National Instruments 7344 Series User Manual Download

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Summary of Contents for 7344 Series

Page 2: ...Motion Control 7344 7334 Hardware User Manual 7344 7334 Hardware User Manual May 2001 Edition Part Number 322504B 01 ...

Page 3: ...6 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Malaysia 603 9596711 Mexico 5 280 7625 Netherlands 0348 433466 New Zealand 09 914 0488 Norway 32 27 73 00 Poland 0 22 528 94 06 Portugal 351 1 726 9011 Singapore 2265886 Spain 91 640 0085 Sweden ...

Page 4: ...ns or service failures caused by owner s failure to follow the National Instruments installation 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 ...

Page 5: ...ational Instruments Application Software 1 3 Optional Equipment 1 4 Motion I O Connections 1 4 Chapter 2 Configuration and Installation Software Installation 2 1 Controller Configuration 2 1 Hardware Installation 2 1 Chapter 3 Hardware Overview User Connectors 3 3 Chapter 4 Functional Overview Dual Processor Architecture 4 1 Embedded Real Time Operating System RTOS 4 1 Trajectory Generators 4 2 An...

Page 6: ... A Phase B 5 7 Encoder 1 4 Index 5 8 Wiring Concerns 5 8 Encoder Input Circuit 5 9 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 9 Wiring Concerns 5 10 Trigger Input Shutdown Input and Breakpoint Output Circuits 5 11 Analog Inputs 5 12 Wiring Concerns 5 13 Other Motion I O Connections 5 13 Digital I O Connector 5 14 PWM Features 5 15 RTSI Connector 5 15 RTSI Signal Considerations 5 16 App...

Page 7: ...5 2 Figure 5 2 Limit and Home Input Circuit 5 6 Figure 5 3 Quadrature Encoder Phasing Diagram 5 8 Figure 5 4 Encoder Input Circuit 5 9 Figure 5 5 Trigger Input Circuit 5 11 Figure 5 6 Shutdown Input Circuit 5 11 Figure 5 7 Breakpoint Output Circuit 5 11 Figure 5 8 68 Pin Digital I O Connector Pin Assignments 5 14 Figure 5 9 Breakpoint Across RTSI 5 16 Figure B 1 50 Pin Stepper Connector Pin Assign...

Page 8: ...ets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example DBIO 3 0 The symbol indicates that the following text 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 precautio...

Page 9: ...mes and extensions and code excerpts Related Documentation The following documents contain information that you might find helpful as you read this manual FlexMotion Software Reference Manual FlexMotion Software Reference online help FlexMotion VI online help PCI Local Bus Specification Revision 2 1 Your computer s technical reference manual ...

Page 10: ...You can use the 7334 motion controller for point to point and straight line vector moves for stepper motor applications The 7344 controllers add the ability to perform arbitrary and complex motion trajectories using stepper motors or servo devices Refer to the FlexMotion Software Reference Manual for a complete list of the feature differences between the 7344 and 7334 controller lines Servo axes c...

Page 11: ...f servo updates at 62 µs per axis With all 7344 7334 controllers each axis has motion I O for end of travel limit and home switch inputs breakpoint output trigger input and encoder feedback rates up to 20 MHz The 7344 7334 controller also has non dedicated user I O including 32 bits of digital I O and four analog inputs for 10 V signals joystick inputs or monitoring of analog sensors Additionally ...

Page 12: ...ftware programs National Instruments Application Software LabVIEW based on the graphical programming language G features interactive graphics and a state of the art user interface In LabVIEW you can create 32 bit compiled programs and stand alone executables for custom automation data acquisition test measurement and control solutions National Instruments offers the FlexMotion VI Library a series ...

Page 13: ...ng and motion inhibit functionality Stepper and servo motor compatible driver amplifier units with integrated power supply and wiring connectivity Connector blocks shielded and unshielded 68 pin screw terminal wiring aids For more specific information about these products refer to your National Instruments catalog on the Internet at ni com or call your National Instruments sales representative Mot...

Page 14: ...oftware so there are no jumpers to set for motion I O configuration The PCI 7344 PXI 7344 and PCI 7334 controllers are fully compatible with the PCI Local Bus Specification Revision 2 1 The FW 7344 controller is fully compatible with the IEEE 1394 specification This compatibility allows the computer to automatically perform all bus related configuration and requires no user interaction There are n...

Page 15: ... panel of the computer if installed 5 Insert the 7344 7334 controller into a 3 V or 5 V PCI slot Gently rock the board to ease it into place It may be a tight fit but do not force the board into place 6 If available screw the mounting bracket of the 7344 7334 controller to the back panel rail of the computer 7 Replace the cover 8 Plug in the 68 pin cable for motion I O to the 7344 7334 controller ...

Page 16: ...uld detect the controller immediately When the computer recognizes your controller the COM LED on the front panel will blink 3 Verify that the power LED is on Your FW 7344 controller is installed The FW 7344 controller has two LEDs to help you determine the state of your device Power LED Power LED off No power is being supplied to the controller Either the power cord is unplugged or the power sour...

Page 17: ...tionality Figures 3 1 3 2 and 3 4 show the PCI 7344 PXI 7344 and PCI 7334 parts locator diagrams respectively Figure 3 3 shows the FW 7344 back panel Figure 3 1 PCI 7344 Parts Locator Diagram 1 RTSI Connector 2 Assembly Number Label 3 Serial Number Label 4 68 Pin Digital I O Connector 5 68 Pin Motion I O Connector 6 MC68331 CPU 7 ADSP 2185 DSP 4 5 7 1 2 3 6 C 2001 ...

Page 18: ...el 2 Serial Number Label 3 ADSP 2185 DSP 4 MC68331 CPU 5 68 Pin Digital I O Connector 6 68 Pin Motion I O Connector 1 1394 Connectors 2 Power Connector 3 RTSI Connector 4 Expansion Port Connector 5 68 Pin Digital I O Connector 6 68 Pin Motion I O Connector 3 4 5 6 1 2 NATIONAL INSTRUMENTS _ EXPANSION PORT RTSI 1394 9 25 VDC 30W MOTION I O DIGITAL I O 1 2 3 4 5 6 ...

Page 19: ... outputs trigger inputs and analog to digital A D converter signals Refer to Chapter 5 Signal Connections for details about the signals in the motion I O connector The 68 pin digital I O connector provides 32 bits of user configurable digital I O Refer to Chapter 5 Signal Connections for details about the signals in the digital I O connector 1 RTSI Connector 2 Assembly Number Label 3 Serial Number...

Page 20: ...tween multiple National Instruments products Typical applications of the RTSI bus include triggering an image acquisition or DAQ measurement based on motion events or capturing current motion positions based on events external to the motion controller The RTSI bus can also be used for general purpose I O Refer to Chapter 5 Signal Connections for details about RTSI connector signals ...

Page 21: ...rformance The 7344 7334 controller uses the digital signal processor 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 capture and breakpoint functions motion I O processing and stepper pulse generation for hard real time func...

Page 22: ...tory generators implemented in the DSP chip two per axis Each generator calculates an instantaneous position each PID update period While simple point to point moves require only one trajectory generator two simultaneous generators are required for blended moves and infinite trajectory control processing Analog Feedback The 7344 7334 controller has an 8 channel multiplexed 12 bit ADC The converted...

Page 23: ...aneously coordinated or mapped in multidimensional groups called vector spaces You can also synchronize vector spaces for multi vector space coordinated motion control Axes At a minimum an axis consists of a trajectory generator a PID for servo axes or stepper control block and at least one output resource either a DAC output for servo axes or a stepper pulse generator output Servo axes must have ...

Page 24: ...c applications You can directly control an unmapped DAC as a general purpose analog output 10 V Similarly you can use any ADC channel to measure potentiometers or other analog sensors If an encoder resource is not needed for axis control you can use it for any number of other functions including position or velocity monitoring as a digital potentiometer encoder input or as a master encoder input f...

Page 25: ...r interface data analysis and or overall measurement and automation system control Onboard programs can also isolate your application from the non real time operating system of the host PC Only the bus power is required to correctly execute an onboard FlexMotion program once it is started and this program continues to run even if the host PC hangs assuming the host power supply remains You can run...

Page 26: ...dress of the controller This port supports FIFO data passing in both send and readback directions The 7344 7334 controller has both a command buffer for incoming commands and a return data buffer RDB for readback data At address offsets from the base address are two read only status registers The communications status register CSR provides bits for communications handshaking as well as real time e...

Page 27: ...ple screw terminal blocks to enhanced UMI units and drives Caution Turn off power to all devices when connecting or disconnecting the 7344 7334 controller motion I O and auxiliary digital I O cables Failure to do so may damage the 7344 7334 controller Motion I O Connector The motion I O connector contains all of the signals required to control up to four axes of servo 7344 only and stepper motion ...

Page 28: ... Trigger 1 Axis 1 Home Switch Digital Ground Digital Ground Axis 1 Dir CCW Analog Input Ground Analog Input 2 Reserved Analog Output 2 Shutdown Breakpoint 4 Breakpoint 2 Analog Input 4 Analog Output 4 Host 5 V Axis 4 Reverse Limit Switch Axis 4 Forward Limit Switch Axis 4 Encoder Index Axis 4 Encoder Phase B Axis 4 Encoder Phase A Axis 4 Step CW Axis 3 Reverse Limit Switch Axis 3 Forward Limit Swi...

Page 29: ...l 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 5 V D...

Page 30: ...or each axis The 7344 7334 controller 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 ...

Page 31: ... also directly control the inhibit output 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 s...

Page 32: ...ntially 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 connections Wiring these signals near each other can cause faulty motion system operation due to signal noise and crosstalk Limit and Home Input Circuit All limit and ho...

Page 33: ...ures such as high speed position capture inputs and breakpoint outputs The encoders have a maximum count frequency of 20 MHz An encoder input channel converts quadrature signals on Phase A and Phase B into 32 bit up down counter values Quadrature signals are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 out of phase The leading p...

Page 34: ...ery important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and erroneous closed loop motion operation Verify the encoder connections before powering up the system Caution Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive amplifier or oth...

Page 35: ... 7344 7334 controller offers additional high performance features in the encoder FPGA The encoder channels have high speed position capture trigger inputs and breakpoint outputs These signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input 1 4 When enabled an active transition on a high speed position capture in...

Page 36: ...ger to synchronize data acquisition or other functions in the motion control system You can program breakpoints as either absolute modulo or relative position Breakpoint outputs can be preset to a known state so that the transition when the breakpoint occurs can be low to high high to low or toggle The breakpoint outputs are driven by open collector TTL buffers that feature 64 mA sink current capa...

Page 37: ...uts shutdown inputs and breakpoint outputs for signal buffering Figure 5 5 Trigger Input Circuit Figure 5 6 Shutdown Input Circuit Figure 5 7 Breakpoint Output Circuit 74HC244 1 kΩ 1 8 W From the external connector trigger pins To the trigger circuits DGND Vcc 3 3 kΩ 74HC244 1 kΩ 1 8 W From the external connector shutdown pin To the shutdown circuits DGND Vcc 3 3 kΩ 74AS760 To the external connect...

Page 38: ...controller by using the Read ADC function The range of values read back and the voltage resolution for each setting are shown in Table 5 3 The voltage resolution is given in volts per least significant bit V LSB When configured as analog feedback an analog sensor acts like a limited range absolute position device with a full scale position range as indicated in Table 5 3 You can map any ADC channe...

Page 39: ...easured should be connected to the channel input and its ground reference connected to the Analog Input Ground Note If an external reference voltage is used it must not be connected to the analog reference output since this is an output signal only You should however connect the common of the external reference to the Analog Input Ground pin for proper A D reference and improved voltage measuremen...

Page 40: ...Port 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 ...

Page 41: ...s a digital representation of an analog value because the duty cycle is directly proportional to the desired 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 If desired you can use the PCLK input instead of the internal source as the clock for the PWM generators No...

Page 42: ...also be used as a generic digital I O port Breakpoint outputs are output only signals that generate an active high pulse of 90 120 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 If you are using the RTSI bus for trigger inputs or...

Page 43: ...acy Encoder feedback 1 quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Absolute position range 231 counts Max relative move size 231 counts Velocity range 1 to 20 000 000 counts s RPM range 10 5 to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 counts s2 RPS s range 10 1 to 108 revolutions s2 S Curve time range 1 to 32 767 samples Following error...

Page 44: ...e 250 µs total Multi axis synchronization 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 Max relative move size 231 steps Velocity range 1 to 4 000 000 steps s RPM range 10 5 to 106 revolutions minute Acceleration deceleration 4 000 to 128 000 000 s...

Page 45: ...wn input Voltage range 0 to 12 V 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 Max count rate 20 MHz Min pulse width Programmable depends on digital filter settings Voltage range 0 to 12 V Input low voltage 0 8 V Input high voltage 2 V Min index pulse width 60 ns Forward...

Page 46: ...Capture accuracy 1 count Max repetitive capture rate 1 kHz 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 Inhibit enable output Number of outputs 4 1 per axis Voltage range 0 to 5 V Output low voltage 0 6 V...

Page 47: ...inal Reference drift 30 ppm C typical INL 1 LSB DNL 1 LSB Offset error Unipolar 5 LSB Bipolar 10 LSB Gain error Unipolar 10 LSB Bipolar 10 LSB Conversion time 6 µs Multiplexor scan rate 50 µs enabled channel Analog outputs 7344 only Number of outputs 4 Voltage range 10 V Output current 5 mA Resolution 16 bits 0 000305 V LSB Gain accuracy 3 Drift 100 ppm C typical Digital I O Ports 4 8 bit ports Li...

Page 48: ...age 2 4 V at 24 mA source Polarity Programmable active high or active low PWM outputs Number of PWM outputs 2 Max PWM frequency 32 kHz Resolution 8 bit Duty cycle range 0 to 255 256 Clock Sources Internal or external RTSI Trigger Lines 7 Power Requirements Max PCI 7344 7334 and PXI 7344 5 V 3 1 A 12 V 3 30 mA 12 V 3 30 mA Power consumption 5 7 W FW 7344 Voltage range 9 to 25 VDC Power consumption ...

Page 49: ... cm 6 9 by 3 9 in PXI 7344 16 by 10 cm 6 3 by 3 9 in FW 7344 30 7 by 25 4 by 4 3 cm 12 1 by 10 0 by 1 7 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 Environment Operating temperature 0 to 55 C Storage temperature 20 to 70 C Relative humidity range 10 to 90 noncondensing ...

Page 50: ...s 2 Inhibit 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 ...

Page 51: ...d Digital 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 Inde...

Page 52: ...cess the latest example programs system configurators tutorials technical news as well as a community of developers ready to share their own techniques Customer Education National Instruments provides a number of alternatives to satisfy your training needs from self paced tutorials videos and interactive CDs to instructor led hands on courses at locations around the world Visit the Customer Educat...

Page 53: ...Web sites from the Worldwide Offices section of ni com Branch office Web sites provide up to date contact information support phone numbers e mail addresses and current events If you have searched the technical support resources on our Web site and still cannot find the answers you need contact your local office or National Instruments corporate Phone numbers for our worldwide offices are listed a...

Page 54: ... Value p pico 10 12 n nano 10 9 µ micro 10 6 m milli 10 3 c centi 10 2 k kilo 103 M mega 106 Numbers Symbols degrees per percent plus or minus positive of or plus negative of or minus Ω ohm 5 V 5 VDC source signal 1394 A high speed external bus that implements the IEEE 1394 serial bus protocol ...

Page 55: ...igital converter address character code that identifies a specific location or series of locations in memory or on a host PC bus system amplifier the drive that delivers power to operate the motor in response to low level control signals In general the amplifier is designed to operate with a particular motor type you cannot use a stepper drive to operate a DC brush motor for instance Analog Input ...

Page 56: ...dividual circuitry in a computer Typically a bus is the expansion vehicle to which I O or other devices are connected byte eight related bits of data an eight bit binary number Also used to denote the amount of memory required to store one byte of data C CCW counter clockwise implies direction of rotation of the motor closed loop a motion system that uses a feedback device to provide position and ...

Page 57: ...sor E encoder device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system encoder resolution the number of encoder lines between consecutive encoder indexes marker or Z bit If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution F f farad FIFO First In First Out filtering a ...

Page 58: ... G Gnd ground GND ground H 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 hex hexadecimal home switch input A physical position determined by the mechanical system or designer as the...

Page 59: ...uantifying data or computer memory L LIFO Last In First Out limit switch end of travel position input sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop M m meters MCS Move Complete Status microstep The proportional control of energy in the coils of a Stepper Motor that allow the motor to move to or stop at locations other tha...

Page 60: ...system where no external sensors feedback devices are used to provide position or velocity correction signals P PCI 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 it offers a theoretical maximum transfer rate of 132 MB s PID proportiona...

Page 61: ...on 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 RPM revolutions per minute units for velocity RPSPS or RPS S revolutions per second squared units for acceleration and deceleration RTR Ready to Receive S s seconds ser...

Page 62: ... traverses at the programmed velocity then decelerates at the programmed acceleration to the target position trigger any event that causes or starts some form of data capture TTL transistor transistor logic V V volts VCC positive voltage supply velocity mode move the axis continuously at the specified velocity W watchdog a timer task that shuts down resets the motion control board if any serious e...

Page 63: ...utput Ground signal description table 5 3 purpose and use 5 4 Analog Reference signal description table 5 3 purpose and use 5 13 axes overview 4 3 to 4 4 servo axis resources figure 4 3 stepper axis resources figure 4 4 Axis 1 4 Dir CCW signal compatibility with third party drives 5 5 description table 5 3 purpose and use 5 5 Axis 1 4 Encoder Index signal description table 5 3 purpose and use 5 8 ...

Page 64: ...s manual ix conventions used in manual ix to x related documentation x dual processor architecture 4 1 to 4 3 E embedded real time operating system RTOS 4 1 to 4 2 encoder signals 5 7 to 5 9 Axis 1 4 Encoder Index 5 3 5 8 Axis 1 4 Encoder Phase A 5 3 5 7 Axis 1 4 Encoder Phase B 5 3 5 7 input circuit 5 9 wiring concerns 5 8 to 5 9 environment specifications A 7 equipment optional 1 4 F flash memor...

Page 65: ... 4 Axis 1 4 Dir CCW 5 3 5 5 Axis 1 4 Inhibit 5 3 5 5 Axis 1 4 Step CW 5 3 5 4 motion I O connector 5 1 to 5 13 68 pin connector pin assignments figure 5 2 analog inputs 5 12 to 5 13 signal descriptions 5 12 to 5 13 wiring concerns 5 13 encoder signals 5 7 to 5 9 input circuit 5 9 signal descriptions 5 7 to 5 9 wiring concerns 5 8 to 5 9 features 5 1 limit and home inputs 5 5 to 5 6 input circuit 5...

Page 66: ...10 Shutdown signal description table 5 3 purpose and use 5 10 signal connections See digital I O connector motion I O connector RTSI bus software installation 2 1 National Instruments application software 1 3 onboard programs 7344 only 4 5 programming choices 1 3 specifications digital I O A 5 to A 6 environment A 7 motion I O A 3 to A 5 physical A 7 power requirements max A 6 RTSI trigger lines A...

Page 67: ...34 Hardware User Manual W Web support from National Instruments C 1 wiring concerns analog inputs 5 13 breakpoint outputs 5 10 encoder signals 5 8 to 5 9 limit and home inputs 5 6 shutdown input 5 10 trigger inputs 5 10 Worldwide technical support C 2 ...

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