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Document Type: Tutorial
NI Supported: Yes
Publish Date: Oct 10, 2006

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Axis Settings for Motion Controllers

7 ratings | 4.29 out of 5
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Table of Contents

  1. Overview
  2. Motion I/O Settings
  3. Breakpoint and Trigger Settings
  4. Control Loop Settings
  5. Static Friction Settings
  6. Miscellaneous Settings

Overview

Note: The instructions contained in this document are for NI-Motion 6.x or earlier. For instructions for NI-Motion 7.0 or later refer to Measurement & Automation Explorer Help for Motion.

To configure the axis settings of your motion controller, click the plus sign next to Axis Settings to expand the section.

The right side of the panel will show the options to configure the axis settings. Use the tabs at the bottom of the panel to switch between Motion I/O, Control Loop, and Miscellaneous settings.

Motion I/O Settings

The Motion I/O settings page allows you to configure your home and limit switches, software limits, and inhibit (also called drive enable) settings.


[+] Enlarge Image




Home & Limit Switch Settings:

*IMPORTANT NOTE:
It is recommended that the limit filter be enabled whenever possible to prevent bouncing or noisy limits from being
interpeted as multiple limit signals. The minimum pulse width
for a valid limit signal with filters enabled is 800 microseconds.
Only disable the filters if your signal pulse width is lower than
this specification.




Software Limit Settings:


Inhibit Output Settings:


*IMPORTANT NOTE:
Totem Pole conifguration for inhibit outputs is only available
on the 735x series controllers. Totem pole configures the inhibit output to sink and source current. All other controllers use an Open Collector mode for their outputs that only allows it to sink current. Understanding this configuration is useful when interfacing with opto-isolated signal inputs (enable, trigger or step and direction are some examples) on power drives.
For more details refer to the 7350 Hardware User Manual

 

Breakpoint and Trigger Settings


Use this tab to configure the Timing and triggering outputs (breakpoint) or inputs (high speed capture) related to either position or velocity.


[+] Enlarge Image

Breakpoint Settings:

For detailed information on this functionality refer to the
NI-Motion User Manual

 

*IMPORTANT NOTE:
Totem Pole conifguration for inhibit outputs is only available
on the 735x series controllers. Totem pole configures the inhibit
output to sink and source current. All other controllers use an Open
Collector mode for their outputs that only allows it to sink current.
Understanding this configuration is useful when interfacing with
opto-isolated signal inputs (enable, trigger or step and
direction are some examples) on power drives.
For more details refer to the 7350 Hardware User Manual

 
Trigger Inputs:

For detailed information on this functionality refer to the
NI-Motion User Manual

 

Control Loop Settings


The Control Loop settings page allows you to configure the PID parameters for servo and piezo motors.


[+] Enlarge Image

PID Gains:

 




Nonlinear Gains:




Velocity Feedback Gains:


Feedforward Gains:






Static Friction Settings


Use this tab to enable and configure static friction (stiction) compensation on your motion system. Stiction compensation adjusts for increased power needed to overcome inertia when beginning a move from a standstill.


[+] Enlarge Image

Static Friction DeadZone:





Voltage Offsets:






Miscellaneous Settings



The Miscellaneous settings page allows you to configure the torque offsets and limits for the DACs and set the filter gains for velocity.



[+] Enlarge Image

Torque limits and Offsets:


Velocity Filter:








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This tutorial (this "tutorial") was developed by National Instruments ("NI"). Although technical support of this tutorial may be made available by National Instruments, the content in this tutorial may not be completely tested and verified, and NI does not guarantee its quality in any way or that NI will continue to support this content with each new revision of related products and drivers. THIS TUTORIAL IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND AND SUBJECT TO CERTAIN RESTRICTIONS AS MORE SPECIFICALLY SET FORTH IN NI.COM'S TERMS OF USE (http://ni.com/legal/termsofuse/unitedstates/us/).