Important Information
Warranty
The National Instruments PXI/PCI-7350 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 proves to
be defective during the warranty period. This warranty includes parts and labor.
The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in
materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments
will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects
during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free.
A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before any
equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are covered by
warranty.
National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical accuracy. In
the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent editions of this document
without prior notice to holders of this edition. 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.
EXCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER’S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL
INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING
FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. This limitation of
the liability of National Instruments will apply regardless of the form of action, whether in contract or tort, including negligence. Any action against
National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in
performance due to causes beyond its reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or service
failures caused by owner’s failure to follow the National Instruments installation, operation, or maintenance instructions; owner’s modification of the
product; owner’s abuse, misuse, or negligent acts; and power failure or surges, fire, flood, 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 mechanical, including photocopying,
recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National
Instruments Corporation.
National Instruments respects the intellectual property of others, and we ask our users to do the same. NI software is protected by copyright and other
intellectual property laws. Where NI software may be used to reproduce software or other materials belonging to others, you may use NI software only
to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction.
Trademarks
National Instruments, NI, ni.com, and LabVIEW are trademarks of National Instruments Corporation. Refer to the Terms of Use section
on ni.com/legalfor more information about National Instruments trademarks.
Product and company names mentioned herein are trademarks or trade names of their respective companies.
Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency,
partnership, or joint-venture relationship with National Instruments.
Patents
For patents covering National Instruments products, refer to the appropriate location: Help»Patents in your software, the patents.txtfile
on your CD, or ni.com/patents.
WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
(1) NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF
RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN
ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT
INJURY TO A HUMAN.
(2) IN ANY APPLICATION, INCLUDING THE ABOVE, RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE
IMPAIRED BY ADVERSE FACTORS, INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY,
COMPUTER HARDWARE MALFUNCTIONS, COMPUTER OPERATING SYSTEM SOFTWARE FITNESS, FITNESS OF COMPILERS
AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION, INSTALLATION ERRORS, SOFTWARE AND HARDWARE
COMPATIBILITY PROBLEMS, MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES,
TRANSIENT FAILURES OF ELECTRONIC SYSTEMS (HARDWARE AND/OR SOFTWARE), UNANTICIPATED USES OR MISUSES, OR
ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER (ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER
COLLECTIVELY TERMED “SYSTEM FAILURES”). ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF
HARM TO PROPERTY OR PERSONS (INCLUDING THE RISK OF BODILY INJURY AND DEATH) SHOULD NOT BE RELIANT SOLELY
UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE. TO AVOID DAMAGE, INJURY, OR DEATH,
THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES,
INCLUDING BUT NOT LIMITED TO BACK-UP OR SHUT DOWN MECHANISMS. BECAUSE EACH END-USER SYSTEM IS
CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS' TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION
DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT
EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS, THE USER OR APPLICATION DESIGNER IS ULTIMATELY
RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER
NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION, INCLUDING, WITHOUT
LIMITATION, THE APPROPRIATE DESIGN, PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION.
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Compliance
Compliance with FCC/Canada Radio Frequency Interference
Regulations
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 industrial-commercial locations only)
or Class B (for use in residential or commercial locations). All National Instruments (NI) products are FCC Class A products.
Depending on where it is operated, this Class A product could be subject to restrictions in the FCC rules. (In Canada, the
Department of Communications (DOC), of Industry Canada, regulates wireless interference in much the same way.) Digital
electronics emit weak signals during normal operation that can affect radio, television, or other wireless products.
All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired
operation. The FCC rules have restrictions regarding the locations where FCC Class A products can be operated.
FCC/DOC Warnings
This equipment generates and uses radio frequency energy and, if not installed and used in strict accordance with the instructions
in this manual and the CE marking Declaration of Conformity*, may cause interference to radio and television reception.
Classification requirements are the same for the Federal Communications Commission (FCC) and the Canadian Department
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
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC
Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated
in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and
used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference
at their own expense.
Canadian Department of Communications
This Class A digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.
Cet appareil numérique de la classe A respecte toutes les exigences du Règlement sur le matériel brouilleur du Canada.
Compliance with EU Directives
Users in the European Union (EU) should refer to the Declaration of Conformity (DoC) for information* pertaining to the
CE marking. Refer to the Declaration of Conformity (DoC) for this product for any additional regulatory compliance
information. To obtain the DoC for this product, visit ni.com/certification, search by model number or product line,
and click the appropriate link in the Certification column.
*
The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or
installer.
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About This Manual
Chapter 1
About the NI 7350 Controller........................................................................................1-1
RTSI ................................................................................................................1-2
What You Need to Get Started ......................................................................................1-2
National Instruments Application Software ..................................................................1-3
Optional Equipment.......................................................................................................1-4
Chapter 2
Software Installation......................................................................................................2-1
Controller Configuration................................................................................................2-1
Safety Information .........................................................................................................2-2
Connecting Brushless Servo Motors..............................................................................2-5
Connecting the Motor Leads ...........................................................................2-10
Chapter 4
Functional Overview
Dual Processor Architecture ..........................................................................................4-1
Embedded Real-Time Operating System........................................................4-1
Trajectory Generators......................................................................................4-2
Analog Input and Output.................................................................................4-2
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Contents
Onboard Sinusoidal Commutation.................................................................. 4-3
Flash Memory ................................................................................................. 4-3
Axes and Motion Resources.......................................................................................... 4-3
Motion Resources ........................................................................................... 4-5
Onboard Programs and Buffers..................................................................................... 4-5
Chapter 5
Analog Inputs.................................................................................................. 5-12
Other Motion I/O Connection......................................................................... 5-13
Interfacing With Optocouplers........................................................................ 5-13
Digital I/O Connector.................................................................................................... 5-15
PWM Features................................................................................................. 5-17
RTSI Connector............................................................................................................. 5-18
RTSI Signal Considerations............................................................................ 5-18
Appendix A
Specifications
Appendix B
Cable Connector Descriptions
Input/Output Reset States
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Contents
Technical Support and Professional Services
Glossary
Index
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About This Manual
This manual describes the electrical and mechanical aspects of the National
Instruments PXI/PCI-7350 motion controller and contains information
concerning its installation and operation.
The NI 7350 controller is designed for PXI, CompactPCI, and PCI bus
computers.
Conventions
This manual uses the following conventions:
<>
Angle brackets that contain numbers separated by an ellipsis represent a
range of values associated with a bit or signal name—for example,
AO <3..0>.
»
The » symbol leads you through nested menu items and dialog box options
to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.
♦
The ♦ symbol indicates that the following text applies only to a specific
product, a specific operating system, or a specific software version.
This icon denotes 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
product, refer to the Safety Information section of Chapter 2, Configuration
and Installation, for information about precautions to take.
bold
Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names.
italic
Italic text denotes variables, emphasis, a cross-reference, or an introduction
to a key concept. Italic text also denotes text that is a placeholder for a word
or value that you must supply.
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About This Manual
monospace
Text in this font denotes text or characters that you should enter from the
keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames, and extensions.
Related Documentation
The following documents contain information you might find helpful as
you read this manual:
•
•
•
•
•
•
•
NI-Motion Function Help
NI-Motion VI Help
NI-Motion User Manual
Getting Started with NI-Motion for NI 73xx Motion Controllers
PXI Specification, Revision 2.1
PCI Local Bus Specification, Revision 2.2
The technical reference manual for the computer you are using
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1
Introduction
This chapter includes information about the features of the National
Instruments PXI/PCI-7350 controller and information about operating the
device.
About the NI 7350 Controller
The NI 7350 controller features advanced motion control with easy-to-use
software tools and add-on motion VI libraries for use with LabVIEW.
Features
The NI 7350 controller is a combination servo and stepper motor controller
for PXI, CompactPCI, and PCI bus computers. It provides
fully-programmable motion control for up to eight independent axes of
motion. Coordinated motion is supported through multi-dimensional
coordinate spaces. Each axis provides dedicated motion I/O for limit and
home switches and additional I/O for general-purpose functions.
You can use the NI 7350 controller for point-to-point and straight-line
vector moves. The NI 7350 also performs arbitrary and complex motion
trajectories through circular interpolation and contouring.
Servo axes can control DC brushed or brushless servo motors, servo
hydraulics, servo valves, and other servo devices, such as closed-loop piezo
motor systems. Servo axes always operate in closed-loop mode. These axes
use quadrature encoders or analog inputs for position and velocity feedback
and provide analog command outputs with an industry-standard range
of 10 V.
Stepper axes control stepper motors in either open or closed-loop
mode. They use quadrature encoders or analog inputs for position
feedback (closed-loop only), and provide step/direction or clockwise
(CW) /counterclockwise (CCW) digital command outputs. All stepper axes
support full, half, and microstepping applications.
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Hardware
The NI 7350 controller is a high performance controller that uses an
functionality provides high-speed communications while off-loading
complex motion functions from the host PC for maximum command
throughput and system performance.
The NI 7350 features motion profiles that are controlled with enhanced PID
control loop/PIVff control loop high-speed servo update rates. The update
rate depends on the number of axes enabled. Refer to Appendix A,
Specifications, for more information.
Each axis has motion I/O for end-of-travel limit and home switch inputs,
breakpoint (position compare) output, trigger (position capture) input, hall
effect sensor input, and encoder feedback. The NI 7350 controller also has
non-dedicated user I/O including 64 bits of digital I/O and eight analog
inputs for 10 V signals, joystick inputs, or analog sensor monitoring.
Additionally, the NI 7350 analog inputs can provide feedback for loop
closure.
RTSI
The NI 7350 controller supports the National Instruments Real-Time
System Integration (RTSI) bus. The RTSI bus provides high-speed
connectivity between National Instruments products, including image
acquisition and data acquisition products. Using the RTSI bus, you can
easily synchronize several functions to a common trigger (position capture)
or timing event across multiple motion, image, or data acquisition devices.
What You Need to Get Started
To set up and use the NI 7350 controller, you must have the
following items:
❑ NI PXI-7350 controller or NI PCI-7350 controller and documentation
❑ NI-Motion driver software and documentation
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❑ One of the following software packages and documentation:
–
–
–
–
–
LabVIEW
LabWindows™/CVI™
Measurement Studio
C/C++
Microsoft Visual Basic
❑ A computer with an available PXI, CompactPCI, or PCI slot
Software Programming Choices
The NI 7350 controller comes with a simple but powerful high-level
application programming interface (API) that makes it easy to program.
You can execute all setup and motion control functions by calling into
a dynamically-linked library (DLL). You can use the full function set
implementations for LabVIEW and LabWindows/CVI, or call the
NI-Motion libraries from C and Visual Basic.
National Instruments Application Software
LabVIEW is based on the graphical programming language, G, and
features interactive graphics and a state-of-the-art user interface. In
LabVIEW, you can create 32-bit compiled programs and stand-alone
executables 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 National Instruments motion control hardware. The NI-Motion VI
library implements the full API, along with a useful set of example
programs.
ANSI C-based LabWindows/CVI also features interactive graphics and a
state-of-the-art user interface. Using LabWindows/CVI, you can generate
C code for custom data acquisition, test, measurement, and automation
solutions. The NI-Motion software includes a series of example programs
for using LabWindows/CVI with National Instruments motion control
hardware.
NI Motion Assistant offers a point-and-click interface for creating motion
control sequences quickly and easily. When you have created a motion task,
you can use Motion Assistant to output the task in LabVIEW code or code
recipes.
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Chapter 1
Introduction
Optional Equipment
National Instruments offers a variety of products for use with the
NI 7350 controller, including the following accessories:
•
•
Cables and cable assemblies for motion and digital I/O
Universal Motion Interface (UMI) wiring connectivity blocks with
integrated motion signal conditioning and motion inhibit functionality
•
•
•
Stepper and servo motor compatible drive amplifier units with
integrated power supply and wiring connectivity
Connector blocks and shielded and unshielded 68-pin screw terminal
wiring aids
RTSI bus cables for connection with other NI devices
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 digital I/O connectors on the NI 7350 controller
are high-density, 68-pin female VHDCI connectors.
For custom cables, use the AMP mating connector (part number
787801-01).
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2
Configuration and Installation
This chapter describes how to configure and install the National
Instruments PXI/PCI-7350 controller.
Software Installation
Before installing the NI 7350 controller, install the NI-Motion software
and, if appropriate, the NI-Motion VI libraries. For specific installation
instructions, refer to Getting Started with NI-Motion for NI 73xx Motion
Controllers, which is installed in the NI-Motion/Documentationfolder
where you installed NI-Motion. The default directory is Program Files\
National Instruments\NI-Motion.
Note If you do not install the NI-Motion driver software before attempting to use the
NI 7350, the system will not recognize the NI 7350 and you will be unable to configure or
use the controller.
Controller Configuration
Because the motion I/O-related configuration of NI 7350 controller is
performed entirely with software, it is not necessary to set jumpers
for motion I/O configuration.
The PXI-7350 and PCI-7350 controllers are fully compatible with the
industry standard PXI Specification, Revision 2.1 and the PCI Local Bus
Specification, Revision 2.2, respectively. This compatibility allows you
to configure the computer to automatically perform all bus-related
configuration without user interaction. It is not necessary to configure
jumpers for bus-related configuration.
Note When adding or removing a controller from a Windows 2000/XP system, you must
be logged on with administrator-level access. After you have restarted the system, you may
need to refresh Measurement & Automation Explorer (MAX) to view the new controller.
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Chapter 2
Configuration and Installation
Safety Information
Caution The following section contains important safety information that you must follow
when installing and using the NI 7350.
Do not operate the device in a manner not specified in this document.
Misuse of the device can result in a hazard. You can compromise the safety
protection built into the device if the device is damaged in any way. If the
device is damaged, return it to National Instruments (NI) for repair.
Do not substitute parts or modify the device except as described in this
document. Use the device only with the chassis, modules, accessories, and
cables specified in the installation instructions. You must have all covers
and filler panels installed during operation of the device.
Do not operate the device in an explosive atmosphere or where there may
be flammable gases or fumes. If you must operate the device in such an
environment, it must be in a suitably 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 only at or below Pollution Degree 2. Pollution is foreign
matter in a solid, liquid, or gaseous state that can reduce dielectric strength
or surface resistivity. The following is a description of pollution degrees:
•
Pollution Degree 1 means no pollution or only dry, nonconductive
pollution occurs. The pollution has no influence.
•
Pollution Degree 2 means that only nonconductive pollution occurs in
most cases. Occasionally, however, a temporary conductivity caused
by condensation must be expected.
•
Pollution Degree 3 means that conductive pollution occurs, or dry,
nonconductive pollution occurs that becomes conductive due to
condensation.
Note The NI 7350 is intended for indoor use only.
You must insulate signal connections for the maximum voltage for which
Do not install wiring while the device is live with electrical signals. Do not
remove or add connector blocks when power is connected to the system.
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Remove power from signal lines before connecting them to or
disconnecting them from the device.
Operate the device at or below the measurement category1 marked on the
hardware label. Measurement circuits are subjected to working voltages2
and transient stresses (overvoltage) from the circuit to which they are
connected during measurement or test. Measurement categories establish
standard impulse withstand voltage levels that commonly occur in
electrical distribution systems. The following is a description of
measurement categories:
•
•
•
•
Measurement Category I is for measurements performed on circuits
not directly connected to the electrical distribution system referred to
as MAINS3 voltage. This category is for measurements of voltages
from specially protected secondary circuits. Such voltage
measurements include signal levels, special equipment, limited-energy
parts of equipment, circuits powered by regulated low-voltage sources,
and electronics.
Measurement Category II is for measurements performed on circuits
directly connected to the electrical distribution system. This category
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 are
measurements performed on household appliances, portable tools,
and similar devices/modules.
Measurement Category III is for measurements performed in the
building installation at the distribution level. This category refers to
measurements on hard-wired equipment such as equipment in fixed
installations, distribution boards, and circuit breakers. Other examples
are wiring, including cables, bus bars, junction boxes, switches, socket
outlets in the fixed installation, and stationary motors with permanent
connections to fixed installations.
Measurement Category IV is for measurements performed at the
primary electrical supply installation (<1,000 V). Examples include
electricity meters and measurements on primary overcurrent
protection devices and on ripple control units.
1
2
3
Measurement categories, also referred to as installation categories, are defined in electrical safety standard IEC 61010-1.
Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation.
MAINS is defined as a hazardous live electrical supply system that powers equipment. Suitably rated measuring circuits may
be connected to the MAINS for measuring purposes.
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Hardware Installation
You can install the NI 7350 controller in any open compatible expansion
slot in the computer. Appendix A, Specifications, lists the maximum power
required for the NI 7350 controller.
The following instructions are for general installation. Refer to the
computer user manual or technical reference manual for specific
instructions and warnings.
Caution The NI 7350 controller is a sensitive electronic device shipped in an antistatic
bag. Open only at an approved workstation and observe precautions for handling
electrostatic-sensitive devices.
♦
PXI-7350
1. Power off and unplug the chassis.
Caution To protect yourself and the chassis from electrical hazards, the computer should
remain unplugged until the installation is complete.
2. Choose an unused +3.3 V or +5 V peripheral slot and remove the filler
panel.
3. Touch a metal part on the chassis to discharge any static electricity that
might be on your clothes or body. Static electricity can damage the
controller.
4. Insert the PXI controller into the chosen slot. Use the injector/ejector
handle to fully insert the device into place.
5. Screw the front panel of the PXI controller to the front panel mounting
rails of the chassis.
6. Visually verify the installation.
Caution Make sure you have correctly connected all safety devices before you power on
the motion system. Safety devices include inhibits, limit switches, and emergency shut
down circuits.
Caution Always power on the chassis containing the NI 7350 controller then initialize the
controller before you power on the rest of the motion system. Power off in the reverse order.
7. Plug in and power on the chassis.
8. Initialize the controller.
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♦
PCI-7350
1. Power off and unplug the computer.
Caution To protect yourself and the computer from electrical hazards, the computer
should remain unplugged until the installation is complete.
2. Open the computer case to expose 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.
4. Touch a metal part on the computer case to discharge any static
electricity that might be on your clothes or body before handling the
controller. Static electricity can damage the controller.
5. Gently rock the controller into the slot. The connection may be tight,
but do not force the controller into place.
6. If required, screw the mounting bracket of the controller to the back
panel rail of the computer.
7. Replace the cover.
Caution Make sure you have correctly connected all safety devices before you power on
the motion system. Safety devices include inhibits, limit switches, and emergency shut
down circuits.
Caution Always power on the computer containing the NI 7350 controller then initialize
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.
9. Initialize the controller.
Note When adding or removing a controller from a Windows 2000/XP system, you must
be logged on with administrator-level access. After you have restarted the system, you may
need to refresh MAX to view the new controller.
Connecting Brushless Servo Motors
The NI 7350 controller can connect to brushless servo drives that perform
sinusoidal commutation or to drives that do not. When connecting to a
drive that performs the sinusoidal commutation, only one DAC output
is required per axis. For information about configuring the NI-Motion
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Chapter 2
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software to work with this type of system, refer to the NI-Motion User
Manual.
When connecting to a drive that does not perform the sinusoidal
commutation, the NI 7350 commutates the first two phases and the servo
drive determines the third. Therefore, two DAC outputs are required
per axis. Refer to the Measurement & Automation Explorer Help for
Motion for information about configuring the NI-Motion software for
brushless servo motors.
Connecting the Hall Effect Sensors
Before the NI 7350 can calculate the commutation values, some form of
initialization is necessary to determine the initial commutation phase angle
of the brushless motor each time the controller is powered on, reset, or
reconfigured.
One method of initialization is to connect Hall effect sensors to detect the
commutation phase angle of the motor. You can specify how the system is
configured in MAX.
Tip If you do not connect Hall effect sensors, you can set the commutation phase angle
directly, or through a process called shake and wake. Shake and wake requires moving the
motors to the 0º angle and setting the commutation phase angle to match.
It is important to correctly connect the Hall effect sensors to the controller
so that the sensors accurately determine the commutation phase angle.
Complete the following steps to connect the Hall effect sensors.
1. Locate the Hall effect sensor phase sequence diagram that applies to
the motor you are using. The manufacturer of the motor should provide
this diagram with the motor documentation.
Note The NI 7350 controller can use Hall effect sensors having three sensor outputs per
motor. Each output is 120 degrees out of phase from the previous output.
2. Wire the Hall effect sensors based on the Hall effect sensor phase
sequence diagram for the motor and Figures 2-1 and 2-2.
Match the Hall effect sensor phase sequence diagram for the motor
with one of the diagrams in Figures 2-1 and 2-2. The diagrams on the
left represent the diagram supplied with the motor. The diagrams on
the right represent the expected inputs to the UMI or NI 7350. The
arrows in the middle show the correct path to wire the Hall effect
sensor outputs into the UMI or NI 7350 inputs.
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Type 1 Base Case
0°
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Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Figure 2-1. Type 1 Hall Sensor Wiring Diagrams
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Type 2 Base Case
180° 540°
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Input 3
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Sensor 1
Sensor 2
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Input 1
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Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Sensor 1
Sensor 2
Sensor 3
Input 1
Input 2
Input 3
Figure 2-2. Type 2 Hall Sensor Wiring Diagrams
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For example, if the diagram supplied with the motor matches the third
Type 2 diagram, wire Hall effect sensor 1 to input 3 on the UMI or
NI 7350, and then wire sensor 2 to input 1 and wire sensor 3 to input 2.
The Hall effect sensor inputs for Axes 1, 2, 5, and 6 are defined as
follows:
•
•
Axis 2 uses digital port 4, bits 5–7, with bit 5 as input 1.
Axis 5 uses digital port 8, bits 2–4, with bit 2 as input 1.
Axis 6 uses digital port 8, bits 5–7, with bit 5 as input 1.
Refer to Figure 5-7, 68-Pin Digital I/O Connector Pin Assignments
(Ports 1–4), and Figure 5-8, 68-Pin Digital I/O Connector Pin
Assignments (Ports 5–8), for detailed pinouts of the digital I/O
connectors.
3. Configure the system in MAX. There are two base types of Hall effect
sensor inputs. Set the NI-Motion software to the base sensor type you
are using.
If the motor documentation matches any of the patterns in Figure 2-1,
you are using Type 1, which matches the graph in Figure 2-3.
0°
180°
360°
540°
720°
1
2
3
Figure 2-3. Type 1 Hall Sensor Phasing Sequence Diagram
If the motor documentation matches any of the patterns in Figure 2-2,
you are using Type 2, which matches the graph in Figure 2-4.
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0°
180°
360°
540°
720°
1
2
3
Figure 2-4. Type 2 Hall Sensor Phasing Sequence Diagram
Refer to the Measurement & Automation Explorer Help for Motion for
information about configuring the NI-Motion software for brushless servo
motors.
Connecting the Motor Leads
For the brushless motor to generate maximum torque, the motion system
must output the commutation on the three motor phases correctly. Two
of the phases are controlled by the NI 7350 controller, and the third phase
is generated by the drive.
The primary output of the NI 7350 wires into the primary input of the drive.
The secondary output wires into the secondary input of the drive. Use MAX
to configure the NI 7350 for onboard sinusoidal commutation. MAX
automatically assigns the primary and secondary outputs. Refer to the
Measurement & Automation Explorer Help for Motion for more
information.
diagram for the motor as a reference. The manufacturer of the motor
typically provides this diagram with the motor documentation.
The commutation diagram shows the expected value on each of the motor
leads at each angle in the commutation phase, typically in 60-degree
increments. Table 2-1 shows an example of a motor phasing commutation
diagram, and Figure 2-5 shows the corresponding graphical representation.
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Table 2-1. Motor Phasing Diagram
Motor
Lead
0º
+
60º
+
120º
NC
+
180º
–
240º
–
300º
NC
–
A
B
C
–
NC
–
+
NC
+
NC
–
NC
+
0°
60°
120°
180°
240°
300°
A
+
NC
–
C
B
Figure 2-5. Sine Wave Motor Phasing Diagram
Table 2-2 shows the correct method of wiring a brushless motor to
the drive.
Table 2-2. Correct Wiring Diagram At 0º Commutation Phase
Drive Motor Output
Brushless Motor Lead State
No Current (NC)
1
2
3
Positive Current
Negative Current
For example, if the motor has the phasing characteristics described in
Table 2-1, wire the motor lead C to the motor output 1 on the drive. You
wire the lead this way because the motor lead C calls for No Current at
0º Commutation Phase, and drive motor output 1 matches the No Current
requirement. Similarly, wire motor lead A to motor output 2 and motor
lead B to motor output 3 on the drive.
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3
Hardware Overview
This chapter presents an overview of the National Instruments
PXI/PCI-7350 controller hardware functionality.
Figures 3-1 and 3-2 illustrate the functional components of the
NI PXI-7350.
1
2
9
PXI-7350
3
8
4
6
5
7
1
2
3
4
5
16-bit ADC
16-bit DACs
RTSI and PXI Bus Connector
Field-Programmable Gate Arrays
DSP
6
32-bit CPU
7
8
9
Nonvolatile FLASH Memory
68-pin Digital I/O Connectors
68-pin Motion I/O Connectors
Figure 3-1. PXI-7350 Parts Locator Diagram (Front Panel)
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1
COPYRIGHT 2003
c
C
2
3
4
1
2
Assembly Number Label
Serial Number Label
3
4
Symbol Indicating CE Compliance
Identification Number (used in Australia)
Figure 3-2. PXI-7350 Parts Locator Diagram (Back Panel)
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Figures 3-3 and 3-4 show the NI PCI-7350 parts locator diagrams.
2
1
3
9
8
4
7
6
5
1
2
3
4
5
16-bit ADC
16-bit DACs
RTSI Bus Connector
Field-Programmable Gate Arrays
DSP
6
7
8
9
32-bit CPU
Nonvolatile FLASH Memory
68-pin Digital I/O Connectors
68-pin Motion I/O Connectors
Figure 3-3. PCI-7350 Parts Locator Diagram (Front Panel)
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1
2
3
4
5
Assy187109A
1
2
3
Symbol to Alert User to Read the Manual
Identification Number (used in Australia)
Symbol Indicating CE Compliance
4
5
Serial Number Label
Assembly Number Label
Figure 3-4. PCI-7350 Parts Locator Diagram (Back Panel)
User Connectors
The two 68-pin motion I/O connectors provide all the signals for up to eight
axes of closed-loop motion control, including encoder feedback, limit and
home inputs, breakpoint (position compare) outputs, trigger (position
Chapter 5, Signal Connections, for details about the signals in the motion
I/O connectors.
The two 68-pin digital I/O connectors provide 64 bits of user-configurable
digital I/O, including 12 inputs for four Hall effect sensors. Refer to
Chapter 5, Signal Connections, for details about the signals in the digital
I/O connectors.
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Figure 3-5 shows the four 68-pin I/O connectors on the NI 7350 motion
controller.
1
2
4
3
1
2
Motion I/O Connector (Axes 1–4)
Motion I/O Connector (Axes 5–8)
3
4
Digital I/O Connector (Ports 1–4)
Digital I/O Connector (Ports 5–8)
Figure 3-5. PXI/PCI-7350 68-pin Connectors
The RTSI connector provides up to eight triggers and one PXI star trigger
(PXI-7350 only) to facilitate synchronization between multiple
RTSI-enabled 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. You also can use the RTSI bus
for general hardware-based communication between RTSI devices.
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4
Functional Overview
This chapter provides an overview of the National Instruments
PXI/PCI-7350 controller architecture and its capabilities.
Dual Processor Architecture
The NI 7350 controller can perform up to eight axes of simultaneous
motion control in a preemptive, multitasking, real-time environment.
An advanced dual-processor architecture, 32-bit CPU, digital signal
processor (DSP) for embedded real-time control, and custom FPGAs give
the NI 7350 controller high-performance capabilities. The powerful
function set provides high-speed communications while off-loading
complex motion functions from the host PC for optimized system
performance.
The NI 7350 controller uses the DSP for all closed-loop control, including
position tracking, PID control closed-loop computation, and motion
trajectory generation. The DSP chip is supported by a custom FPGA
that performs the high-speed encoder interfacing, position capture and
breakpoint (position compare) functions, motion I/O processing, and
stepper pulse generation for hard real-time functionality.
The embedded CPU runs a multitasking real-time operating system
and handles host communications, command processing, multi-axis
interpolation, onboard program execution, error handling, general-purpose
digital I/O, and overall motion system integration functions.
Embedded Real-Time Operating System
The embedded firmware is based upon an embedded real-time operating
system (RTOS) kernel and provides optimum system performance in
varying motion applications. Motion tasks are prioritized. Task execution
order depends on the priority of each task, the state of the entire motion
system, I/O or other system events, and the real-time clock.
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The DSP chip is a separate processor that operates independently
from the CPU but is closely synchronized through interprocessor
communication. The NI 7350 is a true multiprocessing and multitasking
embedded controller.
The architecture of the NI 7350 controller enables advanced motion
features, such as enhanced PID functions and lowpass and notch filters.
Refer to the Measurement & Automation Explorer Help for Motion for
more information about these features.
Trajectory Generators
The NI 7350 controller trajectory generators calculate the instantaneous
position command that controls acceleration and velocity while it moves
the axis to its target position. Depending on how you configure the axis, this
command is then sent to the PID servo loop or stepper pulse generator.
To implement infinite trajectory control, the NI 7350 controller has
16 trajectory generators implemented in the DSP chip (two per axis).
Each generator calculates an instantaneous position each PID update
period. While simple point-to-point moves require only one trajectory
generator, two simultaneous generators are required for blended moves
and infinite trajectory control processing.
Analog Input and Output
The NI 7350 controller has an 8-channel multiplexed, 16-bit ADC.
The converted analog values are broadcast to both the DSP and CPU
using a dedicated internal high-speed serial bus. The multiplexer scan rate
provides high sampling rates required for feedback loop closure, joystick
inputs, or monitoring analog sensors.
For analog output, the NI 7350 uses two four-channel 16-bit DACs that are
updated each PID loop.
Both the analog input and output circuitry are factory-adjusted for excellent
accuracy and performance. You can use an NI-Motion VI or function to
read the current temperature of the NI 7350. Refer to either the NI-Motion
Function Help or the NI-Motion VI Reference Help for information about
the functions and/or VIs you use to read the current temperature of the
NI 7350.
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Onboard Sinusoidal Commutation
The NI 7350 controller provides onboard sinusoidal commutation for axes
controlling brushless DC servo motors. This feature reduces overall system
cost by allowing you to use less complex, and therefore less expensive,
motor drives.
Flash Memory
Nonvolatile memory on the NI 7350 controller is implemented with flash
ROM, which means the controller can electrically erase and reprogram its
own ROM. Because all of the embedded firmware, including the RTOS,
DSP code, and the FPGA configuration file of the NI 7350 is stored in flash
memory, you can upgrade the onboard firmware contents in the field for
support and new-feature enhancement.
Flash memory also allows objects, such as programs and data arrays, to be
stored in non-volatile memory.
It is possible to save the entire configuration state of the controller to the
flash memory. On the next power cycle, the controller automatically loads
and returns the configuration to these new saved default values.
Use MAX to download new firmware or save configuration defaults to
flash memory.
A flash memory download utility is included with the NI-Motion software
that ships with the controller.
Axes and Motion Resources
The NI 7350 controller can control up to eight axes of motion. The axes
can be completely independent, simultaneously started, or mapped in
multidimensional groups called coordinate spaces. You also can
simultaneously start coordinate spaces for multi-vector space coordinated
motion control.
Axes
At a minimum, an axis consists of a trajectory generator, a PID (for servo
axes) or stepper control block, and at least one output resource—either
a DAC output (for servo axes) or a stepper pulse generator output. Servo
axes must also have either an encoder or ADC channel feedback resource.
In addition to an encoder feedback, brushless DC servo axes also can use
Hall effect sensors for initial position feedback. Closed-loop stepper axes
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also require a feedback resource, while open-loop stepper axes do not.
Figures 4-1 and 4-2 show these axis configurations.
With the NI 7350 controller, you can map one or two feedback resources
and one or two output resources to the axis.
A stepper axis has its primary output resource mapped to a stepper output.
A servo axis has its primary output resource mapped to a DAC.
Trajectory
Generator
101100111
16-Bit
D/A
Converter
PID
Servo
Loop
øA
øB
11101101100
10 V
32-Bit
Encoder
Interface
0101011101101
101100111
Index
Figure 4-1. Servo Axis Resources
Trajectory
Generator
Optional
101100111
øA
øB
Stepper
Pulse
Generator
Stepper
Control
Loop
32-Bit
Encoder
Interface
010010110
01011010
101100111
Index
Figure 4-2. Stepper Axis Resources
The NI 7350 controller supports axes with secondary output resources.
Defining two output resources is useful when controlling axes with
multiple motors, such as gantry systems in which two DAC outputs can be
configured with different torque limits and/or offsets. The NI 7350
controller also can use two DAC output resources when controlling a
brushless DC servo axis for sinusoidal commutation.
The NI 7350 controller also supports secondary feedback resources, or
encoders, for axes defined as servo. Two feedback resources are used
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when implementing dual-loop control, such as in backlash compensation,
which reduces the number of encoders available for other axes.
Note Refer to the NI-Motion User Manual for more information about configuring axes.
Motion Resources
Encoder, DAC, ADC, and motion I/O resources that are not used by an axis
are available for non-axis or non-motion-specific applications. You can
directly control an unmapped DAC as a general-purpose analog output
( 10 V). Similarly, you can use any ADC channel to measure
potentiometers or other analog sensors.
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 position breakpoint output, and
an inhibit output. 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 the resource are
available as part of the axis. Because resources are referenced by axis number after they
are assigned to that axis, it is not necessary to remember or use the resource number
directly when accessing these features.
Onboard Programs and Buffers
You can use the real-time operating system on the NI 7350 motion
controller to run custom programs. This functionality allows you to offload
tasks from the host processor and onto the motion controller. Onboard
programs run at the lowest priority and are therefore reserved for
non-time-critical background tasks. Each program is guaranteed at least
2 ms of time every 63 ms. You can adjust the guaranteed time from 2 ms to
20 ms using the Load Program Time Slice VI or function. Refer to the
Changing a Time Slice section of Chapter 14, Onboard Programs, of the
NI-Motion User Manual for more information and the impact of changing
the onboard program time slice.
You can execute the NI-Motion function set from onboard programs.
In addition, the onboard programs support basic math and data operation
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functions for up to 120 general-purpose variables. Refer to the NI-Motion
User Manual for more information.
The NI 7350 also features buffered operations for contouring, high-speed
position captures, and breakpoints (position compare).
You can store and run onboard programs and buffers from RAM or save
them to flash ROM. The NI 7350 controller has 128 KB of RAM that is
divided into two 64 KB sectors and 256 KB of ROM that is divided into
four 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 the 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 NI 7350 controller has both a
command buffer for incoming commands and a return data buffer for
returning data.
The communications status register provides bits for communications
handshaking as well as real-time error reporting and general status
feedback to the host PC. The move complete status register provides
instantaneous motion status of all axes.
The host computer also has a read-only register for reading position and
velocity. This feature allows you to read the position and velocity without
utilizing the onboard CPU.
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5
Signal Connections
This chapter describes how to make input and output signal connections
directly to the National Instruments PXI/PCI-7350 controller and briefly
describes the associated I/O circuitry.
The NI 7350 controller has the following four connectors that handle all
signals to and from the external motion system.
•
•
Two 68-pin motion I/O connectors
Two 68-pin digital I/O connectors
You can connect to the motion system with cables and accessories, varying
from simple screw terminal blocks to enhanced UMI units and drives.
Caution The NI 7350 does not provide isolation between circuits.
Caution Power off all devices when connecting or disconnecting the NI 7350 controller
motion I/O and auxiliary digital I/O cables. Failure to do so may damage the controller.
Motion I/O Connectors
The motion I/O connectors contain all the signals required to control up to
eight axes of servo and stepper motion, including the following features:
•
•
•
•
•
•
•
Motor command analog and stepper outputs
Encoder feedback inputs
Forward, home, and reverse limit inputs
Breakpoint (position compare) outputs
Trigger (position capture) inputs
Inhibit outputs
Controller shutdown input
The motion I/O connectors also contain up to eight channels of 16-bit A/D
inputs for analog feedback or general-purpose analog input.
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Signal Connections
Figures 5-1 and 5-2 show the pin assignments for the two 68-pin motion
I/O connectors on the NI 7350 controller. A signal description follows the
connector pinout. In this chapter, lines above signal names indicate that the
signal is active low.
1
2
3
4
5
6
7
8
9
35
36
37
38
39
40
41
42
43
Axis 1 Dir (CCW)
Digital Ground
Digital Ground
Axis 1 Home Switch
Trigger 1
Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
Axis 1 Inhibit
Axis 2 Dir (CCW)
Digital Ground
Digital Ground
Axis 2 Home Switch
Trigger 2
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
10 44
11 45
12 46
13 47
14 48
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Digital Ground 15 49
Axis 3 Home Switch 16 50
Trigger 3 17 51
Axis 3 Inhibit 18 52
Axis 4 Dir (CCW) 19 53
Digital Ground 20 54
Digital Ground 21 55
Axis 4 Home Switch 22 56
Trigger 4 23 57
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Host +5 V
Axis 4 Inhibit 24 58
Digital Ground 25 59
Breakpoint 1 26 60
Breakpoint 3 27 61
Digital Ground 28 62
Breakpoint 2
Breakpoint 4
Shutdown
Analog Output 1
Analog Output 3
29 63
30 64
31 65
32 66
33 67
34 68
Analog Output 2
Analog Output 4
Analog Output Ground
Analog Input 1
Reserved
Analog Input 2
Analog Input 3
Analog Input 4
Analog Reference (Output)
Analog Input Ground
Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment for Axes 1–4
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1
2
3
4
5
6
7
8
9
35
36
37
38
39
40
41
42
43
Axis 5 Dir (CCW)
Digital Ground
Digital Ground
Axis 5 Home Switch
Trigger 5
Axis 5 Step (CW)
Axis 5 Encoder Phase A
Axis 5 Encoder Phase B
Axis 5 Encoder Index
Axis 5 Forward Limit Switch
Axis 5 Reverse Limit Switch
Axis 6 Step (CW)
Axis 5 Inhibit
Axis 6 Dir (CCW)
Digital Ground
Digital Ground
Axis 6 Home Switch
Trigger 6
Axis 6 Encoder Phase A
Axis 6 Encoder Phase B
Axis 6 Encoder Index
Axis 6 Forward Limit Switch
Axis 6 Reverse Limit Switch
Axis 7 Step (CW)
10 44
11 45
12 46
13 47
Axis 6 Inhibit
Axis 7 Dir (CCW)
Digital Ground 14 48
Digital Ground 15 49
Axis 7 Home Switch 16 50
Trigger 7 17 51
Axis 7 Encoder Phase A
Axis 7 Encoder Phase B
Axis 7 Encoder Index
Axis 7 Forward Limit Switch
Axis 7 Reverse Limit Switch
Axis 8 Step (CW)
Axis 7 Inhibit 18 52
Axis 8 Dir (CCW) 19 53
Digital Ground 20 54
Digital Ground 21 55
Axis 8 Home Switch 22 56
Trigger 8 23 57
Axis 8 Encoder Phase A
Axis 8 Encoder Phase B
Axis 8 Encoder Index
Axis 8 Forward Limit Switch
Axis 8 Reverse Limit Switch
Host +5 V
Axis 8 Inhibit 24 58
Digital Ground 25 59
Breakpoint 5 26 60
Breakpoint 7 27 61
Breakpoint 6
Breakpoint 8
Digital Ground
Analog Output 5
28 62
29 63
30 64
31 65
32 66
33 67
34 68
Shutdown
Analog Output 6
Analog Output 7
Analog Output 8
Analog Output Ground
Analog Input 5
Reserved
Analog Input 6
Analog Input 7
Analog Input 8
Analog Reference (Output)
Analog Input Ground
Figure 5-2. 68-Pin Motion I/O Connector Pin Assignment for Axes 5–8
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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
Digital Ground
Reference for digital I/O
Axis <1..8> Dir (CCW)
Digital Ground
Output
Motor direction or counterclockwise
control
Axis <1..8> Step (CW)
Digital Ground
Digital Ground
Output
Input
Motor step or clockwise control
Axis <1..8> Encoder Phase A
Closed-loop only—phase A encoder
input
Axis <1..8> Encoder Phase B
Axis <1..8> Encoder Index
Digital Ground
Digital Ground
Input
Input
Closed-loop only—phase B encoder
input
Closed-loop only—index encoder
input
Axis <1..8> Home Switch
Axis <1..8> Forward Limit Switch
Axis <1..8> Reverse Limit Switch
Axis <1..8> Inhibit
Digital Ground
Digital Ground
Digital Ground
Digital Ground
Digital Ground
Input
Input
Input
Output
Input
Home switch
Forward limit switch
Reverse limit switch
Drive inhibit
Trigger <1..8>
High-speed position capture trigger
input <1..8>
Breakpoint <1..8>
Host +5 V
Digital Ground
Digital Ground
—
Output
Output
—
Position breakpoint output <1..8>
+5 V—host computer +5 V supply
Reference for analog inputs
16-bit analog input
Analog Input Ground
Analog Input <1..8>
Analog Output <1..8>
Analog Output Ground
Shutdown
Analog Input Ground
Analog Output Ground
—
Input
Output
—
16-bit analog output
Reference for analog outputs
Controlled device shutdown
+7.5 V—analog reference level
Digital Ground
Analog Output Ground
Input
Output
Analog Reference (output)
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Motion Axis Signals
The following signals control the servo amplifier or stepper drive.
•
Analog Output <1..8>—These 16-bit DAC outputs are typically
the servo command outputs for each axis. They can drive the
industry-standard 10 V output, and can be software limited to
any positive or negative voltage range desired. These outputs also
feature a software-programmable voltage offset.
Although typically used as the command output of an axis control
loop, unused DACs also can function as independent analog outputs
for general-purpose control.
•
Analog Reference—For convenience, a 7.5 V (nominal) analog
reference voltage is available. You can use this output as a low-current
supply to sensors that require a stable reference.
Note The analog reference output is an output signal only and must not be connected to
an external reference voltage. Connect the common of the external reference to the Analog
Input Ground pin for proper A/D reference and improved voltage measurement.
•
Analog Output Ground—To help keep digital noise separate from
the analog DAC outputs, there is a separate return connection. Use this
analog ground connection as the reference for the DAC outputs when
connecting to servo amplifiers instead of the Digital Ground
(digital I/O reference).
•
Axis <1..8> Step (CW) and Dir (CCW)—These signals are the
stepper command outputs for each axis. The NI 7350 controller
supports both industry standards for stepper command signals—step
and direction, or independent clockwise (CW) and counterclockwise
(CCW) pulse outputs.
The output configuration and signal polarity is software programmable
for compatibility with 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 command direction
of motion, either forward or reverse.
–
CW and CCW modes produce pulses (steps) on the CW output for
forward-commanded motion and pulses on the CCW output for
reverse-commanded motion.
In either case, you can set the active polarity of both outputs to
active low or active high. For example, with step and direction, you can
make a logic high correspond to either forward or reverse direction.
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You can choose to drive the Step (CW) and Dir (CCW) outputs by
using either Totem Pole mode or Open Collector mode. In Totem Pole
mode, the output buffer can both sink and source current, which is
appropriate for most applications. In Open Collector mode, the output
buffer can only sink current. By default, Step (CW) and Dir (CCW)
outputs are set to Totem Pole mode.
Caution Do not connect these outputs to anything other than a +5 V circuit. The output
buffers will fail if subjected to voltages in excess of +5.5 V.
•
Axis <1..8> Inhibit—Use the inhibit output signals to control the
enable/inhibit function of a servo amplifier or stepper drive. When
properly connected and configured, the inhibit function causes the
connected motor to be de-energized and its shaft turns freely.
You can set the inhibits to either Totem Pole or Open Collector mode.
In Totem Pole mode, the inhibits can both sink and source current.
In Open Collector mode, the output buffer can only sink current.
By default, inhibits are set to Open Collector mode.
Whereas the industry standard for inhibits is active low, these outputs
have programmable polarity and can be set to active high for increased
flexibility.
Inhibit output signals can be activated automatically upon a
Kill Motion command or any motion error that causes a kill motion
condition, such as a following-error trip.
You also can use the inhibit outputs of unused axes as general-purpose
outputs. However, for safety considerations, National Instruments
recommends that you use the inhibit outputs for all active axes.
Limit and Home Inputs
The following signals control limit and home inputs:
•
•
•
Axis <1..8> Forward Limit Input
Axis <1..8> Home Input
Axis <1..8> Reverse Limit Input
These inputs are typically connected to limit switches located at physical
ends 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 transition on a limit or home input causes a full torque halt stop of
the associated axis. In addition, an active forward or reverse limit input
impedes future commanded motion in that direction for as long as the
signal is active.
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Limit and home inputs are digitally filtered and must remain active for at
least 1 ms to be recognized. Refer to Appendix A, Specifications, for more
information. You can use MAX to disable digital filtering for limit and
home inputs. Active signals should remain active to prevent motion from
proceeding further into the limit. Pulsed limit signals stop motion, but they
do not prevent further motion in that direction if another move is started.
The input polarity of these signals is software programmable for active low
or active high.
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 NI 7350
controller and are not required for basic motion control. These inputs
are part of a system solution for complete motion control.
Caution National Instruments recommends using limits for personal safety, as well as to
protect the motion system.
Wiring Concerns
For the end of travel limits to function correctly, the forward limit must be
located at the forward or 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 damaging the motion system. Limits that are wired
incorrectly may prevent motion from occurring at all.
Keep limit and home switch signals and their ground connections wired
separately from the motor drive/amplifier signal and encoder signal
connections.
Caution Wiring these signals near each other can cause faulty motion system operation
that is due to signal noise and crosstalk.
Limit and Home Input Circuit
Limit and home inputs have an onboard pull-up resistor. If left floating, the
inputs are interpreted as a high logic level.
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Caution Excessive input voltages can cause erroneous operation and/or component
failure. Verify that the input voltage is within the specification range.
Encoder Signals
The NI 7350 controller offers up to eight 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, Phase B, and Index input, as described in the following sections.
Axis <1..8> Encoder Phase A/Phase B
The encoder inputs provide position and velocity feedback for absolute
and relative positioning of axes in any motion system configuration.
If an encoder resource is not needed for axis control, it is available for other
functions including position monitoring, digital potentiometer encoder
inputs, or as a master encoder input for master/slave (electronic gearing)
applications.
The encoder channels (Axis <1..8> Encoder Phase A/Phase B) are
implemented in an FPGA and provide advanced features, such as
high-speed position capture inputs and position breakpoint outputs. The
encoders have a maximum count frequency of 20 MHz.
An encoder input channel converts quadrature signals on Phase A and
Phase B into 32-bit up/down counter values. Quadrature signals are
generated by optical, magnetic, laser, or electronic devices that provide
two signals, Phase A and Phase B, that are 90° out of phase. The leading
phase, A or B, determines the direction of motion. The four transition 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 specification of N (N = number) lines per unit
of measure, which can be revolutions or linear distance, produces 4 × N
quadrature counts per unit of measure. The count is the basic increment of
position in National Instruments motion systems.
Note If your encoder does not supply resolution in quadrature counts per revolution,
determine quadrature counts per revolution by multiplying the encoder resolution, in
encoder lines or periods, by 4. The encoder resolution is the number of encoder lines
between consecutive encoder indexes, such as marker or Z-bit. If the encoder does not have
an index output, the resolution is referred to as lines per revolution, or lines per unit of
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measure—inch, centimeter, millimeter, and so on. For example, a 500 line encoder has
2,000 quadrature counts per revolution.
Axis <1..8> Encoder Index
The Index input is primarily used to establish a reference position. This
function uses the number of counts per revolution or the linear distance to
initiate a search move that locates the index position. When a valid index
signal transition occurs during a find reference routine, the position of the
index signal is captured accurately. Use this captured position to establish
system position reference required.
The default MAX settings guarantee that the find index routine completes
successfully if the encoder generates a high index pulse when phases A
and B are low and the encoder is connected through an NI UMI or drive
accessory. Figure 5-3 shows the default encoder phasing diagram at the
inputs to an NI UMI or drive accessory.
Phase A
Phase B
Index
Figure 5-3. Quadrature Encoder Phasing 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 I in MAX.
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 of counts or extra counts and
erroneous closed-loop motion operation. Verify the encoder connections
before powering up the system.
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Caution Wire encoder signals and their ground connections separately from all other
connections. Wiring these signals near the motor drive/amplifier or other signals can cause
positioning errors and faulty operation.
National Instruments strongly recommends you use encoders with
differential line drive outputs for all applications. You must use differential
encoders if the encoder cable length is longer than 3.05 m (10 ft). 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.
Caution Unshielded cables can cause noise to corrupt the encoder signals, resulting in lost
or additional counts and reduced motion system accuracy.
Encoder Input Circuit
The Phase A, Phase B, and Index encoder inputs all have an onboard
pull-up resistor, and are interpreted as high logic level if left floating.
Both phases A and B are required for proper encoder counter operation,
and the signals must support the 90° phase difference within system
tolerance. The encoder and Index signals are conditioned by a
software-programmable digital filter inside the FPGA. The Index signal
is optional but highly recommended and is required for initialization
functionality with the Find Reference function.
Trigger Inputs, Shutdown Input, and Breakpoint Outputs
The NI 7350 controller offers additional high-performance encoder
features. The encoder channels have high-speed position capture trigger
inputs and position breakpoint outputs. These signals are useful for
high-speed synchronization of motion with actuators, sensors, and other
parts of the complete motion system.
•
Trigger Input <1..8>—When enabled, an active transition on a
high-speed position capture input causes instantaneous position
capture of the corresponding encoder count value. You can use this
high-speed position capture functionality for applications ranging
from simple position tagging of sensor data to complex camming
systems with advance/retard positioning and registration. An available
NI 7350 controller position mode is to move an axis relative to a
captured position.
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The polarity of the trigger (position capture) input is programmable in
software as active low, or active high, rising edge or falling edge. You
also can use a trigger (position capture) input as a latching
general-purpose digital input by simply ignoring the captured position.
•
•
Shutdown Input—When enabled in software, the shutdown input
signal can be used to kill all motion by asserting the controller inhibits,
setting the analog outputs to 0 V, and stopping any stepper pulse
generation. To activate shutdown, the signal must transition from a
low to high state.
Breakpoint <1..8>—You can program a breakpoint (position
compare) output to transition when the associated encoder value
equals the breakpoint (position compare) position. You can use a
breakpoint (position compare) output to directly control actuators or as
a trigger to synchronize data acquisition or other functions in the
motion control system.
You can program breakpoints as either absolute, relative, periodic, or
buffered positions. Breakpoint (position compare) outputs can be
preset to a known state so that the transition when the breakpoint
(position compare) occurs can be low to high, high to low, toggle, or
pulse.
You can set the breakpoint (position compare) outputs to Totem Pole
mode or Open Collector mode. In Totem Pole mode, the output buffer
can both sink and source current, which is appropriate for most
applications. In Open Collector mode, the output buffer can only sink
current. By default, breakpoint (position compare) outputs are set to
Totem Pole mode.
You can directly set and reset breakpoint (position compare) outputs to
use them as general-purpose digital outputs.
Wiring Concerns
Caution Keep trigger (position capture) input, shutdown input, and breakpoint (position
compare) output signals and their ground connections wired separately from the motor
drive/amplifier signal and encoder signal connections. Wiring these signals near each other
can cause faulty operation.
Caution Excessive input voltages can cause erroneous operation and/or component
failure.
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Trigger Input and Shutdown Input Circuits
Trigger (position capture) input and shutdown input circuits have onboard
pull-up resistors, and are interpreted as high logic level if left floating.
Analog Inputs
The NI 7350 controller has the following ADC input signals:
•
Analog Input <1..8>—The NI 7350 controller includes an
eight-channel multiplexed, 16-bit ADC capable of measuring 10 V,
5 V, 0–10 V, and 0–5 V inputs.
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 ADC
channels of the controller by using the Read ADC function. Table 5-2
shows the range of values read back and the voltage resolution for each
setting. The voltage resolution is in microvolts per least significant
bit (μV/LSB).
Table 5-2. Analog Input Voltage Ranges
Input Range
10 V
Binary Values
–32,768 to 32,767
–32,768 to 32,767
0 to 65,535
Resolution
305 μV/LSB
153 μV/LSB
153 μV/LSB
76 μV/LSB
5 V
0–10 V
0–5 V
0 to 65,535
When configured as analog feedback, an analog sensor acts like a
limited range absolute position device with a full-scale position range.
You can map any ADC channel as feedback to any axis.
You can enable and disable individual ADC channels in software.
Disable unused ADC channels for the highest multiplexer scan rate
performance. Properly enabled, the scan rate is high enough to support
analog feedback at the highest PID sample rate.
•
Analog Input Ground—To help keep digital noise out of the analog
input, a separate return connection is available. Use this reference
ground connection and not Digital Ground (digital I/O reference)
or Analog Output Ground as the reference for the analog inputs.
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Wiring Concerns
For proper use of each ADC input channel, the analog signal should be a
floating source with the positive terminal connected to the channel input
and the negative terminal connected to analog input ground. Figure 5-4
shows a simplified schematic diagram of this connection.
Analog Input
+
+
–
Vs
Analog Input
Ground
–
Figure 5-4. Analog Input Connectivity
Other Motion I/O Connection
The NI 7350 controller provides the host +5 V signal, which is the internal
+5 V supply of the host computer. This signal is typically used to detect
when the host computer is powered on and to shut down external motion
system components when the host computer is powered off or disconnected
from the motion accessory.
Caution The host +5 V signal is limited and should not be used to power any external
devices, except those intended in the host bus monitor circuits on the UMI and drive
products.
Interfacing With Optocouplers
Many motor drive manufacturers offer opto-isolated inputs for
well-suited to drive most of these inputs directly when you connect the
controller output signal to the positive side of the optocoupler input and
connect the controller GND to the negative side of the optocoupler input.
This method works if the optocoupler is designed to work with a 5 V signal,
requires less than 16 mA, and the NI 7350 output is configured for Totem
Pole output mode. Figure 5-5 shows a typical optocoupler wiring example.
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7350 or UMI
+5
Drive
3.3 kΩ
Optional
Step +
Step –
STEP OUT
GND
Figure 5-5. Typical Optocoupler Wiring (Totem Pole Output Mode)
In some rare circumstances, the optocoupler will not work with a 5 V
signal, or it requires more current than the maximum current level the
controller can provide. In this case, connect the controller output to the
negative side of the optocoupler input, connect the positive side of the input
to a supply as specified by the drive manufacturer, and configure the
controller output for Open Collector mode. Figure 5-6 shows this special
case wiring example.
7350 or UMI
+5
Drive
VISO per
Drive Spec
3.3 kΩ
Step +
Step –
Optional
STEP OUT
Figure 5-6. Special Case Optocoupler Wiring (Open-Collector Output Mode)
must provide an external resistor in series with the NI 7350 output. To prevent damage to
the NI 7350 controller or other motion hardware, use a resistor that limits the current to a
value below the maximum specifications of the controller and other hardware.
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Digital I/O Connector
The general-purpose digital I/O lines on the NI 7350 controller are
available on two separate 68-pin digital I/O connectors. Figures 5-7
and 5-8 show the pin assignments for these connectors.
1
2
3
4
5
6
7
8
9
35
36
37
38
39
40
41
42
43
+5 V
PCLK
Digital Ground
Digital Ground
Digital Ground
DPull (P1:P4)
Digital Ground
Reserved
Reserved
Reserved
PWM1
Reserved
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 1:bit 1
Reserved
PWM2
10 44
11 45
12 46
13 47
14 48
15 49
16 50
17 51
18 52
19 53
20 54
21 55
22 56
23 57
24 58
25 59
26 60
27 61
Port 1:bit 0
Digital Ground
Port 1:bit 3
Port 1:bit 4
Digital Ground
Port 1:bit 7
Port 2:bit 0
Port 2:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 2:bit 6
Port 2:bit 7
Port 3:bit 0
Digital Ground
Port 3:bit 3
Port 3:bit 4
Digital Ground
Port 1:bit 2
Digital Ground
Port 1:bit 5
Port 1:bit 6
Digital Ground
Digital Ground
Port 2:bit 2
Port 2:bit 3
Port 2:bit 4
Port 2:bit 5
Digital Ground
Digital Ground
Port 3:bit 1
Port 3:bit 2
Digital Ground
Port 3:bit 5
Port 3:bit 6
Port 3:bit 7 28 62
Port 4:bit 0 29 63
Digital Ground
Port 4:bit 1
Digital Ground 30 64
Port 4:bit 2/Axis 1, Hall 1
Digital Ground
Port 4:bit 5/Axis 2, Hall 1
Port 4:bit 6/Axis 2, Hall 2
Digital Ground
Axis 1, Hall 2/Port 4:bit 3 31 65
Axis 1, Hall 3/Port 4:bit 4 32 66
Digital Ground 33 67
Axis 2, Hall 3/Port 4:bit 7 34 68
Figure 5-7. 68-Pin Digital I/O Connector Pin Assignments (Ports 1–4)
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1
2
3
4
5
6
7
8
9
35
36
37
38
39
40
41
42
43
+5 V
Reserved
Digital Ground
Digital Ground
Digital Ground
DPull (P5:P8)
Digital Ground
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 5:bit 1
Reserved
Reserved
10 44
11 45
12 46
13 47
14 48
15 49
16 50
17 51
18 52
19 53
20 54
21 55
22 56
23 57
24 58
25 59
26 60
27 61
Port 5:bit 0
Digital Ground
Port 5:bit 3
Port 5:bit 4
Digital Ground
Port 5:bit 7
Port 6:bit 0
Port 6:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 6:bit 6
Port 6:bit 7
Port 7:bit 0
Digital Ground
Port 7:bit 3
Port 7:bit 4
Digital Ground
Port 5:bit 2
Digital Ground
Port 5:bit 5
Port 5:bit 6
Digital Ground
Digital Ground
Port 6:bit 2
Port 6:bit 3
Port 6:bit 4
Port 6:bit 5
Digital Ground
Digital Ground
Port 7:bit 1
Port 7:bit 2
Digital Ground
Port 7:bit 5
Port 7:bit 6
Port 7:bit 7 28 62
Port 8:bit 0 29 63
Digital Ground
Port 8:bit 1
Digital Ground 30 64
Port 8:bit 2/Axis 3, Hall 1
Digital Ground
Port 8:bit 5/Axis 4, Hall 1
Port 8:bit 6/Axis 4, Hall 2
Digital Ground
Axis 3, Hall 2/Port 8:bit 3 31 65
Axis 3, Hall 3/Port 8:bit 4 32 66
Digital Ground 33 67
Axis 4, Hall 3/Port 8:bit 7 34 68
Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments (Ports 5–8)
The 64-bit digital I/O ports are configured in hardware as up to eight 8-bit
digital I/O ports. The bits in a port are typically controlled and read with
byte-wide bitmapped commands.
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Bits 2–7 in DIO ports 4 and 8 are dual-purpose bits that can be used
for either general-purpose I/O or Hall sensor feedback during system
configuration and initialization, but not both. When you set these bits to
provide Hall sensor feedback, they are reserved for this activity and cannot
be used for general-purpose I/O until you reinitialize the motion system.
All digital I/O lines have programmable direction and polarity.
The DPull(P1:P4) and DPull(P5:P8) pins control the state of the digital
input pins at power-up.
Connecting DPull(P1:P4) to +5 V or leaving it unconnected configures all
pins in ports 1–4 for 10 kΩ pull-ups. Connecting DPull(P1:P4) to ground
configures these ports for 10 kΩ pull-downs.
Connecting DPull(P5:P8) to +5 V or leaving it unconnected configures all
pins in ports 5–8 for 10 kΩ pull-ups. Connecting DPull(P5:P8) to ground
configures these ports for 10 kΩ pull-downs.
PWM Features
The NI 7350 controller provides two pulse width modulation (PWM)
outputs on the digital I/O connector for ports 1–4. The PWM outputs
generate periodic waveforms whose period and duty cycles can be
independently controlled through software commands. You can compare
PWM to a digital representation of an analog value, because the duty cycle
is directly proportional to the desired output value. PWM outputs are
typically used for transmitting an analog value through an optocoupler. A
simple lowpass filter turns a PWM signal back into its corresponding
analog value. If appropriate, you can use an external clock source
connected to the PCLK input instead of the internal source as the clock for
the PWM generators.
Note These signals are configured in software and are in no way associated with the
PID servo control loop. Refer to the Measurement & Automation Explorer Help for
Motion, the NI-Motion Function Help, or the NI-Motion VI Help for more information.
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Signal Connections
RTSI Connector
The PXI-7350 uses the PXI chassis backplane to connect to other
RTSI-capable devices.
The PCI-7350 uses a ribbon cable to connect to other RTSI-capable
PCI devices.
RTSI Signal Considerations
The NI 7350 controller allows you to use up to eight RTSI trigger lines as
sources for trigger inputs, or as destinations for breakpoint (position
compare) outputs and encoder signals. The RTSI trigger lines also can
serve as a generic digital I/O port. The RTSI star trigger line, which is
available only on the PXI-7350, can be used only for a trigger input.
Breakpoint (position compare) outputs are output-only signals that
generate an active high pulse of 200 ns duration across RTSI.
Encoder and Index signals are output-only signals across RTSI that are
the digitally-filtered versions of the raw signals coming into the controller.
If you are using the RTSI bus for motion I/O or generic digital I/O,
all signals are passed through unaltered.
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A
Specifications
This appendix lists the hardware and software performance specifications
for the PXI/PCI-7350 controller. Hardware specifications are typical at
25 °C, unless otherwise stated.
Servo Performance
PID update rate range............................. 62.5µs/sample to 5 ms/sample
Max PID update rate....................... 62.5 µs per 2 axes
8-axis PID update rate..................... 250 µs total
Trajectory update rate ............................ Same as PID update rate
Multi-axis synchronization .................... <1 update sample
Position accuracy
Encoder feedback............................ 1 quadrature count
Analog feedback ............................. 1 LSB
Double-buffered trajectory parameters
Absolute position range .................. 231 counts
Max relative move size................... 231 counts
Velocity range................................. 1 to 20,000,000 counts/s
RPM range1..................................... 1,200,000 revolutions/min
Acceleration/deceleration2 .............. 244 to 512,000,000 counts/s2
at a PID update rate of 250 µs
RPS/s range1 ................................... 256,000 revolutions/s2
S-Curve time range ......................... 1 to 32,767 samples
Following error range ..................... 0 to 32,767 counts
Gear ratio ........................................ 32,767:1 to 1:32,767
1
Assumes a 2,000-count encoder.
2
Refer to the NI-Motion User Manual for more information.
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Appendix A
Specifications
Servo control loop modes.......................PID, PIVff, S-Curve, Dual Loop
PID (Kp, Ki, and Kd) gains.............0 to 32,767
Integration limit (Ilim).....................0 to 32,767
Derivative sample period (Td).........1 to 63 samples
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 torque (velocity) limits
Positive limit ............................ 10 V (–32,768 to +32,767)
Negative limit........................... 10 V (–32,768 to +32,767)
Programmable offset ....................... 10 V (–32,768 to +32,767)
Stepper Performance
Trajectory update rate range...................62.5 to 500 µs/sample
Max update rate...............................62.5 µs per 2 axes
8-axis update rate.............................250 µs total
Multi-axis synchronization.....................<1 update sample
Position accuracy
Open-loop stepper ...........................1 full, half, or microstep
Encoder feedback ............................ 1 quadrature count
Analog feedback.............................. 1 LSB
Double-buffered trajectory parameters
Position range.................................. 231 steps
Max relative move size.................... 231 steps
Velocity range .................................1 to 8,000,000 steps/s
RPM range1 ..................................... 1,200,000 revolutions/min
Acceleration/deceleration2...............244 to 512,000,000 steps/s2
at a PID update rate of 250 µs
RPS/s range1 .................................... 256,000 revolutions/s2
1
2
Assumes a 2,000-count encoder.
Refer to the NI-Motion User Manual for more information.
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Appendix A
Specifications
S-curve time range.......................... 1 to 32,767 samples
Following error range ..................... 0 to 32,767 counts
Gear ratio ........................................ 32,767:1 to 1:32,767
Stepper outputs
Max pulse rate................................. 8 MHz (full, half, and microstep)
Max pulse width.............................. 6.5 μs at <40 kHz
Min pulse width .............................. 40 ns at >4 MHz
Step output mode ............................ Step and direction or CW/CCW
Voltage range.................................. 0 to 5 V
Output low voltage .................. 0.6 V at 64 mA sink
Output high voltage ................. Totem Pole: 2V at 16 mA source;
open collector: built-in 3.3 kΩ
pull-up to +5 V
Polarity............................................ Programmable, active high
or active low
System Safety
Watchdog timer function ....................... Resets board to startup state
Watchdog timeout........................... 63 or 256 ms, programmable
Shutdown input
Voltage range.................................. 0 to 5 V
Input low voltage..................... 0.8 V
Input high voltage.................... 2 V
Built-in pull-up resistor................... 3.3 kΩ to +5 V
Polarity............................................ Rising edge
Control ............................................ Disable all axes and
command outputs; resets I/O
to default states
Host +5 V max current
sourced from controller.......................... 100 mA at 5 V
Motion I/O
Encoder inputs........................................ Quadrature, incremental,
single-ended
Max count rate ................................ 20 MHz
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Appendix A
Specifications
Min pulse width...............................Programmable; depends
on digital filter settings
Voltage range...................................0 to 5 V
Input low voltage......................0.8 V
Input high voltage.....................2 V
Built-in pull-up resistor ...................3.3 kΩ to +5 V
Min index pulse width.....................Programmable; depends
on digital filter settings
Forward, reverse, and home inputs
Number of inputs.............................3 per axis, up to 24
Voltage range...................................0 to 5 V
Input low voltage......................0.8 V
Input high voltage.....................2 V
Built-in pull-up resistor ...................3.3 kΩ to +5 V
Polarity ............................................Programmable, active high
or active low
Min pulse width
Limit filters enabled .................1 ms
Limit filters disabled ................50 ns
Control.............................................Individual enable/disable,
stop on input, prevent motion,
Find Reference
Trigger (position capture) inputs
Number of inputs.............................Up to 8 (Encoders 1 through 8)
Voltage range...................................0 to 5 V
Input low voltage......................0.8 V
Input high voltage.....................2 V
Built-in pull-up resistor ...................3.3 kΩ to +5 V
Polarity ............................................Programmable, active high
or active low
Min pulse width...............................100 ns
Max capture latency ........................100 ns
Capture accuracy .............................1 count
Max capture rate (non-buffered) .....150 Hz
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Specifications
Max buffered capture rate1 ............. 2 kHz per axis
Breakpoint (position compare) outputs
Number of outputs .......................... Up to 8 (Encoders 1 through 8)
Voltage range.................................. 0 to 5 V
Output low voltage .................. 0.6 V at 64 mA sink
Output high voltage ................. Totem Pole: 2 V at 16 mA source;
open collector: built-in 3.3 kΩ
pull-up to +5 V
Polarity............................................ Programmable, active high
or active low
Max trigger rate (non-buffered)...... 150 Hz
Max buffered trigger rate1............... 2 kHz per axis
Max periodic rate............................ 4 MHz per axis
Minimum pulse width
(pulse mode only) ........................... 200 ns
Inhibit/enable output
Number of outputs .......................... 1 per axis, up to 8
Voltage range.................................. 0 to 5 V
Output low voltage .................. 0.6 V at 64 mA sink
Output high voltage ................. Totem Pole: 2 V at 16 mA source;
open collector: built-in 3.3 kΩ
pull-up to +5 V
Polarity............................................ Programmable, active high
or active low
Control ............................................ MustOn/MustOff or automatic
when axis off
Analog inputs
Control ............................................ Assigned to axis for analog
feedback or general-purpose
analog input
Number of inputs ............................ Up to 8, multiplexed,
single-ended
Multiplexer scan rate ...................... 25 μs per enabled ADC
1
Assumes a PID update rate of 250 μs. 2 kHz per axis for PID rates between 62.5 and 250 μs, and 1 kHz per axis for PID rates
greater than 250 μs. This value is not to exceed 8 kHz total for all ongoing buffered breakpoint (position compare) and trigger
(position capture) operation.
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Appendix A
Specifications
Input coupling..................................DC
Input impedance ..............................100 MΩ min
Voltage range (programmable)........ 10 V, 5 V, 0–10 V, 0–5 V
Bandwidth........................................234 kHz
Resolution........................................16 bits, no missing codes
Monotonicity ...................................Guaranteed
Absolute accuracy
all ranges..........................................0.5% of full-scale
System noise
10 V...............................................220 μVrms, typical
5 V.................................................120 μVrms, typical
0–10 V.............................................130 μVrms, typical
0–5 V...............................................60 μVrms, typical
Maximum working voltage .................... 11 V
Overvoltage protection
Powered on...................................... 25 V
Powered off ..................................... 15 V
Analog outputs
Number of outputs...........................Up to 8, single-ended
Output coupling...............................DC
Voltage range................................... 10 V
Output current.................................. 5 mA
Minimum load .................................2 kΩ at full-scale
Resolution........................................16 bits, no missing codes
Monotonicity ...................................Guaranteed
Absolute accuracy ...........................0.5% of full-scale
Noise................................................100 μVrms Max
Protection.........................................Short-circuit to ground
Settling time.....................................15 μs, full-scale step
Analog reference output voltage .....7.5 V (nominal)
Analog reference output current......5 mA
Onboard temperature sensor accuracy....... 4 °C
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Appendix A
Specifications
Digital I/O
Ports ....................................................... Up to 8 8-bit ports
Line direction.................................. Individual bit programmable
Inputs
Voltage range.................................. 0 to 5 V
Input low voltage..................... 0.8 V
Input high voltage.................... 2.0 V
Polarity............................................ Programmable, active high
or active low
Built-in pull-up resistor.......................... 10 kΩ, configurable pull-up to
+5 V or pull-down to GND
Outputs
Voltage range.................................. 0 to 5 V
Output low voltage .................. 0.45 V at 24 mA
Output high voltage ................. 2.4 V at 24 mA
Max total DIO current
Sourced from controller........... 1 A
Polarity............................................ Programmable, active high
or active low
PWM outputs
Number of PWM outputs ........ 2
Max PWM frequency .............. 50 kHz
Resolution................................ 8-bit
Duty cycle range...................... 0 to (255/256)%
Clock sources........................... Internal or external
RTSI
Trigger lines ........................................... 8
PXI Star Trigger (PXI-7350 only) ......... 1
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Appendix A
Specifications
Maximum Power Requirements
+3.3 V ( 10%)........................................2 A
+5 V ( 5%).............................................2 A
+12 V ( 5%)...........................................30 mA
–12 V ( 10%) .........................................0 mA
Power consumption ................................18 W
Physical
Dimensions (Not Including Connectors)
PXI-7350 ................................................16 cm × 10 cm (6.3 in. × 3.9 in.)
PCI-7330.................................................17.5 cm × 9.9 cm
(6.9 in. × 3.9 in.)
Connectors
Motion I/O connectors............................2 68-pin female high-density
VHDCI type
32-bit digital I/O connectors...................2 68-pin female high-density
VHDCI type
RTSI connector (PCI-7350 only) ...........37-pin male for ribbon cable
Weight
PXI-7350 ................................................170 g (6 oz)
PCI-7350.................................................113 g (4 oz)
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Appendix A
Specifications
Maximum Working Voltage
Channel-to-earth..................................... 11 V, Installation Category I
(signal voltage plus
common-mode voltage)
Channel-to-channel ................................ 22 V, Installation Category I
(signal voltage plus
common-mode voltage)
Caution These values represent the maximum allowable voltage between any accessible
signals on the controller. To determine the acceptable voltage range for a particular signal,
refer to the individual signal specifications.
Environment
Operating temperature............................ 0 to 55 °C
Storage temperature ............................... –20 to 70 °C
Humidity ................................................ 10 to 90% RH, noncondensing
Maximum altitude.................................. 2,000 m
Pollution Degree .................................... 2
Safety
This product is designed to meet the requirements of the following
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 to the product label or visit
ni.com/certification, search by model number or product line, and click the
appropriate link in the Certification column.
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Appendix A
Specifications
Electromagnetic Compatibility
This product is designed to meet the requirements of the following
standards of EMC for electrical equipment for measurement, control, and
laboratory use:
•
•
•
EN 61326 EMC requirements; Minimum Immunity
EN 55011 Emissions; Group 1, Class A
CE, C-Tick, ICES, and FCC Part 15 Emissions; Class A
Note For EMC compliance, operate this device according to product documentation.
CE Compliance
This product meets the essential requirements of applicable European
Directives, as amended for CE marking, as follows:
•
•
73/23/EEC; Low-Voltage Directive (safety)
89/336/EEC; Electromagnetic Compatibility Directive (EMC)
Note Refer to the Declaration of Conformity (DoC) for this product for any additional
regulatory compliance information. To obtain the DoC for this product, visit
ni.com/certification, search by model number or product line, and click the
appropriate link in the Certification column.
Waste Electrical and Electronic Equipment (WEEE)
EU Customers At the end of their life cycle, all products must be sent to a WEEE recycling
center. For more information about WEEE recycling centers and National Instruments
WEEE initiatives, visit ni.com/environment/weee.htm.
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B
This appendix describes the connector pinout for the cables that connect
to the PXI/PCI-7350 controller.
Figures B-1 and B-2 show the pin assignments for the stepper 50-pin
motion connectors, while Figures B-3 and B-4 show the pin assignments
for the 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. You can order the cable
assembly and cable adapter from ni.com. The following list includes
part numbers for each of these products:
•
•
•
2m SHC68-C68-S Cable (part number 186380-02)
0.5m SHC68-C68-S Cable (part number 186380-0R5)
68M-50F Extended I/O Cable Adapter (part number 184670-02)
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Appendix B
Cable Connector Descriptions
1
3
5
7
9
2
4
Axis 1 Dir (CCW)
Digital Ground
Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
6
Digital Ground
8
Axis 1 Home Switch
Trigger/Breakpoint 1
Axis 1 Inhibit
10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
Axis 2 Dir (CCW)
Digital Ground
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
Digital Ground
Axis 2 Home Switch
Trigger/Breakpoint 2
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
27 28 Axis 3 Encoder Phase A
29 30 Axis 3 Encoder Phase B
31 32 Axis 3 Encoder Index
33 34 Axis 3 Forward Limit Switch
35 36 Axis 3 Reverse Limit Switch
37 38 Axis 4 Step (CW)
Digital Ground
Axis 3 Home Switch
Trigger/Breakpoint 3
Axis 3 Inhibit
Axis 4 Dir (CCW)
Digital Ground
39 40 Axis 4 Encoder Phase A
41 42 Axis 4 Encoder Phase B
43 44 Axis 4 Encoder Index
45 46 Axis 4 Forward Limit Switch
47 48 Axis 4 Reverse Limit Switch
49 50 Host +5 V
Digital Ground
Axis 4 Home Switch
Trigger/Breakpoint 4
Axis 4 Inhibit
Digital Ground
Figure B-1. 50-Pin Stepper Connector Pin Assignment (Axes 1–4)
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Appendix B
Cable Connector Descriptions
Axis 5 Dir (CCW)
Digital Ground
1
3
5
7
9
2
4
Axis 5 Step (CW)
Axis 5 Encoder Phase A
Axis 5 Encoder Phase B
Axis 5 Encoder Index
Axis 5 Forward Limit Switch
Axis 5 Reverse Limit Switch
Axis 6 Step (CW)
Digital Ground
6
Axis 5 Home Switch
Trigger/Breakpoint 5
8
10
Axis 5 Inhibit 11 12
Axis 6 Dir (CCW) 13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Digital Ground
Digital Ground
Axis 6 Encoder Phase A
Axis 6 Encoder Phase B
Axis 6 Encoder Index
Axis 6 Forward Limit Switch
Axis 6 Reverse Limit Switch
Axis 7 Step (CW)
Axis 6 Home Switch
Trigger/Breakpoint 6
Axis 6 Inhibit
Axis 7 Dir (CCW)
Digital Ground
Axis 7 Encoder Phase A
Axis 7 Encoder Phase B
Axis 7 Encoder Index
Axis 7 Forward Limit Switch
Axis 7 Reverse Limit Switch
Axis 8 Step (CW)
Digital Ground
Axis 7 Home Switch
Trigger/Breakpoint 7
Axis 7 Inhibit
Axis 8 Dir (CCW)
Digital Ground
Axis 8 Encoder Phase A
Axis 8 Encoder Phase B
Axis 8 Encoder Index
Axis 8 Forward Limit Switch
Axis 8 Reverse Limit Switch
Host +5 V
Digital Ground
Axis 8 Home Switch
Trigger/Breakpoint 8
Axis 8 Inhibit
Digital Ground
Figure B-2. 50-Pin Stepper Connector Pin Assignment (Axes 5–8)
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Appendix B
Cable Connector Descriptions
1
3
5
7
9
2
4
Analog Output Ground
Digital Ground
Analog Output 1
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Analog Output 2
6
Digital Ground
8
Axis 1 Home Switch
Trigger/Breakpoint 1
Axis 1 Inhibit
10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Analog Output Ground
Digital Ground
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Analog Output 3
Digital Ground
Axis 2 Home Switch
Trigger/Breakpoint 2
Axis 2 Inhibit
Analog Output Ground
Digital Ground
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Analog Output 4
Digital Ground
Axis 3 Home Switch
Trigger/Breakpoint 3
Axis 3 Inhibit
Analog Output Ground
Digital Ground
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Host +5 V
Digital Ground
Axis 4 Home Switch
Trigger/Breakpoint 4
Axis 4 Inhibit
Digital Ground
Figure B-3. 50-Pin Servo Connector Pin Assignment (Axes 1–4)
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Appendix B
Cable Connector Descriptions
Analog Output Ground
Digital Ground
1
3
5
7
9
2
4
Analog Output 5
Axis 5 Encoder Phase A
Axis 5 Encoder Phase B
Axis 5 Encoder Index
Axis 5 Forward Limit Switch
Axis 5 Reverse Limit Switch
Analog Output 6
Digital Ground
6
Axis 5 Home Switch
Trigger/Breakpoint 5
Axis 5 Inhibit
8
10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Analog Output Ground
Digital Ground
Axis 6 Encoder Phase A
Axis 6 Encoder Phase B
Axis 6 Encoder Index
Axis 6 Forward Limit Switch
Axis 6 Reverse Limit Switch
Analog Output 7
Digital Ground
Axis 6 Home Switch
Trigger/Breakpoint 6
Axis 6 Inhibit
Analog Output Ground
Digital Ground
Axis 7 Encoder Phase A
Axis 7 Encoder Phase B
Axis 7 Encoder Index
Axis 7 Forward Limit Switch
Axis 7 Reverse Limit Switch
Analog Output 8
Digital Ground
Axis 7 Home Switch
Trigger/Breakpoint 7
Axis 7 Inhibit
Analog Output Ground
Digital Ground
Axis 8 Encoder Phase A
Axis 8 Encoder Phase B
Axis 8 Encoder Index
Axis 8 Forward Limit Switch
Axis 8 Reverse Limit Switch
Host +5 V
Digital Ground
Axis 8 Home Switch
Trigger/Breakpoint 8
Axis 8 Inhibit
Digital Ground
Figure B-4. 50-Pin Servo Connector Pin Assignment (Axes 5–8)
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C
Input/Output Reset States
This appendix lists the various states of the NI PXI/PCI-7350 hardware
during reset.
Table C-1. I/O States During Reset
From Power On Until Device Initialization
Signal Names
Direction
Mode
Polarity
State
Motion I/O Connector
Inhibit <1..8>
Output
Output
Output
Output
Open collector
Totem Pole
Totem Pole
Totem Pole
Active low
Active low
Active low
Active low
Active
Breakpoint <1..8>
Step <1..8>
Inactive
Inactive
Inactive
Direction <1..8>
Digital I/O Connector
Digital I/O Ports <1..8>
Input
—
Active low
Pulled up if
DPull left
floating
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D
Technical Support and
Professional Services
Visit the following sections of the National Instruments Web site at
ni.comfor technical support and professional services:
•
Support—Online technical support resources at ni.com/support
include the following:
–
Self-Help Resources—For answers and solutions, visit the
award-winning National Instruments Web site for software drivers
and updates, a searchable KnowledgeBase, product manuals,
step-by-step troubleshooting wizards, thousands of example
programs, tutorials, application notes, instrument drivers, and
so on.
–
Free Technical Support—All registered users receive free Basic
Service, which includes access to hundreds of Application
Engineers worldwide in the NI Developer Exchange at
ni.com/exchange. National Instruments Application Engineers
make sure every question receives an answer.
For information about other technical support options in your
area, visit ni.com/servicesor contact your local office at
ni.com/contact.
•
•
•
Training and Certification—Visit ni.com/trainingfor
self-paced training, eLearning virtual classrooms, interactive CDs,
and Certification program information. You also can register for
instructor-led, hands-on courses at locations around the world.
System Integration—If you have time constraints, limited in-house
technical resources, or other project challenges, National Instruments
Alliance Partner members can help. To learn more, call your local
NI office or visit ni.com/alliance.
Declaration of Conformity (DoC)—A DoC is our claim of
compliance with the Council of the European Communities using
the manufacturer’s declaration of conformity. This system affords
the user protection for electronic compatibility (EMC) and product
safety. You can obtain the DoC for your product by visiting
ni.com/certification.
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Appendix D
Technical Support and Professional Services
•
Calibration Certificate—If your product supports calibration,
you can obtain the calibration certificate for your product at
ni.com/calibration.
If you searched ni.comand 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 visit
the Worldwide Offices section of ni.com/niglobalto access the branch
office Web sites, which provide up-to-date contact information, support
phone numbers, email addresses, and current events.
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Glossary
A
absolute mode
A move mode that treats the target position loaded as position relative to
zero (0) while making a move.
absolute position
Position relative to zero.
acceleration/
deceleration
A measurement of the change in velocity as a function of time.
Acceleration and deceleration describes the period when velocity is
changing from one value to another.
active high
active low
ADC
A signal is active when its value is high (1).
A signal is active when its value is low (0).
analog-to-digital converter
address
Character code that identifies a specific location (or series of locations)
in memory or on a host PC bus system.
amplifier
The device that delivers power to operate the motor in response to
low-level control signals. In general, the amplifier is designed to operate
with a particular motor type. For example, you cannot use a stepper drive
to operate a DC brush motor.
Analog Input <1..8>
Analog Output <1..8>
API
16-bit analog ADC input.
DAC voltage output.
application programming interface
axis
Unit that controls a motor or any similar motion or control device.
Axis 1 through 8 direction output or counterclockwise direction control.
Axis 1 through 8 forward limit switch.
Axis <1..8> Dir (CCW)
Axis <1..8> Forward
Limit Input
Axis <1..8> Home
Input
Axis 1 through 8 home input.
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Glossary
Axis <1..8> Inhibit
Axis 1 through 8 inhibit output.
Axis <1..8> Reverse
Limit Input
Axis 1 through 8 reverse limit input.
Axis <1..8> Step (CW)
Axis 1 through 8 stepper pulse output or clockwise direction control.
B
b
bit—One binary digit, either 0 or 1.
base address
Memory address that serves as the starting address for programmable or
I/O bus registers. All other addresses are located by adding to the base
address.
binary
bit
A number system with a base of 2.
The smallest unit of memory, or the smallest unit of data used in a digital
operation; a contraction of binary and digit. A bit can assume values of 0 to
1 (off or on).
buffer
bus
Temporary storage for acquired or generated data (software).
The group of conductors that interconnect individual circuitry in a
computer. Typically, a bus is the expansion vehicle to which I/O or other
devices are connected.
C
CCW
counterclockwise—Implies direction of motor rotation.
closed-loop
A motion system that uses a feedback device to provide position and
velocity data for status reporting and accurately controlling position and
velocity.
common
CPU
Reference signal for digital I/O.
central processing unit
crosstalk
CSR
An unwanted signal on one channel due to an input on a different channel.
communications status register
CW
clockwise—Implies direction of motor rotation.
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Glossary
D
DAC
digital-to-analog converter
data acquisition
DAQ
dedicated
DGND
digital I/O port
DIP
Assigned to a particular function.
Digital ground signal.
Group of digital input/output signals.
dual inline package
DLL
dynamic link library—Provides the API for the motion control boards.
drive
Electronic signal amplifier that converts motor control command signals
into higher-voltage signals suitable for driving motors.
DSP
digital signal processor
E
encoder
A device that translates mechanical motion into electrical signals; used for
monitoring position or velocity in a closed-loop system.
encoder resolution
The number of encoder lines between 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 parameters
filtering
Indicates the control loop parameter gains (PID gains) for a given axis.
A type of signal conditioning that filters unwanted signals from the signal
being measured.
flash ROM
Type of electrically reprogrammable read-only memory.
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Glossary
following error
trip point
The difference between the instantaneous commanded trajectory position
and the feedback position. If the following error increases beyond the
maximum allowable value entered—referred to as the following error trip
point—the motor trips on following error and is killed, preventing the axis
from running away.
FPGA
field programmable gate array
freewheel
Condition of a motor when power is de-energized and the motor shaft is
free to turn with only frictional forces to impede it.
full-step
A stepper motor mode. For a two phase motor, full-step mode is done by
energizing both windings or phases simultaneously.
G
Gnd/GND
ground
H
half-step
A stepper motor mode. For a two phase motor, half-step mode 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-speed smoothness over the full-step mode.
hex
hexadecimal
home switch (input)
A physical position determined by the mechanical system or designer as the
reference location for system initialization. Frequently, the home position is
also regarded as the zero position in an absolute position frame of reference.
host computer
The computer the motion control board is plugged into.
I
index
The marker between consecutive encoder revolutions.
IRQ
interrupt request—A signal from a hardware device or a CPU peripheral
device requesting the CPU’s attention.
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Glossary
K
k
kilo—The standard metric prefix for 1,000, or 103, used with units of
measure such as volts, hertz, and meters.
K
kilo—The prefix for 1,024, or 210, used with byte (B) in quantifying data or
computer memory.
L
LIFO
last-in, first-out
limit switch/
end-of-travel position
(input)
Sensors that alert the control electronics that the physical end of travel is
being approached and that the motion should stop.
M
MCS
move complete status—A status bit on the motion controller that indicates
that the current move is finished. The status depends on various factors that
you can configure using software.
microstep
Proportional control of energy in the coils of a stepper motor that allow the
motor to move to or stop at locations other than the fixed
magnetic/mechanical pole positions determined by the motor
specifications. This capability facilitates the subdivision of full mechanical
steps on a stepper motor into finer microstep locations that greatly smooth
motor running operation and increase the resolution or number of discrete
positions that a stepper motor can attain in each revolution.
modulo position
Treat the position as if it is within the range of total quadrature counts per
revolution for an axis.
N
noise
An undesirable electrical signal—noise comes from external sources such
as the AC power line, motors, generators, transformers, fluorescent lights,
soldering irons, CRT displays, computers, electrical storms, welders, radio
transmitters, and internal sources such as semiconductors, resistors, and
capacitors. Noise corrupts signals you are trying to send or receive.
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Glossary
O
open collector
A method of output capable of sinking current, but not sourcing current.
open-loop
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
architecture originally developed by Intel to replace ISA and EISA. PCI is
achieving widespread acceptance as a standard for PCs and workstations;
it offers a theoretical maximum transfer rate of 132 MB/s.
PID control loop
PIVff control loop
proportional-integral-derivative control loop—A control method in which
the controller output is proportional to the error, the error time history, and
the rate at which the error is changing. The error is the difference between
the observed and the commanded values of a variable that is under control
action.
proportional-integral-velocity feed forward control loop—A control
method that operates with zero derivative gain and either velocity feedback
or a velocity block amplifier.
port
(1) A communications connection on a computer or a remote controller;
(2) A digital port, consisting of eight lines of digital input and/or output.
position breakpoint
Position breakpoint for an encoder can be set in absolute or relative
quadrature counts. When the encoder reaches a position breakpoint, the
associated breakpoint (position compare) output immediately transitions.
power cycling
PWM
Turning the host computer off and then back on, which causes a reset of
the motion control board.
pulse width modulation—A method of controlling the average current in a
motor phase winding by varying the on-time (duty cycle) of transistor
switches.
PXI
PCI eXtensions for Instrumentation—A rugged, open system for modular
instrumentation based on CompactPCI, with special mechanical, electrical,
and software features. The PXIbus standard was originally developed by
National Instruments in 1997, and is now managed by the PXIbus Systems
Alliance.
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Glossary
Q
quadrature counts
Encoder line resolution multiplied by four.
R
relative breakpoint
(position compare)
Sets the position breakpoint for an encoder in relative quadrature counts.
relative position
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 current position while
making a move.
ribbon cable
RPM
A flat cable in which the conductors are side by side.
revolutions per minute—Units for velocity.
RPSPS or RPS/S
RTR
revolutions per second squared—Units for acceleration and deceleration.
ready to receive—A status bit on the controller indicating that the controller
is ready to communicate with the host system.
S
servo
Specifies an axis that controls a servo motor.
s-curve profile
An s-curve acceleration/deceleration profile eases to a start and smoothly
accelerates to top speed. Deceleration is equally smooth.
sinusoidal
commutation
A method of controlling current in the windings of a brushless servo motor
by using the pattern of a sine wave to shape the smooth delivery of current
to three motor inputs, each 120° out of phase from the next.
stepper
Specifies an axis that controls a stepper motor.
T
toggle
Changing state from high to low, back to high, and so on.
A force tending to produce rotation.
torque
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Glossary
Totem Pole
A method of output capable of sinking and sourcing current.
trapezoidal 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 acceleration to
the target position.
trigger (position
capture)
Any event that causes or starts some form of data capture.
V
VCC
Positive voltage supply.
velocity mode
This operation mode moves the axis continuously at a specified velocity.
W
watchdog
Timer task that shuts down (resets) the motion control board if any serious
error occurs.
word
Standard number of bits that a processor or memory manipulates at
one time, typically 8-bit, 16-bit, or 32-bit.
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Index
analog input voltage ranges (table), 5-12
description (table), 5-4
purpose and use, 5-12
Symbols
+5 V signal. See Host +5 V signal
Analog Input Ground signal
description (table), 5-4
purpose and use, 5-12
Numerics
7350 controller
analog inputs, 4-2
configuration, 2-1
signal descriptions, 5-12
wiring concerns, 5-13
Analog Output <1..8> signal
description (table), 5-4
purpose and use, 5-5
digital I/O connector
axes 1–4 (figure), 5-15
axes 5–8 (figure), 5-16
digital I/O connectors, overview, 3-4
features, 1-1
Analog Output Ground signal
description (table), 5-4
purpose and use, 5-5
hardware, 1-2
hardware overview, 3-1
installation, 2-4
motion I/O connector
axes 1–4 (figure), 5-2
axes 5–8 (figure), 5-3
National Instruments application
software, 1-3
analog outputs, 4-2
description (table), 5-4
purpose and use, 5-5
overview, 4-3
servo axis resources (figure), 4-4
stepper axis resources (figure), 4-4
Axis <1..8> Dir (CCW) signal
compatibility with third-party drives, 5-6
description (table), 5-4
purpose and use, 5-5
Axis <1..8> Encoder Index signal
description (table), 5-4
purpose and use, 5-9
optional equipment, 1-4
parts locator diagrams
back panel, 3-2, 3-4
connectors, 3-5
front panel, 3-1, 3-3
processor architecture, 4-1
requirements for getting started, 1-2
RTSI, 1-2
safety information, 2-2
software installation, 2-1
software programming choices, 1-3
Axis <1..8> Encoder Phase A signal
description (table), 5-4
purpose and use, 5-8
Axis <1..8> Encoder Phase B signal
description (table), 5-4
purpose and use, 5-8
A
analog feedback, 4-2
Analog Input <1..8> signal
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Index
Axis <1..8> Forward Limit Switch signal
description (table), 5-4
purpose and use, 5-6
Axis <1..8> Home Switch signal
description (table), 5-4
calibration certificate (NI resources), D-2
CE compliance specifications, A-10
command buffer, 4-6
communications, host, 4-6
configuration, 2-1
purpose and use, 5-6
Axis <1..8> Inhibit signal
description (table), 5-4
connectors
cable connectors
purpose and use, 5-6
Axis <1..8> Reverse Limit Switch signal
description (table), 5-4
50-pin servo connector pin
(figure), B-4
50-pin servo connector pin
(figure), B-5
assignments, axes 1–4
purpose and use, 5-6
Axis <1..8> Step (CW) signal
compatibility with third-party drives, 5-6
description (table), 5-4
50-pin stepper connector pin
B
breakpoint (position compare)
concepts, 4-5
custom cables, 1-4
digital I/O connector axes 1–4
(figure), 5-15
digital I/O connector axes 5–8
(figure), 5-16
examples, 5-18
breakpoint (position compare) outputs
overview, 5-11
wiring concerns, 5-11
Breakpoint <1..8> signal
description (table), 5-4
purpose and use, 5-11
brushless servo motors, connecting, 2-5
buffers, 4-5
Declaration of Conformity (NI resources), D-1
68-pin connector axes 1–4 pin
assignments (figure), 5-15
C
cable connectors
50-pin servo connector pin assignments
axes 1–4 (figure), B-4
axes 5–8 (figure), B-5
axes 1–4 (figure), B-2
68-pin connector axes 5–8 pin
assignments (figure), 5-16
description, 5-17
axes 5–8 (figure), B-3
cables, custom, 1-4
parts locator diagram, 3-5
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Index
PWM features, 5-17
specifications, A-7
documentation
conventions used in manual, ix
NI resources, D-1
drivers (NI resources), D-1
Hall effect sensors
connecting, 2-6
Type 1 wiring diagrams, 2-7
Type 2 wiring diagrams, 2-8
hardware
7350 controller, 1-2
configuration, 2-1
connecting brushless servo motors, 2-5
connectors, 3-4
digital I/O connectors, 3-4
I/O states during reset, C-1
installation
E
(RTOS), 4-1
encoder signals
connecting brushless servo motor
leads, 2-10
connecting Hall effect sensors, 2-6
procedure, 2-4
Encoder <1..8> Index, 5-9
Encoder <1..8> Phase A/Phase B, 5-8
input circuit, 5-10
signal descriptions, 5-8
wiring concerns, 5-9
motion I/O connectors, 3-4
overview, 3-1
parts locator diagrams
back panel, 3-2, 3-4
equipment, optional, 1-4
examples (NI resources), D-1
connectors, 3-5
front panel, 3-1, 3-3
safety information, 2-2
help technical support, D-1
high-speed capture, 4-5
Host +5 V signal
description (table), 5-4
purpose and use, 5-13
F
flash memory, 4-3
functional overview, 4-1
axes, 4-3
(RTOS), 4-1
I
flash memory, 4-3
I/O states, C-1
host communications, 4-6
motion resources, 4-5
onboard programs, 4-5
trajectory generators, 4-2
installation
category, 2-3
hardware, 2-4
software, 2-1
instrument drivers (NI resources), D-1
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Index
limit and home inputs
input circuit, 5-7
K
signal descriptions, 5-6
wiring concerns, 5-7
motion axis signals, 5-5
parts locator diagram, 3-5
shutdown inputs, and breakpoint
(position compare) outputs
circuits, 5-12
L
LabVIEW software, 1-3
limit and home inputs
Axis <1..8> Forward Limit Input, 5-6
Axis <1..8> Home Input, 5-6
Axis <1..8> Reverse Limit Input, 5-6
input circuit, 5-7
signal descriptions, 5-6
wiring concerns, 5-7
signal descriptions, 5-10
motion resources, 4-5
M
memory
buffer storage, 4-5
National Instruments
flash, 4-3
motion axis signals
application software, 1-3
support and services, D-1
Analog Output <1..8>, 5-5
Axis <1..8> Dir (CCW), 5-5
Axis <1..8> Inhibit, 5-6
Axis <1..8> Step (CW), 5-5
motion I/O connectors, 3-4
68-pin connector axes 1–4 pin
68-pin connector axes 5–8 pin
assignments (figure), 5-3
analog inputs
onboard programs, 4-5
Open-Collector mode, wiring diagram, 5-14
optocouplers
interfacing with, 5-13
Open-Collector output mode (wiring
diagram), 5-14
Totem Pole output mode (wiring
signal descriptions, 5-12
wiring concerns, 5-13
custom cables, 1-4
encoder signals
Encoder <1..8> Index, 5-9
Encoder <1..8> Phase A/Phase B, 5-8
input circuits, 5-10
parts locator diagrams
7350 back panel, 3-2, 3-4
7350 connectors, 3-5
signal descriptions, 5-8
wiring concerns, 5-9
features, 5-1
7350 front panel, 3-1, 3-3
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Index
physical specifications, A-8
power requirement specifications, A-8
processor, 4-1
programming examples (NI resources), D-1
pulse width modulation output, digital I/O
connector, 5-17
installation, 2-1
National Instruments application
software, 1-3
NI resources, D-1
onboard programs, 4-5
programming choices, 1-3
PWM features, digital I/O connector, 5-17
CE compliance, A-10
digital I/O connectors, A-7
electromagnetic compatibility, A-10
environment, A-9
R
related documentation, x
requirements for getting started, 1-2
resources
motion I/O, A-3
ADC, 4-5
physical, A-8
motion I/O, 4-5
return data buffer (RDB), 4-6
RTOS (embedded real-time operating
system), 4-1
power requirements (max), A-8
RTSI trigger lines, A-7
safety, A-3, A-9
servo performance, A-1
stepper performance, A-2
working voltage (max), A-9
RTSI
7350 controller, 1-2
connector, 3-1, 3-3
signal considerations, 5-18
Totem Pole mode, wiring diagram, 5-14
training and certification (NI resources), D-1
trajectory generators, 4-2
trigger (position capture) inputs
overview, 5-10
S
safety information, 2-2
safety specifications, A-3, A-9
servo axis resources (figure), 4-4
servo performance specifications, A-1
shutdown input, wiring concerns, 5-11
Shutdown signal
wiring concerns, 5-11
Trigger <1..8> signal
description (table), 5-4
purpose and use, 5-11
description (table), 5-4
purpose and use, 5-10
signal connections. See digital I/O connector,
motion I/O connector, and RTSI
sinusoidal commutation, 2-6
onboard, 4-3
troubleshooting (NI resources), D-1
V
resources, 4-4
voltage specifications (working max), A-9
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Index
W
analog inputs, 5-13
breakpoint (position compare)
outputs, 5-11
encoder signals, 5-9
limit and home inputs, 5-7
optocoupler wiring, 5-13
Totem Pole mode, 5-14
trigger (position capture) inputs, 5-11
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