Axis Configuration for Motion Controllers

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 of your motion controller, click the plus sign next to Axis Configuration to expand the section.



The right side of the panel will show the following options to designate what type of motor you are controlling and the feedback device used.


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Axis Type:





IMPORTANT NOTE: If you are using any of the 7350 family controllers, this control will display a pull down menu next to it that will let you select on-board sinusoidal commutation for brushless servomotors that require it. For brushed servos or brushless with drive commutation, use either the servo or servo with external commutation options.

Axis Enabled:





Encoder & Stepper Resolution:







Axis Resources & Update Period

Control Loop Update Period:




IMPORTANT NOTE:
If your are using a 734x series controller, each enabled axis requires a minimum of 62.5 microseconds for the control loop update, so the fastest update period for a motion system with four enabled axes is 250 microseconds. On 735x series controllers each pair of axis requires 62.5 microseconds so the fastest update period with four enabled axis is 125 microseconds and with 8 enabled axis 250 microseconds.

Primary Feedback:





Primary Output:





Secondary Feedback:





IMPORTANT NOTE: A secondary feedback device
must be configured in order to close a velocity feedback
loop and use the KV, VFF and AFF control loop gains.
Only encoders can be used as secondary feedback
devices. Refer to the Understanding Servo Tune document for more information.

Secondary Output:




IMPORTANT NOTE: A secondary output is mandatory for brushless
servo motors that require sinusoidal commutation to be handled by the controller. Only Axes 1, 2, 5 and 6 can be configured for servo with on board commutation. Refer to the 7350 Hardware User Manual and theNI-Motion User Manual for more information.

Stepper Specific Settings:



Stepper Loop Mode



Stepper Polarity



Stepper Output Mode



Use the Sinusoidal Commutation Tab to Configure on-board electronic commutation for brushless servomotors that require it (servo-on board commutation must be selected on the Axis Type input for this panel to be available).

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Phase Initialization Settings:



Hall Sensors



IMPORTANT NOTE:

To obtain the maximum torque, perform a move that is
1/6th of the magnetic cycle after system initialization.
Refer to the 7350 Hardware User Manual for Hall effect
sensor connection schemes.

Shake and Wake

Direct Set





Electrical Cycle



Click Apply to update the MAX database and then Initialize for your new settings to take effect on the controller.

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