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Chapter 3
Hardware Overview
The RTSI bus can also be used for general-purpose I/O. Refer to Chapter 4,
,
for details about RTSI connector signals.
Functional Overview
This section provides an overview of the motion control algorithms and the NI PXI/PCI-7330
capabilities.
Dual Processor Architecture
With the NI 7330 motion controller, you can perform up to four axes of simultaneous,
coordinated motion control in a preemptive, multitasking, real-time environment.
An advanced dual-processor architecture that uses a real-time 32-bit CPU combined with a
digital signal processor (DSP) and custom FPGAs give the NI 7330 motion controllers
high-performance capabilities. The FIFO bus interface and powerful function set provide
high-speed communications while off-loading complex motion functions from the host PC for
optimized system performance.
The NI 7330 motion controller uses the DSP for all closed-loop control 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 functionality.
The embedded CPU runs a multitasking, real-time operating system and handles host
communications, command processing, multi-axis interpolation, error handling,
general-purpose digital I/O, and overall motion system integration functions.
Embedded Real-Time Operating System (RTOS)
The embedded firmware is based upon an embedded RTOS kernel and provides optimum
system performance in varying motion applications. Motion tasks are prioritized. Task
execution order depends on the priority of each task, the state of the entire motion system, I/O
or other system events, and the real-time clock.
The DSP chip is a separate processor that operates independently from the CPU but is closely
synchronized. The NI 7330 motion controller is a true multiprocessing and multitasking
embedded controller.
Refer to the
NI-Motion Help
for more information about the features available on the NI 7330
motion controller.
Trajectory Generators
The NI 7330 motion controller trajectory generators calculate the instantaneous position
command that controls acceleration and velocity while it moves the axis to its target position.
This command is then sent to the stepper pulse generator.
