User Manuals: National Instruments NI-Motion Controller

Manuals and User Guides for National Instruments NI-Motion Controller. We have 1 National Instruments NI-Motion Controller manual available for free PDF download: User Manual

National Instruments NI-Motion User Manual (305 pages)

Motion Control

Brand: National Instruments | Category: Controller | Size: 2 MB

Warranty
3
Table of Contents
4
About this Manual

11
- Conventions
  11
- Documentation and Examples
  12
  - PARTI I Introduction
    14
Chapter 1 Introduction to NI-Motion

15
Chapter 2 Creating NI-Motion Applications

24
- Creating a Generic NI-Motion Application
  24
- Adding Measurements to an NI-Motion Application
  25
  - Art
    28
  - Configuring Motion Control
    28
Chapter 3 Tuning Servo Systems

29
- NI Softmotion Controller Considerations
  29
  - NI Softmotion Controller for Canopen
    29
  - NI Softmotion Controller for Ormec
    29
- Using Control Loops to Tune Servo Motors
  29
  - Control Loop
    30
    
    PID Loop Descriptions
    32
    
    Dual Loop Feedback
    35
  - Velocity Feedback
    37
  - NI Motion Controllers with Velocity Amplifiers
    38
Chapter 4 What You Need to Know about Moves

42
- Move Profiles
  42
  - Trapezoidal
    42
  - S-Curve
    43
    
    Basic Moves
    43
    
    Coordinate Space
    44
    
    Multi-Starts Versus Coordinate Spaces
    44
  - Trajectory Parameters
    45
    
    NI 73Xx Floating-Point Versus Fixed-Point
    45
    
    NI 73Xx Time Base
    46
  - NI 73Xx Arc Move Limitations
    54
- Timing Loops
  55
  - Status Display
    55
  - Graphing Data
    55
  - Event Polling
    55
Chapter 5 Straight-Line Moves

56
- Position-Based Straight-Line Moves
  56
  - Straight-Line Move Algorithm
    56
  - C/C++ Code
    60
    
    1D Straight-Line Move Code
    60
- Velocity-Based Straight-Line Moves
  65
  - Algorithm
    66
  - Labview Code
    68
  - C/C++ Code
    68
- Velocity Profiling Using Velocity Override
  72
  - Algorithm
    73
  - Labview Code
    74
  - C/C++ Code
    75
Chapter 6 Arc Moves

79
- Circular Arcs
  79
  - Arc Move Algorithm
    81
  - Labview Code
    82
  - C/C++ Code
    82
- Spherical Arcs
  85
  - Algorithm
    87
  - Labview Code
    88
  - C/C++ Code
    88
- Helical Arcs
  91
  - Algorithm
    92
  - Labview Code
    93
  - C/C++ Code
    93
Chapter 7 Contoured Moves

97
- Overview
  97
- Arbitrary Contoured Moves
  98
  - Contoured Move Algorithm
    99
    
    Absolute Versus Relative Contouring
    100
  - C/C++ Code
    102
Chapter 8 Reference Moves

107
- Find Reference Move
  107
  - Reference Move Algorithm
    108
  - Labview Code
    109
  - C/C++ Code
    109
Chapter 9 Blending Moves

113
- Blending
  113
  - Superimpose Two Moves
    114
  - Blend after First Move Is Complete
    115
  - Blend after Delay
    116
  - Blending Algorithm
    117
  - C/C++ Code
    119
Chapter 10 Electronic Gearing and Camming

123
- Gearing
  123
  - Algorithm
    124
    
    Gear Master
    126
  - Labview Code
    127
  - C/C++ Code
    127
- Camming
  130
  - Algorithm
    133
  - Camming Table
    134
    
    Slave Offset
    137
    
    Master Offset
    139
  - Labview Code
    141
  - C/C++ Code
    141
Chapter 11 Acquiring Time-Sampled Position and Velocity Data

145
- Algorithm
  146
- Labview Code
  148
- C/C++ Code
  148
Chapter 12 Synchronization

151
- Absolute Breakpoints
  152
  - Buffered Breakpoints (ni 7350 Only)
    153
    
    Buffered Breakpoint Algorithm
    154
    
    Labview Code
    155
    
    C/C++ Code
    155
  - Single Position Breakpoints
    158
    
    Single Position Breakpoint Algorithm
    158
    
    Labview Code
    159
    
    C/C++ Code
    160
- Relative Position Breakpoints
  162
  - Relative Position Breakpoints Algorithm
    163
  - Labview Code
    164
  - C/C++ Code
    164
- Periodically Occurring Breakpoints
  166
  - Periodic Breakpoints (ni 7350 Only)
    167
    
    Periodic Breakpoint Algorithm
    167
    
    Labview Code
    168
    
    C/C++ Code
    168
- Modulo Breakpoints (ni 7330, ni 7340 and ni 7390 Only)
  171
  - Modulo Breakpoints Algorithm
    173
  - Labview Code
    174
  - C/C++ Code
    175
- High-Speed Capture
  177
  - Buffered High-Speed Capture (ni 7350 Only)
    177
  - Buffered High-Speed Capture Algorithm
    178
  - Labview Code
    179
  - C/C++ Code
    179
  - Non-Buffered High-Speed Capture
    182
  - High-Speed Capture Algorithm
    183
  - Labview Code
    184
  - C/C++ Code
    185
- Real-Time System Integration Bus (RTSI)
  187
Chapter 13 Torque Control

191
- Analog Feedback
  191
  - Torque Control Using Analog Feedback Algorithm
    193
  - Labview Code
    194
  - C/C++ Code
    195
- Monitoring Force
  198
  - Torque Control Using Monitoring Force Algorithm
    199
  - Labview Code
    200
  - C/C++ Code
    201
- Speed Control Based on Analog Value
  204
  - Speed Control Based on Analog Feedback Algorithm
    204
  - Labview Code
    205
  - C/C++ Code
    206
Chapter 14 Onboard Programs

209
- Using Onboard Programs with the ni Softmotion Controller
  209
- Using Onboard Programs with ni 73Xx Motion Controllers
  210
  - Writing Onboard Programs
    211
  - Algorithm
    212
  - Labview Code
    213
- Running, Stopping, and Pausing Onboard Programs
  216
  - Running an Onboard Program
    216
  - Stopping an Onboard Program
    216
  - Pausing/Resuming an Onboard Program
    216
    
    Automatic Pausing
    217
    
    Single-Stepping Using Pause
    217
- Conditionally Executing Onboard Programs
  217
  - Onboard Program Conditional Execution Algorithm
    219
  - Labview Code
    220
  - C/C++ Code
    220
- Using Onboard Memory and Data
  222
  - Algorithm
    223
  - Labview Code
    224
  - C/C++ Code
    225
- Branching Onboard Programs
  227
  - Onboard Program Algorithm
    228
  - Labview Code
    229
  - C/C++ Code
    230
- Math Operations
  232
- Indirect Variables
  232
- Onboard Buffers
  233
  - Algorithm
    234
- Synchronizing Host Applications with Onboard Programs
  234
  - Labview Code
    236
  - C/C++ Code
    238
- Onboard Subroutines
  242
  - Algorithm
    242
  - Labview Code
    243
  - C/C++ Code
    246
- Automatically Starting Onboard Programs
  250
- Changing a Time Slice
  250
  - Creating Applications Using NI-Motion
    251
Chapter 15 Scanning

252
- Connecting Straight-Line Move Segments
  252
  - Raster Scanning Using Straight Lines Algorithm
    253
  - Blending Straight-Line Move Segments
    258
    
    Raster Scanning Using Blended Straight Lines Algorithm
    259
    
    C/C++ Code
    261
  - User-Defined Scanning Path
    264
    
    User-Defined Scanning Path Algorithm
    266
    
    C/C++ Code
    268
Chapter 16 Rotating Knife

272
- Solution
  272
  - Algorithm
    274
  - Labview Code
    275
  - C/C++ Code
    276
Appendix A

280
Sinusoidal Commutation for Brushless Servo Motion Control

280
- Technical Support and Professional Services
  288

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Control Unit I/O Systems Controller Computer Hardware Measuring Instruments

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User Manuals: National Instruments NI-Motion Controller

National Instruments NI-Motion User Manual (305 pages)

Table of Contents

About this Manual

Chapter 1 Introduction to NI-Motion

Chapter 2 Creating NI-Motion Applications

Chapter 3 Tuning Servo Systems

Chapter 4 What You Need to Know about Moves

Chapter 5 Straight-Line Moves

Chapter 6 Arc Moves

Chapter 7 Contoured Moves

Chapter 8 Reference Moves

Chapter 9 Blending Moves

Chapter 10 Electronic Gearing and Camming

Chapter 11 Acquiring Time-Sampled Position and Velocity Data

Chapter 12 Synchronization

Chapter 13 Torque Control

Chapter 14 Onboard Programs

Chapter 15 Scanning

Chapter 16 Rotating Knife

Appendix A

Sinusoidal Commutation for Brushless Servo Motion Control

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