MOTION-LVIEW

LabVIEW Interfaces for Motion Control Cards

PCI-8132/8134/8164
Windows 95/98/NT/2000

User’s Guide
@Copyright 1999~2001 ADLINK Technology Inc.
All Rights Reserved.
Manual Rev: 1.10: August 15, 2001
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 Table of Contents
Introduction to MOTION-LVIEW.................................................... 1
1.1 INSTALLING MOTION-LVIEW ............................................................... 1
1.1.1 System Requirements...................................................................... 1
1.1.2 Installation Instructions ................................................................. 1
1.2 USING MOTION-LVIEW VIS IN LABVIEW............................................ 3
1.3 HOW TO GET HELP ................................................................................. 4
1.4 MOTION-LVIEW UN-INSTALLATION ..................................................... 5
MOTION-LVIEW Overview............................................................. 6
2.1 PCI-8132 VIS ........................................................................................ 6
2.2 PCI-8134 VIS ........................................................................................ 8
2.3 PCI-8164 VIS ...................................................................................... 11

Table of Contents •i
 How to Use This Guide
This manual is designed to help you to use the PCI-8132/8134/8164 Motion
Control cards in NI LabVIEW software package. The manual describes how to
install and use the software library to meet your requirements and help you to
program your own software applications. This manual is organized as follows:
Chapter 1, “Introduction to MOTION-LVIEW”, describes how to install the
software and how to program your application by using MOTION-LVIEW.
Chapter 2, “MOTION-LVIEW Overview”, briefly describes each VI in
MOTION-LVIEW.
 1

Introduction to MOTION-LVIEW

1.1 Installing MOTION-LVIEW

1.1.1 System Requirements

Ø Microsoft Windows 95/98/NT/2000 operating system
Ø Personal computer using 66 MHz 80486 or higher microprocessor
Ø Minimum of 32 MB of memory
Ø Minimum of 10 MB of free hard disk space
Ø A CD-ROM drive, or a 1.44 MB 3.5 inch floppy disk drive
Ø Application development system: National Instruments LabVIEW version
4.0 or later

1.1.2 Installation Instructions

step 1. Place ADLINK All-in-One CD into the appropriate CD-ROM drive.

step 2. If autorun setup program is not invoked automatically, please execute

X:\Setup.exe.(X indicates the CD-ROM drive).

Step 3. Select Software PackageàNuDAQ PCI SoftwareàMOTION-LVIEW

to install MOTION-LVIEW.

Introduction to MOTION-LVIEW •1
 Setup first displays a Welcome dialog box. Please click Next button to go to the
next step.
Then Setup will display an “User Information” dialog box. Please fill items in the
dialog box (including the serial number data). Then click Next button to go on
installation. You have to enter the valid serial number to get a valid license (use
upper case). Otherwise you can only use MOTION-LVIEW software in 120
minutes demo mode.

Setup will detect LabVIEW directory and copy necessary files to LabVIEW
directory to install function palette for MOTION-LVIEW. If you don’t have
LabVIEW installed in your system or your LabVIEW is earlier than version 5.0,
Setup will prompt a dialog box for you to specify the LabVIEW directory. Please
specify your LabVIEW directory then click OK button.

2 •Introduction to MOTION-LVIEW
1.2 Using MOTION-LVIEW VIs in LabVIEW
To use MOTION-LVIEW VIs, you may switch the palette to the adlink_motion
view. Select Select Palette Set command in the Edit menu from panel or block
diagram in LabVIEW. Then select the adlink_motion view from the menu setup
ring.

The Functions palette then becomes to the following:

Introduction to MOTION-LVIEW •3
 You can find MOTION-LVIEW VIs in PCI8132, PCI8134, and PCI8164 icons.

1.3 How To Get Help

You can find the detailed description of each VI by the following way.
Select Show Help command of Help menu in LabVIEW. When you put the
mouse cursor on MOTION-LVIEW VI, LabVIEW will show the description of the
VI.

4 •Introduction to MOTION-LVIEW
1.4 MOTION-LVIEW Un-installation
MOTION-LVIEW has the capability of automatic un-installation.
To un-install MOTION-LVIEW, open the Control Panel, double-click
Add/Remove Programs, select MOTION-LVIEW to un-install it.
After un-installation, all files in the directory of MOTION-LVIEW will be removed,
but the adlink_motion palette still exists in your LabVIEW directory. If you don’t
use them any more, you can remove the VI library files Pci8132.llb, Pci8134.llb,
and Pci8164.llb in “User.lib” folder, and remove the “Menus\adlink_motion”
folder.

Introduction to MOTION-LVIEW •5
 2

MOTION-LVIEW Overview

2.1 PCI-8132 VIs

Initialization
8132 Win95/98 Initial Software initialization in Win95/98
8132 WinNT/2000 Initial Software initialization in WinNT/2000
8132 WinNT/2000 Close Software Close in WinNT/2000
8132 Set Config Configure PCI-8132 according to Motion Creator

Pulse Input/Output Configuration

8132 set pls outmode Set pulse command output mode
8132 set pls iptmode Set encoder input mode
8132 set cnt src Set counter input source

Continuously Motion Mode

8132 v move Accelerate an axis to a constant velocity with
trapezoidal profile
8132 sv move Accelerate an axis to a constant velocity with S-curve
profile
8132 v change Change speed on the fly
8132 v stop Decelerate to stop
8132 fix max speed Fix max speed for v change

Trapezoidal Motion Mode

8132 a move Perform an absolute trapezoidal profile move
8132 start a move Begin an absolute trapezoidal profile move
8132 r move Perform a relative trapezoidal profile move
8132 start r move Begin a relative trapezoidal profile move
8132 t move Perform a relative non-symmetrical trapezoidal profile
move
8132 start t move Begin a relative non-symmetrical trapezidal profile

6 •MOTION-LVIEW Overview
 move
8132 start ta move Begin an absolute non-symmetrical trapezidal profile
move
8132 ta move Perform an absolute non-symmetrical trapezoidal
profile move
8132 wait for done Wait for an axis to finish

S-Curve Profile Motion

8132 s move Perform an absolute S-curve profile move
8132 start s move Begin an absolute S-curve profile move
8132 rs move Perform a relative S-curve profile move
8132 start rs move Begin a relative S-curve profile move
8132 tas move Perform an absolute non-symmetrical S-curve profile
move
8132 start tas move Begin an absolute non-symmetrical S-curve profile
move

Multiple Axes Point to Point Motion

8132 start move all Begin a multi-axis trapezoidal profile move
8132 move all Perform a multi-axis trapezoidal profile move
8132 wait for all Wait for all axes to finish

Linear / Circular Interpolated Motion

8132 move xy 2-axis linear interpolated move for X & Y
8132 arc xy 2-axis circular interpolated move for X & Y
8132 start move xy 2-axis linear interpolated move for X & Y
8132 recover xy Return to single axis mode

Interpolation Parameters Configuring

8132 map axes Maps coordinated motion axes x, y, z… .

8132 set move speed Set the vector velocity

8132 set move accel Set the vector acceleration time
8132 set move saccel Set s-curve vector acceleration time
8132 set arc division Set the interpolation arc segment length
8132 arc optimization Enable/Disable optimum acceleration calculations for
arc
8132 set move ratio Set the axis resolution ratios

Home Return Mode

8132 set home config Set or get the home/index logic configuration
8132 home move Begin a home return action

Manual Pulser Motion

8132 set manu iptmode Set pulser input mode and operation mode

8132 manu move Begin a manual pulser movement

8132 set manu axis Select manual pulser axis

MOTION-LVIEW Overview •7
 Motion Status
8132 motion done Returns TRUE if motion done

Servo Drive Interface

8132 set alm logic Set alarm logic and alarm mode
8132 set inp logic Set In-Position logic and enable/disable
8132 set sd logic Set slow down point logic and enable/disable
8132 set erc enable Set the ERC output enable/disable

I/O Control and Monitoring

8132 Set SVON Set the state of general purpose output bit
8132 get io status Get all the I/O status of PCI-8132

Position Control
8132 get position Set current actual position
8132 set position Get current actual position
8132 get command Set current command position
8132 set command Get current command position

Interrupt Control
8132 Set INT Control Enable/disable interrupt generation
8132 set int factor Set Interrupt generation factors
8132 get int status Get the interrupting status of axis

Digital I/O Control

8132 DO Output digital channel
8132 DI Input digital channel

Position Compare Control

8132 Get CompCnt Get counter value from comparator
8132 Set CompCnt Set counter value in comparator
8132 Set CompMode Set compare mode
8132 Set CompData Set comparator value
8132 Get CompData Get current comparator value
8132 Set CompInt Enable comparator Interrupt
8132 Set CompHome Set comparator origin
8132 Get CompSts Get comparator status
8132 Build Comp Table Build compare table
8132 Set Comp Table Enable/Disable compare table
8132 Build Comp Function Build a linear trigger table by a function

2.2 PCI-8134 VIs

8 •MOTION-LVIEW Overview
Initialization
Win95/98 8134_Initial Software initialization in Win95/98
WinNT/2000 8134_Initial Software initialization in WinNT/2000
WinNT/2000 8134_Close Software Close in WinNT/2000
8134_Set_Config Configure PCI-8134 according to Motion Creator

Pulse Input/Output Configuration

set_pls_outmode Set pulse command output mode
set_pls_iptmode Set encoder input mode
set_cnt_src Set counter input source

Continuously Motion Mode

v_move Accelerate an axis to a constant velocity with
trapezoidal profile
sv_move Accelerate an axis to a constant velocity with S-curve
profile
v_change Change speed on the fly
v_stop Decelerate to stop

Trapezoidal Motion Mode

a_move Perform an absolute trapezoidal profile move
start_a_move Begin an absolute trapezidal profile move
r_move Perform a relative trapezoidal profile move
start_r_move Begin a relative trapezoidal profile move
t_move Perform a relative non-symmetrical trapezoidal
profile move
start_t_move Begin a relative non-symmetrical trapezidal profile
move
start_ta_move Begin an absolute non-symmetrical trapezidal profile
move
ta_move Perform an absolute non-symmetrical trapezoidal
profile move
wait_for_done Wait for an axis to finish

S-Curve Profile Motion

s_move Perform an absolute S-curve profile move
start_s_move Begin an absolute S-curve profile move
rs_move Perform a relative S-curve profile move
start_rs_move Begin a relative S-curve profile move
tas_move Perform an absolute non-symmetrical S-curve profile
move
start_tas_move Begin an absolute non-symmetrical S-curve profile
move

Multiple Axes Point to Point Motion

start_move_all Begin a multi-axis trapezodial profile move
move_all Perform a multi-axis trapezodial profile move
wait_for_all Wait for all axes to finish

MOTION-LVIEW Overview •9
 Linear / Circular Interpolated Motion
move_xy 2-axis linear interpolated move for X & Y
move_zu 2-axis linear interpolated move for Z & U
arc_xy 2-axis circular interpolated move for X & Y
arc_zu 2-axis circular interpolated move for Z & U

Interpolation Parameters Configuring

map_axes Maps coordinated motion axes x, y, z… .

set_move_speed Set the vector velocity

set_move_accel Set the vector acceleration time
set_arc_division Set the interpolation arc segment length
arc_optimization Enable/Disable optimum acceleration calculations
for arce
set_move_ratio Set the axis resolution ratios

Home Return Mode

set_home_config Set or get the home/index logic configuration
home_move Begin a home return action

Manual Pulser Motion

set_manu_iptmode Set pulser input mode and operation mode

manu_move Begin a manual pulser movement

Motion Status
motion_done Returns TRUE if motion done

Servo Drive Interface

set_alm_logic Set alarm logic and alarm mode
set_inp_logic Set In-Position logic and enable/disable
set_sd_logic Set slow down point logic and enable/disable
set_erc_enable Set the ERC output enable/disable

I/O Control and Monitoring

_8134_Set_SVON Set the state of general purpose output bit
get_io_status Get all the I/O staus of PCI-8134

Position Control
set_position Set current actual position
get_command Get current actual position
set_command Set current command position
get_command Get current command position

10 •MOTION-LVIEW Overview
2.3 PCI-8164 VIs

Initialization
8164 Initial Software initialization
8164 Close Software Close
8164 get base addr Get base address of PCI-8164
8164 get irq channel Get the PCI-8164 card’s IRQ number
8164 config from file Configure PCI-8164 cards according to
configuration file ie. 8164.ini, which is created by
Motion Creator.

Pulse Input/Output Configuration

8164 set pls outmode Set pulse command output mode
8164 set pls iptmode Set encoder input mode
8164 set feedbackt src Set counter input source

Velocity Mode Motion

8164 tv move Accelerate an axis to a constant velocity with
trapezoidal profile
8164 sv move Accelerate an axis to a constant velocity with
S-curve profile
8164 v change Change speed on the fly
8164 sd stop Decelerate to stop
8164 emg stop Immediately stop
8164 fix speed range Define the speed range
8164 unfix speed range Release the speed range constrain
8164 get current speed Get current speed

Single Axis Position Mode

8164 start tr move Begin a relative trapezoidal profile move
8164 start ta move Begin an absolute trapezoidal profile move
8164 start sr move Begin a relative S-curve profile move
8164 start sa move Begin an absolute S-curve profile move
8164 set move ratio Set the ratio of command pulse and feedback
pulse.
8164 p change Change position on the fly
8164 set pcs logic Set the logic of PCS (Position Change Signal)
8164 set sd pin Set SD/PCS pin
8164 backlash comp Set backlash corrective pulse for compensation
8164 suppress vibration Set vibration suppressing timing

Linear Interpolated Motion

8164 start tr move xy Begin a relative 2-axis linear interpolation for X & Y,
with trapezoidal profile
8164 start ta move xy Begin a absolute 2-axis linear interpolation for X &
Y, with trapezoidal profile
8164 start sr move xy Begin a relative 2-axis linear interpolation for X & Y,

MOTION-LVIEW Overview •11

 with S-curve profile
8164 start sa move xy Begin a absolute 2-axis linear interpolation for X &
Y, with S-curve profile
8164 start tr move zu Begin a relative 2-axis linear interpolation for Z &
U, with trapezoidal profile
8164 start ta move zu Begin a absolute 2-axis linear interpolation for Z &
U, with trapezoidal profile
8164 start sr move zu Begin a relative 2-axis linear interpolation for Z &
U, with S-curve profile
8164 start sa move zu Begin a absolute 2-axis linear interpolation for Z &
U, with S-curve profile
8164 start tr line2 Begin a relative 2-axis linear interpolation for any 2
axes, with trapezoidal profile
8164 start ta line2 Begin a relative 2-axis linear interpolation for any 2
axes, with S-curve profile
8164 start sr line2 Begin a absolute 2-axis linear interpolation for any
2 axes, with trapezoidal profile
8164 start sa line2 Begin a absolute 2-axis linear interpolation for any
2 axes, with S-curve profile
8164 start tr line3 Begin a relative 3-axis linear interpolation with
trapezoidal profile
8164 start ta line3 Begin a relative 3-axis linear interpolation with
S-curve profile
8164 start sr line3 Begin a absolute 3-axis linear interpolation with
trapezoidal profile
8164 start sa line3 Begin a absolute 3-axis linear interpolation with
S-curve profile
8164 start tr line4 Begin a relative 4-axis linear interpolation with
trapezoidal profile
8164 start ta line4 Begin a relative 4-axis linear interpolation with
S-curve profile
8164 start sr line4 Begin a absolute 4-axis linear interpolation with
trapezoidal profile
8164 start sa line4 Begin a absolute 4-axis linear interpolation with
S-curve profile

Circular Interpolation Motion

8164 start a arc xy Begin a absolute circular interpolation for X & Y
8164 start r arc xy Begin a relative circular interpolation for X & Y
8164 start a arc zu Begin a absolute circular interpolation for Z & U
8164 start r arc zu Begin a relative circular interpolation for Z & U
8164 start a arc 2 Begin a absolute circular interpolation for any 2 of
the 4 axes
8164 start r arc 2 Begin a relative circular interpolation for any 2 of
the 4 axes

Home Return Mode

8164 set home config Set the home/index logic configuration
8164 home move Begin a home return action

12 •MOTION-LVIEW Overview
Manual Pulser Motion
8164 set pulser iptmode
8164 pulser vmove
8164 pulser pmove
8164 pulser home move
Motion Status
8164 motion done
Motion Interface I/O
8164 set alm
8164 set inp
8164 set erc
8164 set servo
8164 set sd
8164 set el
Motion I/O Monitoring
8164 get io status
Interrupt Control
8164 int control
8164 set int factor
8164 get int status
Position Control and Counters
8164 get position
8164 set position
8164 get command
8164 set command
8164 get error counter
8164 reset error counter
8164 get general counter
8164 set general counter
8164 get target position
8164 reset target position
8164 get rest command
8164 check rdp
Position Compare and Latch
8164 set ltc logic
8164 get latch data
8164_set_soft_limit
8164_enable_soft_limit
8164_disable_soft_limit
8164 set error counter check
8164 set general comparator
8164 set trigger comparator
8164 set trigger type
Set pulser input mode
Start pulser v move
Start pulser p move
Start pulser home move
Return the motion status
Set alarm logic and operating mode
Set INP logic and operating mode
Set ERC logic and timing
Set state of general purpose output pin
Set SD logic and operating mode
Set EL logic and operating mode
Get all the motion I/O status of PCI-8164
Enable/disable interrupt generation
Set Interrupt generation factors
Get the interrupting status of axis
Get the value of feedback position counter
Set the feedback position counter
Get the value of command position counter
Set the command position counter
Get the value of position error counter
Reset the position error counter
Get the value of general counter
Set the general counter
Get the value of target position recorder
Reset target position recorder
Get remain pulse till end of motion
Check the ramping down point data
Set the LTC logic
Get latched counter data
Set soft limit
Enable soft limit function
Disable soft limit function
Step-losing detection
Set general-purposed comparator
Set Trigger comparator
Set the trigger output type
MOTION-LVIEW Overview •13
 8164 check compare data
8164 check compare status
8164 set auto compare
8164 build compare function
8164 build compare table
8164 cmp v change
Continuous Motion
8164 set continuous move
8164 check continuous buffer
General-purposed TTL Output
8164_d_output
8164_get_dio_status
14 •MOTION-LVIEW Overview
Check current comparator data
Check current comparator status
Set comparing data source for auto loading
Build compare data via constant interval
Build compare data via compare table
Speed change by comparator
Enable continuous motion for absolute motion
Check if the buffer is empty
Digital Output
Get DO status