Table of Contents
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Chapter 4
Functional Overview
Axes, Motion Resources, and Vector Spaces
Axes
øA
øB
Index
øA
øB
Index
7344 Hardware User Manual
The 7344 controller can control up to four 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.
At a minimum, an axis consists of a trajectory generator, a PID or stepper
control block, and at least one output resource, either a DAC output or a
stepper pulse generator output. Servo axes must have either an encoder or
ADC channel feedback resource. Closed-loop stepper axes also require a
feedback resource, open-loop stepper axes do not. These axis
configurations are shown in Figures 4-1 and 4-2.
With the 7344 controller, you configure an axis with the Configure Axis
Resources function. This action maps 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. An axis
with its primary output resource mapped to a DAC is by definition a servo
axis.
32-Bit
Encoder
0101011101101
Interface
101100111
32-Bit
Encoder
01011010
Interface
101100111
PID
Servo
11101101100
Loop
Figure 4-1. Servo Axis Resources
101100111
Stepper
010010110
Control
Loop
101100111
Figure 4-2. Stepper Axis Resources
4-6
16-Bit
D/A
10 V
Converter
Stepper
Pulse
Generator
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