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1. 22 V Installation Category 1 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 Environment Operating temperature riores 0 to 55 C Storage temperature ones 20 to 70 C Humidity econo 10 to 90 RH noncondensing Maximum altitude 2 000 m Pollution Degree sus 2 Safety This product is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e IEC 61010 1 EN 61010 1 e UL 3111 1 UL 61010B 1 e CAN CSA C22 2 No 1010 1 3 Note For UL and other safety certifications refer to the product label or visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column NI 7330 User Manual A 6 ni com Appendix Specifications Electromagnetic Compatibility EMISSIONS occoocccncnccnnnnccnnonccnnnnnccnnnnccnnnnnns EN 55011 Class A at 10 m FCC Part 15A above 1 GHz o A nn EN 61326 1997 A2 2001 Table 1 CE C Tick and FCC Part 15 Class A Compliant 3 Note For EMC compliance you must operate this device with shielded cabling CE Compliance This product meets the essential requirements of applicable European Directives as amended for CE mark
2. 04 06 Wiring Connection Scheme for Differential Step and Direction Signals 2 Series Limiting Resistor 100 Vp 5 ohm See Note Always use shielded twisted pair cable for step and direction signals Route away from motor leads 2 2 2 3 Connection Scheme for Open Collector Single Ended Step and Direction Signals He Step Dir M SD 7000 04 Terminating Resistor 499 ohms Pull up Shield rn H l 0 Output Common Step Dir Internal to Drive Series Limiting Resistor Pree eee 100 Vp 5 ohm see NOTE Use series limiting resistor for pull up voltages greater than 5 volts Always use shielded twisted pair cable to step and direction signals Route away from motor leads NOTE Initial Release 11 Wiring 04 06 Danaher Motion 2 2 2 4 General Purpose Inputs There are nine configurable General Purpose Inputs GPI s on the P70530 drive All the inputs share a common optically isolated bus Pull Up Down The common bus simplifies the wiring allowing a common point to connect either sinking or sourcing input devices Typical Input Schematic J4 20 i POTTS 7 PULLUP PULLDOWN O u INX O 7 ee PS2805 Configuration Examples Sourcing input device using Sourcing input device using P7000 internal 5 VDC supply external supply 5 VDC SW1 J4 J4 internal to Drive INX INX b19 5 VDC 20 Pull Up Dn 25 Common H Internal t
3. 2 1 CONNECTOR LOCATIONS Doc SCIENTIFIC O I GNVNINOO vr JOJO N 9r 18M0d OG YA y ao 2 iss c D 0 5 oa TU m M SD 7000 04 Initial Release 7 Wiring 04 06 Danaher Motion 22 FUNCTIONS BY CONNECTOR 2 2 1 1 Connecting A Motor Danaher Motion offers a number of standard stepper motors designed to provide optimum performance when matched with the P70530 The motors are offered with a 4 flying lead configuration If your motor has 6 or 8 leads you should consult your distributor or the factory for assistance Danaher Motion s Pacific Scientific Flying Lead Motor Wiring For T2x N3x K3x N4x and K4x Series Motors BLACK oe GREEN GND Motor RED B Connector B YELLOW Do not hot plug the motor connector Avoid whiskers from stranded phase leads protruding from the CAUTION Motor plug 2 2 2 J4 CONNECTOR COMMAND I O NN 18 O 26 D y O AA O O v PN BS ES be K Sa ON eee J4 is a 26 Position High Density D subminiature v D QO female connector Connector is shown as O O D viewed from the front of the drive DR i O O W C Ve at fy FS 9 Y 8 Initial Release M SD 7000 04 Danaher Motion 04 06 Wiring Pin Description Pin Description J4 1 STEP J4 14 DIN5 Jog J4 2 STEP J4 15 DIN6 Jog Jas DIR Ja 16 DIN7 EOT J4 4 DIR J4 17 DIN8 EOT J4 5 ENABLE J4 18
4. G 8 ni com Glossary W watchdog a timer task that shuts down resets the motion control board if any serious error occurs word the standard number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit National Instruments Corporation G 9 NI 7330 User Manual Index Numerics 68 pin motion I O connector 5 2 signal descriptions 5 3 7330 analog feedback 4 2 axes 4 3 controller requirements for getting started 1 2 digital I O lines 5 14 flash ROM 4 2 functional overview 4 1 motion I O connector signals 5 1 resources 4 4 operating system 4 1 processor architecture 4 1 pulse width modulation inputs 5 15 RTSI signal considerations 5 15 signal connections 5 1 trajectory control 4 2 A accessories 1 4 Analog Input lt 1 4 gt 5 12 Analog Input Ground 5 13 Analog Reference 5 13 analog signal wiring 5 13 Axis lt 1 4 gt Forward Limit Input 5 5 Home Input 5 5 Inhibit 5 4 Reverse Limit Input 5 5 Step CW and Dir CCW 5 3 National Instruments Corporation B breakpoint examples 5 15 Breakpoint Output Circuit 5 11 C cables 1 4 encoders 5 8 command buffer 4 4 communications status register CSR 4 4 communications host 4 4 configuration 2 1 connectors 1 4 3 3 RTSI 3 3 D Declaration of Conformity NI resources C 1 diagnostic tools NI resources C 1 digital I O connector pin assignments 5 14 documentation NI reso
5. the encoder line resolution times four random access memory sets the position breakpoint for an encoder in relative quadrature counts 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 NI 7330 User Manual Glossary RPSPS or RPS S RTR S servo stepper stepper lt 1 4 gt Dir CCW stepper lt 1 4 gt Step CW T toggle torque trapezoidal profile trigger TTL V Vec velocity mode NI 7330 User Manual revolutions per second squared units for acceleration and deceleration Ready to Receive seconds specifies an axis that controls a servo motor specifies an axis that controls a stepper motor direction output or counter clockwise direction control stepper pulse output or clockwise direction control 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 starts some form of data capture transistor transistor logic volts positive voltage supply move the axis continuously at the specified velocity
6. 8 bit ports Line CITSCHIONG irc Individual bit programmable Inputs Voltage Tange sise Otos V Input low voltage 0 8 V Input high voltage 2 0 V Polarity metanni nn Programmable active high or active low Outputs Voltage TM Otos V Output low voltage lt 0 45 V at 24 mA sink Output high voltage gt 2 4 V at 24 mA source A Programmable active high or active low PWM outputs Number of PWM outputs 2 Maximum PWM frequency 50 kHz Resolution 8 bit Duty cycle range 0 to 255 256 Clock sources oooocnccccnnnnnccccnnos Internal or external A 4 ni com Appendix Specifications RTSI PESTE nes entrent se 7 Maximum Power Requirements FSEV E3 ANA 1A A A A date 30 mA IVES dia 30 mA Power consumption 5 7 W Physical Dimensions Not Including Connectors PXHI 7330 isorinis 16 x 10 cm 6 3 x 3 9 in A ee na nn 17 5 x 9 9 cm 6 9 x 3 9 in Connectors Motion I O connector 68 pin female high density VHDCI type 32 bit digital I O connector 68 pin female high density VHDCI type Weight POSER Oa 113 g 4 oz PXI 7330 vecinita ais 170 g 6 oz O National Instruments Corporation A 5 NI 7330 User Manual Appendix Specifications Maximum Working Voltage Channel bent use 12 V Installation Category 1 signal voltage plus common mode voltage Channel to channel
7. NOTE Initial Release M SD 7000 04 Danaher Motion TROUBLESHOOTING COMMON PROBLEMS 5 5 1 04 06 Troubleshooting Problems Possible Fixes Motor spins in wrong direction Motion Profiles in table will not execute Reverse wires on one phase Change direction polarity using P7000Tools The P7000 Drive is the SDN version not the PNN version Drive Overheats Lower ambient temperature Provide fan cooling Reduce system throughput 5 2 STATUS DISPLAY There are 7 faults that may occur with the P7000 drive The fault output latches when they occur Determine the type of fault by viewing the front panel or through the serial port The front panel LED turns red and blinks according to the table below disabled FLASH memory fault asserted if ENABLE is configured ACTIVE CLOSED or the enable input is asserted if ENABLE is configured ACTIVE OPEN A FLASH memory checksum validation has failed indicating corruption of the operating system This typically occurs during firmware download LED Color Blinks Green Solid System OK NA NA Green 1 Amplifier is The enable input J4 5 amp J4 6 is not De assert the enable input or disable the soft shutdown from P7000Tools Without attempting to connect to the drive download the most current firmware file from the P7000Tools menu option Drive gt Update Operating System If the FLASH download utility fails
8. modulo or relative position 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 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 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 NI 7330 User Manual 5 10 ni com Chapter 5 Signal Connections Trigger Input Shutdown Input and Breakpoint Output Circuits Figures 5 5 5 6 and 5 7 show a simplified schematic diagram of the circuits used by the trigger inputs shutdown inputs and breakpoint outputs for signal buffering 3 3 KQ To the trigger circuits From the external connector 1 8 W ae trigger pins e id DGND Figure 5 5 Trigger Input Circuit Voc 3 3 KQ To the shutdown circuits From the external connector 1 8 W shutdown pin DGND Figure 5 6 Shutdown Input Circuit National Instruments Corporation 4 To the exter
9. 000 uf per drive 48V bus 10 800 uf per drive 24V bus 18 000 uf per drive 24V bus Le Bus Gnd r J7 2 4 i General Cbus Formula ras Cbus min 6 000 uf X Motor Arms 5Arms X 75V bus voltage DC Input P7000 777 PE X N na dd ge M SD 7000 04 Initial Release Danaher Motion INDEX AC Mounting 5 Accessories 3 Command I O 8 Drive Configuration Current Reduction 19 Dynamic Smoothing 19 Load Inertia 18 Motor Selection D 17 17 Multi Stepping 19 Stall Detection 2 Step Resolution General Purpose Inputs 12 Getting Started 1 0 18 G Graphic User Interface Custom Motor File 26 T O 29 Toolbars 22 Inspecting 2 J2 amp J3 Connector RS485 15 16 J4 Connector Command I O 8 Motor Connection 8 M SD 7000 04 M 04 06 INDEX Outputs Fault 13 Outputs General Purpose 13 P P70530 Cbus formula for multiple drives 43 single drive 42 power supply internal bus capacitor 41 minimum bus capacitance 41 unregulated isolated offline DC power example 42 Part Number 2 RS485 15 16 S Safety Requirements 38 Set Up Wizard 21 Specifications 3 Drive Power 3 Environmental 5 VO 4 Step amp Direction Inputs 9 T Troubleshooting 37 Common Problems 37 Status display 37 U Unpacking 2 Using P7000 Tools GUI 21 Initial Release 04 06 Danahe
10. 1 bit 2 Digital Ground Port 1 bit 5 Port 1 bit 6 Digital Ground Digital Ground Port 2 bit 2 Port 2 bit 3 Port 2 bit 4 Port 2 bit 5 Digital Ground Digital Ground Port 3 bit 1 Port 3 bit 2 Digital Ground Port 3 bit 5 Port 3 bit 6 Digital Ground Port 4 bit 1 Port 4 bit 2 Digital Ground Port 4 bit 5 Port 4 bit 6 Digital Ground Figure 5 8 68 Pin Digital 1 0 Connector Pin Assignments ni com PWM Features Chapter 5 Signal Connections 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 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 The 7330 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 to the desired output value PWM outputs are typically used for transmitting an analog value through an optocoupler A simple lowpass filter
11. Configuration and Installation for information about precautions to take Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names National Instruments Corporation vil NI 7330 User Manual About This Manual italic Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply monospace Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories programs subprograms subroutines device names functions operations variables filenames and extensions and code excerpts Related Documentation The following documents contain information you might find helpful as you read this manual e NI Motion User Manual e NI Motion C Reference Help e NI Motion VI Reference Help NI 7330 User Manual viii ni com Introduction This chapter includes information about the features of the National Instruments PXI PCI 7330 controller and information about operating the device About the 7330 Controller The 7330 controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW Features T
12. DIN9 Fault Reset J4 6 ENABLE J4 19 5V J4 7 FAULT J4 20 Pull Up Dn J4 8 FAULT J4 21 OUT Motion Node Active J4 9 Gnd J4 22 OUT Motion Node Active J4 10 DIN1 MVSEL 1 J4 23 NC J4 11 DIN2 MVSEL 2 J4 24 RS 232 RX J4 12 DIN3 MVSEL 3 J4 25 Gnd J4 13 DIN4 MVSEL 4 J4 26 RS 232 TX Default I O Assignments A MVSEL Move Select is available in PNN Motion Node units only The same is true for MOTION NODE ACTIVE outputs NOTE 2 2 2 1 Step Direction and Enable Inputs Step Input J4 1 2 The P70530 increments its internal step counter on the ON to OFF transition of the LED in an opto isolator Minimum ON and minimum OFF times are both 250 ns This results in a maximum step input frequency of 2 MHz Pulses that do not meet minimum times may be ignored by the drive s electronics The input circuitry is suitable for use with 5 volt logic single ended or differential It is best to drive the input to both logic states rather than utilize open collector transistors The STEP input is sensitive to high frequency noise and should be supplied through shielded cable 100 Q HCPL 0600 J4 1 Step t 2 5 to 5 5 VDC Da 20 mA max 1k Q i Bg J4 2 Step 100 2 a ee E intemal to Drive M SD 7000 04 Initial Release 9 Wiring 04 06 Danaher Motion Direction Input J4 3 4 The DIRECTION input is similar to the step input except that
13. MCS register provides instantaneous motion status of all axes 4 4 ni com Signal Connections This chapter includes instructions on how to make input and output signal connections directly to the PXI PCI 7330 as well as general information about the associated I O circuitry The 7330 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 e RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced Universal Motion Interface UMD units and drives i Note The 7330 does not provide isolation between circuits A Caution Power off all devices when connecting or disconnecting the 7330 controller motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion 1 0 Connector The motion I O connector contains all of the signals required to control up to four axes of stepper motion including the following features e Motor command stepper outputs e Encoder feedback inputs e Forward home and reverse limit inputs e Breakpoint outputs e Trigger inputs e Inhibit outputs The motion I O connector also contains four channels of 12 bit A D inputs for analog feedback or general purpose analog input National Instruments Corporation 5 1 NI 7330 User Manual Chapter 5 Signal Connections Figure 5 1 shows the pin assig
14. Read all available documentation before assembling and using Incorrect handling of products in this manual can result in injury and damage to persons and machinery Strictly adhere to the technical information regarding installation requirements CAUTION gt CAUTION gt CAUTION gt CAUTION Keep all covers and cabinet doors shut during operation Be aware that during operation the product has electrically charged components and hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating Never disconnect or connect the product while the power source is energized After removing the power source from the equipment wait at least 2 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges e g capacitors contacts screw connections To be safe measure the electrical contact points with a meter before touching the equipment Initial Release 1 Getting Started 1 1 04 06 Danaher Motion UNPACKING AND INSPECTING Open the box and remove all the contents Check to ensure there is no visible damage to any of the equipment A Use proper procedures when handling electronic components to avoid damage to equipment CAUTION Remove all packing material and equipment from the shipping container Be aware that some connector kits and other equipment pieces may be quite small and can be accidentally discarded Do not
15. USA Tel 512 683 0100 Worldwide Offices Australia 1800 300 800 Austria 43 0 662 45 79 90 0 Belgium 32 0 2 757 00 20 Brazil 55 11 3262 3599 Canada Calgary 403 274 9391 Canada Montreal 514 288 5722 Canada Ottawa 613 233 5949 Canada Qu bec 514 694 8521 Canada Toronto 905 785 0085 Canada Vancouver 514 685 7530 China 86 21 6555 7838 Czech Republic 420 2 2423 5774 Denmark 45 45 76 26 00 Finland 385 0 9 725 725 11 France 33 0 1 48 14 24 24 Germany 49 0 89 741 31 30 Greece 30 2 10 42 96 427 India 91 80 51190000 Israel 972 0 3 6393737 Italy 39 02 413091 Japan 81 3 5472 2970 Korea 82 02 3451 3400 Malaysia 603 9131 0918 Mexico 001 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 0 22 3390 150 Portugal 351 210 311 210 Russia 7 095 783 68 51 Singapore 65 6226 5886 Slovenia 386 3 425 4200 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 200 51 51 Taiwan 886 2 2528 7227 Thailand 662 992 7519 United Kingdom 44 0 1635 523545 For further support information refer to the Technical Support and Professional Services appendix To comment on the documentation send email to techpubs ni com 2003 National Instruments Corporation All rights reserved Important Information Warranty The National Instruments 7330 is warranted against defects in materials and workmanship for a period of one year from the date of s
16. V NO PM Axis 1 Home Switch Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Axis 2 Dir CCW 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 Axis 3 Dir CCW 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 Axis 4 Dir CCW 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 Figure B 1 50 Pin Stepper Connector Pin Assignment National Instruments Corporation B 1 NI 7330 User Manual Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni com for technical support and professional services National Instruments Corporation Support Online technical support resources include the following Self Help Resources For immediate answers and solutions visit our extensive library of technical support resources available in English Japanese and Spanish at ni com support These resources are available for most products at no cost to registered users and include software drivers and updates a KnowledgeBase product manuals step by step troubleshooting wizards confor
17. You must have all covers and filler panels installed during operation of the device Do not operate the device in an explosive atmosphere or where there may be flammable gases or fumes If you must operate the device in such an environment it must be in a suitably rated enclosure If you need to clean the device use a soft nonmetallic brush Make sure that the device is completely dry and free from contaminants before returning it to service Operate the device 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 e Pollution Degree 2 means that only nonconductive pollution occurs in most cases Occasionally however a temporary conductivity caused by condensation must be expected e Pollution Degree 3 means that conductive pollution occurs or dry nonconductive pollution occurs that becomes conductive due to condensation kp Note The 7330 is intended for indoor use only You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device Do not install wiring while the device is live with electrical signals Do not NI 7330 User Manual 2 2 ni com Chapter 2 Configuration and Install
18. and select a structure AVD or T D Enter the various parameters represented in user unites as defined in the Mechanical screen If the Enter Profile button is not clicked the move is not stored and is lost Once a move is stored its parameters appear in the move list NOTE The most popular move structure is AVD The programmer must specify both acceleration and deceleration rates along with velocity distance move type time delay and GoTo index if needed For convenience a move may be copied pasted or deleted by right clicking on the target in the move list Moves are anchored to the index at which they are entered Deleting a move does not cause the others to shift up to fillthe gap The only way to relocate a move is to copy paste and then delete from the original position It is impossible to enter a set of move parameters that are inconsistent For instance it may be impossible to reach the target velocity using the specified acceleration in the programmed distance If the programmed parameters do not define an attainable trapezoidal move the Generator offers to collapse the move into a triangular profile by adjusting the velocity The move engine cannot execute moves that have inconsistent parameters M SD 7000 04 Initial Release 35 Using P7000Tools 04 06 Danaher Motion 36 Individual Motion Profiles are executed in the following manner Up to six of the digital inputs may be programmed as Move Select These inpu
19. are used to block the flow of material ultimately controlling whether or not deposition occurs The shutters are simply pieces of stainless steel that exist in binary states of open or closed With the process outlined above it is possible to control the deposition of material well enough to be accurate down to the angstrom level With a controlled deposition process established the next item of concern and indeed why the software even exists is controlling the movement of a substrate in and out of the plasma stream s to produce a particular style of coating useful for X ray astronomy 1 2 Hardware and Motion Control The plasma stream out of the cathode has a fixed flux and therefore deposition rate that remain constant throughout the production of a single optic The desired characteristics of an optic are such that it would be impossible to produce it simply by inserting it into the plasma stream leaving it there for a certain amount of time and then taking it out Discrepancies such as the surface area of the optic being larger than the what the flux of the cathode can cover desired material thicknesses not matching up exactly with deposition rates and optic geometry in general mandate that some form of motion control be employed to ensure an even and accurate coating is produced on the surface of that substrate no matter what 1 Introduction 5 kind of characteristics are desired of the optic Typically the rotary stage a
20. controller has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position for each 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 The 7330 controllers have 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 feedback 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 Nonvolatile memory on the 7330 controller is implemented with flash ROM which means that the controllers can electrically erase and reprogram their own ROM Because all the 7330 embedded firmware including the RTOS and DSP code is stored in flash memory you can upgrade the onboard firmware contents in the field 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 4 2 ni com Chapter 4 Functional Overview The FPGA configuration programs are also stored in the flash R
21. descriptions 68 pin motion I O connector 5 3 ni com software NI resources C 1 software programming choices 1 3 support technical C 1 T technical support C 1 training NI resources C 1 trajectory control 4 2 Trigger Input Circuit 5 11 troubleshooting NI resources C 1 National Instruments Corporation Index U updating FPGA programs 4 3 W Web resources C 1 wiring analog signals 5 13 limit inputs 5 5 NI 7330 User Manual 6 Appendicies 99 6 2 2 Stepper Driver Documentation P70530 DC High Performance Micro stepping Drive Reference Guide Part M SD 7DC 01 Rev A January 10 2007 Keep all product manuals as a product component during the life span of the stepper drive Pass all product manuals to future users owners of the stepper drive Helping you build a better machine faster Record of Manual Revisions Revision Date Description of Revision 1 04 2006 Initial Release Copyright Information Copyright 2006 Danaher Motion All rights reserved Printed in the United States of America NOTICE Not for use or disclosure outside of Danaher Motion except under written agreement All rights are reserved No part of this book shall be reproduced stored in retrieval form or transmitted by any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in the preparation of
22. dispose of CAUTION shipping materials until the packing list has been checked Upon receipt of the equipment inspect components to ensure that no damage has occurred in shipment If damage is detected notify the carrier immediately Check all shipping material for connector kits and NOTE documentation 1 2 PART NUMBER P7 NN N O XX N T Family P7 P7000 Series Current Rating Omitted fr sta for standard units 03 2 5 Agus continuous 3 5 Ane peak AC only n nono None 05 5 As continuous 7 1 Aus peak DC only Voltage 3 20 75 VDC 6 120 240 VAC LE Motion Node Indexing SD Step Direction Base Drive R4 RS485 AC only Electrical Option 0 no option Initial Release M SD 7000 04 Danaher Motion 04 06 Getting Started 1 3 ACCESSORIES 768 026902 01 26 pin D Sub connector to terminal block adapter P7S2 232 9D RS 232 Serial cable RJ12 to 9 pin D Sub connector 6 feet SPECIFICATIONS Unless otherwise specified specifications are worse case limits and apply over the specified operating ambient temperature and over the specified operating line voltage NOTE 1 4 1 DRIVE POWER Specification P70530 Max Output Current 0 40 C 5 Arms 350 W at 72 V Max Output Power at 5 max average 240 W at 48 V 120 W at 24 V 9 W max at 5 Arms motor phase 5 W max at 3 Arms motor phase 1 8 W typ at disabled Motor Inductance Range 2 15 mH nom Maximum Motor Cable Length 2
23. in a negative direction when transitioned from inactive to active Home A home input is used by the internal move engine during a Home maneuver Jog Jogs the motor in a positive direction Jog Jogs the motor in a negative direction Jog Speed Selects high or low jog speed Fault Reset Clears latched fault condition and resets the position counter Move Select Functions as one bit of a binary number up to 6 bits for selecting pre programmed moves The combination of states on the assigned Move Select inputs serves to define a SELECTED MOVE Start Move Transition to active triggers the move engine to begin the selected move If a Start Move input has not been assigned moves are triggered by the appearance of a non zero value at the Move Select inputs Start Stop Move Similar to Start Move except that this type of input automatically becomes a Stop input once motion is begun Stop Move Transition to active causes the move engine to decelerate to a controlled stop Stop Move on Edge Move stops on leading edge of input transition No Function Input has no effect 4 5 6 2 Input Debounce Time Requires an input state to persist for the programmed time before being recognized 4 5 6 3 Output This output can be configured as Active Closed or Active Open Output Function Description EOT Latched Indicates that an EOT has been encountered and the motor has not been moved back off the se
24. 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 ground G 4 ni com H half step hex home switch input host computer I O ID in index inverting IRQ National Instruments Corporation G 5 Glossary 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 inches marker between consecutive encoder revolutions the polarity of a switch limit switch home switch and so on in active state If 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 uni
25. unable to configure or use the device Controller Configuration Because motion I O related configuration of the 7330 is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PXI 7330 and PCI 7330 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 National Instruments Corporation 2 1 NI 7330 User Manual Chapter 2 Configuration and Installation Safety Information A Caution The following paragraphs contain important safety information you must follow when installing and operating the 7330 and all devices connecting to the 7330 Do not operate the device in a manner not specified in this document Misuse of the device can result in a hazard You can compromise the safety protection built into the device if the device is damaged in any way If the device is damaged return it to National Instruments NI for repair Do not substitute parts or modify the device except as described in this document Use the device only with the chassis modules accessories and cables specified in the installation instructions
26. 4 AWG 20 m Power Supply 20 75 VDC recommended design center isolated unregulated type or regulated bus cap Cbus cap min scale as ratio of motor current 5A scale as ratio of 72 V supply voltage for multiple drives on supply 6 000 uf at 5 motor 72 V scales as number of drives locate within 10 ft of drive 16 AWG twisted Power Dissipation at 3 5 A 20 75 VDC 5 average max Bus Under Voltage Fault 18 VDC Bus Over Voltage Fault Inrush Current amp Fusing pO Peak Current Inrush Pulse Width Recommended Fusing 5 VDC Internal Supply Time delay for reduced idle current to return to the system s full current lt 1 ms typ See Appendix A for information on power supply bus capacitance NOTE M SD 7000 04 Initial Release 3 Getting Started 04 06 Danaher Motion 1 4 2 VO SPECIFICATIONS Step Direction amp Enable Inputs Po Step Dirg41 J46 E 3 V 6 V 16 mA at 5 V See Note below Direction Input Voltage amp Current Range 3 V 6 V 16 mA at 5 V See Note below Enable Input Voltage amp Current Range 3 V 6 V 3 6 mA at 5 V See Note below Step Minimum on off time 800 ns General Purpose I O DIN1 DIN9 J4 10 J4 18 Input Voltage Range 4 6 VDC See Note below Input Current Range Internally Controlled 1 mA at 5 VDC 5 3 mA at 24 VDC Response Time lt 250 us GPO J4 7 J4 8 J4 21
27. Automated Multilayer Fabrication Hardware and Software Users Guide Lucas Doyle Harvard Smithsonian Center for Astrophysics Cambridge Massachusetts November 12 2010 Abstract This document will present information relating to the assembly configuration and operation of the hardware and software systems necessary to successfully produce a variety of single and multilayer coatings on prototype and flight optics for use in X ray observatories The optics are produced using a technique called DC magnetron sputtering The implementation of this technique is carried out inside three vacuum chambers present in Dr Suzanne Romaine s Multilayer Fabrication Laboratory at the Harvard Smithsonian Center for Astrophysics A WORK IN PROGRESS Contents 1 Introduction 1 1 Intro to DC magnetron sputtering poh er sn a ae Du 1 2 Hardware and Motion Control 4 8 6 4 us D AE oo RS Dan 13 LabVIEW and Software Hardware 2 1 Hardware Overview 6 bus re re seo re tee ee Sled se Alec te eM 2 2 Stepper Motors and Power Transmission 2 3 St pper Drivers SS EA 2 4 Motion Controller a DA E Se a Me 2 5 Arduino and Shutter Drivers Software 3 1 High Level Software Overview aoaaa aa 3 2 N tes on LabVIEW d ue t men Ve AAA 3 3 Explanation of Core Algorithms 414 4 sce eae ee mate aa al Be Handling ses EN es Ae oe PE pee rep Ak 8 amp 9 Error A
28. CI 7330 Hardware specifications are typical at 25 C unless otherwise stated Stepper Performance Trajectory update rate range 6 62 5 to 500 us sample Maximum update rate ee 62 5 us axis 4 axis update rate 250 us total Multi axis synchronization 0 0 eee lt 1 update sample Position accuracy Open loop stepper ssesssseesssseeese 1 full half or microstep Encoder feedback quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Position range oconcococonncnononnonononornono 23 steps Maximum relative move size 23 steps Velocity range 1 to 4 000 000 steps s Acceleration deceleration 512 000 000 counts s S CUIVE time range 1 to 32 767 samples Following error range eee 0 to 32 767 counts Gear Talon nat 32 767 1 to 1 32 767 Stepper outputs Maximum pulse rate ooooooccnnnnnc n 4 MHz full half and microstep Minimum pulse width 120 ns at 4 MHz Step output mode iii Step and direction or CW CCW 1 Assumes a PID update rate of 250 us and a 2 000 count encoder National Instruments Corporation A 1 NI 7330 User Manual Appendix Specifications Voltage range eme Otos V Output low voltage 00000000 lt 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 KQ pull up to 5 V A isinir Program
29. Checks Nothing here yet 4 3 Software Checks Nothing here yet 4 4 Runtime operations Nothing here yet Ch 5 Troubleshooting 5 1 General info about the chambers Nothing here yet 21 Ch 6 Appendicies 6 1 Engineering Drawings 6 1 1 Stepper FFF Bracket 22 Stepper FFF Bracket Purpose bracket will mount a NEMA 34 size stepper motor to the ferrofluidic feedthrough at top of the chamber Do not scale drawing Top VIEW mount to NEMA 34 stepper o pd Material mild steel 0 25 thick unless otherwise noted All measurements in inches Contact Info Lucas Doyle High Energy Astrophysics Department Rooms B114A B Harvard Smithsonian Center for Astrophysics 60 Garden Street Cambridge MA 02138 Work phones 617 495 7209 607 495 2340 Work voicemail 617 495 7219 Email lucas p doyle gmail com Mobile 603 998 3565 4 tapped holes Evenly spaced for 10 32 screws Y N F 1 75 SB 3 50 NOTES Drill through centerline of 1 and 2 colinear to 005 All angles 1 degree Bottom View mount to fff on 3 7 8 dia circle 1 50 dia thru hole 1 5 dia Y thru hole o i o gt y UE 2 Oo i i 3 0 dia O O 0 1 deb 4 places N this side only A Es t 3 5 8 a 1 75 6 clearance holes a i Evenly spaced 3 50 for 1 4 20 screws SECTI
30. ECTING ie 1 2 PART NUMBER lt a cad cheng ae kd 1 3 ACCESSORIES D o co Shree e so AA Che seus cado 1 4 SPECIFIGATIONS wax SH Rte didas 1 4 1 DRIVE POWER a bete Pete 1 4 2 VO SPECIRIGATIONS 5003 hc stants rer Pr dd Pan dead ee a de RSR se 1 4 3 ENVIRONMENTAL oia da leeds 1 5 DG MOUNTING ida ias 1 5 1 DC BASE DRIVE MOUNTING DIMENSIONS ooccccccnccccccocnnnnncccccnocnnnnnnncnnnonononos 2 AA O 2 1 CONNECTOR LOCATION Soe a hate ART Mn Rite Mn 2 2 FUNCTIONS BY CONNECTOR iii 2 2 1 1 Connecting A Motor 2 2 2 J4 CONNECTOR COMMAND 1 0 2 2 2 1 Step Direction and Enable Inputs 2 2 2 2 Connection Scheme for Differential Step and Direction Signals 2 2 2 3 Connection Scheme for Open Collector Single Ended Step and Direction Signals tienne ded Sonus eden ea aa 2 2 2 4 General Purpose INPUTS ooooooococcconccccocannanonncncnnnocacncnanan non nccnnncnnnnnnnnns 2 2 2 5 Fault Output J4 7 8 sisi 2 2 2 6 General Purpose Output J4 21 22 2 2 3 J5 SERIAL CONNECTOR RS 232 iccccccccccscccccecccessecesecseseessesseeaaeaaaesaaeaseasaees 2 2 4 UO MOTOR ti a da Sade stef ets seuss 2 2 5 JADE POWER abad 3 CONFIGURE THE DRIVE WITH SWITCHES oooccccconccccccccccnnnnnnnnonononnnnnncnnannananans 3 1 MOTOR SELECTION iii da 3 2 STEP RESOLUTION idad 3 3 LOAD INERTA m A A a Er ele San 3 4 DYNAMIC SMOOTHING Mco a NASAREN EEN NERES 3 5 CURRENT REDUCTION cita riada 3 6 MU
31. ESS 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 HARM 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
32. J4 22 Maximum Output Voltage Clamp Voltage Maximum Output Current On Voltage Response Time Higher voltages may also be used if an appropriately sized current limit resistor is installed external to the drive Reference sections 2 2 2 2 2 2 2 3 and 2 2 2 4 NOTE 4 Initial Release M SD 7000 04 Danaher Motion 04 06 Getting Started 1 4 3 ENVIRONMENTAL Operating Temperature 0 45 C unmounted 0 55 C Typ cabinet mount Pollution Degree Il Storage Temperature C 0 70 C Humidity non condensing 10 90 Altitude lt 1500 m 5000 ft 0 26 kg 0 562 Lbs 1 5 M SD 7000 04 DC MOUNTING Mount the P70530 to a cold plate using either 8x32 or M4 screws This drive can be mounted either vertically or horizontally 1 For convection cooling allow a minimum of 1 in 25 4 mm of space around all sides 2 It the heat sink temperature exceeds 70 C the drive shuts down due to overheating Fan cooling or a lower ambient temperature may be required to allow the drive to run properly Initial Release Getting Started 04 06 Danaher Motion 1 5 1 DC BASE DRIVE MOUNTING DIMENSIONS 4 373 in 111 07 mm 4 210 in 106 93 mm 100 84 mm 1 133 in 28 78 mm QE EEE 4 053 in 102 95 mm 0 16 in 4 64 mm R 0 09 in 2 29 mm REAR VIEW 6 Initial Release M SD 7000 04 Danaher Motion 04 06 Wiring PA WIRING
33. LEVEL OF SUCH SYSTEM OR APPLICATION Compliance FCC Canada Radio Frequency Interference Compliance Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations All National Instruments NI products are FCC Class A products Depending on where it is operated this Class A product could be subject to restrictions in the FCC rules In Canada the Department of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired operation The FCC rules have restrictions regarding the locations where FCC Class A products can be operated Consult the FCC Web site at www fcc gov for more information FCC DOC Warnings This equipment generates and uses radio frequency energy and if not installed and used in strict accordance with the instructions in this manual and the CE marking Declaration of Conformity may cause interference to radio and television reception Classification requirements are the same for the F
34. LTIESTEPPINGTM 22 seats coe me bin 3 7 ENCODERLESS STALL DETECTION cccccccsseseccccceesesseeeceeceesesaeeseeeseeeaaeeeeeeeeess 4 USING PLOQOTOOLS pivscccscccisciesisdtecesstisedversanecueveautacavedeanadaceessesicces senneucdsnveddaviessiue 4 1 INSTALLING P7000 TOOL Saura ee hes 4 2 SET UP WIZARD cota a A te eee stat ees 4 3 TOOLBARS A EE io 4 4 PRODUCT SELECTION nz 4 5 CONFIGURATION AND UNIT ADDRESS 4 5 1 STATUS SCREEN nr sence ede nes pires enter dens usa ne E 4 5 2 CONFIGURATION SUMMARY iii 4 5 3 STEPPER MOTOR SCREEN ia edi M SD 7000 04 Initial Release Table of Contents 04 06 Danaher Motion 4 5 3 1 Motor File Editor iii 26 4 5 4 MEGHANIGAL nn ne RU ta cid 27 4 5 4 1 User Units FAO se sins assis he dans At AA 27 4 5 4 2 Load Informatlion 52 332808 air Rimini t 28 4 5 5 COMMAND CONFIGURATION cccoccccnccccncccnncnonancnonononacononoconcnonancnnnrnnnanonnnnnnnnes 28 4 5 6 VO CONFIGURATION vu scccccsececcecccnecccnecensecceeceseeeceuececeeeeseeesceeeaneeseaeceneeesaeeses 29 4 5 6 1 INPUTS 20 AS a A ees 29 4 5 6 2 Input Debounce Time 30 4 5 6 3 OULD UL aiita Anne in nuire Domaines 30 4 5 7 XESMOOTHNESS ai 31 4 5 8 ADVANCED SETUP lt A ete Dan Sd or een ven de en ete 32 4 5 8 1 Anti R Sonanc ls 65h hs A M Re st AR RE dre Un 33 4 5 8 2 Current ReductiOn oooccccccoccccncoccccncooccccnoncnnnnonancanoncnnnnnnncncnnnanicnno 33 4 5 8 3 PHOTMIAG 000 A NE eg Wut 34 4 5 8 4 Stall D t
35. N114 Identification Number Used in Australia 3 Symbol to Alert User to Read the Manual 2 Symbol Indicating FFC Compliance Figure 3 2 Symbols on the Back of the PXI 7330 as Mi E notas p A y e l 9 ot S o g Y Lt NATIONAL INSTRUMENTS COPYRIGHT 2203 ON CE NI PCI 7330 sens 6307D 01 T Ciee RTSI Connector 6 Assembly Number Label Serial Number Label 7 68 Pin Digital I O Connector Symbol to Alert User to Read the Manual 8 68 Pin Motion I O Connector Symbol Indicating FFC Compliance 9 Identification Number Used in Australia 1 O1 5 ND Figure 3 3 PCI 7330 Parts Locator Diagram NI 7330 User Manual 3 2 ni com Chapter 3 Hardware Overview User Connectors The 68 pin motion I O connector provides all the signals for four axes of closed loop motion control including encoder feedback limit and home inputs breakpoint outputs trigger inputs and analog to digital A D converter signals Refer to Chapter 5 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 5 Signal Connections for details about the signals in the digital I O connector The PCI 7330 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products The PXI 7330 RTSI enabled connection provide
36. NCHO se Do Sie Sn ete oe oe Ge Se oe G eh HO Ms ER 2 Aare ay ied cg He NS et BE he A i 3 7 Motion Control Algorithms a algebras aa ee eas ill 11 12 12 12 14 4 Operation Explanation of interface Hardware Checks Software Checks Runtime operations Troubleshooting 5 1 General info about the chambers Appendicies 6 1 Engineering Drawings Stepper FFF Bracket Hoist Support Mounting plate Equipment Documentation Motion Controller Documentation 6 2 2 Stepper Driver Documentation 16 16 20 20 20 21 21 List of Figures 21 Electrical Hardware Flowchart 2 24 aa na ea 9 2 2 Electrical Hardware Components List 10 2 3 Shutter Controller Schematic oa ars rl ake pot 13 4 1 Main Run Window A ooo co Bo eo ne a beak CaS Seog ce rs 17 4 2 Manual Control Window es es a a BA 18 4 3 Status Window 2 02 Arda AA Shee ete ale ae 19 Ch 1 Introduction As with any piece of scientific equipment an X ray telescope is only as good as its worst component Ideally every component would be an exact physical repro duction of its theoretical design and the instrument would be perfect However as the required tolerances for these components become smaller and smaller it becomes easier to introduce error in the manufacturing process This manual shall concern itself with information and instructions relating to the correct assembly configuration and operation of the hardware and s
37. OM 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 Axes The 7330 controller can control up to four axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called coordinate spaces You also can synchronize coordinate spaces for multi vector space coordinated motion control At a minimum an axis consists of a trajectory generator a stepper control block and a stepper pulse generator output Closed loop stepper axes require a feedback resource while open loop stepper axes do not Figure 4 1 shows this axis configuration With the 7330 controller you can map one feedback resource and one or two output resources to the axis Trajectory Generator 101100111 Stepper LILILILIL Pulse Generator ES FS i Stepper f Control 010010110 Encoder 91011010 Loop Interface 101100111 E Figure 4 1 Stepper Axis Resources The 7330 supports axes with secondary output resources Defining two output resources is useful when controlling axes with multiple motors Note Refer to the N Motion User Manual for more information about configuring axes O National Instruments Corporation 4 3 NI 7330 User Manual Chapter 4 Function
38. ON B B on 2 31 dia circle 6 Appendicies 24 6 1 2 Hoist Hoist Dimensions QE 0 750 _ 94 500 DETAIL A SCALE 2 9 6 Appendicies 26 6 1 3 Hoist Support Vertical Support for Hoist Proposed construction consists of aluminum plate blocks which are held todether by bolts Assembly highlighted in red Contact Info Lucas Doyle High Energy Astrophysics Department Rooms B114A B Harvard Smithsonian Center for Astrophysics 60 Garden Street Cambridge MA 02138 Work phones 617 495 7209 607 495 2340 Work voicemail 617 495 7219 Email lucas p doyle gmail com Mobile 603 998 3565 this piece fixes the plate to the 4 000 side of the chamber 0 750 E 21 002 22 000 1 4 000 This is the vertical hoist mounting plate the clamps that go around the hoist bolt to this which in turn bolts to the blocks that grab the chamber 500 e EE A 6 Appendicies 31 6 1 4 Mounting plate Hoist mount Material 3 4 aluminum plate All dims in inches Do not scale drawing plate Clearance hole for 5 16 18 6 places Contact Info Lucas Doyle High Energy Astrophysics Department Rooms B114A B Harvard Smithsonian Center for Astrophysics 60 Garden Street Cambridge MA 02138 Work phones 617 495 7209 607 495 2340 Work voicema
39. T have an output capacitor that meets the drive minimum requirements In an unregulated supply the Cbus min requirements are normally met by the output filter capacitor built into the power supply If a regulated power supply is used Cbus min should be added across the output of the supply The DC P7000 drive has a small internal bus capacitor of 200 uf This absorbs most of the high frequency PWM ripple current but it is not large enough to handle the peak power demands of the motor during rapid acceleration and deceleration 3 Do not skimp on Bus Capacitance WARNING Drives are difficult loads for supplies Drives can have high peak power flows in and out as the load accelerates and decelerates The DC P7000 does not have any internal means to dissipate regenerated motor energy Energy regenerated back to the supply must be absorbed capacitively with a limited increase in bus voltage For a single drive load related energy flows in the bus are approximately proportional to motor current and bus voltage so the minimum bus capacitor is selected so that capacitive energy storage scales with motor current and bus voltage Capacitance rises as bus voltage drops to compensate for the fact that energy storage in a capacitor goes down as the square of voltage Initial Release 41 Appendix A 2 04 06 Danaher Motion CBUS MIN FOR A SINGLE DRIVE 24 V nom 48 V nom 75 V nom 18 000 uf 9 000 uf 6 000 uf Motor Current rms p
40. active transition on a high speed position capture input causes instantaneous position capture lt 100 ns latency 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 7330 position mode is to move an axis Relative to Captured Position O National Instruments Corporation 5 9 NI 7330 User Manual Chapter 5 Signal Connections The polarity of the trigger input is programmable in software as active low inverting active high non inverting rising or falling edge You also can use a trigger input as a latching general purpose digital input by simply ignoring the captured position e 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 e 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 either absolute
41. al Overview Motion Resources Encoder 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 ADC as a general purpose analog input 10 V to measure potentiometers or other analog sensors 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 breakpoint output and an inhibit output These signals can be used for general purpose digital I O when they are not being used for their motion specific purpose Host Communications NI 7330 User Manual The host computer communicates with the controller through a number of memory port addresses on the host bus The host bus can be either PXI or PCI The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions The 7330 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 communications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status
42. amming the 7330 easy All setup and motion control functions are easily executed 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 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 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 full 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 National Instruments Corporation 1 3 NI 7330 User Manual Chapter 1 Intro
43. aterials and magnets of two step motors of the same type can affect comparable motor performance by as NOTE much as 10 Due to these variances the nominal settings may not be the best possible settings fora given motor X Smoothness 2 M1 Amplitude adjustment for 2 harmonic M2 Phase adjustment for 2 harmonic X Smoothness 3 H1 DC offset adjustment for phase A H2 DC offset adjustment for phase B Procedure for Achieving Optimum Performance Step 1 Run the Auto X Smoothness Probe The X Smoothness Probe typically comes within 95 of the best adjustment values and finds the exact test speeds for the given motor Step 2 Run each X Smoothness group at the given test speed and verify the motor smoothness You may find a better smoothing value by slightly moving the slider bars back and forth M SD 7000 04 Initial Release 31 Using P7000Tools Test Speed 1 Test Speed 2 Test Speed 3 4 5 8 04 06 It is very important to make the X Smoothness adjustments at the proper test speeds with an unloaded motor Running at an incorrect test speed will not excite the motor at its peak resonance making it more difficult to find proper adjustment values Running the tests with a loaded motor moves the resonance frequency and the calculated tests speeds no longer apply Test speed which generates the excitation frequency for the X Smoothness 1 compensation adjustment Danaher Motion Tnax N M 16 e Toothcount e J Te
44. ation remove or add connector blocks when power is connected to the system Remove power from signal lines before connecting them to or disconnecting them from the device Operate the device at or below the installation 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 Installation categories establish standard impulse withstand voltage levels that commonly occur in electrical distribution systems The following is a description of installation categories e Installation 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 equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics e Installation Category II is for measurements performed on circuits directly connected to the electrical distribution system 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 Installation Category II are measurements performed on household appliances portable tools and similar devic
45. contact technical support Stall Fault Over current Fault The Encoderless Stall Detection feature has detected that the motor has slipped or stalled An event has occurred which caused the amplifier output current to exceed 5 6 amps Reduce move profile acceleration velocity deceleration or load inertia Power cycle or reset drive via Fault Reset input or P7000Tools Check motor wiring for shorts Power cycle or reset drive via Fault Reset input or P7000Tools Red 3 Over voltage A regenerative event has occurred which Reduce deceleration load Fault forced the bus voltage above 440 VDC inertia or reduce Incoming AC line voltage too high deceleration duty cycle to allow enough time for the power dump circuit to recover Power cycle or reset drive via Fault Reset input or P7000Tools Red 4 Drive Over The temperature of the heatsink has Reduce ambient temp Fault exceeded 70 C temperature or system duty cycle Power cycle or reset drive via Fault Reset input or P7000Tools M SD 7000 04 Initial Release 37 Troubleshooting 04 06 Danaher Motion LED Color Blinks Description Cause Solution Red 5 System Fault An error occurred while attempting to Power cycle or reset drive converge on a solution while running via Fault Reset input or the Motor Probe or Auto X Smoothness P7000Tools Probe Red 6 Under voltage Attempting to operate the unit at a bus Power cycle or reset d
46. duction Optional Equipment National Instruments offers a variety of products for use with the 7330 controller including the following accessories e Cables and cable assemblies for motion and digital I O e Universal Motion Interface UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality e Stepper 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 catalog the National Instruments Web site at ni com or call your National Instruments sales representative Motion 1 0 Connections NI 7330 User Manual The external motion and digital I O connectors on the 7330 are high density 68 pin female VHDCI connectors For custom cables use the AMP mating connector part number 787801 1 1 4 ni com Configuration and Installation This chapter describes how to configure and install the PXI PCI 7330 Software Installation Before installing the 7330 install the NI Motion driver software Refer to the Getting Started with NI Motion Control manual which is included with the controller for specific installation instructions 3 Note Ifyou do not install the NI Motion driver software before attempting to use the 7330 the system does not recognize the 7330 and you are
47. dvanced e Motion 4 Move Select Inputs Output y Active Closed 1 Motor Moving gt Active Closed hd Active Closed Lol la Active Closed Move Select Active Closed 5 Jog Active Closed Active Closed Active Clased Le Lel Lol da Active Closed La Le Le Let Let Led Led Let le 9 Fault Reset Active Closed Input Debounce Time Debounce Delay 1 000 ms 4 5 6 1 INPUTS The P7000 drive has nine general purpose user configurable inputs Most functions like Jog or Fault Reset can be assigned to any input number There are some assumptions about the use of these inputs when using them for Move Select that must be understood Only the first six inputs may be configured as Move Select Inputs with DINP1 being the LSB Least Significant Bit M SD 7000 04 Initial Release 29 Using P7000Tools 04 06 Danaher Motion These nine configurable inputs can be configured as a group as either sinking or sourcing Individually they can be configured as either Active Closed or Active Open All inputs regardless of function are subjected to digital debouncing and the Debounce Delay is applied globally Debounce logic requires an input state to persist for the programmed time before being recognized Input Funtion Description EOT Stops motion in a positive direction when transitioned from inactive to active EOT Stops motion
48. ected torque of a stepper motor is related to the current going through it at a given moment All of the steppers in the lab are two phase bipolar motors Bipolar motors tend to be powerful than an equivalently sized unipolar motor but this comes at the price of increased thermal output Excessive heat in or around the vacuum chamber is not desirable Consequently most of the motors are either not being driven at their full current capacity or the drivers are configured to reduce current going to the motor after a certain duration of inactivity For reference most of the stepper motors in the lab operate in the 1 5 Amp range which provide more than enough torque for the application On their own the only thing you can really control about a motor is which way it normally turns when pulses are sent to the phase To reverse a motor simply swap the polarity going to any one phase For example for a stepper motor with inputs going to A A B and B swapping the wires that go to A and A or B and B would reverse the motor Other than that there is not much else to say 2 Hardware 12 about the stepper motors Their performance is almost completely dictated by whatever drive it is connected to 2 3 Stepper Drivers Nothing here yet 2 4 Motion Controller Nothing here yet 2 5 Arduino and Shutter Drivers Nothing here yet but here is a diagram of the component 2 Hardware 13 Figure 2 3 Shutter Controller Sche
49. ection a ea aa eas ee eS 34 4 5 9 MOTION PROFILE GENERATOR ccccscecceeccseeccncceecccnececesecanecsceeeeneeseaeceeeeesanss 35 55 TROUBLESHOOTING eetan raaa aaraa aea aa faa adoa ea aa aa anaa Aaaa ae apaa adaa aaae haa dadaan baai 37 5 1 2 COMMON PROBLEMS un ns N E ne en in 37 5 2 STATUS DISPLAY E ET ne dio 37 5 3 SAFETY ESSAI A enr de ue 38 APPENDIX A orpine ivastuna casaanwasbaadstaaavatasuedsssdainsauueds datedesauuadadddeissancubasddeisanecubeas 41 A 1 POWER SUPPLY MINIMUM BUS CAPACITANCE 0 cccceeecceeceeeeceueceeeueeeueeeeueeneneeees 41 A 2 CBUS MIN FOR A SINGLE DRIVE ccccceececeecceeceeeeceeeececueceaeceeeeceeeueeeaneeeaueeuaeeeneeens 42 A 2 1 GENERAL CBUS MIN FORMULA FOR MULTIPLE DRIVES c0ccceeecceneceseescneceeeeees 43 INDEX A AEA E E E EEN AA EA E A EEA A E A l ii Initial Release M SD 7000 04 Danaher Motion 1 M SD 7000 04 04 06 Getting Started GETTING STARTED WARNING Read this reference guide before you apply power to the drive Mis wiring of the drive may result in damage to the unit voiding the warranty Improper grounding of the drive may cause serious injury to the operator Only qualified personnel are permitted to transport assemble commission and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation commissioning and operation of motors and who have the appropriate qualifications for their jobs
50. ederal Communications Commission FCC and the Canadian Department of Communications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in acommercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference at their own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Compliance to EU Directives Users in the European Union EU should refer to the Declaration of Conformity DoC for information pertaining to the CE marking Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance informati
51. eneral the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brush motor for instance 12 bit analog ADC input application programming interface unit that controls a motor or any similar motion or control device axis 1 through 4 forward clockwise limit switch axis 1 through 4 home input axis 1 through 4 inhibit output axis 1 through 4 reverse counter clockwise limit input bit one binary digit either O or 1 memory address that serves as the starting address for programmable or 1 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 of memory required to store one byte of data G 2 ni com C CCW closed loop common CPU crosstalk CSR CW D DC dedicated DGND digital I O port DLL drivers DSP National Instruments Corporation G 3 Glossary 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 si
52. ent 8 is the oldest Input States Indicator is green if the input is true gray if false Commanded Position Actual motor position in user units double click in box to reset to zero Drive Information Drive Type Model number for this drive Serial Number Serial number for this drive OS Version Current firmware revision level Drive Temp Drive temperature in degrees Celsius Bus Voltage DC Bus voltage Initial Release M SD 7000 04 Danaher Motion 4 5 2 sh Configuration 04 06 CONFIGURATION SUMMARY Using P7000Tools P dedemo p7k P7000 Tools EJE Fle View Project Drive Communications Help D lais sjt lt _ Print button only available on this screen COM1 Disconnected f 1 Untitled 8 status Configuration Summary Untitled n Stepper Motor a Mechanical J Command Wyo 1 X Smoothness e Advanced e Motion Drive Type P70530 Firmware OFFLINE Command Summan Step Resolution 18000 Step Input Filter Disabled Rotational Polarity Normal Enable Polarity Active Open Accel Decel 27 7778 Revs s High Speed 27 7778 Pevsis Low Speed 0 6944 Revs s Stop Rate 138 8889 Revs s Rate Limit 100000 0000 Revs s Mechanical Summary Distance Units Revs Gear Ratio 1 00000 Motor Revs User Unit Inertia Ratio Oto 1 Configuration Summary Switch Configuration United 04 10 06 09 47 18 v2 00 MotorType P22000 8 Operating Cu
53. er 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 Trademarks CVI IMAQ LabVIEW Measurement Studio National Instruments NI ni com NI Motion and RTSI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies Patents For patents covering National Instruments products refer to the appropriate location Help Patents in your software the patents txt file on your CD or ni com patents 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 FITN
54. er phase SA y Capacitor type is a general purpose 85C aluminum electrolytic screw terminal can For 75 V bus select a 100 V rated capacitor for a 48 V bus select a 63 V or 75 V rated capacitor for a 24 V bus select a 35 V or 40 V rated capacitor For example Cornell Dubilier DCMC 85C High Capacitance Computer Grade Aluminum 6 000 uf 100 V DCMC602U100EA2B 1 75 in dia x 2 125 in Example of a Simple Unregulated Isolated Offline DC Power 7 8 Apus at 120 VAC F LANG 3 9 Arye at 240 VAC Bus o AC gt lt O e lt gt 66 VDC BR 575 W Diode 48V a Na 115 230 VAC 8 7 Acont R Rectifier ee 4 50 60 Hz Cbus lt NS E BER GND O s AC P No o 16 AWG Step Down Isolating Transformer Vbus Spec 42 79 VDC at 0 W load 264 132 VAC line 69 VDC at 0 W load 230 115 VAC line 66 VDC at 575 W load 230 115 VAC line 56 VDC at 489 W load 195 98 VAC line Materials T 115 230 VAC to 24 48 VAC step down transformer 900 VA 4 000 V Isolation 5 25 x 5 2 x 4 8 ht 20 lb Signal MPI 900 48 BR 25 A 200 V single phase bridge rectifier 1 14 x 1 14 General Semiconductor GBPC2502 Cbus 20 000 uf 100 V aluminum capacitor computer grade 85C 2 dia x 4 125 ht Cornell Dubilier DCMC203U100BC2B F 250 VAC Type 3AB slo blo fuse 1 25 x 0 25 115 VAC line 15 A rated Littlefuse 326015 230 VAC line 7 A rated Littlefuse 326007 R 1k 10 W wirewound alu
55. eral installation Consult the computer user manual or technical reference manual for specific instructions and Warnings Caution The 7330 is a sensitive electronic device shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices Note When adding or removing a controller from a Windows 2000 NT XP system 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 7330 1 Power off and unplug the chassis Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 Choose an unused 3 3 V or 5 V peripheral slot and remove the filler panel 3 Touch a metal part on the chassis to discharge any static electricity that might be on your clothes or body Static electricity can damage the controller 4 Insert the PXI controller into the chosen slot Use the injector ejector handle to fully inject the device into place 5 Screw the front panel of the PXI controller to the front panel mounting rails of the chassis Visually verify the installation Plug in and power on the chassis NI 7330 User Manual 2 4 ni com Chapter 2 Configuration and Installation PCI 7330 l Power off and unplug the computer A Caution To protect yoursel
56. es modules e Installation Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired equipment such as equipment 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 Installation Category IV is for measurements performed at the primary electrical supply installation lt 1 000 V Examples include electricity meters and measurements on primary overcurrent protection devices and on ripple control units 1 Installation categories also referred to as measurement categories are defined in electrical safety standard IEC 61010 1 2 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation 3 MAINS is defined as a hazardous live electrical supply system that powers equipment Suitably rated measuring circuits may be connected to the MAINS for measuring purposes National Instruments Corporation 2 3 NI 7330 User Manual Chapter 2 Configuration and Installation Hardware Installation Install the 7330 in any open compatible expansion slot in the PXI or PCI system Appendix Specifications lists the typical power required for each controller The following instructions are for gen
57. f and the computer from electrical hazards the computer must remain unplugged until the installation is complete National Instruments Corporation Remove the cover to expose access to the PCI expansion slots Choose an unused 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer Touch a metal part on the computer case to discharge any static electricity that might be on your clothes or body before handling the controller Static electricity can damage the controller Gently rock the controller into the slot The connection may be tight but do not force the controller into place If required screw the mounting bracket of the controller to the back panel rail of the computer Replace the cover Plug in and power on the computer 2 5 NI 7330 User Manual Hardware Overview This chapter presents an overview of the PXI PCI 7330 functionality Figures 3 1 and 3 3 show the PXI 7330 and PCI 7330 parts locator diagrams respectively ul5 ul2 Le a e 33 T u20 val us u25 u24 u22 J4 1 Serial Number Label 4 68 Pin Digital I O Connector 2 DSP 5 68 Pin Motion I O Connector 3 CPU Figure 3 1 PXI 7330 Parts Locator Diagram 3 Note The PXI 7330 assembly number is located on the back of the PXI module National Instruments Corporation 3 1 NI 7330 User Manual Chapter 3 Hardware Overview G
58. f 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 NI 7330 User Manual C 2 ni com Glossary Symbol Prefix Value M mega 106 Numbers Symbols per percent et plus or minus 5 V 5 VDC source signal A A A D absolute mode absolute position acceleration deceleration active high active low ADC amperes analog to digital treat the target position loaded as position relative to zero 0 while making a move position relative to zero a measurement of the change in velocity as a function of time Acceleration and deceleration describes the period when velocity is changing from one value to another a signal is active when its value goes high 1 a signal is active when its value goes low 0 analog to digital converter National Instruments Corporation G 1 NI 7330 User Manual Glossary address amplifier Analog Input lt 1 4 gt API axis Axis lt 1 4 gt Forward Limit Input Axis lt 1 4 gt Home Input Axis lt 1 4 gt Inhibit Axis lt 1 4 gt Reverse Limit Input b base address binary buffer bus byte NI 7330 User Manual 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 g
59. fault MAX settings guarantee that the Find Index routine completes successfully 1f 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 5 3 shows the default encoder phasing diagram at the inputs to the controller Index Figure 5 3 Quadrature Encoder Phasing Diagram You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search You also can set the encoder polarity for phases A B and I 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 A 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 NI 7330 User Manual 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 opt
60. filter more aggressively lf the application uses course resolution such as 200 or 400 steps rev it may be quite helpful to invoke Multistepping checkbox This is a very aggressive use of the smoothing filter which will make full stepping appear almost as smooth as microstepping Heavy filtering is accompanied by a small delay of the command sequence All causal low pass filters have group delay which is inversely proportional to the bandwidth In this case the delay is 0 22 BW Multistepping cuts the bandwidth to 1 10 the value shown in the frequency box Dynamic Smoothing is the process whereby the incoming pulse train or move profile is filtered in such a way as to sharply reduce Jerk This results in amore quiet system and reduces the excitation of mechanical resonances The more heavily the filtering is applied the smoother the commanded motion becomes Heavy filtering is necessarily accompanied by group delay The drive uses information about load to rotor inertia ratio to predict the resonant frequency fr of the system The various levels of filtering introduce a second order low pass filter into the command sequence according to the following table Dynamic Smoothing 4 5 8 4 34 Frequency Break frequency of a second order command input filter Typically set to 1 3 the natural frequency of the motor ToothCount e Tmax N M 9eJ Smoothing Frequency Rotor kg m Stall Detection Stall Detection i
61. gnal for digital I O central processing unit an unwanted signal on one channel due to an input on a different channel Communications Status Register clockwise implies direction of motor rotation direct current assigned to a particular function digital ground signal a group of digital input output signals 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 NI 7330 User Manual Glossary E encoder encoder resolution FIFO filter parameters filtering flash ROM following error trip point FPGA freewheel full step Gnd GND NI 7330 User Manual 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 indicates the control loop parameter gains PID gains for a given axis a type of signal conditioning that filters unwanted signals from the signal being measured a type of electrically reprogrammable read only memory the difference between the instantaneous commanded trajectory position and the feedback position Field Programmable Gate Array the condition of a motor when
62. h speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded multitasking real time CPU 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 upon 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 National Instruments Corporation 4 1 NI 7330 User Manual Chapter 4 Functional Overview The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized The 7330 is a true multiprocessing and multitasking embedded controller Refer to the NI Motion User Manual for more information about the features available on the 7330 Trajectory Generators Analog Feedback Flash Memory NI 7330 User Manual The 7330 controller trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position This command is then sent to the stepper pulse generator To implement infinite trajectory control the 7330
63. he 7330 controller is a stepper motor controller for PXI and PCI The 7330 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 7330 motion controller for point to point and straight line vector moves for stepper motor applications The 7330 controller adds the ability to perform arbitrary and complex motion trajectories using stepper motors Stepper axes can operate in open or closed loop mode In closed loop mode stepper axes 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 7330 uses an advanced dual processor architecture that uses a 32 bit CPU combined with a digital signal processor DSP and custom field programmable gate arrays FPGAs making the controller a high performance device 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 National Instruments Corporation 1 1 NI 7330 User Manual Chapter 1 RTSI Introduction Each axis of the 7330 has motion I O for end of trave
64. hipment 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 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 Nati
65. il 617 495 7219 Email lucas p doyle gmail com Mobile 603 998 3565 28 50 30 6 Appendicies 33 6 1 5 Platen New Chamber Platen Material 304 Stainless steel plate 0 060 thick All dims in inches Do not scale drawing Contact Info Lucas Doyle High Energy Astrophysics Department Rooms B114A B Harvard Smithsonian Center for Astrophysics 60 Garden Street Cambridge MA 02138 Work phones 617 495 7209 607 495 2340 Work voicemail 617 495 7219 Email lucas p doyle gmail com Mobile 603 998 3565 New Chamber Platen NOTES Part should be symmetrical about the YZ plane Bend for 4 40 tapped thru hole 3 16 thru hole Rigidity 4 evenly spaced on each bolt circle 4 places 45 deg Y z K 1 2 shaft 2888 TEA g o a Ol oN CAN x Fe eo ae y SSS er y J y E Al a TA R 3 8 thru holes for 10 32 screws 4 evenly spaced 3 5 dia bolt circle 6 Appendicies 36 6 2 Equipment Documentation 6 2 1 Motion Controller Documentation Motion Control National Instruments 7330 User Manual Y NATIONAL October 2003 Edition gt INSTRUMENTS Part Number 370837A 01 Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504
66. imized noise immunity All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals 5 8 ni com Chapter 5 Signal Connections A Caution Unshielded cable can cause noise to corrupt the encoder signals resulting in lost counts and reduced motion system accuracy Encoder Input Circuit Figure 5 4 shows a simplified schematic diagram of the 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 To the quadrature decoder circuit From the external 1 kQ connector 1 8 W E encoder input 7 DGND pins Figure 5 4 Encoder Input Circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The 7330 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 e Trigger Input lt 1 4 gt When enabled an
67. ing as follows Low Voltage Directive safety 73 23 EEC Electromagnetic Compatibility Directive MON 89 336 EEC ik Note Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column National Instruments Corporation A 7 NI 7330 User Manual Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to the PXI PCI 7330 Figure B 1 shows the pin assignments for the stepper 50 pin motion connectors These connectors are available when you use the SH68 C68 S shielded cable assembly and the 68M 50F step servo bulkhead cable adapter Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 Step CW Axis 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
68. it employs a slower opto isolator Allow for a 55 us setup time from changes at the DIR input prior to transition of the STEP input Failure to meet setup time can result in the drive misinterpreting the intended direction of a step 1 O i i i E 1000 ILD 207 J4 3 Dir A H A 0 Wa 2 5to5VDC y H 18 MA max 1k a mia i i J4 4 Dir i i O i 100 Q RP RER RENTRER Enable Input J4 5 6 The ENABLE input removes current from the motor windings so the axis can be externally moved The polarity of the ENABLE logic is configurable using P7000Tools Factory default is ENABLE ACTIVE OPEN If the inputs are left open the drive is enabled The input is enabled with 5 mA of current It is suitable for use with 3 to 5 volt logic The ENABLE input is digitally filtered and internally de bounced Do not depend on the ENABLE input as a safety or E STOP mechanism Internal drive failure could result in motion When disabled the winding terminals are not at safe potential The power output from the drive WARNING is electrically safe only when the drive is disconnected from the power source 1 5k Q J4 5 ENABLE 4 64 Q VZ 2 5 to 5 VDC rv J4 6 ENABLE conc errr For step and direction inputs refer to Section 1 4 2 I O Specifications NOTE 10 Initial Release M SD 7000 04 Danaher Motion 2 2 2 2
69. it correctly based on signals coming from the motion controller Each stepper drive controls one stepper mo tor Since the pulse train coming from the motion controller is only for reference one pulse represents one step and therefore does not contain any significant power the actual wattage to drive the motor is taken from an external DC power supply Additionally all of the drives can bypass the motion controller entirely and connect directly to the computer through a custom cable for configuration troubleshooting purposes The stepper motors themselves vary quite a bit In general their purpose is to translate electrical energy supplied from the drives into mechanical actuation They contain two phases and magnetic teeth that can be used to move the motor in tiny increments called steps in a very precise manner They are coupled to hardware that physically moves the substrate inside the chamber To more clearly understand the role and connections between all the pieces of hardware mentioned here check out the hardware flowchart on the next page as well as the hardware list on the page after that 2 Hardware 9 Figure 2 1 Electrical Hardware Flowchart Legend Shutter Controller R amp D1 Serial over USB Shutter One Solenoid Shutter One DC power Shutter Two Solenoid 68 pin NI cable USB Hub Shutter Controller R amp D2 Power Supply 24V 65 Power Supply 24V Stepper driver pulse train High current step
70. ith the nitty gritty details of the software to execute a run 1 Introduction 6 The latest iteration of the software is version 5 7 which is universal for all coating types and can be run on any chamber Previous incarnations of the software only worked on a specific vacuum chamber or for a specific type of run This was a nightmare any time a bug was discovered because a bug present in one version would often be present in another version making it necessary to do the same fix over and over for each version to just to fix one bug Now with version 5 7 the integration and code is much tighter When version 5 7 was written it was necessary to separate the application control VI s and hardware control VI s into discrete entities so they could be troubleshooted on their own yet still function as part of a greater whole without the need for duplicate code Ch 2 Hardware The hardware portion of this manual will detail in depth the physical subsystems relevant to running the software to produce an optic Many parts of the hardware architecture and even individual components are custom Most of the sections here deal entirely with electrical hardware Information about structural related hardware things like brackets plates clamps etc is not presented here Instead information such as detailed engineering drawings can be found in the appendices 2 1 Hardware Overview All hardware instructions originate on the computer run
71. ke effect Initial Release 17 Configure the Drive with Switches 04 06 Danaher Motion 3 2 STEP RESOLUTION Step Resolution 3 3 LOAD INERTIA The P7000 eliminates resonance typical of step motors with high speed digital processing of motor electrical activity To use this feature you must set three switches based on the load to rotor inertia ratio These switches select the gain parameter for the drive to use to stabilize the motor Load Inertia Ratio Load Rotor 12 0 20 0 20 0 32 0 18 Initial Release M SD 7000 04 Danaher Motion 04 06 Configure the Drive with Switches 3 4 3 5 3 6 DYNAMIC SMOOTHING TM Dynamic smoothing is a temporal filter 2nd Order Low pass applied to the command sequence to reduce jerk It helps reduce overshoot and lessens the excitation of mechanical resonance in the system It filters from slightly below the resonant frequency up to well above resonance to remove spectral content would be misrepresented in the motor output and may also excite other parts of the machine Dynamic Smoothing Smoothing Minimal Moderate Heavy Aggressive CURRENT REDUCTION Reduces drive and motor heating by invoking standby current reduction via Switch S2 10 When enabled the reduction mode cuts motor current to 75 of its commanded value 100 ms after receipt of the last step pulse or the end of a stored move The red
72. l Release M SD 7000 04 Danaher Motion 3 3 1 04 06 Configure the Drive with Switches CONFIGURE THE DRIVE WITH SWITCHES NOTE The drive is configured by either using P7000Tools or the switches on the top of the drive The instructions that follow detail how to configure the drive using the switches MOTOR SELECTION Configure the drive for a motor type via switch settings on the top of the drive Valid settings are MOTOR MOTOR GUI Select M21 C series T2H H parallel M22 C parallel T21H H parallel 2 M22 C series T22 G parallel 3 N32 J parallel T23 H parallel 4 N33 J parallel 3 P2H B parallel 5 N34 J parallel 4 P2H B series 6 K31 J parallel 5 P2H C parallel 7 K32 J parallel 6 P2H C series 8 K33 J parallel 7 P21 C parallel 9 K34 J parallel 8 P21 C series A N41 J parallel 9 P22 C parallel B N42 K parallel A P22 C series C OFF K41 J parallel B ON M21 C parallel D OFF K41 K parallel C ON M SD 7000 04 gt NOTE For non system motors configure the drive with the P7000Tools GUI Wizard The motor inductance range is 2 15 mH Motor type zero is used for non system motors Using incorrect settings results in zero current motor will not operate If you change the motor type you MUST cycle power to the drive for the changes to ta
73. l limit and home switch inputs breakpoint output trigger input and encoder feedback Refer to Appendix A Specifications for information about the encoder feedback rates The 7330 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 7330 analog inputs can provide feedback for loop closure The 7330 supports the National Instruments Real Time System Integration RTSI 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 NI 7330 User Manual To set up and use the 7330 controller you must have the following items L NI PXI 7330 or PCI 7330 motion controller This manual Q LJ NI Motion 6 1 or later driver software and documentation a One of the following software packages and documentation LabVIEW 6 0 or later LabWindows CVI Measurement Studio C C Microsoft Visual Basic CI A computer with an available PXI or PCI slot 1 2 ni com Chapter 1 Introduction Software Programming Choices NI Motion is a simple but powerful high level application programming interface APT that makes progr
74. lso called a platen and in some cases a rat mandrel are used to sweep or rotate the substrate around under the cathode to create a desired thickness as evenly as possible over the surface of an optic The actual movements themselves are carried out by a motion controller stepper drivers and finally stepper motors attached to the platen or mandrel which in turn have substrates affixed to them The exact nature of how both pieces of equipment move are governed by algorithms in the software 1 3 LabVIEW and Software The entirety of the software is written in the LabVIEW programming environment provided by National Instruments LabVIEW is unique in that it is an entirely graphical language Graphical programming offers several advantages as well as disadvantages over traditional text based languages C python java etc but it has been tested throughly and is in suitable and working order for this particular application The software s ultimate function is to translate various parameters specified by the user into correct instructions to issue to the stepper motors It is modular ized into various sub programs VI s in LabVIEW terminology to facilitate easy troubleshooting maintenance efficiency as well as making it very easy to add ad ditional functionality It has sophisticated hardware abstraction motion control algorithms an easy and intuitive user interface error checking and features that make it easy for people unfamiliar w
75. lt Reset See schematic in section 2 2 2 6 2 2 2 6 General Purpose Output J4 21 22 This output is from an optoisolator able to support no more than 5 mA before increasing VCEsar NOTE M SD 7000 04 The P70530 includes one optically isolated output that can be configured to indicate EOT latched Motor Moving Motion Node Active No Function Stalled The input may be powered by the on board 5 VDC logic supply J4 19 or from a remote supply ranging from 5 24 VDC 600 ohm at 5V add 100 Ohm for each volt after 5 volts 5 24 VDC Re ic R pull up Internal to Drive J4 x S l i G N A L MS VDC Common Initial Release 13 Wiring 04 06 Danaher Motion 2 2 3 J5 SERIAL CONNECTOR RS 232 RJ12 RJ11 Phone Style Pin Description 15 15 2 RX232 154 155 RJ12 RJ11 Phone Style J5 6 Standard RJ12 RJ11 Plug Parameter Specification Baud rate 19 200 Electrical interface RS 232 Full duplex UART 1 start bit mark 8 data bits even Transfer format parity bit and 1 stop bit space no flow control Cable wiring diagrams for connecting to either 9 or 25 pin serial ports of most computers are also shown below A Pinouts vary among computer manufacturers Check the hardware reference manual for your machine before wiring NOTE To PC 9 Pin Female To PC 25 Pin Female 14 Initial Release M SD 7000 04 Danaher Motion 04 06 Wi
76. mable active high or active low System Safety Watchdog timer function Resets board to startup state Watchdog timeout cocoooccccnnnccccnoncncnos 63 ms Shutdown input Voltage rang es Otos V Input low voltage 0 8 V Input high voltage 2V Polar Vo esia Rising edge Control isis Disable all axes and command outputs Motion 1 0 Encoder inputs cirio adicds Quadrature incremental single ended Maximum count rate 20 MHZ Minimum pulse width Programmable depends on digital filter settings Voltage A Otos V Input low voltage 0 8 V Input high voltage 2V Minimum index pulse width Programmable depends on digital filter settings Forward reverse and home inputs Number of inputs eeeeeeeeeeee 12 3 per axis Voltage TARBES rotar spas Otos V Input low voltage 0 8 V Input high voltage 2V Polary iraran nn rares Programmable active high or active low NI 7330 User Manual A 2 ni com National Instruments Corporation Minimum pulse width Control Trigger inputs Number of inputs Voltage range Input low voltage Input high voltage Polarity Minimum pulse width Capture latency Capture accuracy Maximum repetitive capture rate Breakpoint outputs Number of outputs Voltage range Espana Output low voltage O
77. matic L D Sclenoid Driver bex SR roti aa vse To SPee Wovid em use Termal Block fr 4 This 4 L re AC N MA LFS 36 24 Poner svPPIU LIV 6A Legend Jrd Or Sigra A 24 V in Box Pere Ch 3 Software 3 1 High Level Software Overview Nothing here yet 3 2 Notes on LabVIEW Nothing here yet 3 3 Explanation of Core Algorithms Nothing here yet 3 4 File Handling Nothing here yet 3 5 Error Handling Nothing here yet 3 6 Control Loops Nothing here yet 14 3 Software 15 3 7 Motion Control Algorithms Nothing here yet Ch 4 Operation 4 1 Explanation of interface 16 4 Operation 17 Figure 4 1 Main Run Window main yi Mandrel Coating Automated Multilayer Fabrication E 6 Bs 2 zs Si_150mA W_S0mA Run Progress Bilayer Progress pias with cathode shutter 1 Rate for C1 0 0850 Rate for C2 0 1220 ayering setup N 30 Generated own thickness files 4 Operation 18 Figure 4 2 Manual Control Window control vi E Manual Control Shutter Control Platen Control RPM 1 00 Go to Zero Position Set Current Pos to Zero Move by Angle 60 Mandrel Control RPM 1 00 Hove b anale 45 Go to Zero Position Initialize controller 4 Operation 19 Figure 4 3 Status Window status vi x R amp D Status Window 4 Operation 20 4 2 Hardware
78. minum housed chassis mount resistor 1 42 x 0 62 Huntington Electric TMC 10 1 0K Initial Release M SD 7000 04 04 06 Appendix Danaher Motion GENERAL CBUS MIN FORMULA FOR MULTIPLE DRIVES For multiple drives on the same supply a conservative rule is to scale up the capacitance by the number of drives on the supply For a large number of drives on the same supply with moves that are uncorrelated it may be adequate to increase the minimum capacitance by the square root of the number of drives A 2 1 Cbus min 6 000 uf X motor Arms SArms X 75 V bus voltage X of Drives The recommended minimum capacitance will handle matched inertias with most motors but if the application has high regenerated energy then more bus capacitor than the minimum may be needed 24V 48V 75V kT AC H 120 240 A tened VAC Cbus PPY 50 60 hz Gnd 6 Optional Regulated Isolated Supply 10 ft max twisted AA A Drive 1 i Bus 24V 48V 75V 16 AWG ea J7 1 design center D a 4 a gt o Ji Diode de era Rectifier Loi Bus Gnd Cbus CT 50 60 he J7 2 S DA Gnd Chassis PE e AG 4 ee J7 3 MANG Isolating Stepdown Transformer H DGlInputP7000 ff Le rta Unregulated Isolated Supply a Cbus minimum capacitance Drive N 5 Motor 3A rms phase Motor 5A rms phase BPE i a a RS a hal ot ie uA 3 600 uf per drive 75V bus 6 000 uf per drive 75V bus 5 400 uf per drive 48V bus 9
79. mity documentation example code tutorials and application notes instrument drivers discussion forums a measurement glossary and so on Assisted Support Options Contact NI engineers and other measurement and automation professionals by visiting ni com support Our online system helps you define your question and connects you to the experts by phone discussion forum or email Training Visit ni com training for self paced tutorials videos and interactive CDs You also can register for instructor led hands on courses at locations around the world System Integration If you have time constraints limited in house technical resources or other project challenges NI Alliance Program 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 electronic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com hardref nsf C 1 NI 7330 User Manual Appendix C Technical Support and Professional Services If you searched ni com and could not find the answers you need contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices section o
80. n Wizard will check to see if you have a previous version of P7000Tools on your system If found it will uninstall it After this you will need to run the installation again to install the new version on your system If you do not have a previous version of P7000Tools on your system you only need to run the installation once SET UP WIZARD Start P7000Tools Follow the Setup Wizard You will go through a series of screens to set up the motor drive I O command structure and mechanical configuration When you successfully finish this set up the front panel LED indicator is Solid Green The motor has holding torque Welcome Welcome to the P7000 Setup Wizard This wizard will assist you through setting the essential drive setup parameters which will allow you to get your application up and running in the shortest time possible Ata later time you can fine tune your application by adjusting the advanced drive parameters in the tree view on the left side of the project workspace window Press Next to begin the wizard setup or press Cancel at any time to open a blank project Do not auto start the Setup Wizard V Disable Auto Device Detection M SD 7000 04 Initial Release 21 Using P7000Tools 4 3 TOOLBARS Utilities Toolbar 04 06 Danaher Motion oses eje sin si New Project Open Project Save Project Print Configuration Send All Retrieve All Reset Drive Sof
81. n occur due to machine motion CAUTION Avoiding Electrical Shock Never power the stepper drive with the cover removed or with anything attached to circuitry inside the cover If the drive must be removed from the cabinet wait at CAUTION least five minutes after turning off power before removing any cables from the drive or removing the drive from the mounting panel To be safe measure the electrical contact points with a meter before touching the equipment Never connect or disconnect any wiring to the drive while power is applied Always power down and wait two minutes before connecting or disconnecting any wires to the terminals gt M SD 7000 04 Initial Release 39 Troubleshooting 04 06 Danaher Motion Avoiding Burns The temperature of the drive s heat sink and housing may exceed 70 C Therefore there is a danger of severe burns if these regions are touched CAUTION Preventing Damage to the Drive Follow these guidelines to prevent damage to the stepper drive during operation Never plug or unplug connectors with power applied Never connect or disconnect any wires to terminals with power applied If the drive indicates a fault condition find the cause of the fault and fix it prior to resetting the fault or power cycling the drive 40 Initial Release M SD 7000 04 Danaher Motion 04 06 Appendix APPENDIX A A 1 M SD 7000 04 POWER SUPPLY Minimum Bus CAPACITANCE The power supply MUS
82. nal From the connector breakpoint breakpoint pins circuits Figure 5 7 Breakpoint Output Circuit 5 11 NI 7330 User Manual Chapter 5 Signal Connections Analog Inputs The 7330 has the following ADC input signals e Analog Input lt 1 4 gt The 7330 includes an eight channel multiplexed 12 bit ADC capable of measuring 10 V 5 V 0 10 V and 0 5 V 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 5 2 These signals can be used for ADC test and system diagnostics Table 5 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 analog to digital conversion or both You can read the digital value of analog voltage on any of the eight ADC channels of the controller Table 5 3 shows the range of values read back and the voltage resolution for each setting The voltage resolution 1s in volts per least significant bit V LSB Table 5 3 Analog Input Voltage Ranges Input Range Binary Values 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0 10 V 0 to 4 095 0 0024 V LSB 0 5 V 0 to 4 095 0 0012 V LSB As indicated in Figure 5 3 when configured as analog feedback an analog sensor acts like a limited range absolute position device
83. nalog Input 4 Analog Input Ground Figure 5 1 68 Pin Motion 1 0 Connector Pin Assignments NI 7330 User Manual 5 2 ni com Chapter 5 Signal Connections Table 5 1 Motion 1 0 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 Phase A Digital Ground Input Closed loop only 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 Input Home switch Axis lt 1 4 gt Forward Limit Switch Digital Ground Input Forward clockwise limit switch Axis lt 1 4 gt Reverse Limit Switch Digital Ground Input Reverse counter clockwise 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 Shutdown Digital Ground Input Controlled de
84. ning the Automated Mul tilayer Fabrication software Since the software is written in LabVIEW this ne cessitates that the computer be running some version of the Windows operating system no older than Windows XP For familiarity s sake the computer in the lab set up to run this software is called Spectre so the term Spectre is synonymous with PC from here on out For the purposes of this application any time a hardware instruction is issued from LabVIEW it can go to either a motion controller or a shutter controller The simpler of the two is the shutter controller which is a custom component that uses a micro controller to open and close shutters on a chamber The shutter controller actually fires solenoids which then use compressed air to move rotary actuators on the chamber that rotate the shutters There is one shutter controller 2 Hardware 8 for every vacuum chamber and all are connected to Spectre through a USB hub The motion controller on the other hand is much more complicated Essen tially the motion controller is an FPGA that sits on a PCI card inside of the computer It can control four axes of stepper drivers and is sufficient to control all chambers When an instruction arrives from LabVIEW the motion controller generates pulse trains that can be understood by the stepper drivers The stepper drivers are what send high current electricity to the phases of a stepper motor in the correct sequence to rotate
85. nments for the 68 pin motion I O connector on the 7330 Table 5 1 includes descriptions for each of the signals A line above a signal name indicates that the signal is active low Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 Home Switch Trigger 1 Axis 1 Inhibit Axis 2 Dir CCW Digital Ground Digital Ground Axis 2 Home Switch Trigger 2 Axis 2 Inhibit Axis 3 Dir CCW Digital Ground Digital Ground Axis 3 Home Switch Trigger 3 Axis 3 Inhibit Axis 4 Dir CCW Digital Ground Digital Ground Axis 4 Home Switch Trigger 4 Axis 4 Inhibit Digital Ground Breakpoint 1 Breakpoint 3 Digital Ground Reserved Reserved Reserved Analog Input 1 Analog Input 3 Analog Reference Output Axis 1 Step CW Axis 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 Reserved Reserved Reserved Analog Input 2 A
86. nsiderations 52 lair ate eles es ee es 5 15 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI 7330 User Manual vi ni com About This Manual Conventions This manual describes the electrical and mechanical aspects of the PXI PCI 7330 and contains information about how to operate and program the device The 7330 is designed for PXI compact PCI and PCI bus computers lt gt gt A bold The following conventions appear in this manual Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example DIO lt 3 0 gt The symbol leads you through nested menu items and dialog box options to a final action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box The symbol indicates that the following text applies only to a specific product a specific operating system or a specific software version This icon denotes a tip which alerts you to advisory information This icon denotes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash When this symbol is marked on a product refer to the Safety Information section of Chapter 2
87. nsor Motor Moving Motor is rotating Motion Node Active Motion Node is still processing a move including any programmed time delay Stalled No Function Output will not be asserted The GPO and GPO are the isolated collector emitter terminals of an optocoupler They must be attached to a pull up and signal common of the machine control system see General Purpose Output J4 21 22 section 2 2 2 6 30 Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools 4 5 7 X SMOOTHNESS Adjusting your Motor for Maximum Smoothness with the X Smoothness Feature X Smoothness Untitled X Smoothness 1 X Smoothness 2 X Smoothness 3 ui 850 ME o HE fo o J E E Lz fio M2 jo H2 fo o oo H Test Speed 086 RPS Test Speed 1 72 RPS Test Speed 243 RPS Run Test 1 Run Test 2 Run Test 3 Auto X Smoothness Probe The X Smoothness feature helps eliminate undesirable motor vibration effects due to the 3 major resonance frequency responses Fundamental 2 Harmonic and 4 Harmonic The X Smoothness settings allow you to enter compensation values which cancel these resonance responses X Smoothness 1 L1 Amplitude adjustment for 4 harmonic L2 Phase adjustment for 4 harmonic All Danaher Motion s standard Pacific Scientific motors which have been characterized for use with the P7000 drive have nominal values for L1 amp L2 stored in the motor files Variances in the m
88. nstructions for setting up power installations with rated voltages below 1000 V DIN EN 60204 Part 1 VDE 0113 part 1 instructions relative to electric equipment in machines for industrial use DIN EN 50178 VDE 0160 instructions relative to electronic equipment for use in power installations Insure that the motor s case is connected to PE ground The fifth wire in the motor cable connecting J6 5 to the motor case accomplishes this Initial Release M SD 7000 04 Danaher Motion 04 06 Troubleshooting Motor case grounding If the motor is not properly grounded dangerous voltages can be present on the motor case due to capacitive coupling between the motor windings and CAUTION S gt Requirements for Safe Operation of the Drive It is the machine builder s responsibility to insure that the complete machine complies with the Machine Directive EN60204 The following requirements relate directly to the stepper controller Emergency Stop If personal injury can result from motor motion the user must provide an external hardwired emergency stop circuit outside the drive This circuit must simultaneously remove power from the drive s motor CAUTION power terminal J6 12 J6 2 J6 3 and J6 4 Note The motor will coast under this condition with no braking torque gt Avoiding Unexpected Motion Always remove power from J7 and wait 2 minutes before working on the machine or working anywhere where injury ca
89. o Drive H De H 20 Common Sinking input device using Sinking input device using P7000 internal 5 VDC supply external supply 5 VDC SWI JAroococcccccoccococo o A y He D INX SW1 5 VDC Internal to Drive 20 Pull Up Dn 25 Common Internal to Drive t ms ooo KS 20 Common SW1 Input device is shown as NORMALLY OPEN It may also be configured via the user interface as NORMALLY CLOSED For voltages greater than 5 VDC 24 VDC max install a current limiting resistor in series with the input Size according to Rc Vs 5 100 NOTE 12 Initial Release M SD 7000 04 Danaher Motion 04 06 Wiring 2 2 2 5 Fault Output J4 7 8 This output is from an optoisolator able to support no more than 5 mA before increasing VCEsar NOTE Dedicated Fault Output indicates that the drive has sustained a latched condition Whenever the fault output is asserted the front panel LED blinks a Fault Code repeatedly FAULT and FAULT are the isolated collector emitter terminals of an optocoupler They must be attached to a pull up and signal common of the machine control system The output pair is normally conducting and becomes and open circuit during a fault Faults are cleared in three ways 1 Power cycle Power must remain disconnected for approximately 10 seconds to effect reset 2 Software reset Use the Reset button on the toolbar 3 1 0 pin Any of the nine I O pins may be configured as a Fau
90. oating 1 1 Intro to DC magnetron sputtering The core of this document will not deal with the underlying principles that explain why a multilayer or single layer coating on an optic is a good way of focusing X rays Instead it will deal with the actions and operations necessary to produce an optic It is therefore worth going over the high level technique being employed to precisely control deposition of material on to the surface of the optic This technique is called DC magnetron sputtering DC magnetron sputtering starts out by utilizing a magnetron an RF oscil lator similar to one found in a common microwave to excite a material into a plasma state The ultimate goal is to deposit the material on to the surface of a substrate a substrate once properly coated becomes an optic If the plasma were generated in open air it would collide with air molecules and never get anywhere near the substrate and therefore never coat it For this reason the entire process is conducted inside of a vacuum chamber pumped down to several milli torr By placing the material to be deposited at the cathode of the magnetron inside 1 Introduction 4 of the chamber under vacuum it effectively creates a stream of plasma when the magnetron is turned on This flow of plasma can then be used to coat an optic at a very precise and reliable deposition rate Since it is not easy to adjust this rate or repeatedly turn on off the cathode mechanical shutters
91. oftware systems necessary to produce a telescope optic The software and hardware sys tems developed and used in the Multilayer Lab exist to manufacture these optics while ensuring any error incurred during the process can be discounted as negli gible When manufacturing an optic the controlled deposition of materials on the surface of the optic is critical for minimizing and eliminating error This is done through correct assembly configuration and operation of the hardware and soft ware systems outlined here Material is deposited on the surface of an optic using a technique called DC magnetron sputtering which is carried out inside three dif ferent vacuum chambers present in Dr Suzanne Romaine s Multilayer Fabrication Laboratory at the Harvard Smithsonian Center for Astrophysics The setup of the three vacuum chambers in the multilayer lab can produce many different shapes and types of optics For instance they can handle coatings 1 Introduction 3 done on a rat mandrel on cylindrical hyperboloid shells or simply on flat wafers of silicon commonly used in the semiconductor industry Additionally through the use of multiple cathodes it is possible to control the deposition of many different types of material to achieve different optic characteristics Due to the various shapes and sizes of these optics many different algorithms are at work to make sure the substrate in the chamber is moved correctly to produce the expected c
92. ollector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V 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 NI 7330 User Manual Axis lt 1 4 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a 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 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 also can directly control the inhibit output signals to enable or disable a driver or amplifier 5 4 ni com Chapter 5 Signal Connections 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 In
93. on To obtain the DoC for this product visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or installer Contents About This Manual CONVENTIONS 5 nn ut nt etre net ni ets tr ET est net S rie ns 1X Related Doclime tat Onis juice sic aheccecs A ea OR PE AE A de RES x Chapter 1 Introduction About the 7330 Controller ccccnnocccnnnnnnonccnononinocicnnnnnanocnononanicocnnnanarococonenanicincnananinos 1 1 F AtUT S sim inns Are e ect 1 1 HATAWATE eee ceed AE A E en EE E mure 1 1 RES reset ins ee cl Mie hi see 1 2 What You Need to Get Started oooocccncnnnocccccnnnnonccnonnnaniocnononanicicnonanarocccnnnanarocanonnniconnns 1 2 Software Programming Chota 1 3 National Instruments Application Software eesesseseseeesessresereesersrressrerseeseressrerssessreese 1 3 Optional EQUIPMENT ER n E ER Re Aa Le 1 4 Motion I O Connections k acneea E R 1 4 Chapter 2 Configuration and Installation SoftWare Installation ia dee edie die sa nn A 2 1 Controller Comite uration siii ai rita airada 2 1 NO 2 2 Hardware InstallatiON oooonncnnnnnoninocccnnnnnirocnnnoninococcnonanonccnonononocnnnnnnnonccrononanoccononanosos 2 4 Chapter 3 Hardware Overview Us r Connectors ses a et tetas dre ee a eee 3 3 Chapter 4 Functional Overview Dual Process
94. on 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 National Instruments Corporation 5 5 NI 7330 User Manual Chapter 5 Signal Connections 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 these 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 5 2 shows a simplified schematic diagram of the circuit used by the limit and home switch inputs for input signal buffering and detection Vec 3 3 KQ To the limit and home switch circuits gt MW From the external 1kQ connector limit 1 8 W S and home switch pins DGND Figure 5 2 Limit and Home Input Circuit A Caution Excessive input voltages can cause erroneous operation and or component failure Verify that your input voltage i
95. onal 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 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 oth
96. or Architecture cccccccccccccssscscccccescsccccesssecccesssscesessusscsscscesussceeceeesasess 4 1 Embedded Real Time Operating System RTOS oooooocccnnnccccnononcncnonncononannnons 4 Trajectory Generators O 4 2 Analog Feedback idad 4 2 Flash MEMO A evens acne ae NE ES te es 4 2 National Instruments Corporation v NI 7330 User Manual Contents Axes and Motion ResQUICES ccccceccececceccccceccecasecseseesecececccesceceesususesseeeeeeceseeeeaeeeea 4 3 AR eta eran chads T E GATTO TST 4 3 Motion Resources iii 4 4 Host Commum atlonsi str nt e n 2 ei eed 4 4 Chapter 5 Signal Connections Motom VO CONNECTION saa id dt dea 5 1 Motion AXIS east di AT 5 3 Limit and Home put sense en me did 5 5 Wiring CONC einen pie even a et 5 5 Limit and Home Input Circuit cita ean dean ates 5 6 tn aed sre ern cae asc nn des ae ts 5 6 Encoder lt L 4 gt Phase A Phase Bosnia idad 5 7 Encoder lt ls4 gt Index tia 5 7 Wiring Concerns ses elui nent tn d ete 5 8 Encoder Input Circuit 03 252 weenie ne M en 5 9 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 9 VME INAS OCT Srg cache hele alee A ee nt 5 10 Trigger Input Shutdown Input and Breakpoint Output Circuits 5 11 Amalos TQS aia 5 12 ima AA net Moreira rte etes 5 13 Other Motion O ConneCHOns s sms ane need 5 13 Digital TON Comtat A 5 14 OW WES AUT CS ci A vaa 5 15 RTS COMM Clr caia a a a a ead tt casted nal den 5 15 RTSI Signal Co
97. other motion I O connection e Host 5 V This signal is the internal 5 V supply of the host computer It is typically used to detect when the host computer is powered on and to shut down external motion system components when the host computer is powered 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 National Instruments Corporation 5 13 NI 7330 User Manual Chapter 5 Signal Connections Digital 1 0 Connector All the general purpose digital I O lines on the 7330 are available on a separate 68 pin digital I O connector Figure 5 8 shows the pin assignments for this connector NI 7330 User Manual 5 V PCLK Reserved Reserved PWM1 Reserved Reserved Reserved PWM2 Port 1 bit O Digital Ground Port 1 bit 3 Port 1 bit 4 Digital Ground Port 1 bit 7 Port 2 bit O Port 2 bit 1 Digital Ground Digital Ground Digital Ground Port 2 bit 6 Port 2 bit 7 Port 3 bit O Digital Ground Port 3 bit 3 Port 3 bit 4 Digital Ground Port 3 bit 7 Port 4 bit O Digital Ground Port 4 bit 3 Port 4 bit 4 Digital Ground Port 4 bit 7 5 14 Digital Ground Digital Ground Digital Ground DPull Digital Ground Reserved Digital Ground Digital Ground Digital Ground Port 1 bit 1 Port
98. otor inertia and the Load to Rotor inertia ratio are set in the Mechanical screen If set improperly the effectiveness of the feature may be diminished The anti resonance check box is used to invoke or disable the feature It should be enabled unless the system configuration either does not need it or cannot tolerate it A system with lossy couplings or viscous loading generally does not need this feature If a system has compliant springy coupling and is absent appreciably viscosity it may not respond well to the active anti resonant loop in the drive The anti resonant feature is not designed to damp such a 4 order system If the application of anti resonance results in degradation or instability it should be disabled unchecked Frequency Break frequency of anti resonance tuning filter Typically set to 1 10 the resonant frequency of the motor ToothCount e Tinax N M 100 J ARes Frequency Rotor kg m Amplitude Set to 6500 nominal Do not alter this value unless advised by technical support Current Reduction Unlike a servo system the step motor is left energized even at rest This leaves full torque available to oppose external disturbing influences and hold position precisely However many applications encounter vanishingly small load effects at rest and may benefit from the reduction of current when not moving The reduced level is programmed as a percent of full current and the time delay is ente
99. per 4 wire hutter One Solenoid Physical attachment PCI bus inside computer utter Two Solenoid Shutter Three Solenoid hutter Four Solenoid Shutter Controller MLPC Shutter One Solenoid Shutter One Shutter Two Solenoid Axis One Stepper Driver Axis One Stepper Motor Platen R amp D2 n Power Supply Axis Two Stepper Motor Mandrel R amp D2 NI Breakout Board Axis Three Stepper Driver Axis Three Stepper Motor Platen R amp D1 Power Supply 24V 4 2A Axis Four Stepper Driver Axis Four Stepper Motor Mandrel R amp D1 Motion Controller Custom UMI Enclosure Only plugged in when MLPC is in use Axis One Stepper Driver Axis One Stepper Motor Power Supply Platen MLPC 2 Hardware 10 Figure 2 2 Electrical Hardware Components List Quantity Device Name Model Manufacturer Vendor Notes 1 Computer Optiplex 755 Dell 227 Obtained through CfA 1 Monon PCI 7330 National Instruments National Instruments controller Minarik is the 5 Stepper driver P70530 SDN Pacific Scientific Minarik cheapest place for these Used for both R amp D 68 pin breakout chamibeTs 1 P CB 68LP National Instruments National Instruments Functions exactly board like UMI except cheaper Housed inside 1 UMI UMI 7764 National Instruments National Instruments USt0M eticlosure Used only for MLPC 1 Stepper motor AM34 419 1 Advanced Micro Advanced Micro Fantastic price and R amp D platen System
100. put 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 3 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 should 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 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 7330 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 moti
101. r Probe Stepper Motor When a new motor is selected you are prompted to allow a PROBE This is similar to what an inductance meter does to measure inductance The P7000 uses a more powerful test signal which makes an audible tone in the motor The probe action takes 10 to 20 seconds during which time the drive is gathering information needed to operate state observers It may be desirable to manually start a probe using the PROBE STEPPER MOTOR button This would be done if a motor were replaced by a unit of the same type 4 5 3 1 Motor File Editor Motor List New v Properties X Smoothness Motor Name New Recommended Motor Current 0 Amps RMS a Amps Peak Test Speed 1 0 RPS 00 Test Speed 2 0 Tooth Count 50 pi PES u Test Speed 3 0 RPS 0 0 These values affect Recommended Value calculations Lt 0 Peak Torque 0 Nem Ez 0 Rotor Inertia 0 kg cm 10 000 x kg m Dynamic Smoothing Anti Resonance Recommended Recommended Value Frequency 0 Hz Frequency 250 250 0 ps z Amplitude 6500 6500 Delete Exit Motor List List box that contains all of the motor file configurations available in the database on this PC Select a motor from this list to edit or select NEW to configure a new motor This screen is where you will enter custom motor parameters The steps to define a custom motor are Properties The Properties box must be populated with values from a motor da
102. r Motion W Wiring 7 Connector Locations 7 Il Initial Release M SD 7000 04 Sales and Service Danaher Motion is committed to quality customer service Our products are available world wide through an extensive authorized distributor network To serve in the most effective way please contact your local sales representative for assistance If you are unaware of your local sales representative please contact us Europe Danaher Motion Customer Service Europe Email support danahermotion net Phone 49 0 203 9979 9 Fax 49 0 203 9979 155 Web www DanaherMotion net North America Danaher Motion Customer Service North America Email customer support danahermotion com Phone 1 540 633 3400 Fax 1 540 639 4162 Web www DanaherMotion com CD bDANAHER MOTION Helping you build a better machine faster
103. red in milliseconds ms The drive will gently reduce the current to the programmed value after the motor has been at rest for a specified time If the box is left unchecked the numeric entries have no effect and full current is maintained at rest Motor heating is proportional to the square of the current Thus a reduction of 70 current represents a reduction to 50 power Current reduction has little effect as long as the resting motor is not opposing a continuous torque as in lifting applications If a disturbing torque is present the current reduction will result in a small amount of movement The current vector is restored to full value the instant an incoming step is received or the move engine begins a move Initial Release 33 Using P7000Tools 04 06 Danaher Motion 4 5 8 3 Profiling Profiling Multi stepping refers to the process of altering the acceleration in the command sequence to reduce Jerk Acceleration transients jar the application and may cause unwanted vibrations When Dynamic Smoothing is enabled the moment to moment move profile is passed through digital filters to smooth out the acceleration deceleration transients If the feature is enabled a value is recommended for the frequency of the filters This recommendation is based on the moment of inertia of the motor the load to rotor inertia ratio and torque production specified in the configuration That recommendation should be accepted unless it is desired to
104. ring 2 2 4 J6 MOTOR 24 V to 75 V motor 0 625 Apus t0 5 Agu phase ee RG a A ee ay fe ef E RED Shield Chpssis J GRAN _ A ED o S on MOTOR POWER A To avoid electrical shock motor ground must be connected to protective earth Typical Pacific Scientific stepper wire color code A Orange Motor Phase A A Black twisted pair B Yellow Motor Phase B B Red twisted pair PE Green Yellow Stripe Cable Shield Motor Case J6 5 connects to J7 3 inside drive To reverse direction of motor rotation Switch A with A OR Switch B with B OR NOTE Switch A A with B B OR Switch rotation polarity in the user interface Danaher Motion recommends the use of insulated wire ferrels to prevent shorting and add strain relief NOTE M SD 7000 04 Initial Release 15 Wiring 04 06 Danaher Motion 2 2 5 J7 DC POWER n 2 D U E O a oo a a O U m Connector view from front of drive Pin__ Description S Plus power supply terminal 20V 75V Negative power supply terminal 5 av max Negative power supply terminal Bus Gnd is normally earthed Maximum allowable voltage between Bus Gnd J7 2 and Chassis J7 3 is 100 V peak Connect to PE Protective Earth J7 3 connects to J6 5 inside drive isolated unregulated or regulated power supply Danaher Motion recommends the use of insulated wire ferrels to prevent shorting and add strain relief NOTE 16 Initia
105. rive Fault voltage below 10 VDC via Fault Reset input or Incoming AC line voltage too low P7000Tools Red 7 EEPROM User non volatile memory checksum Restore default Checksum validation has failed indicating user configuration from the Fault setup corruption P7000Tools menu option Drive gt Restore Default Configuration Red 8 Open Phase A motor phase is open Check continuity of motor Fault cable and motor windings Red Constant Processor Fault Illegal Address Contact technical support Blinking NJ Alternating Multi Processor Fault Internal system error Contact technical support Red amp Amber Alternating Fast Motor being Part of setup process Red amp Green probed Alternating Slow End of Travel An End of Travel input has been Determine cause of Red amp Green activated activation 5 3 38 The blinking continues until the drive is reset by one of the following methods Power Cycle GUI Control Fault Reset Configurable General Purpose Input SAFETY As the user or person applying this unit you are responsible for determining the suitability of this product for the application In no event will Danaher Motion be responsible or liable for indirect or consequential damage resulting from the misuse of this product Read this manual completely to effectively and safely operate the P7000 Comply with the applicable European standards and Directives In Germany these include DIN VDE 0100 i
106. rmines 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 which can be revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in NI Motion systems KE 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 Encoder lt 1 4 gt Index 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 National Instruments Corporation 5 7 NI 7330 User Manual Chapter 5 Signal Connections The de
107. rrent RMS 1 50 Amps Operating Current Peak 2 12 Amps Tooth Count 50 Peak Torque 1 430 N m Rotor Inertia 0 252 kg om Velocity Limit 50 0000 Revs s YO Summary Input 1 Move Select Active Closed Input 2 Move Select Active Closed Input 3 Move Select Active Closed Input 4 Move Select Active Closed tead Disconnected The configuration summary is displayed 4 5 3 STEPPER MOTOR SCREEN Pi dedemo p7k P7000 Tools Fle View Project Drive Communications Help Daule e 9 su 4 Le sl JUE COM1 Disconnected P 1 Untied Stepper Motor Untitled 5 Status 4 Configuration reste w Stepper Motor Motor File Editor Mechanical Motor Name N3do0J Y E Command Wyo Operating Current 435 Amps RMS WM X Smoothness e Advanced 7 00 Amps Peak y Motion Tooth Count 50 Peak Torque 13770 N m Rotor Inertia 5300 kg cm 10 000 x kg m Ready Disconnected Motor Name Select from the list or create a custom file using Motor File Editor see next section for details Operating Current Arms Apeak M SD 7000 04 Continuous current rating for the selected motor Peak current rating for the selected motor Calculated by GUI based on continuous current rating Initial Release 25 Using P7000Tools 04 06 Danaher Motion Tooth Count Number of magnetic poles on the stator Peak Torque Peak torque capability of the motor Rotor Inertia Rotor inertia of the moto
108. s Systems quality 3 Sue N A Lucas Doyle Custom made jae shutter controller controller section Power supply Misc power supplies 3 ZAV RSSA Various Various Various already owned to power shutter controllers Power supply Omicron Electronics at Power for stepper 4 24V 4 2A AASAD Inc Digi key drivers Old motor on R amp D1 can be Stepper motor Care bio Danaher replaced by one E R amp D1 platen Slosyn Et Superior Electrics Kollmorgen from AMS see platen motor for R amp D2 Vacuum compatible 1 Stepper motor 22 22 29 one Mandrel Mandrel switches between chambers 1 Stepper Motor 22 22 22 Origins of this motor MLPC platen is unknown 2 used for R amp D1 4 i 22 3 7 Solenoids SYJ3140 SMC 277 for R amp D2 1 spare 2 Solenoids 22 22 22 Unknowi solenoids for MLPC 2 Hardware 11 2 2 Stepper Motors and Power Transmission Stepper motors are attached to end effectors inside the vacuum chamber and are ultimately what move the sample in the appropriate manner under the cathode There are several different sizes of stepper motors in use throughout the lab In most cases the stepper motors on the chambers have 200 steps per rotation but using a technique called micro stepping on the stepper drivers it is possible to achieve 50 000 steps per revolution as is the case on R amp D2 s platen Using a gearbox can further improve how precise the motor is but may introduce backlash as is the case on MLPC and R amp D1 The exp
109. s enabled and disabled using the check box Stall detection would be disabled if it failed to operate correctly and rendered nuisance stall indications This may occur with non standard motors from other vendors If an application is suspected of causing nuisance stall indications try disabling the feature and running the move sequence If the system makes the move without losing synchronism then it is likely that nuisance trips have occurred Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools 4 5 9 MOTION PROFILE GENERATOR Once the system is configured you can select Motion Generator by double clicking on the motion folder Motion Node Jog your motor with a Click of the mouse Clicking on this box resets the value to 0 lala Chain moves together Velociy Decel eee ee ee pa Select up to 63 motions with es Reve 2 T ET 7 D un fre de al A MA E E E Co E E independent accel and decel E D x The Motion Profile Generator selects the Move Structure Acceleration Velocity Distance AVD or Time Distance T D and enters the parameters for a stored move Once a move has been composed it must be entered using the Enter Profile button Moves may be entered in any order and edited at will A move profile is brought to the edit line by clicking on it in the move list To enter a new move click on it in the list
110. s 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 also can use the RTSI bus for general hardware based communication between RTSI devices The RTSI bus also can be used for general purpose I O Refer to Chapter 5 Signal Connections for details about RTSI connector signals National Instruments Corporation 3 3 NI 7330 User Manual Functional Overview This chapter provides an overview of the motion control algorithms and the PXI PCI 7330 capabilities Dual Processor Architecture With the 7330 you can perform up to four axes of simultaneous coordinated motion control in a preemptive multitasking real time environment An advanced dual processor architecture that uses a real time 32 bit CPU combined with a digital signal processor DSP and custom FPGAs give the 7330 controllers 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 7330 uses the DSP for all closed loop control and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the hig
111. s within the specification range Encoder Signals The 7330 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 signals Each channel consists of a Phase A Phase B and Index input as described in the following sections NI 7330 User Manual 5 6 ni com Chapter 5 Signal Connections 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 If an 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 The encoders have a maximum count frequency of 20 MHz 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 dete
112. sing P7000Tools 4 5 4 2 04 06 Load Information Danaher Motion The anti resonance stall detect and dynamic smoothing features require the adjustment of various parameters depending upon the ratio of Load to Rotor inertia If the ratio is unknown use an educated guess The drive easily tolerates a 30 40 error If the selection is set unrealistically high the anti resonance damping may be ineffective If set too low dynamic performance may be somewhat reduced 4 5 5 COMMAND CONFIGURATION 1 dedemo p7k P7000 Tools JOE Fle View Project Drive Communications Help as sie sim s COM1 Disconnected E P 1 Untied Command Untitled Status x 5 4 Configuration Command Signal Configuration in Stepper Motor Mechanical Step Resolution 25000 Steps Motor Rev gt El Command vo Step Input Filter Enabled 500kHz max 1 X Smoothness ate 7 Advanced Rotation Polarity Normal z h Motion Enable Polarity Active Open y Stop Rate 700 0000 Revs 7 s Rate Limit 100000 0000 Revs s Velocity Limit 50 0000 Revs s Jog Configuration Accel Decel 200000 Revs s High Speed 20000 Revs s Low Speed 05000 Revs s Ready Disconnected Command Signal Configuration Here you can check the Step Resolution Rotation Polarity Enable Polarity Stop Rate Rate Limit and Velocity Limit Step Resolution 200 to 50 000 steps per motor revolu
113. st Speed 1 Rotor kg m Test speed which generates the excitation frequency for the X Smoothness 2 compensation adjustment Tmax N M 4e Toothcounte Jo kgn Test Speed 2 Test speed which generates the excitation frequency for the X Smoothness 3 compensation adjustment Tmax NM Toothcount e Je tor Ke Test Speed 3 ADVANCED SETUP Pi Untitled P7000 Tools Bmx D lais 411 9 a DE 549 COML Disconnected fP 1 Untited Status 4 Configuration in Stepper Motor Ka Mechanical 3 Command 10 AW X Smoothness gt gt Advanced e Motion Fle View Project Drive Communications Help Advanced Untitled Anti Resonance Profiling Enabled Dynamic Smoothing Enabled El Current Reduction Stall Detection Enabled Enabled 32 Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools 4 5 8 1 4 5 8 2 M SD 7000 04 Anti Resonance Step motors are highly resonant which results in vibration and ringing The ringing utilizes a large fraction of the motor s available torque thereby wasting performance Furthermore at mid range velocities the resonance can become so severe that the motor looses synchronism and stalls The P7000 drives provide robust anti resonance control to stop the vibrations and maintain equilibrium This feature requires that the drive be configured with respect to the total inertia in the system The r
114. t Disable Amplifier Scan for Connected le aja m 016 o Motion Toolbar e L Jog Motor Positive Stop Motion Jog Motor Negative L Jog Velocity Toggle Creates a new project file in P7000 Tools Opens an existing project file in P7000 Tools Saves the current project to a file Prints the selected drive configuration active only when the Configuration view is selected Sends the entire configuration to the currently connected drive Retrieves the entire configuration from the currently connected drive Performs a soft drive reset equivalent to a power cycle used for clearing fault conditions Disables amplifier Scans the selected serial port for connected drives Jogs the motor in the negative direction at the selected velocity Selects the active jog velocity for the Jog arrow buttons L designates Low Speed H designates High speed Jogs the motor in the positive direction at the selected velocity Stops all Motion Node generated motion and breaks any active move sequence 22 Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools 4 4 PRODUCT SELECTION Setup Wizard Step 1 x Product Selection Select a device type below for offline setup C p70360AC P mg C p70530pc Status E hy Configuration m Stepper Motor By Mechanical 5 Command Y yo A x Smoothness PI Advanced a Motion Enter a name for this configuration Un
115. ta sheet All other values are calculated by the GUI software NOTE Motor Name Enter an appropriate motor name Motor Current Continuous current rating of the motor Arms Apeax iS automatically calculated by the GUI software Tooth Count Total number of magnetic poles on the motor stator The default is 50 26 Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools Peak Torque Peak output torque of motor in N m Rotor Inertia Inertia of motor rotor in kg cm Frequency equations illustrated later use rotor inertia in units of kg n 4 5 4 MECHANICAL Pi dedemo p7k P7000 Tools EJE Fle View Project Drive Communications Help Bla sle 6 0 as Coma rome P 1 Unttled RE j Status 4 Configuration Orona fa Stepper Motor gt amp Mechanical Units Revs a E Command 70 X Smoothness on 100000 Motor Revs Rev e Moton Ready Disconnected 4 5 4 1 User Units Ratio These values are used as parameters by the Move Profile Editor NOTE Units Can be set to one of the following Steps Revolutions Millimeters Inches Motor revs rev This is a scaling function used in the Motion Node to accommodate a gearbox Example 2 1 Gearbox Enter 2 motor revs rev Enter a Distance of 1 rev in a given motion profile Result The motor advances 2 revolutions to obtain 1 revolution of the gearbox M SD 7000 04 Initial Release 27 U
116. the book the publisher assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Danaher Motion that is furnished for customer use ONLY No other uses are authorized without written permission of Danaher Motion Information in this document is subject to change without notice and does not represent a commitment on the part of Danaher Motion Therefore information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues Danaher Motion reserves the right to make engineering refinements on all its products Such refinements may affect information in instructions USE ONLY THE INSTRUCTIONS PACKED WITH THE PRODUCT Safety alert symbols used in this document are Alerts users to potential physical danger or harm Failure to follow warning notices could result in personal injury or death WARNING Directs attention to general precautions which if not followed could result in personal injury and or equipment damage CAUTION Highlights information critical to your understanding or use of the product NOTE Danaher Motion 04 06 Table of Contents Table of Contents 1 GETTING STARTED covonioionsicionnaninnicinnannadonod csavescescabdbesyedissaacecsvecsecetsessnenedeettaaeess 1 1 UNPACKING AND INSP
117. tion When using a controller set the drive resolution equal to the controller resolution This is particularly important if there is position feedback to the NOTE controller Step Input Filter Check to enable low pass cutoff filter at 500 kHz to reduce response to high frequency noise Changes direction of motor rotation for a given input command Rotation Polarity 28 Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools Enable Polarity Active Open Drive is enabled upon power up or external switch must OPEN to ENABLE drive Active Closed External switch must CLOSE to ENABLE drive Stop Rate Used by Motion Profile Generator to terminate a programmed move Rate Limit Global limit on ACCEL DECEL in programmed moves Velocity Limit Global limit on the velocity of programmed moves and jog speeds Jog Configuration Here you can set the Acceleration Deceleration High and Low speeds These parameters control ACCEL DECEL and jog speeds that are generated by jog commands from within the user interface or the 1 0 NOTE ACCEL DECEL Global limit on jog acceleration deceleration High Speed High jog Low Speed Low jog 4 5 6 I O CONFIGURATION Pi Untitled P7000 Tools _ EOR File View Project Drive Communications Help Djem t sy COM1 Disconnected E P 1 untitled 1 0 Untitled Status 4 Configuration in Stepper Motor Mechanical Fl E Command Wyo 1 X Smoothness B Fe A
118. titled lt Back Cancel Help Select either P70360 AC or P70530 DC unit Add New Drive Add additional units Enter a Name for this configuration This is the name for the unit or axis 4 5 CONFIGURATION AND UNIT ADDRESS IP Untitled P7000 Tools File View Project Drive Communications Help Controller Untitled Configuration Name Untitled in Stepper Mp 9 Mechanical E Command Y vo Mr X Smoothness Unit Address 1 A If the globe on drive icon is green then la Motion K PEET si the program in the PC is identical to that in the drive If the globe is yellow then the program in PC is different from that in the drive Download or upload accordingly M SD 7000 04 Initial Release 23 24 Using P7000Tools 04 06 Danaher Motion 4 5 1 STATUS SCREEN Commanded Position 13836 Revs Drive Info Double click to mo reset to zero Do Drive Tope P70530 PNN System Status Disconnected Not online with the drive Indicator off Disabled Drive blinking green indicates online but not enabled Ready Drive online and enabled Solid green indicator Output State Offline Not connected to a drive Indicator gray Online Indicator is green when programmed output condition is met Fault History List of the last nine drive faults 1 being the most rec
119. ts now function as binary coded decimal bits Inputs must be programmed for this function starting with the LSB Input 1 and proceeding sequentially until the desired number of inputs are programmed for Move Select Input Binary Decimal 20 1 7 2 3 4 5 6 Initiating a programmed move from a controller works by one of the following methods METHOD 1 1 Assert a logic signal on the appropriate MOVE SELECT inputs For example to execute Move 3 assert a logic signal on MOVE SELECT inputs 1 and 2 2 Assert a logic signal on START MOVE The drive scans the MOVE SELECT inputs and executes the selected move This input is edge triggered 3 MOVE SELECT input signals may now be terminated along with the START MOVE input METHOD 2 You mayinitiate a move without using START MOVE You are limited to the following moves 1 2 4 8 16 32 To do this configure as many MOVE SELECT inputs as required and DO NOT configure an input as START MOVE Triggering the appropriate MOVE SELECT input initiates the selected move Method 1 requires that one input be programmed as Start Move Method 2 does not NOTE You need not configure more inputs for Move Select than you actually need For example if you have only four programmed moves configure only Inputs 1 2 NOTE and 3 for Move Select Move Select inputs must be consecutive It is suggested to start with input 1 and work down
120. ts 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 NI 7330 User Manual Glossary L LIFO limit switch end of travel position input m MCS microstep modulo position noise noninverting 0 open loop NI 7330 User Manual 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 radio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or recei
121. turns a PWM signal back into its corresponding analog value If desired you can use the PCLK input instead of the internal source as the clock for the PWM generators RTSI Connector The physical RTSI bus interface varies depending on the type of 7330 controller The PXI 7330 uses the PXI chassis backplane to connect to other RTSI capable devices The PCI 7330 uses a ribbon cable to connect to other RTSI capable PCI devices RTSI Signal Considerations The 7330 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 also can 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 5 9 National Instruments Corporation 5 15 NI 7330 User Manual Chapter 5 Signal Connections NI 7330 User Manual 200 ns gt gt Figure 5 9 Breakpoint across RTSI 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 RTSI bus for trigger inputs or generic digital I O all signals are passed through unaltered 5 16 ni com Specifications This appendix lists the hardware and software performance specifications for the PXI P
122. uction proportion and the delay can be set to other values using P7000Tools MULTI STEPPING Multi Stepping is similar to dynamic smoothing except that it is a much more aggressive use of the filter Typically it results in a filter that begins to roll off a couple octaves below the resonant frequency This is intended for use with course resolution full half step input pulses to smooth out the big steps into a continuous train of microsteps Multi Stepping ON Enabled M SD 7000 04 Initial Release 19 Configure the Drive with Switches 04 06 Danaher Motion 3 7 20 ENCODERLESS STALL DETECTION M The P70530 drive is uniquely designed to sense the motor shaft position at all times The drive monitors the commanded position and compares it to the actual position As with any two phase step motor when the shaft position and commanded position are greater than two full steps apart a stall will be detected and the drive will fault Stall Detection S2 12 ON Enabled Encoderless stall detection uses an internal motor model for stall detection Motors in the P7000 Data Publication work well Other motors may not work as well as the algorythm is subject to constraints No guarantees of reliability of this feature are made when using other motors Initial Release M SD 7000 04 Danaher Motion 04 06 Using P7000Tools 4 4 1 4 2 USING P7000TOOLS INSTALLING P7000TOOLS When you install P7000Tools the Installatio
123. urces C 1 drivers NI resources C 1 E Encoder lt 1 4 gt Index 5 7 Phase A Phase B 5 7 encoders cables 5 8 inputs limiting noise 5 8 signals cables 5 8 ground connections 5 8 examples NI resources C 1 NI 7330 User Manual Index F features 1 1 FPGA programs updating 4 3 functional overview host communications 4 4 G ground connections encoder signals 5 8 home switch signals 5 6 limit signals 5 6 H hardware 1 1 help technical support C 1 home switch signals ground connections 5 6 Host 5 V motion I O connection 5 13 host communications 4 4 I O connectors 1 4 implementing trajectory control 4 2 installation category 2 3 hardware 2 4 software 2 1 instrument drivers NI resources C 1 K KnowledgeBase C 1 limit inputs wiring 5 5 signals ground connections 5 6 NI 7330 User Manual 1 2 motion I O connector signals 5 1 motion I O connection Host 5 V 5 13 National Instruments support and services C 1 NI support and services C 1 noise encoder inputs 5 8 0 optional equipment 1 4 P programming examples NI resources C 1 Q quadrature encoder inputs 5 6 signals 5 7 R requirements for getting started 1 2 return data buffer RDB 4 4 RTSI breakpoint across RTSI figure 5 16 connector 3 3 5 15 signal considerations 5 15 using with the 7330 1 2 S safety information 2 2 Shutdown Input Circuit 5 11 signal
124. utput high voltage Polarity Maximum repetitive breakpoint rate Inhibit enable output Number of outputs Voltage range Output low voltage Output high voltage PORC manner ee ee COMPO audi A 3 Appendix A Specifications 1 ms with filter enabled 60 ns without filter enabled Individual enable disable stop on input prevent motion Find Home 4 Encoders 1 through 4 Oto 5 V 0 8 V 2V Programmable active high or active low 100 ns lt 100 ns 1 count 100 Hz 4 Encoders 1 through 4 0to5 V lt 0 6 V at 64 mA sink Open collector with built in 3 3 KQ pull up to 5 V Programmable active high or active low 100 Hz 4 1 per axis Oto 5 V lt 0 6 V at 64 mA sink Open collector with built in 3 3 kQ pull up to 5 V Programmable active high or active low MustOn MustOff or automatic when axis off NI 7330 User Manual Appendix Specifications Digital 1 0 NI 7330 User Manual Analog inputs Number of inputs 8 multiplexed single ended Number for user signals 4 Number for system diagnostics 4 Voltage range programmable 10 V 5 V 0 10 V 0 5 V nput resistance Rennais 10 KQ min Input CoUpling 4 sis DC RES OUI OM aes ora 12 bits no missing codes MONO Eonia Guaranteed Multiplexor scan rate 25 us enabled channel Analog reference output 7 5 V nominal 5 mA POLS oa A ee Re Re aor 4
125. ve 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 refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals G 6 ni com PCI port position breakpoint power cycling PWM PXI Q quadrature counts R RAM relative breakpoint relative position relative position mode ribbon cable RPM National Instruments Corporation G 7 Glossary Peripheral Component Interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA It is 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 by varying the on time duty cycle of transistor switches PCI eXtensions for Instrumentation
126. vice shutdown Analog Reference output Analog Input Ground Input 12 bit analog input Analog Input Ground Output 7 5 V analog reference level Digital Ground Reference for digital I O Motion Axis Signals The following signals control the stepper driver National Instruments Corporation Axis lt 1 4 gt Step CW and Dir CCW These open collector signals are the stepper command outputs for each axis The 7330 supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs 5 3 NI 7330 User Manual Chapter 5 Signal Connections 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 driven by high speed open c
127. with a full scale position range You can map any ADC channel as feedback to any axis NI 7330 User Manual 5 12 ni com Chapter 5 Signal Connections You can enable and disable individual ADC channels in software Disable unused ADC channels for the highest multiplexer scan rate performance When the ADC channels are properly enabled the scan rate is 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 as the reference for the analog inputs Wiring Concerns For proper use of each 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 i 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 1 0 Connection The 7330 provides the following
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