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Motion Control NI PCI-7390 User Manual

1. National Instruments Corporation B 13 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Table B 6 Axis I O 1 through 4 to PCI 7390 and Yaskawa Sigma II Series Drive Continued Accessory Pin Number PCI 7390 Signal Drive Signal 7 Axis lt 1 4 gt General Purpose Input 0 8 Axis lt 1 4 gt Home Switch 9 Axis lt 1 4 gt Reverse Limit Switch 10 Axis lt 1 4 gt Forward Limit Switch 11 Axis lt 1 4 gt General Purpose Output 0 12 CLR Clear input 13 24 V 14 Isolated Ground 15 P CON P operation input 16 T REF Torque reference input 17 V REF Reference speed input 18 SEN SEN signal input 19 TGON TGON signal output 20 TGON TGON signal output 21 24 V 22 Isolated Ground 23 N CL Reverse current limit ON input 24 P CL Forward current limit ON input 25 ALM RST Alarm reset input 26 ALO3 Open collector output 27 ALO2 Alarm code output 28 ALO1 Alarm code output NI PCI 7390 User Manual B 14 ni com Appendix B Motion Connection Accessories Table B 6 Axis UO 1 through 4 to PCI 7390 and Yaskawa Sigma II Series Drive Continued Accessory Pin Number PCI 7390 Signal Drive Signal 29 PSO S phase signal output 30 PSO S phase signal output Refer to Figure 4 1
2. A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources The PCI 7390 controller can control up to four axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called coordinate spaces You also can simultaneously start coordinate spaces for multi vector space coordinated motion control Axes At a minimum an axis consists of a trajectory generator a stepper control block and a stepper pulse generator output Closed loop stepper axes require a feedback resource while open loop stepper axes do not Figure 3 3 shows this axis configuration With the PCI 7390 controller you can map one feedback resource and one or two output resources to the axis Trajectory Generator LT Stepper Stepper ANTM Lt Y Control A 010010110 Pulse i Generator Optional Interface 01011010 Loop gt Figure 3 3 Stepper Axis Resources The PCI 7390 supports axes with secondary output resources Defining two output resources is useful when controlling axes with multiple motors ei Note Refer to the N Motion User Manual for more information about configuring axes National Instruments Corporation 3 5 NI PCI 7390 User Manual Chapter 3 Hardware Overview Motion Resources Encoder and motion I O resourc
3. Trajectory update rate range 62 5 to 500 us Maximum update rate s eeeeeeeeee 62 5 us axis 4 axis update rate eee 250 us total Multi axis synchronization ee lt 1 update period Position accuracy Open loop stepper eee 1 full half or microstep Encoder feedback quadrature count Double buffered trajectory parameters Position LANGE eececeeeeecseeeseeteeeeees 23 steps Maximum relative move size 23 steps Velocity range 1 to 4 000 000 steps s RPMrange ai eeh edit 10 gt to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 steps s RPS s range ceceeeeeseseeseseseteeeeeees 10 to 108 revolutions s S curve time range eee 1 to 32 767 samples Following error range 0 0 0 0 eee 1 to 32 767 counts off no error checking Gear Tat Orana n ea 32 767 1 to 1 32 767 Stepper outputs Maximum pulse rate 0 0 0 eee 4 MHz full half and microstep Minimum pulse width 60 ns at 4 MHz Step output mode oo ee Step and direction or CW CCW National Instruments Corporation A 1 NI PCI 7390 User Manual Appendix A Specifications Ou tp t pe ici ai ENEE eet RS 422 line driver outputs Voltage range 0 to 5 V optically isolated Output high voltage 00 0 0 gt 2 4V at 20 mA Output low voltage lt 0 4 V at 20 mA Active States icsc csisciceaediezeendesctesbe ices Programmable active high or active low Power on State seissseisie
4. 4 PL NI PCI 7390 User Manual Figure 4 4 Differential to Single Ended Encoder Signal for Phase A 4 8 ni com Chapter 4 Signal Connections Axis lt 1 4 gt Encoder Phase A and Phase B The encoder inputs provide position and velocity feedback for absolute and relative positioning of axes in any motion system configuration If an encoder resource is not needed for axis control it is available for other functions including position or velocity monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications The encoder channels Axis lt 1 4 gt Encoder are implemented in an FPGA and provide advanced features such as high speed trigger position capture inputs and breakpoint position compare outputs The encoders have a maximum count frequency of 4 MHz An encoder input channel converts quadrature signals on Phase A and Phase B into 32 bit up down counter values Quadrature signals are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading phase A or B determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase A typical encoder with a specification of NON number lines or periods pe
5. Input Bit lt 1 2 gt 24 V IN Isolated Ground Input 24 V supply provided by the user to power optical isolation circuitry Power Supply Connections NI PCI 7390 User Manual The PCI 7390 requires an external 24 V power supply for the optical isolation circuitry An onboard regulator generates a 5 V output supply for both internal and external usage Figure 4 2 shows a simplified schematic of the power supply connections The positive terminal for the 24 V supply must be connected to 24 V IN and the reference must be connected to Isolated Ground 4 4 ni com Chapter 4 Signal Connections Isolated 5 V OUT t P 1 424 V IN Optical K DC DC Isolation i User Supplied i Circuitry 24 V Supply i Isolated gi PCI 7390 Isolated Ground Figure 4 2 Power Supply Connections Step and Direction Outputs e Axis lt 1 4 gt Step CW and Dir CCW These RS 422 differential signals are the stepper command outputs for each axis The PCI 7390 supports both major industry standards for stepper command signals step and direction or independent clockwise CW and counter clockwise 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
6. execute all setup and motion control functions by calling into a dynamically linked library DLL You can use the full function set implementations for LabVIEW and LabWindows CVI or call the NI Motion libraries from C and Visual Basic National Instruments Application Software LabVIEW is based on the graphical programming language G and features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the NI Motion VI Library which is a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The NI Motion VI library implements the full API along with a useful set of example programs ANSI C based LabWindows CVI also features interactive graphics and a state of the art user interface Using LabWindows CVI you can generate C code for custom data acquisition test and measurement and automation solutions The NI Motion software includes a series of example programs for using LabWindows CVI with National Instruments motion control hardware NI Motion Assistant offers a point and click interface for creating motion control sequences quickly and easily When you have created a motion task you can use Motion Assistant to output the task in LabVIEW or C code or code recipes National Instrument
7. produces a pulse on the step output The direction output signal level indicates the command direction of motion either forward or reverse CWandCCW 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 polarity of both outputs to active low or active high For example with step and direction you can make a logic high correspond to either forward or reverse direction National Instruments Corporation 4 5 NI PCI 7390 User Manual Chapter 4 Signal Connections Step and Direction Output Circuit The Step CW and Dir CCW outputs are driven by high speed RS 422 line drivers that feature 20 mA drive capability Caution Do not connect these outputs to anything other than a 5 V circuit The output buffers will fail if subjected to voltages in excess of 5 5 V r Vec Iso 5 V Step Dir Output Z AW ki AM26C31 _ gt Step Dir Output RS 422 i High Speed Optocoupler Line Driver i Isolated Ground PCI 7390 Figure 4 3 Step and Direction Output Circuit Limit and Home Inputs NI PCI 7390 User Manual e Axis lt 1 4 gt Forward Limit Input e Axis lt 1 4 gt Home Input e Axis lt 1 4 gt Reverse Limit Input These inputs are optically isolated sinking or sourcing inputs that are typically connected t
8. Class A products can be operated Consult the FCC Web site at www fcc gov for more information FCC DOC Warnings This equipment generates and uses radio frequency energy and if not installed and used in strict accordance with the instructions in this manual and the CE marking Declaration of Conformity may cause interference to radio and television reception Classification requirements are the same for the Federal Communications Commission FCC and the Canadian Department of Communications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference at their own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of the Canadian Interference C
9. Degree 1 means no pollution or only dry nonconductive pollution occurs The pollution has no influence e Pollution Degree 2 means that only nonconductive pollution occurs in most cases Occasionally however a temporary conductivity caused by condensation must be expected e Pollution Degree 3 means that conductive pollution occurs or dry nonconductive pollution occurs that becomes conductive due to condensation ei Note The PCI 7390 is intended for indoor use only NI PCI 7390 User Manual You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device Do not install wiring while the device is live with electrical signals Do not remove or add connector blocks when power is connected to the system 2 2 ni com Chapter 2 Configuration and Installation Remove power from signal lines before connecting them to or disconnecting them from the device Operate the device at or below the measurement category marked on the hardware label Measurement circuits are subjected to working voltages and transient stresses overvoltage from the circuit to which they are connected during measurement or test Installation categories establish standard impulse withstand voltage levels that commonly occur in electrical distribution systems The following is a description of installation categories e Measurement Category I is for measurements performed on circuits n
10. Engineers worldwide in the NI Developer Exchange at ni com exchange National Instruments Application Engineers make sure every question receives an answer For information about other technical support options in your area Visit ni com services or contact your local office at ni com contact Training and Certification Visit ni com training for self paced training eLearning virtual classrooms interactive CDs and Certification program information You also can register for instructor led hands on courses at locations around the world System Integration If you have time constraints limited in house technical resources or other project challenges National Instruments Alliance Partner members can help To learn more call your local NI office or visit ni com alliance Declaration of Conformity DoC A DoC is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electronic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification C 1 NI PCI 7390 User Manual Appendix C Technical Support and Professional Services If you searched ni com and could not find the answers you need contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices sectio
11. Input Signal from the drive input functionality Servo Ready indicating the drive is ready Axis lt 1 4 gt Drive Servo Ready Optional general purpose Emergency stop Isolated Ground Input Signal from an emergency input functionality Shutdown stop switch that causes the controller to enter a reset state National Instruments Corporation 4 3 NI PCI 7390 User Manual Chapter 4 Signal Connections Table 4 1 1 0 Signal Connections Continued Alternate Signal Name Signal Name Reference Direction Description Axis lt 1 4 gt General Purpose Isolated Ground Output General purpose outputs Output lt 0 1 gt Optional general purpose Servo ON Isolated Ground Output Drive inhibit output functionality Drive Enable Axis lt 1 4 gt Inhibit Out Optional general purpose Servo Alarm Isolated Ground Output Clears an alarm output output functionality Clear from the drive Axis lt 1 4 gt Alarm Clear Isolated 5 V OUT Isolated Ground Output Isolated 5 V power supply output generated from the 24 V IN power supply Isolated Ground Reference for all outputs trigger inputs 24 V IN and Isolated 5 V OUT General Purpose Output Supply Isolated Ground Input Positive supply reference for general purpose outputs Axis lt 1 4 gt VI COM Reference for the following Axis lt 1 4 gt inputs Forward and Reverse Limits Home Inhibit In
12. Power Supply Connection 2 20 Pin Cables 5 SCSI 100 Pin Cable 3 NI MCA 7790M 6 NI PCI 7390 Figure B 1 PCI 7390 Connected to a Mitsubishi J2S Series Drive ei Note The Inhibit Out Servo ON input in the drive is sourcing For compatibility between the drive and the controller set the general purpose output jumper on the PCI 7390 for sinking The MCA 7790M internally connects VI COM lt 1 4 gt to 24 V which configures all PCI 7390 inputs as sourcing National Instruments Corporation B 1 NI PCI 7390 User Manual Appendix B Motion Connection Accessories MCA 7790M LEDs The MCA 7790M has three LEDs per axis that indicate forward limit reverse limit and home status Two additional LEDs indicate the status of the 24 V input power supply and the 5 V OUT signal from the PCI 7390 MCA 7790M Axis UO Signals Table B 1 shows the signals from the Axis I O screw terminal on the MCA 7790M to the PCI 7390 and from the drive to the MCA 7790M Table B 1 Axis I O 1 through 4 to PCI 7390 and Mitsubishi J2S Series Drive Accessory Pin Number PCI 7390 Signal Drive Signal 1 Isolated Ground IGND 2 Isolated Ground 3 Isolated 5 V OUT 4 24 V 5 Isolated Ground 6 Axis lt 1 4 gt General Purpose Input 0 7 Axis lt 1 4 gt Breakpoint Position Compare 8 Axis lt 1 4 gt Trigger Position Capture 9 EMG Shutdown emergency sto
13. buffer for incoming commands and a return data buffer for returning data The communications status register provides bits for communications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status register provides instantaneous motion status of all axes NI PCI 7390 User Manual 3 6 ni com Signal Connections This chapter includes instructions on how to make input and output signal connections directly to the NI PCI 7390 controller and briefly describes the associated I O circuitry The PCI 7390 has two connectors that handle all signals to and from the external motion system e 100 pin SCSI I O connector es RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced drive specific Motion Connection Accessory MCA units Refer to Appendix B Signal Connections for more information about the MCA units UN Caution Do not connect or disconnect the PCI 7390 controller I O cable without first disconnecting the 24 V power supply from all PCI 7390 boards Failure to do so may result in damage to your system and or PCI 7390 motion controller 1 0 Connector The I O connector contains optically isolated motion control signals and general purpose signals including the following features e Motor command stepper outputs e Forward home and reverse limit inputs e Inhibit in alarm inp
14. control units Measurement categories also referred to as installation categories are defined in electrical safety standard IEC 61010 1 2 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation 3 MAINS is defined as a hazardous live electrical supply system that powers equipment Suitably rated measuring circuits may be connected to the MAINS for measuring purposes National Instruments Corporation 2 3 NI PCI 7390 User Manual Chapter 2 Configuration and Installation Hardware Installation Install the PCI 7390 in any open PCI slot in the computer Appendix A Specifications lists typical power requirements for the PCI 7390 controller The following instructions are for general installation Consult the computer user manual or technical reference manual for specific instructions and warnings UN Caution The PCI 7390 is a sensitive electronic device shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices 1 Power off and unplug the computer UN Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 Open the computer case to expose access to the PCI expansion slots 3 Choose an unused 3 3 V or 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer
15. electronics that physical end of travel is being approached and that the motion should stop meters move complete status The proportional control of energy in the coils of a stepper motor that allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution Treat the position as within the range of total quadrature counts per revolution for an axis NI PCI 7390 User Manual Glossary NC noise non inverting NPN sensor 0 open loop PCI PNP sensor port position breakpoint NI PCI 7390 User Manual not connected 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 See also active high A sensor type
16. information about the features available on the PCI 7390 Trajectory Generators The PCI 7390 controller trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position This command is then sent to the stepper pulse generator To implement infinite trajectory control the PCI 7390 controller has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position for each update period While simple point to point moves require only one trajectory generator two simultaneous generators are required for blended moves and infinite trajectory control processing Flash Memory Nonvolatile memory on the PCI 7390 controller is implemented with flash ROM which means that the controllers can electrically erase and reprogram their own ROM Because all embedded firmware including the RTOS DSP code and the FPGA configuration file of the PCI 7390 is stored in flash memory you can upgrade the onboard firmware contents in the field for support and new feature enhancement 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 Use MAX to download new firmware or save configuration defaults to flash memory 3 4 ni com Chapter 3 Hardware Overview
17. view the new controller National Instruments Corporation 2 5 NI PCI 7390 User Manual Hardware Overview This chapter presents an overview of the NI PCI 7390 functionality and capabilities Figures 3 1 and 3 2 illustrate the functional components of the PCI 7390 J Non Volatile Flash Memory FPGA RTSI Connector DSP akon Jumpers for Selecting Output Type Sinking or Sourcing oO OO JO 32 bit CPU PCI Interface Optical Isolation Area 100 pin SCSI I O connector National Instruments Corporation Figure 3 1 PCI 7390 Parts Locator Diagram Front NI PCI 7390 User Manual Chapter 3 Hardware Overview as cl J E o O kg CE NATIONAL E INSTRUMENTS PCI 7390 SLNALWd WOO IN SLNSLVd HOS 10 Y689Z6 ASSY O IDDIE o U 1 Symbol to Alert User to Read the Manual 4 Identification Number used in Australia 2 Symbol Indicating CE Compliance 5 Assembly Number Label 3 Serial Number Label Figure 3 2 PCI 7390 Parts Locator Diagram Back User Connectors The 100 pin SCSI I O connector provides all the signals for four axes of closed loop motion control including encoder feedback limit and home inputs breakpoint position compare outputs trigger position capture input inhibit alarm inputs and in position inputs The connector also can provide shutdown emergenc
18. with a sinking only output stage Refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals peripheral component interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA It is achieving widespread acceptance as a standard for PCs and workstations it offers a theoretical maximum transfer rate of 132 MB s A sensor type with a sourcing only output stage 1 A communications connection on a computer or a remote controller 2 A digital port consisting of eight lines of digital input and or output Position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions G 6 ni com power cycling PWM Q quadrature counts R RAM relative breakpoint relative position relative position mode ribbon cable ROM RPM RPSPS or RPS S RTR RTSI National Instruments Corporation G 7 Glossary Turning the host computer off and then back on which causes a reset of the motion control board pulse width modulation a method of controlling the average current in a motor phase winding by varying the on time duty cycle of transistor switches The encoder line resolution times four random access memory Sets the position breakpoint for an encoder in relat
19. 2 1 Axis lt 1 4 gt General Purpose Input 0 Figure B 2 Default EMG Jumper Settings National Instruments Corporation B 3 NI PCI 7390 User Manual Appendix B Ei NI PCI 7390 User Manual Motion Connection Accessories Shutdown Emergency Stop Signal to Controller Only By default the EMG jumpers on the MCA 7790M are placed to connect the EMG input of the drive to isolated ground In this configuration the drive is always enabled The EMG pin on the Axis I O screw terminal cannot be used in this configuration The PCI 7390 Axis lt 1 4 gt General Purpose Input 0 is not connected to the EMG input of the drive Connect the shutdown emergency stop switch or signal to the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 pin on the Axis I O screw terminal In software configure the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 to function as a shutdown emergency stop input In this configuration the shutdown emergency stop signal goes to the controller and stops all axes in the motion control system if the shutdown emergency stop signal is active Note If you are not connecting an external shutdown emergency stop signal to the drive leave the jumpers in the default configuration This connects the EMG input of the drive to isolated ground In this configuration the drive is always enabled Combined Shutdown Emergency Stop Signal to Controller and Drive Place the jumper to connect the EMG input o
20. 30 V maximum Maximum voltage drop SOULCING eege g 2 V at 350 mA SINKIN E sue Ed 1 6 V at 350 mA Maximum switching current Sourcing Sinking Ambient All Outputs One All Outputs One Temperature each Output each Output Up to 25 C 75 mA 350 mA 125mA 475 mA Up to 55 C 50 mA 300 mA 100 mA 325 mA The General Purpose Output Supply voltage 5 V to 30 V controls the sourcing output voltage range NI PCI 7390 User Manual A 4 ni com Active state Power on state Optional functionality RTSI Trigger lines 1 0 Power Requirements 24 V input General Purpose Output Supply input Isolated 5 V output Bus Power Requirements 5 V 45 12 V 5 Physical Characteristics Motion I O connector Appendix A Specifications Programmable active open or active closed Open Inhibit output alarm clear output 24 V 10 500 mA maximum 5 to 30 V 1 A maximum 5 V 5 500 mA maximum 600 mA maximum 50 mA maximum 100 pin SCSI Drmenstong eee eeeeeeeeeeeeeeeereeeees 17 8 x 9 9 cm 7 03 x 3 9 in MW teht sscccozesceoseasep css ensesidesessesetets sosseenvens 134 g 4 7 oz Maximum Working Voltage UN Caution These values represent the maximum allowable voltage between any accessible signals on the controller To determine the acceptable voltage range for a particular signal please refer to the individual signal specifications Channel to earth Cha
21. 6 communications status register 3 6 communications host 3 6 configuration 2 1 EMG and GPI signals on the MCA 7390M B 3 connecting inputs 4 18 connections to Mitsubishi drives B 1 to Panasonic drives B 8 to Yaskawa drives B 13 connectors 3 2 RTSI 3 3 conventions used in the manual vii D Declaration of Conformity NI resources C 1 diagnostic tools NI resources C 1 documentation conventions used in manual vii NI resources C 1 related documentation viii NI PCI 7390 User Manual Index drive servo ready input 4 15 drivers NI resources C 1 E electromagnetic compatibility specifications A 6 encoder index 4 9 inputs 4 8 phase A 4 9 phase B 4 9 encoders cables 4 10 connections higher than 5 V 4 12 inputs limiting noise 4 13 examples C 1 3 LabVIEW 1 3 NI resources C 1 F features 1 1 flash memory 3 4 forward limit input 4 6 FPGA programs updating 3 4 functional overview axes 3 5 dual processor architecture 3 3 flash memory 3 4 host communications 3 6 motion resources 3 6 trajectory generators 3 4 G general purpose inputs 4 15 outputs 4 16 NI PCI 7390 User Manual l 2 general purpose inputs input circuit 4 18 General Purpose Output Supply input 4 16 general purpose outputs jumper configuration 4 17 ground connections home switch signals 4 7 limit signals 4 7 H hardware 1 2 configuration 2 1 installation procedure 2 4 overvi
22. 61 1 01 provides connection between the PCI 7390 and Yaskawa Sigma II series drives Connecting Yaskawa Drives to the PCI 7390 To connect a Yaskawa drive to the PCI 7390 connect a 50 pin cable from the drive to the MCA 7790Y then connect a SCSI 100 pin cable from the MCA 7790Y to the PCI 7390 Finally connect the MCA 7790Y to a 24 V power supply using the IGND 24 V two terminal screw terminal EI Note The Inhibit Out Servo ON input in the drive is sourcing For compatibility between the drive and the controller set the general purpose output jumper on the PCI 7390 for sinking The MCA 7790Y internally connects VI_COM lt 1 4 gt to 24 V which configures all PCI 7390 inputs as sourcing MCA 7790Y LEDs The MCA 7790Y has three LEDs per axis that indicate forward limit reverse limit and home status Two additional LEDs indicate the status of the 24 V input power supply and the 5 V OUT signal from the PCI 7390 MCA 7790Y Axis UU Signals Table B 6 shows the signals from the Axis I O screw terminal on the MCA 7790Y to the PCI 7390 and from the drive to the MCA 7790Y Table B 6 Axis I O 1 through 4 to PCI 7390 and Yaskawa Sigma II Series Drive Accessory Pin Number PCI 7390 Signal Drive Signal 1 Axis lt 1 4 gt Breakpoint Position Compare 2 Axis lt 1 4 gt Trigger Position Capture 3 Isolated 5 V OUT 4 Isolated Ground IGND 5 24 Vi 6 Isolated Ground
23. 700 Pin I O Connector Pin Assignments for information about the 100 pin cable pin assignments The 24 V signals are directly connected to the 24 V screw terminal input CN1 Cable Pin Assignments Table B 7 shows the pin assignments for the CN1 cable EI Note This table is provided for reference for custom cable assembly For custom cables use the 3M 50 pin MDR connector part number 10150 6000EC and 3M backshell part number 10350 3210 000 Table B 7 CN1 Cable Pin Assignments Accessory Signal Pin Number Drive Signal Isolated Ground 1 SG Signal ground Isolated Ground 2 SG Signal ground NC No connection 3 PL1 Open collector reference power supply SEN 4 SEN SEN signal input V_REF 5 V REF Reference speed input Isolated Ground 6 SG Signal ground Axis lt 1 4 gt Step CW 7 PULS Reference pulse input Axis lt 1 4 gt Step CW 8 PULS Reference pulse input T_REF 9 T REF Torque reference input Isolated Ground 10 SG Signal ground Axis lt 1 4 gt Dir CCW 11 SIGN Reference sign input Axis lt 1 4 gt Dir CCW 12 SIGN Reference sign input National Instruments Corporation B 15 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Table B 7 CN1 Cable Pin Assignments Continued Accessory Signal Pin Number Drive Signal NC 13 PL2 Open collector
24. B Axis 3 Index Encoder Phase Z Axis 3 Index Encoder Phase Z Isolated Ground Axis 3 Step CW Axis 3 Step CW Axis 3 Dir CCW Axis 3 Dir CCW Axis 3 Breakpoint Position Compare Axis 3 VI COM Axis 3 Trigger Position Capture Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Axis 3 Home Switch Axis 3 Inhibit In Alarm Axis 3 In Position Axis 3 General Purpose Input 0 Axis 3 General Purpose Input 1 Axis 4 Drive Servo Ready Isolated Ground Axis 4 General Purpose Output 1 Axis 4 Inhibit Out Axis 4 Encoder Phase A Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Phase B Axis 4 Index Encoder Phase Z Axis 4 Index Encoder Phase Z Isolated Ground Axis 4 Step CW Axis 4 Step CW Axis 4 Dir CCW Axis 4 Dir CCW Axis 4 Breakpoint Position Compare Axis 4 VI COM Axis 4 Trigger Position Capture Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Axis 4 Home Switch Axis 4 Inhibit In Alarm Axis 4 In Position Axis 4 General Purpose Input 0 Axis 4 General Purpose Input 1 Axis 4 Drive Servo Ready Figure 4 1 100 Pin I O Connector Pin Assignments NI PCI 7390 User Manual 4 2 ni com Chapter 4 Signal Connections B Note An asterisk on the signal name indicates the software default signal for the pin Table 4 1 includes descriptions for each of the signal
25. DUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Compliance Compliance with FCC Canada Radio Frequency Interference Regulations Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations All National Instruments NI products are FCC Class A products Depending on where it is operated this Class A product could be subject to restrictions in the FCC rules In Canada the Department of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired operation The FCC rules have restrictions regarding the locations where FCC
26. Input Circuit Connected to a Sourcing Output Device NI PCI 7390 User Manual 4 18 ni com Chapter 4 Signal Connections 24 V NPN Sinking Output Device ts lt 1 4 gt MI COM V ow gt i Ze 4 Axis lt 1 4 gt Input A 2 Ne Out i Optocoupler yaa DEE aA PCI 7390 Isolated Ground Figure 4 14 Limit Home Inhibit In Alarm In Position and General Purpose Input Circuit Connected to a Sinking Output Device High Side Switch xX Axis lt 1 4 gt Input eww lt SZ Ax Axis lt 1 4 gt VI_COM i 2 Le S t Optocoupler Isolated Ground PCI 7390 Figure 4 15 Limit Home Inhibit In Alarm In Position and General Purpose Input Circuit Connected to a High Side Switch National Instruments Corporation 4 19 NI PCI 7390 User Manual Chapter 4 Signal Connections Axis lt 1 4 gt VI COM VY Aly Axis lt 1 4 gt Input Low Side Switch L Optocoupler kl E Mee Ground PCI 7390 Figure 4 16 Limit Home Inhibit In Alarm In Position and General Purpose Input Circuit Connected to a Low Side Switch UN Caution Excessive input voltages can cause erroneous operation and or component failure Verify that your input voltage is within the specification range The input active state of these signals is software programmable for active open or a
27. MPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM 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 PRO
28. Motion Control NI PCI 7390 User Manual November 2005 4 NATIONAL 371520A 01 N INSTRUMENTS Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 Worldwide Offices Australia 1800 300 800 Austria 43 0 662 45 79 90 0 Belgium 32 0 2 757 00 20 Brazil 55 11 3262 3599 Canada 800 433 3488 China 86 21 6555 7838 Czech Republic 420 224 235 774 Denmark 45 45 76 26 00 Finland 385 0 9 725 725 11 France 33 0 1 48 14 24 24 Germany 49 0 89 741 31 30 India 91 80 51190000 Israel 972 0 3 6393737 Italy 39 02 413091 Japan 81 3 5472 2970 Korea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 3390150 Portugal 351 210 311 210 Russia 7 095 783 68 51 Singapore 1800 226 5886 Slovenia 386 3 425 4200 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 200 51 51 Taiwan 886 02 2377 2222 Thailand 662 278 6777 United Kingdom 44 0 1635 523545 For further support information refer to the Technical Support and Professional Services appendix To comment on National Instruments documentation refer to the National Instruments Web site at ni com info and enter the info code feedback 2005 National Instruments Corporation All rights reserved Imp
29. O for end of travel limit and home switch inputs breakpoint position compare output trigger position capture input inhibit alarm input in position input drive servo ready input inhibit drive enable output shutdown input alarm clear output and encoder feedback The PCI 7390 also has eight non dedicated user inputs and eight non dedicated user outputs The PCI 7390 supports the National Instruments Real Time System Integration RTSI bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition and data acquisition products Using the RTSI bus you can easily synchronize several functions to a common trigger or timing event across multiple motion image or data acquisition devices What You Need to Get Started NI PCI 7390 User Manual To set up and use the PCI 7390 controller you must have the following items Q PCI 7390 motion controller and documentation Q NI Motion 7 2 or later driver software and documentation LI One of the following software packages and documentation LabVIEW 7 0 or later LabWindows CVI 7 0 or later C C Microsoft Visual Basic 6 0 LI Computer with an available PCI slot LJ 24 V external power supply 1 2 ni com Chapter 1 Introduction Software Programming Choices NI Motion is a simple but powerful high level application programming interface API that makes programming the PCI 7390 easy You can
30. TLC Torque limit control NC 7 LOP SP2 Control change Speed selection 2 PC 8 PC ST1 RS2 Proportion control TL 9 TL ST2 RS1 Torque limit selection Isolated Ground 10 SG Digital I F common NC 11 P15R 15 VDC power supply TLA 12 TLA TC Analog torque limit 24 V 13 COM Digital I F power supply input RES 14 RES Reset EMG 15 EMG Emergency stop Isolated Ground 16 LSP Forward rotation stroke end Isolated Ground 17 LSN Reverse rotation stroke end Axis lt 1 4 gt Inhibit In Alarm 18 ALM Alarm ZSP 19 ZSP Zero speed Isolated Ground 20 SG Digital I F common This signal must be grounded for the drive to function correctly National Instruments Corporation B 7 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Panasonic Minas A Series Drive Connection Accessory Connecting Panasonic Drives to the PCI 7390 The NI MCA 7790P accessory NI part number 779613 01 provides connection between the PCI 7390 and Panasonic MINAS A series drives To connect a Panasonic drive to the PCI 7390 connect a 50 pin cable from the drive to the MCA 7790P then connect a SCSI 100 pin cable from the MCA 7790P to the PCI 7390 Finally connect the MCA 7790P to a 24 V power supply using the IGND 24 V two terminal screw terminal EI Note The Inhibit Out Servo ON input in the drive is sourcing For compatibility between the drive and the controller set the general purpose output jumper on th
31. UN Caution Do not insert or remove any PCI 7390 motion controller from your system without first disconnecting the 24 V power supplies from all PCI 7390 devices Failure to do so may result in damage to your system and or PCI 7390 4 Touch a metal part on the computer case to discharge any static electricity that might be on your clothes or body before handling the controller Static electricity can damage the controller 5 Gently rock the controller into the slot The connection may be tight but do not force the controller into place 6 If required screw the mounting bracket of the controller to the back panel rail of the computer 7 Replace the cover UN Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits NI PCI 7390 User Manual 2 4 ni com Chapter 2 Configuration and Installation A Caution Always power on the computer containing the PCI 7390 then the 24 V external power supply then initialize the controller before you power on the rest of the motion system Power off in the reverse order 8 Plug in and power on the computer then the 24 V external power supply 9 Initialize the controller ei Note When adding or removing a controller from a Windows 2000 XP system you must be logged on with administrator level access After you have restarted the system you may need to refresh MAX to
32. ausing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Compliance with EU Directives Users in the European Union EU should refer to the Declaration of Conformity DoC for information pertaining to the CE marking Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or installer Contents About This Manual CGOTVEMEIONS eae Hee ces cco E S EE EE E Vil Related Documentanon Vili Chapter 1 Introduction About the PCI 7390 Controller 1 1 EELER ee eege e eebe ege 1 1 FRAGA W abe ise ett DEE ee a es Ee 1 2 LR EE 1 2 What You Need to Get Starter ee EENS 1 2 Software Programming Choices 0 0 0 ee eeceeseeeesecesceseeseeeseceeeeaeeseeesecseeesecseseseseeeeaeeaees 1 3 National Instruments Application Software 0 0 0 eee cscesesseeeeeseeeseeeeeseeseeeseeneeaes 1 3 Optional Equipment aissei iri isipan ENEE 1 4 Chapter 2 Configuration and Installation Software Installation cs erte hic ene a nE I A De deg dee E 2 1 Controller Conti gutatlg ee eu gedeit AASL ett 2 1 Safety Information eers ea AO s
33. cing Configuration Figure 4 12 General Purpose Output Jumper Settings National Instruments Corporation 4 17 NI PCI 7390 User Manual Chapter 4 Signal Connections Table 4 3 Jumper Name to General Purpose Output Bit Jumper Name General Purpose Output Signal GP1 Axis General Purpose Output 0 GP2 Axis 2 General Purpose Output 0 GP3 Axis 3 General Purpose Output 0 GP4 Axis 4 General Purpose Output 0 GP5 Axis General Purpose Output 1 GP6 Axis 2 General Purpose Output 1 GP7 Axis 3 General Purpose Output 1 GP8 Axis 4 General Purpose Output 1 Connecting Inputs to the PCI 7390 Limit home inhibit in alarm in position and general purpose inputs are optically isolated sinking or sourcing inputs Figures 4 13 4 14 4 15 and 4 16 show a simplified schematic diagram of the circuit used by these inputs You can connect these inputs to a current sourcing output device such as a PNP sensor as shown in Figure 4 13 a sinking output device such as an NPN sensor as shown in Figure 4 14 a high side switch as shown in Figure 4 15 or a low side switch as shown in Figure 4 16 24 V PNP Sourcing A Output Device Vec i V Axis lt 1 4 gt Input l Pum Out EE Axis lt 1 4 gt ML COM Gg V Optocoupler Isolated aaie re eE e RE E Geer Ground PCI 7390 Figure 4 13 Limit Home Inhibit In Alarm In Position and General Purpose
34. ctive closed Active open refers to a state where the current is not flowing between the input signal and Axis lt 1 4 gt VI_COM Active closed refers to a state where the current is flowing between the input signal and Axis lt 1 4 gt VI_COM NI PCI 7390 User Manual 4 20 ni com Chapter 4 Signal Connections RTSI Connector The PCI 7390 uses a ribbon cable to connect to other RTSI capable PCI devices RTSI Signal Considerations The PCI 7390 motion controller allows you to use up to eight RTSI trigger lines as sources for trigger inputs or as destinations for breakpoint outputs and encoder signals Breakpoint outputs are output only signals that generate an active high pulse of 200 ns duration as shown in Figure 4 17 lt 200 ns gt Figure 4 17 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 motion I O or generic digital I O all signals are passed through unaltered National Instruments Corporation 4 21 NI PCI 7390 User Manual Specifications This appendix lists the hardware and software performance specifications for the NI PCI 7390 All specifications are subject to change without notice Visit ni com manuals for the most current specifications Hardware specifications are typical at 25 C unless otherwise stated Stepper Performance
35. d helpful as you read this manual NI PCI 7390 Installation Guide Refer to this document for installation instructions Getting Started with NI Motion for NI 73xx Motion Controllers Refer to this document for general information about the NI Motion product Measurement amp Automation Explorer Help for Motion Refer to this document for configuration information NI Motion Function Help Refer to this document for specific information about NI Motion C C functions NI Motion VI Help Refer to this document for specific information about NI Motion LabVIEW VIs NI Motion User Manual Refer to this document for information about the NI Motion driver software including background configuration and programming information viii ni com Introduction This chapter includes information about the features of the NI PCI 7390 controller and information about operating the device About the PCI 7390 Controller Features The PCI 7390 controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW The PCI 7390 is a position command p command stepper motion controller with isolation designed for use with drives that support p command mode or step pulse command input The PCI 7390 has accessories specifically designed for direct connectivity to Yaskawa Sigma II Mitsubishi MR J2S and Panasonic Minas A drives The PCI 7390 provides fully programmable mot
36. d services C 1 NI Motion VI Library 1 3 noise encoder inputs 4 13 0 optional equipment 1 4 P physical specifications A 5 power requirement specifications A 5 power supply connections 4 4 programming examples NI resources C 1 Q quadrature encoder inputs 4 8 signals 4 9 R related documentation viii requirements for getting started 1 2 reset specifications A 2 return data buffer 3 6 reverse limit input 4 6 RTSI breakpoint across RTSI figure 4 21 connector 3 3 4 21 signal considerations 4 21 NI PCI 7390 User Manual Index specifications A 5 using with the 7390 1 2 S safety information 2 2 specifications A 6 servo alarm input See inhibit in input servo ready input See drive servo ready input shutdown input 4 15 signal descriptions 100 pin I O connector 4 3 sinking output device connection 4 18 software installation 2 1 National Instruments application software 1 3 National Instruments resources C 1 programming choices 1 3 sourcing output device connection 4 18 specifications CE compliance A 7 electromagnetic compatibility A 6 environment A 6 general purpose digital I O A 4 motion I O A 2 physical A 5 power characteristics A 5 power requirements max A 5 RTSI A 5 safety A 2 A 6 stepper performance A 1 working voltage max A 5 NI PCI 7390 User Manual l 4 step and direction outputs 4 5 support technical C 1 system safety A 2 T
37. de of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position also is regarded as the zero position in an absolute position frame of reference Computer into which the motion control board is plugged input output the transfer of data to and from a computer system involving communications channels operator interface devices and or motion control interfaces identification isolated ground Marker between consecutive encoder revolutions G 4 ni com inverting IRQ L LIFO limit switch end of travel position input m MCS microstep modulo position National Instruments Corporation G 5 Glossary 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 See also active low 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 2 used with byte B in quantifying data or computer memory last in first out Sensors that alert the control
38. e PCI 7390 for sinking The MCA 7790P internally connects VI_COM lt 1 4 gt to 24 V which configures all PCI 7390 inputs as sourcing MCA 7790P LEDs Table BA Axis UO 1 through 4 to PCI 7390 and Panasonic MINAS A Series Drive The MCA 7790P has three LEDs per axis that indicate forward limit reverse limit and home status Two additional LEDs indicate the status of the 24 V input power supply and the 5 V OUT signal from the PCI 7390 MCA 7790P Axis UU Signals Table B 4 shows the signals from the Axis I O screw terminal on the MCA 7790P to the PCI 7390 and from the drive to the MCA 7790P Accessory Pin Number PCI 7390 Signal Drive Signal 1 Axis lt 1 4 gt Breakpoint Position Compare 2 Axis lt 1 4 gt Trigger Position Capture 3 Isolated 5V OUT 4 Isolated Ground IGND 5 24 Vi 6 Isolated Ground NI PCI 7390 User Manual B 8 ni com Appendix B Motion Connection Accessories Table B 4 Axis I O 1 through 4 to PCI 7390 and Panasonic MINAS A Series Drive Continued Accessory Pin Number PCI 7390 Signal Drive Signal 7 Axis lt 1 4 gt General Purpose Input 0 8 Axis lt 1 4 gt Home Switch 9 Axis lt 1 4 gt Reverse Limit Switch 10 Axis lt 1 4 gt Forward Limit Switch 11 Axis lt 1 4 gt General Purpose Output 0 12 CL Position erro
39. e motion control boards Software that communicates commands to control a specific motion control board digital signal processor Device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system The number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution farad first in first out A type of signal conditioning that filters unwanted signals from the signal being measured A type of electrically reprogrammable read only memory The difference between the instantaneous commanded trajectory position and the feedback position If the following error increases beyond the maximum allowable value entered treferred to as the following error trip point the motor trips on following error and is killed preventing the axis from running away field programmable gate array NI PCI 7390 User Manual Glossary freewheel full step Gnd GND H half step hex home switch input host computer T O ID IGND index NI PCI 7390 User Manual 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 Mo
40. ee EE AA E ARE eoa 2 2 Hardware Installations ienn a a a a E i a a aa 2 4 Chapter 3 Hardware Overview User EE 3 2 Buncti onal A VE 3 3 Dual Processor Architecture ccccccccccssssccccesessseceeccesssceeceeesssseeeceeesseeeeeesses 3 3 Embedded Real Time Operating System 3 4 Trajectory Genetators EE 3 4 Flash Memory 2 sscseesdavicd tates DEE EE abides 3 4 Axes and Motion Resourceg i erines tririssieesisseoas tasen kotran ESKE r SEINAS eaen 3 5 aO E EE E led E 3 5 Moton RESOUTCES oishii e a E E E 3 6 Host COMMUNICATIONS sers seisen eerie ae esei ei aaseter datana 3 6 National Instruments Corporation v NI PCI 7390 User Manual Contents Chapter 4 Signal Connections VO Comme Ctr ege n aan a Eed Eege 4 1 Power Supply Connections aimen a a O R aA 4 4 Step and Direction Outputs cenon r eE E a A 4 5 Step and Direction Output Circuit sseseseseseesseeeseersresrsresrerrsrrsrrees 4 6 Limit and Home Inputs eisime eo e a a aa 4 6 WEIDES egene deet EE RERESET 4 7 Inhibit In Alarm and In Position Inputs 00 0 eee eeeeeseeesneeeeeeeneeeeeeeseeeeaee 4 7 Encoder Inputs isc sissesvscdcccese states Avs E E e EE E deeg dure 4 8 Axis lt 1 4 gt Encoder Phase A and Phase BA 4 9 Axis lt 1 4 gt Encoder Index Phase 21 4 9 Encoder Input Circuit eege Bea ee 4 11 Connections for Input Voltages Higher Than AN 4 12 Witing Conceit S oan wie tle ce ee 4 13 Trigger Position Capture Inputs 0 eee ce eeeeseceeeeseesee
41. ersonal safety as well as to protect the motion system Wiring Concerns For the end of travel limits to function correctly the forward limit must be located at the forward or positive end of travel and the reverse limit at the negative end of travel UN Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system Incorrectly wired limits may prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor signals Inhibit In Alarm and In Position Inputs e Axis lt 1 4 gt Inhibit In Alarm Input e Axis lt 1 4 gt In Position Input These inputs are driven from the p command drive to provide system status to the controller The inhibit in input can be connected to the alarm or servo alarm output of the drive The alarm signal is inactive during normal operation When a drive error occurs the drive is disabled or inhibited using the inhibit out output The controller does not generate step and direction outputs when inhibit in is active The in position input can be connected to the in position output on the drive It is a feedback signal from the drive indicating that the drive has completed the move and has reached the target position National Instruments Corporation 4 7 NI PCI 7390 User Manual Chapter 4 Signal Connections Encoder Inputs Refer to the Connec
42. es that are not used by an axis are available for non axis or non motion specific applications 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 inhibit alarm input and in position input a high speed capture trigger position capture input and a breakpoint position compare output Each axis also has a configurable drive servo ready input inhibit output and alarm clear output One shutdown input for the controller is also available These signals can be used for general purpose digital I O when they are not being used for their motion specific purpose EI Note When a resource is mapped to an axis all features and functions of the resource are available as part of the axis Because resources are referenced by axis number after they are assigned to that axis it is not necessary to remember or use the resource number directly when accessing these features Host Communications The host computer communicates with the controller through a number of memory port addresses on the host PCI bus The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions The PCI 7390 controller has both a command
43. esecseeeseeseenseeseenaes 4 13 Trigger Position Capture Input Circuit 0 eee eeeeereeeeees 4 14 Breakpoint Position Compare Outputs eee eeeeseeseeeseceeeeseeseeeseesees 4 14 Breakpoint Position Compare Output Circuit eee 4 15 General Purpose Inputs eegne eessen eben 4 15 General Purpose Outputs 0 ce eee ee ee i e ae easair ists 4 16 General Purpose Output Circuit 0 ee eee eceeseceeeseceeeeseeeeeeeeenees 4 16 Selecting Sinking or Sourcing General Purpose Outputs 4 17 Connecting Inputs to the DCL OU 4 18 REST Conmectotinss eege ee eect ae stash RS ae Eed 4 21 RTSI Signal Considerati otse eee ee eE erT i 4 21 Appendix A Specifications Appendix B Motion Connection Accessories Appendix C Technical Support and Professional Services Glossary index NI PCI 7390 User Manual vi ni com About This Manual Conventions This manual describes the electrical and mechanical aspects of the National Instruments PCI 7390 and contains information about how to operate and program the device The NI PCI 7390 is designed for PCI bus computers lt gt gt Ge bold italic monospace The following conventions appear in this manual Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example AO lt 3 0 gt The symbol leads you through nested menu items and dialog box options to a fina
44. eserves 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
45. essieesersesceressisessesos Open floating System Reset Watchdog timer function eee Resets board to startup state Watchdog timeout eee 63 ms Motion UU Quadrature encoder inputs Maximum count rate eee 4 MHz quadrature Minimum pulse width 250 ns Taput ue ses ase iae Differential RS 422 compatible Voltage range eeeeeeereeeee 0 to 30 V optically isolated Input on voltage gt 3Vat5 V Input off voltage eee lt 1Vat5V Turn on Current 14 mA maximum Forward reverse and home inputs Number of pute 12 3 per axis Minimum pulse width 50 us digital filter disabled Input Gamer Eet Sinking or sourcing Voltage roange eee eeeeeeeeeeeeeees 0 to 30 V optically isolated Input on voltage ee 11 to 30 V Input off voltage 0to4 V Turn on current 11 V LC 4 5 mA maximum 30 V t LEE 12 5 mA maximum ACU VE States irsinin Programmable active open or active closed Refer to the Connections for Input Voltages Higher Than 5 V section of Chapter 4 Signal Connections for information about connections to higher input voltages NI PCI 7390 User Manual A 2 ni com Inhibit in alarm and in position inputs Number of inputs Minimum pulse width Input type Voltage range Input on voltage Input off voltage oo Turn on current IIV putsi niies 30 V inputs Active state Trigger position capture inputs Number of inputs Input type Voltage range Input on voltage Input off voltage Turn o
46. ew 3 1 parts locator diagrams 3 1 help technical support C 1 high side switch connection 4 18 home input 4 6 home switch signals ground connections 4 7 host communications 3 6 I O connectors 1 2 implementing trajectory control 3 4 inhibit output 4 16 inhibit in input 4 7 input circuit 4 18 in position input 4 7 input circuit 4 18 inputs connecting 4 18 installation category 2 3 hardware 2 4 software 2 1 instrument drivers NI resources C 1 ni com J jumpers general purpose output type 4 17 Mitsubishi accessory EMG signal configuration B 3 K KnowledgeBase C 1 L LabVIEW examples 1 3 limit and home inputs Axis lt 1 4 gt Forward Limit Input 4 6 Axis lt 1 4 gt Home Input 4 6 Axis lt 1 4 gt Reverse Limit Input 4 6 input circuit 4 18 signals ground connections 4 7 wiring concerns 4 7 low side switch connection 4 18 MCA 7790M Axis I O to PCI 7390 signals table B 2 CNA cable signals B 6 CNB cable signals B 7 EMG jumper configuration B 3 LED indicators B 2 MCA 7790P Axis I O to PCI 7390 signals table B 8 CN I F cable signals B 10 LED indicators B 8 MCA 7790Y Axis I O to PCI 7390 signals table B 13 CNI1 cable signals B 15 LED indicators B 13 Motion Assistant 1 3 National Instruments Corporation l 3 Index Motion Connection Accessories MCA 7790M B 1 MCA 7790P B 8 MCA 7790Y B 13 National Instruments application software 1 3 support an
47. f the drive and the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 signal This jumper setting shorts the EMG pin and General Purpose Input 0 pin together Connect the external shutdown emergency stop signal either to the EMG pin or the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 pin not both pins Wiring both pins in this configuration could cause permanent damage to your motion system You can use the EMG pin or the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 pin on the Axis I O screw terminal to connect a shutdown emergency stop switch or signal to both the drive and the controller In software configure the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 to function as a shutdown emergency stop input Note The drive is enabled normal operation when the EMG input is connected to isolated ground B 4 ni com Appendix B Motion Connection Accessories Shutdown Emergency Stop Signal Only to Drive Remove the jumper In this configuration the EMG input of the drive is only connected to the EMG pin on the Axis I O screw terminal The PCI 7390 Axis lt 1 4 gt General Purpose Input 0 can be used for any general purpose functionality The PCI 7390 Axis lt 1 4 gt General Purpose Input 0 signal can be accessed through the Axis I O screw terminal Connect the EMG switch or signal to the EMG pin on the Axis I O screw terminal In this configuration the shutdown emergency stop signal goes only to the drive and sto
48. face and powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimized system performance The PCI 7390 uses the DSP for all closed loop control and motion trajectory generation The DSP chip is supported by a custom FPGA that performs the high speed encoder interfacing trigger position capture and breakpoint position compare functions motion I O processing and stepper pulse generation for hard real time functionality The embedded CPU runs a multitasking real time operating system and handles host communications command processing multi axis interpolation error handling general purpose digital I O and overall motion system integration functions National Instruments Corporation 3 3 NI PCI 7390 User Manual Chapter 3 Hardware Overview NI PCI 7390 User Manual Embedded Real Time Operating System The embedded firmware is based upon an embedded real time operating system RTOS kernel and provides optimum system performance in varying motion applications Motion tasks are prioritized Task execution order depends on the priority of each task the state of the entire motion system I O or other system events and the real time clock The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized The PCI 7390 is a true multiprocessing and multitasking embedded controller Refer to the NI Motion User Manual for more
49. 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 National Instruments NI ni com and LabVIEW are trademarks of National Instruments Corporation Refer to the Terms of Use section on ni com legal for more information about National Instruments trademarks Other product and company names mentioned herein are trademarks or trade names of their respective companies Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency partnership or joint venture relationship with National Instruments Patents For patents covering National Instruments products refer to the appropriate location Help Patents in your software the patents txt file on your CD or ni com patents WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL CO
50. for NI 73xx Motion Controllers which is installed in the NI Motion Documentation folder where you installed NI Motion The default directory is Program Files National Instruments NI Motion i Note If you do not install the NI Motion driver software before attempting to use the PCI 7390 the system will not recognize the PCI 7390 and you will be unable to configure or use the device Controller Configuration Because motion I O related configuration of the PCI 7390 is performed entirely with software it is not necessary to set jumpers for motion I O configuration However it is necessary to set jumpers to select between sinking or sourcing output type for the controller s general purpose outputs Refer to the Selecting Sinking or Sourcing General Purpose Outputs section of Chapter 4 Signal Connections for more information The PCI 7390 controller is fully compatible with the industry standard PCI Local Bus Specification Revision 2 2 This compatibility allows the PCI system to automatically perform all bus related configuration without user interaction It is not necessary to configure jumpers for bus related configuration including setting the device base memory and interrupt channel 3 Note When adding or removing a controller from a Windows 2000 XP system you must be logged on with administrator level access After you have restarted the system you may need to refresh Measurement amp Automation Explorer MAX to view the
51. he 24 V IN supply if you are connecting to 24 V devices Ei Note You must connect the General Purpose Output Supply for proper operation of the general purpose outputs in both sinking and sourcing mode NI PCI 7390 User Manual 4 16 ni com Chapter 4 Signal Connections Iso 5 V i General gt Purpose i i i f Output Z AW i Suppl i Bag k a Sourcing i Ge Driver Optocoupler Isolated Ground SRC Iso 5V General Purpose OUT sr e Output ji Output Supply SNK EMA f P K DA Sinking t Driver i eg Optocoupler i l i solated teeta Yeoh Ae oe ae ce ee ete ae eee oa es eel Ground PCI 7390 Figure 4 11 General Purpose Output Circuit Selecting Sinking or Sourcing General Purpose Outputs Use the jumpers on the PCI 7390 to select between sinking and sourcing general purpose outputs You can configure each output bit individually To set the general purpose output bit as a sourcing output bit place the jumper across SRC and OUT To set the output bit as a sinking output bit place the jumper across OUT and SNK Refer to Figure 4 12 for the jumper placement Table 4 3 shows the relationship between the jumper name on the PCI 7390 and the specific output bit you want to configure SRC SRC OUT OUT SNK SNK 1 Sinking Configuration 2 Sour
52. he PCI 7390 offers additional high performance encoder features The encoder channels have position compare breakpoint outputs This signal is useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system e Axis lt 1 4 gt Breakpoint Output 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 Breakpoint outputs can be preset to a known state so that the transition when the breakpoint occurs can be low to high high to low or toggle 4 14 ni com Chapter 4 Signal Connections Breakpoint Position Compare Output Circuit The PCI 7390 provides four optically isolated breakpoint or position compare outputs Figure 4 10 shows a simplified schematic diagram of the circuit used by the breakpoint outputs The breakpoint outputs are driven by TTL buffers that feature 24 mA sink and source current capability and built in 20 KQO pull up resistors to 5 V You can directly set and reset breakpoint outputs to use them as general purpose digital outputs Iso 5 V ZE 4 SS Breakpoint Output High Speed Optocoupler ABT 126 TTL Buffer i Iso
53. he 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 controller if any serious error occurs The standard number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit G 8 ni com Index Numerics 100 pin I O connector 4 2 signal descriptions 4 3 7390 axes 3 5 configuration 2 1 connection accessories B 1 controller requirements for getting started 1 2 flash ROM 3 4 functional overview 3 3 LO connector signals 4 1 resources 3 6 installation 2 4 power supply connections 4 4 processor architecture 3 3 RTSI signal considerations 4 21 signal connections 4 1 trajectory control 3 4 A accessories 1 4 drive B 1 alarm input See inhibit in input Axis B 8 B 13 Axis lt 1 4 gt Alarm Clear Output 4 16 Drive Servo Ready Input 4 15 Encoder Index Phase Z 4 9 Encoder Phase A and Phase B 4 9 Forward Limit Input 4 6 Home Input 4 6 Inhibit In Alarm Input 4 7 Inhibit Out 4 16 National Instruments Corporation In Position Input 4 7 Reverse Limit Input 4 6 Step CW and Dir CCW 4 5 Trigger Input 4 13 VI_COM 4 4 breakpoint examples 4 21 C C examples 1 3 cables 1 4 encoders 4 10 command buffer 3
54. high speed position capture input causes instantaneous position capture lt 250 ns latency of the corresponding encoder count value You can use this high speed position capture functionality for applications ranging from simple position tagging of sensor data to complex camming systems with advance retard positioning and registration An available PCI 7390 position mode is to move an axis relative to a captured position National Instruments Corporation 4 13 NI PCI 7390 User Manual Chapter 4 Signal Connections UN Caution Exces failure Trigger Position Capture Input Circuit The PCI 7390 provides four optically isolated trigger inputs Figure 4 9 shows a simplified schematic diagram of the circuit used by the trigger inputs Notice that the trigger inputs are sinking inputs You can connect the trigger input to a sourcing output device or a TTL driver The polarity of the trigger input is programmable in software as high level low level rising edge or falling edge You also can use a trigger input as a latching general purpose digital input by simply ignoring the captured position Veo R Trigger i SE i Input f Le i i Le Ka High Speed Optocoupler Isolated Ground PCI 7390 Figure 4 9 Trigger Position Capture Input Circuit sive input voltages can cause erroneous operation and or component Breakpoint Position Compare Outputs NI PCI 7390 User Manual T
55. icable European Directives as amended for CE marking as follows Low Voltage Directive safety 73 23 EEC Electromagnetic Compatibility Directive EMC an 89 336 EEC 3 Note Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column National Instruments Corporation A 7 NI PCI 7390 User Manual Motion Connection Accessories This appendix describes the Motion Connection Accessory MCA connectivity blocks for direct connections between the NI PCI 7390 and Mitsubishi Panasonic and Yaskawa drives Mitsubishi J2S Series Drive Connection Accessory The NI MCA 7790M accessory NI part number 779612 01 provides connection between the PCI 7390 and Mitsubishi J2S series drives Connecting Mitsubishi Drives to the PCI 7390 To connect a Mitsubishi drive to the PCI 7390 connect two 20 pin cables from the drive to the MCA 7790M then connect a SCSI 100 pin cable from the MCA 7790M to the PCI 7390 Finally connect the MCA 7790M to a 24 V power supply using the IGND 24 V two terminal screw terminal 1 Mitsubishi J2S Series Drive 4
56. ion control for up to four independent or coordinated axes of motion with dedicated motion I O for limit and home switches and additional I O for general purpose functions You can use the PCI 7390 controller for point to point and straight line vector moves The PCI 7390 also performs arbitrary and complex motion trajectories through circular spherical or helical interpolation Stepper axes can operate in open or closed loop mode The PCI 7390 uses quadrature encoders for position and velocity feedback closed loop only and provides advanced encoder functions such as trigger position capture and breakpoint position compare The PCI 7390 provides step direction or clockwise CW counter clockwise CCW digital command outputs The controller supports full half and microstepping applications on all four axes National Instruments Corporation 1 1 NI PCI 7390 User Manual Chapter 1 Introduction Hardware RTSI The PCI 7390 is a high performance controller that uses an advanced dual processor architecture including a 32 bit CPU combined with a digital signal processor DSP and a custom field programmable gate array FPGA The first in first out FIFO bus interface and powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimum command throughput and system performance The PCI 7390 uses a 100 pin SCSI I O connector Each axis of the PCI 7390 has motion I
57. ive quadrature counts Destination or target position for motion specified with respect to the current location regardless of its value Treat the target position loaded as position relative to current position while making a move A flat cable in which the conductors are side by side read only memory non volatile memory used for storing code programs and data revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration ready to receive real time system integration bus the National Instruments timing bus that connects devices directly by means of connectors on top of the devices for precise synchronization of functions NI PCI 7390 User Manual Glossary sinking device sourcing device stepper T toggle torque trapezoidal profile trigger TTL V Vec velocity mode W watchdog word NI PCI 7390 User Manual seconds An output device that provides a current path to ground Also referred to as a low side switch An output device that provides a current supply to power Also referred to as a high side switch Specifies an axis that controls a stepper motor 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 t
58. l action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box This icon denotes a tip which alerts you to advisory information This icon denotes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash When this symbol is marked on a product refer to the Safety Information section of Chapter 2 Configuration and Installation for information about precautions to take Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names Italic text denotes variables emphasis a cross reference or an introduction to a key concept Italic text also denotes text that is a placeholder for a word or value that you must supply 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 National Instruments Corporation vii NI PCI 7390 User Manual About This Manual Related Documentation NI PCI 7390 User Manual The following documents contain information you might fin
59. lated Ground PCI 7390 i Figure 4 10 Breakpoint Position Compare Output Circuit General Purpose Inputs The PCI 7390 provides eight optically isolated sinking or sourcing general purpose inputs National Instruments Corporation Axis lt 1 4 gt Drive Servo Ready When enabled in software the drive ready input can be connected to the drive ready output or servo ready output of the drive It is a drive status signal indicating that the drive is ready or enabled Shutdown Input When enabled in software the shutdown input signal can be used to kill all motion by asserting the controller inhibits stopping any stepper pulse generation and returning to the default I O state The shutdown input is typically connected to an emergency stop switch if it is present in the system The input active state of these signals is software programmable for active open or active closed You can configure any of the eight general purpose inputs as the shutdown input The controller must be reset to clear the shutdown state 4 15 NI PCI 7390 User Manual Chapter 4 Signal Connections Refer to the Connecting Inputs to the PCI 7390 section for detailed information about connecting general purpose inputs General Purpose Outputs The PCI 7390 provides eight optically isolated sinking or sourcing general purpose outputs Jumpers on the board provide the capability to select between sinking or sourcing per output Refer to the Se
60. lecting Sinking or Sourcing General Purpose Outputs section for information about configuring the jumpers e Axis lt 1 4 gt Inhibit Out Axis lt 1 4 gt General Purpose Output 1 on each axis is configured by default in software as Axis lt 1 4 gt Inhibit Out Inhibit output signals can be used to control the enable inhibit Servo ON function of a p command drive When configured inhibit output signals are activated automatically upon a shutdown emergency stop condition a Kill Motion command or any motion error that causes a kill motion condition such as exceeding the following error limit e Axis lt 1 4 gt Alarm Clear Alarm clear outputs are used to clear the alarm or fault outputs on a p command drive General Purpose Output Circuit Figure 4 11 shows the simplified schematic diagram of the general purpose output circuit Jumpers on the board provide the ability to choose between a sinking driver or a sourcing driver for each output The output voltage on the general purpose outputs depends on the General Purpose Output Supply input which can range from 5 V to 30 V The General Purpose Output Supply is used as the reference voltage for the general purpose outputs When the a general purpose output jumper is configured for sourcing the output switches to the voltage supplied on the General Purpose Output Supply when it is turned on This supply is used for all eight general purpose outputs This supply can be connected to t
61. lure to include the resistor with the specified resistance will permanently damage the encoder input circuit The required external resistor value is calculated using the following equation where AV V V NI PCI 7390 User Manual 4 12 ni com Chapter 4 Signal Connections Refer to Table 4 2 for the Rgyr resistance values for the most common voltages Table 4 2 Resistance Values for Encoder Connections Voltage Typical Minimum Maximum V Resistance kQ Resistance KQ Resistance kQ 5 0 24 2 1 5 2 5 12 0 72 0 65 1 2 Wiring Concerns Caution The encoder input circuit is designed to tolerate 5 V signals For voltages higher than 5 V you must connect an external resistor to avoid damage to the encoder The encoder inputs are connected to quadrature decoder counter circuits It is very important to minimize noise at this interface Excessive noise on the 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 Trigger Position Capture Inputs The PCI 7390 offers additional high performance encoder features The encoder channels have position capture trigger inputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system e Axis lt 1 4 gt Trigger Input When enabled an active
62. motor for instance application programming interface Unit that controls a motor or any similar motion or control device bit one binary digit either 0 or 1 Memory address that serves as the starting address for programmable or I O bus registers All other addresses are located by adding to the base address A number system with a base of 2 Temporary storage for acquired or generated data software The group of conductors that interconnect individual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected Eight related bits of data an eight bit binary number Also used to denote the amount of memory required to store one byte of data counter clockwise implies direction of motor rotation A motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity Reference signal for digital I O An unwanted signal on one channel due to an input on a different channel communications status register clockwise implies direction of motor rotation G 2 ni com D dedicated DGND DLL drivers DSP E encoder encoder resolution F f FIFO filtering flash ROM following error trip point FPGA National Instruments Corporation G 3 Glossary Assigned to a particular function digital ground signal dynamically linked library provides the API for th
63. n current Active state Minimum pulse width Capture latency Capture accuracy Maximum repetitive capture rate Breakpoint position compare outputs Number of outputs Output type Voltage range Output high voltage Output low voltage Active state National Instruments Corporation A 3 Appendix A Specifications 0 to 30 V optically isolated 11 to30V 4 5 mA maximum 12 5 mA maximum Programmable active open or active closed 4 Encoders through 4 Sinking 0 to 5 V optically isolated gt 3 V lt 1V 14 mA maximum Programmable active high or active low 200 ns lt 250 ns 1 count 100 Hz 4 encoders 1 through 4 0 to 5 V optically isolated gt 2 5 V at 16 mA lt 0 5 V at 10 mA Programmable active high or active low NI PCI 7390 User Manual Appendix A Specifications General Purpose Digital 1 0 Inputs Number of inputs eee 8 Minimum pulse width 50 us Iput typerien sirieias Sinking or sourcing Voltage range eee eeeeeeeeeees 0 to 30 V optically isolated Input on voltage ee 11 to 30 V Input off voltage 0to4 V Turn on current 11 V inputs wee 4 5 mA maximum 30 V inputs oo eee 2 5 mA maximum ACTIVE State reos nenze Programmable active open or active closed Optional functionality Shutdown input drive servo ready input Outputs Number of out 8 Minimum pulse width 10 us Output TE Sinking or sourcing jumper selectable Switching voltage ee 0 to
64. n of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events NI PCI 7390 User Manual C 2 ni com Glossary Symbol Prefix Value u micro 10 6 m milli 10 3 M mega 106 Numbers Symbols per percent plus or minus 5 V 5 VDC source signal A A absolute mode absolute position active closed active high active low active open address National Instruments Corporation G 1 Amperes Treat the target position loaded as position relative to zero 0 while making a move Position relative to zero A signal is active when current is flowing through the optocoupled input A signal is active when its value goes high 1 A signal is active when its value goes low 0 A signal is active when current is not flowing through the optocoupled input Character code that identifies a specific location or series of locations in memory or on a host PC bus system NI PCI 7390 User Manual Glossary amplifier API axis b base address binary buffer bus byte C CCW closed loop common crosstalk CSR CW NI PCI 7390 User Manual 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
65. nd ZEROSPD 26 ZEROSPD Speed zero clamp GAIN 27 GAIN Gain switching DIV 28 DIV Command pulse scalar switch Axis lt 1 4 gt Inhibit Out 29 SRV ON Servo ON General Purpose Output 1 CL 30 CL Counter clear A_CLR 31 A CLR Alarm clear C_MODE 32 C MODE Control mode switching INH 33 INH Command pulse input inhibit Isolated Ground 34 S RDY Servo ready Axis lt 1 4 gt General Purpose Input 1 35 S RDY Servo ready Isolated Ground 36 ALM Servo alarm Axis lt 1 4 gt Inhibit In Alarm 37 ALM Servo alarm National Instruments Corporation B 11 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Table B 5 CN I F Cable Pin Assignments Continued Accessory Signal Pin Number Drive Signal Isolated Ground 38 COIN In position Axis lt 1 4 gt In Position 39 COIN In position TLC 40 TLC Torque in limit Isolated Ground 41 COM Control signal power IM 42 IM Torque monitor output SP 43 SPM Velocity monitor output NC 44 BATT Battery NC 45 BATT Battery NC 46 NC NC 47 NC Axis lt 1 4 gt Encoder Phase B 48 OB B phase output Axis lt 1 4 gt Encoder Phase B 49 OB B phase output Isolated Ground 50 FG Frame ground NI PCI 7390 User Manual B 12 ni com Appendix B Motion Connection Accessories Yaskawa Sigma Il Series Drive Connection Accessory The NI MCA 7790Y accessory NI part number 779
66. new controller National Instruments Corporation 2 1 NI PCI 7390 User Manual Chapter 2 Configuration and Installation Safety Information Caution The following section contains important safety information that you must follow when installing and using the PCI 7390 Do not operate the device in a manner not specified in this document Misuse of the device can result in a hazard You can compromise the safety protection built into the device if the device is damaged in any way If the device is damaged return it to National Instruments NI for repair Do not substitute parts or modify the device except as described in this document Use the device only with the chassis modules accessories and cables specified in the installation instructions You must have all covers and filler panels installed during operation of the device Do not operate the device in an explosive atmosphere or where there may be flammable gases or fumes If you must operate the device in such an environment it must be in a suitably rated enclosure If you need to clean the device use a soft nonmetallic brush Make sure that the device is completely dry and free from contaminants before returning it to service Operate the device only at or below Pollution Degree 2 Pollution is foreign matter in a solid liquid or gaseous state that can reduce dielectric strength or surface resistivity The following is a description of pollution degrees e Pollution
67. nnel to channel The General Purpose Output Supply current depends on the number of general purpose outputs in use and the total current drawn from all general purpose outputs National Instruments Corporation NI PCI 7390 User Manual Appendix A Specifications Environment The NI PCI 7390 is intended for indoor use only Operating temperature 0 0 ee 0 C to 55 C Storage temperature eee eeeeeeeeeee 20 C to 70 C Relative humidity oe eee eeeeeeeeee 10 to 90 noncondensing Pollution Degree eeeeeeeeseeeeneeeneeeee 2 Approved at altitudes up to 2 000 m Compliance and Certifications Safety This product is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e TEC 61010 1 EN 61010 1 e UL61010 1 e CAN CSA C22 2 No 61010 1 ei Note For UL and other safety certifications refer to the product label or visit ni com certification search by model number or product line and click the appropriate link in the Certification column Electromagnetic Compatibility Emiseiong EN 55011 Class A at 10 m FCC Part 15A above 1 GHz tv ru EE EN 61326 1997 A2 2001 Table 1 CE C Tick and FCC Part 15 Class A Compliant ei Note For EMC compliance operate this device with shielded cabling NI PCI 7390 User Manual A 6 ni com Appendix A Specifications CE Compliance This product meets the essential requirements of appl
68. o limit switches located at physical ends of travel and or at a specific home position You can use software to enable and disable limit and home inputs at any time When enabled an active 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 By default limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized Refer to Appendix A Specifications for more information You can use MAX to disable digital filtering for limit and home inputs Active signals should remain active to prevent motion from proceeding further into the limit Pulsed limit signals 4 6 ni com Chapter 4 Signal Connections stop motion but they do not prevent further motion in that direction if another move is started Refer to the Connecting Inputs to the PCI 7390 section for detailed information about connecting limit and home inputs 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 change their active state as required Limit and home inputs are a per axis enhancement on the PCI 7390 controller and are not required for basic motion control These inputs are part of a system solution for complete motion control UN Caution National Instruments recommends using limits for p
69. ortant Information Warranty The NI PCI 7390 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 Instruments r
70. ot directly connected to the electrical distribution system referred to as MAINS voltage This category is for measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics e Measurement Category II is for measurements performed on circuits directly connected to the electrical distribution system This category refers to local level electrical distribution such as that provided by a standard wall outlet for example 115 AC voltage for U S or 230 AC voltage for Europe Examples of Installation Category II are measurements performed on household appliances portable tools and similar devices modules e Measurement Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired equipment such as equipment in fixed installations distribution boards and circuit breakers Other examples are wiring including cables bus bars junction boxes switches socket outlets in the fixed installation and stationary motors with permanent connections to fixed installations e Measurement Category IV is for measurements performed at the primary electrical supply installation lt 1 000 V Examples include electricity meters and measurements on primary overcurrent protection devices and on ripple
71. p 10 Axis lt 1 4 gt Home Switch 11 Axis lt 1 4 gt Reverse Limit Switch 12 Axis lt 1 4 gt Forward Limit Switch 13 Isolated Ground 14 LG Control common 15 Isolated 5 V OUT 16 24 V ALM Trouble 17 RES Reset NI PCI 7390 User Manual B 2 ni com Appendix B Motion Connection Accessories Table B 1 Axis UO 1 through 4 to PCI 7390 and Mitsubishi J2S Series Drive Continued Accessory Pin Number PCI 7390 Signal Drive Signal 18 ZSP Zero speed 19 PC Proportion control 20 TLC Limiting torque 21 TL Torque limit selection 22 TLA Analog torque limit 23 VLA Analog speed limit 24 DO Digital output Refer to Figure 4 1 100 Pin I O Connector Pin Assignments for information about the 100 pin cable pin assignments The 24 V signals are directly connected to the 24 V screw terminal input tt Jumpers on the MCA 7790M are used to configure the General Purpose Input 0 and EMG signals on the Axis I O screw terminal Refer to the Configuring the EMG and GPI Signals Using the MCA 7790M section for configuration information Configuring the EMG and GPI Signals Using the MCA 7790M You can use the EMG jumpers on the MCA 7790M to configure the shutdown emergency stop signal on the drive and or on the PCI 7390 controller Figure B 2 shows the default EMG jumper configuration on the MCA 7790M 43
72. ps only the affected axis The other axes in the motion control system are unaffected Separate Shutdown Emergency Stop Signals to Controller and Drive Remove the jumper In this configuration the EMG input of the drive is only connected to the EMG pin on the Axis I O screw terminal Connect separate shutdown emergency stop switches or signals to the EMG pin and the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 pin on the Axis I O screw terminal In software configure the PCI 7390 Axis lt 1 4 gt General Purpose Input 0 to function as a shutdown emergency stop input Use the two shutdown emergency stop inputs independently as per your requirements In this configuration you configure separate shutdown emergency stop conditions for the drive and for the controller CNA and CNB Cable Pin Assignments Tables B 2 and B 3 show the pin assignments for the CNA and CNB cables ei Note These tables are provided for reference for custom cable assembly For custom cables use the 3M 20 pin MDR connector part number 10120 6000EC and 3M MDR backshell part number 10320 3210 000 National Instruments Corporation B 5 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Table B 2 CN1A through CN4A Pin Assignments CNA Pin Accessory Signal Number Drive Signal Line Ground 1 LG Control common Axis lt 1 4 gt Dir CCW 2 NP Forward rotation
73. pulse train Axis lt 1 4 gt Step CW 3 PP Reverse rotation pulse train NC No connection 4 P15R 15 VDC power supply Axis lt 1 4 gt Index Encoder Phase Z 5 LZ Encoder index phase Axis lt 1 4 gt Encoder Phase A 6 LA Encoder A phase Axis lt 1 4 gt Encoder Phase B 7 LB Encoder B phase Axis lt 1 4 gt General Purpose Output 0 8 CR Clear 24 V 9 COM power supply input signal Isolated Ground 10 SG Digital I F common NC 11 OPC Open collector power input Axis lt 1 4 gt Dir CCW 12 NG Forward rotation pulse train Axis lt 1 4 gt Step CW 13 PG Reverse rotation pulse train NC 14 OP Encoder Z phase pulse open collector Axis lt 1 4 gt Index Encoder Phase Z 15 LZR Encoder index phase Axis lt 1 4 gt Encoder Phase A 16 LAR Encoder A phase Axis lt 1 4 gt Encoder Phase B 17 LBR Encoder B phase Axis lt 1 4 gt In Position 18 INP In position Axis lt 1 4 gt General Purpose Input 1 19 RD Ready Isolated Ground 20 SG Digital I F common NI PCI 7390 User Manual B 6 ni com Appendix B Motion Connection Accessories Table B 3 CN1B through CN4B Pin Assignments CNB Pin Accessory Signal Number Drive Signal Line Ground 1 LG Control common VLA 2 VC VLA Analog speed limit NC 3 VDD I F internal power supply DO 4 DO Digital output Axis lt 1 4 gt Inhibit Out General 5 SON Servo On Purpose Output 1 TLC 6
74. r counter clear 13 24 Vi 14 Isolated Ground 15 BRK OFF Mechanical break release 16 BRK OFF Mechanical break release 17 Isolated Ground 18 DIV Command pulse scalar switch 19 SP Velocity monitor output 20 IM Torque monitor output 21 TLC Torque in limit 22 C MODE Control mode switching 23 GAIN Gain switching 24 ZEROSPD Speed zero clamp 25 24 V 2 26 INH Pulse inhibit 27 Isolated Ground 28 CWTL CW torque limit 29 CCWTL TRQR CCW torque limit 30 SPR TRQR Velocity torque command National Instruments Corporation B 9 NI PCI 7390 User Manual Appendix B Motion Connection Accessories Table B 4 Axis I O 1 through 4 to PCI 7390 and Panasonic MINAS A Series Drive Continued Accessory Pin Number PCI 7390 Signal Drive Signal 31 ZSP Zero speed detection 32 A CLR Alarm clear T Refer to Figure 4 1 00 Pin I O Connector Pin Assignments for information about the 100 pin cable pin assignments The 24 V signals are directly connected to the 24 V screw terminal input CN I F Cable Pin Assignments Table B 5 shows the pin assignments for the CN I F cable EI Note This table is provided for reference for custom cable assembly For custom cables use the 3M 50 pin MDR connector part number 10150 6000EC and 3M backshell part number 10350 3210 000 Table B 5 CN I F Cable Pin A
75. r unit of measure which can be revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in NI Motion systems el Tip If your encoder does not supply resolution in quadrature counts per revolution determine quadrature counts per revolution by multiplying the encoder resolution in encoder lines or periods by four Encoder counts per revolution is also referred to as counts per index For example a 500 line encoder has 2 000 quadrature counts per revolution Axis lt 1 4 gt Encoder Index Phase Z The Index Phase Z input is primarily used to establish a reference position This function uses the number of counts per revolution or the linear distance to initiate a search move that locates the index position When a valid Index signal transition occurs during a Find Reference routine the position of the Index signal is captured accurately Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required National Instruments Corporation 4 9 NI PCI 7390 User Manual Chapter 4 A Signal Connections Caution Unshi The default MAX settings guarantee that the Find Index routine completes successfully if the encoder generates a high index pulse when phases A and B are low and the encoder is connected through an NI MCA or drive accessory Figure 4 5 shows the single ended representa
76. reference for power supply CLR 14 CLR Clear input PL3 15 CLR Clear input NC 16 NC NC 17 NC PL3 18 PL3 Open collector reference for power supply Axis lt 1 4 gt Index 19 PCO PG divided output C phase Encoder Phase Z Axis lt 1 4 gt Index 20 PCO PG divided output C phase Encoder Phase Z NC 21 BAT Battery NC 22 BAT Battery NC 23 NC NC 24 NC Axis lt 1 4 gt In Position 25 V CMP COIN Speed coincidence detection output Isolated Ground 26 V CMP COIN Speed coincidence detection output TGON 27 TGON TGON signal output TGON 28 TGON TGON signal output Axis lt 1 4 gt General Purpose 29 S RDY Servo ready output Input 1 Isolated Ground 30 S RDY Servo ready output Axis lt 1 4 gt Inhibit In Alarm 31 ALM Servo alarm output Isolated Ground 32 ALM Servo alarm output Axis lt 1 4 gt Encoder Phase A 33 PAO PG divided output A phase NI PCI 7390 User Manual B 16 ni com Appendix B Motion Connection Accessories Table B 7 CN1 Cable Pin Assignments Continued Accessory Signal Pin Number Drive Signal Axis lt 1 4 gt Encoder Phase A 34 PAO PG divided output A phase Axis lt 1 4 gt Encoder Phase B 35 PBO PG divided output B phase Axis lt 1 4 gt Encoder Phase B 36 PBO PG divided output B phase ALO1 37 ALO1 Alarm code output AL02 38 ALO2 Alarm code ou
77. s Corporation 1 3 NI PCI 7390 User Manual Chapter 1 Introduction Optional Equipment NI PCI 7390 User Manual National Instruments offers a variety of products for use with the PCI 7390 controller including the following accessories Cables and cable assemblies for motion and digital I O RTSI cable for connection with other National Instruments devices Connector blocks and shielded and unshielded 100 pin screw terminal wiring aids Motion Connection Accessory MCA wiring connectivity blocks for easy and direct connections to Mitsubishi NI part number 779612 01 Panasonic NI part number 779613 01 and Yaskawa NI part number 77961 1 01 drives Refer to Appendix B Motion Connection Accessories for more information 24 V DC power supplies PS 4 NI part number 778586 90 PS 5 NI part number 778805 90 For more specific information about these products refer to the National Instruments catalog the National Instruments Web site at ni com or call your National Instruments sales representative 1 4 ni com Configuration and Installation This chapter describes how to configure and install the NI PCI 7390 Software Installation Before installing the PCI 7390 install the NI Motion driver software and if appropriate the NI Motion VI libraries For specific installation instructions refer to the NJ PCI 7390 Installation Guide which is included with the controller or to Getting Started with NI Motion
78. s and alternate signal names Table 4 1 1 0 Signal Connections Alternate Signal Name Signal Name Reference Direction Description Axis lt 1 4 gt Dir CCW Isolated Ground Output Motor direction or counter clockwise control Axis lt 1 4 gt Step CW Pulse Isolated Ground Output Motor step or clockwise control Axis lt 1 4 gt Encoder Phase A Input Phase A encoder input Axis lt 1 4 gt Encoder Phase B Input Phase B encoder input Axis lt 1 4 gt Index Encoder Input Index encoder input Encoder Phase Z Phase Z Axis lt 1 4 gt Inhibit In Alarm VI COM lt 1 4 gt Input Inhibit input alarm or Drive Fault fault signal from the drive Axis lt 1 4 gt In Position VI_COM lt 1 4 gt Input Move complete status signal from the drive Axis lt 1 4 gt Home Switch VI_COM lt 1 4 gt Input Home switch Axis lt 1 4 gt Forward Limit VI_COM lt 1 4 gt Input Forward clockwise limit Switch switch Axis lt 1 4 gt Reverse Limit VI_COM lt 1 4 gt Input Reverse counter Switch clockwise limit switch Axis lt 1 4 gt Trigger Position Isolated Ground Input High speed position Position Capture Capture capture input Axis lt 1 4 gt Breakpoint Position Isolated Ground Output High speed position Position Compare Compare compare output Axis lt 1 4 gt General Purpose VI_COM lt 1 4 gt Input General purpose inputs Input lt 0 1 gt Optional general purpose Drive Ready VI_COM lt 1 4 gt
79. signal is optional but highly recommended in combination with Find Reference moves for more accurate positioning Voc Encoder Rumi Input B eVWv i RY 4 Encoder gt Input i High Speed Optocoupler PCI 7390 Figure 4 6 Encoder Input Circuit Voc Encoder with 24 V i Sinking Output Encoder i Input Ruimit vee wv Rext A Z AW Output e I ERE a Encoder 7 SS Input High Speed Optocoupler 7 Isolated Ground l PCI 7390 Isolated Ground Figure 4 7 Encoder Input Circuit Connected to a Sinking Output Device with a 24 V Power Supply National Instruments Corporation 4 11 NI PCI 7390 User Manual Chapter 4 Signal Connections Encoder with 424 V Sourcing Output Segen See se Seeerei See EES LR Isolated Ground v R Encoder i EXT Input Ruimit Output WN NVV b 2 kQ S Ze k V a i Encoder i Input High Speed Optocoupler PCI 7390 Isolated Ground Figure 4 8 Encoder Input Circuit Connected to a Sourcing Output Device with a 24 V Power Supply Connections for Input Voltages Higher Than 5 V When connecting to devices with output voltages higher than 5 V an external resistor Rgxr must be included AA Note Usea resistor tolerance of 5 or better for Rgyr r Caution Fai
80. ssignments Accessory Signal Pin Number Drive Signal NC No connection 1 NC NC 2 NC Axis lt 1 4 gt Step CW 3 PULS1 Command pulse Axis lt 1 4 gt Step CW 4 PULS2 Command pulse Axis lt 1 4 gt Dir CCW 5 SIGN1 Command sign Axis lt 1 4 gt Dir CCW 6 SIGN2 Command sign 24 V 7 COM Control signal power Isolated Ground 8 CWL CW overtravel limit Isolated Ground 9 CCWL CCW overtravel limit BRK_OFF 10 BRK OFF Mechanical brake release BRK_OFF 11 BRK OFF Mechanical brake release ZSP 12 ZSP Zero speed detection Isolated Ground 13 GND Signal ground NI PCI 7390 User Manual B 10 ni com Appendix B Motion Connection Accessories Table B 5 CN I F Cable Pin Assignments Continued Accessory Signal Pin Number Drive Signal SPR_TRQR 14 SPR TRQR Velocity torque command Isolated Ground 15 GND Signal ground CCWTL_TRQR 16 CCWTL TRQR CCW torque limit Isolated Ground 17 GND Signal ground CWTL 18 CWTL CW torque limit NC 19 CZ open collector Z phase output NC 20 NC Axis lt 1 4 gt Encoder Phase A 21 OA A phase output Axis lt 1 4 gt Encoder Phase A 22 OA A phase output Axis lt 1 4 gt Index 23 OZ Z phase output Encoder Phase Z Axis lt 1 4 gt Index 24 OZ Z phase output Encoder Phase Z Isolated Ground 25 GND Signal grou
81. technical support C 1 training and certification NI resources C 1 trajectory generation 3 4 troubleshooting NI resources C 1 U updating FPGA programs 3 4 V voltage specifications working max A 5 W Web resources C 1 wiring encoder signals 4 13 limit and home inputs 4 7 trigger inputs 4 14 ni com
82. ting Inputs to the PCI 7390 section for detailed information about connecting inhibit in and in position inputs You can use software disabled inhibit in alarm and in position inputs as general purpose inputs You can read the status of these inputs at any time and change their active state as required Inhibit in alarm and in position inputs are a per axis enhancement on the PCI 7390 controller and are not required for basic motion control These inputs are part of a system solution for complete motion control The PCI 7390 offers four channels of quadrature encoder inputs Each channel consists of differential Phase A Phase B and Index Phase Z inputs as described in the following sections The encoder inputs are optically isolated differential and RS 422 compatible The encoder input interface circuit converts the differential inputs to single ended signals as shown in Figures 4 7 and 4 8 The encoder signals are used for position and velocity feedback for absolute and relative positioning of axes You can accommodate encoders with various phase relationships by swapping the signals as required by the application Ss Note The PCI 7390 does not support single ended encoders Figure 4 4 shows the differential encoder input signals and the resulting single ended signal for Phase A Phases B and Index are converted in the same way as Phase A Axis lt 1 4 gt Encoder Phase A Axis lt 1 4 gt Encoder Phase A Encoder Phase A
83. tion of the connector signals PhaseA L Phase B Index Figure 4 5 Quadrature Encoder Phasing Diagram You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search You also can set the encoder polarity for phases A B and Z in MAX Encoders with differential line driver outputs are strongly recommended for all applications and must be used if the encoder cable length is longer than 3 05 m 10 ft Cables with twisted pairs and an overall shield are recommended for optimized noise immunity elded cables can cause noise to corrupt the encoder signals resulting in lost counts and reduced motion system accuracy NI PCI 7390 User Manual 4 10 ni com Chapter 4 Signal Connections Encoder Input Circuit The PCI 7390 provides optically isolated RS 422 compatible differential encoder inputs Figure 4 6 shows a simplified schematic diagram of the encoder input interface circuit You can connect these inputs to RS 422 driver outputs or to single ended sourcing or sinking outputs that meet the voltage and current requirements Figures 4 7 and 4 8 show the connections to devices with sinking outputs and sourcing outputs respectively Both phases A and B are required for proper encoder counter operation The encoder and Index Phase Z signals are conditioned by a software programmable digital filter inside the FPGA The Index Phase Z
84. tput AL03 39 ALO3 Open collector output Axis lt 1 4 gt Inhibit Out 40 S ON Servo ON input General Purpose Output 1 P_CON 41 P CON P operation input Isolated Ground 42 P OT Forward overtravel input Isolated Ground 43 N OT Reverse overtravel input ALM_RS 44 ALM RST Alarm reset input P_CL 45 P CL Forward current limit ON input N_CL 46 N CL Reverse current limit ON input 24 V 47 24 V IN External input power supply PSO 48 PSO S phase signal output PSO 49 PSO S phase signal output NC 50 NC Pins 15 and 18 are connected together on the accessory but are not available on the Axis I O screw terminal National Instruments Corporation B 17 NI PCI 7390 User Manual Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni com for technical support and professional services National Instruments Corporation Support Online technical support resources at ni com support include the following Self Help Resources For answers and solutions visit the award winning National Instruments Web site for software drivers and updates a searchable KnowledgeBase product manuals step by step troubleshooting wizards thousands of example programs tutorials application notes instrument drivers and so on Free Technical Support All registered users receive free Basic Service which includes access to hundreds of Application
85. uts e In position inputs e Encoder feedback inputs e Trigger position capture inputs e Breakpoint position compare outputs e General purpose inputs Drive servo ready inputs Shutdown input National Instruments Corporation 4 1 NI PCI 7390 User Manual Chapter 4 Signal Connections e General purpose outputs Inhibit out drive enable outputs Alarm clear outputs You can configure the general purpose inputs and outputs in software for optional functionality such as drive ready inputs and alarm clear outputs Figure 4 1 shows the pin assignments for the 100 pin motion I O connector on the PCI 7390 Isolated 5V OUT Isolated Ground 24V IN General Purpose Output Supply Axis 1 General Purpose Output 0 Axis 1 General Purpose Output 1 Axis 1 Inhibit Out Axis 1 Encoder Phase A Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Phase B Axis 1 Index Encoder Phase Z Axis 1 Index Encoder Phase Z Isolated Ground Axis 1 Step CW Axis 1 Step CW Axis 1 Dir CCW Axis 1 Dir CCW Axis 1 Breakpoint Position Compare Axis 1 VILCOM Axis 1 Trigger Position Capture Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 1 Home Switch Axis 1 Inhibit In Alarm Axis 1 In Position Axis 1 General Purpose Input 0 Axis 1 General Purpose Input 1 Axis 4 Drive Servo Ready Isolated Ground Axis 2 General Purpose Output 1 Axis 2 Inhibit Out A
86. xis 2 Encoder Phase A Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Phase B Axis 2 Index Encoder Phase Z Axis 2 Index Encoder Phase Z Isolated Ground Axis 2 Step CW Axis 2 Step CW Axis 2 Dir CCW Axis 2 Dir CCW Axis 2 Breakpoint Position Compare Axis 2 VILCOM Axis 2 Trigger Position Capture Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 2 Home Switch Axis 2 Inhibit In Alarm Axis 2 In Position Axis 2 General Purpose Input 0 Axis 2 General Purpose Input1 Axis 4 Drive Servo Ready 50 100 49 99 48 98 47 97 46 96 45 95 44 94 43 93 42 92 41 91 40 90 39 89 38 88 37 87 36 86 35 85 34 84 33 83 32 82 31 81 30 80 29 79 28 78 27 77 26 76 25 75 24 74 23 73 22 72 21 71 20 70 19 69 18 68 17 67 16 66 15 65 14 64 13 63 12 62 11 61 10 60 9 59 8 58 7 57 6 56 5 55 4 54 3 53 2 52 1 51 Isolated 5V OUT Isolated Ground Axis 2 General Purpose Output 0 Axis 3 General Purpose Output 0 Axis 4 General Purpose Output 0 Axis 3 General Purpose Output 1 Axis 3 Inhibit Out Axis 3 Encoder Phase A Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Phase
87. y stop input drive servo ready inputs inhibit drive enable outputs alarm clear outputs and general purpose inputs and outputs All inputs and outputs are optically isolated Refer to Chapter 4 Signal Connections for details about the I O connector signals NI PCI 7390 User Manual 3 2 ni com Chapter 3 Hardware Overview The PCI 7390 RTSI connector provides up to eight triggers 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 You also can use the RTSI bus for general hardware based communication between RTSI devices The RTSI bus also can be used for general purpose I O Refer to Chapter 4 Signal Connections for details about RTSI connector signals Functional Overview This section provides an overview of the PCI 7390 capabilities including the advanced dual processor architecture axes and motion resources and communication with the host computer Dual Processor Architecture The PCI 7390 can perform up to four axes of simultaneous motion control in a preemptive multitasking real time environment An advanced dual processor architecture that uses a real time 32 bit CPU combined with a DSP and a custom FPGA give the PCI 7390 controllers high performance capabilities The FIFO bus inter

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