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National Instruments 7340 User Manual

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  • Page 1 PCI-7340...
  • Page 2 Motion Control National Instruments 7340 User Manual and Specifications NI 7340 User Manual and Specifications March 2013 370838B-01...
  • Page 3 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. All rights reserved.
  • Page 4 Warranty The National Instruments 7340 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 5 ™ 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 6: Table Of Contents

    Contents Chapter 1 Introduction About the NI 7340 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 ..............1-3 Optional Equipment......................1-3 Motion I/O Connections ....................
  • Page 7 Contents Chapter 4 Signal Connections Motion I/O Connector....................... 4-1 Motion Axis Signals ....................4-4 Step, Direction, and Inhibit Output Circuit............4-5 Limit and Home Inputs ..................... 4-5 Wiring Concerns ....................4-6 Limit and Home Input Circuit ................4-6 Encoder Signals ......................4-7 Encoder <1..4>...

  • Page 8: About The Ni 7340 Motion Controller

    PC for optimum command throughput and system performance. With the NI 7340 motion controller, you can use full onboard programming to execute up to 10 simultaneous motion programs.

  • Page 9: 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 7340 motion controller, you must have the following items:  NI PXI-7340 or PCI-7340 motion controller ...

  • Page 10: National Instruments Application Software

    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 7340 motion controller, including the following accessories: •...

  • Page 11: Related Documentation

    Chapter 1 Introduction Related Documentation The following documents contain information you might find helpful as you read this manual: • NI-Motion Help • NI-Motion C Reference Help • NI-Motion VI Help 1-4 | ni.com...

  • Page 12: Configuration And Installation

    Note If you do not install the NI-Motion driver software before attempting to use the NI 7340 motion controller, the system does not recognize the NI 7340 motion controller and you are unable to configure or use the device. Controller Configuration Because motion I/O-related configuration of the NI 7340 motion controller is performed entirely with software, it is not necessary to set jumpers for motion I/O configuration.
  • Page 13 Chapter 2 Configuration and Installation 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. You must have all covers and filler panels installed during operation of the hardware.

  • Page 14: Electromagnetic Compatibility Information

    Hardware Installation Install the NI 7340 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 15: Pxi Motion Controllers

    Choose an unused peripheral slot and remove the filler panel. Touch a metal part on the chassis to discharge any static electricity. Insert the NI 7340 motion controller into the PXI slot as shown in Figure 2-1. Use the injector/ejector handle to fully secure the device into place.

  • Page 16: Pci Motion Controllers

    NI 7340 User Manual and Specifications Caution Always power on the computer containing the NI 7340 motion controller and initialize the controller before you power on the rest of the motion system. Power off the motion system in the reverse order.

  • Page 17: Hardware Overview

    Hardware Overview This chapter presents an overview of the National Instruments PXI/PCI-7340 hardware functionality. Figures 3-1 and 3-2 show the NI PXI-7340 right and left sides, respectively. Figure 3-1. NI PXI-7340 Right Side Serial Number Label 68-Pin Digital I/O Connector...
  • Page 18 Chapter 3 Hardware Overview Figure 3-2. NI PXI-7340 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 19: User Connectors

    Signal Connections, for details about the signals in the digital 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 20: Functional Overview

    Dual Processor Architecture With the NI 7340 motion controller, 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 32-bit CPU combined with a digital signal processor (DSP) and custom FPGAs give the NI 7340 motion controller high-performance capabilities.

  • Page 21: Analog Feedback

    Axes and Motion Resources The NI 7340 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 22: Motion Resources

    Figures 3-4 and 3-5 show these axis configurations. With the NI 7340 motion controller, you can map one or two feedback resources and one or two output resources to the axis. An axis with its primary output resource mapped to a stepper output is by definition a stepper axis.

  • Page 23: Onboard Programs And Buffers

    You can store and run onboard programs and buffers from RAM or save them to flash ROM. The NI 7340 motion controller has 64 KB of RAM and 128 KB of ROM that is divided into two 64 KB sectors for program and buffer storage. You can store and run programs and buffers from either RAM or ROM, but you cannot split programs between the two, and you cannot split programs or buffers between the two 64 KB ROM sectors.

  • Page 24: Signal Connections

    This chapter describes how to make input and output signal connections directly to the National Instruments PXI/PCI-7340 as well as general information about the associated I/O circuitry. The NI 7340 motion controller has three connectors that handle all signals to and from the external motion system.
  • Page 25 Chapter 4 Signal Connections Figure 4-1 shows the pin assignments for the 68-pin motion I/O connector on the NI 7340 motion controller. Table 4-1 includes descriptions for each of the signals. A line above a signal name indicates that the signal is active-low.
  • Page 26 NI 7340 User Manual and Specifications Table 4-1 describes the signals on the motion I/O connector. 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)

  • Page 27: 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 7340 motion controller supports both major industry standards for stepper command signals: step and direction, or independent CW and CCW pulse outputs.

  • Page 28: Step, Direction, And Inhibit Output Circuit

    The NI 7340 motion controller provides single-ended step, direction, and inhibit output signals. To connect the NI 7340 to drives with opto-isolated inputs, connect as shown in Figure 4-2. If the optocoupler does not include its own current-limiting resistor, you must provide an external resistor in series with the NI 7340 output, as shown.

  • Page 29: Wiring Concerns

    Limit and home inputs are a per axis enhancement on the NI 7340 motion controller and are not required for basic motion control. These inputs are part of a system solution for complete motion control.

  • Page 30: Encoder Signals

    Verify that the input voltage is within the specification range. Encoder Signals The NI 7340 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 31: Encoder <1

    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 32: Encoder Input Circuit

    An available NI 7340 motion controller position mode is to move an axis Relative to Captured Position.

  • Page 33: Wiring Concerns

    Chapter 4 Signal Connections The breakpoint outputs are driven by open-collector TTL buffers that feature 64 mA sink current capability and built-in 3.3 kΩ pull-up resistors to +5 V. You can directly set and reset breakpoint outputs to use them as general-purpose digital outputs.

  • Page 34: Analog Inputs

    Analog Inputs The NI 7340 motion controller has the following ADC input signals: • Analog Input <1..4>—The NI 7340 motion controller includes an eight-channel multiplexed, 12-bit ADC capable of measuring ±10 V, ±5 V, 0 to 10 V, and 0 to 5 V inputs.

  • Page 35: Wiring Concerns

    Other Motion I/O Connection The NI 7340 motion controller 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 36: Digital I/O Connector

    NI 7340 User Manual and Specifications Digital I/O Connector All the general-purpose digital I/O lines on the NI 7340 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 37: Pwm Features

    The PCI-7340 uses a ribbon cable to connect to other RTSI-capable PCI devices. RTSI Signal Considerations The NI 7340 motion controller 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 38: Appendix A Specifications

    Specifications This appendix lists the hardware and software performance specifications for the National Instruments PXI/PCI-7340. Hardware specifications are typical at 25 °C, unless otherwise stated. Servo Performance PID update rate range ........62.5 µs to 5 ms/sample Maximum PID update rate ....... 62.5 µs/axis 4-axis PID update rate ......
  • Page 39 Appendix A Specifications Stepper Performance Trajectory update rate range ......62.5 to 500 µs/sample Maximum update rate .......62.5 µs/axis 4-axis update rate ........250 µs total Multi-axis synchronization .......<1 update sample Double-buffered trajectory parameters Position range ...........±2 steps Maximum relative move size....±2 steps Velocity range ...........1 to 4,000,000 steps/s Acceleration/deceleration...
  • Page 40 NI 7340 User Manual and Specifications Voltage range ..........0 to 5 V Input low voltage ......0.8 V Input high voltage......2 V Minimum index pulse width..... Programmable; depends on digital filter settings Maximum resolution......... 2 - 1, programmable Forward, reverse, and home inputs Number of inputs ........
  • Page 41 Appendix A Specifications Analog inputs Number of inputs ........8, multiplexed, single ended Number for user signals ....4 Number for system diagnostics ..4 Voltage range (programmable) ....Programmable: ±10 V, ±5 V, 0 to 10 V, 0-5 V Input coupling ...........DC Input resistance .........10 kΩ min Resolution ..........12 bits, no missing codes Monotonocity..........Guaranteed Multiplexor scan rate ........25 µs/enabled channel...
  • Page 42 -12 V (±10%)............ 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 × 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 ......
  • Page 43 Appendix A Specifications Maximum altitude..........2,000 m Pollution Degree ..........2 Indoor use only. Safety This product meets the requirements of the following standards of safety for electrical equipment for measurement, control, and laboratory use: • IEC 61010-1, EN 61010-1 • UL 61010-1, CSA 61010-1 Note For UL and other safety certifications, refer to the product label or the Online...
  • Page 44 At the end of the product life cycle, all products must be sent to 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 45 Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to the PXI/PCI-7340. 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.
  • Page 46 Appendix B Cable Connector Descriptions Figure B-2. 50-Pin Servo Connector Pin Assignment Analog Output Ground Analog Output 1 Axis 1 Encoder Phase A Digital Ground Digital Ground Axis 1 Encoder Phase B Axis 1 Encoder Index Axis 1 Home Switch Axis 1 Forward Limit Switch Trigger/Breakpoint 1 11 12...
  • Page 47 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 48 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 49 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 50 NI 7340 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 51 Glossary 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 52 NI 7340 User Manual and Specifications LIFO last-in, first-out limit switch/ Sensors that alert the control electronics that physical end of travel is end-of-travel position being approached and that the motion should stop. (input) meters move complete status microstep The proportional control of energy in the coils of a Stepper Motor that...
  • Page 53 Glossary open-loop Refers to a motion control system where no external sensors (feedback devices) are used to provide position or velocity correction signals. peripheral component interconnect—a high-performance expansion bus architecture originally developed by Intel to replace ISA and EISA. It is achieving widespread acceptance as a standard for PCs and workstations;...
  • Page 54 NI 7340 User Manual and Specifications 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 A flat cable in which the conductors are side by side.
  • Page 55 Glossary volts Positive voltage supply. velocity mode Move the axis continuously at the specified velocity. watchdog A timer task that shuts down (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.
  • Page 56 Declaration of Conformity (NI resources), C-1 diagnostic tools (NI resources), C-1 Analog Input <1..4>, 4-11 documentation Analog Input Ground, 4-12 NI resources, C-1 Analog Output <1..4>, 4-4 related documentation, 1-4 Analog Output Ground, 4-4 drivers (NI resources), C-1 © National Instruments | I-1...
  • Page 57 I/O, connector Phase A/Phase B, 4-7 pin assignments, 4-2 encoder signals, ground connections, 4-8 signal descriptions, 4-3 examples (NI resources), C-1 National Instruments support and functional overview services, C-1 buffers, 3-7 host communications, 3-7 onboard programs, 3-7 onboard programs, 3-7...

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