National Instruments NI-Motion manuals

National instruments NI-Motion User Manual (305 pages)

Brand: National-instruments | Category: Safety | Size: 2.56 MB |

English

Table of contents

Motion Control

1

Important Information

3

Chapter 13

8

Chapter 14

8

Chapter 15

9

Contents

10

About This Manual

11

Documentation and Examples

12

Introduction

14

Introduction to NI-Motion

15

NI 73xx Architecture

16

Feedback

20

Configuring Motion Control

28

Tuning Servo Systems

29

Control Loop

30

Ki (Integral Gain)

32

Kp (Proportional Gain)

32

Kd (Derivative Gain)

33

Kv (Velocity Feedback)

33

Vff (Velocity Feedforward)

33

Dual Loop Feedback

35

Velocity Feedback

37

Part III

40

• Synchronization

41

• Torque Control

41

What You Need to Know about

42

Basic Moves

43

Trajectory Parameters

45

Velocity in RPM

46

Acceleration in Counts/s

49

Acceleration in RPS/s

50

Velocity Override in Percent

52

Arc Angles in Degrees

53

NI 73xx Arc Move Limitations

54

Timing Loops

55

Straight-Line Moves

56

Chapter 5 Straight-Line Moves

57

1D Straight-Line Move Code

60

2D Straight-Line Move Code

62

Figure 5-5. Velocity Profile

67

Arc Moves

79

Chapter 6 Arc Moves

80

Radius, Start Angle

81

Spherical Arcs

85

Helical Arcs

91

Contoured Moves

97

Arbitrary Contoured Moves

98

Contoured Move Algorithm

99

Chapter 7 Contoured Moves

100

LabVIEW Code

101

C/C++ Code

102

Reference Moves

107

Typically a Find Home

108

Typically a Find Index

108

Chapter 8 Reference Moves

110

Blending Moves

113

Superimpose Two Moves

114

Velocity

115

Blend after Delay

116

Coordinate Space

117

Move Constraints, etc

117

Chapter 9 Blending Moves

120

Electronic Gearing and

123

Algorithm

124

Gear Master

126

Camming Table

134

Segment 2

135

Master Position

137

Without Offset

138

Master Offset

139

Camming starts

140

With Master Offset

140

Acquiring Time-Sampled

145

Position and Velocity Data

145

Synchronization

151

Absolute Breakpoints

152

Chapter 12 Synchronization

153

Buffered Breakpoint Algorithm

154

Configure breakpoint

158

Absolute position where

158

Relative Position Breakpoints

162

Relative position where

163

Load the initial breakpoint

167

Load the breakpoint period

167

Load breakpoint modulus

173

High-Speed Capture

177

Check number of captured

178

High-Speed Capture Algorithm

183

*NI 7350 only

188

Encoder Pulses Using RTSI

189

Software Trigger Using RTSI

189

Figure 12-25

190

Torque Control

191

Chapter 13 Torque Control

192

Set to absolute mode

193

Map the analog sensor as

193

Monitoring Force

198

Set to relative mode

199

Set to velocity mode

204

Onboard Programs

209

Motion Controllers

210

Writing Onboard Programs

211

End the store mode

212

Load the move type

212

Chapter 14 Onboard Programs

215

Running an Onboard Program

216

Stopping an Onboard Program

216

Automatic Pausing

217

Single-Stepping Using Pause

217

Using Onboard Memory and Data

222

Branching Onboard Programs

227

Put Controller in Store Mode

228

End the Store Mode

228

Load your Move Type

228

Math Operations

232

Indirect Variables

232

Onboard Buffers

233

Onboard Subroutines

242

Changing a Time Slice

250

Scanning

252

Chapter 15 Scanning

253

User-Defined Scanning Path

264

NI-Motion

265

Write the array of points and

266

Rotating Knife

272

Figure 16-1. Rotating Knife

273

Chapter 16 Rotating Knife

277

Sinusoidal Commutation for

280

Commutation Frequency

281

Initializing the Controller

283

Programmatically

283

Technical Support and

288

Professional Services

288

Glossary

289

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