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© National Instruments Corporation ix NI-Motion User Manual
Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only) .........................................12-21
Modulo Breakpoints Algorithm ......................................................................12-23
LabVIEW Code...............................................................................................12-24
C/C++ Code.....................................................................................................12-25
High-Speed Capture.......................................................................................................12-27
Buffered High-Speed Capture (NI 7350 only)................................................12-27
Buffered High-Speed Capture Algorithm .......................................................12-28
LabVIEW Code...............................................................................................12-29
C/C++ Code.....................................................................................................12-29
Non-Buffered High-Speed Capture.................................................................12-32
High-Speed Capture Algorithm.......................................................................12-33
LabVIEW Code...............................................................................................12-34
C/C++ Code.....................................................................................................12-35
Real-Time System Integration Bus (RTSI) ...................................................................12-37
RTSI Implementation on the Motion Controller.............................................12-38
Position Breakpoints Using RTSI ...................................................................12-39
Encoder Pulses Using RTSI ............................................................................12-39
Software Trigger Using RTSI .........................................................................12-39
High-Speed Capture Input Using RTSI...........................................................12-40
Chapter 13
Torque Control
Analog Feedback ...........................................................................................................13-1
Torque Control Using Analog Feedback Algorithm.......................................13-3
LabVIEW Code...............................................................................................13-4
C/C++ Code.....................................................................................................13-5
Monitoring Force...........................................................................................................13-8
Torque Control Using Monitoring Force Algorithm.......................................13-9
LabVIEW Code...............................................................................................13-10
C/C++ Code.....................................................................................................13-11
Speed Control Based on Analog Value .........................................................................13-14
Speed Control Based on Analog Feedback Algorithm....................................13-14
LabVIEW Code...............................................................................................13-15
C/C++ Code.....................................................................................................13-16
Chapter 14
Onboard Programs
Using Onboard Programs with the NI SoftMotion Controller ......................................14-1
Using Onboard Programs with NI 73xx Motion Controllers.........................................14-2
Writing Onboard Programs .............................................................................14-3
Algorithm ........................................................................................................14-4
LabVIEW Code...............................................................................................14-5