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National Instruments PCI-7342 User Manual

National Instruments PCI-7342 User Manual

Motion control
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Motion Control
NI PCI-7342 Hardware
User Manual
NI PCI-7342 Hardware User Manual
October 2002 Edition
Part Number 373454A-01

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Summary of Contents for National Instruments PCI-7342

  • Page 1 Motion Control NI PCI-7342 Hardware User Manual NI PCI-7342 Hardware User Manual October 2002 Edition Part Number 373454A-01...
  • Page 2 Switzerland 056 200 51 51, Taiwan 02 2528 7227, United Kingdom 01635 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. © 2002 National Instruments Corporation. All rights reserved.
  • Page 3 Warranty The NI PCI-7342 controller is warranted against defects in materials and workmanship for a period of one 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 Classification requirements are the same for the Federal Communications Commission (FCC) and the Canadian Department of Communications (DOC). Changes or modifications not expressly approved by National Instruments could void the user’s authority to operate the equipment under the FCC Rules.
  • Page 5 Canadian Department of Communications This Class B digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations. Cet appareil numérique de la classe B respecte toutes les exigences du Règlement sur le matériel brouilleur du Canada. Compliance to EU Directives Readers in the European Union (EU) must refer to the Manufacturer’s Declaration of Conformity (DoC) for information* pertaining to the CE Marking compliance scheme.

  • Page 6: Table Of Contents

    Safety Information ......................2-2 Hardware Installation.....................2-4 Chapter 3 Hardware Overview User Connectors......................3-2 Chapter 4 Functional Overview Dual Processor Architecture ..................4-1 Embedded Real-Time Operating System (RTOS) ..........4-2 Trajectory Generators..................4-2 Analog Feedback .....................4-2 Flash Memory....................4-3 © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 7 Other Motion I/O Connection ................. 5-15 Digital I/O Connector ....................5-16 PWM Features....................5-17 RTSI Connector......................5-17 RTSI Signal Considerations................5-17 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI PCI-7342 Hardware User Manual viii ni.com...

  • Page 8: About This Manual

    About This Manual This manual provides guidelines for programming and operating the National Instruments PCI-7342 motion controller and includes controller specifications and descriptions of electrical and mechanical features. Refer to the Glossary for definitions of selected related terms. Conventions The manual uses the following conventions: <>...

  • Page 9: Related Documentation

    About This Manual Related Documentation The following documents contain information pertaining to the PCI-7342 motion controller: • NI-Motion Release Notes • NI-Motion Software Reference Manual • NI-Motion Software Reference online help • NI-Motion VIs online help • PCI Local Bus Specification, Revision 2.1 •...

  • Page 10: Introduction

    Each axis has motion I/O for end-of-travel limit and home switch inputs, breakpoint output, trigger input, and encoder feedback rates up to 20 MHz. The PCI-7342 controller also has nondedicated user I/O, including 32 bits of digital I/O and two analog inputs for ±10 V signals, joystick inputs, or monitoring of analog sensors.

  • Page 11: Pci-7342 Features

    RTSI, including tutorials, examples, and configuration guidelines. PCI-7342 Features The PCI-7342 controller combines servo and stepper functionality for PCI bus computers. It provides motion control for up to two independent or coordinated axes of motion. You can use the PCI-7342 motion controller for point-to-point and straight-line vector moves for stepper and servo motor applications.

  • Page 12: Getting Started

    32-bit compiled programs and stand-alone executables for custom automation, data acquisition, test, measurement, and control solutions. National Instruments offers the NI-Motion VI Library, a series of virtual instruments (VIs) for using LabVIEW with the National Instruments motion control hardware. The NI-Motion 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

    • Connector blocks, shielded and unshielded 68-pin screw terminal wiring aids For specific information about these products, refer to the National Instruments catalog, the National Instruments Web site at , or call ni.com your National Instruments sales representative. Motion I/O Connections The external motion I/O and digital I/O connectors are high-density, 68-pin female VHDCI connectors.

  • Page 14: Configuration And Installation

    Because motion I/O-related configuration is performed entirely with software, it is not necessary to set jumpers for motion I/O configuration. The PCI-7342 controller is fully compatible with the PCI Local Bus Specification, Revision 2.1. It is not necessary to configure jumpers for bus-related configuration.

  • Page 15: Safety Information

    If the device is damaged, turn it off and do 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.
  • Page 16 (internal) mains-derived circuits. Mains is defined as the electricity supply system to which the equipment concerned is designed to be connected for either powering the equipment or for measurement purposes. © National Instruments Corporation NI PCI-7342 Hardware User Manual...

  • Page 17: Hardware Installation

    Figure 2-1 illustrates a sample installation. Figure 2-1. Sample Installation Hardware Installation Install your PCI-7342 controller in any open compatible expansion slot in your computer. Appendix A, Specifications, lists the power requirements for the PCI-7342 controller. The following instructions are for general installation. Consult your computer user manual or technical reference manual for specific instructions and warnings.
  • Page 18 Replace the cover. Plug in the 68-pin cable for motion I/O to the controller. 10. Plug in and turn on your computer. Your PCI controller is installed. © National Instruments Corporation NI PCI-7342 Hardware User Manual...

  • Page 19: Hardware Overview

    Hardware Overview This chapter provides an overview of the PCI-7342 motion controller hardware functionality. Figure 3-1 shows the PCI-7342 parts locator diagram. 1 RTSI Connector 4 68-Pin Digital I/O Connector 6 MC68331 CPU 2 Assembly Number Label 5 68-Pin Motion I/O Connector...

  • Page 20: User Connectors

    I/O connector signals. 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

    This chapter provides an overview of the motion control algorithms and controller capabilities. Dual Processor Architecture With the PCI-7342 controller, you can perform one or two axes of simultaneous, coordinated motion control in a preemptive, multitasking, real-time environment. An advanced dual-processor architecture that uses a Motorola MC68331...

  • Page 22: Embedded Real-Time Operating System (Rtos)

    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 PCI-7342 controller is a true multiprocessing and multitasking embedded controller. The advanced architecture of the PCI-7342 controller enables advanced motion features, such as enhanced PID functions.

  • Page 23: Flash Memory

    A flash memory download utility is included with the NI-Motion software that ships with the controller. Axes and Motion Resources The PCI-7342 controller can control one or two 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 24: Motion Resources

    Index 101100111 Figure 4-2. Stepper Axis Resources The PCI-7342 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 in which two DAC outputs can be configured with different torque limits and/or offsets.

  • Page 25: Host Communications

    The primary bi-directional data transfer port is at the base address of the controller. This port supports FIFO data passing in both send and readback directions. The PCI-7342 controller has both a command buffer for incoming commands and a return data buffer (RDB) for readback data.

  • Page 26: Signal Connections

    This chapter describes how to send input and output signal connections directly to the controller and briefly describes the associated I/O circuitry. The PCI-7342 controller has three connectors that handle all signals to and from the external motion system: •...

  • Page 27: Motion I/O Connector

    Figure 5-2 shows the pin assignments for the 68-pin motion I/O connector on the PCI-7342 controller. Refer to Table 5-1 for a description of each motion I/O signal. Lines above signal names indicate that the signal is active-low.
  • Page 28 Analog Reference (Output) Analog Input Ground Figure 5-2. 68-Pin Motion I/O Connector Pin Assignment Caution Do not connect NC (not connected) signals. Connecting these signals could cause permanent damage to your motion controller. © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 29 Analog Output Ground — — 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 NI PCI-7342 Hardware User Manual ni.com...

  • Page 30: Motion Axis Signals

    • Axis <1..2> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for each axis. The PCI-7342 controller supports both major industry standards for stepper command signals: step and direction, or independent CW and CCW pulse outputs.

  • Page 31: Limit And Home Inputs

    In addition, an active forward or reverse limit input impedes future commanded motion in that direction for as long as the signal is active. NI PCI-7342 Hardware User Manual ni.com...

  • Page 32: Wiring Concerns

    All limit and home inputs are digitally filtered and must be active for at least 1 ms. Figure 5-4 shows a simplified schematic diagram of the circuit the limit and home switch inputs use for input signal buffering and detection. © National Instruments Corporation NI PCI-7342 Hardware User Manual...

  • Page 33: Encoder Signals

    Excessive input voltages can cause erroneous operation and/or component failure. Verify that your input voltage is within the specification range. Encoder Signals The PCI-7342 controller offers two 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.

  • Page 34: Encoder <1..2> Index

    Figure 5-5 shows the quadrature encoder phasing diagram when using a UMI or drive accessory. Phase A Phase B Index Figure 5-5. Quadrature Encoder Phasing with a UMI or Drive Accessory © National Instruments Corporation NI PCI-7342 Hardware User Manual...

  • Page 35: Wiring Concerns

    Chapter 5 Signal Connections Figure 5-6 shows the quadrature encoder phasing diagram when interfacing directly to the PCI-7342 without using a UMI or drive accessory. Phase A Phase B Index Figure 5-6. Quadrature Encoder Phasing without a UMI or Drive Accessory Wiring Concerns The encoder inputs are connected to quadrature decoder/counter circuits.

  • Page 36: Encoder Input Circuit

    Figure 5-7. Encoder Input Circuit Trigger Inputs, Shutdown Input, and Breakpoint Outputs The PCI-7342 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...

  • Page 37: Wiring Concerns

    3.3 kΩ 74HC244 From the External To the Trigger 1 kΩ Connector Circuits 1/8 W Trigger Pins DGND Figure 5-8. Trigger Input Circuit NI PCI-7342 Hardware User Manual 5-12 ni.com...

  • Page 38: Analog Inputs

    Direction, or Inhibit Pins or Inhibit Circuits Figure 5-10. Breakpoint Output Circuit Analog Inputs The PCI-7342 controller has the following ADC input signals: • Analog Input <1..2>—The PCI-7342 controller includes an 8-channel multiplexed, 12-bit ADC capable of measuring ±10 V, ±5 V, 0–10 V, and 0–5 V inputs.
  • Page 39 Use this reference ground connection and not Digital Ground (digital I/O reference) or Analog Output Ground as the reference for the analog inputs. NI PCI-7342 Hardware User Manual 5-14 ni.com...

  • Page 40: Wiring Concerns

    Connect the common of the external reference to the Analog Input Ground pin for proper A/D reference and improved voltage measurement. Other Motion I/O Connection The PCI-7342 controller provides the following other motion I/O connection: • Host +5 V—This signal is the internal +5 V supply of the host computer.

  • Page 41: Digital I/O Connector

    Digital Ground Port 4:bit 2 Port 4:bit 3 Digital Ground Port 4:bit 4 Port 4:bit 5 Digital Ground Port 4:bit 6 Port 4:bit 7 Digital Ground Figure 5-11. 68-Pin Digital I/O Connector Pin Assignments NI PCI-7342 Hardware User Manual 5-16 ni.com...

  • Page 42: Pwm Features

    PID servo control loop. Refer to your NI-Motion Software Reference Manual for more information about PWM signals. RTSI Connector The RTSI bus on PCI-7342 is connected with a ribbon cable to National Instruments DAQ and IMAQ PCI devices that have RTSI capability. RTSI Signal Considerations...
  • Page 43 Encoder and Index signals are output-only signals across RTSI that are the digitally-filtered versions of the raw signals coming into the controller. If you are using the RTSI bus for trigger inputs or generic digital I/O, all signals are passed through unaltered. NI PCI-7342 Hardware User Manual 5-18 ni.com...
  • Page 44 Specifications This appendix lists the hardware and software performance specifications for the PCI-7342 controller. Hardware specifications are typical at 25 °C, unless otherwise stated. Servo Performance PID update rate range......62.5 to 500 µs/sample Maximum PID update rate....62.5 µs/axis 2-axis PID update rate.....

  • Page 45: Appendix A Specifications

    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 NI PCI-7342 Hardware User Manual ni.com...
  • Page 46 Minimum pulse width ..... Programmable; depends on digital filter settings Voltage range ........0 to 12 V Input low voltage ..... 0.8 V Input high voltage ....2 V Minimum index pulse width ... 60 ns © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 47 Inhibit/enable output Number of outputs......2 (1 per axis) 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 kΩ pull-up to +5 V NI PCI-7342 Hardware User Manual ni.com...
  • Page 48 Analog outputs Number of outputs ......2 Voltage range ........±10 V Output current ......... ±5 mA Resolution ........16 bits (0.000305 V/LSB) Gain accuracy ......... ±3% Drift..........100 ppm/°C typical © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 49 Duty cycle range.......0 to (255/256)% Clock sources ......Internal or external RTSI Trigger Lines ..........7 Maximum Power Requirements +5 V (±3%)..........1 A +12 V (±3%)...........30 mA –12 V (±3%) ...........30 mA Power consumption ........5.7 W NI PCI-7342 Hardware User Manual ni.com...
  • Page 50 Appendix A Specifications Physical Dimensions (Not Including Connectors) PCI-7342 ..........17.5 × 9.9 cm (6.9 × 3.9 in.) Connectors Motion I/O connector......68-pin female high-density VHDCI type 32-bit digital I/O connector....68-pin female high-density VHDCI type Weight PCI-7342 ..........113 g (4 oz) Maximum Working Voltage Channel-to-earth........
  • Page 51 . This Web site lists the DoCs by product family. Select the ni.com/hardref.nsf/ appropriate product family, followed by your product, and a link to the DoC appears in Adobe Acrobat format. Click the Acrobat icon to download or read the DoC. NI PCI-7342 Hardware User Manual ni.com...
  • Page 52 Digital Ground Host +5 V Figure B-1. 50-Pin Stepper Connector Pin Assignment Do not connect NC (not connected) signals. Connecting these signals could cause Caution permanent damage to your motion controller. © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 53 47 48 49 50 Digital Ground Host +5 V Figure B-2. 50-Pin Servo Connector Pin Assignment Caution Do not connect NC (not connected) signals. Connecting these signals could cause permanent damage to your motion controller. NI PCI-7342 Hardware User Manual ni.com...
  • Page 54 Technical Support and Professional Services Visit the following sections of the National Instruments Web site at for technical support and professional services: ni.com • Support—Online technical support resources include the following: – Self-Help Resources—For immediate answers and solutions, visit our extensive library of technical support resources available in English, Japanese, and Spanish at .
  • Page 55 – 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 NI PCI-7342 Hardware User Manual...
  • Page 56 Axis <1..2> Inhibit axis 1 through 2 inhibit output Axis <1..2> Forward axis 1 through 2 forward/clockwise limit switch Limit Input NI PCI-7342 Hardware User Manual ni.com...
  • Page 57 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 NI PCI-7342 Hardware User Manual...
  • Page 58 (PID gains) for a given axis flash ROM a type of electrically reprogrammable read-only memory NI PCI-7342 Hardware User Manual ni.com...
  • Page 59 © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 60 NI PCI-7342 Hardware User Manual ni.com...
  • Page 61 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 NI PCI-7342 Hardware User Manual...
  • Page 62 <1..2> Dir direction output or counter-clockwise direction control (CCW) stepper <1..2> Step stepper pulse output or clockwise direction control (CW) NI PCI-7342 Hardware User Manual ni.com...
  • Page 63 (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 NI PCI-7342 Hardware User Manual...
  • Page 64 5-4 compatibility with third-party drives, 5-5 purpose and use, 5-12 description (table), 5-4 purpose and use, 5-5 Axis<1..2> Encoder Index signal description (table), 5-4 purpose and use, 5-9 to 5-10 © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 65 A-8 Host +5 V signal embedded real-time operating system description (table), 5-4 (RTOS), 4-2 purpose and use, 5-15 encoder signals, 5-8 to 5-13 host communications, 4-5 Axis<1..2> Encoder Index, 5-4, 5-9 to 5-10 NI PCI-7342 Hardware User Manual ni.com...
  • Page 66 1-4 signal descriptions, 5-13 to 5-14 wiring concerns, 5-15 connector on PCI-7342 controller (figure), 5-1 parts locator diagram, 3-1 encoder signals, 5-8 to 5-13 physical specifications, A-7 input circuit, 5-11 © National Instruments Corporation NI PCI-7342 Hardware User Manual...
  • Page 67 5-11 1-2 to 1-3 shutdown input input circuit (figure), 5-13 wiring concerns, 5-12 unpacking NI PCI-7342, 2-1 to 2-2 Shutdown signal user connectors. See digital I/O connector; description (table), 5-4 motion I/O connector; RTSI connector purpose and use, 5-11 to 5-12 signal connections.
  • Page 68 Index wiring concerns analog inputs, 5-15 breakpoint outputs, 5-12 encoder signals, 5-10 limit and home inputs, 5-7 shutdown input, 5-12 trigger inputs, 5-12 © National Instruments Corporation NI PCI-7342 Hardware User Manual...

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