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8/9/2019 Controllo Avanzato Con LabVIEW e Tecnologia Compact Rio
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Progettazione grafica con LabVIEW
per il controllo avanzato:Introduzione alla tecnologia CompactRIO
Davide Palandella
National Instruments Italy
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Agenda
•Introduction to Real-Time
•Real-Time Development Tools
•CompactRIO: FPGA-based architecture
•Programming with LabVIEW Real-Time
•Control and analysis
•Communicating to Real-Time targets
•Programming with LabVIEW FPGA
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National Instruments EverywhereMore than 25,000 companies, including
90% of Fortune 500 manufacturing companies use virtual instrumentation
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LabVIEW Graphical Programming
LEGO Mindstorms NXT“the smartest, coolest toy
of the year”
CERN Large Hadron Collider “the most powerful instrument
on earth”
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LabVIEW Graphical System Design Platform
Dataflow C Code Textual Math Simulation Statechart
PC PXI Systems CompactRIO Custom DesignSB RIO
Real-Time FPGA MicroprocessorsLabVIEW
Desktop
WSN
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NI CompactRIO FPGA-based Hardware
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What is Real-Time?
• Real-time does not always mean real fast• Real-time means absolute reliability
• Real-time systems have timing constraints that must be
met to avoid failure• Determinism is the ability to complete a task within a fixed
amount of time
8/9/2019 Controllo Avanzato Con LabVIEW e Tecnologia Compact Rio
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Spectrum of Real-Time Applications
Test and validation Industrial control Embedded design
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Operating System CharacteristicsGeneral Purpose OS
• High-priority tasks can bepreempted by lower-priority tasks
• Extraneous background programs
- Screen savers, disk utilities, virussoftware, and so on
• Peripheral Interrupts- Mouse, keyboard, and so on
Real-Time OS• Scheduler ensures high-priority
tasks execute first
• Direct control over all tasks• Stand-alone (no mouse, keyboard,
and so on)
Loop Rate Software Jitter
10 – 100 Hz Unbounded
Up to 50kHz Bounded
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LabVIEW Real-Time
Execution Trace Tool
LabVIEW Real-Time
Target
Linker
System Analysis Tools
RTOS
Microprocessor
I/O Connectivity
Compiler
Debugger
Real-Time Development Tools
Development
Software
Real-Time
Hardware
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Single-Board
ComputersTraditional COTS HW
Device Drivers
Board Support
Package (BSP)
Driver API
Application Software
• RTOS with prebuilt BSP
• Built-in boot loader, flash and download utilities/drivers (optional)
• USB, Ethernet and other low-level software stacks
• Processor-based SBC
• No FPGA
Traditional
COTS HW
vendors supply
SBC and BSP
Created by theembedded
designer for
each project
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Single-Board
Computers
CompactRIO or NI
Single-Board RIO
Device Drivers
Board Support
Package (BSP)
Driver API
Application Software
• Graphical or Text programming
• Program HMI, real-time processor and FPGA with one tool flow
• Signal processing, control, communications libraries in LabVIEW
• Complete C and VHDL support
Complete Easy to Use I/O API Libraries:
• Built-in APIs for analog, digital, motion, etc
• APIs for DMA transfer
• APIs for Serial, CAN, TCP and file I/O
Validated Low-level Drivers:
• Device drivers for all analog and digital I/O
• Device drivers for RS232, TCP/IP, UDP, etc
• Drivers for System Services such as Interrupt Control , Power Management ,External Bus Interface Unit Control , Deferred Callback , DMA Management
Ready to Run Out of the Box:
• VxWorks RTOS with prebuilt BSP
• Built-in boot loader, flash and download utilities/drivers
• USB, Ethernet and other low-level software stacks
• Freescale Processor
• Xilinx FPGA
• NI custom high performance bus interface ASIC
• Connectivity for custom design or C Series I /O
Validated,
Tested, and
Proven
Embedded
Middleware
Drivers
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LabVIEW Real-Time Module
• Rapidly develop robust and reliable systems with graphical programming
• Implement and visualize precise deterministic performance
• Eliminate time spent integrating diverse I/O
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LabVIEW Real-Time Hardware Targets
Compact
Vision
System
Compact
FieldPoint
PXI Desktop or
Industrial PC
LabVIEW Real-Time
CompactRIO Smart
Camera
NI Single-Board
RIO
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NI CompactRIO FPGA-based Hardware
• Reconfigurable FPGA for high-speed and custom I/O timing, triggering, and control
• Real-time processor for reliable measurement, analysis, connectivity, and control
• I/O modules with built-in signal conditioning for connection to sensors/actuators
Real-Time
Processor
FPGA
Extreme Ruggedness
• -40 to 70 C temperature range
•
50g shock, 5g vibration
Low Power Consumption
• 9 to 35 VDC power, 7-10 W typical
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NI Single-Board RIO Embedded Control & Acquisition
Small Size, Low Power 21 x 9 cm. (8.2 x 3.7 in.)
19-30 VDC power, (7-10 W typ.)
-20 to 55 °C operating temp
-20 to 85 °C storage temp
Real-Time Processor 400 MHz processor for floating-point control,
analysis, and logging
Reconfigurable FPGACustomized timing and processing of I/O
Expansion I/OConnect up to three C Series modules for
additional I/O (strain, TC, comm., motion, etc…)
Onboard Analog and Digital I/O110 DIO, Up to 32-ch AI, up to 4-ch AO,
Up to 32-ch of 24 V DIO
Networking/Peripherals
10/100 Ethernet portRS232 Serial port
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C Series I/O Modules
• Analog Input
Up to 250 kS/s simultaneous sampling
4, 8, 16, and 32-ch options
Built-in signal condition for sensors• Strain gages, accelerometers,
thermocouples, RTDs
Up to 300V, ± 60 V, ±20 mA
12, 16 and 24-bit resolution
Available ch-to-ch isolation
• Analog Output Up to100 kS/s simultaneous
updating 4-ch per module
10 V, ±20 mA
Isolation
• Digital I/O – Up to 30 MHz timing
– 8 and 32-channel options
– 5V/TTL, 12/24/48 V logic levels – Available ch-to-ch isolation
• Other – 2-port CAN modules (high and low
speed)
– Brushed DC servo motor drivemodule
• Connector options – Screw terminal, spring terminal, BNC,
D-Sub
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CompactRIO/Single-Board RIO Applications
Machine Control
• Packaging/Processing
High-speed motioncontrol, batch control,discrete control
• Heavy Machinery Control
Real-time signalprocessing and controlof power electronics,
hydraulic systems• Semiconductor/Biomed
Custom motion andvision inspection,material handling
Machine Monitoring
• Machine Condition Monitoring
– Bearing order analysis,lubrication monitoring, cooling,combustion…
• Mobile/portable DSA, NVH
– Noise, vibration, harshness,dynamic signal analysis,acoustics
• Distributed Acquisition
– Central controller withdistributed I/O nodes overEthernet/wireless
In-Vehicle Data Acquisition
• In-Vehicle Data Acquisition
– Automobiles, motorcycles,recreational vehicles, researchaircraft, trains
• Engine and ECU test cells
– HIL testing of engines andengine controllers, sensorsimulation using FPGA
• Rapid Control Prototyping
– Automotive/aerospace controlprototyping
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Exercise Station – CompactRIO Demo Box
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LabVIEW 8.6: A New Era for CompactRIO
• Program CompactRIO in minutes with new
CompactRIO Scan Mode
• Work with new monitoring and maintenance tools
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NI CompactRIO
LabVIEW Real-Time
LabVIEW Real-Time
FPGA
I / O M o d u l e s
RIO Scan
Interface
NI Scan Engine
I/O MemoryTable
I/O Variables
I / O M o d u l e s
LabVIEW FPGAVI
FPGA Host Interface
New LabVIEW 8.6 Programming Model for
CompactRIO
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Exercise 1
Temperature Threshold Measurement
I/O
I/O
I/O
I/O
LabVIEW
Real-Time
I/O Scan
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CompactRIO Specialty Digital
Functionality
• Add specialty digital functionality to any C Series digital
I/O module (8 channels or less)
• No programming required• Supports high-speed counter, PWM, and quadrature
encoder
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Exercise 2- Specialty Digital Function
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The LabVIEW Timed Loop
• Each timed loop is a real-time task• Variety of sources for loop timing
• Assign unique priorities to a maximum
of 128 tasks
• Obtain timing feedback from loop• Dynamically change loop timing
• Assign to particular CPU core on
multicore systems
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Implementing Control in LabVIEW
(CompactRIO)
Minimal change in code for different types of I/O
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• Built-in Tools for Control PID, Fuzzy Logic, Advanced
Import C algorithms, Simulink Models
• Complete Analysis Libraries FFT, Linear Algebra, Filtering
Point by Point Analysis and Signal Generation
• Easily Integrate Diverse I/O Data Acquisition
Modular Instruments
Serial, GPIB, CAN, IEEE 1394, DeviceNet
• IEC61131-3 Function Blocks 18 new functions common in industrial control
Seamless LabVIEW Project integration
LabVIEW Real-Time Control & Analysis
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LabVIEW Function Blocks
28
• Familiar industrial functions based on
IEC 61131-3 standard
• Designed for real-time control
• Network-published shared variable
parameter values
• Install with LabVIEW Real-Time Module
• Also runs on Windows OS
• LabVIEW Project integration
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Exercise3- Alias and new Function
Blocks
Accumulate
Collect Boolean Array
Collect Numeric Array
Totalize
RS Bistable
SR Bistable
Count Down
Count Up
Count Up Down
Pulse Timer
Elapsed Timer
Retentive Timer On
Timer On Delay
Timer Off Delay
One Shot Rising
Accumulate and Collect
Bistable/Flip-Flop
Timing Edge Detection
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External Communication Methods
• Default Communication Best for developing and debugging
• Remote Panels
Best for remote control through Web browser
• Shared Variables Best for fast and distributed communication
Simple, intuitive API for fast development
Scalable for high-channel, rapid development
apps
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Remote Panels
• Uses LabVIEW built-in Web server • Monitor and control application with a Web browser
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LabVIEW 8.6 Real-TimeWeb Services Support
• Windows and Real-Time
• Custom Web clients
• No run-time engine needed
• Standard HTTP protocol
• Firewall friendly
Web Server
Thin Client Thin Client
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LabVIEW Execution Trace Toolkit
• Add-on for the LabVIEW Real-Time Module• Provides exact execution tracing of VIs and threads
running on real-time target for advanced debugging
Step 1: Use the TraceVI’s to analyze behavior
Step 2: Use the Execution Trace Tool to viewthread execution and debug application
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Scheduling Example: Two Real-Time
Tasks
• Task A runs every 10 ms and needs 3 ms of CPU time A A
0 1 2 3 4 5 6 7 8 9 10 11 12 13
• Task B runs every 1 ms and needs 0.5 ms of CPU time
Idle Time
0 1 2 3 4 5 6 7 8 9 10 11 12 13
B B B B B B B B B B B B B B
• Timed Loop A (priority 100) and Timed Loop B (priority 101) together:
AAAAAAAAA
0 1 2 3 4 5 6 7 8 9 10 11 12 13
B B B B B B B B B B B B B B
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Implement Multirate Scheduling
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FPGA Technology
I/O Blocks
Programmable
Interconnects
Logic
Blocks
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Importance of FPGA in Systems
• High Reliability – Designs become a custom circuit
• High Determinism – Runs algorithms at deterministic rates
down to 25 ns (faster in many cases)
• True Parallelism – Enables parallel tasks and pipelining
• Reconfigurable – Create new and alter existing task-specific
personalities
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How Does LabVIEW FPGA Work?
1. Same graphical programming
2. Generate VHDL
3. Compile VHDL through Xilinx
4. Generate downloadable bit file
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When to Use LabVIEW FPGA
• Waveform acquisition > 1kHz
• Custom triggering
• Hardware based analysis• Highest performance
• Unsupported modules
• Unsupported targets
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FPGA Co-Processing• Hardware-in-the-loop
• Sensor simulation Cam and crank
LVDTs
• Encoding/decoding sensors Tachometers
Custom digital protocols
• Signal Processing and Analysis Spectral analysis (FFT and windowing)
Filtering, Averaging, etc.
Integrate 3rd party IP
LVDT Simulation
Quadrature Encoder
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NI CompactRIO
LabVIEW Real-Time
LabVIEW Real-Time
FPGA
I / O M o d u l e s
RIO Scan
Interface
NI Scan Engine
I/O memorytable
I/O Variables
I / O M o d u l e s
LabVIEW FPGAVI
FPGA Host Interface
Programming CompactRIO with
LabVIEW FPGA
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Combining Scan Mode with FPGA Mode
• Add FPGA to project
• Drag modules to FPGA
• Requires compile
• Scan mode modules
• FPGA mode modules
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I/O
I/O
I/O
I/O
LabVIEW
Real-TimeLabVIEW
FPGA
Exercise 4. Using LV FPGAProgramming with LabVIEW FPGA
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LabVIEW Real-Time Targets
CompactRIONI Single-Board RIO PXI
DesktopPC
CompactVision System
Compact
FieldPoint
I/O Variety
Scalability
Performance
Ruggedness
Good Better Best
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CompactRIO Embedded System•Extreme Durability
•Reconfigurable FPGA Circuitry•Isolated Industrial I/O
•Real-Time OS
•Small Size, Low Power Consumption
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NI Single-Board RIO Embedded Device
• Single-Board Computer based on
CompactRIO
Real-Time OS, Reconfigurable FPGA, uses C
Series I/O Modules
• Several I/O modules included onboard (DIO, AI, AO, 24V DI & DO)
• Ideal for high-volume and
OEM applications
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NI Embedded Evaluation Kit
• Contents
NI Single-Board RIO with DIO, AI, AO
Signal accessory daughter card
LabVIEW evaluation software
• LabVIEW, LabVIEW Real-Time, andLabVIEW FPGA (expiring license)
Getting started guide with
exercises and tutorials
Power supply Ethernet cable
• Price – 879 € for 90-day eval kit
–1049 € for 180-day eval kit
ni.com/embeddedeval
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RT Series PXI Embedded Controllers
• High speed I/O
• Instrument grade accuracy
• Synchronization backplane
• Headless operation
• Hard drive or CompactFlash
• Watchdog timers
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• Convert desktop, industrial PCs, and Single-Board
Computers (SBC) into Real-Time targets• Integrate large variety of PCI I/O hardware
• Leverage high performance of latest PCs
Desktop PC as Real-Time Target
Additi l I f ti
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Additional Information
• Visit
ni.com/labview/ini.com/pac/i
ni.com/realtime
ni.com/fpga
ni.com /compactrio or ni.com/sbrio - and find:» Product information
» User applications
» Training opportunities
» In-depth tutorials• Technical Support
www.ni.com/ask
www.ni.com/zone
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Le Caratteristiche di LabVIEW 2009
• Development Environment Enhancements
• Language and Performance Improvements
• LabVIEW MathScript RT Module
• Data Management and Visualization
• Software Engineering Tools
•
LabVIEW Community
Wh t’ N i L bVIEW R l Ti
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What’s New in LabVIEW Real-Time
Architect Advanced Systems with Real-Time Technologies• Real-Time Hypervisor• MathScript RT Module• Object-Oriented Programming
Distribute, Synchronize, and Communicate Between Real-TimeSystems
•Absolutely Timed Structures
• Network Improvements• System Replication• Secure Web Services (SSL)
Increase CompactRIO Scan Mode Flexibility and FPGA Integration• Programmatically configure and access I/O• Insert preprocessed FPGA Data into the Scan Engine• Synchronize LabVIEW FPGA code with the NI Scan Engine
Wall Clock Timing on
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Wall Clock Timing onLabVIEW Real-Time Targets
• Fire events at a specifictime on a specific day
• Synchronize multiple
distributed targets
Synchronize Events across
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Synchronize Events acrossDistributed Real-Time Targets
Add FPGA Data to the Scan Engine
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NI CompactRIORTOS
LabVIEW Real-Time
FPGA
S c a n M o d e I \ O m o d u l e s
RIO Scan
Interface
NI Scan Engine
I/O
memorytable
I/O Variables
F P
G A M o d e I \ O m
o d u l e s
LabVIEWFPGA VI
FPGA HostInterface
Add FPGA Data to the Scan EngineNew in 2009
User FPGAdata
Timing
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http://www.ni.com/labview/whatsnew/i/
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ni.com/labview/whatsnew/i/upgrade.htm
LabVIEW Tour Dove?
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LabVIEW Tour, Dove?
Industria
Milano * 27 ottobre Novotel Cà Granda
Torino* 29 ottobre Novotel Torino
Genova 4 novembre Novotel Genova Ovest
Firenze 5 novembre Una Way Firenze Nord – Campi Bisenzio
Brescia 10 novembre AC HotelPadova * 11 novembre Crowne Plaza
Chieti 18 novembre Hotel Sporting Villa Maria – Francavilla a Mare
Rimini 19 novembre Hotel Diplomat Palace
Roma* 24 novembre Hotel dei Congressi
Bari 26 novembre Sheraton Nicolaus
Agenda
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AgendaOre 9:00 Registrazione
Ore 9:30 Benvenuto
Ore 9:45 – 11:00 Introduzione: le novità di LabVIEW 2009Le nuove funzionalità dell’ambiente di sviluppo per semplificare la
programmazione, i miglioramenti nel linguaggio e nelle prestazioni per
aumentare la produttività, gli strumenti di software engineering.
Ore 11:00 – 11:20 Pausa caffè
Ore 11:20 – 13:00 Il mondo di LabVIEW 2009: i moduli e le novità hardware
Programmazione real-time (possibilità di scaricare file LabVIEW
Mathscript su target real-time, migliore comunicazione e
sincronizzazione fra sistemi distribuiti e maggior integrazione fra Scan
Engine e FPGA) ed FPGA (migliore integrazione con il compilatore,
nuove IP - intellectual property - per calcolo e signal processing);
generazione di report html da una rappresentazione a diagramma di
stato; nuovi toolkit RF di LabVIEW per GPS, WLAN, WiMAX e MIMO;nuovi nodi Wireless Sensor Network programmabili da LabVIEW;
prototipazione digitale grazie all’integrazione con SolidWorks ed alle
librerie NI SoftMotion.
Il bus ideale per le applicazioni di acquisizione dati, datalogging
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e monitoraggio
In occasione di quattro date speciali, LabVIEW 2009 Tour proseguirà
nel pomeriggio con un seminario formativo sul tema: “PCI Express,
USB, ZigBee, Wi-Fi, Ethernet, PXI: qual è il bus per le tue applicazioni
di acquisizione dati, datalogging e monitoraggio?”. Obiettivo del
seminario è presentare linee guida ed esempi concreti su come
scegliere il bus più adatto tra i molteplici disponibili in funzione delle
esigenze della tua applicazione; si analizzeranno le piattaforme
hardware di acquisizione dati NI per ogni bus, tra cui plug-&-play USB,
wireless Wi-Fi ed Ethernet, i nuovi Wireless Sensor Network su
ZigBee, la terza generazione di schede della Serie X per PCI
Express/PXI Express, fino all’acquisizione dati intelligente con FPGA
su PCI/PXI. Verranno poi discussi gli strumenti software per acquisire,
analizzare e presentare i risultati ottenuti, sfruttando la piattaforma di
programmazione grafica di NI LabVIEW.
Nota bene: è necessario registrarsi separatamente alla sessione
pomeridiana della data prescelta.
Dove e quando: Milano, 27 ottobre Torino, 29 ottobrePadova, 11 novembre Roma, 24 novembre
Dalle 14:30 alle 17:30
I Ser i i di NI Ital
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ni.com/it
I Servizi di NI Italy
Formazione
SupportoTecnico
ManutenzioneSoftware
ManutenzioneHardware
Corsi organizzati presso le sedi NI, presso il cliente e ON-LINE via web
P d tti di ili l f i M li CD Kit
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F o r m a z i o n e Base
Intermedia
Avanzata
Prodotti disponili per la formazione: Manuali, CD Kit
LabVIEW, LabWindows/CVI, TestStand, DIAdem
Corsi Tematici sulle misure
Corsi orientati ai moduli software: Real-Time, FPGA
Corsi orientati all’uso di hardware: Acquisizione Dati, Bus
CAN, Strumenti Modulari - PXI, Vision & Motion, CompactRIO
Corsi avanzati sui prodotti, programmi “ad hoc” per il cliente
Certificazione – Associate, Developer, Architect per LabVIEW, LabWindows/CVI, TestStand
S u p p o r t o
T e c n i c o
Supporto tecnico mediante WEB FORUM
Supporto tecnico telefonico/e-mail mediante gli Application Engineer di NI
Italy (è richiesto l’acquisto di un Servizio Software – di seguito)
Giornate di START-UP presso la sede del cliente
Supporto tecnico presso la sede del cliente
Supporto sistemistico – Definizione architettura sistema / Review finale
CORSI TEMATICI:
La misura con il supporto del PC
Misure Elettriche con il PC
Misure Termotecniche con il PC
Corso Base: Acustica & VibrazioneCorso Avanzato: Acustica & Vibrazione
Standard Service Program, SSP – fino a 5 licenze:
Durata annuale Aggiornamento automatico della/e licenze software
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M a n u t e n z i o
n e
H a r d w a r e
RIPARAZIONI: mediamente 10/15 gg lavorativi
ESTENSIONE DI GARANZIA: fino a 5 anni / Gestione longevità e ciclo vita sistema
CONTRATTI HARDWARE PER RAPIDA MANUTENZIONE – Gestione fermi macchina
SAP (SYSTEM ASSURANCE PLAN) - STANDARD – cFP, cRIO e PXIhw assemblato e testato, sw e sw driver preinstallati, 3 anni di garanzia e del servizio di calibrazione inclusi
SAP – PREMIUM – Programmi di manutenzione per rispondere a esigenze specifiche del cliente
M a n u t e n z i o n e
S o f t w a
r e
Durata annuale - Aggiornamento automatico della/e licenze software
Supporto tecnico diretto mediante Application Engineer
Sconto sui programmi di formazione
Ricezione rivista tecnica LabVIEW World (per gli utenti di LabVIEW)
Contratto Software - fino a un max di 5 licenze:
Durata annuale con rinnovo automatico, costo inferiore al precedente
Servizi inclusi: come per SSP
Volume License Agreement, VLA - manutenzione annuale per multilicenze:
Vantaggi e risparmio nell’acquisto delle licenze e costo della manutenzione
Tutti i servizi previsti per SSP
I servizi di NI durante il progetto
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Progettazione SviluppoInstallazione
Impiego
Ciclo vita del sistema-apparecchiatura-progetto
I servizi di NI durante il progetto
Piano-contratto di manutenzione
Corsi e certificazioni
Calibrazione, Estensione di garanzia, Riparazioni
Programma di aggiornamento piattaforma Software
Servizi Standard
Supporto di Startup
Supporto sistemistico Upgrade AssistanceCorsi Avanzati / Supporto tecnico
Servizi specialistici
L bVIEW W ld
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LabVIEW World
• La prima rivista italiana per lacomunità LabVIEW
• Per abbonarti, visita il sito diFiera Milano Editore
www.ilb2b.it/labview_world• Se sei un utente Developer Suite
o Standard Service Program diNational Instruments, un anno di
abbonamento è incluso
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Grazie per l’attenzione
Xxxx xxxxxNational Instruments Italy