National Instruments NI-Motion User Manual

Page 303

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Index

© National Instruments Corporation

I-7

NI-Motion User Manual

LabVIEW code, 16-4
solution, 16-1

RTSI

encoder pulses, 12-39
hardware implementation, 12-38
high-speed capture input, 12-40
software trigger, 12-39
using breakpoints with, 12-39

run sequence, 8-1
running onboard programs, 14-8

S

scanning

blending move segments, 15-7

algorithm, 15-8
C/C++ code, 15-10
LabVIEW code, 15-9

connecting move segments, 15-1

algorithm, 15-2
C/C++ code, 15-4
LabVIEW code, 15-3

user-defined scan path, 15-13

algorithm, 15-15
C/C++ code, 15-17
LabVIEW code, 15-16

servo tuning, 3-1

control loop, 3-2

acceleration feedforward, 3-6
derivative gain, 3-5
dual loop feedback, 3-7

algorithm, 3-8

Ga, 3-7
integral gain, 3-4
Kdac, 3-6
Kt, 3-7
proportional gain, 3-4
velocity feedback, 3-5, 3-9

algorithm, 3-10
velocity amplifiers, 3-10

velocity feedforward, 3-5

shake and wake, A-1
single-stepping onboard programs, 14-9
sinusoidal commutation, A-1

commutation frequency, A-2
determining counts per electrical

cycle, A-2

phase initialization

direct set, A-2
Hall effect sensors, A-1
shake and wake, A-1

troubleshooting Hall effect sensors, A-3

slave axis, 10-1, 10-4
software

interaction with NI motion control

hardware, 1-2

NI resources, D-1

software trigger using RTSI, 12-39
software/hardware interaction, 1-2
speed control, 13-14

algorithm, 13-14
C/C++ code, 13-16
LabVIEW code, 13-15

spherical arc move, 6-7

algorithm, 6-9
C/C++ code, 6-10
LabVIEW code, 6-10

start angle, 6-2
status display, 4-14
stopping onboard programs, 14-8
straight-line move

position-based, 5-1

algorithm, 5-2
C/C++ code, 5-5
LabVIEW code, 5-3

velocity profiling using velocity

override, 5-17

algorithm, 5-18
C/C++ code, 5-20
LabVIEW code, 5-19

velocity-based, 5-10

algorithm, 5-11

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