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Motion Control
TM
NI-Motion User Manual
NI-Motion User Manual
November 2005
371242B-01
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support Worldwide Technical Support and Product Information ni.com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 683 0100 Worldwide Offices Australia 1800 300 800, Austria 43 0 662 45 79 90 0, Belgium 32 0 2 757 00 20, Brazil 55 11 3262 3599, Canada 800 433 3488, China 86 21 6555 7838, Czech Republic 420 224 235 774, Denmark 45 45 76 26 00, Finland 385 0 9 725 725 11, France 33 0 1 48 14 24 24, Germany 49 0 89 741 31 30, India 91
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Important Information Warranty The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty per
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Contents About This Manual Conventions ...................................................................................................................xiii Documentation and Examples .......................................................................................xiv PART I Introduction Chapter 1 Introduction to NI-Motion About NI-Motion ...........................................................................................................1-1 NI-Motion Architecture .................
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Contents PART III Programming with NI-Motion Chapter 4 What You Need to Know about Moves Move Profiles ................................................................................................................ 4-1 Trapezoidal...................................................................................................... 4-1 S-Curve ........................................................................................................... 4-2 Basic Moves ..............................
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Contents Chapter 6 Arc Moves Circular Arcs..................................................................................................................6-1 Arc Move Algorithm .......................................................................................6-3 LabVIEW Code...............................................................................................6-4 C/C++ Code.....................................................................................................6-4 Sphe
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Contents Chapter 10 Electronic Gearing and Camming Gearing .......................................................................................................................... 10-1 Algorithm ........................................................................................................ 10-2 Gear Master ...................................................................................... 10-4 LabVIEW Code.............................................................................
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Contents Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only) .........................................12-21 Modulo Breakpoints Algorithm ......................................................................12-23 LabVIEW Code...............................................................................................12-24 C/C++ Code.....................................................................................................12-25 High-Speed Capture....................................
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Contents C/C++ Code .................................................................................................... 14-6 Running, Stopping, and Pausing Onboard Programs .................................................... 14-8 Running an Onboard Program ........................................................................ 14-8 Stopping an Onboard Program........................................................................ 14-8 Pausing/Resuming an Onboard Program ......................
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Contents Blending Straight-Line Move Segments........................................................................15-7 Raster Scanning Using Blended Straight Lines Algorithm.............................15-8 LabVIEW Code...............................................................................................15-9 C/C++ Code.....................................................................................................15-10 User-Defined Scanning Path...................................
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About This Manual This manual provides information about the NI-Motion driver software, including background, configuration, and programming information. The purpose of this manual is to provide a basic understanding of the NI-Motion driver software, and provide programming steps and examples to help you develop NI-Motion applications. This manual is intended for experienced LabVIEW, C/C++, or other developers. Code instructions and examples assume a working knowledge of the given programm
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About This Manual italic Italic text denotes variables, emphasis, a cross reference, or an introduction to a key concept. Italic text also denotes text that is a placeholder for a word or value that you must supply. monospace Text in this font denotes text or characters that you should enter from the keyboard, sections of code, programming examples, and syntax examples. This font is also used for the proper names of disk drives, paths, directories, programs, subprograms, subroutines, device
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About This Manual NI Developer Zone (NIDZ)—Visit the NI Developer Zone, at ni.com/zone, for example programs, tutorials, technical presentations, the Instrument Driver Network, a measurement glossary, an online magazine, a product advisor, and a community area where you can share ideas, questions, and source code with motion developers around the world. Motion Hardware Advisor—Visit the National Instruments Motion Hardware Advisor at ni.com/devzone/advisors/motion/ to select motors an
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Part I Introduction This user manual provides information about the NI-Motion driver software, motion control setup, and specific task-based instructions for creating motion control applications using the LabVIEW and C/C++ application development environments. Part I covers the following topics: Introduction to NI-Motion Creating NI-Motion Applications © National Instruments Corporation I-1 NI-Motion User Manual
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1 Introduction to NI-Motion About NI-Motion NI-Motion is the driver software for National Instruments 73xx motion controllers and the NI SoftMotion Controller. You can use NI-Motion to create motion control applications using the included library of LabVIEW VIs and C/C++ functions. National Instruments also offers the Motion Assistant and NI-Motion development tools for Visual Basic. NI-Motion Architecture The NI-Motion driver software architecture is based on the interaction between the NI
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Chapter 1 Introduction to NI-Motion Software and Hardware Interaction NI Motion Assistant Graphical Prototyping Tool Creates ADE Code Measurement and Application Development Environments: Automation Explorer LabVIEW, Visual Basic, and C++ Configuration Utility NI-Motion Driver Software NI Motion Controller Figure 1-1. NI Motion Control Hardware and Software Interaction Note The last block in Figure 1-1 is not applicable to the NI SoftMotion Controller. NI Motion Controller Architecture This sec
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Chapter 1 Introduction to NI-Motion The controller CPU is a 32-bit micro-controller running an embedded real time, multitasking operating system. This CPU offers the performance and determinism needed to solve most complex motion applications. The CPU performs command execution, host synchronization, I/O reaction, and system supervision. The DSP has the primary responsibility of fast closed-loop control with simultaneous position, velocity, and trajectory maintenance on multiple axes. The
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Chapter 1 Introduction to NI-Motion Figure 1-2 illustrates the physical architecture of the NI motion controller hardware. NI Motion Controller Host Computer Microprocessor Running a Real-Time Digital Signal Operating System Processor (DSP) PC Supervisory/ Control Loop and Communications/ Trajectory Generation User-defined Onboard Programs FPGAs Watchdog Timer Encoders and Motion I/O Figure 1-2. Physical NI Motion Controller Architecture Tip Because the NI SoftMotion Controller is not a hardwa
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Chapter 1 Introduction to NI-Motion Figure 1-3 shows the components of the NI 73xx motion controllers. Typical NI 73xx Motion Controller Architecture Supervisory Control To drive Trajectory Generation Host Bus Control Loop From feedback & sensors Microcontroller running RTOS/DSPs/FPGAs Figure 1-3. Typical NI 73xx Motion Controller Functional Architecture Figure 1-4 shows the components of the NI SoftMotion controller. NI SoftMotion Controller Architecture Software is separate from the I/O Super
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Feedback Decel Jerk Chapter 1 Introduction to NI-Motion Figure 1-5 illustrates the functional architecture of NI motion controllers. Trajectory Generation (ms) Cruise Supervisory Control Control Loop (µs) (ms) (with Interpolation) User API Interface Time dt Set Point Supervisory Commands for Interpolation Output PID Trajectory Generator Control New Event Monitoring Interface Set Point Updated Updates Trajectory Generator Based on I/O And User I/O Sensor Response Figure 1-5. NI Motion Contro
