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National Instruments 7344 Switch User Manual

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1. Figure 4 2 Stepper Axis Resources The 7344 7334 controller supports axes with secondary output resources DACs for servo axes or stepper outputs Defining two output resources is useful when controlling axes with multiple motors such as gantry systems where two DAC outputs can be configured with different torque limits and or offsets In addition the 7344 controllers also support secondary feedback resources encoders or ADCs for axes defined as servo Two feedback resources are used when implementing dual loop control for example in backlash compensation Ni Note Refer to the Axis and Resource Configuration section of the FlexMotion Software Reference Manual for more information on configuring axes Motion Resources Encoder DAC ADC and motion I O resources that are not used by an axis are available for non axis or nonmotion specific applications You can directly control an unmapped DAC as a general purpose analog output 10 V Similarly you can use any ADC channel to measure potentiometers or other analog sensors 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
2. Forward reverse and home inputs O National Instruments Corporation Number of inputs Voltage range Input low voltage Input high voltage 0 0000000 Poli A 3 Appendix A Specifications 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 Resets board to startup state 63 ms 0 to 12 V 0 8 V 2V Rising edge Disable all axes and command outputs Quadrature incremental single ended 20 MHz Programmable depends on digital filter settings OtoI2V 0 8 V 2V 60 ns 12 3 per axis 0 to 12 V 0 8 V 2V Programmable active high or active low 7344 7334 Hardware User Manual Appendix A Specifications Min pulse width 1 ms Control ss ia isso Individual enable disable stop on input prevent motion Find Home Trigger inputs Number of inputs sen 4 Encoders 1 through 4 Voltage onge OtoI2V Input low voltage 0 8 V Input high voltage 2V Pol rity e055 cases Saccdeies ne coves Programmable active high or active low Min pulse width 83 ns Capture latency sesser lt 100 ns Capture accuracy eee 1 count Max repetitive capture rate 1 kHz Breakpoint outputs Number of OUtputs sen 4 Encoders through 4 Voltage onge 0to5V Output low voltage lt 0 6 V at 64 mA sink Output high v
3. 37 38 39 40 41 N Iola BR wo pm 42 o 43 o 44 k 45 De 46 Co 47 A 48 al 49 O 50 N 51 00 52 o 53 De o 54 Del 55 N N 56 N CL 57 bi B 58 Del al 59 De O 60 N Y 61 Mm 00 62 N o 63 CO CH 64 ww 65 CA N 66 ww de 67 Q A 68 Digital Ground Digital Ground Digital Ground DPull Digital Ground Reserved Digital Ground Digital Ground Digital Ground Port 1 bit 1 Port 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 7344 7334 Hardware User Manual 5 14 Figure 5 8 68 Pin Digital I O 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 si
4. nn e ens n ens ern ai 5 11 Figure 5 6 Shutdown Input Circuit nn enennen ners ee nn sens ea 5 11 Figure 5 7 Breakpoint Output Cireut nono nn ens 5 11 Figure 5 8 68 Pin Digital I O Connector Pin Assignments sen 5 14 Figure 5 9 Breakpoint Across RTSI nee enennn sensers 5 16 Figure BI 50 Pin Stepper Connector Pin Assignment eee eeeeeeeeeeeeeeeees B 1 Figure B 2 50 Pin Servo Connector Pin Assignment 7344 only B 2 Tables Table 5 1 Motion I O Signal ConNECtIONS ococcnocccoccconcnnonnconnconancnncconccnnnncnncconcannnos 5 3 Table 5 2 Internal ADC Channels 5 12 Table 5 3 Analog Input Voltage Ranges ss nnennnenezznnnnnnennnnennnznana 5 12 O National Instruments Corporation vii 7344 7334 Hardware User Manual About This Manual Conventions This manual describes the electrical and mechanical aspects of each controller in the 7344 7334 family and contains information concerning their operation and programming Unless otherwise noted text applies to all controllers in the 7344 7334 family The 7344 7334 family of controllers includes the following controllers e PCI 7344 e PXI 7344 e FW 7344 e PCI 7334 The 7344 7334 controllers are designed for PCI PXI and 1394 bus computers Refer to the Glossary section of this manual for definitions of selected related terms lt gt Ez A italic monospace The following conventions appear in this manual Angle brackets that contain num
5. H half step hex home switch input host computer ID in index National Instruments Corporation G 5 Glossary the difference between the instantaneous commanded trajectory position and the feedback position Field Programmable Gate Array the condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously ground ground mode of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position is also regarded as the zero position in an absolute position frame of reference computer into which the motion control board is plugged identification inches marker between consecutive encoder revolutions 7344 7334 Hardware User Manual Glossary VO inverting IRQ L LIFO limit switch end of travel position input m MCS microstep input output the transfer of data to and from a computer system involving communications channels operator interface devices and
6. National Instruments Corporation 5 5 7344 7334 Hardware User Manual Chapter 5 Signal Connections 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 7344 7334 controllers and are not required for basic motion control These inputs are part of a system solution for complete motion control Wiring Concerns N Cautions 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 Failure to do so mav result in motion that stops at but then travels through a limit potentiallv damaging the motion svstem Miswired limits mav prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separatelv from the motor driver amplifier signal and encoder signal connections Wiring these signals near each other can cause faultv motion svstem operation due to signal noise and crosstalk Limit and Home Input Circuit All limit and home inputs are digitally filtered and must be active for at least 1 ms 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 3 3 KQ Vcc To the limit and home switch circ
7. Onboard programs can also isolate your application from the non real time operating system of the host PC Only the bus power is required to correctly execute an onboard FlexMotion program once it is started and this program continues to run even if the host PC hangs assuming the host power supply remains You can run onboard programs from RAM or optionally save them to flash ROM The 7344 controller has 64 KB of RAM and 128 KB of ROM divided into two 64 KB sectors for program and object storage You can run programs from either RAM or ROM but you cannot split programs between the two and you cannot split programs between the two 64 KB ROM sectors With an average command size of 10 bytes a single program can be as large as 6 400 commands As another example the 7344 controller can simultaneously execute 10 programs five from RAM and five from ROM with each program up to 1 280 commands long EI Note Refer to the Onboard Programming Functions section of the FlexMotion Software Reference Manual for detailed information on all of these onboard programming features National Instruments Corporation 4 5 7344 7334 Hardware User Manual Chapter 4 Functional Overview Host Communi cations 7344 7334 Hardware User Manual The host computer communicates with a 7344 7334 controller through a number of memory port addresses on the host bus The host bus can be any of the supported bus standards PCI PXI or 1394 The primary bid
8. 5 4 Analog Reference signal description table 5 3 purpose and use 5 13 O National Instruments Corporation axes overview 4 3 to 4 4 servo axis resources figure 4 3 stepper axis resources figure 4 4 Axis lt 1 4 gt Dir CCW signal compatibility with third party drives 5 5 description table 5 3 purpose and use 5 5 Axis lt 1 4 gt Encoder Index signal description table 5 3 purpose and use 5 8 Axis lt 1 4 gt Encoder Phase A signal description table 5 3 purpose and use 5 7 Axis lt 1 4 gt Encoder Phase B signal description table 5 3 purpose and use 5 7 Axis lt 1 4 gt Forward Limit Switch signal description table 5 3 purpose and use 5 5 to 5 6 Axis lt 1 4 gt Home Switch signal description table 5 3 purpose and use 5 5 to 5 6 Axis lt 1 4 gt Inhibit signal description table 5 3 purpose and use 5 5 Axis lt 1 4 gt Reverse Limit Switch signal description table 5 3 purpose and use 5 5 to 5 6 Axis lt 1 4 gt Step CW signal compatibility with third party drives 5 4 description table 5 3 purpose and use 5 4 7344 7334 Hardware User Manual Index breakpoint outputs output circuit figure 5 11 wiring concerns 5 10 Breakpoint lt 1 4 gt signal description 5 3 purpose and use 5 10 C cable connectors 50 pin servo connector pin assignments figure B 2 50 pin stepper connector pin assignments figure B 1 communications host 4 6 configuration 2 1 connect
9. 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 National Instruments Corporation 3 3 7344 7334 Hardware User Manual Chapter 3 Hardware Overview The RTSI connector provides up to seven triggers and one high speed clock signal to facilitate synchronization between multiple National Instruments 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 The RTSI bus can also be used for general purpose I O Refer to Chapter 5 Signal Connections for details about RTSI connector signals 7344 7334 Hardware User Manual 3 4 ni com Functional Overview This chapter presents an overview of the motion control algorithms and capabilities of the 7344 7334 controller Dual Processor Architecture You can perform up to four axes of simultaneous coordinated motion control in a preemptive multitasking real time environment with the 7344 7334 controller The high performance capabilities of the 7344 7334 controller result from an advanced dual processor architecture using a Motorola MC68331 real
10. FW 7344 back panel figure 3 2 PCI 7334 parts locator diagram figure 3 3 PCI 7344 parts locator diagram figure 3 1 ni com PXI 7344 parts locator diagram figure 3 2 user connectors 3 3 to 3 4 Host 5 V signal description table 5 3 purpose and use 5 13 host communications 4 6 installation hardware 2 1 to 2 3 FW 7344 2 3 PCI 7344 and PCI 7334 2 2 PXI 7344 2 2 to 2 3 software 2 1 L LabVIEW software 1 3 limit and home inputs 5 5 to 5 6 Axis lt 1 4 gt Forward Limit Switch 5 3 5 5 to 5 6 Axis lt 1 4 gt Home Switch 5 3 5 5 to 5 6 Axis lt 1 4 gt Reverse Limit Switch 5 3 5 5 to 5 6 input circuit 5 6 wiring concerns 5 6 manual See documentation memory nonvolatile 4 2 to 4 3 motion axis signals 5 4 to 5 5 Analog Output lt 1 4 gt 5 3 5 4 Analog Output Ground 5 3 5 4 Axis lt 1 4 gt Dir CCW 5 3 5 5 Axis lt 1 4 gt Inhibit 5 3 5 5 Axis lt 1 4 gt Step CW 5 3 5 4 National Instruments Corporation 1 3 Index motion I O connector 5 1 to 5 13 68 pin connector pin assignments figure 5 2 analog inputs 5 12 to 5 13 signal descriptions 5 12 to 5 13 wiring concerns 5 13 encoder signals 5 7 to 5 9 input circuit 5 9 signal descriptions 5 7 to 5 9 wiring concerns 5 8 to 5 9 features 5 1 limit and home inputs 5 5 to 5 6 input circuit 5 6 signal descriptions 5 5 to 5 6 wiring concerns 5 6 motion axis signals 5 4 to 5 5 other connections 5 13 overvi
11. from self paced tutorials videos and interactive CDs to instructor led hands on courses at locations around the world Visit the Customer Education section of ni com for online course schedules syllabi training centers and class registration System Integration If you have time constraints limited in house technical resources or other dilemmas you may prefer to employ consulting or system integration services You can rely on the expertise available through our worldwide network of Alliance Program members To find out more about our Alliance system integration solutions visit the System Integration section Of ni com O National Instruments Corporation C 1 7344 7334 Hardware User Manual Appendix C Technical Support Resources Worldwide Support National Instruments has offices located around the world to help address your support needs You can access our branch office Web sites from the Worldwide Offices section of ni com Branch office Web sites provide up to date contact information support phone numbers e mail addresses and current events If you have searched the technical support resources on our Web site and still cannot find the answers you need contact your local office or National Instruments corporate Phone numbers for our worldwide offices are listed at the front of this manual 7344 7334 Hardware User Manual C 2 ni com Glossary Prefix Meanings Value
12. of 10 V Stepper axes control stepper motors These axes can operate in open or closed loop mode They use quadrature encoders or analog inputs for position and velocity feedback closed loop only and provide step direction or clockwise CW counter clockwise CCW digital command outputs All stepper axes support full half and microstepping applications National Instruments Corporation 1 1 7344 7334 Hardware User Manual Chapter 1 Introduction Hardware RTSI The high performance capabilities of the 7344 7334 controllers are the result of an advanced dual processor architecture using a Motorola MC68331 real time 32 bit CPU combined with an Analog Devices ADSP 2185 digital signal processor DSP and custom field programmable gate arrays FPGA Its 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 On the 7344 controllers you can use full onboard programming to execute up to 10 simultaneous motion programs in a preemptive real time multitasking operating system environment The 7344 features motion profiles that are controlled with enhanced PID PIVff servo updates at 62 us per axis With all 7344 7334 controllers each axis has motion I O for end of travel limit and home switch inputs breakpoint output trigger input and encoder feedback rates up to 20 MHz The 73
13. or motion control interfaces 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 units of measure such as volts hertz and meters kilo the prefix for 1 024 or 210 used with B in quantifying data or computer memory 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 7344 7334 Hardware User Manual G 6 ni com modulo position noise noninverting 0 open loop PCI PID PIVff port position breakpoint power cycling O National Instruments Corporation G 7 Glossary treat the position as within the range of total quadrature counts per revolution for an axis an undesirable electrical signal noise comes from external source
14. quadrature counts R RAM relative breakpoint relative position relative position mode ribbon cable RPM RPSPS or RPS S RTR S servo stepper stepper lt 1 4 gt Dir CCW stepper lt 1 4 gt Step CW 7344 7334 Hardware User Manual G 8 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 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 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 ni com T toggle torque trapezoidal profile trigger TTL V Vec velocity mode W watchdog word O National Instruments Corporation G 9 Glossary changing state from high to low back to high and so on force tending to produce rotation a typical motion trajectory w
15. spaces You can also synchronize vector spaces for multi vector space coordinated motion control Axes At a minimum an axis consists of a trajectory generator a PID for servo axes or stepper control block and at least one output resource either a DAC output for servo axes or a stepper pulse generator output Servo axes must have either an encoder or ADC channel feedback resource Closed loop stepper axes also require a feedback resource open loop stepper axes do not These axis configurations are shown in Figures 4 1 and 4 2 With the 7344 7334 controller you can map one or two feedback resources and one or two output resources to the axis An axis with its primary output resource mapped to a stepper output is by definition a stepper axis An axis with its primary output resource mapped to a DAC is by definition a servo axis 101100111 I q 32 Bit PID 16 Bit ops Encoder 0101011101101 Servo 11101101100 D A d Interface Loop Converter i gt 101100111 gt Figure 4 1 Servo Axis Resources National Instruments Corporation 4 3 7344 7334 Hardware User Manual Chapter 4 Functional Overview ob Index 32 Bit Encoder Interface 01011010 101100111 Stepper Stepper Control 010010110 Pulse Generator
16. specifications digital 1 O A 5 to A 6 environment A 7 motion I O A 3 to A 5 physical A 7 power requirements max A 6 RTSI trigger lines A 6 servo performance A 1 to A 2 stepper performance A 2 to A 3 system safety A 3 stepper axis resources figure 4 4 stepper performance specifications A 2 to A 3 system integration by National Instruments C 1 system safety specifications A 3 T technical support resources C 1 to C 2 trajectory generators 4 2 trigger inputs 5 9 to 5 11 trigger input circuit figure 5 11 wiring concerns 5 10 Trigger lt 1 4 gt signal description table 5 3 purpose and use 5 9 to 5 10 U user connectors 3 3 to 3 4 ni com Index W Web support from National Instruments C 1 wiring concerns analog inputs 5 13 breakpoint outputs 5 10 encoder signals 5 8 to 5 9 limit and home inputs 5 6 shutdown input 5 10 trigger inputs 5 10 Worldwide technical support C 2 National Instruments Corporation 1 5 7344 7334 Hardware User Manual
17. with a particular motor type you cannot use a stepper drive to operate a DC brush motor for instance 12 bit analog ADC input DAC voltage output application programming interface unit that controls a motor or any similar motion or control device axis through 4 inhibit output axis 1 through 4 forward clockwise limit switch axis through 4 home input ni com Axis lt 1 4 gt Reverse Limit Input b base address binary buffer bus byte C CCW closed loop common CPU crosstalk CSR CW National Instruments Corporation G 3 Glossary 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 I 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 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 sig
18. 44 7334 controller also has non dedicated user I O including 32 bits of digital I O and four analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally the 7344 7334 analog inputs can provide feedback for loop closure The 7344 7334 controller supports the National Instruments Real Time System Integration RTSD bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition IMAQ and data acquisition DAQ products Using the RTSI bus you can easily synchronize several functions to a common trigger or timing event across multiple motion DAQ or IMAQ devices What You Need to Get Started To set up and use your 7344 7334 controller you will need the following One of the 7344 7334 controllers PCI 7344 PXI 7344 FW 7344 PCI 7334 7344 7334 Hardware User Manual 1 2 ni com Chapter 1 Introduction Q 7344 7334 Hardware User Manual Q FlexMotion Software Reference Manual U One of the following software packages and documentation LabVIEW LabWindows CVI FlexMotion software Q Your computer with an available PCI or PXI slot or a 1394 port as appropriate Software Programming Choices Programming your 7344 7334 controller is straightforward using a simple but powerful high level function set application programming interface API All setup and motion control functions are easily executed by calling into
19. CPU 6 68 Pin Motion I O Connector Figure 3 2 PXl 7344 Parts Locator Diagram U U U U NATIONAL ES TAH gt DIGITAL UO MOTION UO Einstrumenrs CH O C gt 2434 C gt G O 1394 RE RTSI EON EON 1 1394 Connectors 3 RTSI Connector 5 68 Pin Digital UO Connector 4 Expansion Port Connector 6 68 Pin Motion I O Connector 2 Power Connector Figure 3 3 FW 7344 Back Panel 7344 7334 Hardware User Manual 3 2 ni com Chapter 3 Hardware Overview E f o 5 J j up Li uta a a Y ue D D gt OM o vis Se m w i v H a T o a S Tr E 3 T 3 S m a lo ES J3 lo s D oO O ji 8 ZZN vez lt 09 Re ci L l z5 al jo 3 3 wi ZZ o H a O OR i o ie pe OR a A WI o ua oa Y gt gt gt gt is k O ol l df 1 RTSI Connector 4 68 Pin Digital UO Connector 6 MC68331 CPU 2 Assembly Number Label 5 68 Pin Motion I O Connector 7 ADSP 2185 DSP 3 Serial Number Label Figure 3 4 PCl 7334 Parts Locator Diagram User Connectors The 68 pin motion I O connector provides all of the signals for four axes of closed loop motion control including encoder feedback limit and home inputs breakpoint outputs trigger inputs
20. Digital Ground 41 42 Axis 4 Encoder Phase B Axis 4 Home Switch 43 44 Axis 4 Encoder Index Trigger Breakpoint 4 45 46 Axis 4 Forward Limit Switch Axis 4 Inhibit 47 48 Axis 4 Reverse Limit Switch Digital Ground 49 50 Host 5 V OJAN N Or a Figure B 1 50 Pin Stepper Connector Pin Assignment National Instruments Corporation B 1 7344 7334 Hardware User Manual Appendix B 7344 7334 Hardware User Manual Cable Connector Descriptions Analog Output Ground 112 Digital Ground 3 4 Digital Ground 5 6 Axis 1 Home Switch 7 8 Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Analog Output Ground 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 2 Home Switch 19 20 Trigger Breakpoint 2 21 22 Axis 2 Inhibit 23 24 Analog Output Ground 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 3 Home Switch 31 32 Trigger Breakpoint 3 33 34 Axis 3 Inhibit 35 36 Analog Output Ground 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 4 Home Switch 43 44 Trigger Breakpoint 4 45 46 Axis 4 Inhibit 47 48 Digital Ground 49 50 Analog Output 1 Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Swi
21. Limit and Home Input Circuit oe ners 5 6 LI E EE 5 7 Encoder lt 1 4 gt Phase A Phase B A 5 7 Encoder lt 1 4 gt Ide i sia isa EES 5 8 A EEN 5 8 Encoder Input Cette a 5 9 Trigger Inputs Shutdown Input and Breakpoint Outputs ee 5 9 Wiring Conce iia ied rin st ee 5 10 Trigger Input Shutdown Input and Breakpoint Output Circuits 5 11 Analog Inputs ip tio 5 12 Winne Conce EEN 5 13 Other Motion I O Connections ooconcnncnconnnonnononnnonnnonononcnnnonnnnn crono seen nn n nat 5 13 Digital VO ComectOt intacta tdt dde 5 14 PWM Features ao o 5 15 UR RE TEE 5 15 RTSI Signal Considerations nn seen sens anna 5 16 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support Resources 7344 7334 Hardware User Manual vi ni com Contents Glossary Index Figures Figure 3 1 PCI 7344 Parts Locator Diagram naco ncnnno 3 1 Figure 3 2 PXI 7344 Parts Locator Duaeram nono nnnonncnn conos 3 2 Fig re 3 3 FW 7344 Back Panel SEENEN cnn LI is H 3 2 Figure 3 4 PCI 7334 Parts Locator Diagram sense 3 3 Figure 4 1 Servo Axis Resource 4 3 Figure 4 2 Stepper Axis Resource 4 4 Figure 5 1 68 Pin Motion I O Connector Pin Assignment ss 5 2 Figure 5 2 Limit and Home Input Circuit sen enennnnnennnnennnnn nn ena 5 6 Figure 5 3 Quadrature Encoder Phasing Diagram nee 5 8 Figure 5 4 Encoder Input Circuit cesses sects cpscces cit ini 5 9 Figure 5 5 Trigger Input Circuit
22. Motion Control 1344 7334 Hardware User Manual Wy NATIONAL l Mav 2001 Edition gt INSTRUMENTS Part Number 322504B 01 Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 794 0100 Worldwide Offices Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 284 5011 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 China Shanghai 021 6555 7838 China ShenZhen 0755 3904939 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Malaysia 603 9596711 Mexico 5 280 7625 Netherlands 0348 433466 New Zealand 09 914 0488 Norway 32 27 73 00 Poland 0 22 528 94 06 Portugal 351 1 726 9011 Singapore 2265886 Spain 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 02 2528 7227 United Kingdom 01635 523545 For further support information see the Technical Support Resources appendix To comment on the documentation send e mail to techpubseni com Copyright O 1999 2001 National Instruments Corporation All rights reserved Important Information Warranty The 7344 7334 controllers are warranted aga
23. Q lt 74AS760 To the external From the connector breakpoint breakpoint pins circuits Figure 5 7 Breakpoint Output Circuit National Instruments Corporation 5 11 7344 7334 Hardware User Manual Chapter 5 Signal Connections Analog Inputs The 7344 7334 controller has the following ADC input signals Analog Input lt 1 4 gt The 7344 7334 controller 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 calibration 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 A D conversion or both You can read the digital value of analog voltage on any of the eight ADC channels of the controller by using the Read ADC function The range of values read back and the voltage resolution for each setting are shown in Table 5 3 The voltage resolution is given in volts per least significant bit V LSB Table 5 3 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0 10 V 0 to 4 095 0 0024 V L
24. SB 0 5 V 0 to 4 095 0 0012 V LSB 7344 7334 Hardware User Manual When configured as analog feedback an analog sensor acts like a limited range absolute position device with a full scale position range as indicated in Table 5 3 You can map any ADC channel as feedback to any axis You can enable and disable individual ADC channels in software You should disable unused ADC channels for the highest multiplexer 5 12 ni com Chapter 5 Signal Connections scan rate performance Properly enabled the scan rate is high enough to support analog feedback at the highest PID sample rate Analog Reference For convenience 7 5 V nominal analog reference voltage is made available You can use this output as a low current supply to sensors that require a stable reference Analog Input Ground To help keep digital noise out of the analog input a separate return connection is provided You should use this reference ground connection and not Digital Ground digital UO reference or Analog Output Ground 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 3 Note If an external reference voltage is used it must not be connected to the analog reference output since this is an output signal only You should however connect the common of the external r
25. TY 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 LEVEL OF SUCH SYSTEM OR APPLICATION Contents About This Manual TT ix Related Documentation veian ni x Chapter 1 Introducti
26. User Manual Chapter 5 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver Analog Output lt 1 4 gt 7344 only These 16 bit DAC outputs are typically the servo command outputs for each axis They can drive the industry standard 10 V output and can be software limited to any positive or negative voltage range desired They also feature a software programmable voltage offset Although typically used as the command output of an axis control loop unused DACs can also function as independent analog outputs for general purpose control Analog Output Ground 7344 only To help keep digital noise separate from the analog DAC outputs there is a separate return connection You should use this analog ground connection and not Digital Ground digital I O reference as the reference for the DAC outputs when connecting to servo amplifiers Axis lt 1 4 gt Step CW and Dir CCW These open collector signals are the stepper command outputs for each axis The 7344 7334 controller supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output
27. a breakpoint output and an inhibit output All these signals can be used for general purpose digital I O when not being used for their motion specific purpose Ei Note Once mapped to an axis all features and functions of a resource are available as part of the axis It is not necessary to remember or use the resource number directly when accessing these features Resources are referenced by axis number once assigned to that axis 7344 7334 Hardware User Manual 4 4 ni com Chapter 4 Functional Overview Onboard Programs 7344 only The 7344 controller has full onboard programmability with the capability of executing up to 10 simultaneous motion programs in a real time preemptive multitasking environment This extremely powerful feature is designed for real time applications that need tight synchronization and or minimum latency from a motion or other I O event and fast command execution You can execute the entire FlexMotion function set from onboard programs In addition the onboard programs support basic math and data operation functions on up to 120 general purpose variables Implementing part or all of your motion application as an onboard program or programs offloads the host PC from handling these real time tasks and events This leaves the host PC more available for the other integrated tasks such as data acquisition image processing user interface data analysis and or overall measurement and automation system control
28. ample Max update rate 62 5 us axis 4 axis update rate eee 250 us total Multi axis synchronization lt 1 update sample Position accuracy Open loop stepper 0 0 0 eee 1 full half or microstep Encoder feedback quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Position range s es 23 steps Max relative move size 231 steps Velocity range 1 to 4 000 000 steps s RPM range eeenenennzznznzezeni 10 to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 steps s RPS s range ew eee 1071 to 108 revolutions s S curve time range 1 to 32 767 samples Following error range 0 to 32 767 counts Gear rato 32 767 1 to 1 32 767 Stepper outputs Max pulse rate semen 4 MHz full half and microstep Min pulse width 120 ns at 4 MHz Step output mode Step and direction or CW CCW 7344 7334 Hardware User Manual A 2 ni com System Safety Voltage range nee Output low voltage Output high voltage Poltica s Watchdog timer function Watchdog timeout eee Shutdown input Motion 1 0 Voltage range Input low voltage Input high voltage Polarity ise eat lis Comodo Voltage range ccoooocnoccnocononcnonnnnonanno Input low voltage Input high voltage Min index pulse width
29. ative 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 so you can use them as general purpose digital outputs Wiring Concerns N Caution Keep trigger input shutdown input and breakpoint output signals and their ground connections wired separatelv from the motor driver amplifier signal and encoder signal connections Wiring these signals near each other can cause faultv operation Excessive input voltages can cause erroneous operation and or component failure 7344 7334 Hardware 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 Vcc 3 3 KQ To the trigger A circuits gt NAM From the external 1kQ A connector 1 8 W eli trigger pins Jaer p DGND Figure 5 5 Trigger Input Circuit Vcc 3 3kQ To the shutdown Ce circuits gt NM From the external 1kQ EN connector 1 8 W JE shutdown pin DGND Figure 5 6 Shutdown Input Circuit Vcc 3 3k
30. bers separated by an ellipsis represent a range of values associated with a bit or signal name for example DBIO lt 3 0 gt 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 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 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 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 National Instruments Corporation ix 7344 7334 Hardware User Manual About This Manual programs subprograms subroutines device names functions operations variables filenames and extensions and code excerpts Related Documentation The following documents contain information that you might find helpful as you read this manual e FlexMotion Software Reference Manual e FlexMotion Software Reference online help e FlexMotion VI online help e PCT Local Bus Specification Revision 2 1 e Your computer s technical reference manual 7344 7334 Hardware User Manual X
31. d power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation Trademarks CVI FlexMotion LabVIEW National Instruments NI ni com and PXI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILI
32. eference to the Analog Input Ground pin for proper A D reference and improved voltage measurement Other Motion 1 0 Connections The 7344 7334 controller provides other motion I O connections as follows Host 5 V This is the internal 5 V supply of the host computer This signal is typically used to detect when the host computer is powered and to shut down external motion system components when the host computer is turned off or disconnected from the motion accessory N 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 O National Instruments Corporation 5 13 7344 7334 Hardware User Manual Chapter 5 Signal Connections Digital 1 0 Connector All the general purpose digital 1 O lines on the 7344 7334 controllers are available on a separate 68 pin digital I O connector The pin assignments for this connector are shown in Figure 5 8 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 35 36
33. either a static or dynamically linked library DLL These libraries are callable from C Visual Basic and other high level languages Full function set implementations are available for LabVIEW LabWindows CVI and other industry standard software programs National Instruments Application Software LabVIEW based on the graphical programming language G features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the FlexMotion VI Library a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The FlexMotion VI library implements the full function set 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 all measurement and automation solutions The FlexMotion software includes a series of sample programs for using LabWindows CVI with National Instruments motion control hardware National Instruments Corporation 1 3 7344 7334 Hardware User Manual Chapter 1 Introduction Optional Equipment National Instruments offers a variety of products
34. ent without prior notice to holders of this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO 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 an
35. equency 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 determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase A typical encoder with a specification of N N number lines per unit of measure revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in FlexMotion systems EI Note Determine quadrature counts by multiplying the encoder resolution in encoder lines by 4 The encoder resolution is the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the resolution would be referred to as lines per revolution or lines per unit of measure inch centimeter millimeter and so on National Instruments Corporation 5 7 7344 7334 Hardware User Manual Chapter 5 Signal Connections Encoder lt 1 4 gt Index The Index input is primarily used with the Find Index function This function uses the number of counts per revolution or linear distance to initiate a search move that locates the
36. et to active high non inverting for increased flexibility and unique drive compatibility Inhibit output signals can be activated automatically upon a Kill Motion command or any motion error that causes a kill motion condition for example following error trip You can also directly control the inhibit output signals to enable or disable a driver or amplifier Limit and Home Inputs The following signals control limit and home inputs e Axis lt 1 4 gt Forward Limit Input e Axis lt 1 4 gt Home Input e Axis lt 1 4 gt Reverse Limit Input These inputs are typically connected to limit switches located at physical ends of travel and or at a specific home position Limit and home inputs can be software enabled and 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 EI Note Limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized 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
37. ew 1 4 signal connections table 5 3 signal descriptions 5 4 to 5 5 specifications A 3 to A 5 trigger inputs shutdown input and breakpoint outputs 5 9 to 5 11 circuits figures 5 11 signal descriptions 5 9 to 5 11 wiring concerns 5 10 motion resources 4 4 National Instruments application software 1 3 NI Developer Zone C 1 0 onboard programs 7344 only 4 5 optional equipment 1 4 7344 7334 Hardware User Manual Index P parts locator diagrams FW 7344 back panel 3 2 PCI 7334 parts locator diagram figure 3 3 PCI 7344 3 1 PXI 7344 3 2 physical specifications A 7 power requirement specifications A 6 pulse width modulation outputs digital I O connector 5 15 PWM features digital I O connector 5 15 R requirements for getting started 1 2 to 1 3 RTOS embedded real time operating system 4 1 to 4 2 RTSI bus Breakpoint across RTSI figure 5 16 overview 1 2 signal connections 5 15 specifications A 6 using RTSI signals 5 16 S servo axis resources figure 4 3 servo performance specifications A 1 to A 2 shutdown input input circuit figure 5 11 wiring concerns 5 10 Shutdown signal description table 5 3 purpose and use 5 10 signal connections See digital I O connector motion I O connector RTSI bus 7344 7334 Hardware User Manual 1 4 software installation 2 1 National Instruments application software 1 3 onboard programs 7344 only 4 5 programming choices 1 3
38. for use with the 7344 7334 controller including cables Universal Motion Interfaces UMIs drive power amplifier units and other accessories as follows e Cables and cable assemblies for motion and digital I O RTSI bus cables e UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality e Stepper and servo motor compatible driver amplifier units with integrated power supply and wiring connectivity e Connector blocks shielded and unshielded 68 pin screw terminal wiring aids For more specific information about these products refer to your National Instruments catalog on the Internet at ni com or call your National Instruments sales representative Motion 1 0 Connections The external motion and digital UO connectors on the 7344 7334 controller are high density 68 pin female VHDCI connectors For custom cables use the following mating connector from AMP part number 787801 01 7344 7334 Hardware User Manual 1 4 ni com Configuration and Installation This chapter describes how to configure and install your 7344 7334 controller Software Installation Install your FlexMotion software along with your Motion VI libraries 1f appropriate before you install the 7344 7334 controller Refer to the release notes included with your 7344 7334 controller for specific instructions on the software installation sequence for your host PC Controller Configuration T
39. he BP 1 battery pack follow the instructions below If you are using the BP 1 battery pack follow the installation instructions in your BP 1 Battery Pack Installation Guide and then start with step 2 below 1 Connect the power cord to the wall outlet and the FW 7344 controller 2 Connect the 1394 cable from the computer or any other 1394 device to the port on your FW 7344 controller Your computer should detect the controller immediately When the computer recognizes your controller the COM LED on the front panel will blink 3 Verify that the power LED is on Your FW 7344 controller is installed The FW 7344 controller has two LEDs to help you determine the state of your device Power LED Power LED off No power is being supplied to the controller Either the power cord is unplugged or the power source is broken Power LED dim The controller is receiving power but is not connected to an active 1394 port Power LED on The controller is receiving power and is connected to an active 1394 port e Communication LED The COM LED blinks whenever the controller sends or receives any commands or data This LED should blink once when you first plug in your controller If you are transferring a large amount of data this light should be on or blinking continuously National Instruments Corporation 2 3 7344 7334 Hardware User Manual Hardware Overview This chapter presents an overview of the 7344 7334 contro
40. he motion I O related configuration of the 7344 7334 controller is performed entirely with software so there are no jumpers to set for motion T O configuration The PCI 7344 PXI 7344 and PCI 7334 controllers are fully compatible with the PCI Local Bus Specification Revision 2 1 The FW 7344 controller is fully compatible with the IEEE 1394 specification This compatibility allows the computer to automatically perform all bus related configuration and requires no user interaction There are no jumpers to configure for bus related configuration Hardware Installation You can install the PCI 7344 PXI 7344 or PCI 7334 controller in any open compatible expansion slot in your computer The typical power required for each controller is given in Appendix A Specifications You can connect your FW 7344 to any available 1394 port The FW 7344 supports IEEE 1394 transfer rates at up to 400 Mbits s National Instruments Corporation 2 1 7344 7334 Hardware User Manual Chapter 2 Configuration and Installation The following are general installation instructions but consult your computer user manual or technical reference manual for specific instructions and warnings N Caution 7344 7334 controllers are sensitive electronic devices shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices PCI 7344 and PCI 7334 1 Za 9 Turn off and unplug your compu
41. here 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 a timer task that shuts down resets the motion control board if any serious error occurs the standard number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit 7344 7334 Hardware User Manual Index Numbers 5 V signal See Host 5 V signal 7344 7334 controllers See also functional overview hardware configuration 2 1 features 1 1 installation 2 1 to 2 3 National Instruments application software 1 3 optional equipment 1 4 overview 1 1 to 1 2 requirements for getting started 1 2 to 1 3 software programming choices 1 3 A analog feedback 4 2 Analog Input lt 1 4 gt signal analog input voltage ranges table 5 12 description table 5 3 internal ADC channels table 5 12 purpose and use 5 12 Analog Input Ground signal description table 5 3 purpose and use 5 13 analog inputs signal descriptions 5 12 to 5 13 wiring concerns 5 13 Analog Output lt 1 4 gt signal description table 5 3 purpose and use 5 4 Analog Output Ground signal description table 5 3 purpose and use
42. index position When a valid Index signal transition occurs during a Find Index sequence the position of the Index signal is captured very accurately You then use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required Figure 5 3 shows the quadrature encoder phasing diagram Phase A Phase B Index Figure 5 3 Quadrature Encoder Phasing Diagram 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 N Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation Encoders with differential line driver outputs are strongly recommended for all applications and must be used if the encoder cable length is longer than 10 ft 3 05 m Shielded 24 AWG wire is the minimum recommended size for the encoder cable Cables with twisted pairs and an overall shield are recommended for optimized noise immunity All National Instruments power drives and UMI accessories provide built in circ
43. inst defects in materials and workmanship for a period of 1 year from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National 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 docum
44. ion 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 7344 7334 controller position mode is to move an axis Relative to Captured Position The polarity of the trigger input is programmable in software as active low inverting or active high non inverting rising or falling National Instruments Corporation 5 9 7344 7334 Hardware User Manual Chapter 5 Signal Connections edge You can also use a trigger input as a latching general purpose digital input by simply ignoring the captured position Shutdown Input The shutdown input signal when enabled in software can be used to kill all motion by asserting the controller inhibits setting the analog outputs to O V and stopping any stepper pulse generation To activate shutdown the signal must transition from a low to high state rising edge Breakpoint Output lt 1 4 gt A breakpoint output can be programmed to transition when the associated encoder value equals the breakpoint position You can use a breakpoint output to directly control actuators or as a trigger to synchronize data acquisition or other functions in the motion control system You can program breakpoints as either absolute modulo or rel
45. irectional data transfer port is at the base address of the controller This port supports FIFO data passing in both send and readback directions The 7344 7334 controller has both a command buffer for incoming commands and a return data buffer RDB for readback data At address offsets from the base address are two read only status registers 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 MCS register provides instantaneous motion status of all axes 4 6 ni com Signal Connections This chapter describes how to make input and output signal connections directly to the 7344 7334 and briefly describes the associated 7344 7334 VO circuitry The 7344 7334 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 UMI units and drives Caution Turn off power to all devices when connecting or disconnecting the 7344 7334 controller motion I O and auxiliary digital I O cables Failure to do so may damage the 7344 7334 controller Motion 1 0 Connector The motion I O connector contains all of the signals required to control up to four axes of servo 7344 only and
46. l 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 Analog Input Ground Input 12 bit analog input Analog Output lt 1 4 gt Analog Output Ground Output 16 bit analog output 7344 only Analog Output Ground Reference for analog outputs 7344 oniv Shutdown Digital Ground Input Controlled device shutdown Analog Reference output Analog Input Ground Output 47 5 V analog reference level Digital Ground Reference for digital I O O National Instruments Corporation 5 3 7344 7334 Hardware
47. ller hardware functionality Figures 3 1 3 2 and 3 4 show the PCI 7344 PXI 7344 and PCI 7334 parts locator diagrams respectively Figure 3 3 shows the FW 7344 back panel S a Jo TENS 3 DO GHG o a fic gt es o PCI 7344 S N e gt COPYRIGHT 2001 k NATIONAL INSTRUMENTS L ce PER 1 RTSI Connector 4 68 Pin Digital UO Connector 6 MC68331 CPU 2 Assembly Number Label 5 68 Pin Motion I O Connector 7 ADSP 2185 DSP 3 Serial Number Label Figure 3 1 PCl 7344 Parts Locator Diagram National Instruments Corporation 3 1 7344 7334 Hardware User Manual Chapter 3 Hardware Overview O ws Y A IRID EE S N O ZIL E Ey j ult U7 O us ulo p i L ulS ule us dp A Ss vis J3 A UI4 en H gt val ula u25 4 u22 J4 1 Assembly Number Label 3 ADSP 2185 DSP 5 68 Pin Digital UO Connector 2 Serial Number Label 4 MC68331
48. nal 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 7344 7334 Hardware User Manual Glossary DAC DC dedicated DGND digital UO port DIP DLL drivers DSP E encoder encoder resolution F f FIFO filtering filter parameters flash ROM Digital to Analog Converter direct current assigned to a particular function digital ground signal a group of digital input output signals dual inline package dynamic link library provides the API for the motion control boards software that communicates commands to control a specific motion control board Digital Signal Processor device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution farad First In First Out a type of signal conditioning that filters unwanted signals from the signal being measured indicates the control loop parameter gains PID gains for a given axis a type of electrically reprogrammable read only memory 7344 7334 Hardware User Manual G 4 ni com following error trip point FPGA freewheel full step Gnd GND
49. ni com Introduction This chapter describes the FlexMotion 7344 and 7334 controllers and their operation About the 7344 7334 Controller Features Thank you for purchasing a 7344 7334 controller The 7344 7334 controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW The 7344 controllers are a combination of servo and stepper motor controllers for PCI PXI and 1394 bus computers The 7334 controllers are exclusively stepper motor controllers for PCI bus computers Both controller families provide fully programmable motion control for up to four independent or coordinated axes of motion with dedicated motion T O for limit and home switches and additional I O for general purpose functions You can use the 7334 motion controller for point to point and straight line vector moves for stepper motor applications The 7344 controllers add the ability to perform arbitrary and complex motion trajectories using stepper motors or servo devices Refer to the FlexMotion Software Reference Manual for a complete list of the feature differences between the 7344 and 7334 controller lines Servo axes can control servo motors servo hydraulics servo valves and other servo devices Servo axes always operate in closed loop mode These axes use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range
50. nk and source 24 mA The state of the input pins at power up is controlled by the DPull pin 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 7344 7334 controllers provide 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 You can think of PWM as 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 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 ei Note These signals are not associated in any way with the PID servo control loop they are configured in software Refer to your FlexMotion Software Reference Manual for more information RTSI Connector The physical RTSI bus interface varies depending on the type of 7334 7334 controller For the PCI 7344 and PCI 7334 the RTSI bus is connected with a ribbon cable across National Instruments PCI devices with RTSI capability The FW 7344 RTSI bus is connected with an external 14 pin shielded cable across National Instr
51. nnel 4 10 V 5 mA 16 bits 0 000305 V LSB 3 100 ppm C typical 4 8 bit ports Individual bit programmable 0 8 V 2 0 V 7344 7334 Hardware User Manual Appendix A Specifications Poltica ao iio Programmable active high or active low Outputs Voltage range 0to5 V Output low voltage lt 0 45 V at 24 mA sink Output high voltage gt 2 4 V at 24 mA source Policia Programmable active high or active low PWM outputs Number of PWM outputs 2 Max PWM frequency 32 kHz Resolution 8 bit Duty cycle range 0 to 255 256 Clock Sources Internal or external RTSI Trigger IRES ii eis deng Sens 7 Power Requirements Max PCI 7344 7334 and PXI 7344 e EE 1A FIZ VEO a 30 mA ADV 43 ui 30 mA Power CONSUMPTION 0 0 eee 5 7 W e FW 7344 Voltage range 9 to 25 VDC Power CONSUMPTION 0 0 0 0 electro 30 W 7344 7334 Hardware User Manual A 6 ni com Physical Environment Appendix A Specifications Dimensions Not Including Connectors BC 1334 iii 17 5 by 9 9 cm 6 9 by 3 9 in PRI 734 Acciona 16 by 10 cm 6 3 by 3 9 in WATER ip Ab 30 7 bv 25 4 bv 4 3 cm 12 1 by 10 0 by 1 7 in Connectors Motion I O connector eee 68 pin female high densitv VHDCI tvpe 32 bit digital I O connector 68 pin female high densitv VHDCI tvpe Operating temperature 0 to 55 C Storage temperature 00 20 to 70 C Rela
52. nt 1 26 60 Breakpoint 3 27 61 Digital Ground 28 62 Analog Output 1 29 63 Analog Output 3 30 64 Analog Output Ground 31 65 Analog Input 1 32 66 Analog Input 3 33 67 Analog Reference Output 34 68 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 Analog Output 2 Analog Output 4 Reserved Analog Input 2 Analog Input 4 Analog Input Ground Available only on the 7344 motion controllers Figure 5 1 68 Pin Motion I O Connector Pin Assignment 5 2 ni com Chapter 5 Signal Connections Table 5 1 describes the signals on the motion I O connector Table 5 1 Motion I O Signal Connections Signal Name Reference Direction Description Axis lt 1 4 gt Dir CCW Digital Ground Output Motor direction or counter clockwise contro
53. oltage 0 00 s Open collector with built in 3 3 kQ pull up to 5 V Polarity taco Programmable active high or active low Inhibit enable output Number of Outputs nn 4 1 per axis Voltage range 0to5V Output low voltage lt 0 6 V at 64 mA sink Output high voltage 0 00 0 Open collector with built in 3 3 kQ pull up to 5 V Polarity ii Programmable active high or active low Controlee ee MustOn MustOff or automatic when axis off 7344 7334 Hardware User Manual A 4 ni com Digital 1 0 O National Instruments Corporation Analog inputs Number of inputs Number for user signals Number for calibration Voltage range programmable Input resistance Resolutions deeg Seege Analog reference output Reference drift IND shinee dations RE EE Offset error Unipol r seniii Bipolar iia Gain error L t e Bipolar on Conversion time Multiplexor scan rate Analog outputs 7344 only Number of outputs Voltage range Output current nn Resolution en Gain ACCULACY owen Inputs Voltage range eee Input low voltage Input high voltage A 5 Appendix A Specifications 8 multiplexed 10 V 5 V 0 10 V 0 5 V 10kQ min 12 bits 7 5 V nominal 30 ppm C typical 1 LSB 1 LSB 5 LSB 10 LSB 10 LSB 10 LSB 6 us 50 us enabled cha
54. on About the 7344 7334 Controller AAA 1 1 PC ature ss des ei ak oral dese a a TA 1 1 Hard Ware db 1 2 RISD tandas 1 2 What You Need to Get Started ss ssersssesizzennenezentizkonnztinanientetsnzontasienspensorisineszzzzstieni 1 2 Software Programming Choices cocooooocioncoconononnnonncononnnonncnnncnnonnnonn conc cnn nan cnn sana tran 1 3 National Instruments Application Software ss nnnnenennnnnnznzenennnnnnnzn l 3 Optional Equipment citaron EENS NEEN A ea l 4 Motion I Os Connections een Base skart een eet qe Apok dk l 4 Chapter 2 Configuration and Installation Software Installation tina 2 1 Controller Configuration isses sn 2 1 Hardware Installations dude ANERER EENS dd 2 1 Chapter 3 Hardware Overview USEF CONECTA A LS 3 3 Chapter 4 Functional Overview Dual Processor Architecture 4 1 Embedded Real Time Operating System RTOS en 4 1 Trajectory Generators eege li areas 4 2 Analog Feedback iii da 4 2 Flash Memes tes geed EES a 4 2 Axes and Motion Resources ceseesesescecesseseneeeseceneceneceaeecsaeceseeeceeeseeeeeseaeceeeenaeeeaes 4 3 DOS AS 4 3 Motion Resource 4 4 O National Instruments Corporation v 7344 7334 Hardware User Manual Contents Onboard Programs 7344 only 4 5 Host Communications assess dato ia tdi 4 6 Chapter 5 Signal Connections Motion VO Commect0r si sis miii aii seta 5 1 Motion EE EE 5 4 Limitand Home Inputs mitin tio 5 5 Wiring Concems sistent ee ie asi ei RA eege 5 6
55. oop closure joystick inputs or monitoring analog sensors Four of these channels are intended for calibration leaving the other four available for analog feedback Nonvolatile memory on the 7344 7334 controller is implemented with flash ROM This means that the 7344 7334 controller can electrically erase and reprogram its own ROM Since all the embedded firmware including the RTOS and DSP code of the 7344 7334 is stored in flash memory you can upgrade the onboard firmware contents in the field for support and new feature enhancement 7344 7334 Hardware User Manual 4 2 ni com Chapter 4 Functional Overview Flash memory also allows objects such as programs and data arrays to be stored in non volatile memory It is possible to save the entire parameter state of the controller to the flash memory On the next power cycle the 7344 7334 controller automatically loads and returns the configuration to these new saved default values The FPGA configuration programs are also stored in the flash ROM Upon power up the FPGAs are booted with these programs This means that updates to the FPGA programs can be performed in the field A flash memory download utility is included with the FlexMotion software that ships with the controller Axes and Motion Resources The 7344 7334 controller can control up to four axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called vector
56. ors See also motion I O connector cable connectors 50 pin servo connector pin assignments figure B 2 50 pin stepper connector pin assignments figure B 1 digital I O connector 5 14 to 5 15 user connectors 3 3 to 3 4 customer education C 1 D Digital Ground signal table 5 3 digital I O connector 5 14 to 5 15 68 pin connector pin assignments figure 5 14 description 5 15 PWM features 5 15 specifications A 5 to A 6 documentation about this manual ix conventions used in manual ix to x related documentation x dual processor architecture 4 1 to 4 3 7344 7334 Hardware User Manual l 2 E embedded real time operating system RTOS 4 1 to 4 2 encoder signals 5 7 to 5 9 Axis lt 1 4 gt Encoder Index 5 3 5 8 Axis lt 1 4 gt Encoder Phase A 5 3 5 7 Axis lt 1 4 gt Encoder Phase B 5 3 5 7 input circuit 5 9 wiring concerns 5 8 to 5 9 environment specifications A 7 equipment optional 1 4 F flash memory 4 2 to 4 3 FlexMotion VI Library 1 3 FPGA configuration programs 4 3 functional overview 4 1 to 4 6 analog feedback 4 2 axes 4 3 to 4 4 dual processor architecture 4 1 to 4 3 embedded real time operating system RTOS 4 1 to 4 2 flash memory 4 2 to 4 3 host communications 4 6 motion resources 4 4 onboard programs 7344 only 4 5 trajectory generators 4 2 H hardware See also functional overview configuration 2 1 features 1 2 installation 2 1 to 2 3 overview 3 1 to 3 4
57. p pico 1072 n nano 109 u micro 10 6 m milli 103 c centi 102 k kilo 103 M mega 106 Numbers Symbols degrees per percent plus or minus positive of or plus negative of or minus Q ohm 5 V 5 VDC source signal 1394 A high speed external bus that implements the IEEE 1394 serial bus protocol O National Instruments Corporation G 1 7344 7334 Hardware User Manual Glossary A A A D absolute mode absolute position acceleration deceleration active high active low ADC address amplifier Analog Input lt 1 4 gt Analog Output lt 1 4 gt API axis Axis lt 1 4 gt Inhibit Axis lt 1 4 gt Forward Limit Input Axis lt 1 4 gt Home Input 7344 7334 Hardware User Manual G 2 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 character code that identifies a specific location or series of locations in memory or on a host PC bus system the drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate
58. ronization eee lt 1 update sample Position accuracy Encoder feedback quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Absolute position range 23 counts Max relative move SIZE 231 counts Velocity range 1 to 20 000 000 counts s RPM range neenenenznnnznzenni 10 gt to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 counts s RPS sraige ieren 107 to 108 revolutions s S Curve time range ee 1 to 32 767 samples Following error range 0 0 0 0 0 to 32 767 counts Gear ratio 7344 only 32 767 1 to 1 32 767 Servo control loop modes PID PIVff S Curve Dual Loop PID Kp Ki and Kd gains 0 to 32 767 Integration limit Ilim 0 to 32 767 Derivative sample period Td 1 to 63 samples National Instruments Corporation A 1 7344 7334 Hardware User Manual Appendix A Specifications Feedforward Aff Vff gains 0 to 32 767 Velocity feedback Kv gain 0 to 32 767 Servo command analog outputs Voltage range 10 V Resolutnon eeennennnzznnnzz 16 bits 0 000305 V LSB Programmable torque velocity limits Positive limit 10 V 232 768 to 32 767 Negative limit 10 V 232 768 to 32 767 Programmable offset 10 V 32 768 to 32 767 Stepper Performance Trajectory update rate range 62 5 to 500 us s
59. s 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 receive the polarity of a switch limit switch home switch etc in active state If these switches are active high they are said to have non inverting polarity refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals Peripheral Component Interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA It is achieving widespread acceptance as a standard for PCs and workstations it offers a theoretical maximum transfer rate of 132 MB s proportional integral derivative control loop proportional integral velocity feed forward 1 a communications connection on a computer or a remote controller 2 a digital port consisting 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 7344 7334 Hardware User Manual Glossary PWM PXI Q
60. 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 collector 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 7344 7334 Hardware User Manual 5 4 ni com Chapter 5 Signal Connections e Axis lt 1 4 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a servo amplifier or stepper driver When properly connected and configured the inhibit function causes the connected motor to be de energized and its shaft turns freely These open collector inhibit signals feature 64 mA current sink capability with built in 3 3 KQ pull up resistors to 5 V and can directly drive most driver amplifier inhibit input circuits While the industry standard for inhibits is active low inverting these outputs have programmable polarity and can be s
61. stepper motion including the following features e Motor command analog and stepper outputs Encoder feedback inputs e Forward home and reverse limit inputs e Breakpoint outputs e Trigger inputs e Inhibit outputs This connector also contains four channels of 12 bit A D inputs for analog feedback or general purpose analog input National Instruments Corporation 5 1 7344 7334 Hardware User Manual Chapter 5 7344 7334 Hardware User Manual Signal Connections Figure 5 1 shows the pin assignments for the 68 pin motion I O connector on the 7344 7334 controller A signal description follows the connector pinout In this chapter lines above signal names indicate that the signal is active low Axis 1 Dir CCW 1 35 Digital Ground 2 36 Digital Ground 3 37 Axis 1 Home Switch 4 38 Trigger 1 5 39 Axis 1 Inhibit 6 40 Axis 2 Dir CCW 7 41 Digital Ground 8 42 Digital Ground 9 43 Axis 2 Home Switch 10 44 Trigger 2 11 45 Axis 2 Inhibit 12 46 Axis 3 Dir CCW 13 47 Digital Ground 14 48 Digital Ground 15 49 Axis 3 Home Switch 16 50 Trigger 3 117 51 Axis 3 Inhibit 18 52 Axis 4 Dir CCW 19 53 Digital Ground 20 54 Digital Ground 21 55 Axis 4 Home Switch 22 56 Trigger 4 23 57 Axis 4 Inhibit 24 58 Digital Ground 25 59 Breakpoi
62. tch Axis 1 Reverse Limit Switch Analog Output 2 Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Analog Output 3 Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Analog Output 4 Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V Figure B 2 50 Pin Servo Connector Pin Assignment 7344 only B 2 ni com Technical Support Resources Web Support National Instruments Web support is your first stop for help in solving installation configuration and application problems and questions Online problem solving and diagnostic resources include frequently asked questions knowledge bases product specific troubleshooting wizards manuals drivers software updates and more Web support is available through the Technical Support section of ni com NI Developer Zone The NI Developer Zone at ni com zone is the essential resource for building measurement and automation systems At the NI Developer Zone you can easily access the latest example programs system configurators tutorials technical news as well as a community of developers ready to share their own techniques Customer Education National Instruments provides a number of alternatives to satisfy your training needs
63. ter Remove the top cover or access port to the PCI expansion slots in your computer Wait for any motherboard LEDs to turn off This will ensure that system power has dissipated Remove the expansion slot connector port cover on the back panel of the computer if installed Insert the 7344 7334 controller into a 3 V or 5 V PCI slot Gently rock the board to ease it into place It may be a tight fit but do not force the board into place If available screw the mounting bracket of the 7344 7334 controller to the back panel rail of the computer Replace the cover Plug in the 68 pin cable for motion I O to the 7344 7334 controller Plug in and turn on your computer Your PCI 7344 7334 controller is installed PXI 7344 1 Turn off and unplug your chassis 2 Choose an unused 5 V peripheral slot 3 Remove the filler panel for the peripheral slot you have chosen 4 Touch a metal part on your chassis to discharge any static electricity that might be on your clothes or body 5 Insert the PXI board into the slot Use the injector ejector handle to fully inject the device into place 6 Screw the front panel of the PXI board to the front panel mounting rails 7344 7334 Hardware User Manual of the chassis 2 2 ni com Chapter 2 Configuration and Installation 7 Visually verify the installation 8 Plug in and turn on the chassis Your PXI 7344 controller is installed e FW 7344 Ki Note If you are not using t
64. ternal packet based command data and messaging event structure The 7344 7334 controllers are true multiprocessing and multitasking embedded controllers The advanced architecture of the 7344 7334 controller enables advanced motion features such as enhanced PID functions Refer to the FlexMotion Software Reference Manual for more information on the features available on the 7344 7334 controllers Trajectory Generators Analog Feedback Flash Memory The 7344 7334 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 PID servo loop or stepper pulse generator depending on how you configure the axis To implement infinite trajectory control the 7344 7334 controller has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position each PID update period While simple point to point moves require only one trajectory generator two simultaneous generators are required for blended moves and infinite trajectory control processing The 7344 7334 controller has an 8 channel multiplexed 12 bit ADC The converted analog values are broadcast to both the DSP and CPU via a dedicated internal high speed serial bus The multiplexer scan rate is approximately 50 us per enabled ADC channel This provides the high sampling rates required for feedback l
65. time 32 bit CPU combined with an Analog Devices ADSP 2185 DSP and custom FPGAs Its 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 7344 7334 controller uses the digital signal processor for all closed loop control including position tracking PID control closed loop computation and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded multitasking real time CPU handles host communications command processing multi axis interpolation onboard program execution 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 for 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 7344 7334 Hardware User Manual Chapter 4 Functional Overview The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized by an in
66. tive humidity range 10 to 90 noncondensing National Instruments Corporation A 7 7344 7334 Hardware User Manual Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to your 7344 7334 boards Figures B 1 and B 2 show the pin assignments for the stepper and servo 50 pin motion connectors These connectors are available when you use the SH68 C68 S 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 Home Switch 8 Axis 1 Encoder index Trigger Breakpoint 1 9 10 Axis 1 Forward Limit Switch Axis 1 Inhibit 11 12 Axis 1 Reverse Limit Switch Axis 2 Dir CCW 13 14 Axis 2 Step CW Digital Ground 15 16 Axis 2 Encoder Phase A Digital Ground 17 18 Axis 2 Encoder Phase B Axis 2 Home Switch 19 20 Axis 2 Encoder Index Trigger Breakpoint 2 21 22 Axis 2 Forward Limit Switch Axis 2 Inhibit 123 24 Axis 2 Reverse Limit Switch Axis 3 Dir CCW 25 26 Axis 3 Step CW Digital Ground 27 28 Axis 3 Encoder Phase A Digital Ground 29 30 Axis 3 Encoder Phase B Axis 3 Home Switch 31 32 Axis 3 Encoder index Trigger Breakpoint 3 33 34 Axis 3 Forward Limit Switch Axis 3 Inhibit 35 36 Axis 3 Reverse Limit Switch Axis 4 Dir CCW 37 38 Axis 4 Step CW Digital Ground 39 40 Axis 4 Encoder Phase A
67. uitry that converts differential encoder signals to single ended encoder signals 7344 7334 Hardware User Manual 5 8 ni com Chapter 5 Signal Connections A Caution Use of an unshielded cable can permit 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 Vcc To the quadrature decoder circuit From the external 1 KQ connector 1 8 W L encoder input 7 DGND pins Figure 5 4 Encoder Input Circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The 7344 7334 controller offers additional high performance features in the encoder FPGA The encoder channels have high speed position capture trigger inputs and breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system e Trigger Input lt 1 4 gt When enabled an active transition on a high speed posit
68. uits gt From the external connector limit and home switch pins DGND WWW 1 kQ ES 1 8 W Figure 5 2 Limit and Home Input Circuit N Caution Excessive input voltages can cause erroneous operation and or component failure Verify that your input voltage is within the specification range 7344 7334 Hardware User Manual 5 6 ni com Chapter 5 Signal Connections Encoder Signals The 7344 7334 controller offers four channels of single ended quadrature encoder inputs All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals Each channel consists of a Phase A a Phase B and an Index input as described in the following sections Encoder lt 1 4 gt Phase A Phase B The encoder inputs provide position and velocity feedback for absolute and relative positioning of axes in any motion system configuration 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 fr
69. uments distributed devices with RTSI capability The PXI 7344 requires no extra cable because the PXI bus directly connects the RTSI bus across all National Instruments PXI devices National Instruments Corporation 5 15 7344 7334 Hardware User Manual Chapter 5 Signal Connections RTSI Signal Considerations The 7344 7334 motion controllers allow you to use the RTSI signals as sources for trigger inputs or as destinations for breakpoint outputs and encoder signals The RTSI bus can also be used as a generic digital 1 O port Breakpoint outputs are output only signals that generate an active high pulse of 90 120 ns duration as shown in Figure 5 9 4 tw gt tw 90 120 ns 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 7344 7334 Hardware User Manual 5 16 ni com Specifications This appendix lists the hardware and software performance specifications for the 7344 7334 controller Servo Performance 7344 only PID update rate range 62 5 to 500 us sample Max PID update rate 62 5 us axis 4 axis PID update rate 250 us total Trajectory update rate oo ee Same as PID update rate Multi axis synch

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