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Introduction to NI SoftMotion
Jeff Adair Michael Johansen

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Motion System Configuration

Position Graph

Position Graph

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Straight Line Move

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Arc and Contouring Moves

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Find Reference

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Gearing and Camming

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Position Capture and Compare

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Motion System Components

User Code

Interface

SoftMotion Engine

Extension

Hardware

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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.

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10 Hz 1kHz
Path Planning HMI

User Code
Data Logging Event Handling

Express VIInter face Interface


High-Level Commands Move Gearing Camming Position Capture Position Compare Etc.

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kHz
Path Planning HMI

User Code
Data Logging Event Handling

Inter

Express VI
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc

face

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kHz
Path Planning HMI

User Code
Data Logging Event Handling

Inter

Express VI
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc

face

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kHz
Path Planning HMI

User Code
Data Logging Event Handling

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

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kHz
Path Planning HMI

User Code
Data Logging Event Handling

Inter

Property & Invoke Node


Mid - Level Commands Start Move Set Position Set Velocity Get Status Set Gear Ratio Enable Gear Etc

face

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Property & Invoke Node

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Offline Trajectory

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Motion System Components

User Code

Interface

SoftMotion Engine

Extension

Hardware

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100Hz - 1 kHz
Supervisory Control

Interface
High-Level Commands Move Gearing Camming Position Capture Position Compare Etc.

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.

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Softmotion Engine

Limit monitoring Fault detection Gearing / Camming Coordinate space management Find reference Handles configuration data (settings) Trajectory Generation

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Motion System Components

User Code

Interface

SoftMotion Engine

Extension

Hardware

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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

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20 kHz 40 Mhz
Position Loop

FOC

Data Velocity Extension Exte nsion TranslationLoop


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

Hardware

I/O

To Motor
I/O Signals Phase A, B, C Encoder A, B, Z Etc.

Torque Loop

PWM

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20 kHz 40 Mhz
Position Loop

FOC

Exte

Data cRIO-9512 Translation


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

nsion

Velocity Loop

Hardware

I/O

Torque Drive Interface Module Loop

NI 9512

P70360
Stepper Drive

PWM

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Exte

AKD cRIO-9512 EtherCAT


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

nsion
NI 9512 AKD
Drive Interface Module EtherCAT Drive

P70360
Stepper Drive

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Exte

AKD SolidWorks EtherCAT


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

nsion
AKD SolidWorks EtherCAT Drive Simulation

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20 kHz 40 Mhz
Position Loop

FOC

Exte

Data SolidWorks Translation


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

nsion

Velocity Loop

Hardware

I/O

SolidWorks Torque Simulation Loop

PWM

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Interface To Any Hardware

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20 kHz 40 Mhz
Position Loop

FOC

Exte

User Data Translation Defined


Low-Level Commands Setpoint Feedback Position Home & Limits Drive Enable Output Drive Status Input Capture Input Etc.

nsion

Velocity Loop

Hardware

I/O

Torque Loop

PWM

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NI 9501 Stepper Drive Module

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Step Generation and Feedback

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Limits and General DIO

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3rd Party EtherCAT Servo Drive

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Execution Data Access on RT

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SoftMotion IP Blocks

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Servo Position Loop

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NI 9502 Brushless Servo Encoder

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User Code

SoftMotion Engine

Hardware

LabVIEW Windows or Real-Time

LabVIEW Real-Time

LabVIEW FPGA or Black Box

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User Code

Engine

Hardware

Motor

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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

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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

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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.

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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

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Drives and Motors

P7000 Stepper Drives

CT Stepper Motors

AKD Brushless Servo Drives


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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

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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

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Questions

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