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National Instruments 7344 User Manual

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Motion Control
7344 Hardware User Manual
7344 Hardware User Manual
July 1999 Edition
Part Number 322504A-01

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  • Page 1 Motion Control 7344 Hardware User Manual 7344 Hardware User Manual July 1999 Edition Part Number 322504A-01...
  • Page 2 Switzerland 056 200 51 51, Taiwan 02 2377 1200, United Kingdom 01635 523545 For further support information, see the Technical Support Resources appendix. To comment on the documentation, send e-mail to techpubs@natinst.com. © Copyright 1999 National Instruments Corporation. All rights reserved.

  • Page 3: Important Information

    Important Information Warranty The 7344 controllers are warranted against defects in materials and workmanship for a period of 1 year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective during the warranty period.

  • Page 4: Table Of Contents

    Contents About This Manual Conventions ........................ix Related Documentation....................x Chapter 1 Introduction About the 7344 Controllers....................1-1 What You Need to Get Started ..................1-2 Software Programming Choices ..................1-3 National Instruments Application Software ..............1-3 Optional Equipment .......................1-4 Motion Signal and Motion I/O Connections..............1-4...
  • Page 5 Trigger Input and Breakpoint Output Circuits ......... 5-11 Analog Inputs....................5-11 Wiring Concerns................5-13 Other Motion I/O Connections ............... 5-13 Digital I/O Connector ....................5-13 PWM Features....................5-15 Appendix A Specifications Appendix B Cable Connector Descriptions 7344 Hardware User Manual www.natinst.com...
  • Page 6 Contents Appendix C Technical Support Resources Glossary Index Figures Figure 3-1. PCI-7344 Parts Locator Diagram ............3-1 Figure 3-2. PXI-7344 Parts Locator Diagram............3-2 Figure 3-3. FW-7344 Back Panel................3-2 Figure 4-1. Servo Axis Resources................4-6 Figure 4-2. Stepper Axis Resources.................4-6 Figure 4-3. 3D Vector Space..................4-8 Figure 5-1.

  • Page 7: About This Manual

    About This Manual This manual describes the electrical and mechanical aspects of each controller in the 7344 family and contains information concerning their operation and programming. Unless otherwise noted, text applies to all controllers in the 7344 family. The 7344 family of controllers includes the following controllers: •...

  • Page 8: 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 • FlexMotion VI Online Help • PCI Local Bus Specification, Revision 2.1 • Your computer’s technical reference manual 7344 Hardware User Manual www.natinst.com...

  • Page 9: Introduction

    ±10 V. You can also configure the 7344 controllers as stepper axes to control stepper motors. These axes can operate in open or closed-loop mode.

  • Page 10: What You Need To Get Started

    PID feedback for loop closure, joystick inputs, or coarse monitoring of analog sensors. What You Need to Get Started To set up and use your 7344 controller, you will need the following: One of the 7344 controllers: •...

  • Page 11: Software Programming Choices

    FlexMotion VIs for LabVIEW and BridgeVIEW, or the FlexMotion software. Programming the 7344 controller is straightforward using a simple but powerful high-level function set application programming interface (API). All setup and motion control functions are easily executed by calling into either a static or dynamically linked library (DLL).

  • Page 12: Optional Equipment

    Instruments catalogue, the motion control product brochure, or call the office nearest you. Motion Signal and Motion I/O Connections The external motion I/O connector on the 7344 controllers is a high-density 68-pin female VHDCI connector. The external 32-bit digital I/O connector is a high-density 68-pin female VHDCI connector.

  • Page 13: Configuration And Installation

    There are no jumpers to configure for bus-related configuration. Hardware Installation You can install the PCI or PXI 7344 controller in any open compatible expansion slot in your computer. The typical power required for each 7344 controller is given in Appendix A, Specifications.
  • Page 14 Remove the expansion slot connector port cover on the back panel of the computer if installed. Insert the 7344 controller into a +3 V or +5 V PCI slot. Gently rock the board to ease it into place. It may be a tight fit, but do not force the board into place.
  • Page 15 COM LED on the front panel will blink. Verify that the power LED is on. Your FW-7344 controller is installed. The FW-7344 controller has two LEDs to help you determine the state of your device: • Power LED –...

  • Page 16: Hardware Overview

    • PXI-7344 for PXI bus computers • FW-7344 for 1394 bus computers Figures 3-1 and 3-2 show the PCI-7344 and PXI-7344 parts locator diagrams. Figure 3-3 shows the FW-7344 back panel. 1 RTSI Connector 4 14-Pin Test Connector 7 10-Pin Test Connector...

  • Page 17: Figure 3-2. Pxi-7344 Parts Locator Diagram

    4 14-Pin Test Connector 7 68-Pin Digital I/O Connector 2 Assembly Number Label 5 ADSP 2185 DSP 8 68-Pin Motion I/O Connector 3 Serial Number Label 6 MC68331 CPU Figure 3-2. PXI-7344 Parts Locator Diagram DIGITAL I/O MOTION I/O NATIONAL INSTRUMENTS RTSI EXPANSION...

  • Page 18: User Connectors

    Do not plug anything into these connectors. Caution Misuse of these reserved connectors may seriously damage the 7344 controller. Unauthorized use of the connectors will void any warranty coverage for the product. With the 7344 controller properly installed, only two connectors are typically used—the 68-pin motion I/O connector and the 68-pin digital...

  • Page 19: Functional Overview

    PC for optimized system performance. The 7344 controller uses the digital signal processor for all closed-loop control including position tracking, PID control closed-loop computation, and motion trajectory generation. The DSP chip is supported by custom...

  • Page 20: Enhanced Pid Functions

    On stepper axes, the DSP chip services the stepper pulse generators each update period, resulting in accurate step pulse frequency outputs. In addition to the standard PID loop control terms, the 7344 controller adds the following functionality: •...

  • Page 21: Trapezoidal Point-To-Point Position Control

    Move Blending You can use the 7344 controller to blend moves together with a programmable blend factor. Using the user-defined blend factor, the 7344 controller DSP chip starts a second trajectory generator with the second move on an axis while the first trajectory generator is still ©...

  • Page 22: Electronic Gearing

    2D circular interpolation, and 3D helical and spherical interpolation. The 7344 controller generates linear interpolated moves by scaling the velocity, acceleration, deceleration, and S-curve values appropriately so that the axes assigned to the 2D/3D move travel in a straight line in 2D or 3D space and arrive at their target positions simultaneously.

  • Page 23: Analog Feedback

    Chapter 4 Functional Overview For circular, helical, and spherical arcs, the 7344 controller embedded CPU calculates points along the arc segment, and the DSP performs a cubic spline algorithm that interpolates between these points. The resulting arc is extremely smooth and accurate with none of the chordal error associated with blended straight line segment approaches.

  • Page 24: Axes, Motion Resources, And Vector Spaces

    Chapter 4 Functional Overview Axes, Motion Resources, and Vector Spaces The 7344 controller can control up to four axes of motion. The axes can be completely independent, simultaneously coordinated, or mapped in multidimensional groups called vector spaces. You can also synchronize vector spaces for multi-vector space coordinated motion control.

  • Page 25: Motion Resources

    Chapter 4 Functional Overview In its default configuration, the 7344 controller comes preconfigured as four servo axes with Encoder 1 and DAC 1 mapped to Axis 1, Encoder 2 and DAC 2 mapped to Axis 2, and so on through Axis 4. However, it is simple for advanced users to map any feedback and output resource to any axis.

  • Page 26: Vector Spaces

    Vector spaces are logical, multidimensional groups of axes. They can be either single-dimensional, two dimensional with x and y axes, or three dimensional with x, y, and z axes. The 7344 controller supports up to three separate one, two, or three-axis vector spaces defined at the same time.

  • Page 27: Onboard Programs

    You can run onboard programs from RAM or optionally save them to flash ROM. The 7344 controller has 64 KB of RAM and 128 KB of ROM (divided into two 64 KB sectors) for program and object storage. You can...

  • Page 28: Find Home And Find Index

    Chapter 4 Functional Overview Find Home and Find Index The 7344 controller features two built-in programs to aid in initializing your system and establishing a repeatable zero-position reference for system-wide operation and control. Find Home You use the Find Home function to search for a home switch, stop on a specific edge of the switch, or, optionally, go past and approach the home switch edge from a programmed direction.

  • Page 29: Packets, Handshaking, And Fifo Buffers

    DLLs, and C function libraries that handle the host to controller communications automatically, with built-in error reporting. Data passed to or from the 7344 controller is handled in a packet format. A packet consists of a packet identifier word, command and data content, and a packet terminator word.

  • Page 30: Return Data Buffer

    RDB. If the RDB fills up and there is no place to put requested return data, the 7344 controller generates an error and sets the error message bit in the CSR. Note Refer to the FlexMotion Software Reference Manual for more information on RDB buffering and readback.
  • Page 31 If the host or onboard program is correctly written, you should not see any packet or modal errors. These error-handling structures are used mostly during application development and debugging. © National Instruments Corporation 4-13 7344 Hardware User Manual...

  • Page 32: Signal Connections

    Caution Turn off power to all devices when connecting or disconnecting the 7344 controller motion I/O and auxiliary digital I/O cables. Failure to do so may damage the 7344 controller. Motion I/O Connector The motion I/O connector contains all of the signals required to control up to four axes of servo and stepper motion including the following features: •...

  • Page 33: 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 controller. A signal description follows the connector pinout. In this chapter, lines above signal names indicate that the signal is active-low.

  • Page 34: Table 5-1. Motion I/O Signal Connections

    — — Reference for analog outputs Shutdown Digital Ground Input Controlled device shutdown Analog Reference (output) Analog Input Ground Output +7.5 V—analog reference level Digital Ground — — Reference for digital I/O © National Instruments Corporation 7344 Hardware User Manual...

  • Page 35: Motion Axis Signals

    • Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for each axis. The 7344 controller supports both major industry standards for stepper command signals—step and direction, or independent CW and CCW pulse outputs.

  • Page 36: Limit And Home Inputs

    (inverting) or active-high (non-inverting). 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. © National Instruments Corporation 7344 Hardware User Manual...

  • Page 37: Wiring Concerns

    Chapter 5 Signal Connections Limit and home inputs are a per axis enhancement on the 7344 controllers and are not required for basic motion control. These inputs are part of a system solution for complete motion control. All motion control functions can be operated without limit switches except the Find Home function, which requires enabled limit and home inputs for operations.

  • Page 38: Encoder Signals

    Verify that your input voltage is within the specification range. Encoder Signals The 7344 controller offers four channels of single-ended quadrature encoder inputs. Each channel consists of a Phase A, a Phase B, and an Index input, as described in the following sections.

  • Page 39: Wiring Concerns

    Caution Wire encoder signals and their ground connections separately from all other connections. Wiring these signals near the motor drive/amplifier or other signals can cause positioning errors and faulty operation. 7344 Hardware User Manual www.natinst.com...

  • Page 40: Encoder Input Circuit

    Figure 5-4. Encoder Input Circuit Trigger Inputs and Breakpoint Outputs The 7344 controller offers additional high-performance features in the encoder FPGA. The encoder channels have high-speed position capture trigger inputs and breakpoint outputs. These signals are useful for high-speed synchronization of motion with actuators, sensors, and other parts of the complete motion system: •...

  • Page 41: Wiring Concerns

    Chapter 5 Signal Connections complex camming systems with advance/retard positioning and registration. An available 7344 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). You can also use a trigger input as a latching general-purpose digital input by simply ignoring the captured position.

  • Page 42: Trigger Input And Breakpoint Output Circuits

    Figure 5-6. Breakpoint Output Circuit Analog Inputs The 7344 controller has the following ADC input signals: • Analog Input <1..4>—The 7344 controller includes an eight channel multiplexed, 12-bit ADC capable of measuring ±10 V, ±5 V, 0–10 V, and 0–5 V inputs.
  • Page 43 Analog Input Ground—To help keep digital noise out of the analog input, a separate return connection is provided. You should use this reference ground connection and not Digital Ground (digital I/O reference) or Analog Output Ground as the reference for the analog inputs. 7344 Hardware User Manual 5-12 www.natinst.com...

  • Page 44: Wiring Concerns

    Digital I/O Connector All of the 7344 controller’s general-purpose digital I/O lines are available on a separate 68-pin digital I/O connector. The pin assignments for this connector are shown in Figure 5-7.

  • Page 45: Figure 5-7. 68-Pin Digital I/O Connector Pin Assignments

    Figure 5-7. 68-Pin Digital I/O Connector Pin Assignments The 32-bit digital I/O port is configured in hardware as four 8-bit digital I/O ports. The bits in a port are typically controlled and read with byte-wide bitmapped commands. 7344 Hardware User Manual 5-14 www.natinst.com...

  • Page 46: Pwm Features

    100 k pull-ups. Connecting DPull to ground configures the ports for 100 k pull-downs. PWM Features The 7344 controller provides two pulse width modulation (PWM) outputs on the digital I/O connector. The PWM outputs generate periodic waveforms whose period and duty cycles can be independently controlled through software commands.

  • Page 47: Specifications

    Specifications This appendix lists the hardware and software performance specifications for the 7344 controller. Servo Performance PID update rate range......62.5 to 500 µs/sample Max PID update rate ....... 62.5 µs/axis 4-axis PID update rate..... 250 µs total Trajectory update rate ......Same as PID update rate Multi-axis synchronization ....
  • Page 48 RPM range........10 to 10 revolutions/minute Acceleration/deceleration ....4,000 to 128,000,000 steps/s –1 RPS/s range ........10 to 10 revolutions/s 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 7344 Hardware User Manual www.natinst.com...
  • Page 49 Max count rate ........ 20 MHz Voltage range ........0 to 12 V Input low voltage ..... 0.8 V Input high voltage ....2 V Min index pulse width ....60 ns © National Instruments Corporation 7344 Hardware User Manual...
  • Page 50 Number of outputs......4 (Encoders 1 through 4) Voltage range........0 to 5 V Output low voltage ....< 0.6 V at 64 mA sink Output high voltage....Open collector with built-in 3.3 k pull-up to +5 V Polarity ..........Programmable, active-high or active-low 7344 Hardware User Manual www.natinst.com...
  • Page 51 Analog outputs Number of outputs ......4 Voltage range ........±10 V Output current ......... ±5 mA Resolution ........16 bits (0.000305 V/ LSB) Gain accuracy ......... ±3% Drift..........100 ppm/°C typ. © National Instruments Corporation 7344 Hardware User Manual...
  • Page 52 Clock Sources......Internal or external Power Requirements (Max) PCI-7344 and PXI-7344 +5 V (±3%)..........1 A +12 V (±3%)...........30 mA –12 V (±3%) ...........30 mA Power consumption ........5.7 W FW-7344 Voltage range..........9 to 25 VDC Power consumption ........30 W 7344 Hardware User Manual www.natinst.com...
  • Page 53 Appendix A Specifications Physical Dimensions (Not Including Connectors) PCI-7344 ..........17.5 by 9.9 cm (6.9 by 3.9 in.) PXI-7344..........16 by 10 cm (6.3 by 3.9 in.) FW-7344 ..........30.7 by 25.4 by 4.3 cm (12.1 by 10.0 by 1.7 in.) Connectors Motion I/O connector......

  • Page 54: Figure

    45 46 Axis 4 Forward Limit Switch Trigger/Breakpoint 4 47 48 Axis 4 Reverse Limit Switch Axis 4 Inhibit 49 50 Digital Ground Host +5 V Figure B-1. 50-Pin Stepper Connector Pin Assignment © National Instruments Corporation 7344 Hardware User Manual...
  • Page 55 Axis 4 Encoder Index 45 46 Trigger/Breakpoint 4 Axis 4 Forward Limit Switch 47 48 Axis 4 Reverse Limit Switch Axis 4 Inhibit 49 50 Digital Ground Host +5 V Figure B-2. 50-Pin Servo Connector Pin Assignment 7344 Hardware User Manual www.natinst.com...
  • Page 56 Technical Support Resources This appendix describes the comprehensive resources available to you in the Technical Support section of the National Instruments Web site and provides technical support telephone numbers for you to use if you have trouble connecting to our Web site or if you do not have internet access.
  • Page 57 If you have trouble connecting to our Web site, please contact your local National Instruments office or the source from which you purchased your National Instruments product(s) to obtain support. For telephone support in the United States, dial 512 795 8248. For...
  • Page 58 – negative of, or minus percent +5 V +5 VDC source signal 1394 A high-speed external bus that implements the IEEE 1394 serial bus protocol © National Instruments Corporation 7344 Hardware User Manual...
  • Page 59 1 through 4 inhibit output Axis <1..4> Forward axis 1 through 4 forward/clockwise limit switch Limit Input Axis <1..4> Home Input axis 1 through 4 home input Axis <1..4> Reverse axis 1 through 4 reverse/counter-clockwise limit input Limit Input 7344 Hardware User Manual www.natinst.com...
  • Page 60 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 Digital-to-Analog Converter direct current © National Instruments Corporation 7344 Hardware User Manual...
  • Page 61 (PID gains) for a given axis flash ROM a type of electrically reprogrammable read-only memory following error trip point the difference between the instantaneous commanded trajectory position and the feedback position FPGA Field Programmable Gate Array 7344 Hardware User Manual www.natinst.com...
  • Page 62 5 V bus interlock voltage © National Instruments Corporation 7344 Hardware User Manual...
  • Page 63 This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution. 7344 Hardware User Manual www.natinst.com...
  • Page 64 Pulse Width Modulation—a method of controlling the average current in a motors phase windings by varying the on-time (duty cycle) of transistor switches PCI eXtensions for Instrumentation © National Instruments Corporation 7344 Hardware User Manual...
  • Page 65 <1..4> Dir (CCW) direction output or counter-clockwise direction control stepper <1..4> Step (CW) stepper pulse output or clockwise direction control toggle changing state from high to low, back to high, and so on torque force tending to produce rotation 7344 Hardware User Manual www.natinst.com...
  • Page 66 (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 Hardware User Manual...
  • Page 67 Numbers axes overview, 4-6 to 4-7 +5 V signal. See Host +5 V signal. servo axis resources (figure), 4-6 7344 controllers. See also functional overview; stepper axis resources (figure), 4-6 hardware. Axis<1..4> Dir (CCW) signal configuration, 2-1 compatibility with third-party drives, 5-4...
  • Page 68 68-pin connector pin assignments analog feedback, 4-5 (figure), 5-14 axes, 4-6 to 4-7 description, 5-15 dual processor architecture, 4-1 to 4-5 PWM features, 5-15 embedded real-time operating system specifications, A-6 (RTOS), 4-1 to 4-2 enhanced PID functions, 4-2 7344 Hardware User Manual www.natinst.com...
  • Page 69 2-1 wiring concerns, 5-6 installation, 2-1 to 2-3 linear and circular interpolation, 4-4 to 4-5 overview, 3-1 to 3-3 FW-7344 back panel (figure), 3-2 PCI-7344 parts locator diagram (figure), 3-1 manual. See documentation. PXI-7344 parts locator diagram MOMO (MustOn/MustOff) protocol, 5-15...
  • Page 70 (figure), 4-6 servo performance specifications, A-1 to A-2 Shutdown signal National Instruments application software, 1-3 description (table), 5-3 National Instruments Web support, C-1 to C-2 purpose and use, 5-13 signal connections. See digital I/O connector; motion I/O connector. software...
  • Page 71 4-3 stepper performance, A-2 to A-3 system safety, A-3 stepper axis resources (figure), 4-6 stepper performance specifications, Web support from National Instruments, A-2 to A-3 C-1 to C-2 system safety specifications, A-3 online problem-solving and diagnostic resources, C-1...

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