Configure Motion I/O Map

NI-Motion VI

previous page next page

Configure Motion I/O Map

Maps a general purpose I/O line to an alternate function of an axis.

Device Compatibility

Device	Compatibility
7330	Y
7340	Y
7344	N
7350	Y
7390	Y
NI SoftMotion Controller for CANopen—Xenus	N
NI SoftMotion Controller for CANopen—Accelnet	N

attribute is the action to map to a digital I/O line. The following are valid attributes:

default input—Maps a general purpose I/O line as the default input line.
default output—Maps a general purpose I/O line as the default output line.
shutdown—Maps a general purpose input line as the shutdown (E-Stop) line. Refer to Enable Shutdown for more information about the shutdown (E-Stop) functionality of the controller.
inhibit-out—Maps a general purpose output line as an inhibit-out line. Refer to Configure Inhibit Output for more information about the inhibit outputs.
alarm clear—Maps a general purpose output line as an alarm clear line. Refer to Write Motion I/O Data for more information about alarm clear.
inhibit-in—Maps a general purpose input line as an inhibit-in line. Refer to Write Motion I/O Data for more information about the inhibit inputs.
drive ready—Maps a general purpose input line as a drive ready line. Refer to Write Motion I/O Data for more information about the drive ready signal.
in-position—Maps a general purpose input line as an in-position line. Refer to Write Motion I/O Data for more information about the in-position inputs.

board in is a unique number assigned by Measurement & Automation Explorer used to send and receive commands and data to or from a specific NI motion controller.

axis in is the axis you are controlling.

ioAxis in is the axis of the digital I/O line to map.

line in is line of ioAxis in to map.

error in (no error) describes error conditions that occur before this VI runs. The default input of this cluster is no error. If an error already occurred, this VI returns the value of error in in error out. The VI runs normally only if no incoming error exists. Otherwise, the VI passes the error in value to error out. The error in cluster contains the following parameters:

	status is TRUE if an error occurred before this VI was called, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code.
	code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message.
	source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.

board out is provided for flow control. You can string together NI-Motion VIs by wiring the board out terminal of one VI to the board in terminal of the next VI.

axis out is provided for flow control. You can string together NI-Motion VIs by wiring the axis out terminal of one VI to the axis in terminal of the next VI.

error out contains error information. If error in indicates an error, error out contains the same error information. Otherwise, it describes the error status that this VI produces.

	status is TRUE if an error occurred, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code.
	code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message.
	source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.

Using This VI

This VI maps a general-purpose I/O line to an alternate function of an axis such as inhibit output. For example, to map axis 3 general-purpose output 1 to the inhibit output of axis 3, call the VI with the following parameter values:

axis in = 3
attribute = inhibit-out
ioAxis in = 3
line in = 1

Notes

For all attributes except for shutdown, the axis in input must be the same as the ioAxis in input.
The action shutdown applies to the device level. The axis in input is ignored. Furthermore, only one general-purpose input can be mapped to this attribute.
7330, 7340, and 7350 controllers do not support the inhibit-out and shutdown attributes because these controllers have dedicated pins for these signals.
7390 controllers do not support the inhibit-in and in-position attributes because this controller has dedicated pins for these signals.

The following table lists the drive signals and their implementation on the controller:

Signal Name		Signal Direction	Controller Support
Controller	Drive	Signal Direction	7330	7340	7350	7390
Inhibit-Out	Servo On	Output	Dedicated	Dedicated	Dedicated	Mappable
Inhibit-In	Servo Alarm	Input	Mappable	Mappable	Mappable	Dedicated
Drive Ready	Servo Ready	Input	Mappable	Mappable	Mappable	Mappable
In-Position	In-Position	Input	Mappable	Mappable	Mappable	Dedicated
Alarm Clear	Alarm Clear	Output	Mappable	Mappable	Mappable	Mappable

The active state of a dedicated signal is directly configurable using this VI. The active state of a mappable signal is determined by the active state of the line being used.

For example, to set the active state of the Alarm Clear signal, a mappable signal on all controllers, set the active state of the line the signal is mapped to using the Write Digital I/O Data VI.

To set the active state of the inhibit-in signal on a PCI-7390, which has a dedicated line for this signal, use the inhibit-in active state attribute of the Write Motion I/O Data VI.

You cannot use this function to map signals on NI 7330/7340/7350 controllers on lines greater than line 7. For example, on an NI 7356 controller, you can use this function to configure axis 5, lines 0 through 7 (port 5), but you cannot configure lines 8 through 15, which are on the second port (port 7) of axis five. Refer to the Remarks section of Write Digital I/O Data for the port to axis and line mapping for these controllers.

previous page start next page