Home

ValueMotion Hardware User Manual

1. Base Address DIP Switch Address Typical Use 360 7 PC Network t 12345678 368 z PC Network t 123 5678 370 RO OU OI 12345678 378 a Parallel Port 1 t 2345678 380 SDLC Bisynchronous 12345678 388 boo SDLC Bisynchronous 1234 678 390 s aniram 12345678 398 Con 12345678 3A0 Bisynchronous i 1 HL 12345678 3A8 SG Bisynchronous 1 2345678 3B0 Monochrome Printer 1 4 678 National Instruments Corporation Chapter 3 Table 3 1 ISA Bus Address Map Continued Hardware Overview Base Address DIP Switch Address Typical Use 3B8 5 Monochrome Printer 4 678 3C0 Ch EGA VGA Adapter 123 56 3C8 z EGA VGA Adapter L123 45678 3D0 CGA MCGA f Adapter 123 56 3D8 5 CGA MCGA Adapter 23 56 3E0 t SE 56 3E8 Con Serial Port 3 GA 2 6 3F0 Diskette f Controller a 6 3F8 z Serial Port 1 t 1 56 1 Blank table cells indicate this base address is typically available for plug in boards 3 11 ValueMotion Hardware User Manual Signal Connections This chapter describes how to make input and output signal connections to the ValueMotion boards
2. Prefix Meanings Value u micro 10 6 m milli 10 3 c centi 10 2 k kilo 103 M mega 106 Numbers Symbols degrees percent plus or minus positive of or plus negative of or minus per Q ohm percent 5 V 5 VDC source signal A A amperes absolute mode treat the target position loaded as position relative to zero while making a move absolute position signal position relative to zero National Instruments Corporation G 1 ValueMotion Hardware User Manual Glossary active high active low A D A D Channel lt 1 4 gt address amplifier anticipation time breakpoint API axis Axis lt 1 4 gt Cmd Axis lt 1 4 gt Cmd axis lt 1 4 gt Dir CCW Axis lt 1 4 gt Encoder Phase A Axis lt 1 4 gt Encoder Phase B Axis lt 1 4 gt Forward Limit Axis lt 1 4 gt Home Switch ValueMotion Hardware User Manual G 2 a signal is active when its value goes high 1 a signal is active when its value goes low 0 analog to digital PXI Stepper 8 bit analog input character code that identifies a specific location or series of locations in memory the drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brush motor for instance used to pre load a desired anticipation time relative to the end of a
3. eee 55 to 150 C Relative humidity range e ceeeeeeee 5 to 90 noncondensing National Instruments Corporation A 3 ValueMotion Hardware User Manual Cable Connector Descriptions This appendix describes the connectors on the optional cables for your ValueMotion board Figures B 1 and B 2 show the pin assignments for the 50 pin motion connector This connector is available when you use the NB1 or SH50 50 cable assembly with the PC and PCI boards or when you use the SH68 68 S shielded cable assembly and the 68M 50F Step Bulkhead Cable Adapter with the PXI boards Axis 1 Cmd 1 2 Axis 1 Cmd Common 3 4 Axis 1 Encoder Ph A Common 5 6 Axis 1 Encoder Ph B Axis 1 Home Switch 7 8 Axis 1 Encoder Index 1 0 1 9 10 Axis 1 Forward Limit Switch O5 11 12 Axis 1 Reverse Limit Switch Axis 2 Cmd 13 14 Axis 2 Cmd Common 15 16 Axis 2 Encoder Ph A Common 17 18 Axis 2 Encoder Ph B Axis 2 Home Switch 19 20 Axis 2 Encoder Index VO2 21 22 Axis 2 Forward Limit Switch O6 23 24 Axis 2 Reverse Limit Switch Axis 3 Cmd 25 26 Axis 3 Cmd Common 27 28 Axis 3 Encoder Ph A Common 29 30 Axis 3 Encoder Ph B Axis 3 Home Switch 31 32 Axis 3 Encoder Index 03 33 34 Axis 3 Forward Limit Switch V O7 35 36 Axis 3 Reverse Limit Switch Axis A Cmd 37 38 Axis 4 Cmd Common 39 40 Axis 4 Encoder Ph A Common 41 42 Axis 4 Encoder Ph B Axis 4 Home Switch
4. The following documents contain information you may find helpful as you read this manual e ValueMotion Software Reference Manual e PCI Local Bus Specification Revision 2 1 e ValueMotion VI Online Help e Your computer s technical reference manual Customer Communication National Instruments wants to receive your comments on our products and manuals We are interested in the applications you develop with our products and we want to help if you have problems with them To make it easy for you to contact us this manual contains comment and configuration forms for you to complete These forms are in Appendix C Customer Communication at the end of this manual National Instruments Corporation xi ValueMotion Hardware User Manual Introduction This chapter describes the ValueMotion boards and provides information concerning their operation About the ValueMotion Boards The ValueMotion servo and stepper boards are servo stepper motor controllers for ISA PCI and PXI bus computers These boards provide fully programmable motion control for up to four independent axes of motors with additional I O for limit and home switches as well as other general purpose functions You can use these boards in position or velocity control applications with support for point to point position velocity profiling and event based motion profiling modes With the servo boards you can control servo motors and always operate in clos
5. 1 0 Connector Figure 4 1 shows the pin assignments for the 50 pin I O connector on the PC and PCI servo boards A signal description follows the connection pinouts National Instruments Corporation 4 1 ValueMotion Hardware User Manual Chapter 4 Signal Connections ValueMotion Hardware User Manual Axis 1 Cmd Common Common Axis 1 Home Switch 01 0 5 Axis 2 Cmd Common Common Axis 2 Home Switch 0 2 0 6 Axis 3 Cmd Common Common Axis 3 Home Switch 1 0 3 07 Axis 4 Cmd Common Common Axis 4 Home Switch 0 4 1 0 8 Common O AJN 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 Axis 1 Cmd Axis 1 Encoder Ph A Axis 1 Encoder Ph B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Cmd Axis 2 Encoder Ph A Axis 2 Encoder Ph B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 3 Cmd Axis 3 Encoder Ph A Axis 3 Encoder Ph B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Axis 4 Cmd Axis 4 Encoder Ph A Axis 4 Encoder Ph B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V Figure 4 1 50 Pin Servo Connector Pin Assignment 4 2 National Instruments Corporation Chapter
6. 3 5 parts locator diagrams PCI Servo 3 2 PCI Step 3 3 PC Servo 3 1 PC Step 3 2 PXI Step 3 4 trajectory parameters 3 6 to 3 8 acceleration value loading 3 7 to 3 8 position value loading 3 6 to 3 7 velocity value loading 3 7 home switches See limit and home switches Host 5 V signal table 4 5 inhibit signals See I O port and inhibit signals installation hardware 2 2 to 2 3 software 2 1 T O lt 1 8 gt signal table 4 5 T O connector pin assignments 4 1 to 4 4 50 pin servo connector figure 4 2 B 1 50 pin stepper connector figure 4 3 B 2 National Instruments Corporation 68 pin PXI stepper connector figure 4 4 T O port and inhibit signals 4 6 to 4 8 dedicated axis inhibit output signals caution 4 6 excessive input voltages caution 4 9 input signals 4 6 T O port hardware circuit 4 8 jumper configuration 4 7 to 4 8 output signals 4 7 wiring concerns 4 7 ISA bus address map 3 8 to 3 11 J jumper configuration I O ports 4 7 to 4 8 L LabVIEW software 1 3 LabWindows CVI software 1 3 limit and home switches 4 9 to 4 10 excessive input voltages caution 4 10 input circuit 4 9 to 4 10 input hardware circuitry figure 4 10 wiring concerns caution 4 9 manual See documentation motion digital I O specifications A 1 to A 2 input circuits A 1 output circuits A 2 National Instruments application software 1 3 0 optional equipment 1 3 National Instr
7. 43 44 Axis 4 Encoder Index 1 04 45 46 Axis 4 Forward Limit Switch 1 08 47 48 Axis 4 Reverse Limit Switch Common 49 50 Host 5 V Figure B 1 50 Pin Servo Connector Pin Assignment National Instruments Corporation B 1 ValueMotion Hardware User Manual Appendix B Cable Connector Descriptions Axis 1 Dir CCW 112 Common 3 4 Common 5 6 Axis 1 Home Switch 7 8 O1 9 10 Axis 1 Inhibit 11 12 Axis 2 Dir CCW 13 14 Common 15 16 Common 17 18 Axis 2 Home Switch 19 20 O2 21 22 Axis 2 Inhibit 23 24 Axis 3 Dir CCW 25 26 Common 27 28 Common 29 30 Axis 3 Home Switch 31 32 03 33 34 Axis 3 Inhibit 35 36 Axis 4 Dir CCW 37 38 Common _ 39 40 Common 41 42 Axis 4 Home Switch 43 44 04 45 46 Axis 4 Inhibit 47 48 Common _ 49 50 Axis 1 Step CW Axis 1 Encoder Ph A Axis 1 Encoder Ph B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step CW Axis 2 Encoder Ph A Axis 2 Encoder Ph B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 3 Step CW Axis 3 Encoder Ph A Axis 3 Encoder Ph B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Axis 4 Step CW Ax
8. 4 Signal Connections Figure 4 2 shows the pin assignments for the 50 pin I O connector on the PC and PCI stepper boards Axis 1 Dir CCW 1 2 Axis 1 Step CW Common 3 4 Axis 1 Encoder Ph A Common 5 6 Axis 1 Encoder Ph B 7 Axis 1 Home Switch 8 Axis 1 Encoder Index 1 0 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 Common 15 16 Axis 2 Encoder Ph A Common 17 18 Axis 2 Encoder Ph B Axis 2 Home Switch 19 20 Axis 2 Encoder Index VO2 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 Common 27 28 Axis 3 Encoder Ph A Common 29 30 Axis 3 Encoder Ph B Axis 3 Home Switch 31 32 Axis 3 Encoder Index 03 33 34 Axis 3 Forward Limit Switch Axis 3 Inhibit 35 36 Axis 3 Reverse Limit Switch Axis 4 Dir CCW 37 38 Axis 4 Step CW Common 39 40 Axis 4 Encoder Ph A Common 41 42 Axis 4 Encoder Ph B Axis 4 Home Switch 43 44 Axis 4 Encoder Index 04 45 46 Axis 4 Forward Limit Switch Axis 4 Inhibit 47 48 Axis 4 Reverse Limit Switch Common 49 50 Host 5 V Figure 4 2 50 Pin Stepper Connector Pin Assignment National Instruments Corporation 4 3 ValueMotion Hardware User Manual Chapter 4 Signal Connections Figure 4 3 shows th
9. Ground PXI Stepper only reference for analog inputs A D Channel lt 1 4 gt Reference Ground Input PXI Stepper only 8 bit analog input 5 V Reference Ground Output 5 V analog reference level Common reference for digital I O External Connector Wiring Recommendations The external connector may be broken up into five separate sections for the purpose of wiring descriptions Four of the sections are identical in pinout format and connector configuration Each of these four identical sections corresponds to an individual axis controller circuit The fifth section is the bus power interlock section National Instruments Corporation 4 5 ValueMotion Hardware User Manual Chapter 4 Signal Connections Each per axis motion I O connector sub section consists of four functional areas e Motor drive outputs e Encoder feedback inputs e Limit and home switch inputs e Related motion I O port bits b i Caution These four function groups must be wired separately from each other to prevent noise or signal crosstalk from affecting adjacent signal groups Failure to take these simple precautions may cause faulty operation It is important to note that numerous ground connections are provided in the ValueMotion I O connector Proper use of these ground connections will help to prevent unwanted signal disturbance and noise Use these ground connections as ground current return paths or as shield connections for
10. Step along with the corresponding settings for the address selector DIP switch All addresses in this table are hexadecimal Positions through 6 are used for setting the base address Position 8 is used for setting the direction of the port C auxiliary digital I O The factory default base address for your board is 0x3E0 F Note Certain addresses that are typically used for host computer functions such as serial and parallel I O ports and display adaptors are indicated However since not all manufacturers follow these standards verify that an address is not used before setting PC Servo and PC Step to that address ValueMotion Hardware User Manual 3 8 National Instruments Corporation Table 3 1 ISA Bus Address Map t2a45 678 Base Address DIP Switch Address Typical Use 200 Game I O bd 12345678 208 z G 12345678 210 ae 12345678 218 eg 12345678 220 a 12345678 228 WO 12345678 230 creel HM 12345678 238 gt ul 12345678 240 OTT 12345678 248 z ID 12345678 250 National Instruments Corporation 3 9 Chapter 3 Hardware Overview Base Address DIP Switch Address Typical Us
11. User Manual is organized as follows e Chapter 1 Introduction describes the ValueMotion boards and provides information concerning their operation e Chapter 2 Configuration and Installation describes how to configure and install your ValueMotion board e Chapter 3 Hardware Overview presents an overview of the hardware functionality on the ValueMotion board e Chapter 4 Signal Connections describes how to make input and output signal connections to the ValueMotion boards National Instruments Corporation ix ValueMotion Hardware User Manual About This Manual e Appendix A Specifications lists the specifications of the ValueMotion boards e Appendix B Cable Connector Descriptions describes the connectors on the optional cables for your ValueMotion boards e Appendix C Customer Communication contains forms you can use to request help from National Instruments or to comment on our products and documentation e The Glossary contains an alphabetical list and description of terms used in this manual including abbreviations acronyms metric prefixes mnemonics and symbols e The Jndex contains an alphabetical list of key terms and topics in this manual including the page where you can find each one Conventions Used in This Manual lt gt SC bold bold italic Closed Loop Stepper italic The following conventions are used in this manual Angle brackets containing numbers separated by an ellip
12. an index output the resolution is referred to as lines per revolution for rotary encoders and as lines per inch or mm for linear encoders Refer to the ValueMotion Software Reference Manual for specific information on loading trajectory parameters to your ValueMotion board Position Value Loading Servo and Closed loop Stepper Position is specified in quadrature counts as a signed number The number of quadrature counts per revolution depends upon the incremental encoder used for feedback ValueMotion Hardware User Manual 3 6 National Instruments Corporation Chapter 3 Hardware Overview Open loop Stepper For open loop stepper boards position is specified in step counts as a signed number The number of step counts per revolution depends upon the type of stepper driver and motor being used For example a stepper motor with 1 8 step 200 steps revolution used in conjunction with a x10 microstep driver would have an effective resolution of 2 000 steps per revolution Stepper boards support all full half and microstep applications Velocity Value Loading Velocity is expressed as change in position divided by time For servo and closed loop stepper boards position is specified in quadrature counts For open loop stepper boards position is specified in step counts You can use the following formulas to convert revolutions per minute RPM to quadrature or step counts per second Quadrature counts per second
13. 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 manual 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 suspec
14. programmed motion trajectory when the position corresponding to the desired anticipation time is reached an external breakpoint signal transitions on a dedicated I O port output line for the selected axis The anticipation breakpoint function is similar to and shares the same resources as the position breakpoint function application programming interface unit that controls a motor or any similar device servo axis through 4 reference for cmd servo axis through 4 analog motor command stepper axis through 4 motor direction or counter clockwise control closed loop axis 1 through 4 phase A encoder input closed loop axis 1 through 4 phase B encoder input axis 1 through 4 forward clockwise limit switch axis through 4 home switch National Instruments Corporation Axis lt 1 4 gt Inhibit Axis lt 1 4 gt Reverse Limit Axis lt 1 4 gt Step CW b base address binary buffer bus byte CCW CL common CPU crosstalk CW National Instruments Corporation G 3 Glossary stepper axis through 4 drive inhibit axis 1 through 4 reverse counter clockwise limit switch stepper axis 1 through 4 motor step or clockwise control bit one binary digit either 0 or 1 memory address that serves as the starting address for programmable 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 gener
15. proper signal grounding applications Bus Power Signal The bus power 5 V signal is available for bus monitoring and interlock purposes It is not intended to power external circuitry or components Current draw should not exceed 100 mA maximum 1 0 Port and Inhibit Signals The following sections describe hardware jumper selection and the specifications for I O port and inhibit signal interconnection For correct operation you must execute motion system set up including I O port software initialization using the ValueMotion functions before you can use the I O port and inhibit signals D Caution The I O port bits lt 5 8 gt on the stepper boards are used as dedicated axis inhibit output signals These signals cannot be used as inputs and for proper operation must be jumper configured as outputs Input Signals Input signals to the I O port may be active high or active low Proper operation depends upon correct set up and programming of I O polarity and direction Improper set up and programming may cause faulty operation ValueMotion Hardware User Manual 4 6 National Instruments Corporation AE Caution AN Caution Chapter 4 Signal Connections Output Signals T O Port signals configured as outputs are single ended TTL with internally pulled up open collector buffers Pull up resistors are 3 3 KQ to 5 V These buffers can sink 64 mA Wiring Concerns Keep I O port signals and I O port grounds wired separately from
16. the motor drive signals Wiring these signals near each other can cause faulty operation Be sure to use adequate ground signal connections in conjunction with I O port bit signal connections Jumper Configuration Two hardware jumper locations are available for each I O port bit on the ValueMotion board One of these locations is for input signal configuration and the other is for output signal configuration The jumpers are used in conjunction with I O port configuration and polarity programming to properly set up the I O port function The jumpers must be properly installed and must correspond to the direction programmed to ensure correct operation of the I O port bits Never install both input and output jumpers for the same I O Port bit locations for example 1 and 9 2 and 10 3 and 11 etc Table 4 2 shows the I O Port bit assignments and the corresponding hardware jumpers Table 4 2 Jumper Pin 1 0 Port Bit Correspondence TO Port Bit Input Jumper Output Number Number Jumper Number 1 JP 1 JP 9 2 JP 2 JP 10 3 JP 3 JP 11 4 JP 4 JP 12 5 JP 5 JP 13 6 JP 6 JP 14 National Instruments Corporation 4 7 ValueMotion Hardware User Manual Chapter 4 Signal Connections Table 4 2 Jumper Pin I O Port Bit Correspondence Continued I O Port Bit Input Jumper Output Number Number Jumper Number 7 JP 7 JP 15 8 JP 8 JP 16 The ValueMotion boards have eight jumpers all loca
17. to digital converter ADC connector on the stepper boards is a 10 pin male box header connector You can use any compatible female mating connector Mating connector types include insulation displacement ribbon cable connectors and discrete wire female mating connectors ValueMotion Hardware User Manual 1 4 National Instruments Corporation Configuration and Installation This chapter describes how to configure and install your ValueMotion board Software Installation Install your ValueMotion driver and pcRunner software along with the VI libraries if appropriate before you install the ValueMotion board Refer to the appropriate release notes and your software documentation for specific instructions on the software installation sequence Board Configuration There are two types of configuration to be performed on the motion control boards bus related and motion I O related configuration The motion I O related configuration includes such settings as limit switch polarity I O port direction motion mechanical system variables and others Most of these settings are software configurable while some require hardware jumpers to be configured properly Refer to Chapter 4 Signal Connections for motion I O related hardware jumper settings PC boards The PC boards may occupy any available 16 bit ISA slot in the host computer The bus communication address of the boards is set with a DIP switch See Chapter 3 Hardwa
18. 0 Analog Output Analog Input Stepper Input voltage range eee Oto5 V Input low voltage eseese 0 8 V Input high voltage ee eeeeeeeee 2V Output voltage range eee Oto5 V Output low voltage eee lt 0 5 V at 24 mA Output high voltage gt 2 4Vat3mA Servo Output voltage range ee 10 V typ 9 5 V min Output current 0 eee eeee 5 mA typ 40 mA short circuit Resolution sc 2 sesccsesseseschesetespeseaseneass 12 bits Closed loop Stepper and PC Servo Input voltage range eee 0 to Vee Vec 5 V 3 ReSOLUtION cece snio taise eens 8 bits ValueMotion Hardware User Manual A 2 National Instruments Corporation Appendix A Specifications Power Requirements Max Physical Environment Power Device 5 43 12 V 3 12 V 43 Consumption PC Servo 1L5A O 1A 0 15 A 10 5 W PCI Servo 1 5A 0 1 A 0 15 A 10 5 W PC Step 1 2 A OA OA DW PCI Step 12A OA OA DW PXI 7324 12A OA OA DW PXI 7314 Dimensions Not including connectors TSA A ee EE eR es 33 8 by 9 9 cm 13 3 by 3 9 in 8 WEE 31 2 by 9 9 cm 12 3 by 3 9 in EE 16 by 10 cm 6 3 by 3 9 in Main 1 0 Connector ISA and BC ege dees 50 pin male box header Le RE 68 pin male SCSI II type A D Connector Closed loop Stepper eee eeeeees 10 pin male box header Auxiliary 24 Bit Digital 1 0 Connector Ku EE 50 pin male box header Operating Temperature 0 to 70 C Storage temperature
19. 66 A D Channel 2 A D Channel 3 33 67 A D Channel 4 5 V 34 68 Reference Ground ValueMotion Hardware User Manual Figure 4 3 68 Pin PXI Stepper Pin Assignment 4 4 National Instruments Corporation Chapter 4 Signal Connections Table 4 1 describes the signals on the I O connectors Table 4 1 Signal Descriptions for 1 0 Connector Pins Signal Name Reference Direction Description Axis lt 1 4 gt Dir CCW Common Output Stepper only motor direction or counter clockwise control Axis lt 1 4 gt Step CW Common Output Stepper only motor step or clockwise control Axis lt 1 4 gt Cmd Servo only reference for cmd Axis lt 1 4 gt Cmd Axis lt 1 4 gt Cmd Output Servo only analog motor command Axis lt 1 4 gt Encoder Phase A Common Input Closed loop only phase A encoder input Axis lt 1 4 gt Encoder Phase B Common Input Closed loop only phase B encoder input Axis lt 1 4 gt Home Switch Common Input Home switch Axis lt 1 4 gt Forward Limit Common Input Forward clockwise limit switch Switch Axis lt 1 4 gt Reverse Limit Common Input Reverse counter clockwise limit switch Switch Axis lt 1 4 gt Inhibit Common Output Stepper only drive inhibit TO lt 1 8 gt Common Input Output T O port bit lt 1 8 gt Servo only also 8 bit analog input Host 5 V Common Output 5 V bus power interlock Reference
20. 8 input signals 4 6 T O port hardware circuit 4 8 jumper configuration 4 7 to 4 8 output signals 4 7 wiring concerns 4 7 limit and home switches 4 9 to 4 10 input circuit 4 9 to 4 10 wiring concerns 4 9 signal descriptions table 4 5 software installation 2 1 National Instruments software 1 3 programming choices 1 2 specifications A 1 to A 3 analog input A 2 analog output A 2 auxiliary 24 bit digital I O A 2 environment A 3 motion digital I O A 1 to A 2 input circuits A 1 output circuits A 2 ValueMotion Hardware User Manual l 4 physical A 3 power requirements A 3 servo performance A 1 stepper performance A 1 stepper performance specifications A 1 T technical support C 1 to C 2 telephone and fax support numbers C 2 trajectory parameters 3 6 to 3 8 acceleration value loading 3 7 to 3 8 position value loading 3 6 to 3 7 velocity value loading 3 7 trapezoidal profile position control 3 4 to 3 5 V ValueMotion boards See also hardware overview connectors 1 4 National Instruments application software 1 3 optional equipment 1 3 overview 1 1 requirements for getting started 1 1 to 1 2 software programming choices 1 2 ValueMotion software 1 2 ValueMotion VI Library 1 3 velocity control 3 5 velocity profiling 3 5 velocity value loading 3 7 National Instruments Corporation
21. Lab VIEW and Bridge VIEW application software allow you to configure parameters in units including revolutions per minute RPM and revolutions per second per second RPSPS Velocity Control With the velocity control mode you can continue motion at a preprogrammed velocity until a limit or home switch is encountered or until a stop or kill function is executed Velocity Profiling With the velocity profiling mode you can preprogram acceleration to a desired velocity that is maintained until a new velocity value is loaded New velocity values may be loaded at any time The system executes the most recent function and attains the new programmed velocity Motion is continuous until a limit or home switch is encountered or until a stop or kill function is executed This mode is useful for continuous contouring applications CF Note Stepper boards do not use the acceleration value when changing to a new velocity which can result in an abrupt motion for large velocity changes Event Based Motion Profiling ValueMotion boards offer the advanced feature of event based motion profiling Event based motion profiling involves preloading motion control functions into onboard memory trigger buffers This allows you to execute single or multiple move sequences using digital I O trigger events Triggers can be external I O events or manual trigger functions sent by the host computer under function control This mode can be used for semi autonomous op
22. Motion Control ValueMotion Hardware User Manual 7 NATIONAL May 1998 Editi Re rgiw Part Number 321940801 Internet Support E mail support natinst com FTP Site ftp natinst com Web Address http www natinst com Bulletin Board Support BBS United States 512 794 5422 BBS United Kingdom 01635 551422 BBS France 01 48 65 15 59 Fax on Demand Support 512418 1111 Telephone Support USA Tel 512 795 8248 Fax 512 794 5678 International Offices Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 288 3336 Canada Ontario 905 785 0085 Canada Qu bec 514 694 8521 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Hong Kong 2645 3186 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Mexico 5 520 2635 Netherlands 0348 433466 Norway 32 84 84 00 Singapore 2265886 Spain 91 640 0085 Sweden 08 730 49 70 Switzerland 056 200 51 51 Taiwan 02 377 1200 United Kingdom 01635 523545 National Instruments Corporate Headquarters 6504 Bridge Point Parkway Austin Texas 78730 5039 USA Tel 512 794 0100 Copyright 1998 National Instruments Corporation All rights reserved Important Information Warranty Copyright Trademarks The ValueMotion servo and stepper motion control boards are warranted against defects in materials and workmanship for a period of one year from the date of shipment as evidenced by receipts or
23. PC PCI and PXI parts locator diagrams O lt i W I fe 6G E GR CH E O 1 Assembly Number 4 Output Jumpers 6 IRQ Jumpers 2 Serial Number 5 Input Jumpers 7 Address DIP Switch 3 External 50 pin Connector Figure 3 1 PC Servo Parts Locator Diagram National Instruments Corporation 3 1 ValueMotion Hardware User Manual Chapter 3 Hardware Overview E a C C f e a i E E mm RPE ap a ee ae i iy _ A g 1 sedi i G i S H Li ee Ed P ee Lei OH y O i Jt 1 Assembly Number 4 Auxiliary 24 Bit Digital UO 50 pin 7 Input Jumpers 2 Serial Number Connector 8 IRQ Jumpers 3 A D Converter Input 10 pin 5 External 50 pin Connector 9 Address DIP Switch Connector 6 Output Jumpers Figure 3 2
24. PC Step Parts Locator Diagram mco o ce f gielt mm es l Heft e a f fe ell ye dit 7m de o F S e KEE i Ue ks d ot p KL wo e w 3 Ft r E KH H E K TT d IL Pet cr R Du ze a M a T aooo Pa Ba H EN A IDDIE V oO 1 Assembly Number 3 Output Jumpers 5 External 50 Pin Connector 2 Serial Number 4 Input Jumpers Figure 3 3 PCl Servo Parts Locator Diagram ValueMotion Hardware User Manual 3 2 National Instruments Corporation Chapter 3 Hardware Overview D E w Ke y MADE IN U S A 1997 Q i B H L S z a 7 S 5 Di sh i E w aT amp ES GE Ke GE o y A Miso SI ag Sa e Inc Seilen P N 6200 0014 mn CH f i 1 Output Jumpers 4 Auxiliary 24 Bit Digital UO 7 Serial Number 2 Input Jumpers 50 Pin Conn
25. Velocity Velocity in RPM x Encoder Lines x 4 x 1 60 Step counts per second Velocity Velocity in RPM x Driver Steps Motor Step x Motor Steps Rev x 1 60 The driver steps motor step is determined by configuring the stepper driver The driver steps motor steps ratio is 1 for full step 1 2 for half step and 1 n for microstep where n is the microstep value Acceleration Value Loading Acceleration is expressed as change in velocity divided by time which is equivalent to change in position divided by time divided by time For servo and closed loop stepper boards position is specified in quadrature counts For open loop stepper boards position is specified in step counts Use the following formulas to convert revolutions per second per second RPSPS to quadrature or step counts per second per second Quadrature counts per second per second Acceleration Acceleration in RPSPS x Encoder Lines x 4 Step counts per second per second Acceleration Acceleration in RPSPS x Driver Steps Motor Step x Motor steps Rev National Instruments Corporation 3 7 ValueMotion Hardware User Manual Chapter 3 Hardware Overview The driver steps motor step is determined by configuring the stepper driver The driver steps motor steps ratio is 1 for full step 1 2 for half step and Lin for microstep where n is the microstep value Address Table Table 3 1 is a list of possible base addresses for the PC Servo and PC
26. a 5 V ISA or PCI slot as appropriate Gently rock the board to ease it into place It may be a tight fit but do not force the board into place 6 Ifrequired screw the mounting bracket of the ValueMotion board to the back panel rail of the computer 7 Replace the cover 8 Plug in and turn on your computer Your PC PCI ValueMotion board is installed ValueMotion Hardware User Manual 2 2 National Instruments Corporation Chapter 2 Configuration and Installation PXI boards 1 Sr Gan Write down the ValueMotion board serial number in the ValueMotion Hardware and Software Configuration Form in Appendix C Customer Communication of this manual Turn off and unplug your chassis Choose an unused 5 V peripheral slot Remove the filler panel for the peripheral slot you have chosen Touch a metal part on your chassis to discharge any static electricity that might be on your clothes or body Insert the PXI board into the slot Use the injector ejector handle to fully inject the device into place Screw the front panel of the PXI board to the front panel mounting rails of the chassis Visually verify the installation Plug in and turn on the chassis Your PXI ValueMotion board is installed National Instruments Corporation 2 3 ValueMotion Hardware User Manual Hardware Overview This chapter presents an overview of the hardware functionality on the ValueMotion board Figures 3 1 through 3 5 show the
27. ajectory Parameters Aas a n ee EE EE 3 6 Position Val e Loading uge tie fr ce eei e eies 3 6 Velocity Value Loading oo eee eee cscececseesseceecseceeceseeseceeeseeseseseeeeaeenaeeaee 3 7 Acceleration Value Loading i 0 ccssecsevsyousteiavegocuses E EE 3 7 Address ablenne Rap oe ALS ioe ated Reh E as 3 8 National Instruments Corporation V ValueMotion Hardware User Manual Contents Chapter 4 Signal Connections VO COnMe Ctr sss eegrE Gegen 4 1 External Connector Wiring Recommendations ce eeeeceeseeecseeeeeneeenees 4 5 Bus Power Signal crenta a idee EEN 4 6 VO Port and Inhibit Signals A 4 6 ele DEE 4 6 QOutputS 19M als 13 5 sets titetetantesend E E E E 4 7 Wiring Concerns 2 a E S EER 4 7 Jumper Configuration sree eee ereti EENES EENE E ERE Eia 4 7 V O Port Hardware Circuit 4 8 Limit and Home SWHEHES oein eaei a E ENESE 4 9 Wiring Concerns seenen Ea 4 9 Limit and Home Switch Input Circuit ssessseeeseeeeseeeeseeeeereeerererereees 4 9 Encoder Connections Closed Loop Boards Only 4 10 Witing Concerns E 4 11 Encoder Signals osre na en A E ER Rn 4 11 Encoder Index Pulse Stenal eeeeceseessceeeeeeseeeeeeeeseeseeeaeenaes 4 11 Encoder Signal Input Circuit 0 eee ceseeeeceseeeeceeeeeeseeeeeeeenes 4 12 Auxiliary 24 Bit Digital I O Connector Stepper Only 4 12 ADE An puts isin tate aioe eae aot Oe aie asad A A i ee ae 4 16 ADC OVELVICW EE 4 17 Appendix A Specifications Appendix B Cable Connector Des
28. al support number for your country If there is no National Instruments office in your country contact the source from which you purchased your software to obtain support Country Australia Austria Belgium Brazil Canada Ontario Canada Qu bec Denmark Finland France Germany Hong Kong Israel Italy Japan Korea Mexico Netherlands Norway Singapore Spain Sweden Switzerland Taiwan United Kingdom United States ValueMotion Hardware User Manual Telephone 03 9879 5166 0662 45 79 90 0 02 757 00 20 011 288 3336 905 785 0085 514 694 8521 45 76 26 00 09 725 725 11 01 48 14 24 24 089 741 31 30 2645 3186 03 6120092 02 413091 03 5472 2970 02 596 7456 5 520 2635 0348 433466 32 84 84 00 2265886 91 640 0085 08 730 49 70 056 200 51 51 02 377 1200 01635 523545 512 795 8248 C 2 Fax 03 9879 6277 0662 45 79 90 19 02 757 03 11 O11 288 8528 905 785 0086 514 694 4399 45 76 26 02 09 725 725 55 01 48 14 24 14 089 714 60 35 2686 8505 03 6120095 02 41309215 03 5472 2977 02 596 7455 5 520 3282 0348 430673 32 84 86 00 2265887 91 640 0533 08 730 43 70 056 200 51 55 02 737 4644 01635 523154 512 794 5678 National Instruments Corporation Technical Support Form Photocopy this form and update it each time you make changes to your software or hardware and use the completed copy of this form as a reference for your current configuration Completing this form accurately before contacti
29. ated 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 closed loop A broadly applied term relating to any system where output is measured and compared to input The output is then adjusted to reach the desired condition In motion control this term applies to a system using an encoder or any feedback device reference signal for digital I O central processing unit an unwanted signal on one channel due to an input on a different channel clockwise implies direction of motor rotation ValueMotion Hardware User Manual Glossary D DC dedicated DGND digital I O port DIP DLL drivers E encoder encoder resolution F filtering filter parameters following error trip point freewheel full step direct current assigned to a particular function digital ground signal a group of digital input output signals dual inline package dynamic link library provides the API for the motion control boards software that controls a specific motion control board device that translates mechanical motion into electrical signals used for monitoring position or velocity the number of encode
30. can also download the latest instrument drivers updates and example programs For recorded instructions on how to use the bulletin board and FTP services and for BBS automated information call 512 795 6990 You can access these services at United States 512 794 5422 Up to 14 400 baud 8 data bits 1 stop bit no parity United Kingdom 01635 551422 Up to 9 600 baud 8 data bits 1 stop bit no parity France 01 48 65 15 59 Up to 9 600 baud 8 data bits 1 stop bit no parity FTP Support To access our FTP site log on to our Internet host ftp natinst com as anonymous and use your Internet address such as joesmith anywhere com as your password The support files and documents are located in the support directories National Instruments Corporation C 1 ValueMotion Hardware User Manual Fax on Demand Support Fax on Demand is a 24 hour information retrieval system containing a library of documents on a wide range of technical information You can access Fax on Demand from a touch tone telephone at 512 418 1111 E Mail Support Currently USA Only You can submit technical support questions to the applications engineering team through e mail at the Internet address listed below Remember to include your name address and phone number so we can contact you with solutions and suggestions support natinst com Telephone and Fax Support National Instruments has branch offices all over the world Use the list below to find the technic
31. criptions Appendix C Customer Communication Glossary Index ValueMotion Hardware User Manual vi National Instruments Corporation Contents Figures Figure 3 1 PC Servo Parts Locator Diagram cece ee eecceseeeceeeeeeeseeenecaeeeneenaes 3 1 Figure 3 2 PC Step Parts Locator Diagram 0 eee cee eeeceseeeeeeeeeeeeseenseeeeeneens 3 2 Figure 3 3 PCI Servo Parts Locator Dageram eee eecceeceeeeeeeeeeeeeeeneeseeenees 3 2 Figure 3 4 PCI Step Parts Locator Diagram eee eceeeeeeceeeeeeeneeeseceenneenaes 3 3 Figure 3 5 PXI Step Parts Locator Dageram ee eee cee cee ceeeeeceeeeeeeseeseeneees 3 4 Figure 4 1 50 Pin Servo Connector Pin Asstgenment cc csceseseeeceseeeseeeeeeeees 4 2 Figure 4 2 50 Pin Stepper Connector Pin Assignment ce eeeeeeseesecseenseeees 4 3 Figure 4 3 68 Pin PXI Stepper Pin Assignment 0000 0 ee eceeeeeeeseeeneeseeceeenneenees 4 4 Figure 4 4 I O Port Input and Output Hardware Circuitry 0 0 eee eee eeees 4 8 Figure 4 5 Limit Switch and Home Switch Input Hardware Circuitry 00000 00 4 10 Figure 4 6 Quadrature Encoder Phasing Diagram 0 eee eeeceeeeceeeeeeeeeeeeee tees 4 10 Figure 4 7 Encoder Feedback Input Hardware Circuitry eee eee eeeeee tees 4 12 Figure 4 8 Auxiliary 24 bit Digital I O 50 Pin Connector 00 eee eeeeeeeeeee 4 13 Figure 4 9 Auxiliary 24 Bit Digital I O Port Configuration eects 4 14 Figure 4 10 PC Step Port C Direction Setmg ee eeeeeeseecreesee
32. ction National Instruments Corporation 4 9 ValueMotion Hardware User Manual Chapter 4 Signal Connections To the limit and home 3 3 kQ ko switch circuits lt deeg To the external 1kQ AA connector limit and home switch DGND pins Figure 4 5 Limit Switch and Home Switch Input Hardware Circuitry The board provides protection for over voltage inputs on the limit and home switch input signal However take care when making these and any other hardware wiring connections The inputs are clamped between 0 and 5 V through a 1 KQ 1 4 W resistor 12 V input signals can be interfaced directly but higher voltages must be avoided The 3 3 kQ pull up resistor allows you to interface to open collector signals A Caution Excessive input voltages can cause erroneous operation and or component failure Encoder Connections Closed Loop Boards Only Encoder signal inputs can be single ended TTL signals Take care to observe the phasing of the Phase A and Phase B encoder quadrature signals to ensure that the direction of motor motion and encoder feedback signals are coincident and correctly related For more information see Figure 4 6 Phase A Phase B Index Figure 4 6 Quadrature Encoder Phasing Diagram ValueMotion Hardware User Manual 4 10 National Instruments Corporation Ak Caution Note Chapter 4 Signal Connections Wiring Concern
33. d in hardware as three 8 bit digital I O ports The three byte wide 8 bit ports are referred to as ports A B and C The auxiliary 24 bit digital I O is accessed from a 50 pin connector as shown in Figure 4 8 ValueMotion Hardware User Manual 4 12 National Instruments Corporation Chapter 4 Signal Connections Aux Digital UO 24 Aux Digital I O 23 Aux Digital I O 22 Aux Digital I O 21 Aux Digital I O 20 Aux Digital I O 19 Aux Digital I O 18 Aux Digital I O 17 Aux Digital I O 16 Aux Digital I O 15 Aux Digital UO 14 Aux Digital I O 13 Aux Digital I O 12 Aux Digital I O 11 Aux Digital I O 10 Aux Digital I O 9 Aux Digital I O 8 Aux Digital I O 7 Aux Digital I O 6 Aux Digital I O 5 Aux Digital UO 4 Aux Digital I O 3 Aux Digital I O 2 Aux Digital I O 1 5 V O AJN N ao o 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Common Figure 4 8 Auxiliary 24 bit Digital 1 0 50 Pin Connector Port A consists of auxiliary digital I O bits 1 th
34. d target position using preprogrammed acceleration and velocity values The trapezoidal motion profile is calculated based on the move duration maximum velocity and desired acceleration Motion occurs first with a programmable acceleration then for a period at a constant velocity if possible and finally with a preprogrammed deceleration stopping or setting desired target position You can interrupt motion by halt stopping via a limit or home switch input or you can execute a stop or kill function The stepper boards also have a programmable acceleration factor that boosts the acceleration at low speeds to match the inherent torque vs speed characteristics of ValueMotion Hardware User Manual 3 4 National Instruments Corporation Chapter 3 Hardware Overview stepper motor systems Servo boards use proportional integral differential PID loop control with user controlled gain parameters for optimum trajectory control Stepper and servo boards require parameter loading in conjunction with motion trajectory function level programming The open loop stepper board parameters are expressed primarily in terms of steps step count and steps second Functions accessing closed loop functions also use steps revolution encoder lines revolution and quadrature encoder counts Servo boards use parameters expressed in quadrature encoder counts counts per PID sample period velocity and counts per PID sample period squared acceleration pcRunner
35. dal profile 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 trigger any event that causes or starts some form of data capture TTL transistor transistor logic ValueMotion Hardware User Manual G 8 National Instruments Corporation Vec velocity mode W watchdog word Z bit Glossary 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 marker between consecutive encoder revolutions National Instruments Corporation G 9 ValueMotion Hardware User Manual Index Numbers 5 V signal table 4 5 24 bit digital I O connector See auxiliary 24 bit digital I O connector stepper only A acceleration value loading 3 7 to 3 8 A D Channel lt 1 4 gt signal table 4 5 ADC inputs 4 16 to 4 17 ADC overview 4 17 external pin assignments figure 4 16 address table 3 8 to 3 11 analog input specifications A 2 analog output specifications A 2 auxiliary 24 bit digital I O connector stepper only 4 12 to 4 16 50 pin connector figure 4 13 base address selection note 4 15 TO port configuration fi
36. data values for this port If the output data is independent of the present value of the output Port C it is also simple to write the new desired bit levels to the port directly The PC Servo and all closed loop stepper boards contain an eight channel ADC for basic analog input operations The A D channels on the stepper boards are accessed from a 10 pin connector as shown in Figure 4 12 You can also access the first four analog channels on the PXI stepper boards from the 68 pin motion connector The A D channels on the PC Servo are accessed from the 50 pin connector and map to the I O port bits There is a one to one mapping of the pins For example A D Channel 1 is on I O Port Bit 1 A D Channel 2 is on I O Port Bit 2 etc A D Channel 1 1 2 A D Channel 2 A D Channel 3 3 4 A D Channel 4 A D Channel 5 5 6 A D Channel 6 A D Channel7 7 8 A D Channel 8 5V 9 10 Reference Ground Figure 4 12 External Pin Assignment for the 10 Pin ADC Connector ValueMotion Hardware User Manual 4 16 National Instruments Corporation Chapter 4 Signal Connections ADC Overview You can configure the eight channel ADC on the ValueMotion board for simple A D conversion or motion integrated functionality The ADC is a 0 and 5 V range 8 bit converter You can use A D input channels 1 through 8 independently as analog inputs You can read back the analog voltage input digital representation on an
37. e 258 UO 12345678 260 WE Nt HIT 12345678 268 t 12345678 270 ee Nt t 1 345678 278 Parallel Port 2 t 12345678 280 n t 12345678 288 R aam 12345678 290 TU 12345678 298 IN Gidd 2345678 2A0 Ee UU 2A8 ZO LU 2345678 ValueMotion Hardware User Manual Chapter 3 Hardware Overview Table 3 1 ISA Bus Address Map Continued Base Base Address DIP Switch Address Typical Use Address DIP Switch Address Typical Use 2B0 308 S Prototype i piian 12345678 L123 4567 8 2B8 s 310 CH Prototype 456 12345678 2C0 318 gt Prototype H N Card aamin ory 123456 12345678 2C8 ed 320 Ch t 123 56 12345678 2D0 s 328 z GOUD 1 3 5 6 12345678 2D8 330 Pesch 6 3456 2345678 2E0 338 Ch 2E8 5 Serial Port 4 340 Con ff TL 12345678 12345678 2FO 348 TL 12345678 12345678 2F8 S Serial Port 2 350 5 DUDU I 12345678 12345678 300 Se Prototype 358 Card h dy 123 5678 d 12345678 ValueMotion Hardware User Manual 3 10 National Instruments Corporation
38. e pin assignments for the 68 pin I O connector on the PXI boards Axis 1 Dir CCW 1 35 Axis 1 Step CW Common 2 36 Axis 1 Encoder Ph A Common 3 37 Axis 1 Encoder Ph B Axis 1 Home Switch 4 38 Axis 1 Encoder Index O 1 input 5 39 Axis 1 Forward Limit Switch Axis 1 Inhibit 6 40 Axis 1 Reverse Limit Switch Axis 2 Dir CCW 7 41 Axis 2 Step CW Common 8 42 Axis 2 Encoder Ph A Common 9 43 Axis 2 Encoder Ph B Axis 2 Home Switch 10 44 Axis 2 Encoder Index I O 2 input 11 45 Axis 2 Forward Limit Switch Axis 2 Inhibit 12 46 Axis 2 Reverse Limit Switch Axis 3 Dir CCW 13 47 Axis 3 Step CW Common 14 48 Axis 3 Encoder Ph A Common 15 49 Axis 3 Encoder Ph B Axis 3 Home Switch 16 50 Axis 3 Encoder Index O 3 input 17 51 Axis 3 Forward Limit Switch Axis 3 Inhibit 18 52 Axis 3 Reverse Limit Switch Axis 4 Dir CCW 19 53 Axis 4 Step CW Common 20 54 Axis 4 Encoder Ph A Common 21 55 Axis 4 Encoder Ph B Axis 4 Home Switch 22 56 Axis 4 Encoder Index I O 4 input 23 57 Axis 4 Forward Limit Switch Axis 4 Inhibit 24 58 Axis 4 Reverse Limit Switch Common 25 59 Host 5 V I O 1 ouput 26 60 1 0 2 output IO 3 output 27 61 1 0 4 output Reserved 28 62 Reserved Reserved 29 63 Reserved Reserved 30 64 Reserved Reserved 31 65 Reserved A D Channel 1 32
39. ector 8 External 50 Pin Connector 3 A D Converter Input 10 Pin 5 Port C Direction Jumper Connector 6 Assembly Number Figure 3 4 PCI Step Parts Locator Diagram National Instruments Corporation 3 3 ValueMotion Hardware User Manual Chapter 3 Hardware Overview a z d d z O R D U9 o a ees Sch 1 om He gv l IT sz 0 A uig Oi 13 H pi ut ull ule D A H D Se KC RH ves S KR S e wy se p e 5 La JIS E 4 ue A 5 5 ue o um Wi ue uD ZP D s L de d O ed UE Orr P mm i Kee J Px yax 1x 3g _ lt T O gel ulate COPYRIGHT 1998 Ci S OZ ei M e og 1 A D Converter Input 10 Pin 4 Assembly Number 7 Serial Number backside Connector 5 Input Jumpers 8 External 68 Pin Connector 2 Auxiliary 24 Bit Digital UO 6 Output Jumpers 50 Pin Connector 3 Pont C Direction Jumper Figure 3 5 PXI Step Parts Locator Diagram Functional Modes Trapezoidal Profile Position Control The ValueMotion servo and stepper controllers implement trapezoidal profile control They provide point to point motion based on the difference between the current position and the desire
40. ecutive encoder revolutions input output the transfer of data to and from a computer system involving communications channels operator interface devices and or motion control interfaces servo input output port bits 1 through 8 Also 8 bit analog input 5 volts bus interlock voltage the polarity of a switch limit switch home switch etc in active state If these switches are active low they are said to have inverting polarity interrupt request industry standard architecture ValueMotion Hardware User Manual Glossary L latching limit switch input m microstep modulo position noise noninverting ValueMotion Hardware User Manual G 6 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 a signal that maintains its value while in a given state as opposed to a signal that momentarily pulses when entering or exiting a state sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop meters mode of a stepper motor subdividing the basic motor step by proportioning the current in the windings In this way the step size is reduced and low speed smoothness is dramatically improved treat the target position as within the range of total quadrature counts per revolution for an axis an undes
41. ed loop mode These boards use quadrature encoders for position and velocity feedback and 10 V analog outputs for command Closed loop stepper boards control stepper motors and can operate in open or closed loop mode They use quadrature encoders for position and velocity feedback and step direction or clockwise CW counter clockwise CCW digital outputs for command Open loop stepper boards do not include the quadrature encoders and can operate only in open loop mode All stepper boards support full half and microstepping applications What You Need to Get Started To set up and use your ValueMotion board you will need the following CL One of the ValueMotion boards Servo PC Servo 4A PC Servo 2A PCI Servo 4A PCI Servo 2A National Instruments Corporation 1 1 ValueMotion Hardware User Manual Chapter 1 Introduction Stepper Open Loop PC Step 4OX PC Step 20X PCI Step 40X PCI Step 20X PXI 7314 Stepper Closed Loop PC Step 4CX PC Step 2CX PCI Step 4CX PCI Step 2CX PXI 7324 LY ValueMotion Hardware User Manual UL One of the following software packages and documentation Bridge VIEW LabVIEW LabWindows CVI ValueMotion Software includes pcRunner Q Your computer with an available ISA PCI or PXI slot as appropriate Software Programming Choices You have several options to choose from when programming your National Instruments ValueMotion boards You can use National Instruments applicati
42. emory address of the ValueMotion board National Instruments application software choice Software version Other Products Computer make and model Microprocessor Clock frequency or speed Type of video board installed Operating system DOS or Windows Operating system mode Programming language Programming language version Other boards in system Base memory address of other boards Interrupt level of other boards Motor Driver Amplifier Type and Manufacturer Motor Type and Manufacturer Connectivity Type CB50 UMI NuDrive other Documentation Comment Form National Instruments encourages you to comment on the documentation supplied with our products This information helps us provide quality products to meet your needs Title ValueMotion Hardware User Manual Edition Date May 1998 Part Number 321940A 01 Please comment on the completeness clarity and organization of the manual If you find errors in the manual please record the page numbers and describe the errors Thank you for your help Name Title Company Address E Mail Address Phone __ Fax __ Mail to Technical Publications Fax to Technical Publications National Instruments Corporation National Instruments Corporation 6504 Bridge Point Parkway 512 794 5678 Austin Texas 78730 5039 Glossary
43. er when stepper motors are run in closed loop mode the encoder feedback is used to verify the position of an axis when the motion ends The motion controller then functions the axis to do a final move so that it is at the desired target position Pulse Width Modulation a method of controlling the average current in a motors phase windings 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 relative quadrature counts ValueMotion Hardware User Manual Glossary relative mode relative position ribbon cable rotary axis RPM RPSPS or RPS S S servo stepper T treat the target position loaded as position relative to current position while making a move position relative to current position a flat cable in which the conductors are side by side an axis for which rotary counts are loaded The axis moves to the target position by taking the shortest path either forward or backwards while remaining within the one revolution defined by the loaded rotary counts revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration seconds specifies an axis that controls a servo motor specifies an axis that controls a stepper motor toggle changing state from high to low back to high and so on torque force tending to produce rotation trapezoi
44. eration or for precise coordination with external events National Instruments Corporation 3 5 ValueMotion Hardware User Manual Chapter 3 Hardware Overview Electronic Gearing Servo Only With electronic gearing you can slave one or more axes to a master axis for synchronous ratio based motion The master axis operates identically to a normal axis and supports all position and velocity based motions A slave axis operates in a special mode that sets a target position based on a scale factor of the position of the master axis For example setting a scale factor of 3 2 results in the slave axis rotating three revolutions for every two revolutions of the master You can configure each slave axis to have its own scale factor relative to the master axis Trajectory Parameters All trajectory parameters used by the servo boards are expressed in terms of quadrature counts Stepper board motion parameters are expressed in terms of steps or for closed loop quadrature counts The boards obtain closed loop position and velocity control by using an incremental quadrature encoder for feedback All position data is referred to in quadrature counts You can determine quadrature counts by multiplying the number of encoder lines per index period multiplied by four as shown Encoder Lines Per Index Period x 4 The encoder resolution is the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have
45. for PCI item 3 in Figure 3 5 PXI Step Parts Locator Diagram for PXI to input or output to select the hardware direction configuration of Port C I O direction Refer to Figure 4 11 for more information on jumper configuration 2 Use the Set Aux I O Port Output function to set up the desired Port C direction of the Port C data byte Refer to your ValueMotion Software Reference Manual for more information on function calling Output 12345678 Input ul DEE KEE Figure 4 10 PC Step Port C Direction Setting Zo CF Note The base address selection shown is 0x3E0 and is for reference only the Port C direction switch operates independently of the address selected National Instruments Corporation 4 15 ValueMotion Hardware User Manual Chapter 4 Signal Connections ADC Inputs Output Input Figure 4 11 PCI and PXI Step Port C Direction Setting Data may be written to the Port C bits when they are configured as output bits and the outputs will reflect the desired output bit levels set Configure Port C for input bits Reading data from Port C returns the actual data input or user programmed output values for the bits depending on Port C direction selected Readback of the Port C bit data can be very useful in programming these bits By reading back the present output bit settings and then using logical binary functions you can directly mask and set output
46. gure 4 14 Port A 4 13 Port B 4 14 to 4 15 Port C direction setting 4 15 to 4 16 specifications A 2 Axis lt 1 4 gt Cmd signal table 4 5 Axis lt 1 4 gt Cmd signal table 4 5 Axis lt 1 4 gt Dir CCW signal table 4 5 Axis lt 1 4 gt Encoder Phase A signal table 4 5 Axis lt 1 4 gt Encoder Phase B signal table 4 5 Axis lt 1 4 gt Forward Limit Switch signal table 4 5 Axis lt 1 4 gt Home Switch signal table 4 5 Axis lt 1 4 gt Inhibit signal table 4 5 Axis lt 1 4 gt Reverse Limit Switch signal table 4 5 Axis lt 1 4 gt Step CW signal table 4 5 National Instruments Corporation board configuration 2 1 to 2 2 BridgeVIEW software 1 3 bulletin board support C 1 C Common table 4 5 configuration 2 1 to 2 2 connectors auxiliary 24 bit digital I O connector stepper only 4 12 to 4 16 50 pin connector figure 4 13 T O port configuration figure 4 14 Port C direction setting 4 15 to 4 16 external connector bus power signal 4 5 to 4 6 functional areas of per axis motion I O connector 4 6 preventing noise or crosstalk caution 4 6 wiring recommendations 4 5 to 4 6 T O connector pin assignments 4 1 to 4 4 50 pin servo connector figure 4 2 B 1 50 pin stepper connector figure 4 3 B 2 68 pin PXI stepper connector figure 4 4 customer communication xi C 1 to C 2 D digital I O connector See auxiliary 24 bit digital T O connector stepper only ValueMoti
47. hasing The index state is defined when all three signals Phase A Phase B and Index are low To avoid redundancy the Index signal must be less than 360 of a full quadrature period Improper index signal connection and configuration may cause faulty operation during the Find Index function If this function is not functioning properly check the encoder index signal connection polarity and sequence National Instruments Corporation 4 11 ValueMotion Hardware User Manual Chapter 4 Signal Connections Encoder Signal Input Circuit Figure 4 7 shows a simplified schematic diagram of the hardware circuit used by the encoder inputs for input signal buffering Ve To the quadrature 3 3 KQ 7 decoder circuit lt E 74HC244 To the external 1kQ AA connector encoder input DGND pins Figure 4 7 Encoder Feedback Input Hardware Circuitry The board provides protection for over voltage inputs and misconnection of the Encoder Input signals However take care when making these and any other hardware wiring connections The inputs are clamped between 0 and 5 V through a 1 kQ 1 4 W resistor The 3 3 kQ pull up resistor allows you to connect to open collector signals S Caution Excessive input voltages can cause component failure Auxiliary 24 Bit Digital 1 0 Connector Stepper Only You can program the auxiliary 24 bit digital I O port for digital I O functionality The 24 bit digital I O port is configure
48. hrough software Unused limit inputs may be directly used as nondedicated general purpose digital input channels An active input signal on an enabled limit or home switch input causes motion to immediately decelerate or halt stop on the corresponding axis Limit and home switch input signals perform special motion control functions during the Find Home function Note While limit switch transitions are edge detected and stops motion active inputs should remain active to prevent motion from proceeding further into the limit or in the limit direction Pulsed signals cause motion to stop but they do not prevent further motion profiles that are restarted beyond an active limit position Limit switch inputs are a per axis system level enhancement on the ValueMotion boards and are not required for basic motion control These inputs are part of a system solution for complete motion control All motion control functions may be operated without limit switches except the Find Home function which requires enabled limit inputs for operations Wiring Concerns J Caution Keep limit and home switch signals and their ground connections wired separately from the motor driver amplifier signal connections Wiring these signals near each other can cause faulty operation Limit and Home Switch Input Circuit Figure 4 5 shows a simplified schematic diagram of the circuit configuration used by the limit and home switch inputs for input signal buffering and dete
49. irable 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 National Instruments Corporation OL PID port position breakpoint power cycling prestore pull in move PWM Q quadrature counts R RAM relative breakpoint National Instruments Corporation G 7 Glossary open loop trefers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals proportional integral derivative control loop 1 acommunications connection on a computer or a remote controller 2 a digital port consisting eight lines of digital input and or output position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions turning the host computer off and then back on which resets the motion control board trigger buffer function storage which stores a series of functions in a buff
50. is 4 Encoder Ph A Axis 4 Encoder Ph B Axis 4 Encoder Index Axis 4 Forward Limit Switch Axis 4 Reverse Limit Switch Host 5 V ValueMotion Hardware User Manual Figure B 2 50 Pin Stepper Connector Pin Assignment B 2 National Instruments Corporation Customer Communication For your convenience this appendix contains forms to help you gather the information necessary to help us solve your technical problems and a form you can use to comment on the product documentation When you contact us we need the information on the Technical Support Form and the configuration form if your manual contains one about your system configuration to answer your questions as quickly as possible National Instruments has technical assistance through electronic fax and telephone systems to quickly provide the information you need Our electronic services include a bulletin board service an FTP site a fax on demand system and e mail support If you have a hardware or software problem first try the electronic support systems If the information available on these systems does not answer your questions we offer fax and telephone support through our technical support centers which are staffed by applications engineers Electronic Services Bulletin Board Support National Instruments has BBS and FTP sites dedicated for 24 hour support with a collection of files and documents to answer most common customer questions From these sites you
51. ng National Instruments for technical support helps our applications engineers answer your questions more efficiently If you are using any National Instruments hardware or software products related to this problem include the configuration forms from their user manuals Include additional pages if necessary Name Company Address Fax ___ Phone __ Computer brand Model Processor Operating system include version number Clock speed MHz RAM MB Display adapter Mouse ven no Other adapters installed Hard disk capacity MB Brand Instruments used National Instruments hardware product model Revision Configuration National Instruments software product Version Configuration The problem is List any error messages The following steps reproduce the problem ValueMotion Hardware and Software Configuration Form Record the settings and revisions of your hardware and software on the line to the right of each item Complete a new copy of this form each time you revise your software or hardware configuration and use this form as a reference for your current configuration Completing this form accurately before contacting National Instruments for technical support helps our applications engineers answer your questions more efficiently National Instruments Products ValueMotion board ValueMotion board serial number Base m
52. on Hardware User Manual Index documentation about this manual ix conventions used in manual x xi organization of manual ix x related documentation xi E electronic gearing servo only 3 6 electronic support services C 1 to C 2 e mail support C 2 encoder connections closed loop boards only 4 10 to 4 12 determining quadrature counts note 4 11 encoder index pulse signal 4 11 encoder signal input circuit 4 12 encoder signals 4 11 excessive input voltages caution 4 12 quadrature encoder phasing diagram 4 10 wiring concerns 4 11 environment specifications A 3 equipment optional 1 3 event based motion profiling 3 5 external connector bus power signal 4 5 to 4 6 functional areas of per axis motion I O connector 4 6 preventing noise or crosstalk caution 4 6 wiring recommendations 4 5 to 4 6 F fax and telephone support numbers C 2 Fax on Demand support C 2 FTP support C 1 functional modes 3 4 to 3 6 electronic gearing servo only 3 6 event based motion profiling 3 5 ValueMotion Hardware User Manual l 2 trapezoidal profile position control 3 4 to 3 5 velocity control 3 5 velocity profiling 3 5 H hardware installation 2 2 to 2 3 hardware overview 3 1 to 3 11 address table 3 8 to 3 11 functional modes 3 4 to 3 6 electronic gearing servo only 3 6 event based motion profiling 3 5 trapezoidal profile position control 3 4 to 3 5 velocity control 3 5 velocity profiling
53. on software ValueMotion Software or register level programming Programming the servo and stepper ValueMotion controller boards is straightforward using a simple but powerful high level function set application programming environment API All set up and motion control functions are easily executed through register level communications or may be implemented using driver level functions callable from assembly language C or other high level languages Full function set implementations are available for LabVIEW LabWindows CVI BridgeVIEW Visual Basic and other industry standard software programs ValueMotion Hardware User Manual 1 2 National Instruments Corporation Chapter 1 Introduction National Instruments Application Software LabVIEW and BridgeVIEW based on the graphical programming language G feature interactive graphics and a state of the art user interface In LabVIEW and BridgeVIEW you can create 32 bit compiled programs and stand alone executables for custom data acquisition test and measurement solutions National Instruments offers the ValueMotion VI Library a series of virtual instruments VIs for using LabVIEW or Bridge VIEW with National Instruments motion control hardware This VI library implements the full function set API and a powerful set of demo functions example programs and fully operational high level application routines ANSI C based LabWindows CVI also features interactive graphics and a sta
54. r 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 a type of signal conditioning that filters unwanted signals from the signal being measured indicates the control loop parameter gains PID gains for a given axis the difference between the instantaneous function trajectory position and the feedback position the condition of a motor when power is de energized and the motor shaft is free to turn full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously ValueMotion Hardware User Manual G 4 National Instruments Corporation Gnd GND H half step hex home switch input host computer ID in index T O I O lt 1 8 gt interlock inverting IRQ ISA National Instruments Corporation G 5 Glossary 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 reference position in a motion control system derived from a mechanical datum or switch Often designated as the zero position computer into which the motion control board is plugged identification inches marker between cons
55. re Overview for more information on setting the base address DIP switch You can install multiple PC Servo or PC Step boards with different addresses in the host computer Note Interrupt Request IRQ jumpers are provided for future expansion and are not presently used on the PC Servo or PC Step boards Leave all six jumper locations empty National Instruments Corporation 2 1 ValueMotion Hardware User Manual Chapter 2 Configuration and Installation PCI and PXI boards The PCI and PXI boards are fully compatible with the PCI Local Bus Specification Revision 2 1 This compatibility allows the computer to automatically perform all bus related configuration and requires no user interaction There are no jumpers to configure for bus related configuration Hardware Installation You can install the ValueMotion board in any open compatible ISA PCI or PXI expansion slot in your computer The following are general installation instructions but consult your computer user manual or technical reference manual for specific instructions and warnings PC and PCI boards 1 Write down the ValueMotion board serial number in the ValueMotion Hardware and Software Configuration Form in Appendix C Customer Communication of this manual Turn off and unplug your computer Remove the top cover or access port to the I O channel Remove the expansion slot cover on the back panel of the computer he er Insert the ValueMotion board into
56. rough 8 available on the auxiliary 24 bit digital I O connector Always configure these bits as input bits only Read data from the Port A bits and the data will always reflect the actual input bit levels Configure Port A for output bits and writing output data to Port A does nothing For more information see Figure 4 9 National Instruments Corporation 4 13 ValueMotion Hardware User Manual Chapter 4 ValueMotion Hardware User Manual Signal Connections Aux Digital 1 0 1 Aux Digital 1 0 2 Aux Digital 1 0 3 Aux Digital 1 0 4 Aux Digital 1 0 5 Aux Digital 1 0 6 Aux Digital 1 0 7 Aux Digital 1 0 8 Input to Stepper Port A Aux Digital 1 0 9 _ Aux Digital 1 0 10 _ Aux Digital 1 0 11 Aux Digital 1 0 12 Aux Digital 1 0 13 Aux Digital 1 0 14 Aux Digital 1 0 15 Aux Digital 1 0 16 Output from Stepper Port B Aux Digital 1 0 17 Aux Digital 1 0 18 _ Aux Digital 1 0 19 Aux Digital 1 0 20 Aux Digital 1 0 21 Aux Digital 1 0 22 Aux Digital 1 0 23 Aux Digital 1 0 24 Input or Output from Stepper Port C Figure 4 9 Auxiliary 24 Bit Digital 1 0 Port Configuration Port B consists of digital I O bits 9 through 16 available on the auxiliary 50 pin I O connector Always configure these bits as output bits only Wri
57. s The encoder inputs are connected to quadrature decoder counter circuits You must minimize noise at this interface Excessive noise may overwhelm the digital filters on these input signals resulting in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system Wire encoder signals and their ground connections separately from the motor driver signal connections Wiring these signals near each other causes mispositioning and faulty operation Encoder Signals ValueMotion boards expect quadrature encoder input feedback signals 90 out of phase from each other Any deviation from this signal type or excessive noise on the encoder signals causes faulty operation and lost quadrature counts Determine quadrature counts by multiplying the encoder resolution in encoder lines by 4 The encoder resolution is the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the resolution would be referred to as lines per revolution or lines per unit of measure in cm mm etc Encoder Index Pulse Signal You can use the ValueMotion boards with an active low index marker or Z bit input This signal must be single ended TTL compatible and properly phased in both polarity and sequence with respect to the Phase A and Phase B input signals See Figure 4 6 for more information about the quadrature encoder p
58. ses represent a range of values associated with a bit signal or port for example ACH lt 0 7 gt stands for ACHO through ACH7 The e symbol indicates that the text following it applies only to a specific product a specific operating system or a specific software version This icon to the left of bold italicized text denotes a note which alerts you to important information This icon to the left of bold italicized text denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash Bold text denotes the names of menus menu items parameters dialog boxes dialog box buttons or options icons and windows Bold italic text denotes a note caution or warning Refers to the PC Step 2CX PC Step 4CX PCI Step 2CX PCI Step 4CX and the PXI 7324 Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text from which you supply the appropriate word or value as in Windows 95 ValueMotion Hardware User Manual X National Instruments Corporation About This Manual Open Loop Stepper Refers to the PC Step 20X PC Step 4OX PCI Step 20X PCI Step 4OX and the PXI 7314 Servo Refers to the PC Servo 2A PC Servo 4A PCI Servo 2A and PCI Servo 4A Stepper Refers to the PC Step 20X PC Step 4OX PC Step 2CX PC Step 4CX PCI Step 20X PCI Step 4OX PCI Step 2CX PCI Step 4CX PXI 7314 and PXI 7324 Related Documentation
59. te data to the Port B bits and the outputs reflect the actual output bit levels programmed Port B can not be configured for input bits Reading input data from Port B returns the desired data output values for the bits programmed See Figure 4 9 for more information Readback of the Port B bit data can be very useful in programming these bits By reading back the present output bit settings and then using logical binary functions you can directly mask and set output data values for this port If the output data is independent of the present value of output Port B 4 14 National Instruments Corporation Chapter 4 Signal Connections it is also simple to write the new desired bit levels to the port directly overriding the previous values Port C consists of auxiliary digital I O bits 17 through 24 available on the auxiliary 50 pin I O connector You can configure these bits byte wide as input or output bits You can configure Port C direction as all output bits or all input bits by using two required configuration settings Complete the following steps to set the Port C direction 1 PC Step Only Set the 8th position on the board address DIP switch as On or Off to select the hardware direction configuration of Port C I O direction Refer to Chapter 3 Hardware Overview and Figure 4 10 for more information on setting the DIP switches PCI and PXI Step Only Set the jumper item 5 in Figure 3 4 PCI Step Parts Locator Diagram
60. te of the art user interface Using LabWindows CVI you can generate C code for custom data acquisition test and measurement solutions The ValueMotion Software Kit includes a series of functions for using LabWindows CVI with National Instruments motion control hardware Optional Equipment National Instruments offers a variety of products to use with ValueMotion boards including cables connector blocks Universal Motion Interfaces UMIs driver amplifier units and other accessories as follows e Cables and cable assemblies e Connector blocks shielded and unshielded 50 and 68 pin screw terminals e UMI connectivity blocks with integrated motion signal conditioning and motion inhibit functionality e nuDrive stepper and servo motor compatible driver amplifier units with integrated power supply and wiring connectivity For more specific information about these products refer to your National Instruments catalogue the motion control product brochure or call the office nearest you National Instruments Corporation 1 3 ValueMotion Hardware User Manual Chapter 1 Introduction Motion Signal and Motion 1 0 Connections The external connector on the PXI motion control boards is a 68 pin male SCSI II type connector The other motion control boards use a 50 pin male right angle box header connector The auxiliary 24 bit digital I O port connector on the stepper boards is a 50 pin male box header connector The analog
61. ted 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 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 con
62. ted on the input pins JP1 through JP8 Refer to Figures 3 1 through 3 5 in Chapter 3 Hardware Overview for input output jumper locations 1 0 Port Hardware Circuit Figure 4 4 shows a simplified schematic diagram of the hardware circuitry used by the I O ports for input signal buffering and output signal drive as well as the jumper locations Vcc For input jumpers use lt JP 1 8 gt pane To the I O circuits gt To the I O bits on the external connector Input Jumpers Output Jumpers D For output jumpers use lt JP 9 16 gt Figure 4 4 1 0 Port Input and Output Hardware Circuitry The board provides protection for input signal over voltage and misconnection of the I O port bits However you must take care when making these and any other hardware wiring connections The inputs are clamped between 0 and 5 V through a 1 kQ 1 4 W resistor 12 V input signals can be interfaced directly but higher voltages should be avoided With the 3 3 kQ pull up resistor you directly interface to open collector signals ValueMotion Hardware User Manual 4 8 National Instruments Corporation Chapter 4 Signal Connections A Caution Excessive input voltages may cause component failure Limit and Home Switches Limit and home switch inputs can be software configured as active high or active low enabled single ended signals Limit and home switch inputs may be enabled and disabled t
63. trol 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 BridgeVIEW CVI LabVIEW nuDrive and ValueMotion are trademarks of National Instruments Corporation Product and company names listed are trademarks or trade names of their respective companies WARNING REGARDING MEDICAL AND CLINICAL USE OF NATIONAL INSTRUMENTS PRODUCTS National Instruments products are not designed with components and testing intended to ensure a level of reliability suitable for use in treatment and diagnosis of humans Applications of National Instruments products involving medical or clinical treatment can create a potential for accidental injury caused by product failure or by errors on the part of the user or application designer Any use or application of National Instruments products for or involving medical or clinical treatment must be performed by properly trained and qualified medical personnel and all traditional medical safeguards equipment and procedures that are appropriate in the particular situation to prevent serious injury or death should always continue to be used when National Instruments products are being used National Instruments products are NOT intended to be a substitute for an
64. tseenseenees 4 15 Figure 4 11 PCI and PXI Step Port C Direction Seng 4 16 Figure 4 12 External Pinout Assignment for the 10 Pin ADC Connector 4 16 Figure BI 50 Pin Servo Connector Pin Aseignment cc ceceeseeeseseeeseteeeeseeeees B 1 Figure B 2 50 Pin Stepper Connector Pin Assignment 0 eee eee eseeeeeseesseeeees B 2 Tables Table 3 1 ISA Bus Address Map AANEREN 3 9 Table 4 1 Signal Descriptions for I O Connector Pins 00 eee eee eseeeeeeeeeeees 4 5 Table 4 2 Jumper Pin I O Port Bit Correspondence ee ee eee eee cseeeseeseeeeees 4 7 National Instruments Corporation vil ValueMotion Hardware User Manual About This Manual This manual describes the electrical and mechanical aspects of each board in the ValueMotion family of motion control boards and contains information concerning their operation and programming Unless otherwise noted text applies to all boards in the ValueMotion family The ValueMotion family of motion control boards includes Servo es PC Servo 4A PC Servo 2A e PCI Servo 4A PCI Servo 2A Stepper Open Loop e PC Step 4OX PC Step 20X e PCI Step 40X PCI Step 20X e PXI 7314 Stepper Closed Loop e PC Step 4CX PC Step 2CX e PCI Step 4CX PCI Step 2CX e PXI 7324 The ValueMotion servo and stepper boards are low cost high performance motion control boards for ISA PCI and PXI bus computers Organization of This Manual The ValueMotion Hardware
65. uments Corporation l 3 Index P parts locator diagrams PCI Servo 3 2 PCI Step 3 3 PC Servo 3 1 PC Step 3 2 PXI Step 3 4 physical specifications A 3 ports See also I O port and inhibit signals Port A 4 13 Port B 4 14 to 4 15 Port C direction setting 4 15 to 4 16 PCI and PXI step figure 4 16 PC step figure 4 15 position value loading 3 6 to 3 7 power requirement specifications A 3 profiling event based motion profiling 3 5 velocity profiling 3 5 R Reference Ground table 4 5 requirements for getting started 1 1 to 1 2 S servo performance specifications A 1 signal connections 4 1 to 4 17 ADC inputs 4 16 to 4 17 ADC overview 4 17 external pin assignments figure 4 16 auxiliary 24 bit digital I O connector stepper only 4 12 to 4 16 50 pin connector figure 4 13 T O port configuration figure 4 14 Port C direction setting 4 15 to 4 16 encoder connections closed loop boards only 4 10 to 4 12 encoder index pulse signal 4 11 ValueMotion Hardware User Manual Index encoder signal input circuit 4 12 encoder signals 4 11 quadrature encoder phasing diagram 4 10 wiring concerns 4 11 external connector wiring recommendations 4 5 to 4 6 bus power signal 4 5 to 4 6 T O connector pin assignments 4 1 to 4 4 50 pin servo connector figure 4 2 B 1 50 pin stepper connector figure 4 3 B 2 68 pin PXI stepper connector figure 4 4 T O port and inhibit signals 4 6 to 4
66. y form of established process procedure or equipment used to monitor or safeguard human health and safety in medical or clinical treatment Contents About This Manual Organization of This Manual ix Conventions Used in This Manual D Related Documentapon eeren iere ieena oE E E E E O E E xi Customer ComMUNiCatiOn s esa aep aii aaae ae EE ae a eE Eea EE eng xi Chapter 1 Introduction About the ValueMotion Boards ccccccscccsssecessececesecesescecesecesesseeceescesesueeeseeeeseeeees 1 1 What You Need to Get Started A 1 1 Software Programming Choices 00 0 eee eeesceseeeeceeeeseeeeeeeeeeaeeseecaecsaecaecaeeaeseseeeesneeeaes 1 2 National Instruments Application Software 00 0 eeeeceeeceeseeeeeesecesecsaecaeesaeeaee 1 3 Optional EquipMent s eiee he cuk cba RETE na EEE EEE SEANCE tee 1 3 Motion Signal and Motion I O Connections cece cece eeeeesceeeeeeeceeceseceseeaeenseenee 1 4 Chapter 2 Configuration and Installation SOltware Installation EE 2 1 Board Confeuratnon eee n a E Ra E e E E R E 2 1 Hardware Installation seirer pene e e a a e a e e aree naiiai 2 2 Chapter 3 Hardware Overview Functional M d sssosednni n r a A 3 4 Trapezoidal Profile Position Control 3 4 Velocity Control se a p eid A Re a ieee tes 3 5 Velocity ProD E a n a errare NoN epo E arne e o DEO SEE OES NEIE S 3 5 Event Based Motion Droflg cee eeeeeeeeeseeseecseceseceecsseeeceseesreeeeeesees 3 5 Electronic Gearing Servo Only 3 6 Tr
67. y of the board s eight ADC channels by using the Read A D Function The values read back will be in the range of 0 lt A D Channel Number Readback Value lt 255 You can read any channel by indicating the desired channel number when using the A D readback function National Instruments Corporation 4 17 ValueMotion Hardware User Manual Specifications This appendix lists the specifications of your ValueMotion boards These specifications are typical at 25 C unless otherwise noted Servo Performance Absolute position range cccceccecceees 230 counts Max relative MOVE gie 230 counts Max encoder frequency eeeeseseee 750 kHz Stepper Performance Max step frequency eee ese eeeeees 750 000 steps s Absolute position range cccceee 23 steps Max relative MOVE size 2 steps Max encoder frequency eeeseeeeeeeeeee 1 MHz Motion Digital 1 0 Input Circuits Incl Encoder Feedback Limit Switches and 1 0 Port Inputs Input voltage range eee Oto 15 V Input low voltage eee eeee 0 8 V Input high voltage ee eeeeeee 2V National Instruments Corporation A 1 ValueMotion Hardware User Manual Appendix A Specifications Output Circuits Incl Step Direction and 1 0 Port Outputs Output voltage range 0 eee ee Oto5V Output low voltage ee lt 0 6 V at64 mA Output high voltage ee 3 3 k pull up to 5 V open collector Auxiliary 24 Bit Digital 1

ValueMotion Hardware User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents