National Instruments 7340 PCI manual

Motion Control National Instruments 7340 User Manual NI 7340 User M anual November 2 003 Ed i tion Part Number 3708 38A-01[...]

Support Worldwide Technical Support and Product Info rmation ni.com National Instruments Corporate Headquarters 11500 North Mopac Expressway Aust in, 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 (M[...]

Important Information Warranty The National Instrument s 7340 is warranted against defects in materials and workmansh ip for a period of one year from the date of ship ment, as evidenced by receipts or other document ation. Nati onal Instruments will, at its op tion, repair or re place equipment that pro ves to be defect ive during the warranty per[...]

Compliance FCC/Canada Radio Frequency Interference Compliance Determining FCC Class The Federal Communications Commission (FCC) has rules to protect wireless co mmunications from inte rference. The FCC places digital electronics into two classes. These classes are known as Class A (for use in industrial-commercial locations onl y) or Class B (for u[...]

© National Instruments Corporation v NI 7340 User Manual Contents About This Manual Conventions ............ ........... .............. ............ .............. ........... ........... .............. ............ .... v ii Related Documentation ............ ........... .............. ........... ............... ........... .............. ......[...]

Contents NI 7340 User Manual vi ni.com Onboard Prog rams and Buffers ... ........ ............ ........... .............. ........... ............ ........... ... 4-5 Host Communications .................... ........... .............. ........... ............ .............. ........... ...... 4-5 Chapter 5 Signal Connections Motion I/O Connector ..[...]

© National Instruments Corporation vii NI 7340 User Manual About This Manual This manual describes the electrical and mechanical aspects of the PXI/PCI-7340 and contai ns information about how to operate and program the device. The 7340 is designed for PXI, Compact PCI, and PCI bus computers Conventions The following con ventions appear in this ma[...]

About This Manual NI 7340 User Manual viii ni.com Related Documentation The following documents contain information you migh t find helpful as you read this manual: • NI-Motion User Manual • NI-Motion C Re ference Help • NI-Motion VI Reference Help[...]

© National Instruments Corporation 1-1 NI 7340 User Manual 1 Introduction This chapter includes information about the featu res of the PXI/PCI-7340 controller and inform ation about operat ing the device. About the 7340 Controller The 7340 controller features advanced motion cont rol with easy-to-use software tools and add-on motion VI l ibraries [...]

Chapter 1 Introduction NI 7340 User Manual 1- 2 ni.com powerful function set prov ide high-speed communicatio ns while off-loading complex motion functions from the host PC for optimum command throughput an d system performance. W ith the 7340, you can use full onboard programming to execute up to 10 simultaneous motion pro grams. The 7340 features[...]

Chapter 1 Introduction © National Instruments Corporation 1-3 NI 7340 User Manual Software Programming Choices NI-Motion is a simple but powerful hi gh-level application program ming interface (API) that makes programmi ng the 7340 easy. All setup and motion control functions are easily executed by calling in to a dynamically-linked library (D LL)[...]

Chapter 1 Introduction NI 7340 User Manual 1- 4 ni.com For more specif ic information about these products, refer to the National Instruments catalog , the National Instruments W eb site at ni.com , or call your National Instruments sales representative. Motion I/O Connections The external motion and digital I/O conn ectors on the 7340 are high-den[...]

© National Instruments Corporation 2-1 NI 7340 User Manual 2 Configuration and Installation This chapter describes how to configure and inst all the PXI/PCI-7340. Software Installation Before installin g the 7340, instal l the NI-Motion driv er software. Refer to the Gettin g Started with NI Mot ion Control manual, wh ich is included wi th the con[...]

Chapter 2 Configuration and Install ation NI 7340 User Manual 2- 2 ni.com not use it until service-trained personne l can check its safety . If necessary , return the device to National Instruments for repair . Keep a way from li ve circuits. Do not remo ve equipment cov ers or shields unless you are trained to do so. If sign al wires are connected[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-3 NI 7340 User Manual Remov e po wer from signal lines before connection to or disconnection from the device. Caution National Instruments measurem ent produc ts may be classified as either Installation Category I or II. Operate products at or belo w the Inst allation [...]

Chapter 2 Configuration and Install ation NI 7340 User Manual 2- 4 ni.com meters and measurements on primar y ov ercurrent protection de vices and on ripple control units. Hardware Installation Install the 7340 in any open com patible expansion slot in the PXI or PCI system. Appendix A, Specifications , lists the typical power requ ired for each co[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-5 NI 7340 User Manual ♦ PCI-7340 1. Power of f and unplug the computer . Caution T o protect yourself and the computer from electrical hazards, the computer must remain unplugged until the install ation is compl ete. 2. Remov e the cov er to expose access to the PCI [...]

© National Instruments Corporation 3-1 NI 7340 User Manual 3 Hardware Over view This chapter presents an overvi ew of the PXI/PCI-7340 ha rdware functionality. Figures 3-1 and 3-3 show the PXI-7340 and PCI-7340 parts locator diagrams, respecti vely . Figure 3-1. PXI- 7340 Parts Locator Diagram Note The PXI-7340 assembly number is locat ed on the b[...]

Chapter 3 Hardware Overview NI 7340 User Manual 3- 2 ni.com Figure 3-2. Symbols on the Back of the PXI-7340 Figure 3-3. PCI- 7340 Parts Locator Diagram 1 Identification Number Used in Australia 2 Symbol Indicating FFC Compliance 3 Symbol to Alert User to Re ad the Manual 1 R TSI Connector 2 Serial Number Label 3 Symbol to Alert User to Read the Man[...]

Chapter 3 Hardware Overview © National Instruments Corporation 3-3 NI 7340 User Manual User Connectors The 68-pin motion I/O connector provides all the sign als fo r four axes of closed-loop motion control, incl uding encoder feedback, limit and home inputs, breakpoint outputs, trigger inputs, dig ital-to-analog (DAC), and analog-to-digital (ADC) [...]

© National Instruments Corporation 4-1 NI 7340 User Manual 4 Functional Over view This chapter provides an overview of motion control algorithms and the PXI/PCI-7340 contro ller. Dual Processor Architecture With the 7340, you can perform up to four axes of simu ltaneous, coordinated motion cont rol in a preemptive, multi tasking, real-time environ[...]

Chapter 4 Functional Ov erview NI 7340 User Manual 4- 2 ni.com Embedded Real-Time Operating System (R TOS) The embedded firmware is based on an embedded RTOS kern el and provides optimum system perform ance in varying motion applications. Motion tasks are prioritized. Task executio n order depends on the priority of each task, the state of the enti[...]

Chapter 4 Functional Over view © National Instruments Corporation 4-3 NI 7340 User Manual Flash Memor y Nonvolatile memory on the 7340 is implemented with flash ROM, which means that the controllers can electri cally erase and reprogram their own ROM. Because all the 7 340 embedded firmware, including the RTOS and DSP code, is stored in flash memo[...]

Chapter 4 Functional Ov erview NI 7340 User Manual 4- 4 ni.com Figure 4-1. Servo Axis Resources Figure 4-2. Stepper Axis Resources The 7340 supports axes with secondary out put resources, such as DA Cs for servo ax es or stepper outputs. Defining two output resources is useful when controlling axes with multiple motors, such as gantry sy stems in w[...]

Chapter 4 Functional Over view © National Instruments Corporation 4-5 NI 7340 User Manual If an encoder resource is not needed for axis con trol, you can use it for any number of other functions, in cluding position or velocity monit oring, as a digital potentiometer en coder input, or as a m aster encoder input for master/slave (electronic gearin[...]

Chapter 4 Functional Ov erview NI 7340 User Manual 4- 6 ni.com The communications status register (CSR) provides bits for communications handshakin g as well as real-time error reporting and general status feedback to the host PC. The mo ve complete status (MCS) register provides instantaneous motion status of all axes.[...]

© National Instruments Corporation 5-1 NI 7340 User Manual 5 Signal Connections This chapter describes how to make input and out put signal connections directly to the PX I/PCI-7340 as w ell as general info rmation about t he associated I/O circuitry. The 7340 has three connectors th at handle all signals to and from the external motion system. ?[...]

Chapter 5 Signal Connections NI 7340 User Manual 5- 2 ni.com Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7340. T able 5-1 includes descrip tions for each of the signals. A line abov e a signal name indicates that the signal is acti v e-lo w . Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment Analog Reference[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-3 NI 7340 User Manual T able 5-1 describes the signal s on the motion I/O connector . Table 5-1. Motion I/O Signal Connections Signal Name Reference Direction Description Axis <1..4> Dir (CCW) Digital Ground Output Motor direction or counter-clockwise control Axis <1..4>[...]

Chapter 5 Signal Connections NI 7340 User Manual 5- 4 ni.com Motion Axis Signals The following signals control the servo amplifier or step per driver. • Analog Output <1..4>—The se 16-bit D A C outputs are typically the servo command outputs for each axis. The y can dri v e the industry-standard ±10 V output, and can be so ftware limited[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-5 NI 7340 User Manual • Axis <1..4> Inhibit—Use the inhibit ou tput signals to control the enable/inhibit functio n of a servo amplif ier or stepper driv er . When properly connected and configured, the inhibit function causes the connected motor to be de-ener gized and it[...]

Chapter 5 Signal Connections NI 7340 User Manual 5- 6 ni.com Y ou can use software disabled limit and home inpu ts as general-purpose inputs. Y o u can read the status of th ese inputs at an y 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 contro[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-7 NI 7340 User Manual Figure 5-2. Limit and Home Input Cir cuit Caution Excessi ve input v oltages can caus e erroneous operation and/or component failure. V eri fy that the input voltage is within the specification range. Encoder Signals The 7340 offers four channel s of single-end[...]

Chapter 5 Signal Connections NI 7340 User Manual 5- 8 ni.com of the relativ e signal phases provide distinct pulse edges that caus e count up or count down pulses in t he direct ion d etermined by the leading phase. A typical encoder with a specification of N ( N = number) lines per unit of measure (rev olutions or linear distance) produces 4 × N [...]

Chapter 5 Signal Connections © National Instruments Corporation 5-9 NI 7340 User Manual Wiring Concerns The encoder inputs are connected to quadrature decoder/counter circuits. It is very important to minimize noise at this interface. Excessi v e noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed[...]

Chapter 5 Signal Connections NI 7340 User Manual 5-10 ni.com Figure 5-4. Encoder Input Cir cuit T rigger Inputs, Shutdown Input, and Breakpoint Outputs The 7340 offers addit ional high-perform ance features in the encoder FPGA. The encoder channels have high-speed position capture trigger inputs and breakpoint outputs. These signals are useful for [...]

Chapter 5 Signal Connections © National Instruments Corporation 5-11 NI 7340 User Manual Y ou can program breakpoints as absolute , modul o , or relative positions. Breakpoint out puts can be preset to a known state so that the transition when the breakpoint occurs can b e lo w to high, high to low , or toggle. The breakpoint outputs are driv en b[...]

Chapter 5 Signal Connections NI 7340 User Manual 5-12 ni.com Figure 5-6. Shutdown Input Circuit Figure 5-7. Br eakpoint Output Circuit Analog Inputs The 7340 has the following ADC input signals: • Analog Input <1..4>—The 7340 in cludes an eight-channel multiplexed, 12-bit ADC capable of measuring ± 10 V , ±5 V , 0–10 V , and 0–5 V i[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-13 NI 7340 User Manual Y ou can configure each ADC cha nnel for motion feedback, simple A/D con version, or both. Y ou can read the digital value of analog v oltage on any of the eight ADC channels of the co ntroller . T able 5-3 shows the range of v alues read back and the voltage [...]

Chapter 5 Signal Connections NI 7340 User Manual 5-14 ni.com Other Motion I/O Connection The 7340 provides Host +5 V, which is the internal +5 V supply of the host computer. It is typically used to det ect when the host computer is powered and to shut down external motion system com ponents when the host computer is turned off or disconnected from [...]

Chapter 5 Signal Connections © National Instruments Corporation 5-15 NI 7340 User Manual Digital I/O Connector All the general-purpose digital I/O lines on the 7340 are avai lable on a separate 68-pin dig ital I/O connector. Figu re 5-8 shows the pin assignments for this connector. Figure 5-8. 68-Pin Digital I/O C onnector Pin Assignments Port 4:b[...]

Chapter 5 Signal Connections NI 7340 User Manual 5-16 ni.com 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 c ontrolled and read with byte-wide bitmapped commands. All digital I/O lines have programmable direction and polarit y . Each output circuit can sink and source 24 mA[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-17 NI 7340 User Manual R TSI Signal Considerations The 7340 motion con troller allows you to use up to eight RTSI trigger li nes 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 I[...]

© National Instruments Corporation A- 1 NI 7340 User Manual A Specifications This appendix lists the hardware an d software performance specifications for the PXI/PCI-7340. H ardware specifications are typical at 25 °C , unless otherwise stated. Ser vo Performance PID update rate range ...................... ....... 62.5 µs to 5 ms/sample Maximu[...]

Appendix A Specifications NI 7340 User Manual A-2 ni.com Servo command analog outputs Voltage range............... .............. ......±10 V Resolution ........ ............................ ....16 bits (0.000305 V /LSB) Programmable torque (vel ocity) limits Positive limit ........ .............. ......±10 V (–32,768 to +32,76 7) Negative limi[...]

Appendix A Specifications © National Instruments Corporation A- 3 NI 7340 User Manual Voltage range ............. ............ ......... 0 to 5 V Output low voltage .................. < 0.6 V at 64 mA sink Output high voltage .......... ...... . Op en collector with built-in 3.3 k Ω pull-up to +5 V Polarity ............... ........... .......[...]

Appendix A Specifications NI 7340 User Manual A-4 ni.com Minimum pulse width.......... ........ ....1 ms with filter enabled; 60 ns without filter enabled Control ................... .............. ........... .Individual enable/disable, stop on input, prevent motion , Find Home Trigger inputs Number of inputs .................... .........4 (Encod[...]

Appendix A Specifications © National Instruments Corporation A- 5 NI 7340 User Manual Analog inputs Number of inputs ........................... . 8, multiplexed, single ended Number for user signals ........... 4 Number for sy st em diagnostics ... 4 Voltage range (programmable) ....... ±10 V, ±5 V, 0–10 V, 0–5 V Input coupling ............[...]

Appendix A Specifications NI 7340 User Manual A-6 ni.com PWM outputs Number of PWM outputs .........2 Maximum PWM frequ ency ...... 50 kHz Resolution............. ........... .........8-bit Duty cycle range........... ............0 to (255/256)% Clock sources ............... ...... ......Internal or external RT SI Trigger lines .... ........... ...[...]

Appendix A Specifications © National Instruments Corporation A- 7 NI 7340 User Manual Maximum W orking Voltage Channel-to-earth...................... .............. . 12 V, Installation Category I (signal voltage plus common-mode vol tage) Channel-to-channel ......................... ....... 22 V, Installation Category I (signal voltage plus commo[...]

Appendix A Specifications NI 7340 User Manual A-8 ni.com Electromagnetic Compatibility Emissions ............. ............ .............. .........EN 55011 Class A at 10 m FCC Part 15A above 1 GHz Immunity ........ .............. .............. ........... .EN 61326:1997 + A2:2001, Table 1 EMC/EMI ............... .............. ............ ......[...]

© National Instruments Corporation B- 1 NI 7340 User Manual B Cable Connector Descriptions This appendix describes the connecto r pinout for the cables that connect to the PXI/PCI-7340. Figures B-1 and B-2 sho w the pin assi gnments for the stepper and serv o 50-pin motion connecto rs. These conn ectors are av ailable when you use the SH68-C68-S s[...]

Appendix B Cable Connector Descr iptions NI 7340 User Manual B-2 ni.com Figure B-2. 50-Pin Servo Connect or Pin Assignment Digital Ground Axis 4 Inhibit Trigger/Breakpoint 4 Axis 4 Home Switch Digital Ground Digital Ground Analog Output Ground Axis 3 Inhibit Trigger/Breakpoint 3 Axis 3 Home Switch Digital Ground Digital Ground Analog Output Ground [...]

© National Instruments Corporation C- 1 NI 7340 User Manual C T echnical Support and Professional Ser vices Visit the following sections of the National Instruments Web site at ni.com for technical support an d professional services: • Support —Online technical support resources include the following: – Self-Help Resources —For immediate a[...]

Appendix C T echnica l Support and Professional Services NI 7340 User Manual C-2 ni.com If you searched ni.com and could not find the answers you need, contact your local off ice or NI corporate h eadquarters. Phone numbers for our worldwide of f ices are listed at the front of this manual. Y ou also can visit the W orldwide Off ices section of ni.[...]

© National Instruments Corporation G-1 NI 7340 User Manual Glossar y Symbol Pref ix V alu e µ micro 10 –6 m milli 10 –3 Mm e g a 1 0 6 Numbers/Symbols /p e r ± plus or minus + positi ve of, or plus – negati v e 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 posit i[...]

Glossary NI 7340 User Manual G-2 ni.com address character code that identifi es a specif ic location (or series of locations) in memory or on a host PC b us system amplifier driv e that deli vers po wer to operate the motor in response to low le vel control signals. In general, the ampl ifier is designed to operate with a particular motor type—fo[...]

Glossary © National Instruments Corporation G-3 NI 7340 User Manual byte 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. C CCW counter-clockwise—implies dir ection of rotation of the motor closed-loop motion system that uses a feedba ck de vice to provide posit[...]

Glossary NI 7340 User Manual G-4 ni.com E encoder de vice that translates mechanical motion into electrical si gnals; used for monitoring posi tion or velocity in a closed-loop system encoder resolution number of encoder lines betw een consecuti v e encoder index es (marker or Z-bit). If the encoder does not have an index output, the encoder resolu[...]

Glossary © National Instruments Corporation G-5 NI 7340 User Manual H half-step mode of a stepper motor— for a two phase motor this i s done by alternately energizing two windings and then onl y one. In half step mode, alternate steps are strong and weak b ut there is signif icant improv ement in low-speed smoothness over the full-step mode. hex[...]

Glossary NI 7340 User Manual G-6 ni.com L LIFO last in, last ou t—data buf fering techniq ue where the newest values (last in) come out first limit switch/ end-of-travel position (input) sensors that alert the control electronics th at physical end of trav el is being approached and that th e motion should stop M m meters MCS Move Complete Status[...]

Glossary © National Instruments Corporation G-7 NI 7340 User Manual O open-loop refers to a motion control syst em where no external sensors (feedback devices) are used to provide posit ion or velocity correctio n signals P PCI Peripheral Component Interconnect —a high-performance expansion b us architecture originally de veloped b y Intel to re[...]

Glossary NI 7340 User Manual G-8 ni.com relativ e position destination or tar get position for motion specified with respect to the current location regardless of its v alue relativ e position mode position relative to current position ribbon cable flat cable in which the conducto rs are side by side RPM rev olutions per minute—units fo r velocit[...]

Glossary © National Instruments Corporation G-9 NI 7340 User Manual V Vv o l t s V CC positiv e v oltage supply velocity mode move the axis cont inuously at the specified v elocity W watchdog timer task that sh uts down (resets) the motion control board if any serious error occurs word standard number of bits that a processor or memory manipulates[...]

© National Instruments Corporation I-1 NI 7340 User Manual Index Numerics 68-pin digital I/O connector, 3-3 motion I/O co nnector, 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-[...]

Index NI 7340 User Manual I-2 ni.com 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 Conformi ty (NI reso urces), 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 <1..4[...]

Index © National Instruments Corporation I-3 NI 7340 User Manual O onboard program s, 4-5 P pin assignments 68-pin digital I/O connect or, 5-15 programming examples (NI resources), C-1 R related documentation, viii return data b uffer (RDB), 4-5 RTSI breakpoint across RTSI (figure), 5-17 connector, 3-3, 5-16 signal considerations, 5-17 S safety in[...]