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National Instruments NI-Motion manual

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The rules should oblige the seller to give the purchaser an operating instrucion of National Instruments NI-Motion, along with an item. The lack of an instruction or false information given to customer shall constitute grounds to apply for a complaint because of nonconformity of goods with the contract. In accordance with the law, a customer can receive an instruction in non-paper form; lately graphic and electronic forms of the manuals, as well as instructional videos have been majorly used. A necessary precondition for this is the unmistakable, legible character of an instruction.

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What should a perfect user manual contain?

First and foremost, an user manual of National Instruments NI-Motion should contain:
- informations concerning technical data of National Instruments NI-Motion
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Table of contents for the manual

  • Page 1

    Motion Control NI-Motion TM User Manual NI-Motion User Manual November 2005 371242B-01[...]

  • Page 2

    support Worldwide Technical Support and Product Info rmation ni.com National Instruments Corporate H[...]

  • Page 3

    Important Information Warranty The media on which you receive Natio nal In struments software are wa[...]

  • Page 4

    © National Instruments Corpor ation v NI-Motion User Manual Contents About This Manual Conventions [...]

  • Page 5

    Contents NI-Motion User Manual vi ni.com P ART III Programming with NI-Motion Chapter 4 What You Nee[...]

  • Page 6

    Contents © National Instruments Corpor ation vii NI-Motion User Manual Chapter 6 Arc Moves Circular[...]

  • Page 7

    Contents NI-Motion User Manual viii ni.com Chapter 10 Electronic Gearing and Camming Gearing .......[...]

  • Page 8

    Contents © National Instruments Corpor ation ix NI-Motion User Manual Modulo Breakpoints (NI 7330, [...]

  • Page 9

    Contents NI-Motion User Manual x ni.com C/C++ Code ....... .............. .............. ...........[...]

  • Page 10

    Contents © National Instruments Corpor ation xi NI-Motion User Manual Blending Straig ht-Line Move [...]

  • Page 11

    © National Instruments Corporat ion xiii NI-Motion User Manual About This Manual This manual provid[...]

  • Page 12

    About This Manual NI-Motion User Manual xiv ni.com italic Italic text denotes variables, emphasis, a[...]

  • Page 13

    About This Manual © National Instruments Corpor ation xv NI-Motion User Manual • NI De veloper Zo[...]

  • Page 14

    © National Instruments Corpor ation I-1 NI-Motion User Manual Part I Introduction This user manual [...]

  • Page 15

    © National Instruments Corpor ation 1-1 NI-Motion User Manual 1 Introduction to NI-Motion About NI-[...]

  • Page 16

    Chapter 1 Introduction to NI-Motion NI-Motion User Manual 1-2 ni.com Software and Hardware Interacti[...]

  • Page 17

    Chapter 1 Introduction to NI-Motion © National Instruments Corpor ation 1-3 NI-Motion User Manual T[...]

  • Page 18

    Chapter 1 Introduction to NI-Motion NI-Motion User Manual 1-4 ni.com Figure 1-2 illustrates the phys[...]

  • Page 19

    Chapter 1 Introduction to NI-Motion © National Instruments Corpor ation 1-5 NI-Motion User Manual F[...]

  • Page 20

    Chapter 1 Introduction to NI-Motion NI-Motion User Manual 1-6 ni.com Figure 1-5 illustrates the fu n[...]

  • Page 21

    Chapter 1 Introduction to NI-Motion © National Instruments Corpor ation 1-7 NI-Motion User Manual T[...]

  • Page 22

    Chapter 1 Introduction to NI-Motion NI-Motion User Manual 1-8 ni.com Figure 1-6. NI SoftMotion Contr[...]

  • Page 23

    Chapter 1 Introduction to NI-Motion © National Instruments Corpor ation 1-9 NI-Motion User Manual F[...]

  • Page 24

    © National Instruments Corpor ation 2-1 NI-Motion User Manual 2 Creating NI-Motion Applications Thi[...]

  • Page 25

    Chapter 2 Creating NI-Motion Applications NI-Motion User Manual 2-2 ni.com Figure 2-1. Generic Steps[...]

  • Page 26

    Chapter 2 Creating NI-Motion Applications © National Instruments Corpor ation 2-3 NI-Motion User Ma[...]

  • Page 27

    Chapter 2 Creating NI-Motion Applications NI-Motion User Manual 2-4 ni.com Note If you are using R T[...]

  • Page 28

    © National Instruments Corporat ion II-1 NI-Motion User Manual Part II Configuring Motion Control M[...]

  • Page 29

    © National Instruments Corpor ation 3-1 NI-Motion User Manual 3 T uning Ser vo Systems When your mo[...]

  • Page 30

    Chapter 3 T uning Servo Systems NI-Motion User Manual 3-2 ni.com A properly tuned servo system exhib[...]

  • Page 31

    Chapter 3 T uning Servo Systems © National Instruments Corpor ation 3-3 NI-Motion User Manual Figur[...]

  • Page 32

    Chapter 3 T uning Servo Systems NI-Motion User Manual 3-4 ni.com PID Loop Descriptions The following[...]

  • Page 33

    Chapter 3 T uning Servo Systems © National Instruments Corpor ation 3-5 NI-Motion User Manual Kd (D[...]

  • Page 34

    Chapter 3 T uning Servo Systems NI-Motion User Manual 3-6 ni.com V elocity feedforward is an open-l [...]

  • Page 35

    Chapter 3 T uning Servo Systems © National Instruments Corpor ation 3-7 NI-Motion User Manual Ga Ga[...]

  • Page 36

    Chapter 3 T uning Servo Systems NI-Motion User Manual 3-8 ni.com Figure 3-3. Dual Loop Feedback Tip [...]

  • Page 37

    Chapter 3 T uning Servo Systems © National Instruments Corpor ation 3-9 NI-Motion User Manual V elo[...]

  • Page 38

    Chapter 3 T uning Servo Systems NI-Motion User Manual 3-10 ni.com Figure 3-6. Alternate Dual-Loop Fe[...]

  • Page 39

    Chapter 3 T uning Servo Systems © National Instruments Corporat ion 3-11 NI-Motion User Manual Figu[...]

  • Page 40

    © National Instruments Corporat ion III-1 NI-Motion User Manual Part III Programming with NI-Motion[...]

  • Page 41

    Part III Programming with NI-Motion NI-Motion User Manual III-2 ni.com • Synchronization • Torqu[...]

  • Page 42

    © National Instruments Corpor ation 4-1 NI-Motion User Manual 4 What Y ou Need to Know about Moves [...]

  • Page 43

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-2 ni.com Figure 4-1. T rapezoi[...]

  • Page 44

    Chapter 4 What You Need to Know about Moves © National Instruments Corpor ation 4-3 NI-Motion User [...]

  • Page 45

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-4 ni.com grouping axes into co[...]

  • Page 46

    Chapter 4 What You Need to Know about Moves © National Instruments Corpor ation 4-5 NI-Motion User [...]

  • Page 47

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-6 ni.com Y ou can calculate th[...]

  • Page 48

    Chapter 4 What You Need to Know about Moves © National Instruments Corpor ation 4-7 NI-Motion User [...]

  • Page 49

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-8 ni.com Y ou can calculate th[...]

  • Page 50

    Chapter 4 What You Need to Know about Moves © National Instruments Corpor ation 4-9 NI-Motion User [...]

  • Page 51

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-10 ni.com Y ou can calculate t[...]

  • Page 52

    Chapter 4 What You Need to Know about Moves © National Instruments Corporat ion 4-11 NI-Motion User[...]

  • Page 53

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-12 ni.com Note If the distance[...]

  • Page 54

    Chapter 4 What You Need to Know about Moves © National Instruments Corporat ion 4-13 NI-Motion User[...]

  • Page 55

    Chapter 4 What Y ou N eed to Know about Moves NI-Motion User Manual 4-14 ni.com T iming Loops Nation[...]

  • Page 56

    © National Instruments Corpor ation 5-1 NI-Motion User Manual 5 Straight-Line Moves A straight-line[...]

  • Page 57

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-2 ni.com The start position is always the cur[...]

  • Page 58

    Chapter 5 Straight-Line Moves © National Instruments Corpor ation 5-3 NI-Motion User Manual Figure [...]

  • Page 59

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-4 ni.com Figure 5-3. 2D Straight-Line Move in[...]

  • Page 60

    Chapter 5 Straight-Line Moves © National Instruments Corpor ation 5-5 NI-Motion User Manual C/C++ C[...]

  • Page 61

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-6 ni.com err = flex_load_scurve_time (boardID[...]

  • Page 62

    Chapter 5 Straight-Line Moves © National Instruments Corpor ation 5-7 NI-Motion User Manual // Erro[...]

  • Page 63

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-8 ni.com // Configure a 2D vector space compr[...]

  • Page 64

    Chapter 5 Straight-Line Moves © National Instruments Corpor ation 5-9 NI-Motion User Manual CheckEr[...]

  • Page 65

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-10 ni.com flex_read_csr_rtn (boardID,&csr[...]

  • Page 66

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-11 NI-Motion User Manual Algori[...]

  • Page 67

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-12 ni.com Loading a second v elocity and ex e[...]

  • Page 68

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-13 NI-Motion User Manual LabVIE[...]

  • Page 69

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-14 ni.com i32 errorCode;// Error code // Set [...]

  • Page 70

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-15 NI-Motion User Manual do { /[...]

  • Page 71

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-16 ni.com CheckError; // Read the communicati[...]

  • Page 72

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-17 NI-Motion User Manual flex_r[...]

  • Page 73

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-18 ni.com Algorithm Figure 5-7 is a generic a[...]

  • Page 74

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-19 NI-Motion User Manual LabVIE[...]

  • Page 75

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-20 ni.com C/C++ Code The following example co[...]

  • Page 76

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-21 NI-Motion User Manual // Set[...]

  • Page 77

    Chapter 5 St raight-Line Moves NI-Motion User Manual 5-22 ni.com } while (!(axisStatus) && ![...]

  • Page 78

    Chapter 5 Straight-Line Moves © National Instruments Corporat ion 5-23 NI-Motion User Manual err = [...]

  • Page 79

    © National Instruments Corpor ation 6-1 NI-Motion User Manual 6 Arc Moves An arc move causes a coor[...]

  • Page 80

    Chapter 6 Arc Moves NI-Motion User Manual 6-2 ni.com T o mov e axes in a circular arc, th e motion c[...]

  • Page 81

    Chapter 6 Arc Moves © National Instruments Corpor ation 6-3 NI-Motion User Manual Figure 6-3. Posit[...]

  • Page 82

    Chapter 6 Arc Moves NI-Motion User Manual 6-4 ni.com LabVIEW Code Figure 6-5. Cir cular Ar c Move in[...]

  • Page 83

    Chapter 6 Arc Moves © National Instruments Corpor ation 6-5 NI-Motion User Manual u16 commandID;// [...]

  • Page 84

    Chapter 6 Arc Moves NI-Motion User Manual 6-6 ni.com err = flex_check_move_complete_status (boardID,[...]

  • Page 85

    Chapter 6 Arc Moves © National Instruments Corpor ation 6-7 NI-Motion User Manual flex_read_error_m[...]

  • Page 86

    Chapter 6 Arc Moves NI-Motion User Manual 6-8 ni.com Figure 6-7. Changing Y aw by Rotating the Z Axi[...]

  • Page 87

    Chapter 6 Arc Moves © National Instruments Corpor ation 6-9 NI-Motion User Manual Algorithm Figure [...]

  • Page 88

    Chapter 6 Arc Moves NI-Motion User Manual 6-10 ni.com LabVIEW Code Figure 6-9. Spherical Ar c Move i[...]

  • Page 89

    Chapter 6 Arc Moves © National Instruments Corporat ion 6-11 NI-Motion User Manual ////////////////[...]

  • Page 90

    Chapter 6 Arc Moves NI-Motion User Manual 6-12 ni.com // Check the follo wing error/axis off status [...]

  • Page 91

    Chapter 6 Arc Moves © National Instruments Corporat ion 6-13 NI-Motion User Manual // Get the comma[...]

  • Page 92

    Chapter 6 Arc Moves NI-Motion User Manual 6-14 ni.com Algorithm Figure 6-11. Helical Arc Algorithm L[...]

  • Page 93

    Chapter 6 Arc Moves © National Instruments Corporat ion 6-15 NI-Motion User Manual LabVIEW Code Fig[...]

  • Page 94

    Chapter 6 Arc Moves NI-Motion User Manual 6-16 ni.com // Set the board ID boardID = 1; // Set the ve[...]

  • Page 95

    Chapter 6 Arc Moves © National Instruments Corporat ion 6-17 NI-Motion User Manual err = flex_read_[...]

  • Page 96

    Chapter 6 Arc Moves NI-Motion User Manual 6-18 ni.com flex_read_error_msg_rtn (boardID,&com mand[...]

  • Page 97

    © National Instruments Corpor ation 7-1 NI-Motion User Manual 7 Contoured Moves A contoured move mo[...]

  • Page 98

    Chapter 7 Contoure d Moves NI-Motion User Manual 7-2 ni.com The difference between absolute contouri[...]

  • Page 99

    Chapter 7 Contoured Moves © National Instruments Corpor ation 7-3 NI-Motion User Manual Contoured M[...]

  • Page 100

    Chapter 7 Contoure d Moves NI-Motion User Manual 7-4 ni.com All contoured mo v es are relati v e, me[...]

  • Page 101

    Chapter 7 Contoured Moves © National Instruments Corpor ation 7-5 NI-Motion User Manual LabVIEW Cod[...]

  • Page 102

    Chapter 7 Contoure d Moves NI-Motion User Manual 7-6 ni.com Figure 7-6. Co ntoured Move T rue Case i[...]

  • Page 103

    Chapter 7 Contoured Moves © National Instruments Corpor ation 7-7 NI-Motion User Manual i32 * downl[...]

  • Page 104

    Chapter 7 Contoure d Moves NI-Motion User Manual 7-8 ni.com for (i=0;i<bufferSize;i++){ downloadD[...]

  • Page 105

    Chapter 7 Contoured Moves © National Instruments Corpor ation 7-9 NI-Motion User Manual CheckError;[...]

  • Page 106

    Chapter 7 Contoure d Moves NI-Motion User Manual 7-10 ni.com // Free the buffer allocated on the mot[...]

  • Page 107

    © National Instruments Corpor ation 8-1 NI-Motion User Manual 8 Reference Moves Use reference moves[...]

  • Page 108

    Chapter 8 R eference Moves NI-Motion User Manual 8-2 ni.com Reference Move Algorithm Figure 8-1. Fin[...]

  • Page 109

    Chapter 8 Reference Moves © National Instruments Corpor ation 8-3 NI-Motion User Manual LabVIEW Cod[...]

  • Page 110

    Chapter 8 R eference Moves NI-Motion User Manual 8-4 ni.com // Variables for modal error handling u1[...]

  • Page 111

    Chapter 8 Reference Moves © National Instruments Corpor ation 8-5 NI-Motion User Manual // Wait for[...]

  • Page 112

    Chapter 8 R eference Moves NI-Motion User Manual 8-6 ni.com //////////////////////////////////// ///[...]

  • Page 113

    © National Instruments Corpor ation 9-1 NI-Motion User Manual 9 Blending Moves Use blending moves t[...]

  • Page 114

    Chapter 9 Blending Moves NI-Motion User Manual 9-2 ni.com There are three ways you can star t the se[...]

  • Page 115

    Chapter 9 Blending Moves © National Instruments Corpor ation 9-3 NI-Motion User Manual Blend after [...]

  • Page 116

    Chapter 9 Blending Moves NI-Motion User Manual 9-4 ni.com Blend after Delay You can blend two moves [...]

  • Page 117

    Chapter 9 Blending Moves © National Instruments Corpor ation 9-5 NI-Motion User Manual Blending Alg[...]

  • Page 118

    Chapter 9 Blending Moves NI-Motion User Manual 9-6 ni.com LabVIEW Code Figure 9-6. Blended Straight-[...]

  • Page 119

    Chapter 9 Blending Moves © National Instruments Corpor ation 9-7 NI-Motion User Manual C/C++ Code T[...]

  • Page 120

    Chapter 9 Blending Moves NI-Motion User Manual 9-8 ni.com err = flex_set_op_mode (boardID, vectorSpa[...]

  • Page 121

    Chapter 9 Blending Moves © National Instruments Corpor ation 9-9 NI-Motion User Manual { err = csr [...]

  • Page 122

    Chapter 9 Blending Moves NI-Motion User Manual 9-10 ni.com NIMC_AXIS_OFF_BIT)); // Exit on move comp[...]

  • Page 123

    © National Instruments Corporat ion 10-1 NI-Motion User Manual 10 Electronic Gearing and Camming Us[...]

  • Page 124

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-2 ni.com Algorithm Figure 10-1. E[...]

  • Page 125

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-3 NI-Motion User M[...]

  • Page 126

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-4 ni.com Changing a gear ratio on[...]

  • Page 127

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-5 NI-Motion User M[...]

  • Page 128

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-6 ni.com // Set the board ID boar[...]

  • Page 129

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-7 NI-Motion User M[...]

  • Page 130

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-8 ni.com Camming Electronic cammi[...]

  • Page 131

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-9 NI-Motion User M[...]

  • Page 132

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-10 ni.com Figure 10-7. Welding Ap[...]

  • Page 133

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-11 NI-Motio n User[...]

  • Page 134

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-12 ni.com Camming T able When a c[...]

  • Page 135

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-13 NI-Motio n User[...]

  • Page 136

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-14 ni.com Each ro w of data defin[...]

  • Page 137

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-15 NI-Motio n User[...]

  • Page 138

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-16 ni.com Figure 10-15 sho ws tha[...]

  • Page 139

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-17 NI-Motio n User[...]

  • Page 140

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-18 ni.com Figure 10-17. Camming P[...]

  • Page 141

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-19 NI-Motio n User[...]

  • Page 142

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-20 ni.com u8 slaveAxis = 1; // Sl[...]

  • Page 143

    Chapter 10 Electronic Gearing and Camming © National Instruments Corporat ion 10-21 NI-Motio n User[...]

  • Page 144

    Chapter 10 Electronic Gearing and Camming NI-Motion User Manual 10-22 ni.com flex_read_error_msg_rtn[...]

  • Page 145

    © National Instruments Corporat ion 11-1 NI-Motion User Manual 11 Acquiring T ime-Sampled Position [...]

  • Page 146

    Chapter 11 Acquiring Time-Samp led Position and Velocity Data NI-Motion User Manual 11-2 ni.com The [...]

  • Page 147

    Chapter 11 Acquiring Time-Sampled Position and Velocity Data © National Instruments Corporat ion 11[...]

  • Page 148

    Chapter 11 Acquiring Time-Samp led Position and Velocity Data NI-Motion User Manual 11-4 ni.com LabV[...]

  • Page 149

    Chapter 11 Acquiring Time-Sampled Position and Velocity Data © National Instruments Corporat ion 11[...]

  • Page 150

    Chapter 11 Acquiring Time-Samp led Position and Velocity Data NI-Motion User Manual 11-6 ni.com // C[...]

  • Page 151

    © National Instruments Corporat ion 12-1 NI-Motion User Manual 12 Synchronization You can synchro n[...]

  • Page 152

    Chapter 12 Synchronization NI-Motion User Manual 12-2 ni.com T able 12-1 shows the a v ailability of[...]

  • Page 153

    Chapter 12 Synchronization © National Instruments Corporat ion 12-3 NI-Motion User Manual Note All [...]

  • Page 154

    Chapter 12 Synchronization NI-Motion User Manual 12-4 ni.com Buffered Breakpoint Algorithm Figure 12[...]

  • Page 155

    Chapter 12 Synchronization © National Instruments Corporat ion 12-5 NI-Motion User Manual LabVIEW C[...]

  • Page 156

    Chapter 12 Synchronization NI-Motion User Manual 12-6 ni.com // Buffer resources i32 breakpointPosit[...]

  • Page 157

    Chapter 12 Synchronization © National Instruments Corporat ion 12-7 NI-Motion User Manual } while ([...]

  • Page 158

    Chapter 12 Synchronization NI-Motion User Manual 12-8 ni.com Single Position Breakpoints Single posi[...]

  • Page 159

    Chapter 12 Synchronization © National Instruments Corporat ion 12-9 NI-Motion User Manual LabVIEW C[...]

  • Page 160

    Chapter 12 Synchronization NI-Motion User Manual 12-10 ni.com Refer to Figure 12-5 for an example of[...]

  • Page 161

    Chapter 12 Synchronization © National Instruments Corporat ion 12-11 NI-Motio n User Manual ///////[...]

  • Page 162

    Chapter 12 Synchronization NI-Motion User Manual 12-12 ni.com } Sleep (10); // Check every 10 ms } w[...]

  • Page 163

    Chapter 12 Synchronization © National Instruments Corporat ion 12-13 NI-Motio n User Manual breakpo[...]

  • Page 164

    Chapter 12 Synchronization NI-Motion User Manual 12-14 ni.com LabVIEW Code In this example, a breakp[...]

  • Page 165

    Chapter 12 Synchronization © National Instruments Corporat ion 12-15 NI-Motio n User Manual // Set [...]

  • Page 166

    Chapter 12 Synchronization NI-Motion User Manual 12-16 ni.com return ;// Exit the Application //////[...]

  • Page 167

    Chapter 12 Synchronization © National Instruments Corporat ion 12-17 NI-Motio n User Manual Periodi[...]

  • Page 168

    Chapter 12 Synchronization NI-Motion User Manual 12-18 ni.com LabVIEW Code Figure 12-10. Periodic Br[...]

  • Page 169

    Chapter 12 Synchronization © National Instruments Corporat ion 12-19 NI-Motio n User Manual //Varia[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-20 ni.com CheckError; printf("n"); do[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-21 NI-Motio n User Manual nimcHan[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-22 ni.com Figure 12-11. Breakpoint Modulus of 50[...]

  • Page 173

    Chapter 12 Synchronization © National Instruments Corporat ion 12-23 NI-Motio n User Manual Modulo [...]

  • Page 174

    Chapter 12 Synchronization NI-Motion User Manual 12-24 ni.com LabVIEW Code Figure 12-14. Modulo Brea[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-25 NI-Motio n User Manual C/C++ C[...]

  • Page 176

    Chapter 12 Synchronization NI-Motion User Manual 12-26 ni.com err = flex_enable_breakpoint (boardID,[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-27 NI-Motio n User Manual nimcDis[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-28 ni.com Buffered High-Speed Capture Algorithm [...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-29 NI-Motio n User Manual LabVIEW[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-30 ni.com u32 pointsDone;// Indicates the number[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-31 NI-Motio n User Manual if (bac[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-32 ni.com CheckError; return ;// Exit the Applic[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-33 NI-Motio n User Manual High-Sp[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-34 ni.com LabVIEW Code Figure 12-19. High-Speed [...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-35 NI-Motio n User Manual Figure [...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-36 ni.com axis = NIMC_AXIS1; ///////////////////[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-37 NI-Motio n User Manual // nimc[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-38 ni.com Y ou also can create a software trigge[...]

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    Chapter 12 Synchronization © National Instruments Corporat ion 12-39 NI-Motio n User Manual Positio[...]

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    Chapter 12 Synchronization NI-Motion User Manual 12-40 ni.com High-Speed Capture Input Using RTSI Wh[...]

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    © National Instruments Corporat ion 13-1 NI-Motion User Manual 13 T orque Control To maintain const[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-2 ni.com T uning the control loop with a force s[...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-3 NI-Motion User Manual T orque C[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-4 ni.com LabVIEW Code Figure 13-3. T orque Contr[...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-5 NI-Motion User Manual C/C++ Cod[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-6 ni.com err = flex_load_acceleration (boardID, [...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-9 NI-Motion User Manual T orque C[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-10 ni.com LabVIEW Code Figure 13-6. T orque Cont[...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-11 NI-Motio n User Manual C/C++ C[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-12 ni.com err = flex_load_acceleration (boardID,[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-14 ni.com Speed Control Based on Analog V alue I[...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-15 NI-Motio n User Manual LabVIEW[...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-16 ni.com C/C++ Code The following example code [...]

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    Chapter 13 T orque Control © National Instruments Corporat ion 13-17 NI-Motio n User Manual // Set [...]

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    Chapter 13 T orque Control NI-Motion User Manual 13-18 ni.com Sleep (50); // Check every 50 ms } whi[...]

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    © National Instruments Corporat ion 14-1 NI-Motion User Manual 14 Onboard Programs This chapter pro[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-2 ni.com Using Onboard Programs with NI 73 xx M[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-3 NI-Motion User Manual Figure 1[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-4 ni.com Figure 14-2. Writing Onbo ard Programs[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-5 NI-Motion User Manual LabVIEW [...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-8 ni.com Running, Stopping, and Pausing Onboard[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-9 NI-Motion User Manual Y ou can[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-10 ni.com Figure 14-5. Executing Onboard Progra[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-11 NI-Motio n User Manual Onboar[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-12 ni.com LabVIEW Code Figure 14-7. On board Pr[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-13 NI-Motio n User Manual // Set[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-14 ni.com CheckError; return ;// Exit the Appli[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-15 NI-Motio n User Manual Algori[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-16 ni.com LabVIEW Code Figure 14-9. Updating Ve[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-17 NI-Motio n User Manual C/C++ [...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-18 ni.com err = flex_read_adc16 (boardID, NIMC_[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-19 NI-Motio n User Manual //////[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-20 ni.com Onboard Program Algorithm Figure 1 4-[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-21 NI-Motio n User Manual LabVIE[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-22 ni.com C/C++ Code The following example code[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-23 NI-Motio n User Manual err = [...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-25 NI-Motio n User Manual Figure[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-27 NI-Motio n User Manual Figure[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-28 ni.com LabVIEW Code This example moves axis [...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-29 NI-Motio n User Manual Figure[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-30 ni.com C/C++ Code The following example code[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-31 NI-Motio n User Manual err = [...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-32 ni.com err = flex_jump_on_event (boardID, 0 [...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-33 NI-Motio n User Manual err = [...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-34 ni.com Onboard Subroutines You can create su[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-35 NI-Motio n User Manual LabVIE[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-36 ni.com Figure 14-21 shows the subroutine tha[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-37 NI-Motio n User Manual Figure[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-38 ni.com C/C++ Code The following example code[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-39 NI-Motio n User Manual err = [...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-40 ni.com CheckError; // Wait for move to compl[...]

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    Chapter 14 Onboard Programs © National Instruments Corporat ion 14-41 NI-Motio n User Manual // Ins[...]

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    Chapter 14 Onboard Programs NI-Motion User Manual 14-42 ni.com Automatically Starting Onboard Progra[...]

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    © National Instruments Corporat ion IV-1 NI-Motion User Manual Part IV Creating Applications Using [...]

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    © National Instruments Corporat ion 15-1 NI-Motion User Manual 15 Scanning The goal of the scanning[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-2 ni.com Raster Scanning Using St raight Lines Algorith[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-3 NI-Motion User Manual LabVIEW Code Fig[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-4 ni.com C/C++ Code The following example code is no t [...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-5 NI-Motion User Manual // Set the decel[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-7 NI-Motion User Manual Blending Straigh[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-8 ni.com Raster Scanning Using Blen ded Straight Lines [...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-9 NI-Motion User Manual LabVIEW Code Fig[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-10 ni.com C/C++ Code The following example code is no t[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-11 NI-Motio n User Manual // Set the dec[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-12 ni.com CheckError; } else { // Check the blend compl[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-13 NI-Motio n User Manual return ;// Exi[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-14 ni.com Figure 15-7. User -Defined Scannin g Path Usi[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-15 NI-Motio n User Manual User -Defined [...]

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    Chapter 15 Scanning NI-Motion User Manual 15-16 ni.com LabVIEW Code Figure 15-9. Scan ning Using Con[...]

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    Chapter 15 Scanning © National Instruments Corporat ion 15-17 NI-Motio n User Manual C/C++ Code The[...]

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    Chapter 15 Scanning NI-Motion User Manual 15-18 ni.com vectorSpace = NIMC_VECTOR_SPACE1; // Configur[...]

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    © National Instruments Corporat ion 16-1 NI-Motion User Manual 16 Rotating Knife The purpose of thi[...]

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    Chapter 16 Rotating Knife NI-Motion User Manual 16-2 ni.com Figure 16-1. Rotating Knife A Synchroniz[...]

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    Chapter 16 Rotating Knife © National Instruments Corporat ion 16-3 NI-Motion User Manual Algorithm [...]

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    Chapter 16 Rotating Knife NI-Motion User Manual 16-4 ni.com LabVIEW Code Figure 16-3. Rotating Knife[...]

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    Chapter 16 Rotating Knife © National Instruments Corporat ion 16-5 NI-Motion User Manual Figure 16-[...]

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    Chapter 16 Rotating Knife NI-Motion User Manual 16-6 ni.com // Set the axis number slaveAxis = NIMC_[...]

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    Chapter 16 Rotating Knife © National Instruments Corporat ion 16-7 NI-Motion User Manual { // Check[...]

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    © National Instruments Corpor ation A-1 NI-Motion User Manual A Sinusoidal Commutation for Brushles[...]

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    Appendix A Sinusoidal Commutation fo r Brushless Servo Motion Control NI-Motion User Manual A- 2 ni.[...]

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    Appendix A Sinusoi dal Commutation for Brushless Ser vo Motion Control © National Instruments Corpo[...]

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    © National Instruments Corpor ation B-1 NI-Motion User Manual B Initializing the Controller Program[...]

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    Appendix B Initializing the Controller Programmatically NI-Motion User Manual B- 2 ni.com 10. Call h[...]

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    © National Instruments Corpor ation C-1 NI-Motion User Manual C Using the Motion Controller with th[...]

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    Appendix C Using the Motion Controller with the LabVIEW Real-Time Module NI-Motion User Manual C- 2 [...]

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    Appendix C Using the Motion Controller wi th the LabVIEW Real-Tim e Module © National Instruments C[...]

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    © National Instruments Corpor ation D-1 NI-Motion User Manual D T echnical Support and Professional[...]

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    © National Instruments Corpor ation G-1 NI-Motion User Manual Glossar y A A/D analog-to-digital abs[...]

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    Glossary NI-Motion User Manual G-2 ni.com binary Number system with a base of 2. buf fer T emporary [...]

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    Glossary © National Instruments Corpor ation G-3 NI-Motion User Manual E encoder Dev ice that trans[...]

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    Glossary NI-Motion User Manual G-4 ni.com home switch (input) Phy sic al po siti on d eter mine d b [...]

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    Glossary © National Instruments Corpor ation G-5 NI-Motion User Manual M m meters MCS Move Complete[...]

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    Glossary NI-Motion User Manual G-6 ni.com P PCI peripheral component interconnect— a high-performa[...]

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    Glossary © National Instruments Corpor ation G-7 NI-Motion User Manual RPM rev olutions per minute?[...]

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    Glossary NI-Motion User Manual G-8 ni.com V Vv o l t s velocity mode Move the axis continuously at a[...]

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    © National Instruments Corpor ation I-1 NI-Motion User Manual Index A absolute contouring, 7-4 acce[...]

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    Index NI-Motion User Manual I-2 ni.com blending moves, 9-1 branching onboard programs algorithm, 14-[...]

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    Index © National Instruments Corpor ation I-3 NI-Motion User Manual direct set, A-2 documentation, [...]

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    Index NI-Motion User Manual I-4 ni.com control loop, 3-2 acceleration feedforward, 3-6 deri vati v e[...]

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    Index © National Instruments Corpor ation I-5 NI-Motion User Manual spherical, 6-7 algorithm, 6-9 C[...]

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    Index NI-Motion User Manual I-6 ni.com onboard program s, 14-2 algorithm, 14-4 automatically startin[...]

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    Index © National Instruments Corpor ation I-7 NI-Motion User Manual LabVIEW code, 16 -4 solution, 1[...]

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    Index NI-Motion User Manual I-8 ni.com LabVIEW code, 5-13 straight-line moves, 4-1, 5-1 subroutines,[...]

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    Index © National Instruments Corpor ation I-9 NI-Motion User Manual trajectory parameters accelerat[...]