ts8568 introduction to ni softmotion
TRANSCRIPT
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1 ni.com | NI CONFIDENTIAL
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ni.com | NI CONFIDENTIAL
Introduction to NI SoftMotion Jeff Adair
Michael Johansen
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3 ni.com | NI CONFIDENTIAL
Motion System Configuration
Position Graph
Position Graph
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4 ni.com | NI CONFIDENTIAL
Straight Line Move
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5 ni.com | NI CONFIDENTIAL
Arc and Contouring Moves
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6 ni.com | NI CONFIDENTIAL
Find Reference
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7 ni.com | NI CONFIDENTIAL
Gearing and Camming
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8 ni.com | NI CONFIDENTIAL
Position Capture and Compare
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9 ni.com | NI CONFIDENTIAL
Motion System Components
Hardware SoftMotion
Engine Extension User Code Interface
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10 ni.com | NI CONFIDENTIAL
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
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11 ni.com | NI CONFIDENTIAL
face
High-Level Commands
• Move
• Gearing
• Camming
• Position Capture
• Position Compare
• Etc.
User Code
Path
Planning
Data
Logging
10 Hz – 1kHz
HMI
Event
Handling
Inter Interface Express VI
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12 ni.com | NI CONFIDENTIAL
Express VI User Code
Path
Planning
Data
Logging High-Level Commands
• Move
• Gearing
• Camming
• Position Capture
• Position Compare
• Etc
1kHz
HMI
Event
Handling
face Inter
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13 ni.com | NI CONFIDENTIAL
Express VI User Code
Path
Planning
Data
Logging High-Level Commands
• Move
• Gearing
• Camming
• Position Capture
• Position Compare
• Etc
1kHz
HMI
Event
Handling
face Inter
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14 ni.com | NI CONFIDENTIAL
Express VI User Code
Path
Planning
Data
Logging High-Level Commands
• Move
• Gearing
• Camming
• Position Capture
• Position Compare
• 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.
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15 ni.com | NI CONFIDENTIAL
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
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16 ni.com | NI CONFIDENTIAL
Property
& Invoke
Node
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17 ni.com | NI CONFIDENTIAL
Offline
Trajectory
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18 ni.com | NI CONFIDENTIAL
Motion System Components
Hardware SoftMotion
Engine Extension User Code Interface
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19 ni.com | NI CONFIDENTIAL
SoftMotion Engine Extension Interface
Supervisory
Control
Trajectory
Generator
High-Level Commands
• Move
• Gearing
• Camming
• Position Capture
• Position Compare
• 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
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20 ni.com | NI CONFIDENTIAL
Softmotion Engine
• Limit monitoring
• Fault detection
• Gearing / Camming
• Coordinate space management
• Find reference
• Handles configuration data (settings)
• Trajectory Generation
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21 ni.com | NI CONFIDENTIAL
Motion System Components
Hardware SoftMotion
Engine Extension User Code Interface
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22 ni.com | NI CONFIDENTIAL
Hardware Extension
Position
Loop
Velocity
Loop
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• 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
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23 ni.com | NI CONFIDENTIAL
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• 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
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24 ni.com | NI CONFIDENTIAL
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
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• Capture Input
• Etc.
Exte nsion Data
Translation nsion cRIO-9512 Exte
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25 ni.com | NI CONFIDENTIAL
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• Capture Input
• Etc.
Exte nsion cRIO-9512
NI 9512 Drive Interface Module
P70360 Stepper Drive
nsion AKD
EtherCAT Exte
AKD EtherCAT Drive
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26 ni.com | NI CONFIDENTIAL
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• Capture Input
• Etc.
Exte nsion AKD
EtherCAT nsion SolidWorks Exte
AKD EtherCAT Drive
SolidWorks
Simulation
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27 ni.com | NI CONFIDENTIAL
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• 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
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28 ni.com | NI CONFIDENTIAL
Interface To Any Hardware
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29 ni.com | NI CONFIDENTIAL
20 kHz – 40 Mhz
Low-Level Commands
• Setpoint
• Feedback Position
• Home & Limits
• Drive Enable Output
• Drive Status Input
• 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
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30 ni.com | NI CONFIDENTIAL
NI 9501 Stepper Drive Module
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31 ni.com | NI CONFIDENTIAL
Step Generation and Feedback
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32 ni.com | NI CONFIDENTIAL
Limits and General DIO
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33 ni.com | NI CONFIDENTIAL
3rd Party EtherCAT Servo Drive
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34 ni.com | NI CONFIDENTIAL
Execution Data Access on RT
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35 ni.com | NI CONFIDENTIAL
SoftMotion IP Blocks
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36 ni.com | NI CONFIDENTIAL
Servo Position Loop
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37 ni.com | NI CONFIDENTIAL
NI 9502 Brushless Servo – Encoder
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38 ni.com | NI CONFIDENTIAL
Hardware SoftMotion
Engine User Code
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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40 ni.com | NI CONFIDENTIAL
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
• SoftMotion Engine
EtherCAT
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41 ni.com | NI CONFIDENTIAL
Example Setup 2
cRIO-9024 • User Code
• SoftMotion Engine
cRIO-9113 • Hardware
• Position Loop
• Velocity Loop
• Current Loop
• PWM
NI 9505 • Hardware
• I/O
Servo Motor NI 9501 • Hardware
• I/O
Stepper Motor
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42 ni.com | NI CONFIDENTIAL
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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43 ni.com | NI CONFIDENTIAL
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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44 ni.com | NI CONFIDENTIAL
Drives and Motors
P7000 Stepper Drives CT Stepper Motors
AKD Brushless Servo Drives AKM Brushless Servo Motors
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45 ni.com | NI CONFIDENTIAL
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
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46 ni.com | NI CONFIDENTIAL
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
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47 ni.com | NI CONFIDENTIAL
Questions
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