National Instruments 7344 manual


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Table of contents for the manual

  • Page 1

    Motion Control 7344/7334 Hardware User Manual 7344/7334 Hardware User Manu al May 2001 Edition Part Number 322504 B-01[...]

  • Page 2

    Support Worldwide Technical Support and Product Information National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 794 0100 Worldwide Offices Australia 03 9879 5166, Austria 0662 45 79 90 0, Belgium 02 757 00 20, Brazil 011 284 5011, Canada (Calgary) 403 274 9391, Canada (Montreal) 514 [...]

  • Page 3

    Important Information Warranty The 7344/7334 controllers are warranted against defects in materials and workmanship for a period of 1 year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its opti on, repair or replace equipment that proves to be defective during the warranty period. This war[...]

  • Page 4

    © National Instruments Corporation v 7344/7334 Hardware User Manual Contents About This Manual Conventions ............ ........... .............. ............ ........... .............. ........... ............ .............. .... i x Related Documentation ............ .............. ........... .............. ............ .............. ........[...]

  • Page 5

    Contents 7344/7334 Hardware User Manual vi Onboard Programs (7344 only) ................. ........... .............. ............ .............. ........... ...... 4-5 Host Communications .............. ........... ............ .............. ........... ........... .............. ............ 4-6 Chapter 5 Signal Connections Motion I/O Conn[...]

  • Page 6

    Contents © National Instruments Corporation vii 7344/7334 Hardware User Manual Glossary Index Figures Figure 3-1. PCI-7344 Parts Locator Diagram .......................................................... 3-1 Figure 3-2. PXI-7344 Parts Locator Diagram .............. .............. .............. ............ .... 3-2 Figure 3-3. FW-7344 Back Panel.[...]

  • Page 7

    © National Instruments Corporation ix 7344/7334 Hardware User Manual About This Manual This manual describes the electrical and mechanical aspects of each controller in the 7344/7334 family a nd contains information concerning their operation and programming . Unless otherwise noted, text applies to all controllers i n the 7344/7334 family . The 7[...]

  • Page 8

    About This Man ual 7344/7334 Hardware User Manual x programs, subprograms, subroutines, device names, functions, operations, v ariables, file names and e xtensions, and code e xcerpts. Related Documentation The following documents contain information that you might find helpful as you read this manual: • FlexMotion Software Reference Manua[...]

  • Page 9

    © National Instruments Corporatio n 1-1 7344/7334 Hardware User Manual 1 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 con troller. The 7344/7334 controller features advanced motion control with easy-to-use software tools and add[...]

  • Page 10

    Chapter 1 Introduction 7344/7334 Hardware User Manual 1-2 Hardware The high-performance capabil ities of the 7344/7334 controllers are the result of an advanced dual-processor architecture using a Mo torola MC68331 real-time 32-bit CPU combined with an Analog Devices ADSP-2185 digital signal processor (DSP) and custom field programmable gate[...]

  • Page 11

    Chapter 1 Introduction © National Instruments Corporatio n 1-3 7344/7334 Hardware User Manual ❑ 7344/7334 Hardware User Manual ❑ FlexMotion Software Reference Manual ❑ One of the follo wing software packages and documentation: – LabVIEW – LabW indows/CVI – FlexMotion software ❑ Y our computer with an av ailable PCI or PXI slot or a 1[...]

  • Page 12

    Chapter 1 Introduction 7344/7334 Hardware User Manual 1-4 Optional Equipment National Instruments offers a variety o f products for use with the 7344/7334 controller, including cables, Universal Motion Interfaces (UMIs), drive power amplifier units, and other accessories as follows: • Cables and cable assemblies for motion and digital I/O [...]

  • Page 13

    © National Instruments Corporatio n 2-1 7344/7334 Hardware User Manual 2 Configuration and Installation This chapter describes how to configure and in stall your 7344/7334 controller. Software Installation Install your FlexMotion s oftware, along with your Motion VI l ibraries (if appropriate) before you in stall the 7344/7334 controll er. Refer t[...]

  • Page 14

    Chapter 2 Configuration and Installation 7344/7334 Hardware User Manual 2-2 The following are general installation instructions, but consult your computer user manual or technical reference manual for specif ic instructions and warnings. Caution 7344/7334 controllers are sensiti ve electronic de v ices shipped in an antistatic bag. Open only[...]

  • Page 15

    Chapter 2 Configuration and Installation © National Instruments Corporatio n 2-3 7344/7334 Hardware User Manual 7. V isually verify the installation. 8. Plug in and turn on the chassis. Y our PXI-7344 controller is in stalled. ♦ FW -73 44 Note If you are not using the BP-1 battery pack, follow the instructions below . If you are using the BP-1 b[...]

  • Page 16

    © National Instruments Corporatio n 3-1 7344/7334 Hardware User Manual 3 Hardware Over view This chapter presents an overvi ew of the 7344/7334 controll er hardware functionality. Figures 3-1, 3-2, and 3-4 show the PCI-7344, PXI-7344, and PCI-73 34 parts locator diagrams, respectiv ely . Figure 3-3 shows the FW -7344 back panel. Figure 3-1. PCI-73[...]

  • Page 17

    Chapter 3 Hardware Over view 7344/7334 Hardware User Manual 3-2 Figure 3-2. PXI-7344 Parts Locator Diagram Figure 3-3. FW-7344 Back Panel 1 Assembly Num ber Label 2 Serial Number Label 3A D S P 2 1 8 5 D S P 4 MC683 31 CPU 5 6 8-Pin Digital I/O Connect or 6 68-Pin Motion I/O Connecto r 1 1394 Connectors 2 Power Connector 3 RTSI Connector 4 E[...]

  • Page 18

    Chapter 3 Hardware Over view © National Instruments Corporatio n 3-3 7344/7334 Hardware User Manual Figure 3-4. PCI-7334 Parts Locator Diagram User Connectors The 68-pin motion I/O co nnector provides all of the sign als for four axes of closed-loop motion control, including encoder feedback, limit and home inputs, breakpoint outputs, trigger inpu[...]

  • Page 19

    Chapter 3 Hardware Over view 7344/7334 Hardware User Manual 3-4 The R TSI connector provides up to sev en tri ggers and one high-speed clock signal to facilitate synchronization bet ween multiple National Instrumen ts products. T ypical applications of the R TSI bus include triggering an image acquisition or D A Q measurement based on motion[...]

  • Page 20

    © National Instruments Corporatio n 4-1 7344/7334 Hardware User Manual 4 Functional Over view This chapter presents an overview of th e motion control algorithms and capabilities of the 734 4/7334 controller. Dual Processor Architecture You can perform up to four axes of simult aneous, coordinated motion control in a preem ptive, multitasking, rea[...]

  • Page 21

    Chapter 4 Functional Over view 7344/7334 Hardware User Manual 4-2 The DSP chip is a separate processor that operates i ndependently from the CPU but i s closely synchronized by an internal pack et-based command, data, and messaging ev ent stru cture. The 7344/7334 controllers are true multiprocessing and m ultitasking embedded contro llers. [...]

  • Page 22

    Chapter 4 Functional Over view © National Instruments Corporatio n 4-3 7344/7334 Hardware User Manual Flash memory also allo ws objects such as programs and data arrays to be stored in non-volatile memory . It is possible to sav e the entire param eter state of the controller to the flash memory . On the next po wer cycle, the 7344/7334 contro lle[...]

  • Page 23

    Chapter 4 Functional Over view 7344/7334 Hardware User Manual 4-4 Figure 4-2. Stepper Axis Resources The 7344/7334 controller supports axes with secondary output resources (D A Cs f or servo ax es or stepp er outputs). Defining two output resources is useful when controlling axes with multiple motors, such as gantry systems, where two D A C [...]

  • Page 24

    Chapter 4 Functional Over view © National Instruments Corporatio n 4-5 7344/7334 Hardware User Manual Onboard Programs (7344 only) The 7344 controller has full onboard programm ability with the capability of executing up to 10 simul taneous motion programs in a real-time preemptive multitaskin g environment. This extremely po werful feature is des[...]

  • Page 25

    Chapter 4 Functional Over view 7344/7334 Hardware User Manual 4-6 Host Communications The host computer communicates with a 73 44/7334 controller through a number of memory port a ddresses on the host bus. The host b us can be any of the supported bus stan dards — PCI, PXI, or 1394. The primary bidirectional data tran sfer port is at the b[...]

  • Page 26

    © National Instruments Corporatio n 5-1 7344/7334 Hardware User Manual 5 Signal Connections This chapter describes how to make input an d output signal connections directly to the 7344/7334 and briefly describes the associated 7344/7334 I/O circuitry. The 7344/7334 has three connectors that han dle all signals to and from the exter nal motion syst[...]

  • Page 27

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-2 Figure 5-1 shows the pin assignments for the 68-pin moti on I/O connector on the 7344/7334 controller . A signal descripti on follows the connector pinout. In this chapter, lines abo ve signal names indicate that the signal is acti ve-low . Figure 5-1. 68-Pin Motion I/O Connect[...]

  • Page 28

    Chapter 5 Signal Connections © National Instruments Corporatio n 5-3 7344/7334 Hardware User Manual T able 5-1 describes the signals on the motion I/O conn ector . Table 5-1. Motion I/O Signal Connections Signal Name Reference Direction Description Axis <1..4> Dir (CCW) Digital Ground Output Motor direction or counter -clockwise c ontrol Axi[...]

  • Page 29

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-4 Motion Axis Signals The following signals co ntrol the servo amplif ier or stepper driver: • Analog Output <1..4> (7344 on ly) — These 16-bit D AC outputs are typically the servo command outputs for each axis . They can dri ve the industry-standard ±10 V output, and [...]

  • Page 30

    Chapter 5 Signal Connections © National Instruments Corporatio n 5-5 7344/7334 Hardware User Manual • Axis <1..4> Inhibit — Use the inhibit output signals to control the enable/inhibit function of a serv o amplifier or stepper dri ver . When properly connected and configured, the inhibit function causes the connected motor to be de-energ[...]

  • Page 31

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-6 Y ou can use software disabled limit and home inputs as general-purpose inputs. Y ou 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 enhan cement on the 7344/7334 controllers and are not require[...]

  • Page 32

    Chapter 5 Signal Connections © National Instruments Corporatio n 5-7 7344/7334 Hardware User Manual Encoder Signals The 7344/7334 controller offers four ch annels of single-ended quadrature encoder inputs. All National Instruments power driv es and UMI accessories provide built-in circuitry that converts differential encoder signals to single-ende[...]

  • Page 33

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-8 Encoder <1..4> Index The Index input is primarily used wi th the Find Index function. Th is function uses the number of co unts per revolution (or linear distance) to initiate a search move that locates the index position. When a valid Index signal transition occurs durin[...]

  • Page 34

    Chapter 5 Signal Connections © National Instruments Corporatio n 5-9 7344/7334 Hardware User Manual Caution Use of an unshielded cable can permit noise to corrupt th e encoder signals resulting in lost counts and reduced motion system accurac y . Encoder Input Circuit Figure 5-4 shows a simplified schematic diagram of the circuit used for the Phas[...]

  • Page 35

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-10 edge. Y ou can also use a trigger input as a latching general-purpose digital input by simply ignoring the captured position. • Shutdo wn Input — The sh utdo w n input signal, when enabled in software, can be used to kill all motion b y asserting the controller inhibits, s[...]

  • Page 36

    Chapter 5 Signal Connections © National Instruments Corporation 5-11 7344/7334 Hardware User Manual T rigger Input, Shutdown Input, and Breakpoint Output Circuits Figures 5-5, 5-6, and 5-7 show a simplified schem atic diagram of the circuits used by the trigger inpu ts, shutdown inputs, and breakpo int outputs for signal buffering. Figure 5-5. T r[...]

  • Page 37

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-12 Analog Inputs The 7344/7334 controller has the follo wing ADC input signals: • Analog Input <1..4> — The 7344/ 7334 controller includes an eight channel multiplex ed, 12-bit ADC capable of measuring ± 10 V , ±5 V , 0 – 10 V , and 0 – 5 V inputs. ADC channels 1 [...]

  • Page 38

    Chapter 5 Signal Connections © National Instruments Corporation 5-13 7344/7334 Hardware User Manual scan rate performance. Properly enabled, the scan rate is h igh enough to support analog feedback at the highest PID sample rate. • Analog Reference — For con venience, 7.5 V (nominal) analog reference voltage is made a vailable. Y ou can use th[...]

  • Page 39

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-14 Digital I/O Connector All the general-purp ose digital I/O lines on the 7344/7334 co ntrollers are available on a separate 68-pin dig ital I/O connector. The pin assignments for this connector are shown in Figure 5-8. Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments Po[...]

  • Page 40

    Chapter 5 Signal Connections © National Instruments Corporation 5-15 7344/7334 Hardware User Manual The 32-bit digital I/O po rt is configured in hardware as four 8-bit digital I/O ports. The bits in a port are typically cont rolled and read with byte-wide bitmapped commands. All digital I/O lines have programmable direction and polarity . Each ou[...]

  • Page 41

    Chapter 5 Signal Connecti ons 7344/7334 Hardware User Manual 5-16 R TSI Signal Considerations The 7344/7334 motion controll ers 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. Breakpoint outputs are ou [...]

  • Page 42

    © National Instruments Corporation A-1 7344 /7334 Hardware User Manual A Specifications This appendix lists the hardware and software performance specifications for the 7344/7334 con troller . Ser vo Performance (7344 only) PID update rate range .................... ......... 62.5 to 500 µs/sample Max PID update rate ...................... . 62.5[...]

  • Page 43

    Appendix A Specifications 7344/7334 Hardware User Manual A-2 Feedforward (Aff, Vff) gains . .........0 to 32,767 Velocity feedback (Kv) gain ...........0 to 32,767 Servo command analog outputs Voltage range............ .............. .........±10 V Resolution ........................................16 bits (0.000305 V / LSB) Programmable to[...]

  • Page 44

    Appendix A Specifications © National Instruments Corporation A-3 7344 /7334 Hardware User Manual Voltage range ........ .............. ............ 0 to 5 V Output low voltage .................. < 0.6 V at 64 mA sink Output high voltage ........ ......... Open collector with built-in 3.3 k Ω pull-up to +5 V Polarity .................. .......[...]

  • Page 45

    Appendix A Specifications 7344/7334 Hardware User Manual A-4 Min pulse width ................... ........... .1 ms Control ...................... .......................Individual enable/disable, stop on input, prevent mo tion, Find Home Trigger inputs Number of inputs ....................... ...... 4 (Encoders 1 through 4) Voltage range....[...]

  • Page 46

    Appendix A Specifications © National Instruments Corporation A-5 7344 /7334 Hardware User Manual Analog inputs Number of inputs ....... ..................... 8, multiplexed Number for user signals ........... 4 Number for calibration ............ 4 Voltage range (programmable) ....... ± 10 V, ±5 V, 0 – 10 V, 0 – 5V Input resistance .........[...]

  • Page 47

    Appendix A Specifications 7344/7334 Hardware User Manual A-6 Polarity ............ .............. .............. .... Programmable, active-high or active-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 2[...]

  • Page 48

    Appendix A Specifications © National Instruments Corporation A-7 7344 /7334 Hardware User Manual 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 ................ .....[...]

  • Page 49

    © National Instruments Corporation B-1 7344 /7334 Hardware User Manual B 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 sho w the pin assignments for the stepp er and servo 50-pin motion connectors. These connectors are av ailable when you use the[...]

  • Page 50

    Appendix B Cable C onnector Descripti ons 7344/7334 Hardware User Manual B-2 Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 only) Digital Ground Axis 4 Inhibit Trigger/Breakpoint 4 Axis 4 Home Switch Digital Ground Digital Ground Analog Output Ground Axis 3 Inhibit Trigger/Breakpoint 3 Axis 3 Home Switch Digital Ground Digital Groun[...]

  • Page 51

    © National Instruments Corporation C-1 7344 /7334 Hardware User Manual C T echnical Support Resources W eb Support National Instruments W eb support is your first stop for help in solving installation, configuration, and application pro blems and questions. Onlin e problem-solving and di agnostic resources include frequ ently asked questions, know[...]

  • Page 52

    Appendix C T echnical Support Resources 7344/7334 Hardware User Manual C-2 W orldwide Support National Instruments has of fices located around the world to help address your support needs. Y ou can access our branch of fice W eb sites from the W orldwide Of fices section of . Branch of fice W eb sites provide up-to-date contact inform[...]

  • Page 53

    © National Instruments Corporation G-1 7344/7334 Hardware User Manual Glossar y Pref ix Meanings V alue p- pico- 10 – 12 n- nano- 10 – 9 µ- mi cro- 10 – 6 m- milli - 10 – 3 c- centi 10 – 2 k- kilo- 10 3 M- mega- 10 6 Numbers/Symbols ° degrees /p e r % percent ± plus or minus + positiv e of, or pl us – negati ve of, or minus Ω ohm [...]

  • Page 54

    Glossary 7344/7334 Hardware User Manual G-2 A A amperes A/D analog-to-digital absolute mode treat the tar get p osition loaded as position relativ e to zero ( 0) while making am o v e absolute position position relativ e to zero acceleration/ deceleration a measurement of the change in velocity as a f unction of time. Acceleration and decele[...]

  • Page 55

    Glossary © National Instruments Corporation G-3 7344/7334 Hardware User Manual Axis <1..4> Re verse Limit Input axis 1 through 4 rev erse/co unter-clockwise limit input B bb i t — one binary dig it, either 0 o r 1 base address memory address that serves as the starting address for pro grammable or I/O bus re gisters. All other addresses ar[...]

  • Page 56

    Glossary 7344/7334 Hardware User Manual G-4 D D A C Digital-to-Ana log Con verter DC direct current dedicated assigned to a particu lar function DGND dig ital ground signal digital I/O port a g roup of digital input/o utput signals DIP dual inline package DLL dyn amic link library — provides the API for the motion control boards dri vers s[...]

  • Page 57

    Glossary © National Instruments Corporation G -5 7344/7334 Hardware User Manual following error trip point the dif ference between the instantaneous commanded trajectory position and the feedback position FPGA Field Programmable Gate Array free wheel the condition of a motor when po wer is de-energized and the motor shaft is free to turn with only[...]

  • Page 58

    Glossary 7344/7334 Hardware User Manual G-6 I/O input/output — the transfer of data to and from a computer s ystem in v olving communications channels, operator interface de vices, and/or motion control interfaces in verting the po larity of a switch (limi t switch, home switch, and so on) in active state. If these switches are acti ve-lo [...]

  • Page 59

    Glossary © National Instruments Corporation G -7 7344/7334 Hardware User Manual modulo position treat the position as within the range of total quadrature counts per rev olution fo r an axis N noise an undesirable electrical signal — noise comes from e x ternal sources such as the A C power line, motors, generators, transformers, fluoresc ent li[...]

  • Page 60

    Glossary 7344/7334 Hardware User Manual G-8 PWM Pulse W idth M odulation — a method of contro lling the av e rage current in a motor phase winding by v arying the on-time (duty cycle) of transistor switches PXI PCI eXtensions for Instrumentation Q quadrature counts the encoder line resolution times four R RAM random-access memory relati ve[...]

  • Page 61

    Glossary © National Instruments Corporation G -9 7344/7334 Hardware User Manual T toggle changing state from high to lo w , back to high, and so on torque force tending to produce rotation trapezoidal prof ile a typical motion trajectory , where a motor accelerates up to the programmed velocity us ing the programmed acceleration, tra verses at the[...]

  • Page 62

    © National Instruments Corporatio n I-1 7344/7334 Hardware User Manual Index Numbers +5 V signal. See Host +5 V signal. 7344/7334 controllers. See also functi onal overview; hardware. configuration, 2-1 features, 1-1 installation, 2-1 to 2-3 National Instruments ap plication software, 1-3 optional equip ment, 1-4 overview, 1-1 to 1-2 requirements [...]

  • Page 63

    Index 7344/7334 Hardware User Manual I-2 B breakpoint outputs output circuit (figure), 5-11 wiring concerns, 5-10 Breakpoint<1..4> signal description, 5-3 purpose and use, 5-10 C cable connectors 50-pin servo connector pin assignments (figure), B-2 50-pin stepper connector pin assignments (figure), B-1 communications, host, 4-6 configu[...]

  • Page 64

    Index © National Instruments Corporatio n I-3 7344/7334 Hardware User Manual PXI-7344 parts locator dia gram (figure), 3-2 user connectors, 3-3 to 3-4 Host +5 V signal description (table), 5-3 purpose and use, 5-13 host communications, 4-6 I installation hardware, 2-1 to 2-3 FW-7344, 2-3 PCI-7344 an d PCI-7334, 2-2 PXI-7344, 2-2 to 2-3 software, 2[...]

  • Page 65

    Index 7344/7334 Hardware User Manual I-4 P 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 modulati on outputs, digital I /O connector, 5-15 PWM features, digital I/O connector, 5-15 R requir[...]

  • Page 66

    Index © National Instruments Corporatio n I-5 7344/7334 Hardware User Manual W Web support from National Instrumen ts, C-1 wiring concerns analog inputs, 5-13 breakpoint outputs, 5-10 encoder signals, 5-8 to 5-9 limit and hom e inputs, 5-6 shutdown input, 5-10 trigger inputs, 5-10 Worldwide technical support, C-2[...]