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National Instruments 7340 User Manual - Onboard Programs and Buffers
Chapter 4
Functional Overview
©
National Instruments Corporation
4-5
If an encoder resource is not needed for axis control, you can use it for any
number of other functions, including position or velocity monitoring, as a
digital potentiometer encoder input, or as a master encoder input for
master/slave (electronic gearing) applications.
Each axis also has an associated forward and reverse limit input, a home
input, a high-speed capture trigger input, a breakpoint output, and an inhibit
output. These signals can be used for general-purpose digital I/O when not
being used for their motion-specific purpose.
Onboard Programs and Buffers
The 7340 controller has full onboard programmability capable of executing
up to 10 simultaneous motion programs.
You can execute the NI-Motion function set from onboard programs.
In addition, the onboard programs support basic math and data operation
functions for up to 120 general-purpose variables.
You can store and run onboard programs and buffers from RAM or save
them to flash ROM. The 7340 controller has 64 KB of RAM and 128 KB
of ROM that is divided into two 64 KB sectors for program and buffer
storage. You can store and run programs and buffers from either RAM or
ROM, but you cannot split programs between the two, and you cannot split
programs or buffers between the two 64 KB ROM sectors.
Note
Refer to the
NI-Motion User Manual
for detailed information about all of these
onboard programming and buffer features.
Host Communications
The host computer communicates with the controller through a number of
memory port addresses on the host bus. The host bus can be either PXI or
PCI.
The primary bidirectional data transfer port supports FIFO data passing
in both send and readback directions. The 7340 controller has both a
command buffer for incoming commands and a return data buffer (RDB)
for returning data.
Summary of 7340
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Motion control national instruments 7340 user manual ni 7340 user manual november 2003 edition part number 370838a-01.
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Support worldwide technical support and product information ni.Com national instruments corporate headquarters 11500 north mopac expressway austin, texas 78759-3504 usa tel: 512 683 0100 worldwide offices australia 1800 300 800, austria 43 0 662 45 79 90 0, belgium 32 0 2 757 00 20, brazil 55 11 326...
Page 3: Important Information
Important information warranty the national instruments 7340 is warranted against defects in materials and workmanship for a period of one year from the date of shipment, as evidenced by receipts or other documentation. National instruments will, at its option, repair or replace equipment that prove...
Page 4: Compliance
Compliance fcc/canada radio frequency interference compliance determining fcc class the federal communications commission (fcc) has rules to protect wireless communications from interference. The fcc places digital electronics into two classes. These classes are known as class a (for use in industri...
Page 5: Contents
© national instruments corporation v ni 7340 user manual contents about this manual conventions ...................................................................................................................Vii related documentation...................................................................
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Contents ni 7340 user manual vi ni.Com onboard programs and buffers ..................................................................................... 4-5 host communications ................................................................................................... 4-5 chapter 5 signal c...
Page 7: About This Manual
© national instruments corporation vii ni 7340 user manual about this manual this manual describes the electrical and mechanical aspects of the pxi/pci-7340 and contains information about how to operate and program the device. The 7340 is designed for pxi, compact pci, and pci bus computers conventi...
Page 8: Related Documentation
About this manual ni 7340 user manual viii ni.Com related documentation the following documents contain information you might find helpful as you read this manual: • ni-motion user manual • ni-motion c reference help • ni-motion vi reference help.
Page 9: Introduction
© national instruments corporation 1-1 ni 7340 user manual 1 introduction this chapter includes information about the features of the pxi/pci-7340 controller and information about operating the device. About the 7340 controller the 7340 controller features advanced motion control with easy-to-use so...
Page 10: What You Need to Get Started
Chapter 1 introduction ni 7340 user manual 1-2 ni.Com powerful function set provide high-speed communications while off-loading complex motion functions from the host pc for optimum command throughput and system performance. With the 7340, you can use full onboard programming to execute up to 10 sim...
Page 11: Software Programming Choices
Chapter 1 introduction © national instruments corporation 1-3 ni 7340 user manual software programming choices ni-motion is a simple but powerful high-level application programming interface (api) that makes programming the 7340 easy. All setup and motion control functions are easily executed by cal...
Page 12: Motion I/o Connections
Chapter 1 introduction ni 7340 user manual 1-4 ni.Com for more specific information about these products, refer to the national instruments catalog, the national instruments web site at ni.Com , or call your national instruments sales representative. Motion i/o connections the external motion and di...
Page 13: Software Installation
© national instruments corporation 2-1 ni 7340 user manual 2 configuration and installation this chapter describes how to configure and install the pxi/pci-7340. Software installation before installing the 7340, install the ni-motion driver software. Refer to the getting started with ni motion contr...
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Chapter 2 configuration and installation ni 7340 user manual 2-2 ni.Com not use it until service-trained personnel can check its safety. If necessary, return the device to national instruments for repair. Keep away from live circuits. Do not remove equipment covers or shields unless you are trained ...
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Chapter 2 configuration and installation © national instruments corporation 2-3 ni 7340 user manual remove power from signal lines before connection to or disconnection from the device. Caution national instruments measurement products may be classified as either installation category i or ii. Opera...
Page 16: Hardware Installation
Chapter 2 configuration and installation ni 7340 user manual 2-4 ni.Com meters and measurements on primary overcurrent protection devices and on ripple control units. Hardware installation install the 7340 in any open compatible expansion slot in the pxi or pci system. Appendix a, specifications , l...
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Chapter 2 configuration and installation © national instruments corporation 2-5 ni 7340 user manual ♦ pci-7340 1. Power off and unplug the computer. Caution to protect yourself and the computer from electrical hazards, the computer must remain unplugged until the installation is complete. 2. Remove ...
Page 18: Hardware Overview
© national instruments corporation 3-1 ni 7340 user manual 3 hardware overview this chapter presents an overview of the pxi/pci-7340 hardware functionality. Figures 3-1 and 3-3 show the pxi-7340 and pci-7340 parts locator diagrams, respectively. Figure 3-1. Pxi-7340 parts locator diagram note the px...
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Chapter 3 hardware overview ni 7340 user manual 3-2 ni.Com figure 3-2. Symbols on the back of the pxi-7340 figure 3-3. Pci-7340 parts locator diagram 1 identification number used in australia 2 symbol indicating ffc compliance 3 symbol to alert user to read the manual 1 rtsi connector 2 serial numbe...
Page 20: User Connectors
Chapter 3 hardware overview © national instruments corporation 3-3 ni 7340 user manual user connectors the 68-pin motion i/o connector provides all the signals for four axes of closed-loop motion control, including encoder feedback, limit and home inputs, breakpoint outputs, trigger inputs, digital-...
Page 21: Functional Overview
© national instruments corporation 4-1 ni 7340 user manual 4 functional overview this chapter provides an overview of motion control algorithms and the pxi/pci-7340 controller. Dual processor architecture with the 7340, you can perform up to four axes of simultaneous, coordinated motion control in a...
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Chapter 4 functional overview ni 7340 user manual 4-2 ni.Com embedded real-time operating system (rtos) the embedded firmware is based on an embedded rtos kernel and provides optimum system performance in varying motion applications. Motion tasks are prioritized. Task execution order depends on the ...
Page 23: Axes and Motion Resources
Chapter 4 functional overview © national instruments corporation 4-3 ni 7340 user manual flash memory nonvolatile memory on the 7340 is implemented with flash rom, which means that the controllers can electrically erase and reprogram their own rom. Because all the 7340 embedded firmware, including t...
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Chapter 4 functional overview ni 7340 user manual 4-4 ni.Com figure 4-1. Servo axis resources figure 4-2. Stepper axis resources the 7340 supports axes with secondary output resources, such as dacs for servo axes or stepper outputs. Defining two output resources is useful when controlling axes with ...
Page 25: Onboard Programs and Buffers
Chapter 4 functional overview © national instruments corporation 4-5 ni 7340 user manual if an encoder resource is not needed for axis control, you can use it for any number of other functions, including position or velocity monitoring, as a digital potentiometer encoder input, or as a master encode...
Page 26
Chapter 4 functional overview ni 7340 user manual 4-6 ni.Com the communications status register (csr) provides bits for communications handshaking as well as real-time error reporting and general status feedback to the host pc. The move complete status (mcs) register provides instantaneous motion st...
Page 27: Signal Connections
© national instruments corporation 5-1 ni 7340 user manual 5 signal connections this chapter describes how to make input and output signal connections directly to the pxi/pci-7340 as well as general information about the associated i/o circuitry. The 7340 has three connectors that handle all signals...
Page 28
Chapter 5 signal connections ni 7340 user manual 5-2 ni.Com figure 5-1 shows the pin assignments for the 68-pin motion i/o connector on the 7340. Table 5-1 includes descriptions for each of the signals. A line above a signal name indicates that the signal is active-low. Figure 5-1. 68-pin motion i/o...
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Chapter 5 signal connections © national instruments corporation 5-3 ni 7340 user manual table 5-1 describes the signals on the motion i/o connector. Table 5-1. Motion i/o signal connections signal name reference direction description axis dir (ccw) digital ground output motor direction or counter-cl...
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Chapter 5 signal connections ni 7340 user manual 5-4 ni.Com motion axis signals the following signals control the servo amplifier or stepper driver. • analog output —these 16-bit dac outputs are typically the servo command outputs for each axis. They can drive the industry-standard ±10 v output, and...
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Chapter 5 signal connections © national instruments corporation 5-5 ni 7340 user manual • axis inhibit—use the inhibit output signals to control the enable/inhibit function of a servo amplifier or stepper driver. When properly connected and configured, the inhibit function causes the connected motor...
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Chapter 5 signal connections ni 7340 user manual 5-6 ni.Com you can use software disabled limit and home inputs as general-purpose inputs. 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 7340 a...
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Chapter 5 signal connections © national instruments corporation 5-7 ni 7340 user manual figure 5-2. Limit and home input circuit caution excessive input voltages can cause erroneous operation and/or component failure. Verify that the input voltage is within the specification range. Encoder signals t...
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Chapter 5 signal connections ni 7340 user manual 5-8 ni.Com 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 specification of n ( n = number) lines per unit of measure (revol...
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Chapter 5 signal connections © national instruments corporation 5-9 ni 7340 user manual wiring concerns the encoder inputs are connected to quadrature decoder/counter circuits. It is very important to minimize noise at this interface. Excessive noise on these encoder input signals may result in loss...
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Chapter 5 signal connections ni 7340 user manual 5-10 ni.Com figure 5-4. Encoder input circuit trigger inputs, shutdown input, and breakpoint outputs the 7340 offers additional high-performance features in the encoder fpga. The encoder channels have high-speed position capture trigger inputs and bre...
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Chapter 5 signal connections © national instruments corporation 5-11 ni 7340 user manual you can program breakpoints as absolute , modulo , or relative positions. Breakpoint outputs can be preset to a known state so that the transition when the breakpoint occurs can be low to high, high to low, or t...
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Chapter 5 signal connections ni 7340 user manual 5-12 ni.Com figure 5-6. Shutdown input circuit figure 5-7. Breakpoint output circuit analog inputs the 7340 has the following adc input signals: • analog input —the 7340 includes an eight-channel multiplexed, 12-bit adc capable of measuring ±10 v, ±5 ...
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Chapter 5 signal connections © national instruments corporation 5-13 ni 7340 user manual you can configure each adc channel for motion feedback, simple a/d conversion, or both. You can read the digital value of analog voltage on any of the eight adc channels of the controller. Table 5-3 shows the ra...
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Chapter 5 signal connections ni 7340 user manual 5-14 ni.Com other motion i/o connection the 7340 provides host +5 v, which is the internal +5 v supply of the host computer. It is typically used to detect when the host computer is powered and to shut down external motion system components when the h...
Page 41: Digital I/o Connector
Chapter 5 signal connections © national instruments corporation 5-15 ni 7340 user manual digital i/o connector all the general-purpose digital i/o lines on the 7340 are available on a separate 68-pin digital i/o connector. Figure 5-8 shows the pin assignments for this connector. Figure 5-8. 68-pin d...
Page 42: Rtsi Connector
Chapter 5 signal connections ni 7340 user manual 5-16 ni.Com the 32-bit digital i/o port is configured in hardware as four 8-bit digital i/o ports. The bits in a port are typically controlled and read with byte-wide bitmapped commands. All digital i/o lines have programmable direction and polarity. ...
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Chapter 5 signal connections © national instruments corporation 5-17 ni 7340 user manual rtsi signal considerations the 7340 motion controller allows you to use up to eight rtsi trigger lines as sources for trigger inputs, or as destinations for breakpoint outputs and encoder signals. The rtsi trigg...
Page 44: Specifications
© national instruments corporation a-1 ni 7340 user manual a specifications this appendix lists the hardware and software performance specifications for the pxi/pci-7340. Hardware specifications are typical at 25 °c, unless otherwise stated. Servo performance pid update rate range......................
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Appendix a specifications ni 7340 user manual a-2 ni.Com servo command analog outputs voltage range...................................±10 v resolution........................................16 bits (0.000305 v/lsb) programmable torque (velocity) limits positive limit ............................±10 ...
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Appendix a specifications © national instruments corporation a-3 ni 7340 user manual voltage range .................................. 0 to 5 v output low voltage .................. Output high voltage ................. Open collector with built-in 3.3 k Ω pull-up to +5 v polarity.......................
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Appendix a specifications ni 7340 user manual a-4 ni.Com minimum pulse width......................1 ms with filter enabled; 60 ns without filter enabled control.............................................Individual enable/disable, stop on input, prevent motion, find home trigger inputs number of in...
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Appendix a specifications © national instruments corporation a-5 ni 7340 user manual analog inputs number of inputs ............................ 8, multiplexed, single ended number for user signals........... 4 number for system diagnostics ... 4 voltage range (programmable) ....... ±10 v, ±5 v, 0–1...
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Appendix a specifications ni 7340 user manual a-6 ni.Com pwm outputs number of pwm outputs .........2 maximum pwm frequency......50 khz resolution.................................8-bit duty cycle range.......................0 to (255/256)% clock sources ...........................Internal or externa...
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Appendix a specifications © national instruments corporation a-7 ni 7340 user manual maximum working voltage channel-to-earth..................................... 12 v, installation category i (signal voltage plus common-mode voltage) channel-to-channel ................................ 22 v, install...
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Appendix a specifications ni 7340 user manual a-8 ni.Com electromagnetic compatibility emissions................................................En 55011 class a at 10 m fcc part 15a above 1 ghz immunity ................................................En 61326:1997 + a2:2001, table 1 emc/emi ...........
Page 52: Cable Connector Descriptions
© national instruments corporation b-1 ni 7340 user manual b cable connector descriptions this appendix describes the connector pinout for the cables that connect to the pxi/pci-7340. Figures b-1 and b-2 show the pin assignments for the stepper and servo 50-pin motion connectors. These connectors ar...
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Appendix b cable connector descriptions ni 7340 user manual b-2 ni.Com figure b-2. 50-pin servo connector pin assignment 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 dig...
Page 54: Technical Support and
© national instruments corporation c-1 ni 7340 user manual c technical support and professional services visit the following sections of the national instruments web site at ni.Com for technical support and professional services: • support —online technical support resources include the following: –...
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Appendix c technical support and professional services ni 7340 user manual c-2 ni.Com if you searched ni.Com and could not find the answers you 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 v...
Page 56: Glossary
© national instruments corporation g-1 ni 7340 user manual glossary symbol prefix value µ micro 10 – 6 m milli 10 –3 m mega 10 6 numbers/symbols / per ± plus or minus + positive of, or plus – negative of, or minus +5 v +5 vdc source signal a a amperes a/d analog-to-digital absolute mode treat the ta...
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Glossary ni 7340 user manual g-2 ni.Com address character code that identifies a specific location (or series of locations) in memory or on a host pc bus system amplifier drive that delivers power to operate the motor in response to low level control signals. In general, the amplifier is designed to...
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Glossary © national instruments corporation g-3 ni 7340 user manual 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-clockwise—implies direction of rotation of the motor closed-loop motion system t...
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Glossary ni 7340 user manual g-4 ni.Com e encoder device that translates mechanical motion into electrical signals; used for monitoring position or velocity in a closed-loop system encoder resolution number of encoder lines between consecutive encoder indexes (marker or z-bit). If the encoder does n...
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Glossary © national instruments corporation g-5 ni 7340 user manual h half-step mode of a stepper motor—for a two phase motor this is done by alternately energizing two windings and then only one. In half step mode, alternate steps are strong and weak but there is significant improvement in low-spee...
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Glossary ni 7340 user manual g-6 ni.Com l lifo last in, last out—data buffering technique where the newest values (last in) come out first limit switch/ end-of-travel position (input) sensors that alert the control electronics that physical end of travel is being approached and that the motion shoul...
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Glossary © national instruments corporation g-7 ni 7340 user manual 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—a high-performance expansion bus architec...
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Glossary ni 7340 user manual g-8 ni.Com relative position destination or target position for motion specified with respect to the current location regardless of its value relative position mode position relative to current position ribbon cable flat cable in which the conductors are side by side rpm...
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Glossary © national instruments corporation g-9 ni 7340 user manual v v volts v cc positive voltage supply velocity mode move the axis continuously at the specified velocity w watchdog timer task that shuts down (resets) the motion control board if any serious error occurs word standard number of bi...
Page 65: Index
© national instruments corporation i-1 ni 7340 user manual index numerics 68-pin digital i/o connector, 3-3 motion i/o connector, 3-3 7340 analog feedback, 4-2 axes, 4-3 breakpoint outputs, 5-10 configuring, 2-1 embedded operating system, 4-2 encoder signals, 5-7 features, 1-1 flash memory, 4-3 gene...
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Index ni 7340 user manual i-2 ni.Com motion i/o, 3-3, 5-1 motion i/o, 5-1 rtsi, 3-3, 5-1 conventions used in the manual, vii d declaration of conformity (ni resources), c-1 diagnostic tools (ni resources), c-1 documentation conventions used in manual, vii ni resources, c-1 related documentation, vii...
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Index © national instruments corporation i-3 ni 7340 user manual o onboard programs, 4-5 p pin assignments 68-pin digital i/o connector, 5-15 programming examples (ni resources), c-1 r related documentation, viii return data buffer (rdb), 4-5 rtsi breakpoint across rtsi (figure), 5-17 connector, 3-3...