National Instruments NI-Motion PART III Programming with NI-Motion Chapter 4 What You Need to Know about Moves, Chapter 5 Straight-Line Moves

Contents
NI-Motion User Manual vi ni.com
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..................................................................................... 4-2
Coordinate Space..............................................................................4-3
Multi-Starts versus Coordinate Spaces.............................................4-3
Trajectory Parameters.....................................................................................4-4
NI 73xx Floating-Point versus Fixed-Point...................................... 4-4
NI 73xx Time Base...........................................................................4-5
NI 73xx Arc Move Limitations.......................................................................4-13
Timing Loops................................................................................................................4-14
Status Display.................................................................................................4-14
Graphing Data.................................................................................................4-14
Event Polling...................................................................................................4-14
Chapter 5
Straight-Line Moves
Position-Based Straight-Line Moves.............................................................................5-1
Straight-Line Move Algorithm.......................................................................5-1
C/C++ Code....................................................................................................5-5
1D Straight-Line Move Code...........................................................5-5
2D Straight-Line Move Code...........................................................5-7
Velocity-Based Straight-Line Moves............................................................................5-10
Algorithm........................................................................................................5-11
LabVIEW Code...............................................................................................5-13
C/C++ Code....................................................................................................5-13
Velocity Profiling Using Velocity Override..................................................................5-17
Algorithm........................................................................................................5-18
LabVIEW Code...............................................................................................5-19
C/C++ Code....................................................................................................5-20