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National Instruments 7330 User Manual

National Instruments 7330 User Manual

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Motion Control
National Instruments 7330
User Manual
NI 7330 User Manual
October 2003 Edition
Part Number 370837A-01

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Summary of Contents for National Instruments 7330

  • Page 1 Motion Control National Instruments 7330 User Manual NI 7330 User Manual October 2003 Edition Part Number 370837A-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.
  • Page 3 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...

  • Page 5: Table Of Contents

    Contents About This Manual Conventions ........................ix Related Documentation....................x Chapter 1 Introduction About the 7330 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 .......................1-4 Motion I/O Connections ....................1-4...
  • Page 6 Other Motion I/O Connection ................. 5-13 Digital I/O Connector ....................5-14 PWM Features....................5-15 RTSI Connector......................5-15 RTSI Signal Considerations................5-15 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI 7330 User Manual ni.com...

  • Page 7: About This Manual

    This manual describes the electrical and mechanical aspects of the PXI/PCI-7330 and contains information about how to operate and program the device. The 7330 is designed for PXI, compact PCI, and PCI bus computers. Conventions The following conventions appear in this manual: <>...

  • Page 8: Related Documentation

    Related Documentation The following documents contain information you might find helpful as you read this manual: • NI-Motion User Manual • NI-Motion C Reference Help • NI-Motion VI Reference Help NI 7330 User Manual viii ni.com...

  • Page 9: Introduction

    VI libraries for use with LabVIEW. Features The 7330 controller is a stepper motor controller for PXI and PCI. The 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 10: Rtsi

    IMAQ, or DAQ devices. What You Need to Get Started To set up and use the 7330 controller, you must have the following items: ❑ NI PXI-7330 or PCI-7330 motion controller ❑...

  • Page 11: Software Programming Choices

    Software Programming Choices NI-Motion is a simple but powerful high-level application programming interface (API) that makes programming the 7330 easy. All setup and motion control functions are easily executed by calling into a dynamically-linked library (DLL). You can call these libraries from C, Microsoft Visual Basic, and other high-level languages.

  • Page 12: Optional Equipment

    National Instruments catalog, the National Instruments Web site at , or call your National Instruments sales representative. ni.com Motion I/O Connections The external motion and digital I/O connectors on the 7330 are high-density, 68-pin female VHDCI connectors. For custom cables, use the AMP mating connector (part number 787801-1).

  • Page 13: Configuration And Installation

    Note If you do not install the NI-Motion driver software before attempting to use the 7330, the system does not recognize the 7330 and you are unable to configure or use the device. Controller Configuration...

  • Page 14: Safety Information

    The following paragraphs contain important safety information you must follow Caution when installing and operating the 7330 and all devices connecting to the 7330. Do not operate the device in a manner not specified in this document. Misuse of the device can result in a hazard. You can compromise the safety protection built into the device if the device is damaged in any way.
  • Page 15 Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation. MAINS is defined as a hazardous live electrical supply system that powers equipment. Suitably rated measuring circuits may be connected to the MAINS for measuring purposes. © National Instruments Corporation NI 7330 User Manual...

  • Page 16: Hardware Installation

    Chapter 2 Configuration and Installation Hardware Installation Install the 7330 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 If required, screw the mounting bracket of the controller to the back panel rail of the computer. Replace the cover. Plug in and power on the computer. © National Instruments Corporation NI 7330 User Manual...

  • Page 18: Hardware Overview

    4 68-Pin Digital I/O Connector 2 DSP 5 68-Pin Motion I/O Connector 3 CPU Figure 3-1. PXI-7330 Parts Locator Diagram Note The PXI-7330 assembly number is located on the back of the PXI module. © National Instruments Corporation NI 7330 User Manual...
  • Page 19 Hardware Overview 1 Identification Number Used in Australia 3 Symbol to Alert User to Read the Manual 2 Symbol Indicating FFC Compliance Figure 3-2. Symbols on the Back of the PXI-7330 ASSY186307D-01 1 RTSI Connector 6 Assembly Number Label 2 Serial Number Label...

  • Page 20: User Connectors

    Signal Connections, for details about the signals in the digital I/O connector. The PCI-7330 RTSI connector provides up to eight triggers to facilitate synchronization between multiple National Instruments products. The 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 21: Functional Overview

    This chapter provides an overview of the motion control algorithms and the PXI/PCI-7330 capabilities. Dual Processor Architecture With the 7330, you can perform up to four axes of simultaneous, coordinated motion control in a preemptive, multitasking, real-time environment. An advanced dual-processor architecture that uses a real-time 32-bit CPU combined with a digital signal processor (DSP) and custom FPGAs give the 7330 controllers high-performance capabilities.

  • Page 22: Trajectory Generators

    Functional Overview The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized. The 7330 is a true multiprocessing and multitasking embedded controller. Refer to the NI-Motion User Manual for more information about the features available on the 7330.

  • Page 23: Axes And Motion Resources

    A flash memory download utility is included with the NI-Motion software that ships with the controller. Axes and Motion Resources The 7330 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 also can synchronize coordinate spaces for multi-vector space coordinated motion control.

  • Page 24: Motion Resources

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

  • Page 25: Signal Connections

    This chapter includes instructions on how to make input and output signal connections directly to the PXI/PCI-7330 as well as general information about the associated I/O circuitry. The 7330 has three connectors that handle all signals to and from the external motion system: •...
  • Page 26 Signal Connections Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7330. Table 5-1 includes descriptions for each of the signals. A line above a signal name indicates that the signal is active-low. Axis 1 Dir (CCW)

  • Page 27: Motion Axis Signals

    The following signals control the stepper driver: • Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for each axis. The 7330 supports both major industry standards for stepper command signals: step and direction, or independent CW and CCW pulse outputs.
  • Page 28 Kill Motion command, or any motion error that causes a kill motion condition, such as following error trip. You also can directly control the inhibit output signals to enable or disable a driver or amplifier. NI 7330 User Manual ni.com...

  • Page 29: Limit And Home 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 7330 controller and are not required for basic motion control. These inputs are part of a system solution for complete motion control.

  • Page 30: Limit And Home Input Circuit

    Verify that your input voltage is within the specification range. Encoder Signals The 7330 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.

  • Page 31: Encoder <1..4> Phase A/Phase B

    Find Reference routine, the position of the Index signal is captured accurately. Use this captured position to establish a reference zero position for absolute position control or any other motion system position reference required. © National Instruments Corporation NI 7330 User Manual...

  • Page 32: 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 33: Encoder Input Circuit

    You can use this high-speed position capture functionality for applications ranging from simple position tagging of sensor data to complex camming systems with advance/retard positioning and registration. An available 7330 position mode is to move an axis Relative to Captured Position. © National Instruments Corporation...

  • Page 34: Wiring Concerns

    Wiring these signals near each other can cause faulty operation. Caution Excessive input voltages can cause erroneous operation and/or component failure. NI 7330 User Manual 5-10 ni.com...

  • Page 35: 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 NI 7330 User Manual...

  • Page 36: Analog Inputs

    Chapter 5 Signal Connections Analog Inputs The 7330 has the following ADC input signals: • Analog Input <1..4>—The 7330 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 37: 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 7330 provides the following other motion I/O connection: • Host +5 V—This signal is the internal +5 V supply of the host computer.

  • Page 38: Digital I/O Connector

    Chapter 5 Signal Connections Digital I/O Connector All the general-purpose digital I/O lines on the 7330 are available on a separate 68-pin digital I/O connector. Figure 5-8 shows the pin assignments for this connector. +5 V Digital Ground PCLK Digital Ground...

  • Page 39: Pwm Features

    PCI devices. RTSI Signal Considerations The 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 also can serve as a generic digital I/O port.
  • Page 40 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 7330 User Manual 5-16 ni.com...

  • Page 41: Appendix A Specifications

    Specifications This appendix lists the hardware and software performance specifications for the 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 42 Minimum index pulse width....Programmable; depends on digital filter settings Forward, reverse, and home inputs Number of inputs......12 (3 per axis) Voltage range........0 to 5 V Input low voltage......0.8 V Input high voltage.....2 V Polarity ..........Programmable, active-high or active-low NI 7330 User Manual ni.com...
  • Page 43 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..........Programmable, active-high or active-low Control ..........MustOn/MustOff or automatic when axis off © National Instruments Corporation NI 7330 User Manual...
  • Page 44 Output high voltage....>2.4 V at 24 mA source Polarity ..........Programmable, active-high or active-low PWM outputs Number of PWM outputs ..2 Maximum PWM frequency..50 kHz Resolution.........8-bit Duty cycle range.......0 to (255/256)% Clock sources ......Internal or external NI 7330 User Manual ni.com...
  • Page 45 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...
  • Page 46 CAN/CSA C22.2 No. 1010.1 For UL and other safety certifications, refer to the product label or visit Note , search by model number or product line, and click the ni.com/hardref.nsf appropriate link in the Certification column. NI 7330 User Manual ni.com...
  • Page 47 Refer to the Declaration of Conformity (DoC) for this product for any additional regulatory compliance information. To obtain the DoC for this product, visit , search by model number or product line, and click the ni.com/hardref.nsf appropriate link in the Certification column. © National Instruments Corporation NI 7330 User Manual...
  • Page 48 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-1. 50-Pin Stepper Connector Pin Assignment © National Instruments Corporation NI 7330 User Manual...
  • Page 49 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 50 You also can visit the Worldwide Offices section of to access the branch ni.com/niglobal office Web sites, which provide up-to-date contact information, support phone numbers, email addresses, and current events. NI 7330 User Manual ni.com...
  • Page 51 (1) active-low a signal is active when its value goes low (0) analog-to-digital converter © National Instruments Corporation NI 7330 User Manual...
  • Page 52 Typically, a bus is the expansion vehicle to which I/O or other devices are connected. byte eight related bits of data, an eight-bit binary number. Also used to denote the amount of memory required to store one byte of data. NI 7330 User Manual ni.com...
  • Page 53 I/O port a group of digital input/output signals 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 © National Instruments Corporation NI 7330 User Manual...
  • Page 54 NI 7330 User Manual ni.com...
  • Page 55 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 © National Instruments Corporation NI 7330 User Manual...
  • Page 56 (limit switch, home switch, etc.) in active state. If these switches are active-high, they are said to have non-inverting polarity. open-loop refers to a motion control system where no external sensors (feedback devices) are used to provide position or velocity correction signals NI 7330 User Manual ni.com...
  • Page 57 © National Instruments Corporation NI 7330 User Manual...
  • Page 58 NI 7330 User Manual ni.com...
  • Page 59 (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 7330 User Manual...
  • Page 60 5-8 Forward Limit Input, 5-5 signals Home Input, 5-5 cables, 5-8 Inhibit, 5-4 ground connections, 5-8 Reverse Limit Input, 5-5 examples (NI resources), C-1 Step (CW) and Dir (CCW), 5-3 © National Instruments Corporation NI 7330 User Manual...
  • Page 61 2-1 RTSI instrument drivers (NI resources), C-1 breakpoint across RTSI (figure), 5-16 connector, 3-3, 5-15 signal considerations, 5-15 using with the 7330, 1-2 KnowledgeBase, C-1 safety information, 2-2 limit Shutdown Input Circuit, 5-11 inputs, wiring, 5-5 signal descriptions, 68-pin motion I/O...
  • Page 62 FPGA programs, 4-3 support, technical, C-1 Web resources, C-1 technical support, C-1 wiring training (NI resources), C-1 analog signals, 5-13 trajectory control, 4-2 limit inputs, 5-5 Trigger Input Circuit, 5-11 troubleshooting (NI resources), C-1 © National Instruments Corporation NI 7330 User Manual...

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