Download FlexMotion Software Reference Manual

Chapter 4
Software Overview
Recommended Initialization Procedure
This section presents a recommended list of functions you should execute
for system-level and per-axis initialization in the order you should call
them. This recommended list covers the minimum areas of initialization
for basic motion control. You can add additional functions to this list for
enhanced system configuration requirements.
System Configuration
1.
Clear Power Up Status (always required)
2.
Configure Axis Resources
3.
Enable Axes
Motion I/O Configuration
4.
Configure Inhibit Outputs
5.
Set Limit Input Polarity
6.
Set Home Input Polarity
7.
Enable Limits
8.
Enable Home Inputs
Per-Axis Configuration
9.
Configure Step Mode & Polarity (stepper axes only)
10. Load Counts/Steps per Revolution (closed-loop axes only)
11. Load All PID Parameters (servo axes only)
12. Set Stepper Loop Mode (stepper axes only)
Initialize Trajectory Parameters (Per-Axis)
13. Set Operation Mode
14. Load Following Error (closed-loop axes only)
15. Load Velocity
16. Load Acceleration/Deceleration
Establish a Position Reference (Per-Axis)
17. Find Home (requires configured and enabled limit and home inputs)
18. Find Index (closed-loop axes only)
19. Reset Position
© National Instruments Corporation
4-13
FlexMotion Software Reference Manual