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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 O.
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.
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.
© 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 .................... ........... .............. ........... ....
© 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.
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-Mo.
© 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.
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.
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.
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.
© 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.
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.
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.
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.
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.
© 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 .
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 Symb.
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 c.
© 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.
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.
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.
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.
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 .
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.
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 .
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.
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.
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 .
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.
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.
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.
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.
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.
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.
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.
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 .
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.
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.
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 .
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.
© 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 .
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 .
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.
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 .
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) .
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 .
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 .
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 ........ .............. .............. .....
© 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.
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.
© 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.
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.
© 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 .
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.
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.
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).
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.
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 tha.
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 veloci.
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 po.
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 t.
© 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 con.
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.
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 docu.
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