NI LabVIEW Getting Started

Getting Started with the

™

LabVIEW Real-Time Module

This document provides steps to build a simple deterministic application
and references to programming examples and documentation for more
information as you build the application. Refer to the LabVIEW Real-Time
Module Release Notes for installation and configuration instructions. Refer
to the LabVIEW Real-Time Module User Manual for information about
programming deterministic applications using LabVIEW.

Contents

Launching LabVIEW and Exploring Documentation ............................ 1

Creating and Running a Deterministic Application ................................ 3

Creating the Control Loop ............................................................... 3

Adding Analog Input/Output and Data Processing

to the Control Loop....................................................................... 4

Setting Priority of the VI to Time Critical....................................... 6

Adding Timing to the Control Loop ................................................ 6

Sending Data Out of the Time-Critical VI.......................................7

Downloading and Running the Application .................................... 9

Optimizing the Control Application ....................................................... 11

Launching LabVIEW and Exploring Documentation

The LabVIEW Real-Time Module includes a comprehensive
documentation set designed to help you create deterministic applications.
The LabVIEW Real-Time Module Bookshelf, available by selecting
Help»Search the Real-Time Module Bookshelf from LabVIEW,
is a PDF that contains links to and descriptions of the available
Real-Time Module documentation.

1. Launch LabVIEW to open the LabVIEW dialog box shown in

Figure 1.

2. Open and explore the LabVIEW Real-Time Module Bookshelf.

FieldPoint™, LabVIEW™, National Instruments™, NI™, ni.com™, and NI-DAQ™ are trademarks of National Instruments
Corporation. Product and company names mentioned herein are trademarks or trade names of their respective
companies. For patents covering National Instruments products, refer to the appropriate location: Help»Patents in your
software, the patents.txt file on your CD, or ni.com/patents.

April 2004

323525B-01

ni. c o m

© 2003–2004 National Instruments Corp. All rights reserved. Printed in Ireland.

Figure 1. The LabVIEW Dialog Box

The LabVIEW Help contains VI reference information for all
Real-Time VIs.

3. Select Help»VI, Function, & How-To Help to open and explore the

LabVIEW Help.

The RT Module allows you to select the host computer or an RT target as
an execution target to run VIs built in LabVIEW. The LabVIEW dialog
box indicates the current execution target. The default execution target is
the development computer, or host computer. Refer to Chapter 2,

Connecting to RT Targets, of the LabVIEW Real-Time Module User
Manual for information about selecting execution targets.

When you select an RT target—an RT Series plug-in device or networked
RT Series device—as the execution target, the LabVIEW development
environment continues to run on the host computer but VIs run on the RT
target. Refer to Chapter 1, Introduction to the LabVIEW Real-Time Module,
of the LabVIEW Real-Time Module User Manual for information about RT
targets.

Getting Started with the LabVIEW Real-Time Module 2 ni.com

Creating and Running a Deterministic Application

This section guides you through creating a deterministic PID control
application. You need to configure an NI RT Series PXI controller,
NI PCI-7041 plug-in device, or an RT Series FieldPoint module as an
RT target to complete this exercise. Refer to the Measurement &
Automation Explorer Help for information about configuring a remote
system as an RT target.

The application receives an analog input, processes the data using PID
control VIs, and outputs the resulting control data. Refer to the LabVIEW
PID Control Toolset User Manual for information about the PID control
algorithm and the PID Control Toolset VIs. Refer to the LabVIEW
Real-Time Module User Manual for information about Real-Time Module
features.

Creating the Control Loop

Complete the following steps to create a control loop for the control VI.

1. Start LabVIEW and select the RT target from the Execution Target

pull-down list. Refer to the LabVIEW Real-Time Module User Manual
for more information about connecting to RT targets.

2. Open a blank VI and display the block diagram.

3. Place a While Loop on the block diagram. Refer to the LabVIEW User
Manual for information about using While Loops.

4. Right-click the conditional terminal and select Create Control from
the shortcut menu to create and wire a Stop button control to the
conditional terminal.

The While Loop runs all code within its boundaries until the conditional
terminal receives a TRUE value. Use the conditional loop as the control
loop in the next section. When you press the Stop button on the front panel,
the button passes a TRUE value to the conditional terminal.

© National Instruments Corporation 3 Getting Started with the LabVIEW Real-Time Module

Adding Analog Input/Output and Data Processing to the Control Loop

Complete the following steps to add analog input/output and a PID control
VI to the control loop.

1. Place the DAQmx Read VI in the control loop on the block diagram.

(FieldPoint) Place the FP Read VI.

2. Right-click the task/channel in input of the DAQmx Read VI and
select Create»Control from the shortcut menu to create a control for
the task/channel in input on the front panel.

(FieldPoint) Create a control for the FieldPoint IO Point In input of the

FP Read VI.

3. Select Browse from the pull-down list of the task/channel in control
on the front panel to open the Select name(s) dialog box. Click the
Create New button to open the DAQ Assistant and create a new
NI-DAQmx task. Refer to the NI-DAQmx Help for information about
using the DAQ Assistant to create an NI-DAQmx task. Select the
NI-DAQmx task that you create from the pull-down list of the
task/channel in control on the front panel.

(FieldPoint) Select the device in the FieldPoint IO Point In control.

Refer to the Measurement & Automation Explorer Help for FieldPoint
for information about configuring a device.

4. Place the PID VI in the control loop on the block diagram. You also
can create custom control VIs using LabVIEW.

5. Wire the data output of the DAQmx Read VI to the process variable
input of the PID VI.

(FieldPoint) Wire the values output of the FP Read VI to the process

variable input of the PID VI.

6. Create controls for the PID gains and setpoint inputs of the PID VI.

7. Place the DAQmx Write VI in the control loop on the block diagram.

(FieldPoint) Place the FP Write VI.

8. Wire the output output of the PID VI to the data input of the DAQmx
Write VI.

(FieldPoint) Wire the output output of the PID VI to the values input of

the FP Write VI.

9. Create a control for the task/channel in input of the DAQmx Write VI
and select an NI-DAQmx task. Refer to step 3 for information about
creating an NI-DAQmx task using the DAQ Assistant.

(FieldPoint) Create a control for the FieldPoint IO Point In input of the

FP Write VI.

The block diagram for an NI-DAQmx system should look similar to
Figure 2.

Getting Started with the LabVIEW Real-Time Module 4 ni.com

Figure 2. NI-DAQmx Control Loop

The block diagram for a FieldPoint I/O system should look similar to
Figure 3.

© National Instruments Corporation 5 Getting Started with the LabVIEW Real-Time Module

Figure 3. FieldPoint Control Loop

The VI reads analog data and sends the data to the PID VI. The PID VI
processes the data using a PID control algorithm. The VI returns the results
to the device. Refer to the LabVIEW PID Control Toolset User Manual for
information about using PID VIs.

(ETS) Refer to the examples\Real-Time\ETS\RT Control.llb for

examples of control VIs.

Setting Priority of the VI to Time Critical

To ensure determinism, you must assign time-critical priority to the control
loop VI. A VI set to time-critical priority receives enough processor
resources to complete time-critical tasks.

1. Right-click the connector pane icon at the top right corner of the
VI and select VI Properties from the shortcut menu to open the
VI Properties dialog box.

2. Select Execution from the Category pull-down menu.

3. Select time critical priority (highest) from the Priority
pull-down menu.

4. Click the OK button to set the priority.

Refer to Chapter 3, Building Deterministic Applications, of the LabVIEW
Real-Time Module User Manual for information about dividing and
prioritizing application tasks. Refer to the Priority Trouble VI in the

examples\Real-Time\RT Tutorial.llb for an example of priority

settings.

Adding Timing to the Control Loop

You must add a timing mechanism that pauses, or sleeps, the control VI to
ensure that other VIs in the application have enough processor resources to
complete. A time-critical VI that does not have any sleep time monopolizes
the embedded CPU resources. Refer to Chapter 3, Building Deterministic
Applications, of the LabVIEW Real-Time Module User Manual for
information about programming deterministic applications.

1. Place the Wait Until Next ms Multiple VI in the control loop on the
block diagram.

2. Right-click the millisecond multiple input of the Wait Until Next ms
Multiple VI and select Create»Constant from the shortcut menu.

3. Enter

10 into the millisecond multiple constant. The timing

mechanism assures you that the control loop code runs and then sleeps
until the time equals 10 ms from the start of the iteration. Other VIs in
the application can run during the sleep time.

4. Select File»Save As and save the VI as

Getting Started with the LabVIEW Real-Time Module 6 ni.com

First PID Control.vi.

The block diagram should look similar to Figure 4.

Figure 4. NI-DAQmx Control Loop with Timing

Refer to Chapter 4, Timing Applications and Acquiring Data, of the
LabVIEW Real-Time Module User Manual for information about the

different methods for timing control loops. Refer to the

Real-Time\RT Timing.llb

Sending Data Out of the Time-Critical VI

The First PID Control VI can run on the RT target at time-critical priority,
but you might need to monitor the status of the VI as it runs on the target.
Also, you might need to update the values of control loop parameters. Use
the Real-Time FIFO VIs to send data between the First PID Control VI and
a normal priority communication VI that also runs on the RT target. The
communication VI on the RT target can receive data from the First PID
Control VI using Real-Time FIFOs and then use network communication
methods to update the host computer VI. Refer to the LabVIEW Real-Time
Module User Manual for information about using the Real-Time FIFO VIs.

examples\

for examples of different timing methods.

© National Instruments Corporation 7 Getting Started with the LabVIEW Real-Time Module

Complete the following steps to control the Stop button from the host
computer.

1. Open the First PID Control VI in LabVIEW.

2. Remove the Stop button control wired to the conditional terminal of
the control loop on the block diagram.

3. Place the RTFIFOCreate VI to the left of the control loop on the block
diagram.

4. Right-click the name input of the RTFIFOCreate VI and select
Create»Constant from the shortcut menu. Enter

Stop Control into

the name constant.

5. Wire a numeric constant to the type input of the RTFIFOCreate VI.
The type input represents the type of data that you want the RT FIFO
to contain.

6. Place the RTFIFORead VI in the control loop on the block diagram.

7. Right-click the While Loop and select Add Shift Register from the
shortcut menu. Use While Loop shift registers to pass data from one
iteration to the next. Refer to the LabVIEW User Manual for
information about using shift registers.

8. Wire the rt fifo output of the RTFIFOCreate VI to the left terminal
of the shift register and then wire the terminal to the rt fifo input of
RTFIFORead VI.

9. Add another shift register and repeat step 8 to wire the error out
output of the RTFIFOCreate VI to the error in input of the
RTFIFORead VI.

10. Wire the rt fifo and error out outputs of the RTFIFORead VI to the
right terminal of the shift registers.

11. Place the Equal? function in the control loop to the left of the
conditional terminal. Wire the element out output of the RTFIFORead
VI to the x input of the Equal? function. Right-click the y input of the
Equal? function and select Create»Constant from the shortcut menu.
Enter

1 into the constant.

12. Wire the x = y? output of the Equal? function to the conditional
terminal of the control loop.

13. Select File»Save As and save the VI as

Second PID Control.vi.

Getting Started with the LabVIEW Real-Time Module 8 ni.com

The block diagram should look similar to Figure 5.

Figure 5. DAQ Control Loop with RT FIFOs

Downloading and Running the Application

You have created the time-critical control loop that runs on the RT target.
You can use the
and the

examples\Real-Time\RT Tutorial.llb for the normal priority and

Host Machine (TCP Comm).vi examples located in the

host computer VI.

Complete the following steps to download the time-critical VI and the
network communication VI and test the functionality.

1. Without closing the Second PID Control VI, open the RT Engine ­Normal Priority Loop (TCP Comm) VI and view the block diagram.

2. In the upper-right corner of the Second PID Control VI front panel
there is a connector pane image of the VI. Click and drag the image
to an area outside the While Loop on the block diagram of the
RT Engine - Normal Priority Loop (TCP Comm) VI to use the Second
PID Control VI as a subVI in the normal priority communication VI.

3. From the RT Engine - Normal Priority Loop (TCP Comm) VI block
diagram, select Browse»Show VI Hierarchy to open the Hierarchy
window. Notice that the thumbtack for RT Engine - Normal Priority
Loop (TCP Comm) VI is in the horizontal position, shown at left,
indicating that you have not downloaded the VI to the RT target.

RT Engine - Normal Priority Loop (TCP Comm).vi

© National Instruments Corporation 9 Getting Started with the LabVIEW Real-Time Module

4. Close the Hierarchy window.

5. Select Operate»Download Application to download the VI.

LabVIEW prompts you to save the VI. Save the VI as

Application.vi

.

Top Level

The block diagram should look similar to Figure 6.

Figure 6. Communication VI

6. Select View»Redraw in the Hierarchy window to refresh the screen.
Notice in the Hierarchy window that now the thumbtack for RT
Engine - Normal Priority Loop (TCP Comm) VI is in the vertical
position, shown at left, which indicates that you have downloaded
the VI to the RT target.

7. Click the Run button. LabVIEW runs the VI on the RT target.

8. Select File»Exit without closing RT Engine VIs to close LabVIEW
on the host computer while continuing to run the VIs on the RT target.

9. Start LabVIEW again and open the Host Machine (TCP Comm) VI.
The Host Machine (TCP Comm) VI publishes and controls the Stop
button in the time-critical VI on the RT target. Click the Stop button.

10. Select Operate»Switch Execution Target and select the RT target to
reconnect to the target and verify if the RT Engine - Normal Priority
Loop (TCP Comm) VI stopped running.

11. Exit LabVIEW by selecting File»Exit and, when prompted, close all
VIs running on the RT target.

Getting Started with the LabVIEW Real-Time Module 10 ni.com

Optimizing the Control Application

Now that you have created a basic application, you can optimize the control
application. Complete the following additional tasks to experiment with
deterministic programming techniques.

• Optimize the time-critical VI further by moving all front panel control
and indicator references from the time-critical loop VI to the host
computer VI using the Real-Time FIFOs VIs and network
communication. You can use the RT Communication Wizard to move
all front panel controls and indicators out of a time-critical VI. Refer
to Chapter 3, Building Deterministic Applications, of the LabVIEW
Real-Time Module User Manual for information about using the
RT Communication Wizard.

• Optimize the data acquisition. Other data acquisition VIs offer better
performance for real-time applications. You can use hardware timing
to validate that the control loop is behaving deterministically. Refer to
the NI-DAQmx Help for information about timing control loops using
the DAQmx - Data Acquisition VIs. Refer to the LabVIEW Real-Time
Module User Manual for information about optimizing VIs for
deterministic performance.

• Use different control algorithms. The PID Control Toolset, which
contains many different control algorithms, installs with the Real-Time
Module. In this exercise, you used the PID VI, but you can use the
other control VIs available in the toolset.

© National Instruments Corporation 11 Getting Started with the LabVIEW Real-Time Module