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Compact Rio Motor Control Basics Tutorial (8-Slot)

CompactRIO Motor Control Basics Tutorial This hands-on session is an introduction to performing high speed FPGA-based position control of a brushed DC motor using National Instruments CompactRIO and the NI 9505 DC Servo Drive Module. You will create a new project and build a LabVIEW FPGA application from scratch that reads the position of the motor, performs proportionalintegral-derivative (PID) control, and drives the motor using a pulse width modulation (PWM) signal. You will then deploy a Lab
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  CompactRIO Motor Control Basics Tutorial   This hands-on session is an introduction to performing high speed FPGA-based position control of a brushed DCmotor using National Instruments CompactRIO and the NI 9505 DC Servo Drive Module. You will create a new projectand build a LabVIEW FPGA application from scratch that reads the position of the motor, performs proportional-integral-derivative (PID) control, and drives the motor using a pulse width modulation (PWM) signal. You will thendeploy a LabVIEW Real-Time host application that takes advantage of the built-in remote panel web server to enableyou to control and monitor the system using a web browser. Hands-On Summary   ã Create a LabVIEW Project to manage your code and shared variable networking tags ã Create an FPGA application to process motor encoder signals and perform high speed closed loop control   ã Run a precompiled FPGA and real-time processor application   ã Use remote panel technology to control your embedded motor control system from a web browser For more information on LabVIEW FPGA, CompactRIO, and NI motion control technology visit these pages:   http://www.ni.com/fpga   http://www.ni.com/compactrio   http://www.ni.com/motion   CompactRIO Motor Control Basics Tutorial Page 1 of 38  Table of Contents Recommended Software and Hardware.................................................................................................................................................................3 Using the Target Control Application to Turn on Power to the System..............................................................................................................5 Creating a New LabVIEW Project.........................................................................................................................................................................6 Developing the LabVIEW FPGA Application.....................................................................................................................................................22 Running the Application........................................................................................................................................................................................30 Controlling the System through a Web Browser.................................................................................................................................................33  CompactRIO Motor Control Basics Tutorial Page 2 of 38    Recommended Software and Hardware Software   ã   LabVIEW 8 Developer Suite Core ã   Real-Time and FPGA Deployment Option for NI Developer Suite  ã   Industrial Monitoring Option for NI Developer Suite  ã   NI SoftMotion Development Module for LabVIEW  ã   NI-RIO Version 2.0 (or later) for CompactRIO Embedded Targets(Embedded target version ships with cRIO-900x Real-Time Controllers. Upgrades are availableonline) Hardware   ã   NI cRIO-9004 Real-Time Controller with 64 MB DRAM, 512 MB CompactFlash  ã   NI cRIO-9104 8-Slot, 3 M Gate CompactRIO Reconfigurable Embedded Chassis  ã   NI 9505 Full H-Bridge Brushed DC Servo Drive Module(Install in Slot 5) ã   NI PS-2 24 VDC, 0.8 A, Power Supply(Connect to NI 9505 module)Or: ã   NI cRIO-9004 Real-Time Controller with 64 MB DRAM, 512 MB CompactFlash  ã   NI cRIO-9103 4-Slot, 3 M Gate CompactRIO Reconfigurable Embedded Chassis  ã   NI 9505 Full H-Bridge Brushed DC Servo Drive Module(Install in Slot 4) ã   NI PS-2 24 VDC, 0.8 A, Power Supply(Connect to NI 9505 module)For help configuring your CompactRIO system and selecting accessories, use theCompactRIO Advisor. CompactRIO Motor Control Basics Tutorial Page 3 of 38    Hardware Setup  Connect the MicroMo Electronics3242 high precision coreless DC micromotorto the NI 9505 drive module. Connect the encodersignals to the 9-pin female DSUB connector. Connect the PS-2 power supply and motor power leads to the 4-position screw-terminal connector. See Also: Learn more about the NI CompactRIO reconfigurable embedded control and acquisition system Learn more about LabVIEW FPGA software  CompactRIO Motor Control Basics Tutorial Page 4 of 38
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