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National Instruments 7344 Series User Manual

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PCI-7334

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  • Page 1 PCI-7334...
  • Page 2 Motion Control 7344/7334 Hardware User Manual 7344/7334 Hardware User Manual May 2001 Edition Part Number 322504B-01...
  • Page 3 Sweden 08 587 895 00, Switzerland 056 200 51 51, Taiwan 02 2528 7227, United Kingdom 01635 523545 For further support information, see the Technical Support Resources appendix. To comment on the documentation, send e-mail to techpubs@ni.com Copyright © 1999, 2001 National Instruments Corporation. All rights reserved.
  • Page 4 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.

  • Page 5: Table Of Contents

    About the 7344/7334 Controller ..................1-1 Features......................1-1 Hardware ......................1-2 RTSI ........................1-2 What You Need to Get Started ..................1-2 Software Programming Choices ..................1-3 National Instruments Application Software ..............1-3 Optional Equipment .......................1-4 Motion I/O Connections ....................1-4 Chapter 2 Configuration and Installation Software Installation ......................2-1 Controller Configuration....................2-1...
  • Page 6 Contents Onboard Programs (7344 only) ..................4-5 Host Communications ....................4-6 Chapter 5 Signal Connections Motion I/O Connector ....................5-1 Motion Axis Signals..................5-4 Limit and Home Inputs ................... 5-5 Wiring Concerns................5-6 Limit and Home Input Circuit ............5-6 Encoder Signals....................
  • Page 7 50-Pin Stepper Connector Pin Assignment ...........B-1 Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 only) ......B-2 Tables Table 5-1. Motion I/O Signal Connections.............5-3 Table 5-2. Internal ADC Channels .................5-12 Table 5-3. Analog Input Voltage Ranges ...............5-12 © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 8: About This Manual

    Text in this font denotes text or characters that you should enter from the monospace keyboard, sections of code, programming examples, and syntax examples. This font is also used for the proper names of disk drives, paths, directories, © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 9: Related Documentation

    About This Manual programs, subprograms, subroutines, device names, functions, operations, variables, filenames and extensions, and code excerpts. Related Documentation The following documents contain information that you might find helpful as you read this manual: • FlexMotion Software Reference Manual • FlexMotion Software Reference online help •...

  • Page 10: Introduction

    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. © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 11: Hardware

    Additionally, the 7344/7334 analog inputs can provide feedback for loop closure. RTSI The 7344/7334 controller supports the National Instruments Real-Time System Integration (RTSI) bus. The RTSI bus provides high-speed connectivity between National Instruments products, including image acquisition (IMAQ) and data acquisition (DAQ) products.

  • Page 12: Software Programming Choices

    32-bit compiled programs and stand-alone executables for custom automation, data acquisition, test, measurement, and control solutions. National Instruments offers the FlexMotion VI Library, a series of virtual instruments (VIs) for using LabVIEW with National Instruments motion control hardware. The FlexMotion VI library implements the full function set API and a powerful set of demo functions, example programs, and fully operational, high-level application routines.

  • Page 13: Optional Equipment

    Chapter 1 Introduction Optional Equipment National Instruments offers a variety of products for use with the 7344/7334 controller, including cables, Universal Motion Interfaces (UMIs), drive power amplifier units, and other accessories as follows: • Cables and cable assemblies for motion and digital I/O •...

  • Page 14: Configuration And Installation

    Appendix A, Specifications. You can connect your FW-7344 to any available 1394 port. The FW-7344 supports IEEE 1394 transfer rates at up to 400 Mbits/s. © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 15 Chapter 2 Configuration and Installation The following are general installation instructions, but consult your computer user manual or technical reference manual for specific instructions and warnings. Caution 7344/7334 controllers are sensitive electronic devices shipped in an antistatic bag. Open only at an approved workstation and observe precautions for handling electrostatic-sensitive devices.
  • Page 16 This LED should blink once when you first plug in your controller. If you are transferring a large amount of data, this light should be on or blinking continuously. © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 17: Hardware Overview

    1 RTSI Connector 4 68-Pin Digital I/O Connector 6 MC68331 CPU 2 Assembly Number Label 5 68-Pin Motion I/O Connector 7 ADSP 2185 DSP 3 Serial Number Label Figure 3-1. PCI-7344 Parts Locator Diagram © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 18: Figure 3-2. Pxi-7344 Parts Locator Diagram

    Chapter 3 Hardware Overview 1 Assembly Number Label 3 ADSP 2185 DSP 5 68-Pin Digital I/O Connector 2 Serial Number Label 4 MC68331 CPU 6 68-Pin Motion I/O Connector Figure 3-2. PXI-7344 Parts Locator Diagram DIGITAL I/O MOTION I/O NATIONAL INSTRUMENTS RTSI EXPANSION...

  • Page 19: User Connectors

    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 connector. © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 20 Hardware Overview The RTSI connector provides up to seven triggers and one high-speed clock signal to facilitate synchronization between multiple National Instruments 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.

  • Page 21: Functional Overview

    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. © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 22: Trajectory Generators

    Chapter 4 Functional Overview The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized by an internal packet-based command, data, and messaging event structure. The 7344/7334 controllers are true multiprocessing and multitasking embedded controllers. The advanced architecture of the 7344/7334 controller enables advanced motion features, such as enhanced PID functions.

  • Page 23: Axes And Motion Resources

    DAC is by definition a servo axis. 101100111 øA 32-Bit 16-Bit Encoder Servo 0101011101101 11101101100 øB ±10 V Interface Converter Loop 101100111 Index Figure 4-1. Servo Axis Resources © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 24: Motion Resources

    Chapter 4 Functional Overview 101100111 øA 32-Bit Stepper Stepper Encoder 01011010 Pulse 010010110 øB Control Interface Generator Loop Index 101100111 Figure 4-2. Stepper Axis Resources The 7344/7334 controller supports axes with secondary output resources (DACs for servo axes or stepper outputs). Defining two output resources is useful when controlling axes with multiple motors, such as gantry systems, where two DAC outputs can be configured with different torque limits and/or offsets.

  • Page 25: Onboard Programs (7344 Only)

    ROM, with each program up to 1,280 commands long. Note Refer to the Onboard Programming Functions section of the FlexMotion Software Reference Manual, for detailed information on all of these onboard programming features. © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 26: Host Communications

    Chapter 4 Functional Overview Host Communications The host computer communicates with a 7344/7334 controller through a number of memory port addresses on the host bus. The host bus can be any of the supported bus standards—PCI, PXI, or 1394. The primary bidirectional data transfer port is at the base address of the controller.

  • Page 27: Signal Connections

    Forward, home, and reverse limit inputs • Breakpoint outputs • Trigger inputs • Inhibit outputs This connector also contains four channels of 12-bit A/D inputs for analog feedback or general-purpose analog input. © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 28: Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment

    Chapter 5 Signal Connections Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7344/7334 controller. A signal description follows the connector pinout. In this chapter, lines above signal names indicate that the signal is active-low. Axis 1 Dir (CCW) Axis 1 Step (CW) Digital Ground...

  • Page 29: Table 5-1. Motion I/O Signal Connections

    Reference for analog outputs (7344 only) 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 7344/7334 Hardware User Manual...

  • Page 30: Motion Axis Signals

    Chapter 5 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver: • Analog Output <1..4> (7344 only)—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 desired.

  • Page 31: Limit And Home Inputs

    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 7344/7334 Hardware User Manual...

  • Page 32: Wiring Concerns

    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 7344/7334 controllers and are not required for basic motion control.

  • Page 33: Encoder Signals

    Signal Connections Encoder Signals The 7344/7334 controller offers four channels of single-ended quadrature encoder inputs. All National Instruments power drives and UMI accessories provide built-in circuitry that converts differential encoder signals to single-ended encoder signals. Each channel consists of a Phase A, a Phase B, and an Index input, as described in the following sections.

  • Page 34: Wiring Concerns

    10 ft (3.05 m). 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.

  • Page 35: Encoder Input Circuit

    An available 7344/7334 controller 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 © National Instruments Corporation 7344/7334 Hardware User Manual...

  • Page 36: Wiring Concerns

    Chapter 5 Signal Connections edge. You can also use a trigger input as a latching general-purpose digital input by simply ignoring the captured position. • Shutdown Input—The shutdown input signal, when enabled in software, 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.

  • Page 37: Trigger Input, Shutdown Input, And Breakpoint Output Circuits

    From the external 1/8 W connector shutdown pin DGND Figure 5-6. Shutdown Input Circuit 3.3 kΩ 74AS760 To the external From the connector breakpoint breakpoint pins circuits Figure 5-7. Breakpoint Output Circuit © National Instruments Corporation 5-11 7344/7334 Hardware User Manual...

  • Page 38: Analog Inputs

    Chapter 5 Signal Connections Analog Inputs The 7344/7334 controller has the following ADC input signals: • Analog Input <1..4>—The 7344/7334 controller 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.

  • Page 39: Wiring Concerns

    The host +5 V signal is limited to <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. © National Instruments Corporation 5-13 7344/7334 Hardware User Manual...

  • Page 40: Digital I/O Connector

    Chapter 5 Signal Connections Digital I/O Connector All the general-purpose digital I/O lines on the 7344/7334 controllers are available on a separate 68-pin digital I/O connector. The pin assignments for this connector are shown in Figure 5-8. +5 V Digital Ground PCLK Digital Ground Reserved...

  • Page 41: Pwm Features

    The FW-7344 RTSI bus is connected with an external 14-pin shielded cable across National Instruments distributed devices with RTSI capability. The PXI-7344 requires no extra cable, because the PXI bus directly connects the RTSI bus across all National Instruments PXI devices. © National Instruments Corporation 5-15...

  • Page 42: Rtsi Signal Considerations

    Chapter 5 Signal Connections RTSI Signal Considerations The 7344/7334 motion controllers allow you to use the RTSI signals as sources for trigger inputs, or as destinations for breakpoint outputs and encoder signals. The RTSI bus can also be used as a generic digital I/O port. Breakpoint outputs are output-only signals that generate an active-high pulse of 90−120 ns duration, as shown in Figure 5-9.

  • Page 43: Appendix A Specifications

    Servo control loop modes ...... 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 © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 44 Appendix A Specifications Feedforward (Aff, Vff) gains ..0 to 32,767 Velocity feedback (Kv) gain ...0 to 32,767 Servo command analog outputs Voltage range........±10 V Resolution........16 bits (0.000305 V/ LSB) Programmable torque (velocity) limits Positive limit ......±10 V (–32,768 to +32,767) Negative limit......±10 V (–32,768 to +32,767) Programmable offset .......±10 V (–32,768 to +32,767) Stepper Performance...
  • Page 45 Number of inputs ......12 (3 per axis) Voltage range ........0 to 12 V Input low voltage ..... 0.8 V Input high voltage ....2 V Polarity..........Programmable, active-high or active-low © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 46 Appendix A Specifications Min pulse width.......1 ms Control..........Individual enable/disable, stop on input, prevent motion, Find Home Trigger inputs Number of inputs......4 (Encoders 1 through 4) Voltage range........0 to 12 V Input low voltage......0.8 V Input high voltage.....2 V Polarity ..........Programmable, active-high or active-low Min pulse width.......83 ns Capture latency........<100 ns...
  • Page 47 Digital I/O Ports ............4, 8-bit ports Line direction ........Individual bit programmable Inputs Voltage range ........0 to 5 V Input low voltage ..... 0.8 V Input high voltage ....2.0 V © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 48 Appendix A Specifications Polarity ..........Programmable, active-high or active-low Outputs Voltage range........0 to 5 V Output low voltage ....< 0.45 V at 24 mA sink Output high voltage....> 2.4 V at 24 mA source Polarity ..........Programmable, active-high or active-low PWM outputs Number of PWM outputs ..2 Max PWM frequency ....32 kHz Resolution.........8-bit...
  • Page 49 VHDCI type 32-bit digital I/O connector....68-pin female high-density VHDCI type Environment Operating temperature......0 to 55 °C Storage temperature ....... –20 to 70 °C Relative humidity range ......10 to 90% (noncondensing) © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 50 45 46 Axis 4 Forward Limit Switch Trigger/Breakpoint 4 47 48 Axis 4 Inhibit Axis 4 Reverse Limit Switch 49 50 Digital Ground Host +5 V Figure B-1. 50-Pin Stepper Connector Pin Assignment © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 51 Appendix B Cable Connector Descriptions Analog Output Ground Analog Output 1 Axis 1 Encoder Phase A Digital Ground Digital Ground Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Home Switch Axis 1 Forward Limit Switch Trigger/Breakpoint 1 11 12 Axis 1 Reverse Limit Switch Axis 1 Inhibit...
  • Page 52 Technical Support Resources Web Support National Instruments Web support is your first stop for help in solving installation, configuration, and application problems and questions. Online problem-solving and diagnostic resources include frequently asked questions, knowledge bases, product-specific troubleshooting wizards, manuals, drivers, software updates, and more. Web support is available through the Technical Support section of ni.com...
  • Page 53 Appendix C Technical Support Resources Worldwide Support National Instruments has offices located around the world to help address your support needs. You can access our branch office Web sites from the Worldwide Offices section of . Branch office Web sites provide ni.com...
  • Page 54 – negative of, or minus Ω +5 V +5 VDC source signal 1394 A high-speed external bus that implements the IEEE 1394 serial bus protocol © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 55 Glossary amperes analog-to-digital absolute mode treat the target position loaded as position relative to zero (0) while making a move absolute position position relative to zero acceleration/ a 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.
  • Page 56 I/O central processing unit crosstalk an unwanted signal on one channel due to an input on a different channel Communications Status Register clockwise—implies direction of motor rotation © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 57 Glossary Digital-to-Analog Converter direct current dedicated assigned to a particular function DGND digital ground signal digital I/O port a group of digital input/output signals dual inline package dynamic link library—provides the API for the motion control boards drivers software that communicates commands to control a specific motion control board Digital Signal Processor encoder...
  • Page 58 © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 59 Glossary input/output—the transfer of data to and from a computer system involving communications channels, operator interface devices, and/or motion control interfaces inverting the 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.
  • Page 60 When the encoder reaches a position breakpoint, the associated breakpoint output immediately transitions. power cycling turning the host computer off and then back on, which causes a reset of the motion control board © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 61 Glossary 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 quadrature counts the encoder line resolution times four random-access memory relative breakpoint sets the position breakpoint for an encoder in relative quadrature counts relative position destination or target position for motion specified with respect to the...
  • Page 62 (resets) the motion control board if any serious error occurs word the standard number of bits that a processor or memory manipulates at one time, typically 8-, 16-, or 32-bit © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 63 5-4 description (table), 5-3 Analog Output Ground signal purpose and use, 5-4 description (table), 5-3 purpose and use, 5-4 Analog Reference signal description (table), 5-3 purpose and use, 5-13 © National Instruments Corporation 7344/7334 Hardware User Manual...
  • Page 64 Index breakpoint outputs embedded real-time operating system (RTOS), 4-1 to 4-2 output circuit (figure), 5-11 encoder signals, 5-7 to 5-9 wiring concerns, 5-10 Axis<1..4> Encoder Index, 5-3, 5-8 Breakpoint<1..4> signal Axis<1..4> Encoder Phase A, 5-3, 5-7 description, 5-3 Axis<1..4> Encoder Phase B, 5-3, 5-7 purpose and use, 5-10 input circuit, 5-9 wiring concerns, 5-8 to 5-9...
  • Page 65 5-3, 5-5 to 5-6 wiring concerns, 5-10 input circuit, 5-6 motion resources, 4-4 wiring concerns, 5-6 National Instruments application software, 1-3 manual. See documentation. NI Developer Zone, C-1 memory, nonvolatile, 4-2 to 4-3 motion axis signals, 5-4 to 5-5 Analog Output <1..4>, 5-3, 5-4...
  • Page 66 Index software installation, 2-1 parts locator diagrams National Instruments application FW-7344 back panel, 3-2 software, 1-3 PCI-7334 parts locator diagram onboard programs (7344 only), 4-5 (figure), 3-3 programming choices, 1-3 PCI-7344, 3-1 specifications PXI-7344, 3-2 digital I/O, A-5 to A-6...
  • Page 67 Index Web support from National Instruments, C-1 wiring concerns analog inputs, 5-13 breakpoint outputs, 5-10 encoder signals, 5-8 to 5-9 limit and home inputs, 5-6 shutdown input, 5-10 trigger inputs, 5-10 Worldwide technical support, C-2 © National Instruments Corporation 7344/7334 Hardware User Manual...

This manual is also suitable for:

7334 seriesPci-7344Pxi-7344Fw-7344Pci-7334Pxi-7334

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