How do you measure the NI 9505-"meaning current"?

I have a cRIO module 9505 and a closed loop current control FPGA program is roughly based on the help file OR: ...\examples\CompactRIO\Module Specific\NI 9505\Current Loop\Current loop - .vi NI 9505 (FPGA).

In both cases, and in my program, reported current (node of FPGA IO 'current sense") is an integral part of the control scheme, but I don't know units or how the number is measured.  (The documentation leaves a bit to be desired)

The following comment in the file example FPGA 9505 confused me:

"The AI Trig is used to trigger the current sampling. Sampling occurs at
half the cycle PWM time (big time). There are 9 clock cycles, in this example,
from the time a trigger is sent until the current is actually sampled. Therefore, a
trigger is sent 9 clock cycles before the desired sampling point. »

From this comment, it seems that the current I/O node sense is back from the instantaneous current.  However, because the signal from the motor control PWM, the current during the time must always be the same.  A signal PWM is either on or off.  If I only trigger a reading over time, my duty cycle should be relevant, right?  So, how would this function loop control?  Either "current" value is not instant or I understand the purpose of the "AI Trig" boolean.

Second, how the number of cycles of clock between the trigger and the "current sense" read is known?  The comment says exactly 9 clock cycles.  I know that the FPGA and RT are deterministic, but how a programmer can know the trigger with this amount of precision delay?

Thank you

Ethan


Tags: NI Hardware

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