Document Outline

• NI-Motion User Manual
• Support
  • Worldwide Technical Support and Product Information
  • National Instruments Corporate Headquarters
  • Worldwide Offices
• Important Information
  • Warranty
  • Copyright
  • Trademarks
  • Patents
  • WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
• Contents
• About This Manual
  • Conventions
  • Documentation and Examples
• Part I Introduction
• Chapter 1 Introduction to NI-Motion
  • About NI-Motion
  • NI-Motion Architecture
    • Software and Hardware Interaction
      • Figure 1-1. NI Motion Control Hardware and Software Interaction
    • NI Motion Controller Architecture
      • NI 73xx Architecture
      • Figure 1-2. Physical NI Motion Controller Architecture
    • NI Motion Controller Functional Architecture
      • Figure 1-3. Typical NI 73xx Motion Controller Functional Architecture
      • Figure 1-4. NI SoftMotion Controller Functional Architecture
      • Figure 1-5. NI Motion Controller Functional Architecture
      • NI SoftMotion Controller Architecture
      • Figure 1-6. NI SoftMotion Controller Functional Architecture for Ormec
      • Figure 1-7. NI SoftMotion Controller Functional Architecture for CANopen
  • NI SoftMotion Controller Communication Watchdog
• Chapter 2 Creating NI-Motion Applications
  • Creating a Generic NI-Motion Application
    • Figure 2-1. Generic Steps for Designing a Motion Application
  • Adding Measurements to an NI-Motion Application
    • Figure 2-2. Input/Output with Data and Image Acquisition
• Part II Configuring Motion Control
• Chapter 3 Tuning Servo Systems
  • NI SoftMotion Controller Considerations
    • NI SoftMotion Controller for CANopen
    • NI SoftMotion Controller for Ormec
  • Using Control Loops to Tune Servo Motors
    • Figure 3-1. Properly Tuned Servo Motor Behavior
    • Control Loop
      • Figure 3-2. NI-Motion Servo PID Loop
      • PID Loop Descriptions
      • Figure 3-3. Dual Loop Feedback
      • Figure 3-4. Dual Loop Feedback Algorithm
    • Velocity Feedback
      • Figure 3-5. Velocity Feedback
      • Figure 3-6. Alternate Dual-Loop Feedback Algorithm
    • NI Motion Controllers with Velocity Amplifiers
      • Figure 3-7. NI Motion Controllers with Velocity Amplifiers
      • Figure 3-8. NI Motion Controllers with Velocity Amplifiers Algorithm
• Part III Programming with NI-Motion
• Chapter 4 What You Need to Know about Moves
  • Move Profiles
    • Trapezoidal
      • Figure 4-1. Trapezoidal Move Profile
    • S-Curve
      • Figure 4-2. S-Curve Move Profile
      • Basic Moves
      • Coordinate Space
      • Figure 4-3. 3D Coordinate Space
      • Multi-Starts versus Coordinate Spaces
    • Trajectory Parameters
      • NI 73xx Floating-Point versus Fixed-Point
      • NI 73xx Time Base
      • Table 4-1. Velocity in Counts/Min
      • Table 4-2. Acceleration Update Rate in Counts/Sec2
      • Table 4-3. Acceleration Update Rate in RPS/s
    • NI 73xx Arc Move Limitations
  • Timing Loops
    • Status Display
    • Graphing Data
    • Event Polling
• Chapter 5 Straight-Line Moves
  • Position-Based Straight-Line Moves
    • Straight-Line Move Algorithm
      • Figure 5-1. Position-Based Straight-Line Move Algorithm
      • Figure 5-2. 1D Straight-Line Move in LabVIEW
      • Figure 5-3. 2D Straight-Line Move in LabVIEW
    • C/C++ Code
      • 1D Straight-Line Move Code
      • 2D Straight-Line Move Code
  • Velocity-Based Straight-Line Moves
    • Algorithm
      • Figure 5-4. Velocity-Based Straight-Line Move Algorithm
      • Figure 5-5. Velocity Profile
    • LabVIEW Code
      • Figure 5-6. Velocity-Based Straight-Line Move in LabVIEW
    • C/C++ Code
  • Velocity Profiling Using Velocity Override
    • Algorithm
      • Figure 5-7. Velocity Override Algorithm
    • LabVIEW Code
      • Figure 5-8. Velocity-Based Move Using Velocity Override in LabVIEW
    • C/C++ Code
• Chapter 6 Arc Moves
  • Figure 6-1. Arc Move Data Path
  • Circular Arcs
    • Figure 6-2. Rotating Start Angle
    • Figure 6-3. Positive and Negative Travel Angles
    • Arc Move Algorithm
      • Figure 6-4. Circular Arc Move Algorithm
    • LabVIEW Code
      • Figure 6-5. Circular Arc Move in LabVIEW
    • C/C++ Code
  • Spherical Arcs
    • Figure 6-6. Changing Pitch by Rotating the X Axis
    • Figure 6-7. Changing Yaw by Rotating the Z Axis
    • Algorithm
      • Figure 6-8. Spherical Arc Algorithm
    • LabVIEW Code
      • Figure 6-9. Spherical Arc Move in LabVIEW
    • C/C++ Code
  • Helical Arcs
    • Figure 6-10. Helical Arc
    • Algorithm
      • Figure 6-11. Helical Arc Algorithm
    • LabVIEW Code
      • Figure 6-12. Helical Arc Move in LabVIEW
    • C/C++ Code
• Chapter 7 Contoured Moves
  • Figure 7-1. Contoured Move Data Path
  • Overview
  • Arbitrary Contoured Moves
    • Contoured Move Algorithm
      • Figure 7-2. Contoured Move Algorithm
      • Absolute versus Relative Contouring
      • Figure 7-3. Absolute Contouring Buffer Values
      • Figure 7-4. Relative Contouring Buffer Values
    • LabVIEW Code
      • Figure 7-5. Contoured Move in LabVIEW
      • Figure 7-6. Contoured Move True Case in LabVIEW
    • C/C++ Code
• Chapter 8 Reference Moves
  • Find Reference Move
    • Reference Move Algorithm
      • Figure 8-1. Find Reference Move Algorithm
    • LabVIEW Code
      • Figure 8-2. Find Reference Move in LabVIEW
    • C/C++ Code
• Chapter 9 Blending Moves
  • Blending
    • Figure 9-1. Two Blended Straight-Line Moves
    • Superimpose Two Moves
      • Figure 9-2. Superimposing Two Moves
    • Blend after First Move Is Complete
      • Figure 9-3. Blending after Move Complete
    • Blend after Delay
      • Figure 9-4. Blending after a Delay
    • Blending Algorithm
      • Figure 9-5. Blending Algorithm
    • LabVIEW Code
      • Figure 9-6. Blended Straight-Line Move and Arc Move in LabVIEW
    • C/C++ Code
• Chapter 10 Electronic Gearing and Camming
  • Gearing
    • Algorithm
      • Figure 10-1. Electronic Gearing Algorithm
      • Figure 10-2. Relative Gearing at Enable
      • Figure 10-3. Absolute Gearing at Gear Ratio Change
      • Gear Master
    • LabVIEW Code
      • Figure 10-4. Tracking an Encoder Using Electronic Gearing with Superimposed Move
    • C/C++ Code
  • Camming
    • Figure 10-5. Master/Slave Ratio in Gearing
    • Figure 10-6. Multiple Camming Gear Ratios
    • Figure 10-7. Welding Application
    • Algorithm
      • Figure 10-8. Camming Algorithm
    • Camming Table
      • Figure 10-9. Welding Application Time and Speed Constraints
      • Figure 10-10. First and Second Move Segment Profile
      • Table 10-1. Welding Application Cam Table
      • Figure 10-11. Master and Slave Positions at Enable
      • Figure 10-12. Master Axis Moves within Interval
      • Figure 10-13. Gear Ratio Change
      • Figure 10-14. Camming Cycle Repeats
      • Slave Offset
      • Table 10-2. Camming Profile with and without Slave Offset
      • Figure 10-15. Camming without Offset
      • Master Offset
      • Figure 10-16. Misaligned Material and Welding Point
      • Figure 10-17. Camming Profile Starts when First Material Passes
      • Figure 10-18. Camming Profiles with and without Master Offset
    • LabVIEW Code
      • Figure 10-19. Axis to Axis Camming
    • C/C++ Code
• Chapter 11 Acquiring Time-Sampled Position and Velocity Data
  • Figure 11-1. Acquire Data Path
  • Algorithm
    • Figure 11-2. Acquire Data Algorithm
  • LabVIEW Code
    • Figure 11-3. Acquire Data Using LabVIEW
  • C/C++ Code
• Chapter 12 Synchronization
  • Table 12-1. Breakpoint Modes on NI Motion Controllers
  • Absolute Breakpoints
    • Buffered Breakpoints (NI 7350 only)
      • Buffered Breakpoint Algorithm
      • Figure 12-1. Buffered Breakpoint Algorithm
      • LabVIEW Code
      • Figure 12-2. Buffered Position Breakpoint in LabVIEW
      • C/C++ Code
    • Single Position Breakpoints
      • Single Position Breakpoint Algorithm
      • Figure 12-3. Single Position Breakpoint Algorithm
      • LabVIEW Code
      • Figure 12-4. Single Position Breakpoint in LabVIEW
      • Figure 12-5. Single Position Breakpoint With RTSI Using LabVIEW
      • C/C++ Code
  • Relative Position Breakpoints
    • Relative Position Breakpoints Algorithm
      • Figure 12-6. Relative Position Breakpoints Algorithm
    • LabVIEW Code
      • Figure 12-7. Relative Position Breakpoint with RTSI Using LabVIEW
    • C/C++ Code
  • Periodically Occurring Breakpoints
    • Periodic Breakpoints (NI 7350 only)
      • Figure 12-8. Periodic Breakpoint Every 1,000 Counts/Steps
      • Periodic Breakpoint Algorithm
      • Figure 12-9. Periodic Breakpoint Algorithm
      • LabVIEW Code
      • Figure 12-10. Periodic Breakpoint Output
      • C/C++ Code
  • Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only)
    • Figure 12-11. Breakpoint Modulus of 500
    • Figure 12-12. Breakpoint Modulus of 2000 with an Offset of 500
    • Modulo Breakpoints Algorithm
      • Figure 12-13. Modulo Breakpoints Algorithm
    • LabVIEW Code
      • Figure 12-14. Modulo Breakpoint Using LabVIEW
      • Figure 12-15. Modulo Breakpoint with RTSI Using LabVIEW
    • C/C++ Code
  • High-Speed Capture
    • Buffered High-Speed Capture (NI 7350 only)
    • Buffered High-Speed Capture Algorithm
      • Figure 12-16. Buffered High-Speed Capture Algorithm
    • LabVIEW Code
      • Figure 12-17. Buffered High-Speed Capture in LabVIEW
    • C/C++ Code
    • Non-Buffered High-Speed Capture
    • High-Speed Capture Algorithm
      • Figure 12-18. High-Speed Capture Algorithm
    • LabVIEW Code
      • Figure 12-19. High-Speed Capture Using LabVIEW
      • Figure 12-20. High-Speed Capture with RTSI Using LabVIEW
    • C/C++ Code
  • Real-Time System Integration Bus (RTSI)
    • RTSI Implementation on the Motion Controller
      • Figure 12-21. RTSI Implementation on the Motion Controller
    • Position Breakpoints Using RTSI
      • Figure 12-22. Position Breakpoint Using RTSI
    • Encoder Pulses Using RTSI
      • Figure 12-23. Encoder Pulses Using RTSI
    • Software Trigger Using RTSI
      • Figure 12-24. Software Trigger Using RTSI
    • High-Speed Capture Input Using RTSI
      • Figure 12-25. High-Speed Capture Input Using RTSI
• Chapter 13 Torque Control
  • Analog Feedback
    • Figure 13-1. Torque Control Using Analog Feedback Flowchart
    • Torque Control Using Analog Feedback Algorithm
      • Figure 13-2. Torque Control Using Analog Feedback Algorithm
    • LabVIEW Code
      • Figure 13-3. Torque Control Using Analog Feedback Using LabVIEW
    • C/C++ Code
  • Monitoring Force
    • Figure 13-4. Torque Control Using Analog Feedback Flowchart
    • Torque Control Using Monitoring Force Algorithm
      • Figure 13-5. Torque Control Using Monitoring Force Algorithm
    • LabVIEW Code
      • Figure 13-6. Torque Control Using Monitoring Force in LabVIEW
    • C/C++ Code
  • Speed Control Based on Analog Value
    • Speed Control Based on Analog Feedback Algorithm
      • Figure 13-7. Speed Control Based on Analog Feedback Algorithm
    • LabVIEW Code
      • Figure 13-8. Speed Control Based on Analog Feedback Using LabVIEW
    • C/C++ Code
• Chapter 14 Onboard Programs
  • Using Onboard Programs with the NI SoftMotion Controller
  • Using Onboard Programs with NI 73xx Motion Controllers
    • Figure 14-1. Onboard Program Priority
    • Writing Onboard Programs
      • Figure 14-2. Writing Onboard Programs
    • Algorithm
      • Figure 14-3. Basic Onboard Program Algorithm
    • LabVIEW Code
      • Figure 14-4. Onboard Program in LabVIEW
    • C/C++ Code
  • Running, Stopping, and Pausing Onboard Programs
    • Running an Onboard Program
    • Stopping an Onboard Program
    • Pausing/Resuming an Onboard Program
      • Automatic Pausing
      • Single-Stepping Using Pause
  • Conditionally Executing Onboard Programs
    • Figure 14-5. Executing Onboard Programs
    • Onboard Program Conditional Execution Algorithm
      • Figure 14-6. Onboard Program Conditional Execution Algorithm
    • LabVIEW Code
      • Figure 14-7. Onboard Program Waiting for an I/O Line to Go Active
    • C/C++ Code
  • Using Onboard Memory and Data
    • Algorithm
      • Figure 14-8. Updating Velocity Based on ADC Channel Algorithm
    • LabVIEW Code
      • Figure 14-9. Updating Velocity Based on ADC Channel in LabVIEW
    • C/C++ Code
  • Branching Onboard Programs
    • Onboard Program Algorithm
      • Figure 14-10. Using Labels with Onboard Programs
    • LabVIEW Code
      • Figure 14-11. Continuously Executing Onboard Program in LabVIEW
    • C/C++ Code
  • Math Operations
  • Indirect Variables
    • Figure 14-12. Reading an Indirect Variable
  • Onboard Buffers
    • Figure 14-13. Onboard Buffer Data Flow
    • Algorithm
      • Figure 14-14. Onboard Buffer Algorithm
  • Synchronizing Host Applications with Onboard Programs
    • Figure 14-15. Synchronizing Host Applications with Onboard Programs
    • Figure 14-16. Synchronization Algorithm
    • LabVIEW Code
      • Figure 14-17. Synchronization Onboard Code in LabVIEW
      • Figure 14-18. Synchronization Host Code in LabVIEW
    • C/C++ Code
  • Onboard Subroutines
    • Algorithm
      • Figure 14-19. Onboard Subroutine Algorithm
    • LabVIEW Code
      • Figure 14-20. Onboard Subroutine Call Using LabVIEW
      • Figure 14-21. Clockwise Subroutine Using LabVIEW
      • Figure 14-22. Counter Clockwise Subroutine Using LabVIEW
    • C/C++ Code
  • Automatically Starting Onboard Programs
  • Changing a Time Slice
• Part IV Creating Applications Using NI-Motion
• Chapter 15 Scanning
  • Connecting Straight-Line Move Segments
    • Figure 15-1. Raster Scanning Path
    • Raster Scanning Using Straight Lines Algorithm
      • Figure 15-2. Raster Scanning Using Straight Lines Algorithm
    • LabVIEW Code
      • Figure 15-3. Scanning Using LabVIEW
    • C/C++ Code
  • Blending Straight-Line Move Segments
    • Figure 15-4. Blended Raster Scanning Path
    • Raster Scanning Using Blended Straight Lines Algorithm
      • Figure 15-5. Raster Scanning Using Blended Straight Lines Algorithm
    • LabVIEW Code
      • Figure 15-6. Scanning Using Blending
    • C/C++ Code
  • User-Defined Scanning Path
    • Figure 15-7. User-Defined Scanning Path
    • User-Defined Scanning Path Algorithm
      • Figure 15-8. User-Defined Scanning Path Algorithm
    • LabVIEW Code
      • Figure 15-9. Scanning Using Contouring
    • C/C++ Code
• Chapter 16 Rotating Knife
  • Solution
    • Figure 16-1. Rotating Knife
    • Algorithm
      • Figure 16-2. Rotating Knife Application Algorithm
    • LabVIEW Code
      • Figure 16-3. Rotating Knife Application Using LabVIEW
      • Figure 16-4. Figure 16-3 Sequence Structure 1
      • Figure 16-5. Figure 16-3 Sequence Structure 2
    • C/C++ Code
• Appendix A Sinusoidal Commutation for Brushless Servo Motion Control
• Appendix B Initializing the Controller Programmatically
  • Table B-1. Steps for Programmatically Initializing Controllers
• Appendix C Using the Motion Controller with the LabVIEW Real-Time Module
• Appendix D Technical Support and Professional Services
• Glossary
  • A-B
  • C-D
  • E-H
  • I-L
  • M-O
  • P-R
  • S-T
  • V-W
• Index
  • A-B
  • C-D
  • E-I
  • J-M
  • N-O
  • P-R
  • S
  • T
  • U-W