Related Manuals for National Instruments 7340 PCI
Summary of Contents for National Instruments 7340 PCI
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Page 1: User Manual
Motion Control National Instruments 7340 User Manual NI 7340 User Manual November 2003 Edition Part Number 370838A-01... - Page 2 Thailand 662 992 7519, United Kingdom 44 0 1635 523545 For further support information, refer to the Technical Support and Professional Services appendix. To comment on the documentation, send email to techpubs@ni.com. © 2003 National Instruments Corporation. All rights reserved.
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Page 3: Important Information
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 4 These classes are known as Class A (for use in industrial-commercial locations only) or Class B (for use in residential or commercial locations). All National Instruments (NI) products are FCC Class A products. Depending on where it is operated, this Class A product could be subject to restrictions in the FCC rules. (In Canada, the Department of Communications (DOC), of Industry Canada, regulates wireless interference in much the same way.) Digital...
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Page 5: Table Of Contents
About the 7340 Controller ...1-1 Features...1-1 Hardware ...1-1 RTSI ...1-2 What You Need to Get Started ...1-2 Software Programming Choices ...1-3 National Instruments Application Software ...1-3 Optional Equipment ...1-3 Motion I/O Connections ...1-4 Chapter 2 Configuration and Installation Software Installation ...2-1 Controller Configuration...2-1... - Page 6 Contents Onboard Programs and Buffers ... 4-5 Host Communications ... 4-5 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...
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Page 7: About This Manual
This font is also used for the proper names of disk drives, paths, directories, programs, subprograms, subroutines, device names, functions, operations, variables, filenames and extensions, and code excerpts. © National Instruments Corporation NI 7340 User Manual... -
Page 8: Related Documentation
About This Manual Related Documentation The following documents contain information you might find helpful as you read this manual: • • • NI 7340 User Manual NI-Motion User Manual NI-Motion C Reference Help NI-Motion VI Reference Help viii ni.com... -
Page 9: Introduction
The 7340 uses an advanced dual-processor architecture that uses a 32-bit CPU, combined with a digital signal processor (DSP) and custom field programmable gate arrays (FPGAs), making the controller a high-performance device. The first-in-first-out (FIFO) bus interface and © National Instruments Corporation NI 7340 User Manual... -
Page 10: Rtsi
Additionally, the 7340 analog inputs can provide feedback for loop closure. RTSI The 7340 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 11: Software Programming Choices
C code for custom data acquisition, test, and measurement and automation solutions. NI-Motion includes a series of sample programs for using LabWindows/CVI with National Instruments motion control hardware. Optional Equipment National Instruments offers a variety of products for use with the 7340 controller, including the following accessories: • •... -
Page 12: Motion I/O Connections
Chapter 1 Introduction For more specific information about these products, refer to the National Instruments catalog, the National Instruments Web site at ni.com Motion I/O Connections The external motion and digital I/O connectors on the 7340 are high-density, 68-pin female VHDCI connectors. -
Page 13: Configuration And Installation
Do not operate the device in a manner not specified in the documentation. Misuse of the device may result in a hazard and may compromise the safety protection built into the device. If the device is damaged, turn it off and do © National Instruments Corporation NI 7340 User Manual... - Page 14 Configuration and Installation not use it until service-trained personnel can check its safety. If necessary, return the device to National Instruments for repair. Keep away from live circuits. Do not remove equipment covers or shields unless you are trained to do so. If signal wires are connected to the device, hazardous voltages can exist even when the equipment is turned off.
- Page 15 Remove power from signal lines before connection to or disconnection from the device. Caution National Instruments measurement products may be classified as either Installation Category I or II. Operate products at or below the Installation Category level specified in the hardware specifications.
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Page 16: Hardware Installation
Chapter 2 Configuration and Installation Hardware Installation Install the 7340 in any open compatible expansion slot in the PXI or PCI system. Appendix A, Specifications, lists the typical power required for each controller. The following instructions are for general installation. Consult the computer user manual or technical reference manual for specific instructions and warnings. - Page 17 To protect yourself and the computer from electrical hazards, the computer must Caution remain unplugged until the installation is complete. © National Instruments Corporation Power off and unplug the computer. Remove the cover to expose access to the PCI expansion slots.
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Page 18: Hardware Overview
2 DSP 3 CPU Note The PXI-7340 assembly number is located on the back of the PXI module. © National Instruments Corporation 4 68-Pin Digital I/O Connector 5 68-Pin Motion I/O Connector Figure 3-1. PXI-7340 Parts Locator Diagram NI 7340 User Manual... - Page 19 Chapter 3 Hardware Overview 1 Identification Number Used in Australia 2 Symbol Indicating FFC Compliance 1 RTSI Connector 2 Serial Number Label 3 Symbol to Alert User to Read the Manual 4 Symbol Indicating FFC Compliance 5 Identification Number Used in Australia NI 7340 User Manual 3 Symbol to Alert User to Read the Manual Figure 3-2.
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Page 20: User Connectors
I/O connector. The PCI-7340 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products. The PXI-7340 RTSI-enabled connection provides up to eight triggers and one PXI star trigger to facilitate synchronization between multiple National Instruments PXI-enabled products. -
Page 21: Functional Overview
I/O processing, and stepper pulse generation for hard real-time functionality. The embedded, multitasking real-time CPU handles host communications, command processing, multi-axis interpolation, onboard program execution, error handling, general-purpose digital I/O, and overall motion system integration functions. © National Instruments Corporation NI 7340 User Manual... -
Page 22: Embedded Real-Time Operating System (Rtos)
Chapter 4 Functional Overview Embedded Real-Time Operating System (RTOS) The embedded firmware is based on an embedded RTOS kernel and provides optimum system performance in varying motion applications. 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. -
Page 23: Flash Memory
An axis with its primary output resource mapped to a stepper output is by definition a stepper axis. An axis with its primary output resource mapped to a DAC is by definition a servo axis. © National Instruments Corporation Chapter 4 Functional Overview... -
Page 24: Motion Resources
Chapter 4 Functional Overview øA 32-Bit Encoder øB Interface Index Trajectory Generator øA 32-Bit Encoder Optional Interface Index The 7340 supports axes with secondary output resources, such as DACs for servo axes or stepper outputs. Defining two output resources is useful when controlling axes with multiple motors, such as gantry systems in which two DAC outputs can be configured with different torque limits and/or offsets. -
Page 25: Onboard Programs And Buffers
The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions. The 7340 controller has both a command buffer for incoming commands and a return data buffer (RDB) for returning data. © National Instruments Corporation Chapter 4 Functional Overview NI 7340 User Manual... - Page 26 Chapter 4 Functional Overview The communications status register (CSR) provides bits for communications handshaking as well as real-time error reporting and general status feedback to the host PC. The move complete status (MCS) register provides instantaneous motion status of all axes. NI 7340 User Manual ni.com...
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Page 27: Signal Connections
• • The motion I/O connector also contains four channels of 12-bit A/D inputs for analog feedback or general-purpose analog input. © National Instruments Corporation 68-pin motion I/O connector 68-pin digital I/O connector RTSI connector Motor command analog and stepper outputs... - Page 28 Axis 1 Step (CW) Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Axis 2 Step (CW) Axis 2 Encoder Phase A Axis 2 Encoder Phase B...
- Page 29 Host +5 V Analog Input Ground Analog Input <1..4> Analog Output <1..4> Analog Output Ground Shutdown Analog Reference (output) Digital Ground © National Instruments Corporation Table 5-1. Motion I/O Signal Connections Reference Direction Digital Ground Output Digital Ground Output Digital Ground...
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Page 30: Motion Axis Signals
Chapter 5 Signal Connections Motion Axis Signals The following signals control the servo amplifier or stepper driver. • • • Do not connect these outputs to anything other than a +5 V circuit. The output Caution buffers will fail if subjected to voltages in excess of +5.5 V. NI 7340 User Manual Analog Output <1..4>—These 16-bit DAC outputs are typically the servo command outputs for each axis. -
Page 31: Limit And Home Inputs
The input polarity of these signals is software programmable for active-low (inverting) or active-high (non-inverting). © National Instruments Corporation Axis <1..4> Inhibit—Use the inhibit output signals to control the enable/inhibit function of a servo amplifier or stepper driver. When properly connected and configured, the inhibit function causes the connected motor to be de-energized and its shaft turns freely. -
Page 32: Wiring Concerns
Limit and home inputs are a per axis enhancement on the 7340 and are not required for basic motion control. These inputs are part of a system solution for complete motion control. National Instruments recommends using limits for personal safety, as well as to Caution protect the motion system. -
Page 33: Encoder Signals
Encoder Signals The 7340 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, Phase B, and Index input, as described in the following sections. -
Page 34: Encoder <1..4> Index
Chapter 5 Signal Connections of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase. A typical encoder with a specification of N (N = number) lines per unit of measure (revolutions or linear distance) produces 4 ×... -
Page 35: Wiring Concerns
3.05 m (10 ft). 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 36: Trigger Inputs, Shutdown Input, And Breakpoint Outputs
Chapter 5 Signal Connections 3.3 kΩ From the external connector encoder input pins Trigger Inputs, Shutdown Input, and Breakpoint Outputs The 7340 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 37: Wiring Concerns
© National Instruments Corporation You can program breakpoints as absolute, modulo, or relative positions. Breakpoint outputs can be preset to a known state so that the transition when the breakpoint occurs can be low to high, high to low, or toggle. -
Page 38: Analog Inputs
Chapter 5 Signal Connections From the external connector shutdown pin Analog Inputs The 7340 has the following ADC input signals: • NI 7340 User Manual 3.3 kΩ 1 kΩ 1/8 W Figure 5-6. Shutdown Input Circuit 3.3 kΩ To the external connector breakpoint pins Figure 5-7. -
Page 39: Wiring Concerns
Connect the common of the external reference to the Analog Input Ground pin for proper A/D reference and improved voltage measurement. © National Instruments Corporation You can configure each ADC channel for motion feedback, simple A/D conversion, or both. -
Page 40: Other Motion I/O Connection
Chapter 5 Signal Connections Other Motion I/O Connection The 7340 provides Host +5 V, which is the internal +5 V supply of the host computer. It is typically used to detect when the host computer is powered and to shut down external motion system components when the host computer is turned off or disconnected from the motion accessory. -
Page 41: Digital I/O Connector
Digital I/O Connector All the general-purpose digital I/O lines on the 7340 are available on a separate 68-pin digital I/O connector. Figure 5-8 shows the pin assignments for this connector. © National Instruments Corporation +5 V PCLK Reserved Reserved PWM1... -
Page 42: Pwm Features
Chapter 5 Signal Connections 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. All digital I/O lines have programmable direction and polarity. Each output circuit can sink and source 24 mA. -
Page 43: Rtsi Signal Considerations
If you are using the RTSI bus for trigger inputs or generic digital I/O, all signals are passed through unaltered. © National Instruments Corporation Chapter 5 200 ns Figure 5-9. Breakpoint across RTSI... - Page 44 Double-buffered trajectory parameters Servo control loop modes ... PID, PIVff, S-Curve, Dual Loop Assumes a PID update rate of 250 µs and a 2,000-count encoder. © National Instruments Corporation Maximum PID update rate... 62.5 µs/axis 4-axis PID update rate... 250 µs total Encoder feedback...
- Page 45 Appendix A Specifications Servo command analog outputs Stepper Performance Trajectory update rate range ...62.5 to 500 µs/sample Multi-axis synchronization ...<1 update sample Position accuracy Double-buffered trajectory parameters Stepper outputs Assumes a PID update rate of 250 µs and a 2,000-count encoder. NI 7340 User Manual Voltage range...±10 V Resolution...16 bits (0.000305 V/LSB)
- Page 46 Motion I/O Encoder inputs... Quadrature, incremental, Forward, reverse, and home inputs © National Instruments Corporation Voltage range ... 0 to 5 V Output low voltage ... <0.6 V at 64 mA sink Output high voltage ... Open collector with built-in Polarity...
- Page 47 Appendix A Specifications Trigger inputs Breakpoint outputs Inhibit/enable output NI 7340 User Manual Minimum pulse width...1 ms with filter enabled; Control...Individual enable/disable, stop on Number of inputs...4 (Encoders 1 through 4) Voltage range...0 to 5 V Input low voltage...0.8 V Input high voltage...2 V Polarity ...Programmable, active-high Minimum pulse width...100 ns...
- Page 48 Digital I/O Ports ... 4, 8-bit ports Inputs Outputs © National Instruments Corporation Number of inputs ... 8, multiplexed, single ended Number for user signals... 4 Number for system diagnostics Voltage range (programmable) ... ±10 V, ±5 V, 0–10 V, 0–5 V Input coupling ...
- Page 49 Appendix A Specifications RTSI Trigger lines...8 Maximum Power Requirements +5 V (±3%)...1 A +12 V (±3%)...30 mA –12 V (±3%) ...30 mA Power consumption ...5.7 W Physical Dimensions (Not Including Connectors) PXI-7340 ...16 × 10 cm (6.3 × 3.9 in.) PCI-7340...17.5 ×...
- Page 50 For UL and other safety certifications, refer to the product label, or visit Note ni.com/hardref.nsf appropriate link in the Certification column. © National Instruments Corporation IEC 61010-1, EN 61010-1 UL 3111-1, UL 61010B-1 CAN/CSA C22.2 No. 1010.1 , search by model number or product line, and click the...
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Page 51: Electromagnetic Compatibility
Appendix A Specifications Electromagnetic Compatibility Emissions...EN 55011 Class A at 10 m Immunity ...EN 61326:1997 + A2:2001, EMC/EMI ...CE, C-Tick, and FCC Part 15 Note For EMC compliance, you must operate this device with shielded cabling. CE Compliance This product meets the essential requirements of applicable European Directives, as amended for CE marking, as follows: Low-Voltage Directive (safety)...73/23/EEC Electromagnetic Compatibility... - Page 52 Figures B-1 and B-2 show the pin assignments for the stepper and servo 50-pin motion connectors. These connectors are available when you use the SH68-C68-S shielded cable assembly and the 68M-50F step/servo bulkhead cable adapter. © National Instruments Corporation Axis 1 Dir (CCW) Axis 1 Step (CW) Axis 1 Encoder Phase A...
- Page 53 Analog Output 1 Axis 1 Encoder Phase A Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Forward Limit Switch Axis 1 Reverse Limit Switch Analog Output 2 Axis 2 Encoder Phase A Axis 2 Encoder Phase B...
- Page 54 Technical Support and Professional Services Visit the following sections of the National Instruments Web site at ni.com • • • • © National Instruments Corporation for technical support and professional services: Support—Online technical support resources include the following: – Self-Help Resources—For immediate answers and solutions,...
- Page 55 Appendix C Technical Support and Professional Services If you searched your local office or NI corporate headquarters. Phone numbers for our worldwide offices are listed at the front of this manual. You also can visit the Worldwide Offices section of office Web sites, which provide up-to-date contact information, support phone numbers, email addresses, and current events.
- Page 56 (1) active-low signal is active when its value goes low (0) analog-to-digital converter © National Instruments Corporation Value – 6 –3 NI 7340 User Manual...
- Page 57 16-bit DAC voltage output application programming interface axis unit that controls a motor or any similar motion or control device Axis <1..4> Forward axis 1 through 4 forward/clockwise limit switch Limit Input Axis <1..4> Home axis 1 through 4 home input Input Axis <1..4>...
- Page 58 API for the motion control boards drivers software that communicates commands to control a specific motion control board Digital Signal Processor © National Instruments Corporation Glossary NI 7340 User Manual...
- Page 59 Glossary encoder device that translates mechanical motion into electrical signals; used for monitoring position or velocity in a closed-loop system encoder resolution number of encoder lines between consecutive encoder indexes (marker or Z-bit). If the encoder does not have an index output, the encoder resolution can be referred to as lines per revolution.
- Page 60 (limit switch, home switch, and so on) in active state. If these switches are active-low they are said to have inverting polarity. interrupt request kilo—the standard metric prefix for 1,000, or 10 measure such as volts, hertz, and meters kilo—the prefix for 1,024, or 2...
- Page 61 Noise corrupts signals you are trying to send or receive. noninverting polarity of a switch (limit switch, home switch, and so on) in active state. If these switches are active-high, they are said to have non-inverting polarity.
- Page 62 (duty cycle) of transistor switches PCI eXtensions for Instrumentation quadrature counts encoder line resolution times four random-access memory relative breakpoint sets the position breakpoint for an encoder in relative quadrature counts © National Instruments Corporation Glossary NI 7340 User Manual...
- Page 63 Glossary relative position destination or target position for motion specified with respect to the current location regardless of its value relative position mode position relative to current position ribbon cable flat cable in which the conductors are side by side revolutions per minute—units for velocity RPSPS or RPS/S revolutions per second squared—units for acceleration and deceleration...
- Page 64 (resets) the motion control board if any serious error occurs word standard number of bits that a processor or memory manipulates at one time, typically 8-, 16-, or 32-bit © National Instruments Corporation Glossary NI 7340 User Manual...
- Page 65 5-10 software programming choices, 1-3 trajectory generators, 4-2 trigger inputs, 5-10 user connectors, 3-3 using RTSI, 1-2 © National Instruments Corporation Analog Input <1..4>, 5-12 Analog Input Ground, 5-13 Analog Output <1..4>, 5-4 Analog Output Ground, 5-4 Analog Reference, 5-13...
- Page 66 (NI resources), C-1 KnowledgeBase, C-1 limit input circuit, 5-7 limit inputs, ground connections, 5-6 memory, buffer storage, 4-5 motion I/O connector pin assignments, 5-2 signal descriptions, 5-3 National Instruments support and services, C-1 NI support and services, C-1 ni.com...
- Page 67 2-1 Shutdown Input, 5-10 software (NI resources), C-1 software, onboard programs, 4-5 support, technical, C-1 © National Instruments Corporation technical support, C-1 training (NI resources), C-1 Trigger Input <1..4>, 5-10 trigger input circuit, 5-11 trigger inputs, wiring, 5-11...