National Instruments NI-Motion manuals

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National Instruments NI-Motion User Manual

National Instruments NI-Motion User Manual

305 pages2.64 Mb

3Important Information
- Warranty
- Copyright
- Trademarks
- Patents
- WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
4Contents
- 5PART III Programming with NI-Motion Chapter 4 What You Need to Know about Moves
- Chapter 5 Straight-Line Moves
- 7Chapter 10 Electronic Gearing and Camming
- Chapter 11 Acquiring Time-Sampled Position and Velocity Data
- Chapter 12 Synchronization
- 8Chapter 13 Torque Control
- Chapter 14 Onboard Programs
- 9PART IV Creating Applications Using NI-Motion Chapter 15 Scanning
11About This Manual
- Conventions
- 12Documentation and Examples
14Part I
- Introduction
- 15Introduction to NI-Motion
  - About NI-Motion
  - NI-Motion Architecture
    - 16Software and Hardware Interaction
    - NI Motion Controller Architecture
    - NI 73xx Architecture
    - 18NI Motion Controller Functional Architecture
      - 19Figure1 -3 shows the components of the NI 73xx motion controllers.
        Figure 1-3. Typical NI 73xx Motion Controller Functional Architecture
        Figure 1-4. NI SoftMotion Controller Functional Architecture
      - Figure1-4 shows the components of the NI SoftMotion contro ller.
        Typical NI 73xx Motion Controller Architecture
        NI SoftMotion Controller Architecture
    - 21NI SoftMotion Controller Architecture
      - NI SoftMotion Controller for Ormec
      - 22NI SoftMotion Controller for CANopen
  - 23NI SoftMotion Controller Communication Watchdog
    - Figure 2-1. Generic Steps for Designing a Motion Application
  - 25Adding Measurements to an NI-Motion Application
    - 26Figure 2-2. Input/Output with Data and Image Acquisition
- 29Tuning Servo Systems
  - NI SoftMotion Controller Considerations
    - NI SoftMotion Controller for CANopen
    - NI SoftMotion Controller for Ormec
  - Using Control Loops to Tune Servo Motors
    - 30Control Loop
    - 32PID Loop Descriptions
      - Kp (Proportional Gain)
      - Ki (Integral Gain)
      - 33Kd (Derivative Gain)
      - Kv (Velocity Feedback)
      - Vff (Velocity Feedforward)
      - 34Aff (Acceleration Feedforward)
      - Kdac
      - Ga
      - Kt
      - 1/J
      - Ke
    - 35Dual Loop Feedback
    - 37Velocity Feedback
    - 38NI Motion Controllers with Velocity Amplifiers
40Part III
- Programming with NI-Motion
- 42What You Need to Know about Moves
  - Move Profiles
    - Trapezoidal
    - 43S-Curve
    - Basic Moves
    - 44Coordinate Space
    - Multi-Starts versus Coordinate Spaces
    - 45Trajectory Parameters
    - NI 73xx Floating-Point versus Fixed-Point
    - 46NI 73xx Time Base
    - 53NI 73 xx
    - 54NI 73xx Arc Move Limitations
  - 55Timing Loops
    - Status Display
    - Graphing Data
    - Event Polling
- 56Straight-Line Moves
  - Position-Based Straight-Line Moves
    - Straight-Line Move Algorithm
      - 58Figure 5-2. 1D Straight-Line Move in LabVIEW
      - 59Figure 5-3. 2D Straight-Line Move in LabVIEW
    - 601D Straight-Line Move Code
    - 622D Straight-Line Move Code
  - 65Velocity-Based Straight-Line Moves
  - 72Velocity Profiling Using Velocity Override
    - 74Figure 5-8. Velocity-Based Move Using Velocity Override in LabVIEW
- 79Arc Moves
  - Circular Arcs
    - Figure 6-3. Positive and Negative Travel Angles
    - 81Arc Move Algorithm
      - Figure 6-4. Circular Arc Move Algorithm
  - 85Spherical Arcs
    - 87Figure 6-8. Spherical Arc Algorithm
  - 91Helical Arcs
    - 92Figure 6-11. Helical Arc Algorithm
- 97Contoured Moves
  - Overview
  - 98Arbitrary Contoured Moves
    - 99Contoured Move Algorithm
      - Figure 7-2. Contoured Move Algorithm
    - 100Absolute versus Relative Contouring
      - 101Figure 7-5. Contoured Move in LabVIEW
- 107Reference Moves
  - Find Reference Move
    - 108Reference Move Algorithm
      - Figure 8-1. Find Reference Move Algorithm
- 113Blending Moves
  - Blending
    - 114Superimpose Two Moves
    - 115Blend after First Move Is Complete
    - 116Blend after Delay
    - 117Blending Algorithm
      - Figure9-5 illustrates a generic algorithm for blending moves.
        Figure 9-5. Blending Algorithm
        n
        118Figure 9-6. Blended Straight-Line Move and Arc Move in LabVIEW
        119// Main Function
- 123Electronic Gearing and Camming
  - Gearing
    - 126Gear Master
  - 130Camming
    - 133Figure 10-8. Camming Algorithm
    - 134Camming Table
    - 137Slave Offset
    - 139Master Offset
      - 140Figure 10-17. Camming Profile Starts when First Material Passes
      - Figure 10-18. Camming Profiles with and without Master Offset
- 145Acquiring Time-Sampled Position and Velocity Data
  - 146Algorithm
  - 148LabVIEW Code
  - C/C++ Code
- 151Synchronization
  - 152Absolute Breakpoints
    - 153Buffered Breakpoints (NI 7350 only)
    - 154Buffered Breakpoint Algorithm
      - Figure 12-1 shows the basic algorithm for implementing buffered breakpoints.
        Figure 12-1. Buffered Breakpoint Algorithm
    - 158Single Position Breakpoints
    - Single Position Breakpoint Algorithm
      - 159Figure 12-4. Single Position Breakpoint in LabVIEW
  - 162Relative Position Breakpoints
    - 163Relative Position Breakpoints Algorithm
  - 166Periodically Occurring Breakpoints
    - 167Periodic Breakpoints (NI 7350 only)
    - Periodic Breakpoint Algorithm
  - 171Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only)
    - 173Modulo Breakpoints Algorithm
      - Figure 12-13 shows the basic algorithm for modulo breakpoints.
        Figure 12-13. Modulo Breakpoints Algorithm
        174Figure 12-14. Modulo Breakpoint Using LabVIEW
        Figure 12-15. Modulo Breakpoint with RTSI Using LabVIEW
  - 177High-Speed Capture
    - Buffered High-Speed Capture (NI 7350 only)
    - 178Buffered High-Speed Capture Algorithm
      - Figure 12-16. Buffered High-Speed Capture Algorithm
    - 182Non-Buffered High-Speed Capture
    - 183High-Speed Capture Algorithm
      - Figure 12-18. High-Speed Capture Algorithm
  - 187Real-Time System Integration Bus (RTSI)
    - 188RTSI Implementation on the Motion Controller
    - 189Position Breakpoints Using RTSI
    - Encoder Pulses Using RTSI
    - Software Trigger Using RTSI
    - 190High-Speed Capture Input Using RTSI
- 191Torque Control
  - Analog Feedback
    - 193Torque Control Using Analog Feedback Algorithm
      - Figure 13-2. Torque Control Using Analog Feedback Algorithm
      - 194Figure 13-3. Torque Control Using Analog Feedback Using LabVIEW
        86 754321
  - 198Monitoring Force
    - 199Torque Control Using Monitoring Force Algorithm
      - Figure 13-5. Torque Control Using Monitoring Force Algorithm
      - 200Figure 13-6. Torque Control Using Monitoring Force in LabVIEW
        1 98765432
  - 204Speed Control Based on Analog Value
    - Speed Control Based on Analog Feedback Algorithm
      - 205Figure 13-8. Speed Control Based on Analog Feedback Using LabVIEW
        10987653 421
- 209Onboard Programs
  - Using Onboard Programs with the NI SoftMotion Controller
  - 210Using Onboard Programs with NI 73xx Motion Controllers
    - 211Writing Onboard Programs
      - 212Figure 14-2. Writing Onboard Programs
      - Figure 14-3. Basic Onboard Program Algorithm
      - 213Figure 14-4. Onboard Program in LabVIEW
  - 216Running, Stopping, and Pausing Onboard Programs
    - Running an Onboard Program
    - Stopping an Onboard Program
    - Pausing/Resuming an Onboard Program
    - Automatic Pausing
    - Single-Stepping Using Pause
  - 217Conditionally Executing Onboard Programs
    - 218Figure 14-5. Executing Onboard Programs
    - 219Onboard Program Conditional Execution Algorithm
      - Figure 14-6. Onboard Program Conditional Execution Algorithm
  - 222Using Onboard Memory and Data
    - Figure 14-8. Updating Velocity Based on ADC Channel Algorithm
    - 223Before you execute this program, set the operation mode of the axis to velocity mode.
      - 224Figure 14-9. Updating Velocity Based on ADC Channel in LabVIEW
  - 227Branching Onboard Programs
    - 228Onboard Program Algorithm
      - Figure 14-10 shows an onboard program waiting for an I/O line to go active before starting a move.
        Figure 14-10. Using Labels with Onboard Programs
        229Figure 14-11. Continuously Executing Onboard Program in LabVIEW
  - 232Math Operations
  - Indirect Variables
    - Figure 14-12. Reading an Indirect Variable
    - Figure 14-13. Onboard Buffer Data Flow
  - 233Onboard Buffers
  - 234Synchronizing Host Applications with Onboard Programs
    - 236Figure 14-17. Synchronization Onboard Code in LabVIEW
  - 242Onboard Subroutines
    - 243Figure 14-20 shows the main onboard program used to determine the subroutine call.
      - Figure 14-20. Onboard Subroutine Call Using LabVIEW
    - 244Figure 14-21 shows the subroutine that causes the motor to rotate clockwise.
      - Figure 14-21. Clockwise Subroutine Using LabVIEW
    - 245Figure 14-22 shows the subroutine that causes the motor to rotate counter clockwise.
      - Figure 14-22. CounterClockwise Subroutine Using LabVIEW
  - 250Automatically Starting Onboard Programs
  - Changing a Time Slice
251Part IV
- Creating Applications Using NI-Motion
- 252Scanning
  - Connecting Straight-Line Move Segments
    - 253Raster Scanning Using Straight Lines Algorithm
      - Figure 15-2. Raster Scanning Using Straight Lines Algorithm
      - 254Figure 15-3. Scanning Using LabVIEW
  - 258Blending Straight-Line Move Segments
    - 259Raster Scanning Using Blended Straight Lines Algorithm
      - Figure 15-5. Raster Scanning Using Blended Straight Lines Algorithm
      - 260Figure 15-6. Scanning Using Blending
  - 264User-Defined Scanning Path
    - 266User-Defined Scanning Path Algorithm
      - Figure 15-8. User-Defined Scanning Path Algorithm
      - 267Figure 15-9. Scanning Using Contouring
- 272Rotating Knife
  - Solution
    - 274Figure 16-2. Rotating Knife Application Algorithm
    - Figure 16-3. Rotating Knife Application Using LabVIEW
    - 275Figures 16-4 and 16-5 show the remaining cases for the block diagram in Figure 16-3.
      - Figure 16-4. Figure16-3 Sequence Structure 1
      - 276Figure 16-5. Figure16-3 Sequence Structure 2
280A
- Sinusoidal Commutation for Brushless Servo Motion Control
  - Phase Initialization
    - Hall Effect Sensors
    - Shake and Wake
    - Direct Set
  - 281Determining the Counts per Electrical Cycle of the Motor
  - Commutation Frequency
  - 282Troubleshooting Hall Effect Sensor Connections
283B
- Initializing the Controller Programmatically
285C
- Using the Motion Controller with the LabVIEW Real-Time Module
288D
- Technical Support and Professional Services
- 289Glossary
  - A
  - B
  - 290C
  - D
  - 291E
  - F
  - G
  - H
  - 292I
  - K
  - L
  - 293M
  - N
  - O
  - 294P
  - Q
  - R
  - 295S
  - T
- 297Index
  - A
  - B
  - 298C
  - D
  - 299E
  - F
  - G
  - H
  - I
  - 300J
  - K
  - L
  - M
  - 301N
  - O
  - 302P
  - R
  - 303S
  - 304T
  - 305U
  - V
  - W

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