Load Move Constraints Loads move constraints in user units. Details     Remarks

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

	Data is a cluster of variables that contains the values for the selected Attribute. Integer is 32-bit integer data. Double is 64-bit floating point data. Boolean is Boolean data.
	Attribute is the attribute you want to load: Velocity Constraint—Set the Double element of the Data cluster to the appropriate velocity limit in user units/second. Acceleration Constraint—Set the Double element of the Data cluster to the appropriate acceleration limit in user units/second2. Deceleration Constraint—Set the Double element of the Data cluster to the appropriate deceleration limit in user units/second2. Acceleration Jerk—Set the Double element of the Data cluster to the appropriate acceleration jerk limit in user units/second3. Deceleration Jerk—Set the Double element of the Data cluster to the appropriate deceleration jerk limit in user units/second3.
	Board ID 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 or Coordinate ID is the axis or vector space you are controlling.
	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 ID Out is provided for flow control. You can string together NI-Motion VIs by wiring the Board ID Out terminal of one VI to the Board ID terminal of the next VI.
	Resource ID Out is the Axis, Vector Space, ADC, or Encoder you wired into the VI. Use Resource ID Out to pass the device to another VI and/or to display information about the device.
	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 loads move constraints in user units using the Double parameter of the Data cluster. Use Load Counts/Steps per Revolution to set the user unit ratio.

Example 1

If you load 2,000 counts/rev using the Load Counts/Steps per Revolution VI, and you call Load Move Constraints with Velocity Constraint set to 10.5, the velocity loaded is 10.5 revolutions/second or 21,000 counts/second.

Example 2

If you set Counts(Steps)/Rev to 1 in the Load Counts/Steps per Revolution VI, and you call Load Move Constraints with Velocity Constraint set to 1.3, the velocity loaded is 1.3 counts/second.

Remarks

This section includes information about how the behavior of this VI differs among the controllers that support it.

NI 73xx Controller Considerations

The following list includes considerations you must make when you are using this VI with a 73xx motion controller:

• 73xx controllers do not support the Acceleration Jerk and Deceleration Jerk attributes.
• Use Load Velocity and Load Acceleration/Deceleration for faster performance.