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NI 7330 User Manual and Specifications

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1. MADE IN U S A FOR PATENTS NI COM PATENTS Oo y E N114 y 1 Ce 8 INSTRUMENTS COPYRIGHT zuo o A lt ac N e e E J E Cc 1 Identification Number Used in Australia 4 Assembly Number Label 2 Symbol Indicating FFC Compliance 5 Symbol to Alert User to Read the Manual 3 Board Type Label 3 2 ni com NI 7330 User Manual and Specifications Figure 3 3 NI PCI 7330 Parts Locator Diagram 1 E e FOR PATENTS NLCDM PATENTS Ss y 0606000000000000000 6000000000000000 NI PCI 7330 enna CE E S N dod gt O Symbol Indicating FFC Compliance Identification Number Used in Australia Symbol to Alert User to Read the Manual 68 Pin Digital I O Connector 0 68 Pin Motion I O Connector RoHS Mark RTSI Connector Serial Number Label Assembly Number Label Board Type Label User Connectors The 68 pin motion I O connector provides all the signals for four axes of closed loop motion control including encoder feedback limit and home inputs breakpoint outputs trigger inputs and analog to digital A D converter signals Refer to Chapter 4 Signal Connections for details about the signals in the motion I O connector AUN 00N The 68 pin digital I O connector provides 32 bits of user configurable digital I O Refer to Chapter 4 Signal Connections for details about the signal
2. eese 68 pin female high density VHDCI type 32 bit digital I O connector 68 pin female high density VHDCI type Weight PCI 7330 113 g 4 oz PXI 7330 170 g 6 oz A Caution Clean the hardware with a soft nonmetallic brush Make sure that the hardware is completely dry and free from contaminants before returning it to service Maximum Working Voltage Channel to earth esee 12 V Installation Category 1 signal voltage plus common mode voltage Channel to channel sss 22 V Installation Category 1 signal voltage plus common mode voltage A 4 ni com NI 7330 User Manual and Specifications A Caution These values represent the maximum allowable voltage between any accessible signals on the controller To determine the acceptable voltage range for a particular signal refer to the individual signal specifications A Caution The protection provided by the NI 7330 can be impaired if it is used in a manner not described in this document Environment Operating temperature sese 0 to 55 C Storage temperature sse 20 to 70 C Humidity erorri tranne er castes hee tineeene edes 10 to 90 RH noncondensing Maximum altitude 2 000 m Pollution Degree seseeereeee 2 Indoor use only Safety This product meets the requirements of the following standards of safety for electrical equipment for measurem
3. 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 Digital Ground Digital Ground Digital Ground DPull Digital Ground Reserved Digital Ground Digital Ground Digital Ground Port 1 bit 1 Port 1 bit 2 Digital Ground Port 1 bit 5 Port 1 bit 6 Digital Ground Digital Ground Port 2 bit 2 Port 2 bit 3 Port 2 bit 4 Port 2 bit 5 Digital Ground Digital Ground Port 3 bit 1 Port 3 bit 2 Digital Ground Port 3 bit 5 Port 3 bit 6 Digital Ground Port 4 bit 1 Port 4 bit 2 Digital Ground Port 4 bit 5 Port 4 bit 6 Digital Ground The 32 bit digital I O port is configured in hardware as four 8 bit digital I O ports The bits ina port are typically controlled and read with byte wide bitmapped commands All digital I O lines have programmable direction and polarity Each output circuit can sink and source 24 mA National Instruments 4 13 Chapter 4 Signal Connections The DPull pin controls the state of the input pins at power up Connecting DPull to 5 V or leaving it unconnected configures all pins in all ports for 100 kO pull ups Connecting DPull to ground configures the ports for 100 kO pull downs PWM Features The NI 7330 motion controller provides two pulse width modulation PWM outputs on the digital I O connector The PWM outputs gener
4. Measurement categories also referred to as overvoltage or installation categories are defined in electrical safety standard IEC 61010 1 and IEC 60664 1 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation N o MAINS is defined as a hazardous live electrical supply system that powers hardware Suitably rated measuring circuits may be connected to the MAINS for measuring purposes measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special hardware limited energy parts of hardware 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 MAINS 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 Measurement Category II are measurements performed on household appliances portable tools and similar hardware Measurement Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired hardware such as hardware in fixed installations distribution boards and circuit breakers Other examples are wiring including cables bus bars junction boxes switches s
5. number lines per unit of measure which can be revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in NI Motion systems Q Tip Determine quadrature counts by multiplying the encoder resolution in encoder lines by four The encoder resolution is the number of encoder lines between consecutive encoder marker or Z bit indexes If the encoder does not have an index output the resolution is referred to as lines per revolution or lines per unit of measure such as inch centimeter millimeter and so on Encoder lt 1 4 gt Index Phase Z The Index input is primarily used to establish a reference position This function uses the number of counts per revolution or the linear distance to initiate a search move that locates the index position When a valid Index signal transition occurs during a Find Reference routine the position of the Index signal is captured accurately Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required The default MAX settings guarantee 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 UMI or drive accessory Figure 4 4 shows the default encoder phasing diagram at the inputs to the controller National Instruments 4 7 Chapter
6. 32 Bit Encoder Optional Interface The NI 7330 motion controller supports axes with secondary output resources Defining two output resources is useful when controlling axes with multiple motors Note Refer to the N Motion Help for more information about configuring axes Motion Resources Encoder ADC and motion I O resources that are not used by an axis are available for non axis or nonmotion specific applications You can directly control an unmapped ADC as a general purpose analog input 10 V to measure potentiometers or other analog sensors If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input for master slave electronic gearing applications Each axis also has an associated forward and reverse limit input a home input a high speed capture trigger input a breakpoint output and an inhibit output These signals can be used for general purpose digital I O when they are not being used for their motion specific purpose Host Communications The host computer communicates with the controller through a number of memory port addresses on the PCI or PXI host bus The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions The NI 7330 motion controller has both a command buffer for i
7. oats Encoder lt 1 4 gt Phase A Phase B Encoder lt 1 4 gt Index Phase Z Wiring Concerns s Encoder Input Circuit ost He ene Re Trigger Inputs Shutdown Input and Breakpoint Outputs sss 4 9 Wiring Concerns n Trigger Input Shutdown Input and Breakpoint Output Circuits 4 10 PNE 4 11 Wiring Concerns eese ener nennen nenne ennt nen nennen 4 12 Other Motion I O Connection essere entree 4 12 Digital I O Connector PWM Features RISD ConnectOr s 3sscssecscesedsstedacsuetucbvsdvecstistenavssnearssnsarsannan tioned nina G E ETEEN RTSI Signal Considerations essent ener 4 14 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index vi ni com Introduction This chapter includes information about the features of the National Instruments PXI PCI 7330 controller and information about operating the device About the NI 7330 Motion Controller The NI 7330 motion controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW Features The NI 7330 motion controller is a stepper motor controller for PXI and PCI The NI 7330 provides fully programmable motion control for up to four independent or coordinated axes of motion with
8. 4 12 Axis lt 1 4 gt Forward Limit Input 4 5 Home Input 4 5 Inhibit 4 4 Reverse Limit Input 4 5 Step CW and Dir CCW 4 4 B Breakpoint Output Circuit 4 10 breakpoint examples 4 14 C cables 1 3 encoders 4 8 calibration certificate NI resources C 1 command buffer 3 6 communications status register CSR 3 6 communications host 3 6 configuration 2 1 connectors 1 3 3 3 RTSI 3 3 D Declaration of Conformity NIresources C 1 diagnostic tools NI resources C 1 digital I O connector pin assignments 4 13 documentation NI resources C 1 drivers NI resources C 1 E Encoder lt 1 4 gt Index 4 7 Phase A Phase B 4 7 encoders cables 4 8 inputs limiting noise 4 8 signals cables 4 8 ground connections 4 8 examples NI resources C 1 F features 1 1 FPGA programs updating 3 5 functional overview host communications 3 6 National Instruments 1 1 Index G ground connections encoder signals 4 8 home switch signals 4 6 limit signals 4 6 H hardware 1 1 help technical support C 1 home inputs circuit 4 5 home switch signals ground connections 4 6 Host 5 V motion I O connection 4 12 host communications 3 6 I O connectors 1 3 implementing trajectory control 3 5 installation hardware 2 4 software 2 1 instrument drivers NI resources C 1 K KnowledgeBase C 1 L limit inputs wiring 4 6 signals ground connections 4 6 lim
9. 4 Signal Connections Figure 4 4 Quadrature Encoder Phasing Diagram Phase A Phase B Index i i You can set the index reference criteria in MAX to change the pattern of phases A and B for the Index search You can also set the encoder polarity for phases A B and Z in MAX Wiring Concerns The encoder inputs are connected to quadrature decoder counter circuits It is very important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system A Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation 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 Shielded 24 AWG wire is the minimum recommended size for the encoder cable Cables with twisted pairs and an overall shield are recommended for optimized noise immunity All National Instruments power drives and UMI accessories provide built in circuitry that converts differential encoder signals to single ended encoder signals A Caution Unshielded cable can cause noise to corrupt the encoder signals resulting in los
10. Digital Ground Input Reverse counter clockwise limit Switch switch Axis lt 1 4 gt Inhibit Digital Ground Output Drive inhibit Trigger lt 1 4 gt Digital Ground Input High speed position capture trigger input lt 1 4 gt Breakpoint lt 1 4 gt Digital Ground Output Breakpoint output lt 1 4 gt Host 5 V Digital Ground Output 5 V host computer 5 V supply Analog Input Ground E Reference for analog inputs Analog Input lt 1 4 gt Analog Input Input 12 bit analog input Ground Shutdown Digital Ground Input Controlled device shutdown Analog Reference output Analog Input Output 7 5 V analog reference level Ground Digital Ground Reference for digital I O National Instruments 4 3 Chapter 4 Signal Connections Motion Axis Signals The following signals control the stepper driver Axis lt 1 4 gt Step CW and Dir CCW These open collector signals are the stepper command outputs for each axis The NI 7330 motion controller supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the command direction of motion either fo
11. User License Agreements and Third Party Legal Notices You can find end user license agreements EULAs and third party legal notices in the following locations Notices are located in the National Instruments gt _Legal Information and National Instruments directories EULAs are located in the National Instruments gt Shared MDF Legal license directory Review National Instruments V Legal Information txt for more information on including legal information in installers built with NI products Trademarks Refer to the NMI Trademarks and Logo Guidelines at ni com trademarks for more information on National Instruments trademarks ARM Keil and Vision are trademarks or registered of ARM Ltd or its subsidiaries LEGO the LEGO logo WEDO and MINDSTORMS are trademarks of the LEGO Group 2013 The LEGO Group TETRIX by Pitsco is a trademark of Pitsco Inc 2013 FIELDBUS FOUNDATION and FOUNDATION are trademarks of the Fieldbus Foundation EtherCAT is a registered trademark of and licensed by Beckhoff Automation GmbH CANopen is a registered Community Trademark of CAN in Automation e V DeviceNet and EtherNet IP are trademarks of ODVA Go SensorDAQ and Vernier are registered trademarks of Vernier Software amp Technology Vernier Software amp Technology and vernier com are trademarks or trade dress Xilinx is the registered trademark of Xilinx Inc Taptite and Trilobular are registered trademarks
12. a stepper motor Changing state from high to low back to high and so on Force tending to produce rotation National Instruments G 7 Glossary trapezoidal profile trigger TTL V Vec velocity mode W watchdog word G 8 ni com A typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity then decelerates at the programmed acceleration to the target position Any event that causes or starts some form of data capture transistor transistor logic volts Positive voltage supply Move the axis continuously at the specified velocity A timer task that shuts down resets the motion control board if any serious error Occurs The standard number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit Index Numerics 68 pin motion I O connector 4 1 signal descriptions 4 3 7330 analog feedback 3 5 axes 3 5 controller requirements for getting started 1 2 digital I O lines 4 13 flash ROM 3 5 functional overview 3 4 motion I O connector signals 4 1 resources 3 6 operating system 3 4 processor architecture 3 4 pulse width modulation inputs 4 14 RTSI signal considerations 4 14 signal connections 4 1 trajectory control 3 4 A accessories 1 3 Analog Input lt 1 4 gt 4 11 Analog Input Ground 4 12 Analog Reference 4 11 analog signal wiring
13. be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions Turning the host computer off and then back on which causes a reset of the motion control board pulse width modulation a method of controlling the average current in a motor phase winding by varying the on time duty cycle of transistor switches PCI eXtensions for Instrumentation Q quadrature counts R RAM relative breakpoint relative position relative position mode ribbon cable RPM RPSPS or RPS S RTR RTSI servo stepper T toggle torque NI 7330 User Manual and Specifications The encoder line resolution times four random access memory Sets the position breakpoint for an encoder in relative quadrature counts Destination or target position for motion specified with respect to the current location regardless of its value Position relative to current position A flat cable in which the conductors are side by side revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration ready to receive 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 seconds Specifies an axis that controls a servo motor Specifies an axis that controls
14. channels in software Disable unused ADC channels for the highest multiplexer scan rate performance When the ADC channels are properly enabled the scan rate is high enough to support analog feedback at the highest PID sample rate Analog Reference For convenience 7 5 V nominal analog reference voltage is available You can use this output as a low current supply to sensors that require a stable reference Refer to Appendix A Specifications for analog reference voltage specifications National Instruments 4 11 Chapter 4 Signal Connections Analog Input Ground To help keep digital noise out of the analog input a separate return connection is available Use this reference ground connection and not Digital Ground digital I O reference as the reference for the analog inputs Q Tip Refer to the Measuring Floating Nonreferenced Sources section of the Field Wiring and Noise Considerations for Analog Signals NI Developer Zone document at ni com zone for more information about analog input connections Wiring Concerns For proper use of each ADC input channel the analog signal to be measured should be connected to the channel input and its ground reference connected to the Analog Input Ground Note The analog reference output is an output signal only and must not connect to an external reference voltage Connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltag
15. com environment rohs china For information about China RoHS compliance go to ni com environment rohs china A 6 ni com Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to the National Instruments PXI PCI 7330 Figure B 1 shows the pin assignments for the stepper 50 pin motion connectors These connectors are available when you use the SH68 C68 S shielded cable assembly and the 68M 50F step servo bulkhead cable adapter Figure B 1 50 Pin Stepper Connector Pin Assignment Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 Step CW Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Home Switch 8 Axis 1 Encoder Index Trigger Breakpoint 1 9 10 Axis 1 Forward Limit Switch Axis 1 Inhibit 11 12 Axis 1 Reverse Limit Switch Axis 2 Dir CCW 13 14 Axis 2 Step CW Digital Ground 15 16 Axis 2 Encoder Phase A Digital Ground 17 18 Axis 2 Encoder Phase B Axis 2 Home Switch 19 20 Axis 2 Encoder Index Trigger Breakpoint 2 21 22 Axis 2 Forward Limit Switch Axis 2 Inhibit 23 24 Axis 2 Reverse Limit Switch Axis 3 Dir CCW 25 26 Axis 3 Step CW Digital Ground 27 28 Axis 3 Encoder Phase A Digital Ground 29 30 Axis 3 Encoder Phase B Axis 3 Home Switch 31 32 Axis 3 Encoder index Trigger Breakpoint 3 33 34 Axis 3 Forward Limit Switch Axis 3 Inhibit 35 36 Axis 3 Reverse Limit Switch Axis
16. injector ejector handle to fully secure the device into place Figure 2 1 Installing an NI 73xx Motion Controller in a PXI Chassis 1 PXI Chassis 4 Front Panel Mounting Screws 2 PXI System Controller 5 Module Guides 3 NI 73xx Motion Controller 6 Power Switch 2 6 NI 7330 User Manual and Specifications Attach the front panel ofthe NI 7330 motion controller to the front panel mounting rails of the chassis with the slot screws on the chassis A A Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits Caution Always power on the computer containing the NI 7330 motion controller and initialize the controller before you power on the rest of the motion system Power off the motion system in the reverse order Plug in and power on the chassis PCI Motion Controllers 1 6 T 8 A Power off and unplug the computer Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete Open the computer case to expose access to the PCI expansion slots Touch a metal part on the chassis to discharge any static electricity 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 Gently rock the controller into the slot Th
17. of Research Engineering amp Manufacturing Inc FireWire is the registered trademark of Apple Inc Linux is the registered trademark of Linus Torvalds in the U S and other countries Handle Graphics MATLAB Real Time Workshop Simulink Stateflow and xPC TargetBox are registered trademarks and TargetBox and Target Language Compiler are trademarks of The MathWorks Inc Tektronix Tek and Tektronix Enabling Technology are registered trademarks of Tektronix Inc The Bluetooth word mark is a registered trademark owned by the Bluetooth SIG Inc The ExpressCard word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under license The mark LabWindows is used under a license from Microsoft Corporation Windows is a registered trademark of Microsoft Corporation in the United States and other countries Other product and company names mentioned herein are trademarks or trade names of their respective companies Patents For patents covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patent Notice at ni com patents Export Compliance Information Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export
18. on a limit or home input causes a full torque halt stop ofthe 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 Note By default limit and home inputs are digitally filtered and must remain active for at least 1 ms to be recognized You can use MAX to disable digital filtering for limit and home inputs Active signals should remain active to prevent motion from proceeding further into the limit Pulsed limit signals stop motion but they do not prevent further motion in that direction if another move is started The input polarity of these signals is software programmable for active low inverting or active high non inverting You can use software disabled limit and home inputs as general purpose inputs You can read the status of these inputs at any time and set and change their polarity as required Limit and home inputs are a per axis enhancement on the NI 7330 motion controller and are not required for basic motion control These inputs are part of a system solution for complete motion control A Caution National Instruments recommends using limits for personal safety as well as to protect the motion system National Instruments 4 5 Chapter 4 Signal Connections 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 r
19. 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 The FPGA configuration programs are also stored in the flash ROM At power up the FPGAs are booted with these programs which means that updates to the FPGA programs can be performed in the field A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources The NI 7330 motion 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 can also synchronize 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 4 shows this axis configuration With the NI 7330 motion controller you can map one feedback resource and one or two output resources to the axis National Instruments 3 5 Chapter 3 Hardware Overview Figure 3 4 Stepper Axis Resources Trajectory Generator Stepper M m Stepper Pulse 010010110 Generator T 01011010
20. while off loading complex motion functions from the host PC for optimized system performance The NI 7330 motion controller uses the DSP for all closed loop control and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded 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 Embedded Real Time Operating System RTOS The embedded firmware is based upon an embedded 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 NI 7330 motion controller is a true multiprocessing and multitasking embedded controller Refer to the N Motion Help for more information about the features available on the NI 7330 motion controller Trajectory Generators The NI 7330 motion controller trajectory generators calculate the instantaneous position command that controls acc
21. 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step CW Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 3 Step CW Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Axis 4 Step CW Axis 4 Encoder Phase A Axis 4 Encoder Phase B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V Breakpoint 2 Breakpoint 4 Shutdown Reserved Reserved Reserved Analog Input 2 Analog Input 4 Analog Input Ground NI 7330 User Manual and Specifications Table 4 1 Motion I O Signal Connections Signal Name Reference Direction Description Axis lt 1 4 gt Dir CCW Digital Ground Output Motor direction or counter clockwise control Axis lt 1 4 gt Step CW Digital Ground Output Motor step or clockwise control Axis lt 1 4 gt Encoder Phase A Digital Ground Input Closed loop only phase A encoder input Axis lt 1 4 gt Encoder Phase B Digital Ground Input Closed loop only phase B encoder input Axis lt 1 4 gt Encoder Index Digital Ground Input Closed loop only index encoder input Axis 1 4 Home Switch Digital Ground Input Home switch Axis lt 1 4 gt Forward Limit Digital Ground Input Forward clockwise limit switch Switch Axis lt 1 4 gt Reverse Limit
22. 4 Dir CCW 37 38 Axis 4 Step CW Digital Ground 39 40 Axis 4 Encoder Phase A Digital Ground 41 42 Axis 4 Encoder Phase B Axis 4 Home Switch 43 44 Axis 4 Encoder index Trigger Breakpoint 4 45 46 Axis 4 Forward Limit Switch Axis 4 Inhibit 47 48 Axis 4 Reverse Limit Switch Digital Ground 49 50 Host 5V o AJN Nj ajoj National Instruments B 1 Technical Support and Professional Services Log in to your National Instruments ni com User Profile to get personalized access to your services Visit the following sections of ni com for technical support and professional services Support Technical support at ni com support includes the following resources Self Help Technical Resources For answers and solutions visit ni com support 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 Registered users also receive access to the NI Discussion Forums at ni com forums NI Applications Engineers make sure every question submitted online receives an answer Standard Service Program Membership This program entitles members to direct access to NI Applications Engineers via phone and email for one to one technical support as well as exclusive access to self paced onli
23. AILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Contents Chapter 1 Introduction About the NI 7330 Motion Controller sees nere 1 1 Features ceo teer dns 1 Hardware 1 RISES sain wrested 1 2 What You Need to Get Started sess eese eerte eene nnne 1 2 Software Programming Choices ccccsccsecssescesseseeseeeeceeceeceeceseeseeaeeaecaecaaeaaeatecsecseeaeeaeeas 1 2 National Instruments Application Software sse 1 2 Optional Equipment reris ce ce tent codon da cr ea en do eoe dou ena eee eee eee nee Seren ri det dnd 1 3 Motion I O Connections 1 3 Related Documentation ccccccccccssecsecsscessecsecescesseeecesseeseecsseecessecsesessesseseseesseeeesesseees 3 Chapter 2 Configuration and Installation Software Installation 1 steteri
24. BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCTS OR INCIDENTAL OR CONSEQUENTIAL DAMAGES EVEN IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instruments must be brought within one year after the cause of action accrues National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow the National Instruments installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright National Instruments respects the intellectual property of others and we ask our users to do the same NI software is protected by copyright and other intellectual property laws Where NI software may be used to reproduce software or other materials belonging to others you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction End
25. Motion Control National Instruments 7330 User Manual and Specifications March 2013 lt 7 NATIONAL 370837B 01 SinstRUMENTS Worldwide Technical Support and Product Information ni com Worldwide Offices Visit ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 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 2003 2013 National Instruments Corporation All rights reserved Important Information Warranty The National Instruments 7330 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 documentat
26. National Instruments could void your authority to operate it under your local regulatory rules Caution To ensure the specified EMC performance operate this product only with shielded cables and accessories Hardware Installation Install the NI 7330 motion controller in any open compatible expansion slot in the PXI or PCI system Appendix A Specifications lists the typical power required for each controller The following instructions are for general installation Consult the computer user manual or technical reference manual for specific instructions and warnings A Caution The NI 7330 motion controller is a sensitive electronic device shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices Note When adding or removing a motion controller 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 new controller PXI Motion Controllers 1 Power off and unplug the chassis A Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 Choose an unused peripheral slot and remove the filler panel Touch a metal part on the chassis to discharge any static electricity 4 Insert the NI 7330 motion controller into the PXI slot as shown in Figure 2 1 Use the
27. 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 Marker between consecutive encoder revolutions The polarity of a switch limit switch home switch and so on in active state If these switches are active low they are said to have inverting polarity interrupt request L LIFO limit switch end of travel position input M m MCS microstep modulo position NI 7330 User Manual and Specifications kilo the standard metric prefix for 1 000 or 103 used with units of measure such as volts hertz and meters kilo the prefix for 1 024 or 2 used with B in quantifying data or computer memory last in first out Sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop meters move complete status The proportional control of energy in the coils of a Stepper Motor that allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discre
28. and reverse limit inputs Breakpoint outputs Trigger inputs nhibit outputs The motion I O connector also contains four channels of 12 bit A D inputs for analog feedback or general purpose analog input Figure 4 1 shows the pin assignments for the 68 pin motion I O connector on the NI 7330 motion controller Table 4 1 includes descriptions for each of the signals A line above a signal name indicates that the signal is active low National Instruments 4 1 Chapter 4 Signal Connections Figure 4 1 68 Pin Motion I O Connector Pin Assignments Axis 1 Dir CCW 1 Digital Ground 2 Digital Ground 3 Axis 1 Home Switch 4 Trigger 1 5 Axis 1 Inhibit 6 Axis 2 Dir CCW 7 Digital Ground 8 Digital Ground 9 Axis 2 Home Switch 10 Trigger 2 11 Axis 2 Inhibit 12 Axis 3 Dir CCW 13 Digital Ground 14 Digital Ground 15 Axis 3 Home Switch 16 Trigger3 17 Axis 3 Inhibit 18 Axis 4 Dir CCW 19 Digital Ground 20 Digital Ground 21 Axis 4 Home Switch 22 Trigger 4 23 Axis 4 Inhibit 24 Digital Ground 25 Breakpoint 1 26 Breakpoint 3 27 Digital Ground 28 Reserved 29 Reserved 30 Reserved 31 Analog Input 1 32 Analog Input 3 33 Analog Reference Output 34 4 2 ni com Axis 1 Step CW Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis
29. anner not specified in this document and in the user documentation Misuse of the hardware can result in a hazard You can compromise the safety protection if the hardware is damaged in any way If the hardware is damaged return it to National Instruments for repair Clean the hardware with a soft nonmetallic brush Make sure that the hardware is completely dry and free from contaminants before returning it to service Do not substitute parts or modify the hardware except as described in this document Use the hardware only with the chassis modules accessories and cables specified in the installation instructions or specifications You must have all covers and filler panels installed during operation of the hardware Do not operate the hardware in an explosive atmosphere or where there may be flammable gases or fumes unless the hardware is UL U S or Ex EU Certified and marked for hazardous locations The hardware must be in a suitably rated IP 54 minimum enclosure for hazardous locations Refer to the hardware s user documentation for more information You must insulate signal connections for the maximum voltage for which the hardware is rated Do not exceed the maximum ratings for the hardware Do not install wiring while the hardware is live with electrical signals Do not remove or add connector blocks when power is connected to the system Avoid contact between your body and the connector block signal when hot swapping hardware Remove
30. ate contact information support phone numbers email addresses and current events National Instruments C 1 Glossary Symbol Prefix Value u micro 10 6 m milli 10 3 M mega 106 Numbers Symbols E FSV A A absolute mode absolute position active high active low address amplifier API axis per percent plus or minus 5 VDC source signal 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 its value goes high 1 A signal is active when its value goes low 0 Character code that identifies a specific location or series of locations in memory or on a host PC bus system The drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brushed motor for instance application programming interface Unit that controls a motor or any similar motion or control device National Instruments G 1 Glossary B b base address binary buffer bus byte C CCW closed loop common crosstalk CSR CW D dedicated DGND digital I O port G 2 ni com bit one binary digit either 0 or 1 Memory address that serves as the starting address for programmable or T O bus registers All
31. ate periodic waveforms whose period and duty cycles can be independently controlled through software commands The PWM is comparable to a digital representation of an analog value because the duty cycle is directly proportional to the desired output value PWM outputs are typically used for transmitting an analog value through an optocoupler A simple lowpass filter turns a PWM signal back into its corresponding analog value If desired you can use the PCLK input instead of the internal source as the clock for the PWM generators RTSI Connector The physical RTSI bus interface varies depending on the type of NI 7330 motion controller The NI PXI 7330 uses the PXI chassis backplane to connect to other RTSI capable devices The NI PCI 7330 uses a ribbon cable to connect to other RTSI capable PCI devices RTSI Signal Considerations The NI 7330 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 The RTSI trigger lines can also serve as a generic digital I O port The RTSI star trigger line can be used only for a trigger input Breakpoint outputs are output only signals that generate an active high pulse of 200 ns duration as shown in Figure 4 10 Figure 4 10 Breakpoint across RTSI m 200 ns Encoder and Index signals are output only signals across RTSI that are the digitally filtered versions of the raw signals coming into the con
32. cipes Optional Equipment National Instruments offers a variety of products for use with the NI 7330 motion controller including the following accessories Cables and cable assemblies for motion and digital I O RTSI cable for connection with other National Instruments devices Universal Motion Interface UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality Stepper compatible drive amplifier units with integrated power supply and wiring connectivity Connector blocks and shielded and unshielded 68 pin screw terminal wiring aids For more specific information about these products refer to the National Instruments website at ni com or call your National Instruments sales representative Motion I O Connections The external motion and digital I O connectors on the NI 7330 motion controller are high density 68 pin female VHDCI connectors For custom cables use the AMP mating connector NI part number 787801 1 Related Documentation The following documents contain information you might find helpful as you read this manual NI Motion Help NI Motion C Reference Help NI Motion VI Help National Instruments 1 3 Configuration and Installation This chapter describes how to configure and install the National Instruments PXI PCI 7330 Software Installation Before installing the NI 7330 motion controller install the NI Motion driver softwar
33. data WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM 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 F
34. dedicated motion I O for limit and home switches and additional I O for general purpose functions You can use the NI 7330 motion controller for point to point and straight line vector moves for stepper motor applications The NI 7330 motion controller adds the ability to perform arbitrary and complex motion trajectories using stepper motors Stepper axes can operate in open or closed loop mode In closed loop mode stepper axes use quadrature encoders or analog inputs for position and velocity feedback closed loop only and provide step direction or clockwise CW counter clockwise CCW digital command outputs All stepper axes support full half and microstepping applications Hardware The NI 7330 is a high performance motion controller that uses an advanced dual processor architecture including a 32 bit CPU combined with a digital signal processor DSP and custom field programmable gate arrays FPGAs The first in first out FIFO bus interface and powerful function set provide high speed communications while offloading complex motion functions from the host PC for optimum command throughput and system performance Each axis of the NI 7330 motion controller has motion I O for end of travel limit and home switch inputs breakpoint output trigger input and encoder feedback Refer to Appendix A Specifications for information about the encoder feedback rates The NI 7330 motion controller also has non dedicated user I O including 32 bit
35. dition a Kill Motion command or any motion error that causes a kill motion condition such as following error trip You can also directly control the inhibit output signals to enable or disable a driver or amplifier Step Direction and Inhibit Output Circuit The NI 7340 motion controller provides single ended step direction and inhibit output signals To connect the NI 7340 to drives with opto isolated inputs connect as shown in Figure 4 2 If the optocoupler does not include its own current limiting resistor you must provide an external resistor in series with the NI 7340 output as shown 4 4 ni com NI 7330 User Manual and Specifications A Caution To prevent damage to the NI 7340 or other motion hardware use a resistor that limits the current to a value below the maximum specifications of the controller and other hardware Figure 4 2 Step Direction and Inhibit Output Circuit eee NI 7330 e Drive eae doe ee ete Step Dir Step Dir 77777 Step Dir N y V Limit and Home Inputs The following signals control limit and home inputs e Axis lt 1 4 gt Forward Limit Input e Axis lt 1 4 gt Home Input e Axis lt 1 4 gt Reverse Limit Input These inputs are typically connected to limit switches located at physical ends of travel and or at a specific home position Limit and home inputs can be software enabled or disabled at any time When enabled an active transition
36. e measurement Other Motion I O Connection The NI 7330 motion controller provides the following other motion I O connection Host 5 V This signal is the internal 5 V supply of the host computer It is typically used to detect when the host computer is powered on and to shut down external motion system components when the host computer is powered off or disconnected from the motion accessory A Caution The host 5 V signal is limited to lt 100 mA and should not be used to power any external devices except those intended in the host bus monitor circuits on the UMI and drive products 4 12 ni com Digital O Connector NI 7330 User Manual and Specifications All the general purpose digital I O lines on the NI 7330 motion controller are available on a separate 68 pin digital I O connector Figure 4 9 shows the pin assignments for this connector Figure 4 9 68 Pin Digital I O Connector Pin Assignments 5 V PCLK Reserved Reserved PWM1 Reserved Reserved Reserved PWM2 Port 1 bit 0 Digital Ground Port 1 bit 3 Port 1 bit 4 Digital Ground Port 1 bit 7 Port 2 bit 0 Port 2 bit 1 Digital Ground Digital Ground Digital Ground Port 2 bit 6 Port 2 bit 7 Port 3 bit 0 Digital Ground Port 3 bit 3 Port 3 bit 4 Digital Ground Port 3 bit 7 Port 4 bit 0 Digital Ground Port 4 bit 3 Port 4 bit 4 Digital Ground Port 4 bit 7 35 36 37 38 39 40 41 o oloc o m 42
37. e and if appropriate the NI Motion VI libraries For specific installation instructions refer to Getting Started with NI Motion for NI 73xx Motion Controllers which is installed in the NI Motion Documentation folder where you installed NI Motion The default directory is Program Files gt National Instruments NNI Motion Note Ifyou do not install the NI Motion driver software before attempting to use the NI 7330 the system does not recognize the NI 7330 motion controller and you are unable to configure or use the device Controller Configuration Because motion I O related configuration ofthe NI 7330 motion controller is performed entirely with software it is not necessary to set jumpers for motion I O configuration The NI PXI 7330 and NI PCI 7330 controllers are fully compatible with the industry standard PXI Specification Revision 2 0 and the PCI Local Bus Specification Revision 2 2 respectively This compatibility allows the PXI or PCI system to automatically perform all bus related configuration and requires no user interaction It is not necessary to configure jumpers for bus related configuration including setting the device base memory and interrupt channel Safety Information Caution The following paragraphs contain important safety information you must follow when installing and operating the NI 7330 motion controller and all devices connecting to the NI 7330 motion controller Do not operate the hardware in a m
38. e connection may be tight but do not force the controller into place A A Note Check that the bracket of the device aligns with the hole in the back panel rail of the computer chassis Secure the mounting bracket of the controller to the back panel rail of the computer Replace the cover Caution Make sure you have correctly connected all safety devices before you power on the motion system Safety devices include inhibits limit switches and emergency shut down circuits Caution Always power on the computer containing the NI 7330 motion controller and then initialize the controller before you power on the rest of the motion system Power off the motion system in the reverse order Plug in and power on the computer National Instruments 2 5 Hardware Overview This chapter presents an overview of the National Instruments PXI PCI 7330 functionality and capabilities Figures 3 1 and 3 2 show the NI PXI 7330 right and left sides respectively Figure 3 1 NI PXI 7330 Right Side as q C Jo 1 Serial Number Label 3 68 Pin Digital I O Connector 2 Injector Ejector Handle 4 68 Pin Motion I O Connector National Instruments 3 1 Chapter 3 Hardware Overview Figure 3 2 NI PXI 7330 Left Side
39. eleration and velocity while it moves the axis to its target position This command is then sent to the stepper pulse generator 3 4 ni com NI 7330 User Manual and Specifications To implement infinite trajectory control the NI 7330 motion 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 Analog Feedback The NI 7330 motion controllers have an 8 channel multiplexed 12 bit ADC The converted analog values are broadcast to both the DSP and CPU through a dedicated internal high speed serial bus The multiplexer provides the high sampling rates required for feedback loop closure joystick inputs or monitoring analog sensors Refer to Appendix A Specifications for the multiplexer scan rate Four of these channels are intended for calibration leaving the other four available for analog feedback Flash Memory Nonvolatile memory on the NI 7330 motion controller is implemented with flash ROM which means that the controllers can electrically erase and reprogram their own ROM Because all the NI 7330 embedded firmware including the RTOS and DSP code is stored in flash memory you can upgrade the onboard firmware contents in the field It is possible to save
40. ent control and laboratory use e TEC 61010 1 EN 61010 1 e UL 61010 1 CSA 61010 1 Note For UL and other safety certifications refer to the product label or the Online Product Certification section Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and laboratory use EN 61326 1 IEC 61326 1 Class A emissions Basic immunity EN 55011 CISPR 11 Group 1 Class A emissions EN 55022 CISPR 22 Class A emissions EN 55024 CISPR 24 Immunity AS NZS CISPR 11 Group 1 Class A emissions e AS NZS CISPR 22 Class A emissions FCC 47 CFR Part 15B Class A emissions e CES 001 Class A emissions National Instruments A 5 Appendix A Specifications Note Inthe United States per FCC 47 CFR Class A equipment is intended for use a in commercial light industrial and heavy industrial locations In Europe Canada Australia and New Zealand per CISPR 11 Class A equipment is intended for use only in heavy industrial locations Note Group equipment per CISPR 11 is any industrial scientific or medical equipment that does not intentionally generate radio frequency energy for the treatment of material or inspection analysis purposes Note For EMC declarations and certifications and additional information refer to the Online Product Certification section CE Compliance This product meets the essential
41. everse limit at the negative end of travel A Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system Miswired limits may prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections A Caution Wiring these signals near each other can cause faulty motion system operation due to signal noise and crosstalk Limit and Home Input Circuit By default all limit and home inputs are digitally filtered and must be active for at least 1 ms You can use MAX to disable digital filtering for limit and home inputs Figure 4 3 shows a simplified schematic diagram of the circuit used by the limit and home switch inputs for input signal buffering and detection Figure 4 3 Limit and Home Input Circuit Vcc 3 8 KQ A gt WW e 7AFCT244 From the external connector 1kQ A To the limit and home limit and home switch pins 18W Switch circuits DGND Caution Excessive input voltages can cause erroneous operation and or component failure Verify that your input voltage is within the specification range Encoder Signals The NI 7330 motion controller offers four channels of single ended quadrature encoder inputs All National Instruments power drives and UMI accessories provide built in circuitry that converts differential e
42. ications ranging from simple position tagging of sensor data to complex camming systems with advance retard positioning and registration An available NI 7330 motion controller position mode is to move an axis Relative to Captured Position The polarity of the trigger input is programmable in software as active low inverting active high non inverting rising or falling edge You can also use a trigger input as a latching general purpose digital input by simply ignoring the captured position Shutdown Input When enabled in software the shutdown input signal can be used to kill all motion by asserting the controller inhibits setting the analog outputs to 0 V and stopping any stepper pulse generation To activate shutdown the signal must transition from a low to a high state or rising edge Breakpoint Output lt 1 4 gt A breakpoint output can be programmed to transition when the associated encoder value equals the breakpoint position You can use a breakpoint output to directly control actuators or as a trigger to synchronize data acquisition or other functions in the motion control system You can program breakpoints as either absolute modulo or 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 The breakpoint outputs are driven by open collector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pu
43. ion National Instruments will at its option repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical errors exist National Instruments reserves the right to make changes to subsequent editions of this 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
44. it input circuit 4 5 M motion I O connection Host 5 V 4 12 motion I O connector signals 4 1 N National Instruments support and services C 1 noise encoder inputs 4 8 O optional equipment 1 3 I 2 ni com P programming examples NI resources C 1 Q quadrature encoder inputs 4 6 signals 4 7 R requirements for getting started 1 2 return data buffer RDB 3 6 RTSI breakpoint across RTSI figure 4 14 connector 3 3 4 14 signal considerations 4 14 using with the 7330 1 2 S safety information 2 1 Shutdown Input Circuit 4 10 signal descriptions 68 pin motion I O connector 4 3 software NI resources C 1 software programming choices 1 2 support technical C 1 T technical support C 1 training and certification NI resources C 1 trajectory control 3 5 Trigger Input Circuit 4 10 troubleshooting NI resources C 1 U updating FPGA programs 3 5 W Web resources C 1 wiring analog signals 4 12 limit inputs 4 6
45. ity 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 field programmable gate array The condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it Full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously National Instruments G 3 Glossary G Gnd GND H half step hex home switch input host computer IO ID index inverting IRQ G 4 ni com ground ground Mode of a stepper motor for a two phase motor this is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode hexadecimal A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position also is regarded as the zero position in an
46. ll up resistors to 5 V You can directly set and reset breakpoint outputs to use them as general purpose digital outputs Note Breakpoint outputs and trigger inputs require an encoder connection National Instruments 4 9 Chapter 4 Signal Connections Wiring Concerns A Caution Keep trigger input shutdown input and breakpoint output signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal connections Wiring these signals near each other can cause faulty operation A Caution Excessive input voltages can cause erroneous operation and or component failure Trigger Input Shutdown Input and Breakpoint Output Circuits Figures 4 6 4 7 and 4 8 show a simplified schematic diagram of the circuits used by the trigger inputs shutdown inputs and breakpoint outputs for signal buffering Figure 4 6 Trigger Input Circuit Vcc 3 3 kQ gt VAN From the external 1kQ connector trigger pins 1 8 W DGND To the trigger circuits Figure 4 7 Shutdown Input Circuit Vcc 3 3 kQ A gt VWAAN 9 e From the external 1kQ VAN To the shutdown connector shutdown pin 1 8 W vele circuits DGND Figure 4 8 Breakpoint Output Circuit Vcc 3 3 kQ E 74AS760 4 To the external connector From the breakpoint pins breakpoint circuits 4 10 ni com NI 7330 User Manual and Specifications Analog Inputs The NI 7330 motion controller has the f
47. ncoder signals to single ended encoder signals Each channel consists of a Phase A Phase B and Index input as described in the following sections 4 6 ni com NI 7330 User Manual and Specifications Encoder 1 4 Phase A Phase B The encoder inputs provide position and velocity feedback for absolute and relative positioning of axes in any motion system configuration If an encoder resource is not needed for axis control it is available for other functions including position or velocity monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications The encoder channels Encoder lt 1 4 gt are implemented in an FPGA and are high performance with extended input frequency response and advanced features such as high speed position capture inputs and breakpoint outputs The encoders have a maximum count frequency of 20 MHz An encoder input channel converts quadrature signals on Phase A and Phase B into 32 bit up down counter values Quadrature signals are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading phase A or B determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase A typical encoder with a specification of N N
48. ncoming commands and a return data buffer RDB for returning data The communications status register CSR provides bits for communications handshaking as well as real time error reporting and general status feedback to the host PC The move complete status MCS register provides instantaneous motion status of all axes 3 6 ni com Signal Connections This chapter includes instructions on how to make input and output signal connections directly to the National Instruments PXI PCI 7330 as well as general information about the associated VO circuitry The NI 7330 motion controller has three connectors that handle all signals to and from the external motion system 68 pin motion I O connector e 68 pin digital I O connector RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced Universal Motion Interface UMI units and drives Note The NI 7330 motion controller does not provide isolation between circuits A Caution Power off all devices when connecting or disconnecting the NI 7330 motion controller controller motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion I O Connector The motion I O connector contains all of the signals required to control up to four axes of stepper motion including the following features Motor command stepper outputs Encoder feedback inputs Forward home
49. ne training modules at ni com self paced training All customers automatically receive a one year membership in the Standard Service Program SSP with the purchase of most software products and bundles including NI Developer Suite NI also offers flexible extended contract options that guarantee your SSP benefits are available without interruption for as long as you need them Visit ni com ssp for more information 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 training and certification program information You can also 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 electromagnetic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to d
50. no missing codes Monotonocity essere Guaranteed Multiplexor scan rate sess 25 us enabled channel Analog reference output sssssssses 7 5 V nominal 5 mA Digital I O POTIS S cce o ERE ic EE RETE SRUES 4 8 bit ports Line direction sess Individual bit programmable Inputs Voltage range see 0to5 V Input low voltage 0 8V Input high voltage 2 0 V POLAT is con cca eee dee f tristes Programmable active high or active low Outputs Voltage range cececeeseesecsecsecseereeneeneeneees 0to5V Output low voltage 0 45 V at 24 mA sink Output high voltage 72 4 V at 24 mA source National Instruments A 3 Appendix A Specifications Pol rity i tette ret eene Programmable active high or active low PWM outputs Number of PWM outputs 2 Maximum PWM frequency 50 kHz R sol tion aem 8 bit Duty cycle range 0 to 255 256 Clock sources Internal or external RTSI Trigger limes eicere teen co eco code 7 Maximum Power Requirements ASV ESM 0 m 1A HEL QV ESM ic street Ie drehte 30mA 12 V CETOU6 J idet eR b hr I n 30mA Power consumption seseeeeeeees 5 7 W Physical Dimensions Not Including Connectors PXI 7330 16 x 10 cm 6 3 x 3 9 in PCI 7330 17 5 x 9 9 cm 6 9 x 3 9 in Connectors Motion I O connector
51. ocket outlets in the fixed installation and stationary motors with permanent connections to fixed installations Measurement Category IV is for measurements performed at the primary electrical supply installation typically outside buildings Examples include electricity meters and measurements on primary overcurrent protection devices and on ripple control units To obtain the safety certification s for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Electromagnetic Compatibility Information This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility EMC stated in the product specifications These requirements and limits provide reasonable protection against harmful interference when the product is operated in the intended operational electromagnetic environment This product is intended for use in industrial locations However harmful interference may occur in some installations when the product is connected to a peripheral device or test object or if the product is used in residential or commercial areas To minimize interference with radio and television reception and prevent unacceptable performance degradation install and use this product in strict accordance with the instructions in the product documentation Furthermore any modifications to the product not expressly approved by
52. ollowing ADC input signals Analog Input lt 1 4 gt The NI 7330 motion controller includes an eight channel multiplexed 12 bit ADC capable of measuring 10 V 5 V 0 10 V and 0 5 V inputs ADC channels 1 through 4 are brought out externally on the 68 pin motion I O connector ADC channels 5 through 8 are connected internally as shown in Table 4 3 These signals can be used for ADC test and system diagnostics Table 4 2 Internal ADC Channels ADC Input Signal 5 Filtered 5 V 6 Floating NC T Analog Reference 7 5 V 8 Analog Input Ground You can configure each ADC channel for motion feedback simple analog to digital conversion or both You can read the digital value of analog voltage on any of the eight ADC channels of the controller Table 4 3 shows the range of values read back and the voltage resolution for each setting The voltage resolution is in volts per least significant bit V LSB Table 4 3 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0 10 V 0 to 4 095 0 0024 V LSB 0 5 V 0 to 4 095 0 0012 V LSB As indicated in Table 4 3 when configured as analog feedback an analog sensor acts like a limited range absolute position device with a full scale position range You can map any ADC channel as feedback to any axis You can enable and disable individual ADC
53. oltage 2V Polarity titers rene eo Programmable active high or active low Minimum pulse width 100 ns Capture latency sssseeee 100 ns Capture accuracy 1 count Maximum repetitive capture rate 100 Hz A 2 ni com NI 7330 User Manual and Specifications Breakpoint outputs Number of outputs sss 4 Encoders 1 through 4 Voltage range sseeeeee 0to5 V Output low voltage 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 kO pull up to 5 V P latity ettet tees Programmable active high or active low Maximum repetitive breakpoint rate sse 100 Hz Inhibit enable output Number of outputs 4 1 per axis Voltage range eeeee 0to5V Output low voltage 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 kO pull up to 5 V Polatitynnnia iinne Programmable active high or active low Sound CS MustOn MustOff or automatic when axis off Analog inputs Number of inputs sss 8 multiplexed single ended Number for user signals 4 Number for system diagnostics 4 Voltage range programmable 10 V 5 V 0 10 V 0 5 V Input resistance see 10 kO min Input coupling DC Resolution 12 bits
54. other addresses are located by adding to the base address A number system with a base of 2 Temporary storage for acquired or generated data software The group of conductors that interconnect individual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected Eight related bits of data an eight bit binary number Also used to denote the amount of memory required to store one byte of data counter clockwise implies direction of rotation of the motor A motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity Reference signal for digital I O An unwanted signal on one channel due to an input on a different channel communications status register clockwise implies direction of motor rotation Assigned to a particular function digital ground signal a group of digital input output signals DLL drivers DSP E encoder encoder resolution FIFO filtering flash ROM following error trip point FPGA freewheel full step NI 7330 User Manual and Specifications dynamically linked library provides the API for the motion control boards Software that communicates commands to control a specific motion control board digital signal processor Device that translates mechanical motion into electrical signals used for monitoring position or veloc
55. power from signal lines before connecting them to or disconnecting them from the hardware Operate the hardware 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 Pollution Degree 1 means no pollution or only dry nonconductive pollution occurs The pollution has no influence Typical level for sealed components or coated PCBs Pollution Degree 2 means that only nonconductive pollution occurs in most cases Occasionally however a temporary conductivity caused by condensation must be expected Typical level for most products Pollution Degree 3 means that conductive pollution occurs or dry nonconductive pollution occurs that becomes conductive due to condensation Operate the hardware at or below the measurement category marked on the hardware label Measurement circuits are subjected to working voltages and transient stresses overvoltage from the circuit to which they are connected during measurement or test Measurement categories establish standard impulse withstand voltage levels that commonly occur in electrical distribution systems The following is a description of measurement categories Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage This category is for
56. re information National Instruments A 1 Appendix A Specifications System Safety Watchdog timer function sse Resets board to startup state Watchdog timeout Shutdown input Voltage Tange eedem eek Input low voltage Input high voltage Pol ritys nemen Rising edge Controls vidi etre ende ies Disable all axes and command outputs Motion I O Encoder inputs Maximum count rate Minimum pulse width Programmable depends on digital filter settings Voltage range ssseeeeeee 0to5V Input low voltage s 0 8 V Input high voltage 2V Minimum index pulse width Programmable depends on digital filter settings Maximum resolution eene 228 1 programmable Forward reverse and home inputs Number of inputs sss Voltage range ssseeeeeeee Input low voltage Input high voltage Pol rity 4 eee eee ete deett Programmable active high or active low Minimum pulse width 1 ms with filter enabled 60 ns without filter enabled Control Re Individual enable disable stop on input prevent motion Find Home Trigger inputs Number of inputs sse 4 Encoders 1 through 4 Voltage range ssseeeeeee 0to5 V Input low voltage 0 8 V Input high v
57. requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Online Product Certification To obtain product certifications and the Declaration of Conformity DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Environmental Management Nl is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers For additional environmental information refer to the Minimize Our Environmental Impact web page at ni com environment This page contains the environmental regulations and directives with which NI complies as well as other environmental information not included in this document Waste Electrical and Electronic Equipment WEEE EU Customers At the end of the product life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste and Electronic Equipment visit ni com environment weee BT Rear mis Rit SEDE PE ROHS GG HAZA National Instruments 46 t Ed raf fei rn rp MABRE TUMS RoHS XT National Instruments FE RoHS AAEE E WK ni
58. rward or reverse CW and CCW mode produces pulses steps on the CW output for forward commanded motion and pulses on the CCW output for reverse commanded motion In either case you can set the active polarity of both outputs to active low inverting or active high non inverting For example with step and direction you can make a logic high correspond to either forward or reverse direction The Step CW and Dir CCW outputs are driven by high speed open collector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V Caution Do not connect these outputs to anything other than a 5 V circuit The output buffers will fail if subjected to voltages in excess of 5 5 V Axis lt 1 4 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a stepper driver When properly connected and configured the inhibit function causes the connected motor to be de energized and its shaft turns freely These open collector inhibit signals feature 64 mA current sink capability with built in 3 3 kO pull up resistors to 5 V and can directly drive most driver amplifier inhibit input circuits While the industry standard for inhibits is active low inverting these outputs have programmable polarity and can be set to active high non inverting for increased flexibility and unique drive compatibility Inhibit output signals can be activated automatically upon a shutdown con
59. s in the digital I O connector The NI PCI 7330 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products The NI PXI 7330 RTSI enabled connection provides up to eight triggers and one PXI star trigger to facilitate synchronization between multiple National Instruments PXI enabled 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 can also use the RTSI bus for general hardware based communication between RTSI devices National Instruments 3 3 Chapter 3 Hardware Overview The RTSI bus can also 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 motion control algorithms and the NI PXI PCI 7330 capabilities Dual Processor Architecture With the NI 7330 motion controller you can perform up to four axes of simultaneous coordinated 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 digital signal processor DSP and custom FPGAs give the NI 7330 motion controllers high performance capabilities The FIFO bus interface and powerful function set provide high speed communications
60. s of digital I O and four analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally the NI 7330 motion controller analog inputs can provide feedback for loop closure National Instruments 1 1 Chapter 1 Introduction RTSI The NI 7330 motion controller supports the National Instruments Real Time System Integration RTSD bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition IMAQ and data acquisition DAQ products Using the RTSI bus you can easily synchronize several functions to a common trigger or timing event across multiple motion IMAQ or DAQ devices What You Need to Get Started To set up and use the NI 7330 motion controller you must have the following items NI PXI 7330 or PCI 7330 motion controller NI Motion 6 1 or later driver software and documentation One of the following software packages and documentation LabVIEW 6 0 or later LabWindows CVI 7 0 or later Measurement Studio C C Microsoft Visual Basic 6 0 A computer with an available PXI or PCI slot Software Programming Choices NI Motion is a simple but powerful high level application programming interface API that makes programming the NI 7330 motion controller easy You can execute all setup and motion control functions by calling into a dynamically linked library DLL You can
61. t counts and reduced motion system accuracy Encoder Input Circuit Figure 4 5 shows a simplified schematic diagram of the circuit used for the Phase A Phase B and Index encoder inputs Both phases A and B are required for proper encoder counter operation and the signals must support the 90 phase difference within system tolerance The encoder and Index signals are conditioned by a software programmable digital filter inside the FPGA The Index signal is optional but highly recommended and required for initialization functionality with the Find Index function 4 8 ni com NI 7330 User Manual and Specifications Figure 4 5 Encoder Input Circuit Vcc 3 8 kQ VAN gt VVV e From the external connector 680 Q TS To the quadrature encoder input pins 1 8 W d decoder circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The NI 7330 motion controller offers additional high performance features in the encoder FPGA The encoder channels have high speed position capture trigger inputs and breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input lt 1 4 gt When enabled an active transition on a high speed position capture input causes instantaneous position capture lt 100 ns latency of the corresponding encoder count value You can use this high speed position capture functionality for appl
62. t sessed sai cusses deb da idee ve eoe ee bear neve e raa adve 2 1 Controller Configuration sesssssssseseseseee eese enne nennen ene ener ntntne nennen 2 1 NENNBUVDSIUDD IC 2 1 Electromagnetic Compatibility Information 2 3 Hardware Installation onssa niren ennt nennen enne ernst 2 4 PXI Motion Controllers 2 4 PCL Motion Gontrollers 5 beret detto e o nrbe hr rd edet 2 5 Chapter 3 Hardware Overview User Connectors iacet bne e arbe Beoxtene he teo exe eie tes ea aa teme ae vts 3 3 Functional Vetva Cw ee REOS S coos aoe ELROD TR SESS aan 3 4 Dual Processor Architecture nsee rasas EEEE Saroa 3 4 Embedded Real Time Operating System RTOS sss 3 4 iTrajectory GetieratOrs i a np dete e e P RO T ee eae 3 4 Analog Feedback 1 3 5 Flash Memory 3 5 Axes and Motion Resources 3 5 AXES Ue tend a D dido hd aS t EM Adobe dd e eM Se 3 5 I Mui ce taea e E KE R e 3 6 Host Communications ccccccscecsecsscessececescesseeeecesseeeecsseseecsecsseeeeecseseeecseeeeeeeseen 3 6 National Instruments v Contents Chapter 4 Signal Connections Motion VO Conn ctors sey o e e ede dte e e Re Ere 4 1 Motion Axis Signals sss nennen nennen rennen enne 4 4 Step Direction and Inhibit Output Circuit Limit and Home Inputs Wiring Concerns Limit and Home Input Circuit ISI GIL
63. te 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 National Instruments G 5 Glossary N noise noninverting O open loop PCI port position breakpoint power cycling PWM PXI G 6 ni com An undesirable electrical signal noise comes from external sources such as the AC power line motors generators transformers fluorescent lights soldering irons CRT displays computers electrical storms welders radio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or receive The polarity of a switch limit switch home switch etc in active state If these switches are active high they are said to have non inverting polarity Refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals peripheral component interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA Itis achieving widespread acceptance as a standard for PCs and Workstations it offers a theoretical maximum transfer rate of 132 MB s 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
64. troller If you are using the RTSI bus for trigger inputs or generic digital I O all signals are passed through unaltered 4 14 ni com Specifications This appendix lists the hardware and software performance specifications for the National Instruments PXI PCI 7330 Hardware specifications are typical at 25 C unless otherwise stated Stepper Performance Trajectory update rate range Maximum update rate 4 axis update rate sss Multi axis synchronization ss Double buffered trajectory parameters Position range esee Maximum relative move size Velocity range Acceleration deceleration S curve time range Following error range Gear ratio ee c ose i e eredi Stepper outputs Maximum pulse rate sess Minimum pulse width Step output mode Voltage range Output low voltage Output high voltage Polarity 62 5 to 500 us sample 62 5 us axis 250 us total lt 1 update sample 23 steps 23 steps 1 to 4 000 000 steps s 244 to 512 000 000 counts s at a PID update rate of 250 us 1 to 32 767 samples 0 to 32 767 counts 32 767 1 to 1 32 767 4 MHz full half and microstep 120 ns at 4 MHz Step and direction or CW CCW 0to5V 0 6 V at 64 mA sink Open collector with built in 3 3 kO pull up to T5V Programmable active high or active low Refer to the NI Motion Help for mo
65. 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 NI Motion driver software support for LabVIEW which includes a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The NI Motion VI library implements the full NI Motion API and a powerful set of demo functions example programs and fully operational high level application routines 1 2 ni com NI 7330 User Manual and Specifications 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 NI Motion includes a series of sample 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 re

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