National Instruments 7330 User Manual And Specifications
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National Instruments 7330 User Manual And Specifications

National Instruments 7330 User Manual And Specifications

Motion control
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Motion Control
National Instruments 7330
User Manual and Specifications
NI 7330 User Manual and Specifications
March 2013
370837B-01

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  • Page 1 Motion Control National Instruments 7330 User Manual and Specifications NI 7330 User Manual and Specifications March 2013 370837B-01...
  • Page 2 For further support information, refer to the Technical Support and Professional Services appendix. To comment on National Instruments documentation, refer to the National Instruments Web site at ni.com/info and enter the Info Code feedback. © 2003–2013 National Instruments Corporation. All rights reserved.
  • Page 3 Warranty The National Instruments 7330 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 ™ The ExpressCard word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under license. The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft Corporation in the United States and other countries.

  • Page 5: Table Of Contents

    Contents Chapter 1 Introduction About the NI 7330 Motion Controller ................1-1 Features........................1-1 Hardware ........................1-1 RTSI.......................... 1-2 What You Need to Get Started ..................1-2 Software Programming Choices..................1-2 National Instruments Application Software ..............1-2 Optional Equipment......................1-3 Motion I/O Connections ....................
  • Page 6 Contents Chapter 4 Signal Connections Motion I/O Connector....................... 4-1 Motion Axis Signals ....................4-4 Step, Direction, and Inhibit Output Circuit............4-4 Limit and Home Inputs ..................... 4-5 Wiring Concerns ....................4-6 Limit and Home Input Circuit ................4-6 Encoder Signals ......................4-6 Encoder <1..4>...

  • Page 7: About The Ni 7330 Motion Controller

    VI libraries for use with LabVIEW. Features The NI 7330 motion controller is a stepper motor controller for PXI and PCI. The NI 7330 provides fully programmable motion control for up to four independent or coordinated axes of motion, with dedicated motion I/O for limit and home switches and additional I/O for general-purpose functions.

  • Page 8: Rtsi

    RTSI bus, you can easily synchronize several functions to a common trigger or timing event across multiple motion, IMAQ, or DAQ devices. What You Need to Get Started To set up and use the NI 7330 motion controller, you must have the following items:  NI PXI-7330 or PCI-7330 motion controller ...

  • Page 9: Optional Equipment

    When you have created a motion task, you can use Motion Assistant to output the task in LabVIEW or C code or code recipes. Optional Equipment National Instruments offers a variety of products for use with the NI 7330 motion controller, including the following accessories: •...

  • Page 10: Configuration And Installation

    Files>\National Instruments\NI-Motion If you do not install the NI-Motion driver software before attempting to use Note the NI 7330, the system does not recognize the NI 7330 motion controller and you are unable to configure or use the device. Controller Configuration Because motion I/O-related configuration of the NI 7330 motion controller is performed entirely with software, it is not necessary to set jumpers for motion I/O configuration.
  • Page 11 Clean the hardware with a soft, nonmetallic brush. Make sure that the hardware is completely dry and free from contaminants before returning it to service. Do not substitute parts or modify the hardware except as described in this document. Use the hardware only with the chassis, modules, accessories, and cables specified in the installation instructions or specifications.

  • Page 12: Electromagnetic Compatibility Information

    Furthermore, any modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules.

  • Page 13: Hardware Installation

    Hardware Installation Install the NI 7330 motion controller 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 14: Pci Motion Controllers

    NI 7330 User Manual and Specifications Attach the front panel of the NI 7330 motion controller to the front panel mounting rails of the chassis with the slot screws on the chassis. Make sure you have correctly connected all safety devices before you Caution power on the motion system.

  • Page 15: Hardware Overview

    Hardware Overview This chapter presents an overview of the National Instruments PXI/PCI-7330 functionality and capabilities. Figures 3-1 and 3-2 show the NI PXI-7330 right and left sides, respectively. Figure 3-1. NI PXI-7330 Right Side Serial Number Label 68-Pin Digital I/O Connector...
  • Page 16 Chapter 3 Hardware Overview Figure 3-2. NI PXI-7330 Left Side N114 Identification Number Used in Australia Assembly Number Label Symbol Indicating FFC Compliance Symbol to Alert User to Read the Manual Board Type Label 3-2 | ni.com...

  • Page 17: User Connectors

    Signal Connections, for details about the signals in the digital I/O connector. The NI PCI-7330 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products. The NI PXI-7330 RTSI-enabled connection provides up to eight triggers and one PXI star trigger to facilitate synchronization between multiple National Instruments PXI-enabled products.

  • Page 18: Functional Overview

    The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized. The NI 7330 motion controller is a true multiprocessing and multitasking embedded controller. Refer to the NI-Motion Help for more information about the features available on the NI 7330 motion controller. Trajectory Generators The NI 7330 motion controller trajectory generators calculate the instantaneous position command that controls acceleration and velocity while it moves the axis to its target position.

  • Page 19: Analog Feedback

    Axes and Motion Resources The NI 7330 motion controller can control up to four axes of motion. The axes can be completely independent, simultaneously coordinated, or mapped in multidimensional groups called coordinate spaces. You can also synchronize coordinate spaces for multi-vector space coordinated motion control.

  • Page 20: Motion Resources

    PCI or PXI host bus. The primary bidirectional data transfer port supports FIFO data passing in both send and readback directions. The NI 7330 motion controller has both a command buffer for incoming commands and a return data buffer (RDB) for returning data.

  • Page 21: Signal Connections

    This chapter includes instructions on how to make input and output signal connections directly to the National Instruments PXI/PCI-7330 as well as general information about the associated I/O circuitry. The NI 7330 motion controller has three connectors that handle all signals to and from the external motion system: •...
  • Page 22 Chapter 4 Signal Connections Figure 4-1. 68-Pin Motion I/O Connector Pin Assignments Axis 1 Dir (CCW) Axis 1 Step (CW) Digital Ground Axis 1 Encoder Phase A Digital Ground Axis 1 Encoder Phase B Axis 1 Home Switch Axis 1 Encoder Index Trigger 1 Axis 1 Forward Limit Switch Axis 1 Inhibit...
  • Page 23 NI 7330 User Manual and Specifications Table 4-1. 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..4> Step (CW) Digital Ground Output Motor step or clockwise control Axis <1..4>...

  • Page 24: Motion Axis Signals

    • Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for each axis. The NI 7330 motion controller supports both major industry standards for stepper command signals: step and direction, or independent CW and CCW pulse outputs.

  • Page 25: Limit And Home Inputs

    Limit and home inputs are a per-axis enhancement on the NI 7330 motion controller and are not required for basic motion control. These inputs are part of a system solution for complete motion control.

  • Page 26: Wiring Concerns

    Verify that your input voltage is within the specification range. Encoder Signals The NI 7330 motion 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, Phase B, and Index input, as described in the following sections.

  • Page 27: Encoder <1..4> Phase A/Phase B

    NI 7330 User Manual and Specifications Encoder <1..4> Phase A/Phase B The encoder inputs provide position and velocity feedback for absolute and relative positioning of axes in any motion system configuration. If an encoder resource is not needed for axis control, it is available for other functions, including position or velocity monitoring, digital potentiometer encoder inputs, or as a master encoder input for master/slave electronic gearing applications.

  • Page 28: Wiring Concerns

    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 29: Trigger Inputs, Shutdown Input, And Breakpoint Outputs

    DGND Trigger Inputs, Shutdown Input, and Breakpoint Outputs The NI 7330 motion 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 30: Wiring Concerns

    Chapter 4 Signal Connections Wiring Concerns Keep trigger input, shutdown input, and breakpoint output signals and Caution their ground connections wired separately from the motor driver/amplifier signal and encoder signal connections. Wiring these signals near each other can cause faulty operation.

  • Page 31: Analog Inputs

    NI 7330 User Manual and Specifications Analog Inputs The NI 7330 motion controller has the following ADC input signals: • Analog Input <1..4>—The NI 7330 motion 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 32: Wiring Concerns

    Analog Input Ground pin for proper A/D reference and improved voltage measurement. Other Motion I/O Connection The NI 7330 motion controller provides the following other motion I/O connection: • Host +5 V—This signal is the internal +5 V supply of the host computer. It is typically used...

  • Page 33: Digital I/O Connector

    NI 7330 User Manual and Specifications Digital I/O Connector All the general-purpose digital I/O lines on the NI 7330 motion controller are available on a separate 68-pin digital I/O connector. Figure 4-9 shows the pin assignments for this connector. Figure 4-9. 68-Pin Digital I/O Connector Pin Assignments...

  • Page 34: Pwm Features

    The NI PCI-7330 uses a ribbon cable to connect to other RTSI-capable PCI devices. RTSI Signal Considerations The NI 7330 motion controller allows you to use up to eight RTSI trigger lines as sources for trigger inputs, or as destinations for breakpoint outputs and encoder signals. The RTSI trigger lines can also serve as a generic digital I/O port.

  • Page 35: Appendix A Specifications

    Specifications This appendix lists the hardware and software performance specifications for the National Instruments PXI/PCI-7330. Hardware specifications are typical at 25 °C, unless otherwise stated. Stepper Performance Trajectory update rate range ......62.5 to 500 µs/sample Maximum update rate ....... 62.5 µs/axis 4-axis update rate........
  • Page 36 Appendix A Specifications System Safety Watchdog timer function........Resets board to startup state Watchdog timeout ........63 ms Shutdown input Voltage range ..........0 to 5 V Input low voltage ......0.8 V Input high voltage ......2 V Polarity..........Rising edge Control ............Disable all axes and command outputs Motion I/O Encoder inputs ..........Quadrature, incremental, single-ended Maximum count rate .........20 MHz...
  • Page 37 NI 7330 User Manual and Specifications Breakpoint outputs 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 kΩ pull-up to +5 V Polarity............
  • Page 38 Power consumption...........5.7 W Physical Dimensions (Not Including Connectors) PXI-7330............16 × 10 cm (6.3 × 3.9 in.) PCI-7330 ............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-7330 ............113 g (4 oz)
  • Page 39 To determine the acceptable voltage range for a particular signal, refer to the individual signal specifications. The protection provided by the NI 7330 can be impaired if it is used in a Caution manner not described in this document.
  • Page 40 At the end of the product life cycle, all products must be sent to EU Customers a WEEE recycling center. For more information about WEEE recycling centers, National Instruments WEEE initiatives, and compliance with WEEE Directive 2002/96/EC on Waste and Electronic Equipment, visit ni.com/environment/...
  • Page 41 43 44 Axis 4 Home Switch Axis 4 Encoder Index 45 46 Trigger/Breakpoint 4 Axis 4 Forward Limit Switch 47 48 Axis 4 Inhibit Axis 4 Reverse Limit Switch 49 50 Digital Ground Host +5 V © National Instruments | B-1...
  • Page 42 You can also register for instructor-led, hands-on courses at locations around the world. • System Integration—If you have time constraints, limited in-house technical resources, or other project challenges, National Instruments Alliance Partner members can help. To learn more, call your local NI office or visit ni.com/alliance •...
  • Page 43 In general, the amplifier is designed to operate with a particular motor type—you cannot use a stepper drive to operate a DC brushed motor, for instance. application programming interface axis Unit that controls a motor or any similar motion or control device. © National Instruments | G-1...
  • Page 44 Glossary bit—one binary digit, either 0 or 1. base address Memory address that serves as the starting address for programmable or I/O bus registers. All other addresses are located by adding to the base address. binary A number system with a base of 2. buffer Temporary storage for acquired or generated data (software).
  • Page 45 NI 7330 User Manual and Specifications dynamically-linked 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 Device that translates mechanical motion into electrical signals; used for monitoring position or velocity in a closed-loop system.
  • Page 46 Glossary ground ground half-step Mode of a stepper motor—for a two phase motor this is done by alternately energizing two windings and then only one. In half step mode, alternate steps are strong and weak but there is significant improvement in low-speed smoothness over the full-step mode. hexadecimal home switch (input) A physical position determined by the mechanical system or designer...
  • Page 47 NI 7330 User Manual and Specifications kilo—the standard metric prefix for 1,000, or 10 , used with units of measure such as volts, hertz, and meters. kilo—the prefix for 1,024, or 2 , used with B in quantifying data or computer memory.
  • Page 48 Glossary noise An undesirable electrical signal—noise comes from external sources such as the AC power line, motors, generators, transformers, fluorescent lights, soldering irons, CRT displays, computers, electrical storms, welders, radio transmitters, and internal sources such as semiconductors, resistors, and capacitors. Noise corrupts signals you are trying to send or receive.
  • Page 49 NI 7330 User Manual and Specifications 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 current location regardless of its value.
  • Page 50 Glossary trapezoidal profile A typical motion trajectory, where a motor accelerates up to the programmed velocity using the programmed acceleration, traverses at the programmed velocity, then decelerates at the programmed acceleration to the target position. trigger Any event that causes or starts some form of data capture. transistor-transistor logic volts Positive voltage supply.
  • Page 51 (NI resources), C-1 Home Input, 4-5 Inhibit, 4-4 Reverse Limit Input, 4-5 features, 1-1 Step (CW) and Dir (CCW), 4-4 FPGA programs, updating, 3-5 functional overview, host communications, 3-6 Breakpoint Output Circuit, 4-10 breakpoint, examples, 4-14 © National Instruments | I-1...
  • Page 52 Host +5 V, motion I/O connection, 4-12 RTSI host communications, 3-6 breakpoint across RTSI (figure), 4-14 connector, 3-3, 4-14 signal considerations, 4-14 I/O connectors, 1-3 using with the 7330, 1-2 implementing, trajectory control, 3-5 installation hardware, 2-4 safety information, 2-1 software, 2-1 Shutdown Input Circuit, 4-10...

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