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Create Motion Reference

NI SoftMotion Module Help

Edition Date: August 2013

Part Number: 371093P-01

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Owning Palette: NI SoftMotion Module

Requires: NI SoftMotion Module Lite.

Creates a reference to specific NI SoftMotion interface objects. When you place this VI on the block diagram, the polymorphic VI selector is visible. Use this selector to choose which polymorphic instance to use. Details Examples

Use the pull-down menu to select an instance of this VI.

Create Motion Interface

/images/reference/en-XX/help/371093P-01/civrn.gif axis is the reference to the axis on which to perform the specified action. This input switches to coordinate if you connect a coordinate resource.
Note Note  If you do not specify a resource when you create the motion reference, you must specify a valid resource before setting properties or executing methods on the reference.
/images/reference/en-XX/help/371093P-01/cbool.gif Async? specifies whether to execute the operation synchronously (blocking) or asynchronously (non-blocking). The default is synchronous execution.
error in describes error conditions that occur before this VI or function runs. This input provides standard error in functionality.
/images/reference/en-XX/help/371093P-01/imclrn.gif motion reference out returns the NI SoftMotion interface object refnum.
/images/reference/en-XX/help/371093P-01/iivrn.gif resource out returns resource information from the resource input. You can connect a resource output to the resource input of another VI.
error out contains error information. This output provides standard error out functionality.

Create Motion Resource Item

/images/reference/en-XX/help/371093P-01/cstr.gif resource name contains the name of the contour table.
/images/reference/en-XX/help/371093P-01/cu32.gif number of points specifies the number of points to allocate for the table.
error in describes error conditions that occur before this VI or function runs. This input provides standard error in functionality.
/images/reference/en-XX/help/371093P-01/iivrn.gif table out contains the NI SoftMotion table created by this VI. You can only create tables for use with contour moves using the Create Motion Resource VI.
error out contains error information. This output provides standard error out functionality.

Create Motion Data Item

error in describes error conditions that occur before this VI or function runs. This input provides standard error in functionality.
/images/reference/en-XX/help/371093P-01/imclrn.gif profile returns the NI SoftMotion profile object refnum.
error out contains error information. This output provides standard error out functionality.

Details

The Create Motion Reference VI creates a refnum to specific NI SoftMotion interface objects, resource items, or data items, for use with the NI SoftMotion properties and methods. The following polymorphic instances are available:

  • Create Motion Interface
    • Straight-Line Move—Performs a straight-line move on an axis or coordinate resource. A straight-line move connects two points on one or more axes. Straight-line moves can be position-based or velocity-based. The behavior of the move changes based on the Line Move Mode.
    • Arc Move—Performs a circular, spherical, or helical arc move on a coordinate. An arc move produces motion in a circular shape using a radius and other parameters you specify. The type of arc to perform changes based on the Arc Move Mode.
    • Contour Move—Performs a contour move on an axis or coordinate resource. A contour move is expressed as a series of positions that NI SoftMotion uses to extrapolate a smooth curve. These positions can be stored in a table or provided in the Points[][] input (synchronous operations only). Each point in the move is interpreted as an absolute position using the starting point of the move as a temporary "zero" position. The type of contour move changes based on the Contour Mode.
    • Find Reference Move—Performs a reference move, such as locating a home or limit position, on an axis resource. Reference moves are used to initialize the motion system and establish a repeatable reference position. The behavior of the move changes based on the Reference Move Mode.
    • Position Capture—Records encoder position based on an external input, such as the state of a sensor. You can use the captured position to execute a move relative to a captured position, or simply record the encoder position when the capture event occurs.
    • Position Compare—Synchronizes external activities with the specified encoder position. When the specified position is reached, a user-configurable pulse is executed. The behavior of the position compare operation changes based on the <Compare Mode.
    • Stop Move—Stops commanded movement on an axis or coordinate. The behavior of the move changes based on the Stop Mode.
    • Gearing—Configures an axis for gearing operations. Gearing synchronizes the movement of a slave axis to the movement of a master device, which can be an encoder or the trajectory of another axis. The type of gearing operation to perform changes based on the Gearing Mode.
    • Camming—Configures an axis for camming operations. Camming is used in applications where the slave axis follows a non-linear profile from a master device. The type of camming operation changes based on the Camming Mode.
    • Time Sampled Read—Reserved
  • Create Motion Resource
    • Contour Table—Creates a contour table reference with the specified resource name and number of points. This VI allocates the appropriate amount of space for the contour buffer When you create a table resource using this VI, specify the points for the contour move using the points[ ] input array on the Contour item.
      Note Note  If you create a table for use with a contour move using this VI, you must update the contour buffer using either Update Points or Update Points Interleaved, not using a table input.
  • Create Motion Data Item
    • Profile—Specifies a motion profile item for use when generating offline trajectories. A motion profile is represented as a set of positions paired with a delta t. Profiles are generated as relative (implied start at origin).

You can wire the NI SoftMotion refnum into a property or invoke node and use properties and methods associated with the selected interface object.

Examples

Refer to examples\Motion\PropertyNodes for examples using the Create Motion Reference VI.


 

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