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National Instruments 7340 PCI User Manual Download Page 26

Chapter 4

Functional Overview

NI 7340 User Manual

4-6

ni.com

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.

Summary of Contents for 7340 PCI

Page 1: ...Motion Control National Instruments 7340 User Manual NI 7340 User Manual November 2003 Edition Part Number 370838A 01...

Page 2: ...Germany 49 0 89 741 31 30 Greece 30 2 10 42 96 427 India 91 80 51190000 Israel 972 0 3 6393737 Italy 39 02 413091 Japan 81 3 5472 2970 Korea 82 02 3451 3400 Malaysia 603 9131 0918 Mexico 001 800 010 0...

Page 3: ...operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other event...

Page 4: ...ommunications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equi...

Page 5: ...s Application Software 1 3 Optional Equipment 1 3 Motion I O Connections 1 4 Chapter 2 Configuration and Installation Software Installation 2 1 Controller Configuration 2 1 Safety Information 2 1 Hard...

Page 6: ...r 1 4 Index 5 8 Wiring Concerns 5 9 Encoder Input Circuit 5 9 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 10 Wiring Concerns 5 11 Trigger Input Shutdown Input and Breakpoint Output Circuits...

Page 7: ...t applies only to a specific product a specific operating system or a specific software version This icon denotes a note which alerts you to important information This icon denotes a caution which adv...

Page 8: ...7340 User Manual viii ni com 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 Motio...

Page 9: ...trajectories using stepper motors or servo devices Servo axes can control servo motors servo hydraulics servo valves and other servo devices Servo axes always operate in closed loop mode These axes us...

Page 10: ...for 10 V signals joystick inputs or monitoring of analog sensors Additionally the 7340 analog inputs can provide feedback for loop closure RTSI The 7340 supports the National Instruments Real Time Sys...

Page 11: ...which includes a series of virtual instruments VIs for using LabVIEW with National Instruments motion control hardware The NI Motion VI library implements the NI Motion API and a powerful set of demo...

Page 12: ...onal Instruments catalog the National Instruments Web site at ni com or call your National Instruments sales representative Motion I O Connections The external motion and digital I O connectors on the...

Page 13: ...o set jumpers for motion I O configuration The PXI 7340 and PCI 7340 controllers are fully compatible with the industry standard PXI Specification Revision 2 0 and the PCI Local Bus Specification Revi...

Page 14: ...ers and filler panels must be installed while operating the device Do not operate the device in an explosive atmosphere or where flammable gases or fumes may be present Operate the device only at or b...

Page 15: ...ents performed on circuits directly connected to the electrical distribution system This category refers to local level electrical distribution such as that provided by a standard wall outlet e g 115...

Page 16: ...controller from a Windows 2000 NT XP system you must be logged on with administrator level access After you have restarted the system you may need to refresh Measurement Automation Explorer MAX to vi...

Page 17: ...sed 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer 4 Touch a metal part on the computer case to discharge any static electricity that might be on your...

Page 18: ...hardware functionality Figures 3 1 and 3 3 show the PXI 7340 and PCI 7340 parts locator diagrams respectively Figure 3 1 PXI 7340 Parts Locator Diagram Note The PXI 7340 assembly number is located on...

Page 19: ...a 2 Symbol Indicating FFC Compliance 3 Symbol to Alert User to Read the Manual 1 RTSI Connector 2 Serial Number Label 3 Symbol to Alert User to Read the Manual 4 Symbol Indicating FFC Compliance 5 Ide...

Page 20: ...he 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...

Page 21: ...owerful function set provide high speed communications while off loading complex motion functions from the host PC for optimized system performance The 7340 uses the DSP for all closed loop control in...

Page 22: ...ion command that controls acceleration and velocity while it moves the axis to its target position Depending on how you configure the axis this command is then sent to the PID servo loop or stepper pu...

Page 23: ...rmed in the field A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources The 7340 can control up to four axes of motion The ax...

Page 24: ...ual loop control such as in backlash compensation which reduces the number of encoders available for other axes Note Refer to the NI Motion User Manual for information about configuring axes Motion Re...

Page 25: ...dition the onboard programs support basic math and data operation functions for up to 120 general purpose variables You can store and run onboard programs and buffers from RAM or save them to flash RO...

Page 26: ...com 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 re...

Page 27: ...iversal Motion Interface UMI units and drives Note The 7340 does not provide isolation between circuits Caution Turn off power to all devices when connecting or disconnecting the 7340 controller motio...

Page 28: ...hibit Trigger 1 Axis 1 Home Switch Digital Ground Digital Ground Axis 1 Dir CCW 1 35 2 36 3 37 4 38 5 39 6 40 7 41 8 42 9 43 10 44 11 45 12 46 13 47 14 48 15 49 16 50 17 51 18 52 19 53 20 54 21 55 22...

Page 29: ...gital Ground Input Home switch Axis 1 4 Forward Limit Switch Digital Ground Input Forward clockwise limit switch Axis 1 4 Reverse Limit Switch Digital Ground Input Reverse counter clockwise limit swit...

Page 30: ...340 supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration and signal polarity is software programmable...

Page 31: ...ut signals to enable or disable a driver or amplifier Limit and Home Inputs The following signals control limit and home inputs Axis 1 4 Forward Limit Input Axis 1 4 Home Input Axis 1 4 Reverse Limit...

Page 32: ...nd the reverse limit at the negative end of travel Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system...

Page 33: ...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...

Page 34: ...ndex input is primarily used to establish a reference position This function uses the number of counts per revolution or the linear distance to initiate a search move that locates the index position W...

Page 35: ...an 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 Ins...

Page 36: ...340 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...

Page 37: ...digital outputs Wiring Concerns Caution Keep trigger input shutdown input and breakpoint output signals and their ground connections wired separately from the motor driver amplifier signal and encode...

Page 38: ...nnels 1 through 4 are brought out externally on the 68 pin motion I O connector ADC channels 5 through 8 are connected internally as shown in Table 5 2 These signals can be used for ADC test and syste...

Page 39: ...7 5 V nominal analog reference voltage is available You can use this output as a low current supply to sensors that require a stable reference Refer to Appendix A Specifications for analog reference...

Page 40: ...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 Caution The...

Page 41: ...1 bit 7 Digital Ground Port 1 bit 4 Port 1 bit 3 Digital Ground Port 1 bit 0 PWM2 Reserved Reserved Reserved PWM1 Reserved Reserved PCLK 5 V Digital Ground Port 4 bit 5 Digital Ground Port 4 bit 1 Dig...

Page 42: ...eriod and duty cycles can be independently controlled through software commands The PWM is comparable to a digital representation of an analog value because the duty cycle is directly proportional to...

Page 43: ...e as a generic digital I O port The RTSI star trigger line can be used only for a trigger input Breakpoint outputs are output only signals that generate an active high pulse of 200 ns duration as show...

Page 44: ...count Analog feedback 1 LSB Double buffered trajectory parameters Absolute position range 231 counts Maximum relative move size 231 counts Velocity range 1 to 20 000 000 counts s Acceleration deceler...

Page 45: ...ion 1 update sample Position accuracy Open loop stepper 1 full half or microstep Encoder feedback 1 quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Position range 231 step...

Page 46: ...nput 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 47: ...apture accuracy 1 count Maximum repetitive capture rate 100 Hz 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 vol...

Page 48: ...led channel Analog outputs Number of outputs 4 single ended Output coupling DC Voltage range 10 V Output current 5 mA Resolution 16 bits no missing codes Monotonic Guaranteed Analog reference output 7...

Page 49: ...al RTSI Trigger lines 8 Maximum Power Requirements 5 V 3 1 A 12 V 3 30 mA 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...

Page 50: ...ticular signal refer to the individual signal specifications Environment Operating temperature 0 to 55 C Storage temperature 20 to 70 C Humidity 10 to 90 RH noncondensing Maximum altitude 2 000 m Poll...

Page 51: ...bling CE Compliance This product meets the essential requirements of applicable European Directives as amended for CE marking as follows Low Voltage Directive safety 73 23 EEC Electromagnetic Compatib...

Page 52: ...it Trigger Breakpoint 2 Axis 2 Home Switch Digital Ground Digital Ground Axis 2 Dir CCW Axis 1 Inhibit Trigger Breakpoint 1 Axis 1 Home Switch Digital Ground Digital Ground Axis 1 Dir CCW Host 5 V Axi...

Page 53: ...round Analog Output Ground Host 5 V Axis 4 Forward Limit Switch Axis 4 Encoder Index Axis 4 Encoder Phase A Analog Output 4 Axis 3 Reverse Limit Switch Axis 3 Forward Limit Switch Axis 4 Reverse Limit...

Page 54: ...ement glossary and so on Assisted Support Options Contact NI engineers and other measurement and automation professionals by visiting ni com support Our online system helps you define your question an...

Page 55: ...eed contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices section of ni com nig...

Page 56: ...mode treat the target position loaded as position relative to zero 0 while making a move absolute position position relative to zero acceleration deceleration measurement of the change in velocity as...

Page 57: ...any similar motion or control device Axis 1 4 Forward Limit Input axis 1 through 4 forward clockwise limit switch Axis 1 4 Home Input axis 1 through 4 home input Axis 1 4 Inhibit axis 1 through 4 inhi...

Page 58: ...reference signal for digital I O CPU central processing unit crosstalk unwanted signal on one channel due to an input on a different channel CSR Communications Status Register CW clockwise implies dir...

Page 59: ...n come out first filter parameters indicates the control loop parameter gains PID gains for a given axis filtering type of signal conditioning that filters unwanted signals from the signal being measu...

Page 60: ...position in an absolute position frame of reference host computer computer into which the motion control board is plugged I I O input output the transfer of data to and from a computer system involvi...

Page 61: ...stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution...

Page 62: ...onnection on a computer or a remote controller 2 a digital port which consists of eight lines of digital input and or output position breakpoint position breakpoint for an encoder can be set in absolu...

Page 63: ...xis that controls a servo motor stepper specifies an axis that controls a stepper motor stepper 1 4 Dir CCW direction output or counter clockwise direction control stepper 1 4 Step CW stepper pulse ou...

Page 64: ...e voltage supply velocity mode move the axis continuously at the specified velocity W watchdog timer task that shuts down resets the motion control board if any serious error occurs word standard numb...

Page 65: ...ware 1 3 overview 3 1 pulse width modulation PWM outputs 5 16 shutdown input 5 10 software programming choices 1 3 trajectory generators 4 2 trigger inputs 5 10 user connectors 3 3 using RTSI 1 2 A An...

Page 66: ...st communications 4 5 onboard programs 4 5 G ground connections encoder signals 5 9 wiring breakpoint outputs 5 11 shutdown input 5 11 trigger inputs 5 11 H help technical support C 1 high speed captu...

Page 67: ...RDB 4 5 RTSI breakpoint across RTSI figure 5 17 connector 3 3 5 16 signal considerations 5 17 S safety information 2 1 Shutdown Input 5 10 software NI resources C 1 software onboard programs 4 5 suppo...

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