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Contents
NI-Motion User Manual vi ni.com
PART III
Programming with NI-Motion
Chapter 4
What You Need to Know about Moves
Move Profiles ................................................................................................................ 4-1
Trapezoidal...................................................................................................... 4-1
S-Curve ........................................................................................................... 4-2
Basic Moves ..................................................................................... 4-2
Coordinate Space.............................................................................. 4-3
Multi-Starts versus Coordinate Spaces............................................. 4-3
Trajectory Parameters ..................................................................................... 4-4
NI 73xx Floating-Point versus Fixed-Point ...................................... 4-4
NI 73xx Time Base ........................................................................... 4-5
NI 73xx Arc Move Limitations ....................................................................... 4-13
Timing Loops ................................................................................................................ 4-14
Status Display ................................................................................................. 4-14
Graphing Data................................................................................................. 4-14
Event Polling................................................................................................... 4-14
Chapter 5
Straight-Line Moves
Position-Based Straight-Line Moves.............................................................................5-1
Straight-Line Move Algorithm .......................................................................5-1
C/C++ Code ....................................................................................................5-5
1D Straight-Line Move Code ...........................................................5-5
2D Straight-Line Move Code ...........................................................5-7
Velocity-Based Straight-Line Moves............................................................................5-10
Algorithm........................................................................................................5-11
LabVIEW Code...............................................................................................5-13
C/C++ Code ....................................................................................................5-13
Velocity Profiling Using Velocity Override..................................................................5-17
Algorithm........................................................................................................5-18
LabVIEW Code...............................................................................................5-19
C/C++ Code ....................................................................................................5-20