UMI-7764
Contents
1. 0 to 55 C Storage temperature 20 to 70 C Relative humidity 10 to 90 noncondensing Power Requirements 5 VDC 0 2 amps user defined encoder and limit power Host Bus Voltage Interlock Voltage 5 VDC 5 Physical Dimensions 19 5 by 15 2 by 4 5 cm 7 7 by 6 0 by 1 8 in National Instruments Corporation 13 UMI Accessory User Guide UMI 4A UMI 4A This section describes the UMI 4A terminal block Refer to Figure 12 to help you locate the different parts of the UMI 4A accessory Figure 12 UMI 4A Parts Locator Diagram Amplifier Driver Terminal Block For amplifier driver wiring each UMI 4A axis has a separate 6 position terminal block Refer to Figure 12 to help you locate the amplifier driver terminal block on your UMI 4A accessory Figure 13 shows the terminal block pin assignment for the UMI 4A amplifier driver used with a servo board Figure 13 UMI 4A Amplifier Driver with Servo Terminal Block Pin Assignment Amplifier Connectors 1 Axis 1 J13 2 Axis 2 J14 3 Axis 3 J15 4 Axis 4 J16 Encoder Connectors 5 Axis 1 J2 6 Axis 2 J4 7 Axis 3 J6 8 Axis 4 J8 Limits Connectors 9 Axis 1 J3 10 Axis 2 J5 11 Axis 3 J7 12 Axis 4 J9 Other2. 0 to 55 C Storage temperature 20 to 70 C Relative humidity 10 to 90 noncondensing Power Requirements 5 VDC 0 2 A user defined encoder power Aux VDC User defined limit switch power Host Bus Voltage Interlock Voltage 5 VDC 5 Physical Dimensions 23 62 by 10 03 cm 9 3 by 3 95 in Universal DIN rail base supplied National Instruments Corporation 21 UMI Accessory User Guide UMI Flex6 UMI Flex6 This section describes the UMI Flex6 terminal block Refer to Figure 23 to help you locate the different parts of the UMI Flex6 accessory Figure 23 UMI Flex6 Parts Locator Diagram Amplifier Driver Terminal Block For amplifier driver wiring each UMI Flex6 axis has a separate 5 or 7 position terminal block Refer to Figure 23 to help you locate the amplifier driver terminal blocks on your UMI Flex6 accessory Figure 24 shows the UMI Flex6 amplifier driver terminal block pin assignment for the servo and combined servo stepper axes The 5 position UMI Flex6 terminal block supports the servo axes and the 7 position terminal block adds stepper support Amplifier Connectors 1 Axis 1 J18 2 Axis 2 J19 3 Axis 3 J20 4 Axis 4
3. You can configure the axis Inhibit Out signal as active low or active high output using switch S1 Setting S1 to the bottom configures the signal as active low setting S1 to the top configures the signal as active high Note You must configure the controller s Inhibit Output signals as active low for proper operation of the inhibit circuitry Encoder Terminal Block Each UMI 7764 axis motion I O terminal block has six terminals for incremental encoder connections The UMI 7764 accepts either single ended TTL or differential line driver inputs You can connect open collector encoders to the UMI 7764 accessory by installing a 2 2 k pull up resistor to 5 V Note Encoders with line driver outputs are recommended for all applications and must be used if the encoder cable length is greater than 10 feet Analog Output Inhibit Output Step CW Dir CCW Analog Output Ground National Instruments Corporation 7 UMI Accessory User Guide UMI 7764 Power for the encoders is internally routed from the power input terminal block and is available on the 5 V terminal on each axis motion I O terminal block You must supply a 5 V source to the power input terminal block for proper operation Refer to Figures 1 and 2 to help you locate the encoder terminals on your UMI 7764 accessory Figure 4 shows the wiring for a differential encoder Note The dotted loop indicates a shielded cable Figure 4 Differential Encoder Wiring
4. UMI Flex4 This section describes the UMI Flex4 terminal block Refer to Figure 33 to help you locate the different parts of the UMI Flex4 accessory Figure 33 UMI Flex4 Parts Locator Diagram Amplifier Driver Terminal Block For amplifier driver wiring the UMI Flex4 has four separate 6 position terminal blocks Figure 34 shows a UMI Flex4 terminal block pin assignment The first two terminal blocks items 1 and 2 in Figure 33 are dedicated to servo axes 1 and 2 The third terminal block item 3 in Figure 33 is jumper configurable to support servo axes 3 and 5 and stepper axis 5 The fourth terminal block item 4 in Figure 33 is jumper configurable to support servo axes 4 and 6 and stepper axis 6 See Figure 35 for more information on configuring these jumpers Amplifier Connectors 1 Axis 1 J13 2 Axis 2 J14 3 Axis 3 J15 4 Axis 4 J16 Encoder Connectors 5 Axis 1 J2 6 Axis 2 J4 7 Axis 3 J6 8 Axis 4 J8 Limits Connectors 9 Axis 1 J3 10 Axis 2 J5 11 Axis 3 J7 12 Axis 4 J9 Other Connectors 13 Analog Input J10 14 Breakpoint Output J11 15 Power J18 Miscellaneous 16 FlexMotion Controller J1 17 Jumpers 18 Assembly Number 19 Serial Number 20 Reserved Do not remove 1 19 12 13 17 18 14 20 15 16 2 3 4 5 6 9 7 8 10 11 National Instruments Corporation 29 UMI Accessory User Guide UMI Flex4 Figure 34 UMI Flex4 Axes Amplifier Driver Termi
5. Connectors 13 I O Bits 1 4 J10 I O Bits 5 8 J11 14 Opto 22 Compatible J19 15 Power J18 Miscellaneous 16 ValueMotion Controller J1 17 Jumpers Axes 1 4 18 Assembly Number 19 Serial Number 20 Reserved Do not remove 1 2 3 6 5 4 8 17 14 15 12 16 13 20 9 19 10 18 11 7 1 2 3 4 5 Analog Output Analog Output Ground 6 I O Bit Axis 5 V Output Digital Ground System Inhibit UMI Accessory User Guide UMI 4A 14 www natinst com The analog output signals are used as command outputs to a servo amplifier The System Inhibit output signals are used to disable all of the amplifiers The UMI accessory combines the host bus interlock circuit and the Enable Input signals to create the global System Inhibit signals The host bus interlock monitors the 5 V pin from the motion controller to verify that the controller is powered and properly connected to the UMI If the host bus interlock detects a problem or if both Enable Input signals are deasserted the System Inhibit signals are asserted Figure 14 shows the UMI 4A amplifier driver terminal block pin assignment used with a stepper board Figure 14 UMI 4A Amplifier Driver with Stepper Terminal Block Pin Assignment The Step and Dir signals are used as command outputs to a stepper driver The Inhibit Output signals are used to disable the driver for that axis The UMI accessory combines the host bus interlock circuit the Enabl
6. J21 5 Axis 5 J22 6 Axis 6 J23 Encoder Connectors 7 Axis 1 J2 8 Axis 2 J4 9 Axis 3 J6 10 Axis 4 J8 11 Axis 5 J10 12 Axis 6 J12 Limits Connectors 13 Axis 1 J3 14 Axis 2 J5 15 Axis 3 J7 16 Axis 4 J9 17 Axis 5 J11 18 Axis 6 J13 Analog Input Connectors 19 1 4 J14 20 5 8 J16 Miscellaneous 21 Breakpoint Connector J15 22 Power Connector J26 23 FlexMotion Controller J1 24 Switches 25 Assembly and serial number bottom 24 23 22 20 21 19 18 16 17 2 4 6 7 9 11 13 15 3 5 8 10 12 14 1 25 UMI Accessory User Guide UMI Flex6 22 www natinst com Figure 24 UMI Flex6 Axes Amplifier Driver Terminal Block Pin Assignments The Analog Output signals are used as command outputs to a servo amplifier or as general purpose voltage outputs The Step and Dir signals are used as command outputs to a stepper driver The Inhibit Output signals are used to disable the amplifier driver for that axis The UMI combines the host bus interlock circuit the Inhibit Input signals and the per axis controller Inhibit Output to create the per axis Inhibit Output signal The host bus interlock monitors the 5 V pin from the motion controller to verify that the controller is powered and properly connected to the UMI If the host bus interlock detects a problem or if any Inhibit Input signal is asserted or the controller Inhibit Output signal for that axis
7. Quadrature incremental Differential input threshold 0 3 V typical Single ended input threshold TTL CMOS Voltage range 0 to 5 VDC Noise filter RC time constant 100 ns Max quadrature frequency 1 MHz Limit and Home Switch Inputs Each Axis Noise filter RC time constant 10 s Compatibility Signal pass through Trigger Inputs Noise filter RC time constant 100 ns Compatibility Signal pass through UMI Accessory User Guide UMI 7764 Specifications 12 www natinst com Inhibit and Inhibit All Inputs Voltage range 0 to 12 VDC Input voltage threshold TTL CMOS Input pull up resistor 3 3 k Compatibility Signal pass through Analog Inputs Noise filter RC time constant 10 s Compatibility Signal pass through Axis Inhibit Out Voltage range 0 to 5 VDC Output low voltage 0 5 V at 16 mA Output high voltage 2 4 V at 3 2 mA Operating Environment Temperature
8. block also provides access to the four breakpoint outputs as well as the isolated voltage input See Figure 31 for more information on breakpoint output and isolated voltage input wiring Figure 31 UMI Flex6 Breakpoint Output Channels 1 through 4 The opto couplers on the FlexMotion board can be powered either from an external source or from the FlexMotion board itself If you want to use an external source for the isolated voltage you must configure the FlexMotion board for this setting prior to connecting the external source Caution Failure to configure the board properly for an external power source may damage your UMI and FlexMotion board Power Input Terminal Block The UMI Flex6 has a 4 position terminal block for wiring power to the unit Refer to Figure 23 to help you locate the power input terminal block on your UMI Flex6 accessory Figure 32 shows the 4 position terminal block pinout Figure 32 4 Position Power Input Terminal Block Pin Assignment Note To properly operate your UMI Flex6 accessory you must supply a 5 V source to the power input terminal block Note The 5 V power is redistributed to other terminal blocks as an output power source 1 2 3 4 5 6 Breakpoint 1 Breakpoint 2 Breakpoint 3 Breakpoint 4 Isolated Voltage Input Isolated Common 1 2 3 4 5 V NC NC Digital Ground National Instruments Corporation 27 UMI Accessory User Guide UMI Flex6 Specifications UMI Flex6 Specif
9. is asserted the Inhibit Output for that axis is asserted You can configure the Axis Inhibit Out signal as active low or active high outputs using switch SW2 Setting SW2 to the right configures the signal as active low setting SW2 to the left configures the signal as active high Note You must configure the controller s Inhibit Output signals as active low for proper operation of the inhibit circuitry Encoder Terminal Block For incremental encoder connections each UMI Flex6 axis has a separate 8 position terminal block UMI Flex6 accepts either single ended TTL or differential line driver inputs You can connect open collector encoders to the UMI Flex6 accessory by installing a 2 2 k pull up resistor to 5 V Note Encoders with line driver outputs are recommended for all applications and must be used if the encoder cable length is greater than 10 feet 1 2 3 4 5 Analog Output Analog Output Ground 5 V Output Digital Ground Inhibit Output Axes 1 4 Axes 5 6 1 2 3 4 5 6 7 Analog Output 5 V Output Digital Ground Inhibit Output Step CW Dir CCW Analog Output Ground National Instruments Corporation 23 UMI Accessory User Guide UMI Flex6 Power for the encoders is internally routed from the power input terminal block and is available on pin 7 5 V You must supply a 5 V source to the power input terminal block for proper operation Refer to Figure 23 to help you locate the encod
10. the FlexMotion board for this setting prior to connecting the external source Caution Failure to configure the board properly for an external power source may damage your UMI and FlexMotion board Power Input Terminal Block The UMI Flex4 has a 4 position terminal block for wiring power to the unit Refer to Figure 33 to help you locate the power input terminal block on your UMI Flex4 accessory Figure 42 shows the 4 position terminal block pinout Figure 42 4 Position Power Input Terminal Block Pin Assignment Note To properly operate your UMI Flex4 accessory you must supply a 5 V source to the power input terminal block Note The 5 V power is redistributed to other terminal blocks as an output power source 1 2 3 4 5 6 Breakpoint 1 Breakpoint 2 Breakpoint 3 Breakpoint 4 Isolated Voltage Input Isolated Common 1 2 3 4 5 V NC NC Digital Ground UMI Accessory User Guide UMI Flex4 Specifications 34 www natinst com UMI Flex4 Specifications The following specifications apply only to the UMI Flex4 accessory To obtain a system specification you must account for your motion controller Please refer to your controller specifications to determine overall system specifications These specifications are typical at 25 C unless otherwise specified Refer to your motion controller user manual for detailed specifications on encoder inputs limit and home switch inputs high speed inputs breakpoint outpu
11. Figure 5 shows the wiring for the single ended encoder Figure 5 Single Ended Encoder Wiring The UMI 7764 accessory allows for differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with phase relationships different from Figure 6 by swapping the signals as required by the specific application The Index pulse must occur when both Phase A and Phase B signals are logic low as shown in Figure 6 Servo and closed loop stepper applications require encoder feedback and consistent directional polarity between the motor and encoder for stable operation The UMI 7764 uses the following standards for motor direction Positive forward Clockwise CW facing motor shaft Negative reverse Counter clockwise CCW facing motor shaft Phase A Phase B Phase B Index Index Phase A Shield1 1Connect to Digital Ground Phase A Phase B Index Shield1 1Connect to Digital Ground UMI Accessory User Guide UMI 7764 8 www natinst com Figure 6 Encoder Signal Phasing CW Rotation The encoder inputs are filtered by both analog and digital noise filters You must use cables with twisted pairs and an overall shield for improved noise immunity When connecting the encoder to the UMI 7764 you should use at least 24 AWG wire Caution Using an unshielded cable allows noise to corrupt the encoder signals which results in lost counts reduced accuracy and other erroneous encoder a
12. FlexMotion and ValueMotion are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies 321941B 01 Copyright 1998 1999 National Instruments Corp All rights reserved August 1999 USER GUIDE UNIVERSAL MOTION INTERFACE UMI ACCESSORY This user guide describes how to use the UMI 7764 UMI 4A UMI Flex6 and UMI Flex4 accessories Contents Introduction 2 What You Need to Get Started 2 UMI 7764 4 Motion I O Terminal Block 5 Amplifier Driver Terminal Block 5 Encoder Terminal Block 6 Limit Switch Terminal Block 8 Analog Input Terminal Block 9 Breakpoint Output Trigger Input Terminal Block 9 Shutdown Inhibit All Terminal Block 10 Power Input Terminal Block 10 UMI 7764 Specifi
13. J11 for all other I O configurations You can use both I O configurations separately or in parallel Pin 5 of each terminal block J10 and J11 is an Enable Input connection This connection controls a system enable system inhibit function If your configuration uses the inhibit output signal available on each per axis driver amplifier terminal block the enable input on J10 or J11 must be connected to the common ground signal to enable the driver amplifier Note You do not need to duplicate the switch on both J10 and J11 use only one or the other for the Enable Input Figure 20 Using Available Pins On J10 and J11 Caution If you connect the enable input to the common signal and bypass the enable disable function you need to provide enable disable control of the drivers amplifiers elsewhere in the system 1 2 3 4 5 6 Forward Limit Home Switch Reverse Limit Aux VDC 5 V Output Digital Ground 1 2 3 4 5 6 I O 1 I O 2 I O 3 I O 4 Enable Input Digital Ground 1 2 3 4 5 6 I O 51 I O 61 I O 71 I O 81 Enable Input Digital Ground or J10 J11 1Reserved when used with a stepper board Do not connect anything to these pins UMI Accessory User Guide UMI 4A 18 www natinst com Figure 21 shows the 34 pin Opto 22 compatible connector Figure 21 34 Pin Opto 22 Compatible Connector Pin Assignment Power Input Terminal Block The UMI 4A has a 4 position terminal block for wiring p
14. UMI Flex4 28 Amplifier Driver Terminal Block 28 Encoder Terminal Block 30 Limit Switch Terminal Block 32 Analog Input Terminal Block 32 Breakpoint Output Terminal Block 33 Power Input Terminal Block 33 UMI Flex4 Specifications 34 UMI Accessory User Guide 2 www natinst com Introduction The UMI products are connectivity accessories you can use with your motion control boards for up to four or six axes of simultaneous or independent control Ideally suited to industrial and laboratory applications UMI accessories connect power supplies servo amplifiers or stepper drivers motors encoders and limit switches to National Instruments plug in motion control boards A UMI accessory simplifies field wiring with separate encoder limit switch and amplifier driver terminal blocks per axis All terminal blocks are industry standard and do not require any special tools for wire installation The UMI accessory connects to the motion controller via a singl
15. al block provides access to the four breakpoint outputs and the four trigger inputs Refer to Figure 1 to help you locate the breakpoint output trigger input terminal block on your UMI 7764 accessory See Figure 9 for more information on breakpoint output and trigger input wiring Figure 9 UMI 7764 Breakpoint Trigger Terminal Block Pin Assignments Analog Input 4 Analog Input 3 Analog Input 2 Analog Input 1 Analog Reference Output Analog Input Ground Breakpoint 4 Breakpoint 3 Breakpoint 2 Breakpoint 1 Digital Ground 5 V Output Trigger 4 Trigger 3 Trigger 2 Trigger 1 UMI Accessory User Guide UMI 7764 10 www natinst com Shutdown Inhibit All Terminal Block The UMI accessory has a 4 position terminal block for shutdown and inhibit all wiring Refer to Figure 1 to help you locate the shutdown inhibit all terminal block on your UMI 7764 accessory See Figure 10 for more information on shutdown inhibit all wiring Figure 10 Shutdown Inhibit All Terminal Block Pin Assignments The Inhibit All signal acts as a global inhibit and when asserted activates the Inhibit Outputs The Inhibit All signal includes a 3 3 k pull up resistor on its input The Shutdown signal is passed through to the motion controller and is typically used to disable the controller Power Input Terminal Block The UMI 7764 has a 2 position terminal block for wiring power to the unit Refer to Figure 1 to help you locate the power input termina
16. ave compatibility defined as signal pass through This means the UMI 4A may have passive filtering on these signals but will not affect the voltage range or current handling capability Consult your motion controller specifications to determine the allowable voltage range and logic level compatibility of the signal These specifications are typical at 25 C unless otherwise specified Refer to your motion controller user manual for detailed specifications on encoder inputs limit and home switch inputs breakpoint outputs trigger inputs and analog inputs Encoder Interface Each Axis Inputs Quadrature incremental Differential input threshold 0 3 V typical Single ended input threshold TTL CMOS Voltage range 0 to 5 VDC Noise filter RC time constant 100 ns Max quadrature frequency 1 MHz Limit and Home Switch Inputs Each Axis Noise filter RC time constant 10 s Compatibility Signal pass through Configurable I O Compatibility Signal pass through Opto 22 compatible via J19 connector UMI Accessory User Guide UMI 4A Specifications 20 www natinst com Operating Environment Temperature
17. cations 11 UMI 4A 13 Amplifier Driver Terminal Block 13 Encoder Terminal Block 15 Limit Switch Terminal Block 16 Digital I O Terminal Blocks 17 Power Input Terminal Block 18 UMI 4A Specifications 19 UMI Flex6 21 Amplifier Driver Terminal Block 21 Encoder Terminal Block 22 Limit Switch Terminal Block 24 Analog Input Terminal Blocks 25 Breakpoint Output Terminal Block 26 Power Input Terminal Block 26 UMI Flex6 Specifications 27
18. cessory See Figure 39 for the UMI Flex4 limit switch terminal block pinout Figure 39 UMI Flex4 Limit Switch Terminal Block Pin Assignment Analog Input Terminal Block For analog input wiring the UMI Flex4 has one 6 position terminal block The connector provides access to four of the eight analog input channels on the FlexMotion boards Refer to Figure 33 to help you locate the analog input terminal blocks on your UMI Flex4 accessory See Figure 40 for analog input terminal block pinout information Figure 40 UMI Flex4 Analog Input Channels 1 through 4 1 2 3 4 5 Forward Limit Home Input Reverse Limit Trigger Input Inhibit Input ISO Common 6 1 2 3 4 5 6 Analog Input 1 Analog Input 2 Analog Input 3 Analog Input 4 Analog Reference Output Analog Input Ground National Instruments Corporation 33 UMI Accessory User Guide UMI Flex4 Breakpoint Output Terminal Block For breakpoint output wiring the UMI Flex4 has a 6 position terminal block This terminal block also provides access to the four breakpoint outputs as well as the isolated voltage input See Figure 41 for more information on breakpoint output and isolated voltage input wiring Figure 41 UMI Flex4 Breakpoint Output Channels 1 through 4 The opto couplers on the FlexMotion board can be powered either from an external source or from the FlexMotion board itself If you want to use an external source for the isolated voltage you must configure
19. d digital noise filters You must use cables with twisted pairs and an overall shield for improved noise immunity When connecting the encoder to the UMI 4A you should use at least 24 AWG wire Caution Using an unshielded cable allows noise to corrupt the encoder signals which results in lost counts reduced accuracy and other erroneous encoder and controller operations Limit Switch Terminal Block For forward and reverse limit and home switch connections each UMI 4A has a separate 6 position terminal block per axis All limit and home switch inputs are filtered on the UMI 4A to enhance noise immunity The UMI 4A supports active and passive limit switches You can use auxiliary VDC on pin 4 to power active open collector limit switches To use the auxiliary VDC you must supply a voltage to the auxiliary VDC input pin 2 of the power input terminal block Refer to Figure 12 to help you locate the limit switch terminal block on your UMI 4A accessory Figure 19 shows an example of a passive limit switch terminal block pinout Phase A Phase B Index National Instruments Corporation 17 UMI Accessory User Guide UMI 4A Figure 19 UMI 4A Limit Switch Terminal Block Pin Assignment Passive Limit Switch Connection Example Digital I O Terminal Blocks The UMI 4A has two I O connectors a 34 pin male box header J19 which is compatible with standard Opto 22 I O racks and two 6 pin removable screw terminal blocks J10 and
20. der Terminal Block For incremental encoder connections each UMI Flex4 axis has a separate 8 position terminal block UMI Flex4 accepts either single ended TTL or differential line driver inputs You can connect open collector encoders to the UMI Flex4 accessory by installing a 2 2 k pull up resistor to 5 V Note Encoders with line driver outputs are recommended for all applications and must be used if the encoder cable length is greater than 10 feet Power for the encoders is internally routed from the power input terminal block and is available on pin 7 5 V You must supply a 5 V source to the power input terminal block for proper operation Refer to Figure 33 to help you locate the encoder terminal blocks on your UMI Flex4 accessory Figure 36 shows the wiring for the differential encoder Note The dotted loop indicates a shielded cable Figure 36 Differential Encoder Wiring Figure 37 shows the wiring for the single ended encoder Figure 37 Single Ended Encoder Wiring 1 2 3 4 5 6 7 8 Phase A Phase B Phase B Index Index 5 V Output Digital Ground Phase A Shield 1 2 3 4 5 6 7 8 Phase A Phase B Index 5 V Output Digital Ground Shield National Instruments Corporation 31 UMI Accessory User Guide UMI Flex4 The UMI Flex4 accessory allows for differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with phase relationships diffe
21. e E Stop signal back to the FlexMotion controller See Table 1 for switch SW1 and SW3 settings Analog Input Terminal Blocks For analog input wiring the UMI Flex6 has two 6 position terminal blocks Each connector provides access to four of the eight analog input channels on the FlexMotion boards Refer to Figure 23 to help you locate the analog input terminal blocks on your UMI Flex6 accessory See Figures 29 and 30 for analog input terminal block pinout information Figure 29 UMI Flex6 Analog Input Channels 1 through 4 Figure 30 UMI Flex6 Analog Input Channels 5 through 8 Table 1 Inhibit Input Configuration SW1 SW3 Inhibit Input Configuration Right Right Enable active low global inhibits Left Left Enable active high global E Stops Left Right Disable active high global E Stops Right Left Reserved do not select This grounds the input signal on the board Do not connect a source to the input pin that cannot tolerate a short to ground 1 2 3 4 5 6 Analog Input 1 Analog Input 2 Analog Input 3 Analog Input 4 Analog Reference Output Analog Input Ground 1 2 3 4 5 6 Analog Input Channel 5 Analog Input Channel 6 Analog Input Channel 7 Analog Input Channel 8 Analog Reference Output Analog Input Ground UMI Accessory User Guide UMI Flex6 26 www natinst com Breakpoint Output Terminal Block For breakpoint output wiring the UMI Flex6 has a 6 position terminal block This terminal
22. e Input signals and the per axis controller Inhibit Output to create the per axis Inhibit Output signal If the voltage drops to the host bus interlock circuit if both Enable Inputs are deasserted or if the controller Inhibit Output for that axis is asserted the Inhibit Output signal for that axis is asserted To configure your UMI 4A accessory for servo move all four jumpers to the right To configure your accessory for stepper move all four jumpers to the left See Figure 15 for more information on configuring your UMI 4A jumpers Refer to Figure 12 to help you locate the jumpers on your UMI 4A accessory Figure 15 UMI 4A Jumper Configuration 1 2 3 4 5 Step CW Dir CCW 6 I O Bit Axis 5 V Output Digital Ground Inhibit Output Servo Stepper National Instruments Corporation 15 UMI Accessory User Guide UMI 4A Encoder Terminal Block For incremental encoder connections each UMI 4A axis has a separate 8 position terminal block UMI 4A accepts either single ended TTL or differential line driver inputs You can connect open collector encoders to the UMI 4A accessory by installing a 2 2 k pull up resistor to 5 V Note Encoders with line driver outputs are recommended for all applications and must be used if the encoder cable length is greater than 10 feet Power for the encoders is internally routed from the power input terminal block and is available on pin 7 5 V You must supply a 5 V sourc
23. e interface cable The UMI accessory has a host bus monitor power interlock that automatically disables the amplifiers if the host computer is shut down or the interface cable is disconnected The UMI 4A and UMI Flex4 come with an integrated DIN rail mounting base The UMI Flex6 is encased in metal and comes with attached rubber feet for desktop use a DIN rail mounting kit is available separately The UMI 7764 is encased in a metal box with a hinged lid and comes with attached rubber feet for desktop use Note Throughout this document overlined text indicates that a signal is active low What You Need to Get Started To set up and use your UMI accessory you will need the following items K One of the following UMI accessories UMI 7764 UMI 4A UMI Flex6 UMI Flex4 K Universal Motion Interface UMI Accessory User Guide National Instruments Corporation 3 UMI Accessory User Guide K One of the following National Instruments cables K 5 V power supply K Optional Auxiliary power supply UMI 4A only K Optional ISO power supply UMI Flex4 and UMI Flex6 only Detailed specifications for each of the UMI accessories are in the Specifications section for each device UMI Accessory Cable Motion Controller UMI 7764 SH68 C68 S All 7344 controllers PCI 7324 PCI 7314 UMI 7764 SH68 68 S PXI 7324 PXI 7314 UMI 4A SH50 50 NB1 50 pin ValueMotion controllers UMI Flex6 UMI Fle
24. e to the power input terminal block for proper operation Refer to Figure 12 to help you locate the encoder terminal blocks on your UMI 4A accessory Figure 16 shows the wiring for the differential encoder Note The dotted loop indicates a shielded cable Figure 16 Differential Encoder Wiring Figure 17 shows the wiring for the single ended encoder Figure 17 Single Ended Encoder Wiring 1 2 3 4 5 6 7 8 Phase A Phase B Phase B Index Index 5 V Output Digital Ground Phase A Shield 1 2 3 4 5 6 7 8 Phase A Phase B Index 5 V Output Digital Ground Shield UMI Accessory User Guide UMI 4A 16 www natinst com The UMI 4A accessory allows for differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with phase relationships different from Figure 18 by swapping the signals as required by the specific application The Index pulse must occur when both Phase A and Phase B signals are logic low as shown in Figure 7 Servo and closed loop stepper applications require encoder feedback and consistent directional polarity between the motor and encoder for stable operation The UMI 4A uses the following standards for motor direction Positive forward Clockwise CW facing motor shaft Negative reverse Counter clockwise CCW facing motor shaft Figure 18 Encoder Signal Phasing CW Rotation The encoder inputs are filtered by both analog an
25. er terminal blocks on your UMI Flex6 accessory Figure 25 shows the wiring for the differential encoder Note The dotted loop indicates a shielded cable Figure 25 Differential Encoder Wiring Figure 26 shows the wiring for the single ended encoder Figure 26 Single Ended Encoder Wiring The UMI Flex6 accessory allows for differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with phase relationships different from Figure 27 by swapping the signals as required by the specific application The Index pulse must occur when both Phase A and Phase B signals are logic low as shown in Figure 27 Servo and closed loop stepper applications require encoder feedback and consistent directional polarity between the motor and encoder for stable operation The UMI Flex6 uses the following standards for motor direction Positive forward Clockwise CW facing motor shaft Negative reverse Counter clockwise CCW facing motor shaft 1 2 3 4 5 6 7 8 Phase A Phase B Phase B Index Index 5 V Output Digital Ground Phase A Shield 1 2 3 4 5 6 7 8 Phase A Phase B Index 5 V Output Digital Ground Shield UMI Accessory User Guide UMI Flex6 24 www natinst com Figure 27 Encoder Signal Phasing CW Rotation The encoder inputs are filtered by both analog and digital noise filters You must use cables with twisted pairs and an overall shield for imp
26. ications The following specifications apply only to the UMI Flex6 accessory To obtain a system specification you must account for your motion controller Please refer to your controller specifications to determine overall system specifications These specifications are typical at 25 C unless otherwise specified Refer to your motion controller user manual for detailed specifications on encoder inputs limit and home switch inputs high speed inputs breakpoint outputs and analog inputs Axis Inhibit Out Voltage range 0 to 5 VDC Output current 16 mA sink max Operating Environment Temperature 0 to 55 C Storage temperature 20 to 70 C Relative humidity 10 to 90 noncondensing Power Requirements 5 VDC 0 2 A user defined encoder and limit power ISO Voltage 5 to 24 VDC Current User defined isolated signals Host Bus Voltage Interlock Voltage 5 VDC 5 Physical Dimensions 26 67 by 11 18 cm 10 5 by 4 4 in UMI Accessory User Guide UMI Flex4 28 www natinst com
27. l block on your UMI 7764 accessory Figure 11 shows the 2 position terminal block pinout Figure 11 2 Position Power Input Terminal Block Pin Assignment Note To properly operate your UMI 7764 accessory you must supply a 5 V source to the power input terminal block Note The 5 V power is redistributed to other terminal blocks as an output power source Shutdown Inhibit All NC Digital Ground 5 V Digital Ground National Instruments Corporation 11 UMI Accessory User Guide UMI 7764 Specifications UMI 7764 Specifications The following specifications apply only to the UMI 7764 accessory To obtain a system specification you must account for your motion controller Please refer to your controller specifications to determine overall system specifications Some signals have compatibility defined as signal pass through This means the UMI 7764 may have passive filtering on these signals but will not affect the voltage range or current handling capability Consult your motion controller specifications to determine the allowable voltage range and logic level compatibility of the signal These specifications are typical at 25 C unless otherwise specified Refer to your motion controller user manual for detailed specifications on encoder inputs limit and home switch inputs breakpoint outputs trigger inputs and analog inputs Encoder Interface Each Axis Inputs
28. nal Block Pin Assignment The Analog Output signals are used as command outputs to a servo amplifier or as general purpose voltage outputs The Step and Dir signals are used as command outputs to a stepper driver The Inhibit Output signals are used to disable the amplifier driver for that axis The UMI combines the host bus interlock circuit the per axis Inhibit Input signals and the per axis controller Inhibit Output to create the per axis Inhibit Output signal The host bus interlock monitors the 5 V pin from the motion controller to verify that the controller is powered and properly connected to the UMI If the host bus interlock detects a problem or if the Inhibit Input signal or the controller Inhibit Output signal for that axis is asserted the Inhibit Output for that axis is asserted Note You must configure the controller s Inhibit Output signals as active low for proper operation of the inhibit circuitry Figure 35 UMI Flex4 Jumper Configuration 1 2 3 4 5 Analog Output or Step Analog Output Ground or Dir 6 NC 5 V Output Digital Ground Inhibit Output Axis 3 Analog Output Analog Output Ground Axis 5 Analog Output Analog Output Ground Axis 5 Step Dir Axis 4 Analog Output Analog Output Ground Axis 6 Analog Output Analog Output Ground Axis 6 Step Dir JP2 Jumper Configuration for J15 JP3 Jumper Configuration for J16 UMI Accessory User Guide UMI Flex4 30 www natinst com Enco
29. nd controller operations Limit Switch Terminal Block Each UMI 7764 axis motion I O terminal block has five terminals for Forward and Reverse Limit and Home Input switch connections Refer to Figures 1 and 2 to help you locate the limit switch terminals on your UMI 7764 accessory See Figure 7 for the UMI 7764 limit switch terminal block pinout Figure 7 UMI 7764 Limit Switch Terminal Block Pin Assignment You can configure the axis Inhibit Input signals as active low or active high inputs using switch S2 Setting S2 to the bottom configures the signal as active low setting S2 to the top configures the signal as active high The Inhibit Input signals include a 3 3 k pull up resistor on their inputs Phase A Phase B Index Forward Limit Home Input Reverse Limit Inhibit Input Digital Ground National Instruments Corporation 9 UMI Accessory User Guide UMI 7764 Analog Input Terminal Block For analog input wiring the UMI 7764 has a 6 position terminal block which provides access to the four analog input channels on your motion controller Refer to Figure 1 to help you locate the analog input terminal block on your UMI 7764 accessory See Figure 8 for analog input terminal block pinout information Figure 8 UMI 7764 Analog Input Terminal Block Pin Assignments Breakpoint Output Trigger Input Terminal Block For breakpoint output and trigger input wiring the UMI 7764 has a 10 position terminal block This termin
30. ower to the unit Refer to Figure 12 to help you locate the power input terminal block on your UMI 4A accessory Figure 11 shows the 4 position terminal block pinout Figure 22 4 Position Power Input Terminal Block Pin Assignment Note To properly operate your UMI 4A accessory you must supply a 5 V source to the power input terminal block Note The auxiliary VDC input on the power input terminal block is optional and is redistributed to other terminal blocks as an output power source N C I O Bit 1 I O Bit 2 I O Bit 3 I O Bit 4 I O Bit 5 I O Bit 6 I O Bit 7 I O Bit 8 N C N C N C N C N C N C N C N C Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground 33 34 31 32 29 30 27 28 25 26 23 24 21 22 19 20 17 18 15 16 13 14 11 12 9 10 7 8 5 6 3 4 1 2 1 2 3 4 5 V Aux VDC NC Digital Ground National Instruments Corporation 19 UMI Accessory User Guide UMI 4A Specifications UMI 4A Specifications The following specifications apply only to the UMI 4A accessory To obtain a system specification you must account for your motion controller Please refer to your controller specifications to determine overall system specifications Some signals h
31. re 3 shows the UMI 7764 amplifier driver terminal block pin assignment for the servo stepper axes Forward Limit Home Input Reverse Limit Inhibit Input Digital Ground Analog Output Analog Output Ground Inhibit Output Step CW Dir CCW 5 V Output Digital Ground Encoder Phase A Encoder Phase A Encoder Phase B Encoder Phase B Encoder Index Encoder Index Limit Switch Terminals Amplifier Driver Terminals Distributed Power Encoder Terminals UMI Accessory User Guide UMI 7764 6 www natinst com Figure 3 UMI 7764 Axes Amplifier Driver Terminal Block Pin Assignments The Analog Output signals are used as command outputs to a servo amplifier or as general purpose voltage outputs The Step and Dir signals are used as command outputs to a stepper driver The Inhibit Output signals are used to disable the amplifier driver for that axis The UMI combines the host bus interlock circuit the Inhibit All signal the per axis Inhibit Input signals and the per axis controller Inhibit Output to create the per axis Inhibit Output signal The host bus interlock monitors the 5 V pin from the motion controller to verify that the controller is powered and properly connected to the UMI If the host bus interlock detects a problem if the Inhibit All signal is asserted or if the Inhibit Input signal or the controller Inhibit Output signal for that axis is asserted the Inhibit Output from the UMI 7764 for that axis is asserted
32. rent from Figure 38 by swapping the signals as required by the specific application The Index pulse must occur when both Phase A and Phase B signals are logic low as shown in Figure 38 Servo and closed loop stepper applications require encoder feedback and consistent directional polarity between the motor and encoder for stable operation The UMI Flex4 uses the following standards for motor direction Positive forward Clockwise CW facing motor shaft Negative reverse Counter clockwise CCW facing motor shaft Figure 38 Encoder Signal Phasing CW Rotation The encoder inputs are filtered by both analog and digital noise filters You must use cables with twisted pairs and an overall shield for improved noise immunity When connecting the encoder to the UMI Flex4 you should use at least 24 AWG wire Caution Using an unshielded cable allows noise to corrupt the encoder signals which results in lost counts reduced accuracy and other erroneous encoder and controller operations Phase A Phase B Index UMI Accessory User Guide UMI Flex4 32 www natinst com Limit Switch Terminal Block For Forward and Reverse Limit and Home Input switch connections the UMI Flex4 accessory has a separate 6 position terminal block per axis All limit and home switch inputs are connected to the opto coupled inputs on the FlexMotion board Refer to Figure 33 to help you locate the limit switch terminal block on your UMI Flex4 ac
33. roved noise immunity When connecting the encoder to the UMI Flex6 you should use at least 24 AWG wire Caution Using an unshielded cable allows noise to corrupt the encoder signals which results in lost counts reduced accuracy and other erroneous encoder and controller operations Limit Switch Terminal Block For Forward and Reverse Limit and Home Input switch connections each UMI Flex6 axis has a separate 6 position terminal block All limit and home switch inputs are connected to the Opto coupled inputs on the FlexMotion board Refer to Figure 23 to help you locate the limit switch terminal block on your UMI Flex6 accessory See Figure 28 for the UMI Flex6 limit switch terminal block pinout Figure 28 UMI Flex6 Limit Switch Terminal Block Pin Assignment Phase A Phase B Index 1 2 3 4 5 Forward Limit Home Input Reverse Limit Trigger Input1 Inhibit Input ISO Common 6 1NC on Axis 5 and 6 National Instruments Corporation 25 UMI Accessory User Guide UMI Flex6 You can configure the functionality of the Inhibit Inputs using switches SW1 and SW3 These inputs can be configured as a group as active low global inhibits or as active high global E Stops When configured as global inhibits an active low signal applied to any input asserts the inhibit output lines on the UMI When configured as global E Stops an active high signal applied to any input asserts the inhibit output lines on the UMI and asserts th
34. ts and analog inputs Axis Inhibit Out Voltage range 0 to 5 VDC Output current 16 mA sink max Operating Environment Temperature 0 to 55 C Storage temperature 20 to 70 C Relative humidity 10 to 90 noncondensing Power Requirements 5 VDC 0 2 A user defined encoder power ISO Voltage 5 to 24 VDC Current User defined isolated signals Host Bus Voltage Interlock Voltage 5 VDC 5 Physical Dimensions 23 62 by 10 03 cm 9 3 by 3 95 in Universal DIN rail base supplied
35. x4 SH Flex 100 100 pin FlexMotion controllers UMI Accessory User Guide UMI 7764 4 www natinst com UMI 7764 This section describes the UMI 7764 terminal block Refer to Figure 1 to help you locate the different parts of the UMI 7764 accessory Figure 1 UMI 7764 Parts Locator Diagram 1 Axis 1 Motion I O Terminal Block 2 Axis 3 Motion I O Terminal Block 3 Axis 2 Motion I O Terminal Block 4 Axis 4 Motion I O Terminal Block 5 Power Input Terminal Block 6 Shutdown Inhibit All Terminal Block 7 Inhibit Output Polarity Switch S1 8 Inhibit Input Polarity Switch S2 9 Analog Input Terminal Block 10 68 Pin Motion I O Connector 11 Breakpoint Trigger Terminal Block 1 11 2 3 4 5 9 8 7 6 10 National Instruments Corporation 5 UMI Accessory User Guide UMI 7764 Motion I O Terminal Block Each axis connected to the UMI 7764 has a motion I O terminal block to which the following signals are wired Amplifier driver connections Encoder connections Limit switch connections Distributed power connections Figure 2 shows which portions of the terminal block are used for different functionality Figure 2 UMI 7764 Motion I O Terminal Block Amplifier Driver Terminal Block Each UMI 7764 axis motion I O terminal block has five terminals for amplifier driver connections Refer to Figures 1 and 2 to locate the amplifier driver terminals on your UMI 7764 accessory Figu
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