National Instruments C Series Getting Started page 23

7. Configure the command source and operation mode.
Open the Settings page and set the Command Source to 3 - Analog.
a.
Set the Operation Mode to 0 - Torque Mode.
b.
When you have updated these settings the Settings page should look similar to
Figure 18.
1 Command Source Setting
8. Configure the emulated encoder output.
Expand the Settings tree item and open the Encoder Emulation page.
a.
Select 1- Output - With once per rev index pulse from the Function dropdown list.
b.
c. Set the Resolution to 2,000 lines/rev.
The encoder resolution output value determines the equivalent resolution of
Note
an incremental encoder in pulses per revolution (PPR). NI SoftMotion returns
encoder positions in encoder counts per revolution. A resolution of 2,000 lines/rev is
the same as 8,000 quadrature counts per revolution.You may want to choose a
different value depending on your application needs. In general, higher resolution
values result in more difficult servo loop tuning; lower resolution values provide less
Getting Started with NI 9514/16 Modules and AKD Servo Drives | © National Instruments | 23
Figure 18. AKD WorkBench Settings Page
1
2 Operation Mode Setting
2