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National Instruments Corporation

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NI PCI-7390 User Manual

Contents

About This Manual

Conventions ...................................................................................................................vii
Related Documentation..................................................................................................viii

Chapter 1
Introduction

About the PCI-7390 Controller......................................................................................1-1

Features............................................................................................................1-1
Hardware .........................................................................................................1-2
RTSI ................................................................................................................1-2

What You Need to Get Started ......................................................................................1-2
Software Programming Choices ....................................................................................1-3
National Instruments Application Software ..................................................................1-3
Optional Equipment .......................................................................................................1-4

Chapter 2
Configuration and Installation

Software Installation ......................................................................................................2-1
Controller Configuration................................................................................................2-1
Safety Information .........................................................................................................2-2
Hardware Installation.....................................................................................................2-4

Chapter 3
Hardware Overview

User Connectors.............................................................................................................3-2
Functional Overview......................................................................................................3-3

Dual Processor Architecture............................................................................3-3

Embedded Real-Time Operating System..........................................3-4
Trajectory Generators .......................................................................3-4
Flash Memory ...................................................................................3-4

Axes and Motion Resources ............................................................................3-5

Axes ..................................................................................................3-5
Motion Resources .............................................................................3-6

Host Communications .....................................................................................3-6

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Содержание PCI-7390

Страница 1: ...Motion Control NI PCI 7390 User Manual NI PCI 7390 User Manual November 2005 371520A 01...

Страница 2: ...orea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 3390150 Portugal 35...

Страница 3: ...lood accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mec...

Страница 4: ...t of Communications DOC Changes or modifications not expressly approved by NI could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission Thi...

Страница 5: ...3 National Instruments Application Software 1 3 Optional Equipment 1 4 Chapter 2 Configuration and Installation Software Installation 2 1 Controller Configuration 2 1 Safety Information 2 2 Hardware I...

Страница 6: ...for Input Voltages Higher Than 5 V 4 12 Wiring Concerns 4 13 Trigger Position Capture Inputs 4 13 Trigger Position Capture Input Circuit 4 14 Breakpoint Position Compare Outputs 4 14 Breakpoint Posit...

Страница 7: ...otes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash When this symbol is marked on a p...

Страница 8: ...this document for general information about the NI Motion product Measurement Automation Explorer Help for Motion Refer to this document for configuration information NI Motion Function Help Refer to...

Страница 9: ...asonic Minas A drives The PCI 7390 provides fully programmable motion control for up to four independent or coordinated axes of motion with dedicated motion I O for limit and home switches and additio...

Страница 10: ...t drive enable output shutdown input alarm clear output and encoder feedback The PCI 7390 also has eight non dedicated user inputs and eight non dedicated user outputs RTSI The PCI 7390 supports the N...

Страница 11: ...s for custom automation data acquisition test measurement and control solutions National Instruments offers the NI Motion VI Library which is a series of virtual instruments VIs for using LabVIEW with...

Страница 12: ...w terminal wiring aids Motion Connection Accessory MCA wiring connectivity blocks for easy and direct connections to Mitsubishi NI part number 779612 01 Panasonic NI part number 779613 01 and Yaskawa...

Страница 13: ...Configuration Because motion I O related configuration of the PCI 7390 is performed entirely with software it is not necessary to set jumpers for motion I O configuration However it is necessary to se...

Страница 14: ...rated enclosure If you need to clean the device use a soft nonmetallic brush Make sure that the device is completely dry and free from contaminants before returning it to service Operate the device o...

Страница 15: ...egory refers to local level electrical distribution such as that provided by a standard wall outlet for example 115 AC voltage for U S or 230 AC voltage for Europe Examples of Installation Category II...

Страница 16: ...se access to the PCI expansion slots 3 Choose an unused 3 3 V or 5 V PCI slot and remove the corresponding expansion slot cover on the back panel of the computer Caution Do not insert or remove any PC...

Страница 17: ...the controller before you power on the rest of the motion system Power off in the reverse order 8 Plug in and power on the computer then the 24 V external power supply 9 Initialize the controller Not...

Страница 18: ...llustrate the functional components of the PCI 7390 Figure 3 1 PCI 7390 Parts Locator Diagram Front 1 Jumpers for Selecting Output Type Sinking or Sourcing 2 Non Volatile Flash Memory 3 FPGA 4 RTSI Co...

Страница 19: ...ibit alarm inputs and in position inputs The connector also can provide shutdown emergency stop input drive servo ready inputs inhibit drive enable outputs alarm clear outputs and general purpose inpu...

Страница 20: ...ual Processor Architecture The PCI 7390 can perform up to four axes of simultaneous motion control in a preemptive multitasking real time environment An advanced dual processor architecture that uses...

Страница 21: ...d is then sent to the stepper pulse generator To implement infinite trajectory control the PCI 7390 controller has eight trajectory generators implemented in the DSP chip two per axis Each generator c...

Страница 22: ...an axis consists of a trajectory generator a stepper control block and a stepper pulse generator output Closed loop stepper axes require a feedback resource while open loop stepper axes do not Figure...

Страница 23: ...able These signals can be used for general purpose digital I O when they are not being used for their motion specific purpose Note When a resource is mapped to an axis all features and functions of th...

Страница 24: ...on Accessory MCA units Refer to Appendix B Signal Connections for more information about the MCA units Caution Do not connect or disconnect the PCI 7390 controller I O cable without first disconnectin...

Страница 25: ...Phase A Axis 4 Encoder Phase B Axis 4 Encoder Phase B Axis 4 Index Encoder Phase Z Axis 4 Index Encoder Phase Z Isolated Ground Axis 4 Step CW Axis 4 Step CW Axis 4 Dir CCW Axis 4 Dir CCW Axis 4 Break...

Страница 26: ...alarm or fault signal from the drive Axis 1 4 In Position VI_COM 1 4 Input Move complete status signal from the drive Axis 1 4 Home Switch VI_COM 1 4 Input Home switch Axis 1 4 Forward Limit Switch VI...

Страница 27: ...ive Enable Isolated Ground Output Drive inhibit Optional general purpose output functionality Axis 1 4 Alarm Clear Servo Alarm Clear Isolated Ground Output Clears an alarm output from the drive Isolat...

Страница 28: ...th various third party drives as follows When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output signal level indicates the...

Страница 29: ...of travel and or at a specific home position You can use software to enable and disable limit and home inputs at any time When enabled an active limit or home input causes a full torque halt stop of t...

Страница 30: ...positive end of travel and the reverse limit at the negative end of travel Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially da...

Страница 31: ...onsists of differential Phase A Phase B and Index Phase Z inputs as described in the following sections The encoder inputs are optically isolated differential and RS 422 compatible The encoder input i...

Страница 32: ...ansition states of the relative signal phases provide distinct pulse edges that cause count up or count down pulses in the direction determined by the leading phase A typical encoder with a specificat...

Страница 33: ...g Diagram You can set the index reference criteria in MAX to change the pattern of phases A and B for the index search You also can set the encoder polarity for phases A B and Z in MAX Encoders with d...

Страница 34: ...ts and sourcing outputs respectively Both phases A and B are required for proper encoder counter operation The encoder and Index Phase Z signals are conditioned by a software programmable digital filt...

Страница 35: ...xternal resistor REXT must be included Note Use a resistor tolerance of 5 or better for REXT Caution Failure to include the resistor with the specified resistance will permanently damage the encoder i...

Страница 36: ...apture Inputs The PCI 7390 offers additional high performance encoder features The encoder channels have position capture trigger inputs These signals are useful for high speed synchronization of moti...

Страница 37: ...operation and or component failure Breakpoint Position Compare Outputs The PCI 7390 offers additional high performance encoder features The encoder channels have position compare breakpoint outputs Th...

Страница 38: ...g general purpose inputs Axis 1 4 Drive Servo Ready When enabled in software the drive ready input can be connected to the drive ready output or servo ready output of the drive It is a drive status si...

Страница 39: ...uses a kill motion condition such as exceeding the following error limit Axis 1 4 Alarm Clear Alarm clear outputs are used to clear the alarm or fault outputs on a p command drive General Purpose Outp...

Страница 40: ...e the jumper across SRC and OUT To set the output bit as a sinking output bit place the jumper across OUT and SNK Refer to Figure 4 12 for the jumper placement Table 4 3 shows the relationship between...

Страница 41: ...side switch as shown in Figure 4 15 or a low side switch as shown in Figure 4 16 Figure 4 13 Limit Home Inhibit In Alarm In Position and General Purpose Input Circuit Connected to a Sourcing Output D...

Страница 42: ...t Connected to a Sinking Output Device Figure 4 15 Limit Home Inhibit In Alarm In Position and General Purpose Input Circuit Connected to a High Side Switch Optocoupler Vcc RLIMIT PCI 7390 V Out Axis...

Страница 43: ...ify that your input voltage is within the specification range The input active state of these signals is software programmable for active open or active closed Active open refers to a state where the...

Страница 44: ...for trigger inputs or as destinations for breakpoint outputs and encoder signals Breakpoint outputs are output only signals that generate an active high pulse of 200 ns duration as shown in Figure 4 1...

Страница 45: ...xis synchronization 1 update period Position accuracy Open loop stepper 1 full half or microstep Encoder feedback 1 quadrature count Double buffered trajectory parameters Position range 231 steps Maxi...

Страница 46: ...Differential RS 422 compatible Voltage range 0 to 30 V1 optically isolated Input on voltage 3 V at 5 V1 Input off voltage 1 V at 5 V1 Turn on current 14 mA maximum Forward reverse and home inputs Num...

Страница 47: ...nputs Number of inputs 4 Encoders 1 through 4 Input type Sinking Voltage range 0 to 5 V optically isolated Input on voltage 3 V Input off voltage 1 V Turn on current 14 mA maximum Active state Program...

Страница 48: ...active closed Optional functionality Shutdown input drive servo ready input Outputs Number of outputs 8 Minimum pulse width 10 s Output type Sinking or sourcing jumper selectable Switching voltage 0...

Страница 49: ...s 5 V 5 600 mA maximum 12 V 5 50 mA maximum Physical Characteristics Motion I O connector 100 pin SCSI Dimensions 17 8 9 9 cm 7 03 3 9 in Weight 134 g 4 7 oz Maximum Working Voltage Caution These valu...

Страница 50: ...g standards of safety for electrical equipment for measurement control and laboratory use IEC 61010 1 EN 61010 1 UL 61010 1 CAN CSA C22 2 No 61010 1 Note For UL and other safety certifications refer t...

Страница 51: ...CE marking as follows Low Voltage Directive safety 73 23 EEC Electromagnetic Compatibility Directive EMC 89 336 EEC Note Refer to the Declaration of Conformity DoC for this product for any additional...

Страница 52: ...PCI 7390 connect two 20 pin cables from the drive to the MCA 7790M then connect a SCSI 100 pin cable from the MCA 7790M to the PCI 7390 Finally connect the MCA 7790M to a 24 V power supply using the I...

Страница 53: ...MCA 7790M to the PCI 7390 and from the drive to the MCA 7790M Table B 1 Axis I O 1 through 4 to PCI 7390 and Mitsubishi J2S Series Drive Accessory Pin Number PCI 7390 Signal Drive Signal 1 Isolated Gr...

Страница 54: ...mit selection 22 TLA Analog torque limit 23 VLA Analog speed limit 24 DO1 Digital output Refer to Figure 4 1 100 Pin I O Connector Pin Assignments for information about the 100 pin cable pin assignmen...

Страница 55: ...g an external shutdown emergency stop signal to the drive leave the jumpers in the default configuration This connects the EMG input of the drive to isolated ground In this configuration the drive is...

Страница 56: ...ergency Stop Signals to Controller and Drive Remove the jumper In this configuration the EMG input of the drive is only connected to the EMG pin on the Axis I O screw terminal Connect separate shutdow...

Страница 57: ...hase Axis 1 4 Encoder Phase B 7 LB Encoder B phase Axis 1 4 General Purpose Output 0 8 CR Clear 24 V 9 COM power supply input signal Isolated Ground 10 SG Digital I F common NC 11 OPC Open collector p...

Страница 58: ...imit control NC 7 LOP SP2 Control change Speed selection 2 PC 8 PC ST1 RS2 Proportion control TL 9 TL ST2 RS1 Torque limit selection Isolated Ground 10 SG Digital I F common NC 11 P15R 15 VDC power su...

Страница 59: ...tween the drive and the controller set the general purpose output jumper on the PCI 7390 for sinking The MCA 7790P internally connects VI_COM 1 4 to 24 V which configures all PCI 7390 inputs as sourci...

Страница 60: ...break release 16 BRK OFF Mechanical break release 17 Isolated Ground 18 DIV Command pulse scalar switch 19 SP Velocity monitor output 20 IM Torque monitor output 21 TLC Torque in limit 22 C MODE Contr...

Страница 61: ...re directly connected to the 24 V screw terminal input Table B 5 CN I F Cable Pin Assignments Accessory Signal Pin Number Drive Signal NC No connection 1 NC NC 2 NC Axis 1 4 Step CW 3 PULS1 Command pu...

Страница 62: ...OZ Z phase output Axis 1 4 Index Encoder Phase Z 24 OZ Z phase output Isolated Ground 25 GND Signal ground ZEROSPD 26 ZEROSPD Speed zero clamp GAIN 27 GAIN Gain switching DIV 28 DIV Command pulse sca...

Страница 63: ...Isolated Ground 41 COM Control signal power IM 42 IM Torque monitor output SP 43 SPM Velocity monitor output NC 44 BATT Battery NC 45 BATT Battery NC 46 NC NC 47 NC Axis 1 4 Encoder Phase B 48 OB B ph...

Страница 64: ...tibility between the drive and the controller set the general purpose output jumper on the PCI 7390 for sinking The MCA 7790Y internally connects VI_COM 1 4 to 24 V which configures all PCI 7390 input...

Страница 65: ...n input 16 T REF Torque reference input 17 V REF Reference speed input 18 SEN SEN signal input 19 TGON TGON signal output 20 TGON TGON signal output 21 24 V 22 Isolated Ground 23 N CL Reverse current...

Страница 66: ...s are directly connected to the 24 V screw terminal input Table B 7 CN1 Cable Pin Assignments Accessory Signal Pin Number Drive Signal Isolated Ground 1 SG Signal ground Isolated Ground 2 SG Signal gr...

Страница 67: ...attery NC 22 BAT Battery NC 23 NC NC 24 NC Axis 1 4 In Position 25 V CMP COIN Speed coincidence detection output Isolated Ground 26 V CMP COIN Speed coincidence detection output TGON 27 TGON TGON sign...

Страница 68: ...pose Output 1 40 S ON Servo ON input P_CON 41 P CON P operation input Isolated Ground 42 P OT Forward overtravel input Isolated Ground 43 N OT Reverse overtravel input ALM_RS 44 ALM RST Alarm reset in...

Страница 69: ...nstruments Application Engineers make sure every question receives an answer For information about other technical support options in your area visit ni com services or contact your local office at ni...

Страница 70: ...need contact your local office or NI corporate headquarters Phone numbers for our worldwide offices are listed at the front of this manual You also can visit the Worldwide Offices section of ni com n...

Страница 71: ...ro 0 while making a move absolute position Position relative to zero active closed A signal is active when current is flowing through the optocoupled input active high A signal is active when its valu...

Страница 72: ...r system with a base of 2 buffer Temporary storage for acquired or generated data software bus The group of conductors that interconnect individual circuitry in a computer Typically a bus is the expan...

Страница 73: ...ween 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 filter...

Страница 74: ...ps 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...

Страница 75: ...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 co...

Страница 76: ...utput stage O open loop Refers to a motion control system where no external sensors feedback devices are used to provide position or velocity correction signals P PCI peripheral component interconnect...

Страница 77: ...tion Destination or target position for motion specified with respect to the current location regardless of its value relative position mode Treat the target position loaded as position relative to cu...

Страница 78: ...profile A typical motion trajectory where a motor accelerates up to the programmed velocity using the programmed acceleration traverses at the programmed velocity then decelerates at the programmed ac...

Страница 79: ...nput 4 15 Encoder Index Phase Z 4 9 Encoder Phase A and Phase B 4 9 Forward Limit Input 4 6 Home Input 4 6 Inhibit In Alarm Input 4 7 Inhibit Out 4 16 In Position Input 4 7 Reverse Limit Input 4 6 Ste...

Страница 80: ...3 4 G general purpose inputs 4 15 outputs 4 16 general purpose inputs input circuit 4 18 General Purpose Output Supply input 4 16 general purpose outputs jumper configuration 4 17 ground connections h...

Страница 81: ...ls table B 8 CN I F cable signals B 10 LED indicators B 8 MCA 7790Y Axis I O to PCI 7390 signals table B 13 CN1 cable signals B 15 LED indicators B 13 Motion Assistant 1 3 Motion Connection Accessorie...

Страница 82: ...utput device connection 4 18 specifications CE compliance A 7 electromagnetic compatibility A 6 environment A 6 general purpose digital I O A 4 motion I O A 2 physical A 5 power characteristics A 5 po...

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