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NI 7340 User Manual and Specifications

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1. Tho k C Do 1 Serial Number Label 3 68 Pin Digital I O Connector 2 Injector Ejector Handle 4 68 Pin Motion I O Connector National Instruments 3 1 Chapter 3 Hardware Overview Figure 3 2 NI PXI 7340 Left Side P 4 c E O 4 MADE IN U S A y FOR PATENTS NI COM PATENTS on14 i cE 5 instruments aa COPYRIGHT 2006 O A lt ofo Cc 1 Identification Number Used in Australia 4 Assembly Number Label 2 Symbol Indicating FFC Compliance 5 Symbol to Alert User to Read the Manual 3 Board Type Label 3 2 ni com NI 7340 User Manual and Specifications Figure 3 3 NI PCI 7340 Parts Locator Diagram FOR PATENTS NLCOM PATENTS 1863076 01L jo O viam O jo ose o T e De A e lef IT TN YO RoHS Mark Symbol Indicating FFC Compliance RTSI Connector Serial Number Label Assembly Number Label Board Type Label User Connectors Identification Number Used in Australia Symbol to Alert User to Read the Manual 68 Pin Digital I O Connector 0 68 Pin Motion I O Connector AUN gt 00N The 68 pin motion I O connector provides all the signals for four axes of closed loop motion control including encoder feed
2. 1 Power off and unplug the chassis A Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 Choose an unused peripheral slot and remove the filler panel Touch a metal part on the chassis to discharge any static electricity 4 Insert the NI 7340 motion controller into the PXI slot as shown in Figure 2 1 Use the injector ejector handle to fully secure the device into place Figure 2 1 Installing an NI 73xx Motion Controller in a PXI Chassis 1 PXI Chassis 4 Front Panel Mounting Screws 2 PXI System Controller 5 Module Guides 3 NI 73xx Motion Controller 6 Power Switch 5 Attach the front panel of the NI 73xx motion controller to the front panel mounting rails of the chassis with the slot screws on the chassis A Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits 2 4 ni com NI 7340 User Manual and Specifications Caution Always power on the computer containing the NI 7340 motion controller A and initialize the controller before you power on the rest of the motion system Power off the motion system in the reverse order 6 Plug in and power on the chassis PCI Motion Controllers 1 Power off and unplug the computer A Caution To protect yourself and the computer from electrical
3. 3 6 Axis lt 1 4 gt Forward Limit Input 4 5 Home Input 4 5 Inhibit 4 4 Reverse Limit Input 4 5 Step CW and Dir CCW 4 4 B breakpoint concepts 3 7 examples 4 14 breakpoint output circuit 4 11 signals wiring 4 10 Breakpoint Output lt 1 4 gt 4 9 buffers 3 7 C command buffer 3 7 communications status register CSR 3 7 communications host 3 7 connectors 68 pin digital I O 3 3 4 1 motion I O 3 3 4 1 motion I O 4 1 RTSI 3 3 4 1 D Declaration of Conformity NI resources C 1 diagnostic tools NI resources C 1 documentation NI resources C 1 related documentation 1 4 drivers NI resources C 1 National Instruments 1 1 Index E Encoder lt 1 4 gt Index 4 8 Phase A Phase B 4 7 encoder signals ground connections 4 8 examples NI resources C 1 F functional overview buffers 3 7 host communications 3 7 onboard programs 3 7 G ground connections encoder signals 4 8 wiring breakpoint outputs 4 10 shutdown input 4 10 trigger inputs 4 10 H help technical support C 1 high speed capture 3 7 home inputs circuit 4 5 4 6 ground connections 4 6 Host 5 V 4 12 host communications 3 7 installing hardware 2 3 software 2 1 instrument drivers NI resources C 1 K KnowledgeBase C 1 L limit input circuit 4 5 4 6 limit inputs ground connections 4 6 l 2 ni com M memory buffer storage 3 7 motion I O connector
4. 60 ns without filter enabled Controlin eei Individual enable disable stop on input prevent motion Find Home Trigger inputs Number of inputs ssseeeeeeeeeeeereererrereeseeeee 4 Encoders 1 through 4 Voltage range 00 ecececeseeteeteeeeeeseeneeneens 0to5V Input low voltage n s 0 8 V Input high voltage eee 2V Polarity sessesesessssessesssssersesresesrsessesessserse Programmable active high or active low Minimum pulse width 100 ns Capture latency ecececeeseeseeeeeseeneeeenee lt 100 ns Capture ACCULaCy ce eeseeeccereeceeceeeeneeeeee 1 count Maximum repetitive capture rate 100 Hz Breakpoint outputs Number of outputs ceeeeseseeeceeeeee 4 Encoders 1 through 4 Voltage range eceseeseesecseeseeecseeneeneeneees 0to5V Output low voltage oo eects lt 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 KQ pull up to 5 V Polarity eieiei oi nere hE Programmable active high or active low Maximum repetitive breakpoint rate ssesseseeesseseseessseses sesers 100 Hz Inhibit enable output Number of outputs ccceceseeseseereeeeees 4 1 per axis Voltage range s essssessesessssiseseesssesessesesesees 0to5 V Output low voltage 0 0 eee lt 0 6 V at 64 mA sink Output high voltage eee Open collector with built in 3 3 kQ pull up to 5 V POLL Ity ee eeeeeeeesceeceeceeceseceeceecneeseseeeeess Programmable active high or active low Control
5. The NI 7340 motion controller supports axes with secondary output resources such as DACs for servo axes or stepper outputs Defining two output resources is useful when controlling axes with multiple motors such as gantry systems in which two DAC outputs can be configured with different torque limits and or offsets The NI 7340 motion controller also supports secondary feedback resources called encoders for axes defined as servo Two feedback resources are used when implementing dual loop control such as in backlash compensation which reduces the number of encoders available for other axes 4 Note Refer to the N Motion Help for information about configuring axes Motion Resources Encoder DAC ADC and motion I O resources that are not used by an axis are available for non axis or nonmotion specific applications You can directly control an unmapped DAC as a general purpose analog output 10 V Similarly you can use any ADC channel to measure potentiometers or other analog sensors 3 6 ni com NI 7340 User Manual and Specifications If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input for master slave electronic gearing applications Each axis also has an associated forward and reverse limit input a home input a high speed capture trigger input a breakpoi
6. s2hcives ccna Aeon th MustOn MustOff or automatic when axis off National Instruments A 3 Appendix A Specifications Analog inputs Number of inputs 20 0 0 ccceceeeeeseceeeeeeneeeee 8 multiplexed single ended Number for user signals 004 4 Number for system diagnostics 4 Voltage range programmable Programmable 10 V 5 V 0 to 10 V 0 5 V Input coupling DC Input resistance 10 kQ min ReSOLUION 0 neen ait 12 bits no missing codes MON otonocity sssrini Guaranteed Multiplexor scan rate oe eee ceeeeeeees 25 ps enabled channel Analog outputs Number of outputs 0 0 0 ceceeeseeseeeeeneeee 4 single ended Output Coupling 0 eee ee eeeeeeeeeeeeeeeees DC Voltage range 10 V Output CUITENE isnin series 5 mA ReSOLUtION 00 eceeceeceeeceseeeeceeceeceeceeeneenes 16 bits no missing codes Mofi0tonic i cscieetinit a as Guaranteed Analog reference output cceceeeeeeeee 7 5 V nominal 5 mA Digital I O POTS 3555s Sis so 35s wkeos fastens E A E oes gases ekes 4 8 bit ports Line direction ececececeeeseesceeceeeeteeseenes Individual bit programmable Inputs Voltage range oo eee seeecreseeseeseeereneeees 0to5 V Input low voltage o s 0 8 V Input high voltage Polarity si concen ceeseuces cea ccbdeavenscvvensecuavencitenncs Outputs Voltage range oo cecesceseesecsecseceecnsenseeeees Output low voltage Output high voltage cece gt 2 4
7. 0 6 V at 64 mA sink Output high voltage 0 eee Open collector with built in 3 3 kQ pull up to 5 V Polarity oo eee eeeeceesceecesceeeeeeceeceeceeceseeaeense Programmable active high or active low System Safety Watchdog timer function Watchdog timeout 0 ce eeeeeeeeceeeeeeeees Shutdown input Voltage range Input low voltage oo ce ceeeneeeeeee 0 8 V Input high voltage 0 0 eee 2V Polarity econ aie seeds Rising edge Control sssnei aaen aeae Disable all axes and command outputs Motion I O Encoder inputs cccecceccessessesseseceeceeceeeneeeeeaes Quadrature incremental single ended Maximum count rate s src 20 MHz Minimum pulse width eeeeeeeeee Programmable depends on digital filter settings l Refer to the NJ Motion Help for more information A 2 ni com NI 7340 User Manual and Specifications Voltage range Input low voltage eect cere 0 8 V Input high voltage eens 2V Minimum index pulse width Programmable depends on digital filter settings Maximum resolution cccccceseeeeeees 278 _ 1 programmable Forward reverse and home inputs Number of inputs cceseseseeseeseereeeeee 12 3 per axis Voltage range 0 ce cececeseeteeseeeeeeseeseeneene 0to5V Input low voltage n s 0 8 V Input high voltage eee 2V Polarity seesesssessesessesessserseseesesrsessesessserse Programmable active high or active low Minimum pulse width ms with filter enabled
8. 2 bit6 21 55 Digital Ground Port 2 bit7 22 56 Digital Ground Port 3 bitO 23 57 Port 3 bit 1 Digital Ground 24 58 Port 3 bit 2 Port 3 bit3 25 59 Digital Ground Port 3 bit4 26 60 Port 3 bit5 Digital Ground 27 61 Port 3 bit6 Port 3 bit7 28 62 Digital Ground Port 4 bitO 29 63 Port 4 bit 1 Digital Ground 30 64 Port 4 bit 2 Port 4 bit3 31 65 Digital Ground Port 4 bit4 32 66 Port 4 bit 5 Digital Ground 33 67 Port 4 bit 6 Port 4 bit7 34 68 Digital Ground The 32 bit digital I O port is configured in hardware as four 8 bit digital I O ports The bits in a port are typically controlled and read with byte wide bitmapped commands All digital I O lines have programmable direction and polarity Each output circuit can sink and source 24 mA National Instruments 4 13 Chapter 4 Signal Connections The DPull pin controls the state of the input pins at power up Connecting DPull to 5 V or leaving it unconnected configures all pins in all ports for 100 kQ pull ups Connecting DPull to ground configures the ports for 100 kQ pull downs PWM Features The NI 7340 motion controller provides two pulse width modulation PWM outputs on the digital I O connector The PWM outputs generate periodic waveforms whose period and duty cycles can be independently controlled through software commands The PWM is comparable to a digital representation of an analog value because the duty cycle is directly proportional
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10. Input Home switch Axis lt 1 4 gt Forward Limit Digital Ground Input Forward clockwise limit Switch switch Axis lt 1 4 gt Reverse Limit Digital Ground Input Reverse counter clockwise Switch limit switch Axis lt 1 4 gt Inhibit Digital Ground Output Drive inhibit Trigger lt 1 4 gt Digital Ground Input High speed position capture trigger input lt 1 4 gt Breakpoint lt 1 4 gt Digital Ground Output Breakpoint output lt 1 4 gt Host 5 V Digital Ground Output 5 V host computer 5 V supply Analog Input Ground Reference for analog inputs Analog Input lt 1 4 gt Analog Input Input 12 bit analog input Ground Analog Output lt 1 4 gt Analog Output Output 16 bit analog output Ground Analog Output Ground Reference for analog outputs Shutdown Digital Ground Input Controlled device shutdown Analog Reference output Analog Input Output 7 5 V analog reference Ground level Digital Ground Reference for digital I O National Instruments 4 3 Chapter 4 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver Analog Output lt 1 4 gt These 16 bit DAC outputs are typically the servo command outputs for each axis They can drive the industry standard 10 V output and can be software limited to any positive or negative voltage range They also feature a software programmable voltage offset Although typically used as the command ou
11. MAX to change the pattern of phases A and B for the index search You can also set the encoder polarity for phases A B and Z in MAX Wiring Concerns The encoder inputs are connected to quadrature decoder counter circuits It is very important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation Encoders with differential line driver outputs are strongly recommended for all applications and must be used if the encoder cable length is longer than 3 05 m 10 ft Shielded 24 AWG wire is the minimum recommended size for the encoder cable Cables with twisted pairs and an overall shield are recommended for optimized noise immunity All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals Caution Unshielded cable can cause noise to corrupt the encoder signals resulting in lost counts and reduced motion system accuracy 4 8 ni com NI 7340 User Manual and Specifications Encoder Input Circuit Figure 4 5 shows a simplified schematic diagram of t
12. Software 0 ceeesseseseesceseneeeceseeceecseeeceecnseecneseeeeens 1 3 Optional Equipment 23 6 ssccisoeceaccavsavcecscesesscesd sud ovegvacvacedcvadaceeceucoecdulenscbeceseveessavtestessesteade 1 3 Motion I O Connections 1 3 Related Documentation cccccccccecssecsecsscessecsecescesseeecesseeseecsseecessecsesessesseseseesseeeesesseees 4 Chapter 2 Configuration and Installation Software Installation sereneco rsen EEA doncdsudestsdsacsoedentesuossvessea dee dunes 2 1 Controller Configuration ccccccceescescescesceseeseesceseceeceeceecesessesaesseaaecaecaecaecaeeaeeaeeaeeneeeees 2 1 Safety Information 0 cc cccsessescessesseseesseseceeceecescesecaeceeceecaseaseaaeaaeaaecsecsecsecseeeeeeseeeeeeeees 2 1 Electromagnetic Compatibility Information cccescsecsecsecsceceeeseeeeeeseeeeeeceeeeseeeteees 2 3 Hardware Installation onsena nineio dridas s E R E a 2 3 PXI Motion Controllers 2 4 PCL Motion Controllers spessi n n r hei 2 5 Chapter 3 Hardware Overview User Connectors hon eieaa Bien aaa a aa 3 3 Functional Vetva Cw ier aeren ERE T R A A E E N aaa nis 3 4 Dual Processor Architecture cccccccessccesceessececsscesseeceeseceseeceseecesseeeseecsscesseseeess 3 4 Embedded Real Time Operating System RTOS ee eecececseeseeeeseeseeeeeeeeeees 3 4 Trajectory Generators seon eens dediia eta ee eet denials 3 4 Analog Feedback 1 3 5 Flash Memory 3 5 Axes and Motion Resources 3 5 PC
13. THE AMOUNT THERETOFORE PAID BY THE CUSTOMER NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCTS OR INCIDENTAL OR CONSEQUENTIAL DAMAGES EVEN IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instruments must be brought within one year after the cause of action accrues National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow the National Instruments installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation National Instruments respects the intellectual property of others and we ask our users to do the same NI software is protected by copy
14. V at 24 mA source Polarity scacstciseectsensteiesstaasoatansearencets Programmable active high or active low PWM outputs Number of PWM outputs Maximum PWM frequency ReSOMUtHON oeeaaeaii Duty cycle range oo ee eeeseseereereeee 0 to 255 256 Clock SOULCES 0 0 ects eecteeeeeeeeeteeeees Internal or external RTSI Trigger lines c sise iad Mee ek 8 A 4 ni com NI 7340 User Manual and Specifications Maximum Power Requirements F5 V ESA jaani HEV GS D hearin 12 V 410 Power consumption s sessesesseseeeeessereeseeerreeees 5 7 W Physical Dimensions Not Including Connectors PXI 7340 oo eeeeccscescssesceccseesceecseeeesecceseeserenseneeas 16 x 10 cm 6 3 x 3 9 in PCI 7340 sevcssscassedsaceses ccvserscaten cossevsenseasndeesentenciss 17 5 x 9 9 cm 6 9 x 3 9 in Connectors Motion I O Connector ou cceeeseeseeseeseeeeeeneees 68 pin female high density VHDCI type 32 bit digital I O connector 68 pin female high density VHDCI type Weight PLS TAU sett a ah ee cia Sa SR ha 170 g 6 oz BSA ear 113 g 4 oz Caution Clean the hardware with a soft nonmetallic brush Make sure that the hardware is completely dry and free from contaminants before returning it to service Maximum Working Voltage Channel to earth sseseseeessseseeeeessserereesserereeees 12 V Installation Category I signal voltage plus common mode voltage Channel to channel s sseseeeeseeeeeeesereereesreereeees 22 V
15. axis Amperes Treat the target position loaded as position relative to zero 0 while making a move Position relative to zero A signal is active when its value goes high 1 A signal is active when its value goes low 0 Character code that identifies a specific location or series of locations in memory or on a host PC bus system The drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brushed motor for instance application programming interface Unit that controls a motor or any similar motion or control device National Instruments G 1 Glossary B b base address binary buffer bus byte C CCW closed loop common crosstalk CSR CW D dedicated DGND digital I O port G 2 ni com bit one binary digit either 0 or 1 Memory address that serves as the starting address for programmable or T O bus registers All other addresses are located by adding to the base address A number system with a base of 2 Temporary storage for acquired or generated data software The group of conductors that interconnect individual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected Eight related bits of data an eight bit binary number Also used to denote the amount o
16. the NI 7340 to drives with opto isolated inputs connect as shown in Figure 4 2 If the optocoupler does not include its own current limiting resistor you must provide an external resistor in series with the NI 7340 output as shown A Caution To prevent damange to the NI 7340 or other motion hardware use a resistor that limits the current to a value below the maximum specifications of the controller and other hardware Figure 4 2 Step Direction and Inhibit Output Circuit eee NI 7330 A Drive eee Step Dir 1 lt Step Dir Step Dir f i pP i ar y Limit and Home Inputs The following signals control limit and home inputs e Axis lt 1 4 gt Forward Limit Input e Axis lt 1 4 gt Home Input e Axis lt 1 4 gt Reverse Limit Input These inputs are typically connected to limit switches located at physical ends of travel and or at a specific home position Limit and home inputs can be software enabled or disabled at any time When enabled an active transition on a limit or home input causes a full torque halt stop of the associated motor axis In addition an active forward or reverse limit input impedes future commanded motion in that direction for as long as the signal is active Note By default limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized You can use MAX to disable digital filtering for limit and home inputs Active signals s
17. these switches are active low they are said to have inverting polarity interrupt request kilo the standard metric prefix for 1 000 or 103 used with units of measure such as volts hertz and meters kilo the prefix for 1 024 or 2 used with B in quantifying data or computer memory L LIFO limit switch end of travel position input M m MCS microstep modulo position N noise noninverting NI 7340 User Manual and Specifications last in first out Sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop meters move complete status The proportional control of energy in the coils of a Stepper Motor that allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution Treat the position as within the range of total quadrature counts per revolution for an axis An undesirable electrical signal noise comes from external sources such as the AC power line motors generators transformers fluorescent lights soldering irons CRT displays computers electrical storms welders ra
18. 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step CW Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 3 Step CW Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Axis 4 Step CW Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V Breakpoint 2 Breakpoint 4 Shutdown Analog Output 2 Analog Output 4 Reserved Analog Input 2 Analog Input 4 Analog Input Ground NI 7340 User Manual and Specifications Table 4 1 describes the signals on the motion I O connector Table 4 1 Motion I O Signal Connections Signal Name Reference Direction Description Axis lt 1 4 gt Dir CCW Digital Ground Output Motor direction or counter clockwise control Axis lt 1 4 gt Step CW Digital Ground Output Motor step or clockwise control Axis lt 1 4 gt Encoder Digital Ground Input Closed loop only phase A Phase A encoder input Axis lt 1 4 gt Encoder Phase B Digital Ground Input Closed loop only phase B encoder input Axis lt 1 4 gt Encoder Index Digital Ground Input Closed loop only index encoder input Axis lt 1 4 gt Home Switch Digital Ground
19. Installation Category I signal voltage plus common mode voltage A Caution These values represent the maximum allowable voltage between any accessible signals on the controller To determine the acceptable voltage range for a particular signal refer to the individual signal specifications A Caution The protection provided by the NI 7330 can be impaired if it is used in a manner not described in this document Environment Operating temperature esseessssesseseees seses stees 0 to 55 C Storage temperature sseseeeeseeseeeeeeeeerrrrereserees 20 to 70 C UM dIty s 2 0 08 scesdevserevsdvecaccbsateestevecd sedoasesee s 10 to 90 RH noncondensing National Instruments A 5 Appendix A Specifications Maximum altitude c ccccceccecssseceeeeesseeesees 2 000 m Pollution Degree cceeeccesceceeeeseeseeseeseeeenes 2 Indoor use only Safety This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e JEC 61010 1 EN 61010 1 e UL 61010 1 CSA 61010 1 Note For UL and other safety certifications refer to the product label or the Online Product Certification section Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and laboratory use e EN 61326 1 IEC 61326 1 Class A emissions Basic immunity e EN 55011 CISP
20. Instruments will at its option repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical errors exist National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO
21. M TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Contents Chapter 1 Introduction About the NI 7340 Motion Controller cccccccccesssecsecsssessecsseeeeecseceeecseceeceesecneseseecseenaes 1 1 Features rna enan aan 1 Hardware 1 RISES eannan 1 2 What You Need to Get Started ccccccccssessecsscessececescecseceecessecsesescesecescesseeeesesseenesessens 1 2 Software Programming Choices cccsccseessessesseseesseeeceeceecesceseeeeseeaeceecaseaaeaaecsecaeeseeneeas 1 2 National Instruments Application
22. Measurement Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired hardware such as hardware in fixed installations distribution boards and circuit breakers Other examples are wiring including cables bus bars junction boxes switches socket outlets in the fixed installation and stationary motors with permanent connections to fixed installations e Measurement Category IV is for measurements performed at the primary electrical supply installation typically outside buildings Examples include electricity meters and measurements on primary overcurrent protection devices and on ripple control units To obtain the safety certification s for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Electromagnetic Compatibility Information This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility EMC stated in the product specifications These requirements and limits provide reasonable protection against harmful interference when the product is operated in the intended operational electromagnetic environment This product is intended for use in industrial locations However harmful interference may occur in some installations when the product is connected to a peripheral device or test object or if the pr
23. Motion Control National Instruments 7340 User Manual and Specifications March 2013 NATIONAL 370838B 01 Peinstrumenrs Worldwide Technical Support and Product Information ni com Worldwide Offices Visit ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 For further support information refer to the Technical Support and Professional Services appendix To comment on National Instruments documentation refer to the National Instruments Web site at ni com info and enter the Info Code feedback 2003 2013 National Instruments All rights reserved Important Information Warranty The National Instruments 7340 is warranted against defects in materials and workmanship for a period of one year from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National
24. O connector also contains four channels of 12 bit A D inputs for analog feedback or general purpose analog input National Instruments 4 1 Chapter 4 Signal Connections Figure 4 1 shows the pin assignments for the 68 pin motion I O connector on the NI 7340 motion controller Table 4 1 includes descriptions for each of the signals A line above a signal name indicates that the signal is active low Figure 4 1 68 Pin Motion I O Connector Pin Assignment Axis 1 Dir CCW 1 35 Digital Ground 2 36 Digital Ground 3 37 Axis 1 Home Switch 4 38 Trigger 1 5 39 Axis 1 Inhibit 6 40 Axis 2 Dir CCW 7 41 Digital Ground 8 42 Digital Ground 9 43 Axis 2 Home Switch 10 44 Trigger 2 1145 Axis 2 Inhibit 12 46 Axis 3 Dir CCW 13 47 Digital Ground 14 48 Digital Ground 15 49 Axis 3 Home Switch 16 50 Trigger 3 47 51 Axis 3 Inhibit 18 52 Axis 4 Dir CCW 19 53 Digital Ground 20 54 Digital Ground 21 55 Axis 4 Home Switch 22 56 Trigger 4 23 57 Axis 4 Inhibit 24 58 Digital Ground 25 59 Breakpoint 1 26 60 Breakpoint 3 27 61 Digital Ground 28 62 Analog Output 1 29 63 Analog Output 3 30 64 Analog Output Ground at 65 Analog Input 1 32 66 Analog Input 3 33 67 Analog Reference Output 34 68 4 2 ni com Axis 1 Step CW Axis
25. R 11 Group 1 Class A emissions e EN 55022 CISPR 22 Class A emissions e EN 55024 CISPR 24 Immunity e AS NZS CISPR 11 Group 1 Class A emissions e AS NZS CISPR 22 Class A emissions e FCC 47 CFR Part 15B Class A emissions e ICES 001 Class A emissions A Note Inthe United States per FCC 47 CFR Class A equipment is intended for use in commercial light industrial and heavy industrial locations In Europe Canada Australia and New Zealand per CISPR 11 Class A equipment is intended for use only in heavy industrial locations A Note Group 1 equipment per CISPR 11 is any industrial scientific or medical equipment that does not intentionally generate radio frequency energy for the treatment of material or inspection analysis purposes Note For EMC declarations and certifications and additional information refer to the Online Product Certification section A 6 ni com NI 7340 User Manual and Specifications CE Compliance This product meets the essential requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Online Product Certification To obtain product certifications and the Declaration of Conformity DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Environmental Management NI is committed
26. S ae Ah etd Anca toe AE EE ote Wea ss hae A Ak 3 5 Motion ReSOULCES csscesccsecivescetves ease sosue sie ioii as o desea sasUeadestevuscongesstbeches 3 6 Onboard Programs and Buffers 0 cccccesessesescesseeseeseeeeescesceseeeeeeteeteceeenees 3 7 Host COMMUNICATIONS ccccceccecsecsscessecsecescessceecesseeseecsseseecsecssseeecseseeecseceeeeeseen 3 7 National Instruments v Contents Chapter 4 Signal Connections Motion VO Conn ctors sey eey 8 stil de Peete idl Mende Gian Ria teas 4 1 Motion Axis Signals c cccecescsscssessessessecsecsecsecsecscesceseeseeseeseeseeseseeeeceeceecerseeceaeeaes 4 4 Step Direction and Inhibit Output Circuit Limit and Home Inputs Wiring Concerns s s s Limit and Home Input Circuit 2 00 ccccesescesceeeeseeeeeeeceeceeceeceeeeteeceececeeeaes Encoder Signal csccsccscesccavedecushs ctaves stat a EENE E AA EENE RANA Encoder lt 1 4 gt Phase A Phase B Encoder lt 1 4 gt Index Phase Z Wiring Concerns cece Encoder Input Circ it ssn e he Ea T E E aes Trigger Inputs Shutdown Input and Breakpoint Outputs sseseeseseeseesesreressreerees 4 9 Wiring Concerns iis Trigger Input Shutdown Input and Breakpoint Output Circuits 4 10 Analog Input vie ccsccccccssscccecsscedestokes sevscsten ses iii E EEE NE 4 11 Wiring COncerns eeeceeeeseeesceceeceecesesseesecaecsecaeeacesseseeseeseeseeeeeesceseeseeeeeeeeteees 4 12 Other Motion I O C
27. Switch Axis 4 Reverse Limit Switch Host 5 V Technical Support and Professional Services Log in to your National Instruments ni com User Profile to get personalized access to your services Visit the following sections of ni com for technical support and professional services e Support Technical support at ni com support includes the following resources Self Help Technical Resources For answers and solutions visit ni com support for software drivers and updates a searchable KnowledgeBase product manuals step by step troubleshooting wizards thousands of example programs tutorials application notes instrument drivers and so on Registered users also receive access to the NI Discussion Forums at ni com forums NI Applications Engineers make sure every question submitted online receives an answer Standard Service Program Membership This program entitles members to direct access to NI Applications Engineers via phone and email for one to one technical support as well as exclusive access to self paced online training modules at ni com self paced training All customers automatically receive a one year membership in the Standard Service Program SSP with the purchase of most software products and bundles including NI Developer Suite NI also offers flexible extended contract options that guarantee your SSP benefits are available without interruption for as long as you need them Visit ni com ssp for more i
28. TSI bus for trigger inputs or generic digital I O all signals are passed through unaltered 4 14 ni com Specifications This appendix lists the hardware and software performance specifications for the National Instruments PXI PCI 7340 Hardware specifications are typical at 25 C unless otherwise stated Servo Performance PID update rate range 0 eee eee eeeeeteeeeeeeees 62 5 us to 5 ms sample Maximum PID update rate oe 62 5 us axis 4 axis PID update rate 00 eee eeeeeeeeeeees 250 us total Multi axis synchronization cececeeeeeeeees lt 1 update sample Double buffered trajectory parameters Absolute position range cc ccscsseseseeeeeees 23 counts Maximum relative move size 23 counts Velocity Tange secs cveesshiesiteaeescests 1 to 20 000 000 counts s Acceleration deceleration cccceee 244 to 512 000 000 counts s at a PID update rate of 250 us S Curve time range ee eeecseeseeeeteeees 1 to 32 767 samples Following error range cee eeeeeeeeeee 1 to 32 767 counts and disabled Geart Onera inition ieee 32 767 1 to 1 32 767 Servo control loop modes PID PIVff Dual Loop PID Kp Ki and Kd gains 0 to 32 767 Integration limit Ilim eee 0 to 32 767 Derivative sample period Td 04 1 to 63 samples Feedforward Aff Vff gains cee 0 to 32 767 Velocity feedback KV gain eee 0 to 32 767 Servo command analog outputs Vo
29. and easily When you have created a motion task you can use Motion Assistant to output the task in LabVIEW or C code or code recipes Optional Equipment National Instruments offers a variety of products for use with the NI 7340 motion controller including the following accessories e Cables and cable assemblies for motion and digital I O RTSI cable for connection with other National Instruments devices e Universal Motion Interface UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality Stepper and servo motor compatible drive amplifier units with integrated power supply and wiring connectivity e Connector blocks and shielded and unshielded 68 pin screw terminal wiring aids For more specific information about these products refer to the National Instruments website at ni com or call your National Instruments sales representative Motion I O Connections The external motion and digital I O connectors on the NI 7340 motion controller are high density 68 pin female VHDCI connectors For custom cables use the AMP mating connector NI part number 787801 1 National Instruments 1 3 Chapter 1 Introduction Related Documentation The following documents contain information you might find helpful as you read this manual NI Motion Help e NI Motion C Reference Help e NI Motion VI Help 1 4 ni com Configuration and Installation This chapter d
30. aneous coordinated motion control in a preemptive multitasking real time environment An advanced dual processor architecture that uses a 32 bit CPU combined with a digital signal processor DSP and custom FPGAs give the NI 7340 motion controller high performance capabilities The FIFO bus interface and powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimized system performance The NI 7340 motion controller uses the DSP for all closed loop control including position tracking PID control closed loop computation and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded CPU runs a multitasking real time operating system and handles host communications command processing multi axis interpolation error handling general purpose digital I O and overall motion system integration functions Embedded Real Time Operating System RTOS The embedded firmware is based on an embedded RTOS kernel and provides optimum system performance in varying motion applications Motion tasks are prioritized Task execution order depends on the priority of each task the state of the entire motion system I O or other system events and the real time clock The DSP chip is a separa
31. back limit and home inputs breakpoint outputs trigger inputs digital to analog DAC and analog to digital ADC converter signals Refer to Chapter 4 Signal Connections for details about the signals in the motion I O connector The 68 pin digital I O connector provides 32 bits of user configurable digital I O Refer to Chapter 4 Signal Connections for details about the signals in the digital I O connector The PCI 7340 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products The PXI 7340 RTSI enabled connection provides up to eight triggers and one PXI star trigger to facilitate synchronization between multiple National Instruments PXI enabled products Typical applications of the RTSI bus include triggering an image acquisition or DAQ measurement based on motion events or capturing current motion positions based on events external to the motion controller You can also use the RTSI bus for general hardware based communication between RTSI devices The RTSI bus can also be used for general purpose I O Refer to Chapter 4 Signal Connections for details about RTSI connector signals National Instruments 3 3 Chapter 3 Hardware Overview Functional Overview This section provides an overview of motion control algorithms and the NI PXI PCI 7340 controller Dual Processor Architecture With the NI 7340 motion controller you can perform up to four axes of simult
32. called coordinate spaces You can also synchronize coordinate spaces for multi vector space coordinated motion control Axes Ata minimum an axis consists of a trajectory generator a PID for servo axes or stepper control block and at least one output resource either a DAC output for servo axes or a stepper pulse generator output Servo axes must have either an encoder or ADC channel feedback resource National Instruments 3 5 Chapter 3 Hardware Overview Closed loop stepper axes also require a feedback resource while open loop stepper axes do not Figures 3 4 and 3 5 show these axis configurations With the NI 7340 motion controller you can map one or two feedback resources and one or two output resources to the axis An axis with its primary output resource mapped to a stepper output is by definition a stepper axis An axis with its primary output resource mapped to a DAC is by definition a servo axis Figure 3 4 Servo Axis Resources ae ka ioe oA L m 32 Bit 16 Bit Top Encoder 01011101101 11101101100 D A Interface Converter lL Index 3 L e Figure 3 5 Stepper Axis Resources Trajectory Generator g A g TT 1 1 1 a iit LI EA 32 Bit l Stepper alle WU i Y Control A ulse Optional hare 01011010 Lo p 010010110 Generator C i t i gt i Index i
33. ces Servo axes always operate in closed loop mode These axes use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range of 10 V Stepper axes can operate in open or closed loop mode In closed loop mode they use quadrature encoders or analog inputs for position and velocity feedback closed loop only and provide step direction or clockwise CW counter clockwise CCW digital command outputs All stepper axes support full half and microstepping applications Hardware The NI 7340 is a high performance motion controller that uses an advanced dual processor architecture including a 32 bit CPU combined with a digital signal processor DSP and custom field programmable gate arrays FPGAs The first in first out FIFO bus interface and powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimum command throughput and system performance With the NI 7340 motion controller you can use full onboard programming to execute up to 10 simultaneous motion programs National Instruments 1 1 Chapter 1 Introduction The NI 7340 motion controller features motion profiles that are controlled with enhanced PID PIV f servo updates Each axis has motion I O for end of travel limit and home switch inputs breakpoint output trigger input and encoder feedback Refer to Appendix A Specification
34. crement of position in NI Motion systems Q Tip Determine quadrature counts by multiplying the encoder resolution in encoder lines by four The encoder resolution is the number of encoder lines between consecutive encoder marker or Z bit indexes If the encoder does not have an index output the resolution is referred to as lines per revolution or lines per unit of measure such as inch centimeter millimeter and so on National Instruments 4 7 Chapter 4 Signal Connections Encoder lt 1 4 gt Index Phase Z The Index input is primarily used to establish a reference position This function uses the number of counts per revolution or the linear distance to initiate a search move that locates the index position When a valid Index signal transition occurs during a Find Reference routine the position of the Index signal is captured accurately Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required The default MAX settings guarantee that the Find Index routine completes successfully if the encoder generates a high index pulse when phases A and B are low and the encoder is connected through an NI UMI or drive accessory Figure 4 4 shows the default encoder phasing diagram at the inputs to the controller Figure 4 4 Quadrature Encoder Phasing Diagram Phase A Phase B Index i i You can set the index reference criteria in
35. cur in electrical distribution systems The following is a description of measurement categories e Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage This category is for measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special hardware limited energy parts of hardware circuits powered by regulated low voltage sources and electronics Measurement categories also referred to as overvoltage or installation categories are defined in electrical safety standard IEC 61010 1 and IEC 60664 1 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation N w MAINS is defined as a hazardous live electrical supply system that powers hardware Suitably rated measuring circuits may be connected to the MAINS for measuring purposes 2 2 ni com NI 7340 User Manual and Specifications e Measurement Category II is for measurements performed on circuits directly connected to the electrical distribution system MAINS This category refers to local level electrical distribution such as that provided by a standard wall outlet for example 115 AC voltage for U S or 230 AC voltage for Europe Examples of Measurement Category II are measurements performed on household appliances portable tools and similar hardware
36. dio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or receive The polarity of a switch limit switch home switch etc in active state If these switches are active high they are said to have non inverting polarity National Instruments G 5 Glossary O open loop PCI port position breakpoint power cycling PWM PXI Q quadrature counts R RAM relative breakpoint G 6 ni com Refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals peripheral component interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA Itis achieving widespread acceptance as a standard for PCs and workstations it offers a theoretical maximum transfer rate of 132 MB s 1 A communications connection on a computer or a remote controller 2 A digital port consisting of eight lines of digital input and or output Position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions Turning the host computer off and then back on which causes a reset of the motion control board pulse width modulation a method of controlling the average current in a motor phase winding b
37. e signals near each other can cause faulty motion system operation due to signal noise and crosstalk Limit and Home Input Circuit By default all limit and home inputs are digitally filtered and must be active for at least 1 ms You can use MAX to disable digital filtering for limit and home inputs Figure 4 3 shows a simplified schematic diagram of the circuit used by the limit and home switch inputs for input signal buffering and detection Figure 4 3 Limit and Home Input Circuit Vcc 3 3 kQ A gt VV From the external 1 KQ a connector limit 1 8 W To the limit and home and home switch pins switch circuits 4 6 ni com NI 7340 User Manual and Specifications Note Prior to board revision 186307G 01L the internal resistor value on the a encoder input circuit was 1 kQ Figures 3 2 and 3 3 show the location of the part number label on PXI and PCI boards respectively For earlier versions of the NI 7340 refer to the NI 7340 User Manual and Specifications document 370838A 01 November 2003 revision A Caution Excessive input voltages can cause erroneous operation and or component failure Verify that the input voltage is within the specification range Encoder Signals The NI 7340 motion controller offers four channels of single ended quadrature encoder inputs All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder si
38. ecuted by calling into a dynamically linked library DLL You can call these libraries from C Microsoft Visual Basic and other high level languages Full function sets are available for LabVIEW LabWindows CVI and other industry standard software programs 1 2 ni com NI 7340 User Manual and Specifications National Instruments Application Software LabVIEW is based on the graphical programming language G and features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the NI Motion driver software support for LabVIEW which includes a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The NI Motion VI library implements the NI Motion API and a powerful set of demo functions example programs and fully operational high level application routines ANSI C based LabWindows CVI also features interactive graphics and a state of the art user interface Using LabWindows CVI you can generate C code for custom data acquisition test and measurement and automation solutions NI Motion includes a series of sample programs for using LabWindows CVI with National Instruments motion control hardware NI Motion Assistant offers a point and click interface for creating motion control sequences quickly
39. eedback loop closure joystick inputs or monitoring analog sensors Refer to Appendix A Specifications for the multiplexer scan rate Four of these channels are intended for calibration leaving the other four available for analog feedback Flash Memory Nonvolatile memory on the NI 7340 motion controller is implemented with flash ROM which means that the controllers can electrically erase and reprogram their own ROM Because all the NI 7340 motion controller embedded firmware including the RTOS and DSP code is stored in flash memory you can upgrade the onboard firmware contents in the field for support and new feature enhancement Flash memory also allows objects such as programs and data arrays to be stored in non volatile memory It is possible to save the entire parameter state of the controller to the flash memory On the next power cycle the controller automatically loads and returns the configuration to these new saved default values The FPGA configuration programs also are stored in the flash ROM At power up the FPGAs are booted with these programs which means that updates to the FPGA programs can be performed in the field A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources The NI 7340 motion controller can control up to four axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups
40. escribes how to configure and install the National Instruments PXI PCI 7340 Software Installation Before installing the NI 7340 motion controller install the NI Motion driver softwareand if appropriate the NI Motion VI libraries For specific installation instructions refer to Getting Started with NI Motion for NI 73xx Motion Controllers which is installed in the NI Motion Documentation folder where you installed NI Motion The default directory is lt Program Files gt National Instruments NI Motion Note If you do not install the NI Motion driver software before attempting to use the NI 7340 motion controller the system does not recognize the NI 7340 motion controller and you are unable to configure or use the device Controller Configuration Because motion I O related configuration of the NI 7340 motion controller is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PXI 7340 and PCI 7340 controllers are fully compatible with the industry standard PXI Specification Revision 2 0 and the PCI Local Bus Specification Revision 2 2 respectively This compatibility allows the PXI or PCI system to automatically perform all bus related configuration and requires no user interaction It is not necessary to configure jumpers for bus related configuration including setting the device base memory and interrupt channel Safety Information Caution The following paragraphs contain i
41. f memory required to store one byte of data counter clockwise implies direction of rotation of the motor A motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity Reference signal for digital I O An unwanted signal on one channel due to an input on a different channel communications status register clockwise implies direction of motor rotation Assigned to a particular function digital ground signal a group of digital input output signals DLL drivers DSP E encoder encoder resolution FIFO filtering flash ROM following error trip point FPGA freewheel full step G Gnd NI 7340 User Manual and Specifications dynamically linked library provides the API for the motion control boards Software that communicates commands to control a specific motion control board digital signal processor Device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system The number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution farad first in first out A type of signal conditioning that filters unwanted signals from the signal being measured A type of electrically reprogrammable read only me
42. gnals Each channel consists of a Phase A Phase B and Index input as described in the following sections Encoder lt 1 4 gt Phase A Phase B The encoder inputs provide position and velocity feedback for absolute and relative positioning of axes in any motion system configuration Ifan encoder resource is not needed for axis control it is available for other functions including position or velocity monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications The encoder channels Encoder lt 1 4 gt are implemented in an FPGA and are high performance with extended input frequency response and advanced features such as high speed position capture inputs and breakpoint outputs An encoder input channel converts quadrature signals on Phase A and Phase B into 32 bit up down counter values Quadrature signals are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading phase A or B determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase A typical encoder with a specification of N N number lines per unit of measure revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic in
43. hazards the computer must remain unplugged until the installation is complete 2 Open the computer case to expose access to the PCI expansion slots Touch a metal part on the chassis to discharge any static electricity 4 Choose an unused 3 3 V or 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer 5 Gently rock the controller into the slot The connection may be tight but do not force the controller into place Note Check that the bracket of the device aligns with the hole in the back panel rail of the computer chassis 6 Secure the mounting bracket of the controller to the back panel rail of the computer 7 Replace the cover A Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits A Caution Always power on the computer containing the NI 7340 motion controller and then initialize the controller before you power on the rest of the motion system Power off the motion system in the reverse order 8 Plug in and power on the computer National Instruments 2 5 Hardware Overview This chapter presents an overview of the National Instruments PXI PCI 7340 hardware functionality Figures 3 1 and 3 2 show the NI PXI 7340 right and left sides respectively Figure 3 1 NI PXI 7340 Right Side
44. he circuit used for the Phase A Phase B and Index encoder inputs Both phases A and B are required for proper encoder counter operation and the signals must support the 90 phase difference within system tolerance The encoder and Index signals are conditioned by a software programmable digital filter inside the FPGA The Index signal is optional but highly recommended and required for initialization functionality with the Find Index function Figure 4 5 Encoder Input Circuit Vec 3 3 kQ FAN gt VW From the external 680 Q connector encoder 1 8 W To the quadrature input pins DGND decoder circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The NI 7340 motion controller offers additional high performance features in the encoder FPGA The encoder channels have high speed position capture trigger inputs and breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input lt 1 4 gt When enabled an active transition on a high speed position capture input causes instantaneous position capture of the corresponding encoder count value You can use this high speed position capture functionality for applications ranging from simple position tagging of sensor data to complex camming systems with advance retard positioning and registration An available NI 7340 motion controller position mode is to move an a
45. high enough to support analog feedback at the highest PID sample rate e Analog Reference For convenience 7 5 V nominal analog reference voltage is available You can use this output as a low current supply to sensors that require a stable reference Refer to Appendix A Specifications for analog reference voltage specifications e Analog Input Ground To help keep digital noise out of the analog input a separate return connection is available Use this reference ground connection and not Digital Ground digital I O reference or Analog Output Ground as the reference for the analog inputs Q Tip Refer to the Measuring Floating Nonreferenced Sources section of the Field Wiring and Noise Considerations for Analog Signals NI Developer Zone document at ni com zone for more information about analog input connections Wiring Concerns For proper use ofeach ADC input channel the analog signal to be measured should be connected to the channel input and its ground reference connected to the Analog Input Ground Note The analog reference output is an output signal only and must not connect to an external reference voltage Connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltage measurement Other Motion I O Connection The NI 7340 motion controller provides Host 5 V which is the internal 5 V supply of the host computer It is typically used to detect when the host computer
46. hould remain active to prevent motion from proceeding further into the limit Pulsed limit signals stop motion but they do not prevent further motion in that direction if another move is started National Instruments 4 5 Chapter 4 Signal Connections The input polarity of these signals is software programmable for active low inverting or active high non inverting You can use software disabled limit and home inputs as general purpose inputs You can read the status of these inputs at any time and set and change their polarity as required Limit and home inputs are a per axis enhancement on the NI 7340 motion controller and are not required for basic motion control These inputs are part of a system solution for complete motion control A Caution National Instruments recommends using limits for personal safety as well as to protect the motion system Wiring Concerns For the end of travel limits to function correctly the forward limit must be located at the forward or positive end of travel and the reverse limit at the negative end of travel A Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system Miswired limits may prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections A Caution Wiring thes
47. ielded cable assembly and the 68M 50F step servo bulkhead cable adapter Figure B 1 50 Pin Stepper Connector Pin Assignment Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 Step CW Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Home Switch 8 Axis 1 Encoder Index Trigger Breakpoint 1 9 10 Axis 1 Forward Limit Switch Axis 1 Inhibit 11 12 Axis 1 Reverse Limit Switch Axis 2 Dir CCW 13 14 Axis 2 Step CW Digital Ground 15 16 Axis 2 Encoder Phase A Digital Ground 17 18 Axis 2 Encoder Phase B Axis 2 Home Switch 19 20 Axis 2 Encoder Index Trigger Breakpoint 2 21 22 Axis 2 Forward Limit Switch Axis 2 Inhibit 23 24 Axis 2 Reverse Limit Switch Axis 3 Dir CCW 25 26 Axis 3 Step CW Digital Ground 27 28 Axis 3 Encoder Phase A Digital Ground 29 30 Axis 3 Encoder Phase B Axis 3 Home Switch 31 32 Axis 3 Encoder Index Trigger Breakpoint 3 33 34 Axis 3 Forward Limit Switch Axis 3 Inhibit 35 36 Axis 3 Reverse Limit Switch Axis 4 Dir CCW 37 38 Axis 4 Step CW Digital Ground 39 40 Axis 4 Encoder Phase A Digital Ground 41 42 Axis 4 Encoder Phase B Axis 4 Home Switch 43 44 Axis 4 Encoder Index Trigger Breakpoint 4 45 46 Axis 4 Forward Limit Switch Axis 4 Inhibit 47 48 Axis 4 Reverse Limit Switch Digital Ground 49 50 Host 5 V foe ame slaloj a Natio
48. imum ratings for the hardware Do not install wiring while the hardware is live with electrical signals Do not remove or add connector blocks when power is connected to the system Avoid contact between your body and the connector block signal when hot swapping hardware Remove power from signal lines before connecting them to or disconnecting them from the hardware Operate the hardware only at or below Pollution Degree 2 Pollution is foreign matter in a solid liquid or gaseous state that can reduce dielectric strength or surface resistivity The following is a description of pollution degrees e Pollution Degree 1 means no pollution or only dry nonconductive pollution occurs The pollution has no influence Typical level for sealed components or coated PCBs e Pollution Degree 2 means that only nonconductive pollution occurs in most cases Occasionally however a temporary conductivity caused by condensation must be expected Typical level for most products Pollution Degree 3 means that conductive pollution occurs or dry nonconductive pollution occurs that becomes conductive due to condensation Operate the hardware at or below the measurement category marked on the hardware label Measurement circuits are subjected to working voltages and transient stresses overvoltage from the circuit to which they are connected during measurement or test Measurement categories establish standard impulse withstand voltage levels that commonly oc
49. inputs ADC channels 1 through 4 are brought out externally on the 68 pin motion I O connector ADC channels 5 through 8 are connected internally as shown in Table 4 2 These signals can be used for ADC test and system diagnostics Table 4 2 Internal ADC Channels ADC Input Signal 5 Filtered 5 V 6 Floating NC 7 Analog Reference 7 5 V 8 Analog Input Ground You can configure each ADC channel for motion feedback simple A D conversion or both You can read the digital value of analog voltage on any of the eight ADC channels of the controller Table 4 3 shows the range of values read back and the voltage resolution for each setting The voltage resolution is in volts per least significant bit V LSB Table 4 3 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0tol0V 0 to 4 095 0 0024 V LSB 0to5 V 0 to 4 095 0 0012 V LSB National Instruments 4 11 Chapter 4 Signal Connections As indicated in Table 4 3 when configured as analog feedback an analog sensor acts like a limited range absolute position device with a full scale position range You can map any ADC channel as feedback to any axis You can enable and disable individual ADC channels in software Disable unused ADC channels for the highest multiplexer scan rate performance Properly enabled the scan rate is
50. is powered and to shut down external motion system components when the host computer is turned off or disconnected from the motion accessory A Caution The host 5 V signal is limited to lt 100 mA and should not be used to power any external devices except those intended in the host bus monitor circuits on the UMI and drive products 4 12 ni com NI 7340 User Manual and Specifications Digital 1 O Connector All the general purpose digital I O lines on the NI 7340 motion controller are available on a separate 68 pin digital I O connector Figure 4 9 shows the pin assignments for this connector Figure 4 9 68 Pin Digital I O Connector Pin Assignments 5V 1 35 Digital Ground PCLK 2 36 Digital Ground Reserved 3 37 Digital Ground Reserved 4 38 DPull PWM1 5 39 Digital Ground Reserved 6 40 Reserved Reserved 7 41 Digital Ground Reserved 8 42 Digital Ground PWM2 9 43 Digital Ground Port 1 bitO 10 44 Port 1 bit 1 Digital Ground 11 45 Port 1 bit 2 Port 1 bit3 12 46 Digital Ground Port 1 bit4 13 47 Port 1 bit 5 Digital Ground 14 48 Port 1 bit 6 Port 1 bit7 15 49 Digital Ground Port 2 bitO 16 50 Digital Ground Port 2 bit1 17 51 Port 2 bit 2 Digital Ground 18 52 Port 2 bit 3 Digital Ground 19 53 Port 2 bit 4 Digital Ground 20 54 Port 2 bit5 Port
51. ltage range 10 V Re sol tion eaea e wedi eens 16 bits 0 000305 V LSB Programmable torque velocity limits Positive liitrites 10 V 32 768 to 32 767 Negative limit cee eeeeeseeseeneeeee 10 V 32 768 to 32 767 Programmable offset cesses 10 V 32 768 to 32 767 1 Refer to the N Motion Help for more information National Instruments A 1 Appendix A Specifications Stepper Performance Trajectory update rate range 00 ce eeeeeeeeeeeeee 62 5 to 500 us sample Maximum update rate 62 5 us axis 4 axis update rate ee eeeeeeeeeeeeeeeeeeees 250 us total Multi axis synchronization eseseeeeeees lt 1 update sample Double buffered trajectory parameters Position range eee eeeeeeeeteteteeeseeseeeeeeee 27 steps Maximum relative MOVE siZe 2 23 steps Velocity rangirne npea 1 to 4 000 000 steps s Acceleration deceleration cc0ccceee 244 to 512 000 000 counts s at a PID update rate of 250 us S Curve time range oc ceceeesecseseeseeneeeeees 1 to 32 767 samples Following error range 0 to 32 767 counts Gear TAO s lt 5 r E ER E NEER 32 767 1 to 1 32 767 Stepper outputs Maximum pulse rate sssesseseeseesesseeeee seese 4 MHz full half and microstep Minimum pulse Width eee 120 ns at 4 MHz Step output mode ee eeeseseeeeeeeeeeees Step and direction or CW CCW Voltage Tangsen nyy degdesusttees 0to5 V Output low voltage lt
52. mmunications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status MCS register provides instantaneous motion status of all axes National Instruments 3 7 Signal Connections This chapter describes how to make input and output signal connections directly to the National Instruments PXI PCI 7340 as well as general information about the associated I O circuitry The NI 7340 motion controller has three connectors that handle all signals to and from the external motion system e 68 pin motion I O connector e 68 pin digital I O connector RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced Universal Motion Interface UMI units and drives Note The NI 7340 motion controller does not provide isolation between circuits A Caution Turn off power to all devices when connecting or disconnecting the NI 7340 motion controller controller motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion I O Connector The motion I O connector contains all of the signals required to control up to four axes of servo and stepper motion including the following features e Motor command analog and stepper outputs e Encoder feedback inputs e Forward home and reverse limit inputs e Breakpoint outputs e Trigger inputs Inhibit outputs The motion I
53. mory The difference between the instantaneous commanded trajectory position and the feedback position field programmable gate array The condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it Full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously ground National Instruments G 3 Glossary GND H half step hex home switch input host computer VO ID index inverting IRQ G 4 ni com ground Mode of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position also is regarded as the zero position in an absolute position frame of reference Computer into which the motion control board is plugged input output the transfer of data to and from a computer system involving communications channels operator interface devices and or motion control interfaces identification Marker between consecutive encoder revolutions The polarity of a switch limit switch home switch and so on in active state If
54. mportant safety information you must follow when installing and operating the NI 7340 motion controller and all devices connecting to the NI 7340 motion controller Do not operate the hardware in a manner not specified in this document and in the user documentation Misuse of the hardware can result in a hazard You can compromise the safety protection if the hardware is damaged in any way If the hardware is damaged return it to National Instruments for repair Clean the hardware with a soft nonmetallic brush Make sure that the hardware is completely dry and free from contaminants before returning it to service National Instruments 2 1 Chapter 2 Configuration and Installation Do not substitute parts or modify the hardware except as described in this document Use the hardware only with the chassis modules accessories and cables specified in the installation instructions or specifications You must have all covers and filler panels installed during operation of the hardware Do not operate the hardware in an explosive atmosphere or where there may be flammable gases or fumes unless the hardware is UL U S or Ex EU Certified and marked for hazardous locations The hardware must be in a suitably rated IP 54 minimum enclosure for hazardous locations Refer to the hardware s user documentation for more information You must insulate signal connections for the maximum voltage for which the hardware is rated Do not exceed the max
55. nal Instruments B 1 Appendix B Cable Connector Descriptions Figure B 2 50 Pin Servo Connector Pin Assignment Analog Output Ground 4 2 Digital Ground 3 4 Digital Ground 5 6 Axis 1 Home Switch 7 8 Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Analog Output Ground 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 2 Home Switch 19 20 Trigger Breakpoint 2 21 22 Axis 2 Inhibit 23 24 Analog Output Ground 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 3 Home Switch 31 32 Trigger Breakpoint 3 33 34 Axis 3 Inhibit 35 36 Analog Output Ground 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 4 Home Switch 43 44 Trigger Breakpoint 4 45 46 Axis 4 Inhibit 47 48 Digital Ground 49 50 B 2 ni com Analog Output 1 Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Analog Output 2 Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Analog Output 3 Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Analog Output 4 Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Index Axis 4 Forward Limit
56. nformation For information about other technical support options in your area visit ni com services or contact your local office at ni com contact Training and Certification Visit ni com training for training and certification program information You can also register for instructor led hands on courses at locations around the world e System Integration If you have time constraints limited in house technical resources or other project challenges National Instruments Alliance Partner members can help To learn more call your local NI office or visit ni com alliance Declaration of Conformity DoC A DoC is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electromagnetic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com hardref nsf You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events National Instruments C 1 Glossary Symbol Prefix Value u micro 10 6 m milli 10 3 M mega 106 Numbers Symbols 4 per percent plus or minus 5 V 5 VDC source signal A A absolute mode absolute position active high active low address amplifier API
57. nt output and an inhibit output These signals can be used for general purpose digital I O when not being used for their motion specific purpose Onboard Programs and Buffers The NI 7340 motion controller has full onboard programmability capable of executing up to 10 simultaneous motion programs You can execute the NI Motion function set from onboard programs In addition the onboard programs support basic math and data operation functions for up to 120 general purpose variables You can store and run onboard programs and buffers from RAM or save them to flash ROM The NI 7340 motion controller has 64 KB of RAM and 128 KB of ROM that is divided into two 64 KB sectors for program and buffer storage You can store and run programs and buffers from either RAM or ROM but you cannot split programs between the two and you cannot split programs or buffers between the two 64 KB ROM sectors Note Refer to the N Motion Help for detailed information about all of these onboard programming and buffer features Host Communications The host computer communicates with the controller through a number of memory port addresses on the PCI or PXI host bus The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions The NI 7340 motion controller has both a command buffer for incoming commands and a return data buffer RDB for returning data The communications status register CSR provides bits for co
58. oduct is used in residential or commercial areas To minimize interference with radio and television reception and prevent unacceptable performance degradation install and use this product in strict accordance with the instructions in the product documentation Furthermore any modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules Caution To ensure the specified EMC performance operate this product only with shielded cables and accessories Hardware Installation Install the NI 7340 motion controller in any open compatible expansion slot in the PXI or PCI system Appendix A Specifications lists the typical power required for each controller The following instructions are for general installation Consult the computer user manual or technical reference manual for specific instructions and warnings National Instruments 2 3 Chapter 2 Configuration and Installation Caution The NI 7340 motion controller is a sensitive electronic device shipped in A an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices AEN Note When adding or removing a motion controller you must be logged on with administrator level access After you have restarted the system you may need to refresh Measurement amp Automation Explorer MAX to view the new controller PXI Motion Controllers
59. onnection eeccecsscsssecseseeeecsesessceaesesscseeecsaesenecsesnseecsesanaeens 4 12 Digital I O Connector iaa PWM Features nnnc e e E a e E AS S R RISD ConnectOr s poirsorooi iiri ti iE aa E E EEEE OTE E ARETE G E ETEEN RTSI Signal Considerations cccecceccesesseeseesecsecseesceseeseeeeeeeeseceeceeceeceaeeaeeaeeneenes 4 14 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index vi ni com Introduction This chapter includes information about the features of the National Instruments PXI PCI 7340 motion controller and information about operating the device About the NI 7340 Motion Controller The NI 7340 motion controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW Features The NI 7340 motion controller is a combination servo and stepper motor controller for PXI Compact PCI and PCI bus computers The NI 7340 motion controller provides fully programmable motion control for up to four independent or coordinated axes of motion with dedicated motion I O for limit and home switches and additional I O for general purpose functions You can use the NI 7340 motion controller to perform arbitrary and complex motion trajectories using stepper motors or servo devices Servo axes can control servo motors servo hydraulics servo valves and other servo devi
60. pin assignments 4 2 signal descriptions 4 3 N National Instruments support and services C 1 O onboard programs 3 7 P pin assignments 68 pin digital I O connector 4 13 programming examples NI resources C 1 R related documentation 1 4 return data buffer RDB 3 7 RTSI breakpoint across RTSI figure 4 14 connector 3 3 4 14 signal considerations 4 14 S safety information 2 1 Shutdown Input 4 9 software NI resources C 1 software onboard programs 3 7 support technical C 1 T training and certification NI resources C 1 Trigger Input lt 1 4 gt 4 9 trigger input circuit 4 10 trigger inputs wiring 4 10 troubleshooting NI resources C 1 W Web resources C 1 wiring analog signals 4 12
61. point outputs and trigger inputs require an encoder connection Wiring Concerns A Caution Keep trigger input shutdown input and breakpoint output signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections Wiring these signals near each other can cause faulty operation A Caution Excessive input voltages can cause erroneous operation and or component failure Trigger Input Shutdown Input and Breakpoint Output Circuits Figures 4 6 4 7 and 4 8 show a simplified schematic diagram of the circuits used by the trigger inputs shutdown inputs and breakpoint outputs for signal buffering Figure 4 6 Trigger Input Circuit Vcc 3 3 kQ gt VW Q From the external TKO A 1 8 W all connector trigger pins DGND To the trigger circuits Figure 4 7 Shutdown Input Circuit Vec 3 3 kQ Da gt VWV V 1ko A From the external 1 8 W To the shutdown connector shutdown pin circuits 4 10 ni com NI 7340 User Manual and Specifications Figure 4 8 Breakpoint Output Circuit Vcc 3 3 kQ lt 74AS760 To the external From the connector breakpoint pins breakpoint circuits Analog Inputs The NI 7340 motion controller has the following ADC input signals e Analog Input lt 1 4 gt The NI 7340 motion controller includes an eight channel multiplexed 12 bit ADC capable of measuring 10 V 5 V 0 to 10 V and 0 to 5 V
62. right and other intellectual property laws Where NI software may be used to reproduce software or other materials belonging to others you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction End User License Agreements and Third Party Legal Notices You can find end user license agreements EULAs and third party legal notices in the following locations e Notices are located in the lt National Instruments gt _Legal Information and lt National Instruments gt directories e EULAs are located in the lt National Instruments gt Shared MDF Legal license directory e Review lt National Instruments gt _Legal Information txt for more information on including legal information in installers built with NI products Trademarks Refer to the NMI Trademarks and Logo Guidelines at ni com trademarks for more information on National Instruments trademarks ARM Keil and Vision are trademarks or registered of ARM Ltd or its subsidiaries LEGO the LEGO logo WEDO and MINDSTORMS are trademarks of the LEGO Group 2013 The LEGO Group TETRIX by Pitsco is a trademark of Pitsco Inc 2013 FIELDBUS FOUNDATION and FOUNDATION are trademarks of the Fieldbus Foundation EtherCAT is a registered trademark of and licensed by Beckhoff Automation GmbH CANopen is a registered Community Trademark of CAN in Automation e V DeviceNet and EtherNet
63. s for information about the feedback rates The NI 7340 motion controller also has non dedicated user I O including 32 bits of digital I O and four analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally the NI 7340 motion controller analog inputs can provide feedback for loop closure RTSI The NI 7340 motion controller supports the National Instruments Real Time System Integration RTSD bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition IMAQ and data acquisition DAQ products Using the RTSI bus you can easily synchronize several functions to a common trigger or timing event across multiple motion IMAQ or DAQ devices What You Need to Get Started To set up and use the NI 7340 motion controller you must have the following items NI PXI 7340 or PCI 7340 motion controller L NI Motion 6 1 or later driver software and documentation One of the following software packages and documentation LabVIEW 6 0 or later LabWindows CVI 7 0 or later Measurement Studio C C Microsoft Visual Basic 6 0 A computer with an available PXI or PCI slot Software Programming Choices NI Motion is a simple but powerful high level application programming interface API that makes programming the NI 7340 motion controller easy All setup and motion control functions are easily ex
64. tarts some form of data capture transistor transistor logic National Instruments G 7 Glossary V Vec velocity mode W watchdog word G 8 ni com volts Positive voltage supply Move the axis continuously at the specified velocity A timer task that shuts down resets the motion control board if any serious error Occurs The standard number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit Index Numerics 68 pin digital I O connector 3 3 motion I O connector 3 3 7340 analog feedback 3 5 axes 3 5 breakpoint outputs 4 9 configuring 2 1 embedded operating system 3 4 encoder signals 4 7 features 1 1 flash memory 3 5 general purpose digital I O lines 4 13 hardware 1 1 architecture 3 4 home inputs 4 5 input and output signal connections 4 1 installing software 2 1 introduction 1 1 limit inputs 4 5 motion T O connections 1 3 T O connector 4 1 resources 3 6 National Instruments application software 1 3 overview 3 1 pulse width modulation PWM outputs 4 14 shutdown input 4 9 software programming choices 1 2 trajectory generators 3 4 trigger inputs 4 9 user connectors 3 3 using RTSI 1 2 A Analog Input lt 1 4 gt 4 11 Analog Input Ground 4 12 Analog Output lt 1 4 gt 4 4 Analog Output Ground 4 4 Analog Reference 4 12 analog signals wiring 4 12 axes 3 5 secondary feedback resources 3 6 output resources
65. te processor that operates independently from the CPU but is closely synchronized The NI 7340 motion controller is a true multiprocessing and multitasking embedded controller The advanced architecture of the NI 7340 motion controller enables advanced motion features such as enhanced PID functions Refer to the N Motion Help for more information about the features available on the NI 7340 motion controller Trajectory Generators The NI 7340 motion controller trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position Depending on how you configure the axis this command is then sent to the PID servo loop or stepper pulse generator 3 4 ni com NI 7340 User Manual and Specifications To implement infinite trajectory control the NI 7340 motion controller has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position for each PID update period While simple point to point moves require only one trajectory generator two simultaneous generators are required for blended moves and infinite trajectory control processing Analog Feedback The NI 7340 motion controller has an 8 channel multiplexed 12 bit ADC The converted analog values are broadcast to both the DSP and CPU through a dedicated internal high speed serial bus The multiplexer provides the high sampling rates required for f
66. the National Instruments Patent Notice at ni com patents Export Compliance Information Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HAR
67. to the expected output value PWM outputs are typically used for transmitting an analog value through an optocoupler A simple lowpass filter turns a PWM signal back into its corresponding analog value You have the option to use the PCLK input instead of the internal source as the clock for the PWM generators a Note These signals are configured in software and are in no way associated with the PID servo control loop Refer to the N Motion Help for more information RTSI Connector The physical RTSI bus interface varies depending on the type of NI 7340 motion controller The PXI 7340 uses the PXI chassis backplane to connect to other RTSI capable devices The PCI 7340 uses a ribbon cable to connect to other RTSI capable PCI devices RTSI Signal Considerations The NI 7340 motion controller motion controller allows you to use up to eight RTSI trigger lines as sources for trigger inputs or as destinations for breakpoint outputs and encoder signals The RTSI trigger lines can also serve as a generic digital I O port The RTSI star trigger line can be used only for a trigger input Breakpoint outputs are output only signals that generate an active high pulse of 200 ns duration as shown in Figure 4 10 Figure 4 10 Breakpoint across RTSI lt 200 ns gt Encoder and Index signals are output only signals across RTSI that are the digitally filtered versions of the raw signals coming into the controller If you are using the R
68. to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers For additional environmental information refer to the Minimize Our Environmental Impact web page at ni com environment This page contains the environmental regulations and directives with which NI complies as well as other environmental information not included in this document Waste Electrical and Electronic Equipment WEEE K EU Customers At the end of the product life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste and Electronic Equipment visit ni com environment weee BSF mists sl BEDE AE ROHS OO RAZA National Instruments 46h H ETIE Ar m h REEN SEE BH ROHS XF National Instruments FE ROHS ARIE WEK ni com environment rohs_china For information about China RoHS compliance go to ni com environment rohs_china National Instruments A 7 Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to the PXI PCI 7340 Figures B 1 and B 2 show the pin assignments for the stepper and servo 50 pin motion connectors These connectors are available when you use the SH68 C68 S sh
69. tput of an axis control loop unused DACs can also function as independent analog outputs for general purpose control Analog Output Ground To help keep digital noise separate from the analog DAC outputs there is a separate return connection Use this analog ground connection and not Digital Ground digital I O reference as the reference for the DAC outputs when connecting to servo amplifiers Axis lt 1 4 gt Step CW and Dir CCW These open collector signals are the stepper command outputs for each axis The NI 7340 motion controller supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the command direction of motion either forward or reverse CW and CCW mode produces pulses steps on the CW output for forward commanded motion and pulses on the CCW output for reverse commanded motion In either case you can set the active polarity of both outputs to active low inverting or active high non inverting For example with step and direction you can make a logic high correspond to either forward or reverse direction The Step CW and Dir CCW outputs are dri
70. ven by high speed open collector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V A Caution Do not connect these outputs to anything other than a 5 V circuit The output buffers will fail if subjected to voltages in excess of 5 5 V Axis lt 1 4 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a servo amplifier or stepper driver When properly connected and configured the inhibit function causes the connected motor to be de energized and its shaft turns freely These open collector inhibit signals feature 64 mA current sink capability with built in 3 3 kQ pull up resistors to 5 V and can directly drive most driver amplifier inhibit input circuits While the industry standard for inhibits is active low inverting these outputs have programmable polarity and can be set to active high non inverting for increased flexibility and unique drive compatibility 4 4 ni com NI 7340 User Manual and Specifications Inhibit output signals can be activated automatically upon a shutdown condition a Kill Motion command or any motion error that causes a kill motion condition such as following error trip You can also directly control the inhibit output signals to enable or disable a driver or amplifier Step Direction and Inhibit Output Circuit The NI 7340 motion controller provides single ended step direction and inhibit output signals To connect
71. xis Relative to Captured Position The polarity of the trigger input is programmable in software as active low inverting or active high non inverting rising or falling edge You can also use a trigger input as a latching general purpose digital input by simply ignoring the captured position Shutdown Input When enabled in software the shutdown input signal can be used to kill all motion by asserting the controller inhibits setting the analog outputs to 0 V and stopping any stepper pulse generation To activate shutdown the signal must transition from a low to a high state or rising edge Breakpoint Output lt 1 4 gt A breakpoint output can be programmed to transition when the associated encoder value equals the breakpoint position You can use a breakpoint output to directly control actuators or as a trigger to synchronize data acquisition or other functions in the motion control system You can program breakpoints as absolute modulo or relative positions Breakpoint outputs can be preset to a known state so that the transition when the breakpoint occurs can be low to high high to low or toggle National Instruments 4 9 Chapter 4 Signal Connections The breakpoint outputs are driven by open collector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V You can directly set and reset breakpoint outputs to use them as general purpose digital outputs 1 Note Break
72. y varying the on time duty cycle of transistor switches PCI eXtensions for Instrumentation The encoder line resolution times four random access memory Sets the position breakpoint for an encoder in relative quadrature counts relative position relative position mode ribbon cable RPM RPSPS or RPS S RTR RTSI servo stepper T toggle torque trapezoidal profile trigger TTL NI 7340 User Manual and Specifications Destination or target position for motion specified with respect to the current location regardless of its value Position relative to current position A flat cable in which the conductors are side by side revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration ready to receive real time system integration bus the National Instruments timing bus that connects devices directly by means of connectors on top of the devices for precise synchronization of functions seconds Specifies an axis that controls a servo motor Specifies an axis that controls a stepper motor Changing state from high to low back to high and so on Force tending to produce rotation A typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity then decelerates at the programmed acceleration to the target position Any event that causes or s

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