TS8568 Introduction To NI Softmotion

ni.
com | NI CONFIDENTIAL
Introduction to NI SoftMotion
Jeff Adair Michael Johansen
ni.com | NI CONFIDENTIAL
Motion System Configuration
Position Graph
Position Graph
Straight Line Move
Arc and Contouring Moves
Find Reference
Gearing and Camming
Position Capture and Compare
Motion System Components
User Code
Interface
SoftMotion Engine
Extension
Hardware
10 Hz 1kHz
Path Planning HMI
User Code User Code

Data Interface Logging Event Handling
Interface
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc.
10
10 Hz 1kHz
Path Planning HMI
User Code
Data Logging Event Handling
Express VIInter face Interface

11
kHz
Path Planning HMI
User Code
Inter
Express VI
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc
face
12
kHz
Path Planning HMI
User Code
Inter
Express VI
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc
face
13
kHz
Path Planning HMI
User Code
Inter
Property Express VI & Invoke Node

Mid - Level High-Level Commands MoveMove Start Gearing Set Position Camming Set Velocity Position Capture Get Status Position Compare Set Gear Ratio Etc Enable Gear Etc.
face
14
kHz
Path Planning HMI
User Code
Inter
Property & Invoke Node

Mid - Level Commands Start Move Set Position Set Velocity Get Status Set Gear Ratio Enable Gear Etc
face
15
Property & Invoke Node
16
Offline Trajectory
17
User Code
Interface
SoftMotion Engine
Extension
Hardware
18
100Hz - 1 kHz
Supervisory Control
Interface
SoftMotion Engine
Interface SoftMotion Trajectory Engine Generator Extension
Extension
Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Compare Output Etc.
19
Softmotion Engine
Limit monitoring Fault detection Gearing / Camming Coordinate space management Find reference Handles configuration data (settings) Trajectory Generation
20
User Code
Interface
SoftMotion Engine
Extension
Hardware
21
20 kHz 40 Mhz
Position Loop
FOC
Extension
Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.
Velocity Loop
Hardware
I/O
To Motor
I/O Signals Phase A, B, C Hardware B, Z Encoder A, Etc.
Torque Loop
PWM
Extension
22
20 kHz 40 Mhz
Position Loop
FOC
Data Velocity Extension Exte nsion TranslationLoop

Hardware
I/O
To Motor
I/O Signals Phase A, B, C Encoder A, B, Z Etc.
Torque Loop
PWM
23
20 kHz 40 Mhz
Position Loop
FOC
Exte
Data cRIO-9512 Translation

nsion
Velocity Loop
Hardware
I/O
Torque Drive Interface Module Loop
NI 9512
P70360
Stepper Drive
PWM
24
Exte
AKD cRIO-9512 EtherCAT

nsion
NI 9512 AKD
Drive Interface Module EtherCAT Drive
P70360
Stepper Drive
25
Exte
AKD SolidWorks EtherCAT

nsion
AKD SolidWorks EtherCAT Drive Simulation
26
20 kHz 40 Mhz
Position Loop
FOC
Exte
Data SolidWorks Translation

nsion
Velocity Loop
Hardware
I/O
SolidWorks Torque Simulation Loop
PWM
27
Interface To Any Hardware
28
20 kHz 40 Mhz
Position Loop
FOC
Exte
User Data Translation Defined

nsion
Velocity Loop
Hardware
I/O
Torque Loop
PWM
29
NI 9501 Stepper Drive Module
30
Step Generation and Feedback
31
Limits and General DIO
32
3rd Party EtherCAT Servo Drive
33
Execution Data Access on RT
34
SoftMotion IP Blocks
35
Servo Position Loop
36
NI 9502 Brushless Servo Encoder
37
User Code
SoftMotion Engine
Hardware
LabVIEW Windows or Real-Time
LabVIEW Real-Time
LabVIEW FPGA or Black Box
38
User Code
Engine
Hardware
Motor
39
Example Setup 1
EtherCAT
NI 3110RT PXIe-8133 RT
User Code SoftMotion Engine
AKD
EtherCAT Drive
Position Loop Velocity Loop Torque Loop I/O FOC
AKM
Servo Motor
40
Example Setup 2
cRIO-9024
User Code SoftMotion Engine
cRIO-9113
Hardware Position Loop Velocity Loop Current Loop PWM
NI 9505 9501
Hardware I/O
Stepper Motor Servo Motor
41
NI 951x Drive Interface Modules

NI 9512 Stepper NI 9514 Servo NI 9516 Servo (Dual encoder feedback)
RIO Scan Interface support, so you can use these modules directly from the NI LabVIEW Real-Time Module Connectivity to 100s of drives Full set of motion I/O for home and limit switches, encoder, and DIO.
42
NI 950x Drive Modules

NI 9501 3A Stepper NI 9502 Brushless Servo NI 9505 Brushed Servo
Directly power and control motors from cRIO Customize control loops and feedback through LabVIEW FPGA Hardware defined synchronization with other C series I/O
43
Drives and Motors
P7000 Stepper Drives
CT Stepper Motors
AKD Brushless Servo Drives

44
AKM Brushless Servo Motors
Summary

Flexible and scalable architecture Allows NI to rapidly

Improve user experience via the interface Support new hardware via extensions Utilize powerful pre-defined hardware extensions Pull back layers and customize based on need Select the appropriate platform based on performance and form factor
Allows YOU to

45
Related Sessions
The Art of Motor and Drive Sizing Tuesday 1:00 2:00 pm Rm. 12A
When to Use FPGAs for Custom Motion and Motor Control Tuesday 2:15 3:15 pm Rm. 12B
Advanced Motion Control for Machine Automation Thursday 10:30 11:30 am Rm. 12B
Hands-On: NI-Motion Tuesday Thursday 3:30 5:30 pm Rm. 18C 1:00 3:00 pm Rm. 18C
46
Questions
47
48
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Motion System Configuration

Straight Line Move

Arc and Contouring Moves

Gearing and Camming

Position Capture and Compare

Motion System Components

User Code User Code

Express VIInter face Interface

Property Express VI & Invoke Node

Property & Invoke Node

Property & Invoke Node

Motion System Components

Motion System Components

Data Velocity Extension Exte nsion TranslationLoop

Data cRIO-9512 Translation

Torque Drive Interface Module Loop

AKD cRIO-9512 EtherCAT

AKD SolidWorks EtherCAT

Data SolidWorks Translation

SolidWorks Torque Simulation Loop

Interface To Any Hardware

User Data Translation Defined

NI 9501 Stepper Drive Module

Step Generation and Feedback

Limits and General DIO

3rd Party EtherCAT Servo Drive

Execution Data Access on RT

Servo Position Loop

NI 9502 Brushless Servo Encoder

LabVIEW Windows or Real-Time

LabVIEW FPGA or Black Box

Stepper Motor Servo Motor

NI 951x Drive Interface Modules

NI 950x Drive Modules

Drives and Motors

P7000 Stepper Drives

AKD Brushless Servo Drives

AKM Brushless Servo Motors

Flexible and scalable architecture Allows NI to rapidly

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