Motion Resources

There are four types of motion resources on the NI-Motion controller: encoders, ADC channels, DAC outputs, and stepper outputs. In general, functions relating to motion resources (for example, Read DAC and Read Steps Generated) can be sent to the resource or the axis the resource is mapped to.

Note  After they are mapped to an axis, all features and functions of a motion resource are available as part of the axis. It is not necessary to remember or use the resource number directly when accessing these features as part of the axis. Resources are referenced by axis number after they are assigned to that axis.

NI 73xx Controller Considerations

The following list includes considerations you must make when you are using these resources with a 73xx controller:

• 7330 controllers do not support DAC outputs or secondary ADCs.
• 7340 controllers do not support secondary ADCs.
• 7350 controllers support a secondary feedback device on each axis.
• 7390 controllers do not support ADC channels, DAC outputs, secondary ADCs, or secondary encoders.

NI SoftMotion Controller Considerations

The following list includes considerations you must make when you are using these resources with the NI SoftMotion Controller:

• The NI SoftMotion Controller supports a secondary feedback device on axes one through fifteen.

  Note  Secondary feedback devices are not available on axes sixteen through thirty.

  • Secondary Encoders
    Use secondary encoders in a dual-loop feedback system to provide a more accurate velocity feedback estimation.
    
    

    Resource Name	Resource ID	Constant
    Secondary Encoder 1	0X71	NIMC_SECONDARY_ENCODER1
    Secondary Encoder 2	0X72	NIMC_SECONDARY_ENCODER2
    .	.	.
    .	.	.
    .	.	.
    Secondary Encoder 15	0X7F	NIMC_SECONDARY_ENCODER15

  • Secondary ADCs

    Resource Name	Resource ID	Constant
    Secondary ADC 1	0X91	NIMC_SECONDARY_ADC1
    Secondary ADC 2	0X92	NIMC_SECONDARY_ADC2
    .	.	.
    .	.	.
    .	.	.
    Secondary ADC 15	0X9F	NIMC_SECONDARY_ADC15