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National Instruments 7340 User Manual

National Instruments 7340 User Manual

Motion control
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  • Page 1 (217) 352-9330 | Click HERE Find the National Instruments FW-7344 at our website:...
  • Page 2 Motion Control National Instruments 7340 User Manual NI 7340 User Manual November 2003 Edition Part Number 370838A-01...
  • Page 3 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 4 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 5 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 6: Table Of Contents

    Contents About This Manual Conventions ........................vii Related Documentation....................viii Chapter 1 Introduction 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...
  • Page 7 Other Motion I/O Connection ................. 5-14 Digital I/O Connector ....................5-15 PWM Features....................5-16 RTSI Connector......................5-16 RTSI Signal Considerations................5-17 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support and Professional Services Glossary Index NI 7340 User Manual ni.com...

  • Page 8: About This Manual

    This manual describes the electrical and mechanical aspects of the PXI/PCI-7340 and contains information about how to operate and program the device. The 7340 is designed for PXI, Compact PCI, and PCI bus computers Conventions The following conventions appear in this manual: <>...

  • Page 9: Related Documentation

    About This Manual 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 7340 User Manual viii ni.com...

  • Page 10: Introduction

    VI libraries for use with LabVIEW. Features The 7340 is a combination servo and stepper motor controller for PXI, Compact PCI, and PCI bus computers. The 7340 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 11: Rtsi

    IMAQ, or DAQ devices. What You Need to Get Started To set up and use the 7340 controller, you must have the following items: ❑ NI PXI-7340 or PCI-7340 motion controller ❑...

  • Page 12: Software Programming Choices

    Software Programming Choices NI-Motion is a simple but powerful high-level application programming interface (API) that makes programming the 7340 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 13: Motion I/O Connections

    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 7340 are high-density, 68-pin female VHDCI connectors. For custom cables, use the AMP mating connector (part number 787801-1).

  • Page 14: Configuration And Installation

    Note If you do not install the NI-Motion driver software before attempting to use the 7340, the system does not recognize the 7340 and you are unable to configure or use the device. Controller Configuration...
  • Page 15 Pollution Degree 3—Conductive pollution or dry, nonconductive pollution occurs. Nonconductive pollution becomes conductive because of condensation. The 7340 is intended for indoor use only. Note Clean the device and accessories by brushing off light dust with a soft, nonmetallic brush. Remove other contaminants with a stiff, nonmetallic brush.
  • Page 16 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.

  • Page 17: Hardware 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.
  • Page 18 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 7340 User Manual...

  • Page 19: Hardware Overview

    4 68-Pin Digital I/O Connector 2 DSP 5 68-Pin Motion I/O Connector 3 CPU Figure 3-1. PXI-7340 Parts Locator Diagram Note The PXI-7340 assembly number is located on the back of the PXI module. © National Instruments Corporation NI 7340 User Manual...
  • Page 20 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-7340 ASSY186307D-01 1 RTSI Connector 6 Assembly Number Label 2 Serial Number Label...

  • Page 21: 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 22: Functional Overview

    This chapter provides an overview of motion control algorithms and the PXI/PCI-7340 controller. Dual Processor Architecture With the 7340, 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 7340 high-performance capabilities.

  • Page 23: Embedded Real-Time Operating System (Rtos)

    The DSP chip is a separate processor that operates independently from the CPU but is closely synchronized. The 7340 is a true multiprocessing and multitasking embedded controller. The advanced architecture of the 7340 enables advanced motion features, such as enhanced PID functions.

  • Page 24: Flash Memory

    Axes and Motion Resources The 7340 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 25: Motion Resources

    Index Figure 4-2. Stepper Axis Resources 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 26: Onboard Programs And Buffers

    You can store and run onboard programs and buffers from RAM or save them to flash ROM. The 7340 controller has 64 KB of RAM and 128 KB of ROM that is divided into two 64 KB sectors for program and buffer storage.
  • Page 27 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...

  • Page 28: Signal Connections

    The 7340 does not provide isolation between circuits. Caution Turn off power to all devices when connecting or disconnecting the 7340 controller motion I/O and auxiliary digital I/O cables. Failure to do so may damage the controller. Motion I/O Connector...
  • Page 29 Signal Connections Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7340. 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 30 — — 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 © National Instruments Corporation NI 7340 User Manual...

  • Page 31: Motion Axis Signals

    • Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for each axis. The 7340 supports both major industry standards for stepper command signals: step and direction, or independent CW and CCW pulse outputs.

  • Page 32: Limit And Home Inputs

    Pulsed limit signals stop motion, but they do not prevent further motion in that direction if another move is started. The input polarity of these signals is software programmable for active-low (inverting) or active-high (non-inverting). © National Instruments Corporation NI 7340 User Manual...

  • Page 33: Wiring Concerns

    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 7340 and are not required for basic motion control. These inputs are part of a system solution for complete motion control.

  • Page 34: Encoder Signals

    Verify that the input voltage is within the specification range. 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.
  • Page 35 You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search. You also can set the encoder polarity for phases A, B, and I in MAX. NI 7340 User Manual ni.com...

  • Page 36: 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 37: Trigger Inputs, Shutdown Input, And Breakpoint Outputs

    An available 7340 position mode is to move an axis Relative to Captured Position. The polarity of the trigger input is programmable in software as active-low (inverting) or active-high (non-inverting), rising or falling edge.

  • Page 38: Wiring Concerns

    To the trigger 3.3 kΩ circuits 74FCT244 1 kΩ From the external 1/8 W connector trigger pins DGND Figure 5-5. Trigger Input Circuit © National Instruments Corporation 5-11 NI 7340 User Manual...

  • Page 39: Analog Inputs

    Figure 5-7. Breakpoint Output Circuit Analog Inputs The 7340 has the following ADC input signals: • Analog Input <1..4>—The 7340 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 40: Wiring Concerns

    The analog reference output is an output signal only and must not connect to an Note external reference voltage. 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 5-13 NI 7340 User Manual...

  • Page 41: Other Motion I/O Connection

    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 42: Digital I/O Connector

    Chapter 5 Signal Connections 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. +5 V Digital Ground PCLK Digital Ground...

  • Page 43: Pwm Features

    Note PID servo control loop. Refer to the NI-Motion User Manual for more information. RTSI Connector The physical RTSI bus interface varies depending on the type of 7340 controller. The PXI-7340 uses the PXI chassis backplane to connect to other RTSI-capable devices.

  • Page 44: Rtsi Signal Considerations

    Signal Connections RTSI Signal Considerations The 7340 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 45: Appendix A Specifications

    Specifications This appendix lists the hardware and software performance specifications for the 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 46 Maximum pulse rate ......4 MHz (full, half, and microstep) Minimum pulse width......120 ns at 4 MHz Step output mode......Step and direction or CW/CCW Assumes a PID update rate of 250 µs and a 2,000-count encoder. NI 7340 User Manual ni.com...
  • Page 47 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 © National Instruments Corporation NI 7340 User Manual...
  • Page 48 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 ..........Programmable, active-high or active-low Control..........MustOn/MustOff or automatic when axis off NI 7340 User Manual ni.com...
  • Page 49 Voltage range ........0 to 5 V Output low voltage ....<0.45 V at 24 mA sink Output high voltage ....>2.4 V at 24 mA source Polarity..........Programmable, active-high or active-low © National Instruments Corporation NI 7340 User Manual...
  • Page 50 –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 × 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 51 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. © National Instruments Corporation NI 7340 User Manual...
  • Page 52 Refer to the Declaration of Conformity (DoC) for this product for any additional Note 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. NI 7340 User Manual ni.com...
  • Page 53 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 7340 User Manual...
  • Page 54 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 Figure B-2. 50-Pin Servo Connector Pin Assignment NI 7340 User Manual ni.com...
  • Page 55 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 56 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 7340 User Manual ni.com...
  • Page 57 (1) active-low signal is active when its value goes low (0) analog-to-digital converter © National Instruments Corporation NI 7340 User Manual...
  • Page 58 2 buffer temporary storage for acquired or generated data (software) group of conductors that interconnect individual circuitry in a computer. Typically, a bus is the expansion vehicle to which I/O or other devices are connected. NI 7340 User Manual ni.com...
  • Page 59 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 7340 User Manual...
  • Page 60 NI 7340 User Manual ni.com...
  • Page 61 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 7340 User Manual...
  • Page 62 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. NI 7340 User Manual ni.com...
  • Page 63 (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 NI 7340 User Manual...
  • Page 64 NI 7340 User Manual ni.com...
  • Page 65 (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 NI 7340 User Manual...
  • Page 66 4-5 software programming choices, 1-3 communications status register (CSR), 4-5 trajectory generators, 4-2 communications, host, 4-5 trigger inputs, 5-10 connectors user connectors, 3-3 68-pin using RTSI, 1-2 digital I/O, 3-3, 5-1 © National Instruments Corporation NI 7340 User Manual...
  • Page 67 I/O connector pin assignments, 5-2 signal descriptions, 5-3 ground connections encoder signals, 5-9 wiring breakpoint outputs, 5-11 National Instruments support and shutdown input, 5-11 services, C-1 trigger inputs, 5-11 NI support and services, C-1 NI 7340 User Manual ni.com...
  • Page 68 (RDB), 4-5 RTSI breakpoint across RTSI (figure), 5-17 connector, 3-3, 5-16 signal considerations, 5-17 safety information, 2-1 Shutdown Input, 5-10 software (NI resources), C-1 software, onboard programs, 4-5 support, technical, C-1 © National Instruments Corporation NI 7340 User Manual...

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