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© National Instruments Corporation v NI-Motion User Manual
Contents
About This Manual
Conventions ...................................................................................................................xiii
Documentation and Examples .......................................................................................xiv
PART I
Introduction
Chapter 1
Introduction to NI-Motion
About NI-Motion ...........................................................................................................1-1
NI-Motion Architecture .................................................................................................1-1
Software and Hardware Interaction.................................................................1-2
NI Motion Controller Architecture..................................................................1-2
NI 73xx Architecture.........................................................................1-2
NI Motion Controller Functional Architecture................................................1-4
NI SoftMotion Controller Architecture.............................................1-7
NI SoftMotion Controller Communication Watchdog ..................................................1-9
Chapter 2
Creating NI-Motion Applications
Creating a Generic NI-Motion Application ...................................................................2-1
Adding Measurements to an NI-Motion Application ....................................................2-2
PART II
Configuring Motion Control
Chapter 3
Tuning Servo Systems
NI SoftMotion Controller Considerations .....................................................................3-1
NI SoftMotion Controller for CANopen.........................................................3-1
NI SoftMotion Controller for Ormec ..............................................................3-1
Using Control Loops to Tune Servo Motors .................................................................3-1
Control Loop ...................................................................................................3-2
PID Loop Descriptions......................................................................3-4
Velocity Feedback...........................................................................................3-9
NI Motion Controllers with Velocity Amplifiers............................................3-10