bit.
4. THEN monitor the OutputActive bit. When this bit goes OFF (falling edge, if you like), you have reached your new position.

[eric14779]

Thanks Greg

after I posted this question I found in the CTRIO Quick Start Guide page 9

that when Output Active is OFF  and Position Loaded is ON   CTRIO is in position  (done pulsing)

witch is the better way to sense that CTRIO is in position ??

[Greg]

What you found in the QuickStart manual is essentially what I said. Mine is more technically accurate.

When you turn the GotoPosition bit ON, the feedback for that is the PositionLoaded bit. In other words, you say, "GotoPosition" and the CTRIO responds "Doing it now" (PositionLoaded = ON). At that point the OutputActive bit will be ON because the CTRIO is generating pulses. When OutputActive bit = OFF, then you have reached your position.

So, QuickStart is correct; mine just has more technical detail.