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Motion Control

NI PCI-7342 Hardware
User Manual

NI PCI-7342 Hardware User Manual

October 2002 Edition

Part Number 373454A-01

Summary of Contents for PCI-7342

Page 1: ...Motion Control NI PCI 7342 Hardware User Manual NI PCI 7342 Hardware User Manual October 2002 Edition Part Number 373454A 01...

Page 2: ...8 14 24 24 Germany 089 741 31 30 Greece 01 42 96 427 Hong Kong 2645 3186 India 91 80 4190000 Israel 03 6393737 Italy 02 413091 Japan 03 5472 2970 Korea 02 3451 3400 Malaysia 603 9596711 Mexico 001 800...

Page 3: ...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 negli...

Page 4: ...ruments 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...

Page 5: ...ncludes a DoC for most every hardware product except for those bought for OEMs if also available from an original manufacturer that also markets in the EU or where compliance is not required as for el...

Page 6: ...rogramming Choices 1 3 National 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 Con...

Page 7: ...A Phase B 5 8 Encoder 1 2 Index 5 9 Wiring Concerns 5 10 Encoder Input Circuit 5 11 Trigger Inputs Shutdown Input and Breakpoint Outputs 5 11 Wiring Concerns 5 12 Trigger Input Shutdown Input and Brea...

Page 8: ...ormation 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 suc...

Page 9: ...wing documents contain information pertaining to the PCI 7342 motion controller NI Motion Release Notes NI Motion Software Reference Manual NI Motion Software Reference online help NI Motion VIs onlin...

Page 10: ...cture that uses a Motorola MC68331 real time 32 bit CPU combined with an Analog Devices ADSP 2185 digital signal processor DSP and custom field programmable gate arrays FPGAs The first in first out FI...

Page 11: ...this many to few selector switch any available signal can be routed to any RTSI pin You can also route more than one signal to a single RTSI pin or connect two RTSI pins to the same signal Refer to th...

Page 12: ...ons are easily executed by calling into either a static or dynamic link library DLL These libraries are callable from C Visual Basic and other high level languages Full function set implementations ar...

Page 13: ...O RTSI bus cables UMI wiring connectivity blocks with integrated motion signal conditioning and motion inhibit functionality Stepper and servo motor compatible driver amplifier units with integrated p...

Page 14: ...tion is performed entirely with software it is not necessary to set jumpers for motion I O configuration The PCI 7342 controller is fully compatible with the PCI Local Bus Specification Revision 2 1 I...

Page 15: ...is turned off To avoid a shock hazard do not perform procedures involving cover or shield removal unless you are qualified to do so Disconnect all field power prior to removing covers or shields If th...

Page 16: ...w Installation CAT IV for measurements performed at the source of the low voltage 1000 V installation Examples include electricity meters measurements on primary overcurrent protection devices and rip...

Page 17: ...instructions and warnings Caution Observe precautions for handling electrostatic sensitive devices Refer to the Unpacking section of this chapter for information about handling the controller 1 Verify...

Page 18: ...CI slot Gently rock the device to ease it into place It may be a tight fit but do not force the device into place 7 If available screw the controller mounting bracket to the back panel rail of the com...

Page 19: ...e PCI 7342 motion controller hardware functionality Figure 3 1 shows the PCI 7342 parts locator diagram Figure 3 1 PCI 7342 Parts Locator Diagram 1 RTSI Connector 2 Assembly Number Label 3 Serial Numb...

Page 20: ...ovides 32 bits of user configurable digital I O Refer to Chapter 5 Signal Connections for details about the digital I O connector signals The RTSI connector provides up to seven triggers and one high...

Page 21: ...us interface and powerful function set provide high speed communications while offloading complex motion functions from the host PC for optimized system performance The PCI 7342 controller uses the di...

Page 22: ...42 controller Trajectory Generators The trajectory generators on the PCI 7342 controller calculate the instantaneous position command that controls acceleration and velocity while moving the axis to i...

Page 23: ...rformed in the field Note A flash memory download utility is included with the NI Motion software that ships with the controller Axes and Motion Resources The PCI 7342 controller can control one or tw...

Page 24: ...ontrol such as in backlash compensation which reduces the number of encoders available for other axes Note Refer to the Axis and Resource Configuration section of the NI Motion Software Reference Manu...

Page 25: ...as part of the axis It is not necessary to remember or use the resource number directly when accessing these features Resources are referenced by axis number once assigned to that axis Host Communica...

Page 26: ...I O connector 68 pin digital I O connector RTSI connector You can connect to your motion system with cables and accessories varying from simple screw terminal blocks to enhanced UMI units and drives C...

Page 27: ...d reverse limit inputs Trigger inputs Motor command analog and stepper outputs Breakpoint outputs Inhibit outputs The motion I O connector also contains two channels of 12 bit A D inputs for analog fe...

Page 28: ...tch Trigger 1 Axis 1 Inhibit Axis 2 Dir CCW Digital Ground Digital Ground Axis 2 Home Switch Trigger 2 Axis 2 Inhibit NC Digital Ground Digital Ground NC NC NC NC NC Digital Ground Digital Ground NC N...

Page 29: ...round Input Home switch Axis 1 2 Forward Limit Switch Digital Ground Input Forward clockwise limit switch Axis 1 2 Reverse Limit Switch Digital Ground Input Reverse counter clockwise limit switch Axis...

Page 30: ...The PCI 7342 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 so...

Page 31: ...a kill motion condition a following error trip for example You can also directly control the inhibit output signals to enable or disable a driver or amplifier Figure 5 3 shows a simplified schematic d...

Page 32: ...hese inputs are part of a system solution for complete motion control Wiring Concerns For the end of travel limits to function correctly the forward limit must be at the forward or positive end of tra...

Page 33: ...functions including position or velocity monitoring digital potentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications A field programmable gate array...

Page 34: ...esolution is referred to as lines per revolution or lines per unit of measure inch centimeter millimeter and so on Encoder 1 2 Index The Index input works primarily with the Find Index function This f...

Page 35: ...und connections separately from all other connections Wiring these signals near the motor drive amplifier or other signals can cause positioning errors and faulty operation National Instruments recomm...

Page 36: ...signals are useful for high speed synchronization of motion with actuators sensors and other parts of the complete motion system Trigger Input 1 2 When enabled an active transition on a high speed po...

Page 37: ...led Open collector TTL buffers drive the breakpoint outputs These buffers feature 64 mA sink current capability and built in 3 3 k pull up resistors to 5 V You can directly set and reset breakpoint ou...

Page 38: ...5 V inputs ADC channels 1 and 2 are brought out externally on the 68 pin motion I O connector ADC channels 5 through 8 connect internally as shown in Table 5 2 You can use these signals for ADC testi...

Page 39: ...ble and disable individual ADC channels in software Disable unused ADC channels for the highest multiplexer scan rate performance Properly enabled the scan rate is high enough to support analog feedba...

Page 40: ...g Input Ground pin for proper A D reference and improved voltage measurement Other Motion I O Connection The PCI 7342 controller provides the following other motion I O connection Host 5 V This signal...

Page 41: ...l Ground Port 1 bit 3 Port 1 bit 4 Digital Ground Port 1 bit 7 Port 2 bit 0 Port 2 bit 1 Digital Ground Digital Ground Digital Ground Port 2 bit 6 Port 2 bit 7 Port 3 bit 0 Digital Ground Port 3 bit 3...

Page 42: ...tion of an analog value because the duty cycle is directly proportional to the desired output value The typical use of PWM outputs is to transmit an analog value through an optocoupler A simple lowpas...

Page 43: ...t 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 tri...

Page 44: ...ti axis synchronization 1 update sample Position accuracy Encoder feedback 1 quadrature count Analog feedback 1 LSB Double buffered trajectory parameters Absolute position range 231 counts Maximum rel...

Page 45: ...tory update rate range 62 5 to 500 s sample Maximum update rate 62 5 s axis 2 axis update rate 125 s total Multi axis synchronization 1 update sample Position accuracy Open loop stepper 1 full half or...

Page 46: ...ll up to 5 V Polarity Programmable active high or active low System Safety Watchdog timer function Resets board to startup state Watchdog timeout 63 ms Shutdown input Voltage range 0 to 12 V Input low...

Page 47: ...range 0 to 12 V Input low voltage 0 8 V Input high voltage 2 V Polarity Programmable active high or active low Minimum pulse width 83 ns Capture latency 100 ns Capture accuracy 1 count Breakpoint out...

Page 48: ...ble 10 V 5 V 0 10 V 0 5 V Input resistance 10 k minimum Resolution 12 bits Analog reference output 7 5 V nominal Reference drift 30 ppm C typical INL 1 LSB DNL 1 LSB Offset error Unipolar 5 LSB Bipola...

Page 49: ...e active high or active low Outputs 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 PWM outputs...

Page 50: ...Voltage Channel to earth 12 V Installation CAT I signal voltage plus common mode voltage Channel to channel 22 V Installation CAT I signal voltage plus common mode voltage Caution These values represe...

Page 51: ...lectromagnetic immunity Evaluated to EN 61326 1997 A1 1998 Table 1 Note For full EMC compliance you must operate this device with shielded cabling In addition all covers and filler panels must be inst...

Page 52: ...o your motion controller Digital Ground NC NC NC Digital Ground Digital Ground NC NC NC NC Digital Ground Digital Ground NC Axis 2 Inhibit Trigger Breakpoint 2 Axis 2 Home Switch Digital Ground Digita...

Page 53: ...witch Digital Ground Digital Ground Analog Output Ground Axis 1 Inhibit Trigger Breakpoint 1 Axis 1 Home Switch Digital Ground Digital Ground Analog Output Ground Host 5 V NC NC NC NC NC NC NC NC NC N...

Page 54: ...o on Assisted Support Options Contact NI engineers and other measurement and automation professionals by visiting ni com ask Our online system helps you define your question and connects you to the ex...

Page 55: ...gs Value p pico 10 12 n nano 10 9 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 ohm 5 V 5 VDC so...

Page 56: ...es low 0 ADC analog to digital 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...

Page 57: ...ors that interconnect individual 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...

Page 58: ...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 c...

Page 59: ...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 spee...

Page 60: ...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...

Page 61: ...fers to a transistor current that can only sink current allowing multiple devices to communicate bidirectionally on a single line P PCI Peripheral Component Interconnect a high performance expansion b...

Page 62: ...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...

Page 63: ...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...

Page 64: ...CCW signal compatibility with third party drives 5 5 description table 5 4 purpose and use 5 5 Axis 1 2 Encoder Index signal description table 5 4 purpose and use 5 9 to 5 10 Axis 1 2 Encoder Phase A...

Page 65: ...ctromagnetic compatibility specifications A 8 embedded real time operating system RTOS 4 2 encoder signals 5 8 to 5 13 Axis 1 2 Encoder Index 5 4 5 9 to 5 10 Axis 1 2 Encoder Phase A 5 4 5 8 to 5 9 Ax...

Page 66: ...inputs 5 13 to 5 15 signal descriptions 5 13 to 5 14 wiring concerns 5 15 connector on PCI 7342 controller figure 5 1 encoder signals 5 8 to 5 13 input circuit 5 11 signal descriptions 5 8 to 5 10 wir...

Page 67: ...and use 5 11 to 5 12 signal connections See digital I O connector motion I O connector RTSI connector software installation 2 1 software programming choices 1 3 to 1 4 specifications digital I O A 6 e...

Page 68: ...al Instruments Corporation I 5 NI PCI 7342 Hardware User Manual W wiring concerns analog inputs 5 15 breakpoint outputs 5 12 encoder signals 5 10 limit and home inputs 5 7 shutdown input 5 12 trigger...

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