NI-Motion VI HelpThis help file provides a comprehensive reference of all NI-Motion Virtual...

NI-Motion™VIHelpJuly2007,370537H-01

ThishelpfileprovidesacomprehensivereferenceofallNI-MotionVirtualInstruments(VIs).ThisdocumentisintendedforusebydevelopersofNI-MotionsystemswithaworkingknowledgeofLabVIEW.

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TocommentonNationalInstrumentsdocumentation,refertotheNationalInstrumentsWebsite.

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AxesAnaxisconsistsofatrajectorygenerator,PIDorsteppercontrolblock,andsomesortofoutputresource,eitheradigital-to-analogconverter(DAC)outputorastepperpulsegeneratoroutput.Servoaxesmustalsohavesomesortoffeedbackresource,eitheranencoderorADCchannel.Closed-loopstepperaxesalsorequireafeedbackresource,andcanuseeitherencoderorADCinputs.Open-loopstepperaxesdonotrequirefeedbackforcorrectoperation.ThefollowingtableliststheresourceIDsforaxes:

ResourceName ResourceIDAxisControl 0x00(0)Axis1 0x01(1)Axis2 0x02(2)Axis3 0x03(3)Axis4 0x04(4)Axis5 0x05(5)Axis6 0x06(6)Axis7 0x07(7)Axis8 0x08(8)Axis9 0x09(9)Axis10 0x0A(10)Axis11 0x0B(11)Axis12 0x0C(12)Axis13 0x0D(13)Axis14 0x0E(14)Axis15 0x0F(15)

VIsthatcanoperateonmultipleaxessimultaneously(forexample,ReadBlendStatusandStartMotion)cantaketheaxiscontrol(0)astheirresourceparameter.

UsingAxesNineThroughFifteen

Completethefollowingstepstouseaxesninethroughfifteen:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. Typetheselectedaxisnumber(indecimal)foraxesninethroughfifteen.

VectorSpacesVectorspacesarelogical,multidimensionalgroupsofaxes.Theycanbeeitherone-dimensional,two-dimensionalwithxandyaxes,orthree-dimensionalwithx,y,andzaxes.ThetotalnumberofvectorspacesNI-Motionsupportsinyourmotioncontrolsystemcanbecalculatedusingthefollowingformula:

totalvectorspaces= .

Vectorspacesfacilitate2Dand3Dinterpolatedmoves:linear,circular,helical,andspherical.YoucansendavectorspacetomanyNI-MotionVIstodefinevectorposition,vectorvelocity,vectoracceleration,andsoon.

Vectorspacesarestarted,stopped,andcontrolledasiftheywereasingleaxis,greatlysimplifyingthecontrolofcoordinatedvectoraxes.Allaxesinavectorspacestartandstopatthesametime,completingthevectormotionprofilesprogrammed.ThefollowingtableliststheresourceIDsforvectorspacecontrol.

ResourceName ResourceIDVectorSpaceControl 0x10(16)VectorSpace1 0x11(17)VectorSpace2 0x12(18)VectorSpace3 0x13(19)VectorSpace4 0x14(20)VectorSpace5 0x15(21)VectorSpace6 0x16(22)VectorSpace7 0x17(23)VectorSpace8 0x18(24)

VIsthatcanoperateonmultiplevectorspacessimultaneously(forexample,StartMotion)cantakethevectorspacecontrol(0x10)astheirresourceparameter.

VectorspacesareconfiguredbymappingaxestothevectorspacewiththeConfigureVectorSpaceVI.Vectorspacesarelogical,notphysical,anddonot

requiremotionresourcesotherthanthoseusedbytheaxesthemselves.

UsingVectorSpacesFiveThroughEight

Completethefollowingstepstousevectorspacesfivethrougheight:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. Typetheselectedvectorspacenumber(indecimal)forvectorspacesfive

througheight.

MotionResourcesTherearefourtypesofmotionresourcesontheNI-Motioncontroller:encoders,ADCchannels,DACoutputs,andstepperoutputs.Ingeneral,VIsrelatingtomotionresources(forexample,ReadDACandReadStepsGenerated)canbesenttotheresourceortheaxistheresourceismappedto.

NoteAftertheyaremappedtoanaxis,allfeaturesandfunctionsofamotionresourceareavailableaspartoftheaxis.Itisnotnecessarytorememberorusetheresourcenumberdirectlywhenaccessingthesefeaturesaspartoftheaxis.Resourcesarereferencedbyaxisnumberaftertheyareassignedtothataxis.

NI73xxControllerConsiderations

Thefollowinglistincludesconsiderationsyoumustmakewhenyouareusingtheseresourceswitha73xxcontroller:

7330controllersdonotsupportDACoutputsorsecondaryADCs.7340controllersdonotsupportsecondaryADCs.7350controllerssupportasecondaryfeedbackdeviceoneachaxis.7390controllersdonotsupportADCchannels,DACoutputs,secondaryADCs,orsecondaryencoders.

NISoftMotionControllerConsiderations

ThefollowinglistincludesconsiderationsyoumustmakewhenyouareusingtheseresourceswiththeNISoftMotionController:

TheNISoftMotionControllersupportsasecondaryfeedbackdeviceoneachaxis.

SecondaryEncodersUsesecondaryencodersinadual-loopfeedbacksystemtoprovideamoreaccuratevelocityfeedbackestimation.

ResourceName ResourceIDSecondaryEncoder1 0X71(113)SecondaryEncoder2 0X72(114)

.SecondaryEncoder15 0X7F(127)SecondaryADCs

UsesecondaryADCsinadual-loopfeedbacksystemtoprovideamoreaccuratevelocityfeedbackestimation.

ResourceName ResourceIDSecondaryADC1 0X91(145)SecondaryADC2 0X92(146)

.SecondaryADC15 0X9F(159)

EncodersEncoderresourcesareprimarilyusedforpositionfeedbackonservoandclosed-loopstepperaxes.Whenencoderresourcesarenotmappedtoanaxisforuseasaxisfeedback,youcanusethemforanynumberofotherfunctionsincludingpositionorvelocitymonitoring,asdigitalpotentiometerencoderinputs,orasmasterencodersformaster/slaveandgearingapplications.ThefollowingtableliststheresourceIDsforencoders:

ResourceName ResourceIDEncoderControl 0x20(32)Encoder1 0x21(33)Encoder2 0x22(34)Encoder3 0x23(35)Encoder4 0x24(36)Encoder5 0x25(37)Encoder6 0x26(38)Encoder7 0x27(39)Encoder8 0x28(40)Encoder9 0x29(41)Encoder10 0x2A(42)Encoder11 0x2B(43)Encoder12 0x2C(44)Encoder13 0x2D(45)Encoder14 0x2E(46)Encoder15 0x2F(47)

VIsthatcanoperateonmultipleencoderssimultaneously(forexample,ReadHigh-SpeedCaptureStatus)cantaketheencodercontrol(0x20)astheirresourceparameter.

Allencodersfeaturehigh-speedcaptureinputsandbreakpointoutputs.ThesefeaturesareimplementedintheencoderprocessorFPGAandarefullyfunctionalwhenanencoderisusedasanindependentresourceorasfeedbackforanaxis.

UsingEncodersNineThroughFifteen

Completethefollowingstepstouseencodersninethroughfifteen:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. Typetheselectedencodernumber(indecimal)forencodersninethrough

fifteen.

ADCChannelsYoucanuseADCchannelsasanalogfeedbackforaxesorasgeneral-purposeanaloginputstomeasuresensorsorpotentiometers.

AllADCchannelsaremultiplexedandautomaticallyscannedtokeeptheconvertedADCregistervaluescurrent.ThefollowingtableliststheresourceIDsforADCs:

ResourceName ResourceIDADC1 0x51(81)ADC2 0x52(82)ADC3 0x53(83)ADC4 0x54(84)ADC5 0x55(85)ADC6 0x56(86)ADC7 0x57(87)ADC8 0x58(88)ADC9 0x59(89)ADC10 0x5A(90)ADC11 0x5B(91)ADC12 0x5C(92)ADC13 0x5D(93)ADC14 0x5E(94)ADC15 0x5F(95)

ADCchannelsdonottypicallyprovidethesameleveloffeedbackperformanceasencoders,buthavetheadvantageofprovidingabsoluteratherthanincrementalfeedback.

On7340/7330controllers,ADCs5through8arehard-wiredtospecificsources,andcannotbeusedasgeneral-purposeresourcesorasfeedbackdevices.RefertotheReadADCsVIformoreinformation.

UsingADCsNineThroughFifteen

CompletethefollowingstepstouseADCsninethroughfifteen:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. TypetheselectedADCnumber(indecimal)forADCsninethroughfifteen.

DACOutputsDACresourcesaretypicallymappedtoservoaxesandgeneratetheanalogcontroloutputsfromthePIDloops.DACresourcesthatarenotusedbyaxesareavailablefornon-axisspecificapplications.YoucandirectlycontrolanunmappedDACasageneral-purposeanalogoutput.

TheDACoutputsoffer16-bitresolutionandtheindustry-standard±10Vrange.RefertothespecificationsofthemotioncontrollerdocumentationforcompleteDACoutputspecifications.ThefollowingtableliststheresourceIDsforDACs:

ResourceName ResourceIDDAC1 0x31(49)DAC2 0x32(50)DAC3 0x33(51)DAC4 0x34(52)DAC5 0x35(53)DAC6 0x36(54)DAC7 0x37(55)DAC8 0x38(56)DAC9 0x39(57)DAC10 0x3A(58)DAC11 0x3B(59)DAC12 0x3C(60)DAC13 0x3D(61)DAC14 0x3E(62)DAC15 0x3F(63)

UsingDACsNineThroughFifteen

CompletethefollowingstepstouseDACsninethroughfifteen:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. TypetheselectedDACnumber(indecimal)forDACsninethroughfifteen.

StepperOutputsStepperoutputresourcesgeneratethesteppulsesrequiredforstepperaxiscontrol.TheyoperateliketheDACoutputinaservoaxis.

NI-Motionsupportsthetwoindustry-standardstepperoutputconfigurations:StepandDirection,orCW/CCWpulses.RefertoConfigureStepperOutputformoreinformationabouttheseoutputconfigurations.ThefollowingtableliststheresourceIDsforstepperoutputs:

ResourceName ResourceIDStepperOutput1 0x41(65)StepperOutput2 0x42(66)StepperOutput3 0x43(67)StepperOutput4 0x44(68)StepperOutput5 0x45(69)StepperOutput6 0x46(70)StepperOutput7 0x47(71)StepperOutput8 0x48(72)StepperOutput9 0x49(73)StepperOutput10 0x4A(74)StepperOutput11 0x4B(75)StepperOutput12 0x4C(76)StepperOutput13 0x4D(77)StepperOutput14 0x4E(78)StepperOutput15 0x4F(79)

UsingStepperOutputsNineThroughFifteen

Completethefollowingstepstousestepperoutputsninethroughfifteen:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. Typetheselectedstepperoutputnumber(indecimal)forstepperoutputs

ninethroughfifteen.

General-PurposeI/OPortsYoucanusethegeneral-purposeI/Oportstructureforprogrammablelogiccontroller(PLC)functionsorforsimplepointI/O.RefertoAnalog&DigitalI/OVIsforinformationabouthowtoconfigurethedirectionandpolarityoftheI/Oportsandbits,setandresetindividualbits,andreadthelogicalportstatus.

TheseI/Oportsarealsohardwareresources,butbecausetheyarenevermappedtoaxes,theyarenotconsideredmotionresources.Referto73xxControllerGeneral-PurposeI/OPortIDsandNISoftMotionControllerGeneral-PurposeI/OPortIDsforI/Oportresourcenumbers.

1. TheRTSIportisnotsupportedbytheNISoftMotionController.2. TheresourceIDfortheRTSIportis0x09(9).

UsingUnlistedGeneral-PurposeI/OPorts

Completethefollowingstepstouseunlistedgeneral-purposeI/Oports:

1. OpenthedesiredVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheappropriateterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheconstantandselectOther.5. Typetheselectedportnumber,indecimal.

AvailableI/OResources

ThefollowingtableliststheI/Oresourcesbycontrollertype.

Device DigitalI/OLinesNI7330 four8-bitports,RTSII/OportNI7340 four8-bitports,RTSII/OportNI7350 eight8-bitports,RTSII/Oport

NIPCI-7390 four2-bitinputports,four2-bitoutputports,RTSII/Oport

NISoftMotionControllerforXenus(CopleyControlsCANopendrive)

sevendigitalinputlines,threedigitaloutputlinesperaxis

NISoftMotionControllerforAccelnet(CopleyControlsCANopendrive)

sevendigitalinputlines,twodigitalinputlinesperaxis

73xxControllerGeneral-PurposeI/OPortIDs7330,7340,and7350ControllerI/OPortResourceIDs

ThefollowingtableliststheresourceIDsforI/Oportson7330,7340,and7350controllers.

NoteTheI/OlinedirectionisuserconfigurableusingtheSetI/OPortDirectionVI,sothesecontrollersdonothaveseparateportIDsforinputandoutputports.

ResourceName ResourceIDI/OPort1 0x01(1)I/OPort2 0x02(2)I/OPort3 0x03(3)I/OPort4 0x04(4)I/OPort5 0x05(5)I/OPort6 0x06(6)I/OPort7 0x07(7)I/OPort8 0x08(8)RTSIPort 0x09(9)

PCI-7390ControllerI/OPortResourceIDs

ThefollowingtableliststheresourceIDsforI/OportsonthePCI-7390controller.

DigitalInputPortsResourceName ResourceIDInputPort1 0x01(1)InputPort2 0x02(2)InputPort3 0x03(3)InputPort4 0x04(4)

DigitalOutputPortsResourceName ResourceIDOutputPort1 0x81(129)OutputPort2 0x82(130)OutputPort3 0x83(131)OutputPort4 0x84(132)

NISoftMotionControllerGeneral-PurposeI/OPortIDsThefollowingtableliststheresourceIDsforI/OportsontheNISoftMotionController:

DigitalInputPortsResourceName ResourceIDInputPort1 0x01(1)InputPort2 0x02(2)InputPort3 0x03(3)InputPort4 0x04(4)InputPort5 0x05(5)InputPort6 0x06(6)InputPort7 0x07(7)InputPort8 0x08(8)InputPort9 0x09(9)InputPort10 0x0A(10)InputPort11 0x0B(11)InputPort12 0x0C(12)InputPort13 0x0D(13)InputPort14 0x0E(14)InputPort15 0x0F(15)

DigitalOutputPortsResourceName ResourceIDOutputPort1 0x81(129)OutputPort2 0x82(130)OutputPort3 0x83(131)OutputPort4 0x84(132)OutputPort5 0x85(133)OutputPort6 0x86(134)OutputPort7 0x87(135)OutputPort8 0x88(136)OutputPort9 0x89(137)OutputPort10 0x8A(138)OutputPort11 0x8B(139)OutputPort12 0x8C(140)OutputPort13 0x8D(141)OutputPort14 0x8E(142)OutputPort15 0x8F(143)

TrajectoryParametersAlltrajectoryparametersforservoandclosed-loopstepperaxesareexpressedintermsofquadratureencodercounts.Parametersforopen-loopstepperaxesareexpressedinsteps.Forservoaxes,theencoderresolutionincountsperrevolutiondeterminestheultimatepositionalresolutionoftheaxis.

Forstepperaxes,thenumberofstepsperrevolutiondependsuponthetypeofstepperdriverandmotorbeingused.Forexample,asteppermotorwith1.8°/step(200steps/revolution)usedinconjunctionwitha10xmicrostepdriverwouldhaveaneffectiveresolutionof2,000stepsperrevolution.Resolutiononclosed-loopstepperaxesislimitedtothestepsperrevolutionorencodercountsperrevolution,whicheveriscoarser.

TherearetwootherfactorsthataffectthewaytrajectoryparametersareloadedtotheNImotioncontrollerversushowtheyareusedbythetrajectorygenerators:floating-pointversusfixed-pointparameterrepresentation,andtimebase.

Youcanloadsometrajectoryparametersaseitherfloating-pointorfixed-pointvalues.TheinternalrepresentationontheNImotioncontrollerisalwaysfixed-point,however.Thisfactisimportantwhenworkingwithonboardvariables,input,andreturnvectors.Italsohasasmalleffectonparameterrangeandresolution,asshownintheexampleintheVelocityinRPMtopic.

Thesecondfactoristhetimebase.Velocityandaccelerationvaluesareloadedincounts/s,RPM,RPS/sec,steps/s,andsoon—allfunctionsofsecondsorminutes.ButthetrajectorygeneratorsupdatetargetpositionattheTrajectoryUpdateRate,whichisprogrammablewiththeEnableAxesVI.Thismeansthattherangefortheseparametersdependsontheupdaterateselected,asshownintheexampleintheVelocityinRPMtopic.

RPMvaluesstoredinonboardvariablesareindouble-precisionIEEEformat(f64).RefertoOnboardVariablesandInputandReturnVectors,forinformationaboutthenumberofvariablesrequiredtoholdanRPMvalue.

NI73xxVelocityinRPM

NI73xxVelocityinCounts/sorSteps/s

NI73xxAccelerationinCounts/s2

NI73xxAccelerationinRPS/s

NI73xxVelocityOverrideinPercent

NI73xxArcAnglesinDegrees

ValueMotiontoNI-MotionConversionToaidinconvertingaValueMotionapplicationtoNI-Motion,thefollowingtablelistseachVIintheValueMotionAPIandgivesthenearestNI-MotionVI.SomeValueMotionVIsarerelatedtotwoNI-MotionVIs.Inthesecases,thefirstVIistheclosestmatchtotheValueMotionVI,butthesecondNI-MotionVI,incombinationwiththefirst,isrequiredtocompletelymimicthefunctionalityoftheoriginalValueMotionVI.

RefertotheindividualVIsinboththeValueMotionandNI-MotionVIonlinehelpfordetailedinformationaboutthefunctionalandsyntacticdifferences.

ValueMotionVIName NI-MotionEquivalent

AcquireSamples AcquireTrajectoryDataClearReturnDataBuffer FlushReturnDataBufferCommunicate ReadReturnDataBufferConfigureMasterSlave ConfigureGearMaster

EnableGearingEnable4ALimitSwitchInputs EnableLimits

EnableHomeInputsEnableBreakpoint EnableBreakpointOutput

ConfigureBreakpointEnableTriggerInputs WaitonConditionFindHome FindReferenceHomeFindIndex FindReferenceIndexGetBoardType GetMotionBoardInformationGetMotionBoardInfo GetMotionBoardInformationInitializeController InitializeControllerKillAll StopMotionKillMotion StopMotionLoadAcceleration LoadAcceleration/DecelerationLoadAccelerationFactor NotsupportedLoadBreakpoint LoadBreakpointPositionLoadBreakpointRepeatPeriod LoadBreakpointModulusLoadDerivativeGain LoadSinglePIDParameter

VIExecutionTimesForselectedVIexecutiontimes,selectyourcontrollerfromthefollowinglist:

NI7330NI7334NI7340NI7342NI7344NI7350NI7390

CommunicationbetweentheHostComputerandtheNIMotionControllerThehostcomputercommunicateswiththeNImotioncontrollerthroughanumberofI/OportaddressesontheISAorPCIbus.

Atthecontroller'sbaseaddressistheprimarybidirectionaldatatransferport.ThisportsupportsFIFOdatapassinginbothsendandreadbackdirections.TheNImotioncontrollerhasbothacommandbufferforincomingcommandsandaReturnDataBuffer(RDB)forreturndata.

Atoffsetsfromthecontroller'sbaseaddressaretworead-onlystatusregisters.TheflowofcommunicationsbetweenthehostandtheNImotioncontrolleriscontrolledbyhandshakingbitsintheCommunicationsStatusRegister(CSR).TheMCSregisterprovidesinstantaneousmotionstatusofallaxes.

BoardIdentificationParameter

Packets,Handshaking,andFIFOBuffers

ReturnDataBuffer

BoardIdentificationParameterAllVIsinNI-MotionhaveBoardIDasthefirstparameter.BoardIDisdefinedasboardID(u8)—theboardidentificationnumberassignedbyMeasurement&AutomationExplorer.

BoardIDisauniquenumberassignedtoeachmotioncontrollerinthesystembyMeasurement&AutomationExplorer.Afterthisassignmentismade,allNI-MotionVIsusethisboardIDtosendandreceivecommandsanddatatoorfromaspecificNI-Motioncontroller.MostNI-MotionVIsalsohaveaBoardIDOutterminalwhichisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBoardIDOutterminalofoneVItotheBoardIDterminalofthenextVI.

Packets,Handshaking,andFIFOBuffersThistopicbrieflydescribeshowcommandsanddataarepassedbetweenthehostcomputerandtheNImotioncontroller.Thisinformationisprovidedforreferencepurposes.TheNI-Motionsoftwareprovidesdrivers,DLLs,andCfunctionlibrariesthathandlethehost-to-controllercommunicationsforyou.

DatapassedtoorfromtheNImotioncontrollerishandledinapacketformat.Apacketconsistsofapacketidentifierword,commandanddatacontent,andapacketterminatorword.Thisapproachtocommunicationsenhancestheintegrityofdatacommunications,speedstheprocessingofthetransferredcommandanddata,andorganizesoperationintopowerful,high-levelfunctions.

EachwordinapacketissentoverthebusaftercheckingtheReady-to-Receive(RTR)handshakingbitintheCSR.RefertotheReadCommunicationStatusVIforthestatusclusterandmoreinformationaboutthestatusreportedintheCSR.

Commandanddatapacketsarecheckedforpacketformaterrorsasthecontrollerreceivesthem.Ifthecontrollerdetectsapacketerror,itimmediatelyreportstheerrorbysettinganerrorbitintheCSR.Whenthepacketisreceivedwithouterror,thecommandanddataisstoredinaFIFObuffer.

ThisFIFOcanholdupto16commands.TheNI-MotionRTOSprocessescommandswhenitisnotbusywithhigherprioritytasks.IntheunlikelyeventthattheFIFOfillsupbeforeanycommandscanbeprocessed,thehostisheldoffwithaNot-Ready-to-Receivecondition.

Eachcommandisprocessedandadeterminationismadewhethertoexecutethecommandimmediately,orstoreitawayinaprogramtoexecutelater.Commandsarealsocheckedfordataandmodal(sequence)errorsatthistime.ModalerrorsareflaggedbysettingtheErrorMessagebitintheCSR.Thismodalerrorisfunctionallydifferentfromthepacketcommunicationerrorpreviouslydescribed.RefertoErrorsandErrorHandlingformoreinformation.

ReturnDataBuffer(73xxControllersOnly)DataorstatusrequestedbythehostisbufferedintheReturnDataBuffer(RDB)inFIFOmode.TheFIFOis16commandsdeep.

WhendataexistsintheRDB,theReadytoSendbitintheCommunicationStatusRegister(CSR)isset.

YoucanusetheRDBeitherasatemporarybufferthatholdsasinglereturndatapacket,orasasmallFIFObuffer.WhentherequesteddataisavailableintheRDB,useReadReturnDataBuffertoretrieveit.Youalsocanrequestmultipledataitemsandleavetheminthebufferforretrievalatalatertime.IftheRDBbecomesfullandcannotaccommodaterequestedreturndata,NI-MotiongeneratesanerrorandsetstheErrorMessagebitintheCSR.

ErrorsandErrorHandlingTominimizethepossibilityoferroneoussystemoperation,VIs,packets,anddataarecheckedforerrorsatmultiplelevelswithintheNI-MotionsoftwareandwithinthefirmwarethatresidesontheNImotioncontroller.

Inaperfectsystem,errorsshouldnotbegenerated.However,duringapplicationdevelopmentanddebugging,errorsareunfortunatelyquitecommon.NI-MotionoffersanextensiveerrorhandlingstructureandutilityVIstoallowyoutoquicklydiagnoseanyerror-generatingsituation.RefertotheError&UtilityVIsforinformationaboutspecificVIsandErrorCodesforalistingoferrorsreturnedbyNI-Motion.

ErrorCodesThefollowingtablelistsallNI–Motionerrorcodes,symbolicnames,andabriefdescriptionoftheassociatederrorconditions.

RefertotheError&UtilityVIsfordetaileddescriptionsoftheVIsforerrorhandling.RefertoErrorsandErrorHandlingformoreinformationabouterrorsanderrorhandlingtechniques.

ErrorCode SymbolicNameDescription

0 NIMC_noError Noerror.

-70001 NIMC_readyToReceiveTimeoutError

ReadytoReceiveTimeout.Thecontrollerisstillnotreadytoreceivecommandsafterthespecifiedtimeoutperiod.Thiserrormayoccurifthecontrollerisbusyprocessingpreviouscommands.Ifthiserrorpersists,evenwhenthecontrollershouldnotbebusy,contactNationalInstruments.

-70002 NIMC_currentPacketError

Eitherthisfunctionisnotsupportedbythistypeofcontroller,orthecontrollerreceivedanincompletecommandpacketandcannot

ErrorCodesThefollowingtablelistsallNI–Motionerrorcodes,symbolicnames,andabriefdescriptionoftheassociatederrorconditions.

RefertotheError&UtilityVIsfordetaileddescriptionsoftheVIsforerrorhandling.RefertoErrorsandErrorHandlingformoreinformationabouterrorsanderrorhandlingtechniques.

ErrorCode SymbolicNameDescription

0 NIMC_noError Noerror.

-70001 NIMC_readyToReceiveTimeoutError

ReadytoReceiveTimeout.Thecontrollerisstillnotreadytoreceivecommandsafterthespecifiedtimeoutperiod.Thiserrormayoccurifthecontrollerisbusyprocessingpreviouscommands.Ifthiserrorpersists,evenwhenthecontrollershouldnotbebusy,contactNationalInstruments.

-70002 NIMC_currentPacketError

Eitherthisfunctionisnotsupportedbythistypeofcontroller,orthecontrollerreceivedanincompletecommandpacketandcannot

ErrorHandlingTechniquesInadditiontousingtheerrorinanderroroutterminalsoneachmotionVI,checkformodalerrorsbycallingtheMotionErrorHandlerVIintheapplication.TheMotionErrorHandlerVIchecksthecontrollerforerrorsandreadanddisplayerrorsfromtheErrorStackiftheyexist.RefertotheexampleVIsintheLabVIEW\Examples\Motion\NI-MotiondirectorytoseehowthisVIisused.

Howoftentocheckformodalerrorsdependsupontheapplication,butyoucanusethefollowinglistasaguideline:

1. Checkforerrorsattheendofeachmajorsubroutineorfunctionalblock.2. Checkforerrorsattheendofaninitializationprocedure.Evenbetteristo

alsocheckaftereachaxisinitialization.AfterexecutingaFindReferenceVI,checktomakesurethesequencecompletedsuccessfully.

3. Includeanerrorcheckineverystatuspollingloop.Mostapplicationsincludeapollinglooptodisplaymotionstatus,position,velocity,andsoon.Thiswayyouareassuredofnevermissinganerror.

4. Duringdebugging,youcanrunanindependentVItocheckforerrors.TheErrorMonitorVIintheError&Utilitypaletteisprovidedforthispurpose.YoucanrunthisVIwhileanotherVIisexecutingmotionVIs,andtheErrorMonitordisplaysmodalerrors.

Foradditionalinformationabouterrors,refertothefollowingtopics:

OnboardVariables

FatalHardwareandCommunicationsErrors

ErrorMessageStackModalerrorsgenerateanerrormessagecontainingthecommandID,resourceID,anderrorcodethatispushedontheErrorMessageStackontheNImotioncontrollerandflaggedintheErrorMessage(ErrMsg)bitoftheCommunicationsStatusRegister(CSR).YoucanreturnamodalerrormessagetothehostbyexecutingtheReadErrorMessageVI.

Foryourconvenience,theMotionErrorHandlerVIcheckstheCSRforerrors,andifanerrorispresentonthestack,readstheerrormessagefromthecontroller.

TheErrorMessageStackisorganizedasalast-in-first-out(LIFO)buffersothatthemostrecenterrorisavailableimmediately.OldererrorscanbereadwithadditionalcallstotheMotionErrorHandlerVIandarereturnedintheinverseordertowhichtheyweregenerated.Whenthestackisempty,theErrorMessage(ErrMsg)bitintheCSRisreset.

TheErrorStackcanholdupto10errors.Whenthestackisfull,whichisanunlikelyevent,additionalerrormessagesarethrownaway.

FatalHardwareandCommunicationsErrorsThereareafewerrorsthat,ifdetected,indicateasevereorfatalerrorcondition.TheseincludebutarenotlimitedtoBoardFailureError,WatchdogTimeoutError,FPGAProgramError,DSPInitializationError,I/OInitializationError,andReadytoReceiveTimeoutError.

RefertoErrorCodes,foracompletelistoferrorcodesandpossiblecauses.

Fatalerrorsareunlikely,butiftheyoccur,trytoclearthembyresettingorpowercycling.Ifthisproceduredoesnotcleartheproblem,refertoTechnicalSupportandProfessionalServices.

ModalandNon-ModalErrorsNI-Motioncandetecttwotypesoferrors—modalandnon-modal.Non-modalerrorsareerrorsdetectedatthetimeofVIexecution.Thisincludescommunicationsfailures,parametervalueerrors,andbadBoardIDerror.

IfaNI-MotionVIencountersanon-modalerror,suchasthoselistedabove,communicationwiththecontrollerisimpossible,andthecommandisneversenttooracceptedbythecontroller.TheVIreportsthiserrorintheerroroutcluster.WhenVIsarewiredtogetherthroughtheErrorInandErrorOutterminals,allVIsdownstreamofaVIcausinganon-modalerrordonotexecute.However,theStopMotionVIalwaysexecutes,evenifanotherVIencounteredanerrorearlier.

Modalerrors,ontheotherhand,areerrorsthatarenotdetectedatthetimeofVIexecution,becauseVIscanbebufferedintheonboardFIFO.Furthermore,someVIscanbelegalatonetimeandillegalatanother,dependingonthestateormodeoftheNImotioncontroller.ThismodalerrorstructurealsocorrectlydetectserrorsgeneratedbyincorrectlysequencedVIsinonboardprograms.Modalerrorsareplacedintheonboarderrorstack,andyouhavetoexplicitlyquerythecontrollertocheckforerrors.TheMotionErrorHandlerVIcheckstheonboarderrorstackeverytimeyoucallit.

VITypesandParametersInadditiontotheAPIfunctionalorganization,NI-MotionVIscanbecategorizedbycommonformat,execution,andparametercharacteristics.

BitmappedversusPer-ResourceVIs

SingleandDouble-BufferedParameters

InputandReturnVectors

OnboardVariables

BitmappedversusPer-ResourceVIsTherearetwobasictypesofNI-MotionVIs—thosethatoperateononeresourceatatime,andthosethatoperateonmultipleaxes,vectorspaces,I/Obits,andsoonsimultaneously.

Per-resourceVIstypicallysendnumericvaluesto,orreadnumericvaluesfrom,theselectedaxisorresource.Theyoperateidenticallyoneachaxisormemberintheresourcefamily.

Incontrast,VIsthatoperateonmultiplebitssendandreturnbitmaps,whereeachbit(axis,vectorspace,I/Obit,andsoon)isrepresentedbyonebitinthebitmap.

SomeVIssetandresetbitsinthebitmapusingtheMustOn/MustOff(MOMO)protocol.Thistri-stateprotocolallowsyoutoset/resetoneormorebitswithoutaffectingtheotherbitsinthebitmap.RefertoanyoftheMOMOVIdescriptionsforcompleteinformationaboutthisprotocol.

BitmappedVIsactonallbitssimultaneously.Becauseeachexecutionreconfiguresallbitsinthebitmap,donotusetheseVIsincrementally.

InputandReturnVectorsManyVIsthatloadvaluesandvirtuallyallreadbackVIssupportvectoring.LoadVIs,forexampleLoadTargetPosition,takeaninputvectorthatspecifiesthesourceofthedata,eitherimmediate(usingtheVIinputparameters),fromageneral-purposeonboardvariable,orfromanindirectvariable.ReadVIs,forexampleReadPosition,takeareturnvectorthatspecifiesthedestinationforthereturneddata,eitherthehostcomputer,anonboardvariable,oranindirectvariable.

TheabilitytousevariablesinmotioncontrolVIsisoneofthepowerfulfeaturesoftheNI-Motiononboardprogrammingenvironment.Youcanreaddatafromaresourceintoavariable,scaleorperformsomeothercalculationonthevalue,andthenloadthenewvalueasatrajectoryorothermotionparameter.AllDataOperationsVIstakedatafromvariablesandreturntheresultthroughareturnvector,typicallytoanothervariable.

NoteDatareturnedtothehostbyareturnvectorof0xFFisactuallyleftintheReturnDataBuffer(RDB).ReaddatafromtheRDBusingReadReturnDataBuffer.

Inadditiontospecifyingavariabledirectly,youcanuseindirectvariablestoreferenceavariableindirectly,muchlikeapointerinC.RefertoOnboardVariablesformoreinformation.

Inputandreturnvectorsareveryusefulwhenwritingonboardprogramsbuthavelittleornouseinprogramsrunningonthehostcomputer.Forthisreason,thedefaultvalueforinputvectorisimmediate(0xFF).

NoteThereturnvectormustbe0xFFonthe7330and7390,becausethey

donotsupportonboardprogramming.

RefertoCommunicationbetweentheHostComputerandtheNI-MotionControllerforinformationabouttheRDB.

OnboardVariablesNI-Motionsupports120general-purposevariables(0x01through0x78)foruseinonboardprograms.Variablesare32bitswideandcanholdeithersigned(i32)orunsigned(u32)values.Variablescanbereferencedininputandreturnvectorparameters.DataOperationsVIsusevariablesexclusivelyforinputoperandsandtheoutputresult.

Ingeneral,mostVIshaveasingledataparameterthatfitsintoasingle32-bitvariable.IftheVIusesonlya16-bitdatavalue,itisintheleastsignificantportion(right-most)ofthe32-bitvariable.However,someVIswithinputorreturnvectorshavemorethanonedataparameter.Asageneralrule,eachparameter,regardlessofsize,requiresitownvariable.FortheseVIs,thevectorpointstothefirstvariableinasequentialgroupofvariables.Parametersarethenassociatedwithvariablesinsequentialorder.

AfewadvancedVIshandlevariablesdifferentlyfromthepreviousdescription.RefertoUsingInputsandReturnVectorswithOnboardVariablesformoreinformationaboutvariablesandvectors.

IndirectVariables

IndirectvariablesprovidefunctionalitysimilartopointersinaprogramminglanguagesuchasC.Whenyouuseanindirectvariable(0x81through0xF8)asaninputvectororreturnvector,theNI-Motionsoftwarelooksatthecontentsoftheindirectvariableandusesthatvalueastheinputorreturnvector.Indirectvariables0x81through0xF8correspondtovariables0x01through0x78.Sowhenyouspecifyaninputvectorof0x81,theNImotioncontrollerusesthecontentsofvariable0x01astheinputvector.Thiscanbeveryusefulinloopingstructuresinonboardprograms,aswellaschangingtheinputvaluestoVIsdynamically.

Example

Supposethevaluesofonboardvariables1to10areasfollows:

0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A

0 7 0 0 0 0 1000 0 0 0

Inthisexample,readingtheindirectvariable0x82returnsthevalue1000.

NoteYoucansavetheentiresetofonboardgeneral-purposevariablestoFlashROMwiththeSaveDefaultParametersVI.

VariableArray

VariablearraysareusedwhenreadingorwritingabufferofdatatoorfromonboardmemoryusingtheReadBufferorWriteBufferVIs.

Inmemory,thebufferoccupiesn+2variables,wherenisthenumberofbufferelementsread.Thefirstvariablecontainsthenumberofvaluesreadfromthebuffer.Thesecondvariablecontainstheerrorcodeofthereadoperation.Ifthisvalueiszero,thennoerroroccurred.Thenextnelementsarethevaluesreadfromthearray.Thereadbufferaccountsforthetwoadditionalvalue.However,whenyouarewritingabufferusingavariablearray,thesecondparameteristheregenerationmode,notanerrorcode.

Example

Supposetheonboardvariablelookslikethefollowing:

0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 ...5 0 0 0 0 0 0 0 ...

Further,supposethatthereisabuffercontainingthefollowingelements:

1 2 3 4 5

Ifyouweretoreadthefirstfiveelementsofthebuffertoonboardmemorylocation0x81,theonboardmemorywouldlooklikethefollowing:

0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xA 0xB 0xC ...5 0 0 0 5 0 1 2 3 4 5 0 ...

0x5containsthenumberofelementstoread.0x6displaystheerrorsthatoccurred.Inthiscase,thelocationcontainsa0,meaningnoerrorsoccurred.

0x7–0xBarethefiveelementsthatwereread.

ReflectiveMemoryVIsSomeoftheAdvancedReadVIsusereflectivememorytoreturnstatusanddatainformationtothecontroller.UnlikethetrajectorycontrolVIsthatalsoreturnthisinformation,thesespecializedVIsreadstatusanddatainformationfromtheregisterandsenditbackinamuchhigherresponsetime.

TheseVIsshouldnotbeusedforeventchecking.OnlyusetheinformationreturnedbytheseVIsfordisplaypurposes.ThisisbecausethetradeoffforsignificantlyfasterresponsetimeisthattheseVIsarenotserializedwithotheroperations.VIsthatreturndatainformationarereadfromaregisteronthecontrollerandrefreshedevery5ms.VIsthatreturnstatusinformationarerefreshedassoonaspossible.Thisconfigurationmakesthedataandstatusinformationquicklyaccessible—inabout40µsasopposedto>2mswiththetrajectorycontrolVIs.However,thisalsomeansthatyoucanreadstatusinformationsoonerthantheVIhastimetoexecute.Forexample,acalltoStartMotionfollowedimmediatelybyacalltothemovecompleteattributeoftheReadExecutionStatusVImayreturnaTruevaluebecausetheStartMotionVImaynothavestartedbeforethemovecompletestatusinformationisreturned.

NoteVIsusingreflectivememoryarenotsupportedbytheNISoftMotionController.

ThefollowingtableliststheVIsusingreflectivememory,whichcontrollerhasreflectivememorysupport,andwhichattributesusereflectivememory,ifapplicable:

Function 7330 7340 7350 7390ReadAllAxisData — — Y YReadAllAxisStatus — — Y YReadAxisData(allattributes) — — Y YReadAxisStatus(allattributes) — — Y YReadCaptureCompareData

CapturedPosition — — N N

PositionCaptureOccurred

PositionCompareOccurred

ReadCoordinateData(allattributes) — — Y YReadCoordinateStatus(allattributes) — — Y YReadCoordinatePosition(allattributes) — — Y YReadDigitalI/OData

OutputActiveState

InputActiveState

OutputActive

InputActive

ConfigureAsInput

ReadEncoderData(allattributes) — — Y Y

ReadMotionI/OData

ForwardLimitActive

ReverseLimitActive

ForwardSoftwareLimitActive

ReverseSoftwareLimitActive

HomeInputActive

Inhibit-InActive

In-PositionActive

DriveReadyActive

Inhibit-OutActive

SingleandDouble-BufferedParametersAlmostallNI-Motionparametersareeithersingle-bufferedordouble-bufferedonthecontroller.Single-bufferedparameterstakeeffectimmediatelyuponVIexecutionandremainineffectuntiltheyareoverwrittenwithanothercalltotheVIthatloadedorsetthem.Itisnotnecessarytoconstantlyreloadsingle-bufferedparameterseachtimeyoudealwithanaxis,vectorspace,orresource.TheobviousexceptiontothisisactioncommandslikeStartMotion,StopMotion,FindReference,andsoon,whichmustbecalledeachtime.

Mosttrajectorycontrolparametersaredouble-buffered.Youcanloadtheseparametersontheflywithoutaffectingthemoveinprocess.TheydonottakeeffectuntilthenextStartorBlendMotionVIisexecuted.Likesingle-bufferedparameters,thecontrollerretainsthevaluessotheydonothavetobeloadedbeforeeachmoveunlessyouwanttochangetheirvalues.

LoadBreakpointPositionandLoadBreakpointModulusaretheonlynon-trajectoryparametersthatarealsodouble-buffered.TheyhavenoeffectuntilyouexecuteasubsequentEnableBreakpointOutputVI.

UsingInputandReturnVectorswithOnboardVariablesThistablegivesadditionalinformationabouthowtouseinputandreturnvectorsinconjunctionwithonboardvariables.ThefollowingtablelistsVIswithmorethanonedataparameterthatrequiremultiplevariableswhenusingvectors.TheMaximumVariableNumbercolumnliststhehighestvariablenumberthatavectorcanpointtoandstillhaveroomforallthedatawithoutexceedingthetotalvariablespace.Thistablealsocontainsnotesthathighlightafewspecialcaseswherethenumberofparametersdoesnotequalthenumberofvariables.

VIName

VectorType

NumberofParameters

NumberofVariablesRequired

MaximumVariableNumber

Comments

LoadAllPIDParameters Input 8 8 0x71

LoadVelocityFilterParameter

Input 2 2 0x77

LoadVelocityinRPM Input 1 2(Note1) 0x75

NationalInstrumentsrecommendsusingLoadVelocityforonboardvariables.

LoadAccel/DecelinRPS/sec

Input 1 2(Note1) 0x75

LoadVectorSpacePosition

Input 3 3 0x76

NationalInstruments

AbouttheNI-MotionSoftwareNI-MotionsoftwareprovidesacomprehensiveAPIyouusetocontroltheNImotioncontrollers.NI-MotionsoftwarecombinedwiththeNImotioncontrollersprovidefunctionalityandpowerforintegratedmotionsystemsforuseinlaboratory,test,andproductionenvironments.

Forprogrammingease,NI-Motionsoftwareisenhancedbyatoolboxofdrivers,LabVIEWVIlibraries,andWindowsdynamiclinklibraries(DLLs)thatimplementtheentireNI-MotionAPI.

TheNI-MotionsoftwarepackageincludesMeasurement&AutomationExplorer(MAX),whichassociatesphysicalbusaddresseswithboardIDs,whichareusedinprogramstodistinguishbetweencontrollers.MAXalsoverifiesthattheNI-Motioncontrollerisinstalledcorrectlyandiscommunicatingwiththehostcomputer.

ThemotionconfigurationenvironmentunderMAXallowsyoutoconfigureinitializationsettingsthatareusedtoinitializetheNImotioncontroller.MAXalsoprovidesaneasyinteractiveenvironmentfortestingandtroubleshootingthemotionsystem.RefertotheMAXonlinehelpformoreinformation.

Forapplicationdevelopment,theNI-Motionsoftwarepackageincludesexampleprogramstohelpgetyouupandrunningquickly.

AseparateNI-MotionsoftwarepackageincludesacompletemotionClibrary,withexamples,forusewithCorC++developmentenvironments.

InitializationTheconfigurationpanelsinMeasurement&AutomationExplorer(MAX)allowyoutosetalargenumberofNImotioncontrollerattributessuchasmotortype,limitswitchpolarity,positionmode,andmaximumvelocity.Mostoftheattributesareone-timeconfigurationsettingsthatdonotchange.BysettingtheseattributesonetimeinMAX,yourprogrammingismuchsimpler,andyoucanconcentrateonthemotion-specificpartofyourapplication.

WhenyoucalltheInitializeControllerVI,alltheattributesstoredinMAXareretrievedandsenttothemotioncontroller.Afterthecontrollerisinitialized,youdonotneedtoinitializeeachtimeyouruntheapplication.NationalInstrumentsrecommendsyoucallInitializeControlleronetimeafterrestartingthecomputerorresettingthemotionhardware.Themotorsaretemporarilydisabled(killed)whilethisinitializationprocesstakesplace.

Inmostcases,youcallInitializeControllerwiththeSettingsNameterminalunwired,whichcausesthecurrentinitializationsettingsinMAXtouse.YoualsocaninitializethecontrollerwithalternateinitializationsettingsbypassinginthenameofthealternatesettingasspecifiedinMAX.

ClicktheiconsforVIdescriptions.

InitializeController

Subpalettes

Axis&ResourceConfigurationVIs AdvancedTrajectoryVIsStart&StopMotionVIs MotionI/OVIsFindReferenceVIs BreakpointVIsAnalog&DigitalI/OVIs High-SpeedCaptureVIsAdvancedVIs Error&UtilityVIsTrajectoryControlVIs AdvancedError&UtilityVIsArcVIs OnboardProgrammingVIsGearingVIs ObjectManagementVIsBufferedOperationsVIs DataOperationsVIs

InitializeControllerInitializesthespecifiedcontrolleraccordingtothesettingsasconfiguredinMeasurement&AutomationExplorer.

Details

DeviceCompatibility

SettingsNameisthenameoftheconfigurationsettings,suchasDefault7330Settings,specifiedinMeasurement&AutomationExplorer(MAX).Tousethecurrentconfigurationsettings,leaveSettingsNameunwiredorpassNULLfortheSettingsNameparameter.ThecurrentsettingsarethesettingsthatareconfiguredinMAX.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,

UsingThisVI

ThisVIallowsyoutoinitializethecontrollertoaknownstatebasedupontheconfigurationsettingsstoredintheMeasurement&AutomationExplorerdatabase.ThisVIpullsvaluesfromtheconfigurationdatabaseandcallsdozensofNI-MotionVIs,configuringthecontrollerforyouinonesimplestep.

IftheInitializeControllerVIreturnsanerror,youcancalltheGetLastErrorVItodeterminethespecificNI-MotionVIandresourcegeneratingtheerror.YoucanthencalltheGetErrorDescriptionVI,whichformatsastringforyouwiththeVIname,resourceID,anderrordescription.

NoteIfyouarerunningaNI-MotionstartupapplicationonETS(PharLap)systems,thefirstVIinyourapplicationmustbeeithertheClearPowerUpStatusorInitializeControllerVI.CallinganyotherVIfirstmayresultinerror–70012(NIMC_badBoardIDError)becausethedrivermaynothaveloadedbeforeaNI-MotionVIiscalled.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Axis&ResourceConfigurationVIsTheseVIsgiveyouaccesstosomeofthemostpowerfulfeaturesofNI-Motion.Theyallowyoutomapencoder,ADC,andDACresourcestovariousaxes,configureaxesforservoorsteppercontrol,andcombineaxesinto2Dand3Dvectorspacesforadvancedmotioncontrolapplications.

TheseaxisandresourceconfigurationVIsaretypicallyexecutedonetimeduringsysteminitialization.Youcancallmostofthematanytimetoreconfigurethemotioncontrolsystemon-the-fly.AlloftheAxis&ResourceConfigurationVIshavedefaultvaluesthatprovidegoodstartingpointsformanymotioncontrolapplications.

EnableAxes ConfigureMoveCompleteCriteriaConfigureAxisResources LoadVelocityFilterParameterConfigureVectorSpace LoadAllPIDParametersSetStepperLoopMode LoadSinglePIDParameterLoadCounts/StepsperRevolution LoadAdvancedControlParameterConfigureStepperOutput LoadCommutationParameter

ConfigureAxisResourcesConfiguresanaxisbydefiningitsfeedbackandoutputresources.

DetailsRemarks

DeviceCompatibility

SecondaryOutputisthenumberforanoptionalsecondaryoutputresourcebeingmappedtotheaxis.Thisisanoptionalcommandoutput.SelectNonetoconfigurenosecondaryoutputresource.SecondaryFeedbackisthenumberforanoptionalsecondaryfeedbackresourcebeingmappedtotheaxis.Ifasecondaryfeedbackresourceismapped,itisusedforvelocityfeedback(Kv).SelectNonetoconfigurenosecondaryfeedbackresource.RefertotheVelocityFeedbackGainsectionofLoadSinglePIDParameterformoreinformationaboutKv.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisistheaxisforwhichtoloadPIDparameters.Validaxisnumbersare1through15forallNImotioncontrollers.Oncontrollerswithlessthaneightaxes,configuringnon-existentaxeshasnoeffect.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

TheConfigureAxisResourcesVIdefinesthefeedbackandoutputdevicesforanaxis.Youcanconfigureuptotwofeedbackresourcesandtwooutputresourcesforeachaxis.Thisflexiblemappingofresourcestoaxesallowsforadvancedservoandstepperconfigurationssuchas:independentvelocityandpositionfeedbackdevices(dual-loopcontrol),dualDACoutputswithdifferentoffsets,andchangingfeedbackonthefly.

Thevariousfeedbackandoutputresourcesonthemotioncontrollerhavedifferentinterface,performance,andfunctionalitycharacteristics.ThisVIallowsyoutodefinetheaxisandtailoritsperformance.

Thefollowingtablelistsvalidresources:

ResourceType 7330 7340 7350 7390PrimaryFeedback Encoder/ADC Encoder/ADC Encoder/ADC EncoderSecondaryFeedback Encoder Encoder Encoder/ADC —PrimaryOutput Stepper Stepper/DAC Stepper/DAC StepperSecondaryOutput — DAC DAC —

TipRefertoMotionResourcesformoreinformationaboutresourceIDs.TipForinformationabouttheresourceIDs,refertoMotionResources.

ThisVImustbecalledforeachaxisthatisusedbyanapplicationpriortoenablingtheaxis.Thefactorydefaultmappingofresourcestoaxesisasfollows:

Axis PrimaryFeedbackSecondaryFeedback

PrimaryOutput

SecondaryOutput

1 0x21(Enc1) 0 0x31(DAC1) 02 0x22(Enc2) 0 0x32(DAC2) 03 0x23(Enc3) 0 0x33(DAC3) 04 0x24(Enc4) 0 0x34(DAC4) 05 0x25(Enc5) 0 0x35(DAC5) 0

Remarks

ThissectionincludesinformationabouthowthebehaviorofthisVIdiffersamongthecontrollersthatsupportit.

ThefollowinglistincludesconsiderationsyoumustmakewhenyouareusingthisVIwitha73xxmotioncontroller:

Ifyouareusinga7330,7340,or7390motioncontroller,youcannotconfigureanaxiswhenanyaxesareenabled.YoumustfirstdisableallaxesusingtheEnableAxesVI.Tochangefeedbackonthefly(NI7350controllersonly),callthisfunctionwhentheaxisisnotmoving(movecomplete).

NoteThefeedbackresourcesusedforswitchingfeedbackontheflymustmeetthefollowingconditions:

Thefeedbackdevicemustbeenabled.Thefeedbackdevicebeingswitchedtomustnotbeusedbyanotheraxis.

RefertoSwitchingFeedbackontheFlyintheNI-MotionHelpfordetailedinformationaboutconfiguringyoursystemtoswitchbetweentwofeedbackdevices.

Example1

Tochangeaxis3tousethefourthencoderchannelandthefirstDACoutput,calltheConfigureAxisResourcesVIwiththefollowingconfiguration:

Axis PrimaryFeedback

SecondaryFeedback

PrimaryOutput

SecondaryOutput

3 0x24(Enc4) 0 0x31(DAC1) 0

ConfigureMoveCompleteCriteriaConfiguresthecriteriafortheMoveCompletestatustobeTrue.

Details

DeviceCompatibility

MoveCompleteMinimumPulse(0)istheminimumtimeinmsthatthemovecompletestatusmuststaytrue.Thisparameterallowsyoutoenforceaminimumpulsewidthonthemovecompletestatuseveniftheaxisisstartedagain.Thisistheamountoftimeyouhavetoreadthemovecompletestatusbeforeitisreset.Therangeis0(default)to255ms.MoveCompleteDelay(0)isaprogrammablesettlingtimedelayinms.Youcanprogramitfrom0(default)to255ms.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisistheaxisforwhichtoloadPIDparameters.Validaxisnumbersare1through15forallNImotioncontrollers.Oncontrollerswithlessthaneightaxes,configuringnon-existentaxeshasnoeffect.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

TheConfigureMoveCompleteCriteriaVIdefinestheconditionsforreportingamovecomplete.Whenamoveiscompleteonanaxis,thecorrespondingbitintheMCSregisterisset.RefertotheReadMoveCompleteStatusVIforinformationaboutreadingtheMCSregister.Also,theReadperAxisStatusVIcanprovideyouwithmovecompletestatusonaspecifiedaxis.

ThisVIallowsagreatdealofcontroloverwhenandhowamoveisconsideredcomplete.TheCriteriabitmapcontainsfivebitstosettheconditionsusedtodeterminetheMoveCompletestatus.Thefirsttwo,ProfileCompleteandMotorOff,arelogicallyOR'dtoprovidethebasisforMoveComplete.TheProfileCompletebitisalwayssetandcannotbedisabled.Whentheaxistrajectorygeneratorcompletesitsprofile,thisconditionissatisfied.IftheMotorOffbitisset,anyconditionthatcausestheaxistoturnitsmotoroff(akillorfollowingerrortrip)satisfiesthisbasicrequirementforMoveComplete.Inotherwords,eitherProfileCompleteORMotorOffmustbeTrueforMoveCompletetobeTrue.

Thenextthreecriteria,Run/Stop,Delay,andIn-Position,areoptionalconditionsthatarelogicallyANDedtofurtherqualifytheMoveCompletestatus.IftheRun/Stopbitisset,theaxismustalsobelogicallystoppedforthemovetobeconsideredcomplete.RefertotheLoadRun/StopThresholdVIforinformationabouttheRun/Stopstatus.

IftheDelaybitisset,theaxismustwaitauser-defineddelayaftertheothercriteriaaremetbeforethemoveisconsideredcomplete.Theuser-definedMoveCompleteDelayparameteristypicallyusedtowaitthemechanicalsettlingtimesothatamoveisnotconsideredcompleteuntilvibrationsinthemechanicalsystemhavedampedout.ItalsocanbeusedtocompensateforPIDpull-intimeduetotheintegralterm.Thispull-inistypicallyatvelocitiesbelowtheRun/Stopthreshold.

Finally,iftheIn-Positionbitisset,theaxischecksitsfinalstoppingpositionversusitstargetpositionandonlysetstheMoveCompletestatusiftheabsolutevalueofthedifferenceislessthanthein-positiondeadband.

ConfigureStepperOutputConfiguresthedrivemode,outputmode,andpolarityofastepperoutput.

DeviceCompatibility

Details

Polaritysetsthepolarityforthestepperoutput.SelectTRUE(default)foractivelow.SelectFALSEforactivehigh.

Whenconfiguredasactivelow,theoutputisactivewhenthereisalowsignalontheoutputpin.Conversely,activehighmeansthattheoutputisactivewhenthereisahighsignalontheoutputpin.OutputModespecifiesthemodeasStepandDirectionorClockwise/Counterclockwise.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorStepperOutputistheaxisorstepperoutputtoconfigure.Whensenttoastepperaxis,thisVIconfiguresthemappedstepperoutput.Alternatively,youcanexecutethisVIdirectlyonthestepperoutputresource.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

UsethisVItoconfigureastepperoutputtocorrectlyinterfacewithastepperdriver.NI-Motionsupportsthetwoindustrystandardsforsteppercontroloutputs.ThemostpopularmodeisStepandDirection,whereoneoutputproducesthesteppulsesandtheotheroutputproducesadirectionsignal.

InClockwiseandCounterclockwise(CW/CCW)mode,thefirstoutputproducespulseswhenmovingforward,orCW,whilethesecondoutputproducespulseswhenmovingreverse,orCCW.

Ineithermode,youcansettheactivepolaritywiththepolaritybitasactiveloworactivehigh.Forexample,inStepandDirectionmode,thepolaritybitsdeterminewhetherahighdirectionoutputisforwardorreverse.Italsodeterminestherestingstatesofoutputswhentheyarenotpulsing.

TheConfigureStepperOutputVIistypicallycalledforeachstepperaxispriortousingtheaxis.Afterthemodesandpolarityareset,theyremainineffectuntilchanged.YoucanexecutethisVIatanytime.

Forthe7350controller,youcansetthestepperoutputDriveModetoOpenCollectororTotemPole.Onthe7330/40,stepperoutputisOpenCollectorandcannotbechanged.Onthe7390,stepperoutputisisolatedsoDriveModedoesnotapplyandcannotbechanged.FormoreinformationaboutOpenCollectorandTotemPoledrivemodes,refertothedocumentationforyour7350device.

ConfigureVectorSpaceDefinestheaxesthatareassociatedwithavectorspace.

Details

DeviceCompatibility

ZAxis(3)isthephysicalaxis(1through15)toactasthelogicalzaxis.Thedefaultis3.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.VectorSpaceisthevectorspacetoconfigure.

NoteForNI7330/40/90motioncontrollers,validvectorspacenumbersare0x11(default),0x12,and0x13.NoteFortheNI7350motioncontrollers,validvectorspacenumbersare0x11(default),0x12,0x13,and0x14.

errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.If

UsingThisVI

UsetheConfigureVectorSpaceVItogroupaxesintoavectorspace.Avectorspacedefinesanxandy(2D)orx,y,andz(3D)coordinatespace.Youcanmapanyphysicalaxistothelogicalx,y,andzaxestocoordinatethemotionofmultipleaxes.ThetotalnumberofvectorspacesNI-Motionsupportsinyourmotioncontrolsystemcanbecalculatedusingthefollowingformula:

totalvectorspaces= .

TipTounconfigureavectorspace,setallaxestoNone.

Afteritisconfigured,youcanusetheVectorSpacenumberinallVIsthatsupportvectorspaces.Vectorspacesareusedin2Dand3Dlinearinterpolationwithvectorposition,vectorvelocity,vectoraccelerationanddeceleration,andvectoroperationmode.Theyarealsousedincircular,helicalandsphericalarcmoves.Youcanstart,blend,andstopvectorspacesjustlikeaxes.Youcanevensynchronouslystartmultiplevectorspacesformulti-vectorspacecoordination.

ManystatusanddatareadbackVIsalsooperateonvectorspaces.Youcanreadvectorposition,vectorvelocity,vectorblendstatus,andsoon,oryoucanreadper-axisvaluesandstatusfortheaxeswithinthevectorspace.

Whilevectorspacescanbecomprisedofthreeaxes,itispossibletodefinetwo-axisorevenone-axisvectorspaces.ThesevectorspacesfunctionproperlyforallVIsthatdonotrequireagreateraxiscount.

YoucanuseothercomplexmotioncontrolVIswithvectorspaces,includingelectronicallygearinganindependentaxistoamasteraxiscontainedwithinavectorspacedefinition.

NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Example

EnableAxesEnablestheoperatingaxesanddefinesthePIDandtrajectoryupdaterate.

DetailsRemarks

DeviceCompatibility

AxisBitmapisthebitmapofenabledaxes.Axis1—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis2—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis3—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis4—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis5—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis6—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis7—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).Axis8—Iftrue,axisisenabled.Iffalse,axisisdisabled(default).

SamplePIDRateisthePIDcontrolloopandtrajectorygeneratorupdaterate,forNI73xxmotioncontrollers.Forstepperaxes,thisparameteralsodetermineshowoftenthestepgeneratorisupdated.Therangeforthisparameteris0to7,withadefaultof3(250µs).

UpdateRate=(SamplePIDRate+1)x62.5µs

SamplePIDRate UpdateRate0 62.5µs1 125µs

UsingThisVI

TheEnableAxesVIisusedtoenablethespecificaxesrequiredfortheapplicationandsettheservo(andstepper)updateorsamplerate.AnaxisisenabledforoperationbyaTrueinthecorrespondinglocationinthebitmap.Onlyenabledaxesareupdatedandthereisadirectcorrespondencebetweenthenumberofenabledaxesandthefastestupdaterateallowed.

Thefastestupdaterateisonlyachievablewhenallaxesaresingle-feedbackservoaxesandnoextraencodersareenabled.

CautionUpdateratesthataretoofastforthenumberofaxes,stepperoutputs,and/orencodersenabledgenerateanerrorandtheprevioussettingremainsineffect.RefertoErrorsandErrorHandlingforinformationabouterrorsanderrorhandling.

TheEnableAxesVIautomaticallyenablesthefeedbackdevicesmappedtotheenabledaxes.ItisnotnecessarytoexplicitlyenabletheencodersorADCchannelsbeforeenablingtheaxes.AxesmustbekilledbeforetheyaredisabledortheerrorNIMC_wrongModeErrorisgenerated.RefertotheEnableEncodersandEnableADCsVIsformoreinformationaboutenablinganddisablingtheseresourceswhenyouareusingthemnotmappedtoanaxis.

NoteADCchannelscanrateisaffectedbythenumberofchannelsenabled.Thiscouldlimittheeffectiveupdaterate(foraxeswithanalogfeedback).RefertotheEnableADCsVIformoreinformation.CautionIllegallyconfiguredaxescannotbeenabled,andattemptingtodosogeneratesanerror.Forexample,anattempttoenableaservoaxisthatdoesnotatleasthaveitsPrimaryFeedbackdevicemappedgeneratesanerror.

Youalsocansettheupdaterateslowerthanthemaximum.ThisisusefulinmanyapplicationstoscaletheeffectiverangeofthePIDcontrolloopparametersand/ortoimprovestability.RefertotheLoadSinglePIDParameterVIformoreinformationaboutthePIDparametersaffectedbytheupdaterate.

Remarks

TheADCchannelscanrateisaffectedbythenumberofchannelsenabled.Thiscouldlimittheeffectiveupdaterate(foraxeswithanalogfeedback).RefertotheEnableADCsVIformoreinformation.ThisVIisusedtoenablethespecificaxesrequiredfortheapplicationandsettheservo(andstepper)updateorsamplerate.AnaxisisenabledforoperationbyaTrueinthecorrespondinglocationinthebitmap.Onlyenabledaxesareupdatedandthereisadirectcorrespondencebetweenthenumberofenabledaxesandthefastestupdaterateallowed.

NumberofEnabledAxes(7330/40/90)

FastestUpdateRate

NumberofEnabledAxes(7350)

FastestUpdateRate

1 62µs 1–2 62µs2 125µs 3–4 125µs3 188µs 5–6 188µs4 250µs 7–8 250µsThefastestupdaterateisachievableonlywhenallaxesaresingle-feedbackservoaxesandnoextraencodersareenabled.

CautionUpdateratesthataretoofastforthenumberofaxes,stepperoutputs,and/orencodersenabledgeneratesanerrorandtheprevioussettingremainsineffect.RefertoErrorsandErrorHandlingforinformationabouterrorsanderrorhandling.

TheEnableAxesVIautomaticallyenablesthefeedbackdevicesmappedtotheenabledaxes.ItisnotnecessarytoexplicitlyenabletheencodersorADCchannelsbeforeenablingtheaxes.Axesmustbekilledbeforethey

LoadAxisConfigurationParameterLoadsdataonaperaxisbasisforanaxisconfigurationobjectonthemotioncontroller.

DetailsRemarks

DeviceCompatibility

DataisaclusterofvariablesthatcontainsthevaluesfortheselectedAttribute.

Integeris32-bitintegerdata.Doubleis64-bitfloatingpointdata.BooleanisBooleandata.

Attributeistheattributeyouwanttoload:

Enableenablesthecurrentlyselectedaxis.SettheBooleanelementoftheDataclustertoTRUEtoenabletheaxis,andtoFALSEtodisabletheaxis.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisIDistheaxisyouarecontrolling.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

UsethisVItoloadthedataonaperaxisbasisfortheAxisConfigurationobjectonthemotioncontroller.

Remarks

ThefollowinglistincludesconsiderationsyoumustmakewhenyouareusingthisVIwitha73xxcontroller:

Becausethenumberofaxesenableddependsonthecontrollooprate,usetheEnableAxesVItoenable/disableanaxisfor73xxcontrollers.

LoadAdvancedControlParameterSetsanadvancedcontrolloopparameterforagivenaxis.

DetailsRemarks

DeviceCompatibility

Valueisthevaluetoloadforthespecifiedparameter.ControlParameterisoneofthefollowingcontrolloopparameterstoset:StaticFrictionModeStaticFrictionMaxDeadzoneStaticFrictionMinDeadzoneStaticFrictionForwardVoltageOffsetStaticFrictionReverseVoltageOffsetPIDRateMultiplierNotchFilterFrequencyNotchFilterBandwidthNotchFilterEnableLowpassFilterCutoffFrequencyLowpassFilterEnableSecondSetofPIDParametersBoardIDisauniquenumberassignedbyMeasurement&Automation

UsingThisVI

UsetheLoadAdvancedControlParameterVItoconfigureanadvancedcontrolloopparameterforagivenaxis.

EnableStaticFrictionModetoconfigurestaticfriction(stiction)compensationonthemotionsystem.Stictioncompensationadjustsforincreasedpowerneededtoovercomestaticfrictionwhenbeginningamovefromastandstill.SetStaticFrictionModeto1toenable,or0todisable,staticfrictioncompensation.

TheMaxandMinDeadzonesarethewindowsaroundthetargetpositionthatdetermineitssensitivitytoexternalforcesthattrytomoveitfromitsposition.Insidethemaximumdeadzonewindow,anaxiscanbemovedwithoutresponse.Assoonasthemovementcausestheaxistoexceedthemaximumdeadzone,thecontrollooprespondsbycorrectingthepositionbacktowithinthewindowdefinedbyminimumdeadzone.Therangeis1to32,767.

ForwardandReverseOffsetVoltagesarethevoltagesnecessarytoovercomestaticfrictionwhenbeginningamove.Thevoltagescanbethesameforbothdirections,butcanbedifferentundersomecircumstances.Forexample,ifanaxismovesagainstgravityinonedirectionandwithgravityintheotherdirection,theoffsetvoltagenecessarytoovercomestaticfrictionagainstgravityishigherthanthatofthedirectionthatmoveswithgravity.

ThePIDRateMultiplierspecifiesamultipliertoslowthePIDRate.Thedefaultis1(nochange),andtherangeis1to10.Forexample,witha250µsPIDRateandaPIDRateMultiplierof4,theeffectivecontrollooprateisshowninthefollowingequation:

effectiverate=PIDRate×PIDRateMultiplier=250µs×4=1ms

Notchfiltersremoveanarrowbandoffrequenciesaroundagivenpointtofilteroutputsignalsthatcouldcausesysteminstability.SetNotchFilterEnableto1toenable,or0todisable,thefilter.UseNotchFilterFrequencytospecifythefrequencyofthesignalthatyouwanttoremove.Therangeforthefrequencyis1HztoPIDRate(inHz)/2.UseNotchFilterBandwidthtospecifythe

Remarks

StaticFrictionandPIDRateMultiplierparameterscanbesetonlyon7340/50motioncontrollers.NotchFilterandLowpassFilterparameterscanbesetonlyon7350motioncontrollers.SecondSetofPIDParametersisvalidonlyon7350controllers.

OnlytheDisabledandSwitchFeedbackoptionsarevalid.IftheSwitchFeedbackoptionisselected,thecontrollooptogglesbetweensetsofPIDparameterseachtimethefeedbackischanged.Forexample,ifyouareusingencoder1,thecontrolloopusestheprimarysetofPIDparameters.IfyouswitchtoADC1,thecontrolloopusesthesecondarysetofPIDparameters.Ifyouswitchbacktoencoder1,thecontrolloopswitchesbacktotheprimarysetofPIDparameters.

ThefollowinglistincludesconsiderationsyoumustmakewhenyouareusingthisVIwiththeNISoftMotionController:

IftheSwitchFeedbackoptionisselected,thecontrolloopusestheprimarysetofPIDparameterswhenyouuseaprimaryresourceandusesthesecondarysetofPIDparameterswhenyouuseanauxiliaryresource.Forexample,ifyouuseencoder1,thecontrolloopusestheprimarysetofPIDparameters.Ifyouuseauxiliaryencoder1,thecontrolloopusesthesecondarysetofPIDparameters.SecondSetofPIDParametersisnotvalidfortheNISoftMotion

LoadAllPIDParametersLoadsall8PIDcontrolloopparametersforanaxis.

Details

DeviceCompatibility

PIDParametersdatastructurecontainsalleightPIDparametersinthefollowingstructure:

Kp—ProportionalGainKi—IntegralGainIL—IntegrationLimitKd—DerivativeGainTd—DerivativeSamplePeriodKv—VelocityFeedbackGainAff—AccelerationFeedforwardGainVff—VelocityFeedforwardGain

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisistheaxisforwhichtoloadPIDparameters.Validaxisnumbersare1through15forallNImotioncontrollers.Oncontrollerswithlessthaneightaxes,configuringnon-existentaxeshasnoeffect.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),or

UsingThisVI

TheLoadAllPIDParametersVIallowsyoutosetall8PIDparametersatthesametimeforagivenaxis.YoucancallthisVIatanytime.However,itistypicallyusedduringinitializationtoconfigureandtuneanaxis.NI-MotionalsooffersaLoadSinglePIDParameterVI,whichyoucanusetochangeanindividualvalueon-the-flywithouthavingtoworryabouttheotherunchangedvalues.

RefertothemotioncontrollerdocumentationforanoverviewofthePIDcontrolloopontheNImotioncontrollerandtotheLoadSinglePIDParameterVIfordescriptionsontheindividualPIDparametersandtheirranges.

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,thisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:Kp,Ki,IL,Kd,Td,Kv,Aff,Vff.

LoadingaSecondSetofPIDParameters

ToloadasecondsetofPIDparameters,usetheLoadAllPIDParametersandLoadSinglePIDParameterVIstoloadthesecondsetofPIDvalues.InsteadofusingregularaxisresourceIDs,suchasaxis1=0x1(1),axis2=0x2(2),andsoon,usethefollowingalternateresourceIDs:axis1=0xA1(161),axis2=0xA2(162).

UsetheLoadAdvancedControlParameterVItoenablethenewsetofPIDparametersbasedontheconditionspecifiedinthevalueparameter.

RefertotheRemarkssectionoftheLoadAdvancedControlParametertopicformoreinformationabouthowtochangefeedbackwhiletheaxisisenabled.

LoadCommutationParameterSetsacommutationparameterforagivenaxis.

Details

DeviceCompatibility

Attributeisoneofthefollowingcommutationattributestoset:InitializationTypeFindZeroVoltageFindZeroTimeDirectSetPhaseElectricalCycleCountsHallSensorTypeCommutationModeBoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsetheLoadCommutationParameterVItoconfigureacommutationparameterforagivenaxis.

NoteOnly7350controllerssupporttheLoadCommutationParameterVI.

InitializationTypespecifieshowthecontrollerinitializesthecommutationphase.Selectoneofthefollowingvalues:

Value Description0 HallSensor—InitializesthephasebasedontheHallsensor'sinput.

1 ShakeandWake—Initializesthephasebydrivingthesystemtothezerodegreecommutationphase.

2 DirectSet—Setsthecommutationphasedirectlywiththephaseanglespecified.

CautionPhaseinitializationisperformedwhentheaxesareenabled.IfyouuseShakeandWake,thesystemcanmoveduringtheinitializationprocess.

FindZeroVoltagespecifiesthevoltagetousewithShakeandWakeinitialization.Therangeis0to10.FindZeroTimespecifiesthedurationofShakeandWakeinitializationinmilliseconds.Therangeis0to10,000ms.

DirectSetPhasespecifiesphaseangletosetwithDirectSetinitialization.ForDirectSet,thecontrollersetsthecurrentpositionasthespecifiedphaseangle.NationalInstrumentsrecommendsthisinitializationmethodonlyforcustomsystemswithaknowninitialphaseangle.Therangeforthephaseangleis0to359°.

ElectricalCycleCountsspecifiestheencodercountsforthecommutationcycle.Thisinformationisusuallylistedinthemotororstagedocumentation.Somemotormanufacturerspresentthisinformationasthenumberofpoles.Insuchcases,convertnumberofpolestocountsperelectricalcyclewiththefollowingequation.Therangeis2to268,435,000counts.

LoadCounts/StepsperRevolutionLoadsthequadraturecountsorstepsperrevolutionforanaxis.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.Counts(Steps)/Reviseitherthequadraturecountsperrevolutionfortheencodermappedtotheaxisorthenumberofsteps(full,half,ormicrostep)permotorrevolution.Thedefaultis2,000.UnitTypeisthetypeofinformation,countsorsteps,toload.Thedefaultiscounts.

Validvaluesare:

Counts—Usetodefinecounts/revolutionforaquadratureencoder.

Steps—Usetodefinesteps/revolutionforasteppermotor.

errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

UsetheLoadCounts/StepsperRevolutionVItoloadanyfeedbackvalue(countsorvolts)perunitofmeasureortoloadthenumberofstepspermotorrevolution.Forencoders,thisistypicallyinunitsofquadraturecountspermotorrevolution,butcanbecountsperinch,percm,orperanyunitofmeasure.Foranalogfeedback,itcanbeinunitsofscaledvoltage.Stepscanbefullsteps,halfsteps,ormicrostepsdependinguponhowyouhavetheexternalstepperdriverandmotorconfigured.

ThisparametermustbecorrectlyloadedbeforeyoucalltheLoadVelocityinRPM,LoadAccel/DecelinRPS/sec,LoadVelocityThresholdinRPM,ReadVelocityinRPM,LoadMoveConstraints,orFindReferenceVIs.

TheFindReferenceVIsearchesfortheencoderindexforonerevolutionasdefinedbythisVI.Therefore,anotherusefulunitofmeasureiscountsperindexperiod.Linearencodersoftenhaveindexeseveryinchoreverycentimeter.

Closed-loopstepperfunctionalityreliesontheratioofcountstostepsandnotontheabsolutevaluesofcountsorstepsperrevolution.Forclosed-loopoperation,anyunitofmeasure(UOM)thatallowsyoutoenterbothcountsperUOMandstepsperUOMthatarewithintheirvalidrangeswork.NoticethatthisVImustbecalledtwice:onetimetosetupthesteppermotorsteps/rev,andagaintosetupthequadratureencodercounts/rev.

CautionForclosed-loopsteppercontrollers,stepsperrevolution/countsperrevolutionmustbeintherangeof1/32,767<steps/counts<32,767.

TheLoadCounts/StepsperRevolutionVIsimplyloadsascalefactorthataffectssubsequentlyloadedandreadbackvaluesofvelocityandacceleration.

Remarks

Counts(Steps)/RevisinterpretedasnumberofencodercountsperrevolutionforencoderfeedbackornumberofADCcodes(LSBs)perrevolutionforanalogfeedback.TherangefortheCounts(Steps)/Revparameteris2to228–1withadefaultvalueof2,000.

TherangefortheCounts(Steps)/Revparameteris1to231–1withadefaultvalueof1.

NoteThisparametermustbecorrectlyloadedbeforeyouloadtargetpositionsorwritecontourpositioninformationtothecontrollerorcammingtable.

ThisVIdeterminestheunitusedwhenloadingvelocity.YoumustsettheCounts(Steps)/Revvalueto1tousethisVItoloadvelocityvaluesincounts/secandloadaccelerationvaluesincounts/sec2.IfyousetCounts(Steps)/Revtoanyvalueotherthan1,youmustusetheLoadMoveConstraintsVItoloadvelocityandaccelerationincounts.

LoadSinglePIDParameterLoadsasinglePIDcontrolloopparameterforanaxis.

Details

DeviceCompatibility

Value(0)isthevaluetoloadfortheselectedPIDparameter.

PIDParameter Abbreviation DataRange DefaultProportionalGain Kp 0to32,767 100IntegralGain Ki 0to32,767 0IntegrationLimit Ilim 0to32,767 1,000DerivativeGain Kd 0to32,767 1,000DerivativeSamplePeriod Td 0to63 2VelocityFeedbackGain Kv 0to32,767 0AccelerationFeedforwardGain Aff 0to32,767 0VelocityFeedforwardGain Vff 0to32,767 0Parameter(Kp)istheselectorforthePIDparametertoload.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisistheaxisforwhichtoloadPIDparameters.Validaxisnumbersare1through15forallNImotioncontrollers.Oncontrollerswithlessthaneightaxes,configuringnon-existentaxeshasnoeffect.

UsingThisVI

ThisVIexpectstobegiventheparametersinthefollowingorder:Axis,Parameter,Value.

RefertothemotioncontrollerdocumentationforanoverviewoftheenhancedPIDcontrolloopontheNImotioncontroller.TheLoadSinglePIDParameterVIallowsyoutochangeanindividualPIDvalueon-the-flywithouthavingtoworryabouttheotherunchangedPIDvalues.

Example

ToloadaKpof1,000toanaxis2,calltheLoadSinglePIDParameterVIwiththefollowingparameters:

Axis=2Parameter=KpValue=1,000InpVect=0xFF(Immediate)

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:Parameter,Value.

LoadingaSecondSetofPIDParameters

ToloadasecondsetofPIDparameters,usetheLoadAllPIDParametersandLoadSinglePIDParameterVIstoloadthesecondsetofPIDvalues.InsteadofusingregularaxisresourceIDs,suchasaxis1=0x1(1),axis2=0x2(2),andsoon,usethefollowingalternateresourceIDs:axis1=0xA1(161),axis2=0xA2(162).

UsetheLoadAdvancedControlParameterVItoenablethenewsetofPIDparametersbasedontheconditionspecifiedinthevalueparameter.

LoadVelocityFilterParameterSetsthevelocityFilterTimeConstantforthedigitalsingle-polelowpassfilterusedtoaveragetheinstantaneousaxisvelocity.

DetailsRemarks

DeviceCompatibility

UpdateIntervalisthemaximumvelocityupdateperiodinms.Therangeforthisparameteris1to2,500ms.FilterDistanceisthenumberofpositionchangesincounts/stepsnecessaryforavelocitytobereported.Therangeforthisparameterisfrom0to1,000counts/steps.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoconfigure.InpVectcontainsthedistanceandintervalparametersthatarethesourceofthedataforthisVI.

Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

ThisVIconfigurestheinternalfilterforvelocityreporting.Thereportedvelocitycanoscillateduetofeedbackquantizationerror,noise,andjitterysystems,renderingthedatauseless.Youcanapplyafilterovermultipledatasamplestocalculateanaveragevelocitythatreflectstheactualsystembehavior.ThisfilterisrepresentedbyFilterDistance.ThelargertheFilterDistance,themorepositionchangesaccumulatetoperformvelocitycalculation.Thisisusuallybetterforanoisysystem.

AlargeFilterDistancecanintroducealongerdelayinvelocityreportingasthepositionchangesaccumulate.Tolimitthisdelayandsluggishdatareading,specifyaminimumupdateintervalusingtheUpdateIntervalparameter.TheaxisvelocityisupdatedwithinthisupdateintervaliftheFilterDistancerequirementisnotmet.

NoteVelocityquantizationnoiseisameasurement-onlyphenomenonanddoesnotaffecttheabilityofthemotioncontrollertoaccuratelycontrolvelocityandpositionduringamove.

Remarks

FortheInpVectparameter,theNISoftMotionControllersupportsonlytheimmediatereturnvector(0XFF).

SetStepperLoopModeSetsastepperaxistooperateineitheropen-loop,closed-loop,orP-Commandmode.

Details

DeviceCompatibility

LoopMode(Open)setsthemodeforthestepperaxis.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisistheaxisforwhichtoloadPIDparameters.Validaxisnumbersare1through15forallNImotioncontrollers.Oncontrollerswithlessthaneightaxes,configuringnon-existentaxeshasnoeffect.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.UsetheerrorhandlerVIstolookupthemeaningof

UsingThisVI

Youcanoperatestepperaxesinbothopenandclosed-loopmodes.Inopen-loopmode,thestepperaxiscontrolsthetrajectoryprofileandgeneratesstepsbuthasnofeedbackfromthemotororactuatortodetermineiftheprofileisfollowedcorrectly.

Inclosed-loopmode,thefeedbackpositionisconstantlycomparedtothenumberofstepsgeneratedtoseeifthesteppermotorismovingcorrectly.Whenthetrajectoryprofileiscomplete,missingsteps(ifany)aremadeupwithapull-inmove.If,atanytimeduringthemove,thedifferencebetweentheinstantaneouscommandedpositionandthefeedbackpositionexceedstheprogrammedfollowingerrorlimit,theaxisiskilledandmotionstops.

YouuseP-Commandmodeforsystemsinwhichaservodrivereceivesstep/dir(CW/CCW)fromthemotioncontroller.ThedriveclosesthePIDloop,andthemotioncontrollergeneratesthetrajectory.Similartoclosed-loopmode,inP-Commandmode,theaxisiskilledwhentheprogrammedfollowingerrorlimitisexceeded.

CautionForproperclosed-loopandP-Commandoperation,thecorrectvaluesforsteps/revandcounts/revmustbeloadedwiththeLoadCounts/StepsperRevolutionVI.Incorrectcountstostepsratiocanresultinfailuretoreachthetargetpositionanderroneousclosed-loopstepperoperation.

Tooperateinclosed-looporP-Commandmode,astepperaxismusthaveaprimaryfeedbackresource,suchasanencoder,mappedtoitpriortoenablingtheaxis.RefertotheConfigureAxisResourcesVIformoreinformationaboutfeedbackresources.Youcanoperateanaxiswithaprimaryfeedbackresourceinopen-loop,closed-loop,orP-Commandmodeandyoucanswitchthemodeatanytime.Youcanstillreadthepositionofthemappedfeedbackresourceevenwhentheaxisisinopen-loopmode.

TrajectoryControlVIsThisVIgroupcontainsdetaileddescriptionsofVIsusedtosetupandcontrolmotiontrajectoriesontheNImotioncontroller.ItincludesVIstoloaddouble-bufferedtrajectoryparameters,readbackinstantaneousvelocity,positionandtrajectorystatus,aswellasVIstoconfigureblending,gearing,andotheradvancedtrajectoryfeatures.

Doublebufferedparametersforaxesandvectorspacesincludeacceleration,deceleration,velocity,s-curve,operationmode,targetposition,andcircular,helical,andsphericalarcparameters.Youcansendtheseparameterstothecontrolleratanytime,buttheydonottakeeffectuntilyouexecutethenextStartMotionorBlendMotionVI.Thisdoublebufferingallowsyoutosetupmovesaheadoftime,synchronizingthemwithasingleStartMotionorBlendMotioncall.

OthertrajectoryVIsallowyoutoconfiguretheoperationoftrajectorygeneratorsandsetstatusthresholds.Theseparametersincludefollowingerror,blendfactor,gearmaster,ratioandenable,positionmodulus,velocitythreshold,torquelimit,torqueoffset,andsoftwarelimitpositions.Unlikedouble-bufferedparameters,ifyouchangetheseparametersonthefly,theytakeeffectimmediately.AlsointhiscategoryareVIstoresetpositiontozerooranotherspecifiedvalueandtoforceavelocityoverride.

Duringamove,youcanreadtheinstantaneousvaluesofposition,velocity,followingerror,andDACoutput(torque).TherearealsoVIstoreadthefollowingtrajectorystatus:movecomplete,profilecomplete,blendcomplete,motoroff,followingerrortrip,velocitythreshold,andDAClimitstatus.Thesetrajectoryvaluesandstatusareusedformovesequencing,systemcoordination,andoverallmonitoringpurposes.

Finally,NI-MotionoffersasetofVIstoacquiretime-sampledpositionandvelocitydataintoalargeonboardbufferandthenlaterreaditoutforanalysisanddisplay.TheseVIsimplementadigitaloscilloscopethatisusefulduringsystemsetup,PIDtuning,andgeneralmotionwithdataacquisitionsynchronization.

LoadTargetPosition ReadPositionLoadVectorSpacePosition ReadVectorSpacePositionLoadVelocity ReadVelocityLoadAcceleration/Deceleration ReadVelocityinRPMSetOperationMode CheckBlendCompleteStatusResetPosition CheckMoveCompleteStatusLoadMoveConstraint WaitforBlendCompleteReadperAxisStatus WaitforMoveComplete

Subpalettes

ArcVIs

GearingandCammingVIs

BufferedOperationsVIs

AdvancedTrajectoryVIs

CheckBlendCompleteStatusCheckstheblendcompletestatusforanaxis,vectorspace,groupofaxes,orgroupofvectorspaces.

Details

DeviceCompatibility

Axis/VSMapisthebitmapofaxesorvectorspacestocheck.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.Otherwise,thisparameterisignored.

Whencheckingmultipleaxes(Axis/VSMap=AxisControl):

Axis1—Iftrue,blendmustbecompleteonthespecifiedaxis.Iffalse,blendcanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis2—Iftrue,blendmustbecompleteonthespecifiedaxis.Iffalse,blendcanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis3—Iftrue,blendmustbecompleteonthespecifiedaxis.Iffalse,blendcanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis4—Iftrue,blendmustbecompleteonthespecifiedaxis.Iffalse,blendcanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis5—Iftrue,blendmustbecompleteonthespecifiedaxis.If

UsingThisVI

ThisVIextendsthefunctionalityoftheReadBlendStatusVI,suchthatyoucandefineacombinationofaxesorvectorspacestocheckasagroup.Italsocanchecktheblendcompletestatusforasingleaxisorvectorspace,muchthesameasReadBlendStatus.InsteadofdecodingtheoutputoftheReadBlendStatusVIyourself,thisVIdoesthatforyoubycomparingtheaxesorvectorspacesspecifiedintheAxisorVectorSpaceandAxis/VSMapinputparameterswiththeblendcompletestatusfortheappropriateaxesorvectorspaces.Theoutputisasingletrue/falsevalueindicatingwhetherornotthespecifiedblendorblendsarecomplete.

ThisVIdoesnotcheckforfollowingerrorstatusoraxisoffstatus.Checkingforfaultsduringmovesisrecommended.Todothis,useReadperAxisStatus,whichreturnsfollowingerrorandaxisoffstatusinadditiontothemovecompletestatus.RefertotheNI-MotionHelpformoreinformationandexamplecode.

Formoreinformationaboutblendcompletestatus,refertotheReadBlendStatusVI.

CheckMoveCompleteStatusChecksthemovecompletestatusforanaxis,vectorspace,groupofaxes,orgroupofvectorspaces.

Details

DeviceCompatibility

Axis/VSMapisthebitmapofaxesorvectorspacestocheck.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.Otherwise,thisparameterisignored.

Whencheckingmultipleaxes(Axis/VSMap=AxisControl):

Axis1—Iftrue,movemustbecompleteonthespecifiedaxis.Iffalse,movecanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis2—Iftrue,movemustbecompleteonthespecifiedaxis.Iffalse,movecanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis3—Iftrue,movemustbecompleteonthespecifiedaxis.Iffalse,movecanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis4—Iftrue,movemustbecompleteonthespecifiedaxis.Iffalse,movecanbeeithercompleteornotcompleteonthespecifiedaxis(donotcare).Axis5—Iftrue,movemustbecompleteonthespecifiedaxis.If

UsingThisVI

ThisVIextendsthefunctionalityoftheReadTrajectoryStatusVI,suchthatyoucandefineacombinationofaxesorvectorspacestocheckasagroup.Italsocancheckthemovecompletestatusforasingleaxisorvectorspace,muchthesameasReadBlendStatus.InsteadofdecodingtheoutputoftheReadTrajectoryStatusVIyourself,thisVIdoesthatforyoubycomparingtheaxesorvectorspacesspecifiedintheAxisorVectorSpaceandAxisorVSMapinputparameterswiththemovecompletestatusfortheappropriateaxesorvectorspaces.Theoutputisasingletrue/falsevalueindicatingwhetherornotthespecifiedmoveormovesarecomplete.

Formoreinformationaboutmovecompletestatus,refertotheReadTrajectoryStatusandConfigureMoveCompleteCriteriaVIs.

LoadAcceleration/DecelerationLoadsthemaximumaccelerationand/ordecelerationvalueforanaxisorvectorspace.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroora

UsingThisVI

TheLoadAccelerationVIspecifiesthemaximumrateofaccelerationand/ordecelerationforindividualaxesorvectorspaces.Whenexecutedonavectorspace,thevaluecontrolsthevectoracceleration(deceleration)alongthevectormovepath.

YoucanusethisVItoloadseparatelimitsforaccelerationanddecelerationortosetthembothtothesamevaluewithonecall.Theseparametersaredouble-bufferedsoyoucanloadthemontheflywithoutaffectingthemoveinprocess,andtheytakeeffectonthenextStartorBlendMotioncall.Aftertheyareloaded,theseparametersremainineffectforallsubsequentmotionprofilesuntilre-loadedbythisVI.Youdonotneedtoloadaccelerationbeforeeachmoveunlessyouwanttochangetheaccelerationand/ordeceleration.

Accelerationdefineshowquicklytheaxisoraxescomeuptospeedandistypicallylimitedtoavoidexcessivestressonthemotor,mechanicalsystem,and/orload.Aseparate,slowerdecelerationisusefulinapplicationswherecomingtoagentlestopisimportant.

NoteUseLoadMoveConstraintstoloadanaccelerationoflessthan1count/s2.

Remarks

Accelerationanddecelerationvaluesareconvertedtoaninternal16.16fixed-pointformatinunitsofcounts/s2beforebeingusedbythetrajectorygenerator.Youcancalculatetheminimumaccelerationincrementwiththefollowingformula:

minimumacceleration/deceleration=Amin×( )2

where:Aminis1/65,536counts/sample2orsteps/sample2,Tsisthesampleperiodinsecondspersample.Foratypicalservoaxiswith2,000countsperrevolutionoperatingatthe250msupdaterate,calculatetheminimumacceleration/decelerationincrementusingthefollowingequation:

× =0.122070counts/sYoucancalculatethemaximumacceleration/decelerationusingthefollowingequation:

maximumacceleration/deceleration=Amax×( )2

where:Amaxis32counts/sample,Tsisthesampleperiodinsecondspersample,andisconstrainedaccordingtothefollowingequations:

acceleration 256×decelerationdeceleration 65536×accelerationIfyouaredoingonboardprogrammingandareusingInpVecttogetthe

LoadTargetPositionLoadsthetargetpositionforthenextaxismove.

Details

DeviceCompatibility

TargetPosition(0)isthetargetpositionforthenextaxismoveincounts(servoaxes)orsteps(stepperaxes).Targetpositionscanbeanywherewithinthe32-bitpositionrange,–(231)to+((231)–1).Thedefaultvaluefortargetpositioniszero(0).

CautionAnysinglemoveislimitedto±(231–1)countsorsteps.AnerrorisgeneratedifyouexceedthislimitbyloadingatargetpositiontoofarfromthecurrentAxisposition.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

TheLoadTargetPositionVIloadsatargetpositiontothespecifiedaxis.Targetpositionscanbeforsingleaxismoves,multi-axiscoordinatedmoves,orvectorspacemoves.Positionvaluesindicatetheendlocationanddirectionofmotion(targetposition).

NoteRefertotheLoadVectorSpacePositionVIforaneasywaytoloaduptothreetargetpositionsforavectorspaceinonecall.

Targetpositionisdouble-bufferedsoyoucanloaditontheflywithoutaffectingthemoveinprocess,andittakeseffectonthenextStartorBlendMotionVI.Whenthetargetpositionisloaded,itisinterpretedaseitheranabsolutetargetposition,arelativetargetposition,atargetpositionrelativetothelastcapturedpositionorwiththeeffectofapositionmodulus,dependingonthemodesetwiththeSetOperationModeVI.

Thismeansthatifyousettheoperationmodeto"relativetocapture,"youmustloadthetargetpositionafterthecapturehasoccurredbecausethepositionisevaluatedonload.

Afteryouexecutethestartorblend,theaxisoraxesfollowtheprogrammedtrajectoryandendupattheabsolute,relative,ormodulotargetposition.

LoadVectorSpacePositionLoadstheaxistargetpositionsforthenextvectorspacemove.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.VectorSpaceisthevectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVectorSpacePositionVIloadsuptothreeaxistargetpositionsforthevectorspacespecified.ThisVIisidenticaltocallingtheLoadTargetPositionVIuptothreetimes,onetimepereachaxisinthevectorspace.Positionvaluesindicatetheendlocationanddirectionofmotion(targetposition).

Targetpositionsaredouble-bufferedsoyoucanloadthemontheflywithoutaffectingthemoveinprocess,andtheytakeeffectonthenextStartorBlendMotionVI.Whenthetargetpositionsareloaded,theyareinterpretedaseitherabsolutetargetpositions,relativetargetpositions,targetpositionsrelativetothelastcapturedpositionsorwiththeeffectofapositionmodulus,dependingonthemodesetwiththeSetOperationModeVI.

Thismeansthatifyousettheoperationmodeto"relativetocapture,"youmustloadthetargetpositionafterthecapturehasoccurredbecausethepositionisevaluatedonload.

Afteryouexecutethestartorblend,theaxesinthevectorspacefollowtheprogrammedtrajectoryandendupattheabsolute,relative,ormodulotargetpositions.

NoteIfthevectorspacecontainslessthanthreeaxes,theextratargetpositionvaluesareignored.NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:XPosition,YPosition,ZPosition.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

LoadVelocityLoadsthemaximumvelocityforanaxisorvectorspace.

DetailsRemarks

DeviceCompatibility

Velocityisthetargetormaximumvelocityincounts/s(servoaxes)orsteps/s(stepperaxes).Thedefaultis10000.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVelocityVIspecifiesthemaximumtrajectoryvelocityforindividualaxesorvectorspaces.Whenexecutedonavectorspace,thevaluecontrolsthevectorvelocityalongthevectormovepath.Forvelocitycontrolapplications,thesignoftheloadedvelocityspecifiesthemovedirection.

Velocityisadouble-bufferedparametersoyoucanloaditontheflywithoutaffectingthemoveinprocess,andittakeseffectonthenextStartorBlendMotioncall.Afteritisloaded,thisparameterremainsineffectforallsubsequentmotionprofilesuntilre-loadedbythisVI.Youdonotneedtoloadvelocitybeforeeachmoveunlessyouwanttochangethevelocity.

NoteUseLoadMoveConstraintstoloadavelocityoflessthan1count/sec.NoteThevelocityloadedwiththisVIisthemaximummovevelocity.ActualvelocityattainableisdeterminedbymanyfactorsincludingPIDtuning,lengthofmove,accelerationanddecelerationvalues,andphysicalconstraintsoftheamplifier/motor/mechanicalsystem.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Remarks

Velocityvaluesincounts/sorsteps/sarealsoconvertedtotheinternal16.16fixed-pointformatinunitsofcountsorstepspersample(update)periodbeforebeingusedbythetrajectorygenerator.Althoughthemotioncontrollercancontrolvelocityto1/65,536ofacountorsteppersample,itisimpossibletoloadavaluethatsmallwiththeLoadVelocityVI,asshowninthefollowingformula:

Velocityincountsorstep/s=Vmin×( )

where:Vminis1/65,536counts/sampleorsteps/sample,andTsisthesampleperiodinsecondspersample.

Evenatthefastestupdaterate,

Ts=625×10-6

×16,000=0.244countsorsteps/s

Youcancalculatethemaximumvelocitywiththefollowingequation:

maximumvelocity=Vmax

where:Vmax=20MHzforservos,8MHzforsteppersona7350controller,4MHzforsteppersona7330/40/90controller,

ReadPositionReadsthepositionofanaxis.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.UsetheerrorhandlerVIstolookupthemeaningofthiscodeanddisplaythecorrespondingerrormessage.

UsingThisVI

TheReadPositionVIreturnstheinstantaneouspositionofthespecifiedaxis.Forservoaxes,itreturnstheprimaryfeedbackpositionincounts.Foropen-loopstepperaxes,itreturnsthenumberofstepsgenerated.Forclosed-loopstepperaxes,itconvertstheprimaryfeedbackpositionfromcountstostepsandthenreturnsthevalueinsteps.Closed-loopstepperaxesrequireyoutocorrectlyloadvaluesofstepsperrevolutionandcountsperrevolutiontofunctioncorrectly.

NoteForclosed-loopaxes,thisVIalwaysreturnsthepositionoftheprimaryfeedbackresource.TipRefertotheReadVectorSpacePositionVIforaneasywaytoreaduptothreeaxispositionsforavectorspaceinonecall.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

ReadperAxisStatusReadsthemotionstatusonaper-axisbasis.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoread.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadPerAxisStatusVIreturnsthetrajectoryandmotionI/Ostatusforthespecifiedaxis.ItalsoreturnsthesuccessorfailurestatusofthemostrecentFindReferencesequence.

NoteThisVIreturnsundefinedvaluesforaxesthatarecurrentlyperformingfindreferencemoves.NoteYoualsocanreadindividualitemstatusinamulti-axisformatwithNI-MotionVIslikeReadLimitStatus,ReadTrajectoryStatus,andsoon.

Remarks

InthePerAxisH/WStatusbitmap,D7CommunicationWatchdog(WD)isnotsupportedby73xxcontrollers.

WhenyouareusingtheNISoftMotionControllerwithadevicethatsupportsmultiplehigh-speedcapturesandbreakpoints,thestatusforprimaryandsecondaryinputsisconcatenatedbyalogicalORoperationtopopulatePerAxisH/WStatus.InthePerAxisH/WStatusbitmap,WatchdogisusedforacommunicationstatuswatchdogontheNISoftMotionController.

ReadVectorSpacePositionReadsthepositionofallaxesinavectorspace.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.VectorSpaceisthevectorspacetoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadVectorSpacePositionVIreturnstheinstantaneouspositionsoftheaxesinthespecifiedvectorspace.Forservoaxes,itreturnstheprimaryfeedbackpositionincounts.Foropen-loopstepperaxes,itreturnsthenumberofstepsgenerated.Forclosed-loopstepperaxes,itconvertstheprimaryfeedbackpositionfromcountstostepsandthenreturnsthevalueinsteps.Closed-loopstepperaxesrequirecorrectlyloadedvaluesofstepsperrevolutionandcountsperrevolutiontofunctioncorrectly.

NoteForclosed-loopaxes,thisVIalwaysreturnsthepositionoftheprimaryfeedbackresource.NoteIfyouaredoingonboardprogrammingandareusingRetnVecttowritedata,thisVIwritesthevariablesstartingatthememoryaddresspointedtobyRetnVectinthefollowingorder:XPosition,YPosition,ZPosition.

ReadVelocityReadsthefilteredvelocityofanaxisorvectorspace.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

ThisVIreturnstheaxisorvectorspacefilteredvelocity.Toreducetheeffectsofnoiseandjitteronthefiltercalculation,thedatathisVIreturnsisaveragedbasedonparameterssetintheLoadVelocityFilterParameterVI.

Forvectorspaces,thisVIreturnsvectorvelocity,theroot-mean-squareofthefilteredvelocitiesoftheindividualaxesthatmakeupthevectorspace.

NoteYoualsocanreadvelocityinRPMbycallingtheReadVelocityinRPMVI.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

ReadVelocityinRPMReadsthefilteredvelocityofanaxisorvectorspaceinRPM.

Details

DeviceCompatibility

UsingThisVI

ThisVIreturnstheaxisorvectorspacefilteredvelocityinRPM.Thefilteredvelocityismeasuredbasedontimeelapsedbetweenpositionchanges.Toavoidquantizationerrorandjitterinthemechanicalsystem,afilteringalgorithminLoadVelocityFilterParameterisperformedwithparametersconfigured.

Forvectorspaces,thisVIreturnsvectorvelocity,theroot-mean-squareofthefilteredvelocitiesoftheindividualaxesthatmakeupthevectorspace.

NoteThisVIrequirespreviouslyloadedvaluesofeithercountsperrevolution(forservoaxes)orstepsperrevolution(forstepperaxes)tooperatecorrectly.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

ResetPositionResetstheaxispositiontothespecifiedposition,takingfollowingerrorintoaccount.

NoteIfyouareusingthisVIwithanNI7350orNI7390devicethatyouarereadingpositionson,itmighttakeupto5msfortheapplicationtodisplaythemostrecentlyreadpositionafteryoucallthisVI.

DetailsRemarks

DeviceCompatibility

PrimaryResetPosition(0)istheresetvaluefortheaxisanditsassociatedprimaryfeedbackresource,takingfollowingerrorintoaccount.Youcanresetpositiontoanyvalueinthetotalpositionrangeof–(231)to+(231–1).Thevalueisinstepsforsteppersystemsandcountsforservosystems.SecondaryResetPosition(0)istheresetvaluefortheoptionalsecondaryfeedbackresource.Youcanresetpositiontoanyvalueinthetotalpositionrangeof–(231)to+(231–1).

NoteForstepperclosed-loopconfigurations,wheretheencodercountsperrevolutionisgreaterthanthestepsperrevolution,therangeofthepositionparametersisreducedbytheratioofcounts/revtosteps/rev.Forexample,iftheratiois4,000countsperrevolutionto2,000stepsperrevolution(2:1ratio),thentherangeofpositionparametersisdividedby2.

UsingThisVI

Thisfunctionresetstheaxispositionandtheassociatedprimaryfeedbackposition,takingfollowingerrorintoaccount,andresetstheoptionalsecondaryfeedbackposition.Thismeansthatifyouresetthepositionto0andhaveafollowingerrorof15,thefeedbackpositionis–15.

Youcanresetpositiontozerooranyvalueinthe32-bitpositionrange.Youcanresetthesecondaryfeedbacktothesamevalueastheaxisandprimaryfeedbackoryoucanresetittoadifferentvalue.Ifasecondaryfeedbackresourceisnotinuse,thecorrespondingresetvalueisignored.Ifyouusethesamefeedbackdeviceforbothprimaryandsecondaryfeedback,youmustresetthepositionstobethesamevalue.

NoteNon-zeroresetvaluesareusefulfordefiningapositionreferenceoffset.

Positioncanberesetatanytime.However,itisrecommendedthatyouresetpositiononlywhiletheaxisisstopped.Anaxisresetwhiletheaxisismovingdoesnothavearepeatablereferenceposition.

NoteForaxesinp-commandmode,ensurethattheaxisisnotmovingbeforecallingResetPosition.CallingResetPositionwhentheaxisismovingintroducespositionerrorintothesystem.

Typically,youexecutetheResetPositionVIonetimeaftertheFindHomeandFindIndexsequencesoftheFindReferenceVIhavecompletedsuccessfullytosetthezeropositionforthesystemandnotagainuntilthenextpower-up.

AnADCchannelusedasaprimaryfeedbackresourcesisresetbystoringanoffsetvaluewhenthisVIisexecuted.Inthisway,itszeroreferenceisnotlostandyoucanstillreadtheactualADCvaluewiththeReadADCsVI.

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:Primary

Remarks

Thesecondaryresetpositionisignored.Whenyouresetaslaveposition,gearingisnotdisabled.

NoteNationalInstrumentsrecommendsthatyoudonotresetthepositionwhenanaxisismovingorgearingisenabledbecausedoingsomightcausetheaxistojumpand/orcauseafollowingerror.

SetOperationModeSetstheoperationmodeforanaxisorvectorspace.

DetailsRemarks

DeviceCompatibility

PositionMode(Absolute)selectsthetypeofpositionorvelocitymodeforanaxisorvectorspace.

Value Definition0 AbsolutePosition1 RelativePosition2 Velocity3 RelativetoCapture4 ModulusPosition5 AbsoluteContouring6 RelativeContouring

ThesemodesaredescribedintheUsingThisVIsection.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVI

UsingThisVI

TheSetOperationModeVIisusedbothduringinitializationandduringnormalmotioncontroloperationtoconfigurethemodeofoperationforalltrajectorycommandstotheaxisorvectorspacespecified.

Positionmodesareappliedtoallaxesinacoordinate(vector)space.Ifyoulaterwanttooperateanaxisindependentlyinadifferentmodefromtheotheraxes,callSetOperationModeagainonthataxis.

NoteAllaxesinacoordinate(vector)spacemusthavethesameoperationmode.IftheoperationmodesaredifferentoneachAxiswhenaStartMotionorBlendMotionVIisexecuted,anerrorisgenerated.

Theoperationmodemustbesetorchangedbeforeanyothertrajectoryparametersareloadedforthenextmove.Theoperationmodeaffectshowthetargetpositionandvelocityvaluesareinterpreted.Trajectoryparametersloadedafteramodechangeareinterpretedinthenewlyselectedmode.Trajectoryparametersloadedanytimebeforeamodechangedonotreflectthenewmode.

NoteChangingoperationmodeafterthetrajectoryparametersareloadedcanresultinimproperoperation.

Thefiveoperationmodesaredescribedinthefollowingsections:

AbsolutePosition

Inabsolutepositionmode,targetpositionsareinterpretedwithrespecttoanorigin,reference,orzeroposition.Theoriginistypicallysetatahomeswitch,endoftravellimitswitch,orencoderindexposition.Anabsolutepositionmoveusesthepreprogrammedvaluesofacceleration,deceleration,s-curve,andvelocitytocompleteatrajectoryprofilewithanendingpositionequaltotheloadedabsolutetargetposition.

Thelengthofanabsolutemovedependsupontheloadedpositionandthecurrentpositionwhenthemoveisstarted.Ifthetargetpositionisthesameas

Remarks

NI7330andNI7390controllersdonotsupportabsoluteorrelativecontouring.NI73xxcontrollersdonotsupporttheVelocityoptionofthePositionModeparameterforvectorspaces.

TheNISoftMotionControllerdoesnotsupporttheModulusPositionoptionforPositionMode.

WaitforBlendCompleteWaitsuptothespecifiedperiodoftimeforablendtobecompletedonanaxis,vectorspace,groupofaxes,orgroupofvectorspaces.

Details

DeviceCompatibility

PollInterval(20ms)istheamountoftime,inmilliseconds,towaitbetweensuccessivequeriestothecontrollertodetermineiftheblendiscomplete.Timeout(10,000ms)istheamountoftime,inmilliseconds,towaitfortheblendtobecomecomplete.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpacecanselectanaxis(1through15),vectorspace(0x11through0x14),multipleaxes(AxisControl),ormultiplevectorspaces(VectorSpaceControl).Whensimultaneouslyactingonmultipleaxesorvectorspaces,theAxis/VSMapparameterindicateswhichaxesorvectorspacesareinvolved.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

ThisutilityVIisbuiltontopoftheCheckBlendCompleteStatusVI,andisprovidedforyourprogrammingconvenience.ThisVIcomparestheaxesorvectorspacesspecifiedintheAxisorVectorSpaceandAxis/VSMapinputparameterswiththeblendcompletestatusfortheappropriateaxesorvectorspaces.Itdoesthisrepeatedly,withthePollIntervaltimedeterminingthefrequencythatthecontrollerisqueried.Whentheblendiscomplete,thisVIreturnswithBlendCompletesettoTrue,otherwiseitwaitsfortheamountoftimespecifiedbytheTimeoutparameter.IftheVIwaitslongerthanthespecifiedtimeout,itreturnsNIMC_eventTimeoutErrorandBlendCompleteissettofalse.

Theoutputisasingletrue/falsevalueindicatingwhetherornotthespecifiedblendorblendsarecomplete.

Formoreinformationaboutblendcompletestatus,refertotheReadBlendStatusVI.

NotetoLabVIEWRTusersIfthisVIisusedwithLabVIEWRTinatime-criticalprioritythread,theentirethreadisputtosleepuntilthenextmultipleofPollInterval.FormoreinformationrefertotheLabVIEWRTdocumentation

WaitforMoveCompleteWaitsuptothespecifiedperiodoftimeforamovetobecompletedonanaxis,vectorspace,groupofaxes,orgroupofvectorspaces.

Details

DeviceCompatibility

PollInterval(20ms)istheamountoftime,inmilliseconds,towaitbetweensuccessivequeriestothecontrollertodetermineiftheblendiscomplete.Timeout(10,000ms)istheamountoftime,inmilliseconds,towaitfortheblendtobecomecomplete.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpacecanselectanaxis(1through15),vectorspace(0x11through0x14),multipleaxes(AxisControl),ormultiplevectorspaces(VectorSpaceControl).Whensimultaneouslyactingonmultipleaxesorvectorspaces,theAxis/VSMapparameterindicateswhichaxesorvectorspacesareinvolved.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

ThisutilityVIisbuiltontopoftheCheckMoveCompleteStatusVI,andisprovidedforyourprogrammingconvenience.ThisVIcomparestheaxesorvectorspacesspecifiedintheAxisorVectorSpaceandAxis/VSMapinputparameterswiththemovecompletestatusfortheappropriateaxesorvectorspaces.Itdoesthisrepeatedly,withthePollIntervaltimedeterminingthefrequencythatthecontrollerisqueried.Whenthemoveiscomplete,thisVIreturnswithMoveCompletesettoTrue,otherwiseitwaitsfortheamountoftimespecifiedbytheTimeoutparameter.IftheVIwaitslongerthanthespecifiedtimeout,itreturnsNIMC_eventTimeoutErrorandMoveCompleteissettofalse.

Theoutputisasingletrue/falsevalueindicatingwhetherornotthespecifiedmoveormovesarecomplete.

Formoreinformationaboutmovecompletestatus,refertotheReadTrajectoryStatusandConfigureMoveCompleteCriteriaVIs.

NotetoLabVIEWRTusersIfthisVIisusedwithLabVIEWRTinatime-criticalprioritythread,theentirethreadisputtosleepuntilthenextmultipleofPollInterval.FormoreinformationrefertotheLabVIEWRTdocumentation

AdvancedTrajectoryVIsAdvancedTrajectoryVIsareusefulinspecialapplicationsandshowcasesomeofNI-Motion'spowerandflexibility.

YoucanuseAdvancedTrajectoryVIstoacquiretime-sampledpositionandvelocitydataintoalargeonboardbufferandthenlaterreaditoutforanalysisanddisplay.TheseVIsimplementadigitaloscilloscopethatisusefulduringsystemsetup,PIDtuning,andgeneralmotionwithdataacquisitionsynchronization.

LoadVelocityinRPM LoadPositionModulusLoadAccel/DecelinRPS/sec LoadS-CurveTimeLoadFollowingError LoadVelocityOverrideReadFollowingError LoadBaseVelocityAcquireTrajectoryData LoadVelocityThresholdReadTrajectoryData LoadVelocityThresholdinRPMReadBlendStatus LoadRun/StopThresholdReadMoveCompleteStatus ReadDACReadTrajectoryStatus ReadDACLimitStatus

LoadBlendFactor LoadTorqueOffsetReadTargetPosition LoadTorqueLimitReadStepsGenerated

AcquireTrajectoryDataAcquirestime-sampledpositionandvelocitydataonmultipleaxes.

DeviceCompatibility

Timeperiod(3ms)isthetimeperiodbetweensamplesinms.Therangeisfrom3(default)to65,535ms.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.UsetheerrorhandlerVIstolookupthemeaningofthiscodeanddisplaythecorrespondingerrormessage.sourceisastringthatindicatestheoriginoftheerror,ifany.Typically,sourceisthenameoftheVIinwhichtheerroroccurred.

UsingThisVI

TheAcquireTrajectoryDataVIinitiatestheautomaticacquisitionofpositionandvelocitydatafortheselectedaxes.Thedataisheldinanonboardfirst-in-first-out(FIFO)bufferuntillaterreadbackwiththeReadTrajectoryDataVI.Youcanselectwhichaxestoacquiredataforandprogramthetimeperiodbetweensamples.

TheAcquireandReadTrajectoryDataVIsareusedtoacquireandreadbacktime-sampledpositionandvelocitydataforanalysisanddisplay.TheseVIsimplementadigitaloscilloscopethatisusefulduringsystemsetup,PIDtuning,andgeneralmotionwithdataacquisitionsynchronization.

Afteritisstarted,thisdataacquisitionoperatesautonomouslyinthebackgroundasaseparatetask.MotioncontroloperatesnormallyandyoucanexecuteothermotionVIssimultaneously.Dependingupontheprogrammedtimeperiodandthetotalnumberofsamples,thisacquisitiontaskcanrunanywherefromafewmillisecondstotensofhours.

CautionWaitanappropriateamountoftimebeforeattemptingtoreadbackthetrajectorydata.

Becausehostcommunication,eventhandling,arcpointgeneration,contourpointdispensing,bufferedbreakpoints,andbufferedhigh-speedcaptureareahigherpriorityonthecontrollerthanacquiringtrajectorydata,youmaynoticeirregulartimespacingofsampleddatawhenhostcommunicationsoreventnotificationisheavy.Tominimizethechanceofirregulardata,limithostcommunicationtoaminimumwhileacquiringtrajectorydata.Ifyoustillnoticeirregulardata,increasethetimeperiod.

Example

Toacquire100samplesofdataonaxes1and2at10ms/sample,calltheAcquireTrajectoryDataVIwiththefollowingparameters:

AxisMapcorrespondstothefollowing

LoadAccel/DecelinRPS/secLoadsthemaximumaccelerationand/ordecelerationvalueforanaxisorvectorspaceinRPS/s.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadAccel/DecelinRPS/secVIspecifiesthemaximumrateofaccelerationand/ordecelerationforindividualaxesorvectorspacesinrevolutions/s2.Whenexecutedonavectorspace,thevaluecontrolsthevectoracceleration(deceleration)alongthevectormovepath.ThisVIrequirespreviouslyloadedvaluesofeithercountsperrevolution(forstepperaxes)orstepsperrevolution(forservoaxes)tooperatecorrectly.

YoucanusethisVItoloadseparatelimitsforaccelerationanddecelerationortosetthembothtothesamevaluewithonecall.Theseparametersaredouble-bufferedsoyoucanloadthemontheflywithoutaffectingthemoveinprocess,andtheytakeeffectonthenextStartorBlendMotioncall.Aftertheyareloaded,theseparametersremainineffectforallsubsequentmotionprofilesuntilre-loadedbythisVI.Youdonotneedtoloadaccelerationbeforeeachmoveunlessyouwanttochangetheaccelerationand/ordecelerationvalue.

Accelerationdefineshowquicklytheaxisoraxescomeuptospeedandistypicallylimitedtoavoidexcessivestressonthemotor,mechanicalsystem,and/orload.Aseparate,slowerdecelerationisusefulinapplicationswheregentlycomingtoastopismostimportant.

TipUseLoadMoveConstraintsinsteadofthisVIformoremoveoptions.

Remarks

RPS/svaluesstoredinonboardvariablesareindouble-precisionIEEEformat(f64).ForinformationaboutthenumberofvariablesrequiredtoholdanRPS/svalue,refertoUsingInputsandReturnVectorswithOnboardVariables.NI-Motionfirmwareusesa16.16fixed-pointformatinternallytorepresentvelocityincounts/sampleperiodorsteps/sampleperiodandacceleration/decelerationincounts/sampleperiod2orsteps/sampleperiod2.IfyouchangecountsorstepsperrevolutionorchangetheupdaterateusingEnableAxes,youmustreloadthevelocityandacceleration/deceleration.Youalsocanloadaccelerationanddecelerationincounts/s2orsteps/s2bycallingtheLoadAcceleration/DecelerationVI.IfyouaredoingonboardprogrammingandareusinginputVectortogetthedatathisVIneeds,noticethatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyinputVectorinthefollowingorder:accelerationType,RPSPS.AccelerationanddecelerationvaluesinRPS/sareconvertedtoaninternal16.16fixed-pointformatinunitsofcounts/sample2orsteps/sample2beforebeingusedbythetrajectorygenerator.YoucancalculatetheminimumaccelerationincrementinRPS/swiththefollowingformula:

RPS/s=Amin×( )2×

where:Aminis1/65,536counts/sample2orsteps/sample2,

LoadBaseVelocitySetsthebasevelocityusedbythetrajectorycontrolloopfortheaxisspecified.

Details

DeviceCompatibility

BaseVelocityisthebasevelocityforthestepperaxisinsteps/secondandisa16-bitdatawordintherangeof0through65,535.Thedefaultvalueis0.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,or

UsingThisVI

Basevelocityistheminimumsteprateusedbythetrajectorygeneratorduringaccelerationanddeceleration.Basevelocityisusefulwhenthesystemusesfull-steporhalf-stepmode.Basevelocityisnotnecessaryifthesystemusesmicrostepping.

IfthetargetvelocityloadedwiththeLoadVelocityVIislowerthanthebasevelocity,thebasevelocityisreducedtoequaltheloadedtargetvelocity.

NoteThisVIisvalidonlyonaxesconfiguredassteppers,soyoumustconfigureanaxisasastepperusingtheConfigureAxisResourcesVIbeforeexecutingthisVI.

Example

Ifthebasevelocityloadedis2,000steps/sandtheloadedvelocityis5000,theaxisstartsatthebasevelocityandacceleratestotheloadedvelocity.Theaxisthendeceleratestothebasevelocityandstops,asshowninthefollowingfigure.

LoadBlendFactorLoadstheblendfactorforanaxisorvectorspace.

Details

DeviceCompatibility

BlendFactoristheblendfactormodeand/ordwelltime.–1specifiesnormalblending(default),0specifiesastartafterthepreviousmoveisfullystopped,andvalues>0specifyadditionaldwelltimeinmilliseconds.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.

UsingThisVI

TheLoadBlendFactorVIcontrolshowtheBlendMotionVIoperates.Blendingautomaticallystartsapendingmoveonanaxisorvectorspacewhenthemoveinprocesscompletes.Exactlywhenthependingmovestartsisdeterminedbytheloadedblendfactor.

Ablendfactorof–1causesthependingmovetostartwhentheexistingmovefinishesitsconstantvelocitysegmentandstartstodecelerate,asshowninthefollowingfigure.Thisblendsthetwomovestogetherattheoptimumblendpoint.

Ifthetwomovesareatthesamevelocity,inthesamedirection,andhavematchingaccelerationanddeceleration,theysuperimposeperfectlywithoutadiporincreaseinaxisvelocity.Vectorvelocitydipsbasedontheamountofdeflectionfromastraightline.

Foravectormove,ifalloftheaxescontinueinthesamedirection,thevectorvelocityremainsconstant.But,ifoneoftheaxeschangesdirection,thevectorvelocitydoesnotremainconstantduringthetransitionphase.

Ablendfactorofzero(0)causesthependingmovetostartwhentheexistingmovefullycompletesitsprofile.

Positiveblendfactorsallowforadwellattheendofthefirstmovebeforetheautomaticstartofthependingmove.Theblendfactordwellisprogrammedinmilliseconds.

ThemaximumvalueofthepositiveblendfactordependsupontheSamplePIDRatethatyousetintheEnableAxesVI,becausetheDSPdelaysthetrajectorygeneratorsbasedonPIDsampleperiods.Theformulausedtodeterminethemaximumpositiveblendfactorisasfollows:

LoadFollowingErrorLoadsthefollowingerrortrippoint.

DetailsRemarks

DeviceCompatibility

FollowingErroristhefollowingerrortrippointincounts.Ifthefollowingerrorexceedsthisvalue,theaxisisautomaticallykilled.Therangeis0to32,767withadefaultof32,767counts.Loadingzero(0)isaspecialcasethatdisablesthefollowingerrortripfunctionality.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadFollowingErrorVIsetsthemaximumallowablefollowingerror.Followingerroristhedifferencebetweentheinstantaneouscommandedtrajectorypositionandthefeedbackposition.Iftheabsolutevalueofthisdifferenceexceedsthetrippoint,aninternalkillstopisissuedandtheaxisisdisabled.

Ifthisaxisispartofacoordinate(vector)space,allotheraxesarecommandedtodeceleratetoastopwhenoneaxistripsonfollowingerror.

ThisVIisasafetyfeatureusedtoprotectthemotionhardwareandassociatedsystemcomponentsfromdamagewhenthepositionerrorgetsexcessiveduetofriction,binding,oracompletelystalledmotor.Italsoprotectsthesystemincaseyouloadunobtainablevaluesforvelocityand/oracceleration.

Thisfeatureisavailableonallservoandclosed-loopstepperaxes.Ithasnoeffectonstepperaxesrunninginopen-loopmode.Youcancompletelydisablethefollowingerrorfeaturebyloadingazero(0)value.

CautionFollowingerrormustnotbedisabledunlesstheapplicationabsolutelyrequiresoperatingwithgreaterthan32,767countsoferror.

YoucanmonitorfollowingerrorstatuswiththeReadTrajectoryStatusorReadperAxisStatusVIs.AfollowingerrortripalwayssetstheMotorOffstatus.Inservosystems,youcanfurtherdiagnosethecauseofthetripbycheckingthetorquelimitstatuswiththeReadDACLimitStatusVI.

Ifanaxistripsonfollowingerror,thataxis,oranyaxesassociatedthroughacoordinatespace,areprohibitedfromstartingfromanonboardprogramuntilastartfromthehost,pauseoftheonboardprogram,orrunofanonboardprogram.

Ingeneral,afollowingerrortripisconsiderednormaloperationanddoesnotgenerateanerror.Thereareafewcaseswhereanunexpectedfollowingerrortripgeneratesamodalerror:duringFindReference,andwhileexecutinga

Remarks

TheNISoftMotionControllerdoesnotsupportloadingzero(0)inFollowingErrortodisablethefollowingerror.FortheInpVectparameter,theNISoftMotionControllersupportsonlytheimmediatereturnvector(0XFF).

LoadMoveConstraintsLoadsmoveconstraintsinuserunits.

DetailsRemarks

DeviceCompatibility

Attributeistheattributeyouwanttoload:

VelocityConstraint—SettheDoubleelementoftheDataclustertotheappropriatevelocitylimitinuserunits/second.AccelerationConstraint—SettheDoubleelementoftheDataclustertotheappropriateaccelerationlimitinuserunits/second2.DecelerationConstraint—SettheDoubleelementoftheDataclustertotheappropriatedecelerationlimitinuserunits/second2.AccelerationJerk—SettheDoubleelementoftheDataclustertotheappropriateaccelerationjerklimitinuserunits/second3.DecelerationJerk—SettheDoubleelementoftheDataclustertotheappropriatedecelerationjerklimitinuserunits/second3.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfroma

UsingThisVI

ThisVIloadsmoveconstraintsinuserunitsusingtheDoubleparameteroftheDatacluster.UseLoadCounts/StepsperRevolutiontosettheuserunitratio.

Example1

Ifyouload2,000counts/revusingtheLoadCounts/StepsperRevolutionVI,andyoucallLoadMoveConstraintswithVelocityConstraintsetto10.5,thevelocityloadedis10.5revolutions/secondor21,000counts/second.

Example2

IfyousetCounts(Steps)/Revto1intheLoadCounts/StepsperRevolutionVI,andyoucallLoadMoveConstraintswithVelocityConstraintsetto1.3,thevelocityloadedis1.3counts/second.

Remarks

73xxcontrollersdonotsupporttheAccelerationJerkandDecelerationJerkattributes.UseLoadVelocityandLoadAcceleration/Decelerationforfasterperformance.

LoadPositionModulusLoadsthepositionmodulusforanaxis.

Details

DeviceCompatibility

PositionModulus(0)isthepositionmodulusvalueincounts(servoaxes)orsteps(stepperaxes).Themodulusrangeisfrom0(default)to(231)–1.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadPositionModulusVIsetsthemodulususedwhentheaxisisoperatinginModulusPositionmode.Ithasnoeffectwhentheaxisisoperatinginothermodes.Whenatargetpositionisloaded,itisinterpretedwithintheboundariesofamodulusrange.

RefertotheSetOperationModeVIforacompletedescriptionoftheModulusPositionmode.

LoadRun/StopThresholdSetsthevelocityRun/StopThreshold,whichaffectstherun/stopstatusreturnedbyReadTrajectoryStatus.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Run/StopThresholdistheRun/Stopthresholdvelocityincounts/sampleperiodforservoaxesorsteps/sampleperiodforopen-loopandclosed-loopstepperaxes.Therangeforthisparameteris1(default)to32,767countsorsteps/sampleperiod.Thisparametersetsthenumberofcounts/stepsanaxismustmovetobeconsideredrunning.Axisistheaxistoconfigure.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

ThisVIsetsthevelocitythresholdabovewhichanaxisisconsideredrunning.TheRun/StopThresholdparameterhastimeunitsofupdatesampleperiodsandisaffectedbytheupdateratesetintheEnableAxesVI.

Ifthevelocityofanaxisisabovethestep/countpersampleperiodspecifiedinthisVI,therun/stopstatusfromReadTrajectoryStatusreturnsTRUE.Ifitisbelowthethreshold,therun/stopstatusreturnsFALSE.

LoadS-CurveTimeLoadsthes-curvetimeforanaxisorvectorspace.

DetailsRemarks

DeviceCompatibility

SCurveTime(1)isthetimeinupdatesampleperiodsoverwhichtheaccelerationprofileissmoothedasittransitionsfromzerototheprogrammedvalueandbacktozero.Thes-curverangeisfrom1to32,767withadefaultof1sampleperiod.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadS-CurveTimeVIsmoothestheaccelerationanddecelerationportionsofamotionprofile,resultinginlessabrupttransitionsfromstartmotiontoacceleration,accelerationtoconstantvelocity,constantvelocitytodeceleration,anddecelerationtostop.Usings-curveaccelerationlimitsthejerkinamotioncontrolsystem.

Officially,jerkisdefinedasthederivativeofacceleration(changeofaccelerationperunittime)andismeasuredinunitsofcounts(steps)/s3.ThisVI,however,allowsyoutoloads-curvetimeinupdatesampleperiodsratherthanhavetodealwiththeobscureunitsofjerk.

Withthedefaults-curvetimeofone(1)sampleperiod,thereisalmostnoeffectonthemotionprofile,andthestandardtrapezoidaltrajectoryisexecuted.Ass-curvetimeincreases,thesmoothingeffectontheaccelerationanddecelerationportionsofthemotionprofileincrease,asshowninthefollowingfigure.Largevaluesofs-curvetimecanoverridetheprogrammedvaluesofaccelerationanddecelerationbysufficientlysmoothingtheprofilesuchthattheaccelerationanddecelerationslopesareneverreached.

NoteAlarges-curvevaluemakesthetimetoacceleratetothecommandedvelocitylonger.Therefore,thetimeittakestoreachthetargetpositionisalsolonger.Ifthes-curvevalueistoolarge,thevalueisignoredandfullaccelerationisused.Thishappenswhentheaccelerationanddecelerationbecometoolongtoperformsmoothly.

Youcanloads-curvetimetoindividualaxesortoavectorspaceforsmoothingallaxesinthevectorspace.Whensenttoavectorspace,thes-curvetimeisbroadcasttoallaxesinthevectorspacetochangetheper-axiss-curvetimes.Ifyoulaterwanttooperateanaxisindependentlywithadifferents-curvetime,youmustexecutetheLoadS-CurveTimeVIagainforthataxis.

NoteAllaxesinavectorspacemusthavethesames-curvetimeforbest

Remarks

WhenyouusethisVIwiththeNISoftMotionController,SCurveTime(1)isthesmoothingtimeinthehostloopperiod.NationalInstrumentssuggestsyouusetheLoadMoveConstraintsVIwiththeNISoftMotionControllerinsteadofusingthisVI.

LoadTorqueLimitLoadsprimaryandsecondaryDACtorquelimitsforanaxis.

Details

DeviceCompatibility

Secondary(–)LimitistheoptionalsecondaryDACnegativetorque(orvelocity)limit.Therangeis–32,768to+32,767(–10Vto+10V)withadefaultvalueof–32,768(–10V).

NoteThepositivelimitcannotbelessthanthenegativelimit.Secondary(+)LimitistheoptionalsecondaryDACpositivetorque(orvelocity)limit.Therangeis–32,768to+32,767(–10Vto+10V)withadefaultvalueof32,767(+10V).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectcontainstheprimarypositive,primarynegative,secondarypositive,andsecondarynegativeparametersthatarethesourceofdataforthisVI.

Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturn

UsingThisVI

TheLoadTorqueLimitVIallowsyoutolimittheoutputrangeoftheDACoutput(s)ontheselectedservoaxis.ThisVIhasnoeffectonstepperaxesorindependentDACoutputsthatarenotmappedtoanaxis.

BylimitingtheoutputrangeofaDAC,itispossibletocontrolthemaximumtorque(whenconnectedtoatorqueblockservoamplifier)orvelocity(whenconnectedtoavelocityblockservoamplifier).ThisVIisalsohelpfulwheninterfacingtoamplifiersthatdonotsupportthestandard±10Vcommandrange.

PrimaryandsecondaryDACscanhavedifferentlimits,andthepositiveandnegativelimitscanbebothpositiveorbothnegativetolimittheDACoutputtoaunipolarrange.TheonlyrestrictionisthatapositiveDAClimitcannotbelessthanthenegativeDAClimit.

YoualsocansetatorqueoffsetontheprimaryandsecondaryDACoutputs.RefertotheLoadTorqueOffsetVIformoreinformation.

Example

CallingtheLoadTorqueLimitVIwiththefollowingparameterslimitstheoutputrangesoftheprimaryandsecondaryDACsmappedtotheaxis,asshowninthefollowingfigure:

PrimaryPositiveLimit=16,383PrimaryNegativeLimit=–16,384SecondaryPositiveLimit=8,191SecondaryNegativeLimit=–32,768

TheresultofthisVIcallistolimittheprimaryDACtoonlyhalfitsrangeineitherdirection,or±5V.ThesecondaryDACcanonlytraveloveraquarterofitspositiverangebuthasitsfullnegativerange.

LoadTorqueOffsetLoadsprimaryandsecondaryDACtorqueoffsetsforanaxis.

Details

DeviceCompatibility

SecondaryOffset(0)isthesecondaryDACtorque(orvelocity)offset.Theoffsetrangeis–32,768to+32,767(–10Vto+10V)withadefaultvalueof0(0V).

NoteTheoffsetvaluemustbewithintherangelimitssetbytheLoadTorqueLimitVI.

PrimaryOffset(0)istheprimaryDACtorque(orvelocity)offset.Theoffsetrangeis–32,768to+32,767(–10Vto+10V)withadefaultvalueof0(0V).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectcontainstheprimaryandsecondaryparametersthatarethesourceofdataforthisVI.

Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.

UsingThisVI

TheLoadTorqueOffsetVIloadsoffsetvaluesfortheDACsmappedtotheselectedservoaxis.ThisVIhasnoeffectonstepperaxesorindependentDACoutputsthatarenotmappedtoanaxis.WhenaDACisconnectedtoavelocityblockservoamplifier,thetorqueoffsetfunctionsasavelocityoffset.

Atorque(orvelocity)offsetshiftstheDACoutput(s)bytheprogrammedoffsetvaluewithoutrequiringanyactionfromthePIDloop.Inaservosystem,thiscanbeusedtoovercomeamplifierinputoffsets,systemimbalances,ortheeffectsofoutsideforcessuchasgravity.DifferenttorqueoffsetscanbeloadedfortheprimaryandsecondaryDAC.

NoteWhenanAxisiskilled,itsDACoutputsarezeroedregardlessofthetorqueoffsetloaded.

DACoffsetscanbeusedinconjunctionwithDACrangelimitstointerfacetoservoamplifierswithunipolarinputranges(forexample,0to5Vor0to10V).

Example

CallingtheLoadTorqueOffsetVIwithPrimaryOffset=4,096andSecondaryOffset=0shiftstheoutputrangesoftheprimaryDACmappedtotheaxisasshowninthefollowingfigure:

TheresultofthisVIcallistolimittheprimaryDACtoarangeof–8.75Vto+10Vwithanoffsetornullvalueof+1.25V.ThisisbecauseevenwhenthePIDloopiscommandingfullnegativetorque,thetorqueoffsetisaddedandtheresultingoutputis–8.75V.Inthepositivedirection,theDACcannotgoabove+10Vnomatterwhattheoffsetis.

TheVIcallleavesthesecondaryDACoffsetatitsdefaultvalueofzero(0).ThisexampleassumesthefulltorquerangeisavailableandnotlimitedbytheLoadTorqueLimitVI.

LoadVelocityinRPMLoadsvelocityforanaxisorvectorspaceinRPM.

DetailsRemarks

DeviceCompatibility

Velocity(500)isthedoubleprecisionfloatingpointvelocityvalueinRPM.TheVelocityrangedependsuponthemotorcountsorstepsperrevolutionandthetrajectoryupdaterate.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVelocityinRPMVIspecifiesthemaximumtrajectoryvelocityforindividualaxesorvectorspaces.Whenexecutedonavectorspace,thevaluecontrolsthevectorvelocityalongthevectormovepath.Forvelocitycontrolapplications,thesignoftheloadedvelocityspecifiesthemovedirection.ThisVIrequirespreviouslyloadedvaluesofeithercountsperrevolution(forservoaxes)orstepsperrevolution(forstepperaxes)tooperatecorrectly.

RPMisdouble-buffered,soyoucanloaditontheflywithoutaffectingthemoveinprocess,andittakeseffectonthenextStartorBlendMotioncall.Afteritisloaded,thisparameterremainsineffectforallsubsequentmotionprofilesuntilre-loadedbythisVI.Youdonotneedtoloadvelocitybeforeeachmoveunlessyouwanttochangethevelocity.

NoteThevelocityloadedwiththisVIisthemaximummovevelocity.ActualvelocityattainableisdeterminedbymanyfactorsincludingPIDtuning,lengthofmove,accelerationanddecelerationvalues,andphysicalconstraintsoftheamplifier/motor/mechanicalsystem.

Youalsocanloadvelocityincounts/sorsteps/sbycallingtheLoadVelocityVI.TipUseLoadMoveConstraintsinsteadofthisVIformoremoveoptions.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Remarks

For73xxmotioncontrollers,RPMvaluesstoredinonboardvariablesareindouble-precisionIEEEformat(f64).ForinformationaboutthenumberofvariablesrequiredtoholdanRPMvalue,refertoUsingInputsandReturnVectorswithOnboardVariables.

NoteNI-Motionfirmwareusesa16.16fixed-pointformatinternallytorepresentvelocityincounts/sampleperiodorsteps/sampleperiodandacceleration/decelerationincounts/sampleperiod2orsteps/sampleperiod2.IfyouchangecountsorstepsperrevolutionorchangetheupdaterateusingEnableAxes,youmustreloadthevelocityandacceleration/deceleration.

VelocityvaluesinRPMareconvertedtoaninternal16.16fixed-pointformatinunitsofcounts(steps)persampleperiod(updateperiod)beforebeingusedbythetrajectorygenerator.NI-Motioncancontrolvelocityto1/65,536ofacountorsteppersample.YoucancalculatethisminimumvelocityincrementinRPMwiththefollowingformula:

minimumRPM=Vmin×( )×60×( )

where:Vminis1/65,536count/sampleorstep/sample,Tsisthesampleperiodinsecondspersample,60isthenumberofsecondsinaminute,andRisthecounts/stepsperrevolution.

Foratypicalservoaxiswith2,000countsperrevolutionoperatingatthe250µsupdaterate,theminimumRPMincrementis:

LoadVelocityOverrideLoadsaninstantaneousvelocityoverrideforanaxisorvectorspace.

DetailsRemarks

DeviceCompatibility

OverridePercentage(100%)isasingleprecisionfloatingpointvaluefrom0to150%.Thisvaluedirectlyscalestheprogrammedvelocity.Thedefaultvalueis100%(noeffect).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceistheaxisorvectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVelocityOverrideVIscalestheoperatingvelocityonanaxisorvectorspacefrom0to150%.Velocityoverrideisnotdouble-buffered.TheVItakeseffectimmediatelyanddoesnotrequireaStartorBlendMotionVIexecutiontochangetheoperatingvelocity.Allvelocitychangesusetheloadedvaluesofacceleration,deceleration,ands-curvetosmoothlytransitionthevelocitytoitsnewvalue.

Velocityoverridescalesvelocityinlinearinterpolationaswellasincircular,helical,andsphericalarcs.

NoteVelocityoverrideisnotvalidforcontouredmoves.

Youcanloadvelocityoverridetoindividualaxesortoavectorspaceforcoordinatedvelocityscaling.Whensenttoavectorspace,thevelocityoverrideisbroadcasttoallaxesinthevectorspacetochangetheper-axisoverrides.Ifyoulaterwanttooperateanaxisindependentlywithadifferentvelocityoverride,youmustexecutetheLoadVelocityOverrideVIagainforthataxis.Notethatthisalsoworkswithgearing.Inadditiontofollowingthepositionofthemasteraxis,theslavefollowsthevelocityofthemasteraxis.

Afteritisloaded,velocityoverrideremainsineffectuntilchangedbyanothercalltothisVI.Allsubsequentmovesareatvelocitiesscaledbythemostrecentoverridepercentage.Atpower-upreset,velocityoverrideisalwaysresetto100%.

Velocityoverrideiscommonlyusedinmachinetoolandotherapplicationstoreducethespeedofaprogrammedmotionsequenceandcanbeusedtoimplementafeedholdbysettingthevaluetozero(0).Youcandirectlyuseascaledvaluefromananaloginputasthevelocityoverridevalue.

Remarks

For73xxcontrollers,theresolutionofthisVIisapproximately0.4%.Theconversionfromfloating-pointtofixed-pointisperformedonthehostcomputer,notonthemotioncontroller.Toloadvelocityoverridefromanonboardvariable,youmustusetheintegerrepresentationof0to384.Allaxesinavectorspacemusthavethesamevelocityoverride.Ifaxeshavedifferentvelocityoverrides,thevectormovecannotfunctionasexpected.Thismodeislegalanddoesnotgenerateanerror,butitcausestheaxestofinishtheirmovesatdifferenttimes.

Ifvelocityoverrideisloadedonanaxis,itisappliedonlyduringsingle-axismoves.Ifthevelocityoverrideisloadedonavectorspace,itdoesnotoverwritethevaluesfortheaxesthatareinthevectorspace.Inthiscase,thevelocityoverrideisappliedonlyduringvectorspacemoves.TherangefortheOverridePercentageisthefull64-bitrange,andisnotlimitedto150%fortheNISoftMotionController.

LoadVelocityThresholdLoadsavelocitythresholdforanaxis.

DetailsRemarks

DeviceCompatibility

VelocityThreshold(100,000)isthevelocitythresholdincounts/s(servoaxes)orsteps/s(stepperaxes).Forservoaxes,thethresholdrangeis1to16,000,000counts/s.Forstepperaxes,itis1to1,500,000steps/s.Thefactorydefaultvalueforthresholdisthemaximum,sothefeatureiseffectivelydisableduntilathresholdisloaded.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVelocityThresholdVIestablishesavelocitythresholdforthespecifiedaxis,whichcanthenbemonitoredwiththeReadTrajectoryStatusVI.ThevelocitythresholdstatusisTruewhentheabsolutevalueoffilteredaxisvelocityisabovethethresholdandFalsewhenthevelocitydropsbelowthethreshold.

Velocitythresholdisastatusanddoesnothavetobeenabledordisabled.Loadingamaximumvalueeffectivelydisablesthefeaturebecausethestatuswillalwaysbeoff.IncreasingthevelocityfiltertimeconstantwiththeConfigureVelocityFilterVIreducesquantizationnoiseinthethresholdstatusbutattheexpenseofincreasingthresholdstatuslatency.

Velocitythresholdistypicallyusedtomonitortheaccelerationanddecelerationtrajectoryperiodstoseewhenorifanaxisisuptospeed.YoucanthenchangePIDtuningorotherparametersasafunctionofvelocity.

Remarks

UseLoadCounts/StepsperRevolutiontosetCounts(Steps)/Revvalueto1.Otherwise,NI-Motionreturnsanerror.

LoadVelocityThresholdinRPMLoadsavelocitythresholdforanaxisinRPM.

Details

DeviceCompatibility

VelocityThreshold(5000)isthedouble-precisionfloatingpointvelocitythresholdvalueinRPM.TheRPMrangedependsuponthemotorcountsorstepsperrevolutionandthetrajectoryupdaterate,andisalwaysapositivenumber.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadVelocityThresholdVIestablishesavelocitythresholdinRPMforthespecifiedaxiswhichcanthenbemonitoredwiththeReadTrajectoryStatusVI.ThevelocitythresholdstatusisTruewhentheabsolutevalueoffilteredaxisvelocityisabovethethresholdandFalsewhenthevelocitydropsbelowthethreshold.

Velocitythresholdisastatusanddoesnothavetobeenabledordisabled.Loadingamaximumvalueeffectivelydisablesthefeaturebecausethestatuswillalwaysbeoff.IncreasingthevelocityfiltertimeconstantwiththeLoadVelocityFilterParameterVIreducesquantizationnoiseinthethresholdstatusbutattheexpenseofincreasingthresholdstatuslatency.

Velocitythresholdistypicallyusedtomonitortheaccelerationanddecelerationtrajectoryperiodstoseewhenorifanaxisisuptospeed.YoucanthenchangePIDtuningorotherparametersasafunctionofvelocity.

ReadBlendStatusReadstheBlendCompletestatusforallaxesorvectorspaces.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceselectsaxis,axiscontrol,vectorspace,orvectorspacecontrolformovecomplete,oraxisoraxiscontrolforallothertypes.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

Blendingsmoothlycombinestwomovesegmentsonanaxis,axes,orvectorspace(s).Whencontinuouslyblendingmovesegmentsintoeachother,itisnecessarytowaituntiltheblendiscompletebetweentheprevioustwomovesbeforeyouloadthetrajectoryparametersforthenextmovetoblend.

ThestatusinformationreturnedbytheReadBlendStatusVIindicatesthatthepreviousblendiscompleteandtheaxis,axes,orvectorspace(s)arereadytoreceivethenextblendmovetrajectorydata.

NoteAttemptingtoexecuteaBlendMotionVIbeforethepreviousblendiscompleteontheaxesinvolvedgeneratesamodalerror.RefertoErrorsandErrorHandlingforinformationabouterrorsanderrorhandling.

Example

Whileblendinga2Dvectorstraight-linemove,youcalltheReadBlendStatusVIwithAxisorVectorSpace=VectorSpaceControltoselectvectorspacestatus.Iftheblendonvectorspace1isstillpending,thisVIreturnsaBlendStatus,whichcorrespondstothefollowingbitmap.

Axis/VS1 Axis/VS2 Axis/VS3 Axis/VS4 Axis5 Axis6 Axis7 Axis8False True True False False False False False

Theblendiscomplete(1)onvectorspaces2and3(ortheydonotexist),buttheblendisstillpending(0)onvectorspace1.

Foryourprogrammingconvenience,twoutilityVIs—CheckBlendCompleteStatusandWaitforBlendComplete—areprovided,whichallowyoutospecifyanaxis,vectorspace,groupofaxes,orgroupofvectorspaces,andfindoutifablendiscomplete,orwaituntilablendiscomplete.TheseVIsreturnasimpletrue/falsevalueindicatingwhetherornotablendiscomplete.

ReadDACReadsthecommandedDACoutputvalueforanaxis.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorDACistheaxisorDACtoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadDACVIreturnsthevalueofthespecifiedDACoutput.Whensenttoanaxis,thisVIreturnsthevalueoftheprimaryDACmappedtothataxis.Thesigned16-bitvaluereturnedcorrespondstothe±10VfullscalerangeoftheDAC.

ThisVIisusedtomonitortheoutputcommandfromthePIDloop.WhentheDACoutputisconnectedtoatorqueblockservoamplifier,youcanusethisvaluetocalculatemotortorqueortomonitortheaccelerationanddecelerationportionsofatrajectorytoseehowclosethecontrolloopistosaturatingatitsmaximumtorquelimits.

WhentheDACoutputisconnectedtoavelocityblockservoamplifier,theDACvaluereadisadirectrepresentationoftheinstantaneouscommandedvelocity.

ReadDACLimitStatusReadsthestatusoftheDAClimits.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectcontainsthereverselimitsandforwardlimits,whicharereturnedinoneonboardvariable:0000000RRRRRRRR00000000FFFFFFFF0.

Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadDACLimitStatusVIreturnsthepositiveandnegativetorquelimitstatusoftheDACoutput.IndependentDACsthatarenotmappedtoaxesdonothavetorquelimits,sothoseDACswillalwaysreturnFalse.

ADACtorquelimitstatusisTrue(1)whentheDACoutputissaturatedatthecorrespondinglimit.Thisinformationtellsyouthatthemotorisoperatingatitsmaximumtorque,probablyduetoanexcessivelyhighvalueofaccelerationordeceleration.Italsocanindicateexcessivefrictionontheaxis,acompletelystalledmotor,orsomeothersystemfault.

Whenanaxisisactive(notinthekilled,motoroffstate),thisVIreturnstheinstantaneousstateofthetorquelimitcircuits.Iftheaxistripsoutonfollowingerror(atypicaloccurrencewhenoperatingatthetorquelimits),theDAClimitstatusislatchedsoyoucantellwhichlimit,positiveornegative,causedthefollowingerrortrip.ThestatusremainslatcheduntiltheaxisisactivatedagainbyaStart,Stop,orBlendMotionVI.

ReadFollowingErrorReadstheinstantaneousfollowingerrorforanaxisorvectorspace.

Details

DeviceCompatibility

UsingThisVI

TheReadFollowingErrorVIreturnstheinstantaneousfollowingerrorfortheaxisorvectorspacespecified.Forvectorspaces,followingerroristheroot-mean-squareofthefollowingerrorsfortheindividualaxesthatmakeupthevectorspace.

ReadMoveCompleteStatusReadsthemovecompletestatus(MCS)register.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

MoveCompleteStatusisabitmapofMCSforuptoeightaxes.ThebitmapalsoincludesthestateofthethreeStatusbits:

UsingThisVI

ThissectionincludesmoredetailedinformationaboutusingthisVI.

Remarks

ThisVIperformsadirectreadoftheMoveCompleteStatus(MCS)registeronthe73xxcontroller.BecausearegisterreadisvirtuallyinstantaneousanddoesnotaffectcommunicationprocessingorotherNI-Motionoperations,youcancallthisVIrepeatedlytogetthemostup-to-datestatusfortheaxes.MoveCompleteStatusisconfigurableindividuallyforeachaxiswiththeConfigureMoveCompleteCriteriaVI.ThecriteriaforconsideringmotiontobecompleteincludeProfileComplete,Run/Stop,In-Position,Settlingtimedelay,andsoon.

NoteReadingtheMCSregisterimmediatelyaftercallingtheStartMotionVImightnotreturnthestatusyouexpected.TheStartMotioncanstillbebufferedinthecommunicationsFIFOwhentheinstantaneousreadoftheMCSoccurs.

ThisVIalsoreturnsthestateoftheUserStatusbits.Youcansetandresetthesethreebitsduringonboardprogramexecutionasgeneral-purposeflagstothehostcomputer.RefertotheSetUserStatusMOMOVIformoreinformation.

NoteWhenthe73xxmotioncontrollerisinthePower-Upstate,theMCSregistercontainsapower-upcodethatdescribeswhythecontrollerisinthePower-Upstate.Foralistofthesepower-upcodes,refertotheClearPowerUpStatusVI.

Thefollowinglistincludesconsiderationsyoumustmakewhenyouareusing

ReadStepsGeneratedReadsthenumberofstepsgeneratedbyastepperoutput.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorStepperOutputistheaxisorstepperoutputtoread.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadStepsGeneratedVIreturnsanumberbasedonstepsgeneratedbyastepperaxisorstepperoutputresource.Foropen-loopstepperaxes,thisVIreturnsexactlythesamevalueastheReadPositionVI.

Forclosed-loopstepperaxes,thisVIreturnstheactualnumberofstepsgeneratedwhiletheReadPositionVIreturnsthefeedbackpositionconvertedfromcountstosteps.Thenumberofstepsgeneratedincludesextrastepsaddedduringanypull-inmoverequiredtoreachthetargetposition.

ToresetthevaluereturnedbythisVI,useResetPosition.ResetPositionsetsthestepsparametertotheresetpositionvalue.

Closed-LoopStepperExample

Supposeyouexecuteamovefromposition0toposition100,and10additionalstepsaregeneratedforthepull-inmove.ReadPositionreturns100,butReadStepsGeneratedreturns110.Ifyouexecuteanothermovetoposition50,ReadPositionreturns50,andReadStepsGeneratedreturns60.

ReadTargetPositionReadsthedestinationpositionofthecurrentmotiontrajectory.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadTargetPositionVIreturnsthedestinationpositionofthemotiontrajectorycurrentlyinprocess.Iftheaxisisstopped,itreturnsthetargetpositionofthelasttrajectorycompleted.

ThisVIdiffersfromtheReadPositionVIinthatitreturnsthecommandedtarget(destination)positionratherthantheactualfeedbackposition.

Remarks

LoadinganewtargetpositionwithLoadTargetPositiondoesnotaffectthevaluereaduntilastartmotionoccurs.WhencallingBlendMotion,thevaluereaddoesnotreflectthelasttargetpositionloadeduntilaftertheblendoccurs.

TheNISoftMotionControllerreturnsthetargetpositionloadedregardlessofwhethertheStartMotionVIhasbeencalled.TheNISoftMotionControllerreturnsthetargetpositionofindividualaxes,butdoesnotreturnthetargetpositionloadedbytheLoadVectorSpacePositionVI,eveniftheaxisisconfiguredaspartofthevectorspace.

TheNISoftMotionControllerdoesnotsupportreadingthetargetpositionofavectorspace.

ReadTrajectoryDataReadsasampleofacquireddatafromthesamplesbuffer.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectcontainspositionandvelocity.Positionisreturnedinonboardvariablenincounts(steps),andvelocityisreturnedinonboardvariablen+1incounts/s(steps/s).

Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadTrajectoryDataVIisusedtoreadbackasinglesampleofacquireddatafromtheonboardsamplebuffer.Thenumberofsamples,thetimebetweensamplesandthesizeofeachsampleissetwhenyouexecutetheAcquireTrajectoryDataVI.Thesamplebufferoperatesfirst-in-first-out(FIFO),somultiplecallstothisVIreturnsamplesintheircorrecttimesequence.

Whileitispossibletoreadthesamplebufferwhilesamplesarestillbeingacquired,youmustwaitenoughtimebetweencallstotheReadTrajectoryDataVItoavoidemptyingthebuffer.

NoteAttemptingtoreadanemptysamplebuffergeneratesanerror.RefertoErrorsandErrorHandlingforinformationabouterrorsanderrorhandling.

TheAcquireandReadTrajectoryDataVIsareusedtoacquireandreadbacktime-sampledpositionandvelocitydataforanalysisanddisplay.TheseVIsimplementadigitaloscilloscopethatisusefulduringsystemsetup,PIDtuning,andgeneralmotionwithdataacquisitionsynchronization.

Example

TheAcquireTrajectoryDataVIisexecutedwithaxes1,2,and4selected.EachcalltotheReadTrajectoryDataVIreturnsonesamplewithanarraysizeofsixandthefollowingdatainthearray:

SampleData[]={Axis1position,Axis1velocity,

Axis2position,Axis2velocity

Axis4position,Axis4velocity}

ReadTrajectoryStatusReadstheselectedmotiontrajectorystatusofallaxesorvectorspaces.

Details

DeviceCompatibility

StatusTypeistheselectorforthetypeoftrajectorystatustoread.

Value Definition0 Run/Stop1 MotorOff2 VelocityThreshold3 MoveCompleteBoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorVectorSpaceselectsaxis,axiscontrol,vectorspace,orvectorspacecontrolformovecomplete,oraxisoraxiscontrolforallothertypes.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVI

UsingThisVI

TheReadTrajectoryStatusVIreturnsamulti-axisstatusbitmapofthestatustypeselected.Youcanselectoneofthefollowingthreetrajectorystatustypes:

Run/StopStatus

Run/Stopstatusisupdatedbasedonfilteredvelocityandrun/stopcriteriasetbytheLoadRun/StopThresholdVI.Thestatusissetwhentheaxisistravellingfastenoughtobeconsideredrunning.TheaxisisconsideredtoberunningwhenthechangeinpositionpersampleperiodexceedstheRun/StopthresholdsetwiththeLoadRun/StopThresholdVI.

MotorOffStatus

AmotorcanbeOfffortworeasons.Eitherakillstopwasexecutedorthefollowingerrortrippointwasexceeded.AMotorOffconditionalsomeansthatanenabledinhibitoutputisactive.RefertotheConfigureInhibitOutputsVIformoreinformation.

VelocityThresholdStatus

TheVelocityThresholdstatusindicateswhethertheaxisvelocityisabove(True)orbelow(False)theprogrammedvelocitythreshold.RefertotheLoadVelocityThresholdVIforinformationaboutsettingandusingavelocitythreshold.

MoveComplete

TheMoveCompletestatusindicateswhetheranaxisorvectorspaceisinthemovecompletestate,whichisthedefaultwhenanaxisorvectorspaceisidle.Whileamoveisinprogress,themovecompletestatusisfalse.Foramovetobecompleteonavectorspace,themovecompletestatusmustbetrueonallaxesinthevectorspace.

Duringavectorspacemove,ifoneaxisinavectorspacetripsoutonafollowingerror,thataxisiskilled,andthemovecompletestatusremainsfalse.

ArcVIsYoucanuseArcVIstoloadparametersforcircularlyinterpolatedmoves.Itincludes2Dcirculararcs,3Dhelicalarcs,andfull3DsphericalarcsVIs.

CircularinterpolationisanadvancedfeatureofNI-Motionandisprimarilyusedincontinuouspathapplicationssuchasmachining,patterncutting,liquiddispensing,robotics,andsoon.Formaximumsmoothnessandaccuracy,theNI-MotionDSPimplementsarcsthroughacubicsplinealgorithm.

ArcVIsarealwayssenttoavectorspace.VelocityandaccelerationparametersloadedbyexecutingthoseVIsonthevectorspaceareusedasthevectorvelocityandvectoraccelerationforallsubsequentarcmoves.Allarcparametersaredouble-bufferedandtakeeffectuponthenextStartMotionorBlendMotionVIexecution.

NoteArcradiusdeterminesthepracticalrangeforvectoraccelerationandvelocity.Unrealizablevectorvaluesgenerateanerrorandthestartorblenddoesnotexecute.

Youcanblendarcmovesintolinearlyinterpolatedmovesandviceversa.YoualsocanloadallaxesinthevectorspaceinthesameblendfactorwiththeLoadBlendFactorVI.

Arcmovesaredefinedrelativetotheirstartingpositionandassuch,areinherentlyoperatedinrelativepositionmode.Thisapproachguaranteesthattheaxesarealreadyonthecircleinthex'y'plane,andavoidsanyimpossiblesituationswheretheendpointofthelastmoveandthebeginningofthearcmovearenotcoincident.ThemodeselectedwiththeSetOperationModeVIhasnoeffectonthearcmove.Itcan,however,affectthelinearlyinterpolatedvectormoveyoumightbeblendingintoorfrom.

LoadCircularArc

LoadSphericalArc

LoadHelicalArc

LoadCircularArcLoadsparametersformakingacirculararcmoveina2Dor3Dvectorspace.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.VectorSpaceisthevectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.

NoteTheconversionfromfloating-pointtofixed-pointisperformedonthehostcomputer,notonthemotioncontroller.ToloadarcVIsfromonboardvariables,youmustusethe16.16fixed-pointrepresentationforallangles.

errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

TheLoadCircularArcVIdefinesanarcinthexyplaneofa2Dor3Dvectorspace.

NoteLoadthevelocityandacceleration/decelerationbeforeloadinganarc.

Thearcisspecifiedbyaradius,startingangle,andtravelangleandlikeallvectorspacemoves,usestheloadedvaluesofvectoraccelerationandvectorvelocitytodefinethemotionalongthepathofthearc.Thefollowingfiguredefinesacirculararc.

1CircularArc 3StartingPosition 5Radius2TravelAngle 4StartAngle 6EndingPosition

Circulararcsarenotlimitedto±360°.Movesofover4,000circularrevolutionsineitherdirectioncanbestartedwithonecalltothisVI.

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:Radius,StartAngle,TravelAngle.

RefertoNI73xxArcAnglesinDegreesformoreinformationaboutrepresentinganglesnumerically.

Remarks

TherangeforRadius(2)is2to231–1counts(steps).TherangeforStartAngle(0)is0to359.999313°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)is–1,474,560°to+1,474,200°(–4,096to+4,095revolutions).

TherangeforRadius(2)is0to231–1counts(steps).TherangeforStartAngle(0)is0to360°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)isthefull64-bitrange.

LoadHelicalArcLoadsparametersformakingahelicalarcmoveina3Dvectorspace.

DetailsRemarks

DeviceCompatibility

LinearTravel(0)isthelineartravelofthezaxisincounts(servoaxes)orsteps(stepperaxes).

NoteLoadingazero(0)forLinearTravelreducesthehelicalarctoacirculararc.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.VectorSpaceisthevectorspacetocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.

Theconversionfromfloating-pointtofixed-pointisperformedonthehostcomputer,notonthemotioncontroller.ToloadarcVIsfromonboardvariables,youmustusethe16.16fixed-pointrepresentationforallangles.

errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIruns

UsingThisVI

TheLoadHelicalArcVIdefinesanarcin3Dvectorspacethatconsistsofacircleinthexyplaneandsynchronizedlineartravelinthezaxis.

Thearcisspecifiedbyaradius,startingangle,travelangle,andzaxislineartravel,andlikeallvectorspacemoves,usestheloadedvaluesofvectoraccelerationandvectorvelocitytodefinethemotionalongthehelicalpathofthearc.Thefollowingfiguredefinesahelicalarc.

1HelicalArc 3StartAngle 5Radius 7EndingPosition2TravelAngle 4StartingPosition 6LinearTravel

Likecirculararcs,helicalarcsarenotlimitedto±360°.Movesofupto4,096helicaltwistsineitherdirectioncanbestartedwithonecalltothisVI.

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:Radius,StartAngle,TravelAngle,LinearTravel.

RefertoNI73xxArcAnglesinDegreesformoreinformationaboutrepresentinganglesnumerically.

Remarks

TherangeforLinearTravel(0)is–(231)to+(231–1)counts(steps).TherangeforRadius(2)is2to231–1counts(steps).TherangeforStartAngle(0)is0to359.999313°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)is–1,474,560°to+1,474,200°(–4,096to+4,095revolutions).

TherangeforLinearTravel(0)-(±231–1).TherangeforRadius(2)is0to231–1counts(steps).TherangeforStartAngle(0)is0to360°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)isthefull64-bitrange.

LoadSphericalArcLoadsparametersformakingasphericalarcmoveina3Dvectorspace.

DetailsRemarks

DeviceCompatibility

PlaneYaw(0)isthedoubleprecisionfloatingpointvalue,indegrees,oftheanglebetweenthex'andxaxeswhentheentirex'y'z'vectorspaceisrotatedaroundthezaxis.Thez'axisremainsalignedwiththezaxis.WhenPlaneYawequals90°,thepositivex'axisisalignedwiththepositiveyaxis.

NoteLoadingzerosforPlanePitchandPlaneYawreducesthesphericalarctoacirculararc.

Internally,thefloating-pointvaluesforPlanePitch,PlaneYaw,StartAngle,andTravelAnglearerepresentedasscaled,fixedpointnumbers.

PlanePitch(0)isthedoubleprecisionfloatingpointvalue,indegrees,oftheanglebetweenthex'andxaxeswhentheentirex'y'z'vectorspaceisrotatedaroundtheyaxis.They'axisremainsalignedwiththeyaxis.WhenPlanePitchequals90°,thepositivex'axisisalignedwiththenegativezaxis.

UsingThisVI

TheLoadSphericalArcVIdefinesanarcinthex'y'planeofacoordinatesystemthathastobetransformedbyrotationinpitchandyawfromthenormal3Dvectorspace(xyz).Inthetransformedx'y'z'space,thesphericalarcisreducedtoasimplercirculararc.Itisspecifiedbyaradius,startingangle,andtravelangle,andlikeallvectorspacemoves,usestheloadedvaluesofvectoraccelerationandvectorvelocitytodefinethemotionalongthepathofthearcinthex'y'plane.

Thefollowingfigureshowsagraphicrepresentationofthetransformationbetweenthex'y'z'andxyzcoordinatespaces.TheformaldefinitionsofPlanePitchandPlaneYawarelistedintheprevioussection.

Pitchandyawtransformationsareinherentlyconfusingbecausetheyinteract.Toavoidambiguities,youcanthinkaboutsphericalarcsandcoordinatetransformationsasfollows:

Thesphericalarcisdefinedasacirculararcinthex'y'planeofatransformedvectorspacex'y'z'.TheoriginalvectorspacexyzisdefinedbytheConfigureVectorSpaceVI.Thetransformedvectorspacex'y'z'isdefinedinorientationonly,withnoabsolutepositionoffset.Itsorientationiswithrespecttothexyzvectorspaceandisdefinedintermsofpitchandyawangles.Yawanglerotationcomesbeforepitchanglerotation.Whenrotatingthroughtheyawangle,they'axisneverleavestheoriginalxyplaneasthenewlydefinedx'y'z'vectorspacerotatesaroundtheoriginalzaxis.Whenrotatingthroughthepitchangle,theyandy'axesstayalignedwitheachotherwhilethex'z'planerotatesaroundthem.Atthebeginningofthemove,theaxesareconsideredtobealreadyonthearcinthex'y'plane.Thisavoidsanyimpossiblesituationswheretheendpointofthelastmoveandthebeginningofthearcmovearenot

Remarks

TherangeforRadius(2)is2to231–1counts(steps).TherangeforPlanePitch(0)is0to90°.TherangeforPlaneYaw(0)is0to359.999313°.TherangeforStartAngle(0)is0to359.999313°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)is–1,474,560°to+1,474,200°(–4,096to+4,095revolutions).

TherangeforRadius(2)is0to231–1counts(steps).TherangeforPlanePitch(0)is0to360°.TherangeforPlaneYaw(0)is0to360°.TherangeforStartAngle(0)is0to360°whereangle0isalongthepositivexaxisandvaluesincreasecounterclockwisefromthepositivexaxisinthexyplane.TherangeforTravelAngle(0)isthefull64-bitrange.

GearingandCammingVIsYoucanuseGearingandCammingVIstosetupandcontrolmaster-slavegearingandcammingontheNImotioncontroller.ItincludesVIstoconfigureagearmaster,loadagearratio,configureacammingmaster,enablecamming,andsoon.

GearingandcammingareadvancedfeaturesofNI-MotionandareusedinapplicationswhereeitherthemasteraxisisnotundercontroloftheNImotioncontrollerorwhenextremelytightsynchronizationbetweenmultipleaxesisrequired.

NoteIfyouaregearingasteppermotorandthegearratioissuchthattheslaveaxisexceedsthemaximumsteppervelocitywhenthemasterdoesnot,theslaveaxisdoesnotmoveandmaytriponfollowingerror.Topreventthis,ensurethegearratiodoesnotpermittheslaveaxistoexceedthemaximumsteppervelocity.Refertoyourmotioncontrollerdocumentationforinformationaboutmaximumsteppervelocities.

ConfigureGearMaster

LoadGearRatio

EnableGearing

EnableGearingSingleAxis

ConfigureCammingMaster

LoadCammingParameter

EnableCamming

EnableCammingSingleAxis

ConfigureCammingMasterConfiguresthemasterdeviceforcammingoperation.

DetailsRemarks

DeviceCompatibility

MasterCycleistherepeatperiodforthemasterdevice.CammingMasteristheaxis,encoder,orADCchanneltouseasthemaster.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisIDistheaxistoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItoassignamasteraxis,encoder,orADCchanneltotheslaveaxisselectedforthecammingapplication.Anynumberofslaveaxescanhavethesamemaster,buteachslaveaxismusthaveonlyonemaster.

Beforestartingthecammingoperation,youmustconfigurethemasterdevice.Usinganaxisasthemasterdeviceallowstheslaveaxistofollowthetrajectorygenerationoutputofthemasteraxis.Thisfunctionalityisusefulwhenthemasteraxisisanopen-loopsystemorwhenitisusedforhandlingthelatencyofafeedbackdevice(encoderorADC),whichcauseshighfollowingerror.

Youalsocanuseafeedbackdevice,suchasanencoderorADC,asthemasterdevicesothatanymovementmadebythemasterisimmediatelypropagatedtotheslave.

Themasterdevicepositionisinterpreted,ormodularized,withinthemastercycle,whichallowsthecammingoperationtorepeatcontinuouslyasthemasterdevicemoves.Alongwithslavepositions,themastercycleisusedtocalculatethecammingratioatanytime.

Forexample,ifthemastercycleis5,000andthecurrentmasterpositionis12,500,themasterpositioninsidethemastercycleis

position=((12,500modulus5,000)=2,500)

Usingthepreviousmastercyclebutwithamasterpositionof-4,000,themasterpositioninsidethecycleis

position=((-4,000modulus5,000)=1,000)

YoualsocanusetheLoadCammingParameterVItochangethecammingcycle.

RefertotheCammingsectionoftheNI-MotionHelpformoreinformationaboutcammingoperations.

Remarks

TheNISoftMotionControllerdoesnotsupportusinganalogfeedbackasthecammingmaster.

ConfigureGearMasterAssignsamasteraxis,encoder,orADCchannelformaster-slavegearing.

DetailsRemarks

DeviceCompatibility

MasterAxisEncoderorADCistheaxis(1through15)trajectorygenerator,encoder(0x21through0x2F),orADCchannel(0x51through0x5F)touseasthemasterforthisslaveaxis.Azero(0)valuemeansnomasterisassigned(default).

NoteAxisandMasterAxis,Encoder,orADCcannotbethesamebecauseanaxiscannotbeitsownmaster.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheslaveaxistocontrol.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheConfigureGearMasterVIassignsamasteraxis,encoder,orADCchanneltotheslaveaxisselected.Anynumberofslaveaxescanhavethesamemaster,buteachslaveaxiscanhaveonlyonemaster.Aslaveaxismayalsoserveasmasteraxisforanynumberofslaveaxes.

YoumustcalltheConfigureGearMasterVIpriortoenablingmaster-slavegearingwiththeEnableGearingVI.Typically,thesourceforthemasterpositionisanindependentencoder,anADCchannel,orthefeedbackresourceofanenabledaxis.Ineachcase,youassigntheresource,nottheaxis,asthemaster.Thegearmaster,whichcanbeanaxis,encoder,orADC,mustbeenabledbeforeyoucanusethisVI.UsetheEnableAxes,EnableEncoders,orEnableADCsVIstoenablethegearmaster.

Whenanaxisisassignedasthemaster,itstrajectorygeneratoroutput(notitsfeedbackposition)isusedasthemasterpositioncommand.Thismodeofoperationcaneliminatethefollowingerrorskewbetweenthemasterandslaveaxesandisespeciallyusefulingantryapplications.Themasteraxiscanoperateinanymode(includingasaslavetoanothermaster).

Master-slavefunctionalityofslaveaxesisinadditiontotheirnormalmodeofoperation.Thisallowsapoint-to-pointmovetobesuperimposedupontheslavewhiletheslaveaxisisinmotionduetobeinggearedtoitsmaster.Thisfunctionalityisusefulforregistrationandreferenceoffsetmoves.RefertotheGearingsectionoftheNI-MotionHelpforinformationaboutusingsuperimposedmoves/registrationapplications.Also,refertotheRotatingKnifesectionoftheNI-MotionHelpforexamplecodethatincludessuperimposedmoves.

RefertotheLoadGearRatioandEnableGearingVIsformoreinformationaboutmaster-slavegearing.

Remarks

TheNISoftMotionControllerdoesnotsupportusinganalogfeedbackasthegearmaster(analoggearing).

EnableCammingEnablescammingoperationformultipleaxes.

Details

DeviceCompatibility

EnableDataisanarrayofclustersthatincludethefollowingelements:Axisistheaxisyouwanttostartorstopcammingoperationon.Enableindicatesifthecammingisstarted(True)orstopped(False)ontheselectedAxis.Positionisthepositiontostartorstopthecammingat.Thevalidrangeis–1or0through(mastercycle–1).

UsingThisVI

UsethisVItosimultaneouslystartorstopacammingoperationonmultipleaxes.ThedefaultvalueforthePositionelementoftheEnableDataarrayis–1,whichstartscammingimmediately.Tostartcammingataspecificmasterposition,setthisparametertoavaluebetween0and(mastercycle–1).

EnableCammingSingleAxisEnablescammingoperationforthecurrentaxis.

Details

DeviceCompatibility

Positionisthepositiontobegincammingat.Thedefaultis–1,andthevalidrangeis–1or0through(mastercycle–1).Enableenables/disablescammingonthespecifiedaxis.SetEnabletoTRUEtoenablecammingorFALSEtodisablecamming.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisIDistheaxistoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItostartorstopacammingoperationonanaxis.YoucanstartorstopthecammingoperationimmediatelybysettingPositionto–1.Toconfigurethecammingoperationtotakeplaceafterthemasterdevicecrossesaspecificpositioninsidethemastercycle,setPositiontoavaluebetween0and(mastercycle–1).

EnableGearingEnablesslaveaxesformaster-slavegearing.

Details

DeviceCompatibility

Gearing(Disable)isthebitmapofslaveaxestoenableforgearing.Axis1—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis2—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis3—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis4—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis5—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis6—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis7—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).Axis8—Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVI

UsingThisVI

TheEnableGearingVIenablesanddisablesmaster-slavegearingfunctionalityofslaveaxes.Whengearingisenabled,thepositionsoftheslaveaxesandtheircorrespondingmastersarerecordedastheirabsolutegearingreference.Foraxesandencoders,thecurrentpositionisthevaluerecorded.ForADCs,thebinaryvalueisrecorded.Fromthenon,aslongasthegearratioremainsabsolute,everyincrementalchangeofamasterpositionismultipliedbythecorrespondingabsolutegearratioandappliedtotheslaveaxis.RefertotheLoadGearRatioVIforinformationaboutabsoluteversusrelativegearratios.

NoteChangingtheabsolutegearratiocausestheslaveaxestojumptoanewpositionspecifiedbythenewgearratio.Withservomotorsystemstheslavejumpsimmediately.Withsteppersystems,ifthenewslavepositioniswithin4,000steps,itjumpstothenewposition.Otherwise,theslaveaxiswaitsuntilthecommandedslavepositionmovestowithin4,000stepsandthenjumpstothenewposition.Theslaveaxisthenresumesfollowingthemasteraxisaccordingtothegearratio.

YoumustcalltheConfigureGearMasterandLoadGearRatioVIspriortoenablingmaster-slavegearing.Inaddition,youmustenableandactivatetheslaveaxesbeforeenablinggearing.Anerrorisgeneratedifaslaveiskilledwhengearingisenabled.Thesechecksensurethattheslaveaxisenablesinacontrolledfashion.

NoteIfyouarerunningaslaveaxismovewithastepperaxis,itispossiblethattheslaveaxisgearedvelocityexceedsthemaximumsteprateofthecontroller.Inthiscase,thecontrollerkillstheaxisandsetsthefollowingerrorstatustotrue.RefertotheSpecificationssectionofyourcontrollerusermanualforthemaximumsteprateofyourcontroller.

YoucancalltheEnableGearingVIatanytimetodisablegearingortore-enablegearingwithnewabsolutegearingreferencepositions.Ifgearingisdisabledonamovingaxis,theaxisimmediatelystopsbutremainsactive.Iftheslaveaxiswasalsoimplementingasuperimposedmove,thesuperimposedmovedeceleratestoastop.

EnableGearingSingleAxisEnablesslaveaxisformaster-slavegearing.

Details

DeviceCompatibility

Gearing(Disable)indicateswhethertoenableordisabletheslaveaxisforgearing.Iftrue,gearingisenabled.Iffalse,gearingisdisabled(default).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheslaveaxistoenableordisable.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

ThisVIissimilartotheEnableGearingVI,butallowsyoutoenableordisablegearingonasingleaxiswithoutaffectingtheotheraxes.

TheEnableGearingSingleAxisVIenablesanddisablesmaster-slavegearingfunctionalityofaslaveaxis.Whengearingisenabled,thepositionoftheslaveaxisanditscorrespondingmasterisrecordedasitsabsolutegearingreference.Fromthenon,aslongasthegearratioremainsabsolute,everyincrementalchangeofamasterpositionismultipliedbythecorrespondingabsolutegearratioandappliedtotheslaveaxis.RefertotheLoadGearRatioVIforinformationaboutabsoluteversusrelativegearratios.

NoteChangingtheabsolutegearratiocausestheslaveaxestojumptoanewpositionspecifiedbythenewgearratio.Withservomotorsystemstheslavejumpsimmediately.Withsteppersystems,ifthenewslavepositioniswithin4,000steps,itjumpstothenewposition.Otherwise,theslaveaxiswaitsuntilthecommandedslavepositionmovestowithin4,000stepsandthenjumpstothenewposition.Theslaveaxisthenresumesfollowingthemasteraxisaccordingtothegearratio.

YoumustcalltheConfigureGearMasterandLoadGearRatioVIspriortoenablingmaster-slavegearing.Inaddition,youmustenableandactivatetheslaveaxisbeforeenablinggearing.Anerrorisgeneratediftheslaveiskilledwhengearingisenabled.Thesechecksensurethattheslaveaxisenablesinacontrolledfashion.

NoteIfyouarerunningaslaveaxismovewithastepperaxis,itispossiblethattheslaveaxisgearedvelocityexceedsthemaximumsteprateofthecontroller.Inthiscase,thecontrollerkillstheaxisandsetsthefollowingerrorstatustotrue.RefertotheSpecificationssectionofyourcontrollerusermanualforthemaximumsteprateofyourcontroller.

YoucancalltheEnableGearingSingleAxisVIatanytimetodisablegearingortore-enablegearingwithnewabsolutegearingreferencepositions.Ifgearingisdisabledonamovingaxis,theaxisimmediatelystopsbutremains

LoadCammingParameterLoadsothercammingparameters,suchasmasteraxispositionoffsetandslaveaxispositionoffset.

Details

DeviceCompatibility

Attributeistheattributetoconfigure.Thefollowinglistincludesvalidattributes:

MasterCycle—SettheDoubleelementoftheDataclustertothemastercycleinuserunits.Themastercycleindicateshowoftenthecammingcyclerepeatsitself.Forexample,ifyouspecify8,000countsfortheMasterCycle,thecammingrepeatsitselfevery8,000counts.MasterOffset—DoubleelementoftheDataclustertothemasteroffsetinuserunits.Masteroffsettakesintoaccountthepositiondifferencebetweenthecurrentpositionofthemasteraxisandthepositionatwhichthecammingbegins.Rangeis0to(MasterCycle–1).

UsingThisVI

UsethisVItoconfigurevariousparametersofthecammingoperation:

MasterCycledefineswhenthecammingoperationisgoingtorepeatbasedonthemasterposition.YoucanconfigurethemastercycleatthesametimeyouconfigurethecammingmasterusingtheConfigureCammingMasterVI.

NoteYoucannotchangethemastercycleaftercammingisenabled.MasterOffsetisappliedtothemasterpositionwhencammingisenabled.Thisattributeshiftsthepositionmodulustocompensateforthefactthatthecammingcyclemaynotstartat0.Forexample,ifyouhaveamastercycleof4,000andamasteroffsetof0,thecammingoperationrepeatsat...,-8,000,-4,000,0,4,000,8,000,...Ifyouchangethemasteroffsetto1000,thecammingoperationrepeatsat...,-7,000,-3,000,1,000,5,000,9,000,....

Thedefaultvalueforthemasteroffsetis0,andthevalidrangeofvaluesforthemasteroffsetis0to(MasterCycle–1).

TipThemasteroffsetisappliedonlywhencammingisstartedorenabled.

SlaveOffsetisappliedwhenthecammingcyclebegins.Thisoffsetisusedtoadjustthecammingprofilewhenthebeginningandendingpositionsfortheslaveaxisarenotthesame.Youcanchangetheslaveoffsetatanytime,butthechangetakeseffectonthenextcammingcycle.

Thedefaultvalueis0.

LoadGearRatioLoadsthegearratioformaster-slavegearing.

Details

DeviceCompatibility

Gearing(Absolute)selectsabsoluteFALSEorrelativeTRUEgearingbetweenthemasterandslave.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheslaveaxistocontrol.InpVectcontainsthetype,numerator,anddenominatorparametersthatarethesourceofdataforthisVI.

Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadGearRatioVIloadsthegearratiooftheslaveaxisrelativetoitsmasterandselectswhetherthisratioisabsoluteorrelative.Theratioisloadedasanumeratoranddenominatorbecauseitisanaturalformatforaratio(numerator:denominator)anditallowsabroadrangeofratios,from1:32,767to32,767:1.Theratioisalwaysspecifiedasslaverelativetomaster(slave:master).

WhenyouexecutetheEnableGearingVI,thepositionsoftheslaveanditsmasterarerecordedastheirabsolutegearingreference.Fromthenon,aslongasthegearratioremainsabsolute,everyincrementalchangeofthemaster'spositionismultipliedbytheabsolutegearratioandappliedtotheslaveaxis.

Ifarelativegearratioisselectedandloadedaftergearingisenabled,thepositionofthemasterisrecordedasitsrelativereferencepointandeveryincrementalchangefromthisreferencepointismultipliedbytherelativegearratioandappliedtotheslaveaxisoraxes.

NoteWhilechanginganabsolutegearratioontheflyisallowed,youmustbecarefulbecausetheslaveaxisjumpswithfulltorquetothepositiondefinedbythenewratioevenwhenthemasterpositionhasnotchanged.Similarly,resettingthepositiononamasteraxisalsocausesitsslaveaxestojumptoanewpositionrelativetothenewpositionofthemasteraxis.

TheLoadGearRatioVImustbecalledpriortoenablingmaster-slavegearingwiththeEnableGearingVI.Oftenthepositionsofthemasterandslaveareresettozeroorsomeknownpositionpriortoenablinggearing,thoughthisisnotalwaysrequired.TheexecutionoftheEnableGearingVIstoresbothpositionsasoffsetsandgearsthemfromthatpointonward.

Relativegearingchangesthespecifiedpositionoftheslaveaxisonlywhenthemastermoves.Itusesthelengthofthecurrentmoveofthemasteraxistocalculatehowfartomovetheslaveaxis.Attheendofthemove,iftheslaveaxisisnotattheexactposition,thepositionerrorisdiscarded.Thismay

BufferedOperationsVIsBufferedoperationsallowyoutocreateandmanagememorybuffersontheNImotioncontroller.Youcancreatebuffersthatcanholdupto16,364points,readandwritedatatoandfromthesebuffers,andcheckthestatusofabuffer.BufferscanevenbestoredinROMforlateruse.

Onboardbuffersallowyoutostoremuchmoredatathanthe120onboardvariables.Datacanbemovedbackandforthbetweenbuffersandonboardvariablesbyusinginputandreturnvectors.

Forexample,anonboardbuffercanbecreatedtoholdaseriesoftargetpositionstomoveto,oneafteranother.Anonboardprogramiswrittentoreadapositionfromthebuffertoanonboardvariable,thenusethatvaluetoloadatargetposition,startamove,andwaitforthemovetocomplete.Thesameprocessisrepeatedforeachtargetpositionuntiltheentirebufferofpositionsisconsumed.Thisapproachallowsforalargenumberofmovestoexecuteindependentofthehostcomputer.

Besidessingle-shotapplicationswherethebufferholdsallofthedataorisfilledwithallofthedataonlyonce,itispossibletouseanonboardbufferinacontinuousfashion,allowingforverylargeamountsofdatatotransfertoorfromthemotioncontroller.UsetheCheckBufferVItodeterminethenumberofpointsthatcanbesafelywrittentoorreadfromtheonboardbufferatanypointintime.

The7350and7340controllershavethefollowingonboardmemory:

Controller RAM ROM7340 164ksector 264ksectors7350 264ksectors 464ksectors

YoucanaccessabufferfromeitherRAMorROM,butyoucannotsplitbuffersbetweenthetwo,andyoucannotsplitbuffersbetweenthe64KBROMsectors.

Contouringisaspecialmovementmodeimplementedontopofthebufferedoperations.Contouringallowsyoutospecifyaseriesofpositionsnmilliseconds

apartforthemotioncontrollertosplinethrough.

YoucanusetheBufferedOperationsVIstoperformbufferedhigh-speedcapturesandbufferedbreakpoints.Theseallowyoutoachievefasterratesthanwouldotherwisebepossiblebyautomaticallystoringcapturedpositionsorautomaticallyloadingbreakpoints.RefertoHigh-SpeedCaptureOverviewandBreakpointOverviewformoreinformation.

NoteConfiguringandclearingbuffersisaprocessor-intensiveoperationontheNImotioncontrollerthatrequirestheallocationandde-allocationofmemory.Configureandclearbuffersonlywhenmotorsarenotmovingandonboardprogramsarenotrunning.

ConfigureBuffer

WriteBuffer

ReadBuffer

CheckBuffer

ClearBuffer

CheckBufferReturnsinformationaboutthecurrentstateofthebuffer.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Bufferisthebuffertoconfigure.Validbuffernumbersare1through255(0x01through0xFF).RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheCheckBufferVIprovidesyouwithcurrentinformationaboutthestateofthebuffer.Insingleiterationsituations,meaningTotalPointsislessthanorequaltoBufferSizeintheConfigureBufferVI,theBufferStateparameterismostusefulindeterminingthattheoperationhascompleted.

Forafiner-resolutionviewofthestateofthebuffer,theBacklogparameterindicatesthenumberofpointsthatcansafelybewrittentoorreadfromthebufferwithoutviolatingtheOldDataStopcondition.RefertoConfigureBufferformoreinformation.

PointsDoneisthenumberofpointsreadfromthebufferbythecontroller,inthecaseofanoutputbuffer,orwrittentothebufferbythecontroller,inthecaseofaninputbuffer.PointsDoneisfromthepointofviewofthecontroller,ratherthantheuser.

Asanexample,inthecaseofcontouring,Backloghelpsyoudeterminewhenyoucanwritemoredatatothebuffer,whilePointsDonetellsyouhowmanypointshaveactuallybeensplinedtogetherbythecontroller.PointsDonereflectswhatishappeningintherealworld,wheremotionoccurs.

NoteThisVIreturnsdatainthefollowingorder:Backlog,BufferState,andPointsDone.

OutputBufferExample

Afteryouconfigurea10-pointbufferforcontouring,thecontentsareindeterminateandboththereadandwriteheadsareatposition0.

Write:0Read:0

Inwritingthevalues1through5toabuffer,thewriteheadmovestothesixthpositioninthebuffer,wherethenextwritetakesplace.Thereadheadisstillatposition0becauseithasreadnodatafromthebuffer.Likewise,PointsDoneisstill0.

ClearBufferClearsthepreviouslyconfiguredbufferandclearsanyassociationsbetweenresourcesandthespecifiedbuffer.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Bufferisthebuffertoconfigure.Validbuffernumbersare1through255(0x01through0xFF).errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

Afterabufferedoperationcompletes,itisimportanttoclearthebufferbycallingtheClearBufferVI.Otherwise,thememoryallocatedforthebufferintheonboardRAMisnotavailableforotheruses,suchastheallocationofanotherbufferorthestorageofanonboardprogram.

Abuffercannotbeclearedwhileitisinuse.Ifyoutrytoclearabufferwhileitisinuse,theClearBufferVIgeneratesaBufferInUseerror.

NoteConfiguringandclearingbuffersisaprocessor-intensiveoperationonthemotioncontrollerthatrequirestheallocationanddeallocationofmemory.Youmustconfigureandclearbuffersonlywhenmotorsarenotmovingandonboardprogramsarenotrunning.Forexample,ifyouwishtoexecutethreesimultaneouscontouringoperationsonaxis1,axis2,andvectorspace1(withaxes3and4),youmustfirstconfigureallthreebuffersbeforestartinganyoftheoperations.Youcanstartthecontouroperationsindependently,andatdifferenttimes,butwaituntilalloperationsarecompletebeforeclearinganyofthebuffers.

AdvancedUses

ThisVIonlyclearsabufferfromRAM.IfyousaveabuffertoROMusingtheObjectMemoryManagementVI,youmustdeletethebufferfromROMusingtheObjectMemoryManagementVI.IfyoucalltheClearBufferVIandspecifyabufferthatresidesinROM,theassociationbetweentheresourceandthebufferiscleared,butthebufferremainsinROM.

NoteYoucannotclearabufferthatisattachedtoanaxisthatismoving.Youcanclearabufferthatisactive,suchasahigh-speedcapturebufferthatiswaitingforatrigger,butNI-Motionreturnsanerrorinthiscase.

Ifmultipleresourcesrefertothesamebuffer,allassociationsfromallresourcestothespecifiedbufferarecleared.RefertotheAdvancedUsessectionintheConfigureBufferVIdescriptionformoreinformation.

ConfigureBufferConfiguresabufferforuseinbufferedoperations.

DetailsRemarks

DeviceCompatibility

OldDataStop(True)indicatestothemotioncontrollerwhetherornottostopreadingfromorwritingtothebufferwhenolder,unreaddataisencountered.ThisisonlyrelevantwhenTotalPointsisgreaterthanBufferSize.Intheoutputcase,suchascontouring,whenOldDataStopistrueandTotalPointsisgreaterthanBufferSize,youmustwritenewdatatothebufferbeforethemotioncontrollerfinishesthebufferandstartsoveratthebeginning.Likewise,foraninputbuffer,ifthecontroller(oranonboardprogramrunningonthecontroller)iswritingdatatothebuffer,suchasbufferedhigh-speedcapturedata,youmustreaddataoutofthebufferbeforethecontrollerwrapsaroundandwritesnewdataontopoftheolddata.

IfyousetOldDataStoptofalse,themotioncontrollerdoesnotenforcetheolddatastopcondition,andsimplywritesdatatoorreadsdatafromthebufferasneeded.

RequestedInterval(10ms)isadditionaldataforthePositionbuffertype.ThePositionbuffertyperequiresaRequestedIntervalparameter,andindicatesthetimebetweencontouringdatapointsinmilliseconds.Forallotherbuffertypes,theRequestedIntervalparameterisignored.

UsingThisVI

Afterabufferisconfigured,youcanwritetothebufferwiththeWriteBufferVIandreadfromthebufferwiththeReadBufferVI.

AcontouroperationthatusesabufferisinitiatedwhentheStartMotionVIiscalled.YoucheckthestateofthebufferwiththeCheckBufferVItodeterminehowmanypointshavebeenreadfromorwrittentothebufferbythemotioncontroller.

Afterabufferedoperationiscomplete,itisimportanttoclearthebufferbycallingtheClearBufferVI.Otherwise,thememoryallocatedforthebufferintheonboardRAMisnotavailableforotheruses,suchastheallocationofanotherbuffer.Buffersmustonlybeclearedwhennomotorsaremovingandnoprogramsarerunning.

Abuffercannotbereconfiguredorclearedwhilethebufferisinuse.TheVIgeneratesaBufferInUseerrorinsuchacase.

Abuffercanonlybeusedbyoneresourceatatime.Multipleresourcescanbeassociatedwithasinglebuffer,butonlyoneresourcecanusethatbufferatanygiventime.Likewise,asingleresourcecanmakeuseofmanybuffers,butforbuffersofthesametype,onlyoneofthemcanbeassociatedwiththatresourceatagiventime.RefertotheNI73xxControllerConsiderationssectionofthisVIdescriptionformoreinformation.

NoteConfiguringandclearingbuffersisaprocessor-intensiveoperationontheNImotioncontrollerthatrequirestheallocationandde-allocationofmemory.Configureandclearbuffersonlywhenmotorsarenotmovingandonboardprogramsarenotrunning.

ExampleUses

General-PurposeInputandGeneral-PurposeOutputExamples

Configurea300-pointoutputbufferandfillitwithposition,velocity,andaccelerationvaluesforasequenceof100moves.Thenwriteanonboard

Remarks

UsinginputvectorsandreturnvectorswiththeReadBufferandWriteBufferVIs,youcanwritetoandreadfromthebufferwithdatastoredinonboardvariables.Youmustlimitthenumberofpointstoreadorwritebecausethereareonly120onboardvariables.DataisreadfromorwrittentoonboardvariablessequentiallystartingatthevariablespecifiedbyInpVectorRetVectintheWriteBufferVIorReadBufferVI,respectively.

SpecifyaBufferSizeof0toassociatearesource(likeanaxisorvectorspace)toanexistingbuffer,withoutaffectingthesizeofthebufferorthedatacontainedinthebuffer.Thefollowingexamplesillustratetheuseofthistechnique:

Asingleresource,forexample,anaxisorvectorspace,canusebuffer1foracontouringoperation,andthenswitchtobuffer2forasubsequentoperation.Youcansetupthetwobuffersaheadoftime,andwhenthefirstoperationiscomplete,youcanmakeanadditionalcalltoConfigureBufferwithaBufferSizeof0,thesamevalueforResource,andthenewbuffernumberforBuffer.Ifyouwishtoreuseabufferwithanotherresource,simplycalltheConfigureBufferVIwiththesamebuffernumber,aBufferSizeof0,andanewvalueforResource.Bothresourcescanstillusethesinglebuffer,butnotatthesametime.

ABufferSizeof0allowsyoutoassociatearesourcewithanexistingbuffer,withoutchangingthecontentsoftheexistingbuffer.Also,aBufferSizeof0canbeusedtoleavethecurrentbufferalone,butchangethevalueofanotherparameter.Whenyoureconfigurethe

ReadBufferReadsdatafromapreviouslyconfiguredbuffer.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Bufferisthebuffertoconfigure.Validbuffernumbersare1through255(0x01through0xFF).RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78)orvariablearray(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.

WhenreturningdatatoRetVect,youmustlimitNumberofPointstoanumberthatfitsinasequenceofonboardvariablesstartingwiththevariablespecifiedbyRetVect.

errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

Aninputbuffercanbewrittentoafterithasbeenconfigured,usuallybyanonboardprogram.Afterdataisavailable,youreadthedatafromthebufferwiththeReadBufferVI.

Whenthebufferisconfiguredforasingleiteration,youcanwaituntilthebufferisfullbycheckingitsstatususingtheCheckBufferVI,andthenreadtheentirecontentsofthebuffer.Youalsocanreadsmallerchunksofdatafromthebufferwhiletheoperationisinprogress.ThenumberofpointsavailabletoreadcanbedeterminedwiththeBacklogparameterreturnedbyCheckBuffer.

Whenusingthebufferasacircularbuffer(TotalPoints>BufferSize)withOldDataStopturnedon,youmustreaddatafromthebufferfasterthanthebufferisfilledwithnewdata.YoucandeterminethenumberofpointsyoucansafelyreadfromthebufferbycallingtheCheckBufferVI.

TheBacklogparametertellsyouhowmanypointsyoucansafelyreadfromthebuffer.

Ifyoutrytoreaddatathathasnotyetbeenwrittentothebufferbythecontroller,thedataisnotread,andthecontrollergeneratesanOldDataStoperror.IfyouconfigurethebufferwithOldDataStopsettofalse,however,youcanreaddatafreelyfromthebuffer,andthecontrollerdoesnotenforcetheOldDataStopcondition.

ReadBuffergeneratesanillegalbufferoperationerrorifyoutrytoreaddatafromanoutputbufferafterthespecifiednumberofpoints(TotalPoints)hasalreadybeenreadfromthebuffer.

WriteBufferWritesdatatoapreviouslyconfiguredbuffer.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Bufferisthebuffertoconfigure.Validbuffernumbersare1through255(0x01through0xFF).InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

Afterabufferhasbeenconfiguredforanoutputoperationsuchascontouring,youmustwritedatatothebufferbeforestartingtheoperation.Whenallofthedatafitsinthebuffer(BufferSize TotalPoints),youneedonlyfillthebufferonetimewiththeappropriatedata.

Whenusingthebufferasacircularbuffer(TotalPoints>BufferSize),withOldDataStopturnedon,youneedtowritefreshdatatothebufferfasterthanthemotioncontrollerconsumesthedata.Afterfillingthebufferonce,andstartingthebufferedoperation,youcandeterminethenumberofpointsyoucansafelywritetothebufferbycallingtheCheckBufferVI.TheBacklogparametertellsyouhowmanypointsyoucansafelywritetothebufferwithoutoverwritingdatathathasyettobeconsumedbythecontroller.

Ifyoutrytowritenewdataontopofolddata,whichisdatathathasnotbeenconsumedbythecontroller,thewritecommanddoesnotexecute,andthecontrollergeneratesanOldDataStoperror.IfyouconfigurethebufferwithOldDataStopsettofalse,however,thecontrollerdoesnotenforcetheOldDataStopconditionandyoucanwritedatafreelytothebuffer.

ExampleUses

BasicUses

Supposeyouhaveacontourmoveof25,107points,andconfigureabufferwithBufferSizeof1,000pointsandTotalPointsof25,107.YousetOldDataStopintheConfigureBufferVItoTrue,andusetheCheckBufferandWriteBufferVIsasyouwritedatatothebufferinsmallchunkswhilethedataisconsumedbythemotioncontroller.Whenyouwritethelastpointstothecontroller,youcanstillsetRegenerationModeto0(nochange)andthemotioncontrollerknowsyouaredonewritingdatatothebufferbecauseyouhavewritten25,107pointsintotal.Whenthecontrollerisunabletoreadanymorebecausethereadmarkhascaughtuptothewritemark,thecontrollerchecksRegenerationMode,recognizesthisstopisintentionalbecausethetotalpointswrittentothebufferisequaltoTotalPoints,andcompletestheoperationwithoutgenerating

Start&StopMotionVIsYoucanuseStart&StopMotionVIstostart,blend,andstopmotion.

YoucanexecutealloftheNI-MotionstartandstopVIsonanindividualaxis,simultaneouslyonmultipleaxes,onavectorspace,orsimultaneouslyonmultiplevectorspaces.TheseVIsgivecompletecontroloverthestateofthemotorsinthesystemandwiththeadditionoftheFindReferenceVIs,aretheonlyNI-MotionVIsthatcanactuallyinitiatemotion.

StartMotion

BlendMotion

StopMotion

BlendMotionBlendsmotiononasingleaxis,singlevectorspace,multipleaxes,ormultiplevectorspaces.

Details

DeviceCompatibility

Axis/VSMapisthebitmapofaxesorvectorspacestoblend.ItisonlyrequiredwhenyouselectmultipleaxesorvectorspaceswiththeAxisorVectorSpaceparameter.

Whenblendingaxes(AxisorVectorSpace=0):

Axis/VS1—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS2—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS3—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS4—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS5—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS6—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS7—Iftrue,blendaxis.Iffalse,donotblendaxis.Axis/VS8—Iftrue,blendaxis.Iffalse,donotblendaxis.

Whenblendingvectorspaces(AxisorVectorSpace=0x10):

Axis/VS1—Iftrue,blendvectorspace.Iffalse,donotblendvectorspace.Axis/VS2—Iftrue,blendvectorspace.Iffalse,donotblendvectorspace.

UsingThisVI

TheprimarydifferencebetweenaStartMotionVIandaBlendMotionVIisthattheStartMotionVIisimmediateandpreemptive,whiletheBlendMotionwaitsandstartsthenextmoveuponthecompletionofthepreviousmove.

TheBlendMotionVIisusedtoblendmotionprofilesonaxesorvectorspaces,eithersimultaneouslyorindividually.AblendissimilartoanormalstartandhasthesamerequirementsforvalidtrajectoryparametersastheStartMotionVI.Theblendedmoveusesthemostrecentlyloadedvaluesofacceleration,velocity,targetposition,s-curve,operationmodeandsoontogeneratethemotionprofile.

NoteIfastepperaxisisinakilledstate(notenergized),halttheaxisusingtheStopMotionVI,withStopTypesettohaltstop,beforeyouexecuteaStartMotionorBlendMotionVI.Afteryouhalttheaxis,youmightneedtowaitbeforeexecutingaStartMotionorBlendMotionVI,sothatthestepperdrivecomesoutofresetstate.IfthestepperdrivedoesnotcomeoutofresetstatebeforeyouexecutetheVI,thestepperaxismightlosesomestepsduringacceleration.TodeterminewhetheryouneedtowaitbeforeexecutingtheVI,refertothestepperdrivedocumentationorvendor.

Blendstartingsmoothlyblendstwomovesegmentsonanaxis,axes,orvectorspace(s).Therearethreetypesofblends,controlledbytheblendfactor:

Blendmovesbysuperimposingthedecelerationprofileofthepreviousmovewiththeaccelerationprofileofthenextmove(blendfactor=–1).Blendmovesbystartingthenextmoveattheexactpointwhenthepreviousmovehasstopped(blendfactor=0).Startthenextmoveafteraprogrammeddelaytimebetweentheendofthepreviousmoveandthestartofthenextmove(blendfactor>0ms).

RefertotheLoadBlendFactorVIformoreinformationabouthowblendfactorcontrolstheblendingofmotionprofiles.

StartMotionStartsmotiononasingleaxis,singlevectorspace,multipleaxes,ormultiplevectorspaces.

Details

DeviceCompatibility

Axis/VSMapisthebitmapofaxesorvectorspaces(coordinatespaces)towaiton.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.

Whenstartingaxes(AxisorVectorSpace=0):

Axis/VSMap1—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap2—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap3—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap4—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap5—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap6—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap7—Iftrue,startaxis.Iffalse,donotstartaxis.Axis/VSMap8—Iftrue,startaxis.Iffalse,donotstartaxis.

Whenstartingvectorspaces(AxisorVectorSpace=0x10):

Axis/VSMap1—Iftrue,startvectorspace.Iffalse,donotstartvectorspace.Axis/VSMap2—Iftrue,startvectorspace.Iffalse,donotstartvectorspace.

UsingThisVI

TheStartMotionVIisusedtostartamotionprofileonaxesorvectorspaces,eithersimultaneouslyorindividually.Astartispreemptiveandusesthemostrecentlyloadedvaluesofacceleration,velocity,targetposition,s-curve,operationmode,andsoontogeneratethemotionprofile.

NoteIfastepperaxisisinakilledstate(notenergized),halttheaxisusingthebeforeyouexecuteaStartMotionorBlendMotionVI.Afteryouhalttheaxis,youmightneedtowaitbeforeexecutingaStartMotionorBlendMotionVI,sothatthestepperdrivecomesoutofresetstate.IfthestepperdrivedoesnotcomeoutofresetstatebeforeyouexecutetheVI,thestepperaxismightlosesomestepsduringacceleration.TodeterminewhetheryouneedtowaitbeforeexecutingtheVI,refertothestepperdrivedocumentationorvendor.

YoualsocanusetheStartMotionVItoupdatetrajectoryparameterstoamovethatisalreadyinprocess.Trajectoryparametersloadedafterthestarttakeeffectimmediatelyuponthenextstartwithoutrequiringthemotiontocometoastop.Youcanusethisfeatureforvelocityprofilingandothercontinuousmotionapplications.Theexecutionofapreemptivestartdependsontheparametersentered,thetypeofmove,andthecontroller.Refertothefollowingtableformoreinformation.

MoveType ControllerType SameDirection

SingleAxisMove73xxController Movestartsimmediately1

NISoftMotionController Movestartsimmediately

VectorSpaceMove73xxController Motiondeceleratestoastop,thenstartsNISoftMotionController Movestartsimmediately

1Inmostcases,themovestartsimmediately.However,ifthenewtargetpositionisclosertothecurrentpositionthantheprevioustargetposition,themovedeceleratestoastop,thenstarts.Refertothefiguresbelowformoreinformation.

2Thetimerequiredtostartthenextmovedependsonthedecelerationtime.Ifthedecelerationtimeisveryslow,thenextmovemaytakelongerthanexpectedtostart.

ThefirstimagedemonstratesthecasewhereStartMotioniscalledwithanewtargetpositiononthesamesideoftheoriginaltargetpositionasthecurrentposition.Inthiscase,motiondeceleratestoastop,thenstartsagain.ThesecondimagedemonstratesthecasewhereStartMotioniscalledwithanewtargetpositionontheoppositesideoftheoriginaltargetpositionasthecurrentposition.Inthiscase,themovecontinuestothenewtargetpositionwithoutstopping.

TheStartMotionVIisusedtostartamotionprofileonaxesorvectorspaces,eithersimultaneouslyorindividually.Astartispreemptiveandusesthemostrecentlyloadedvaluesofacceleration,velocity,targetposition,s-curve,operationmode,andsoontogeneratethe

Ifastepperaxisisinakilledstate(notenergized),halttheaxisusingtheStopMotionVI,withStopTypesettohaltstop,VI.Afteryouhalttheaxis,youmightneedtowaitbeforeexecutingaStart

MotionorBlendMotionVI,sothatthestepperdrivecomesoutofresetstate.IfthestepperdrivedoesnotcomeoutofresetstatebeforeyouexecutetheVI,thestepperaxismightlosesomestepsduringacceleration.TodeterminewhetheryouneedtowaitbeforeexecutingtheVI,refertothestepperdrivedocumentationorvendor.

YoualsocanusetheStartMotionVItoupdatetrajectoryparameterstoamovethatisalreadyinprocess.Trajectoryparametersloadedafterthestarttakeeffectimmediatelyuponthenextstartwithoutrequiringthemotiontocometoastop.Youcanusethisfeatureforvelocityprofilingandothercontinuousmotionapplications.Theexecutionofapreemptivestartdependsontheparametersentered,thetypeofmove,andthecontroller.Refertothefollowingtableformoreinformation.

SameDirection OppositeDirectionMovestartsimmediately1 Motiondeceleratestoastop,thenstarts2

Movestartsimmediately Motiondeceleratestoastop,thenstarts2

Motiondeceleratestoastop,thenstarts2 Motiondeceleratestoastop,thenstarts2

Movestartsimmediately Motiondeceleratestoastop,thenstarts2

Inmostcases,themovestartsimmediately.However,ifthenewtargetpositionisclosertothecurrentpositionthantheprevioustargetposition,themovedeceleratestoastop,thenstarts.Refertothefiguresbelowformoreinformation.

Thetimerequiredtostartthenextmovedependsonthedecelerationtime.Ifthedecelerationtimeisveryslow,thenextmovemaytake

ThefirstimagedemonstratesthecasewhereStartMotioniscalledwithanewtargetpositiononthesamesideoftheoriginaltargetpositionasthecurrentposition.Inthiscase,motiondeceleratestoastop,thenstartsagain.ThesecondimagedemonstratesthecasewhereStartMotioniscalledwithanewtargetpositionontheoppositesideoftheoriginaltargetpositionasthecurrentposition.Inthiscase,themovecontinuestothenewtargetpositionwithoutstopping.

StopMotionStopsmotiononasingleaxis,singlevectorspace,multipleaxes,ormultiplevectorspaces.

Threetypesofstopscanbeexecuted:

DeceleratetostopHaltstopKillstop

DetailsRemarks

DeviceCompatibility

StopType(Decel)isthetypeofstoptoexecute,asfollows.

Value Definition0 Decelerate1 Halt2 KillAxis/VSMapisthebitmapofaxesorvectorspacestostop.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.NI-Motionignoresadditionalaxesforcontrollersthatoperatelessthaneightaxes.

Whenstoppingaxes(AxisorVectorSpace=0):

Axis/VSMap1—Iftrue,stopaxis.Iffalse,donotstopaxis.

UsingThisVI

ThisVIisusedtostopamotionprofileonaxesorvectorspaces,eithersimultaneouslyorindividually.YoucanexecutethreedifferenttypesofstopswiththeStopMotionVI:deceleratestop,haltstop,andkillstop.

DecelerateStop

Whenadeceleratestopisexecuted(deceleratetostop),theaxis,axes,orvectorspace(s)immediatelybegintofollowthedecelerationportionoftheirtrajectoryprofileascontrolledbypreviouslyloadeddecelerationands-curveparameters.Theactualstoppedpositionisthereforedependentuponthisdecelerationtrajectory.

HaltStop

Incontrast,ahaltstophasthefollowingbehaviordependingonthestateoftheaxis:

Iftheaxisisnotmovingandnotenergized,theaxisisenergized.Iftheaxisisnotmovingandenergized,callingahaltstophasnoeffect.Iftheaxisismoving:

Onservoaxes,fulltorqueisappliedtostopthemotor(s)assoonasthecommandisreceivedbythemotioncontroller.Onstepperaxes,thesteppulsesareceasedasquicklyaspossible.However,itispossiblethattheremaybeasmallamountoffollowingerrorafterhaltingthemove.Thisfollowingerrorwillbecompensatedforwithapull-inmoveduringthenextmove.

Inbothcases,NI-Motionattemptstostopthemotor(s)withanearinfiniterateofdeceleration.ThereisnotrajectoryprofileandmotionisnotcontrolledbypreviouslyloadeddecelerationandS-curveparameters.

NoteForstepperaxesconfiguredforp-commandmode,ensurethattheaxisisnotmovingbeforehaltinganaxisthatwaspreviouslykilledtoavoidpositionerrorbetweenthecontrollerandthedrive.Inthiscase,acalltohaltstopwhiletheaxisismovingresetsyourreferencepositiontoanundefinedlocation,andyoushouldperformaexecutinganothermove.

KillStop

Onservoaxes,akillstopdisablesthecontrolloopandzerostheoutputDAC,allowingfrictionalforcesalonetostopthemotion.Onstepperaxes,akillstopceasesthestepperpulsegenerationassoonasthecommandisreceivedbythemotioncontroller.Onbothaxistypes,thereisnotrajectoryprofileduringakillstop.Ifenabled,theinhibitoutputisactivatedtoinhibit(disable)theservoamplifierorstepperdrive.Youcanenabletheinhibitoutputsandsettheirpolaritytoactivehighoractivelowwiththe

ThisVIisusedtostopamotionprofileonaxesorvectorspaces,eithersimultaneouslyorindividually.YoucanexecutethreedifferenttypesofstopswiththeStopMotionVI:deceleratestop,haltstop,andkillstop.

Whenadeceleratestopisexecuted(deceleratetostop),theaxis,axes,orvectorspace(s)immediatelybegintofollowthedecelerationportionoftheirtrajectoryprofileascontrolledbypreviouslyloadeddecelerationands-curveparameters.Theactualstoppedpositionis

Incontrast,ahaltstophasthefollowingbehaviordependingonthestateoftheaxis:

Iftheaxisisnotmovingandnotenergized,theaxisisenergized.Iftheaxisisnotmovingandenergized,callingahaltstophasnoeffect.

Onservoaxes,fulltorqueisappliedtostopthemotor(s)assoonasthecommandisreceivedbythemotioncontroller.Onstepperaxes,thesteppulsesareceasedasquicklyaspossible.However,itispossiblethattheremaybeasmallamountoffollowingerrorafterhaltingthemove.Thisfollowingerrorwillbecompensatedforwithapull-inmoveduringthenextmove.

Inbothcases,NI-Motionattemptstostopthemotor(s)withanearinfiniterateofdeceleration.ThereisnotrajectoryprofileandmotionisnotcontrolledbypreviouslyloadeddecelerationandS-curveparameters.

Forstepperaxesconfiguredforp-commandmode,ensurethattheaxisisnotmovingbeforehaltinganaxisthatwaspreviouslykilledtoavoidpositionerrorbetweenthecontrollerandthedrive.Inthiscase,acalltohaltstopwhiletheaxisismovingresetsyourreferencepositiontoanundefinedlocation,andyoushouldperformaFindHomereferencemovebefore

Onservoaxes,akillstopdisablesthecontrolloopandzerostheoutputDAC,allowingfrictionalforcesalonetostopthemotion.Onstepperaxes,akillstopceasesthestepperpulsegenerationassoonasthecommandisreceivedbythemotioncontroller.Onbothaxistypes,thereisnotrajectoryprofileduringakillstop.Ifenabled,theinhibitoutputisactivatedtoinhibit(disable)theservoamplifierorstepperdrive.YoucanenabletheinhibitoutputsandsettheirpolaritytoactivehighoractivelowwiththeConfigureInhibitOutputsVI.

Remarks

Ifanaxisthatispartofavectorspaceisindividuallykilled,theotheraxesinthevectorspacearedeceleratedtostop.Ifaprogramattemptstostartaxesthathavebeenmanuallystoppedbythehostcomputer,itisoverruledandputintothepausedstate.

Ifanaxisthatispartofavectorspaceisindividuallykilled,theotheraxesinthevectorspacearealsokilled.YoucanexecutethisVIonlyonanaxisthatisenabled.

MotionI/OVIsYoucanuseMotionI/OVIstosetupandcontrolthemotionI/OfeaturesoftheNImotioncontroller.MotionI/OVIsincludeVIstosetpolarityandenablelimitandhomeinputs,high-speedcaptureinputsandinhibitoutputs,VIstoconfigureandcontrolbreakpointoutputs,andVIstoreadthestatusofallthemotionI/Osignals,high-speedcapturedposition,andsoftwarelimitstatus.

AllofthededicatedmotionI/Oalsocanfunctionasgeneral-purposedigitalI/Owhentheyarenotbeingusedfortheirmotionspecificfeatures.Youcansetandresetoutputs,youcanreadinputsatanytime,andyoucansetandchangetheirpolarityasrequired.

MotionI/OVIsincludelimitsandotherbasicMotionI/OVIs,BreakpointVIs,andHigh-SpeedCaptureVIs.

EnableLimits SetHomeInputPolarityReadLimitStatus ConfigureDriveSignalSetLimitInputPolarity ReadDriveSignalStatusLoadSoftwareLimitPositions ConfigureInhibitOutputsEnableHomeInputs SetInhibitMOMOReadHomeInputStatus

Subpalettes

BreakpointVIs

High-SpeedCaptureVIs

ConfigureDriveSignalConfiguresthedrivesignal.

Details

DeviceCompatibility

Pinisthespecificbit(0to7)intheportspecifiedbyport.FortheHSCport,trigger1=pin0,trigger2=pin1,trigger3=pin2,trigger4=pin3,trigger5=pin4,trigger6=pin5,trigger7=pin6,andtrigger8=pin7.PortisthegeneralpurposeI/Oport(1to8)orHSCsoftwareport(10)tocontrol.BoardIDisauniquenumberassignedbyMAXusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItoconfigureandreserveI/Olinestoreceivesignalsfromthedrive.Thefollowingdrivesignalsareavailable:In-PositionandDriveFault(ServoAlarm).

TipUseConfigureMotionI/OMapinsteadofthisVIforadditionaldrivesignalsupport.

UsetheIn-Positiondrivesignalwhenthedriveiscontrollingaservomotorandtheinputtothedriveisstep/direction.Thissignaltellsthemotioncontrollerwhenthedriveconsidersthemotortobeatthecommandedposition.

WhentheIn-Positiondrivesignalisconfigured,theMoveCompletestatusislinkedtothestateoftheIn-Positionsignal.ThemoveisnotconsideredcompleteunlesstheIn-Positionsignalisactive.

NoteRefertoWriteTrajectoryDatatoaddorremovethissignalfromthemovecompletecriteria.

UsetheDriveFaultdrivesignaltoconnectaservoalarmsignaltothemotioncontrollersothatwhenanalarmorotherdrivefaultoccurs,themotionisstoppedusingakillstop.AkillstopdisablesthecontrolloopandzeroestheDACsothatfrictionalforcesstopthemotion.

ConfigureInhibitOutputsSetspolarityandenablestheper-axisinhibitoutputs.

DetailsRemarks

DeviceCompatibility

Enableenables/disablesinhibitoutputontheselectedaxis.DriveModespecifieseitherOpenCollector(default)orTotemPolemode.DriveModeisavailableonlyontheNI7350andisnotconfigurableonNI7330/40/90motioncontrollers.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheConfigureInhibitOutputsVIenables/disablestheinhibitoutputs,setsthePolarity(activeloworactivehigh)oftheaxisinhibitoutputs,andsetstheDriveMode.Whenenabled,aper-axisinhibitoutputislinkedtothemotoroffstateofthecorrespondingaxis.Akilledaxis(motoroff)forcesthecorrespondinginhibitoutputOn.Whentheaxisisactive,theinhibitoutputisOff.Noticethatthisisthelogicalstate.Theactualstatedependsonthepolarityofthesystem.

Inhibitoutputsaretypicallyusedtodisabletheservoamplifierorstepperdriveforpowersaving,safety,orspecificapplicationreasons.

FormoreinformationaboutOpenCollectorandTotemPoledrivemodes,refertotheNI7350HardwareUserManual.ConfiguringDriveModeissupportedonlyon7350controllersandisnotconfigurableonNI7330/40/90motioncontrollers.

NoteKillingaservoaxisalsozerositsDACoutput.Withtorqueblockamplifiers,thismeansthatthemotorfreewheelsregardlessofwhethertheamplifierisdisabled.Withvelocityblockservoamplifiersorstepperdrives,themotordoesnotfreewheelunlesstheamplifier/driveisdisabledwiththeinhibitoutput.

Youalsocanuseinhibitoutputsasgeneral-purposeoutputs.DisabledinhibitoutputsignorethestateoftheircorrespondingaxisandcanbedirectlycontrolledthroughtheSetInhibitMOMOVI.

Youcanconfigurethepolarityofeachinhibitoutputasactiveloworactivehigh.Whenconfiguredasactivelow,theoutputisactivewhenthereisalowsignalontheoutputpin.Conversely,activehighmeansthattheoutputisactivewhenthereisahighsignalontheoutputpin.Theinhibitpolarityisalwaysineffect,whethertheinhibitislinkedtoitsaxis(enabled)ordirectlycontrolledthroughtheSetInhibitMOMOVI.

Remarks

ThefollowingincludesconsiderationsyoumustmakewhenyouareusingthisVIwitha73xxmotioncontroller:

ThePCI-7390doesnotsupportthePolarityparameter.TosettheactivestateonaPCI-7390useWriteDigitalI/OData.

EnableHomeInputsEnables/disablesthehomeinputs.

Details

DeviceCompatibility

Homes(Disabled)isthebitmapofhomeinputstoenable:Axis1—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis2—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis3—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis4—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis5—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis6—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis7—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).Axis8—Iftrue,homeinputisenabled.Iffalse,homeinputisdisabled(default).

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.

UsingThisVI

TheEnableHomeInputsVIenables/disablesanycombinationofaxishomeinputs.Anenabledhomeinputcausesahaltstopontheaxiswhentheinputbecomesactive.YoucanconfigureeachhomeinputasactiveloworactivehighwiththeSetHomeInputPolarityVI.Youalsocanuseahomeinputasageneral-purposeinputandreaditsstatuswiththeReadHomeInputStatusVI.

HomeinputsareanenhancementontheNImotioncontrollerandarenotrequiredforbasicmotioncontrol.YoucanoperateallmotioncontrolVIswithoutenablingorusingthehomeinputsexcepttheFindReferenceVI,whichrequiresenabledlimitandhomeinputsforoperationwhentheFindReferencetypeis"home."

ToconfigurethepropertyofFindReferenceHome,suchasInitialsearchdirectionandHomeedgetostopon,usetheLoadReferenceParameterVI.

NoteAnactiveandenabledhomeinputtransitiononanaxisthatispartofavectorspacemovecausesthataxistohaltstopandtheotheraxesinthevectorspacetodeceleratetoastop.

Example

Toenablethehomeinputsforaxes2and4,calltheEnableHomeInputsVIwithHomes,asfollows.

Home1 Home2 Home3 Home4 Home5 Home6 Home7 Home8False True False True False False False False

EnableLimitsEnables/disableseithertheforwardandreverselimitinputsortheforwardandreversesoftwarepositionlimits.

DetailsRemarks

DeviceCompatibility

LimitType(LimitInputs)selectsthetypeoflimittoenable,eitherthehardwarelimitswitchinputsorthesoftwarepositionlimits,asfollows.

Value Definition0 Limitinputs1 SoftwarelimitsBoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheEnableLimitsVIenables/disablesanycombinationofaxislimits.Youcanenablethephysicallimitinputs(hardware)orthelogicalpositionlimits(software)dependingupontheLimitTypeselected.Youcanenableordisableforwardandreverselimitsseparately.Toenablebothsoftwareandhardwarelimitsonanaxisoraxes,callthisVItwice.

Thelimitinputsaretypicallyconnectedtoend-of-travellimitswitchesorsensors.Anenabledlimitinputcausesahaltstopontheaxiswhentheinputbecomesactive.YoucanconfigureeachlimitinputasactiveloworactivehighwiththeSetLimitInputPolarityActivelimitinputsalsoprohibitattemptstostartmotionthatwouldcauseadditionaltravelinthedirectionofthelimit.Youalsocanuselimitinputsasgeneral-purposeinputsandreadtheirstatuswiththeReadLimitStatusVI.

NoteFortheend-of-travellimitstofunctioncorrectly,theforwardlimitswitchorsensormustbelocatedatthepositive(countup)endoftravelandthereverselimitatthenegative(countdown)endoftravel.

Similarly,softwarelimitsareoftenusedtorestricttherangeoftravelfurtherandavoideverhittingthehardwarelimitswitches.Anenabledsoftwarelimitcausestheaxistosmoothlydeceleratetoastopwhenthelimitpositionisreachedorexceeded.Toenablethesoftwarelimits,youmustfirstfindthereferencepointusingtheFindReferenceVI.

Evenwhendisabled,youcanusethehostcomputertopollthesoftwarelimitstowarnofanout-of-rangeposition.RefertotheLoadSoftwareLimitPositionsandtheReadLimitStatusVIsforinformationaboutloadingandreadingtheforwardandreversesoftwarelimits.

HardwarelimitinputsandsoftwarepositionlimitsareenhancementsontheNImotioncontrollerandarenotrequiredforbasicmotioncontrol.YoucanoperateallmotioncontrolVIswithoutenablingorusingtheselimitsexcepttheFindReferenceVI,whichrequiresenabledlimitandhomeinputsforoperation.RefertothefollowingVIsformoreinformationaboutenablinghomeinputs:SetHomeInputPolarity,EnableHomeInputsandReadHomeInputStatus.

Example

UsingThisVI

TheEnableLimitsVIenables/disablesanycombinationofaxislimits.Youcanenablethephysicallimitinputs(hardware)orthelogicalpositionlimits(software)dependingupontheLimitTypeselected.Youcanenableordisableforwardandreverselimitsseparately.Toenablebothsoftwareandhardwarelimitsonanaxisoraxes,callthisVItwice.

Thelimitinputsaretypicallyconnectedtoend-of-travellimitswitchesorsensors.Anenabledlimitinputcausesahaltstopontheaxiswhentheinputbecomesactive.YoucanconfigureeachlimitinputasactiveloworactivehighwiththeSetLimitInputPolarityVI.Activelimitinputsalsoprohibitattemptstostartmotionthatwouldcauseadditionaltravelinthedirectionofthelimit.Youalsocanuselimitinputsasgeneral-purposeinputsandreadtheirstatuswiththeReadLimitStatusVI.

Fortheend-of-travellimitstofunctioncorrectly,theforwardlimitswitchorsensormustbelocatedatthepositive(countup)endoftravelandthereverselimitatthenegative(countdown)endoftravel.

Similarly,softwarelimitsareoftenusedtorestricttherangeoftravelfurtherandavoideverhittingthehardwarelimitswitches.Anenabledsoftwarelimitcausestheaxistosmoothlydeceleratetoastopwhenthelimitpositionisreachedorexceeded.Toenablethesoftwarelimits,youmustfirstfindthereferencepointusingtheFindReferenceVI.

Evenwhendisabled,youcanusethehostcomputertopollthesoftwarelimitstowarnofanout-of-rangeposition.RefertotheLoadSoftwareLimitPositionsandtheReadLimitStatusVIsforinformationaboutloadingandreadingtheforwardandreversesoftwarelimits.

HardwarelimitinputsandsoftwarepositionlimitsareenhancementsontheNImotioncontrollerandarenotrequiredforbasicmotioncontrol.YoucanoperateallmotioncontrolVIswithoutenablingorusingtheselimitsexcepttheFindReferenceVI,whichrequiresenabledlimitandhomeinputsforoperation.RefertothefollowingVIsformoreinformationaboutenablinghomeinputs:SetHomeInputPolarity,EnableHomeInputs,

ReadHomeInputStatus.

Remarks

Anactive(andenabled)limitinputtransitiononanaxisthatispartofavectorspacemovecausesthataxistohaltstopandtheotheraxesinthevectorspacetodeceleratetoastop.Ifanyaxisinavectorspacemoveexceedsanenabledsoftwarelimitposition,allaxesinthevectorspacedeceleratetoastop.

Anactive(andenabled)limitonanaxisthatispartofavectorspacecausesalloftheaxesinthevectorspacetohaltstop.

LoadSoftwareLimitPositionsLoadstheforwardandreversesoftwarelimitpositionsforanaxis.

Details

DeviceCompatibility

ReverseSWLimitisthereversesoftwarelimitpositionincounts(servoaxes)orsteps(stepperaxes).Softwarelimitpositionscanbeanywherewithinthe32-bitpositionrange,–(231)to+(231–1).Thedefaultvalueforthereversesoftwarelimitis–(230)counts(steps).

NoteTheForwardSWLimitcannotbelessthantheReverseSWLimit.

ForwardSWLimitistheforwardsoftwarelimitpositionincounts(servoaxes)orsteps(stepperaxes).Softwarelimitpositionscanbeanywherewithinthe32-bitpositionrange,–(231)to+(231–1).Thedefaultvaluefortheforwardsoftwarelimitis+(230)–1counts(steps).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.

UsingThisVI

TheLoadSoftwareLimitPositionsVIsetstheforwardandreversepositionlimitvaluesfortheselectedaxis.WhenenabledwiththeEnableLimitsVI,asoftwarelimitcausestheaxistosmoothlydeceleratetoastopwhenthelimitpositionisreachedorexceeded.

Evenwhendisabled,youcanpollthesoftwarelimitsbythehostcomputeroruseanonboardprogramtowarnofanoutofrangeposition.RefertotheReadLimitStatusVIforinformationaboutreadingthesoftwarelimitstatus.

Theforwardsoftwarelimitisconsideredactiveifthecurrentpositionisgreaterthanorequaltotheforwardsoftwarelimitposition.Thereversesoftwarelimitisconsideredactiveifthecurrentpositionislessthanorequaltothereversesoftwarelimitposition.

Softwarelimitsareoftenusedtorestricttherangeoftravelandavoidhittingthehardwareend-of-travellimitswitches.Forexample,youcantravelatahighvelocityuntilhittingthesoftwarelimitswitch,andthenmovemoreslowlyuntilhittingthehardwarelimitswitch.

CautionAfteranaxishasstoppedduetoencounteringasoftwarelimitswitch,youcanstillmovefurtherinthesamedirectionifyoucommandtheaxistodoso.Thisbehaviorisnotpossiblewithhardwarelimits,butisappropriateforsoftwarelimits.NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:ForwardSWLimit,ReverseSWLimit.

ReadDriveSignalStatusReturnsthestatusofthedrivesignalwhenanactivesignalisdetected.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMAXusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axisistheaxistoconfigure.RetVectisthedestinationforthereturndata.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItoreadthestatusofthedrivesignalwhenanactivedrivesignalisdetected.IfIn-Positionisactive,bit0=True.IfDriveFaultisactive,bit1=True.

TipUseReadMotionI/ODatainsteadofthisVIformoreoptions.

ReadEncoderPositionReadsthepositionofanencoder.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertoread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadEncoderPositionVIreturnsthequadraturecountvalueoftheencoderselected.Theencodermustbeenabled,eitherdirectlythroughtheEnableEncodersVIorautomatically,bybeingmappedtoanenabledaxis.

TheReadEncoderPositionVIistypicallyusedtoreadthevalueofanencoderthatisnotpartofanaxis.Thisencodercouldbeamasterencoderusedformaster-slavegearingoranindependentpositionorvelocitysensor.

Forreadingencodersmappedtoaxes,youcancallthisVIontheaxisordirectlyonitsmappedencoder.Forservoaxes,bothapproachesreturnthesamevalueastheReadPositionVI.Onstepperaxeshowever,thisVIcanreturnadditionalusefulinformation.

Duringaxissetup,youcanoperatetheclosed-loopstepperaxisinopen-loopmodeandusethisVItodirectlymeasurethecountsperrevolutionandstepsperrevolutionfortheaxis.Thesevaluesmustbeloadedinadvanceforsubsequentclosed-loopoperation.RefertotheLoadCounts/StepsperRevolutionVIformoreinformation.

YoualsocanusethisVItoreturnafinerreadingofpositionincaseswheretheencoderresolutiongreatlyexceedsthestepresolutionoftheclosed-loopstepperaxis.

ReadHomeInputStatusReadstheinstantaneousstatusofthehomeinputs.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadHomeInputStatusVIreturnsthelogicalstateofthehomeinputs.YoucanexecutethisVIatanytimetomonitorthehomeinputs,whethertheyareenabledornot.AhomeinputenabledwiththeEnableHomeInputsVIcausesahaltstoponanaxiswhenitshomeinputbecomesactive(True).Youalsocanuseahomeinputasageneral-purposeinputandreaditsstatuswiththisVI.ThehomeinputstatusduringaFindReferencemoveisundefined.

Todeterminethehomefoundstatus,useReadReferenceStatusandsetthereferencetypeto"home".

NoteThisVIreturnsundefinedvaluesforaxesthatarecurrentlyperformingfindreferencemoves.NoteThisVIreadsthelogicalstate(OnorOff,TrueorFalse)ofthehomeinputs.ThepolarityofthehomeinputsdetermineswhetheranOnstateisactivehighoractivelow.RefertotheSetHomeInputPolarityVIformoreinformation.

ReadLimitStatusReadstheinstantaneousstateofeitherthehardwarelimitinputsorthesoftwarelimits.

Details

DeviceCompatibility

LimitType(LimitInputs)selectsthetypeoflimitstatustoread,eitherthehardwarelimitswitchinputsorthesoftwarepositionlimits,asfollows.

Value Definition0 Limitinputs1 SoftwarelimitsBoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectcontainsthereverselimitsandforwardlimits,whicharereturnedinoneonboardvariable:0000000FFFFFFFF00000000RRRRRRRR0.

Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

TheReadLimitStatusVIreturnseitherthehardwarelimitinputstatusorthesoftwarepositionlimitstatus,dependingonthelimittypeselected.WhenLimitType=LimitInputs(0),thisVIreturnsthelogicalstateoftheforwardandreverselimitinputs.

NoteThisVIreturnsundefinedvaluesforaxesthatarecurrentlyperformingfindreferencemoves.NoteThepolarityofthelimitinputsdetermineswhetheranOnstateisactivehighoractivelow.RefertotheSetLimitInputPolarityVIformoreinformation.

Alternatively,whenLimitType=SoftwareLimits(1),thisVIreturnsthestateoftheforwardandreversesoftwarelimits.ATrue(On)indicatesthattheforwardorreverselimitpositionforthecorrespondingaxishasbeenreachedorexceeded.ThelimitstatusduringaFindReferencemoveisundefined.

Youcanreadthestatusofthelimitinputsandthesoftwarepositionlimitsatanytime,whetherthelimitsareenabledornot.EnabledlimitscauseaxestostopwhentheirstatetransitionsTrue.RefertotheEnableLimitsVIformoreinformation.

NoteIfyouaredoingonboardprogrammingandareusingRetnVecttowritedata,thisVIwritesthevariablesstartingatthememoryaddresspointedtobyRetnVectinthefollowingorder:ForwardLimits,ReverseLimits.

SetHomeInputPolaritySetsthepolarityofthehomeinputsaseitheractivelow/activeopenoractivehigh/activeclosed.

Details

DeviceCompatibility

HomePolarityisthebitmapofactivepolaritiesforthehomeinputs:Axis1—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis2—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis3—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis4—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis5—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis6—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis7—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.Axis8—IfTRUE,activelow/activeopen(default).IfFALSE,activehigh/activeclosed.

BoardIDisauniquenumberassignedbyMeasurement&Automation

UsingThisVI

TheSetHomeInputPolarityVIdefinestheactivestateforeachhomeinputaseitheractivelow/activeopenoractivehigh/activeclosed.

Whenconfiguredasactivelow,theinputisactivewhenthereisalowsignalontheinputpin.Conversely,activehighmeansthattheinputisactivewhenthereisahighsignalontheinputpin.

Configuringanactivestateofactiveopenoractivecloseddoesnotcorrespondtothelevelofthesignalontheinputpin.Instead,anactiveopenstatemeansthattheinputisactivewhencurrentisnotflowingthroughtheoptocoupledinput.Conversely,anactiveclosedstatemeansthattheinputisactivewhencurrentisflowingthroughtheoptocoupledinput.

YoucanenablehomeinputstocausehaltstopswhentheinputbecomesactivewiththeEnableHomeInputsVI.Youalsocanuseahomeinputasageneral-purposeinputandreaditsstatuswiththeReadHomeInputStatusVI.

Tofindthehomeinputreferenceonasystem,useFindReferenceandconfigurethesearchtypeas"home".

Example

Tosettheactivestateofthehomeinputsonaxes1,3and4asactivelowandtherestofthehomeinputsasactivehigh,calltheSetHomeInputPolarityVIwithHomePolarityasfollows.

Home1 Home2 Home3 Home4 Home5 Home6 Home7 Home8True False True True False False False False

SetInhibitMOMOSetstheinhibitoutputsusingtheMustOn/MustOffprotocol.

Details

DeviceCompatibility

MustOff(False)isthebitmapofinhibitoutputstoforceoff:InhibitOutput1—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput2—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput3—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput4—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput5—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput6—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput7—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).InhibitOutput8—Iftrue,inhibitoutputforcedoff.Iffalse,inhibitoutputunchanged(default).

MustOn(False)isthebitmapofinhibitoutputstoforceon:InhibitOutput1—Iftrue,inhibitoutputforcedon.Iffalse,inhibit

UsingThisVI

TheSetInhibitMOMOVIcontrolsdisabledinhibitoutputsbeingusedasgeneral-purposeoutputs.YoucandirectlysettheinhibitoutputstoalogicalOnorOffstate.

NoteThisVIhasnoeffectonenabledinhibitoutputs.Theseoutputsaredirectlycontrolledbytheircorrespondingaxes.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualinhibitoutputswithoutaffectingtheotherinhibitoutputs.Thisgivesyoutri-statecontrolovereachoutput:On,Off,orUnchanged.ATrueinalocationoftheMustOnbitmapturnstheinhibitOn,whileaTrueinthecorrespondinglocationoftheMustOffbitmapturnstheinhibitOff.AFalseineitherbitmaphasnoaffect,soleavingboththeMustOnandMustOffatFalseiseffectivelyahold,andthestateoftheinhibitoutputisunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandtheinhibitisturnedOn.

MustOn–>MustOff 1 0

1 On Off0 On Unchanged

NoteThisVIsetsthelogicalstateofaninhibitoutputOnorOff(TrueorFalse).ThepolarityoftheinhibitoutputsdeterminewhetheranOnstateisactivehighoractivelow.RefertotheConfigureInhibitOutputsVIformoreinformation.

TheSetInhibitMOMOVIallowsindividualcontroloftheinhibitoutputswithoutrequiringashadowvaluetorememberthestateofotheroutputsnotbeingsetorresetwiththeVI.

Example

Toturninhibitoutput1On,output4off,andleavetheotherinhibitoutputsunchanged,calltheSetInhibitMOMOVIwiththefollowingparameters:

MustOncorrespondstothefollowing:

MustOn1 MustOn2 MustOn3 MustOn4 MustOn5 MustOn6 MustOn7

UsingThisVI

TheSetInhibitMOMOVIcontrolsdisabledinhibitoutputsbeingusedasgeneral-purposeoutputs.YoucandirectlysettheinhibitoutputstoalogicalOnorOffstate.

ThisVIhasnoeffectonenabledinhibitoutputs.Theseoutputsaredirectlycontrolledbytheircorrespondingaxes.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualinhibitoutputswithoutaffectingtheotherinhibitoutputs.Thisgivesyoutri-statecontrolovereachoutput:On,Off,orUnchanged.ATrueinalocationoftheMustOnbitmapturnstheinhibitOn,whileaTrueinthecorrespondinglocationoftheMustOffbitmapturnstheinhibitOff.AFalseineitherbitmaphasnoaffect,soleavingboththeMustOnandMustOffatFalseiseffectivelyahold,andthestateoftheinhibitoutputisunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itis

MustOnconditionandtheinhibitisturnedOn.

On OffOn Unchanged

ThisVIsetsthelogicalstateofaninhibitoutputOnorOff(TrueorFalse).ThepolarityoftheinhibitoutputsdeterminewhetheranOnstateisactivehighoractivelow.

ConfigureInhibitOutputsVIformoreinformation.

TheSetInhibitMOMOVIallowsindividualcontroloftheinhibitoutputswithoutrequiringashadowvaluetorememberthestateofotheroutputsnotbeingsetorresetwiththeVI.

Toturninhibitoutput1On,output4off,andleavetheotherinhibitoutputsunchanged,calltheSetInhibitMOMOVIwiththefollowingparameters:

correspondstothefollowing:

SetLimitInputPolaritySetsthepolarityoftheforwardandreverselimitinputsaseitheractivelow/activeopenoractivehigh/activeclosed.

Details

DeviceCompatibility

ReverseLimitPolarityisthebitmapofactivepolaritiesforthereverselimitinputs:

Axis1—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis2—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis3—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis4—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis5—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis6—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis7—IfTRUE(default),activelow/activeopen.IfFALSE,activehigh/activeclosed.Axis8—IfTRUE(default),activelow/activeopen.IfFALSE,active

UsingThisVI

TheSetLimitInputPolarityVIdefinestheactivestateforeachforwardandreverselimitinputaseitheractivelow/activeopenoractivehigh/activeclosed.

Whenconfiguredasactivelow,theinputisactivewhenthereisalowsignalontheinputpin.Conversely,activehighmeansthattheinputisactivewhenthereisahighsignalontheinputpin.

Configuringanactivestateofactiveopenoractivecloseddoesnotcorrespondtothelevelofthesignalontheinputpin.Instead,anactiveopenstatemeansthattheinputisactivewhencurrentisnotflowingthroughtheoptocoupledinput.Conversely,anactiveclosedstatemeansthattheinputisactivewhencurrentisflowingthroughtheoptocoupledinput.

YoucanenablelimitinputstocausehaltstopswhentheinputbecomesactivewiththeEnableLimitsVI.Youalsocanusealimitinputasageneral-purposeinputandreaditsstatuswiththeReadLimitStatusVI.

Example

Tosettheactivestateoftheforwardandreverselimitinputsonaxes1,2,3,and4asactivelowandtheforwardandreverselimitinputsontheremainingaxesasactivehigh,calltheSetLimitInputPolarityVIwiththefollowingparameters:

ForwardLimitPolaritycorrespondstothefollowing.

Forward1

Forward2

Forward3

Forward4

Forward5

Forward6

Forward7

Forward8

True True True True False False False False

ReverseLimitPolaritycorrespondstothefollowing.

Reverse1

Reverse2

Reverse3

Reverse4

Reverse5

Reverse6

Reverse7

Reverse8

BreakpointVIsPositionbreakpointsareanenhancementtotheencoderdecodersontheNImotioncontrollerandareavailablewhentheencodersoperateasaxisfeedbackorasindependentencoderresources.Breakpointfunctionalityisavailableonservoandclosed-loopstepperaxes.YoucanuseBreakpointVIstoconfigure,enable,andreadthepositionbreakpointstatus.AdvancedVIs,suchasperiodicbreakpointandbufferedbreakpointcanbeusedtoachievehigher-frequencybreakpoints.Toconfigurebuffersforbufferedbreakpoints,refertoBufferVIs.Youalsocanloadabreakpointpositionmodulus.LikeallmotionI/O,breakpointoutputsalsocanfunctionasgeneral-purposeoutputswiththeSetBreakpointOutputMOMOVI.

NoteAllbreakpointscanbeaffectedbyjitterinthemotionsystem.Forexample,ifyouhavebreakpointpositionsveryclosetoeachother,thejitterinthemotionsystemcouldcausethepositiontochangeenoughtoreachthebreakpointwhenabreakpointisnotintended.IncreasethevalueofthebreakpointwindowusingSetu32tocompensateforsystemjitter.

Refertothefollowingtableforthemaximumbreakpointratesforeachtypeofbreakpoint.Notallbreakpointsareavailableonallcontrollers.

BreakpointType MaximumFrequencySingle 150HzBuffered,PIDrateof62.5µsto250µs 2kHz

Buffered,PIDrategreaterthan250µs 1kHz

Periodic 4MHz

ConfigureBreakpoint

LoadBreakpointPosition

EnableBreakpointOutput

ReadBreakpointStatus

ConfigureBreakpointOutput

SetBreakpointOutputMOMO

LoadBreakpointModulus

ConfigureBreakpointConfiguresapositionbreakpointonanaxisorencoder.

Details

DeviceCompatibility

Operation(Single)selectsbetweensingleandbufferedbreakpointoperation.ValidvaluesareSINGLEandBUFFEREDoperation.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertocontrol.YoucanloadBreakpointPositiononencodersmappedtoaxes1through8ordirectlyonencoders0x21through0x28.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheConfigureBreakpointVIconfiguresthebreakpointtotheappropriatemode,operation,andaction.Italsodefinestheactiontoperformwhenthebreakpointisreached—leavethebreakpointoutputunchanged,resetthebreakpointoutputtolow,setthebreakpointoutputtohigh,ortogglethestateofbreakpointoutput.RefertotheSynchronizationsectionoftheNI-MotionHelpformoreinformationaboutthetypesofbreakpointsyoucanconfigure.

NoteFormodulobreakpoints,themagnitudeofthebreakpointvaluemustbelessthanthebreakpointmodulus.Ifthisrangeisexceeded,amodalerrorisgeneratedwhenyouexecutetheEnableBreakpointOutputVI.

Enablemodedetermineshowthepreviouslyloadedbreakpointpositionisinterpreted.Absolutebreakpointscanbeanywhereinthe32-bitpositionrange.Relativebreakpointsarerelativetotheinstantaneousencoderpositionwhenthebreakpointisenabled.Modulobreakpointsareinterpretedwithintherangeoftheloadedbreakpointmodulus.Formoreinformationaboutmodulobreakpoints,refertotheLoadBreakpointModulusVI.

Whenanenabledbreakpointisreached,abreakpointeventoccurs.YoucanusetheReadBreakpointStatusVItoseeifabreakpointhasoccurred.

Abreakpointeventalsocancausethestateofthecorrespondingbreakpointoutputtochange.ActionOnBreakpointselectswhethertheoutputgoeslow,goeshigh,togglesstate,ordoesnotchangewhenthebreakpointeventoccurs.IfthebreakpointoutputispresentlyinthestatedefinedbyActionOnBreakpoint,itisforcedtotheoppositestatewhenthebreakpointisenabled.Thisguaranteesthattheappropriatetransitionoccurswhenthebreakpointisreached.

NoteNI-Motiondoesnotsupportbreakpointandhigh-speedcapturefunctionalityonanaxiswhentheprimaryfeedbackforthataxisisusedasanalogfeedback.

Absolute

ConfigureBreakpointOutputConfiguresthedrivemodeandpolarityofthebreakpointoutput.

DeviceCompatibility

Details

DriveModespecifieseitherOpenCollectororTotemPolemode.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertoconfigure.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsetheConfigureBreakpointOutputVItoconfiguretheDriveModeandPolarityofthebreakpointsignal.CallthisVIatthebeginningoftheapplicationbeforeenablingthebreakpointwiththeEnableBreakpointOutputVI.

FormoreinformationaboutOpenCollectorandTotemPoledrivemodes,refertothedocumentationforyour7350device.ConfiguringDriveModeissupportedonlyon7350controllers.

Youcanconfigurebreakpointoutputasactiveloworactivehigh.Whenconfiguredasactivelow,theoutputisactivewhenthereisalowsignalontheoutputpin.Conversely,activehighmeansthattheoutputisactivewhenthereisahighsignalontheoutputpin.

EnableBreakpointOutputEnablesapositionbreakpointonanaxisorencoder.

Details

DeviceCompatibility

EnableBreakpointindicateswhethertoenableordisablethebreakpointoutput.ValuesareTrueorFalse.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertocontrol.YoucanloadBreakpointPositiononencodersmappedtoaxes1through6ordirectlyonencoders0x21through0x24.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

ThisVIenablesordisablesthebreakpointwithconfigurationsetbytheConfigureBreakpointVI.Forsinglebreakpoints,youmustre-enableifyouwantanotherbreakpoint.Bufferedandperiodicbreakpointsonlyneedtobeenabledonce.Whenanenabledbreakpointisreached,abreakpointeventoccurs.YoucanusetheReadBreakpointStatusVItoseeifabreakpointhasoccurred.

Youcanenableonlyonebreakpointperencoderoraxisatatime.Whenanenabledbreakpointisreached,thebreakpointisautomaticallydisabled.Youmustexplicitlyre-enablethebreakpointtouseitagain.Ifyouneedtodisableapreviouslyenabledbreakpoint,runthisVIwithEnableBreakpointsettoFalse.

NoteEnabledbreakpointsarealsoautomaticallydisabledwhenyouexecuteaResetPositionorResetEncoderPositionVIonthecorrespondingaxis.

Breakpointsarefullyfunctionalonindependentencodersthatarenotmappedtoaxes.Inthiscase,youenablebreakpointsdirectlyontheencoderresource.

NoteIfyouusemodulusbreakpointsorenablethesamebreakpointrepeatedlyatlowvelocity(<50counts/sec),youmaygetabreakpointoutputimmediatelyafteryoure-enableit,becausethepositionmaynothavechangedfromthelastbreakpoint.

Toavoidthisproblem,useMAXortheSetu32VItochangethebreakpointwindow.Thebreakpointwindowisabufferaroundthebreakpointpositioninwhichabreakpointisnotenabledwhilethecurrentpositionremainsinsidethebuffer.NoteAllbreakpointscanbeaffectedbyjitterinthemotionsystem.Forexample,ifyouhavebreakpointpositionsveryclosetoeachother,thejitterinthemotionsystemcouldcausethepositiontochangeenoughtoreachthebreakpointwhenabreakpointisnotintended.IncreasethevalueofthebreakpointwindowusingSetu32tocompensateforsystemjitter.

LoadBreakpointModulusLoadthebreakpointmodulusforapositionbreakpoint.

Details

DeviceCompatibility

BreakpointModulus(0)istheperiod,forperiodicbreakpoints,orthemodulus,formodulusbreakpoints.Therangeforperiodis1to215–1.Therangeformodulusis0to231–1.Amodulusvalueof0makesamodulusbreakpointbehavethesameasanabsolutebreakpointon7330/40/90controllers.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertocontrol.YoucanloadBreakpointPositiononencodersmappedtoaxes1through6ordirectlyonencoders0x21through0x24.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

ThisVIloadsapositionmodulus/period,dependingonthebreakpointmode.Thisvalueisdouble-bufferedinthecontrolleranddoesnottakeeffectuntilyouexecutetheEnableBreakpointOutputVI.

Modulobreakpointsareusedinapplicationsthatrequirerepetitive,equallyspacedbreakpoints.Whenusingabreakpointmodulus,itisnolongernecessarytoloadeverincreasing(ordecreasing)breakpointpositions.Itisstillnecessary,however,tore-enablethebreakpointaftereachuse.

NoteForclosed-loopsteppersystemsinwhichtheencodercounts-per-revolutiondiffersfromthesteps-per-revolution,thebreakpointpositionisloadedinencodercounts.

Whenyouenableamodulobreakpoint,twobreakpointpositions,oneinfrontandonebehindthepresentencoderposition,areenabled.

NoteIfyouusemodulusbreakpointorenablethesamebreakpointrepeatedlyatlowvelocity(<50counts/sec),youmaygetabreakpointoutputimmediatelyafteryoure-enableit,becausethebreakpointisre-enabledbeforeyouhavemovedfromthepreviousbreakpointposition.

Toavoidthisproblem,useMAXortheSetu32VItochangethebreakpointwindow.Thebreakpointwindowisabufferaroundthebreakpointpositioninwhichabreakpointisnotenabledwhilethecurrentpositionremainsinsidethebuffer.

Example

Anapplicationrequiresbreakpointsevery2,000countsoffsetat-500counts:...–4,500,–2,500,–500,1,500,3,500,andsoon.Toaccomplishthis,youloadabreakpointpositionof-500withtheLoadBreakpointPositionVIandabreakpointmodulusof2,000.Iftheinstantaneousencoderpositionis2,210countswhenyouexecutetheEnableBreakpointOutputVI(inmodulomode),

LoadBreakpointPositionLoadsthebreakpointpositionforanaxisorencoderincounts.

Details

DeviceCompatibility

BreakpointPosition(0)isthebreakpointpositioninquadraturecounts.Breakpointpositionscanbeanywherewithinthe32-bitpositionrange,–(231)to+(231)–1.Thedefaultvalueiszero(0).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertocontrol.YoucanloadBreakpointPositiononencodersmappedtoaxes1through8ordirectlyonencoders0x21through0x28.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadBreakpointPositionVIloadsthebreakpointpositionvaluefortheaxisorencoderspecified.Thebreakpointpositionisinterpreteddifferentlydependingonthebreakpointmodeandtheencoderpositionwhenthebreakpointisenabled.Youcanspecifypositionbreakpointsaseitherabsolute,relative,orwithrespecttoamodulusrangewhenthebreakpointisenabled.Breakpointpositionisdouble-bufferedandnotactuallyuseduntilyouexecutetheEnableBreakpointOutputVI.

NoteFormodulobreakpoints,themagnitudeofthebreakpointvaluemustbelessthanthebreakpointmodulus.Ifthisrangeisexceeded,amodalerrorisgeneratedwhenyouexecutetheEnableBreakpointOutputVI.NoteToloadbreakpointpositionsforbufferedbreakpoints,refertotheWriteBufferVI.TheLoadBreakpointPositionVIdoesnothaveanyaffectonbufferedbreakpoints.

Whenthebreakpointpositionisreached,abreakpointeventisgeneratedandtheassociatedhigh-speedbreakpointoutputimmediatelytransitions.

High-speedbreakpointfunctionalityisperformedbytheencoderresourcesthemselves.WhenthisVIissenttoanaxis,itisactuallybeingsenttothemappedencoderresource.

Whenthesamebreakpointpositionisusedonarepetitivebasis,itisnotnecessarytoreloadthepositioneachtime.Itisnecessary,however,tore-enablethebreakpointaftereachuse.

NoteForclosed-loopsteppersystemsinwhichtheencodercounts-per-revolutiondiffersfromthesteps-per-revolution,thecapturedpositionisinencodercounts.

ReadBreakpointStatusReadsthebreakpointstatusforallaxesorencoders.

NoteYoucannotusethisVItoreadthestatusofbufferedbreakpoints.UseCheckBuffertogetthestatusofthebuffer.

Details

DeviceCompatibility

BreakpointType(Position)isareservedinputthatmustbesettoPositionBreakpoint(0).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxiscontrolorencodercontrolselector.Formulti-axisstatus,use0(zero).Formulti-encoderstatus,use0x20.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

ThisVIallowsyoutoseeifabreakpointhasoccurredorispending.Whenyouenableabreakpoint,thecorrespondingstatusbitisresettoindicatethatthebreakpointispending.Forsinglebreakpoints,thisstatusissetwhenabreakpointoccurs.Periodicbreakpointsonlysetthebreakpointstatusafterthefirstbreakpointhasoccurred,andthestatusremainsassertedacrossthesubsequentbreakpoints.Whenthebreakpointpositionisreached,itsstatusbitissettoTrue(1).

Example

ExecutingtheReadBreakpointStatusVIwithAxisorEncoder=0x20andBreakpointType=0returnsBreakpointStatus,whichcorrespondstothefollowingbitmap.

Axis/Encoder1

Axis/Encoder2

Axis/Encoder3

Axis/Encoder4

Axis/Encoder5

Axis/Encoder6

Axis/Encoder7

Axis/Encoder8

True False False True False False False False

Onencoders1and4,breakpointshaveoccurred,butonencoders2and3,breakpointsarependingorwereneverenabled.

NoteReadBreakpointsStatusreturnsthebreakpointstatusforeitherallaxesorallencoders,basedonwhichvalueispassedintoAxisorEncoder.

SetBreakpointOutputMOMOSetsthebreakpointoutputsusingtheMustOn/MustOffprotocol.

Details

DeviceCompatibility

MustOffisthebitmapofbreakpointoutputstoforceOff:1—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).2—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).3—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).4—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).5—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).6—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).7—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).8—Iftrue,breakpointoutputisforcedOff.Iffalse,breakpointoutputisunchanged(default).

MustOnisthebitmapofbreakpointoutputstoforceOn:

UsingThisVI

TheSetBreakpointOutputMOMOVIdirectlycontrolsthebreakpointoutputsandsetsthemhighorlow.YoucanusethisVItosetbreakpointoutputstoaknownstateortocontrolthemasgeneral-purposeoutputsinnon-breakpointapplications.YoucanonlycontroltheoutputusingthisVIifthebreakpointisdisabled.

NoteTheSetBreakpointOutputMOMOVIonlyaffectstheoutputstateofthebreakpoint.Itdoesnotchangethebreakpointstatus.

Breakpointfunctionalityisperformedbytheencoderresourcesthemselves.WhenthisVIissenttoaxes,theNI-Motionfirmwareconsultsthemappingofaxestoencodersandactuallysendsthecommandtothemappedencoderresources.Breakpointsareonlyavailableonencoderresources.RefertoEncodersforencoderresourceIDs.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualbreakpointoutputswithoutaffectingtheotherbreakpointoutputs.Thisgivesyoutri-statecontrolovereachoutput:On,Off,orUnchanged.ATrueinalocationoftheMustOnbitmapsetsthebreakpointhigh,whileaTrueinthecorrespondinglocationoftheMustOffbitmapresetsthebreakpointlow.AFalseineitherbitmaphasnoeffect,soleavingboththeMustOnandMustOffbitsatzeroiseffectivelyahold,andthestateofthebreakpointoutputisunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandthebreakpointissethigh.

NoteIfthebreakpointisenabledusingtheEnableBreakpointOutputVI,youcannotchangetheoutputvalueusingSetBreakpointOutputMOMO.Thecommandisignoredbythemotioncontroller.NoteThefirstinputvectorsourceindicatesthevaluefortheMustOninputandthesecondvectorsourceindicatesthevaluefortheMustOffinput.Itisnotabitmapofthebreakpointoutput.

IfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthe

High-SpeedCaptureVIsHigh-speedcaptureinputsareanenhancementtotheencoderFPGAandareavailablewhentheencodersareoperatingasaxisfeedbackorasindependentencoderresources.High-speedcapturefunctionalityisavailableonservoandclosed-loopstepperaxes.

YoucanuseHigh-SpeedCaptureVIstoconfigure,enable,andreadthestatusofhigh-speedinputs.Bufferedhigh-speedcaptureisalsoavailableontheNI-7350motioncontrollers.Bufferedcaptureisamoreadvanceduseofhigh-speedcapturewherethecapturedpositionsarestoredinapreviously-configuredbuffer.Thishelpsthehigh-speedcaptureperformathighercapturefrequencies.RefertotheBufferedOperationsOverviewfordetailsonbufferoperationsinbufferedhigh-speedcaptureforthe7350controller.

Thehigh-speedcaptureinputsalsocanfunctionaslatchinggeneral-purposeinputs.Configuretheinputsasyouwouldforhigh-speedcaptureoperation,butignorethecapturedposition.Youcanthenreadthestateofthelatchedinputs.

ConfigureHigh-SpeedCapture

EnableHigh-SpeedCapture

ReadCapturedPosition

ReadHigh-SpeedCaptureStatus

ConfigureHigh-SpeedCaptureConfiguresthehigh-speedcaptureinputfortheappropriatesignalbehavior.

DetailsRemarks

DeviceCompatibility

Operation(Single)selectsbetweensingleandbufferedhigh-speedcapture.CaptureModeselectsamongthefollowingvaluestospecifythemannerinwhichtheincominghigh-speedcapturesignalisinterpreted:Non-InvertingLevelInvertingLevelLow-to-HighEdgeHigh-to-LowEdgeNon-InvertingDigitalInputInvertingDigitalInput

Non-InvertingLevel,InvertingLevel,Low-to-HighEdge,andHigh-to-LowEdgemodesdefinethestateoftheinputsignalthatresultsinahigh-speedcaptureevent.Non-InvertingLevelmeansthatanactivehighinputcausesacapturetooccur.Conversely,InvertingLevelmeansthatanactivelowinputcausesacapturetooccur.Noticethatifthesignalisalreadyatthespecifiedlevelwhenhigh-speedcaptureisenabled,the

UsingThisVI

Afterconfiguringthehigh-speedcaptureinput,youenablethehigh-speedcapturecircuitrywiththeEnableHigh-SpeedCaptureVI.TheReadHigh-SpeedCaptureStatusVItellsyouwhenthecaptureeventhasoccurred.Finally,youreadthecapturedvaluewiththeReadCapturedPositionVI.

High-speedcaptureinputsareanintegralpartoftheencoderresources.YoucanexecutethisVIindirectlyonaxesordirectlyonencoderresources.

Thecontrollercapturestheinstantaneousencoderpositionwhentheinputbecomesactive,asdefinedintheCaptureModeparameter.

High-speedcapturefunctionalityisavailableinbothsingleandbufferedmode.Insinglehigh-speedcapture,theinputtriggerisconfiguredtocaptureasingleencoderposition,andmustbere-enabledaftereachcapture.Youcanusebufferedhigh-speedcapturetosupporthighercapturefrequencies.Bufferedhigh-speedcaptureallowscapturespositionstobestoredintoabufferandautomaticallyre-enabledbythecontroller.Toconfigureabufferforhigh-speedcapture,refertotheConfigureBufferVI.

Youcanuseahigh-speedcaptureinputasageneral-purposeinputandreaditsstatuswiththeReadHigh-SpeedCaptureStatusVI.InNon-InvertingLevel,InvertingLevel,Low-to-HighEdge,andHigh-to-LowEdgemodes,theinputhaslatchingbehavior,meaningthatafterthehigh-speedcaptureinputisenabled,iftheinputsignaleverbecomesactive(asdefinedbytheCaptureModeparameter),thehigh-speedcapturestatusistrueuntiltheinputisreenabled.InNon-InvertingDigitalInputandInvertingDigitalInputmodes,theinputssimplyreflectthecurrentstateoftheinputsignal.Theinputdoesnotneedtobeenabledorreenabledatanytimeinthesemodes.

NoteNI-Motiondoesnotsupportbreakpointandhigh-speedcapturefunctionalityonanaxiswhentheprimaryfeedbackforthataxisisusedasanalogfeedback.NoteWhenconfiguredasadigitalinput,EnableHigh-SpeedCaptureandReadCapturedPositionhavenoeffect.Thehigh-speedcaptureinputis

Remarks

YoucansynchronizeNI73xxmotioncontrollerswithotherNationalInstrumentsdevicesusingtheRTSIbus.RefertotheSelectSignalVIforinformationaboutusingtheRTSIbusasthehigh-speedcapturetrigger.NI73xxcontrollersdonotsupportmultiplesimultaneoushigh-speedcapturesperaxis.

TheNISoftMotionControllersupportsmultiplesimultaneoushigh-speedcapturesperaxis.

TousethisVItoconfiguretheNISoftMotionControllerformultiplehigh-speedcapturesonanaxis,settheupperfourbitsoftheresourceIDtothefollowing.

Type ValuePrimaryHSCapture 0X0SecondaryHSCapture 0XA0

Forexample,toconfigureprimaryhigh-speedcaptureonaxis1,settheresourceIDto0X01.Toconfiguresecondaryhigh-speedcaptureonaxis

EnableHigh-SpeedCaptureEnablesordisablesthespecifiedhigh-speedcaptureinput.

DetailsRemarks

DeviceCompatibility

High-SpeedCaptureindicateswhethertoenableordisablethehigh-speedcaptureinput.ValuesareTrueorFalse.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencoderselector.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

statusisTRUEifanerroroccurredbeforethisVIwascalled,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.UsetheerrorhandlerVIstolookupthemeaningofthiscodeanddisplaythecorrespondingerrormessage.sourceisastringthatindicatestheoriginoftheerror,ifany.

UsingThisVI

TheEnableHigh-SpeedCaptureVIenableshigh-speedcaptureinputstocaptureinstantaneousencoderpositionwhenaninputbecomesactive.Thepositioncaptureisimplementedintheencoderresourcetoreducecapturelatencytothesub-100nanosecondrange.

NoteIfyourapplicationusestheSelectSignalVItoroutethehigh-speedcapturesource,youmustcalltheSelectSignalVIbeforeenablingthehigh-speedcapture.

High-speedcapturefunctionalityisperformedbytheencoderresourcesthemselves.WhenthisVIissenttoanaxis,itisactuallybeingsenttothemappedencoderresource.

Thehigh-speedinputshaveprogrammablepolarityandedgebehavior.YoucansetthepolarityoftheinputwiththeConfigureHigh-SpeedCaptureVI.Youcandeterminetheresultsofthehigh-speedcapturefromtheReadHigh-SpeedCaptureStatusandReadCapturedPositionVIs.

Forsinglehigh-speedcapture,youcanenableonlyonehigh-speedcaptureperaxisorencoderatatime.Whenanenabledeventiscaptured,thehigh-speedcaptureisautomaticallydisabled.Youmustexplicitlyre-enablehigh-speedcapturetouseitagain.Todisableapreviouslyenabledoperation,runthisVIagainwithHigh-SpeedCapturesettoFalse.

Forbufferedhigh-speedcapture,youneedtoenabletheinputtriggeronlyonce.Subsequenthigh-speedcapturesareautomaticallyre-enabledbythecontroller.ThisVIhasnoeffectwhentheinputtriggerisconfiguredasadigitalinput.

Ifyouareusingbufferedhigh-speedcapture,ensurethatthebufferisconfiguredbeforeyouexecutethisVI.RefertoConfigureBufferformoreinformation.

High-speedcaptureisusefulinregistrationandsynchronizationapplications.Youcancalculatesubsequentmovesrelativetothecapturedposition.Referto

Remarks

Ifyourapplicationincludesahigh-speedcapturethattakesplaceafteraFindReferencemovethatfindsanindex,youmustenablethehigh-speedcaptureafterthefindreferencemove.Ifyourapplicationincludesabufferedhigh-speedcapture,youmustalsoconfigurethebufferafterthefindreferencemove.NI73xxcontrollersdonotsupportmultiplesimultaneoushigh-speedcapturesperaxis.

TousethisVItoconfiguretheNISoftMotionControllertoenablemultiplehigh-speedcapturesonanaxis,settheupperfourbitsoftheresourceIDtothefollowing.

Forexample,toenabletheprimaryhigh-speedcapturestatusonaxis1,set

ReadCapturedPositionReadsacapturedpositionvaluefromanaxisorencoder.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxisorencodertoread.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadCapturedPositionVIreturnsthevalueinthehigh-speedcaptureregisteroftheaxisorencoderselected.Thisvaluewascapturedwhenanenabledhigh-speedcaptureinputwentactive.

High-speedcapturefunctionalityisperformedbytheencoderresourcesthemselves.WhenthisVIissenttoanaxis,thevaluereturnedisactuallyfromthemappedencoderresource.

Forbufferedhigh-speedcapture,thecapturedpositionsarestoredinabuffer.UseReadBuffertoreadthecapturedpositions.

RefertotheEnableHigh-SpeedCaptureandReadHigh-SpeedCaptureStatusVIsformoreinformationaboutthehigh-speedcaptureinputsandtypicalapplications.

NoteForclosed-loopsteppersystemsinwhichtheencodercounts-per-revolutiondiffersfromthesteps-per-revolution,thecapturedpositionisinencodercounts.

Remarks

NI73xxcontrollersdonotsupportmultiplesimultaneoushigh-speedcapturesperaxis.

TousethisVItoreadmultiplehigh-speedcapturepositionsonanaxis,settheupperfourbitsoftheresourceIDtothefollowing.

Forexample,toenabletheprimaryhigh-speedcapturestatusonaxis1,settheresourceIDto0X01.Toenablethesecondaryhigh-speedcapturestatusonaxis1,settheresourceIDto0XA1.

ReadHigh-SpeedCaptureStatusReadsthehigh-speedpositioncapturestatusforallaxesorencoders.

NoteYoucannotusethisVItoreadthestatusofbufferedhigh-speedcaptures.UseCheckBuffertogetthestatusofthebuffer.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.AxisorEncoderistheaxiscontrolorencodercontrolselector.Formulti-axisstatus,use0(zero).Formulti-encoderstatus,use0x20.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassesthe

UsingThisVI

TheReadHigh-SpeedCaptureStatusVIallowsyoutoseeifapositioncapturehasoccurredorispending.Whenconfiguredasasinglehigh-speedcapture,thecorrespondingstatusbitissetwhenaninputtriggerbecomesactive,asconfiguredinConfigureHigh-SpeedCapture.Thestatusbit,alongwiththecapturedencoderposition,islatcheduntiltheinputtriggerisre-enabled.Whenthepositioncaptureoccurs,itsstatusbitissettoTrue(1).RefertotheReadCapturedPositionVIforinformationaboutretrievingthecapturedpositionvalue.

Example

ExecutingtheReadHigh-SpeedCaptureStatusVIwithAxisorEncoder=0returnsHighSpeedCaptureStatus,asshowninthefollowingtable.

Axis1 Axis2 Axis3 Axis4 Axis5 Axis6 Axis7 Axis8False True True False False False False False

Onencodersmappedtoaxes2and3,high-speedcaptureshaveoccurred,butallothercapturesarependingorwereneverenabled.

Remarks

Thehigh-speedcapturecircuitryisalsousedduringFindIndexexecution.Whenanindexisfoundsuccessfully,thecapturestatusforthecorrespondingencoderandaxisissettoTrueasasideeffect.ExecutingtheFindReferenceIndexVIautomaticallyleavesthecorrespondinghigh-speedcaptureinputdisabledaftertheindexisfound.

FindReferenceVIsYoucanusetheseVIstoinitializethemotionsystemandestablisharepeatablereferenceposition.

Typicalclosed-loopmotionsystemsuseincrementalfeedbacktokeeptrackofposition.Atpower-up,thispositionismeaninglessuntilazeroreferencepositionisestablished.Open-loopsteppersystemsmustalsobeinitializedatpower-up.

NI-Motionprovidestwobuilt-inVIs,FindReferenceandWaitReference,toaccomplishthesetasks.FindReferenceperformssearchsequencestofindandstoponaspecificedgeofthehomeinput,findthenextinstanceoftheencoderindex,findthecenteroftravelbetweenforwardandreverselimits,orfindtheforward/reverselimit.WaitReferencereturnswhenaninitiatedfindhascompleted.Inthiswayarepeatablereferencepositionthatisaccuratetooneencodercountisestablished.

FindReference

CheckReference

WaitReference

ReadReferenceStatus

LoadReferenceParameter

GetReferenceParameter

CheckReferenceChecksthestatusofasearchsequenceinitiatedbyFindReference.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Axis/VSMap(Disabled)isthebitmapofaxesorvectorspaces(coordinatespaces)tousewiththisVI.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.Otherwise,thisparameterisignored.

Whensearchingonmultipleaxes(AxisorVectorSpace=AxisControl):

Axis1—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,donotcheckreferenceonthespecifiedaxis.Axis2—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,donotcheckreferenceonthespecifiedaxis.Axis3—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,donotcheckreferenceonthespecifiedaxis.Axis4—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,donotcheckreferenceonthespecifiedaxis.Axis5—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,donotcheckreferenceonthespecifiedaxis.Axis6—IfTRUE,checkreferenceonthespecifiedaxis.IfFALSE,

UsingThisVI

ThisVIreturnswhetherthereferenceontheindicatedaxesisfound.Thereisnoneedtospecifywhattypeoffindtowaitforbecausethecontrollerknowswhatsearchesarebeingdoneonwhataxes.ThisVIwaitsforandreportsonthesuccessofthecurrentorlastexecutedfindonanaxis,vectorspace,oragivensetofaxesorvectorspacesasawhole.

IfaFindReferenceisexecutedwiththeRunSequenceoptiontheCheckReferenceVIdoesnotrequireanAxisorVectorSpaceorAxis/VSMap.WhenwaitingonaRunSequence,theCheckReferenceVIreturnsthestatusoftheentiresequence.TheFoundReferenceBooleanreturnsTrueonlyifandwhenalloftheoperationsinthesequencearesuccessful.

WaituntiltheFindingReferenceparameterisfalsebeforecheckingthestatusoftheFoundReferenceparameter.ThestatusoftheFoundReferenceparameterisundefinedwhenFindingReferenceistrue.TheWaitReferenceVIdoesthisforyou,butyoucannotexecuteanyotherVIswhileWaitReferenceisrunning.

Example

YouinitiatedaFindHomeonAxis1,andFindCenteronAxis2andAxis3,andyouwanttocheckifallaxeshavefoundtheirreference.CallCheckReferencewiththefollowingparameters:

AxisorVectorSpace=AxisControl(0)Axis/VSMap=00001110(axis1,2,&3enabled)

FindReferenceExecutesasearchoperationtofindareferenceposition:

homeindex

forwardlimitreverselimit

centerrunsequence

DetailsRemarks

DeviceCompatibility

SearchTypeisthetypeofsearchexecutedbytheFindReferenceVI.

Value Definition Description

0 FindHome ExecutesaFindHomeonthegivensetofaxes.

1 FindIndex ExecutesaFindIndexonthegivensetofaxes.

2 FindCenter Findsthecenteroftravelonagivensetofaxes.

3 FindForwardLimit Findstheforwardlimitonagivensetofaxes.

4 FindReverseLimit Findsthereverselimitonagivensetofaxes.

5 RunSequence RunstheloadedFindSequence.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfrom

UsingThisVI

ThisVIreturnsimmediatelyafterstartingthegivenfindoperation.UsethisVIinconjunctionwithWaitReferencetodeterminewhenthefindoperationcompletesandifthefindwassuccessful.

YoucanmanuallystopasearchoperationusingMAXorbycallingtheStopMotionVI.Whenencounteringalimitorhomeinput,asearchoperationperformsahaltstopandthencontinuesbasedontheSearchType.Anunexpectedlimitconditionduringafindstopsthesequenceandgeneratesamodalerror.RefertoErrorsandErrorHandlingforinformationabouterrors.

NoteYoumustsetunusedlimitandhomeinputstotheirinactivestateusingMAXorwiththeEnableLimitsandEnableHomeInputsVIs.NoteForwardisdefinedasthedirectionofincreasingposition.TheForwardandReverseLimitsmustbelocatedattheproperendsoftravelforFindReferencetofunctionproperly.

YoucanaccesssettingsforFindReferencethroughMAX,LoadReferenceParameterandGetReferenceParameter.ForadetaileddescriptiononhowthesesettingsaffectagivenSearchType,refertothesectiononeachtype.Mostofthesesettingsareonaper-SearchTypebasis.

NoteIfyoustartacoordinate(vector)space,FindReferenceactuallystartstheaxesindividually,soitisnotacoordinatedvectormove.

SearchTypes

FindHome

FindIndex

FindCenter

FindForwardandReverseLimits

RunSequence

Remarks

Ifyourapplicationincludesahigh-speedcapturethattakesplaceafteraFindReferencemovethatfindsanindex,youmustenablethehigh-speedcaptureafterthefindreferencemove.Ifyourapplicationincludesabufferedhigh-speedcapture,youmustalsoconfigurethebufferafterthefindreferencemove.WhenperformingaresetpositionaspartofaFindReferenceoperation,addatleastoneofthefollowingtothemovecompletecriteriatoensurethatthemotorisnotmovingwhentheresetpositionexecutes:

Addadelayaftertheprofilecompletestatusistruetoallowsufficienttimebetweentheoutputandresetpositionforthemotortostop.UseConfigureMoveCompleteCriteriatoconfigureadelay.Usethein-positionsignalasacriteriaformovecomplete.TheNIPCI-7390controllerusesthissignalbydefault.ToaddthissignaltothemovecompletecriteriaforcontrollersotherthantheNIPCI-7390,useConfigureMotionI/OMaptomapthesignaltoapinandthenuseWriteTrajectoryDatatoaddin-positiontothemovecompletecriteria.Inaddition,configurethein-positionrangeonthedrivetoasmallenoughnumbertoensurethatthetargetpositionisreached.Refertoyourdrivedocumentationforinformationaboutconfiguringthein-positionrangeonthedrive.

GetReferenceParameterGetsthevalueforthespecifiedfindreferenceparameter.

DetailsRemarks

DeviceCompatibility

ParameterTypeisthetypeofparametertoget.Validvaluesare:InitialSearchDirectionFinalApproachDirectionEdgeToStopOnSmartEnableEnableResetPositionOffsetPositionPrimaryResetPositionSecondaryResetPositionApproachVelocityPercentSequenceSearchOrderEnableSearchDistanceSearchDistancePhaseAReferenceStatePhaseBReferenceStateSearchTypeisthetypeofreferencetoget.PossibleSearchTypevaluesareFindHome,FindIndex,FindCenter,andFindForward&Reverse

UsingThisVI

UsethisVItogettheparametersforFindReference.

InitialSearchDirection—If1,searchreverse.If0(default),searchforward.FinalApproachDirection—1istrueand0isfalse(default).ThefollowingtableliststhebehavioroftheFinalApproachDirectionparameterforeachtypeoffind:

FindType FinalApproachDirectionisTrue(1)

FinalApproachDirectionisFalse(0)

FindHome reverseapproach forwardapproachFindCenterFindForwardLimitFindReverseLimit

oppositetodirectionoftravelintolimit

sameasthedirectionoftravelintolimit

FindIndex N/A N/A

NoteForFindCenter,thisvaluereferstohowthecontrollerbehaveswhenapproachingandmarkingthepositionofthelimitstofindtheircenter.

EdgetoStopOn—AppliesonlytoFindHome.If1,reverseedge.If0(default),forwardedge.ApproachVelocityPercent—Thepercentoftheloadedvelocitythatagivenaxisusestoperformfinaladjustments.RefertotheRemarkssectionforvalidvalues.

FindIndexusesthispercentvelocitythroughouttheentiresearchroutine.SmartEnable—If1,appropriatelyenablesordisablesthelimitsandhomeinputbeforeexecutingafind.Thelimitsandhomeinputarereturnedtotheiroriginalstateafterthefindoperationiscomplete.TodeterminewhatstateSmartEnablesetsthelimitsorhomeinputto,refertotheappropriateSearchTypedescription.If0,youmustmanually

Remarks

TheresolutionofApproachVelocityPercentisapproximately0.4%FortheNI73xxcontrollers,ApproachVelocityPercentisasingle-precisionfloating-pointvaluefrom0.4%to150%.Thisvaluedirectlyscalestheprogrammedvelocity.Thedefaultvalueis20%.

SecondaryResetPositionisnotsupportedbytheNISoftMotionController.PhaseAReferenceStateandPhaseBReferenceStatearenotsupportedonCANopendevices.PrimaryResetPositionmustbesetto0whenyouareusingtheNISoftMotionControllerfortheCopleyControlsCANopendrives,AccelnetandXenus.TheNISoftMotionControllersupportsthefull64-bitfloatingpointrangefortheApproachVelocityPercentparameter.TheNISoftMotionControllerrequiresSearchDistance,andthus,EnableSearchDistanceisalways1(true).

LoadReferenceParameterLoadsthevalueforthespecifiedfindreferenceparameter.

DetailsRemarks

DeviceCompatibility

ParameterTypeisthetypeofparametertoload.Validvaluesare:

InitialSearchDirectionFinalApproachDirectionEdgeToStopOnSmartEnableEnableResetPositionOffsetPositionPrimaryResetPositionSecondaryResetPositionApproachVelocityPercentSequenceSearchOrderEnableSearchDistanceSearchDistancePhaseAReferenceStatePhaseBReferenceState

SearchTypeisthetypeofreferencetoload.PossibleSearchTypevaluesareFindHome,FindIndex,FindCenter,andFindForward&ReverseLimits.

UsingThisVI

UsethisVItoloadtheparametersforFindReference.ThefollowingarevalidvaluesforeachParameterType:

InitialSearchDirection—Enter1tosearchinthereversedirection.Enter0(default)tosearchintheforwarddirection.FinalApproachDirection—Enter1fortrueand0forfalse(default).ThefollowingtableliststhebehavioroftheFinalApproachDirectionparameterforeachtypeoffind:

FindType FinalApproachDirectionisTrue(1)

FinalApproachDirectionisFalse(0)

FindHome reverseapproach forwardapproachFindCenterFindForwardLimitFindReverseLimit

oppositetodirectionoftravelintolimit

sameasthedirectionoftravelintolimit

FindIndex N/A N/A

NoteForFindCenter,thisvaluereferstohowthecontrollerbehaveswhenapproachingandmarkingthepositionofthelimitstofindtheircenter.

EdgetoStopOn—AppliesonlytoFindHome.Enter1tostoponthereverseedge.Enter0(default)tostopontheforwardedge.ApproachVelocityPercent—Thepercentoftheloadedvelocitythatagivenaxisusestoperformfinaladjustments.RefertotheRemarkssectionforvalidvalues.

FindIndexusesthispercentvelocitythroughouttheentiresearchroutine.SmartEnable—Avalueof1(true)appropriatelyenablesordisablesthelimitsandhomeinputbeforeexecutingafind.Thelimitsandhomeinputarereturnedtotheiroriginalstateafterthefindoperationiscomplete.TodeterminewhatstateSmartEnablesetsthelimitsorhomeinputto,refer

Remarks

TheresolutionofApproachVelocityPercentisapproximately0.4%FortheNI73xxcontrollers,ApproachVelocityPercentisasingle-precisionfloating-pointvaluefrom0.4%to150%.Thisvaluedirectlyscalestheprogrammedvelocity.Thedefaultvalueis20%.

SecondaryResetPositionisnotsupportedbytheNISoftMotionController.PhaseAReferenceStateandPhaseBReferenceStatearenotsupportedonCANopendevices.PrimaryResetPositionmustbesetto0whenyouareusingtheNISoftMotionControllerfortheCopleyControlsCANopendrives,AccelnetandXenus.TheNISoftMotionControllersupportsthefull64-bitfloatingpointrangefortheApproachVelocityPercentparameter.TheNISoftMotionControllerrequiresSearchDistance,andthus,EnableSearchDistanceisalways1(true).

ReadReferenceStatusReadsthecurrentlyselectedreferencestatusforthegivensetofaxesorcoordinate(vector)space.

Details

DeviceCompatibility

StatusTypeistheselectorforthetypeofreferencestatustoread.

Youcanchoosefromthefollowingstatustypes:

StatusType Description

HomeFound returnsTrueifthelastFindHomeexecutedsuccessfully

IndexFound returnsTrueifthelastFindIndexexecutedsuccessfully

CenterFound returnsTrueifthelastFindCenterexecutedsuccessfully

ForwardLimitFound

returnsTrueifthelastFindForwardLimitexecutedsuccessfully

ReverseLimitFound returnsTrueifthelastFindReverseLimitexecutedsuccessfully

ReferenceFound returnsTrueifthelastFindReferenceexecutedsuccessfully

UsingThisVI

ThisVIreadsthecurrentlyselectedreferencestatusforthegivensetofaxesorcoordinate(vector)space.

Ifmultipleaxesinacoordinatespaceareselectedusingtheaxisbitmap,allaxesmusthavesuccessfullyfoundtheirlastreferenceforHomeFound,IndexFound,CenterFound,ForwardLimitFound,ReverseLimitFound,andReferenceFoundtobetrue.

IfanyoftheselectedaxesarecurrentlyexecutingaFindReference,FindingReferenceistrue.WaituntilFindingReferenceisfalsebeforecheckingthestatusofanyotherattribute.ThestatusoftheHomeFound,IndexFound,CenterFound,ForwardLimitFound,ReverseLimitFound,andReferenceFoundstatustypesareundefinedwhenFindingReferenceistrue.TheWaitReferenceVIdoesthisforyou,butyoucannotexecuteanyotherVIswhileWaitReferenceisrunning.

WaitReferenceWaitsforasearchsequenceinitiatedbyFindReferencetocompleteandreturnsthestatus.WaitReferencealsocanbeusedtoquerythestatusofasearch.

Details

DeviceCompatibility

Timeout(ms)specifieshowlong,inmilliseconds,theWaitReferencecallwaitsbeforereturning.IfthetimeoutisreachedbeforethesearchcompletestheWaitReferenceReturns.Inthismanner,WaitReferencecanbeusedtocheckthestatusofasearchbypassingatimeoutof0.Bydefault,thetimeoutis4294967295or0xFFFFFFFF.Thisvalueishandleddifferently,signifyinganinfinitewaittime.Axis/VSMap(Disabled)isthebitmapofaxesorvectorspaces(coordinatespaces)tousewiththisVI.ItisonlyrequiredwhenmultipleaxesorvectorspacesareselectedwiththeAxisorVectorSpaceparameter.Otherwise,thisparameterisignored.

Whensearchingonmultipleaxes(AxisorVectorSpace=AxisControl):

Axis1—IfTRUE,waitonthespecifiedaxis.IfFALSE,donotwaitonthespecifiedaxis.Axis2—IfTRUE,waitonthespecifiedaxis.IfFALSE,donotwaitonthespecifiedaxis.Axis3—IfTRUE,waitonthespecifiedaxis.IfFALSE,donotwaitonthespecifiedaxis.

UsingThisVI

ThisVIreturnswhenthefindontheindicatedaxesfinishesorthetimeoutisreached,whicheveroccursfirst.Thereisnoneedtospecifywhattypeoffindtowaitforbecausethecontrollerknowswhatsearchesarebeingdoneonwhataxes.ThisVIwaitsforandreportsonthesuccessofthecurrentorlastexecutedfindonanaxis,vectorspace,oragivensetofaxesorvectorspacesasawhole.

IfaFindReferenceisbeingexecutedwiththeRunSequenceoptiontheWaitReferenceVIdoesnotrequireanAxisorVectorSpaceorAxis/VSMap.WhenwaitingonaRunSequence,theWaitReferenceVIreturnswhentheentiresequencehasfinished.TheFoundReferenceBooleanreturnsTrueonlyifalloftheoperationsinthesequenceweresuccessful.

NoteYoucannotexecuteanyotherprocesseswhiletheWaitReferenceVIisrunning.UseCheckReferenceorReadReferenceStatusifyouwanttorunotherprocessessimultaneously.

Example

YouinitiatedaFindHomeonAxis1,andFindCenteronAxis2andAxis3,andyouwanttowaitforallfindsequencestofinishbeforeproceedingwiththerestoftheprogram.SimplycallWaitReferencewiththefollowingparameters:

AxisorVectorSpacesettoAxisControl(0)AxisMapsetto00001110(axis1,2,&3enabled)TimeoutisUnwired

Analog&DigitalI/OVIsYoucanusetheanaloganddigitalI/OVIstocontrolthegeneral-purposeanaloganddigitalI/OresourcesontheNImotioncontroller.Theseresourcesincludeupto32bitsofgeneral-purposedigitalI/O,PWMoutputs,RTSIlines,andanyextraencoders,ADCchannels,andDACoutputsthatarenotmappedtoanaxis.

The32bitsofdigitalI/OareavailableontheDigitalI/OConnector.Thesebitsareorganizedinto8-bitportsthatyoucanconfigureasinputsoroutputsonaport-wisebasis,oronabitwisebasis.Eachbithasindividuallyprogrammablepolaritythatyoucanconfigureasactiveloworactivehigh.Youcanusethegeneral-purposedigitalI/Oforsystemintegrationapplicationsincludingoperatorpanelswitchinputsandoutputs,relayandsolenoidactivation,triggerI/Obetweenothercontrollersand/orinstrumentsinthesystem,andsoon.

Youcanuseencoders,ADCchannels,andDACoutputsthatarenotmappedtoanaxisforgeneral-purposeI/O.Typicalusesforencoderinputsincludevelocitymonitoring,mastersformaster-slavegearing,anddigitalpotentiometerapplications.

YoucanuseunusedADCinputsandDACoutputsforanyanalogI/Othatiswithintheirspecifications.Typicalanaloginputapplicationsincludeanalogjoysticks,potentiometers,force,pressure,levelandstrainsensors,andsoon.Analogoutputapplicationsvaryfromheaterelementcontroltolaserintensitymodulation.

SetI/OPortDirection EnableEncodersSetI/OPortPolarity ReadEncoderPositionSetI/OPortMOMO ResetEncoderPositionReadI/OPort ConfigureEncoderFilterEnableADCs ConfigureEncoderPolarityReadADC ConfigurePWMOutputSetADCRange LoadPWMDutyCycleLoadDAC SelectSignal

ConfigureEncoderFilterSelectsthemaximumcountfrequencyforanencoderchannelbyconfiguringitsdigitalfilter.

Details

DeviceCompatibility

Frequency(1.6MHz)selectsthemaximumcountfrequencyforthespecifiedencoder.

FrequencyValue MaximumCountFrequency0 25.6MHz1 12.8MHz2 6.4MHz3 3.2MHz4 1.6MHz(default)5 800kHz6 400kHz7 200kHz8 100kHz9 50kHz10 25kHz11 DisabledBoardIDisauniquenumberassignedbyMeasurement&Automation

UsingThisVI

Settingthemaximumallowablecountfrequencyforanencoderisusefulforreducingtheeffectofnoiseontheencoderlines.Noiseontheencoderlinescanbeinterpretedasextraencodercounts.Bysettingthefrequencytothelowestpossiblesettingrequiredforthemotionapplication,youcanensurethehighestdegreeofaccuracyinpositioning.Inchoosingtheappropriatevalue,youmusttakeintoaccountthecountsperrevolutionoftheencoderandthemaximumvelocityfortheaxisinquestion.

Forexample,witha20,000countsperrevolutionencoderandamaximumvelocityof3,000RPM(50revolutionspersecond),theencodersignalcouldbeashighas1,000,000countspersecond.Afrequencyvalueof4,whichwouldcorrespondtoamaximumcountfrequencyof1.6MHzwouldbeappropriateinthiscase.

IfyounevercallthisVI,adefaultvalueof4(1.6MHz)isused.

TipWhentheencoderfilterischanged,resetthepositiontopreventanerroneouscount.

ConfigureEncoderPolarityConfigurestheencoderPhaseA,PhaseB,andIndexlinepolarities.

Details

DeviceCompatibility

PhaseAsetsthepolarityforencoderPhaseAtoactiveloworactivehigh.

Encoder1—Iftrue,activehigh(default).Iffalse,activelow.Encoder2—Iftrue,activehigh(default).Iffalse,activelow.Encoder3—Iftrue,activehigh(default).Iffalse,activelow.Encoder4—Iftrue,activehigh(default).Iffalse,activelow.Encoder5—Iftrue,activehigh(default).Iffalse,activelow.Encoder6—Iftrue,activehigh(default).Iffalse,activelow.Encoder7—Iftrue,activehigh(default).Iffalse,activelow.Encoder8—Iftrue,activehigh(default).Iffalse,activelow.

IndexsetsthepolarityfortheencoderIndextoactiveloworactivehigh.Encoder1—Iftrue,activehigh(default).Iffalse,activelow.Encoder2—Iftrue,activehigh(default).Iffalse,activelow.Encoder3—Iftrue,activehigh(default).Iffalse,activelow.Encoder4—Iftrue,activehigh(default).Iffalse,activelow.Encoder5—Iftrue,activehigh(default).Iffalse,activelow.Encoder6—Iftrue,activehigh(default).Iffalse,activelow.Encoder7—Iftrue,activehigh(default).Iffalse,activelow.Encoder8—Iftrue,activehigh(default).Iffalse,activelow.

BoardIDisauniquenumberassignedbyMeasurement&Automation

UsingThisVI

TheConfigureEncoderPolarityVIconfiguresthepolaritiesfortheencoderPhaseA,PhaseB,andIndexlines.ConfigureencoderpolaritiesbeforecallingtheEnableEncodersVI.

Youcanconfiguretheencoderpolarityasactiveloworactivehigh.Whenconfiguredasactivelow,theinputisactivewhenthereisalowsignalontheinputpin.Conversely,activehighmeansthattheinputisactivewhenthereisahighsignalontheinputpin.

NoteSettingPhaseAandPhaseBincorrectlycausesthefeedbacktoappeartomoveintheoppositedirection.Forexample,ifPhaseAorPhaseBisthewrongpolaritywhenmovingintheforwarddirection,thepositionappearstomoveinthereversedirection.Theoppositeoccurswhenmovinginthereversedirection.Ifbotharesetincorrectly,motionoccursinthecorrectdirectionbuttheindexmightnotworkcorrectly.

ConfigurePWMOutputEnablesanddisablesPWMoutputs,andsetsthePWMclockfrequency.

Details

DeviceCompatibility

ClockFrequencyspecifiestheclockfrequencyforthePWMoutput.

ThebaseclockfrequencyforthePWMoutputsis24.81MHzonthe7340and7330controllers,24.58MHzonthe7350controller,and20.48on7334/42/44controllers.Thisbaseclockfrequencyisdivideddowndependingontheclockvalueselected.

ThefollowingtabledescribesthePWMclockfrequencysettings:

ClockDividerValue

ClockValue*

7334/42/44ClockFrequency

7330/40ClockFrequency

7350ClockFrequency

512 0 40.00kHz 48.46kHz 48.01kHz1K 1 20.00kHz 24.23kHz 24.00kHz2K 2 10.00kHz 12.11kHz 12.00kHz4K 3 5.00kHz 6.06kHz 6.00kHz8K 4 2.50kHz 3.03kHz 3.00kHz16K 5 1.25kHz 1.51kHz 1.50kHz33K 6 625.00Hz 757.14Hz 750.09Hz

ConfigurePWMOutputEnablesanddisablesPWMoutputs,andsetsthePWMclockfrequency.

Details

DeviceCompatibility

ClockFrequencyspecifiestheclockfrequencyforthePWMoutput.

ThebaseclockfrequencyforthePWMoutputsis24.81MHzonthe7340and7330controllers,24.58MHzonthe7350controller,and20.48on7334/42/44controllers.Thisbaseclockfrequencyisdivideddowndependingontheclockvalueselected.

ThefollowingtabledescribesthePWMclockfrequencysettings:

ClockDividerValue

ClockValue*

7334/42/44ClockFrequency

7330/40ClockFrequency

7350ClockFrequency

512 0 40.00kHz 48.46kHz 48.01kHz1K 1 20.00kHz 24.23kHz 24.00kHz2K 2 10.00kHz 12.11kHz 12.00kHz4K 3 5.00kHz 6.06kHz 6.00kHz8K 4 2.50kHz 3.03kHz 3.00kHz16K 5 1.25kHz 1.51kHz 1.50kHz33K 6 625.00Hz 757.14Hz 750.09Hz

UsingThisVI

ThePWMoutputsontheNImotioncontrolleraredigitalpulse-trainoutputsthathaveafrequencyspecifiedbytheclockparameterofthisVIandadutycyclespecifiedbytheLoadPWMDutyCycleVI.TheseoutputscanbeusedtocontroldevicesthatrequireaPWMinput,suchasalaserwhoseintensityiscontrolledbyaPWMsignal,orcanbeusedtogenerateisolatedanalogoutputsbypassingthePWMoutputthroughanoptocoupler,andthenfilteringthedigitalpulsetraintoproduceananalogoutputvoltage.

WhenyouconfigureaPWMoutput,theclockfrequencyappliestobothPWMoutputs.IfyouconfigureonePWMoutputforaclockvalueof3,andthenthesecondPWMoutputforaclockvalueof4,thevalueof4appliestobothPWMoutputs.

TheonlyexceptioniswhentheclocksettingsforthetwoPWMoutputsare0and8,1and9,2and10,andsoon,inwhichcaseeachoutputhasadifferentfrequency.Thisisbecauseclockvalues0–7and8–15arepaired.Clockvalues0and8usethecommontimebaseof10.24MHz(12.8MHzonthe7350).Thefrequencyofclockvalue0isfoundbydividingthetimebaseby256,whileclockvalue8isfoundbydividingthetimebaseby32768.IfyouhaveanNI7344controllerandyouswitchchannelBtoclockvalue10,thetimebasechangesto2.56MHz.ThischangealsoswitcheschannelAto2.56/256=10kHz.Therefore,ifthevalueinonesetchanges,itswitchestheotherchanneltothepairingclockvalue.Ifthetwovaluesareinthesamegroup,thetwochannelshavethesamefrequency.

Touseanexternalclock(clockvaluesof7or15),connecttheexternalclocksignaltothePCLKinputontheDigitalI/Oconnector.

EnableADCsEnablesoneormoreoftheunmappedADCchannels.

Details

DeviceCompatibility

ADCMap(Enabled)isthebitmapofADCchannelstoenable:IfADCMap0isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap1isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap2isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap3isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap4isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap5isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap6isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.IfADCMap7isTRUE(default)theADCchannelisenabled.IfitisFALSEtheADCchannelisdisabled.

UsingThisVI

TheEnableADCsVIenablesoneormoreindependentADCchannelsforuseasgeneral-purposeanaloginputs.ThecontrollerreturnsanerrorifyouattempttoenableordisableanADCbeingusedasanaxisfeedbackwhentheaxisisenabled.Thesefeedbackchannelsareautomaticallyenabled/disabledwhenyouenableordisabletheircorrespondingaxiswiththeEnableAxesVI.Youmustfirstdisabletheaxisusinganalogfeedback,thenenableordisableADCs.

TheNI-MotionAnalog-to-DigitalConverter(ADC)multiplexesbetweenchannelswithascanrateofapproximately40µsperchannelforthe7340motioncontroller,and25µsperchannelforthe7350motioncontroller.Therefore,thetimebetweensamplesforaspecificADCchannelisasfollows:

7330/40:ADCsampletime=40µs/channel×(numberofenabledchannels)

7350:ADCsampletime=25µs/channel×(numberofenabledchannels)

Bydefault,allchannelsareenabledatpower-up.Youmustdisableunusedchannelstoincreasethescanrateanddecreasethesampletime.

The40µs/channelscanrateisfastenoughtosupportanalogfeedbackatthefastestPIDupdateratesaslongasnoadditionalADCchannelsareenabled.

Example

ToenableADCchannels1,3,5,and7onthe7350motioncontroller,calltheEnableADCsVIwithAxisMap,asfollows.

0(ADC1)

1(ADC2)

2(ADC3)

3(ADC4)

4(ADC5)

5(ADC6)

6(ADC7)

7(ADC8)

True False True False True False True False

Undernormalconditions,becauseADCchannels2,4,6,and8aresettoFalse,theyaredisabledwhenyouexecutethisVI.However,ifADCchannel2is

EnableEncodersEnablesoneormoreoftheunmappedencoderresources.

Details

DeviceCompatibility

EncoderMap(Disabled)isthebitmapofencoderresourcestoenable.Encoder1—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder2—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder3—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder4—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder5—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder6—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder7—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).Encoder8—Iftrue,theencoderisenabled.Iffalse,theencoderisdisabled(default).

UsingThisVI

TheEnableEncodersVIenablesoneormoreindependentencoderchannelsforuseasgeneral-purposeencoderinputs.Ithasnoeffectonencodersthataremappedtoaxesandbeingusedforaxisfeedback.Thesefeedbackencodersareautomaticallyenabled/disabledwhentheircorrespondingaxisisenabledordisabledwiththeEnableAxesVI.Bitlocationscorrespondingtomappedencodersareignored,asareencoderresourcesthatdonotexist.Forexample,encoderresources5through8areignoredforcontrollersthatsupportamaximumoffouraxes.

Typicalusesforindependentencoderinputsincludevelocitymonitoring,mastersformaster-slavegearing,anddigitalpotentiometerapplications.

Example

Toenableencoders3and4onthemotioncontroller,calltheEnableEncodersVIwiththefollowingEncoderMap.

Encoder1 Encoder2 Encoder3 Encoder4 Encoder5 Encoder6 Encoder7 Encoder8False False True True False False False False

Normally,becauseencoders1,2,5,and6aresettoFalse,theyisdisabledwhenyouexecutethisVI.However,ifencoder2isalreadybeingusedasfeedbackforaxis2andaxis1isnotbeingused,thedisableFalseforEncoder2isignoredresultinginthefollowingenabledencoders.

Encoder1 Encoder2 Encoder3 Encoder4 Encoder5 Encoder6 Encoder7 Encoder8False True True True False False False False

Thereisalimitonthenumberofenabledencoderssupportableatthefasterupdaterates.Attemptingtoenabletoomanyencodersgeneratesanerror.RefertotheEnableAxesformoreinformationaboutupdateratelimitations.

UsingThisVI

TheEnableEncodersVIenablesoneormoreindependentencoderchannelsforuseasgeneral-purposeencoderinputs.Ithasnoeffectonencodersthataremappedtoaxesandbeingusedforaxisfeedback.Thesefeedbackencodersareautomaticallyenabled/disabledwhentheircorrespondingaxisisenabledordisabledwiththeEnableAxesVI.Bitlocationscorrespondingtomappedencodersareignored,asareencoderresourcesthatdonotexist.Forexample,encoderresources5through8areignoredforcontrollersthatsupportamaximumoffouraxes.

Typicalusesforindependentencoderinputsincludevelocitymonitoring,mastersformaster-slavegearing,anddigitalpotentiometerapplications.

Toenableencoders3and4onthemotioncontroller,calltheEnableEncodersVIwiththefollowingEncoderMap.

Encoder1 Encoder2 Encoder3 Encoder4 Encoder5 Encoder6 Encoder7 Encoder8False True True False False False False

Normally,becauseencoders1,2,5,and6aresettoFalse,theyisdisabledwhenyouexecutethisVI.However,ifencoder2isalreadybeingusedasfeedbackforaxis2andaxis1isnotbeingused,thedisableFalseforEncoder2isignoredresultinginthefollowingenabledencoders.

Encoder1 Encoder2 Encoder3 Encoder4 Encoder5 Encoder6 Encoder7 Encoder8True True True False False False False

Thereisalimitonthenumberofenabledencoderssupportableatthefasterupdaterates.Attemptingtoenabletoomanyencodersgeneratesanerror.RefertotheEnableAxesVIformoreinformationaboutupdateratelimitations.

LoadDACLoadsanoutputvaluetoanunmappedDACresource.

DetailsRemarks

DeviceCompatibility

DACValue(0)isthevaluesenttotheDAC.Theparameterrangeis-32,768to+32,767,correspondingtothefull±10Voutputrange.

NoteDACtorquelimitsandoffsetsdonotapplywhendirectlyloadingaDAC.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.DACistheDACtocontrol.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadDACVIisusedtosendavaluedirectlytoanunmappedDACresource.DACsnotmappedasservoaxisoutputsareavailableforgeneral-purposeanalogoutputapplications.

CautionYoumustnotexecutethisVIonaDACmappedtoanaxis.DoingsocausestheDACoutputtoglitchmomentarilybeforereturningtoaxiscontrol.

Remarks

ThefollowingincludesconsiderationsyoumustmakewhenyouareusingthisVIwiththeNISoftMotionController:

Iftheaxisisenabled,thecontrolloophasownershipofthedrivecommandoutput,andthevaluethatthisVIsendsisignored.

LoadPWMDutyCycleSetsthedutycycleforaPWMoutput.

Details

DeviceCompatibility

DutyCycle(0)isavaluebetween0and255thatspecifiestheamountoftimethePWMoutputishigh.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.PWMOutputselectsthePWMOutputtoconfigure(1or2).InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheDutyCycledeterminestheamountoftimethePWMoutputishigh.ADutyCycleof0correspondstoa0Voutput,andaDutyCycleof255correspondstoapulsetrainthatishighfor255/256=99.6%ofthetime.UsetheConfigurePWMOutputVItosetthefrequencyofthePWMoutputsignal.

YoucansettheDutyCyclebeforeorafterconfiguringaPWMoutput.Bydefault,theDutyCycleis0,soifyoucalltheConfigurePWMOutputVItoconfigureaPWMoutput,theoutputislowuntilyousettheDutyCycledifferently.IfyousettheDutyCyclefirst,thePWMoutputreflectsthisDutyCycleimmediatelyaftercallingtheConfigurePWMOutputVI.

NoteIfyouaredoingonboardprogrammingandareusingInpVecttogetthedatathisVIneeds,rememberthatthisVIreadsthevariablesstartingatthememoryaddresspointedtobyInpVectinthefollowingorder:PWMOutput,DutyCycle.

ReadADCsReadstheconvertedvaluefromanADCinputchannel.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.ADCistheAnalog-to-DigitalConverterchanneltoread.ValidADCresourcesare0x51(81)through0x5F(95).RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadADCVIreturnstheconvertedvoltagefromanyoftheanaloginputchannels.YoucanonlyreadvaluesfromchannelsthathavebeeneitherdirectlyenabledbytheEnableADCsVIorautomaticallyenabledbybeingmappedtoanenabledaxis.

ForanADCchannelmappedtoanaxis,thisVIreturnstheactualADCvalue.Incontrast,theReadPositionVIexecutedontheowneraxisreturnsanADCvaluethathasbeenoffsetbyaresetvaluestoredwhentheResetPositionVIwasexecuted.ADCchannelsareneverinternallyresetsotheirDCvaluesarepreserved.

ReadI/OPortReadsthelogicalstateofthebitsinanI/Oport.

DetailsRemarks

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Port(1)isthegeneral-purposeI/Oport(1–8)orRTSIsoftwareport(9)toread.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadI/OPortVIreadsthelogicalstateofthebitsinthegeneral-purposeI/Oportselected.YoucanexecutethisVIatanytimetomonitorthesignalsconnectedtoaninputport.ReadsofportsconfiguredasoutputsreturnthelastvaluewrittentotheportwiththeSetI/OPortMOMOVI.

NoteThisVIreadsthelogicalstate(OnorOff,TrueorFalse)ofthebitsinaport.ThepolarityofthebitsintheportdetermineswhetheranOnstateisactivehighoractivelow.RefertotheSetI/OPortPolarityVIformoreinformation.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Remarks

ThefollowingincludesconsiderationsyoumustmakewhenyouareusingthisVIwitha73xxcontroller:

ThePCI-7390hasdedicateddirectionI/Oports.Referto73xxControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

Forexample,toreadthestateofinputport3,Portis0x03(3).Toreadthevaluepreviouslysetonoutputport2,Portis0x82(130)WhenreadingtheRTSIport,thevaluereadisthelatcheddata,soyoucandetectactivepulsesontheRTSIbus.Afterreadingthelatcheddatavalue,theVIresetsthelatch.UsetheSetI/OPortPolarityVItospecifythepolarity—andthereforetheactivestate—forlatching.

TheNISoftMotionControllerhasdedicateddirectionI/Oports.RefertoNISoftMotionControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

Forexample,toreadthestateofoutputport2,Portis0x82(130).Toreadthestateofinputport3,Portis0x03(3).TheRTSIportisnotsupportedbytheNISoftMotionController.

ResetEncoderPositionResetsthepositionofanunmappedencodertothespecifiedvalue.

Details

DeviceCompatibility

ResetPosition(0)istheresetvaluefortheencoderresource.Youcanresetpositiontoanyvalueinthetotalpositionrangeof-(231)to+(231–1).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Encoderisencodertoreset.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheResetEncoderPositionVIresetsthepositionoftheselectedencoder.Youcanresetpositiontozeroortoanyvalueinthe32-bitpositionrange.Normally,thisVIisonlyusedonindependentencodersthatarenotmappedtoaxes.Forencodersmappedtoaxes,usetheResetPositionVIinstead.

NoteAttemptingtoresetanencoderthatismappedtoanaxisgeneratesanerror.

EnabledbreakpointsarealsoautomaticallydisabledwhenyouexecuteResetEncoderPositiononthecorrespondingaxis.

Encoderpositioncanberesetatanytime.However,itisrecommendedthatyouresetpositiononlywhiletheencoderisstopped.Anencoderresetwhileitismovingdoesnothavearepeatablereferenceposition.

NoteNon-zeroresetvaluesareusefulfordefiningapositionreferenceoffset.

SelectSignalSpecifiesthesourceanddestinationforvariousmotionsignals:

triggerinputshigh-speedcapturecircuitsbreakpointoutputs

RTSIlinesRTSIsoftwareports

Details

DeviceCompatibility

SourceisthesourceofthesignaltoroutetoDestination.

ForaDestinationvalueofHigh-speedCapture[1..8],thevalidSourcevaluesareasfollows.

Source CommentsRTSI[0..7] RTSIlines0through7PXIStarTrigger PXIstartriggerlineTriggerInput Triggerinputforthecorrespondingaxis

NoteYoumustroutesignalsfromtheRTSIlinesbeforeyouenable

UsingThisVI

WhenthedestinationisRTSI[0..7]orPXIStarTrigger,themotioncontrollerdrivestheRTSIlineasanoutput.WhenthedestinationisHigh-speedCapture[1..8],theRTSIlineservesasaninputforthehigh-speedcapturecircuitry.ThisVIisusedtosetthedirectionoftheRTSIlines.TheRTSIlinescanalwaysbereadusingtheReadI/OPortVI,regardlessofthewaytheyarecurrentlyconfigured.

TomanuallysetthestateoftheRTSIlines,settheSourcefortheRTSIlinetobeRTSISoftwarePort.UsetheSetI/OPortMOMOVItosetthestateofthelines.

ThesignalseenontheRTSI4pinisahighpulseof120to150nsduration.TheactionspecifiedintheEnableBreakpointOutputVIonlyappliestothebreakpointoutputpinonthemotionI/Oconnector,nottoRTSIpins.

Example1

TousethesignalcominginonRTSIpin3totriggerthehigh-speedcaptureonencoder/axis1,connectDestinationtoHigh-SpeedCapture1andSourcetoRTSI3.

Thepolarityofthehigh-speedcaptureinputisspecifiedbytheConfigureHigh-SpeedCaptureVI.

Example2

Tooutputthebreakpointsignalforaxis2onRTSIpin4,connectDestinationtoRTSI4andSourcetoBreakpoint2.

Example3

TodriveRTSIpin5withthecorrespondingbit(bit5)oftheRTSIsoftwareport,connectDestinationtoRTSI5andSourcetoRTSISoftwarePort.TosetthestateoftheRTSIsoftwareport,usetheSetI/OPortMOMOVI.

SetADCRangeSetsthevoltagerangefortheanalogtodigitalconverters,onaper-channelbasis.

Details

DeviceCompatibility

Range(–10to+10)specifiestheinputvoltagerangeoverwhichtheADCconvertsinputvoltagestodigitalvalues.Voltagesoutsideoftherangeclampsattheextremes,whichare–2048or+2047(7330/40)and–32,768to+32,767(7350)forthe–5to+5Vand–10to+10Vranges,and0to4,096(7330/40)and0to+65,535(7350)forthe0to+5Vand0to+10Vranges.Youcanchoosefromthefollowingvaluesfortherange:

BinaryValuesRangeValues 7350 7330/400to5 0to+65,535 0to+4,095–5to+5 –32,768to+32,767 –2,048to+2,0470to+10 0to+65,535 0to+4,095–10to+10(default) –32,768to+32,767 –2,048to+2,047BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.ADCistheanalog-to-digitalconverterchanneltoconfigure.ValidADCresourcesare0x51through0x5F.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIruns

UsingThisVI

IfyoudonotcallthisVI,therangedefaultsto–10to+10V.Ifyouknowthattheinputvoltagefallswithinamorerestrictiverange,youcaneffectivelyincreasetheresolutionofthemeasurementsbyselectinganappropriaterangefromthepreviouslist.

NoteWiththe7350motioncontroller,changingtherangeofanADCchangesallotherADCstothesamerange.OtherNImotioncontrollerscansettherangeindependentofotherADCs.

Forexample,ifyouareusinga7340motioncontroller,theinputsignalrangesfrom–3to+3V,andyouselectthe–5to+5Vrange,the4,096discretevaluesfortheADCare2.44mVapartinsteadofthe4.88mVapartwhenusingthe–10to+10Vrange.Ifyouareusinga7350motioncontroller,theinputsignalrangesfrom–3to+3V,andyouselectthe–5to+5Vrange,the65,536discretevaluesfortheADCare152µVapartinsteadofthe305µVapartwhenusingthe–10to+10Vrange.

ADCrangescannotbechangedonanyADCwhileanaxisthatisusinganalogfeedbackisenabled.Youmustfirstdisabletheaxisusinganalogfeedback,thenchangetherange.

Formoreinformation,refertotheReadADCsandEnableADCsVIs.

SetI/OPortDirectionSetsthedirectionofageneral-purposeI/Oportasinputoroutput.

Details

DeviceCompatibility

Direction(Input)isthebitmapofdirectionsforthebitsintheI/Oport:IfDirectionBit0isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit1isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit2isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit3isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit4isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit5isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit6isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.IfDirectionBit7isTRUE(default)thebitissettoinput.IfitisFALSEthebitissettooutput.

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfrom

UsingThisVI

TheSetI/OPortDirectionVIconfiguresthebitsinageneral-purposeI/Oportasinputoroutput.Aftersettingthedirection,usetheReadI/OPortVItoreadtheport,theSetI/OPortMOMOVItowritetotheport,andtheSetI/OPortPolarityVItosetthepolarityofeachbitintheporttoactivehighoractivelow.

NoteThedirectionofbitsintheRTSIsoftwareport(port9)iscontrolledwiththeSelectSignalVI.

SetI/OPortMOMOSetsanI/OportvalueusingtheMustOn/MustOffprotocol.

DetailsRemarks

DeviceCompatibility

MustOffisthebitmapofI/Oportbitstoforceoff.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.MustOnisthebitmapofI/Oportbitstoforceon.InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.Port(1)isthegeneral-purposeI/Oport(1–8)orRTSIsoftwareport(9)tocontrol.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheSetI/OPortMOMOVIsetsthelogicalstateofbitsinthegeneral-purposeI/Oportselected.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualbitswithoutaffectingotheroutputbitsintheport.Thisgivesyoutri-statecontrolovereachbit:on,offorunchanged.ATrueinabitlocationoftheMustOnbitmapturnsthebiton,whileaTrueinthecorrespondinglocationoftheMustOffbitmapturnsthebitoff.AFalseineitherbitmaphasnoeffect,soleavingboththeMustOnandMustOffbitsatzeroiseffectivelyaholdandthestateofthebitisunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandthebitisturnedon.

NoteThisVIsetsthelogicalstateofabitOnorOff(TrueorFalse).ThepolarityofthebitsintheportdetermineswhetheranOnstateisactivehighoractivelow.RefertothePortPolarityVIformoreinformation.NoteWhenexecutingtheSetI/OPortMOMOVIinaLabVIEWprogram,theremaybeadelayofupto0.5msbeforetheoutputlinesarephysicallyupdated.TheLabVIEWprogramflowcontinues,eventhoughtheoutputmaynotbeupdatedyet.NoteIfthemotioncontrollerisprogrammedtousetheportforoutputwhenithasbeenconfiguredforinput,theactionisignored.

TheSetI/OPortMOMOVIallowsindividualcontrolofgeneral-purposeoutputbitswithoutrequiringashadowvalueorareadoftheporttorememberthestateofotherbitsnotbeingsetorresetwiththeVI.

Example

TipThissectionappliestoallNImotioncontrollers.

InI/Oport2,tosetbits1and3On,bits0and5Off,andtoleavetheotherbits(2,4,6,and7)unchanged,callthisVIwiththefollowingparameters:

Port=2MustOncorrespondstothevaluesshowninthefollowingtable.

UsingThisVI

TheSetI/OPortMOMOVIsetsthelogicalstateofbitsinthegeneral-purposeI/Oportselected.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualbitswithoutaffectingotheroutputbitsintheport.Thisgivesyoutri-statecontrolovereachbit:on,offorunchanged.A

inabitlocationoftheMustOnbitmapturnsthebiton,whileaTrueinthecorrespondingMustOffbitmapturnsthebitoff.AFalseineitherbitmaphasnoeffect,soMustOnandMustOffbitsatzeroiseffectivelyaholdandthestateofthebit

isunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandthebitisturnedon.

ThisVIsetsthelogicalstateofabitOnorOff(TrueorFalse).ThepolarityofthebitsintheportdetermineswhetheranOnstateisactivehighoractivelow.RefertotheSetI/O

VIformoreinformation.WhenexecutingtheSetI/OPortMOMOVIinaLabVIEWprogram,theremaybea

delayofupto0.5msbeforetheoutputlinesarephysicallyupdated.TheLabVIEWprogramflowcontinues,eventhoughtheoutputmaynotbeupdatedyet.

Ifthemotioncontrollerisprogrammedtousetheportforoutputwhenithasbeenconfiguredforinput,theactionisignored.

TheSetI/OPortMOMOVIallowsindividualcontrolofgeneral-purposeoutputbitswithoutrequiringashadowvalueorareadoftheporttorememberthestateofotherbitsnotbeingsetorresetwiththeVI.

ThissectionappliestoallNImotioncontrollers.

InI/Oport2,tosetbits1and3On,bits0and5Off,andtoleavetheotherbits(2,4,6,and7)unchanged,callthisVIwiththefollowingparameters:

correspondstothevaluesshowninthefollowingtable.

Remarks

AlineconfiguredforinputisnotaffectedbythisVI.YoucanalwayswritetotheRTSIsoftwareport,buttheactualRTSIlinesonthephysicalRTSIportareonlyaffectediftheRTSIlinehasbeenconfiguredproperlybyusingtheSelectSignalVI.Bydefault,noneoftheRTSIlinesareconfiguredtooutputtheircorrespondingbitsintheRTSIsoftwareport;youmustconfigureeachRTSIlineindividuallyusingtheSelectSignalVI,ratherthantheSetI/OPortDirectionVI.ThePCI-7390hasdedicateddirectionI/Oports.Referto73xxControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

Forexample,tosetthestateofoutputport2,Portis0x82(130).Tosetthestateofinputport3,Portis0x03(3).

RefertoGeneral-PurposeI/OPortsforinformationabouthowtheNISoftMotionControllersupportsdigitalinputandoutputlinesforeachaxis.ForInpVect,theNISoftMotionControllersupportsonlytheimmediatevector(0XFF).TheNISoftMotionControllerhasdedicateddirectionI/Oports.RefertoNISoftMotionControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

SetI/OPortPolaritySetsthebitpolarityinageneral-purposeI/Oport.

DetailsRemarks

DeviceCompatibility

IOPolarityisthebitmapofactivepolaritiesfortheI/Oport:IfIOPolarityBit0isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit1isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit2isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit3isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit4isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit5isTRUE(default)thebitissettoactivelow/activeopen.IfitisFALSEthebitissettoactivehigh/activeclosed.IfIOPolarityBit6isTRUE(default)thebitissettoactive

UsingThisVI

TheSetI/OPortPolarityVIsetsthepolarity(activestate)ofthegeneral-purposeI/Oportonanindividualbitbasis.

Whenconfiguredasactivelow,theinputoroutputisactivewhenthereisalowsignalonthepin.Conversely,activehighmeansthattheinputoroutputisactivewhenthereisahighsignalonthepin.

Configuringanactivestateofactiveopenoractivecloseddoesnotcorrespondtothelevelofthesignalontheinputoroutputpin.Instead,anactiveopenstatemeansthattheinputoroutputisactivewhencurrentisnotflowingthroughtheoptocoupledinput.Conversely,anactiveclosedstatemeansthattheinputoroutputisactivewhencurrentisflowingthroughtheoptocoupledinput.

Typically,portsandtheirpinsareconfiguredfordirectionandpolarity(activestate)atinitialization.Afterconfiguration,youcanthenreadorwritelogicalstates(TrueorFalse,OnorOff)toportswithoutworryingaboutthephysicalstatesofsignalsontheportpins.

Remarks

ThepolarityalsodefinesthelatchingbehaviorfortheRTSIport.InordertodetectshortpulsesonRTSIlines,thehardwarelatchesactive-goingsignalsandholdsthatstateuntiltheportisread.Forexample,ifyouconfigureabitforactivelowpolarity,atransitionfromhightolowislatcheduntilread,evenifthesignalgoeshighagain.Ifthesignalstartslow,itisalsolatcheduntilread,evenifthesignalishighwhenyoureadthebit.ThePCI-7390hasdedicateddirectionI/Oports.Referto73xxControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

Forexample,toconfigurethepolarityoftheoutputportonaxis2,Portis0x82(130).Toconfigurethepolarityoftheinputportonaxis3,Portis0x03(3).

TheNISoftMotionControllerhasdedicateddirectionI/Oports.RefertoNISoftMotionControllerGeneral-PurposeI/OPortIDsfortheappropriateportnumbertouseforPort.

Forexample,toconfigurethepolarityoftheoutputportonaxis2,Portis0x82(130).Toconfigurethepolarityoftheinputportonaxis3,Portis

Error&UtilityVIsYoucanusetheerrorhandlingVIsandutilityVIstogetinformationaboutthemotioncontroller.RefertoErrorsandErrorHandlingformoreinformationabouterrors.

GetMotionBoardInformation

Getu32

Setu32

SelectResource

SelectMOMO

MotionErrorHandler

ErrorMonitor

Subpalette

AdvancedError&UtilityVIs

ErrorMonitorDisplaystheerrorsreturnedbytheNI-Motionsoftwareandcontroller.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.stopisusedtocontrolthemonitoringprocess.BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardIDterminalofthenextVI.

UsingThisVI

ThisVIcanbemadetoruncontinuouslyinthebackgroundasaseparateVItomonitorthemotioncontrollerforerrors.

GetMotionBoardInformationGetsinformationaboutthepropertiesandfeaturesofthemotioncontroller.

DetailsRemarks

DeviceCompatibility

Desiredinformationrepresentsthetypeofinformationyouwanttoretrieveaboutthemotioncontroller.Thefollowingtablehasacompletelistofinformationvalues,aswellasoutputparametersrelevantforeachtypeofinformationreturned.

DesiredInformation

RelevantOutputTerminal

PossibleOutputValues

BoardFamily(0)

Numericout,Valueout

NI-MotionFamily(0)

BoardName(1)

Stringout Nameofcontroller

PCI_7344(28)PXI_7344(27)PCI_7342(37)

PCI_7340(61)PXI_7340(62)

UsingThisVI

ThisVIreturnsselectedinformationaboutNImotioncontrollersincludingcontrollertypeandfamily,bustype,numberofaxes,andsoon.

NI-MotionalsohasfourinformationtypesforretrievingtheversionnumbersandreleasedatesofthefirmwaresegmentsloadedintheonboardFlashROM.AllfirmwaresegmentsarefieldupgradableusingtheUpdateFirmwareoptioninMeasurement&AutomationExplorer.Versionsarereturnedinaversion-buildcodeformat:

Version-buildcode=MMmmbbbb,whereMMisthemajorversionnumber,mmistheminorversionnumber,andbbbbisthebuildnumber.

Remarks

TheNISoftMotionControllerdoesnotsupportthefollowingenumerationsfortheDesiredInformationparameter:

FirmwareVersionDSPVersionFPGAVersionFPGA2Version

Getu32Getsthegeneralsoftwaresettings.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.ResourceistheAxis,VectorSpace,ADC,orEncoderyouwiredintotheVI.UseResourceOutputtopasstheresourcetoanotherVIand/ortodisplayinformationaboutthedevice.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

Attributeistheselectorforthetypeofinformationyouwanttoretrieve.

UsingThisVI

TheGetu32VIreturnsselecteddataaboutsoftwaresettings.ThisVIcanretrievevaluesstoredinintegerformat.

Attribute Resource Description PossibleValues

BreakpointWindow

Axisorencoder

Aftertheaxisencountersabreakpoint,theaxismustmoveoutsidethebreakpointwindowbeforeitcanrearmforanotherbreakpoint.Thisisusedtopreventoscillationfromsendingmultiplebreakpointoutputsfromthesamebreakpointposition.Thedefaultis0.

0to255

ProgramAutoStart N/A

Usethisattributetoreturntheonboardprogramthatisenabledforautostart. —

GearingEnableStatus

Axiscontroloraxis

Usethisattributetoreadthegearingenablestatusonanindividualaxisoronaxesonethrougheightusingtheaxiscontrolresource.Readingthestatusonaxesonethrougheightreturnsabitmapwherebit0isthestatusforaxis1andsoon.Readingthestatusonanindividualaxisreturnsabitmapthatismaskedforthataxis.

Foreachbitinthebitmap:1=gearingenabled0=gearingdisabled

UsingUnlistedResources

CompletethefollowingstepstousethisVIonresourcesthatarenotinthedrop-downlist:

1. OpentheVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheResourceterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheResourceconstantandselectOther.

MotionErrorHandlerChecksformodalerrorsonthecontroller.

Details

DeviceCompatibility

UsingThisVI

IfthemodalerrorseverityinputisTRUE(error),modalerrorsaretreatedaserrors.Thefirstmodalerroristhenpassedoutthroughtheerroroutterminal.IfthisinputisFALSE(warning),modalerrorsaretreatedaswarnings.

WhenusingsubVIsthatincorporatetheerrorin/errorout(orerrorI/O)structure,placethishandlerwhereyouwanttoinformtheuserofanerror,typicallyattheendoftheI/Odatapath,asthelastactionoftheprogram.IftheerrorinstatusisTRUE(aredX),thehandlercreatesamessagedescribingtheerroranditssource.

IftheTypeofDialoginputis1(default),themessageisdisplayedtotheuser,whocanonlyacknowledgeit.Ifthisinputis2,theusercanacknowledgethemessageorabortexecution.Iftheinputis0,nomessageisdisplayed;usethisvaluetoprocesstheerrorprogrammatically.

ThisVIalwayschecksformodalerrorsonthecontroller.IftheModalErrorSeverityinputisTRUE(error),modalerrorsaretreatedaserrors.Thefirstmodalerroristhenpassedoutthroughtheerroroutterminal.IfthisinputisFALSE(warning),modalerrorsaretreatedaswarnings.

IftheModalErrorRetrievalModeinputisTRUE(single),onlyonemodalerrorisreadfromthecontroller'serrorstack.IfthisinputisFALSE(all),allofthemodalerrorsonthecontrollerareread.ModalerrorsthatarereadfromthecontrollerareplacedintotheModalError(s)Outoutputarray.

SelectResourceThisutilityVIisusedtocombineresourceIDsfromanarrayintoasinglebitmap.

Details

DeviceCompatibility

ResourceistheAxis,VectorSpace,ADC,orEncoderyouwiredintotheVI.UseResourceOutputtopasstheresourcetoanotherVIand/ortodisplayinformationaboutthedevice.Bitmapisthebitmapcorrespondingtothecombinationoftheresourcesselected.

UsingThisVI

SelectResourceVIisusedtogenerateinputbitmapsforVIsthatoperateonmultipleresources.

ThisVIreturnsabitmapbasedontheresourceIDswiredin.Theorderoftheresourceswiredindoesnotmatter.Thetrue/falsestateofabitinthebitmapiscontrolledbytheresourceIDandnotbythewireposition.

ThisVIisusefulwhenusedwithStart,Stop,andBlendVIs.

SelectMOMOThisutilityVIisusedtocombineresourceIDsintoasinglebitmap.

Details

DeviceCompatibility

ResourceistheAxis,VectorSpace,ADC,orEncoderyouwiredintotheVI.UseResourceOutputtopasstheresourcetoanotherVIand/ortodisplayinformationaboutthedevice.MustOn/OffThebitmapcorrespondingtothecombinationoftheresourcesselectedinMustOn/MustOffformat.

UsingThisVI

SelectMOMOVIisusedtogenerateinputbitmapsforVIsthatusetheMustOn/MustOffformatprotocol.

ThisVIreturnsabitmapbasedontheresourceIDswiredin.Theorderoftheresourceswiredindoesnotmatter.Thetrue/falsestateofabitinthebitmapiscontrolledbytheresourceIDandnotbythewireposition.

ThisVIisusedtogenerateinputbitmapsforVIsthatusetheMustOn/MustOffformatprotocol.

Setu32Setsthegeneralsoftwaresettings.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.ResourceistheAxis,VectorSpace,ADC,orEncoderyouwiredintotheVI.UseResourceOutputtopasstheresourcetoanotherVIand/ortodisplayinformationaboutthedevice.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

Valueistheselectorforthetypeofdatayouwanttoset.

UsingThisVI

TheSetu32VIsetsselectedsoftwaresettingsasspecifiedbyAttribute.ThisVIcansetvaluesstoredinintegerformat.

Thefollowingtableshowstheattributesyoucanset,theirdescriptions,andpossiblevalues:

Attribute Resource Constant Description Values

BreakpointWindow

Axisorencoder 0x0200

Aftertheaxisencountersabreakpoint,theaxismustmoveoutsidethebreakpointwindowbeforeitcanrearmforanotherbreakpoint.Thisisusedtopreventoscillationfromsendingmultiplebreakpointoutputsfromthesamebreakpointposition.Thedefaultis0.

NoteThebreakpointwindowmustbesmallerthanthebreakpointmodulusorperiod.Amodalerrorisgeneratedwhenthebreakpointwindowislargerthantheloadedbreakpointmodulusorperiod.

0to255

Pull-inWindow Axis 0x0400

Forclosed-loopstepperaxes,anareaaroundthetargetpositionthatdetermineswhetherornottodoanymorepull-inmoves.Oncewithinthearea,themotioncontrollerstopsdoingpull-intries.Thedefaultis1.

0to32,767

Pull-inTries Axis 0x0401

Themaximumnumberoftimestheclosed-loopstepperaxistriestoreachthetargetposition.Itwilltryuntilitiswithintherangespecified 0to

32,767

UsingUnlistedResources

CompletethefollowingstepstousethisVIonresourcesthatarenotinthedrop-downlist:

1. OpentheVIinLabVIEW.2. Viewtheblockdiagram.3. Right-clicktheResourceterminalandselectCreate»Constant.4. Clickthedrop-downarrowontheResourceconstantandselectOther.5. Typetheappropriateresourcenumber,indecimal,fortheresourceyou

wanttoconfigure.RefertoAxes,VectorSpaces,ADCChannels,andEncodersforresourcenumbers.

6. Right-clicktheAttributeterminal,selectCreate»Constant,andselecttheappropriateattributefromthedrop-downlist.

AdvancedError&UtilityVIsClicktheiconsforVIdescriptions.

ReadErrorMessage

GetLastError

GetErrorDescription

GetErrorDescriptionGetsanerror,command,and/orresourcedescriptionstring.

Details

DeviceCompatibility

DescriptionType(Combined)istheselectorforthetypeofdescriptionstringtoreturn,asfollows:

Value Description0 ErrorOnly1 CommandNameOnly2 ResourceNameOnly3 CombinedDescriptionResourceIDistheresourceIDofanaxis,vectorspace,encoder,ADC,DAC,orotherresource.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

TheGetErrorDescriptionVIreturnsastringdescriptionofanerror.YoucanusethisVItogenerateastringfordisplayingaVI'sname,aresource'sname,anerrorcodedescription,oracompleteerrordescriptionstringinresponsetoanerrorcodereturnedfromcallingtheReadErrorMessageVI.

Notallinputparametersarerequiredforeachdescriptiontype.Thefollowingparametersarerequiredtoreturnanaccuratedescriptionstring.

DescriptionType ErrorCode CommandID ResourceIDErroronly required notrequired notrequiredVInameonly notrequired required notrequiredResourcenameonly notrequired required requiredCombineddescription required required required

BecauseresourceIDsarenotunique(forexample,axis1andprogram1bothareresource1),theCommandIDisrequiredtosetthecontextandallowthisVItogeneratetheproperresourcenamestring.

GetLastErrorGetsdetailedinformationaboutthelasterrorgeneratedbyahigh-levelNI-MotionVIinthecourseofexecutingotherNI-MotionVIs.

Details

DeviceCompatibility

ResourceistheAxis,VectorSpace,ADC,orEncoderthatgeneratedthe

UsingThisVI

IftheInitializeControllerVIreturnsanerror,youcancalltheGetLastErrorVItodeterminethespecificNI-MotionVIandresourcegeneratingtheerror.YoucanthencalltheGetErrorDescriptionVI,whichformatsastringforyouwiththeVIname,resourceIDanderrordescription.

ReadErrorMessageReadsthemostrecentmodalerrorfromtheErrorMessageStack.

DetailsRemarks

DeviceCompatibility

ResourceistheAxis,VectorSpace,ADC,orEncoderyouwiredintothe

UsingThisVI

TheReadErrorMessageVIretrievesthemostrecentmodalerrorfromthecontrollerandreturnsthecommandIDandresourceIDthatcausetheerror,alongwiththeerrorcode.

NoteSeeErrorCodes,foradescriptionoferrorcodesandpossiblecauses.

Whenamodalerroroccurs,thecommandID,resourceID,anderrorcodeareautomaticallystoredinalast-infirst-outstackandtheErrorMessage(ErrMsg)bitintheCommunicationStatusRegisterissettoindicatethatoneormoreerrorsarepresentonthestack.

ModalerrorsaredefinedaserrorsthatarenotdetectedatthetimeofVIexecution.Foracompletedescription,refertoErrorsandErrorHandling.AcommonsourceofmodalerrorsisimproperlyconstructedVIcallsstoredinanonboardprogram.Whentheprogramisrun,theerrorsgeneratemodalerrormessages.

Becausetheerrormessagesarestoredinalast-in-first-out(LIFO)buffer,themostrecenterrorisavailableimmediately.YoucanreadoldererrorswithadditionalcallstothisVI.Whenthestackisempty,theErrorMessage(ErrMsg)bitintheCommunicationStatusRegisterisreset.YoucangetastringdescriptionoftheerrorbyusingtheGetErrorDescriptionVI.

Normally,iftheapplicationprogramisfunctioningcorrectly,errorsarenotgenerated.Readingtheerrormessagesfromtheboardisusefulduringdebuggingandforhandlingspecialconditions.

Example

AnapplicationprogramrunningonthehostcomputermonitorstheCommunicationStatusRegistertocheckforerrors.IftheErrorMessagebitisset,theprogramsendsaReadErrorMessageVItothecontrollerandthenreactstotheerrorinformationreturned.Dependinguponthetypeoferror

Remarks

TheCommandIDreadinisalwayszero(0).TheerrorsstackisalwaysinFIFOmode.

OnboardProgrammingVIsYoucanuseOnboardProgrammingVIstoload,execute,andsaveonboardprograms.NI-MotionoffersasetofprogrammingVIsandfeaturesthatallowyoutowriteandcontrolautonomousprogramsthatarecompletelyindependentfromthehostcomputer.Youcanexecuteupto10onboardprogramssimultaneously.Thesizeandnumberofprogramsiscompletelyflexible.Itisultimatelylimitedbythe32totalmemoryobjectsintheObjectRegistryorbytotalavailablememory,whicheverisreachedfirst.RefertoBeginProgramStorageformoreinformation.Onboardprogramsruninatime-slicedmanner.RefertotheOnboardProgramssectionoftheNI-MotionHelpformoreinformation.

Onboardprogramssupportbasicmathanddataoperationfunctionsongeneral-purposevariables.Onboardprogramsalsoofferevent-basedVIssuchasJumptoLabelonConditionandWaitonCondition,whichallowyoutocontrolprogramexecution.Programscanevenstartandstopotherprograms.

Implementingpartorallofthemotionapplicationasanonboardprogramorprogramsoffloadsthehostcomputerfromhandlingthesereal-timeevents.Onboardprogramsalsocanisolatetheapplicationfromthehostcomputernon-real-timeoperatingsystem.Onlybuspowerisrequiredtocorrectlyexecuteanonboardprogramafteritisstarted.

ProgramscanberunfromRAMoroptionallysavedtonon-volatileFlashROM.Savedprogramsarethereforeavailableforexecutionatanyfuturetime,evenafterpowercycles.UsetheReadObjectRegistryVItodeterminethesizeofanonboardprogram.RefertoBufferedOperationsVIsforinformationaboutthetotalamountRAMandROMoneachcontroller.

OnboardProgrammingVIsincludeObjectManagementandDataOperationsVIs.YoucanuseOnboardProgrammingVIstobeginandendprogramstorageandtocontrolprogramexecution.YoucanuseObjectManagementVIstoorganize,annotate,andsaveprogramobjectstoROM.DataOperationsVIsincludebasicmathVIsanddataoperations.

SeveralVIsaretypicallyrunfromthehosttocontroltheonboardprogram

execution,suchastheRunProgram,Pause/Resume,andStopProgramVIs.Whenrunasahostcommand,theseVIsinterrupttheonboardprogramandchangetheprogramstatusaccordingly.

NoteTheOnboardProgrammingVIsarecompatiblewithNI7340/44andNI7350controllersonly.

BeginProgramStorage JumptoLabelonConditionEndProgramStorage SetUserStatusMOMORunProgram WaitonConditionPause/ResumeProgram LoadProgramDelayStopProgram ReadProgramStatusInsertLabel LoadProgramTimeSlice

Subpalettes

ObjectManagementVIs

DataOperationsVIs

BeginProgramStorageBeginsaprogramstoragesession.

Subsequentcallsarestoredaspartoftheonboardprogram.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Program(1)istheonboardprogramtoreadthestatusof.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheBeginProgramStorageVIinitiatesprogramstorageinRAM.Aftertheybegin,allsubsequentVIsarestoredinanobjectbufferandnotexecuteduntiltheprogramisrunwiththeRunProgramVI.ThismemorystoragecontinuesuntilyouexecutetheEndProgramStorageVI.Youcanstoreonlyoneprogramatatime.

Thesizeandnumberofprogramsiscompletelyflexible.Itisultimatelylimitedbythe32totalmemoryobjectsintheObjectRegistryorbytotalavailablememory,whicheverisreachedfirst.

The7350and7340havethefollowingonboardmemory:

RAM ROM7340 164ksector 264ksectors7350 264ksectors 464ksectors

YoucanrunprogramsfromeitherRAMorROM,butyoucannotsplitprogramsbetweenthetwo,andyoucannotsplitprogramsbetweenthetwo64KBROMsectors.Withanaveragecommandsizeof10bytes,asingleprogramcanbeaslargeas6,400commands.Asanotherexample,the7350and7340controllerscanexecute10programssimultaneously,fivefromRAMandfivefromROM,witheachprogramupto1,280commandslong.

Attemptingtostoremorethan32programsgeneratesanerror.Similarly,anerrorisgeneratedifyourunoutofmemoryduringprogramstorage.Bothofthesecasesareextremelyunlikely.DonotstoreonboardprogramswhileotherNI-MotionVIsarerunning.Doingsocanresultinincorrectprogramstorage.Topreventunexpectedinterference,otherapplicationsrunningwithdifferentprocessesarenotabletocommunicatewiththecontrollerduringprogramstorage.

EndProgramStorageEndsaprogramstoragesession.

Details

DeviceCompatibility

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardID

UsingThisVI

TheEndProgramStorageVIendsmemorystorageoftheprogram.AllsubsequentVIsareexecutednormally.Youcansaveaprogramtonon-volatilememory(ROM)usingtheObjectMemoryManagementVI.

ThisVImaytakelongerthan62mstoprocess,soitisnotguaranteedtobecompatiblewithreal-timeexecution.

InsertLabelInsertsalabelinaprogram.

Details

DeviceCompatibility

LabelNumber(1)isanyarbitrarylabelnumberfrom1to65,535.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardIDterminalofthenextVI.erroroutcontainserrorinformation.Iferrorinindicatesanerror,error

UsingThisVI

TheInsertProgramLabelVImarksalocationinthesequenceofaprogram.ThelabelnumberidentifiesthislocationandusesitintheJumptoLabelonConditionVI.Labelnumbersarearbitraryanddonothavetofollowanumericalsequence.

JumptoLabelonConditionInsertsaconditionaljumpinaprogram.

Details

DeviceCompatibility

MustOff(False)isthebitmapofbitsthatmustbeFalsetosatisfythecondition:

MustOn0—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn1—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn2—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn3—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn4—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn5—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn6—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn7—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOn8—Iftrue,bitmustbefalse.Iffalse,donotcare(default).

MustOn(False)isthebitmapofbitsthatmustbeTruetosatisfythecondition:

MustOn0—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn1—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn2—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn3—Iftrue,bitmustbetrue.Iffalse,donotcare(default).

UsingThisVI

TheJumptoLabelonConditionVIcontrolstheflowofexecutioninastoredprogrambydefiningaconditionaljumptoanylabelwithintheprogram.InadditiontoconditioncodessetastheresultofapreviousdataoperationsVI,youcantestvirtuallyanyinstantaneousstatusofaxesorresourcestodecidewhethertojumpornot.

Therearetwodistinctgroupsofconditions.Thefirstgroup,conditions0through5,testtheresultofthemostrecentlogical,mathematical,ordatatransferoperationsVI.RefertotheDataOperationsVIsinformationaboutmathematicalordatatransferoperations.Theseconditioncodestestwhethertheresultofthelatestlogical,mathematical,ordatatransferVIislessthanzero,equaltozero,lessthanorequaltozero,greaterthanzero,notequaltozero,orgreaterthanorequaltozero.Fortheseconditions,theResource,MustOn,MustOff,andMatchTypeparametersarenotrequiredandtheirvaluesareignored.

NoteYoucanprogramunconditionaljumpsbysettingtheconditiontoTrue(6).

Thesecondgroup,conditions7andabove,testaspecificmulti-axis,multi-encoder,program,motionI/O,orgeneral-purposeI/Ostatus.Whereapplicable,youcanselecttheappropriateresourcewiththeresourceparameter.

ProgramCompleteissimilartothefirstconditiongroupinthatMustOn,MustOff,andMatchTypeparametersarenotrequiredandtheirvaluesareignored.Yousetresourceequaltotheappropriateprogramnumbertotest.ThebalanceoftheconditionsinthisgroupteststatusbitmapsandVIssimilartoeachotherasdescribedintheremainderofthissection.

TheMustOn,MustOff,andMatchTypeparametersworktogethertodefineabitmapofTrueandFalsebitsthatmustbematchedtosatisfythecondition.TheMatchTypeparameterallowsyoutoselectbetweenanORmatch,whereanymatchingbitissufficient,andanANDmatch,whereallstatusbitsmustmatchtheTrue/FalsebitmapdefinedbyMustOnandMustOff.

UsingtheMustOn/MustOffprotocolgivesyoutri-statecontrolovereachmatchbit:True,False,orDon'tcare.ATrueinabitlocationoftheMustOnbitmapsetsthematchbittoTrue,whileaTrueinthecorrespondinglocationoftheMustOffbitmapresetsthematchbittoFalse.AFalseineitherbitmaphasnoaffect,soleavingboththeMustOnandMustOffbitsatFalsedefinesthebitasdonotcare.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandthematchbitissettoTrue.

TheJumptoLabelonConditionVIcontrolstheflowofexecutioninastoredprogrambydefiningaconditionaljumptoanylabelwithintheprogram.InadditiontoconditioncodessetastheresultofapreviousdataoperationsVI,youcantestvirtuallyanyinstantaneousstatusofaxesorresourcestodecidewhetherto

Therearetwodistinctgroupsofconditions.Thefirstgroup,conditions0through5,testtheresultofthemostrecentlogical,mathematical,ordatatransferoperationsVI.RefertotheDataOperationsVIsformoreinformationaboutmathematicalordatatransferoperations.Theseconditioncodestestwhethertheresultofthelatestlogical,mathematical,ordatatransferVIislessthanzero,equaltozero,lessthanorequaltozero,greaterthanzero,notequaltozero,orgreaterthanorequaltozero.Fortheseconditions,theResource,MustOn,MustOff,andMatchTypeparametersarenotrequiredandtheirvaluesareignored.

YoucanprogramunconditionaljumpsbysettingtheconditiontoTrue(6).

Thesecondgroup,conditions7andabove,testaspecificmulti-axis,multi-encoder,program,motionI/O,orgeneral-purposeI/Ostatus.Whereapplicable,youcanselecttheappropriateresourcewiththeresource

ProgramCompleteissimilartothefirstconditiongroupinthatMustOn,MustOff,andMatchTypeparametersarenotrequiredandtheirvaluesareignored.Yousetresourceequaltotheappropriateprogramnumbertotest.ThebalanceoftheconditionsinthisgroupteststatusbitmapsandVIssimilartoeachotherasdescribedintheremainderofthissection.

TheMustOn,MustOff,andMatchTypeparametersworktogethertodefineabitmapofTrueandFalsebitsthatmustbematchedtosatisfythecondition.TheMatchTypeparameterallowsyoutoselectbetweenanORmatch,whereanymatchingbitissufficient,andanANDmatch,whereallstatusbitsmustmatchtheTrue/FalsebitmapdefinedbyMustOnandMustOff.

UsingtheMustOn/MustOffprotocolgivesyoutri-statecontrolovereachmatchbit:True,False,orDon'tcare.ATrueinabitlocationoftheMustOnbitmapsetsthematchbittoTrue,whileaTrueinthecorrespondinglocationoftheMustOffbitmapresetsthematchbittoFalse.AFalseineitherbitmaphasnoaffect,soleavingboththeMustOnandMustOffbitsatFalsedefinesthebitasdonotcare.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandthematchbitissetto

LoadProgramDelayLoadsadelayintoaprogramsequence.

Details

DeviceCompatibility

DelayValue(1ms)isthedelayinmilliseconds.Therangeisfrom1to231–1ms.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadProgramDelayVIsuspendsprogramexecutionforthenumberofmillisecondsloaded.Programexecutionresumesafterthedelay.Delayscanbeasshortasoneortwomillisecondsoraslongashundredsofhours.

LoadProgramTimeSliceSpecifiestheminimumtimeanonboardprogramhastorunperwatchdogperiod.

Details

DeviceCompatibility

TimeSlice(ms)istheexecutiontimefortheonboardprogramperwatchdogperiod.Defaultis2ms.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Programistheprogramnumber.Validprogramnumbersare1through255(0x01through0xFF).InpVectindicatesthesourceofthedataforthisVI.Availableinputvectorsincludeimmediate(0xFF),variable(0x01through0x78),orindirectvariable(0x81through0xF8).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

LoadProgramTimeSlicespecifiestheminimumtimeanonboardprogramhastorunperwatchdogperiod.

NoteThisVIcanonlyberunasapartofonboardprogram;thehostcannotchangethetimesliceofaprogramdirectly.

Somethingstorememberwhenchangingthetimesliceofanonboardprogram:

Atotalof20msisallowedforallrunningonboardprograms.Everyonboardprogramloadswithadefault2mstimesliceunlessLoadProgramTimeSliceisexecutedatthebeginningoftheonboardprogram.Thedefaultvalueof2msiscalculatedbasedonmaximum10onboardprogramsrunningsimultaneouslywithequaltimeslice.Youcanassigndifferenttimeslicesforeachstoredonboardprogramaslongasthetotaloftimeslicefortherunningonboardprogramdoesnotexceed20msatanygiventime.

Forexample,supposeyouhavethefollowingonboardprogramscurrentlystored:

1. Onboardprogram1,timeslice=10ms2. Onboardprogram2,timeslice=10ms3. Onboardprogram3,timeslice=5ms4. Onboardprogram4,timeslice=4ms5. Onboardprogram5,timeslice=1ms

Youcouldrunprograms1and2simultaneouslywithouterror,becausethetotaltimeslicesofthetworunningprogramsis20ms.Ifyouthenstartprogram3,anNIMC_invalidTimeSlicemodalerroroccursbecausethenewtotaltimesliceis25ms.Theavailabletimesliceforanonboardprogramalsodependsontheorderinwhichtheprogramsarerun,becauseauser-definedtimeslicetakeseffectonlywhentheonboardprogramactuallyruns,andnotwhenitisstored.

Pause/ResumeProgramPausesarunningprogramorresumesexecutionofapausedprogram.

Details

DeviceCompatibility

UsingThisVI

ThePause/ResumeProgramVIsuspendsexecutionofarunningprogramorresumesexecutionofapausedprogram.

Aprogramcanpauseorresumeexecutionofanotherprogram,andalsocanpause(butnotresume)itself.

NotePausingaprogramdoesnotaffectamovealreadystartedandinprogress.ItdoesnotimplementaStopMotionVI.

Anyrun-time(modal)errorinaprogramautomaticallypausestheprograminadditiontogeneratingtheerrormessage.RefertotheReadErrorMessageVIandErrorsandErrorHandlingforinformationabouterrors.

AprogramalsocanautomaticallypauseifyouexecuteaStopMotionVIfromthehostcomputeronanaxisoraxesundercontroloftheonboardprogram.Inthesecases,theprogrampauseswhenitattemptstoexecuteaStartMotionorBlendMotionVIonthestoppedaxes.Thisautomaticpausealsoapplieswhenthestopisduetoalimit,home,softwarelimit,orfollowingerrorcondition.

Youcaneffectivelysingle-stepthroughanonboardprogrambyhavingtheprogrampauseaftereveryVI,andthenresumingtheprogramfromthehostcomputer.

Systemtimedoesnotpausewhenyoupauseaprogram.PausingmerelystopsthenextVIfromexecuting.ThismeansthatadelaycounterfromLoadProgramDelaykeepscountingdownevenwhiletheonboardprogramispaused.Forexample,ifyouloadbothadelayoffivesecondsandthenpausetheprogramfor10seconds,youhaveatotalofonly10secondsbeforeexecutionoftheonboardprogramresumes.

ReadProgramStatusReadsthestatusofanonboardprogram.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Program(1)istheonboardprogramtoreadthestatusof.RetnVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),toavariable(0x01through0x78),toanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

YoucanusethisVItodeterminethestateofanonboardprogram.Youcanonlyreadthestateofotherprogramsfromanonboardprogram.

RunProgramRunsapreviouslystoredprogram.

Details

DeviceCompatibility

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardIDterminalofthenextVI.ResourceOutistheAxis,VectorSpace,ADC,orEncoderyouwiredinto

UsingThisVI

TheRunProgramVIinitiatesexecutionoftheVIsstoredintheselectedprogram.YoucanrunprogramsoutofeitherRAMorROM.Youcanrunuptoten(10)programssimultaneously.

Aprogramcanrunanotherprogrambutyoucannothaveaprogramrunitself.AttemptingtostorearecursiveRunProgramVIinaprogramgeneratesanerroranddoesnotstoretheVI.

SetUserStatusMOMOControlstheuserstatusbitsintheMCSregister.

Details

DeviceCompatibility

MustOffisthebitmapofuserstatusbitstoforceFalse:Motionstatusregister13—Iftrue,userstatusbitforcedfalse.Iffalse,userstatusbitunchanged(default).Motionstatusregister14—Iftrue,userstatusbitforcedfalse.Iffalse,userstatusbitunchanged(default).Motionstatusregister15—Iftrue,userstatusbitforcedfalse.Iffalse,userstatusbitunchanged(default).

MustOnisthebitmapofuserstatusbitstoforceTrue:Motionstatusregister13—Iftrue,userstatusbitforcedtrue.Iffalse,userstatusbitunchanged(default).Motionstatusregister14—Iftrue,userstatusbitforcedtrue.Iffalse,userstatusbitunchanged(default).Motionstatusregister15—Iftrue,userstatusbitforcedtrue.Iffalse,userstatusbitunchanged(default).

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralready

UsingThisVI

TheSetUserStatusMOMOVIcontrolstheupperthreebitsintheMCSregisterusingtheMustOn/MustOffprotocol.YoucanusethisVIinprogramstoreportspecialconditionsbacktothehostcomputerbysettingandresettingoneormoreofthesebits.RefertotheReadMoveCompleteStatusVIformoreinformationaboutusingtheMCSregisterforhigh-speedpolling.

UsingtheMustOn/MustOffprotocolallowsyoutosetorresetindividualuserstatusbitswithoutaffectingtheotheruserstatusbits.Thisgivesyoutri-statecontrolovereachbit:True,False,orUnchanged.ATrueinabitlocationoftheMustOnbitmapsetstheuserstatusbithigh,whileaTrueinthecorrespondinglocationoftheMustOffbitmapresetstheuserstatusbitlow.AFalseineitherbitmaphasnoaffect,soleavingboththeMustOnandMustOffbitsatzeroiseffectivelyahold,andthestateoftheuserstatusbitisunchanged.IfyousetboththeMustOnandMustOffbitstoTrue,itisinterpretedasaMustOnconditionandtheuserstatusbitissethigh.

Example

Afteraconditionaljumpinaprogram,youwanttheprogramtoflagthehostwithasuccesscode.ThiscanbeaccomplishedbystoringtheSetUserStatusMOMOwithMustOnandMustOffasfollows.

MustOn13 MustOn14 MustOn15True False TrueMustOff13 MustOff14 MustOff15False True False

Thisforcesuserstatusbits13and15Trueanduserstatusbit14low.AsubsequentpolloftheMCSregisterreturnsMoveCompleteStatuswiththerelevantbitssetasfollows.

Status13 Status14 Status15True False True

StopProgramStopsarunningprogram.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Program(1)istheonboardprogramtostop.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardIDterminalofthenextVI.ResourceOutistheAxis,VectorSpace,ADC,orEncoderyouwiredinto

UsingThisVI

TheStopProgramVIterminatesexecutionofarunningprogram.Youcannotresumeastoppedprogrambutyoucanre-runtheprogramfromthebeginning.

Aprogramcanstopanotherprogrambutyoucannothaveaprogramstopitself.AttemptingtostorearecursiveStopProgramVIinaprogramgeneratesanerroranddoesnotstoretheVI.

NoteStoppingaprogramdoesnotaffectamovealreadystartedandinprogress.ItdoesnotimplementaStopMotionVI.

WaitonConditionInsertsaconditionalwaitinaprogram.

Details

DeviceCompatibility

Timeout(1)isthewaittimeoutvaluein100millisecondincrements.Therangeis0to65,534.Ifyouspecifyatimeoutof65,535,itistreatedasaninfinitetimeout,andwillwaituntiltheconditionismet.MustOffisthebitmapofbitsthatmustbeFalsetosatisfythecondition:

MustOff0—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff1—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff2—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff3—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff4—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff5—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff6—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff7—Iftrue,bitmustbefalse.Iffalse,donotcare(default).MustOff8—Iftrue,bitmustbefalse.Iffalse,donotcare(default).

MustOnisthebitmapofbitsthatmustbeTruetosatisfythecondition:MustOn0—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn1—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn2—Iftrue,bitmustbetrue.Iffalse,donotcare(default).MustOn3—Iftrue,bitmustbetrue.Iffalse,donotcare(default).

UsingThisVI

TheWaitonConditionVIcontrolstheflowofexecutioninastoredprogram.Itsuspendsprogramexecutionandwaitsuntilthespecifiedconditionismetorthetimeoutexpires.Whentheconditionismet,programexecutionisresumedwiththenextVIaftertheWaitonCondition.Eventhoughtheprogramissuspended,theprogramstatusreadusingReadProgramStatusisstillrunning.

Ifthetimeoutexpiresbeforetheconditionismet,anerrorisgeneratedandtheprogramgoesintothepausedstate.RefertothePause/ResumeProgramVIforinformationaboutresumingapausedprogram.

Ifyousetatimeoutofzero,theconditionmustalreadybetrueoranerrorisgenerated.

Youcanwaitonvirtuallyanyinstantaneousstatusofaxes,encoders,programs,motionI/O,orgeneral-purposeI/O.Whereapplicable,youcanselectthespecifiedresourcewiththeresourceparameter.

WhenwaitingonaprogramwiththeProgramCompletedcondition,MustOn,MustOff,andMatchTypeparametersarenotrequiredandtheirvaluesareignored.Yousetresourceequaltotheprogramnumbertowaiton.ThebalanceoftheconditionsteststatusbitmapsandVIsimilartoeachotherasdescribedintheremainderofthissection.

TheMustOn,MustOff,andMatchTypeparametersworktogethertodefineabitmapofTrueandFalsebitsthatmustbematchedtosatisfythecondition.Dependingonthetypeofevent,theMustOnandMustOffbitmapsareeitheronebasedorzerobased.IftheeventistiedtoanI/Oportresourcethebitmapsstartatbit0tocorrespondwithline0onanI/Oport.Iftheeventistiedtoanaxis-basedresource,suchasanencoderoranaxis,thebitmapsstartatbit1tocorrespondwithaxis1.TheMatchTypeparameterallowsyoutoselectbetweenanORmatch,whereanymatchingbitissufficient,andanANDmatch,whereallstatusbitsmustmatchtheTrue/FalsebitmapdefinedbyMustOnandMustOff.

UsingtheMustOn/MustOffprotocolgivesyoutri-statecontrolovereach

DataOperationsVIsDataOperationVIsincludetheavailablemathVIsongeneral-purposevariables.Variablescanbeloaded,added,multiplied,ANDed,andsoonbeforebeingusedasdatainamotioncontrolVI.

General-purposevariablesare32bitslongandcanbeusedeithersigned(i32)orunsigned(u32).AllDataOperationVIsoperateon32-bitvaluesandreturn32-bitvalues.Youmustbecarefultoavoidoverflowandunderflowconditions.Forexample,multiplyingtwo32-bitvariablesandreturningtheresulttoa32-bitvariablemightoverflowandwraparound.

Smallersizeddataisrightalignedwithina32-bitvariable.BitwiselogicalVIsalwaysassumethisalignmentandreturnsimilarlyalignedresults.

ManyNI-MotionVIscantakeinputdatafromageneral-purposevariablebypointingtothevariablewiththeinputvectorparameter.Similarly,allreadVIscanreturndatatoageneral-purposevariablebyusingthereturnvectorparameter,refertoInputandReturnVectors.

AlldataoperationVIssetconditioncodes(lessthan,equaltoorgreaterthanzero)dependingontheresultoftheoperation.YourprogramcantesttheseconditionswiththeJumptoLabelonConditionVI.ExecutingadataoperationsVIwithareturnvectorofzero(0)tellstheprogramtosettheconditioncodeandthenthrowtheresultingdataaway.Inthisway,youcanuseallthedataoperationsVIsastestsforconditionalbranching.

YoucanuseindirectvariablesasvariableinputsorreturnvectorswithalldataoperationVIs.

AddVariables ExclusiveORVariablesSubtractVariables InvertVariableMultiplyVariables LogicalShiftVariableDivideVariables LoadConstanttoVariableANDVariables ReadVariableORVariables

AddVariablesAddsthevaluesinthetwovariablesandreturnstheresult.

Details

DeviceCompatibility

Var2isthevariableholdingthesecondoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).Var1isthevariableholdingthefirstoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheAddVariablesVIaddsthevaluesinthetwovariablesandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1+V2=Result

where:V1isthevalueatVar1.V2isthevalueatVar2.ResultisstoredinthelocationpointedtobyRetVect.

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputer,orthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue.Thisvalueiscomparedwith0,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.

NoteBecarefulwhenaddingtwolargevalues.Theresultcouldoverflowandwraparound.Noerrorgenerateswhenanoverflowoccurs.

ANDVariablesPerformsabitwiseANDofthevaluesinthetwovariablesandreturnstheresult. DeviceCompatibility

UsingThisVI

TheANDVariablesVIperformsabitwiselogicalANDofthevaluesinthetwovariablesandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1ANDV2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputer,orthrownaway.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.TheEQUALconditioncodeissetTrueiftheresultequalszero(allbitslow)andFalseifanybitisset.TheGREATERTHANandLESSTHANcodesarealsosetbutcanbeconfusingafterlogicalbitwiseoperations.

Example

IfthevaluesinVar1andVar2are0x00001234and0x0000EEEE,respectively,theresultofthebitwiseANDis0x00000224whichisNOTEQUALtozero.

DivideVariablesDividesthevalueinthefirstvariablebythevalueinthesecondvariableandreturnstheresult.

Details

DeviceCompatibility

Var2isthevariableholdingthesecondoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).Var1isthevariableholdingthefirstoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

TheDivideVariablesVIdividesthevalueinthefirstvariablebythevalueinthesecondvariableandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1/V2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputerorthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.

NoteThisVIdoesanintegerdivideandtheremainderislost.NoteIfV2=0theVIreturnstheinvalidfunctiondatamodalerror(-70078).

ExclusiveORVariablesPerformsabitwiseExclusiveOR(XOR)ofthevaluesinthetwovariablesandreturnstheresult.

Details

DeviceCompatibility

Var1isthevariableholdingthefirstoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).Var2isthevariableholdingthesecondoperand.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheExclusiveORVariablesVIperformsabitwiselogicalXORofthevaluesinthetwovariablesandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1XORV2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputerorthrownaway.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.TheEQUALconditioncodeissetTrueiftheresultequalszero(allbitslow)andFalseifanybitisset.TheGREATERTHANandLESSTHANcodesarealsosetbutcanbeconfusingafterlogicalbitwiseoperations.

Example

IfthevaluesinVar1andVar2are0x5A5A1234and0xFFFF4321,respectively,theresultofthebitwiseXORis0xA5A55115whichisNOTEQUALtozero.

InvertVariablePerformsabitwiseinversion(NOT)onthevalueinavariableandreturnstheresult.

Details

DeviceCompatibility

Var1isthelocationofthevariabletoinvert.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheInvertVariableVIperformsabitwiselogicalNOTonthevalueintheselectedvariableandreturnstheresulttothedestinationspecifiedbytheRetVect.

~(V1)=Result

where:V1isthevalueatVar1.ResultisstoredinthelocationpointedtobyRetVect.

Theresultcanbereturnedtoanewvariableortotheinputvariable,returnedtothehostcomputer,orthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.TheEQUALconditioncodeissettoTrueiftheresultequalszero(allbitslow)andFalseifanybitisset.TheGREATERTHANandLESSTHANcodesarealsosetbutcanbeconfusingafterlogicalbitwiseoperations.

Example

IfthevalueinVar1is0x00005A5A,theresultofthebitwiseNOTis0xFFFFA5A5.TheEQUALconditioncodeissettoFalse.

LoadConstanttoVariableLoadsaconstantvalueintoavariable.

Details

DeviceCompatibility

Value(0)isthevaluetoloadintothevariable.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Varisthevariabletoload.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadConstanttoVariableVIloadsaconstantvalueintotheselectedvariable.

Theconditioncodesaresetaccordingtotheloadedvalue,GREATERTHAN,LESSTHAN,orEQUALtozero.

LogicalShiftVariablePerformsalogicalshiftonthevalueinavariableandreturnstheresult.

Details

DeviceCompatibility

LogicalShiftisthenumberofbitstoshift.ApositiveLogicalShiftvalueshiftsVar1totheleftandanegativevalueshiftsVar1totheright.Theshiftrangeis-31through+31bits.Var1isthevariableholdingthevaluetoshift.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

TheLogicalShiftVariableVIperformsalogicalshiftonthevalueintheselectedvariableandreturnstheresulttothedestinationspecifiedbytheRetVect.

ForpositiveLogicalShiftvalues:

V1«LogicalShift=Result

FornegativeLogicalShiftvalues:

V1»LogicalShift=Result

where:V1isthevalueatVar1.ResultisstoredinthelocationpointedtobyRetVect.

Theresultcanbereturnedtoanewvariableortotheinputvariable,returnedtothehostcomputerorthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue,GREATERTHAN,LESSTHAN,orEQUALtozero.

ThisVIactuallyperformsanarithmeticratherthanlogicalshiftifthevariableisasigned32-bitvalue(i32).Negativevaluesaresign-extendedwhenshiftedtotheright.YoucanusethisVItoperformdivisionorscalingofsignedorunsignednumbers.InthiscasetheVIeffectivelyperformsthefollowing:

V1×2(LogicalShift)=Result

Example1

IfthevalueinVar1is0x0000F002andLogicalShift=–1,thisVIreturns0x00007801.

Example2

MultiplyVariablesMultipliesthevaluesinthetwovariablesandreturnstheresult.

Details

DeviceCompatibility

UsingThisVI

TheMultiplyVariablesVImultipliesthevaluesinthetwovariablesandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1×V2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputerorthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.

NoteBecarefulwhenmultiplyingtwolargevalues.Theresultcanoverflowandwraparound.Anerrorisnotgeneratedwhenanoverflowoccurs.

ORVariablesPerformsabitwiseORofthevaluesinthetwovariablesandreturnstheresult.

Details

DeviceCompatibility

UsingThisVI

TheORVariablesVIperformsabitwiselogicalORofthevaluesinthetwovariablesandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1ORV2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputerorthrownaway.Theresultingvalueiscomparedtozero,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.TheEQUALconditioncodeissetTrueiftheresultequalszero(allbitslow)andFalseifanybitisset.TheGREATERTHANandLESSTHANcodesarealsosetbutcanbeconfusingafterlogicalbitwiseoperations.

Example

IfthevaluesinVar1andVar2are0x5A5A1234and0x82820000,respectively,theresultofthebitwiseORis0xDADA1234whichisNOTEQUALtozero.

ReadVariableReadsthevalueofavariableandreturnstheresult.

Details

DeviceCompatibility

Varisthevariabletoread.Validinputsarevariables(0x01through0x78)andindirectvariables(0x81through0xF8).BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.RetVectindicatesthedestinationforthereturndatageneratedbythisVI.Availablereturnvectorsincludereturndatatothehost(0xFF),returndatatoavariable(0x01through0x78),returndatatoanindirectvariable(0x81through0xF8),anddonotreturndata(0).RefertoInputandReturnVectorsformoredetailedinformation.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadVariableVIreadsthevalueoftheselectedvariableandreturnsittothedestinationspecifiedbytheRetVect.

IfthevalueofRetnVectissettoReturntoHost(0xFF),thisVIalsoreadsthevaluefromthereturndatabufferandpassesitbackasoutput.

Theconditioncodesaresetaccordingtothevalueread:GREATERTHAN,LESSTHANorEQUALtozero.

SubtractVariablesSubtractsthevalueofsecondvariablefromthevalueofthefirstvariableandreturnstheresult.

Details

DeviceCompatibility

UsingThisVI

TheSubtractVariablesVIsubtractsthevalueofsecondvariablefromthevalueofthefirstvariableandreturnstheresulttothedestinationspecifiedbytheRetVect.

V1–V2=Result

Theresultcanbereturnedtoanewvariableoroneofthetwoinputvariables,returnedtothehostcomputerorthrownaway.Inallcasestheconditioncodesaresetaccordingtotheresultingvalue.Thisvalueiscomparedwith0,andtheappropriateconditioncodeisset:GREATERTHAN,LESSTHAN,orEQUALtozero.

ThisVIisoftenusedtocomparetwovaluespriortoexecutingaconditionaljumpwiththeJumptoLabelonConditionVI.Inthiscase,theresultistypicallythrownawaybysettingRetVect=0.

ObjectManagementVIsYoucanuseObjectManagementVIstoorganize,annotate,andsaveprogramorbufferobjectstoflashROM.TheseadvancedVIsareprimarilyusedforapplicationsthatrequirenon-volatileprogramstorage.YoucanrunprogramsoutofRAMandcreateandusebuffersinRAMwithoutusinganyoftheseVIs.

ObjectMemoryManagement

LoadMemoryObjectDescription

ReadMemoryObjectDescription

ReadObjectRegistry

LoadMemoryObjectDescriptionLoadsanASCIItextdescriptionforaprogramorbufferobject.

Details

DeviceCompatibility

DescriptionisanASCIIcharacterarrayofupto32charactersthatdescribestheobject.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Object(1)isaprogramorbufferstoredinonboardRAM.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheLoadMemoryObjectDescriptionVIloadsatextdescriptionforaprogramorbufferobject.TheASCIItextdescriptionisusefulasaquickreminderofthecontentsorpurposeofanobjectstoredinmemory.

NoteThisVImustbeexecutedwhiletheobjectisstillinRAM.AftertheobjectissavedtoROM,itsdescriptioncannotbechanged.

Thedescriptionislimitedto32characters;extracharactersareignored.YoucanretrievethestoreddescriptionwiththeReadMemoryObjectDescriptionVI.

ObjectMemoryManagementSaves,deletes,orfreesprogramsorbuffersinRAMandROM.

Details

DeviceCompatibility

Operationistheoperationtoperformonthememoryobject,asfollows:

Value Definition0 Save1 Delete2 FreeBoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Object(1)isaprogramorbufferstoredinonboardRAM.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheObjectMemoryManagementVIisusedtosavetoROM,deletefromROM,orfreefromRAM,aprogramorbufferobject.Objectssavedtonon-volatileFlashROMareavailableforuseatanyfuturetime,evenafterpowercycles.

TosaveanobjecttoROM,callthisVIwithOperation=Save.TheobjectiscopiedtoROMandexistsinbothRAMandROMuntilthenextpowercycle,whentheRAMimageiserased.

ToremoveanobjectfromROM,callthisVIwithOperation=Delete.TheobjectisdeletedfrombothROMandRAM(ifitstillexistsinRAM).

AfteryouhavesavedanobjecttoROM,youcanfreeupitsspaceinRAMbycallingthisVIwithOperation=Free.ThishasnoeffectonthecopyinROMbutdeletestheimageinRAM,makingmorememoryavailableforstoringadditionalprogramsorotherobjects.

NoteYoucannotsaveordeleteanobjectwhileanyprogramisrunningoranybufferisinuse.Also,youcannotfreeaprogramorbufferwhileitisrunning.Inaddition,youcannotsaveordeleteanobjectwhenanymotorismoving.AttemptingtoexecutethisVIinthesecasesgeneratesanerror.

Youcandeleteabufferthatisactive,suchasahigh-speedcapturebufferthatiswaitingforatrigger,butNI-Motionreturnsanerrorinthiscase.TipSavingordeletinganobjecttakes2to4seconds.

The7340controllerhas64KBofRAMplus128KBofROM(dividedintotwo64KBsectors)forprogramandbufferstorage.YoucanrunprogramsfromeitherRAMorROM,butyoucannotsplitprogramsbetweenthetwo,andyoucannotsplitprogramsbetweenthetwo64KBROMsectors.Withanaveragecommandsizeof10bytes,asingleprogramcanbeaslargeas6,400commands.Asanotherexample,the7340controllercansimultaneouslyexecute10programs,fivefromRAMandfivefromROM,witheachprogramupto1,280commandslong.

ReadMemoryObjectDescriptionReadstheASCIItextdescriptionforaprogramorbufferobject.

Details

DeviceCompatibility

BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.Object(1)isaprogramorbufferstoredinonboardRAM.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheReadMemoryObjectDescriptionVIreturnstheASCIItextdescriptionforaprogramorbufferobject.TheASCIItextdescription,previouslyloadedwiththeLoadMemoryObjectDescriptionVI,isusefulasaquickreminderofthecontentsorpurposeofanobjectstoredinmemory.

ReadObjectRegistryReadsadatarecordforamemoryobjectfromtheObjectRegistry.

Details

DeviceCompatibility

Indexistheregistryrecordnumber.Therangeforindexis0to31.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

RegistryRecordisthedatarecordcontainingobjectinformation.Object

UsingThisVI

TheReadObjectRegistryVIreturnsaregistryrecordforanobjectfromtheObjectRegistry.TheObjectRegistrycontainsinformationaboutallobjectsstoredinmemory.Youcanstoreupto32objectsinRAMand/orROM.Eachtimeanobjectisstored,anewrecordiscreatedtokeeptrackofit.

NoteIfanobjectexistsbothinRAMandROM,thisVIreportstheobjectasexistinginRAM.ToseetheobjectinROM,youmustfirstfreetheobjectfromRAM.

On7330and7340motioncontrollers,objectsareinRAMifPStart0x100000,andinROMifPStart<0x100000.Onthe7350controller,objectsareinRAMifPStart 0x200000,andinROMifPStart<0x200000.

RegistryrecordsarereferencedbyindexandeachcalltothisVIreturnsinformationaboutthereferencedobject.Theindexisnotthesameastheobjectnumber.Youcanuseupto255uniqueobjectnumbers(0x01through0xFF)butonly32objectscanbestoredinmemoryatonetime.

AdvancedVIsYoucanusetheadvancedVIstocontrolthecommunicationsbetweenthehostcomputerandNImotioncontroller.TheseVIsallowyoutocheckthestatusofcommunications,cleartheRDB,andmanagethelow-levelcommunicationstothecontroller.YoutypicallydonothavetouseanyoftheseVIsbecausethedefaultconfigurationiscorrectforalmostallapplications.TheseVIsareavailabletohandlespecialapplications.

TheadvancedVIsincludespecializedReadandWriteVIsforquicklyviewingaxisorcoordinatedataorstatusinformation,configuringI/Olines,andsoon.

TheadvancedVIsalsoincludeadvancedmethodsandtwoutilityVIsthatareregularlyusedbutaredifferentfromtherestoftheNI-MotionAPIinthattheyarenottypicallyincludedinapplicationcode:ClearPowerUpStatusandSaveDefaultParameters.

ReadCommunicationStatus ReadBoardTemperatureFlushReturnDataBuffer ReadReturnDataBufferClearPowerUpStatus EnableAutoStartResetDefaultParameters EnableShutdownSaveDefaultParameters

Subpalettes

AdvancedReadVIs

AdvancedWriteVIs

AdvancedMethods

ClearPowerUpStatusClearsthePower-Upstatusbitandbootsupthecontroller,makingitreadytoacceptcommands.

DetailsRemarks

DeviceCompatibility

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-

UsingThisVI

Wheneverthemotioncontrollerisresetbyapowercycle,watchdogtimeout,orothermeans,thecontrollerissuspendedinapower-upstateandaPower-UpstatusbitintheCommunicationsStatusRegister(CSR)isset.TheClearPowerUpStatusVIisusedtoclearthisbitandreadythecontrollerformotioncontrolcommunications.

YoucannotexecutemostoftheothermotioncontrolVIsuntilthePower-UpstatusbitisclearedbythisVI.Thislockoutensuresthatyouareawareoftheoccurrenceofanunexpectedreset,asinthecaseofawatchdogtimeout.

YoucanincludethisVIonetimeatthebeginningofaninitializationroutine,buttoavoidthepossibilityofrestartinganapplicationunexpectedlyafterapowercycleorwatchdogtimeout,youmustnotincludeitinotherroutines.TheInitializeControllerVIautomaticallycallsthisVI.

NoteIfyouarerunningaNI-MotionstartupapplicationonETS(PharLap)systems,thefirstVIinyourapplicationmustbeeithertheClearPowerUpStatusorInitializeControllerVI.CallinganyotherVIfirstmayresultinerror–70012(NIMC_badBoardIDError)becausethedrivermaynothaveloadedbeforeaNI-MotionVIiscalled.

Remarks

ThefollowingincludesconsiderationsyoumustmakewhenyouareusingthisVIwitha73xxmotioncontroller:

WhenthemotioncontrollerisinthePower-Upstate,theMCSregistercontainsapower-upcodethatdescribeswhythecontrollerisinthePower-Upstate.Toaccessthiscode,executetheReadMoveCompleteStatusVI.Thefollowingtabledescribesthepower-upcodes.

Code ResetType Cause0x80 Busreset NormalPCpowercycle

0x40 Power-Upreset NormalPCpowercycle

0x20 Watchdogtimeout Fatalinternalerror

0x08 Shutdown Shutdown(E-Stop)inputactive;refertotheEnableShutdownVI

0x02 Softwarereset Firmwaredownload

Thepower-upcodesdonotapplytotheNISoftMotionController.

EnableAutoStartAllowsyoutoautomaticallyrunaprogramwhenthecontrollerpowersup.

Details

DeviceCompatibility

ProgramToExecute(1)istheonboardprogramthecontrollerexecutesiftheautostartfeatureisenabled.Thismustbeavalidprogramnumber(1-255),thatisstoredtoFLASHusingtheObjectMemoryManagementVI.EnableAutoStartenablesordisablestheautostartfeature.SetthistoEnable(true)toenableautostartandDisable(false)todisableautostart.BoardIDisauniquenumberassignedbyMeasurement&AutomationExplorer(MAX)usedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

TheEnableAutoStartVIconfiguresthecontrollertoautomaticallystartanonboardprogramonpowerup.Afterautostartisenabled,thecontrollerautomaticallyexecutestheonboardprogramspecifiedwhenthecontrollerispoweredon.TheonboardprogramtoexecutemustbesavedtoFLASHusingtheObjectMemoryManagementVIbeforethecontrollerispowereddown.Ifthecontrollerdoesnotfindavalidprogramthatitcanload,NIMC_autoStartFailedErrorisgenerated.IftheonboardprogramisremovedfromFLASHmemory,theautostartfunctionalityisdisabled.

NoteThisVIwritestoonboardFLASHmemoryandhenceitisnotsafetoexecutewhenmotorsareinmotion.DoingsogeneratesaNIMC_wrongModeError.

ThisVImaytakelongerthan62mstoprocess,soitisnotguaranteedtobecompatiblewithreal-timeexecution.

EnableShutdownEnablestheshutdown(E-Stop)functionalityofthecontroller.

DetailsRemarks

DeviceCompatibility

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardIDterminalofthenextVI.

UsingThisVI

TheEnableShutdownVIenablesthecontrollertoreacttotheshutdown(E-Stop)input.Whentheshutdown(E-Stop)inputtransitionsfromlowtohigh,thecontrollergoesintoashutdownstate.Thefollowingactionstakeplaceintheshutdownstate:

Alltheaxesarekilled.Onservoaxes,thecontrolloopisdisabledandtheoutputDACsarezeroed,allowingfrictionalforcesalonetostopthemotion.Onstepperaxes,thestepperpulsegenerationisstopped.Onbothaxistypes,thereisnotrajectoryprofile.Ifenabled,theinhibitoutputisactivatedtoinhibit(disable)theservoamplifierorstepperdriver.YoucanenabletheinhibitoutputsandsettheirpolarityasactivehighoractivelowwiththeConfigureInhibitOutputsVI.Alltheaxes,encoders,andADCsaredisabled.AllthedigitalI/Oisre-initializedtodefaults.IftheuserhassaveddefaultsusingtheSaveDefaultParametersVI,thedigitalI/Oisre-initializedtotheuserdefaults.Otherwise,thedigitalI/Oisre-initializedtothefactorydefaults.Allcurrentlyexecutingonboardprogramsarestopped.Thecontrollerdoesnotacceptanycommands,exceptforthefollowingones:

GetMotionBoardInformationReadErrorMessageEnableAutoStart

Theshutdownfunctionalityisdisabledbydefaultonpowerup.Thisfunctionalityhastobeenabledeverytimethecontrollerispoweredup.Youmustenablethisfeatureonlyaftertheshutdown(E-Stop)circuitisproperlyconfiguredandconnectedtothecontroller.Aftershutdown(E-Stop)isenabled,itcanbedisabledonlybyresettingorpowercyclingthecontroller.

NoteAfterthecontrollerhasshutdown,youhavetoresetitorcycleitspowerbeforeitcanbeusedagain.NoteTheactivestateoftheshutdown(E-Stop)lineislow.Topreventthecontrollerfromshuttingdownprematurely,thelinemustbehigh(inactive)

Remarks

AllreadVIsareavailablewhentheNISoftMotionControllerisinashutdownstate.AllwriteVIs,includingStartMotionandStopMotion,areunavailablewhentheNISoftMotionControllerisinashutdownstate.

FlushReturnDataBufferClearstheReturnDataBuffer(RDB)bydeletingallofthebuffereddata.

Details

DeviceCompatibility

BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBdIDOutterminalofoneVItotheBoardID

UsingThisVI

TheFlushReturnDataBufferVIclearstheReturnDataBufferbyrepeatedlyreadingtheRDBuntilthebufferisempty.AllreturndatapacketsintheRDBaredeletedandthisVIreturnsnothing.

YoutypicallyusetheFlushReturnDataBufferVIafteranerrorconditionwhenthedataintheReturnDataBufferisnolongervalidorrelevant.ThisVIisalsousefulforflushingtheRDBafteraprogrammingerrorhascausedthebuffertobecomeskewed.BufferskewiswhenthedatareturnedbyareadVIusingthedefaultinputvectorof0xFFdoesnotreturntheexpecteddatabutratherreturnsdatarequestedbyapreviousVI.

Refertothemotioncontrollerdocumentationformoreinformationaboutlow-levelcommunicationsprotocolsandreturndatapackets.

ReadBoardTemperatureReadsthetemperaturefromthemotioncontroller.

Details

DeviceCompatibility

Temperatureisthetemperaturereadfromthetemperaturesensoronthemotioncontrollerin°C.BdIDOutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheBoardIDOutterminalofoneVItotheBoardIDterminalofthenextVI.erroroutcontainserrorinformation.Iferrorinindicatesanerror,erroroutcontainsthesameerrorinformation.Otherwise,itdescribestheerrorstatusthatthisVIproduces.

UsingThisVI

TheReadBoardTemperatureVIreadsthetemperaturein°Cfromthetemperaturesensoronthemotioncontroller.Youcanusethecurrenttemperaturesensorreadingtodeterminewhetherthedevicerequiresrecalibration.

NoteOnly7350controllerssupporttheReadBoardTemperatureVI.

ReadCommunicationStatusReadsthecommunicationstatusregister(CSR)whichrepresentsthestateofthecontroller.

DetailsRemarks

DeviceCompatibility

CommunicationsStatusRegisteristhebitmapofcommunicationstatus

UsingThisVI

Onpowerup,thecontrollerisinapower-upresetstate.RefertoClearPowerUpStatusforinformationaboutclearingtheresetcondition.

Remarks

ThisVIperformsadirectreadoftheCommunicationStatusRegister(CSR)onthe73xxmotioncontrollers.TheCSRisahardwareregistercontainingcommunicationhandshakinganderrorstatusbits.TheNI-Motionsoftwarepollsthisregistercontinuouslywhensendingandreceivingpacketsforhandshakinganderrorcheckingpurposes.Refertoyourmotioncontrollerdocumentationformoreinformationaboutlow-levelcommunicationprotocolsandreturndatapackets.YoualsocancallthisVIatanytimetocheckthecommunicationanderrorstatus.BecausetheCSRisalwaysup-to-dateanddirectlyaccessibleoverthecomputerbus,executingthisVIdoesnotaffecttheoperationoftheNImotioncontroller.

IfyouareusingtheNISoftMotionController,thisVIreadstheNISoftMotionControllerengineservicestatus.

ReadytoReceiveindicatesiftheNISoftMotionControllerisrunning.

TheNISoftMotionControllerdoesnotsupportthefollowingCSRbits:CommandInProcessPacketErrorHardwareFailReadytoSend

ReadReturnDataBufferReadstheReturnDataBuffer.

Details

DeviceCompatibility

WordCountisthenumberof16-bitwordsinthecommandpacket.

UsingThisVI

YoucanusetheReadReturnDataBufferVItoreadtheRDB.

Refertothemotioncontrollerdocumentationformoreinformationaboutlow-levelcommunicationsprotocolsandreturndatapackets.

ResetDefaultParametersResetsthepower-updefaultstothefactory-defaultsettings.

DetailsRemarks

DeviceCompatibility

UsingThisVI

TheResetDefaultParametersVIresetsthepower-updefaultstothefactory-defaultsettingsforallimportantconfiguration,initialization,andtrajectoryparametersforuseaftersubsequentpower-upresets.WhenyouexecutethisVI,allparametersaresavedtononvolatileflashmemoryandbecomethepower-updefaults.

NoteTheeffectofthisVIisnotrealizeduntilthenexttimethecontrollerispoweredupfromapower-downstate.

YouonlyneedtousethisVIifyouhavepreviouslymodifiedthepower-updefaultsusingtheSaveDefaultParametersVIandwanttorevertbacktothefactorydefaults.

Remarks

ThisVImaytakelongerthan62mstoprocesson73xxcontrollers.ThisVIisnotguaranteedtoexecuteinrealtimeasitperformsmemoryallocation.

SaveDefaultParametersSavesthecurrentoperatingparametersasdefaults.

DetailsRemarks

DeviceCompatibility

UsingThisVI

TheSaveDefaultParametersVIsavesallimportantconfiguration,initialization,andtrajectoryparametersforuseaftersubsequentpower-upresets.WhenyouexecutethisVI,allparametersaresavedtononvolatileflashmemoryandbecomethepower-updefaults.

Ifnecessary,youcanreinstatethefactory-defaultparametersasthepower-updefaultswiththeResetDefaultParametersVI.

ThisVIdoesnotperformacompletestatesave.Forproperandsafeoperationafterpower-up,certainparametersarealwaysresettotheirfactorydefaultstobringthecontrollerbacktoaknownsafestate.Parametersnotstoredareleftoutbydesignandaretypicallyresettozeroatpower-up.

NoteIfyouwanttorememberaparameterthatisnotincludedinthislist,youcancopythatparametertoageneral-purposevariableanditissavedwiththisVI.Youcanthenresettheparametertothesavedvaluewithaprogramdesignedforthispurpose.

Remarks

ThisVImaytakelongerthan62mstoprocesson73xxcontrollers.ThisVIisnotguaranteedtoexecuteinrealtimeasitperformsmemoryallocation.Whenthecontrollerispoweredup,thedefaultsareautomaticallyapplied.Thereissometime,however,betweenthecontrollerpoweringupandtheapplicationofdefaults.

Thedefaultsonthestep,direction,breakpoint,andanalogoutputsignalsdonottakeeffectuntilthepowerupresetstateiscleared.UsetheClearPowerUpStatusVItoclearthepowerupresetstate.

Userdefaultsarenotapplieduntilthepowerupresetstateiscleared.UsetheClearPowerUpStatusVItoclearthepowerupresetstate.Refertothedocumentationforyourdrivefortheinitialpoweronstateofthedrive.

AdvancedReadVIsYoucanusetheadvancedreadfunctionstoviewaxisorcoordinateexecutiondataandstatusinformation,I/Ostatusinformation,encoderexecutiondata,andsoon.

ReadExecutionStatus

ReadExecutionData

ReadEncoderData

ReadCaptureCompareData

ReadMotionI/OData

ReadDigitalI/OData

ReadExecutionDataReadsposition,velocity,andfollowingerrorinformationonanaxisorcoordinate.YoucanusethispolymorphicVItoreadexecutiondataofasingleaxisattribute,allexecutiondatainformationfromanaxis,positioninformationforallaxesinacoordinate,orvelocityorfollowingerrorinformationforacoordinate.

Usethepull-downmenutoselectaninstanceofthisVI.

Selectaninstance

Details

DeviceCompatibility

ReadAxisData

attributeistheattributeyouwanttoread.Thefollowingarevalidattributes:

position—Returnsthepositiontothedoubleelementofthedatacluster.velocity—Returnsthevelocitytothedoubleelementofthedatacluster.followingerror—Returnsthefollowingerrortothedoubleelementofthedatacluster.

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.axisinistheaxistoreadwiththisVI.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

dataisaclusterofvariablesthatcontainsthevaluesfortheselectedattribute.Readthecorrectelementoftheclusterfortheattribute.Thevaluesoftheotherelementsintheclusterareundefined.

integeris32-bitintegerdata.doubleis64-bitfloatingpointdata.

ReadAllAxisData

axisdataisthedatarecordcontainingaxisexecutiondata.positioncontainsaxispositioninformation.velocitycontainsfilteredvelocityincounts/s(forservoaxes)orsteps/s(forstepperaxes).Thesignofvelocityindicatesdirectionofmotion.followingerrorcontainstheinstantaneousdifferencebetweenthecommandedtrajectorypositionandtheactualfeedbackpositionincountsforservosystemsandstepsforsteppersystems.encoderpositioncontainsthequadraturecountvalueoftheencodermappedtotheselectedaxis.

boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheboardoutterminalofoneVItotheboardinterminalofthenextVI.axisoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheaxisoutterminalofoneVItotheaxisinterminalofthe

ReadCoordinateData

velocity—Returnsthevelocitytothedoubleelementofthedatacluster.followingerror—Returnsthefollowingerrortothedoubleelementofthedatacluster.

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.coordinateinisthecoordinatetoreadwiththisVI.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

integeris32-bitintegerdata.doubleis64-bitfloatingpointdata.BooleanisBooleandata.

boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-Motion

ReadCoordinatePosition

positionsisthearraycontainingthecoordinatepositioninformation.boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheboardoutterminalofoneVItotheboardinterminalofthenextVI.coordinateoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringthecoordinateoutterminalofoneVItothecoordinateinterminalofthenextVI.erroroutcontainserrorinformation.Iferrorinindicatesanerror,erroroutcontainsthesameerrorinformation.Otherwise,itdescribestheerrorstatusthatthisVIproduces.

statusisTRUEifanerroroccurred,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroora

UsingThisVI

CautionIfthisVIusesreflectivememory,itshouldnotbeusedforeventchecking.Inthiscase,onlyusetheinformationreturnedbythisVIfordisplaypurposes.RefertoReflectiveMemoryVIsformoreinformation.NoteBecauseofthewaythecontrollerupdatesinformation,thevaluesreturnedarenotguaranteedtoallbesampledinthesametimeslice.

AxisDataInstances

ThesingleaxisversionsofthisVIreturnexecutiondataontheselectedaxis.

Foropen-loopstepperaxes,theVIreturnspositioninformationinnumberofstepsgenerated.Forclosed-loopstepperaxes,itconvertstheprimaryfeedbackpositionfromcountstostepsandthenreturnsthevalueinsteps.Closed-loopstepperaxesrequireyoutocorrectlyloadvaluesofstepsperrevolutionandcountsperrevolutiontofunctioncorrectly.

NoteForclosed-loopaxes,thisVIalwaysreturnsthepositionoftheprimaryfeedbackresource.RefertotheReadCoordinatePositioninstanceofthisVIforaneasywaytoreadthepositionsofallaxesinacoordinateinonecall.

Foraxisvelocity,thisVIreturnsfilteredvelocityincounts/s(forservoaxes)orsteps/s(forstepperaxes).Thesignofvelocityindicatesdirectionofmotion.

Foraxisfollowingerror,thisVIreturnstheinstantaneousdifferencebetweenthecommandedtrajectorypositionandtheactualfeedbackpositionincountsforservosystemsandstepsforsteppersystems.

Encoderpositiondataisinquadraturecountvalueoftheencodermappedtotheselectedaxis.

Duringaxissetup,youcanoperatetheclosed-loopstepperaxisinopen-loopmodeandusethisVItodirectlymeasurethecountsperrevolutionandstepsperrevolutionfortheaxis.Thesevaluesmustbeloadedbeforeforsubsequentclosed-loopoperation.RefertotheLoadCounts/StepsperRevolutionVIformoreinformation.

Youalsocanuseencoderpositiontoreturnafinerreadingofpositionincaseswheretheencoderresolutiongreatlyexceedsthestepresolutionoftheclosed-loopstepperaxis.

ReadExecutionStatusYoucanusethispolymorphicVItoreadtheexecutionstatusofaselectedaxisexecutionstatusattribute,allexecutionstatusattributesonanaxis,oraselectedcoordinateexecutionstatusattribute.

Usethepull-downmenutoselectaninstanceofthisVI.

Selectaninstance

Details

DeviceCompatibility

ReadAxisStatus

attributeistheattributeyouwanttoread.RefertotheDetailssectionformoreinformation.Thefollowingarevalidattributes:

axisactive—ReturnsthestatustotheBooleanelementofthedatacluster.movecomplete—ReturnsthestatustotheBooleanelementofthedatacluster.profilecomplete—ReturnsthestatustotheBooleanelementofthedatacluster.blendcomplete—ReturnsthestatustotheBooleanelementofthedatacluster.followingerrorexceeded—ReturnsthestatustotheBooleanelementofthedatacluster.velocitythresholdexceeded—ReturnsthestatustotheBooleanelementofthedatacluster.axismoving—ReturnsthestatustotheBooleanelementofthedatacluster.directionforward—ReturnsthestatustotheBooleanelementofthedatacluster.

ReadAllAxisStatus

axisstatusisthedatarecordcontainingaxisstatusinformation.RefertotheDetailssectionformoreinformation.boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheboardoutterminalofoneVItotheboardinterminalofthenextVI.axisoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheaxisoutterminalofoneVItotheaxisinterminalofthenextVI.erroroutcontainserrorinformation.Iferrorinindicatesanerror,erroroutcontainsthesameerrorinformation.Otherwise,itdescribestheerrorstatusthatthisVIproduces.

statusisTRUEifanerroroccurred,orFALSEifnot.IfstatusisTRUE,codeisanonzeroerrorcode.IfstatusisFALSE,codeiszeroorawarningcode.codeisanumberidentifyinganerrororwarning.IfstatusisTRUE,

ReadCoordinateStatus

attributeistheattributeyouwanttoread.RefertotheDetailssectionformoreinformation.Thefollowingarevalidattributes:

movecomplete—ReturnsthestatustotheBooleanelementofthedatacluster.profilecomplete—ReturnsthestatustotheBooleanelementofthedatacluster.blendcomplete—ReturnsthestatustotheBooleanelementofthedatacluster.followingerrorexceeded—ReturnsthestatustotheBooleanelementofthedatacluster.

integeris32-bitintegerdata.

UsingThisVI

UsethisVItoreadtheexecutionstatusofanaxisorcoordinate.

CautionIfthisVIusesreflectivememory,itshouldnotbeusedforeventchecking.Inthiscase,onlyusetheinformationreturnedbythisVIfordisplaypurposes.RefertoReflectiveMemoryVIsformoreinformation.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

TheVIwillreturnTrueorFalsebasedonthefollowingcriteria:

Element ExecutionStatusaxisactive

True=motorisonFalse=motorisoff

movecomplete

True=movecompleteFalse=movenotcomplete

profilecomplete

True=profileiscompleteFalse=profilegenerationinprocess

blendcomplete

True=blendcompleteFalse=blendpending

followingerrorexceeded

True=axisorcoordinateaxisexceededtheprogrammedfollowingerrorlimitFalse=axisorcoordinateaxisfollowingerrorisbelowtheprogrammedfollowingerrorlimit

NoteIfyouarerunningacontouredmoveorslaveaxismovewithastepperaxis,itispossiblethatthecontourvelocityortheslaveaxisgearedvelocityexceedsthemaximumsteprateofthecontroller.Inthiscase,thecontrollerkillstheaxisandsetsthefollowingerrorstatustotrue.RefertotheSpecificationssectionofyourcontrollerusermanualforthemaximumsteprateofyourcontroller.

velocitythresholdexceeded

True=axisvelocityisabovetheprogrammedvelocitythresholdFalse=axisvelocityisbelowtheprogrammedvelocitythreshold

axismoving

True=axisismovingFalse=axisisstopped

directionforward

True=axismovingforwardFalse=axismovinginreverse

index True=encoderindexpositioncaptureoccurred

ReadCaptureCompareDataReadspositioncompareorpositioncapturedatafromtheselectedaxis.

Details

DeviceCompatibility

capturedposition—Returnsthepositiontothedoubleelementofthedatacluster.positioncaptureoccurred—ReturnsthestatustotheBooleanelementofthedatacluster.True(On)indicatesthatthepositioncaptureoccurredandFalse(Off)indicatesthatthepositioncapturehasnotoccurred.positioncompareoccurred—ReturnsthestatustotheBooleanelementofthedatacluster.True(On)indicatesthatthepositioncompareoccurredandFalse(Off)indicatesthatthepositioncomparehasnotoccurred.

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.axisinistheaxistoreadwiththisVI.indexinistheencoderindexvalue.Validvalueis1fortheprimaryencoder.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowing

UsingThisVI

UsethisVItoreadpositioncompareorpositioncapturedatafromtheselectedaxis.

ReadDigitalI/ODataReadstheattributeonasingledigitalI/Oline.

DetailsRemarks

DeviceCompatibility

outputactivestate—ReturnstheactivestateofthespecifiedoutputlinetotheBooleanelementofthedatacluster.TRUEindicatesactivelow/activeopen.FALSEindicatesactivehigh/activeclosed.inputactivestate—ReturnstheactivestateofthespecifiedinputlinetotheBooleanelementofthedatacluster.TRUEindicatesactivelow/activeopen.FALSEindicatesactivehigh/activeclosed.outputactive—ReturnsthecurrentoutputstateofthespecifiedlinetotheBooleanelementofthedatacluster.TRUEindicatestheoutputlineisactive.FALSEindicatestheoutputlineisinactive.

NoteReadingthisattributeonalineconfiguredforinputreturnserror-70102(NIMC_wrongIODirectionError).

inputactive—ReturnstheinputstateofthespecifiedlinetotheBooleanelementofthedatacluster.TRUEindicatestheinputlineisactive.FALSEindicatestheinputlineisinactive.

NoteReadingthisattributeonalineconfiguredforoutputreturnserror-70102(NIMC_wrongIODirectionError).

configureasinput—Returnsthedirectionofthespecifiedlinetothe

UsingThisVI

UsethisVItoreadtheattributeonasingledigitalI/Oline.ThedigitalI/Olinesaredividedamongtheaxes.

CautionIfthisVIusesreflectivememory,itshouldnotbeusedforeventchecking.Inthiscase,onlyusetheinformationreturnedbythisVIfordisplaypurposes.RefertoReflectiveMemoryVIsformoreinformation.

Remarks

ThePCI-7390doesnotsupporttheconfigureasinputattribute.ThePCI-7390hasdedicateddirectionI/Olines.Onthesecontrollers,thepinyouread(inputoroutput)isdeterminedbythevaluespecifiedinlineinandattribute.

Forexample,toreadtheinputactivestateattributeofGeneral-PurposeInputBit1onaxis2,calltheReadDigitalI/ODataVIwiththefollowingparameters:

axisin=2linein=1attribute=inputactivestate

ToreadtheoutputactivestateofGeneral-PurposeOutputBit1onaxis2,calltheReadDigitalI/ODataVIwiththefollowingparameters:

axisin=2linein=1attribute=outputactivestate

7330,7340,and7350controllershaveconfigurabledirectionI/Olines.Onthesecontrollers,thelinenumberistranslatedtoportandlinenumber.Forexample,acalltoReadDigitalI/ODataonafouraxiscontrollerwitheightdigitalI/Oportsand

axisin=2

ReadEncoderDataReadspositionstatusordatafromtheselectedencoder.

Details

DeviceCompatibility

position—Returnsthequadraturecountvalueoftheencodermappedtotheselectedaxistothedoubleelementofthedatacluster.indexposition—ReturnsthecapturedindexpositionafteraFindIndexsearchtothedoubleelementofthedatacluster.indexcaptureoccurred—ReturnsthestatustotheBooleanelementofthedatacluster.True(On)indicatesthattheencoderindexpositioncaptureoccurred.False(Off)indicatesthattheencoderindexpositionwasnotcaptured.

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.axisinistheaxistoreadwiththisVI.indexinistheencoderindexvalue.Validvalueis1fortheprimaryencoder.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItoreadstatusordatafromtheselectedencoder.

ReadMotionI/ODataReadsstatusanddatafromthemotioninputsandoutputs.

DetailsRemarks

DeviceCompatibility

forwardlimitactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.reverselimitactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.forwardsoftwarelimitactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.reversesoftwarelimitactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.homeinputactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.inhibit-inactive—ReturnsthestatustotheBooleanelementofthedatacluster.TRUEindicatesthattheinputisactiveandFALSEindicatesthattheinputisinactive.

UsingThisVI

UsethisVItoreadthestatusanddatafromthemotioninputsandoutputsonthemotioncontroller.Youcanreadthestatusofthesemotioninputsandoutputsatanytime,regardlessofwhethertheyareenabled.ThelimitandhomeinputstatusduringaFindReferencemoveisundefined.RefertoWriteMotionI/ODataformoreinformation.

CautionIfthisVIusesreflectivememory,itshouldnotbeusedforeventchecking.Inthiscase,onlyusetheinformationreturnedbythisVIfordisplaypurposes.RefertoReflectiveMemoryVIsformoreinformation.NoteTheactivestateofthesesignalsdeterminesifanOnstateisactivehigh/activeclosedoractivelow/activeopen.RefertoWriteMotionI/ODataformoreinformationaboutactivestateandgeneralinformationaboutthesignals.NoteRefertoVIExecutionTimesforbenchmarktiminginformationaboutyourcontroller.

Remarks

Theminimumpulsewidthfortheinhibit-ininputtobedetectedisapproximately1ms.OntheNIPCI-7390controller,theinhibit-inactiveattributedoesnotreturnavalidvalueunlesstheinhibit-insignalisenabled.OntheNIPCI-7390controller,thein-positionactiveattributedoesnotreturnavalidvalueunlessthein-positionsignalisenabled.

TheNISoftMotionControllerdoesnotsupportthein-positionactive,drivereadyactive,orinhibit-outactiveattributes.

AdvancedWriteVIsYoucanusetheadvancedwriteVIsforspecializedI/OoperationsinvolvingthedigitalI/Oonacontroller,foradvancedmotionI/Ooperations,ortoconfigurethetrajectorydataforamove.

WriteTrajectoryData

WriteCaptureCompareData

WriteMotionI/OData

WriteDigitalI/OData

WriteCaptureCompareDataLoadspositioncompareorpositioncapturedatafortheselectedaxis.

Details

DeviceCompatibility

attributeistheattributetoload.Thefollowingisthevalidattribute:

positioncomparepulsewidth—Setsthepulsewidthofthepositioncomparesignal.

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.axisinistheaxistoconfigurewiththisVI.indexinistheencodertoconfigure.Validvalueis1fortheprimaryencoder.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

UsingThisVI

UsethisVItoloadconfigurationparametersforpositioncaptureandcompareonthemotioncontroller.Thisfunctionallowsyoutosetallattributesonaperaxisbasis.

Usethepositioncomparepulsewidthattributetoconfigurethepulsewidthforpositioncompareoutputsthattriggerdeviceswithspecificminimumactivepulserequirements.

NoteAbreakpointacrossRTSIalwaysgeneratesanactivehighpulseof200nsduration.CautionThepositioncompare(breakpoint)frequencydependsonthevelocityanddistancebetweenpositioncompareoutputsandislimitedbythepulsewidth.Thepositioncompareoutputfrequencymustmeettherequirementsspecifiedbelowforcorrectoperation.

Thepositioncompareoutputpulsemustnotoverlapwiththenextpositioncompareevent.Ifthepositioncompareoutputpulseoverlapswiththenextpositioncompareevent,positioncomparegenerationisstoppedandthepositioncompareoutputisdisabled.Torecoverfromthissituationchangethepulsewidth,velocity,ordistancebetweenpositioncompareoutputs.Inaddition,thepositioncompareoutputfrequencycannotbegreaterthanthemaximumvalueallowedforthespecifiedpositioncomparetype.Therefore,thepositioncompareoutputfrequency,inhertz,atthespecifiedpulsewidth,inseconds,mustconformtothefollowingtwoconditions:

PositionCompare

(Breakpoint)OutputType

MaximumFrequency

Single 150HzBuffered,PIDrateof62.5µsto250µs

Buffered,PIDrategreaterthan250µs

Periodic 4MHz

UsingThisVI

UsethisVItoloadconfigurationparametersforpositioncaptureandcompareonthemotioncontroller.Thisfunctionallowsyoutosetallattributesonaperaxisbasis.

Usethepositioncomparepulsewidthattributetoconfigurethepulsewidthforpositioncompareoutputsthattriggerdeviceswithspecificminimumactivepulserequirements.

NoteAbreakpointacrossRTSIalwaysgeneratesanactivehighpulseof200nsduration.CautionThepositioncompare(breakpoint)frequencydependsonthevelocityanddistancebetweenpositioncompareoutputsandislimitedbythepulsewidth.Thepositioncompareoutputfrequencymustmeettherequirementsspecifiedbelowforcorrectoperation.

Thepositioncompareoutputpulsemustnotoverlapwiththenextpositioncompareevent.Ifthepositioncompareoutputpulseoverlapswiththenextpositioncompareevent,positioncomparegenerationisstoppedandthepositioncompareoutputisdisabled.Torecoverfromthissituationchangethepulsewidth,velocity,ordistancebetweenpositioncompareoutputs.Inaddition,thepositioncompareoutputfrequencycannotbegreaterthanthemaximumvalueallowedforthespecifiedpositioncomparetype.Therefore,thepositioncompareoutputfrequency,inhertz,atthespecifiedpulsewidth,inseconds,mustconformtothefollowingtwoconditions:

PositionCompare

(Breakpoint)OutputType

MaximumFrequency

Single 150HzBuffered,PIDrateof62.5µsto250µs

Buffered,PIDrategreaterthan250µs

Periodic 4MHz

WriteDigitalI/ODataSetstheattributeonasingledigitalI/Oline.

DetailsRemarks

DeviceCompatibility

datainisaclusterofvariablesthatcontainsthevaluesfortheselectedattribute.

Basedontheattribute,thecorrectmemberofdatainmustbesetasfollows:

Foroutputactivestate,settheBooleanelementofthedatainclustertoTRUEtosettheactivestatetoactivelow/activeopen,andsetittoFALSEtosettheactivestatetoactivehigh/activeclosed.Forinputactivestate,settheBooleanelementofthedatainclustertoTRUEtosettheactivestatetoactivelow/activeopen,andsetittoFALSEtosettheactivestatetoactivehigh/activeclosed.Foroutputactive,settheBooleanelementofthedatainclustertoTRUEtoconfiguretheoutputlineasactive,andsetittoFALSEtoconfiguretheoutputlineasinactive.Forconfigureasinput,settheBooleanelementofthedatain

UsingThisVI

UsethisVItosettheattributeonasingledigitalI/Oline.ThedigitalI/Olinesaredividedamongtheaxes.

Remarks

ThePCI-7390doesnotsupporttheconfigureasinputattribute.ThePCI-7390hasdedicateddirectionI/Olines.Onthesecontrollers,thepinyouwriteto(inputoroutput)isdeterminedbythevaluespecifiedinlineinandattribute.

Forexample,tochangetheinputactivestateofline1onaxis2,callWriteDigitalI/ODatawiththefollowingparameters:

axisin=2linein=1attribute=inputactivestate

Theactivestateisappliedtoaxis2General-PurposeInputBit1.

Tochangetheoutputactivestateofline1onaxis2,callWriteDigitalI/ODatawiththefollowingparameters:

axisin=2linein=1attribute=outputactivestate

Theactivestateisappliedtoaxis2General-PurposeOutputBit1.

7330,7340,and7350controllershaveconfigurabledirectionI/Olines.Onthesecontrollers,thelinenumberistranslatedtoportandlinenumber.Forexample,acalltoWriteDigitalI/ODataonafouraxiscontrollerwitheightdigitalI/Oportswith

WriteMotionI/ODataLoadsconfigurationparametersforthemotioninputsandoutputs.

DetailsRemarks

DeviceCompatibility

Forforwardlimitenableandreverselimitenable,settheBooleanelementofthedatainclustertoTRUEtoenablethehardwarelimit,andFALSEtodisablethehardwarelimit.Forforwardsoftwarelimitenableandreversesoftwarelimitenable,settheBooleanelementofthedatainclustertoTRUEtoenablethesoftwarelimit,andFALSEtodisablethesoftwarelimit.Forhomeinputenable,settheBooleanelementofthedatainclustertoTRUEtoenablethehomeinput,andFALSEtodisablehomeinput.Forforwardlimitactivestate,reverselimitactivestate,andhomeinputactivestate,settheBooleanelementofthedatainclusterto

UsingThisVI

UsethisVItoloadconfigurationparametersforthemotioninputsandoutputsonthemotioncontroller.ThisVIallowsyoutosetallattributesonaperaxisbasis.

Hardwarelimitinputs,homeinputs,softwarepositionlimits,inhibitinputs,in-positioninputs,drivereadyinputs,andinhibitoutputsareenhancementsontheNImotioncontrollersandarenotrequiredforbasicmotioncontrol.WiththeexceptionoftheFindReferenceVI,youcanoperateallmotioncontrolVIswithoutenablingorusingthesesignals.TheFindReferenceVIrequiresenabledlimitandhomeinputsforoperation.FindReferencedoesnotrequireenabledsoftwarelimits.

CautionNationalInstrumentsrecommendsusinglimitsforpersonalsafety,aswellastoprotectthemotionsystem.

Theactivestateforeachhardwarelimit,home,inhibitinput,in-positioninput,andinhibitoutputcanbeconfiguredaseitheractivelow/activeopenoractivehigh/activeclosed.

Whenconfiguredasactivelow,theinputoroutputisactivewhenthereisalowsignalonthepin.Conversely,activehighmeansthattheinputoroutputisactivewhenthereisahighsignalonthepin.

Configuringanactivestateofactiveopenoractivecloseddoesnotcorrespondtothelevelofthesignalontheinputoroutputpin.Instead,anactiveopenstatemeansthattheinputoroutputisactivewhencurrentisnotflowingthroughtheoptocoupledinput.Conversely,anactiveclosedstatemeansthattheinputoroutputisactivewhencurrentisflowingthroughtheoptocoupledinput.

ForwardandReverseLimits,andHomeInputs

Thehardwarelimitinputsaretypicallyconnectedtoend-of-travellimitswitchesorsensors.Anenabledlimitinputcausesahaltstopontheaxiswhentheinputbecomesactive.Activelimitinputsalsoprohibitattemptstostart

Remarks

7330,7340,and7350controllersdonotsupporttheinhibit-inactivestateandin-positionactivestateattributes.UseWriteDigitalI/ODatatosettheactivestateforthesesignals.7330,7340,and7390controllersdonotsupporttheinhibit-outtotempoleattribute.7390controllersdonotsupporttheinhibit-outactivestateattribute.Tosettheactivestateona7390useWriteDigitalI/OData.Theinhibit-insignalissoftware-timedlatchedat1ms.Thissignalmustbeactiveforapproximately1mstobedetectedbythecontroller.Thefollowingtableliststhedrivesignalsandtheirimplementationonthecontroller:

SignalName SignalDirection

ControllerSupportController Drive 7330 7340 7350 7390

Inhibit-Out ServoOn Output Dedicated Dedicated Dedicated Mappable

Inhibit-In ServoAlarm Input Mappable Mappable Mappable Dedicated

DriveReady

ServoReady Input Mappable Mappable Mappable Mappable

In-Position In-Position Input Mappable Mappable Mappable Dedicated

AlarmClear

AlarmClear Output Mappable Mappable Mappable Mappable

TheactivestateofadedicatedsignalisdirectlyconfigurableusingthisVI.

WriteTrajectoryDataConfigurestrajectorygeneratorparameters.

DetailsRemarks

DeviceCompatibility

Formovecompletewhendeactivated,settheBooleanelementofthedatainclustertoTRUEtoaddmotoroffstatusasacriteriaformovecomplete,andsetittoFALSEtoremovemotoroffstatus.Formovecompletewhennotmoving,settheBooleanelementofthedatainclustertoTRUEtoaddmotorstopstatusasacriteriaformovecomplete,andsetittoFALSEtoremovemotorstopstatus.Formovecompleteafterdelay,settheBooleanelementofthedatainclustertoTRUEtoenableauser-defineddelayasacriteriaformovecomplete,andsetittoFALSEtodisableauser-defineddelay.Formovecompletetimedelay,setdoubleDataintheTnimcDatastructuretothedesiredtimedelaytowaitformovecomplete.Valid

UsingThisVI

UsethisVItoconfiguretrajectorygeneratorparametersforreportingamovecomplete.Whenamoveiscompleteonanaxis,thecorrespondingbitintheMoveCompleteStatus(MCS)registerisset.RefertoReadMoveCompleteStatusforinformationaboutreadingtheMCSregister.

Ifmovecompletewhendeactivatedistrue,anyconditionthatcausestheaxistoturnitsmotoroff(akillorfollowingerrortrip)satisfiesthisrequirementforMoveComplete.

Ifthemovecompletewhennotmovingistrue,theaxismustbelogicallystoppedforthemovetobeconsideredcomplete.

Ifmovecompleteafterdelayistrue,theaxismustwaitauser-defineddelayaftertheothercriteriaaremetbeforethemoveisconsideredcomplete.Themovecompletetimedelayattributeistypicallyusedtowaitthemechanicalsettlingtimesothatamoveisnotconsideredcompleteuntilvibrationsinthemechanicalsystemhavedampedout.ItalsocanbeusedtocompensateforPIDpull-intimeduetotheintegralterm.Thispull-inistypicallyatvelocitiesbelowtheRun/Stopthreshold.

NoteYoucanusethemovecompleteafterdelayparametertoguaranteeaminimumtimefortheFalsestate.ThestatustransitionsfromCompletetoNotCompleteatthestartofamoveandstaysintheNotCompletestateforatleastthisdelaytimeeveninthecaseofazerodistancemove.

Ifmovecompletewheninrangeistrue,theaxischecksitsfinalstoppingpositionversusitstargetpositionandonlysetstheMoveCompletestatusiftheabsolutevalueofthedifferenceislessthanmovecompleterangedistance.

Finally,ifmovecompletewheninpositionactiveistrue,thein-positioninputsignalisusedasacriteriaformovecomplete,andthemoveisonlycompleteifthein-positionsignalisactive.

Anon-zerovalueformovecompleteminimumactivetimeguaranteesthe

Remarks

TheNI7344doesnotsupportthemovecompletewheninpositionactiveattribute.7330,7340,and7350controllersuseConfigureMotionI/OMaptomapthein-positioninputtoageneral-purposeI/Oline.

TheNISoftMotionControllerdoesnotsupportthemovecompletewheninpositionactiveattribute.

AdvancedMethodsYoucanusetheadvancedmethodsforspecializedI/Oandmoveoperations,andforspecializedcommunicationsinvolvingthecontrolleranddriveorhost.

AxisStraightLineMove

ConfigureMotionI/OMap

ResetMotionController

ClearFaults

AxisStraightLineMovePerformsastraightlinemoveonanaxis.

Details

DeviceCompatibility

axisstraightlinemovedataisaclustercontainingstraightlinemoveinformation.

startmodeisthestartmodeforthemove:

donotstart—Donostartthestraightlinemoveatthistime.start—Startthestraightlinemovewiththeconfiguredparameters.

positionmodeselectsthepositionmodeforthemove.RefertoDetailsformoreinformationabouttheavailablepositionmodes.

absolute—Useabsolutepositionmodeinthemove.relative—Userelativepositionmodeinthemove.velocity—Usevelocitymodeinthemove.

targetpositionisthetargetpositionforthestraightlinemoveincountsorsteps.

moveconstraintsisaclustercontainingmoveconstraintinformation:velocitysetsthevelocityforthemoveincounts/sorsteps/s.accelerationsetstheaccelerationforthemoveincounts/s2orsteps/s2.decelerationsetsthedecelerationforthemoveincounts/s2orsteps/s2.accelerationjerksetstheaccelerationjerkforthemoveincounts/s3orsteps/s3.

UsingThisVI

UsethisVItoperformastraightlinemoveonanaxis.Thepositionmodesaredescribedinthefollowingsections:

AbsolutePositionMode

Inabsolutepositionmode,targetpositionsareinterpretedwithrespecttoanorigin,reference,orzeroposition.Theoriginistypicallysetatahomeswitch,endoftravellimitswitch,orencoderindexposition.Anabsolutepositionmoveusesthespecifiedvaluesofacceleration,deceleration,andvelocitytocompleteatrajectoryprofilewithanendingpositionequaltothespecifiedabsolutetargetposition.

CautionAnysinglemoveislimitedtobetween–231and231–1countsorsteps.Anerrorisgeneratedifyouexceedthislimitbyspecifyingatargetpositiontoofarfromthecurrentposition.

Thelengthofanabsolutemovedependsuponthespecifiedpositionandthecurrentpositionwhenthemoveisstarted.Ifthetargetpositionisthesameasthecurrentposition,nomoveoccurs.

RelativePositionMode

Inrelativepositionmode,ifarelativepositionmoveisstartedwhilemotionisnotinprogress,specifiedtargetpositionsareinterpretedwithrespecttothecurrentpositionatthetimethevalueisspecified.Arelativepositionmoveusesthespecifiedvaluesofacceleration,deceleration,andvelocitytocompleteatrajectoryprofilewithanendingpositionequaltothesumofthespecifiedrelativetargetpositionandthestartingposition.

Ifarelativemoveisstartedwhilemotionisinprogress,thenewtargetpositioniscalculatedwithrespecttothetargetpositionofthemovealreadyinprogress(consideredtobethenewstartingposition),asifthatmovehadalreadycompletedsuccessfully.Motioncontinuestothenewrelativeposition,independentoftheactualpositionlocationwhenthenewmoveisstarted.

VelocityMode

Invelocitymode,theaxismovesatthespecifiedvelocityuntilyouexecuteaStopMotionVI,alimitisencountered,oranewvelocityisspecifiedandyouexecuteaStartMotionVI.Specifiedtargetpositionshavenoeffectinvelocity

ClearFaultsClearsallmodalerrorsanddrivefaultsonallaxes.

Details

DeviceCompatibility

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheboardoutterminalofoneVItotheboardinterminalofthenextVI.erroroutcontainserrorinformation.Iferrorinindicatesanerror,erroroutcontainsthesameerrorinformation.Otherwise,itdescribestheerror

UsingThisVI

UsethisVItoclearallmodalerrorsanddrivefaultsonallaxes.ThisVIpulsesthealarmclearlineonallaxesthathavemappedthealarmclearsignalusingConfigureMotionI/OMap.

NoteRefertoWriteMotionI/ODataformoreinformationaboutthealarmclearsignalandtochangethealarmclearpulsewidth.

Theinhibit-insignalisconnectedtotheAlarmsignalofthedrive.Monitorthestatusoftheinhibit-insignaltodetermineifthereareanydrivefaults.Correctthefaults,thenusethisVItoclearthealarmstateofthedrive.

TheInitializeControllerVIautomaticallycallsthisVIifthecontrollerisinapower-upstate.IfyoucallInitializeControllerandthecontrollerisnotinapower-upstate,thisVIisnotcalled.

ConfigureMotionI/OMapMapsageneralpurposeI/Olinetoanalternatefunctionofanaxis.

Details

DeviceCompatibility

attributeistheactiontomaptoadigitalI/Oline.Thefollowingarevalidattributes:

defaultinput—MapsageneralpurposeI/Olineasthedefaultinputline.defaultoutput—MapsageneralpurposeI/Olineasthedefaultoutputline.shutdown—Mapsageneralpurposeinputlineastheshutdown(E-Stop)line.RefertoEnableShutdownformoreinformationabouttheshutdown(E-Stop)functionalityofthecontroller.inhibit-out—Mapsageneralpurposeoutputlineasaninhibit-outline.RefertoConfigureInhibitOutputformoreinformationabouttheinhibitoutputs.alarmclear—Mapsageneralpurposeoutputlineasanalarmclearline.RefertoWriteMotionI/ODataformoreinformationaboutalarmclear.inhibit-in—Mapsageneralpurposeinputlineasaninhibit-inline.RefertoWriteMotionI/ODataformoreinformationaboutthe

UsingThisVI

ThisVImapsageneral-purposeI/Olinetoanalternatefunctionofanaxissuchasinhibitoutput.Forexample,tomapaxis3general-purposeoutput1totheinhibitoutputofaxis3,calltheVIwiththefollowingparametervalues:

axisin=3attribute=inhibit-outioAxisin=3linein=1

Forallattributesexceptforshutdown,theaxisininputmustbethesameastheioAxisininput.Theactionshutdownappliestothedevicelevel.Theaxisininputisignored.Furthermore,onlyonegeneral-purposeinputcanbemappedtothisattribute.7330,7340,and7350controllersdonotsupporttheinhibit-outandshutdownattributesbecausethesecontrollershavededicatedpinsforthesesignals.7390controllersdonotsupporttheinhibit-inandin-positionattributesbecausethiscontrollerhasdedicatedpinsforthesesignals.

Thefollowingtableliststhedrivesignalsandtheirimplementationonthecontroller:

SignalName SignalDirection

ControllerSupportController Drive 7330 7340 7350 7390Inhibit-Out ServoOn Output Dedicated Dedicated Dedicated Mappable

Inhibit-In ServoAlarm Input Mappable Mappable Mappable Dedicated

DriveReady

ServoReady Input Mappable Mappable Mappable Mappable

ResetMotionControllerResetsthemotioncontrollertothepower-upstate.

Details

DeviceCompatibility

boardinisauniquenumberassignedbyMeasurement&AutomationExplorerusedtosendandreceivecommandsanddatatoorfromaspecificNImotioncontroller.errorin(noerror)describeserrorconditionsthatoccurbeforethisVIruns.Thedefaultinputofthisclusterisnoerror.Ifanerroralreadyoccurred,thisVIreturnsthevalueoferrorininerrorout.TheVIrunsnormallyonlyifnoincomingerrorexists.Otherwise,theVIpassestheerrorinvaluetoerrorout.Theerrorinclustercontainsthefollowingparameters:

boardoutisprovidedforflowcontrol.YoucanstringtogetherNI-MotionVIsbywiringtheboardoutterminalofoneVItotheboardinterminalofthenextVI.

UsingThisVI

UsethisVItoresetthemotioncontrollertothepower-upstate.Afterresettingthecontroller,youmustcallInitializeControllerorClearPowerUpStatustousethecontroller.

ImportantInformationWarranty

Copyright

Trademarks

Patents

WarningRegardingUseofNIProducts

WarrantyThemediaonwhichyoureceiveNationalInstrumentssoftwarearewarrantednottofailtoexecuteprogramminginstructions,duetodefectsinmaterialsandworkmanship,foraperiodof90daysfromdateofshipment,asevidencedbyreceiptsorotherdocumentation.NationalInstrumentswill,atitsoption,repairorreplacesoftwaremediathatdonotexecuteprogramminginstructionsifNationalInstrumentsreceivesnoticeofsuchdefectsduringthewarrantyperiod.NationalInstrumentsdoesnotwarrantthattheoperationofthesoftwareshallbeuninterruptedorerrorfree.

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NI7330and7340TimingInformationThefollowingtableliststheexecutiontimeforselectedVIs,aswellasforthedifferentattributesofthoseVIs,ifapplicable.Alsoincludedistiminginformationforaxesorvectorspaces,ifbotharesupportedwithagivenVI.

NoteThetimeslistedarebenchmarktimesandarenotaguaranteeofVIexecutiontimesonyoursystem.Timesdonottakeintoaccountotheroperations,onboardprograms,orotherfactorsthatslowperformance.

VI VIReturnTime(ms)using1.47GHzProcessor†

VIReturnTime(ms)using700MHzProcessor‡

LoadTargetPosition 1.1 1.2

ReadPosition 1.7 1.9ReadMotionI/OData

ForwardLimitActive

ReverseLimitActive

HomeInputActive

Inhibit-InActive

In-PositionActive

DriveReadyActive

Inhibit-OutActive

ReadI/OPort 1.3 1.4SetI/OPortMOMO 1.1 1.2

LoadVectorSpacePosition 1.1 1.2

ReadVelocity

vector1.8

ReadVelocityinRPM

vector2.0

LoadVelocity

vector1.2

LoadVelocityinRPM

vector 2.7

ReadMoveCompleteStatus 0.1 0.2

ConfigureVectorSpace 1.3 1.4

CheckMoveCompleteStatus 1.6 1.7

CheckBlendCompleteStatus 1.4 1.5

ReadCommunicationStatus

0.1 0.2

InitializeController 607.1 607.1

ReadDigitalI/OData

OutputActiveState

InputActiveState

OutputActive

InputActive

ConfigureAsInput

ReadFollowingError 1.8 1.9

†AnAMDAthlon1.47GHzPCwith256MBofRAMwasusedfortiming

tests.Testsrunin"abovenormalpriority"executiontoachievethemostaccurateresults.

‡AnIntelPentium3700MHzPCwith386MBofRAMwasusedfortimingtests.Testsrunin"abovenormalpriority"executiontoachievethemostaccurateresults.

NI7334,7342,and7344TimingInformationThefollowingtableliststheexecutiontimeforselectedVIs,aswellasforthedifferentattributesofthoseVIs,ifapplicable.Alsoincludedistiminginformationforaxesorvectorspaces,ifbotharesupportedwithagivenVI.

ReadPosition 1.9 1.9ReadI/OPort 1.6 1.7SetI/OPortMOMO 1.1 1.2

ReadVelocity

vector1.9

2.02.0

ReadVelocityinRPM

axis 2.1 2.2

vector 2.1 2.2

LoadVelocity

vector1.5

LoadVelocityinRPM

vector3.4

0.1 0.1

†AnAMDAthlon1.47GHzPCwith256MBofRAMwasusedfortimingtests.Testsrunin"abovenormalpriority"executiontoachievethemostaccurateresults.

NI7350TimingInformationThefollowingtableliststheexecutiontimeforselectedVIs,aswellasforthedifferentattributesofthoseVIs,ifapplicable.Alsoincludedistiminginformationforaxesorvectorspaces,ifbotharesupportedwithagivenVI.

ReadPosition 0.1 0.1

ReadAxisData

Position

Velocity

FollowingError

ReadAxisStatus

AxisActive

MoveComplete

ProfileComplete

BlendComplete

FollowingError

VelocityThresholdReached

Moving

DirectionForward

ReadAllAxisData 0.2 0.3

ReadAllAxisStatus 0.1 0.2

ReadCoordinateData

Velocity

FollowingError0.2

ReadCoordinatePosition 0.3 0.3

ReadEncoderData

Position

IndexPosition

IndexCapture

ReadMotionI/OData

ForwardLimitActive

ReverseLimit

Active

HomeInputActive

Inhibit-InActive

In-PositionActive

DriveReadyActive

Inhibit-OutActive

CapturedPosition

CaptureStatus

CompareStatus

ReadVelocity

vector 0.1

ReadVelocityinRPM

vector0.1

LoadVelocity

vector1.3

LoadVelocityinRPM

vector3.1

0.1 0.1

MoveComplete

ProfileComplete

BlendComplete

FollowingErrorExceeded

ReadDigitalI/OData

OutputActiveState

InputActiveState

OutputActive

InputActive

ConfigureAsInput

NI7390TimingInformationThefollowingtableliststheexecutiontimeforselectedVIs,aswellasforthedifferentattributesofthoseVIs,ifapplicable.Alsoincludedistiminginformationforaxesorvectorspaces,ifbotharesupportedwithagivenVI.

ReadPosition 0.1 0.2

ReadAxisData

Position

Velocity

FollowingError

ReadAxisStatus

AxisActive

MoveComplete

ProfileComplete

BlendComplete

FollowingError

VelocityThresholdReached

Moving

DirectionForward

ReadAllAxisData 0.2 0.3

ReadAllAxisStatus 0.1 0.2

ReadCoordinateData

Velocity

FollowingError0.2

ReadCoordinatePosition 0.2 0.3

ReadEncoderData

Position

IndexPosition

IndexCapture

ReadMotionI/OData

ForwardLimitActive

ReverseLimit

Active

HomeInputActive

Inhibit-InActive

In-PositionActive

DriveReadyActive

Inhibit-OutActive

CapturedPosition

CaptureStatus

CompareStatus

ReadVelocity

vector 0.1

ReadVelocityinRPM

vector0.1

LoadVelocity

vector1.2

LoadVelocityinRPM

vector2.7

0.1 0.1

MoveComplete

ProfileComplete

BlendComplete

FollowingErrorExceeded

ReadDigitalI/OData

OutputActiveState

InputActiveState

OutputActive

InputActive

BranchOfficesOffice TelephoneNumber

Australia 1800300800Austria 43662457990-0Belgium 32(0)27570020Brazil 551132623599Canada 8004333488China 862165557838CzechRepublic 420224235774Denmark 4545762600Finland 385(0)972572511France 33(0)148142424Germany 49897413130India 918041190000Israel 972036393737Italy 3902413091Japan 81354722970Korea 820234513400Lebanon 961(0)1332828Malaysia 1800887710Mexico 018000100793Netherlands 31(0)348433466NewZealand 0800553322Norway 47(0)66907660Poland 48223390150Portugal 351210311210Russia 74957836851Singapore 18002265886Slovenia 38634254200SouthAfrica 270118058197

Spain 34916400085Sweden 46(0)858789500Switzerland 41562005151Taiwan 8860223772222Thailand 6622786777Turkey 902122793031UnitedKingdom 44(0)1635523545UnitedStates(Corporate) 5126830100

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