National Instruments 7340 User Manual Download

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Motion Control

National Instruments 7340
User Manual

NI 7340 User Manual

November

2003 Edition

Part Number 370838A-01

Summary of Contents for 7340

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 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 0 22 3390 150 Portugal 351 210 311 210 Russia 7 095 783 68 51 Singapore 65 6226 5886 Slovenia 386 3 425 420...

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 events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in ...

Page 4: ...Communications 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 equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful ...

Page 5: ...ts 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 Hardware Installation 2 4 Chapter 3 Hardware Overview User Connectors 3 3 Chapter 4 Functional Overview Dual Processor Architecture 4 1 Embedded Real Time Operating System RTOS 4 2 Trajectory Generators ...

Page 6: ...er 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 5 11 Analog Inputs 5 12 Wiring Concerns 5 13 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 Specificatio...

Page 7: ...xt 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 advises you of precautions to take to avoid injury data loss or a system crash bold Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold t...

Page 8: ...I 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 Motion VI Reference Help ...

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 use quadrature encoders or analog inputs for position and velocity feedback and provide analog command outputs with an industry standard range of 10 V Stepper axes can operate in open or closed loop mo...

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 System Integration RTSI bus The RTSI bus provides high speed connectivity between National Instruments products including image acquisition IMAQ and data acquisition DAQ products Using the RTSI bus you ...

Page 11: ...W 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 functions example programs and fully operational high level application routines ANSI C based LabWindows CVI also features interactive graphics and a state of the art user interface Using LabWindows...

Page 12: ...ional 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 7340 are high density 68 pin female VHDCI connectors For custom cables use the AMP mating connector part number 787801 1 ...

Page 13: ...to 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 Revision 2 2 respectively This compatibility allows the PXI or PCI system to automatically perform all bus related configuration and requires no user interaction It is not necessary to configure jumpers ...

Page 14: ...vers 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 below the pollution degree stated in the specifications Pollution consists of any foreign matter solid liquid or gas that may reduce dielectric strength or surface resistivity Pollution degrees are li...

Page 15: ...ments 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 V for U S or 230 V for Europe Examples of Installation Category II are measurements performed on household appliances portable tools and similar products Installation Category III is for measurements...

Page 16: ...a 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 view the new controller PXI 7340 1 Power off and unplug the chassis Caution To protect yourself and the computer from electrical hazards the computer must remain unplugged until the installation is com...

Page 17: ...used 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 clothes or body before handling the controller Static electricity can damage the controller 5 Gently rock the controller into the slot The connection may be tight but do not force the controller int...

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 the back of the PXI module 1 Serial Number Label 2 DSP 3 CPU 4 68 Pin Digital I O Connector 5 68 Pin Motion I O Connector 1 2 3 4 5 ...

Page 19: ...ia 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 Identification Number Used in Australia 6 Assembly Number Label 7 68 Pin Digital I O Connector 8 68 Pin Motion I O Connector 9 CPU 10 DSP 1 2 3 ASSY186307D 01 NI PCI 7340 1 2 3 4 5 6 7 8 9 10 ...

Page 20: ...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 Typical applications of the RTSI bus includ...

Page 21: ...powerful 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 including position tracking PID control closed loop computation and motion trajectory generation The DSP chip is supported by custom FPGAs that perform the high speed encoder interfacing position captu...

Page 22: ...tion 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 pulse generator To implement infinite trajectory control the 7340 has eight trajectory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position for each P...

Page 23: ...ormed 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 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...

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 Resources Encoder DAC ADC and motion I O resources that are not used by an axis are available for non axis or nonmotion specific applications You can directly control an unmapped DAC as a general purpos...

Page 25: ...ddition 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 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 You can store and run programs and buffers from either RAM or ROM but yo...

Page 26: ...i 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 ...

Page 27: ...niversal 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 motion I O and auxiliary digital I O cables Failure to do so may damage the controller Motion I O Connector The motion I O connector contains all of the signals required to control up to four axes of serv...

Page 28: ...nhibit 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 56 23 57 24 58 25 59 26 60 27 61 28 62 29 63 30 64 31 65 32 66 33 67 34 68 Analog Input Ground Analog Input 2 Reserved Analog Output Shutdown Breakpoint 4 Breakpoint 2 Analog Input 4 Analog Output Ho...

Page 29: ...igital 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 switch Axis 1 4 Inhibit Digital Ground Output Drive inhibit Trigger 1 4 Digital Ground Input High speed position capture trigger input 1 4 Breakpoint 1 4 Digital Ground Output Breakpoint output 1 4 Host ...

Page 30: ...7340 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 for compatibility with various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signa...

Page 31: ...put 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 Input These inputs are typically connected to limit switches located at physical ends of travel and or at a specific home position Limit and home inputs can be software enabled or disabled at any tim...

Page 32: ...and 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 Miswired limits may prevent motion from occurring at all Keep limit and home switch signals and their ground connections wired separately from the motor driver amplifier signal and encoder signal co...

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 as a master encoder input for master slave electronic gearing applications The encoder channels Encoder 1 4 are implemented in an FPGA and are high performance with extended input frequency response a...

Page 34: ...Index 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 When a valid Index signal transition occurs during a Find Reference routine the position of the Index signal is captured accurately Use this captured position to establish a reference zero position fo...

Page 35: ...han 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 Caution Unshielded cable can cause noise to corrupt the...

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 edge You also can use a trigger input as a latching general purpose digital input by simply ignoring the captured position Shutdown Input When enabled in software the shutdown input signal can be used...

Page 37: ...e 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 encoder signal connections Wiring these signals near each other can cause faulty operation Caution Excessive input voltages can cause erroneous operation and or component failure Trigger Input Shutdown Inp...

Page 38: ...nels 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 system diagnostics Table 5 2 Internal ADC Channels ADC Input Signal 5 Filtered 5 V 6 Floating NC 7 Analog Reference 7 5 V 8 Analog Input Ground 74FCT244 1 kΩ 1 8 W From the external connector shutdown pin T...

Page 39: ...e 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 voltage specifications Analog Input Ground To help keep digital noise out of the analog input a separate return connection is available Use this reference ground connection and not Digital Ground dig...

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 host 5 V signal is limited to 100 mA and should not be used to power any external devices except those intended in the host bus monitor circuits on the UMI and drive products ...

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 Digital Ground Port 3 bit 6 Port 3 bit 5 Port 4 bit 6 Port 4 bit 2 Digital Ground Port 3 bit 2 Port 3 bit 1 Digital Ground Digital Ground Port 2 bit 5 Port 2 bit 4 Port 2 bit 3 Port 2 bit 2 Digital Grou...

Page 42: ... period 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 the expected output value PWM outputs are typically used for transmitting an analog value through an optocoupler A simple lowpass filter turns a PWM signal back into its corresponding analog value Y...

Page 43: ...ve 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 shown in Figure 5 9 Figure 5 9 Breakpoint across RTSI Encoder and Index signals are output only signals across RTSI that are the digitally filtered versions of the raw signals coming into the controller ...

Page 44: ...re 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 deceleration1 512 000 000 counts s2 S Curve time range 1 to 32 767 samples Following error range 1 to 32 767 counts and disabled Gear ratio 32 767 1 to 1 32 767 Servo control loop modes PID PIVff S Curve D...

Page 45: ...ation 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 steps Maximum relative move size 231 steps Velocity range 1 to 4 000 000 steps s Acceleration deceleration1 512 000 000 counts s2 S Curve time range 1 to 32 767 samples Following error range 0 to 32 767...

Page 46: ... Input 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 Minimum pulse width Programmable depends on digital filter settings 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 fi...

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 voltage Open collector with built in 3 3 kΩ pull up to 5 V Polarity Programmable active high or active low Maximum repetitive breakpoint rate 100 Hz Inhibit enable output Number of outputs 4 1 per axis V...

Page 48: ...abled 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 5 V nominal 5 mA Digital I O Ports 4 8 bit ports Line direction Individual bit programmable Inputs Voltage range 0 to 5 V Input low voltage 0 8 V Input high voltage 2 0 V Polarity Programmable acti...

Page 49: ...nal 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 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 VHDCI type Weight PXI 7340 170 g 6 oz PCI 7340 113 g 4 o...

Page 50: ...rticular 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 Pollution Degree 2 Safety This product is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use IEC 61010 1 EN 61010 1...

Page 51: ...abling 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 Compatibility Directive EMC 89 336 EEC Note Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information To obtain the DoC for this product visit ni com ha...

Page 52: ...bit 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 Axis 4 Forward Limit Switch Axis 4 Encoder Index Axis 4 Encoder Phase A Axis 4 Step CW Axis 3 Reverse Limit Switch Axis 3 Forward Limit Switch Axis 4 Reverse Limit Switch Axis 4 Encoder Phase B Axis 3 E...

Page 53: ...Ground 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 Switch Axis 4 Encoder Phase B Axis 3 Encoder Index Axis 3 Encoder Phase B Axis 3 Encoder Phase A Analog Output 3 Axis 2 Reverse Limit Switch Axis 2 Forward Limit Switch Axis 2 Encoder Index Axis 2 E...

Page 54: ...rement 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 and connects you to the experts by phone discussion forum or email Training Visit ni com training for self paced tutorials videos and interactive CDs You also can register for instructor led hands on c...

Page 55: ...need 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 niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events ...

Page 56: ...e 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 a function of time Acceleration and deceleration describes the period when velocity is changing from one value to another active high signal is active when its value goes high 1 active low signal is...

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 inhibit output Axis 1 4 Reverse Limit Input axis 1 through 4 reverse counter clockwise limit input B b bit one binary digit either 0 or 1 base address memory address that serves as the starting address f...

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 direction of motor rotation D D A digital to analog DAC Digital to Analog Converter DC direct current dedicated assigned to a particular function DGND digital ground signal digital I O port group of dig...

Page 59: ...in 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 measured flash ROM type of electrically reprogrammable read only memory following error trip point difference between the instantaneous commanded trajectory position and the feedback position FPGA Field P...

Page 60: ...o 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 involving communications channels operator interface devices and or motion control interfaces ID identification in inches index marker between consecutive encoder revolutions inverting polarity of a switch ...

Page 61: ...a 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 modulo position treat the position as within the range of total quadrature counts per revolution for an axis N noise undesirable electrical signal noise comes from external sources such as the AC po...

Page 62: ...connection 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 absolute or relative quadrature counts When the encoder reaches a position breakpoint the associated breakpoint output immediately transitions power cycling turning the host computer off and then back on w...

Page 63: ...axis 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 output or clockwise direction control T toggle changing state from high to low back to high and so on torque force tending to produce rotation trapezoidal profile typical motion trajectory where a moto...

Page 64: ...ve 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 number of bits that a processor or memory manipulates at one time typically 8 16 or 32 bit ...

Page 65: ...tware 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 Analog Input 1 4 5 12 Analog Input Ground 5 13 Analog Output 1 4 5 4 Analog Output Ground 5 4 Analog Reference 5 13 analog signals wiring 5 13 axes 4 3 secondary feedback resources 4 4 output resources...

Page 66: ...ost 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 capture 4 5 home inputs circuit 5 7 ground connections 5 6 Host 5 V 5 14 host communications 4 5 I installing hardware 2 4 installation category descriptions 2 3 software 2 1 instrument drivers NI resourc...

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 support technical C 1 T technical support C 1 training NI resources C 1 Trigger Input 1 4 5 10 trigger input circuit 5 11 trigger inputs wiring 5 11 troubleshooting NI resources C 1 W Web resources C 1 wi...

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