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National Instruments 7340 PCI Switch User Manual

1. Figure B 1 50 Pin Stepper Connector Pin Assignment National Instruments Corporation B 1 NI 7340 User Manual Appendix B NI 7340 User Manual Cable Connector Descriptions Analog Output Ground 1 2 Digital Ground 314 Digital Ground 5 6 Axis 1 Home Switch 7 8 Trigger Breakpoint 1 9 10 Axis 1 Inhibit 11 12 Analog Output Ground 13 14 Digital Ground 15 16 Digital Ground 17 18 Axis 2 Home Switch 19 20 Trigger Breakpoint 2 21 22 Axis 2 Inhibit 23 24 Analog Output Ground 25 26 Digital Ground 27 28 Digital Ground 29 30 Axis 3 Home Switch 31 32 Trigger Breakpoint 3 33 34 Axis 3 Inhibit 35 36 Analog Output Ground 37 38 Digital Ground 39 40 Digital Ground 41 42 Axis 4 Home Switch 43 44 Trigger Breakpoint 4 45 46 Axis 4 Inhibit 47 48 Digital Ground 49 50 Analog Output 1 Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Analog Output 2 Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Analog Output 3 Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder Index Axis 3 Forward Limit Switch Axis 3 Reverse Limit Switch Analog Output 4 Axi
2. NI 7340 User Manual 5 4 ni com Chapter 5 Signal Connections e Axis lt 1 4 gt Inhibit Use the inhibit output signals to control the enable inhibit function of a servo amplifier or stepper driver When properly connected and configured the inhibit function 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 KQ pull up resistors to 5 V and can directly drive most driver amplifier inhibit input circuits While the industry standard for inhibits is active low inverting these outputs have programmable polarity and can be set to active high non inverting for increased flexibility and unique drive compatibility Inhibit output signals can be activated automatically upon a shutdown condition a Kill Motion command or any motion error that causes a kill motion condition such as following error trip You also can directly control the inhibit output signals to enable or disable a driver or amplifier 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 on
3. ee 5 10 Witing Concedido epi 5 11 Trigger Input Shutdown Input and Breakpoint Output Circuits 5 11 Analog PUIS tm ii 5 12 Wiring Concerns iii id 5 13 Other Motion I O Connection 0 cece eeeeseeseceseeseeeseeseceeeeseseeesaeeseeeaeeaees 5 14 Digital VO Connector zise read aiaa vee e a a i ea evtvenatevtueens eaves 5 15 PWM Beatures A 5 16 RTSI CONHECO ias cias 5 16 RTSI Signal ConsideratiONS oooooccnncnonnnoncnnnnononnncnnnononononnnonnonn nc no nan cnn cnn ncnncrnnos 5 17 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI 7340 User Manual vi ni com About This Manual Conventions This manual describes the electrical and mechanical aspects of the PXI PCI 7340 and contains information about how to operate and program the device The 7340 is designed for PXI Compact PCI and PCI bus computers lt gt bold italic monospace The following conventions appear in this manual Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example DIO lt 3 0 gt The symbol leads you through nested menu items and dialog box options to a final action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box The symbol indicates that the followin
4. INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS
5. and the reverse limit at the negative end of travel UN Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system 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 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 5 2 shows a simplified schematic diagram of the circuit used by the limit and home switch inputs for input signal buffering and detection NI 7340 User Manual 5 6 ni com Chapter 5 Signal Connections Vcc 3 3 kQ ZE To the limit and home switch circuits a NM From the external 1kQ ES connector limit 1 8 W E and home switch pins 7 DGND Figure 5 2 Limit and Home Input Circuit UN Caution Excessive input voltages can cause erroneous operation and or component failure Verify that the input voltage is within the specification range Encoder Signals The 7340 offers four channels of single ended quadrature encoder inputs All National Instruments power drives and UMI accesso
6. host computer VO ID in index inverting IRQ National Instruments Corporation G 5 Glossary 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 physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position is also regarded as the zero position in an absolute position frame of reference computer into which the motion control board is plugged input output the transfer of data to and from a computer system involving communications channels operator interface devices and or motion control interfaces identification inches marker between consecutive encoder revolutions polarity of a switch limit switch home switch and so on in active state If these switches are active low they are said to have inverting polarity interrupt request kilo the standard metric prefix for 1 000 or 103 used with units of measure such as volts hertz and meters kilo the prefix for 1 024 or 210 used with B in quantifying data or computer memory NI 7340 User Manual Glossary L LIFO limit switch end of travel position input MCS microstep modulo position noise noninverting NI 7340 User Ma
7. 1 memory address that serves as the starting address for programmable or I O bus registers All other addresses are located by adding to the base address number system with a base of 2 temporary storage for acquired or generated data software 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 G 2 ni com byte C CCW closed loop common CPU crosstalk CSR CW D D A DAC DC dedicated DGND digital I O port DIP DLL drivers DSP National Instruments Corporation G 3 Glossary 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 motion system that uses a feedback device to provide position and velocity data for status reporting and accurately controlling position and velocity reference signal for digital I O central processing unit unwanted signal on one channel due to an input on a different channel Communications Status Register clockwise implies direction of motor rotation digital to analog Digital to Analog Converter direct current assigned to a particular function digital ground signal group of digital input output signals dual inline package dynamic link library provides the API for the motion control boards software th
8. 10 buffers 4 5 C command buffer 4 5 communications status register CSR 4 5 communications host 4 5 connectors 68 pin digital I O 3 3 5 1 NI 7340 User Manual Index motion I O 3 3 5 1 motion I O 5 1 RTSI 3 3 5 1 conventions used in the manual vii D Declaration of Conformity NI resources C 1 diagnostic tools NI resources C 1 documentation conventions used in manual vii NI resources C 1 related documentation viii drivers NI resources C 1 E Encoder lt 1 4 gt Index 5 8 Phase A Phase B 5 7 encoder signals ground connections 5 9 examples NI resources C 1 F functional overview buffers 4 5 host communications 4 5 onboard programs 4 5 G ground connections encoder signals 5 9 wiring breakpoint outputs 5 11 shutdown input 5 11 trigger inputs 5 11 NI 7340 User Manual 1 2 H help technical support C 1 high speed capture 4 5 home inputs circuit 5 7 ground connections 5 6 Host 5 V 5 14 host communications 4 5 installing hardware 2 4 installation category descriptions 2 3 software 2 1 instrument drivers NI resources C 1 K KnowledgeBase C 1 limit input circuit 5 7 limit inputs ground connections 5 6 memory buffer storage 4 5 motion I O connector pin assignments 5 2 signal descriptions 5 3 National Instruments support and services C 1 NI support and services C 1 ni com 0 onboard programs 4 5 P pi
9. inputs to the controller Phase A Phase B Index Figure 5 3 Quadrature Encoder Phasing Diagram You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search You also can set the encoder polarity for phases A B and I in MAX 5 8 ni com Chapter 5 Signal Connections 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 UN 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 UN Caution Unshielded cab
10. position mode ribbon cable RPM RPSPS or RPS S RTR S servo stepper stepper lt 1 4 gt Dir CCW stepper lt 1 4 gt Step CW T toggle torque trapezoidal profile trigger TTL NI 7340 User Manual destination or target position for motion specified with respect to the current location regardless of its value position relative to current position flat cable in which the conductors are side by side revolutions per minute units for velocity revolutions per second squared units for acceleration and deceleration Ready to Receive seconds specifies an axis that controls a servo motor specifies an axis that controls a stepper motor direction output or counter clockwise direction control stepper pulse output or clockwise direction control changing state from high to low back to high and so on force tending to produce rotation 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 G 8 ni com Vec velocity mode W watchdog word Glossary volts positive voltage supply move the axis continuously at the specified velocity timer task that shuts down resets the motion control board if any serious error occurs standa
11. sensitive electronic device shipped in an antistatic bag Open only at an approved workstation and observe precautions for handling electrostatic sensitive devices 3 Note When adding or removing a controller from a Windows 2000 NT XP system you must be logged on with administrator level access After you have restarted the system you may need to refresh Measurement amp Automation Explorer MAX to view the new controller PXI 7340 1 Power off and unplug the chassis UN Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 Choose an unused 3 3 V or 5 V peripheral slot and remove the filler panel 3 Touch a metal part on the chassis to discharge any static electricity that might be on your clothes or body Static electricity can damage the controller 4 Insert the PXI controller into the chosen slot Use the injector ejector handle to fully inject the device into place 5 Screw the front panel of the PXI controller to the front panel mounting rails of the chassis Visually verify the installation Plug in and power on the chassis NI 7340 User Manual 2 4 ni com Chapter 2 Configuration and Installation PCI 7340 1 Power off and unplug the computer AN Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is complete 2 O National Instrume
12. signals A line above a signal name indicates that the signal is active low Axis 1 Dir CCW 1 35 Digital Ground 2 36 Digital Ground 3 37 Axis 1 Home Switch 4 38 Trigger 1 5 39 Axis 1 Inhibit 6 40 Axis 2 Dir CCW 7 41 Digital Ground 8 42 Digital Ground 9 43 Axis 2 Home Switch 10 44 Trigger2 11 45 Axis 2 Inhibit 12 46 Axis 3 Dir CCW 13 47 Digital Ground 14 48 Digital Ground 15 49 Axis 3 Home Switch 16 50 Trigger 3 17 51 Axis 3 Inhibit 18 52 Axis 4 Dir CCW 19 53 Digital Ground 20 54 Digital Ground 21 55 Axis 4 Home Switch 22 56 Trigger 4 23 57 Axis 4 Inhibit 24 58 Digital Ground 25 59 Breakpoint 1 26 60 Breakpoint 3 27 61 Digital Ground 28 62 Analog Output 29 63 Analog Output 30 64 Analog Output Ground 31 65 Analog Input 1 32 66 Analog Input 3 33 67 Analog Reference Output 34 68 Axis 1 Step CW Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step CW Axis 2 Encoder Phase A Axis 2 Encoder Phase B Axis 2 Encoder Index Axis 2 Forward Limit Switch Axis 2 Reverse Limit Switch Axis 3 Step CW Axis 3 Encoder Phase A Axis 3 Encoder Phase B Axis 3 Encoder index Axis 3 Forward Lim
13. the device in a manner not specified in the documentation Misuse of the device may result in a hazard and may compromise the safety protection built into the device If the device is damaged turn it off and do National Instruments Corporation 2 1 NI 7340 User Manual Chapter 2 Configuration and Installation not use it until service trained personnel can check its safety If necessary return the device to National Instruments for repair Keep away from live circuits Do not remove equipment covers or shields unless you are trained to do so If signal wires are connected to the device hazardous voltages can exist even when the equipment is turned off To avoid a shock hazard do not perform procedures involving cover or shield removal unless you are qualified to do so Disconnect all field power prior to removing covers or shields If the device is rated for use with hazardous voltages gt 30 Vims 42 4 Vox or 60 Vac it may require a safety earth ground connection wire Refer to the device specifications for maximum voltage ratings Because of the danger of introducing additional hazards do not install unauthorized parts or modify the device Use the device only with the chassis modules accessories and cables specified in the installation instructions All covers and filler panels must be installed while operating the device Do not operate the device in an explosive atmosphere or where flammable gases or fumes may be present
14. 010 1 3 Note For UL and other safety certifications refer to the product label or visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column O National Instruments Corporation A 7 NI 7340 User Manual Appendix A Specifications Electromagnetic Compatibility EMISSIONS ccccccccnnnnnononnnnannanananonanonononononos EN 55011 Class A at 10 m FCC Part 15A above 1 GHz O esonora EN 61326 1997 A2 2001 Table 1 EMC EMT ss oivessspssecvessceescannscapedocpasesseosted CE C Tick and FCC Part 15 Class A Compliant 3 Note For EMC compliance you must operate this device with shielded cabling CE Compliance This product meets the essential requirements of applicable European Directives as amended for CE marking as follows Low Voltage Directive safety 73 23 EEC Electromagnetic Compatibility Directive EMC eee eeeeeeeeeeeees 89 336 EEC nye Note Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column NI 7340 User Manual A 8 ni com Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to the PXI PCI 7340 Figures B 1 and B 2 show the pin assignments for the stepper and
15. 1 0 Voltage range seses Input low voltage Input high voltage Poli Controla ieee ee Enc d rinp ts essiens ierni Nra Maximum count rate oooconnnnuonncccc Minimum pulse width Voltage range oooocoocccoccnonccnonaconnc nnnos Input low voltage Input high voltage Minimum index pulse width Forward reverse and home inputs National Instruments Corporation Number of inputs coooocnnccnonnninccnnnno Voltage range seese Input low voltage Input high voltage Politicas A 3 Appendix A Specifications 0to5V lt 0 6 V at 64 mA sink Open collector with built in 3 3 kQ pull up to 5 V Programmable active high or active low Resets board to startup state 63 ms Oto5 V 0 8 V 2V Rising edge Disable all axes and command outputs Quadrature incremental single ended 20 MHz Programmable depends on digital filter settings 0to5V 0 8 V 2V Programmable depends on digital filter settings 12 3 per axis 0to5V 0 8 V 2 V Programmable active high or active low NI 7340 User Manual Appendix A Specifications Minimum pulse width 1 ms with filter enabled 60 ns without filter enabled Control oesie Individual enable disable stop on input prevent motion Find Home Trigger inputs Number of inputs oococcconccnncn
16. Motion Control National Instruments 7340 User Manual Wy NATIONAL November 2008 Edition P INSTRUMENTS Part Number 370838A 01 Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 Worldwide Offices Australia 1800 300 800 Austria 43 0 662 45 79 90 0 Belgium 32 0 2 757 00 20 Brazil 55 11 3262 3599 Canada Calgary 403 274 9391 Canada Montreal 514 288 5722 Canada Ottawa 613 233 5949 Canada Qu bec 514 694 8521 Canada Toronto 905 785 0085 Canada Vancouver 514 685 7530 China 86 21 6555 7838 Czech Republic 420 2 2423 5774 Denmark 45 45 76 26 00 Finland 385 0 9 725 725 11 France 33 0 1 48 14 24 24 Germany 49 0 89 741 31 30 Greece 30 2 10 42 96 427 India 91 80 51190000 Israel 972 0 3 6393737 Italy 39 02 413091 Japan 81 3 5472 2970 Korea 82 02 3451 3400 Malaysia 603 9131 0918 Mexico 001 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 0 22 3390 150 Portugal 351 210 311 210 Russia 7 095 783 68 51 Singapore 65 6226 5886 Slovenia 386 3 425 4200 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 200 51 51 Taiwan 886 2 2528 7227 Thailand 662 992 7519 United Kingdom 44 0 1635 523545 For further support information refer to the Technical Support and Professional Services appendix To comm
17. Operate the device only at or below the pollution degree stated in the specifications Pollution consists of any foreign matter solid liquid or gas that may reduce dielectric strength or surface resistivity Pollution degrees are listed below e Pollution Degree 1 No pollution or only dry nonconductive pollution occurs The pollution has no effect e Pollution Degree 2 Normally only nonconductive pollution occurs Occasionally nonconductive pollution becomes conductive because of condensation e Pollution Degree 3 Conductive pollution or dry nonconductive pollution occurs Nonconductive pollution becomes conductive because of condensation iy Note The 7340 is intended for indoor use only NI 7340 User Manual Clean the device and accessories by brushing off light dust with a soft nonmetallic brush Remove other contaminants with a stiff nonmetallic brush The unit must be completely dry and free from contaminants before returning it to service You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device 2 2 ni com Chapter 2 Configuration and Installation Remove power from signal lines before connection to or disconnection from the device Caution National Instruments measurement products may be classified as either Installation Category I or II Operate products at or below the Installation Category level specified in the hardware s
18. THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Compliance FCC Canada Radio Frequency Interference Compliance Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations All National Instruments NI products are FCC Class A products Depending on where it is operated this Class A product could be subject to restrictions in the FCC rules In Canada the Department of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired operation The FCC rules have restrictions regarding the locations where FCC Class A products can be operated Consult the FCC Web site at www fcc gov for more information FCC DOC Warnings This
19. WM PXI Q quadrature counts R RAM relative breakpoint National Instruments Corporation G 7 Glossary refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals Peripheral Component Interconnect a high performance expansion bus architecture originally developed by Intel to replace ISA and EISA It is achieving widespread acceptance as a standard for PCs and workstations it offers a theoretical maximum transfer rate of 132 MB s proportional integral derivative control loop proportional integral velocity feed forward 1 acommunications connection on a computer or a remote controller 2 a digital port which consists of eight lines of digital input and or output position breakpoint for an encoder can be set in absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions 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 encoder line resolution times four random access memory sets the position breakpoint for an encoder in relative quadrature counts NI 7340 User Manual Glossary relative position relative
20. a high performance device The first in first out FIFO bus interface and National Instruments Corporation 1 1 NI 7340 User Manual Chapter 1 Introduction RTSI powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimum command throughput and system performance With the 7340 you can use full onboard programming to execute up to 10 simultaneous motion programs The 7340 features motion profiles that are controlled with enhanced PIDIPIVff servo updates Each axis 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 feedback rates The 7340 also has non dedicated user I O including 32 bits of digital I O and four analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally the 7340 analog inputs can provide feedback for loop closure The 7340 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 NI 7340 User Manual To set up and use the 7340 controlle
21. a limit or home input causes a full torque halt stop of the associated motor axis In addition an active forward or reverse limit input impedes future commanded motion in that direction for as long as the signal is active 3 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 National Instruments Corporation 5 5 NI 7340 User Manual Chapter 5 Signal Connections 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 7340 and are not required for basic motion control These inputs are part of a system solution for complete motion control UN Caution National Instruments recommends using limits for personal safety as well as to protect the motion system Wiring Concerns For the end of travel limits to function correctly the forward limit must be located at the forward or positive end of travel
22. aoonnnnnnnncnnnnnnns 12 bits no missing codes Monotonic cocococconcnoncnnnonnconononcnnnonannns Guaranteed Multiplexor scan rate oe 25 us enabled channel Analog outputs Number of outputs 00 0 ee eeeeeeeee 4 single ended Output coupling oes DC Voltage range sesser 10 V Output current s es 5 mA Resolution ooocnnnnononnnanoooncnononncnnnnonos 16 bits no missing codes Monotonic cocococconcnoncnnnnncnnnnnncnnninnnnos Guaranteed Analog reference output 7 5 V nominal 5 mA Digital 1 0 POLS a ss eects E 4 8 bit ports Line direction 0 eee eeeeeeee Individual bit programmable Inputs Voltage range eessen 0to5V Input low voltage 0 8 V Input high voltage 2 0 V Polarity enaena Programmable active high or active low Outputs Voltage range eseese 0to5V Output low voltage lt 0 45 V at 24 mA sink Output high voltage gt 2 4 V at 24 mA source Polar Vo Programmable active high or active low O National Instruments Corporation A 5 NI 7340 User Manual Appendix A Specifications RTSI PWM outputs Number of PWM outputs Maximum PWM frequency Resol uscar Duty cycle radg6 ooonocccnoccnoccnn Clock sources ccccoconononanannnnnnnnos Trigger le iii ins Maximum Power Requirements Physical NI 7340 User Manual FEN Ie a oneanyn solr H12 V E3 nn ANV GEI O eeann Power consumption cocoocconcccoccnonnc
23. are and are in no way associated with the PID servo control loop Refer to the NJ Motion User Manual for more information RTSI Connector The physical RTSI bus interface varies depending on the type of 7340 controller The PXI 7340 uses the PXI chassis backplane to connect to other RTSI capable devices The PCI 7340 uses a ribbon cable to connect to other RTSI capable PCI devices NI 7340 User Manual 5 16 ni com Chapter 5 Signal Connections RTSI Signal Considerations The 7340 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 also can serve as a generic digital T 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 5 9 A 200 ns gt gt Figure 5 9 Breakpoint across RTSI Encoder and Index signals are output only signals across RTSI that are the digitally filtered versions of the raw signals coming into the controller If you are using the RTSI bus for trigger inputs or generic digital I O all signals are passed through unaltered O National Instruments Corporation 5 17 NI 7340 User Manual Specifications This appendix lists the hardware and software performance specifications for the PXI PCI 7340 Hardware specifications are typical a
24. at communicates commands to control a specific motion control board Digital Signal Processor NI 7340 User Manual Glossary E encoder encoder resolution FIFO filter parameters filtering flash ROM following error trip point FPGA freewheel full step Gnd GND NI 7340 User Manual device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system 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 data buffering technique that functions like a shift register where the oldest values first in come out first indicates the control loop parameter gains PID gains for a given axis type of signal conditioning that filters unwanted signals from the signal being measured type of electrically reprogrammable read only memory difference between the instantaneous commanded trajectory position and the feedback position Field Programmable Gate Array condition of a motor when power is de energized and the motor shaft is free to turn with only frictional forces to impede it full step mode of a stepper motor for a two phase motor this is done by energizing both windings or phases simultaneously ground ground G 4 ni com H half step hex home switch input
25. bout the 7340 Controller Features Hardware The 7340 controller features advanced motion control with easy to use software tools and add on motion VI libraries for use with LabVIEW The 7340 is a combination servo and stepper motor controller for PXI Compact PCI and PCI bus computers The 7340 provides fully programmable motion control for up to four independent or coordinated axes of motion with dedicated motion I O for limit and home switches and additional 1 O for general purpose functions You can use the 7340 to perform arbitrary and complex motion trajectories using stepper motors or servo devices Servo axes can control servo motors servo hydraulics servo valves and other servo devices Servo axes always operate in closed loop mode These axes use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range of 10 V Stepper axes can operate in open or closed loop mode In closed loop mode they 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 The 7340 uses an advanced dual processor architecture that uses a 32 bit CPU combined with a digital signal processor DSP and custom field programmable gate arrays FPGAs making the controller
26. bution boards and circuit breakers Other examples are wiring including cables bus bars junction boxes switches socket outlets in the fixed installation and stationary motors with permanent connections to fixed installations e Installation Category IV is for measurements performed at the primary electrical supply installation lt 1 000 V Examples include electricity 1 Installation Categories as defined in electrical safety standard IEC 61010 1 2 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation 3 Installation Category is also referred to as Measurement Category 4 MAINS is defined as the hazardous live electrical supply system to which equipment is designed to be connected for the purpose of powering the equipment Suitably rated measuring circuits may be connected to the MAINS for measuring purposes O National Instruments Corporation 2 3 NI 7340 User Manual Chapter 2 Configuration and Installation meters and measurements on primary overcurrent protection devices and on ripple control units Hardware Installation Install the 7340 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 Caution The 7340 is a
27. connection and not Digital Ground digital I O reference as the reference for the DAC outputs when connecting to servo amplifiers e Axis lt 1 4 gt Step CW and Dir CCW These open collector signals are the stepper command outputs for each axis The 7340 supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the command direction of motion either forward or reverse CW and CCW mode produces pulses steps on the CW output for forward commanded motion and pulses on the CCW output for reverse commanded motion In either case you can set the active polarity of both outputs to active low inverting or active high non inverting For example with step and direction you can make a logic high correspond to either forward or reverse direction The Step CW and Dir CCW outputs are driven by high speed open collector 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
28. ctor The PCI 7340 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products The PXI 7340 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 also can use the RTSI bus for general hardware based communication between RTSI devices The RTSI bus also can be used for general purpose I O Refer to Chapter 5 Signal Connections for details about RTSI connector signals National Instruments Corporation 3 3 NI 7340 User Manual Functional Overview This chapter provides an overview of motion control algorithms and the PXI PCI 7340 controller Dual Processor Architecture With the 7340 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 32 bit CPU combined with a digital signal processor DSP and custom FPGAs give the 7340 high performance capabilities The FIFO bus interface and powerful function set provide high speed communications while off loading complex motion functions from the host PC for optimized system pe
29. de is stored in flash memory you can upgrade the onboard firmware contents in the field for support and new feature enhancement Flash memory also allows objects such as programs and data arrays to be stored in non volatile memory It is possible to save the entire parameter state of the controller to the flash memory On the next power cycle the controller automatically loads and returns the configuration to these new saved default values The FPGA configuration programs also are 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 Axes The 7340 can control up to four axes of motion The axes can be completely independent simultaneously coordinated or mapped in multidimensional groups called coordinate spaces You also can synchronize coordinate spaces for multi vector space coordinated motion control At a minimum an axis consists of a trajectory generator a PID for servo axes or stepper control block and at least one output resource either a DAC output for servo axes or a stepper pulse generator output Servo axes must have either an encoder or ADC channel feedback resource Closed loop stepper axes also require a feedback resource while open loop stepper axes do not Figures 4 1 and 4 2
30. e 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 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 serv
31. eading phase A typical encoder with a specification of N N number lines per unit of measure revolutions or linear distance produces 4 x N quadrature counts per unit of measure The count is the basic increment of position in NI Motion systems Tip Determine quadrature counts by multiplying the encoder resolution in encoder lines by four The en coder 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 NI 7340 User Manual Encoder lt 1 4 gt Index 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 5 3 shows the default encoder phasing diagram at the
32. ent on the documentation send email to techpubseni com O 2003 National Instruments Corporation All rights reserved Important Information Warranty The National Instruments 7340 is warranted against defects in materials and workmanship for a period of one year from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate Th
33. equipment generates and uses radio frequency energy and if not installed and used in strict accordance with the instructions in this manual and the CE marking Declaration of Conformity may cause interference to radio and television reception Classification requirements are the same for the Federal Communications Commission FCC and the Canadian Department of Communications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference at their own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel b
34. es use the AMP mating connector part number 787801 1 NI 7340 User Manual 1 4 ni com Configuration and Installation This chapter describes how to configure and install the PXI PCI 7340 Software Installation Before installing the 7340 install the NI Motion driver software Refer to the Getting Started with NI Motion Control manual which is included with the controller for specific installation instructions 3 Note If you do not install the NI Motion driver software before attempting to use the 7340 the system does not recognize the 7340 and you are unable to configure or use the device Controller Configuration Because motion I O related configuration of the 7340 is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PXI 7340 and PCI 7340 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 UN Caution The following paragraphs contain important safety information you must follow when installing and operating the 7340 and all devices connecting to the 7340 Do not operate
35. g text applies only to a specific product a specific operating system or a specific software version This icon denotes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories programs subprograms subroutines device names functions operations variables filenames and extensions and code excerpts O National Instruments Corporation vii NI 7340 User Manual About This Manual Related Documentation The following documents contain information you might find helpful as you read this manual e NI Motion User Manual NI Motion C Reference Help e NI Motion VI Reference Help NI 7340 User Manual viji ni com Introduction This chapter includes information about the features of the PXI PCI 7340 controller and information about operating the device A
36. gh 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 Reference for analog inputs Analog Input lt 1 4 gt Analog Input Ground Input 12 bit analog input Analog Output lt 1 4 gt Analog Output Ground Output 16 bit analog output Analog Output Ground Reference for analog outputs Shutdown Digital Ground Input Controlled device shutdown Analog Reference output Analog Input Ground Output 7 5 V analog reference level Digital Ground Reference for digital I O National Instruments Corporation 5 3 NI 7340 User Manual Chapter 5 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver e Analog Output lt 1 4 gt These 16 bit DAC outputs are typically the servo command outputs for each axis They can drive the industry standard 10 V output and can be software limited to any positive or negative voltage range They also feature a software programmable voltage offset Although typically used as the command output of an axis control loop unused DACs also can function as independent analog outputs for general purpose control e Analog Output Ground To help keep digital noise separate from the analog DAC outputs there is a separate return connection Use this analog ground
37. ice 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 Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation Trademarks CVI IMAQ LabVIEW Measurement Studio National Instruments NI ni com NI Motion and RTSI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies Patents For patents covering National Instruments products refer to the appropriate location Help Patents in your software the patents txt file on your CD or ni com patents WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT
38. imit 0 eee 10 V 232 768 to 32 767 Negative limit eee 10 V 232 768 to 32 767 Programmable offset o o 10 V 32 768 to 32 767 Stepper Performance Trajectory update rate range 62 5 to 500 us sample Maximum update rate 62 5 us axis 4 axis update rate eee 250 us total Multi axis synchronization lt 1 update sample Position accuracy Open loop stepper 0 0 00 eee 1 full half or microstep Encoder feedback eee 1 quadrature count Analog feedback eects 1 LSB Double buffered trajectory parameters Position range ooocoocococoncnnnnncnonananonana 23 steps Maximum relative move size 23 steps Velocity range sesser 1 to 4 000 000 steps s Acceleration deceleration 512 000 000 counts s S Curve time range ee 1 to 32 767 samples Following error range eee 0 to 32 767 counts SAA 32 767 1 to 1 32 767 Stepper outputs Maximum pulse rate eee 4 MHz full half and microstep Minimum pulse width 120 ns at 4 MHz Step output mode ee Step and direction or CW CCW 1 Assumes a PID update rate of 250 us and a 2 000 count encoder NI 7340 User Manual A 2 ni com System Safety Voltage range cccoconnnccnocononnconnnnnnanano Output low voltage Output high voltage Politics Watchdog timer function 0 0 00 Watchdog timeout eee Shutdown input Motion
39. innanonnonno 0 to 255 256 Internal or external 5 7 W Dimensions Not Including Connectors PXI 7340 PCI 73405 idirin Connectors Motion I O connector ccceeeeseeeeeeees 32 bit digital I O connector Weight PXI 7340 PELTI O ip a tt A 6 16 x 10 cm 6 3 x 3 9 in 17 5 x 9 9 cm 6 9 x 3 9 in 68 pin female high density VHDCI type 68 pin female high density VHDCI type 170 g 6 oz 113 g 4 oz ni com Appendix A Specifications Maximum Working Voltage Chamnel to earth oooconnonicnnnnnnnnncncnnonnninnss 12 V Installation Category I signal voltage plus common mode voltage Channel to channel c ooooconicniccnccnononnninnos 22 V Installation Category I signal voltage plus common mode voltage UN Caution These values represent the maximum allowable voltage between any accessible signals on the controller To determine the acceptable voltage range for a particular signal refer to the individual signal specifications Environment Operating temperature ee 0 to 55 C Storage temperature 0 eee 20 to 70 C A a o 10 to 90 RH noncondensing Maximum altitude ccccccnnnnininananananon 2 000 m Pollution Degree oseere 2 Safety This product is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e TEC 61010 1 EN 61010 1 e UL3111 1 UL 61010B 1 e CAN CSA C22 2 No 1
40. ints limited in house technical resources or other project challenges NI Alliance Program members can help To learn more call your local NI office or visit ni com alliance e Declaration of Conformity DoC A DOC is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electronic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com hardref nsf O National Instruments Corporation C 1 NI 7340 User Manual Appendix C Technical Support and Professional Services If you searched ni com and could not find the answers you need contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events NI 7340 User Manual C 2 ni com Glossary Symbol Prefix Value u micro 10 6 m milli 10 3 M mega 106 Numbers Symbols per plus or minus positive of or plus negative of or minus 5 V 5 VDC source signal A A amperes A D analog to digital absolute mode treat the target position loaded as position relative to zero 0 while making a move absolute position
41. it 2 Digital Ground Port 4 bit 5 Port 4 bit 6 Digital Ground O National Instruments Corporation 5 15 Figure 5 8 68 Pin Digital I O Connector Pin Assignments NI 7340 User Manual Chapter 5 Signal Connections The 32 bit digital I O port is configured in hardware as four 8 bit digital I O ports The bits in a port are typically controlled and read with byte wide bitmapped commands All digital I O lines have programmable direction and polarity Each output circuit can sink and source 24 mA The DPull pin controls the state of the input pins at power up Connecting DPull to 5 V or leaving it unconnected configures all pins in all ports for 100 kQ pull ups Connecting DPull to ground configures the ports for 100 kQ pull downs PWM Features The 7340 provides two pulse width modulation PWM outputs on the digital I O connector The PWM outputs generate periodic waveforms whose period and duty cycles can be independently controlled through software commands The PWM is comparable to a digital representation of an analog value because the duty cycle is directly proportional to the expected 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 You have the option to use the PCLK input instead of the internal source as the clock for the PWM generators Sy Note These signals are configured in softw
42. it 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 Analog Output Analog Output Reserved Analog Input 2 Analog Input 4 Analog Input Ground Figure 5 1 68 Pin Motion 1 0 Connector Pin Assignment 5 2 Chapter 5 Signal Connections Table 5 1 describes the signals on the motion I O connector Table 5 1 Motion 1 0 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 lt 1 4 gt Home Switch Digital Ground Input Home switch Axis lt 1 4 gt Forward Limit Switch Digital Ground Input Forward clockwise limit switch Axis lt 1 4 gt Reverse Limit Switch Digital Ground Input Reverse counter clockwise limit switch Axis lt 1 4 gt Inhibit Digital Ground Output Drive inhibit Trigger lt 1 4 gt Digital Ground Input Hi
43. ke input and output signal connections directly to the PXI PCI 7340 as well as general information about the associated I O circuitry The 7340 has three connectors that handle all signals to and from the external motion system e 68 pin motion I O connector e 68 pin digital I O connector e RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced Universal Motion Interface UMD units and drives ay Note The 7340 does not provide isolation between circuits UN Caution Turn off power to all devices when connecting or disconnecting the 7340 controller motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion 1 0 Connector The motion I O connector contains all of the signals required to control up to four axes of servo and stepper motion including the following features e Motor command analog and stepper outputs e Encoder feedback inputs e Forward home and reverse limit inputs e Breakpoint outputs e Trigger inputs e Inhibit outputs The motion I O connector also contains four channels of 12 bit A D inputs for analog feedback or general purpose analog input National Instruments Corporation 5 1 NI 7340 User Manual Chapter 5 Signal Connections NI 7340 User Manual Figure 5 1 shows the pin assignments for the 68 pin motion I O connector on the 7340 Table 5 1 includes descriptions for each of the
44. le can cause noise to corrupt the encoder signals resulting in lost counts and reduced motion system accuracy Encoder Input Circuit Figure 5 4 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 National Instruments Corporation 5 9 NI 7340 User Manual Chapter 5 Signal Connections pins Vcc To the quadrature 3 3kQ decoder circuit p WWW From the external 1kQ connector 1 8 W encoder input Figure 5 4 Encoder Input Circuit Trigger Inputs Shutdown Input and Breakpoint Outputs The 7340 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 NI 7340 User Manual Trigger Input lt 1 4 gt When enabled an active transition on a high speed position capture input causes instantaneous position capture of the corresponding encoder count
45. lso supports secondary feedback resources called encoders for axes defined as servo Two feedback resources are used when implementing dual loop control such as in backlash compensation which reduces the number of encoders available for other axes the NI Motion User Manual for information about configuring axes Encoder DAC 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 DAC as a general purpose analog output 10 V Similarly you can use any ADC channel to measure potentiometers or other analog sensors 4 4 ni com Chapter 4 Functional Overview If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input for master slave electronic gearing applications Each axis also has an associated forward and reverse limit input a home input a high speed capture trigger input a breakpoint output and an inhibit output These signals can be used for general purpose digital I O when not being used for their motion specific purpose Onboard Programs and Buffers The 7340 controller has full onboard programmability capable of executing up to 10 simultaneous motion programs You can execute the NI Motion function set from onboard programs In addition the onboard program
46. n assignments 68 pin digital I O connector 5 15 programming examples NI resources C 1 R related documentation viii return data buffer RDB 4 5 RTSI breakpoint across RTSI figure 5 17 connector 3 3 5 16 signal considerations 5 17 S safety information 2 1 Shutdown Input 5 10 software NI resources C 1 software onboard programs 4 5 support technical C 1 O National Instruments Corporation Index T technical support C 1 training NI resources C 1 Trigger Input lt 1 4 gt 5 10 trigger input circuit 5 11 trigger inputs wiring 5 11 troubleshooting NI resources C 1 W Web resources C 1 wiring analog signals 5 13 NI 7340 User Manual
47. nalog Input lt 1 4 gt The 7340 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 5 2 These signals can be used for ADC test and system diagnostics Table 5 2 Internal ADC Channels ADC Input Signal 5 Filtered 5 V 6 Floating NC 7 Analog Reference 7 5 V 8 Analog Input Ground NI 7340 User Manual 5 12 ni com Chapter 5 Signal Connections You can configure each ADC channel for motion feedback simple A D conversion or both You can read the digital value of analog voltage on any of the eight ADC channels of the controller Table 5 3 shows the range of values read back and the voltage resolution for each setting The voltage resolution is in volts per least significant bit V LSB Table 5 3 Analog Input Voltage Ranges Input Range Binary Values Resolution 10 V 2 048 to 2 047 0 0049 V LSB 5 V 2 048 to 2 047 0 0024 V LSB 0 10 V 0 to 4 095 0 0024 V LSB 0 5 V 0 to 4 095 0 0012 V LSB As indicated in Figure 5 3 when configured as 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 channel
48. nerators Analog Feedback NI 7340 User Manual The 7340 trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position Depending on how you configure the axis this command is then sent to the PID servo loop or stepper pulse generator To implement infinite trajectory control the 7340 has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position for each PID 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 The 7340 has 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 4 2 ni com Flash Memory Chapter 4 Functional Overview Nonvolatile memory on the 7340 is implemented with flash ROM which means that the controllers can electrically erase and reprogram their own ROM Because all the 7340 embedded firmware including the RTOS and DSP co
49. nonncnne 4 Encoders 1 through 4 Voltage range 0to5V Input low voltage 0 8 V Input high voltage 2V Polarity ocios Programmable active high or active low Minimum pulse width 100 ns Capture latency eee lt 100 ns Capture accuracy 00 eee eeeeeeeeee 1 count Maximum repetitive capture rate 100 Hz Breakpoint outputs Number of outputs ce eeeeeeeeeee 4 Encoders through 4 Voltage range eee eeeeeeeeee Oto5 V Output low voltage lt 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 KQ pull up to 5 V Polarity iia Programmable active high or active low Maximum repetitive breakpoint rate eee 100 Hz Inhibit enable output Number of outputs ces eeeeeeeeeee 4 1 per axis Voltage range 0to5V Output low voltage lt 0 6 V at 64 mA sink Output high voltage Open collector with built in 3 3 kQ pull up to 5 V Polaris Programmable active high or active low Controles MustOn MustOff or automatic when axis off NI 7340 User Manual A 4 ni com Appendix A Specifications Analog inputs Number of inputs s es 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 coupling sesers DC Input resistance n se 10 KQ min ReSOLUtION ooocnnnnononnono
50. nts Corporation Remove the cover to expose access to the PCI expansion slots Choose an unused 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer Touch a metal part on the computer case to discharge any static electricity that might be on your clothes or body before handling the controller Static electricity can damage the controller Gently rock the controller into the slot The connection may be tight but do not force the controller into place If required screw the mounting bracket of the controller to the back panel rail of the computer Replace the cover Plug in and power on the computer 2 5 NI 7340 User Manual Hardware Overview This chapter presents an overview of the PXI PCI 7340 hardware functionality Figures 3 1 and 3 3 show the PXI 7340 and PCI 7340 parts locator diagrams respectively O pa i Gy gt ult u7 O Fl ul5 ule vtr J B di i 33 A UA w3 al y 12 N u20 7 u25 u24 u22 1 Serial Number Label 4 68 Pin Digital I O Connector 2 DSP 5 68 Pin Motion I O Connector 3 CPU Figure 3 1 PXI 7340 Parts Locator Diagram 3 Note The PXI 7340 assembly number is located on the back of the PXI module National Instrumen
51. nual last in last out data buffering technique where the newest values last in come out first sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop meters Move Complete Status proportional control of energy in the coils of a Stepper Motor that allows the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution treat the position as within the range of total quadrature counts per revolution for an axis 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 polarity of a switch limit switch home switch and so on in active state Tf these switches are active high they are said to have non inverting polarity G 6 ni com 0 open loop PCI PID PIVff port position breakpoint power cycling P
52. pecifications Installation Category Measurement circuits are subjected to working voltages and transient stresses overvoltage from the circuit to which they are connected during measurement or test Installation Category establishes standardized impulse withstand voltage levels that commonly occur in electrical distribution systems The following is a description of Installation Measurement Categories e Installation 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 measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics e Installation Category II is for measurements performed on circuits directly connected to the electrical distribution system This category refers to local level electrical distribution such as that provided by a standard wall outlet e g 115 V for U S or 230 V for Europe Examples of Installation Category II are measurements performed on household appliances portable tools and similar products e Installation Category III is for measurements performed in the building installation at the distribution level This category refers to measurements on hard wired equipment such as equipment in fixed installations distri
53. plements the NI Motion 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 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 Optional Equipment National Instruments offers a variety of products for use with the 7340 controller including the following accessories e Cables and cable assemblies for motion and digital I O e Universal Motion Interface UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality e Stepper and servo motor compatible drive amplifier units with integrated power supply and wiring connectivity e Connector blocks and shielded and unshielded 68 pin screw terminal wiring aids National Instruments Corporation 1 3 NI 7340 User Manual Chapter 1 Introduction For more specific information about these products refer to the National Instruments catalog the National Instruments Web site at ni com or call your National Instruments sales representative Motion 1 0 Connections The external motion and digital I O connectors on the 7340 are high density 68 pin female VHDCI connectors For custom cabl
54. position relative to zero acceleration measurement of the change in velocity as a function of time Acceleration deceleration and deceleration describes the period when velocity is changing from one value to another active high signal is active when its value goes high 1 active low signal is active when its value goes low 0 ADC analog to digital converter O National Instruments Corporation G 1 NI 7340 User Manual Glossary address amplifier Analog Input lt 1 4 gt Analog Output lt 1 4 gt API axis Axis lt 1 4 gt Forward Limit Input Axis lt 1 4 gt Home Input Axis lt 1 4 gt Inhibit Axis lt 1 4 gt Reverse Limit Input B b base address binary buffer bus NI 7340 User Manual character code that identifies a specific location or series of locations in memory or on a host PC bus system 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 for example you cannot use a stepper drive to operate a DC brush motor 12 bit analog ADC input 16 bit DAC voltage output application programming interface unit that controls a motor or any similar motion or control device axis 1 through 4 forward clockwise limit switch axis through 4 home input axis through 4 inhibit output axis 1 through 4 reverse counter clockwise limit input bit one binary digit either O or
55. r you must have the following items Q NI PXI 7340 or PCI 7340 motion controller This manual a Q NI Motion 6 1 or later driver software and documentation a One of the following software packages and documentation LabVIEW 6 0 or later LabWindows CVI Measurement Studio C C Microsoft Visual Basic Q A computer with an available PXI or PCI slot 1 2 ni com Chapter 1 Introduction Software Programming Choices NI Motion is a simple but powerful high level application programming interface API that makes programming the 7340 easy All setup and motion control functions are easily executed by calling into a dynamically linked library DLL You can call these libraries from C Microsoft Visual Basic and other high level languages Full function sets are available for LabVIEW LabWindows CVI and other industry standard software programs National Instruments Application Software LabVIEW is based on the graphical programming language G and features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the NI Motion 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 im
56. r cages 2 1 Controller Configuration tidad dt dai 2 1 Safety IOMA A AA 2 1 Hardware Install oi ota 2 4 Chapter 3 Hardware Overview User COMES da abia ae e 3 3 Chapter 4 Functional Overview D al Processor Architecture Lic na rh 4 1 Embedded Real Time Operating System RTOS s sssssssesseressersererserereserreees 4 2 Trajectory Generators E E E E iaa 4 2 Analog Feedback inr a aE Ra eA R aSa 4 2 Flash MEMOrY tt ir die 4 3 Axes and Motion Resources aiieieo oireisiin ine anaE ei aos Ea RE asia ienasi 4 3 AROS A E EEE A in tt R 4 3 Motion Resources iviceiss irrin rsson aaa E riasa S Sa eate eT anaia R 4 4 National Instruments Corporation v NI 7340 User Manual Contents Onboard Programs and Buffers oooconncnocnnonconcnoncnnnonnonnnnn nono nnnonncnn nono nono nonn nc no nn ncnncnnnons 4 5 Host COMMUNICALIONS iicp tsc tati Serao saaa EEE R n 4 5 Chapter 5 Signal Connections Motion VO Connector osinon ea E EA EE A A EEA EEA 5 1 Motion Axis Signals renesse uana aaa 5 4 Eimit and Home Inputs eran ici ita 5 5 Waiting CONCE SA a ie dee 5 6 Limit and Home Input Circuit ooconocnnccnonnnonconcnnnonnnononnnonncrnncnncnnncnnono 5 6 Encoder Signals coi nia 5 7 Encoder lt 1 4 gt Phase A Phase B ooonconocnnocnocononcnnnnnncnnornnonncnnncnncnnoo 5 7 Encoder lt 14 gt Index ise iia ai 5 8 WIDE CONCENS niee he e aE A EE A aii 5 9 Encoder Input Circuit macia RRR EE 5 9 Trigger Inputs Shutdown Input and Breakpoint Outputs
57. rd number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit O National Instruments Corporation G 9 NI 7340 User Manual Index Numerics 68 pin digital I O connector 3 3 motion I O connector 3 3 7340 analog feedback 4 2 axes 4 3 breakpoint outputs 5 10 configuring 2 1 embedded operating system 4 2 encoder signals 5 7 features 1 1 flash memory 4 3 general purpose digital I O lines 5 15 hardware 1 1 architecture 4 1 home inputs 5 5 input and output signal connections 5 1 installing software 2 1 introduction 1 1 limit inputs 5 5 motion I O connections 1 4 I O connector 5 1 resources 4 4 National Instruments application software 1 3 overview 3 1 pulse width modulation PWM outputs 5 16 shutdown input 5 10 software programming choices 1 3 trajectory generators 4 2 trigger inputs 5 10 user connectors 3 3 using RTSL 1 2 O National Instruments Corporation A Analog Input lt 1 4 gt 5 12 Analog Input Ground 5 13 Analog Output lt 1 4 gt 5 4 Analog Output Ground 5 4 Analog Reference 5 13 analog signals wiring 5 13 axes 4 3 secondary feedback resources 4 4 output resources 4 4 Axis lt 1 4 gt Forward Limit Input 5 5 Home Input 5 5 Inhibit 5 5 Reverse Limit Input 5 5 Step CW and Dir CCW 5 4 breakpoint concepts 4 5 examples 5 17 breakpoint output circuit 5 12 signals wiring 5 11 Breakpoint Output lt 1 4 gt 5
58. rformance The 7340 uses the DSP for all closed loop control including position tracking PID control closed loop computation and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time functionality The embedded multitasking real time CPU handles host communications command processing multi axis interpolation onboard program execution error handling general purpose digital I O and overall motion system integration functions O National Instruments Corporation 4 1 NI 7340 User Manual Chapter 4 Functional Overview Embedded Real Time Operating System RTOS The embedded firmware is based on 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 7340 is a true multiprocessing and multitasking embedded controller The advanced architecture of the 7340 enables advanced motion features such as enhanced PID functions Refer to the N Motion User Manual for more information about the features available on the 7340 Trajectory Ge
59. ries provide built in circuitry that converts differential encoder signals to single ended encoder signals Each channel consists of a Phase A Phase B and Index input as described in the following sections Encoder lt 1 4 gt 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 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 National Instruments Corporation 5 7 NI 7340 User Manual Chapter 5 E Signal Connections of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the l
60. riven by open collector TTL buffers that feature 64 mA sink current capability and built in 3 3 kQ pull up resistors to 5 V You can directly set and reset breakpoint outputs to use them as general purpose digital outputs Wiring Concerns AN 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 UN Caution Excessive input voltages can cause erroneous operation and or component failure Trigger Input Shutdown Input and Breakpoint Output Circuits Figures 5 5 5 6 and 5 7 show a simplified schematic diagram of the circuits used by the trigger inputs shutdown inputs and breakpoint outputs for signal buffering Vcc To the trigger circuits 3 3 kQ From the external connector 1 8 W trigger pins DGND National Instruments Corporation Figure 5 5 Trigger Input Circuit 5 11 NI 7340 User Manual Chapter 5 Signal Connections Vcc 3 3kQ To the shutdown circuits gt VV e From the external 1 kQ A connector 1 8 W a shutdown pin Figure 5 6 Shutdown Input Circuit Vcc 3 3 KQ q To the external From the connector breakpoint breakpoint pins circuits Figure 5 7 Breakpoint Output Circuit Analog Inputs The 7340 has the following ADC input signals e A
61. rouilleur du Canada Compliance to EU Directives Users in the European Union EU should refer to the Declaration of Conformity DoC for information pertaining to the CE marking Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com hardref nsf search by model number or product line and click the appropriate link in the Certification column The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or installer Contents About This Manual CGOTVEMEIONS 35555 O Vil Related DocuMentatiQOM ccccccccccncnnnnoninonanannnnnnnnnnnnnnononononononononannnnananononononnnnnnnonononinonons Vili Chapter 1 Introduction About the 7340 Controller ini eden indicada chewbes cia 1 1 Eat o de ida dd o ee Te CO 1 1 HALA WE E Aare es es E E EA 1 1 RESTE trae od Sacto cin cad A cokes e ties Seta tant e lion Nel len oh a Shin 1 2 What You Need to Get Started nin ici 1 2 Software Programming Choices ocooooccnoncocononcnnnonncononnnonncnnnonnonnnonn ono non conc cn con ncnn cnn ncncinnos 1 3 National Instruments Application Software oooconccnocinocioncnancnnonnnonn conc cano nn conan nn ncnnnonncnnos 1 3 IA A A RT 1 3 Motion O Connections 20 dais 1 4 Chapter 2 Configuration and Installation Software Installation e enn Vandedasceea dephcdaveovdestnchadasevcee on seoss cave
62. s 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 Figure B 2 50 Pin Servo Connector Pin Assignment B 2 ni com Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni com for technical support and professional services e Support Online technical support resources include the following Self Help Resources For immediate answers and solutions visit our extensive library of technical support resources available in English Japanese and Spanish at ni com support These resources are available for most products at no cost to registered users and include software drivers and updates a KnowledgeBase product manuals step by step troubleshooting wizards conformity documentation example code tutorials and application notes instrument drivers discussion forums a measurement glossary and so on Assisted Support Options Contact NI engineers and other measurement and automation professionals by visiting ni com support Our online system helps you define your question and connects you to the experts by phone discussion forum or email e Training Visit ni com training for self paced tutorials videos and interactive CDs You also can register for instructor led hands on courses at locations around the world e System Integration lIf you have time constra
63. s in software Disable unused ADC channels for the highest multiplexer scan rate performance Properly enabled the scan rate is high enough to support analog feedback at the highest PID sample rate e 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 e 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 or Analog Output Ground as the reference for the analog inputs 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 Ss Note The analog reference output is an output signal only and must not connect to an external reference voltage Connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltage measurement National Instruments Corporation 5 13 NI 7340 User Manual Chapter 5 Signal Connections Other Motion 1 0 Connection The 7340 provides Host 5 V which is the internal 5 V supply of the host computer It is typically used to detect when the host computer is powered and to shu
64. s support basic math and data operation functions for up to 120 general purpose variables You can store and run onboard programs and buffers from RAM or save them to flash ROM The 7340 controller has 64 KB of RAM and 128 KB of ROM that is divided into two 64 KB sectors for program and buffer storage You can store and run programs and buffers from either RAM or ROM but you cannot split programs between the two and you cannot split programs or buffers between the two 64 KB ROM sectors 3 Note Refer to the NI Motion User Manual for detailed information about all of these onboard programming and buffer features Host Communications The host computer communicates with the controller through a number of memory port addresses on the host bus The host bus can be either PXI or PCL The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions The 7340 controller has both a command buffer for incoming commands and a return data buffer RDB for returning data O National Instruments Corporation 4 5 NI 7340 User Manual Chapter 4 Functional Overview 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 NI 7340 User Manual 4 6 ni com Signal Connections This chapter describes how to ma
65. servo 50 pin motion connectors These connectors are available when you use the SH68 C68 S shielded cable assembly and the 68M 50F step servo bulkhead cable adapter Axis 1 Dir CCW Digital Ground Digital Ground Axis 1 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 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 5 V O AJN NX Or a
66. show these axis configurations With the 7340 you can map one or two feedback resources and one or two output resources to the axis An axis with its primary output resource mapped to a stepper output is by definition a stepper axis An axis with its primary output resource mapped to a DAC is by definition a servo axis National Instruments Corporation 4 3 NI 7340 User Manual Chapter 4 Functional Overview By 101100111 oA 32 Bit PID 16 Bit J LI L yy Encoder l0101011101101 Servo 11101101100 D A Interface y Loop Converter gt gt 101100111 gt Figure 4 1 Servo Axis Resources Trajectory Generator AA 7 101100111 i i lt oA gt fi Stepper Stepper _JLILNM do Y Control A 010010110 Pulse a i i Generator __ Optional Interface 10101 1010 ei i E i 101100111 a Index i Note Refer to E Motion Resources NI 7340 User Manual Figure 4 2 Stepper Axis Resources The 7340 supports axes with secondary output resources such as DACs for servo axes or stepper outputs Defining two output resources is useful when controlling axes with multiple motors such as gantry systems in which two DAC outputs can be configured with different torque limits and or offsets The 7340 controller a
67. t 25 C unless otherwise stated Servo Performance PID update rate range eee 62 5 us to 5 ms sample Maximum PID update rate 62 5 us axis 4 axis PID update rate 250 us total Multi axis synchronization lt l update sample Position accuracy Encoder feedback oononnnnn n quadrature count Analog feedback o oo 1 LSB Double buffered trajectory parameters Absolute position range 23 counts Maximum relative move size 231 counts Velocity range 1 to 20 000 000 counts s Acceleration deceleration 512 000 000 counts s S Curve time range oo eee 1 to 32 767 samples Following error range s 1 to 32 767 counts and disabled GE ak Lat is 32 767 1 to 1 32 767 Servo control loop modes seeeeee PID PIVff S Curve Dual Loop PID Kp Ki and Kd gains 0 to 32 767 Integration limit Ilim 0 to 32 767 Derivative sample period Td 1 to 63 samples Feedforward Aff Vff gains 0 to 32 767 Velocity feedback Kv gain 0 to 32 767 1 Assumes a PID update rate of 250 us and a 2 000 count encoder National Instruments Corporation A 1 NI 7340 User Manual Appendix A Specifications Servo command analog outputs Voltage TAMBO ooooncnnocnonnonncononncnnonnnos 10 V ResolutiON ooooonocccnonoccnoncnnnnoncncnanonos 16 bits 0 000305 V LSB Programmable torque velocity limits Positive l
68. t down external motion system components when the host computer is turned off or disconnected from the motion accessory UN 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 NI 7340 User Manual 5 14 ni com Digital 1 0 Connector Chapter 5 Signal Connections All the general purpose digital I O lines on the 7340 are available on a separate 68 pin digital I O connector Figure 5 8 shows the pin assignments for this connector 5 V PCLK Reserved Reserved PWM1 Reserved Reserved Reserved PWM2 Port 1 bit O Digital Ground Port 1 bit 3 Port 1 bit 4 Digital Ground Port 1 bit 7 Port 2 bit O Port 2 bit 1 Digital Ground Digital Ground Digital Ground Port 2 bit 6 Port 2 bit 7 Port 3 bit O Digital Ground Port 3 bit 3 Port 3 bit 4 Digital Ground Port 3 bit 7 Port 4 bit O Digital Ground Port 4 bit 3 Port 4 bit 4 Digital Ground Port 4 bit 7 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 b
69. ts Corporation 3 1 NI 7340 User Manual Chapter 3 Hardware Overview N114 b 3 1 Identification Number Used in Australia 2 Symbol Indicating FFC Compliance 3 Symbol to Alert User to Read the Manual Figure 3 2 Symbols on the Back of the PXI 7340 uis ue vag lt P sx oa Eel nee UG gt gt gt NATIONAL RTSI Connector Serial Number Label Symbol to Alert User to Read the Manual Symbol Indicating FFC Compliance Identification Number Used in Australia akWN 6 7 8 9 1 Assembly Number Label 68 Pin Digital I O Connector 68 Pin Motion I O Connector CPU 0 DSP NI 7340 User Manual Figure 3 3 PCI 7340 Parts Locator Diagram ni com Chapter 3 Hardware Overview 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 digital to analog DAC and analog to digital ADC converter signals Refer to Chapter 5 Signal Connections for details about the signals in the motion I O connector The 68 pin digital I O connector provides 32 bits of user configurable digital I O Refer to Chapter 5 Signal Connections for details about the signals in the digital I O conne
70. value You can use this high speed position capture functionality for applications ranging from simple position tagging of sensor data to complex camming systems with advance retard positioning and registration An available 7340 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 or active high non inverting rising or falling edge You also can 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 5 10 ni com Chapter 5 Signal Connections You can program breakpoints as absolute modulo or relative positions 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 d

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