Using the NI SoftMotion Axis Interface

Using the NISoftMotion Axis

Interface

This document is designed to get you started using the LabVIEW

NISoftMotion Module to create a customized hardware interface

between the NI SoftMotion function block API and hardware devices.

NISoftMotion provides VIs and functions that allow you to use the

NISoftMotion function block API to communicate with hardware devices

as well as to perform path planning, trajectory generation, output control, PID control, and synchronization.

Contents

Conventions............................................................................................2

Required Components.............................................................................3

Required Software...........................................................................3

Required Hardware..........................................................................3

Related Documentation....................................................................4

Motion Controller Overview...................................................................5

Supervisory Control.........................................................................5

Trajectory Generator........................................................................6

Spline Engine...................................................................................6

Stepper Generator............................................................................6

Control Loop....................................................................................6

I/O....................................................................................................7

NI SoftMotion Components....................................................................7

Axis Interface Property and Method Nodes....................................8

Scan Synchronization VIs................................................................9

Axis Interface Example Program............................................................10

Overview of the Application in this Tutorial...................................10

LabVIEW FPGA Target VI.............................................................10

Synchronization Loop...............................................................11

Position Loop............................................................................12

Encoder Loop...........................................................................13

Drive Status Loop.....................................................................14™Using the NI SoftMotion Axis Interface2ni.comLabVIEW RT Host VI......................................................................15

Initialization Section.................................................................16

Axis Interface Loop...................................................................17

Synchronization Loop...............................................................19

Command Loop.........................................................................20

Cleanup......................................................................................21

Setting up the Hardware..........................................................................21

Setting up the Controller and Modules.............................................21

Installing Software to and Configuring the Controller.....................22

Working with the Application..........................................................23

Using the VI with NI SoftMotion Function Blocks................................24

What You Have Learned.........................................................................25Where to Go for Support.........................................................................26

Conventions

The following conventions are used in this guide:

»The » symbol leads you through nested menu items and dialog box options

to a final action. The sequence File»Page Setup»Options directs you to

pull down the File menu, select the PageSetup item, and select Options

from the last dialog box.

This icon denotes a tip, which alerts you to advisory information.

This icon denotes a note, which alerts you to important information.

boldBold text denotes items that you must select or click in the software, such

as menu items and dialog box options. Bold text also denotes parameter

names.

italicItalic text denotes variables, emphasis, cross-references, or an introduction

to a key concept. Italic text also denotes text that is a placeholder for a word

or value that you must supply.

monospaceText in this font denotes text or characters that you should enter from the

keyboard, sections of code, programming examples, and syntax examples.