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Chapter 4

Functional Overview

©

National Instruments Corporation

4-5

7344/7334 Hardware User Manual

Onboard Programs (7344 only)

The 7344 controller has full onboard programmability with the capability
of executing up to 10 simultaneous motion programs in a real-time
preemptive multitasking environment.

This extremely powerful feature is designed for real-time applications that
need tight synchronization and/or minimum latency—from a motion or
other I/O event—and fast command execution.

You can execute the entire FlexMotion function set from onboard
programs. In addition, the onboard programs support basic math and data
operation functions on up to 120 general-purpose variables.

Implementing part or all of your motion application as an onboard program
or programs offloads the host PC from handling these real-time tasks and
events. This leaves the host PC more available for the other integrated tasks,
such as data acquisition, image processing, user 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 onboard programs from RAM or optionally save them to flash
ROM. The 7344 controller has 64 KB of RAM and 128 KB of ROM
(divided into two 64 KB sectors) for program and object storage. You can
run programs from either RAM or ROM, but you cannot split programs
between the two, and you cannot split programs between the two 64 KB
ROM sectors. With an average command size of 10 bytes, a single program
can be as large as 6,400 commands. As another example, the 7344
controller can simultaneously execute 10 programs, five from RAM and
five from ROM, with each program up to 1,280 commands long.

Note

Refer to the

Onboard Programming Functions

section of the

FlexMotion Software

Reference Manual

, for detailed information on all of these onboard programming features.

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Содержание Motion Control 7334

Страница 1: ...Motion Control 7344 7334 Hardware User Manual 7344 7334 Hardware User Manual May 2001 Edition Part Number 322504B 01...

Страница 2: ...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 7...

Страница 3: ...s 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 neglig...

Страница 4: ...tional 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 I...

Страница 5: ...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 Breakpo...

Страница 6: ...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 Ci...

Страница 7: ...ts 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 sp...

Страница 8: ...es 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 FlexMotio...

Страница 9: ...ou 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 traj...

Страница 10: ...f servo updates at 62 s 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...

Страница 11: ...tware 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 cr...

Страница 12: ...g 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...

Страница 13: ...ftware 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 con...

Страница 14: ...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...

Страница 15: ...ld 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 F...

Страница 16: ...ionality 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 Co...

Страница 17: ...l 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...

Страница 18: ...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 prov...

Страница 19: ...ween 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...

Страница 20: ...formance 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...

Страница 21: ...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 genera...

Страница 22: ...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 consis...

Страница 23: ...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 re...

Страница 24: ...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...

Страница 25: ...ress 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 f...

Страница 26: ...le 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 Fa...

Страница 27: ...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...

Страница 28: ...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 Ax...

Страница 29: ...r 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 p...

Страница 30: ...lso 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...

Страница 31: ...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 ampli...

Страница 32: ...res 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...

Страница 33: ...ry 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 encod...

Страница 34: ...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 usef...

Страница 35: ...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 kno...

Страница 36: ...nputs 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 k 1 8 W From the ext...

Страница 37: ...ontroller 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...

Страница 38: ...asured 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 refer...

Страница 39: ...ort 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...

Страница 40: ...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 optoc...

Страница 41: ...lso 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 E...

Страница 42: ...y 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 co...

Страница 43: ...250 s 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...

Страница 44: ...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...

Страница 45: ...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...

Страница 46: ...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 s Multiplexor scan rate 50 s enabled ch...

Страница 47: ...ge 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 Inter...

Страница 48: ...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 conne...

Страница 49: ...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...

Страница 50: ...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 Rev...

Страница 51: ...ess 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...

Страница 52: ...eb 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...

Страница 53: ...s 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 sou...

Страница 54: ...gital 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 r...

Страница 55: ...ividual 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...

Страница 56: ...or 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 co...

Страница 57: ...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...

Страница 58: ...antifying 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...

Страница 59: ...ystem 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 origi...

Страница 60: ...n 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 t...

Страница 61: ...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...

Страница 62: ...tput 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 re...

Страница 63: ...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 E...

Страница 64: ...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...

Страница 65: ...0 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 softw...

Страница 66: ...4 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 t...

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