National Instruments NI-Motion - Manual (Page 22)

Chapter 1 Introduction to NI-Motion
NI-Motion User Manual 1-8 ni.com
Figure 1-6. NI SoftMotion Controller Functional Architecture for Ormec
NI SoftMotion Controller for CANopen
When you use the NI SoftMotion Controller with a CANopen device, you
can daisy chain up to 15 drives together and connect them to the real-time
host. The real-time Process Data Objects (PDOs) defined by the CANopen
protocol are used to transfer data between the drives and host.
All I/O required by the motion controller is implemented by CANopen
drives that support the Device Profile 402 for Motion Control. Currently,
the NI SoftMotion Controller supports only CANopen drives from Copley
Controls Corp. When used with CANopen devices, the Supervisory
Control and Trajectory Generation components of the NI SoftMotion
Controller execute in a real-time environment that is running LabVIEW
Real-Time Module (ETS).
If your motion control system uses 8 axes or fewer, the supervisory control
and trajectory generation loops execute every 10 milliseconds. If your
motion control system uses more than 8 axes, the supervisory control and
trajectory generation loops execute every 20 milliseconds. When you use
the NI SoftMotion Controller with a CANopen drive, the drive implements
the control loop and interpolation.
Trajectory
Generation
Supervisory
Control
I/O**
IEEE 1394 Bus
Ormec Drive NI SoftMotion Controller on Host Device*
*Host device is a PC or PXI chassis running the
LabVIEW Real-Time Module for RTX Targets
**I/O includes encoder implementation
Control
Loop