ts8568 introduction to ni softmotion

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ni.com | NI CONFIDENTIAL

Introduction to NI SoftMotion Jeff Adair

Michael Johansen


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

Hardware SoftMotion

Engine Extension User Code Interface


Interface User Code

Path

Planning

Data

Logging

High-Level Commands

• Move

• Gearing

• Camming

• Position Capture

• Position Compare

• Etc.

10 Hz – 1kHz

HMI

Event

Handling User Code Interface


face

High-Level Commands

• Move

• Gearing

• Camming



• Etc.

User Code

Path

Planning

Data

Logging

10 Hz – 1kHz

HMI

Event

Handling

Inter Interface Express VI


Express VI User Code

Path

Planning

Data

Logging High-Level Commands

• Move

• Gearing

• Camming



• Etc

1kHz

HMI

Event

Handling

face Inter



Path

Planning

Data


• Move

• Gearing

• Camming



• Etc

1kHz

HMI

Event

Handling

face Inter



Path

Planning

Data


• Move

• Gearing

• Camming



• Etc

1kHz

HMI

Event

Handling

face Inter

Property

& Invoke

Node

Mid - Level Commands

• Start Move

• Set Position

• Set Velocity

• Get Status

• Set Gear Ratio

• Enable Gear

• Etc.


User Code

Path

Planning

Data

Logging

1kHz

HMI

Event

Handling

face Inter

Property

& Invoke

Node

Mid - Level Commands

• Start Move

• Set Position

• Set Velocity

• Get Status

• Set Gear Ratio

• Enable Gear

• Etc


Property

& Invoke

Node


Offline

Trajectory



Hardware SoftMotion



SoftMotion Engine Extension Interface

Supervisory

Control

Trajectory

Generator

High-Level Commands

• Move

• Gearing

• Camming



• Etc.

Low-Level Commands

• Setpoint

• Feedback Position

• Home & Limits

• Drive Enable Output

• Drive Status Input

• Capture Input

• Compare Output

• Etc.

100Hz - 1 kHz

SoftMotion

Engine Interface Extension


Softmotion Engine

• Limit monitoring

• Fault detection

• Gearing / Camming

• Coordinate space management

• Find reference

• Handles configuration data (settings)

• Trajectory Generation



Hardware SoftMotion



Hardware Extension

Position

Loop

Velocity

Loop

Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

20 kHz – 40 Mhz

To Motor

Torque

Loop PWM

I/O

FOC

I/O Signals

• Phase A, B, C

• Encoder A, B, Z

• Etc.

Hardware Extension


Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Exte

Position

Loop

Velocity

Loop

20 kHz – 40 Mhz

To Motor

Torque

Loop PWM

I/O

FOC

I/O Signals

• Phase A, B, C

• Encoder A, B, Z

• Etc.

nsion Hardware Extension Data

Translation


Hardware

Position

Loop

Velocity

Loop

20 kHz – 40 Mhz

Torque

Loop PWM

I/O

FOC

NI 9512 Drive Interface Module

P70360 Stepper Drive Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Exte nsion Data

Translation nsion cRIO-9512 Exte


Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Exte nsion cRIO-9512

NI 9512 Drive Interface Module

P70360 Stepper Drive

nsion AKD

EtherCAT Exte

AKD EtherCAT Drive


Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Exte nsion AKD

EtherCAT nsion SolidWorks Exte

AKD EtherCAT Drive

SolidWorks

Simulation


Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Hardware

Position

Loop

Velocity

Loop

20 kHz – 40 Mhz

Torque

Loop PWM

I/O

FOC

Exte nsion Data

Translation nsion SolidWorks Exte

SolidWorks

Simulation


Interface To Any Hardware


20 kHz – 40 Mhz

Low-Level Commands

• Setpoint


• Home & Limits



• Capture Input

• Etc.

Hardware Exte nsion Data

Translation

Position

Loop

Velocity

Loop

Torque

Loop PWM

I/O

FOC Position

Loop

Velocity

Loop

Torque

Loop PWM

I/O

FOC

Exte nsion User

Defined


NI 9501 Stepper Drive Module


Step Generation and Feedback


Limits and General DIO


3rd Party EtherCAT Servo Drive


Execution Data Access on RT


SoftMotion IP Blocks


Servo Position Loop


NI 9502 Brushless Servo – Encoder


Hardware SoftMotion

Engine User Code

LabVIEW

Windows

or

Real-Time

LabVIEW

Real-Time

LabVIEW

FPGA

or

Black Box


User Code

Engine

Hardware

Motor


PXIe-8133 RT • User Code

• SoftMotion Engine

Example Setup 1

AKD • EtherCAT Drive

• Position Loop

• Velocity Loop

• Torque Loop

• I/O

• FOC

AKM • Servo Motor

NI 3110RT • User Code


EtherCAT


Example Setup 2

cRIO-9024 • User Code


cRIO-9113 • Hardware

• Position Loop

• Velocity Loop

• Current Loop

• PWM

NI 9505 • Hardware

• I/O

Servo Motor NI 9501 • Hardware

• I/O

Stepper Motor


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.


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


Drives and Motors

P7000 Stepper Drives CT Stepper Motors

AKD Brushless Servo Drives AKM Brushless Servo Motors


Summary

• Flexible and scalable architecture

• Allows NI to rapidly • Improve user experience via the interface

• Support new hardware via extensions

• Allows YOU to • Utilize powerful pre-defined hardware extensions

• Pull back layers and customize based on need

• Select the appropriate platform based on performance and form factor


Related Sessions

• Tuesday 1:00 – 2:00 pm Rm. 12A

The Art of Motor and Drive Sizing

• Tuesday 2:15– 3:15 pm Rm. 12B

When to Use FPGAs for Custom Motion and Motor Control

• Thursday 10:30 – 11:30 am Rm. 12B

Advanced Motion Control for Machine Automation

• Tuesday 3:30 – 5:30 pm Rm. 18C • Thursday 1:00 – 3:00 pm Rm. 18C

Hands-On: NI-Motion


Questions

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ts8568 introduction to ni softmotion

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