7344/7334 Hardware User Manual 7334 Motion Control 7344

User Manual: 7334

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7344/7334 Hardware UserManual
Support
Important Information
Contents
About This Manual
- Conventions
- Related Documentation
Chapter 1 Introduction
Chapter 2 Configuration and Installation
Chapter 3 Hardware Overview
Chapter 4 Functional Overview
Chapter 5 Signal Connections
Appendix A Specifications
Appendix B Cable Connector Descriptions
- Figure B-1. 50-Pin Stepper Connector Pin Assignment
- Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 only)
Appendix C Technical Support Resources
Glossary
- Numbers/Symbols
- A
- B-C
- D-F
- G-I
- K-M
- N-P
- Q-T
- V-W
Index
- Numbers
- A
- B-H
- I-P
- R-W

Motion Control

7344/7334 Hardware

User Manual

7344/7334 Hardware User Manual

August 2001 Edition

Part Number 322504C-01

Support

Worldwide Technical Support and Product Information

ni.com

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For further support information, see the Technical Support Resources appendix. To comment on the

documentation, send e-mail to techpubs@ni.com.

Important Information

Warranty

The 7344/7334 controllers are 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.

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.

Trademarks

CVI™, FlexMotion™,LabVIEW

™, National Instruments™,NI

™,ni.com

™,andPXI

™are trademarks of National Instruments Corporation.

Product and company names mentioned herein are trademarks or trade names of their respective companies.

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.

©National Instruments Corporation v 7344/7334 Hardware User Manual

Contents

About This Manual

Conventions ...................................................................................................................vii

Related Documentation..................................................................................................viii

Chapter 1

Introduction

About the 7344/7334 Controller ....................................................................................1-1

Features............................................................................................................1-1

Hardware .........................................................................................................1-2

RTSI ................................................................................................................1-2

What You Need to Get Started ......................................................................................1-3

Software Programming Choices ....................................................................................1-3

National Instruments’Application Software .................................................................1-3

Optional Equipment.......................................................................................................1-4

Motion I/O Connections ................................................................................................1-4

Chapter 2

Configuration and Installation

Software Installation ......................................................................................................2-1

Controller Configuration................................................................................................2-1

Safety Information .........................................................................................................2-1

Hardware Installation.....................................................................................................2-4

Chapter 3

Hardware Overview

User Connectors.............................................................................................................3-4

Chapter 4

Functional Overview

Dual Processor Architecture ..........................................................................................4-1

Embedded Real-Time Operating System (RTOS) ..........................................4-2

Trajectory Generators......................................................................................4-2

Analog Feedback .............................................................................................4-2

Flash Memory..................................................................................................4-3

Axes and Motion Resources ..........................................................................................4-3

Axes.................................................................................................................4-3

Motion Resources............................................................................................4-4

Contents

7344/7334 Hardware User Manual vi ni.com

Onboard Programs (7344 only) ..................................................................................... 4-5

Host Communications ................................................................................................... 4-6

Chapter 5

Signal Connections

Motion I/O Connector ................................................................................................... 5-1

Motion Axis Signals........................................................................................ 5-4

Limit and Home Inputs ................................................................................... 5-5

Wiring Concerns............................................................................... 5-6

Limit and Home Input Circuit .......................................................... 5-6

Encoder Signals............................................................................................... 5-7

Encoder <1..4> Phase A/Phase B..................................................... 5-7

Encoder <1..4> Index ....................................................................... 5-8

Wiring Concerns............................................................................... 5-8

Encoder Input Circuit ....................................................................... 5-9

Trigger Inputs, Shutdown Input, and Breakpoint Outputs.............................. 5-9

Wiring Concerns............................................................................... 5-10

Trigger Input, Shutdown Input, and Breakpoint Output Circuits..... 5-11

Analog Inputs.................................................................................................. 5-12

Wiring Concerns............................................................................... 5-13

Other Motion I/O Connection ......................................................................... 5-13

Digital I/O Connector .................................................................................................... 5-14

PWM Features................................................................................................. 5-15

RTSI Connector............................................................................................................. 5-15

RTSI Signal Considerations............................................................................ 5-16

Appendix A

Specifications

Appendix B

Cable Connector Descriptions

Appendix C

Technical Support Resources

Glossary

Index

©National Instruments Corporation vii 7344/7334 Hardware User Manual

About This Manual

This manual describes the electrical and mechanical aspects of each

controller in the 7344/7334 family and contains information concerning

their operation and programming. Unless otherwise noted, text applies to

all controllers in the 7344/7334 family.

The following controllers are in the 7344/7334 family:

•PCI-7344

•PXI-7344

•FW-7344

•PCI-7334

•PXI-7334

The 7344/7334 controllers are designed for PCI, PXI, and 1394 bus

computers.

Refer to the Glossary for definitions of selected related terms.

Conventions

The 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,

DBIO<3..0>.

♦This 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.

italic Italic text denotes variables, emphasis, a cross reference, or an introduction

to a key concept. This font also denotes text that is a placeholder for a word

or value that you must supply.

About This Manual

7344/7334 Hardware User Manual viii ni.com

Related Documentation

The following documents contain information you might find helpful as

you read this manual:

• FlexMotion Software Reference Manual

•FlexMotion Software Reference online help

•FlexMotion VI online help

•PCI Local Bus Specification,Revision2.1

•Your computer’s technical reference manual

©National Instruments Corporation 1-1 7344/7334 Hardware User Manual

Introduction

This chapter describes National Instruments’FlexMotion 7344 and 7334

controllers and their operation.

About the 7344/7334 Controller

The PCI/PXI-7344/7334 and FW-7344 controllers feature advanced

motion control with easy-to-use software tools and add-on motion VI

libraries for use with LabVIEW.

Features

The 7344 controllers are a combination of servo and stepper motor

controllers for PCI, PXI, and 1394 bus computers. The 7334 controllers

are exclusively stepper motor controllers for PCI and PXI bus computers.

Both controller families provide fully programmable motion control for up

to four independent or coordinated axes of motion, with dedicated motion

I/O for limit and home switches and additional I/O for general-purpose

functions.

You can use the 7334 motion controllers for point-to-point and straight-line

vector moves for stepper motor applications. The 7344 controllers add the

ability to perform arbitrary and complex motion trajectories using stepper

motors or servo devices. Refer to the FlexMotion Software Reference

Manual for a complete list of the feature differences between the 7344 and

7334 controller lines.

Servo axes can control servo motors, servo hydraulics, servo valves, and

other servo devices. 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. These axes can operate in open or

closed-loop mode. They use quadrature encoders or analog inputs for

position and velocity feedback (closed-loop only), and provide

step/direction or clockwise (CW) /counter-clockwise (CCW) digital

Chapter 1 Introduction

7344/7334 Hardware User Manual 1-2 ni.com

command outputs. All stepper axes support full, half, and microstepping

applications.

Hardware

The 7344/7334 controllers have high-performance capabilities because of

the advanced dual-processor architecture that uses a Motorola MC68331

real-time 32-bit CPU, combined with an Analog Devices ADSP-2185

digital signal processor (DSP) and custom field programmable gate arrays

(FPGAs). The first-in-first-out (FIFO) bus interface and powerful function

set provide high-speed communications while off-loading complex motion

functions from the host PC for optimum command throughput and system

performance.

With the 7344 controllers, you can use full onboard programming to

execute up to 10 simultaneous motion programs in a preemptive, real-time

multitasking operating system environment.

The 7344 features motion profiles that are controlled with enhanced

PID/PIVff servo updates at 62 µs per axis. With all 7344/7334 controllers,

each axis has motion I/O for end-of-travel limit and home switch inputs,

breakpoint output, trigger input, and encoder feedback rates up to 20 MHz.

The 7344/7334 controller also has non-dedicated user I/O including 32 bits

of digital I/O and four analog inputs for ±10 V signals, joystick inputs, or

monitoring of analog sensors. Additionally, the 7344/7334 analog inputs

can provide feedback for loop closure.

RTSI

The 7344/7334 controllers support National Instruments’Real-Time

System Integration (RTSI) bus. The RTSI bus provides high-speed

connectivity between National Instruments’products, including image

acquisition (IMAQ) and data acquisition (DAQ) products. Using the RTSI

bus, you can easily synchronize several functions to a common trigger or

timing event across multiple motion, IMAQ, or DAQ devices.

Chapter 1 Introduction

©National Instruments Corporation 1-3 7344/7334 Hardware User Manual

What You Need to Get Started

To set up and use your 7344/7334 controller, you will need the

following items:

❑One of the following 7344/7334 controllers:

–PCI-7344

–PXI-7344

–FW-7344

–PCI-7334

–PXI-7334

❑7344/7334 Hardware User Manual

❑FlexMotion Software Reference Manual

❑One of the following software packages and documentation:

–LabVIEW

–LabWindows/CVI

–FlexMotion software

❑A computer with an available PCI or PXI slot or a 1394 port

Software Programming Choices

The simple but powerful high-level function set application programming

interface (API) makes programming the 7344/7334 controllers easy. All

setup and motion control functions are easily executed by calling into either

a static or dynamically-linked library (DLL). These libraries are callable

from C, Visual Basic, and other high-level languages. Full function set

implementations are available for LabVIEW, LabWindows/CVI, and other

industry-standard software programs.

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 FlexMotion VI Library, a series

Chapter 1 Introduction

7344/7334 Hardware User Manual 1-4 ni.com

of virtual instruments (VIs) for using LabVIEW with National Instruments’

motion control hardware. The FlexMotion VI library implements the full

function set API and a powerful set of demo functions, example programs,

and fully operational, high-level application routines.

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, and all measurement and

automation solutions. The FlexMotion software includes a series of sample

programs for using LabWindows/CVI with National Instruments’motion

control hardware.

Optional Equipment

National Instruments offers a variety of products for use with the

7344/7334 controllers, including cables, Universal Motion Interfaces

(UMIs), drive power amplifier units, and the following accessories:

•Cables and cable assemblies for motion and digital I/O

•RTSI bus cables

•UMI wiring connectivity blocks with integrated motion signal

conditioning and motion inhibit functionality

•Stepper and servo motor compatible driver amplifier units with

integrated power supply and wiring connectivity

•Connector blocks, shielded and unshielded 68-pin screw terminal

wiring aids

For more specific information about these products, refer to the National

Instruments catalog, the National Instruments Web site at ni.com,orcall

your National Instruments sales representative.

Motion I/O Connections

The external motion and digital I/O connectors on the 7344/7334 controller

are high-density, 68-pin female VHDCI connectors.

For custom cables, use the AMP mating connector (part number

787801-01).

©National Instruments Corporation 2-1 7344/7334 Hardware User Manual

Configuration and Installation

This chapter describes how to configure and install the 7344/7334

controllers.

Software Installation

Before installing your 7344/7334 controller, install the FlexMotion

software and, if appropriate, the Motion VI libraries. Refer to the release

notes included with the controller for specific instructions on the software

installation sequence for your host PC.

Controller Configuration

Because motion I/O-related configuration of 7344/7334 controllers is

performed entirely with software, it is not necessary to set jumpers for

motion I/O configuration.

The PCI-7344, PXI-7344, PCI-7334, and PXI-7334 controllers are fully

compatible with the PCI Local Bus Specification, Revision 2.1.

The FW-7344 controller is fully compatible with the IEEE 1394

specification. This compatibility allows the computer to automatically

perform all bus-related configuration and requires no user interaction.

It is not necessary to configure jumpers for bus-related configuration.

Safety Information

Caution The following paragraphs contain important safety information you must follow

when installing and operating the device.

Do not operate the device in a manner not specified in the documentation.

Misuse of the device may result in a hazard and may compromise the safety

protection built into the device. If the device is damaged, turn it off and do

not use it until service-trained personnel can check its safety. If necessary,

return the device to National Instruments for repair.

Chapter 2 Configuration and Installation

7344/7334 Hardware User Manual 2-2 ni.com

Keep away from live circuits. Do not remove equipment covers or shields

unless you are trained to do so. If signal wires are connected to the device,

hazardous voltages can exist even when the equipment is turned off. To

avoid a shock hazard, do not perform procedures involving cover or shield

removal unless you are qualified to do so. Disconnect all field power prior

to removing covers or shields.

If the device is rated for use with hazardous voltages (>30 Vrms,42.4V

pk,

or 60 Vdc), it may require a safety earth-ground connection wire. See the

device specifications for maximum voltage ratings.

Because of the danger of introducing additional hazards, do not install

unauthorized parts or modify the device. Use the device only with the

chassis, modules, accessories, and cables specified in the installation

instructions. All covers and filler panels must be installed while operating

the device.

Do not operate the device in an explosive atmosphere or where flammable

gases or fumes may be present. Operate the device only at or below the

pollution degree stated in the specifications. Pollution consists of any

foreign matter—solid, liquid, or gas—that may reduce dielectric strength

or surface resistivity. Pollution degrees are listed below.

•Pollution Degree 1—No pollution or only dry, nonconductive

pollution occurs. The pollution has no effect.

•Pollution Degree 2—Normally only nonconductive pollution occurs.

Occasionally, nonconductive pollution becomes conductive because

of condensation.

•Pollution Degree 3—Conductive pollution or dry, nonconductive

pollution occurs. Nonconductive pollution becomes conductive

because of condensation.

Clean the device and accessories by brushing off light dust with a soft,

nonmetallic brush. Remove other contaminants with a stiff, nonmetallic

brush. The unit must be completely dry and free from contaminants before

returning it to service.

Yo u must insulate signal connections for the maximum voltage for which

the device is rated. Do not exceed the maximum ratings for the device.

Remove power from signal lines before connection to or disconnection

from the device.

Chapter 2 Configuration and Installation

©National Instruments Corporation 2-3 7344/7334 Hardware User Manual

Operate this device only at or below the installation category stated in the

specifications. Installation categories are listed below.

•Installation Category IV—for measurements performed at the source

of the low-voltage (<1000 V) installation. Examples include electricity

meters, measurements on primary overcurrent protection devices,

and ripple-control units.

•Installation Category III—for measurements performed in the building

installation. Examples include measurements on distribution boards,

circuit-breakers, wiring (including cables), bus bars, junction boxes,

switches, socket outlets in the fixed installation, equipment for

industrial use, and some other types of equipment, such as stationary

motors permanently connected to the fixed installation.

•Installation Category II—for measurements performed on circuits

directly connected to the low-voltage installation. Examples include

measurements on household appliances, portable tools, and other

similar equipment.

•Installation Category I—for measurements performed on circuits not

directly connected to mains1. Examples include measurements on

circuits not derived from mains, and specially-protected (internal)

mains-derived circuits.

Figure 2-1 illustrates a sample installation.

Figure 2-1. Sample Installation

1Mains is defined as the electricity supply system to which the equipment concerned is designed to be connected for either

powering the equipment or for measurement purposes.

Chapter 2 Configuration and Installation

7344/7334 Hardware User Manual 2-4 ni.com

Hardware Installation

Install the PCI-7344, PXI-7344, PCI-7334, or PXI-7334 controllers in any

open compatible expansion slot in your computer. Appendix A,

Specifications, lists the typical power required for each controller.

Connect the FW-7344 to any available 1394 port. The FW-7344 supports

IEEE 1394 transfer rates up to 400 Mbits/s.

The following instructions are for general installation. Consult your

computer user manual or technical reference manual for specific

instructions and warnings.

Caution 7344/7334 controllers are sensitive electronic devices shipped in an antistatic

bag. Open only at an approved workstation and observe precautions for handling

electrostatic-sensitive devices.

♦PCI-7344 and PCI-7334

1. Turn off and unplug your computer.

2. Remove the top cover or access port to the PCI expansion slots in

your computer.

3. Wait for any motherboard LEDs to turn off to ensure system power

has dissipated.

4. Remove the expansion slot connector port cover on the back panel

of your computer.

5. Insert the 7344/7334 controller into a +3 V or +5 V PCI slot. Gently

rock the board to ease it into place. It may be a tight fit, but do not force

the board into place.

6. If available, screw the7344/7334 controller mounting bracket to the

back panel rail of the computer.

7. Replace the cover.

8. Plug in the 68-pin cable for motion I/O to the 7344/7334 controller.

9. Plug in and turn on your computer.

Your PCI-7344/7334 controller is installed.

♦PXI-7344 and PXI-7334

1. Turn off and unplug your chassis.

2. Remove the filler panel from a +3 V or +5 V peripheral slot.

Chapter 2 Configuration and Installation

©National Instruments Corporation 2-5 7344/7334 Hardware User Manual

3. Touch a metal part on your chassis to discharge any static electricity

that might be on your clothes or body.

4. Insert the PXI board into the slot. Use the injector/ejector handle

to fully inject the device into place.

5. Screw the front panel of the PXI board to the front panel mounting rails

of the chassis.

6. Visually verify the installation.

7. Plug in and turn on the chassis.

Your PXI-7344/7334 controller is installed.

♦FW-7344

Note If you are not using the BP-1 battery pack, follow the instructions below. If you are

using the BP-1 battery pack, follow the installation instructions in your BP-1 Battery Pack

Installation Guide andthenstartwithstep2below.

1. Connect the power cord to the wall outlet and the FW-7344 controller.

2. Connect the 1394 cable from the computer or any other 1394 device

to the port on your FW-7344 controller. Your computer should

immediately detect the controller. The COM LED on the front panel

blinks when the computer recognizes the controller.

3. Verify that the power LED is on.

Your FW-7344 controller is installed.

Use the Power LED and the Communication LED (described below) to

determine the state of the device.

•Power LED

–Power LED off—The controller is receiving no power. Either the

power cord is unplugged or the power source is broken.

–Power LED dim—The controller is receiving power but is not

connected to an active 1394 port.

–Power LED on—The controller is receiving power and is

connected to an active 1394 port.

•Communication LED—The COM LED blinks when the controller

sends or receives any commands or data. This LED should blink once

when you first plug in your controller. This light remains on or blinks

continuously when large amounts of data are transferring.

©National Instruments Corporation 3-1 7344/7334 Hardware User Manual

Hardware Overview

This chapter presents an overview of the 7344/7334 controller hardware

functionality.

Figures 3-1, 3-2, 3-4, and 3-5 show the PCI-7344, PXI-7344, PCI-7334,

and PXI-7334 parts locator diagrams, respectively. Figure 3-3 shows the

FW-7344 back panel.

Figure 3-1. PCI-7344 Parts Locator Diagram

1 RTSI Connector

2 Assembly Number Label

3 Serial Number Label

4 68-Pin Digital I/O Connector

5 68-Pin Motion I/O Connector

6 MC68331 CPU

7ADSP2185DSP

2001

Chapter 3 Hardware Overview

7344/7334 Hardware User Manual 3-2 ni.com

Figure 3-2. PXI-7344 Parts Locator Diagram

Note The PXI-7344 assembly number is located on the back of the PXI module.

Figure 3-3. FW-7344 Back Panel

1 Serial Number Label

2 ADSP 2185 DSP

3 MC68331 CPU

4 68-Pin Digital I/O Connector

5 68-Pin Motion I/O Connector

1 1394 Connectors

2 Power Connector

3 RTSI Connector

4 Expansion Port Connector

5 68-Pin Digital I/O Connector

6 68-Pin Motion I/O Connector

NATIONAL

INSTRUMENTS

EXPANSION

PORT

RTSI

1394 9-25 VDC,

30W

MOTION I/ODIGITAL I/O

1 2 3 4 5 6

Chapter 3 Hardware Overview

©National Instruments Corporation 3-3 7344/7334 Hardware User Manual

Figure 3-4. PCI-7334 Parts Locator Diagram

1 RTSI Connector

2 Assembly Number Label

3 Serial Number Label

4 68-Pin Digital I/O Connector

5 68-Pin Motion I/O Connector

6 MC68331 CPU

7ADSP2185DSP

2001

Chapter 3 Hardware Overview

7344/7334 Hardware User Manual 3-4 ni.com

Figure 3-5. PXI-7334 Parts Locator Diagram

Note The PXI-7334 assembly number is located on the back of the PXI module.

User Connectors

The 68-pin motion I/O connector provides all the signals for four axes of

closed-loop motion control, including encoder feedback, limit and home

inputs, breakpoint outputs, trigger inputs, and analog-to-digital (A/D)

converter signals. Refer to Chapter 5, Signal Connections, for details about

the signals in the motion I/O connector.

The 68-pin digital I/O connector provides 32 bits of user-configurable

digital I/O. Refer to Chapter 5, Signal Connections, for details about the

signals in the digital I/O connector.

1 Serial Number Label

2 ADSP 2185 DSP

3 MC68331 CPU

4 68-Pin Digital I/O Connector

5 68-Pin Motion I/O Connector

Chapter 3 Hardware Overview

©National Instruments Corporation 3-5 7344/7334 Hardware User Manual

The RTSI connector provides up to seven triggers and one high-speed clock

signal to facilitate synchronization between multiple National Instruments

products. Typical applications of the RTSI bus include triggering an image

acquisition or DAQ measurement based on motion events, or capturing

current motion positions based on events external to the motion controller.

The RTSI bus can also be used for general-purpose I/O. Refer to Chapter 5,

Signal Connections, for details about RTSI connector signals.

©National Instruments Corporation 4-1 7344/7334 Hardware User Manual

Functional Overview

This chapter provides an overview of the motion control algorithms and the

7344/7334 controller capabilities.

Dual Processor Architecture

With 7344/7334 controllers, you can perform up to four axes of

simultaneous, coordinated motion control in a preemptive, multitasking,

real-time environment.

An advanced dual-processor architecture that uses a Motorola MC68331

real-time 32-bit CPU combined with an Analog Devices ADSP 2185 DSP

and custom FPGAs give the 7344/7334 controllers high-performance

capabilities. The FIFO bus interface and powerful function set provide

high-speed communications while off-loading complex motion functions

from the host PC for optimized system performance.

The 7344/7334 controllers use the digital signal processor for all

closed-loop control, including position tracking, PID control closed-loop

computation, and motion trajectory generation. The DSP chip is supported

by custom FPGAs that perform the high-speed encoder interfacing,

position capture and breakpoint functions, motion I/O processing, and

stepper pulse generation for hard real-time functionality.

The embedded, multitasking real-time CPU handles host communications,

command processing, multi-axis interpolation, onboard program

execution, error handling, general-purpose digital I/O, and overall motion

system integration functions.

Chapter 4 Functional Overview

7344/7334 Hardware User Manual 4-2 ni.com

Embedded Real-Time Operating System (RTOS)

The embedded firmware is based upon an embedded 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.

The DSP chip is a separate processor that operates independently from

the CPU but is closely synchronized by an internal packet-based command,

data, and messaging event structure. The 7344/7334 controllers are true

multiprocessing and multitasking embedded controllers.

The advanced architecture of the 7344/7334 controller enables advanced

motion features, such as enhanced PID functions. Refer to the FlexMotion

Software Reference Manual for more information on the features available

on the 7344/7334 controllers.

Trajectory Generators

The 7344/7334 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 7344/7334 controller has

eight 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 Feedback

The 7344/7334 controllers have an 8-channel multiplexed, 12-bit ADC.

The converted analog values are broadcast to both the DSP and CPU via

a dedicated internal high-speed serial bus. The multiplexer scan rate is

approximately 50 µs per enabled ADC channel, which provides the high

sampling rates required for feedback loop closure, joystick inputs, or

monitoring analog sensors. Four of these channels are intended for

calibration, leaving the other four available for analog feedback.

Chapter 4 Functional Overview

©National Instruments Corporation 4-3 7344/7334 Hardware User Manual

Flash Memory

Nonvolatile memory on the 7344/7334 controllers is implemented with

flash ROM, which means that the controllers can electrically erase and

reprogram their own ROM. Since all the embedded firmware, including the

RTOS and DSP code, of the 7344/7334 is stored in flash memory, you can

upgrade the onboard firmware contents in the field for support and new

feature enhancement.

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 parameter

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.

The FPGA configuration programs are also stored in the flash ROM.

At power-up, the FPGAs are booted with these programs, which means

that updates to the FPGA programs can be performed in the field.

A flash memory download utility is included with the FlexMotion software

that ships with the controller.

Axes and Motion Resources

The 7344/7334 controllers can control up to four axes of motion. The axes

can be completely independent, simultaneously coordinated, or mapped in

multidimensional groups called vector spaces. You can also synchronize

vector spaces for multi-vector space coordinated motion control.

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 have either an encoder or ADC channel feedback resource.

Closed-loop stepper axes also require a feedback resource, while open-loop

stepper axes do not. Figures 4-1 and 4-2 show these axis configurations.

With the 7344/7334 controllers, you can map one or two feedback

resources and one or two output resources to the axis. An axis with its

primary output resource mapped to a stepper output is by definition a

stepper axis. An axis with its primary output resource mapped to a DAC

is by definition a servo axis.

Chapter 4 Functional Overview

7344/7334 Hardware User Manual 4-4 ni.com

Figure 4-1. Servo Axis Resources

Figure 4-2. Stepper Axis Resources

The 7344/7334 controller supports axes with secondary output resources

(DACs for servo axes or stepper outputs). Defining two output resources is

useful when controlling axes with multiple motors, such as gantry systems

in which two DAC outputs can be configured with different torque limits

and/or offsets.

The 7344 controllers also support secondary feedback resources (encoders)

for axes defined as servo. Two feedback resources are used when

implementing dual-loop control (such as in backlash compensation),

which reduces the number of encoders available for other axes.

Note Refer to the Axis and Resource Configuration section of the FlexMotion Software

Reference Manual for more information on 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 nonmotion-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

0101011101101 11101101100

101100111

PID

Servo

Loop

16-Bit

D/A

Converter

32-Bit

Encoder

Interface

±10 V

øA

øB

Index

01011010 010010110

Stepper

Control

Loop

Stepper

Pulse

Generator

32-Bit

Encoder

Interface

øA

øB

Index

101100111

Chapter 4 Functional Overview

©National Instruments Corporation 4-5 7344/7334 Hardware User Manual

digital potentiometer encoder input, or as a master encoder input for

master/slave (electronic gearing) applications.

Each axis also has an associated forward and reverse limit input, a home

input, a high-speed capture trigger input, a breakpoint output, and an inhibit

output. These signals can be used for general-purpose digital I/O when not

being used for their motion-specific purpose.

Note Once mapped to an axis, all features and functions of a resource are available as part

of the axis. It is not necessary to remember or use the resource number directly when

accessing these features. Resources are referenced by axis number once assigned to that axis.

Onboard Programs (7344 only)

The 7344 controllers have full onboard programmability with the

capability of executing up to 10 simultaneous motion programs in a

real-time preemptive multitasking environment.

This powerful feature is designed for real-time applications that need tight

synchronization and/or minimum latency—from a motion or other I/O

event—and fast command execution.

You can execute the entire FlexMotion function set from onboard

programs. In addition, the onboard programs support basic math and data

operation functions for up to 120 general-purpose variables.

Implementing part or all of your motion application as an onboard program

or programs offloads the host PC from handling these real-time tasks and

events. Doing so leaves the host PC available for the other integrated tasks,

such as data acquisition, image processing, user interface, data analysis,

and/or overall measurement and automation system control.

Onboard programs can also isolate your application from the non-real-time

operating system of the host PC. Only the bus power is required to correctly

execute an onboard FlexMotion program once it is started, and this program

continues to run even if the host PC hangs, assuming the host power supply

remains.

You can run onboard programs from RAM or optionally save them to flash

ROM. The 7344 controllers have 64 KB of RAM and 128 KB of ROM

(divided into two 64 KB sectors) for program and object storage. You can

run programs from either RAM or ROM, but you cannot split programs

between the two, and you cannot split programs between the two 64 KB

ROM sectors. With an average command size of 10 bytes, a single program

Chapter 4 Functional Overview

7344/7334 Hardware User Manual 4-6 ni.com

can be as large as 6,400 commands. For example, the 7344 controllers can

simultaneously execute 10 programs, five from RAM and five from ROM,

with each program up to 1,280 commands long.

Note Refer to the Onboard Programming Functions section of the FlexMotion Software

Reference Manual for detailed information on all of these onboard programming features.

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 any of the

supported bus standards: PCI, PXI, or 1394.

The primary bidirectional data transfer port is at the base address of the

controller. This port supports FIFO data passing in both send and readback

directions. The 7344/7334 controllers have both a command buffer for

incoming commands and a return data buffer (RDB) for readback data.

Two read-only status registers are at offsets from the base address.

The communications status register (CSR) provides bits for

communications handshaking as well as real-time error reporting and

general status feedback to the host PC. The move complete status (MCS)

©National Instruments Corporation 5-1 7344/7334 Hardware User Manual

Signal Connections

This chapter describes how to make input and output signal connections

directly to the 7344/7334 controllers and briefly describes the associated

I/O circuitry.

The 7344/7334 controllers have three connectors that handle all signals to

and from the external motion system:

•68-pin motion I/O connector

•68-pin digital I/O connector

•RTSI connector

You can connect to your motion system with cables and accessories,

varying from simple screw terminal blocks to enhanced UMI units and

drives.

Caution Turn off power to all devices when connecting or disconnecting the

7344/7334 controller motion I/O and auxiliary digital I/O cables. Failure to do so

may damage the controller.

Motion I/O Connector

The motion I/O connector contains all of the signals required to control up

to four axes of servo (7344 only) and stepper motion, including the

following features:

•Motor command analog and stepper outputs

•Encoder feedback inputs

•Forward, home, and reverse limit inputs

•Breakpoint outputs

•Trigger inputs

•Inhibit outputs

The motion I/O connector also contains four channels of 12-bit A/D inputs

for analog feedback or general-purpose analog input.

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-2 ni.com

Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector

on the 7344/7334 controller. A signal description follows the connector

pinout. In this chapter, lines above signal names indicate that the signal

is active-low.

Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment

Analog Reference (Output)

Analog Input 3

Analog Input 1

Analog Output Ground*

Analog Output 3*

Analog Output 1*

Digital Ground

Breakpoint 3

Breakpoint 1

Digital Ground

Axis 4 Inhibit

Trigger 4

Axis 4 Home Switch

Digital Ground

Axis 4 Dir (CCW)

Axis 3 Inhibit

Trigger 3

Axis 3 Home Switch

Digital Ground

Axis 3 Dir (CCW)

Axis 2 Inhibit

Trigger 2

Axis 2 Home Switch

Digital Ground

Axis 2 Dir (CCW)

Axis 1 Inhibit

Trigger 1

Axis 1 Home Switch

Digital Ground

Axis 1 Dir (CCW)

Analog Input Ground

Analog Input 2

Reserved

Analog Output 2*

Shutdown

Breakpoint 4

Breakpoint 2

Analog Input 4

Analog Output 4*

Host +5 V

Axis 4 Reverse Limit Switch

Axis 4 Forward Limit Switch

Axis 4 Encoder Index

Axis 4 Encoder Phase B

Axis 4 Encoder Phase A

Axis 4 Step (CW)

Axis 3 Reverse Limit Switch

Axis 3 Forward Limit Switch

Axis 3 Encoder Index

Axis 3 Encoder Phase B

Axis 3 Encoder Phase A

Axis 3 Step (CW)

Axis 2 Reverse Limit Switch

Axis 2 Forward Limit Switch

Axis 2 Encoder Index

Axis 2 Encoder Phase B

Axis 2 Encoder Phase A

Axis 2 Step (CW)

Axis 1 Reverse Limit Switch

Axis 1 Forward Limit Switch

Axis 1 Encoder Index

Axis 1 Encoder Phase B

Axis 1 Encoder Phase A

Axis 1 Step (CW)

135

236

337

438

539

640

741

842

943

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

28 62

29 63

30 64

31 65

32 66

33 67

34 68

* Available only on the 7344 motion controllers

Chapter 5 Signal Connections

©National Instruments Corporation 5-3 7344/7334 Hardware User Manual

Table 5-1 describes the signals on the motion I/O connector.

Table 5-1. Motion I/O Signal Connections

Signal Name Reference Direction Description

Axis <1..4> Dir (CCW) Digital Ground Output Motor direction or

counter-clockwise control

Axis <1..4> Step (CW) Digital Ground Output Motor step or clockwise control

Axis <1..4> Encoder Phase A Digital Ground Input Closed-loop only—phase A encoder

input

Axis <1..4> Encoder Phase B Digital Ground Input Closed-loop only—phase B encoder

input

Axis<1..4> Encoder Index Digital Ground Input Closed-loop only—index encoder

input

Axis <1..4> Home Switch Digital Ground Input Home switch

Axis <1..4> Forward Limit Switch Digital Ground Input Forward/clockwise limit switch

Axis <1..4> Reverse Limit Switch Digital Ground Input Reverse/counter-clockwise limit

switch

Axis <1..4> Inhibit Digital Ground Output Drive inhibit

Trigger <1..4> Digital Ground Input High-speed position capture trigger

input <1..4>

Breakpoint <1..4> Digital Ground Output Breakpoint output <1..4>

Host +5 V Digital Ground Output +5 V—host computer +5 V supply

Analog Input Ground — — Reference for analog inputs

Analog Input <1..4> Analog Input Ground Input 12-bit analog input

Analog Output <1..4> Analog Output Ground Output 16-bit analog output (7344 only)

Analog Output Ground — — Reference for analog outputs

(7344 only)

Shutdown Digital Ground Input Controlled device shutdown

Analog Reference (output) Analog Input Ground Output +7.5 V—analog reference level

Digital Ground — — Reference for digital I/O

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-4 ni.com

Motion Axis Signals

The following signals control the servo amplifier or stepper driver:

•Analog Output <1..4> (7344 only)—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. They also feature

a software-programmable voltage offset.

Although typically used as the command output of an axis control

loop, unused DACs can also function as independent analog outputs

for general-purpose control.

•Analog Output Ground (7344 only)—To help keep digital noise

separate from the analog DAC outputs, there is a separate return

connection. Use this analog ground connection and not Digital Ground

(digital I/O reference) as the reference for the DAC outputs when

connecting to servo amplifiers.

•Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals

are the stepper command outputs for each axis. The 7344/7334

controller supports both major industry standards for stepper

command signals: step and direction, or independent CW and CCW

pulse outputs.

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 mode produces 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 (inverting) or active-high (non-inverting). For example,

with step and direction, you can make a logic high correspond to either

forward or reverse direction.

TheStep(CW)andDir(CCW)outputsaredrivenbyhigh-speed

open-collector TTL buffers that feature 64 mA sink current capability

andbuilt-in3.3kΩpull-up resistors to +5 V.

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.

Chapter 5 Signal Connections

©National Instruments Corporation 5-5 7344/7334 Hardware User Manual

•Axis <1..4> Inhibit—Use the inhibit output signals to control the

enable/inhibit function of a servo amplifier or stepper driver. When

properly connected and configured, the inhibit function causes the

connected motor to be de-energized and its shaft turns freely. These

open-collector inhibit signals feature 64 mA current sink capability

with built-in 3.3 kΩpull-up resistors to +5 V, and can directly drive

most driver/amplifier inhibit input circuits.

While the industry standard for inhibits is active-low (inverting), these

outputs have programmable polarity and can be set to active-high

(non-inverting) for increased flexibility and unique drive

compatibility.

Inhibit output signals can be activated automatically upon a Kill

Motion command or any motion error that causes a kill motion

condition (for example, following error trip). You can also directly

control the inhibit output signals to enable or disable a driver or

amplifier.

Limit and Home Inputs

The following signals control limit and home inputs:

•Axis <1..4> Forward Limit Input

•Axis <1..4> Home Input

•Axis <1..4> Reverse Limit Input

These inputs are typically connected to limit switches located at physical

ends of travel and/or at a specific home position. Limit and home inputs can

be software enabled or disabled at any time. When enabled, an active

transition on a limit or home input causes a full torque halt stop of the

associated motor 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.

Note Limit and home inputs are digitally filtered and must remain active for at least 1 ms

to be recognized. 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

(inverting) or active-high (non-inverting).

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-6 ni.com

You can use software disabled limit and home inputs as general-purpose

inputs. You can read the status of these inputs at any time and set and

change their polarity as required.

Limit and home inputs are a per axis enhancement on the 7344/7334

controllers and are not required for basic motion control. These inputs

are part of a system solution for complete motion control.

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. Miswired limits may

preventmotionfromoccurringatall.

Keep limit and home switch signals and their ground connections wired

separately from the motor driver/amplifier signal and encoder signal

connections.

Caution Wiring these signals near each other can cause faulty motion system operation

due to signal noise and crosstalk.

Limit and Home Input Circuit

All limit and home inputs are digitally filtered and must be active for at

least 1 ms. Figure 5-2 shows a simplified schematic diagram of the circuit

used by the limit and home switch inputs for input signal buffering and

detection.

Figure 5-2. Limit and Home Input Circuit

74HC244

1kΩ

1/8 W

From the external

connector limit

and home switch pins

To the limit and home

switch circuits

DGND

Vcc

3.3 kΩ

Chapter 5 Signal Connections

©National Instruments Corporation 5-7 7344/7334 Hardware User Manual

Caution Excessive input voltages can cause erroneous operation and/or component

failure. Verify that your input voltage is within the specification range.

Encoder Signals

The 7344/7334 controllers offer four channels of single-ended quadrature

encoder inputs. All National Instruments power drives and UMI

accessories provide built-in circuitry that converts differential encoder

signals to single-ended encoder signals. Each channel consists of a

Phase A, Phase B, and Index input, as described in the following sections.

Encoder <1..4> 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 or velocity monitoring, digital potentiometer

encoder inputs, or as a master encoder input for master/slave (electronic

gearing) applications.

The encoder channels (Encoder <1..4>) are implemented in an FPGA

and are high performance with extended input frequency response and

advanced features, such as high-speed position capture inputs and

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 (revolutions or linear distance) produces 4 × Nquadrature

counts per unit of measure. The count is the basic increment of position

in FlexMotion systems.

Note Determine quadrature counts by multiplying the encoder resolution in encoder lines

by 4. The encoder resolution is the number of encoder lines between consecutive encoder

indexes (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 measure (inch, centimeter, millimeter,

and so on).

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-8 ni.com

Encoder <1..4> Index

The Index input is primarily used with the Find Index function. This

function uses the number of counts per revolution (or linear distance) to

initiate a search move that locates the index position. When a valid Index

signal transition occurs during a Find Index sequence, the position of the

Index signal is captured very accurately. Use this captured position to

establish a reference zero position for absolute position control or any other

motion system position reference required. Figure 5-3 shows the

quadrature encoder phasing diagram.

Figure 5-3. Quadrature Encoder Phasing Diagram

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.

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.

Encoders with differential line driver outputs are strongly recommended

for all applications and must be used if the encoder cable length is longer

than 10 ft (3.05 m). Shielded, 24 AWG wire is the minimum recommended

size for the encoder cable. Cables with twisted pairs and an overall shield

are recommended for optimized noise immunity.

All National Instruments power drives and UMI accessories provide

built-in circuitry that converts differential encoder signals to single-ended

encoder signals.

Phase A

Phase B

Index

Chapter 5 Signal Connections

©National Instruments Corporation 5-9 7344/7334 Hardware User Manual

Caution Unshielded cable can cause noise to corrupt the encoder signals, resulting in lost

counts and reduced motion system accuracy.

Encoder Input Circuit

Figure 5-4 shows a simplified schematic diagram of the circuit used for

the Phase A, Phase B, and Index encoder inputs. 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

required for initialization functionality with the Find Index function.

Figure 5-4. Encoder Input Circuit

Trigger Inputs, Shutdown Input, and Breakpoint Outputs

The 7344/7334 controllers offer additional high-performance features in

the encoder FPGA. The encoder channels have high-speed position capture

trigger inputs and 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..4>—When enabled, an active transition on a

high-speed position capture input causes instantaneous position

capture (<100 ns latency) 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 7344/7334 controller position mode is to

move an axis Relative to Captured Position.

The polarity of the trigger input is programmable in software as

active-low (inverting) or active-high (non-inverting), rising or falling

74HC244

Ω

1/8 W

From the external

connector

encoder input

pins

To the quadrature

decoder circuit

DGND

Vcc

3.3 kΩ

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-10 ni.com

edge. You can also use a trigger 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 (rising edge).

•Breakpoint Output <1..4>—A breakpoint output can be programmed

to transition when the associated encoder value equals the breakpoint

position. You can use a breakpoint 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,modulo,orrelative

position. Breakpoint outputs can be preset to a known state so that the

transition when the breakpoint occurs can be low to high, high to low,

or toggle.

The breakpoint outputs are driven by open-collector TTL buffers that

feature 64 mA sink current capability and built in 3.3 kΩpull-up

resistors to +5 V.

You can directly set and reset breakpoint outputs to use them as

general-purpose digital outputs.

Wiring Concerns

Caution Keep trigger input, shutdown input, and breakpoint output signals and their

ground connections wired separately from the motor driver/amplifier signal and encoder

signal connections. Wiring these signals near each other can cause faulty operation.

Excessive input voltages can cause erroneous operation and/or component failure.

Chapter 5 Signal Connections

©National Instruments Corporation 5-11 7344/7334 Hardware User Manual

Trigger Input, Shutdown Input, and Breakpoint

Output Circuits

Figures 5-5, 5-6, and 5-7 show a simplified schematic diagram of the

circuits used by the trigger inputs, shutdown inputs, and breakpoint outputs

for signal buffering.

Figure 5-5. Trigger Input Circuit

Figure 5-6. Shutdown Input Circuit

Figure 5-7. Breakpoint Output Circuit

74HC244

Ω

1/8 W

From the external

connector

trigger pins

To the trigger

circuits

DGND

Vcc

3.3 kΩ

74HC244

1kΩ

1/8 W

From the external

connector

shutdown pin

To the shutdown

circuits

DGND

Vcc

3.3 kΩ

74AS760

To the external

connector

breakpoint pins

From the

breakpoint

circuits

Vcc

3.3 kΩ

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-12 ni.com

Analog Inputs

The 7344/7334 controllers have the following ADC input signals:

•Analog Input <1..4>—The 7344/7334 controllers include an

eight-channel multiplexed, 12-bit ADC capable of measuring ±10 V,

±5 V, 0–10 V, and 0–5 V inputs. ADC channels 1 through 4 are

brought out externally on the 68-pin motion I/O connector. ADC

channels 5 through 8 are connected internally, as shown in Table 5-2.

These signals can be used for ADC test and calibration.

You can configure each ADC channel for motion feedback, simple

A/D conversion, or both.

You can read the digital value of analog voltage on any of the eight

ADC channels of the controller by using the Read ADC function.

Table 5-3 shows the range of values read back and the voltage

resolution for each setting. The voltage resolution is in volts per least

significant bit (V/LSB).

As indicated in Figure 5-3, 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

Table 5-2. Internal ADC Channels

ADC Input Signal

5Filtered +5 V

6Floating (NC)

7Analog Reference (7.5 V)

8Analog Input Ground

Table 5-3. Analog Input Voltage Ranges

Input Range Binary Values Resolution

±10 V –2,048 to 2,047 0.0049 V/LSB

±5 V –2,048 to 2,047 0.0024 V/LSB

0–10 V 0to4,095 0.0024 V/LSB

0–5V 0to4,095 0.0012 V/LSB

Chapter 5 Signal Connections

©National Instruments Corporation 5-13 7344/7334 Hardware User Manual

performance. Properly enabled, the scan rate is high enough to support

analog feedback at the highest PID sample rate.

•Analog Reference—For convenience, 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.

•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.

Wiring Concerns

For proper use of each ADC input channel, the analog signal to be

measured should be connected to the channel input and its ground reference

connected to the Analog Input Ground.

Note The analog reference output is an output signal only and must not connect 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.

Other Motion I/O Connection

The 7344/7334 controllers provide the following other motion I/O

connection:

•Host +5 V—This signal is the internal +5 V supply of the host

computer. It is typically used to detect when the host computer is

powered and to shut down external motion system components when

the host computer is turned off or disconnected from the motion

accessory.

Caution The host +5 V signal is limited to <100 mA 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.

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-14 ni.com

Digital I/O Connector

All the general-purpose digital I/O lines on the 7344/7334 controllers are

available on a separate 68-pin digital I/O connector. Figure 5-8 shows the

pin assignments for this connector.

Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments

Port 4:bit 7

Digital Ground

Port 4:bit 4

Port 4:bit 3

Digital Ground

Port 4:bit 0

Port 3:bit 7

Digital Ground

Port 3:bit 4

Port 3:bit 3

Digital Ground

Port 3:bit 0

Port 2:bit 7

Port 2:bit 6

Digital Ground

Port 2:bit 1

Port 2:bit 0

Port 1:bit 7

Digital Ground

Port 1:bit 4

Port 1:bit 3

Digital Ground

Port 1:bit 0

PWM2

Reserved

PWM1

Reserved

PCLK

+5 V

Digital Ground

Port 4:bit 5

Digital Ground

Port 4:bit 1

Digital Ground

Port 3:bit 6

Port 3:bit 5

Port 4:bit 6

Port 4:bit 2

Digital Ground

Port 3:bit 2

Port 3:bit 1

Digital Ground

Port 2:bit 5

Port 2:bit 4

Port 2:bit 3

Port 2:bit 2

Digital Ground

Port 1:bit 6

Port 1:bit 5

Digital Ground

Port 1:bit 2

Port 1:bit 1

Digital Ground

Reserved

Digital Ground

DPull

Digital Ground

135

236

337

438

539

640

741

842

943

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

28 62

29 63

30 64

31 65

32 66

33 67

34 68

Chapter 5 Signal Connections

©National Instruments Corporation 5-15 7344/7334 Hardware User Manual

The 32-bit digital I/O port is configured in hardware as four 8-bit digital I/O

ports. The bits in a port are typically controlled and read with byte-wide

bitmapped commands.

All digital I/O lines have programmable direction and polarity. Each output

circuit can sink and source 24 mA.

The DPull pin controls the state of the input pins at power-up. Connecting

DPull to +5 V or leaving it unconnected configures all pins in all ports for

100 kΩpull-ups. Connecting DPull to ground configures the ports for

100 kΩ pull-downs.

PWM Features

The 7344/7334 controllers provide two pulse width modulation (PWM)

outputs on the digital I/O connector. The PWM outputs generate periodic

waveforms whose period and duty cycles can be independently controlled

through software commands. Think of PWM as 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 desired, you can use 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 your FlexMotion Software Reference Manual for more

information.

RTSI Connector

The physical RTSI bus interface varies depending on the type of 7334/7334

controller.

For the PCI-7344 and PCI-7334, the RTSI bus is connected with a ribbon

cable across National Instruments’PCI devices with RTSI capability.

The FW-7344 RTSI bus is connected with an external 14-pin shielded cable

across National Instruments’distributed devices with RTSI capability.

The PXI-7344 and PXI-7334 require no extra cable, because the PXI bus

directly connects the RTSI bus across all of National Instruments’

PXI devices.

Chapter 5 Signal Connections

7344/7334 Hardware User Manual 5-16 ni.com

RTSI Signal Considerations

The 7344/7334 motion controllers allow you to use the RTSI signals as

sources for trigger inputs, or as destinations for breakpoint outputs and

encoder signals. The RTSI bus can also serve as a generic digital I/O port.

Breakpoint outputs are output-only signals that generate an active-high

pulse of 90−120 ns duration, as shown in Figure 5-9.

Figure 5-9. Breakpoint 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 trigger inputs or generic digital I/O,

all signals are passed through unaltered.

tw = 90 -120 ns

©National Instruments Corporation A-1 7344/7334 Hardware User Manual

Specifications

This appendix lists the hardware and software performance specifications

for the 7344/7334 controllers. Hardware specifications are typical at 25 °C,

unless otherwise stated.

Servo Performance (7344 only)

PID update rate range............................. 62.5 to 500 µs/sample

Max PID update rate ....................... 62.5 µs/axis

4-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 range ...................................... 10–5to 106revolutions/minute

Acceleration/deceleration ............... 4,000 to 128,000,000 counts/s2

RPS/s range..................................... 10–1to 108revolutions/s2

S-Curve time range ......................... 1 to 32,767 samples

Following error range ..................... 0 to 32,767 counts

Gear ratio (7344 only)..................... ±32,767:1 to 1:32,767

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

Appendix A Specifications

7344/7334 Hardware User Manual A-2 ni.com

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/axis

4-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 4,000,000 steps/s

RPM range.......................................10–5to 106revolutions/minute

Acceleration/deceleration ................4,000 to 128,000,000 steps/s2

RPS/s range .....................................10–1to 108revolutions/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

Appendix A Specifications

©National Instruments Corporation A-3 7344/7334 Hardware User Manual

Stepper outputs

Max pulse rate................................. 4 MHz (full, half, and microstep)

Min pulse width .............................. 120 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 ................. Open collector with built-in

3.3 kΩpull-up to +5 V

Polarity............................................ Programmable, active-high

or active-low

System Safety

Watchdog timer function ....................... Resets board to startup state

Watchdog timeout........................... 63 ms

Shutdown input

Voltage range.................................. 0 to 12 V

Input low voltage ..................... 0.8 V

Input high voltage.................... 2 V

Polarity..................................... Rising edge

Control ............................................ Disable all axes and

command outputs

Motion I/O

Encoder inputs........................................ Quadrature, incremental,

single-ended

Max count rate ................................ 20 MHz

Min pulse width .............................. Programmable; depends

on digital filter settings

Voltage range.................................. 0 to 12 V

Input low voltage ..................... 0.8 V

Input high voltage.................... 2 V

Min index pulse width .................... 60 ns

Appendix A Specifications

7344/7334 Hardware User Manual A-4 ni.com

Forward, reverse, and home inputs

Number of inputs.............................12 (3 per axis)

Voltage range...................................0 to 12 V

Input low voltage......................0.8 V

Input high voltage.....................2 V

Polarity ............................................Programmable, active-high

or active-low

Min pulse width...............................1 ms

Control.............................................Individual enable/disable, stop on

input, prevent motion, Find Home

Trigger inputs

Number of inputs.............................4 (Encoders 1 through 4)

Voltage range...................................0 to 12 V

Input low voltage......................0.8 V

Input high voltage.....................2 V

Polarity ............................................Programmable, active-high

or active-low

Min pulse width...............................83 ns

Capture latency................................<100 ns

Capture accuracy .............................1 count

Max repetitive capture rate..............1 kHz

Breakpoint outputs

Number of outputs...........................4 (Encoders 1 through 4)

Voltage range...................................0 to 5 V

Output low voltage ...................< 0.6 V at 64 mA sink

Output high voltage..................Open collector with built-in

3.3 kΩpull-up to +5 V

Polarity ............................................Programmable, active-high

or active-low

Inhibit/enable output

Number of outputs...........................4 (1 per-axis)

Voltage range...................................0 to 5 V

Output low voltage ...................< 0.6 V at 64 mA sink

Output high voltage..................Open collector with built-in

3.3 kΩpull-up to +5 V

Appendix A Specifications

Polarity............................................ Programmable, active-high

or active-low

Control ............................................ MustOn/MustOff or automatic

when axis off

Analog inputs

Number of inputs ............................ 8, multiplexed

Number for user signals........... 4

Number for calibration ............ 4

Voltage range (programmable) ....... ±10 V, ±5 V, 0–10 V, 0–5V

Input resistance ............................... 10 kΩmin

Resolution ....................................... 12 bits

Analog reference output.................. 7.5 V (nominal)

Reference drift ................................ ±30 ppm/°C typical

INL.................................................. ±1 LSB

DNL ................................................ ±1 LSB

Offset error

Unipolar ................................... ±5 LSB

Bipolar ..................................... ±10 LSB

Gain error

Unipolar ................................... ±10 LSB

Bipolar ..................................... ±10 LSB

Conversion time.............................. 6 µs

Multiplexor scan rate ...................... 50 µs/enabled channel

Analog outputs (7344 only)

Number of outputs .......................... 4

Voltage range.................................. ±10 V

Output current ................................. ±5 mA

Resolution ....................................... 16 bits (0.000305 V/LSB)

Gain accuracy ................................. ±3%

Drift................................................. 100 ppm/°C typical

Appendix A Specifications

7344/7334 Hardware User Manual A-6 ni.com

Digital I/O

Ports ........................................................4, 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

Outputs

Voltage range...................................0 to 5 V

Output low voltage ...................< 0.45 V at 24 mA sink

Output high voltage..................> 2.4 V at 24 mA source

Polarity ............................................Programmable, active-high

or active-low

PWM outputs

Number of PWM outputs .........2

Max PWM frequency...............32 kHz

Resolution.................................8-bit

Duty cycle range.......................0 to (255/256)%

Clock Sources...........................Internal or external

RTSI

Trigger Lines ..........................................7

Maximum Power Requirements

♦PCI-7344, PXI-7344, PCI-7334, and PXI-7334

+5 V (±3%).............................................1 A

+12 V (±3%)...........................................30 mA

–12 V (±3%) ...........................................30 mA

Power consumption ................................5.7 W

Appendix A Specifications

♦FW-7344

Voltage range ......................................... 9 to 25 VDC

Power consumption................................ 30 W

Physical

Dimensions (Not Including Connectors)

PCI-7344/7334 ....................................... 17.5 by 9.9 cm (6.9 by 3.9 in.)

PXI-7344/7334....................................... 16 by 10 cm (6.3 by 3.9 in.)

FW-7344 ................................................ 30.7 by 25.4 by 4.3 cm

(12.1by10.0by1.7in.)

Connectors

Motion I/O connector............................. 68-pin female high-density

VHDCI type

32-bit digital I/O connector.................... 68-pin female high-density

VHDCI type

Weight

PCI-7344/7334 ....................................... 113 g (4 oz.)

PXI-7344................................................ 170 g (6 oz.)

FW-7344 ................................................ 1.7 kg (60 oz.)

Maximum Working Voltage

Channel to earth ..................................... 12 V, Installation Category 1

(signal voltage plus

common-mode voltage)

Channel to channel................................. 22 V, Installation Category 1

(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,

please refer to the individual signal specifications.

Appendix A Specifications

7344/7334 Hardware User Manual A-8 ni.com

Environment

Operating temperature ............................ 0 to 55 °C

Storage temperature ................................–20 to 70 °C

Humidity.................................................10 to 90% RH, noncondensing

Maximum altitude...................................2000 m

Pollution degree......................................2

Electromagnetic Compatibility

EMC/EMI ...............................................CE, C-Tick, and FCC Part 15

(Class A) Compliant

Electrical emissions ................................EN 55011 Class A at 10 meters

FCC Part 15A above 1 GHz

Electrical immunity ................................Evaluated to EN 61326:1997/

A1:1998, Table 1

Note For full EMC compliance, you must operate this device with shielded cabling. In

addition, all covers and filler panels must be installed. See the Declaration of Conformity

(DoC) for this product for any additional regulatory compliance information. To obtain

the DoC for this product, click Declaration of Conformity at ni.com/hardref.nsf/.

This Web site lists the DoCs by product family. Select the appropriate product family,

followed by your product, and a link to the DoC (in Adobe Acrobat format) appears.

Click the Acrobat icon to download or read the DoC.

Safety

This device meets the following electrical equipment safety standard

requirements for measurement, control, and laboratory use:

•EN 61010-1:1993/A2:1995, IEC 61010-1:1990/A2:1995

•UL 3101-1:1993, UL 3111-1:1994, UL 3121:1998

•CAN/CSA C22.2 no. 1010.1:1992/A2:1997

Cable Connector Descriptions

This appendix describes the connector pinout for the cables that connect

to your 7344/7334 controllers.

Figures B-1 and B-2 show the pin assignments for the stepper and servo

50-pin motion connectors. These connectors are available when you use

the SH68-C68-S shielded cable assembly and the 68M-50F step/servo

bulkhead cable adapter.

Figure B-1. 50-Pin Stepper Connector Pin Assignment

Digital Ground

Axis 4 Inhibit

Trigger/Breakpoint 4

Axis 4 Home Switch

Digital Ground

Axis 4 Dir (CCW)

Axis 3 Inhibit

Trigger/Breakpoint 3

Axis 3 Home Switch

Digital Ground

Axis 3 Dir (CCW)

Axis 2 Inhibit

Trigger/Breakpoint 2

Axis 2 Home Switch

Digital Ground

Axis 2 Dir (CCW)

Axis 1 Inhibit

Trigger/Breakpoint 1

Axis 1 Home Switch

Digital Ground

Axis 1 Dir (CCW)

Host +5 V

Axis 4 Forward Limit Switch

Axis 4 Encoder Index

Axis 4 Encoder Phase A

Axis 4 Step (CW)

Axis 3 Reverse Limit Switch

Axis 3 Forward Limit Switch

Axis 4 Reverse Limit Switch

Axis 4 Encoder Phase B

Axis 3 Encoder Index

Axis 3 Encoder Phase B

Axis 3 Encoder Phase A

Axis 3 Step (CW)

Axis 2 Reverse Limit Switch

Axis 2 Forward Limit Switch

Axis 2 Encoder Index

Axis 2 Encoder Phase B

Axis 2 Encoder Phase A

Axis 2 Step (CW)

Axis 1 Reverse Limit Switch

Axis 1 Forward Limit Switch

Axis 1 Encoder Index

Axis 1 Encoder Phase B

Axis 1 Encoder Phase A

Axis 1 Step (CW)

49 50

47 48

45 46

43 44

41 42

39 40

37 38

35 36

33 34

31 32

29 30

27 28

25 26

23 24

21 22

19 20

17 18

15 16

13 14

11 12

910

Appendix B Cable Connector Descriptions

7344/7334 Hardware User Manual B-2 ni.com

Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 only)

Digital Ground

Axis 4 Inhibit

Trigger/Breakpoint 4

Axis 4 Home Switch

Digital Ground

Analog Output Ground

Axis 3 Inhibit

Trigger/Breakpoint 3

Axis 3 Home Switch

Digital Ground

Analog Output Ground

Axis 2 Inhibit

Trigger/Breakpoint 2

Axis 2 Home Switch

Digital Ground

Analog Output Ground

Axis 1 Inhibit

Trigger/Breakpoint 1

Axis 1 Home Switch

Digital Ground

Analog Output Ground

Host +5 V

Axis 4 Forward Limit Switch

Axis 4 Encoder Index

Axis 4 Encoder Phase A

Analog Output 4

Axis 3 Reverse Limit Switch

Axis 3 Forward Limit Switch

Axis 4 Reverse Limit Switch

Axis 4 Encoder Phase B

Axis 3 Encoder Index

Axis 3 Encoder Phase B

Axis 3 Encoder Phase A

Analog Output 3

Axis 2 Reverse Limit Switch

Axis 2 Forward Limit Switch

Axis 2 Encoder Index

Axis 2 Encoder Phase B

Axis 2 Encoder Phase A

Analog Output 2

Axis 1 Reverse Limit Switch

Axis 1 Forward Limit Switch

Axis 1 Encoder Index

Axis 1 Encoder Phase B

Axis 1 Encoder Phase A

Analog Output 1

49 50

47 48

45 46

43 44

41 42

39 40

37 38

35 36

33 34

31 32

29 30

27 28

25 26

23 24

21 22

19 20

17 18

15 16

13 14

11 12

910

Technical Support Resources

Web Support

National Instruments’Web support is your first stop for help in solving

installation, configuration, and application problems and questions. Online

problem-solving and diagnostic resources include frequently asked

questions, knowledge bases, product-specific troubleshooting wizards,

manuals, drivers, software updates, and more. Web support is available

through the Technical Support section of ni.com.

NI Developer Zone

The NI Developer Zone at ni.com/zone is the essential resource for

building measurement and automation systems. At the NI Developer Zone,

you can easily access the latest example programs, system configurators,

tutorials, technical news, as well as a community of developers ready to

share their own techniques.

Customer Education

National Instruments provides a number of alternatives to satisfy your

training needs, from self-paced tutorials, videos, and interactive CDs to

instructor-led hands-on courses at locations around the world. Visit the

Customer Education section of ni.com for online course schedules,

syllabi, training centers, and class registration.

System Integration

If you have time constraints, limited in-house technical resources, or other

dilemmas, you may prefer to employ consulting or system integration

services. You can rely on the expertise available through our worldwide

network of Alliance Program members. To find out more about our

Alliance system integration solutions, visit the System Integration section

of ni.com.

Appendix C Technical Support Resources

7344/7334 Hardware User Manual C-2 ni.com

Worldwide Support

National Instruments has offices located around the world to help address

your support needs. You can access our branch office Web sites from the

Worldwide Offices section of ni.com. Branch office Web sites provide

up-to-date contact information, support phone numbers, e-mail addresses,

and current events.

If you have searched the technical support resources on our Web site and

still cannot find the answers you need, contact your local office or National

Instruments corporate. Phone numbers for our worldwide offices are listed

at the front of this manual.

Glossary

Prefix Meanings Value

p- pico- 10–12

n- nano- 10–9

µ- micro- 10–6

m- milli- 10–3

c- centi 10–2

k- kilo- 103

M- mega- 106

Numbers/Symbols

°degrees

/per

% percent

± plus or minus

+ positive of, or plus

–negative of, or minus

Ωohm

+5 V +5 VDC source signal

1394 A high-speed external bus that implements the IEEE 1394 serial bus

protocol

Glossary

7344/7334 Hardware User Manual G-2 ni.com

A amperes

A/D analog-to-digital

absolute mode treat the target position loaded as position relative to zero (0) while making

amove

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 a signal is active when its value goes high (1)

active-low a signal is active when its value goes low (0)

ADC 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 drive 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—you cannot use a stepper drive to operate a DC

brush motor, for instance

Analog Input <1..4> 12-bit analog ADC input

Analog Output <1..4> DAC voltage output

API application programming interface

axis unit that controls a motor or any similar motion or control device

Axis <1..4> Inhibit axis 1 through 4 inhibit output

Axis <1..4> Forward

Limit Input

axis 1 through 4 forward/clockwise limit switch

Glossary

Axis <1..4> Home

Input

axis 1 through 4 home input

Axis <1..4> Reverse

Limit Input

axis 1 through 4 reverse/counter-clockwise limit input

bbit—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 a number system with a base of 2

buffer temporary storage for acquired or generated data (software)

bus 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.

byte eight related bits of data, an eight-bit binary number. Also used to denote

the amount of memory required to store one byte of data.

CCW counter-clockwise—implies direction of rotation of the motor

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 reference signal for digital I/O

CPU central processing unit

crosstalk an unwanted signal on one channel due to an input on a different channel

CSR Communications Status Register

CW clockwise—implies direction of motor rotation

Glossary

7344/7334 Hardware User Manual G-4 ni.com

DAC Digital-to-Analog Converter

DC direct current

dedicated assigned to a particular function

DGND digital ground signal

digital I/O port a group of digital input/output signals

DIP dual inline package

DLL dynamic link library—provides the API for the motion control boards

drivers software that communicates commands to control a specific motion control

board

DSP Digital Signal Processor

encoder 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 farad

FIFO First-In, First-Out

filtering a type of signal conditioning that filters unwanted signals from the signal

being measured

filter parameters indicates the control loop parameter gains (PID gains) for a given axis

flash ROM a type of electrically reprogrammable read-only memory

Glossary

following error

trip point

the difference between the instantaneous commanded trajectory position

and the feedback position

FPGA Field Programmable Gate Array

freewheel the 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 full-step mode of a stepper motor—for a two phase motor this is done by

energizing both windings or phases simultaneously

Gnd ground

GND ground

half-step mode of a stepper motor—for a two phase motor this is done by alternately

energizing two windings and then only one. In half step mode, alternate

steps are strong and weak but there is significant improvement in low-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 computer into which the motion control board is plugged

I/O input/output—the transfer of data to and from a computer system involving

communications channels, operator interface devices, and/or motion

control interfaces

ID identification

in. inches

Glossary

7344/7334 Hardware User Manual G-6 ni.com

index marker between consecutive encoder revolutions

inverting the polarity of a switch (limit switch, home switch, and so on) in active

state. If these switches are active-low they are said to have inverting

polarity.

IRQ interrupt request

kkilo—the standard metric prefix for 1,000, or 103, used with units of

measure such as volts, hertz, and meters

Kkilo—the prefix for 1,024, or 210, used with B in quantifying data or

computer memory

LIFO Last-In, First-Out

limit switch/

end-of-travel position

(input)

sensors that alert the control electronics that physical end of travel is being

approached and that the motion should stop

m meters

MCS Move Complete Status

microstep The 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 within the range of total quadrature counts per

revolution for an axis

Glossary

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.

noninverting the polarity of a switch (limit switch, home switch, etc.) in active state. If

these switches are active-high, they are said to have non-inverting polarity.

open-loop refers to a motion control system where no external sensors (feedback

devices) are used to provide position or velocity correction signals

PCI Peripheral Component Interconnect—a high-performance expansion bus

architecture originally developed by Intel to replace ISA and EISA. It is

achieving widespread acceptance as a standard for PCs and workstations;

it offers a theoretical maximum transfer rate of 132 MB/s.

PID proportional-integral-derivative control loop

PIVff proportional-integral-velocity feed forward

port (1) a communications connection on a computer or a remote controller

(2) a digital port, consisting 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 output immediately transitions.

power cycling turning the host computer off and then back on, which causes a reset of

the motion control board

PWM 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

Glossary

7344/7334 Hardware User Manual G-8 ni.com

quadrature counts the encoder line resolution times four

RAM random-access memory

relative breakpoint 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 position relative to current position

ribbon cable a flat cable in which the conductors are side by side

RPM revolutions per minute—units for velocity.

RPSPS or RPS/S revolutions per second squared—units for acceleration and deceleration.

RTR Ready to Receive

s seconds

servo specifies an axis that controls a servo motor

stepper specifies an axis that controls a stepper motor

stepper <1..4> Dir

(CCW)

direction output or counter-clockwise direction control

stepper <1..4> Step

(CW)

stepper pulse output or clockwise direction control

toggle changing state from high to low, back to high, and so on

torque force tending to produce rotation

Glossary

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 any event that causes or starts some form of data capture

TTL transistor-transistor logic

V volts

VCC positive voltage supply

velocity mode move the axis continuously at the specified velocity

watchdog a timer task that shuts down (resets) the motion control board if any serious

error occurs

word the standard number of bits that a processor or memory manipulates at one

time, typically 8-, 16-, or 32-bit

Index

Numbers

+5 V signal. See Host +5 V signal.

7344/7334 controllers. See also functional

overview; hardware.

configuration, 2-1

features, 1-1

installation, 2-1 to 2-3

National Instruments application

software, 1-3

optional equipment, 1-4

overview, 1-1 to 1-2

requirements for getting started, 1-3

software programming choices, 1-3

analog feedback, 4-2

Analog Input <1..4> signal

analog input voltage ranges (table), 5-12

description (table), 5-3

internal ADC channels (table), 5-12

purpose and use, 5-12

Analog Input Ground signal

description (table), 5-3

purpose and use, 5-13

analog inputs

signal descriptions, 5-12 to 5-13

wiring concerns, 5-13

Analog Output <1..4> signal

description (table), 5-3

purpose and use, 5-4

Analog Output Ground signal

description (table), 5-3

purpose and use, 5-4

Analog Reference signal

description (table), 5-3

purpose and use, 5-13

axes

overview, 4-3 to 4-4

servo axis resources (figure), 4-4

stepper axis resources (figure), 4-4

Axis<1..4> Dir (CCW) signal

compatibility with third-party drives, 5-5

description (table), 5-3

purpose and use, 5-5

Axis<1..4> Encoder Index signal

description (table), 5-3

purpose and use, 5-8

Axis<1..4> Encoder Phase A signal

description (table), 5-3

purpose and use, 5-7

Axis<1..4> Encoder Phase B signal

description (table), 5-3

purpose and use, 5-7

Axis<1..4> Forward Limit Switch signal

description (table), 5-3

purpose and use, 5-5 to 5-6

Axis<1..4> Home Switch signal

description (table), 5-3

purpose and use, 5-5 to 5-6

Axis<1..4> Inhibit signal

description (table), 5-3

purpose and use, 5-5

Axis<1..4> Reverse Limit Switch signal

description (table), 5-3

purpose and use, 5-5 to 5-6

Axis<1..4> Step (CW) signal

compatibility with third-party drives, 5-4

description (table), 5-3

purpose and use, 5-4

Index

7344/7334 Hardware User Manual I-2 ni.com

breakpoint outputs

output circuit (figure), 5-11

wiring concerns, 5-10

Breakpoint<1..4> signal

description, 5-3

purpose and use, 5-10

cable connectors

50-pin servo connector pin assignments

(figure), B-2

50-pin stepper connector pin assignments

(figure), B-1

communications, host, 4-6

configuration, 2-1

connectors. See also motion I/O connector.

cable connectors

50-pin servo connector pin

assignments (figure), B-2

50-pin stepper connector pin

assignments (figure), B-1

digital I/O connector, 5-14 to 5-15

user connectors, 3-4 to 3-5

customer education, C-1

Digital Ground signal (table), 5-3

digital I/O connector, 5-14 to 5-15

68-pin connector pin assignments

(figure), 5-14

description, 5-15

PWM features, 5-15

specifications, A-6

documentation

about this manual, ix

conventions used in manual, ix to x

7344/7334 Hardware User Manual 7334 Motion Control 7344

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