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Motion Control

7344 Hardware User Manual

7344 Hardware User Manual

July 1999 Edition

Part Number 322504A-01

Содержание Motion Control 7344

Страница 1: ...Motion Control 7344 Hardware User Manual 7344 Hardware User Manual July 1999 Edition Part Number 322504A 01...

Страница 2: ...1 48 14 24 24 Germany 089 741 31 30 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Mexico D F 5 280 7625 Mexico Monterrey 8 357 7695 Nethe...

Страница 3: ...LITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instrumen...

Страница 4: ...nnections 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 Test Connectors...

Страница 5: ...nnections Motion I O Connector 5 1 Motion Axis Signals 5 4 Limit and Home Inputs 5 5 Wiring Concerns 5 6 Limit and Home Input Circuit 5 6 Encoder Signals 5 7 Encoder 1 4 Phase A Phase B 5 7 Encoder 1...

Страница 6: ...gure 5 1 68 Pin Motion I O Connector Pin Assignment 5 2 Figure 5 2 Limit and Home Input Circuit 5 7 Figure 5 3 Quadrature Encoder Phasing Diagram 5 8 Figure 5 4 Encoder Input Circuit 5 9 Figure 5 5 Tr...

Страница 7: ...ollowing conventions appear in this manual Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name for example DBIO 3 0 This icon...

Страница 8: ...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...

Страница 9: ...ither servo or stepper motor control You can use these controllers for all position and velocity control applications including the following Point to point positioning Velocity profiling 3 D Linear i...

Страница 10: ...ronment Motion profiles are controlled with enhanced PID PIVff servo updates at 62 s per axis and encoder feedback rates up to 20 MHz Each axis has motion I O for end of travel limit and home switch i...

Страница 11: ...nts Application Software LabVIEW and BridgeVIEW based on the graphical programming language G feature interactive graphics and a state of the art user interface In LabVIEW and BridgeVIEW you can creat...

Страница 12: ...d 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 inform...

Страница 13: ...re so there are no jumpers to set for motion I O configuration The PCI 7344 and PXI 7344 controllers are fully compatible with the PCI Local Bus Specification Revision 2 1 The FW 7344 controller is fu...

Страница 14: ...rock the board to ease it into place It may be a tight fit but do not force the board into place 5 If available screw the mounting bracket of the 7344 controller to the back panel rail of the compute...

Страница 15: ...es 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...

Страница 16: ...PXI 7344 for PXI bus computers FW 7344 for 1394 bus computers Figures 3 1 and 3 2 show the PCI 7344 and PXI 7344 parts locator diagrams Figure 3 3 shows the FW 7344 back panel Figure 3 1 PCI 7344 Par...

Страница 17: ...l 3 Serial Number Label 4 14 Pin Test Connector 5 ADSP 2185 DSP 6 MC68331 CPU 7 68 Pin Digital I O Connector 8 68 Pin Motion I O Connector 1 1394 Connectors 2 Power Connector 3 RTSI Connector 4 Expans...

Страница 18: ...rfaces for production testing and troubleshooting These connectors may or may not be installed during the manufacturing process Do not plug anything into these connectors Caution Misuse of these reser...

Страница 19: ...rmance The 7344 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 i...

Страница 20: ...grator windup by limiting the contribution on the integral sum A derivative sample time multiplier to minimize quantization induced torque noise and to control the effect of the derivative gain Veloci...

Страница 21: ...ting a stop or kill motion function Motion is automatically halt stopped if an enabled limit or home input signal becomes active during the move Note Refer to the FlexMotion Software Reference Manual...

Страница 22: ...pdate the axis accurately tracks the ratio of the master position velocity For example setting a gear ratio of 3 2 results in the slave axis rotating three revolutions for every two revolutions of the...

Страница 23: ...des the high sampling rates required for PID feedback loop closure joystick inputs or monitoring analog sensors Four of these channels are intended for calibration leaving the other four available for...

Страница 24: ...resource Closed loop stepper axes also require a feedback resource open loop stepper axes do not These axis configurations are shown in Figures 4 1 and 4 2 With the 7344 controller you configure an ax...

Страница 25: ...you can reuse the signals as general purpose I O by disabling their indicated function The 7344 controller supports axes with optional secondary feedback resources encoders or ADCs and or secondary ou...

Страница 26: ...Figure 4 3 shows a single three axis vector space Figure 4 3 3D Vector Space Vector spaces facilitate 2D and 3D interpolation linear circular helical and spherical You can send many FlexMotion comman...

Страница 27: ...s 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...

Страница 28: ...coder The program records the index position and returns the axis to the captured position plus or minus an optional programmable offset The encoder index mark is accurate to one quadrature count and...

Страница 29: ...ch word in a packet is sent over the host PC bus after checking the Ready to Receive RTR handshaking bit in the CSR Refer to the Read Communication Status read_csr function in the FlexMotion Software...

Страница 30: ...troller generates an error and sets the error message bit in the CSR Note Refer to the FlexMotion Software Reference Manual for more information on RDB buffering and readback Error Stack To handle run...

Страница 31: ...y event additional error messages are thrown away Notes Refer to the Error Codes section of the FlexMotion Software Reference Manual for additional information on types of errors and possible reasons...

Страница 32: ...rom simple screw terminal blocks to enhanced UMI units and drives Caution Turn off power to all devices when connecting or disconnecting the 7344 controller motion I O and auxiliary digital I O cables...

Страница 33: ...ir CCW Axis 1 Inhibit 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 In...

Страница 34: ...tch Digital 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 limi...

Страница 35: ...ommand outputs for each axis The 7344 controller supports both major industry standards for stepper command signals step and direction or independent CW and CCW pulse outputs The output configuration...

Страница 36: ...ifier 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 li...

Страница 37: ...the correct edge of the home switch and to approach it from the desired direction Note After a Find Home sequence is complete the home input should be disabled since it is no longer required assuming...

Страница 38: ...otentiometer encoder inputs or as a master encoder input for master slave electronic gearing applications The encoder channels Encoder 1 4 are implemented in a FPGA and are high performance with exten...

Страница 39: ...initiate a search move that locates the index position When a valid Index signal transition occurs during a Find Index sequence the position of the Index signal is captured very accurately You then u...

Страница 40: ...support the 90 phase difference within system tolerance The Index signal is optional but highly recommended and required for initialization functionality with the Find Index function Figure 5 4 Encode...

Страница 41: ...o or Relative position Breakpoints are one shot and must be enabled and re enabled each time they occur to function properly The Enable Breakpoint function also allows you to preset the breakpoint out...

Страница 42: ...ler has the following ADC input signals Analog Input 1 4 The 7344 controller includes an eight channel multiplexed 12 bit ADC capable of measuring 10 V 5 V 0 10 V and 0 5 V inputs ADC channels 1 throu...

Страница 43: ...e unused ADC channels for the highest multiplexer scan rate performance Properly enabled the scan rate is high enough to support analog feedback at the highest PID sample rate Analog Reference For con...

Страница 44: ...es other motion I O connections as follows Host 5 V This is the host computer s internal 5 V supply It is used to detect when the host computer is powered and as an interlock to shut down external mot...

Страница 45: ...l 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 Po...

Страница 46: ...stay in the same state In this way an individual bit or bits can be set or reset without worrying about the values of the other bits in the port Of course the entire port can also be set or reset at...

Страница 47: ...xis synchronization 1 update sample Position accuracy Encoder feedback 1 quadrature count Analog feedback 1 LSB Long term velocity accuracy Oscillator based 100 ppm Double buffered trajectory paramete...

Страница 48: ...8 to 32 767 Stepper Performance Trajectory update rate range 62 5 to 500 s sample Max update rate 62 5 s axis 4 axis update rate 250 s total Multi axis synchronization 1 update sample Position accurac...

Страница 49: ...ge Open collector with built in 3 3 k pull 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...

Страница 50: ...Home Trigger inputs Number of inputs 4 Encoders 1 through 4 Voltage range 0 to 12 V Input low voltage 0 8 V Input high voltage 2 V Polarity Programmable active high or active low Min pulse width 83 ns...

Страница 51: ...xis off Analog inputs Number of inputs 8 multiplexed Number for user signals 4 Number for calibration 4 Voltage range 10 V 5 V 0 10 V 0 5 V Input resistance 10 k min Resolution 12 bits Analog referenc...

Страница 52: ...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 Number of PWM outputs 2...

Страница 53: ...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...

Страница 54: ...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 55: ...gital 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 Revers...

Страница 56: ...ions FAQs and their corresponding answers or solutions including special sections devoted to our newest products The database is updated daily in response to new customer experiences and feedback Trou...

Страница 57: ...h offices maintain a Web site to provide information on local services You can access these Web sites from www natinst com worldwide If you have trouble connecting to our Web site please contact your...

Страница 58: ...e 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 percent plus or minus positive of or plus negative of or minus per ohm percent 5 V 5 VDC s...

Страница 59: ...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 ampl...

Страница 60: ...le 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 cloc...

Страница 61: ...on 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 resol...

Страница 62: ...teps 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...

Страница 63: ...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 propo...

Страница 64: ...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 maxim...

Страница 65: ...o 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...

Страница 66: ...t 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 mo...

Страница 67: ...ound signal description table 5 3 purpose and use 5 4 Analog Reference signal description table 5 3 purpose and use 5 12 axes overview 4 6 to 4 7 servo axis resources figure 4 6 stepper axis resources...

Страница 68: ...tor pin assignments figure 5 14 description 5 15 PWM features 5 15 specifications A 6 documentation about this manual ix conventions used in manual ix related documentation x dual processor architectu...

Страница 69: ...iagram figure 3 2 test connectors 3 3 user connectors 3 3 Host 5 V signal description table 5 3 purpose and use 5 13 host communications 4 10 to 4 13 error stack 4 12 to 4 13 packets handshaking and F...

Страница 70: ...1 to C 2 O onboard programs 4 9 to 4 10 Find Home 4 10 Find Index 4 10 online problem solving and diagnostic resources C 1 optional equipment 1 4 P packets in host communications 4 11 parts locator di...

Страница 71: ...nerators 4 2 to 4 5 electronic gearing 4 4 linear and circular interpolation 4 4 to 4 5 move blending 4 3 to 4 4 trapezoidal point to point position control 4 3 velocity control 4 3 trapezoidal point...

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