National Instruments NI 7350 manuale d’uso

Motion Control NI 7350 User Manual NI 7350 User Manual July 2006 371060B-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 800 433 3488, China 86 21 6555 78[...]

Important Information Warranty The National Instruments PXI/PCI-7350 is warranted against defect s in materials and workmanship for a period o f one year from t he dat e of shipment, as evidenc ed by receipts or othe r documentation. National Instruments will, at its option, repair or replace equipmen t t hat proves to be defective durin g the warr[...]

Compliance Compliance with FCC/Canada Radio Frequency Interference Regulations 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) [...]

© National Instruments Corporation v NI 7350 User Manual Contents About This Manual Conventions ............ .............. .............. .............. .............. .............. ............... .............. .... i x Related Documentation ............ .............. .............. .............. .............. .............. .............. [...]

Contents NI 7350 User Manual vi ni.com Onboard Sinu soidal Commu ta tion ......... .............. .............. ............... .............. 4-3 Flash Memory ...... .............. ............... .............. .............. .............. ........... ......... 4-3 Axes and Motion Resources ................... .............. .............. ....[...]

Contents © National Instruments Corporation vii NI 7350 User Manual Appendix D Technical Support and Professional Services Glossary Index[...]

© National Instruments Corporation ix NI 7350 User Manual About This Manual This manual describes the electrical a nd mechanical aspects of the National Instrument s PXI/PCI-7350 motion controller and contai ns information concerning its installation and operation. The NI 7350 controller is designed for PXI, CompactPCI, and PCI bus computers. Conv[...]

About This Manual NI 7350 User Manual x ni.com monospace T ext in this font denotes text or ch aracters that you should ent er from the keyboard, sections of code, programming examples, and syntax examples. This font is also used for the proper na mes of disk dri ves, paths, directories, programs, subprograms, su broutines, d e vice names, function[...]

© National Instruments Corporation 1-1 NI 7350 User Manual 1 Introduction This chapter includes information a bout the features of the National Instruments PXI/ PCI-7350 controller and information abou t operating the device. About the NI 7350 Controller The NI 7350 controller features advanced motion control w ith easy-to-use software tools and a[...]

Chapter 1 Introduction NI 7350 User Manual 1- 2 ni.com Hardware The NI 7350 controller is a high pe rformance controller that uses an advanced dual-processor for embedded real-time control. This powerful functionality provides high-speed commu nications while off-loading complex motion functions from th e host PC for maximum comma nd throughput and[...]

Chapter 1 Introduction © National Instruments Corporation 1-3 NI 7350 User Manual ❑ One of the foll o wing softw are packages and documentation: –L a b V I E W – LabW indows ™ /CVI ™ – Measurement Studio –C / C + + – Microsoft V isual Basic ❑ A computer with an a v ailable PXI, CompactPCI, or PCI slot Software Programming Choices[...]

Chapter 1 Introduction NI 7350 User Manual 1- 4 ni.com Optional Equipment National Instruments offers a variety o f products for use wit h the NI 7350 controller, including the following accessories: • Cables and cable assemblies for motion and digi tal I/O • Univ ersal Motion Interface (UMI) wi ring connectivity blocks with integrated motion s[...]

© National Instruments Corporation 2-1 NI 7350 User Manual 2 Configuration and Installation This chapter describes how to configu re and install the National Instrument s PXI/PCI-7 350 controller. Software Installation Before installing the NI 7350 con troller, install th e NI-Motion softw are and, if appropriate, th e NI-Motion VI libraries. For [...]

Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 2 ni.com Safety Information Caution The following section contains im portant safety information that yo u must follow when installing and using the NI 7350. Do not operate the device in a manner not specified in this document. Misuse of the device can result in a hazard. Y ou can com[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-3 NI 7350 User Manual Remov e power from signal lines before connecting them to or disconnecting them from the device. Operate the device at or belo w the measurement category 1 marked on the hardware label. Measurement circuits are subjected to working voltages 2 and [...]

Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 4 ni.com Hardware Installation You can install the NI 7350 controller in any open compatible expansion slot in the compu ter. Appendix A, Specifications , lists the maximum power required for the NI 7350 controller. The following instructions are for general installation. Refer to the[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-5 NI 7350 User Manual ♦ PCI-7350 1. Power of f and unplug the computer . Caution T o protect yourself and the computer from electri cal hazards, the computer should remain unplugged un til the installation is comple te. 2. Open the computer case to e xpos e access to[...]

Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 6 ni.com software to work with this type of system, refer t o the NI-Motion User Manual . When connecting to a driv e that does not perform the sinusoidal commutation, the NI 7350 commutates the firs t two phases and the serv o dri ve determines the third. Theref ore, two D A C output[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-7 NI 7350 User Manual Figure 2-1. T y pe 1 Hall Sensor Wiring Diagrams T ype 1 Base Case 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360[...]

Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 8 ni.com Figure 2-2. T y pe 2 Hall Sensor Wiring Diagrams T ype 2 Base Case 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° 720 ° Sensor 1 Se[...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-9 NI 7350 User Manual For e xample, if the diagram supplied wi th the motor matches the third T ype 2 diagram, wire Hall ef fect sensor 1 to input 3 on the UMI or NI 7350, and then wire sensor 2 to input 1 and wire sensor 3 to input 2. The Hall ef fect sensor inputs fo[...]

Chapter 2 Configuration and Install ation NI 7350 User Manual 2-10 ni.com Figure 2-4. T ype 2 Hall Sen sor Phasing Sequence Diagr am Refer to the Measurement & Automa tion Explorer Help for M otion for information about configuring the NI-Motion software for brushless servo motors. Connecting the Motor Leads For the brushless motor to generate [...]

Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-11 NI 7350 User Manual Figure 2-5. S ine Wave Motor Phasing D iagram T able 2-2 shows the correct m ethod of wiring a brushless moto r to the driv e. For e xample, if the motor has the pha sing characteristics described in T able 2-1, wire the motor lead C to the motor[...]

© National Instruments Corporation 3-1 NI 7350 User Manual 3 Hardware Over view This chapter presents an overvi ew of the National Instruments PXI/PCI-7350 con troller hardware fun ctionality. Figures 3-1 and 3-2 illustrate the fun ctional components of the NI PXI-7350. Figure 3-1. PXI-7350 Parts Locator Di agram (Front Panel) 1 16-bit ADC 2 16-bi[...]

Chapter 3 Hardware Overview NI 7350 User Manual 3- 2 ni.com Figure 3-2. PXI- 7350 Parts Locator Diagram (Back Panel) 1 Assembly Number L abel 2 Serial Number Label 3 Symbol Indicating CE Compliance 4 Ident ification Number (used in Australia) C 2003 c COPYRIGHT 1 2 3 4[...]

Chapter 3 Hardware Overview © National Instruments Corporation 3-3 NI 7350 User Manual Figures 3-3 and 3-4 show the NI PCI-7350 parts locator diagrams. Figure 3-3. PCI-7350 Parts Locator Di agram (Front Panel) 1 16-bit ADC 2 16-bit DACs 3 RTSI Bus Connector 4 Field-Programma ble Gate Arrays 5D S P 6 32-bit CPU 7 Nonvolatile FLASH Memory 8 68-pin D[...]

Chapter 3 Hardware Overview NI 7350 User Manual 3- 4 ni.com Figure 3-4. PCI- 7350 Parts Locator Diagram (Back Panel) User Connectors The two 68-pin motion I/O connectors provid e all the signals for up to eight axes of closed-loop m otion control, including encoder feedback, limit and home inputs, breakpoint (position compare) outputs, trigger (po [...]

Chapter 3 Hardware Overview © National Instruments Corporation 3-5 NI 7350 User Manual Figure 3-5 shows the four 68-pin I/O connectors on the NI 7350 motion controller . Figure 3-5. PXI/PCI-7350 68-pin Connectors The R TSI connector provides up to eight triggers and one PXI star trigger (PXI-7350 only) to facilitate synchro nization between multip[...]

© National Instruments Corporation 4-1 NI 7350 User Manual 4 Functional Over view This chapter provides an overview of the National Instruments PXI/PCI-7350 controller archit ecture and its capabilities. Dual Processor Architecture The NI 7350 controller can perform up to eight axes of simultaneo us motion control in a preemp tive, multitasking, r[...]

Chapter 4 Functional Ov erview NI 7350 User Manual 4- 2 ni.com The DSP chip is a separate proce ssor that operates independently from the CPU but is closely sync hronized through interprocessor communication. The NI 7350 is a true mul tiprocessing and multitasking embedded contr oller . The architecture of the NI 7350 controller enables adv anced m[...]

Chapter 4 Functional Over view © National Instruments Corporation 4-3 NI 7350 User Manual Onboard Sinusoidal Commutation The NI 7350 controller provides on board sinusoidal commut ation for axes controlling brushless DC servo motors . This feature reduces overall system cost by allowing you to use less complex, and therefore less expensiv e, motor[...]

Chapter 4 Functional Ov erview NI 7350 User Manual 4- 4 ni.com also require a feedback resource, while open-loop stepper axes do not . Figures 4-1 and 4-2 show th ese axis configurations. W ith the NI 7350 controller , you can map one or two feedback resources and one or two output resources to the axis. A stepper axis has its primary outpu t resou[...]

Chapter 4 Functional Over view © National Instruments Corporation 4-5 NI 7350 User Manual when implementing dual-loop control, such as in backlash compensation, which reduces the number of enco ders a vailable for other ax es. Note Refer to the NI-Motion User Manual for more information abo ut configuring ax es. Motion Resources Encoder, DAC, ADC,[...]

Chapter 4 Functional Ov erview NI 7350 User Manual 4- 6 ni.com functions for up to 120 general-purpo se v ariables. Refer to the NI-Motion User Manual for more in formation . The NI 7350 also features buf fered op erations for contouring, high-speed position captures, and breakpoints (position com pare). Y ou can store and run onboard programs and [...]

© National Instruments Corporation 5-1 NI 7350 User Manual 5 Signal Connections This chapter describes how to make input and out put signal connections directly to the National Instruments PXI/PCI-7350 controller and briefly describes the associated I/O circuitry. The NI 7350 controller has the following four connectors that handle all signals to [...]

Chapter 5 Signal Connections NI 7350 User Manual 5- 2 ni.com Figures 5-1 and 5-2 show the pin assignments for the two 68-pin motion I/O connectors on the NI 7350 controll er . A signal description follows the connector pinout. In this chap ter , line s abov e signal names indicate that the signal is activ e lo w . Figure 5-1. 68-Pin Motion I/O Conn[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-3 NI 7350 User Manual Figure 5-2. 68-Pin Motion I/O Connector Pin Assignment for Axes 5–8 13 5 23 6 33 7 43 8 53 9 64 0 74 1 84 2 94 3 10 44 11 45 12 46 13 47 14 48 15 49 16 50 17 51 18 52 19 53 20 54 21 55 22 56 23 57 24 58 25 59 26 60 27 61 28 62 29 63 30 64 31 65 32 66 33 67 34[...]

Chapter 5 Signal Connections NI 7350 User Manual 5- 4 ni.com 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 Digital Ground — — Reference for digital I/O Axis <1..8> Dir (CCW) Digital Ground Output Motor direction or counter clockwise cont[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-5 NI 7350 User Manual Motion Axis Signals The following signals control the servo amplifier or step per drive. • Analog Output <1..8> —These 16-bit DA C ou tputs are typically the servo command outputs for each axis. The y can dri v e the industry-standard ±10 V output, a[...]

Chapter 5 Signal Connections NI 7350 User Manual 5- 6 ni.com Y ou can choose to driv e the Step (CW) and Dir (CCW) outputs by using either T otem Pole mode or Open Collector mode. In T otem Pole mode, the output buf fer can both si nk and source current, which is appropriate for most applications. In Open Coll ector mode, the output buf fer can onl[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-7 NI 7350 User Manual Limit and home inputs are digital ly fi ltered and must remain acti ve for at least 1 ms to be recognized. Refer to Appendix A , Specifications , fo r more information. Y ou can use MAX to disable digital filtering for limit and home inputs. Activ e signals sho[...]

Chapter 5 Signal Connections NI 7350 User Manual 5- 8 ni.com Caution Excessi ve input v oltages can cause erroneous operation and/or component failure. V erify that the input voltage is within the specification range. Encoder Signals The NI 7350 controller offers up to eight channels of single-ended quadrature encoder inpu ts. All National Instrume[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-9 NI 7350 User Manual measure—inch, centimeter , millimeter , and so on. For example, a 500 line encoder has 2,000 quadrature counts per rev olution. Axis <1..8> Encoder Index The Index input is primarily used to establish a refer ence position. This function uses the numb e[...]

Chapter 5 Signal Connections NI 7350 User Manual 5-10 ni.com Caution W ire encoder signals and their ground connections separately from all other connections. W iring these signals near the motor dri v e/amplifier or other signals can cause positioning errors and faulty operation. National Instruments strongly recommends you use en coders with diff[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-11 NI 7350 User Manual The polarity of the trigger (positio n capture) input is programmable in software as acti ve lo w , or active high, rising edge or falling edge. Y ou also can use a trigger (position capture) input as a latching general-purpose digital input by si mply ignorin[...]

Chapter 5 Signal Connections NI 7350 User Manual 5-12 ni.com T rigger Input and Shut down Input Circuits Trigger (position capture) input and shutdown input circuits have onboard pull-up resistors, and are interpreted as high logic level if left floating. Analog Inputs The NI 7350 controller has the followin g ADC input signals: • Analog Input &l[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-13 NI 7350 User Manual Wiring Concerns For proper use of each ADC input cha nnel, the analog signal should be a floating source with the positive term inal connected to the channel input and the negative t erminal connected to analog input ground. Figure 5-4 shows a simplified schem[...]

Chapter 5 Signal Connections NI 7350 User Manual 5-14 ni.com Figure 5-5. T ypical Optocoupler Wiring (T otem Pole Output Mode) In some rare circumstances, the opto coupler will not work with a 5 V signal, or it requires more current than the maximum current level the controller can provide. In this case, connect the contro ller output to the negati[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-15 NI 7350 User Manual Digital I/O Connector The general-purpose digital I/O lines on the NI 7350 controller are available on two separate 68 -pin digital I/O connectors. Fi gures 5-7 and 5-8 show the pin assignm ents for these connectors. Figure 5-7. 68-Pin Digital I/O Connector Pi[...]

Chapter 5 Signal Connections NI 7350 User Manual 5-16 ni.com Figure 5-8. 68-Pin Digital I/O Co nnector Pin Assignments (Ports 5–8) The 64-bit digital I/O ports are co nfigured in hardware as up to eight 8-bit digital I/O ports. Th e bits in a p ort are typically controlled and read with byte-wide bitmapped commands. Axis 4, Hall 3/P ort 8:bit 7 D[...]

Chapter 5 Signal Connections © National Instruments Corporation 5-17 NI 7350 User Manual Bits 2–7 in DIO port s 4 and 8 are du al-purpose bits that can be us ed for either general-p urpose I/O or Ha ll sensor feedback during system configuration and initialization, but not both. When you set these bits to provide Hall sensor feedback, the y are [...]

Chapter 5 Signal Connections NI 7350 User Manual 5-18 ni.com R TSI Connector The PXI-7350 uses the PXI chassi s backplane to connect to other RTSI-capable devices. The PCI-7350 uses a ribbon cable to connect to other R TSI-capable PCI devices. R TSI Signal Considerations The NI 7350 controller allows you to use up to eight RTSI trigger lines as sou[...]

© National Instruments Corporation A- 1 NI 7350 User Manual A Specifications This appendix lists the hardware an d software performance specifications for the PXI/PCI-7350 contro ller . Hardware specifications are typical at 25 °C, unless otherwise stated. Ser vo Performance PID update rate range ...................... ....... 62.5µs/sample to 5[...]

Appendix A Specifications NI 7350 User Manual A-2 ni.com Servo control loop modes ................. ......PID, PIVff, S-Curve, Dual Loop PID (Kp, Ki, and Kd) gains .............0 to 32,767 Integration lim it (Ilim) ... ...... ............0 to 32,767 Derivative sample period (Td).........1 to 63 samples Feedforward (Aff, Vff) gains . .........0 to 3[...]

Appendix A Specifications © National Instruments Corporation A- 3 NI 7350 User Manual S-curve time range .............. ............ 1 to 32,767 samples Following error range ............ ......... 0 to 32,767 counts Gear ratio ................... ................. .... ±32,767:1 to ±1:32,767 Stepper outputs Max pulse rate ..................... [...]

Appendix A Specifications NI 7350 User Manual A-4 ni.com Min pulse width ................... ... .........Programmable; depends on digital filter settings Voltage range............... .............. ......0 to 5 V Input low voltage ..................... .0.8 V Input high voltage.....................2 V Built-in pull-up resistor ............. ......[...]

Appendix A Specifications © National Instruments Corporation A- 5 NI 7350 User Manual Max buffered capture rate 1 ............. 2 kHz per axis Breakpoint (position com pare) outputs Number of outputs ......................... . Up to 8 (Encoders 1 through 8) Voltage range ............. ................. .... 0 to 5 V Output low voltage ...........[...]

Appendix A Specifications NI 7350 User Manual A-6 ni.com Input coupling .............. .............. ......DC Input impedance ............ .............. ....100 M Ω min Voltage range (programmable)........ ±10 V, ±5 V, 0–10 V, 0–5 V Bandwidth.............. .............. ............234 kHz Resolution ......................... ............[...]

Appendix A Specifications © National Instruments Corporation A- 7 NI 7350 User Manual Digital I/O Ports ...... .............. .............. .............. ....... Up to 8 8-bit ports Line direction ............. ................. .... Individual bit programmable Inputs Voltage range ............. ................. .... 0 to 5 V Input low voltage [...]

Appendix A Specifications NI 7350 User Manual A-8 ni.com Maximum Power Requir ements +3.3 V (±10%) ...................... ................. .2 A +5 V (±5%) ...................... .............. .........2 A +12 V (±5%) ....................... .............. ......30 mA –12 V (±10%) ......... .............. ............ ......0 mA Power consum[...]

Appendix A Specifications © National Instruments Corporation A- 9 NI 7350 User Manual Maximum W orking Voltage Channel-to-earth...................... ............... 11 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 7350 User Manual A-10 ni.com Electromagnetic Compatibility This product is designed to meet the requirements of the following standards of EMC for elect rical equipment for measurement, control, and laboratory use: • EN 61326 EMC requirements; Min imum Immunity • EN 55011 Emissions; Gro up 1, Class A • CE, C-T ick[...]

© National Instruments Corporation B- 1 NI 7350 User Manual B Cable Connector Descriptions This appendix describes the connecto r pinout for the cables that connect to the PXI/PCI-7350 controller . Figures B-1 and B-2 show the pin assignments for t he stepper 50-pin motion connectors, while Figures B-3 and B-4 show the pin assignments for the serv[...]

Appendix B Cable Connector Descr iptions NI 7350 User Manual B-2 ni.com Figure B-1. 50-Pin Stepper Connector Pin Assignment (Axes 1–4) Digital Ground Axis 4 Inhibit T rigger/Breakpoint 4 Axis 4 Home Switch Digital Ground Digital Ground Axis 4 Dir (CCW) Axis 3 Inhibit T rigger/Breakpoint 3 Axis 3 Home Switch Digital Ground Digital Ground Axis 3 Di[...]

Appendix B Cable Co nnector Descr iptions © National Instruments Corporation B- 3 NI 7350 User Manual Figure B-2. 50-Pin Stepper Connector Pin Assignment (Axes 5–8) Digital Ground Axis 8 Inhibit T rigger/Breakpoint 8 Axis 8 Home Switch Digital Ground Digital Ground Axis 8 Dir (CCW) Axis 7 Inhibit T rigger/Breakpoint 7 Axis 7 Home Switch Digital [...]

Appendix B Cable Connector Descr iptions NI 7350 User Manual B-4 ni.com Figure B-3. 50-Pin Servo Connector Pin Assignment (Axes 1–4) Digital Ground Axis 4 Inhibit T rigger/Breakpoint 4 Axis 4 Home Switch Digital Ground Digital Ground Analog Output Ground Axis 3 Inhibit T rigger/Breakpoint 3 Axis 3 Home Switch Digital Ground Digital Ground Analog [...]

Appendix B Cable Co nnector Descr iptions © National Instruments Corporation B- 5 NI 7350 User Manual Figure B-4. 50-Pin Servo Connector Pin Assignment (Axes 5–8) Digital Ground Axis 8 Inhibit T rigger/Breakpoint 8 Axis 8 Home Switch Digital Ground Digital Ground Analog Output Ground Axis 7 Inhibit T rigger/Breakpoint 7 Axis 7 Home Switch Digita[...]

© National Instruments Corporation C- 1 NI 7350 User Manual C Input/Output Reset States This appendix lists the various states of the NI PXI/PCI-7350 hardware during reset. Table C-1. I/O St ates During Res et Signal Names Direction From P ower On Until Device Initialization Mode Pola r it y State Motion I/O Connector Inhibit <1..8> Output O[...]

© National Instruments Corporation D-1 NI 7350 User Manual D 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 at ni.com/support include the following: – Self-Help Resources ?[...]

Appendix D T echni cal Support and Profess ional Ser vices NI 7350 User Manual D-2 ni.com •C alibration Certificate —If you r product supports calibration, you can obtain the calibration certificate for your product at ni.com/calibration . If you searched ni.com and could not find the answers you need, contact your local off ice or NI corporate[...]

© National Instruments Corporation G-1 NI 7350 User Manual Glossar y A absolute mode A move mode that treats the tar get position loaded as position relative to zero (0) while making a move. absolute position Position relative to zero. acceleration/ deceleration A measurement of the change in velocity as a function of time. Acceleration and decele[...]

Glossary NI 7350 User Manual G-2 ni.com Axis <1..8> Inhibit Axis 1 through 8 inhibi t output. Axis <1..8> Re vers e Limit Input Axis 1 through 8 reverse limit input. Axis < 1..8 > S tep (CW) Axis 1 throu gh 8 stepper pulse output or clockwise direction control. B b bit—One binary digit, either 0 or 1. base address Memory address[...]

Glossary © National Instruments Corporation G-3 NI 7350 User Manual D D A C digital-to-analog conv erter D A Q data acquisition dedicated Assigned to a particular function. DGND Digital ground sign al. digital I/O port Group of digital input/output signals. DIP dual inline package DLL dynamic link library—Provides the API for the motion con trol[...]

Glossary NI 7350 User Manual G-4 ni.com following error trip point The dif ference between the instantane ous commanded trajectory position and the feedback position. If the following error in creases beyond the maximum allo wable v alue entered—referr ed to as the following error trip point—the motor trips on following error and is killed , pr[...]

Glossary © National Instruments Corporation G-5 NI 7350 User Manual K k kilo—The standard metric prefix for 1,000, or 10 3 , used with un its of measure such as v olts, hertz, and meters. K kilo—The prefix for 1,024, or 2 10 , used with byte (B) in quantifying d ata or computer memory . L LIFO last-in, f irst-out limit switch/ end-of-travel po[...]

Glossary NI 7350 User Manual G-6 ni.com O open collector A met hod of output capable of sinking current, but not sourcing current. open-loop A motion control system where no external sensors (feedback de vices) are used to provide position or velocity correction signals. P PCI peripheral component interconnect —A high-performance e xpansion bus a[...]

Glossary © National Instruments Corporation G-7 NI 7350 User Manual Q quadrature counts Encoder line resolution multiplied by four . R relati v e breakpoi nt (position compare) Sets the position breakpoint for an encoder in rel ati ve quadrature counts. relati v e position Destination or t arget position for motion specif ied with r espect to the [...]

Glossary NI 7350 User Manual G-8 ni.com T otem Pole A method of output capable of sinking and sourcin g current. trapezoidal profile A typical motion trajectory , where a mo tor accelerates up to the programmed velocity using the progra mmed acceleration, trav erses at the programmed velocity , then decelerates at the programmed acceleration to the[...]

© National Instruments Corporation I-1 NI 7350 User Manual Index Symbols +5 V signal. See Host +5 V signal Numerics 7350 controller configuration, 2-1 digital I/O connector axes 1–4 (figure), 5-15 axes 5–8 (figure), 5-16 digital I/O connectors, overview, 3-4 features, 1-1 hardware, 1-2 hardware overview, 3-1 installation, 2-4 motion I/O connec[...]

Index NI 7350 User Manual I-2 ni.com Axis <1..8> Forward Limit Switch signal description (table), 5-4 purpose and use, 5-6 Axis <1..8> Home Switch signal description (table), 5-4 purpose and use, 5-6 Axis <1..8> Inhibit signal description (table), 5-4 purpose and use, 5-6 Axis <1..8> Reverse Limit Switch signal description ([...]

Index © National Instruments Corporation I-3 NI 7350 User Manual PWM features, 5-17 specifications, A-7 documentation conventions used in manual, ix NI resources, D-1 related documentation, x drivers (NI resources), D-1 E electromagnetic compatibility specifications, A-10 embedded real-time operati ng system (RTOS), 4-1 encoder signals Encoder <[...]

Index NI 7350 User Manual I-4 ni.com K KnowledgeBase, D-1 L LabVIEW software, 1-3 limit and hom e inputs Axis <1..8> Forward Limit Input, 5 -6 Axis <1..8> Home Input, 5-6 Axis <1..8> Reverse Limit Input, 5-6 input circuit, 5-7 signal descriptions, 5-6 wiring concerns, 5-7 M memory buffer storage, 4-5 flash, 4-3 motion axis si gnal[...]

Index © National Instruments Corporation I-5 NI 7350 User Manual physical specifications, A-8 power requirement specifications, A-8 processor, 4-1 programming examples (NI resources), D-1 pulse width modulati on output, digital I/O connector, 5-17 PWM features, digital I/O connector, 5-17 R related documentation, x requirements for getting started[...]

Index NI 7350 User Manual I-6 ni.com W Web resources, D-1 wiring concerns analog inputs, 5-13 breakpoint (position com pare) outputs, 5-11 encoder signals, 5-9 limit and hom e inputs, 5-7 optocoupler wiring, 5-13 Totem Pole mode , 5-14 trigger (position capture) inputs, 5-1 1[...]