National Instruments Motion Control 7334 User Manual
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National Instruments Motion Control 7334 User Manual

National Instruments Motion Control 7334 User Manual

Combination of servo and stepper motor controllers for pci, pxi, and 1394 bus computers
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Motion Control
7344/7334 Hardware

User Manual

7344/7334 Hardware User Manual
May 2001 Edition
Part Number 322504B-01

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  • Page 1: User Manual

    Motion Control 7344/7334 Hardware User Manual 7344/7334 Hardware User Manual May 2001 Edition Part Number 322504B-01...
  • Page 2 Sweden 08 587 895 00, Switzerland 056 200 51 51, Taiwan 02 2528 7227, United Kingdom 01635 523545 For further support information, see the Technical Support Resources appendix. To comment on the documentation, send e-mail to techpubs@ni.com Copyright © 1999, 2001 National Instruments Corporation. All rights reserved.

  • Page 3: Important Information

    The reader should consult National Instruments if errors are suspected. In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it.

  • Page 4: Table Of Contents

    Contents About This Manual Conventions ...ix Related Documentation...x Chapter 1 Introduction About the 7344/7334 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 Motion I/O Connections ...1-4...
  • Page 5 Wiring Concerns... 5-13 Other Motion I/O Connections ... 5-13 Digital I/O Connector ... 5-14 PWM Features... 5-15 RTSI Connector... 5-15 RTSI Signal Considerations... 5-16 Appendix A Specifications Appendix B Cable Connector Descriptions Appendix C Technical Support Resources 7344/7334 Hardware User Manual ni.com...
  • Page 6 PCI-7344 Parts Locator Diagram ...3-1 Figure 3-2. PXI-7344 Parts Locator Diagram...3-2 Figure 3-3. FW-7344 Back Panel...3-2 Figure 3-4. PCI-7334 Parts Locator Diagram ...3-3 Figure 4-1. Servo Axis Resources...4-3 Figure 4-2. Stepper Axis Resources...4-4 Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment ...5-2 Figure 5-2.

  • Page 7: About This Manual

    7344/7334 family. The 7344/7334 family of controllers includes the following controllers: • • • • The 7344/7334 controllers are designed for PCI, PXI, and 1394 bus computers. Refer to the related terms. Conventions The following conventions appear in this manual: <>...

  • Page 8: Related Documentation

    The following documents contain information that you might find helpful as you read this manual: • • • • • 7344/7334 Hardware User Manual FlexMotion Software Reference Manual FlexMotion Software Reference online help FlexMotion VI online help PCI Local Bus Specification, Revision 2.1 Your computer’s technical reference manual ni.com...

  • Page 9: Introduction

    Introduction This chapter describes the FlexMotion 7344 and 7334 controllers and their operation. About the 7344/7334 Controller Thank you for purchasing a 7344/7334 controller. The 7344/7334 controller features advanced motion control with easy-to-use software tools and add-on motion VI libraries for use with LabVIEW.

  • Page 10: Hardware

    DAQ, or IMAQ devices. What You Need to Get Started To set up and use your 7344/7334 controller, you will need the following: ❑ 7344/7334 Hardware User Manual One of the 7344/7334 controllers: –...

  • Page 11: Software Programming Choices

    ❑ ❑ Software Programming Choices Programming your 7344/7334 controller is straightforward using a simple but powerful high-level function set application programming interface (API). All setup and motion control functions are easily executed by calling into either a static or dynamically linked library (DLL). These libraries are callable from C, Visual Basic, and other high-level languages.

  • Page 12: Optional Equipment

    Instruments catalog, on the Internet at Instruments sales representative. Motion I/O Connections The external motion and digital I/O connectors on the 7344/7334 controller are high-density, 68-pin female VHDCI connectors. For custom cables, use the following mating connector from AMP (part number 787801-01).

  • Page 13: Configuration And Installation

    Software Installation Install your FlexMotion software, along with your Motion VI libraries (if appropriate) before you install the 7344/7334 controller. Refer to the release notes included with your 7344/7334 controller for specific instructions on the software installation sequence for your host PC.
  • Page 14 Remove the expansion slot connector port cover on the back panel of the computer if installed. 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.
  • Page 15 This LED should blink once when you first plug in your controller. If you are transferring a large amount of data, this light should be on or blinking continuously. Chapter 2 Configuration and Installation 7344/7334 Hardware User Manual...

  • Page 16: Hardware Overview

    Hardware Overview This chapter presents an overview of the 7344/7334 controller hardware functionality. 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. 1 RTSI Connector 2 Assembly Number Label 3 Serial Number Label ©...

  • Page 17: Figure 3-2. Pxi-7344 Parts Locator Diagram

    Hardware Overview 1 Assembly Number Label 2 Serial Number Label NATIONAL INSTRUMENTS 1 1394 Connectors 2 Power Connector 7344/7334 Hardware User Manual 3 ADSP 2185 DSP 4 MC68331 CPU Figure 3-2. PXI-7344 Parts Locator Diagram RTSI EXPANSION 9-25 VDC, 1394...

  • Page 18: User Connectors

    I/O. Refer to Chapter 5, signals in the digital I/O connector. © National Instruments Corporation 4 68-Pin Digital I/O Connector 5 68-Pin Motion I/O Connector Figure 3-4. PCI-7334 Parts Locator Diagram Signal Signal Chapter 3 Hardware Overview 6 MC68331 CPU...
  • Page 19 Hardware Overview The RTSI connector provides up to seven triggers and one high-speed clock signal to facilitate synchronization between 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 based on events external to the motion controller.

  • Page 20: Functional Overview

    PC for optimized system performance. 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 chip is supported...

  • Page 21: Trajectory Generators

    ROM. This means that the 7344/7334 controller can electrically erase and reprogram its own ROM. Since all the embedded firmware, including the RTOS and DSP code, of the 7344/7334 is stored in flash memory, you can upgrade the onboard firmware contents in the field for support and new feature enhancement.

  • Page 22: Axes And Motion Resources

    Axes and Motion Resources The 7344/7334 controller can control up to four axes of motion. The axes can be completely independent, simultaneously coordinated, or mapped in multidimensional groups called vector spaces. You can also synchronize vector spaces for multi-vector space coordinated motion control.

  • Page 23: Motion Resources

    øB Interface Index The 7344/7334 controller supports axes with secondary output resources (DACs for servo axes or stepper outputs). Defining two output resources is useful when controlling axes with multiple motors, such as gantry systems, where two DAC outputs can be configured with different torque limits and/or offsets.

  • Page 24: Onboard Programs (7344 Only)

    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. © National Instruments Corporation Chapter 4 7344/7334 Hardware User Manual Functional Overview...

  • Page 25: Host Communications

    Chapter 4 Functional Overview Host Communications The host computer communicates with a 7344/7334 controller through a number of memory port addresses on the host bus. The host bus can be any of the supported bus standards—PCI, PXI, or 1394. The primary bidirectional data transfer port is at the base address of the controller.

  • Page 26: Signal Connections

    Turn off power to all devices when connecting or disconnecting the Caution 7344/7334 controller motion I/O and auxiliary digital I/O cables. Failure to do so may damage the 7344/7334 controller. Motion I/O Connector The motion I/O connector contains all of the signals required to control up...

  • Page 27: Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment

    Chapter 5 Signal Connections Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector on the 7344/7334 controller. A signal description follows the connector pinout. In this chapter, lines above signal names indicate that the signal is active-low.

  • Page 28: Table 5-1. Motion I/O Signal Connections

    Breakpoint output <1..4> +5 V—host computer +5 V supply Reference for analog inputs 12-bit analog input 16-bit analog output (7344 only) Reference for analog outputs (7344 only) Controlled device shutdown +7.5 V—analog reference level Reference for digital I/O 7344/7334 Hardware User Manual...

  • Page 29: Motion Axis Signals

    Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals are the stepper command outputs for 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.

  • Page 30: Limit And Home Inputs

    (for example, following error trip). You can also directly control the inhibit output signals to enable or disable a driver or amplifier. Axis <1..4> Forward Limit Input Axis <1..4> Home Input Axis <1..4> Reverse Limit Input Chapter 5 Signal Connections 7344/7334 Hardware User Manual...

  • Page 31: Wiring Concerns

    You can read the status of these inputs at any time and set and change their polarity as required. Limit and home inputs are a per axis enhancement on the 7344/7334 controllers and are not required for basic motion control. These inputs are part of a system solution for complete motion control.

  • Page 32: Encoder Signals

    Encoder Signals The 7344/7334 controller offers four channels of single-ended quadrature encoder inputs. All National Instruments power drives and UMI accessories provide built-in circuitry that converts differential encoder signals to single-ended encoder signals. Each channel consists of a Phase A, a Phase B, and an Index input, as described in the following sections.

  • Page 33: Encoder <1..4> Index

    10 ft (3.05 m). Shielded, 24 AWG wire is the minimum recommended size for the encoder cable. Cables with twisted pairs and an overall shield are recommended for optimized noise immunity. All National Instruments power drives and UMI accessories provide built-in circuitry that converts differential encoder signals to single-ended encoder signals.

  • Page 34: Encoder Input Circuit

    An available 7344/7334 controller position mode is to move an axis Relative to Captured Position. The polarity of the trigger input is programmable in software as...

  • Page 35: Wiring Concerns

    Wiring these signals near each other can cause faulty operation. Excessive input voltages can cause erroneous operation and/or component failure. 7344/7334 Hardware User Manual edge. You can also use a trigger input as a latching general-purpose digital input by simply ignoring the captured position.

  • Page 36: Trigger Input, Shutdown Input, And Breakpoint Output Circuits

    Figure 5-6. Shutdown Input Circuit 3.3 kΩ To the external connector breakpoint pins Figure 5-7. Breakpoint Output Circuit 5-11 Chapter 5 Signal Connections To the trigger circuits 74HC244 DGND To the shutdown circuits 74HC244 DGND 74AS760 From the breakpoint circuits 7344/7334 Hardware User Manual...

  • Page 37: Analog Inputs

    Chapter 5 Signal Connections Analog Inputs The 7344/7334 controller has the following ADC input signals: • 7344/7334 Hardware User Manual Analog Input <1..4>—The 7344/7334 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 through 4 are brought out externally on the 68-pin motion I/O connector.

  • Page 38: Wiring Concerns

    You should, however, connect the common of the external reference to the Analog Input Ground pin for proper A/D reference and improved voltage measurement. Other Motion I/O Connections The 7344/7334 controller provides other motion I/O connections as follows: • Caution The host +5 V signal is limited to <100 mA and should not be used to power any...

  • Page 39: Digital I/O Connector

    Chapter 5 Signal Connections Digital I/O Connector All the general-purpose digital I/O lines on the 7344/7334 controllers are available on a separate 68-pin digital I/O connector. The pin assignments for this connector are shown in Figure 5-8. 7344/7334 Hardware User Manual...

  • Page 40: Pwm Features

    The physical RTSI bus interface varies depending on the type of 7334/7334 controller. For the PCI-7344 and PCI-7334, the RTSI bus is connected with a ribbon cable across National Instruments PCI devices with RTSI capability. The FW-7344 RTSI bus is connected with an external 14-pin shielded cable across National Instruments distributed devices with RTSI capability.

  • Page 41: Rtsi Signal Considerations

    Signal Connections RTSI Signal Considerations The 7344/7334 motion controllers allow you to use the RTSI signals as sources for trigger inputs, or as destinations for breakpoint outputs and encoder signals. The RTSI bus can also be used as a generic digital I/O port.

  • Page 42: Specifications

    Specifications This appendix lists the hardware and software performance specifications for the 7344/7334 controller. Servo Performance (7344 only) PID update rate range... 62.5 to 500 µs/sample Trajectory update rate ... Same as PID update rate Multi-axis synchronization ... < 1 update sample...

  • Page 43: Appendix A Specifications

    Trajectory update rate range ...62.5 to 500 µs/sample Multi-axis synchronization ...< 1 update sample Position accuracy Double-buffered trajectory parameters Stepper outputs 7344/7334 Hardware User Manual Feedforward (Aff, Vff) gains ...0 to 32,767 Velocity feedback (Kv) gain ...0 to 32,767 Voltage range...±10 V Resolution...16 bits (0.000305 V/ LSB) Programmable torque (velocity) limits Positive limit ...±10 V (–32,768 to +32,767)

  • Page 44: System Safety

    Voltage range ... 0 to 12 V Input low voltage ... 0.8 V Input high voltage ... 2 V Polarity... Programmable, active-high Appendix A Specifications 3.3 kΩ pull-up to +5 V or active-low command outputs single-ended on digital filter settings or active-low 7344/7334 Hardware User Manual...
  • Page 45 Appendix A Specifications Trigger inputs Breakpoint outputs Inhibit/enable output 7344/7334 Hardware User Manual Min pulse width...1 ms Control...Individual enable/disable, stop on 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...
  • Page 46 Gain accuracy ... ±3% Drift... 100 ppm/°C typical Line direction ... Individual bit programmable Voltage range ... 0 to 5 V Input low voltage ... 0.8 V Input high voltage ... 2.0 V Appendix A Specifications 7344/7334 Hardware User Manual...
  • Page 47 ♦ FW-7344 Voltage range...9 to 25 VDC Power consumption ...30 W 7344/7334 Hardware User Manual Polarity ...Programmable, active-high 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...
  • Page 48 Physical Dimensions (Not Including Connectors) PCI-7344/7334 ... 17.5 by 9.9 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 Connectors Motion I/O connector... 68-pin female high-density 32-bit digital I/O connector... 68-pin female high-density Environment Operating temperature...

  • Page 49: Figure B-1. 50-Pin Stepper Connector Pin Assignment

    Cable Connector Descriptions This appendix describes the connector pinout for the cables that connect to your 7344/7334 boards. Figures B-1 and B-2 show the pin assignments for the stepper and servo 50-pin motion connectors. These connectors are available when you use the SH68-C68-S shielded cable assembly and the 68M-50F step/servo bulkhead cable adapter.

  • Page 50: Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 Only)

    Appendix B Cable Connector Descriptions 7344/7334 Hardware User Manual Analog Output Ground Digital Ground Digital Ground Axis 1 Home Switch Trigger/Breakpoint 1 11 12 Axis 1 Inhibit 13 14 Analog Output Ground 15 16 Digital Ground 17 18 Digital Ground...

  • Page 51: Technical Support Resources

    Technical Support Resources Web Support National Instruments Web support is your first stop for help in solving installation, configuration, and application problems and questions. Online problem-solving and diagnostic resources include frequently asked questions, knowledge bases, product-specific troubleshooting wizards, manuals, drivers, software updates, and more. Web support is available...

  • Page 52: Worldwide Support

    Appendix C Technical Support Resources Worldwide Support National Instruments has offices located around the world to help address your support needs. You can access our branch office Web sites from the Worldwide Offices section of up-to-date contact information, support phone numbers, e-mail addresses, and current events.
  • Page 53 – negative of, or minus Ω +5 V +5 VDC source signal 1394 A high-speed external bus that implements the IEEE 1394 serial bus protocol © National Instruments Corporation Value –12 –9 – 6 –3 – 7344/7334 Hardware User Manual...
  • Page 54 Axis <1..4> Inhibit axis 1 through 4 inhibit output Axis <1..4> Forward axis 1 through 4 forward/clockwise limit switch Limit Input Axis <1..4> Home axis 1 through 4 home input Input 7344/7334 Hardware User Manual ni.com...
  • Page 55 I/O central processing unit crosstalk an unwanted signal on one channel due to an input on a different channel Communications Status Register clockwise—implies direction of motor rotation © National Instruments Corporation 7344/7334 Hardware User Manual Glossary...
  • Page 56 (PID gains) for a given axis flash ROM a type of electrically reprogrammable read-only memory 7344/7334 Hardware User Manual ni.com...
  • Page 57 © National Instruments Corporation 7344/7334 Hardware User Manual Glossary...
  • Page 58 (limit switch, home switch, and so on) in active state. If these switches are active-low they are said to have inverting polarity. interrupt request kilo—the standard metric prefix for 1,000, or 10...
  • Page 59 Noise corrupts signals you are trying to send or receive. noninverting the polarity of a switch (limit switch, home switch, etc.) in active state. If these switches are active-high, they are said to have non-inverting polarity. open-loop...
  • Page 60 <1..4> Dir direction output or counter-clockwise direction control (CCW) stepper <1..4> Step stepper pulse output or clockwise direction control (CW) 7344/7334 Hardware User Manual ni.com...
  • Page 61 (resets) the motion control board if any serious error occurs word the standard number of bits that a processor or memory manipulates at one time, typically 8-, 16-, or 32-bit © National Instruments Corporation 7344/7334 Hardware User Manual Glossary...
  • Page 62 Index Numbers +5 V signal. See Host +5 V signal. 7344/7334 controllers. See also functional overview; hardware. configuration, 2-1 features, 1-1 installation, 2-1 to 2-3 National Instruments application software, 1-3 optional equipment, 1-4 overview, 1-1 to 1-2 requirements for getting started, 1-2 to 1-3...
  • Page 63 4-1 to 4-3 7344/7334 Hardware User Manual embedded real-time operating system (RTOS), 4-1 to 4-2 encoder signals, 5-7 to 5-9 Axis<1..4> Encoder Index, 5-3, 5-8 Axis<1..4>...
  • Page 64 (table), 5-3 purpose and use, 5-13 host communications, 4-6 installation hardware, 2-1 to 2-3 FW-7344, 2-3 PCI-7344 and PCI-7334, 2-2 PXI-7344, 2-2 to 2-3 software, 2-1 LabVIEW software, 1-3 limit and home inputs, 5-5 to 5-6 Axis<1..4> Forward Limit Switch, 5-3, 5-5 to 5-6 Axis<1..4>...
  • Page 65 Index parts locator diagrams FW-7344 back panel, 3-2 PCI-7334 parts locator diagram (figure), 3-3 PCI-7344, 3-1 PXI-7344, 3-2 physical specifications, A-7 power requirement specifications, A-6 pulse width modulation outputs, digital I/O connector, 5-15 PWM features, digital I/O connector, 5-15 requirements for getting started, 1-2 to 1-3...
  • Page 66 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 trigger inputs, 5-10 Worldwide technical support, C-2 © National Instruments Corporation 7344/7334 Hardware User Manual...

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