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Motion Control NI PCI-7342 Hardware User Manual

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1. 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 kO pull up to 5 V NI PCI 7342 Hardware User Manual A 4 ni com National Instruments Corporation Polarity Control Analog inputs Number of inputs 000 0 eeeeeeeeeeeee Voltage range programmable Input resistance Resol ti n o bets Analog reference output Reference drift uuus Inr a ea a ia DNE E ERES Offset error Unipolat crees Bipolar 2 ien Gain error Unipol r ree Bipol rzii esses Conversion time Multiplexor scan rate Analog outputs Number of outputs Voltage range Output current en Resolution eeeeeeeeee Gain accuracy owen A 5 Appendix A Specifications Programmable active high or active low MustOn MustOff or automatic when axis off 2 multiplexed 10 V x5 V 0 10 V 0 5 V 10 kQ minimum 12 bits 7 5 V nominal 30 ppm C typical 1 LSB 1 LSB 5 LSB 10 LSB 10 LSB 10 LSB 6 us 50 us enabled channel 2 10 V 5 mA 16 bits 0 000305 V LSB 3 100 ppm C typical NI PCI 7342 Hardware User Manual Appendix A Specifications Digital 1 0 LEE 4 8 bit ports Line direction Individual bit programmable Inputs Voltage range 0to5V Input low voltage 0 8 V Input high voltage 2 0 V P latity 25 t tice tees Programmable
2. Resets board to startup state 63 ms Oto 12V 0 8 V 2V Rising edge Disable all axes and command outputs Quadrature incremental single ended 20 MHz Programmable depends on digital filter settings 0to 12V 0 8 V 2V NI PCl 7342 Hardware User Manual Appendix A Specifications Forward reverse and home inputs Number of inputs 6 3 per axis Voltage range 0to 12 V Input low voltage 0 8 V Input high voltage 2V Polarity 3 aset aaesi ees Programmable active high or active low Minimum pulse width 1 ms Control oct tete Individual enable disable stop on input prevent motion Find Home Trigger inputs Number of inputs 2 Voltage range 0to 12V Input low voltage 0 8 V Input high voltage 2V Polarity ii Programmable active high or active low Minimum pulse width 83 ns Capture latency sese 100 ns Capture accuracy en 1 count Breakpoint outputs Number of outputs 2 Voltage range 0to5 V Output low voltage 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 kO pull up to 5 V Polarity issir nthe Programmable active high or active low Inhibit enable output Number of OUtputs 2 1 per axis Voltage range 0to5 V Output low voltage
3. 50 Pin Servo Connector Pin Assignment N Caution Donotconnect NC not connected signals Connecting these signals could cause permanent damage to your motion controller NI PCI 7342 Hardware User Manual B 2 ni com Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni com for technical support and professional services e Support Online technical support resources include the following Self Help Resources For immediate answers and solutions visit our extensive library of technical support resources available in English Japanese and Spanish at ni com support These resources are available for most products at no cost to registered users and include software drivers and updates a KnowledgeBase product manuals step bv step troubleshooting wizards hardware schematics and conformitv documentation example code tutorials and application notes instrument drivers discussion forums a measurement glossarv and so on Assisted Support Options Contact NI engineers and other measurement and automation professionals by visiting ni com ask Our online system helps you define your question and connects you to the experts by phone discussion forum or email e Training Visitni com custed for self paced tutorials videos and interactive CDs You also can register for instructor led hands on courses at locations around the world e System Integration
4. If you have time constraints limited in house technical resources or other project challenges NI Alliance Program members can help To learn more call your local NI office or visit ni com alliance 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 National Instruments Corporation C 1 NI PCI 7342 Hardware User Manual Glossarv Prefix Meanings Value p pico 10 2 n nano 109 u micro 10 6 m milli 10 3 c centi 10 k kilo 103 M mega 106 Numbers Symbols degrees per 90 percent plus or minus positive of or plus negative of or minus Q ohm 5 V 5 VDC source signal 1394 A high speed external bus that implements the IEEE 1394 serial bus protocol National Instruments Corporation G 1 NI PCI 7342 Hardware User Manual Glossarv A A A D absolute mode absolute position acceleration deceleration active high active low ADC address amplifier Analog Input lt 1 2 gt Analog Output lt 1 2 gt API axis Axis 1 2 Inhibit Axis lt 1 2 gt Forward Lim
5. high to low or toggled Open collector TTL buffers drive the breakpoint outputs These buffers feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V You can directly set and reset breakpoint outputs to use as general purpose digital outputs Wiring Concerns Caution Keep trigger input shutdown input and breakpoint output signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections Wiring these signals near each other can cause faulty operation Excessive input voltages can cause erroneous operation and or component failure Trigger Input Shutdown Input and Breakpoint Output Circuits Figures 5 8 5 9 and 5 10 show a simplified schematic diagram of the circuits trigger inputs shutdown inputs and breakpoint outputs use for signal buffering Vcc 3 3 kQ L Ee ANS From the External 1 kO A To the Trigger Connector 1 8 W Circuits Trigger Pins DGND Figure 5 8 Trigger Input Circuit NI PCI 7342 Hardware User Manual 5 12 ni com Analog Inputs Chapter 5 Signal Connections Vcc 3 3 kQ A VAWNN 9 From the External 1kQ EJ To the Connector 1 8 W Shutdown Shutdown Pin DGND Circuits Figure 5 9 Shutdown Input Circuit Vcc 3 3 kQ lt 74AS760 To the External From the Connector Step Step Direction Direction or Inhibit Pins or Inhibit Circuits Figure 5 10 Breakp
6. 52 en to 53 ho 10 L20 54 55 N N 56 M wo 57 bi d s 58 IW Wu 59 N o 60 hej NI 61 he 62 Del Ke 63 CO o 64 CL A 65 C2 N 66 W e AIO 67 68 Digital Ground Digital Ground Digital Ground DPull Digital Ground Reserved Digital Ground Digital Ground Digital Ground Port 1 bit 1 Port 1 bit 2 Digital Ground Port 1 bit 5 Port 1 bit 6 Digital Ground Digital Ground Port 2 bit 2 Port 2 bit 3 Port 2 bit 4 Port 2 bit 5 Digital Ground Digital Ground Port 3 bit 1 Port 3 bit 2 Digital Ground Port 3 bit 5 Port 3 bit 6 Digital Ground Port 4 bit 1 Port 4 bit 2 Digital Ground Port 4 bit 5 Port 4 bit 6 Digital Ground Figure 5 11 68 Pin Digital I O Connector Pin Assignments NI PCI 7342 Hardware User Manual 5 16 ni com PWM Features Chapter 5 Signal Connections The 32 bit digital I O port is configured in hardware as four 8 bit digital I O ports The bits in a port are typically controlled and read with byte wide bitmapped commands All digital I O lines have programmable direction and polarity Each output circuit can sink and source 24 mA The DPull pin controls the state of the input pins at power up Connecting DPull to 5 V or leaving it unconnected configures all pins in all ports for 100 kQ pull ups Connecting DPull to ground configures the ports for 100 kQ p
7. Figure 5 6 shows the quadrature encoder phasing diagram when interfacing directly to the PCI 7342 without using a UMI or drive accessory Phase A Phase B Index Figure 5 6 Quadrature Encoder Phasing without a UMI or Drive Accessory Wiring Concerns The encoder inputs are connected to quadrature decoder counter circuits Itis very important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system N Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation National Instruments recommends using encoders with differential line driver outputs for all applications If the encoder cable length is longer than 3 05 m 10 ft you must use encoders with differential line driver outputs Shielded 24 AWG wire is the minimum recommended size for the encoder cable For optimized noise immunity use cables with twisted pairs and an overall shield All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals N Caution Unshielded cable can cause noise t
8. Use the inhibit output signals to control the enable inhibit function of a servo amplifier or stepper driver When properly connected and configured the inhibit function de energizes the connected motor its shaft turns freely These open collector inhibit signals feature 64 mA current sink capability with built in 3 3 kQ pull up resistors to 5 V and can directly drive most driver amplifier inhibit input circuits While the industry standard for inhibits is active low inverting these outputs have programmable polarity and can be set to active high non inverting for increased flexibility and unique drive compatibility Inhibit output signals can automatically activate upon a Kill Motion command or any motion error that causes a kill motion condition a following error trip for example You can also directly control the inhibit output signals to enable or disable a driver or amplifier Figure 5 3 shows a simplified schematic diagram of the step direction and inhibit output Vcc 3 3 kQ q 74AS760 To the External From the Connector Step Step Direction Direction or Inhibit Pins or Inhibit Circuits Figure 5 3 Step Direction and Inhibit Output Limit and Home Inputs The following signals control limit and home inputs e Axis lt 1 2 gt Forward Limit Input e Axis lt 1 2 gt Home Input e Axis lt 1 2 gt Reverse Limit Input These inputs are typically connected to limit switches located at physical end
9. allowing multiple devices to communicate bidirectionally on a single line Peripheral Component Interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA It is achieving widespread acceptance as a standard for PCs and workstations it offers a theoretical maximum transfer rate of 132 MB s proportional integral derivative control loop proportional integral velocity feedforward 1 a communications connection on a computer or a remote controller 2 a digital port consisting eight lines of digital input and or output position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions turning the host computer off and then back on which causes a reset of the motion control board NI PCI 7342 Hardware User Manual Glossarv PWM PXI Q quadrature counts R RAM relative breakpoint relative position relative position mode ribbon cable RPM RPSPS or RPS S RTR S servo stepper stepper lt 1 2 gt Dir CCW stepper lt 1 2 gt Step CW NI PCl 7342 Hardware User Manual G 8 Pulse Width Modulation a method of controlling the average current in a motor phase winding by varying the on time duty cycle of transistor switches PCI eXtensions for Instrumentation the encoder line resolution times four random access mem
10. axes or a stepper pulse generator output Servo axes must have either an encoder or ADC channel feedback resource Closed loop stepper axes also require a feedback resource while open loop stepper axes do not Figures 4 1 and 4 2 show these axis configurations You can map one or two feedback resources and one or two output resources to the axis An axis with its primary output resource mapped to a stepper output is by definition a stepper axis An axis with its primary output resource mapped to a DAC is by definition a servo axis National Instruments Corporation 4 3 NI PCI 7342 Hardware User Manual Chapter 4 Functional Overview I l T gt 101100111 LI LI 32 Bit PID 16 Bit Jas Encoder 101011101101 11101101100 D A LII Interface og Converter B Index 101100111 Figure 4 1 Servo Axis Resources Ke oA l 32 Bit St l L733 Encoder 01011010 Control 010010110 Pe LI o Interface ontro ulse LU Loop Generator qp Index 101100111 Figure 4 2 Stepper Axis Resources The PCI 7342 controller supports axes with secondary output resources DACS for servo axes or stepper outputs Defining two output resources is useful when controlling axes with multiple motors such as gantry systems in wh
11. to 4 000 000 steps s RPM range 105 to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 steps s RPS s range over 10 to 108 revolutions s S curve time range 1 to 32 767 samples Following error range 0 to 32 767 counts Gear tatio sis Kai e es e 32 767 1 to 1 32 767 NI PCI 7342 Hardware User Manual A 2 ni com Stepper outputs Svstem Safetv Maximum pulse rate 0 0 eee Minimum pulse width Step output mode oo ee Voltage roange eee Output low voltage Output high voltage Polatityz an acte Watchdog timer function Watchdog timeout Shutdown input Motion I O Voltage range eee Input low voltage Input high voltage Pol rity eret Control tegt eer Ee ets Encoder inputs esee National Instruments Corporation Maximum count rate eeeeeseeeeeeeeeee Minimum pulse width Voltage roange eee Input low voltage Input high voltage Minimum index pulse width A 3 Appendix A Specifications 4 MHz full half and microstep 120 ns at 4 MHz Step and direction or CW CCW 0to5V 0 6 V at 64 mA sink Open collector with built in 3 3 kO pull up to 5 V Programmable active high or active low
12. zone for more information about RTSI including tutorials examples and configuration guidelines PCl 7342 Features The PCI 7342 controller combines servo and stepper functionalitv for PCI bus computers It provides motion control for up to two independent or coordinated axes of motion You can use the PCI 7342 motion controller for point to point and straight line vector moves for stepper and servo motor applications Servo and Stepper Fundamentals Servo axes can control servo motors servo hydraulics servo valves and other servo devices Servo axes always operate in closed loop mode These axes use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range of 10 V Stepper axes control stepper motors and operate in open or closed loop mode They use quadrature encoders or analog inputs for position and velocity feedback closed loop only and provide step direction or NI PCI 7342 Hardware User Manual 1 2 ni com Chapter 1 Introduction clockwise CW counter clockwise CCW digital command outputs All stepper axes support full half and microstepping applications Getting Started The following items are necessarv for setting up and getting started with your motion controller L PCI 7342 motion controller U A computer with an available PCI slot U One of the following software packages and documentation LabVIEW LabWind
13. 4 Functional Overview Flash Memorv Flash ROM implements the nonvolatile memorv on the PCI 7342 controller which enables the controllers to electricallv erase and reprogram its ROM Flash memorv stores all the embedded firmware including the RTOS and DSP code enabling you to 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 nonvolatile memory It is possible to save the entire parameter state of the controller to the flash memory On the next power cycle the controller automatically loads and returns the configuration to these new saved default values Flash ROM also stores the FPGA configuration programs At power up the FPGAs are booted with these programs which means that updates to the FPGA programs can be performed in the field EI Note A flash memorv download utilitv is included with the NI Motion software that ships with the controller Axes and Motion Resources The PCI 7342 controller can control one or two axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called vector spaces You can also synchronize vector spaces for multi vector space coordinated motion control Axes 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
14. Frequency Interference Compliance Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations Depending on where it is operated this product could be subject to restrictions in the FCC rules In Canada the Department of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products By examining the product you purchased you can determine the FCC Class and therefore which of the two FCC DOC Warnings apply in the following sections Some products may not be labeled at all for FCC if so the reader should then assume these are Class A devices FCC Class A products only display a simple warning statement of one paragraph in length regarding interference and undesired operation Most of our products are FCC Class A The FCC rules have restrictions regarding the locations where FCC Class A products can be operated FCC Class B products display either a FCC ID code starting with the letters EXN Trade Name Model Number or the FCC Class B compliance mark that appears as shown here on the right FE Tested to Comply with FCC Standar
15. Instruments Application Software sees 1 3 Optional Equipment eet mete eccesso EE en 1 4 Motion O Connections dtr reet DE PH rg op ege teris eege fena 1 4 Chapter 2 Configuration and Installation Software Installation tiese tede teet e i cette gs 2 1 Controller Configuration ue NENNEN ANEREN levee ENEE 2 1 Unpacking xc ener epe o visti Sai E E te ede 2 1 Satety Information et eee tette ee eed eee oed es indeed radia 2 2 Hardware Installation irre 3 oreet e eter ee et eee NEUE EE eg 2 4 Chapter 3 Hardware Overview User Conn ctOts iE A EEN s 3 2 Chapter 4 Functional Overview Dual Processor Architecture iae erret eem t etn ste Ee eec A 1 Embedded Real Time Operating System RTOS en 4 2 Trajectory Generatorsc ne se eee etm e B t ete 4 2 Analog Feedback eiit d Der ER RE 4 2 Flash Memory cete etie est et to Ie eee got sp 4 3 National Instruments Corporation Vii NI PCI 7342 Hardware User Manual EE ee eebe 4 3 Motion Resources ote a ta L bi 4 4 Host Communications eeeeeeeeeeeeeeeeeeeeeeeeee a sese nee nene eene eene nnne anas a 4 5 Chapter 5 Signal Connections Motion HCH Connector teet ed dev dE 5 2 Motion Axis Signals udo ed eee tante R 5 5 Lifrit and Home Inputs edet A Ee 5 6 Wiring GOoncerns aue iae AL 5 7 Limit and Home Input Circuit eee 5 7 Encoder Signals ret eo etu etie e ipe iens 5 8 Encoder lt 1 2 gt Phase A Phase B A 5 8 En oder 81 23 Index i
16. LICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Compliance FCC Canada Radio
17. Motion Control NI PCI 7342 Hardware User Manual b f NATIONAL October 2002 Edition y INSTRUMENTS Part Number 373454A 01 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 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 55 11 3262 3599 Canada Calgarv 403 274 9391 Canada Montreal 514 288 5722 Canada Ottawa 613 233 5949 Canada Qu bec 514 694 8521 Canada Toronto 905 785 0085 China 86 21 6555 7838 Czech Republic 02 2423 5774 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 01 42 96 427 Hong Kong 2645 3186 India 91 80 4190000 Israel 03 6393737 Italy 02 413091 Japan 03 5472 2970 Korea 02 3451 3400 Malaysia 603 9596711 Mexico 001 800 010 0793 Netherlands 0348 433466 New Zealand 09 914 0488 Norway 32 27 73 00 Poland 22 3390 150 Portugal 210 311 210 Russia 095 238 7139 Singapore 65 6 226 5886 Slovenia 3 425 4200 South Africa 11 805 8197 Spain 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 02 2528 7227 United Kingdom 01635 523545 For further support information refer to the Technical Support and Professional Services appendix To comment on the documentation send email to techpubseni com 2002 National Instruments Corporation All rights reserved Importan
18. active high or active low Outputs Voltage range 0to5 V Output low voltage 0 45 V at 24 mA sink Output high voltage 22 4 V at 24 mA source Polarity nies rette nid Programmable active high or active low PWM outputs Number of PWM outputs 2 Maximum PWM frequency 32 kHz Resol tion ttes 8 bit Duty cycle range 0 to 255 256 Clock sources Internal or external RTSI Trigeer Lesen oes 7 Maximum Power Requirements AON CE396 iicet ede eem eset 1A AZ V E396 Littere 30 mA 127 M E308 iore tees 30 mA Power consumption esee 5 7 W NI PCI 7342 Hardware User Manual A 6 ni com Physical Appendix A Specifications Dimensions Not Including Connectors PCI 1342 onde n etos 17 5 x 9 9 cm 6 9 x 3 9 in Connectors Motion I O connector 68 pin female high densitv VHDCI type 32 bit digital I O connector 68 pin female high density VHDCI type Weight PCI 7342 iere SA aiagehs 113 g 4 oz Maximum Working Voltage Channel to earth eese 12 V Installation CAT I signal voltage plus common mode voltage Channel to channel 22 V Installation CAT I signal voltage plus common mode voltage N Caution These values represent the maximum allowable voltage between anv accessible signals on the
19. akpoint across RTSI figure 5 18 overview 1 1 to 1 2 3 2 pins available for user signals note 1 2 signal considerations 5 17 to 5 18 specifications A 6 S safety safety information 2 2 to 2 4 specifications A 8 system safety specifications A 3 servo axes axis resources figure 4 4 connector pin assignments figure B 2 performance specifications A 1 to A 2 servo and stepper fundamentals 1 2 to 1 3 shutdown input input circuit figure 5 13 wiring concerns 5 12 Shutdown signal description table 5 4 purpose and use 5 11 to 5 12 signal connections See digital I O connector motion I O connector RTSI connector software installation 2 1 software programming choices 1 3 to 1 4 specifications digital I O A 6 NI PCI 7342 Hardware User Manual l 4 electromagnetic compatibilitv A 8 environment A 7 maximum working voltage A 7 motion I O A 3 to A 5 phvsical A 7 power requirements max A 6 RTSI trigger lines A 6 servo performance A 1 to A 2 stepper performance A 2 to A 3 svstem safetv A 3 stepper axes axis resources figure 4 4 connector pin assignments figure B 1 performance specifications A 2 to A 3 stepper and servo fundamentals l 2 to l 3 svstem safetv specifications A 3 T technical support resources C 1 trajectorv generators 4 2 trigger inputs 5 11 to 5 13 trigger input circuit figure 5 12 wiring concerns 5 12 Trigger lt 1 2 gt signal description table 5 4 purpos
20. alog 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 Reference For convenience 7 5 V nominal analog reference voltage is available You can use this output as a low current supply to sensors that require a stable reference Analog Input Ground This separate return connection is available to help keep digital noise out of the analog input Use this reference ground connection and not Digital Ground digital I O reference or Analog Output Ground as the reference for the analog inputs 5 14 ni com Chapter 5 Signal Connections Wiring Concerns For proper use of each ADC input channel connect the analog signal to be measured to the channel input and connect its ground reference to the Analog Input Ground 3 Note The analog reference output is an output signal only and must not connect to an external reference voltage Connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltage measurement Other Motion 1 0 Connection The PCI 7342 controller provides the following other motion I O connection e Ho
21. ate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position is also regarded as the zero position in an absolute position frame of reference computer into which the motion control board is plugged input output the transfer of data to and from a computer system involving communications channels operator interface devices and or motion control interfaces identification inches NI PCI 7342 Hardware User Manual Glossarv index inverting IRQ L LIFO limit switch end of travel position input m MCS microstep modulo position marker between consecutive encoder revolutions the polarity of a switch limit switch home switch and so on in active state If these switches are active low they are said to have inverting polarity interrupt request kilo the standard metric prefix for 1 000 or 10 used with units of measure such as volts hertz and meters kilo the prefix for 1 024 or 210 used with B in quantifying data or computer memory Last In First Out sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop meters Move Complete Status The proportional control of energy in the coils of a Stepper Motor t
22. ation Figure 2 1 illustrates a sample installation Electric Circuit Plug in Meter Breaker Equipment Source of Building Fixed Local Level Secondary Low Voltage Installation Distribution Such Windings of 1000 V Distribution as Wall Sockets Isolation Installation Panel Transformers Figure 2 1 Sample Installation Hardware Installation Install your PCI 7342 controller in any open compatible expansion slot in your computer Appendix A Specifications lists the power requirements for the PCI 7342 controller The following instructions are for general installation Consult your computer user manual or technical reference manual for specific instructions and warnings N Caution Observe precautions for handling electrostatic sensitive devices Refer to the Unpacking section of this chapter for information about handling the controller 1 Verify that the NI Motion software is installed on your computer 2 Power off and unplug your computer N Caution To protect vourself and the computer from electrical hazards the computer should remain off until vou finish installing the controller 3 Remove the top cover or access port to the PCI expansion slots in your computer 4 Wait for any motherboard LEDs to turn off to ensure system power has dissipated 5 Remove the expansion slot connector port cover on the back panel of your computer NI PCI 7342 Hardware User Manual 2 4 ni com Chapter 2 Conf
23. ation if the controller appears damaged in any way Do not install a damaged controller in your computer N Caution Never touch the exposed connector pins Safety Information Caution The following paragraphs contain important safety information you must follow when installing and operating the device Do not operate the device in a manner not specified in the documentation Misuse of the device may result in a hazard and may compromise the safety protection built into the device If the device is damaged turn it off and do not use it until service trained personnel can check its safety If necessary return the device to National Instruments for repair Keep away from live circuits Do not remove equipment covers or shields unless you are trained to do so If signal wires are connected to the device hazardous voltages can exist even when the equipment is turned off To avoid a shock hazard do not perform procedures involving cover or shield removal unless you are qualified to do so Disconnect all field power prior to removing covers or shields If the device is rated for use with hazardous voltages 230 Vims 42 4 V y or 60 Vac it may require a safety earth ground connection wire See the device specifications for maximum voltage ratings Because of the danger of introducing additional hazards do not install unauthorized parts or modify the device Use the device only with the chassis modules accessories and cables specifi
24. controller To determine the acceptable voltage range for a particular signal please refer to the individual signal specifications Environment Operating temperature 0 to 55 C Storage temperature sess 20 to 70 C Humidity si ENEE ENEE 10 to 9096 RH noncondensing Maximum altitude 2000 m Pollution Degree 2 National Instruments Corporation A 7 NI PCl 7342 Hardware User Manual Appendix A Specifications Safetv This device meets the following electrical equipment safetv standard requirements for measurement control and laboratorv use e EN 61010 1 IEC 61010 1 e UL3III 1 CAN CSA C222 no 1010 1 Electromagnetic Compatibility EMGORM 4 ga gente CE C Tick and FCC Part 15 Class A Compliant Electromagnetic emissions EN 55011 Class A at 10 meters FCC Part 15A above 1 GHz Electromagnetic immunity Evaluated to EN 61326 1997 A1 1998 Table 1 Ei Note For full EMC compliance vou must operate this device with shielded cabling In addition all covers and filler panels must be installed Refer to the Declaration of Conformitv DoC for this product for anv additional regulatorv compliance information To obtain the DoC for this product click Declaration of Conformitv at ni com hardref nsf This Web site lists the DoCs by product family Select the appropriate product family followed by your product and a link t
25. d multitasking embedded controller The advanced architecture of the PCI 7342 controller enables advanced motion features such as enhanced PID functions Refer to the NI Motion Software Reference Manual for more information about the features available on the PCI 7342 controller Trajectory Generators Analog Feedback The trajectory generators on the PCI 7342 controller calculate the instantaneous position command that controls acceleration and velocity while moving the axis to its target position Depending on how you configure the axis this command is sent to the PID servo loop or stepper pulse generator To implement infinite trajectory control the PCI 7342 controller has four trajectory generators two per axis implemented in the DSP chip Each generator calculates an instantaneous position each PID update period While simple point to point moves require only one trajectory generator blended moves and infinite trajectory control processing require two simultaneous generators The PCI 7342 controller has two multiplexed 12 bit ADC channels available for analog feedback The converted analog values transmit to both the DSP and CPU through a dedicated internal high speed serial bus The multiplexer scan rate is approximately 50 us per enabled ADC channel which provides the high sampling rates required for feedback loop closure joystick inputs and monitoring analog sensors NI PCI 7342 Hardware User Manual 4 2 ni com Chapter
26. d use 5 6 Axis lt 1 2 gt Reverse Limit Switch signal description table 5 4 purpose and use 5 6 to 5 7 Axis lt 1 2 gt Step CW signal compatibility with third party drives 5 5 description table 5 4 purpose and use 5 5 breakpoint outputs output circuit figure 5 13 wiring concerns 5 12 Breakpoint lt 1 2 gt signal description 5 4 purpose and use 5 12 NI PCI 7342 Hardware User Manual Index C cable connectors 50 pin servo connector pin assignments figure B 2 50 pin stepper connector pin assignments figure B 1 communications host 4 5 configuration of controller 2 1 connectors See cable connectors digital I O connector motion I O connector RTSI connector controller configuration 2 1 conventions used in manual ix D Digital Ground signal table 5 4 digital I O connector 5 16 to 5 17 68 pin connector pin assignments figure 5 16 connection to PCI 7342 controller figure 5 1 description 5 17 overview 3 2 PWM features 5 17 specifications A 6 documentation conventions used in manual ix related documentation x dual processor architecture 4 1 to 4 3 E electromagnetic compatibility specifications A 8 embedded real time operating system RTOS 4 2 encoder signals 5 8 to 5 13 Axis lt 1 2 gt Encoder Index 5 4 5 9 to 5 10 NI PCI 7342 Hardware User Manual l 2 Axis lt 1 2 gt Encoder Phase A 5 4 5 8 to 5 9 Axis lt 1 2 gt Encoder Phase B 5 4 5 8 to 5 9 inpu
27. ddress that serves as the starting address for programmable or T O bus registers All other addresses are located by adding to the base address a number system with a base of 2 temporary storage for acquired or generated data software the group of conductors that interconnect individual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected eight related bits of data an eight bit binary number Also used to denote the amount of memory required to store one byte of data counter clockwise implies direction of rotation of the motor a motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity reference 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 NI PCI 7342 Hardware User Manual Glossarv DAC DC dedicated DGND digital I O port DIP DLL drivers DSP E encoder encoder resolution F f FIFO filtering filter parameters flash ROM Digital to Analog Converter direct current assigned to a particular function digital ground signal a group of digital input output signals dual inline package dvnamic link librarv provides the API for the motion control boards software that communicates comma
28. de high speed communications while offloading complex motion functions from the host PC for optimized system performance The PCI 7342 controller uses the digital signal processor for all closed loop control including position tracking PID control closed loop computation and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded multitasking real time CPU handles host communications command processing multi axis interpolation onboard program execution error handling general purpose digital I O and overall motion system integration functions National Instruments Corporation 4 1 NI PCI 7342 Hardware User Manual Chapter 4 Functional Overview Embedded Real Time Operating Svstem RTOS The embedded firmware is based upon an embedded RTOS kernel and provides optimum system performance in varying motion applications Motion tasks are prioritized and task execution order depends on the priority of each task the state of the entire motion system I O or other system events and the real time clock The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized by an internal packet based command data and messaging event structure The PCI 7342 controller is a true multiprocessing an
29. ds Consult the FCC Web site at http 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 FOR HOME OR OFFICE USE Changes or modifications not expressly approved by National Instruments 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 and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of t
30. e and use 5 11 U unpacking NI PCI 7342 2 1 to 2 2 user connectors See digital I O connector motion I O connector RTSI connector V voltage specifications maximum working A 7 ni com Index W wiring concerns analog inputs 5 15 breakpoint outputs 5 12 encoder signals 5 10 limit and home inputs 5 7 shutdown input 5 12 trigger inputs 5 12 National Instruments Corporation l 5 NI PCl 7342 Hardware User Manual
31. ed in the installation instructions All covers and filler panels must be installed while operating the device Do not operate the device in an explosive atmosphere or where flammable gases or fumes may be present Operate the device only at or below the pollution degree stated in the specifications Pollution consists of any foreign matter solid liquid or gas that may reduce dielectric strength or surface resistivity Pollution degrees are listed below e Pollution Degree 1 No pollution or only dry nonconductive pollution occurs The pollution has no effect NI PCI 7342 Hardware User Manual 2 2 ni com Ghapter 2 Configuration and Installation e Pollution Degree 2 Normally only nonconductive pollution occurs Occasionally nonconductive pollution becomes conductive because of condensation e Pollution Degree 3 Conductive pollution or dry nonconductive pollution occurs Nonconductive pollution becomes conductive because of condensation Clean the device and accessories by brushing off light dust with a soft nonmetallic brush Remove other contaminants with a stiff nonmetallic brush The unit must be completely dry and free from contaminants before returning it to service You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device Remove power from signal lines before connection to or disconnection from the device Operate this device onl
32. ents 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 owner s modi
33. fication 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 Trademarks CVI LabVIEW National Instruments NI ni com NI Motion and RTSI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies 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 APP
34. hat allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution treat the position as within the range of total quadrature counts per revolution for an axis NI PCI 7342 Hardware User Manual G 6 ni com noise noninverting 0 open loop open collector PCI PID PIVff port position breakpoint power cycling National Instruments Corporation G 7 Glossary 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 the polarity of a switch limit switch home switch etc in active state If these switches are active high they are said to have non inverting polarity refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals refers to a transistor current that can only sink current
35. he 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 Class B Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Canadian Department of Communications This Class B digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de
36. ich two DAC outputs can be configured with different torque limits and or offsets The PCI 7342 controller supports secondary feedback resources encoders for axes defined as servo Two feedback resources are necessary when implementing dual loop control such as in backlash compensation which reduces the number of encoders available for other axes Ni Note Refer to the Axis and Resource Configuration section of the NI Motion Software Reference 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 nonaxis or nonmotion specific applications You can directly control an unmapped DAC as a general purpose analog output 10 V Similarly you can use any ADC channel to measure potentiometers or other analog sensors NI PCI 7342 Hardware User Manual 4 4 ni com Chapter 4 Functional Overview If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input for master slave electronic gearing applications Each axis also has an associated forward and reverse limit input a home input a high speed capture trigger input a breakpoint output and an inhibit output These signals can be used for general purpose digital I O when not being used for their motion specific purpose Ni Note O
37. iguration and Installation 6 Insert the controller into a 43 3 V or 5 V PCI slot Gently rock the device to ease it into place It may be a tight fit but do not force the device into place 7 H available screw the controller mounting bracket to the back panel rail of the computer Replace the cover 9 Plugin the 68 pin cable for motion I O to the controller 10 Plug in and turn on your computer Your PCI controller is installed National Instruments Corporation 2 5 NI PCI 7342 Hardware User Manual Hardware Overview This chapter provides an overview of the PCI 7342 motion controller hardware functionality Figure 3 1 shows the PCI 7342 parts locator diagram EJ d S S e B a lt S N PCI 7342 OD COPYRIGHT 2001 CI NATIONAL INSTRUMENTS L U 1 RTSI Connector 4 68 Pin Digital UO Connector 6 MC68331 CPU 2 Assembly Number Label 5 68 Pin Motion I O Connector 7 ADSP 2185 DSP 3 Serial Number Label Figure 3 1 PCl 7342 Parts Locator Diagram National Instruments Corporation 3 1 NI PCI 7342 Hardware User Manual Chapter 3 Hardware Overview User Connectors The 68 pin motion I O connector provides all the signals for two axes of closed loop motion control including encoder feedback limit and home inputs breakpoint outputs
38. interface Using LabWindows CVI you can generate C code for custom data acquisition test and all measurement and automation solutions NI Motion is the motion control software and virtual instruments VIs for interfacing with all National Instruments motion controllers Optional Equipment The following optional products are available for use with the National Instruments motion controllers e Cables and cable assemblies for motion and digital I O e RTSI bus cables e UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality e Stepper and servo motor compatible driver amplifier units with integrated power supply and wiring connectivity e Connector blocks shielded and unshielded 68 pin screw terminal wiring aids For 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 The external motion I O and digital I O connectors are high density 68 pin female VHDCI connectors Refer to the User Connectors section of Chapter 3 Hardware Overview for more information about these connectors For custom cables use the AMP mating connector part number 787801 01 NI PCI 7342 Hardware User Manual 1 4 ni com Configuration and Installation This chapter describes how to configure unpack and install the National Instru
39. it Input NI PCI 7342 Hardware User Manual G 2 amperes analog to digital treat the target position loaded as position relative to zero 0 while making a move position relative to zero a measurement of the change in velocity as a function of time Acceleration and deceleration describes the period when velocity is changing from one value to another a signal is active when its value goes high 1 a signal is active when its value goes low 0 analog to digital converter character code that identifies a specific location or series of locations in memory or on a host PC bus system the drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brush motor for instance 12 bit analog ADC input DAC voltage output application programming interface unit that controls a motor or any similar motion or control device axis 1 through 2 inhibit output axis 1 through 2 forward clockwise limit switch ni com Axis 1 2 Home Input Axis lt 1 2 gt Reverse Limit Input b base address binary buffer bus byte C CCW closed loop common CPU crosstalk CSR CW National Instruments Corporation G 3 Glossarv axis 1 through 2 home input axis 1 through 2 reverse counter clockwise limit input bit one binary digit either 0 or 1 memory a
40. la classe B respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Compliance to EU Directives Readers in the European Union EU must refer to the Manufacturer s Declaration of Conformity DoC for information pertaining to the CE Marking compliance scheme The Manufacturer includes a DoC for most every hardware product except for those bought for OEMs if also available from an original manufacturer that also markets in the EU or where compliance is not required as for electrically benign apparatus or cables To obtain the DoC for this product click Declaration of Conformity at ni com hardref nsf This Web site lists the DoCs by product family Select the appropriate product family followed by your product and a link to the DoC appears in Adobe Acrobat format Click the Acrobat icon to download or read the DoC The CE Marking Declaration of Conformity will contain important supplementary information and instructions for the user or installer Contents About This Manual Convention Si i e ee Ce ERI HEU E E O p ix Related Documentations 5 orto a a ER ERREUR Pe ET x Chapter 1 Introduction About the NI PCI 7342 neca whe tpi cin Er CE op edv mb p Rees 1 1 Hardware si p betae enhn ee uie 1 1 RTSL iEn Rte d eb ds 1 1 PGI 7342 Features eet A a 1 2 Servo and Stepper Fundamentals sese 1 2 Getting Started iate Ne qe ge p t er 1 3 Software Programming Choices eese nemen 1 3 National
41. les Following error range 0 to 32 767 counts Gear ratio s sarrit nian 32 767 1 to 1 32 767 Servo control loop modes PID PIVff S Curve Dual Loop PID Kp Ki and Kd gains 0 to 32 767 Integration limit Ilim 0 to 32 767 National Instruments Corporation A 1 NI PCI 7342 Hardware User Manual Appendix A Specifications Derivative sample period Td 1 to 63 samples Feedforward Aff and Vff gains 0 to 32 767 Velocity feedback Kv gain 0 to 32 767 Servo command analog outputs Voltage range 10 V Resolution 16 bits 0 000305 V LSB Programmable torque velocity limits Positive limit x10 V 32 768 to 432 767 Negative limit x10 V 32 768 to 432 767 Programmable offset 10 V 32 768 to 432 767 Stepper Performance Trajectory update rate range 62 5 to 500 us sample Maximum update rate 62 5 us axis 2 axis update rate sss 125 us total Multi axis synchronization 1 update sample Position accuracy Open loop stepper full half or microstep Encoder feedback quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Position range L seemensesnznnznznnazzzn 23 steps Maximum relative move size 23 steps Velocity range cisini 1
42. ments PCI 7342 motion controller Software Installation Before installing your controller install the NI Motion driver software and if appropriate the Motion VI libraries Ni Note You must install the NI Motion driver software before installing your motion controller Refer to the Release Notes included with the controller for specific instructions on the software installation sequence for your host PC Controller Configuration Because motion I O related configuration is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PCI 7342 controller is fully compatible with the PCI Local Bus Specification Revision 2 1 It is not necessary to configure jumpers for bus related configuration Unpacking The PCI 7342 motion controller ships in an antistatic package to prevent electrostatic discharge from damaging board components To avoid such damage in handling the controller take the following precautions 1 Ground yourself via a grounding strap or by holding a grounded object such as your computer chassis 2 Touch the antistatic package to a metal part of your computer chassis before removing the controller from the package 3 Remove the controller from the package and inspect it for loose components or any other signs of damage Notify National Instruments National Instruments Corporation 2 1 NI PCI 7342 Hardware User Manual Chapter 2 Configuration and Install
43. n connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced UMI units and drives N Caution Power off all devices when connecting or disconnecting the motion I O and auxiliary digital I O cables Failure to do so may damage the controller Figure 5 1 shows the connectors on the PCI 7342 controller Refer to Figure 3 1 PCI 7342 Parts Locator Diagram to locate the RTSI connector DIGITAL 1 O MOTION 1 0 Figure 5 1 PCl 7342 Motion Controller Connectors National Instruments Corporation 5 1 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections Motion 1 0 Connector The motion I O connector contains all signals necessarv for controlling axes of servo and stepper motion including the following features Encoder feedback inputs e Forward home and reverse limit inputs e Trigger inputs e Motor command analog and stepper outputs e Breakpoint outputs e Inhibit outputs The motion I O connector also contains two channels of 12 bit A D inputs for analog feedback or general purpose analog input Figure 5 2 shows the pin assignments for the 68 pin motion I O connector on the PCI 7342 controller Refer to Table 5 1 for a description of each motion I O signal Ni Note Lines above signal names indicate that the signal is active low NI PCI 7342 Hardware User Manual 5 2 ni com Chapter 5 Signal Connections Axis 1 Dir CCW Digital G
44. nals Each channel consists of a Phase A Phase B and Index input as described in the following sections Encoder 1 2 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 you do not need an encoder resource for axis control you can use it for other functions including position or velocity monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications A field programmable gate array FPGA implements the encoder channels Encoder lt 1 2 gt The encoders are high performance with extended input frequency response and advanced features such as high speed position capture inputs and breakpoint outputs Their maximum count frequency is 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 bv optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading phase A or B determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase NI PCI 7342 Hardware User Manual 5 8 ni com Chapter 5 Signal Connections A typical encoder with a specification
45. nce mapped to an axis all features and functions of a resource are available as part of the axis It is not necessary to remember or use the resource number directly when accessing these features Resources are referenced by axis number once assigned to that axis Host Communications The host computer communicates with the controller through a number of memory port addresses on the host bus The primary bi directional data transfer port is at the base address of the controller This port supports FIFO data passing in both send and readback directions The PCI 7342 controller has both a command buffer for incoming commands and a return data buffer RDB for readback data Two read only status registers are at offsets from the base address The communications status register CSR provides bits for communications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status MCS register provides instantaneous motion status of all axes National Instruments Corporation 4 5 NI PCI 7342 Hardware User Manual Signal Connections This chapter describes how to send input and output signal connections directly to the controller and briefly describes the associated I O circuitry The PCI 7342 controller has three connectors that handle all signals to and from the external motion system e 68 pin motion I O connector e 68 pin digital I O connector es RTSI connector You ca
46. nds to control a specific motion control board Digital Signal Processor device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution farad First In First Out a type of signal conditioning that filters unwanted signals from the signal being measured indicates the control loop parameter gains PID gains for a given axis a type of electrically reprogrammable read only memory NI PCI 7342 Hardware User Manual G 4 ni com following error trip point FPGA freewheel full step Gnd GND H half step hex home switch input host computer I O ID in National Instruments Corporation G 5 Glossary the difference between the instantaneous commanded trajectory position and the feedback position Field Programmable Gate Array the condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously ground ground mode of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode altern
47. o corrupt the encoder signals resulting in lost counts and reduced motion system accuracy NI PCI 7342 Hardware User Manual 5 10 ni com Chapter 5 Signal Connections Encoder Input Circuit Figure 5 7 shows a simplified schematic diagram of the circuit used for the Phase A Phase B and Index encoder inputs Both Phases A and B are required for proper encoder counter operation and the signals must support the 90 phase difference within system tolerance The encoder and Index signals are conditioned by a software programmable digital filter inside the FPGA The Index signal is optional but highly recommended and required for initialization functionality with the Find Index function 3 8 kQ Mi Vcc a From the External Connector Encoder Input Pins To the Quadrature Decoder Circuit v i 1 kQ A 1 8 W DGND Figure 5 7 Encoder Input Circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The PCI 7342 controller offers additional high performance features in the encoder FPGA The encoder channels have high speed position capture trigger inputs and breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input lt 1 2 gt When enabled an active transition on a high speed position capture input causes instantaneous position capture 100 ns latency of the corresponding encoder c
48. o the DoC appears in Adobe Acrobat format Click the Acrobat icon to download or read the DoC NI PCI 7342 Hardware User Manual A 8 ni com National Instruments Corporation Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to your PCI 7342 controller Figures B 1 and B 2 show the pin assignments for the stepper and servo 50 pin motion connectors These connectors are available when you use the SH68 C68 S shielded cable assembly and the 68M 50F step servo bulkhead cable adapter Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 Home Switch Trigger Breakpoint 1 Axis 1 Inhibit Axis 2 Dir CCW Digital Ground Digital Ground Axis 2 Home Switch Trigger Breakpoint 2 Axis 2 Inhibit NC Digital Ground Digital Ground NC NC NC NC Digital Ground Digital Ground NC NC NC Digital Ground O SIb NIAJ a 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 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 Pha
49. of N N number lines per unit of measure revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in National Instruments motion systems hy Note Determine quadrature counts by multiplying the encoder resolution in encoder lines by 4 The encoder resolution is the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the resolution is referred to as lines per revolution or lines per unit of measure inch centimeter millimeter and so on Encoder 1 2 Index The Index input works primarily with the Find Index function This function uses the number of counts per revolution or linear distance to initiate a search move that locates the index position When a valid Index signal transition occurs during a Find Index sequence the position of the Index signal is captured very accurately Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required Figure 5 5 shows the quadrature encoder phasing diagram when using a UMI or drive accessory Phase A Phase B Index Figure 5 5 Quadrature Encoder Phasing with a UMI or Drive Accessory National Instruments Corporation 5 9 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections
50. oint Output Circuit The PCI 7342 controller has the following ADC input signals e Analog Input 1 2 The PCI 7342 controller includes an 8 channel multiplexed 12 bit ADC capable of measuring 10 V 5 V 0 10 V and 0 5 V inputs ADC channels 1 and 2 are brought out externally on the 68 pin motion I O connector ADC channels 5 through 8 connect internally as shown in Table 5 2 You can use these signals for ADC testing Table 5 2 Internal ADC Channels ADC Input Signal 3 Unavailable 4 Unavailable 5 Filtered 45 V 6 Floating NC 7 Analog Reference 7 5 V 8 Analog Input Ground National Instruments Corporation 5 13 NI PCl 7342 Hardware User Manual Chapter 5 NI PCI 7342 Hardware User Manual Signal Connections You can configure each ADC channel for motion feedback simple A D conversion or both You can use the Read ADC function to read the digital value of analog voltage on any of the eight ADC channels on the controller Table 5 3 shows the range of values read back and the voltage resolution for each setting The voltage resolution is in volts per least significant bit V LSB Table 5 3 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0 10 V 0 to 4 095 0 0024 V LSB 0 5 V 0 to 4 095 0 0012 V LSB As indicated in Figure 5 3 when configured as an
51. ortant information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash 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 reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories programs subprograms subroutines device names functions operations variables filenames and extensions and code excerpts National Instruments Corporation ix NI PCI 7342 Hardware User Manual About This Manual Related Documentation The following documents contain information pertaining to the PCI 7342 motion controller NI Motion Release Notes NI Motion Software Reference Manual e NI Motion Software Reference online help e NI Motion VIs online help e PCT Local Bus Specification Revision 2 1 e Your computer s technical reference manual NI PCI 7342 Hardware User Manual X ni com Introduction This chapter describes the features and functionalitv of the National Instruments PCI 7342 motion controller It incl
52. ory sets the position breakpoint for an encoder in relative quadrature counts destination or target position for motion specified with respect to the current location regardless of its value position relative to current position a flat cable in which the conductors are side by side revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration Ready to Receive seconds specifies an axis that controls a servo motor specifies an axis that controls a stepper motor direction output or counter clockwise direction control stepper pulse output or clockwise direction control ni com T toggle torque trapezoidal profile trigger TTL V Vec velocity mode W watchdog word National Instruments Corporation G 9 Glossary changing state from high to low back to high and so on force tending to produce rotation a typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity then decelerates at the programmed acceleration to the target position any event that causes or starts some form of data capture transistor transistor logic volts positive voltage supply move the axis continuously at the specified velocity a timer task that shuts down resets the motion control board if any serious error occurs the standard number of bits that a processor or memo
53. ount 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 The polarity of the trigger input is programmable in software as active low inverting or active high non inverting rising or falling edge You can also use a trigger input as a latching general purpose digital input by simply ignoring the captured position e Shutdown Input When enabled in software the shutdown input signal can be used to kill all motion by asserting the controller inhibits setting the analog outputs to 0 V and stopping any stepper pulse National Instruments Corporation 5 11 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections generation To activate shutdown the signal must transition from a low to high state rising edge Shutdown occurs when a rising edge is detected on the shutdown line Breakpoint Output 1 2 You can program a breakpoint output to transition when the associated encoder value equals the breakpoint position You can use a breakpoint output to directly control actuators Or as a trigger to synchronize data acquisition or other functions in the motion control system You can program breakpoints as either absolute modulo or relative position You can preset breakpoint outputs to a known state so that when the breakpoint occurs the transition is low to high
54. ows CVI NI Motion Q NI PCI 7342 Hardware User Manual U NI Motion Software Reference Manual Software Programming Choices The simple but powerful high level function set application programming interface API makes programming your controller easy All setup and motion control functions are easily executed by calling into either a static or dynamic link library DLL These libraries are callable from C Visual Basic and other high level languages Full function set implementations are available for LabVIEW LabWindows CVI and other industry standard software programs National Instruments Application Software LabVIEW 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 a series of virtual instruments VIs for using LabVIEW with the National Instruments motion control hardware The NI Motion VI library implements the full function set API and a powerful set of demo functions example programs and fully operational high level application routines National Instruments Corporation 1 8 NI PCI 7342 Hardware User Manual Chapter 1 Introduction ANSI C based LabWindows CVI also features interactive graphics and a state of the art user
55. pen collector signals are the stepper command outputs for each axis The PCI 7342 controller supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the command direction of motion either forward or reverse CW and CCW mode produces pulses steps on the CW output for forward commanded motion and pulses on the CCW output for reverse commanded motion In either case you can set the active polarity of both outputs to active low inverting or active high non inverting For example with step and direction you can make a logic high correspond to either forward or reverse direction The Step CW and Dir CCW outputs are driven by high speed open collector transistor to transistor TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V N 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 45 5 V National Instruments Corporation 5 5 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections e Axis lt 1 2 gt Inhibit
56. r Pin Assignment permanent damage to your motion controller National Instruments Corporation 5 3 Caution Do not connect NC not connected signals Connecting these signals could cause NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections Table 5 1 describes the signals on the motion I O connector Table 5 1 Motion I O Signal Connections Signal Name Reference Direction Description Axis 1 2 Dir CCW Digital Ground Output Motor direction or counter clockwise control Axis lt 1 2 gt Step CW Digital Ground Output Motor step or clockwise control Axis lt 1 2 gt Encoder Phase A Digital Ground Input Closed loop only phase A encoder input Axis lt 1 2 gt Encoder Phase B Digital Ground Input Closed loop only phase B encoder input Axis lt 1 2 gt Encoder Index Digital Ground Input Closed loop only index encoder input Axis lt 1 2 gt Home Switch Digital Ground Input Home switch Axis 1 2 Forward Limit Switch Digital Ground Input Forward clockwise limit switch Axis lt 1 2 gt Reverse Limit Switch Digital Ground Input Reverse counter clockwise limit switch Axis lt 1 2 gt Inhibit Digital Ground Output Drive inhibit Trigger lt 1 2 gt Digital Ground Input High speed position capture trigger input lt 1 2 gt Breakpoint lt 1 2 gt Digital Ground Output Breakpoint output lt 1 2 gt Host 5 V Digital Ground O
57. round Digital Ground Axis 1 Home Switch Trigger 1 Axis 1 Inhibit Axis 2 Dir CCW Digital Ground Digital Ground Axis 2 Home Switch Trigger 2 Axis 2 Inhibit NC Digital Ground Digital Ground NC NC NC NC NC Digital Ground Digital Ground NC NC Digital Ground Breakpoint 1 NC Digital Ground Analog Output 1 NC Analog Output Ground Analog Input 1 NC Analog Reference Output 35 36 37 38 39 40 41 COIN OD AVN 42 Ke 43 A o 44 A 45 E N 46 Co 47 A 48 zech oa 49 o 50 E FT 51 x ol 52 53 N o 54 Del 55 N m 56 N Q 57 IW Ka 58 NIN OO 59 60 IW 61 Del 62 he e 63 CO o 64 CL tak 65 Q N 66 CA wo 67 Co E 68 Axis 1 Step CW Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step CW Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch NC NC NC NC NC NC NC NC NC NC NC NC Host 5V Breakpoint 2 NC Shutdown Analog Output 2 NC NC Analog Input 2 NC Analog Input Ground N Figure 5 2 68 Pin Motion I O Connecto
58. ry manipulates at one time typically 8 16 or 32 bit NI PCl 7342 Hardware User Manual Index Numbers 5 V signal See Host 5 V signal A analog feedback 4 2 Analog Input 1 2 signal analog input voltage ranges table 5 14 description table 5 4 internal ADC channels table 5 13 purpose and use 5 13 to 5 14 Analog Input Ground signal description table 5 4 purpose and use 5 14 analog inputs signal descriptions 5 13 to 5 15 wiring concerns 5 15 Analog Output lt 1 2 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 Reference signal description table 5 4 purpose and use 5 14 axes 4 3 to 4 4 See also servo axes stepper axes Axis lt 1 2 gt Dir CCW signal compatibility with third party drives 5 5 description table 5 4 purpose and use 5 5 Axis lt 1 2 gt Encoder Index signal description table 5 4 purpose and use 5 9 to 5 10 National Instruments Corporation Axis 1 2 Encoder Phase A signal description table 5 4 purpose and use 5 8 to 5 9 Axis lt 1 2 gt Encoder Phase B signal description table 5 4 purpose and use 5 8 to 5 9 Axis lt 1 2 gt Forward Limit Switch signal description table 5 4 purpose and use 5 6 to 5 7 Axis lt 1 2 gt Home Switch signal description table 5 4 purpose and use 5 6 to 5 7 Axis lt 1 2 gt Inhibit signal description table 5 4 purpose an
59. s Real Time System Integration RTSI bus RTSI is a dedicated high speed digital bus that facilitates low level high speed real time communication between National Instruments Corporation 1 1 NI PCI 7342 Hardware User Manual Chapter 1 Introduction National Instruments devices The RTSI bus provides high speed connectivitv between National Instruments products including image acquisition IMAQ and data acquisition DAQ devices With RTSI you can easily synchronize several functions to a common trigger or timing event across multiple motion IMAQ and DAQ devices RTSI requires no external cabling and does not consume host bus bandwidth Additionally the RTSI bus features built in switching that you can control with software to route signals to and from the bus on the fly The bus interface on PCI devices is an internal 34 pin connector Signals are shared through a ribbon cable inside the PC enclosure RTSI cables are available for chaining two three four or five devices together EI Note Seven of the 34 pins on the RTSI connector are available for user signals You can use the software configurable RTSI switch to accommodate more than seven signal options for each device With this many to few selector switch any available signal can be routed to any RTSI pin You can also route more than one signal to a single RTSI pin or connect two RTSI pins to the same signal Refer to the National Instruments Developer Zone at ni com
60. s of travel and or at a specific home position You can use software to enable or disable limit and home inputs at any time Enabling an active transition on a limit or home input causes a full torque halt stop of the associated motor axis In addition an active forward or reverse limit input impedes future commanded motion in that direction for as long as the signal is active NI PCI 7342 Hardware User Manual 5 6 ni com Chapter 5 Signal Connections B Note Limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized Active signals should remain active to prevent motion from proceeding further into the limit Pulsed limit signals stop motion but do not prevent further motion in that direction if another move is started The input polarity of these signals is software programmable for active low inverting or active high non inverting You can use software disabled limit and home inputs as general purpose inputs You can read the status of these inputs at any time and set and change their polarity as required Limit and home inputs are a per axis enhancement and are not required for basic motion control These inputs are part of a system solution for complete motion control Wiring Concerns For the end of travel limits to function correctly the forward limit must be at the forward or positive end of travel and the reverse limit at the negative end of travel N Caution Failure to follow
61. se B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch NC NC NC NC NC NC NC NC NC NC NC NC Host 5 V Figure B 1 50 Pin Stepper Connector Pin Assignment B 1 Caution Do not connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller NI PCI 7342 Hardware User Manual Appendix B Cable Connector Descriptions Analog Output Ground 1 2 Digital Ground 3 4 DigitalGround 5 6 Axis 1 Home Switch 7 8 Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Analog Output Ground 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 2 Home Switch 19 20 Trigger Breakpoint 2 21 22 Axis 2 Inhibit 23 24 Analog Output Ground 25 26 Digital Ground 27 28 Digital Ground 29 30 NC 31 32 NC 133 34 NC 35 36 NC 137 38 Digital Ground 39 40 Digital Ground 41 42 NC 43 44 NC 45 46 NC 47j48 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 NC NC NC NC NC NC NC NC NC NC NC NC Host 5 V Figure B 2
62. st 5 V This signal is the internal 5 V supply of the host computer The typical uses of this signal are to detect when the host computer is powered on and to shut down external motion system components when the host computer is turned off or disconnected from the motion accessory N Caution The host 5 V signal is limited to 100 mA Do not use this signal to power any external devices except those intended in the host bus monitor circuits on the UMI and drive products National Instruments Corporation 5 15 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections Digital 1 0 Connector All the general purpose digital I O lines are available on a separate 68 pin digital UO connector Figure 5 11 shows the pin assignments for this connector 5V PCLK Reserved Reserved PWM1 Reserved Reserved Reserved PWM2 Port 1 bit O Digital Ground Port 1 bit 3 Port 1 bit 4 Digital Ground Port 1 bit 7 Port 2 bit O Port 2 bit 1 Digital Ground Digital Ground Digital Ground Port 2 bit 6 Port 2 bit 7 Port 3 bit O Digital Ground Port 3 bit 3 Port 3 bit 4 Digital Ground Port 3 bit 7 Port 4 bit O Digital Ground Port 4 bit 3 Port 4 bit 4 Digital Ground Port 4 bit 7 35 36 37 38 39 40 41 INIO 0 m 42 Ke 43 o 44 mk 45 N 46 4 4 Blo ES 48 oa 49 o 50 E N 51
63. t Information Warranty The NI PCI 7342 controller 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 National Instrum
64. t circuit 5 11 wiring concerns 5 10 environment specifications A 7 equipment optional 1 4 F flash memory 4 3 FPGA configuration programs 4 3 functional overview 4 1 to 4 5 analog feedback 4 2 axes 4 3 to 4 4 dual processor architecture 4 1 to 4 3 embedded real time operating system RTOS 4 2 flash memory 4 3 host communications 4 5 motion resources 4 4 to 4 5 trajectory generators 4 2 H hardware 3 1 to 3 2 See also functional overview installation procedural steps 2 4 to 2 5 safety information 2 2 to 2 3 unpacking 2 1 to 2 2 overview 1 1 parts locator diagram 3 1 user connectors 3 2 Host 45 V signal description table 5 4 purpose and use 5 15 host communications 4 5 ni com installation hardware 2 4 to 2 5 safetv information 2 2 to 2 4 software 2 1 unpacking 2 1 to 2 2 L LabVIEW software l 3 LabWindows CVI software l 4 limit and home inputs 5 6 to 5 7 Axis lt 1 2 gt Forward Limit Switch 5 4 5 6 to 5 7 Axis lt 1 2 gt Home Switch 5 4 5 6 to 5 7 Axis lt 1 2 gt Reverse Limit Switch 5 4 5 6 to 5 7 input circuit 5 7 to 5 8 wiring concerns 5 7 manual See documentation maximum working voltage specifications A 7 memory nonvolatile 4 3 motion axis signals 5 5 to to 5 6 Analog Output lt 1 2 gt 5 4 5 5 Analog Output Ground 5 4 5 5 Axis lt 1 2 gt Dir CCW 5 4 5 5 Axis lt 1 2 gt Inhibit 5 4 5 6 Axis lt 1 2 gt Step CW 5 4 5 5 motion I O connec
65. ter 5 Signal Connections lt tw gt tw 90 to 120 ns Figure 5 12 Breakpoint Across RTSI Encoder and Index signals are output only signals across RTSI that are the digitally filtered versions of the raw signals coming into the controller If you are using the RTSI bus for trigger inputs or generic digital I O all signals are passed through unaltered NI PCI 7342 Hardware User Manual 5 18 ni com Specifications This appendix lists the hardware and software performance specifications for the PCI 7342 controller Hardware specifications are tvpical at 25 C unless otherwise stated Servo Performance PID update rate range ee 62 5 to 500 us sample Maximum PID update rate 62 5 us axis 2 axis PID update rate 125 us total Trajectory update rate Same as PID update rate Multi axis synchronization update sample Position accuracy Encoder feedback quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Absolute position range 23 counts Maximum relative move size 23 counts Velocity range 1 to 20 000 000 counts s RPM range eee 10 to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 counts s RPS STANQE iss 10 to 108 revolutions s S Curve time range oo eee 1 to 32 767 samp
66. teste ere euis 5 9 W rtig Concerns E 5 10 Encoder Input Circuit eese 5 11 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 11 Wiring Concerns uie A 5 12 Trigger Input Shutdown Input and Breakpoint Output Circuits 5 12 Analog Inputs don beo tmd eaque egets 5 13 Mirimg Coneerms sed rete did teret deterret dies 5 15 Other Motion I O Connection nn nennennnnnn ners nee sense 5 15 Digital O COnh GtOE cs ertt teneo enero e ets 5 16 PWM Features 2 rete e Re etd te ette 5 17 RESI Connector eee ep ere ep Ew RIDERE UU EDS 5 17 RTSI Signal Considerations esses 5 17 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI PCI 7342 Hardware User Manual Viii ni com About This Manual Conventions This manual provides guidelines for programming and operating the National Instruments PCI 7342 motion controller and includes controller specifications and descriptions of electrical and mechanical features Refer to the Glossarv for definitions of selected related terms lt gt bold italic monospace The 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 DBIO lt 3 0 gt This icon denotes a note which alerts you to imp
67. these guidelines may result in motion that stops at a limit but then travels through the limit which could damage the motion system Miswired limits could prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections N Caution Wiring these signals near each other can cause faulty motion system operation due to signal noise and crosstalk Limit and Home Input Circuit All limit and home inputs are digitally filtered and must be active for at least 1 ms Figure 5 4 shows a simplified schematic diagram of the circuit the limit and home switch inputs use for input signal buffering and detection National Instruments Corporation 5 7 NI PCI 7342 Hardware User Manual Chapter 5 Signal Connections Vcc 3 3 kQ Ee a VVV V From the External 1 kQ To the Limit and Connector Limit 1 8 W Home Switch and Home Switch Pins DGND Circuits Figure 5 4 Limit and Home Input Circuit N Caution Excessive input voltages can cause erroneous operation and or component failure Verify that your input voltage is within the specification range Encoder Signals The PCI 7342 controller offers two channels of single ended quadrature encoder inputs All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder sig
68. tor 5 2 to 5 15 68 pin connector pin assignments figure 5 3 analog inputs 5 13 to 5 15 signal descriptions 5 13 to 5 14 wiring concerns 5 15 connector on PCI 7342 controller figure 5 1 encoder signals 5 8 to 5 13 input circuit 5 11 National Instruments Corporation l 3 Index signal descriptions 5 8 to 5 10 wiring concerns 5 10 features 5 2 limit and home inputs 5 6 to 5 8 input circuit 5 7 to 5 8 signal descriptions 5 6 to 5 7 wiring concerns 5 7 motion axis signals 5 5 to 5 6 other connections 5 15 overview 3 2 signal connections table 5 4 specifications A 3 to A 5 trigger inputs shutdown input and breakpoint outputs 5 11 to 5 13 circuits figures 5 12 to 5 13 signal descriptions 5 11 to 5 12 wiring concerns 5 12 motion resources 4 4 to 4 5 National Instruments application software 1 3 to 1 4 NI PCI 7342 features 1 2 hardware 1 1 requirements for getting started 1 3 RTSI 1 1 to 1 2 servo and stepper fundamentals 1 2 to 1 3 software programming choices 1 3 to 1 4 NI Motion software 1 4 0 optional equipment 1 4 P parts locator diagram 3 1 physical specifications A 7 NI PCI 7342 Hardware User Manual Index power requirement specifications A 6 pulse width modulation outputs digital I O connector 5 17 PWM features digital I O connector 5 17 R requirements for getting started l 3 RTOS embedded real time operating svstem 4 2 RTSI connector Bre
69. trigger inputs and analog to digital A D converter signals Refer to Chapter 5 Signal Connections for details about motion I O connector signals The 68 pin digital I O connector provides 32 bits of user configurable digital I O Refer to Chapter 5 Signal Connections for details about the digital I O connector signals The RTSI connector provides up to seven triggers and one high speed clock signal to facilitate synchronization between multiple National Instruments products Typical applications of the RTSI bus include triggering an image acquisition or DAQ measurement based on motion events or capturing current motion positions based on events external to the motion controller The RTSI bus can also be used for general purpose I O Refer to Chapter 5 Signal Connections for details about RTSI connector signals NI PCI 7342 Hardware User Manual 3 2 ni com Functional Overview This chapter provides an overview of the motion control algorithms and controller capabilities Dual Processor Architecture With the PCI 7342 controller vou can perform one or two axes of simultaneous coordinated motion control in a preemptive multitasking real time environment An advanced dual processor architecture that uses a Motorola MC68331 real time 32 bit CPU combined with an Analog Devices ADSP 2185 DSP and custom FPGAs give the PCI 7342 controller high performance capabilities The FIFO bus interface and powerful function set provi
70. udes a list of items necessary for getting started with your controller software choices and optional equipment About the NI PCI 7342 Hardware RTSI The NI PCI 7342 motion controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW The PCI 7342 controller provides dedicated motion I O for limit and home switches and additional I O for general purpose functions The following sections describe the features of the PCI 7342 The PCI 7342 controller has high performance capabilities because of the advanced dual processor architecture that uses a Motorola MC68331 real time 32 bit CPU combined with an Analog Devices ADSP 2185 digital signal processor DSP and custom field programmable gate arrays FPGAs The first in first out FIFO bus interface and powerful function set provide high speed communications while offloading complex motion functions from the host PC for optimum command throughput and system performance Each axis has motion I O for end of travel limit and home switch inputs breakpoint output trigger input and encoder feedback rates up to 20 MHz The PCI 7342 controller also has nondedicated user I O including 32 bits of digital I O and two analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally the analog inputs can provide feedback for loop closure The PCI 7342 controller supports the National Instrument
71. ull downs The PCI 7342 controller provides two pulse width modulation PWM outputs on the digital I O connector The PWM outputs generate periodic waveforms whose period and duty cycles can be independently controlled through software commands PWM is a digital representation of an analog value because the duty cycle is directly proportional to the desired output value The typical use of PWM outputs is to transmit an analog value through an optocoupler A simple lowpass filter turns a PWM signal back into its corresponding analog value If desired you can use the PCLK input instead of the internal source as the clock for the PWM generators ei Note These signals are configured in software and are in no way associated with the PID servo control loop Refer to your NI Motion Software Reference Manual for more information about PWM signals RTSI Connector The RTSI bus on PCI 7342 is connected with a ribbon cable to National Instruments DAQ and IMAQ PCI devices that have RTSI capability RTSI Signal Considerations The PCI 7342 motion controller allows you to use the RTSI signals as sources for trigger inputs or as destinations for breakpoint outputs and encoder signals The RTSI bus can also serve as a generic digital I O port Breakpoint outputs are output only signals that generate an active high pulse of 90 to 120 ns duration as shown in Figure 5 12 National Instruments Corporation 5 17 NI PCI 7342 Hardware User Manual Chap
72. utput 5 V host computer 5 V supply Analog Input Ground Reference for analog inputs Analog Input lt 1 2 gt Analog Input Ground Input 12 bit analog input Analog Output lt 1 2 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 Input Ground Output 47 5 V analog reference level Digital Ground Reference for digital I O NI PCI 7342 Hardware User Manual 5 4 ni com Chapter 5 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver e Analog Output 1 2 These 16 bit DAC outputs are typically the servo command outputs for each axis They can drive the industry standard 10 V output and you can limit them to any positive or negative voltage range desired They also feature a software programmable voltage offset Although typically used as the command output of an axis control loop unused DACS can also function as independent analog outputs for general purpose control Analog Output Ground This separate return connection is available to help keep digital noise separate from the analog DAC outputs Use this analog ground connection and not Digital Ground digital I O reference as the reference for the DAC outputs when connecting to servo amplifiers e Axis lt 1 2 gt Step CW and Dir CCW These o
73. y at or below the installation category stated in the specifications Installation categories are listed below e Installation CAT IV for measurements performed at the source of the low voltage 1000 V installation Examples include electricity meters measurements on primary overcurrent protection devices and ripple control units e Installation CAT III for measurements performed in the building installation Examples include measurements on distribution boards circuit breakers wiring including cables bus bars junction boxes switches socket outlets in the fixed installation equipment for industrial use and some other types of equipment such as stationary motors permanently connected to the fixed installation e Installation CAT II for measurements performed on circuits directly connected to the low voltage installation Examples include measurements on household appliances portable tools and other similar equipment e Installation CAT I for measurements performed on circuits not directly connected to mains Examples include measurements on circuits not derived from mains and specially protected internal mains derived circuits Mains is defined as the electricity supply system to which the equipment concerned is designed to be connected for either powering the equipment or for measurement purposes National Instruments Corporation 2 3 NI PCI 7342 Hardware User Manual Chapter 2 Configuration and Install

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