National-instruments 7340 PCI User Manual

Motion ControlNational Instruments 7340User ManualNI 7340 User ManualNovember 2003 EditionPart Number 370838A-01

Chapter 1 IntroductionNI 7340 User Manual 1-2 ni.compowerful function set provide high-speed communications while off-loading complex motion functions

Chapter 1 Introduction© National Instruments Corporation 1-3 NI 7340 User ManualSoftware Programming ChoicesNI-Motion is a simple but powerful high-le

Chapter 1 IntroductionNI 7340 User Manual 1-4 ni.comFor more specific information about these products, refer to the National Instruments catalog, the

© National Instruments Corporation 2-1 NI 7340 User Manual2Configuration and InstallationThis chapter describes how to configure and install the PXI/P

Chapter 2 Configuration and InstallationNI 7340 User Manual 2-2 ni.comnot use it until service-trained personnel can check its safety. If necessary, r

Chapter 2 Configuration and Installation© National Instruments Corporation 2-3 NI 7340 User ManualRemove power from signal lines before connection to

Chapter 2 Configuration and InstallationNI 7340 User Manual 2-4 ni.commeters and measurements on primary overcurrent protection devices and on ripple

Chapter 2 Configuration and Installation© National Instruments Corporation 2-5 NI 7340 User Manual♦ PCI-73401. Power off and unplug the computer.Cauti

© National Instruments Corporation 3-1 NI 7340 User Manual3Hardware OverviewThis chapter presents an overview of the PXI/PCI-7340 hardware functionali

Chapter 3 Hardware OverviewNI 7340 User Manual 3-2 ni.comFigure 3-2. Symbols on the Back of the PXI-7340Figure 3-3. PCI-7340 Parts Locator Diagram1

SupportWorldwide Technical Support and Product Informationni.comNational Instruments Corporate Headquarters11500 North Mopac Expressway Austin, Texas

Chapter 3 Hardware Overview© National Instruments Corporation 3-3 NI 7340 User ManualUser ConnectorsThe 68-pin motion I/O connector provides all the s

© National Instruments Corporation 4-1 NI 7340 User Manual4Functional OverviewThis chapter provides an overview of motion control algorithms and the P

Chapter 4 Functional OverviewNI 7340 User Manual 4-2 ni.comEmbedded Real-Time Operating System (RTOS)The embedded firmware is based on an embedded RTO

Chapter 4 Functional Overview© National Instruments Corporation 4-3 NI 7340 User ManualFlash MemoryNonvolatile memory on the 7340 is implemented with

Chapter 4 Functional OverviewNI 7340 User Manual 4-4 ni.comFigure 4-1. Servo Axis ResourcesFigure 4-2. Stepper Axis ResourcesThe 7340 supports axes

Chapter 4 Functional Overview© National Instruments Corporation 4-5 NI 7340 User ManualIf an encoder resource is not needed for axis control, you can

Chapter 4 Functional OverviewNI 7340 User Manual 4-6 ni.comThe communications status register (CSR) provides bits for communications handshaking as we

© National Instruments Corporation 5-1 NI 7340 User Manual5Signal ConnectionsThis chapter describes how to make input and output signal connections di

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-2 ni.comFigure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7340. Table

Chapter 5 Signal Connections© National Instruments Corporation 5-3 NI 7340 User ManualTable 5-1 describes the signals on the motion I/O connector.Tabl

Important InformationWarrantyThe National Instruments 7340 is warranted against defects in materials and workmanship for a period of one year from th

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-4 ni.comMotion Axis SignalsThe following signals control the servo amplifier or stepper driver.• Ana

Chapter 5 Signal Connections© National Instruments Corporation 5-5 NI 7340 User Manual• Axis <1..4> Inhibit—Use the inhibit output signals to co

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-6 ni.comYou can use software disabled limit and home inputs as general-purpose inputs. You can read

Chapter 5 Signal Connections© National Instruments Corporation 5-7 NI 7340 User ManualFigure 5-2. Limit and Home Input CircuitCautionExcessive input

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-8 ni.comof the relative signal phases provide distinct pulse edges that cause count up or count down

Chapter 5 Signal Connections© National Instruments Corporation 5-9 NI 7340 User ManualWiring ConcernsThe encoder inputs are connected to quadrature de

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-10 ni.comFigure 5-4. Encoder Input CircuitTrigger Inputs, Shutdown Input, and Breakpoint OutputsThe

Chapter 5 Signal Connections© National Instruments Corporation 5-11 NI 7340 User ManualYou can program breakpoints as absolute, modulo, or relative po

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-12 ni.comFigure 5-6. Shutdown Input CircuitFigure 5-7. Breakpoint Output CircuitAnalog InputsThe 7

Chapter 5 Signal Connections© National Instruments Corporation 5-13 NI 7340 User ManualYou can configure each ADC channel for motion feedback, simple

ComplianceFCC/Canada Radio Frequency Interference ComplianceDetermining FCC ClassThe Federal Communications Commission (FCC) has rules to protect wir

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-14 ni.comOther Motion I/O ConnectionThe 7340 provides Host +5 V, which is the internal +5 V supply o

Chapter 5 Signal Connections© National Instruments Corporation 5-15 NI 7340 User ManualDigital I/O ConnectorAll the general-purpose digital I/O lines

Chapter 5 Signal ConnectionsNI 7340 User Manual 5-16 ni.comThe 32-bit digital I/O port is configured in hardware as four 8-bit digital I/O ports. The

Chapter 5 Signal Connections© National Instruments Corporation 5-17 NI 7340 User ManualRTSI Signal ConsiderationsThe 7340 motion controller allows you

© National Instruments Corporation A-1 NI 7340 User ManualASpecificationsThis appendix lists the hardware and software performance specifications for

Appendix A SpecificationsNI 7340 User Manual A-2 ni.comServo command analog outputsVoltage range...±10 VResolution...

Appendix A Specifications© National Instruments Corporation A-3 NI 7340 User ManualVoltage range... 0 to 5 VOutput low

Appendix A SpecificationsNI 7340 User Manual A-4 ni.comMinimum pulse width...1 ms with filter enabled; 60 ns without filter enabled

Appendix A Specifications© National Instruments Corporation A-5 NI 7340 User ManualAnalog inputsNumber of inputs ... 8, multi

Appendix A SpecificationsNI 7340 User Manual A-6 ni.comPWM outputsNumber of PWM outputs ...2Maximum PWM frequency...50 kHzResolution...

© National Instruments Corporation v NI 7340 User ManualContentsAbout This ManualConventions ...

Appendix A Specifications© National Instruments Corporation A-7 NI 7340 User ManualMaximum Working Voltage Channel-to-earth...

Appendix A SpecificationsNI 7340 User Manual A-8 ni.comElectromagnetic CompatibilityEmissions...EN 55011

© National Instruments Corporation B-1 NI 7340 User ManualBCable Connector DescriptionsThis appendix describes the connector pinout for the cables tha

Appendix B Cable Connector DescriptionsNI 7340 User Manual B-2 ni.comFigure B-2. 50-Pin Servo Connector Pin AssignmentDigital GroundAxis 4 InhibitTri

© National Instruments Corporation C-1 NI 7340 User ManualCTechnical Support and Professional ServicesVisit the following sections of the National Ins

Appendix C Technical Support and Professional ServicesNI 7340 User Manual C-2 ni.comIf you searched ni.com and could not find the answers you need, co

© National Instruments Corporation G-1 NI 7340 User ManualGlossarySymbol Prefix Valueµ micro 10–6m milli 10–3Mmega106Numbers/Symbols/per± plus or minu

GlossaryNI 7340 User Manual G-2 ni.comaddress character code that identifies a specific location (or series of locations) in memory or on a host PC bu

Glossary© National Instruments Corporation G-3 NI 7340 User Manualbyte eight related bits of data, an eight-bit binary number. Also used to denote the

GlossaryNI 7340 User Manual G-4 ni.comEencoder device that translates mechanical motion into electrical signals; used for monitoring position or veloc

ContentsNI 7340 User Manual vi ni.comOnboard Programs and Buffers...

Glossary© National Instruments Corporation G-5 NI 7340 User ManualHhalf-step mode of a stepper motor—for a two phase motor this is done by alternately

GlossaryNI 7340 User Manual G-6 ni.comLLIFO last in, last out—data buffering technique where the newest values (last in) come out firstlimit switch/en

Glossary© National Instruments Corporation G-7 NI 7340 User ManualOopen-loop refers to a motion control system where no external sensors (feedback dev

GlossaryNI 7340 User Manual G-8 ni.comrelative position destination or target position for motion specified with respect to the current location regar

Glossary© National Instruments Corporation G-9 NI 7340 User ManualVVvoltsVCCpositive voltage supplyvelocity mode move the axis continuously at the sp

© National Instruments Corporation I-1 NI 7340 User ManualIndexNumerics68-pindigital I/O connector, 3-3motion I/O connector, 3-37340analog feedback, 4

IndexNI 7340 User Manual I-2 ni.commotion I/O, 3-3, 5-1motion I/O, 5-1RTSI, 3-3, 5-1conventions used in the manual, viiDDeclaration of Conformity (NI

Index© National Instruments Corporation I-3 NI 7340 User ManualOonboard programs, 4-5Ppin assignments68-pin digital I/O connector, 5-15programming exa

© National Instruments Corporation vii NI 7340 User ManualAbout This ManualThis manual describes the electrical and mechanical aspects of the PXI/PCI-

About This ManualNI 7340 User Manual viii ni.comRelated DocumentationThe following documents contain information you might find helpful as you read th

© National Instruments Corporation 1-1 NI 7340 User Manual1IntroductionThis chapter includes information about the features of the PXI/PCI-7340 contro