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NI 7350 User Manual - National Instruments

1. 16 bit ADC 16 bit DACs RTSI and PXI Bus Connector Field Programmable Gate Arrays DSP 32 bit CPU Nonvolatile FLASH Memory 68 pin Digital I O Connectors 68 pin Motion I O Connectors O 0 Y O akhWN Figure 3 1 PXI 7350 Parts Locator Diagram Front Panel National Instruments Corporation 3 1 NI 7350 User Manual Chapter 3 Hardware Overview O NATIONAL INSTRUMENTS copyricHt 2003 Y L1 e O z gt E 1 Assembly Number Label 3 Symbol Indicating CE Compliance 2 Serial Number Label 4 Identification Number used in Australia Figure 3 2 PXI 7350 Parts Locator Diagram Back Panel NI 7350 User Manual 3 2 ni com Chapter 3 Hardware Overview Figures 3 3 and 3 4 show the NI PCI 7350 parts locator diagrams Y 000000000000000 v 1111111111 1111111111 800000000000000 c 1212118581 1555151188 A o O00 AA aa JR 16 bit ADC 16 bit DACs RTSI Bus Connector Field Programmable Gate Arrays DSP 32 bit CPU Nonvolatile FLASH Memory 68 pin Digital I O Connectors 68 pin Motion I O Connectors o 0o AUN Figure 3 3 PCI 7350 Parts
2. Trajectory Generator Optional 101100111 Ly i l l v 32 Bit Stepper prc L CT 4 i Y Control 010010110 ulse ea Encoder 551014019 Loo Generator T Interface i gt 101100111 E NI 7350 User Manual Figure 4 2 Stepper Axis Resources The NI 7350 controller supports axes with secondary output resources Defining two output resources is useful when controlling axes with multiple motors such as gantry systems in which two DAC outputs can be configured with different torque limits and or offsets The NI 7350 controller also can use two DAC output resources when controlling a brushless DC servo axis for sinusoidal commutation The NI 7350 controller also supports secondary feedback resources or encoders for axes defined as servo Two feedback resources are used 4 4 ni com Chapter 4 Functional Overview when implementing dual loop control such as in backlash compensation which reduces the number of encoders available for other axes iyi Note Refer to the NI Motion User Manual for more information about configuring axes Motion Resources Encoder DAC ADC and motion I O resources that are not used by an axis are available for non axis or non motion specific applications You can directly control an unmapped DAC as a general purpose analog output x10 V Similarly you can use any ADC chann
3. Built in pull up resistor Poli ras Control iis eee he Host 5 V max current sourced from controller Motion 1 0 Max count rate soosoo National Instruments Corporation A 3 Appendix A Specifications 1 to 32 767 samples 0 to 32 767 counts 32 767 1 to 1 32 767 8 MHz full half and microstep 6 5 us at lt 40 kHz 40 ns at gt 4 MHz Step and direction or CW CCW 0to5 V 0 6 V at 64 mA sink Totem Pole 2V at 16 mA source open collector built in 3 3 kQ pull up to 5 V Programmable active high or active low Resets board to startup state 63 or 256 ms programmable 0to5V 0 8 V 2V 3 3 KQ to 5 V Rising edge Disable all axes and command outputs resets I O to default states 100 mA at 5 V Quadrature incremental single ended 20 MHz NI 7350 User Manual Appendix A Specifications NI 7350 User Manual Min pulse width Voltage range sese Input low voltage Input high voltage Built in pull up resistor Min index pulse width Forward reverse and home inputs Number of inputs sess Voltage range Input low voltage Input high voltage Built in pull up resistor Polarity x steer Min pulse width Limit fil
4. 2 68 pin female high density VHDCI type RTSI connector PCI 7350 only 37 pin male for ribbon cable Weight PXT Mii 170 g 6 oz PCI 7350 x cei t 113 g 4 oz A 8 ni com Appendix A Specifications Maximum Working Voltage Channel to earth esses 11 V Installation Category I signal voltage plus common mode voltage Channel to channel 22 V Installation Category I signal voltage plus common mode voltage UN Caution These values represent the maximum allowable voltage between any accessible signals on the controller To determine the acceptable voltage range for a particular signal refer to the individual signal specifications Environment Operating temperature 0 to 55 C Storage temperature esses 20 to 70 C Humudity ice teretes 10 to 90 RH noncondensing Maximum altitude ss 2 000 m Pollution Degree sess 2 Safety This product is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e TEC 61010 1 EN 61010 1 e UL 61010 1 CAN CSA C22 2 No 61010 1 Note For UL and other safety certifications refer to the product label or visit ni com certification search by model number or product line and click the appropriate link in the Certification c
5. Outputs RTSI Voltage range eese Output low voltage Output high voltage Max total DIO current Sourced from controller nreo a aa PWM outputs Number of PWM outputs Max PWM frequency ResolutiON occcccccnnnnnnnnnnannno Duty cycle range Clock sources eene Trigger Imes z oen PXI Star Trigger PXI 7350 only National Instruments Corporation A 7 Appendix A Specifications Up to 8 8 bit ports Individual bit programmable 0to5V 0 8 V 2 0 V Programmable active high or active low 10 KQ configurable pull up to 5 V or pull down to GND 0to5V 0 45 V at 24 mA 2 4 V at24 mA 1A Programmable active high or active low 2 50 kHz 8 bit 0 to 255 256 Internal or external NI 7350 User Manual Appendix A Specifications Maximum Power Requirements Physical NI 7350 User Manual 43 3 V CET096 eerte t peter 2A IV EIJ ln 2A HIZ V E5900 negans aa aan 30 mA lt 12 V 51066 itte 0 mA Power consumption ees 18W Dimensions Not Including Connectors PXP SO naves tme 16 cm x 10 cm 6 3 in x 3 9 in oua eed eoe ders 17 5 cm x 9 9 cm 6 9 in x 3 9 in Connectors Motion 1 0 connectors 2 68 pin female high density VHDCI type 32 bit digital I O connectors
6. Input 3 0 180 360 540 720 Input 1 Input 2 Input 3 0 180 360 540 720 Input 1 Input 2 Input 3 0 180 360 540 720 Input 1 Input 2 Input 3 0 180 360 540 720 Input 1 Input 2 Input 3 0 180 360 540 720 Input 1 Input 2 Input 3 Figure 2 1 Type 1 Hall Sensor Wiring Diagrams National Instruments Corporation NI 7350 User Manual Configuration and Installation Chapter 2 Configuration and Installation Type 2 Base Case 0 180 360 540 720 0 180 360 540 720 i Sensor J Input 1 EE Sensor 2 gt _ Input 2 Sensor 3 Input3 0 180 360 540 720 0 180 360 540 720 E E Sensor 1 Input 1 Sensor 2 Input 2 Sensor 3 Input 3 0 180 360 540 720 0 180 360 540 720 Sensor 1 Input 1 NES H Sensor 2 Input 2 Sensor 3 Input 3 0 180 360 540 720 0 180 360 540 720 H Sensor JJ Input 1 H Sensor 2 Input 2 Sensor 3 Input 3 0 180 360 540 720 0 180 360 540 720 E Sensor 1 gt Input 1 m E Sensor 2 Input 2 Sensor 3 J Input 3 0 180 360 540 720 0 180 360 540 720 Sensor 1 Input 1 Sensor 2 Input 2 Sensor 3 Input 3
7. L NI Motion driver software and documentation 1 2 ni com Chapter 1 Introduction U One of the following software packages and documentation LabVIEW LabWindows CVI Measurement Studio C C Microsoft Visual Basic C A computer with an available PXI CompactPCI or PCI slot Software Programming Choices The NI 7350 controller comes with a simple but powerful high level application programming interface API that makes it easy to program You can execute all setup and motion control functions by calling into a dynamically linked library DLL You can use the full function set implementations for LabVIEW and LabWindows CVL or call the NI Motion libraries from C and Visual Basic National Instruments Application Software LabVIEW is based on the graphical programming language G and features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the NI Motion VI Library which is a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The NI Motion VI library implements the full API along with a useful set of example programs ANSI C based LabWindows CVI also features interactive graphics and a state of the art user interface Using LabWindows CVI you can g
8. When enabled an active transition on a high speed position capture input causes instantaneous position capture of the corresponding encoder count value You can use this high speed position capture functionality for applications ranging from simple position tagging of sensor data to complex camming systems with advance retard positioning and registration An available NI 7350 controller position mode is to move an axis relative to a captured position 5 10 ni com Chapter 5 Signal Connections The polarity of the trigger position capture input is programmable in software as active low or active high rising edge or falling edge You also can use a trigger position capture input as a latching general purpose digital input by simply ignoring the captured position Shutdown Input When enabled in software the shutdown input signal can be used to kill all motion by asserting the controller inhibits setting the analog outputs to 0 V and stopping any stepper pulse generation To activate shutdown the signal must transition from a low to high state e Breakpoint lt 1 8 gt You can program a breakpoint position compare output to transition when the associated encoder value equals the breakpoint position compare position You can use a breakpoint position compare 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 a
9. Figure 2 2 Type 2 Hall Sensor Wiring Diagrams NI 7350 User Manual 2 8 ni com Chapter 2 Configuration and Installation For example if the diagram supplied with the motor matches the third Type 2 diagram wire Hall effect sensor 1 to input 3 on the UMI or NI 7350 and then wire sensor 2 to input 1 and wire sensor 3 to input 2 The Hall effect sensor inputs for Axes 1 2 5 and 6 are defined as follows e Axis uses digital port 4 bits 2 4 with bit 2 as input 1 e Axis 2 uses digital port 4 bits 5 7 with bit 5 as input 1 e Axis 5 uses digital port 8 bits 2 4 with bit 2 as input 1 e Axis 6 uses digital port 8 bits 5 7 with bit 5 as input 1 Refer to Figure 5 7 68 Pin Digital I O Connector Pin Assignments Ports 1 4 and Figure 5 8 68 Pin Digital I O Connector Pin Assignments Ports 5 8 for detailed pinouts of the digital I O connectors 3 Configure the system in MAX There are two base types of Hall effect sensor inputs Set the NI Motion software to the base sensor type you are using If the motor documentation matches any of the patterns in Figure 2 1 you are using Type 1 which matches the graph in Figure 2 3 0 720 Figure 2 3 Type 1 Hall Sensor Phasing Sequence Diagram If the motor documentation matches any of the patterns in Figure 2 2 you are using Type 2 which matches the graph in Figure 2 4 National Instruments Corporation 2 9 NI 7350 User Manual Chapter 2 Configur
10. b base address binary bit buffer bus C CCW closed loop common CPU crosstalk CSR CW NI 7350 User Manual Axis 1 through 8 inhibit output Axis 1 through 8 reverse limit input Axis 1 through 8 stepper pulse output or clockwise direction control 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 The smallest unit of memory or the smallest unit of data used in a digital operation a contraction of binary and digit A bit can assume values of 0 to 1 off or on 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 counterclockwise Implies direction of motor rotation A motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity Reference signal for digital I O 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 G 2 ni com D DAC DAQ dedicated DGND digital I O port DIP DLL drive DSP E encoder encoder resol
11. in both send and readback directions The NI 7350 controller has both a command buffer for incoming commands and a return data buffer for returning data The communications status register provides bits for communications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status register provides instantaneous motion status of all axes The host computer also has a read only register for reading position and velocity This feature allows you to read the position and velocity without utilizing the onboard CPU 4 6 ni com Signal Connections This chapter describes how to make input and output signal connections directly to the National Instruments PXI PCI 7350 controller and briefly describes the associated I O circuitry The NI 7350 controller has the following four connectors that handle all signals to and from the external motion system e Two 68 pin motion I O connectors e Two 68 pin digital I O connectors You can connect to the motion system with cables and accessories varying from simple screw terminal blocks to enhanced UMI units and drives UN Caution The NI 7350 does not provide isolation between circuits N Caution Power off all devices when connecting or disconnecting the NI 7350 controller motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion 1 0 Connectors The motion I O connectors contain all the signals
12. 1 T technical support D 1 Totem Pole mode wiring diagram 5 14 training and certification NI resources D 1 trajectory generators 4 2 trigger position capture inputs overview 5 10 wiring concerns 5 11 Trigger lt 1 8 gt signal description table 5 4 purpose and use 5 10 troubleshooting NI resources D 1 V voltage specifications working max A 9 NI 7350 User Manual Index W Web resources D 1 wiring concerns analog inputs 5 13 breakpoint position compare outputs 5 11 encoder signals 5 9 limit and home inputs 5 7 optocoupler wiring 5 13 Totem Pole mode 5 14 trigger position capture inputs 5 11 NI 7350 User Manual ni com
13. 1 8 gt 5 5 Analog Output Ground 5 5 Axis lt 1 8 gt Dir CCW 5 5 Axis lt 1 8 gt Inhibit 5 6 Axis lt 1 8 gt Step CW 5 5 motion I O connectors 3 4 68 pin connector axes 1 4 pin assignments figure 5 2 68 pin connector axes 5 8 pin assignments figure 5 3 analog inputs signal descriptions 5 12 wiring concerns 5 13 custom cables 1 4 encoder signals Encoder lt 1 8 gt Index 5 9 Encoder lt 1 8 gt Phase A Phase B 5 8 input circuits 5 10 signal descriptions 5 8 wiring concerns 5 9 features 5 1 NI 7350 User Manual 1 4 limit and home inputs input circuit 5 7 signal descriptions 5 6 wiring concerns 5 7 motion axis signals 5 5 parts locator diagram 3 5 signal connections 5 4 specifications A 3 trigger position capture inputs shutdown inputs and breakpoint position compare outputs circuits 5 12 signal descriptions 5 10 wiring concerns 5 11 motion resources 4 5 National Instruments application software 1 3 support and services D 1 NI Motion VI Library 1 3 0 onboard programs 4 5 Open Collector mode wiring diagram 5 14 optional equipment 1 4 optocouplers interfacing with 5 13 Open Collector output mode wiring diagram 5 14 Totem Pole output mode wiring diagram 5 14 P parts locator diagrams 7350 back panel 3 2 3 4 7350 connectors 3 5 7350 front panel 3 1 3 3 ni com physical specifications A 8 power requirement specifications A 8 processo
14. 27 61 Port 7 bit 6 Port 7 bit 7 28 62 Digital Ground Port 8 bit O 29 63 Port 8 bit 1 Digital Ground 30 64 Port 8 bit 2 Axis 3 Hall 1 Axis 3 Hall 2 Port 8 bit 3 31 65 Digital Ground Axis 3 Hall 3 Port 8 bit 4 32 66 Port 8 bit 5 Axis 4 Hall 1 Digital Ground 33 67 Port 8 bit 6 Axis 4 Hall 2 Axis 4 Hall 3 Port 8 bit 7 34 68 Digital Ground Figure 5 8 68 Pin Digital I O Connector Pin Assignments Ports 5 8 The 64 bit digital I O ports are configured in hardware as up to eight 8 bit digital I O ports The bits in a port are typically controlled and read with byte wide bitmapped commands NI 7350 User Manual 5 16 ni com Chapter 5 Signal Connections Bits 2 7 in DIO ports 4 and 8 are dual purpose bits that can be used for either general purpose I O or Hall sensor feedback during system configuration and initialization but not both When you set these bits to provide Hall sensor feedback they are reserved for this activity and cannot be used for general purpose I O until you reinitialize the motion system All digital I O lines have programmable direction and polarity The DPull P1 P4 and DPull P5 P8 pins control the state of the digital input pins at power up Connecting DPull P1 P4 to 5 V or leaving it unconnected configures all pins in ports 1 4 for 10 kQ pull ups Connecting DPull P1 P4 to g
15. Instruments PXI PCI 7350 motion controller and contains information concerning its installation and operation The NI 7350 controller is designed for PXI CompactPCI and PCI bus computers lt gt Pee bold italic This manual uses the following conventions Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example AO lt 3 0 gt The symbol leads you through nested menu items and dialog box options to a final action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box The symbol indicates that the following text applies only to a specific product a specific operating system or a specific software version This icon denotes a tip which alerts you to advisory information This icon denotes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash When this symbol is marked on a product refer to the Safety Information section of Chapter 2 Configuration and Installation for information about precautions to take Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names Italic text denotes variables emphasis a cross refe
16. controller is ready to communicate with the host system Specifies an axis that controls a servo motor An s curve acceleration deceleration profile eases to a start and smoothly accelerates to top speed Deceleration is equally smooth A method of controlling current in the windings of a brushless servo motor by using the pattern of a sine wave to shape the smooth delivery of current to three motor inputs each 120 out of phase from the next Specifies an axis that controls a stepper motor Changing state from high to low back to high and so on A force tending to produce rotation NI 7350 User Manual Glossary Totem Pole trapezoidal profile trigger position capture V Vec velocity mode W watchdog word NI 7350 User Manual A method of output capable of sinking and sourcing current A typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity then decelerates at the programmed acceleration to the target position Any event that causes or starts some form of data capture Positive voltage supply This operation mode moves the axis continuously at a specified velocity Timer task that shuts down resets the motion control board if any serious error occurs Standard number of bits that a processor or memory manipulates at one time typically 8 bit 16 bit or 32 bit G 8 ni com Index Sy
17. electrical hazards the computer should remain unplugged until the installation is complete 2 Choose an unused 3 3 V or 5 V peripheral slot and remove the filler panel 3 Touch a metal part on the chassis to discharge any static electricity that might be on your clothes or body Static electricity can damage the controller 4 Insert the PXI controller into the chosen slot Use the injector ejector handle to fully insert the device into place 5 Screw the front panel of the PXI controller to the front panel mounting rails of the chassis 6 Visually verify the installation N Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits UN Caution Always power on the chassis containing the NI 7350 controller then initialize the controller before you power on the rest of the motion system Power off in the reverse order 7 Plug in and power on the chassis 8 Initialize the controller NI 7350 User Manual 2 4 ni com gt E Chapter 2 Configuration and Installation PCI 7350 1 Power off and unplug the computer Caution To protect yourself and the computer from electrical hazards the computer should remain unplugged until the installation is complete 2 Open the computer case to expose access to the PCI expansion slots Choose an unused 3 3 V or 5 V PCI slot and remove the cor
18. input This method works if the optocoupler is designed to work with a 5 V signal requires less than 16 mA and the NI 7350 output is configured for Totem Pole output mode Figure 5 5 shows a typical optocoupler wiring example National Instruments Corporation 5 13 NI 7350 User Manual Chapter 5 Signal Connections 7350 or UMI Drive pS aaa STEP OUT Optional Step 5 3 3 kQ 1 1 er 1 ETE 1 GND Step lt N ray Figure 5 5 Typical Optocoupler Wiring Totem Pole Output Mode In some rare circumstances the optocoupler will not work with a 5 V signal or it requires more current than the maximum current level the controller can provide In this case connect the controller output to the negative side of the optocoupler input connect the positive side of the input to a supply as specified by the drive manufacturer and configure the controller output for Open Collector mode Figure 5 6 shows this special case wiring example 7350 or UMI Viso per 5 Drive Spec 3 3 kQ Step Drive Ww STEP OUT Step Figure 5 6 Special Case Optocoupler Wiring Open Collector Output Mode Caution If the optocoupler input does not include its own current limiting resistor you must provide an external resistor in series with the NI 7350 output To prevent damage to the NI 7350 controller or other motion hardw
19. low ADC address amplifier Analog Input lt 1 8 gt Analog Output lt 1 8 gt API axis Axis 1 8 Dir CCW Axis lt 1 8 gt Forward Limit Input Axis lt 1 8 gt Home Input National Instruments Corporation G 1 A move mode that treats 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 is high 1 A signal is active when its value is 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 device that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type For example you cannot use a stepper drive to operate a DC brush motor 16 bit analog ADC input DAC voltage output application programming interface Unit that controls a motor or any similar motion or control device Axis 1 through 8 direction output or counterclockwise direction control Axis 1 through 8 forward limit switch Axis 1 through 8 home input NI 7350 User Manual Glossary Axis lt 1 8 gt Inhibit Axis lt 1 8 gt Reverse Limit Input Axis lt 1 8 gt Step CW B
20. 2 What You Need to Get Started oo cee eecceesceseeesseceseeceneceseeeseeceaeeeeessaeeeseessaeeeeeeeneeeaes 1 2 Software 1 3 National Instruments Application Software sss 1 3 Optional Equipment eerte reb o dt od pco ten te 1 4 Motion VO Connections ree ae ete eade et ete teen e erede teen 1 4 Chapter 2 Configuration and Installation Software Installation eee eet eere tree eeu eene noe en ent aene tengo 2 1 Controller Configuration 4 e eise e p rep t t teet dein etd eerte pen 2 1 Safety Information xg e CREE aieo date hee 2 2 Hardware Installation dier oia 2 4 Connecting Brushless 2 5 Connecting the Hall Effect Sensors essere 2 6 2 10 Chapter 3 Hardware Overview User Connectotsss eo eL A A ERE EE 3 4 Chapter 4 Functional Overview D al Processor Architecture 1 eerte eter ee Pre ete ie renes orte eene 4 1 Embedded Real Time Operating System esee 4 1 Trajectory Generators eR iet test 4 2 Analog Input and 4 2 National Instruments Corporation V NI 7350 User Manual Contents Onboard Sinusoidal CommutatiON ccconoooocncnnnononnnnnnnnnnnnannnonnnnnnnncnonannnnnononannns 4 3 Flash Memory nitet edet iier pr e tae 4 3 Axes and Motion Resources ias 4 3 AO Nett cae e ee cct na Mieten ame 4 3 Motion Resources ii 4 5 Onboard 4 5 Host Communications essseseeeeeeeeeeeenee nennen nennen nennen nnns senten
21. 3 34 Axis 7 Inhibit 35 36 Analog Output Ground 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 8 Home Switch 43 44 Trigger Breakpoint8 45 46 Axis 8 Inhibit 47 48 Digital Ground 49 50 Analog Output 5 Axis 5 Encoder Phase A Axis 5 Encoder Phase B Axis 5 Encoder Index Axis 5 Forward Limit Switch Axis 5 Reverse Limit Switch Analog Output 6 Axis 6 Encoder Phase A Axis 6 Encoder Phase B Axis 6 Encoder Index Axis 6 Forward Limit Switch Axis 6 Reverse Limit Switch Analog Output 7 Axis 7 Encoder Phase A Axis 7 Encoder Phase B Axis 7 Encoder Index Axis 7 Forward Limit Switch Axis 7 Reverse Limit Switch Analog Output 8 Axis 8 Encoder Phase A Axis 8 Encoder Phase B Axis 8 Encoder Index Axis 8 Forward Limit Switch Axis 8 Reverse Limit Switch Host 5 V O National Instruments Corporation Figure B 4 50 Pin Servo Connector Pin Assignment Axes 5 8 B 5 NI 7350 User Manual Cable Connector Descriptions Input Output Reset States This appendix lists the various states of the NI PXI PCI 7350 hardware during reset Table C 1 1 0 States During Reset From Power On Until Device Initialization Signal Names Direction Mode Polarity State Motion I O Connector Inhibit lt 1 8 gt Output Open collector Activelow Active Breakpoint lt 1 8 gt Output Totem Pole Activelow Inactive Step 1 8 Output Totem Pole Activelow In
22. 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 Switch Axis 1 Reverse Limit Switch Analog Output 2 Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Analog Output 3 Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Analog Output 4 Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V Figure B 3 50 Pin Servo Connector Pin Assignment Axes 1 4 B 4 ni com Appendix B Analog Output Ground 1 2 Digital Ground 3 4 Digital Ground 5 6 Axis 5 Home Switch 7 8 Trigger Breakpoint5 9 10 Axis 5 Inhibit 11 12 Analog Output Ground 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 6 Home Switch 19 20 Trigger Breakpoint6 21 22 Axis 6 Inhibit 23 24 Analog Output Ground 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 7 Home Switch 31 32 Trigger Breakpoint 7 3
23. 350 User Manual The following signals control limit and home inputs e Axis lt 1 8 gt Forward Limit Input Axis 1 8 Home Input e Axis lt 1 8 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 You can use software to enable and disable limit and home inputs at any time When enabled an active transition on a limit or home input causes a full torque halt stop of the associated 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 5 6 ni com Chapter 5 Signal Connections Limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized Refer to Appendix A Specifications for more information You can use MAX to disable digital filtering for limit and home inputs Active signals should remain active to prevent motion from proceeding further into the limit Pulsed limit signals stop motion but they do not prevent further motion in that direction if another move is started The input polarity of these signals is software programmable for active low or active high You can use software disabled limit and home inputs as general purpose inputs You can read the status of these inputs at any time and set and change their polarity as required Limit and home inputs are a per axis enhancement on the NI 73
24. 4 2 axes 4 3 buffers 4 5 dual processor architecture 4 1 embedded real time operating system RTOS 4 1 flash memory 4 3 host communications 4 6 motion resources 4 5 onboard programs 4 5 trajectory generators 4 2 National Instruments Corporation I 3 Index H Hall effect sensors connecting 2 6 Type 1 wiring diagrams 2 7 Type 2 wiring diagrams 2 8 hardware 7350 controller 1 2 configuration 2 1 connecting brushless servo motors 2 5 connectors 3 4 digital I O connectors 3 4 features 1 1 I O states during reset C 1 installation connecting brushless servo motor leads 2 10 connecting Hall effect sensors 2 6 procedure 2 4 motion I O connectors 3 4 overview 3 1 parts locator diagrams back panel 3 2 3 4 connectors 3 5 front panel 3 1 3 3 safety information 2 2 help technical support D 1 high speed capture 4 5 Host 5 V signal description table 5 4 purpose and use 5 13 host communications 4 6 I O states C 1 installation category 2 3 hardware 2 4 software 2 1 instrument drivers NI resources D 1 NI 7350 User Manual Index K KnowledgeBase D 1 L LabVIEW software 1 3 limit and home inputs Axis lt 1 8 gt Forward Limit Input 5 6 Axis lt 1 8 gt Home Input 5 6 Axis lt 1 8 gt Reverse Limit Input 5 6 input circuit 5 7 signal descriptions 5 6 wiring concerns 5 7 memory buffer storage 4 5 flash 4 3 motion axis signals Analog Output lt
25. 50 controller and are not required for basic motion control These inputs are part of a system solution for complete motion control UN Caution National Instruments recommends using limits for personal safety as well as to protect the motion system Wiring Concerns For the end of travel limits to function correctly the forward limit must be located at the forward or positive end of travel and the reverse limit at the negative end of travel UN Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system Limits that are wired incorrectly may prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor drive amplifier signal and encoder signal connections A Caution Wiring these signals near each other can cause faulty motion system operation that is due to signal noise and crosstalk Limit and Home Input Circuit Limit and home inputs have an onboard pull up resistor If left floating the inputs are interpreted as a high logic level National Instruments Corporation 5 7 NI 7350 User Manual Chapter 5 Signal Connections A Caution Excessive input voltages can cause erroneous operation and or component failure Verify that the input voltage is within the specification range Encoder Signals The NI 7350 controller offers up to eight channels of single ended qua
26. Analog Input Ground Input 16 bit analog input Analog Output lt 1 8 gt Analog Output Ground Output 16 bit analog output Analog Output Ground Reference for analog outputs Shutdown Digital Ground Input Controlled device shutdown Analog Reference output Analog Output Ground Output 7 5 V analog reference level NI 7350 User Manual 5 4 ni com Motion Axis Signals Chapter 5 Signal Connections The following signals control the servo amplifier or stepper drive Analog Output 1 8 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 These outputs also feature a software programmable voltage offset Although typically used as the command output of an axis control loop unused DACs also can function as independent analog outputs for general purpose control Analog Reference For convenience a 7 5 V nominal analog reference voltage is available You can use this output as a low current supply to sensors that require a stable reference iyi Note The analog reference output is an output signal only and must not be connected to an external reference voltage Connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltage measurement National Instruments Corporation Analog Output Ground To h
27. Axis 4 inhibit 47 48 Digital Ground 49 50 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 45 V Figure B 1 50 Pin Stepper Connector Pin Assignment Axes 1 4 NI 7350 User Manual B 2 ni com Appendix B Axis 5 Dir CCW 1 2 Digital Ground 3 4 Digital Ground 5 6 Axis 5 Home Switch 7 8 Trigger Breakpoint5 9 10 Axis 5 Inhibit 11 12 Axis 6 Dir CCW 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 6 Home Switch 19 20 Trigger Breakpoint 6 21 22 Axis 6 Inhibit 23 24 Axis 7 Dir CCW 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 7 Home Switch 31 32 Trigger Breakpoint 7 33 34 Axis 7 Inhibit 35 36 Axis 8 Dir CCW 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 8 Home Switch 43 44 Trigger B
28. Connector Pin Assignment for Axes 5 8 5 3 NI 7350 User Manual Signal Connections Chapter 5 Signal Connections Table 5 1 describes the signals on the motion I O connector Table 5 1 Motion 1 0 Signal Connections Signal Name Reference Direction Description Digital Ground Reference for digital I O Axis lt 1 8 gt Dir CCW Digital Ground Output Motor direction or counterclockwise control Axis lt 1 8 gt Step CW Digital Ground Output Motor step or clockwise control Axis lt 1 8 gt Encoder Phase A Digital Ground Input Closed loop only phase A encoder input Axis lt 1 8 gt Encoder Phase B Digital Ground Input Closed loop only phase B encoder input Axis lt 1 8 gt Encoder Index Digital Ground Input Closed loop only index encoder input Axis lt 1 8 gt Home Switch Digital Ground Input Home switch Axis lt 1 8 gt Forward Limit Switch Digital Ground Input Forward limit switch Axis lt 1 8 gt Reverse Limit Switch Digital Ground Input Reverse limit switch Axis 1 8 Inhibit Digital Ground Output Drive inhibit Trigger lt 1 8 gt Digital Ground Input High speed position capture trigger input lt 1 8 gt Breakpoint lt 1 8 gt Digital Ground Output Position breakpoint output lt 1 8 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 8 gt
29. F 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 Compliance Compliance with FCC Canada Radio Frequency Interference Regulations Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations All National Instruments NI products are FCC Class A products Depending on where it is operated this Class A product could be subject to restrictions in the FCC rules In Canada the Dep
30. Home Switch 10 44 Trigger 6 11 45 Axis 6 Inhibit 12 46 Axis 7 Dir CCW 13 47 Digital Ground 14 48 Digital Ground 15 49 Axis 7 Home Switch 16 50 Trigger 7 17 51 Axis 7 Inhibit 18 52 Axis 8 Dir CCW 19 53 Digital Ground 20 54 Digital Ground 21 55 Axis 8 Home Switch 22 56 Trigger 8 23 57 Axis 8 Inhibit 24 58 Digital Ground 25 59 Breakpoint 5 26 60 Breakpoint 7 27 61 Digital Ground 28 62 Analog Output 5 29 63 Analog Output 7 30 64 Analog Output Ground 31 65 Analog Input 5 32 66 Analog Input 7 33 67 Analog Reference Output 34 68 Axis 5 Step CW Axis 5 Encoder Phase A Axis 5 Encoder Phase B Axis 5 Encoder Index Axis 5 Forward Limit Switch Axis 5 Reverse Limit Switch Axis 6 Step CW Axis 6 Encoder Phase A Axis 6 Encoder Phase B Axis 6 Encoder Index Axis 6 Forward Limit Switch Axis 6 Reverse Limit Switch Axis 7 Step CW Axis 7 Encoder Phase A Axis 7 Encoder Phase B Axis 7 Encoder Index Axis 7 Forward Limit Switch Axis 7 Reverse Limit Switch Axis 8 Step CW Axis 8 Encoder Phase A Axis 8 Encoder Phase B Axis 8 Encoder Index Axis 8 Forward Limit Switch Axis 8 Reverse Limit Switch Host 45 V Breakpoint 6 Breakpoint 8 Shutdown Analog Output 6 Analog Output 8 Reserved Analog Input 6 Analog Input 8 Analog Input Ground O National Instruments Corporation Figure 5 2 68 Pin Motion 1 0
31. I bus computers It provides fully programmable motion control for up to eight independent axes of motion Coordinated motion is supported through multi dimensional coordinate spaces Each axis provides dedicated motion I O for limit and home switches and additional I O for general purpose functions You can use the NI 7350 controller for point to point and straight line vector moves The NI 7350 also performs arbitrary and complex motion trajectories through circular interpolation and contouring Servo axes can control DC brushed or brushless servo motors servo hydraulics servo valves and other servo devices such as closed loop piezo motor systems Servo axes always operate in closed loop mode These axes use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range of 10 V Stepper axes control stepper motors in either open or closed loop mode They use quadrature encoders or analog inputs for position feedback closed loop only and provide step direction or clockwise CW counterclockwise CCW digital command outputs All stepper axes support full half and microstepping applications National Instruments Corporation 1 1 NI 7350 User Manual Chapter 1 Introduction Hardware RTSI The NI 7350 controller is a high performance controller that uses an advanced dual processor for embedded real time control This powerful functionality provides hi
32. Locator Diagram Front Panel National Instruments Corporation 3 3 NI 7350 User Manual Chapter 3 Hardware Overview i O Aen CE e O 1 Symbol to Alert User to Read the Manual 4 Serial Number Label 2 Identification Number used in Australia 5 Assembly Number Label 3 Symbol Indicating CE Compliance Figure 3 4 PCI 7350 Parts Locator Diagram Back Panel User Connectors The two 68 pin motion I O connectors provide all the signals for up to eight axes of closed loop motion control including encoder feedback limit and home inputs breakpoint position compare outputs trigger position capture inputs and analog to digital A D converter signals Refer to Chapter 5 Signal Connections for details about the signals in the motion I O connectors The two 68 pin digital I O connectors provide 64 bits of user configurable digital I O including 12 inputs for four Hall effect sensors Refer to Chapter 5 Signal Connections for details about the signals in the digital I O connectors NI 7350 User Manual 3 4 ni com Chapter 3 Hardware Overview Figure 3 5 shows the four 68 pin I O connectors on the NI 7350 motion controller MOTION I O AXES 5 8 MOTION 1 0 AXES 1 4 DIGITAL 1 0 PORTS 1 4 O 9 O Gaana 9 Gna 9 9 Gaan C DIGITAL 1 0 PORTS 5 8 1 Motion l O Connector Axes 1 4 3 Digital I O Connector
33. Motion Control NI 7350 User Manual July 2006 7 NATIONAL 3710608 01 INSTRUMENTS Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 Worldwide Offices Australia 1800 300 800 Austria 43 0 662 45 79 90 0 Belgium 32 0 2 757 00 20 Brazil 55 11 3262 3599 Canada 800 433 3488 China 86 21 6555 7838 Czech Republic 420 224 235 774 Denmark 45 45 76 26 00 Finland 385 0 9 725 725 11 France 33 0 1 48 14 24 24 Germany 49 0 89 741 31 30 India 91 80 41190000 Israel 972 0 3 6393737 Italy 39 02 413091 Japan 81 3 5472 2970 Korea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 3390150 Portugal 351 210 311 210 Russia 7 095 783 68 51 Singapore 1800 226 5886 Slovenia 386 3 425 4200 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 200 51 51 Taiwan 886 02 2377 2222 Thailand 662 278 6777 United Kingdom 44 0 1635 523545 For further support information refer to the Technical Support and Professional Services appendix To comment on National Instruments documentation refer to the National Instruments Web site at ni com info and enter the info code feedback O 2004 2006 National Instruments Corporation All rights reserved Importan
34. Ports 1 4 2 Motion I O Connector Axes 5 8 4 Digital I O Connector Ports 5 8 Figure 3 5 PXI PCI 7350 68 pin Connectors The RTSI connector provides up to eight triggers and one PXI star trigger PXI 7350 only to facilitate synchronization between multiple RTSI enabled 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 You also can use the RTSI bus for general hardware based communication between RTSI devices National Instruments Corporation 3 5 NI 7350 User Manual Functional Overview This chapter provides an overview of the National Instruments PXI PCI 7350 controller architecture and its capabilities Dual Processor Architecture The NI 7350 controller can perform up to eight axes of simultaneous motion control in a preemptive multitasking real time environment An advanced dual processor architecture 32 bit CPU digital signal processor DSP for embedded real time control and custom FPGAs give the NI 7350 controller high performance capabilities The powerful function set provides high speed communications while off loading complex motion functions from the host PC for optimized system performance The NI 7350 controller uses the DSP for all closed loop control including position tracking PID control closed loop c
35. Slice section of Chapter 14 Onboard Programs of the NI Motion User Manual for more information and the impact of changing the onboard program time slice You can execute the NI Motion function set from onboard programs In addition the onboard programs support basic math and data operation O National Instruments Corporation 4 5 NI 7350 User Manual Chapter 4 3 Functional Overview functions for up to 120 general purpose variables Refer to the NI Motion User Manual for more information The NI 7350 also features buffered operations for contouring high speed position captures and breakpoints position compare You can store and run onboard programs and buffers from RAM or save them to flash ROM The NI 7350 controller has 128 KB of RAM that is divided into two 64 KB sectors and 256 KB of ROM that is divided into four 64 KB sectors for program and buffer storage You can store and run programs and buffers from either RAM or ROM but you cannot split programs between the two and you cannot split programs or buffers between the two 64 KB ROM sectors Note Refer to the NI Motion User Manual for detailed information about the onboard programming and buffer features Host Communications NI 7350 User Manual The host computer communicates with the controller through a number of memory port addresses on the host bus The host bus can be either PXI or PCI The primary bidirectional data transfer port supports FIFO data passing
36. able 5 4 purpose and use 5 5 Axis lt 1 8 gt Encoder Index signal description table 5 4 purpose and use 5 9 Axis lt 1 8 gt Encoder Phase A signal description table 5 4 purpose and use 5 8 Axis lt 1 8 gt Encoder Phase B signal description table 5 4 purpose and use 5 8 NI 7350 User Manual Index Axis lt 1 8 gt Forward Limit Switch signal description table 5 4 purpose and use 5 6 Axis 1 8 Home Switch signal description table 5 4 purpose and use 5 6 Axis lt 1 8 gt Inhibit signal description table 5 4 purpose and use 5 6 Axis lt 1 8 gt Reverse Limit Switch signal description table 5 4 purpose and use 5 6 Axis lt 1 8 gt Step CW signal compatibility with third party drives 5 6 description table 5 4 purpose and use 5 5 breakpoint position compare concepts 4 5 examples 5 18 breakpoint position compare outputs overview 5 11 wiring concerns 5 11 Breakpoint lt 1 8 gt signal description table 5 4 purpose and use 5 11 brushless servo motors connecting 2 5 buffers 4 5 C cable connectors 50 pin servo connector pin assignments axes 1 4 figure B 4 axes 5 8 figure B 5 50 pin stepper connector pin assignments axes 1 4 figure B 2 axes 5 8 figure B 3 cables custom 1 4 NI 7350 User Manual 1 2 calibration certificate NI resources D 2 CE compliance specifications A 10 command buffer 4 6 communications status register CSR 4 6 co
37. active Direction lt 1 8 gt Output Totem Pole Activelow Inactive Digital I O Connector Digital I O Ports lt 1 8 gt Input Activelow Pulled up if DPull left floating O National Instruments Corporation C 1 NI 7350 User Manual Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni com for technical support and professional services National Instruments Corporation Support Online technical support resources at ni com support include the following Self Help Resources For answers and solutions visit the award winning National Instruments Web site for software drivers and updates a searchable KnowledgeBase product manuals step by step troubleshooting wizards thousands of example programs tutorials application notes instrument drivers and so on Free Technical Support All registered users receive free Basic Service which includes access to hundreds of Application Engineers worldwide in the NI Developer Exchange at ni com exchange National Instruments Application Engineers make sure every question receives an answer For information about other technical support options in your area visit ni com services or contact your local office at ni com contact Training and Certification Visit ni com training for self paced training eLearning virtual classrooms interactive CDs and Certification program
38. al 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 Axis 1 Hall 1 Digital Ground Port 4 bit 5 Axis 2 Hall 1 Port 4 bit 6 Axis 2 Hall 2 Digital Ground Figure 5 7 68 Pin Digital 1 0 Connector Pin Assignments Ports 1 4 5 15 NI 7350 User Manual Chapter 5 Signal Connections 5V 1 35 Digital Ground Reserved 2 36 Digital Ground Reserved 3 37 Digital Ground Reserved 4 38 DPull P5 P8 Reserved 5 39 Digital Ground Reserved 6 40 Reserved Reserved 7 41 Digital Ground Reserved 8 42 Digital Ground Reserved 9 43 Digital Ground Port 5 bit O 10 44 Port 5 bit 1 Digital Ground 11 45 Port 5 bit 2 Port 5 bit3 12 46 Digital Ground Port 5 bit 4 13 47 Port 5 bit 5 Digital Ground 14 48 Port 5 bit 6 Port 5 bit 7 15 49 Digital Ground Port 6 bit O 16 50 Digital Ground Port 6 bit 1 17 51 Port 6 bit 2 Digital Ground 18 52 Port 6 bit 3 Digital Ground 19 53 Port 6 bit 4 Digital Ground 20 54 Port 6 bit 5 Port 6 bit 6 21 55 Digital Ground Port 6 bit 7 22 56 Digital Ground Port 7 bit 0 23 57 Port 7 bit 1 Digital Ground 24 58 Port 7 bit 2 Port 7 bit 3 25 59 Digital Ground Port 7 bit 4 26 60 Port 7 bit 5 Digital Ground
39. are use a resistor that limits the current to a value below the maximum specifications of the controller and other hardware NI 7350 User Manual 5 14 ni com Digital 1 0 Connector Chapter 5 Signal Connections O National Instruments Corporation The general purpose digital I O lines on the NI 7350 controller are available on two separate 68 pin digital I O connectors Figures 5 7 and 5 8 show the pin assignments for these connectors 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 Axis 1 Hall 2 Port 4 bit 3 Axis 1 Hall 3 Port 4 bit 4 Digital Ground Axis 2 Hall 3 Port 4 bit 7 35 36 37 38 39 40 41 o oj O om 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 Digital Ground Digital Ground Digital Ground DPull P1 P4 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 Digit
40. artment of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired operation The FCC rules have restrictions regarding the locations where FCC Class A products can be operated Consult the FCC Web site at www fcc gov for more information FCC DOC Warnings This equipment generates and uses radio frequency energy and if not installed and used in strict accordance with the instructions in this manual and the CE marking Declaration of Conformity may cause interference to radio and television reception Classification requirements are the same for the Federal Communications Commission FCC and the Canadian Department of Communications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy a
41. ation and Installation 0 180 360 540 720 Figure 2 4 Type 2 Hall Sensor Phasing Sequence Diagram Refer to the Measurement amp Automation Explorer Help for Motion for information about configuring the NI Motion software for brushless servo motors Connecting the Motor Leads For the brushless motor to generate maximum torque the motion system must output the commutation on the three motor phases correctly Two of the phases are controlled by the NI 7350 controller and the third phase is generated by the drive The primary output of the NI 7350 wires into the primary input of the drive The secondary output wires into the secondary input of the drive Use MAX to configure the NI 7350 for onboard sinusoidal commutation MAX automatically assigns the primary and secondary outputs Refer to the Measurement amp Automation Explorer Help for Motion for more information When you wire the brushless motor to the drive use the commutation diagram for the motor as a reference The manufacturer of the motor typically provides this diagram with the motor documentation The commutation diagram shows the expected value on each of the motor leads at each angle in the commutation phase typically in 60 degree increments Table 2 1 shows an example of a motor phasing commutation diagram and Figure 2 5 shows the corresponding graphical representation NI 7350 User Manual 2 10 ni com Chapter 2 Configuration and Installatio
42. be completely independent simultaneously started or mapped in multidimensional groups called coordinate spaces You also can simultaneously start coordinate spaces for multi vector space coordinated motion control 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 also have either an encoder or ADC channel feedback resource In addition to an encoder feedback brushless DC servo axes also can use Hall effect sensors for initial position feedback Closed loop stepper axes National Instruments Corporation 4 3 NI 7350 User Manual Chapter 4 Functional Overview also require a feedback resource while open loop stepper axes do not Figures 4 1 and 4 2 show these axis configurations With the NI 7350 controller you can map one or two feedback resources and one or two output resources to the axis A stepper axis has its primary output resource mapped to a stepper output A servo axis has its primary output resource mapped to a DAC Traj Generator ectory 101100111 l Daa 32 Bit Encoder 0101011101101 Interface 11101101100 Converter 101100111 Bo Figure 4 1 Servo Axis Resources
43. categories establish standard impulse withstand voltage levels that commonly occur in electrical distribution systems The following is a description of measurement categories e Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage This category is for measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics Measurement Category II is for measurements performed on circuits directly connected to the electrical distribution system This category refers to local level electrical distribution such as that provided by a standard wall outlet for example 115 AC voltage for U S or 230 AC voltage for Europe Examples of Installation Category II are measurements performed on household appliances portable tools and similar devices modules e Measurement Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired equipment such as equipment in fixed installations distribution boards and circuit breakers Other examples are wiring including cables bus bars junction boxes switches socket outlets in the fixed installation and stationary motors with permanent connections to
44. ck Analog feedback Double buffered trajectory parameters Position range esses Max relative move size Velocity range Acceleration deceleration RPS stange ettet 1 Assumes a 2 000 count encoder 2 Refer to the NI Motion User Manual for more information NI 7350 User Manual A 2 x10 V 232 768 to 432 767 x10 V 232 768 to 432 767 x10 V 232 768 to 432 767 62 5 to 500 us sample 62 5 us per 2 axes 250 us total update sample full half or microstep 1 quadrature count 1 LSB 231 steps 23 steps 1 to 8 000 000 steps s 1 200 000 revolutions min 244 to 512 000 000 steps s at a PID update rate of 250 us 256 000 revolutions s ni com S curve time range esses Following error range Gear Tatloz dais Stepper outputs Max pulse rate sess Max pulse width Min pulse width Step output mode Voltage range sees Output low voltage Output high voltage Polarity acid System Safety Watchdog timer function Watchdog timeout Shutdown input Voltage range eese Input low voltage Input high voltage
45. connect to other RTSI capable PCI devices RTSI Signal Considerations NI 7350 User Manual The NI 7350 controller allows you to use up to eight RTSI trigger lines as sources for trigger inputs or as destinations for breakpoint position compare outputs and encoder signals The RTSI trigger lines also can serve as a generic digital I O port The RTSI star trigger line which is available only on the PXI 7350 can be used only for a trigger input Breakpoint position compare outputs are output only signals that generate an active high pulse of 200 ns duration 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 motion I O or generic digital I O all signals are passed through unaltered 5 18 ni com Specifications This appendix lists the hardware and software performance specifications for the PXI PCI 7350 controller Hardware specifications are typical at 25 C unless otherwise stated Servo Performance PID update rate range Max PID update rate 8 axis PID update rate 62 5us sample to 5 ms sample 62 5 us per 2 axes 250 us total Trajectory update rate Same as PID update rate Multi axis synchronization update sample Position accuracy Encoder feedback Analog feedback x quadrature count 1 LSB Double buff
46. ct to the PXI PCI 7350 controller Figures B 1 and B 2 show the pin assignments for the stepper 50 pin motion connectors while Figures B 3 and B 4 show the pin assignments for the 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 You can order the cable assembly and cable adapter from ni com The following list includes part numbers for each of these products e 2m SHC68 C68 S Cable part number 186380 02 e 0 5m SHC68 C68 S Cable part number 186380 0R5 e 68M 50F Extended I O Cable Adapter part number 184670 02 National Instruments Corporation B 1 NI 7350 User Manual Appendix B Cable Connector Descriptions Axis 1 Dir CCW 1 2 Digital Ground 3 4 Digital Ground 5 6 Axis 1 Home Switch 7 8 Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Axis 2 Dir CCW 18 14 Digital Ground 15 16 Digital Ground 17 18 Axis 2 Home Switch 19 20 Trigger Breakpoint 2 21 22 Axis 2 inhibit 23 24 Axis 3 Dir CCW 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 3 Home Switch 31 32 Trigger Breakpoint 3 33 34 Axis 3 Inhibit 35 36 Axis 4 Dir CCW 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 4 Home Switch 43 44 Trigger Breakpoint 4 45 46
47. ctor open loop PCI PID control loop PIVff control loop port position breakpoint power cycling PWM PXI NI 7350 User Manual A method of output capable of sinking current but not sourcing current 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 PCI 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 A control method in which the controller output is proportional to the error the error time history and the rate at which the error is changing The error is the difference between the observed and the commanded values of a variable that is under control action proportional integral velocity feed forward control loop A control method that operates with zero derivative gain and either velocity feedback or a velocity block amplifier 1 A communications connection on a computer or a remote controller 2 A digital port consisting of eight lines of digital input and or output Position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint position compare output immediatel
48. density 68 pin female VHDCI connectors For custom cables use the AMP mating connector part number 787801 01 1 4 ni com Configuration and Installation This chapter describes how to configure and install the National Instruments PXI PCI 7350 controller Software Installation Before installing the NI 7350 controller install the NI Motion software and if appropriate the NI Motion VI libraries For specific installation instructions refer to Getting Started with NI Motion for NI 73xx Motion Controllers which is installed in the NI Motion Documentation folder where you installed NI Motion The default directory is Program Files National Instruments NNI Motion 3 Note Ifyou do not install the NI Motion driver software before attempting to use the NI 7350 the system will not recognize the NI 7350 and you will be unable to configure or use the controller Controller Configuration Because the motion I O related configuration of NI 7350 controller is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PXI 7350 and PCI 7350 controllers are fully compatible with the industry standard PXI Specification Revision 2 1 and the PCI Local Bus Specification Revision 2 2 respectively This compatibility allows you to configure the computer to automatically perform all bus related configuration without user interaction It is not necessary to configure jumpers for bus related co
49. digital I O reference or Analog Output Ground as the reference for the analog inputs 5 12 ni com Chapter 5 Signal Connections Wiring Concerns For proper use of each ADC input channel the analog signal should be a floating source with the positive terminal connected to the channel input and the negative terminal connected to analog input ground Figure 5 4 shows a simplified schematic diagram of this connection Analog Input Analog Input Ground Figure 5 4 Analog Input Connectivity Other Motion 1 0 Connection The NI 7350 controller provides the host 5 V signal which is the internal 5 V supply of the host computer This signal is typically used to detect when the host computer is powered on and to shut down external motion system components when the host computer is powered off or disconnected from the motion accessory AN Caution The host 5 V signal is limited 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 Interfacing With Optocouplers Many motor drive manufacturers offer opto isolated inputs for Step CW Dir CCW and other motion control signals The NI 7350 is well suited to drive most of these inputs directly when you connect the controller output signal to the positive side of the optocoupler input and connect the controller GND to the negative side of the optocoupler
50. drature encoder inputs All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals Each channel consists of a Phase A Phase B and Index input as described in the following sections Axis lt 1 8 gt Encoder 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 monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications The encoder channels Axis lt 1 8 gt Encoder Phase A Phase B are implemented in an FPGA and provide advanced features such as high speed position capture inputs and position breakpoint outputs The encoders have a maximum count frequency of 20 MHz An encoder input channel converts quadrature signals on Phase A and Phase B into 32 bit up down counter values Quadrature signals are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading phase A or B 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 p
51. el to measure potentiometers or other analog sensors If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input for master slave electronic gearing applications Each axis also has an associated forward and reverse limit input a home input a high speed capture trigger input a position breakpoint output and an inhibit output These signals can be used for general purpose digital I O when they are not being used for their motion specific purpose iyi Note When a resource is mapped to an axis all features and functions of the resource are available as part of the axis Because resources are referenced by axis number after they are assigned to that axis it is not necessary to remember or use the resource number directly when accessing these features Onboard Programs and Buffers You can use the real time operating system on the NI 7350 motion controller to run custom programs This functionality allows you to offload tasks from the host processor and onto the motion controller Onboard programs run at the lowest priority and are therefore reserved for non time critical background tasks Each program is guaranteed at least 2 ms of time every 63 ms You can adjust the guaranteed time from 2 ms to 20 ms using the Load Program Time Slice VI or function Refer to the Changing a Time
52. elp keep digital noise separate from the analog DAC outputs there is a separate return connection Use this analog ground connection as the reference for the DAC outputs when connecting to servo amplifiers instead of the Digital Ground digital I O reference Axis lt 1 8 gt Step CW and Dir CCW These signals are the stepper command outputs for each axis The NI 7350 controller supports both industry standards for stepper command signals step and direction or independent clockwise CW and counterclockwise CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the command direction of motion either forward or reverse CW and CCW modes produce 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 or active high For example with step and direction you can make a logic high correspond to either forward or reverse direction 5 5 NI 7350 User Manual Chapter 5 Signal Connections You can choose to drive the Step CW and Dir CCW outputs by using either Totem Pole mode or Open Collector mode In Totem Pole mode the outp
53. ence Help for information about the functions and or VIs you use to read the current temperature of the NI 7350 4 2 ni com Chapter 4 Functional Overview Onboard Sinusoidal Commutation Flash Memory The NI 7350 controller provides onboard sinusoidal commutation for axes controlling brushless DC servo motors This feature reduces overall system cost by allowing you to use less complex and therefore less expensive motor drives Nonvolatile memory on the NI 7350 controller is implemented with flash ROM which means the controller can electrically erase and reprogram its own ROM Because all of the embedded firmware including the RTOS DSP code and the FPGA configuration file of the NI 7350 is stored in flash memory you can upgrade the onboard firmware contents in the field for support and new feature enhancement Flash memory also allows objects such as programs and data arrays to be stored in non volatile memory It is possible to save the entire configuration state of the controller to the flash memory On the next power cycle the controller automatically loads and returns the configuration to these new saved default values Use MAX to download new firmware or save configuration defaults to flash memory A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources Axes The NI 7350 controller can control up to eight axes of motion The axes can
54. enerate C code for custom data acquisition test measurement and automation solutions The NI Motion software includes a series of example programs for using LabWindows CVI with National Instruments motion control hardware NI Motion Assistant offers a point and click interface for creating motion control sequences quickly and easily When you have created a motion task you can use Motion Assistant to output the task in LabVIEW code or code recipes National Instruments Corporation 1 8 NI 7350 User Manual Chapter 1 Introduction Optional Equipment National Instruments offers a variety of products for use with the NI 7350 controller including the following accessories Cables and cable assemblies for motion and digital I O Universal Motion Interface UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality Stepper and servo motor compatible drive amplifier units with integrated power supply and wiring connectivity Connector blocks and shielded and unshielded 68 pin screw terminal wiring aids RTSI bus cables for connection with other NI devices For more specific information about these products refer to the National Instruments catalog the National Instruments Web site at ni com or call your National Instruments sales representative Motion 1 0 Connections NI 7350 User Manual The external motion and digital I O connectors on the NI 7350 controller are high
55. ered trajectory parameters Absolute position range Max relative move size Velocity range eese Acceleration deceleration RPS s range sss S Curve time range Following error range Gear 1 Assumes a 2 000 count encoder National Instruments Corporation Refer to the NI Motion User Manual for more information A 1 231 counts 23 counts 1 to 20 000 000 counts s 1 200 000 revolutions min 244 to 512 000 000 counts s at a PID update rate of 250 us 256 000 revolutions s to 32 767 samples 0 to 32 767 counts 32 767 1 to 1 32 767 NI 7350 User Manual Appendix A Specifications Servo control loop modes PID Kp Ki and Kd gains Integration limit Ilim Derivative sample period Td Feedforward Aff Vff gains Velocity feedback Kv gain Servo command analog outputs Voltage range eese Resolution PID PIVff S Curve Dual Loop 0 to 32 767 0 to 32 767 1 to 63 samples 0 to 32 767 0 to 32 767 10 V 16 bits 0 000305 V LSB Programmable torque velocity limits Positive limit Negative limit Programmable offset Stepper Performance Trajectory update rate range Max update rate 8 axis update rate Multi axis synchronization Position accuracy Open loop stepper Encoder feedba
56. fixed installations e Measurement Category IV is for measurements performed at the primary electrical supply installation 1 000 V Examples include electricity meters and measurements on primary overcurrent protection devices and on ripple control units Measurement categories also referred to as installation categories are defined in electrical safety standard IEC 61010 1 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation 3 MAINS is defined as a hazardous live electrical supply system that powers equipment Suitably rated measuring circuits may be connected to the MAINS for measuring purposes National Instruments Corporation 2 3 NI 7350 User Manual Chapter 2 Configuration and Installation Hardware Installation You can install the NI 7350 controller in any open compatible expansion slot in the computer Appendix A Specifications lists the maximum power required for the NI 7350 controller The following instructions are for general installation Refer to the computer user manual or technical reference manual for specific instructions and warnings Caution The NI 7350 controller is a sensitive electronic device shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices PXI 7350 1 Power off and unplug the chassis UN Caution To protect yourself and the chassis from
57. gh speed communications while off loading complex motion functions from the host PC for maximum command throughput and system performance The NI 7350 features motion profiles that are controlled with enhanced PID control loop PIVff control loop high speed servo update rates The update rate depends on the number of axes enabled Refer to Appendix A Specifications for more information Each axis has motion I O for end of travel limit and home switch inputs breakpoint position compare output trigger position capture input hall effect sensor input and encoder feedback The NI 7350 controller also has non dedicated user I O including 64 bits of digital I O and eight analog inputs for 10 V signals joystick inputs or analog sensor monitoring Additionally the NI 7350 analog inputs can provide feedback for loop closure The NI 7350 controller supports the National Instruments Real Time System Integration RTSI bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition and data acquisition products Using the RTSI bus you can easily synchronize several functions to a common trigger position capture or timing event across multiple motion image or data acquisition devices What You Need to Get Started NI 7350 User Manual To set up and use the NI 7350 controller you must have the following items L NIPXI 7350 controller or NI PCI 7350 controller and documentation
58. hase A typical encoder with a specification of N N 2 number lines per unit of measure which can be revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in National Instruments motion systems 3 Note If your encoder does not supply resolution in quadrature counts per revolution determine quadrature counts per revolution by multiplying the encoder resolution in encoder lines or periods by 4 The encoder resolution is the number of encoder lines between consecutive encoder indexes such as marker or Z bit If the encoder does not have an index output the resolution is referred to as lines per revolution or lines per unit of NI 7350 User Manual 5 8 ni com Chapter 5 Signal Connections measure inch centimeter millimeter and so on For example a 500 line encoder has 2 000 quadrature counts per revolution Axis 1 8 Encoder Index The Index input is primarily used to establish a reference position This function uses the number of counts per revolution or the linear distance to initiate a search move that locates the index position When a valid index signal transition occurs during a find reference routine the position of the index signal is captured accurately Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required The default MAX settings guarantee t
59. hat the find index routine completes successfully if the encoder generates a high index pulse when phases A and B are low and the encoder is connected through an NI UMI or drive accessory Figure 5 3 shows the default encoder phasing diagram at the inputs to an NI UMI or drive accessory Phase A Phase B Index Figure 5 3 Quadrature Encoder Phasing Diagram You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search You also can set the encoder polarity for phases A B and I in MAX Wiring Concerns The encoder inputs are connected to quadrature decoder counter circuits It is very important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system O National Instruments Corporation 5 9 NI 7350 User Manual Chapter 5 Signal Connections A Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation National Instruments strongly recommends you use encoders with differential line drive outputs for all applications You must use differential encoders if the encoder cable length is longer than 3 05 m 10 f
60. information You also can register for instructor led hands on courses at locations around the world System Integration If you have time constraints limited in house technical resources or other project challenges National Instruments Alliance Partner members can help To learn more call your local NI office or visit ni com alliance Declaration of Conformity DoC A DOC is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electronic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification D 1 NI 7350 User Manual Appendix D Technical Support and Professional Services e Calibration Certificate If your product supports calibration you can obtain the calibration certificate for your product at ni com calibration If you searched ni com and could not find the answers you need contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events NI 7350 User Manual D 2 ni com Glossary A absolute mode absolute position acceleration deceleration active high active
61. l Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO 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 owne
62. mbols 5 V signal See Host 5 V signal Numerics 7350 controller configuration 2 1 digital I O connector axes 1 4 figure 5 15 axes 5 8 figure 5 16 digital I O connectors overview 3 4 features 1 1 hardware 1 2 hardware overview 3 1 installation 2 4 motion I O connector axes 1 4 figure 5 2 axes 5 8 figure 5 3 motion I O connectors overview 3 4 National Instruments application software 1 3 optional equipment 1 4 parts locator diagrams back panel 3 2 3 4 connectors 3 5 front panel 3 1 3 3 processor architecture 4 1 requirements for getting started 1 2 RTSI 1 2 safety information 2 2 software installation 2 1 software programming choices 1 3 A analog feedback 4 2 Analog Input lt 1 8 gt signal O National Instruments Corporation analog input voltage ranges table 5 12 description table 5 4 purpose and use 5 12 Analog Input Ground signal description table 5 4 purpose and use 5 12 analog inputs 4 2 signal descriptions 5 12 wiring concerns 5 13 Analog Output lt 1 8 gt signal description table 5 4 purpose and use 5 5 Analog Output Ground signal description table 5 4 purpose and use 5 5 analog outputs 4 2 Analog Reference signal description table 5 4 purpose and use 5 5 axes overview 4 3 servo axis resources figure 4 4 stepper axis resources figure 4 4 Axis lt 1 8 gt Dir CCW signal compatibility with third party drives 5 6 description t
63. mmunications host 4 6 configuration 2 1 connectors cable connectors 50 pin servo connector pin assignments axes 1 4 figure B 4 50 pin servo connector pin assignments axes 5 8 figure B 5 50 pin stepper connector pin assignments axes 1 4 figure B 2 50 pin stepper connector pin assignments axes 5 8 figure B 3 custom cables 1 4 digital I O connector axes 1 4 figure 5 15 digital I O connector axes 5 8 figure 5 16 user connectors 3 4 conventions used in the manual ix custom cables 1 4 D DAC resources 4 4 Declaration of Conformity NI resources D 1 diagnostic tools NI resources D 1 Digital Ground signal table 5 4 digital I O connectors 3 4 5 15 68 pin connector axes 1 4 pin assignments figure 5 15 68 pin connector axes 5 8 pin assignments figure 5 16 description 5 17 parts locator diagram 3 5 ni com PWM features 5 17 specifications A 7 documentation conventions used in manual ix NI resources D 1 related documentation x drivers NI resources D 1 E electromagnetic compatibility specifications A 10 embedded real time operating system RTOS 4 1 encoder signals Encoder lt 1 8 gt Index 5 9 Encoder lt 1 8 gt Phase A Phase B 5 8 input circuit 5 10 signal descriptions 5 8 wiring concerns 5 9 environment specifications A 9 equipment optional 1 4 examples NI resources D 1 F flash memory 4 3 functional overview 4 1 analog feedback
64. n Table 2 1 Motor Phasing Diagram Motor Lead 0 60 120 180 240 300 A NC NC B NC NC C NC NC 180 240 300 Figure 2 5 Sine Wave Motor Phasing Diagram Table 2 2 shows the correct method of wiring a brushless motor to the drive Table 2 2 Correct Wiring Diagram At 0 Commutation Phase Drive Motor Output Brushless Motor Lead State 1 No Current NC 2 Positive Current 3 Negative Current For example if the motor has the phasing characteristics described in Table 2 1 wire the motor lead C to the motor output on the drive You wire the lead this way because the motor lead C calls for No Current at 0 Commutation Phase and drive motor output 1 matches the No Current requirement Similarly wire motor lead A to motor output 2 and motor lead B to motor output 3 on the drive National Instruments Corporation 2 11 NI 7350 User Manual Hardware Overview This chapter presents an overview of the National Instruments PXI PCI 7350 controller hardware functionality Figures 3 1 and 3 2 illustrate the functional components of the NI PXI 7350 A Ho y O gt JE PXI 7350
65. nans s seen tans sene n 4 6 Chapter 5 Signal Connections Motion T O Connectors teet ete pei pecie tpe a de Lp IE rode oe 5 1 Motion Axis Signals 22 eere tt EU Ha E e UR S 5 5 Limit and Home Inputs vita 5 6 Wiring CONCEINS x sre et e ree enr d b e e itte 5 7 Limit and 5 7 Encoder Signals ioo tae 5 8 Axis lt 1 8 gt Encoder Phase A Phase B see 5 8 Axis 1 87 Encoder Index eere eee are 5 9 Witing Concern S serie ranr e RR Eee TTE UR HET RE SEE at 5 9 Encoder Input Circuit is sco da ROS 5 10 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 10 Wiring Concerns der pendet n e i etie ge 5 11 Trigger Input and Shutdown Input Circuits esses 5 12 Analog 5 12 Witing Concerns udo o e e ente piede 5 13 Other Motion I O 5 13 Interfacing With Optocouplers eeeeeeeeeeeeneeenen eene 5 13 Digital VO Connector tme cO OUO OF 5 15 5 17 REST Connector et eod ett i tee epe tede erts 5 18 RTSI 5 18 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Input Output Reset States NI 7350 User Manual vi ni com Contents Appendix D Technical Support and Professional Services Glossary Index National Instruments Corporation Vii NI 7350 User Manual About This Manual Conventions This manual describes the electrical and mechanical aspects of the National
66. nd if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference at their own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Compliance with EU Directives Users in the European Union EU should refer to the Declaration of Conformity DoC for information pertaining to the CE marking Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or installer Contents About This Manual Convention aia ea ix Related Documentation i cti a aa X Chapter 1 Introduction About the NI 7350 Controller eeeeeeeeeeeeseeeeeeeeee eene nnne nne nennen 1 1 Feature iniciada 1 1 Hardware ee at RR USE EN eR ok ia ee 1 2 REST iot tti a tb io HE d e RE dra 1
67. nfiguration iyi Note When adding or removing a controller from a Windows 2000 XP system you must belogged on with administrator level access After you have restarted the system you may need to refresh Measurement amp Automation Explorer MAX to view the new controller National Instruments Corporation 2 1 NI 7350 User Manual Chapter 2 Configuration and Installation Safety Information Caution The following section contains important safety information that you must follow when installing and using the NI 7350 Do not operate the device in a manner not specified in this document Misuse of the device can result in a hazard You can compromise the safety protection built into the device if the device is damaged in any way If the device is damaged return it to National Instruments NI for repair Do not substitute parts or modify the device except as described in this document Use the device only with the chassis modules accessories and cables specified in the installation instructions You must have all covers and filler panels installed during operation of the device Do not operate the device in an explosive atmosphere or where there may be flammable gases or fumes If you must operate the device in such an environment it must be in a suitably rated enclosure If you need to clean the device use a soft nonmetallic brush Make sure that the device is completely dry and free from contaminants before returning it to
68. nts Patents For patents covering National Instruments products refer to the appropriate location Help Patents in your software the patents txt file on your CD or ni com patents WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM O
69. olumn O National Instruments Corporation A 9 NI 7350 User Manual Appendix A Specifications Electromagnetic Compatibility This product is designed to meet the requirements of the following standards of EMC for electrical equipment for measurement control and laboratory use EN 61326 EMC requirements Minimum Immunity e EN 55011 Emissions Group 1 Class A CE C Tick ICES and FCC Part 15 Emissions Class A 3 Note For EMC compliance operate this device according to product documentation CE Compliance This product meets the essential requirements of applicable European Directives as amended for CE marking as follows e 73 23 EEC Low Voltage Directive safety e 89 336 EEC Electromagnetic Compatibility Directive EMC iyi Note Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Waste Electrical and Electronic Equipment WEEE pz EU Customers At the end of their life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers and National Instruments WEEE initiatives visit ni com environment weee htm NI 7350 User Manual A 10 ni com Cable Connector Descriptions This appendix describes the connector pinout for the cables that conne
70. omputation and motion trajectory generation The DSP chip is supported by a custom FPGA that performs the high speed encoder interfacing position capture and breakpoint position compare functions motion I O processing and stepper pulse generation for hard real time functionality The embedded CPU runs a multitasking real time operating system and handles host communications command processing multi axis interpolation onboard program execution error handling general purpose digital I O and overall motion system integration functions Embedded Real Time Operating System The embedded firmware is based upon an embedded real time operating system RTOS kernel and provides optimum system performance in varying motion applications Motion tasks are prioritized Task execution order depends on the priority of each task the state of the entire motion system I O or other system events and the real time clock National Instruments Corporation 4 1 NI 7350 User Manual Chapter 4 Functional Overview The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized through interprocessor communication The NI 7350 is a true multiprocessing and multitasking embedded controller The architecture of the NI 7350 controller enables advanced motion features such as enhanced PID functions and lowpass and notch filters Refer to the Measurement amp Automation Explorer Help for Motion for more info
71. or 1 024 or 210 used with byte B in quantifying data or computer memory last in first out Sensors that alert the control electronics that the physical end of travel is being approached and that the motion should stop move complete status A status bit on the motion controller that indicates that the current move is finished The status depends on various factors that you can configure using software Proportional control of energy in the coils of a stepper motor that allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution Treat the position as if it is within the range of total quadrature counts per revolution for an axis An undesirable electrical signal noise comes from external sources such as the AC power line motors generators transformers fluorescent lights soldering irons CRT displays computers electrical storms welders radio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or receive National Instruments Corporation G 5 NI 7350 User Manual Glossary 0 open colle
72. out configuring the NI Motion National Instruments Corporation 2 5 NI 7350 User Manual Chapter 2 Configuration and Installation software to work with this type of system refer to the NI Motion User Manual When connecting to a drive that does not perform the sinusoidal commutation the NI 7350 commutates the first two phases and the servo drive determines the third Therefore two DAC outputs are required per axis Refer to the Measurement amp Automation Explorer Help for Motion for information about configuring the NI Motion software for brushless servo motors Connecting the Hall Effect Sensors Before the NI 7350 can calculate the commutation values some form of initialization is necessary to determine the initial commutation phase angle of the brushless motor each time the controller is powered on reset or reconfigured One method of initialization is to connect Hall effect sensors to detect the commutation phase angle of the motor You can specify how the system is configured in MAX Tip If you do not connect Hall effect sensors you can set the commutation phase angle directly or through a process called shake and wake Shake and wake requires moving the motors to the 0 angle and setting the commutation phase angle to match It is important to correctly connect the Hall effect sensors to the controller so that the sensors accurately determine the commutation phase angle Complete the following steps to connec
73. r 4 1 programming examples NI resources D 1 pulse width modulation output digital I O connector 5 17 PWM features digital I O connector 5 17 R related documentation x requirements for getting started 1 2 resources ADC 4 5 DAC 4 5 motion I O 4 5 return data buffer RDB 4 6 RTOS embedded real time operating system 4 1 RTSI 7350 controller 1 2 connector 3 1 3 3 signal considerations 5 18 specifications A 7 triggers 3 5 A 7 S safety information 2 2 safety specifications A 3 A 9 servo axis resources figure 4 4 servo performance specifications A 1 shutdown input wiring concerns 5 11 Shutdown signal description table 5 4 purpose and use 5 11 signal connections See digital I O connector motion I O connector and RTSI sinusoidal commutation 2 6 onboard 4 3 resources 4 4 National Instruments Corporation 1 5 Index software installation 2 1 National Instruments application software 1 3 NI resources D 1 onboard programs 4 5 programming choices 1 3 specifications CE compliance A 10 digital I O connectors A 7 electromagnetic compatibility A 10 environment A 9 motion I O A 3 physical A 8 power requirements max A 8 RTSI trigger lines A 7 safety A 3 A 9 servo performance A 1 stepper performance A 2 working voltage max A 9 stepper axis resources figure 4 4 stepper performance specifications A 2 support technical D
74. r s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation National Instruments respects the intellectual property of others and we ask our users to do the same NI software is protected by copyright and other intellectual property laws Where NI software may be used to reproduce software or other materials belonging to others you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction Trademarks National Instruments NI ni com and LabVIEW are trademarks of National Instruments Corporation Refer to the Terms of Use section on ni com legal for more information about National Instruments trademarks Product and company names mentioned herein are trademarks or trade names of their respective companies Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency partnership or joint venture relationship with National Instrume
75. rammable active high or active low Max trigger rate non buffered 150 Hz Max buffered trigger rate 2 kHz per axis Max periodic rate 4 MHz per axis Minimum pulse width pulse mode only 200 ns Inhibit enable output Number of outputs 1 per axis up to 8 Voltage range 0to5 V Output low voltage 0 6 V at 64 mA sink Output high voltage Totem Pole 2 V at 16 mA source open collector built in 3 3 kQ pull up to 5 V Policia Programmable active high or active low Control ia MustOn MustOff or automatic when axis off Analog inputs Control tns ree Assigned to axis for analog feedback or general purpose analog input Number of inputs Up to 8 multiplexed single ended Multiplexer scan rate 25 us per enabled ADC 1 Assumes a PID update rate of 250 us 2 kHz per axis for PID rates between 62 5 and 250 us and 1 kHz per axis for PID rates greater than 250 Us This value is not to exceed 8 kHz total for all ongoing buffered breakpoint position compare and trigger position capture operation National Instruments Corporation A 5 NI 7350 User Manual Appendix A Specifications NI 7350 User Manual Input coupling DC Input impedance 100 MO min Voltage range programmable 10 V
76. reakpoint8 45 46 Axis 8 Inhibit 47 48 Digital Ground 49 50 Axis 5 Step CW Axis 5 Encoder Phase A Axis 5 Encoder Phase B Axis 5 Encoder Index Axis 5 Forward Limit Switch Axis 5 Reverse Limit Switch Axis 6 Step CW Axis 6 Encoder Phase A Axis 6 Encoder Phase B Axis 6 Encoder Index Axis 6 Forward Limit Switch Axis 6 Reverse Limit Switch Axis 7 Step CW Axis 7 Encoder Phase A Axis 7 Encoder Phase B Axis 7 Encoder Index Axis 7 Forward Limit Switch Axis 7 Reverse Limit Switch Axis 8 Step CW Axis 8 Encoder Phase A Axis 8 Encoder Phase B Axis 8 Encoder Index Axis 8 Forward Limit Switch Axis 8 Reverse Limit Switch Host 5 V National Instruments Corporation B 3 Figure B 2 50 Pin Stepper Connector Pin Assignment Axes 5 8 NI 7350 User Manual Cable Connector Descriptions Appendix B NI 7350 User Manual Cable Connector Descriptions Analog Output Ground 1 2 Digital Ground 3 4 Digital Ground 5 6 Axis 1 Home Switch 718 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
77. rence or an introduction to a key concept Italic text also denotes text that is a placeholder for a word or value that you must supply National Instruments Corporation ix NI 7350 User Manual About This Manual monospace Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories programs subprograms subroutines device names functions operations variables filenames and extensions Related Documentation The following documents contain information you might find helpful as you read this manual NI Motion Function Help e NI Motion VI Help e NI Motion User Manual e Getting Started with NI Motion for NI 73xx Motion Controllers e PXI Specification Revision 2 1 e PCT Local Bus Specification Revision 2 2 e The technical reference manual for the computer you are using NI 7350 User Manual X ni com Introduction This chapter includes information about the features of the National Instruments PXI PCI 7350 controller and information about operating the device About the NI 7350 Controller The NI 7350 controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW Features The NI 7350 controller is a combination servo and stepper motor controller for PXI CompactPCI and PC
78. required to control up to eight axes of servo and 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 position compare outputs Trigger position capture inputs e Inhibit outputs e Controller shutdown input The motion I O connectors also contain up to eight channels of 16 bit A D inputs for analog feedback or general purpose analog input National Instruments Corporation 5 1 NI 7350 User Manual Chapter 5 Signal Connections NI 7350 User Manual Figures 5 1 and 5 2 show the pin assignments for the two 68 pin motion I O connectors on the NI 7350 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 Axis 1 Step CW Digital Ground 2 36 Axis 1 Encoder Phase A Digital Ground 3 37 Axis 1 Encoder Phase B Axis 1 Home Switch 4 38 Axis 1 Encoder Index Trigger 1 5 39 Axis 1 Forward Limit Switch Axis 1 Inhibit 6 40 Axis 1 Reverse Limit Switch Axis 2 Dir CCW 7 41 Axis 2 Step CW Digital Ground 8 42 Axis 2 Encoder Phase A Digital Ground 9 43 Axis 2 Encoder Phase B Axis 2 Home Switch 10 44 Axis 2 Encoder Index Trigger2 11 45 Axis 2 Forward Limit Switch Axi
79. responding expansion slot cover on the back panel of the computer 4 Touch a metal part on the computer case to discharge any static electricity that might be on your clothes or body before handling the controller Static electricity can damage the controller 5 Gently rock the controller into the slot The connection may be tight but do not force the controller into place 6 If required screw the mounting bracket of the controller to the back panel rail of the computer 7 Replace the cover Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits Caution Always power on the computer containing the NI 7350 controller then initialize the controller before you power on the rest of the motion system Power off in the reverse order 8 Plug in and power on the computer 9 Initialize the controller Note When adding or removing a controller from a Windows 2000 XP system you must be logged on with administrator level access After you have restarted the system you may need to refresh MAX to view the new controller Connecting Brushless Servo Motors The NI 7350 controller can connect to brushless servo drives that perform sinusoidal commutation or to drives that do not When connecting to a drive that performs the sinusoidal commutation only one DAC output is required per axis For information ab
80. rmation about these features Trajectory Generators The NI 7350 controller trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position Depending on how you configure the axis this command is then sent to the PID servo loop or stepper pulse generator To implement infinite trajectory control the NI 7350 controller has 16 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 Analog Input and Output NI 7350 User Manual The NI 7350 controller has an 8 channel multiplexed 16 bit ADC The converted analog values are broadcast to both the DSP and CPU using a dedicated internal high speed serial bus The multiplexer scan rate provides high sampling rates required for feedback loop closure joystick inputs or monitoring analog sensors For analog output the NI 7350 uses two four channel 16 bit DACS that are updated each PID loop Both the analog input and output circuitry are factory adjusted for excellent accuracy and performance You can use an NI Motion VI or function to read the current temperature of the NI 7350 Refer to either the NI Motion Function Help or the NI Motion VI Refer
81. round configures these ports for 10 kQ pull downs Connecting DPull P5 P8 to 5 V or leaving it unconnected configures all pins in ports 5 8 for 10 kQ pull ups Connecting DPull P5 P8 to ground configures these ports for 10 kQ pull downs PWM Features The NI 7350 controller provides two pulse width modulation PWM outputs on the digital I O connector for ports 1 4 The PWM outputs generate periodic waveforms whose period and duty cycles can be independently controlled through software commands You can compare PWM to a digital representation of an analog value because the duty cycle is directly proportional to the desired output value PWM outputs are typically used for transmitting an analog value through an optocoupler A simple lowpass filter turns a PWM signal back into its corresponding analog value If appropriate you can use an external clock source connected to the PCLK input instead of the internal source as the clock for the PWM generators Note These signals are configured in software and are in no way associated with the PID servo control loop Refer to the Measurement amp Automation Explorer Help for Motion the NI Motion Function Help or the NI Motion VI Help for more information National Instruments Corporation 5 17 NI 7350 User Manual Chapter 5 Signal Connections RTSI Connecto r The PXI 7350 uses the PXI chassis backplane to connect to other RTSI capable devices The PCI 7350 uses a ribbon cable to
82. s 2 Inhibit 12 46 Axis 2 Reverse Limit Switch Axis 3 Dir CCW 13 47 Axis 3 Step CW Digital Ground 14 48 Axis 3 Encoder Phase A Digital Ground 15 49 Axis 3 Encoder Phase B Axis 3 Home Switch 16 50 Axis 3 Encoder Index Trigger 8 17 51 Axis 3 Forward Limit Switch Axis 3 Inhibit 18 52 Axis 3 Reverse Limit Switch Axis 4 Dir CCW 19 53 Axis 4 Step CW Digital Ground 20 54 Axis 4 Encoder Phase A Digital Ground 2155 Axis 4 Encoder Phase B Axis 4 Home Switch 22 56 Axis 4 Encoder Index Trigger 4 23 57 Axis 4 Forward Limit Switch Axis 4 Inhibit 24 58 Axis 4 Reverse Limit Switch Digital Ground 25 59 Host 5V Breakpoint 1 26 60 Breakpoint 2 Breakpoint 3 27 61 Breakpoint 4 Digital Ground 28 62 Shutdown Analog Output 1 29 63 Analog Output 2 Analog Output 3 30 64 Analog Output 4 Analog Output Ground 31 65 Reserved Analog Input 1 32 66 Analog Input 2 Analog Input 3 33 67 Analog Input 4 Analog Reference Output 34 68 Analog Input Ground Figure 5 1 68 Pin Motion 1 0 Connector Pin Assignment for Axes 1 4 5 2 ni com Chapter 5 35 Axis 5 Dir CCW 1 Digital Ground 2 36 Digital Ground 3 37 Axis 5 Home Switch 4 38 Trigger5 5 39 Axis 5 Inhibit 6 40 Axis 6 Dir CCW 7 41 Digital Ground 8 42 Digital Ground 9 43 Axis 6
83. s either absolute relative periodic or buffered positions Breakpoint position compare outputs can be preset to a known state so that the transition when the breakpoint position compare occurs can be low to high high to low toggle or pulse You can set the breakpoint position compare outputs to Totem Pole mode or Open Collector mode In Totem Pole mode the output buffer can both sink and source current which is appropriate for most applications In Open Collector mode the output buffer can only sink current By default breakpoint position compare outputs are set to Totem Pole mode You can directly set and reset breakpoint position compare outputs to use them as general purpose digital outputs Wiring Concerns UN Caution Keep trigger position capture input shutdown input and breakpoint position compare output signals and their ground connections wired separately from the motor drive amplifier signal and encoder signal connections Wiring these signals near each other can cause faulty operation UN Caution Excessive input voltages can cause erroneous operation and or component failure National Instruments Corporation 5 11 NI 7350 User Manual Chapter 5 Signal Connections Analog Inputs Trigger Input and Shutdown Input Circuits Trigger position capture input and shutdown input circuits have onboard pull up resistors and are interpreted as high logic level if left floating The NI 7350 controller has
84. service Operate the device only at or below Pollution Degree 2 Pollution is foreign matter in a solid liquid or gaseous state that can reduce dielectric strength or surface resistivity The following is a description of pollution degrees e Pollution Degree 1 means no pollution or only dry nonconductive pollution occurs The pollution has no influence e Pollution Degree 2 means that only nonconductive pollution occurs in most cases Occasionally however a temporary conductivity caused by condensation must be expected e Pollution Degree 3 means that conductive pollution occurs or dry nonconductive pollution occurs that becomes conductive due to condensation 3 Note The NI 7350 is intended for indoor use only NI 7350 User Manual You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device Do not install wiring while the device is live with electrical signals Do not remove or add connector blocks when power is connected to the system 2 2 ni com Chapter 2 Configuration and Installation Remove power from signal lines before connecting them to or disconnecting them from the device Operate the device at or below the measurement category marked on the hardware label Measurement circuits are subjected to working voltages and transient stresses overvoltage from the circuit to which they are connected during measurement or test Measurement
85. t Shielded 24 AWG wire is the minimum recommended size for the encoder cable Cables with twisted pairs and an overall shield are recommended for optimized noise immunity All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals UN Caution Unshielded cables can cause noise to corrupt the encoder signals resulting in lost or additional counts and reduced motion system accuracy Encoder Input Circuit The Phase A Phase B and Index encoder inputs all have an onboard pull up resistor and are interpreted as high logic level if left floating 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 is required for initialization functionality with the Find Reference function Trigger Inputs Shutdown Input and Breakpoint Outputs NI 7350 User Manual The NI 7350 controller offers additional high performance encoder features The encoder channels have high speed position capture trigger inputs and position breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input 1 8
86. t Information Warranty The National Instruments PXI PCI 7350 is warranted against defects in materials and workmanship for a period of one year from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National 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 Nationa
87. t the Hall effect sensors 1 Locate the Hall effect sensor phase sequence diagram that applies to the motor you are using The manufacturer of the motor should provide this diagram with the motor documentation 3 Note The NI 7350 controller can use Hall effect sensors having three sensor outputs per motor Each output is 120 degrees out of phase from the previous output NI 7350 User Manual 2 Wire the Hall effect sensors based on the Hall effect sensor phase sequence diagram for the motor and Figures 2 1 and 2 2 Match the Hall effect sensor phase sequence diagram for the motor with one of the diagrams in Figures 2 1 and 2 2 The diagrams on the left represent the diagram supplied with the motor The diagrams on the right represent the expected inputs to the UMI or NI 7350 The arrows in the middle show the correct path to wire the Hall effect sensor outputs into the UMI or NI 7350 inputs 2 6 ni com Chapter 2 0 180 360 540 720 NENA Sensor 1 Sensor 2 Sensor 3 0 180 360 540 720 a Sensor 1 Sensor 2 Sensor 3 g 180 360 540 720 Sensor 1 Sensor 2 Sensor 3 540 720 0 180 360 Sensor 1 Sensor 2 Sensor 3 540 720 0 180 360 Sensor 1 Sensor 2 Sensor 3 360 720 0 180 540 Sensor 1 Sensor 2 Sensor 3 H LA ALM A Type 1 Base Case 540 720 0 180 360 Input 1 Input 2
88. ters enabled Limit filters disabled Control du ce euet Trigger position capture inputs Number of inputs Voltage range sese Input low voltage Input high voltage Built in pull up resistor Policia Min pulse width Max capture latency Capture accuracy sseeeenen Max capture rate non buffered A 4 Programmable depends on digital filter settings 0to5V 0 8 V 2V 3 3 KQ to 5 V Programmable depends on digital filter settings 3 per axis up to 24 0to5V 0 8 V 2V 3 3 KQ to 5 V Programmable active high or active low 1 ms 50 ns Individual enable disable stop on input prevent motion Find Reference Up to 8 Encoders 1 through 8 0to5V 0 8 V 2V 3 3 KQ to 5 V Programmable active high or active low 100 ns 100 ns 1 count 150 Hz ni com Appendix A Specifications Max buffered capture rate 2 kHz per axis Breakpoint position compare outputs Number of outputs Up to 8 Encoders 1 through 8 Voltage range sese 0to5 V Output low voltage 0 6 V at 64 mA sink Output high voltage Totem Pole 2 V at 16 mA source open collector built in 3 3 kQ pull up to 5 V Pola Vainas Prog
89. the following ADC input signals Analog Input lt 1 8 gt The NI 7350 controller includes an eight channel multiplexed 16 bit ADC capable of measuring 10 V 5 V 0 10 V and 0 5 V inputs 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 ADC channels of the controller by using the Read ADC function Table 5 2 shows the range of values read back and the voltage resolution for each setting The voltage resolution is in microvolts per least significant bit AV LSB Table 5 2 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 32 768 to 32 767 305 Lu V LSB 5 V 32 768 to 32 767 153 uV LSB 0 10 V 0 to 65 535 153 u V LSB 0 5 V 0 to 65 535 76 LV LSB NI 7350 User Manual When configured as analog feedback an analog sensor acts like a limited range absolute position device with a full scale position range You can map any ADC channel as feedback to any axis You can enable and disable individual ADC channels in software Disable unused ADC channels for the highest multiplexer scan rate performance Properly enabled the scan rate is high enough to support analog feedback at the highest PID sample rate Analog Input Ground To help keep digital noise out of the analog input a separate return connection is available Use this reference ground connection and not Digital Ground
90. um allowable value entered referred to as the following error trip point the motor trips on following error and is killed preventing the axis from running away field programmable gate array Condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it A stepper motor mode For a two phase motor full step mode is done by energizing both windings or phases simultaneously ground A stepper motor mode For a two phase motor half step mode 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 The computer the motion control board is plugged into The marker between consecutive encoder revolutions interrupt request A signal from a hardware device or a CPU peripheral device requesting the CPU s attention G 4 ni com L LIFO limit switch end of travel position input MCS microstep modulo position noise Glossary kilo The standard metric prefix for 1 000 or 103 used with units of measure such as volts hertz and meters kilo The prefix f
91. ut buffer can both sink and source current which is appropriate for most applications In Open Collector mode the output buffer can only sink current By default Step CW and Dir CCW outputs are set to Totem Pole mode 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 e Axis lt 1 8 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a servo amplifier or stepper drive When properly connected and configured the inhibit function causes the connected motor to be de energized and its shaft turns freely You can set the inhibits to either Totem Pole or Open Collector mode In Totem Pole mode the inhibits can both sink and source current In Open Collector mode the output buffer can only sink current By default inhibits are set to Open Collector mode Whereas the industry standard for inhibits is active low these outputs have programmable polarity and can be set to active high for increased flexibility Inhibit output signals can be activated automatically upon a Kill Motion command or any motion error that causes a kill motion condition such as a following error trip You also can use the inhibit outputs of unused axes as general purpose outputs However for safety considerations National Instruments recommends that you use the inhibit outputs for all active axes Limit and Home Inputs NI 7
92. ution F F FIFO filter parameters filtering flash ROM National Instruments Corporation G 3 Glossary digital to analog converter data acquisition Assigned to a particular function Digital ground signal Group of digital input output signals dual inline package dynamic link library Provides the API for the motion control boards Electronic signal amplifier that converts motor control command signals into higher voltage signals suitable for driving motors digital signal processor A device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system The number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution farad first in first out Indicates the control loop parameter gains PID gains for a given axis A type of signal conditioning that filters unwanted signals from the signal being measured Type of electrically reprogrammable read only memory NI 7350 User Manual Glossary following error trip point FPGA freewheel full step G Gnd GND H half step hex home switch input host computer index IRQ NI 7350 User Manual The difference between the instantaneous commanded trajectory position and the feedback position If the following error increases beyond the maxim
93. x5 V 0 10 V 0 5 V Bandwidth sss 234 kHz Resolution ssenarisini 16 bits no missing codes Monotonicity eene Absolute accuracy all Tanges epar S System noise Analog outputs Guaranteed 0 5 of full scale FLO Vit 220 u Vrms typical X V R 120 uVrms typical A s 130 u Vrms typical M ciet e RE GERE 60 u Vrms typical Maximum working voltage 11 V Overvoltage protection Powered on esee 25 V Powered off sss 15 V Number of outputs Up to 8 single ended Output coupling ses DC Voltage range esee 10 V Output current 5 mA Minimum load 2 kQ at full scale Resolution 16 bits no missing codes Monotonicity coccoccconconnnoncononancnnnonannns Guaranteed Absolute accuracy 0 596 of full scale NOISE te cte et 100 u Vrms Max Protection eo eie Pe Short circuit to ground Settling tiM6 ooonccononoononooncnononccon nos 15 us full scale step Analog reference output voltage 7 5 V nominal Analog reference output current 5 mA Onboard temperature sensor accuracy 4 C A 6 ni com Digital 1 0 Inputs Voltage ranges omnia Input low voltage Input high voltage Polarity 4i estet Built in pull up resistor
94. y transitions Turning the host computer off and then back on which causes a reset of the motion control board pulse width modulation A method of controlling the average current in a motor phase winding by varying the on time duty cycle of transistor switches PCI eXtensions for Instrumentation A rugged open system for modular instrumentation based on CompactPCI with special mechanical electrical and software features The PXIbus standard was originally developed by National Instruments in 1997 and is now managed by the PXIbus Systems Alliance G 6 ni com Q quadrature counts R relative breakpoint position compare relative position relative position mode ribbon cable RPM RPSPS or RPS S RTR S servo s curve profile sinusoidal commutation stepper T toggle torque O National Instruments Corporation G 7 Glossary Encoder line resolution multiplied by four 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 Treat the target position loaded as position relative to current position while making a move 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 A status bit on the controller indicating that the

NI 7350 User Manual - National Instruments

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