UM NI 7330 Hardware User Manual

User Manual: NI-7330 Hardware User Manual

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Motion Control
National Instruments 7330
User Manual
NI 7330 User Manual

October 2003 Edition
Part Number 370837A-01

Support
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For further support information, refer to the Technical Support and Professional Services appendix. To comment
on the documentation, send email to techpubs@ni.com.
© 2003 National Instruments Corporation. All rights reserved.

Important Information
Warranty
The National Instruments 7330 is warranted against defects in materials and workmanship for a period of one year from the date of shipment,
as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective
during the warranty period. This warranty includes parts and labor.
The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects
in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National
Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives
notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be
uninterrupted or error free.
A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before
any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are
covered by warranty.
National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical
accuracy. In the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent
editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected.
In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it.
EXCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER’S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF
NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR
DAMAGES RESULTING FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY
THEREOF. This limitation of the liability of National Instruments will apply regardless of the form of action, whether in contract or tort, including
negligence. Any action against National Instruments must be brought within one year after the cause of action accrues. National Instruments
shall not be liable for any delay in performance due to causes beyond its reasonable control. The warranty provided herein does not cover
damages, defects, malfunctions, or service failures caused by owner’s failure to follow the National Instruments installation, operation, or
maintenance instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts; and power failure or surges, fire,
flood, accident, actions of third parties, or other events outside reasonable control.

Copyright
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying,
recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National
Instruments Corporation.

Trademarks
CVI™, IMAQ™, LabVIEW™, Measurement Studio™, National Instruments™, NI™, ni.com™, NI-Motion™, and RTSI™ are trademarks of
National Instruments Corporation.
Product and company names mentioned herein are trademarks or trade names of their respective companies.

Patents
For patents covering National Instruments products, refer to the appropriate location: Help»Patents in your software, the patents.txt file
on your CD, or ni.com/patents.

WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
(1) NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF
RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN
ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT
INJURY TO A HUMAN.
(2) IN ANY APPLICATION, INCLUDING THE ABOVE, RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE
IMPAIRED BY ADVERSE FACTORS, INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY,
COMPUTER HARDWARE MALFUNCTIONS, COMPUTER OPERATING SYSTEM SOFTWARE FITNESS, FITNESS OF COMPILERS
AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION, INSTALLATION ERRORS, SOFTWARE AND
HARDWARE COMPATIBILITY PROBLEMS, MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL
DEVICES, TRANSIENT FAILURES OF ELECTRONIC SYSTEMS (HARDWARE AND/OR SOFTWARE), UNANTICIPATED USES OR
MISUSES, OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER (ADVERSE FACTORS SUCH AS THESE ARE
HEREAFTER COLLECTIVELY TERMED “SYSTEM FAILURES”). ANY APPLICATION WHERE A SYSTEM FAILURE WOULD
CREATE A RISK OF HARM TO PROPERTY OR PERSONS (INCLUDING THE RISK OF BODILY INJURY AND DEATH) SHOULD
NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE. TO AVOID
DAMAGE, INJURY, OR DEATH, THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO
PROTECT AGAINST SYSTEM FAILURES, INCLUDING BUT NOT LIMITED TO BACK-UP OR SHUT DOWN MECHANISMS.
BECAUSE EACH END-USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS' TESTING
PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN
COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL
INSTRUMENTS, THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING
THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE
INCORPORATED IN A SYSTEM OR APPLICATION, INCLUDING, WITHOUT LIMITATION, THE APPROPRIATE DESIGN,
PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION.

Compliance
FCC/Canada Radio Frequency Interference Compliance
Determining FCC Class
The Federal Communications Commission (FCC) has rules to protect wireless communications from interference. The FCC
places digital electronics into two classes. These classes are known as Class A (for use in industrial-commercial locations only)
or Class B (for use in residential or commercial locations). All National Instruments (NI) products are FCC Class A products.
Depending on where it is operated, this Class A product could be subject to restrictions in the FCC rules. (In Canada, the
Department of Communications (DOC), of Industry Canada, regulates wireless interference in much the same way.) Digital
electronics emit weak signals during normal operation that can affect radio, television, or other wireless products.
All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired
operation. The FCC rules have restrictions regarding the locations where FCC Class A products can be operated.
Consult the FCC Web site at www.fcc.gov for more information.

FCC/DOC Warnings
This equipment generates and uses radio frequency energy and, if not installed and used in strict accordance with the instructions
in this manual and the CE marking Declaration of Conformity*, may cause interference to radio and television reception.
Classification requirements are the same for the Federal Communications Commission (FCC) and the Canadian Department of
Communications (DOC).
Changes or modifications not expressly approved by NI could void the user's authority to operate the equipment under the FCC
Rules.

Class A
Federal Communications Commission
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC
Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated
in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and
used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference
at their own expense.

Canadian Department of Communications
This Class A digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.
Cet appareil numérique de la classe A respecte toutes les exigences du Règlement sur le matériel brouilleur du Canada.

Compliance to EU Directives
Users in the European Union (EU) should refer to the Declaration of Conformity (DoC) for information pertaining to the CE
marking. Refer to the Declaration of Conformity (DoC) for this product for any additional regulatory compliance information.
To obtain the DoC for this product, visit ni.com/hardref.nsf, search by model number or product line, and click the appropriate
link in the Certification column.

* The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or
installer.

Contents
About This Manual
Conventions ...................................................................................................................ix
Related Documentation..................................................................................................x

Chapter 1
Introduction
About the 7330 Controller .............................................................................................1-1
Features............................................................................................................1-1
Hardware .........................................................................................................1-1
RTSI ................................................................................................................1-2
What You Need to Get Started ......................................................................................1-2
Software Programming Choices ....................................................................................1-3
National Instruments Application Software ..................................................................1-3
Optional Equipment .......................................................................................................1-4
Motion I/O Connections ................................................................................................1-4

Chapter 2
Configuration and Installation
Software Installation ......................................................................................................2-1
Controller Configuration................................................................................................2-1
Safety Information .........................................................................................................2-2
Hardware Installation.....................................................................................................2-4

Chapter 3
Hardware Overview
User Connectors.............................................................................................................3-3

Chapter 4
Functional Overview
Dual Processor Architecture ..........................................................................................4-1
Embedded Real-Time Operating System (RTOS) ..........................................4-1
Trajectory Generators......................................................................................4-2
Analog Feedback .............................................................................................4-2
Flash Memory..................................................................................................4-2

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Contents

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

Chapter 5
Signal Connections
Motion I/O Connector ................................................................................................... 5-1
Motion Axis Signals........................................................................................ 5-3
Limit and Home Inputs ................................................................................... 5-5
Wiring Concerns............................................................................... 5-5
Limit and Home Input Circuit .......................................................... 5-6
Encoder Signals............................................................................................... 5-6
Encoder <1..4> Phase A/Phase B ..................................................... 5-7
Encoder <1..4> Index ....................................................................... 5-7
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............................................................................ 5-15

Appendix A
Specifications
Appendix B
Cable Connector Descriptions
Appendix C
Technical Support and Professional Services
Glossary
Index
NI 7330 User Manual

ni.com

About This Manual
This manual describes the electrical and mechanical aspects of the
PXI/PCI-7330 and contains information about how to operate and
program the device.
The 7330 is designed for PXI, compact PCI, and PCI bus computers.

Conventions
The following conventions appear in this manual:
<>

Angle brackets that contain numbers separated by an ellipsis represent
a range of values associated with a bit or signal name—for example,
DIO<3..0>.

The » symbol leads you through nested menu items and dialog box options
to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.

♦

The ♦ symbol indicates that the following text applies only to a specific
product, a specific operating system, or a specific software version.
This icon denotes a tip, which alerts you to advisory information.
This icon denotes a note, which alerts you to important information.
This icon denotes a caution, which advises you of precautions to take to
avoid injury, data loss, or a system crash. When this symbol is marked on a
product, refer to the Safety Information section of Chapter 2, Configuration
and Installation, for information about precautions to take.

bold

Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names.

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NI 7330 User Manual

About This Manual

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.

monospace

Text in this font denotes text or characters that you should enter from the
keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames and extensions, and code excerpts.

Related Documentation
The following documents contain information you might find helpful as
you read this manual:

NI 7330 User Manual

•

NI-Motion User Manual

•

NI-Motion C Reference Help

•

NI-Motion VI Reference Help

viii

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Introduction

This chapter includes information about the features of the National
Instruments PXI/PCI-7330 controller and information about operating
the device.

About the 7330 Controller
The 7330 controller features advanced motion control with easy-to-use
software tools and add-on motion VI libraries for use with LabVIEW.

Features
The 7330 controller is a stepper motor controller for PXI and PCI.
The 7330 provides 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 7330 motion controller for point-to-point and straight-line
vector moves for stepper motor applications. The 7330 controller adds the
ability to perform arbitrary and complex motion trajectories using stepper
motors.
Stepper axes can operate in open or closed-loop mode. In closed-loop
mode, stepper axes 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 command outputs.
All stepper axes support full, half, and microstepping applications.

Hardware
The 7330 uses an advanced dual-processor architecture that uses a
32-bit CPU, combined with a digital signal processor (DSP) and custom
field programmable gate arrays (FPGAs), making the controller a
high-performance device. 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.

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Chapter 1

Introduction

Each axis of the 7330 has motion I/O for end-of-travel limit and home
switch inputs, breakpoint output, trigger input, and encoder feedback.
Refer to Appendix A, Specifications, for information about the encoder
feedback rates. The 7330 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 7330 analog inputs can
provide feedback for loop closure.

RTSI
The 7330 supports the 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.

What You Need to Get Started
To set up and use the 7330 controller, you must have the following items:

❑ NI PXI-7330 or PCI-7330 motion controller
❑ This manual
❑ NI-Motion 6.1 or later driver software and documentation
❑ One of the following software packages and documentation:
–

LabVIEW 6.0 or later

–

LabWindows™/CVI™

–

Measurement Studio

–

C/C++

–

Microsoft Visual Basic

❑ A computer with an available PXI or PCI slot

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Chapter 1

Introduction

Software Programming Choices
NI-Motion is a simple but powerful high-level application programming
interface (API) that makes programming the 7330 easy. All setup
and motion control functions are easily executed by calling into a
dynamically-linked library (DLL). You can call these libraries from C,
Microsoft Visual Basic, and other high-level languages. Full function
sets 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 NI-Motion driver
software support for LabVIEW, which includes a series of virtual
instruments (VIs) for using LabVIEW with National Instruments motion
control hardware. The NI-Motion VI library implements the full NI-Motion
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 measurement and automation
solutions. NI-Motion includes a series of sample programs for using
LabWindows/CVI with National Instruments motion control hardware.

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Chapter 1

Introduction

Optional Equipment
National Instruments offers a variety of products for use with the
7330 controller, including the following accessories:
•

Cables and cable assemblies for motion and digital I/O

•

Universal Motion Interface (UMI) wiring connectivity blocks with
integrated motion signal conditioning and motion inhibit functionality

•

Stepper compatible drive amplifier units with integrated power supply
and wiring connectivity

•

Connector blocks and 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, or call your National Instruments sales representative.

Motion I/O Connections
The external motion and digital I/O connectors on the 7330 are
high-density, 68-pin female VHDCI connectors.
For custom cables, use the AMP mating connector (part number
787801-1).

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Configuration and Installation

This chapter describes how to configure and install the PXI/PCI-7330.

Software Installation
Before installing the 7330, install the NI-Motion driver software. Refer to
the Getting Started with NI Motion Control manual, which is included with
the controller, for specific installation instructions.
If you do not install the NI-Motion driver software before attempting to use
the 7330, the system does not recognize the 7330 and you are unable to configure
or use the device.

Note

Controller Configuration
Because motion I/O-related configuration of the 7330 is performed entirely
with software, it is not necessary to set jumpers for motion I/O
configuration.
The PXI-7330 and PCI-7330 controllers are fully compatible with the
industry standard PXI Specification, Revision 2.0 and the PCI Local Bus
Specification, Revision 2.2, respectively. This compatibility allows the PXI
or PCI system to automatically perform all bus-related configuration and
requires no user interaction. It is not necessary to configure jumpers for
bus-related configuration, including setting the device base memory and
interrupt channel.

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Configuration and Installation

Safety Information
The following paragraphs contain important safety information you must follow
when installing and operating the 7330 and all devices connecting to the 7330.

Caution

Do not operate the device in a manner not specified in this document.
Misuse of the device can result in a hazard. You can compromise the safety
protection built into the device if the device is damaged in any way. If the
device is damaged, return it to National Instruments (NI) for repair.
Do not substitute parts or modify the device except as described in this
document. Use the device only with the chassis, modules, accessories, and
cables specified in the installation instructions. You must have all covers
and filler panels installed during operation of the device.
Do not operate the device in an explosive atmosphere or where there may
be flammable gases or fumes. If you must operate the device in such an
environment, it must be in a suitably rated enclosure.
If you need to clean the device, use a soft, nonmetallic brush. Make sure
that the device is completely dry and free from contaminants before
returning it to service.
Operate the device only at or below Pollution Degree 2. Pollution is foreign
matter in a solid, liquid, or gaseous state that can reduce dielectric strength
or surface resistivity. The following is a description of pollution degrees:

Note

•

Pollution Degree 1 means no pollution or only dry, nonconductive
pollution occurs. The pollution has no influence.

•

Pollution Degree 2 means that only nonconductive pollution occurs in
most cases. Occasionally, however, a temporary conductivity caused
by condensation must be expected.

•

Pollution Degree 3 means that conductive pollution occurs, or dry,
nonconductive pollution occurs that becomes conductive due to
condensation.

The 7330 is intended for indoor use only.
You must insulate signal connections for the maximum voltage for which
the device is rated. Do not exceed the maximum ratings for the device. Do
not install wiring while the device is live with electrical signals. Do not

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Chapter 2

Configuration and Installation

remove or add connector blocks when power is connected to the system.
Remove power from signal lines before connecting them to or
disconnecting them from the device.
Operate the device at or below the installation category1 marked on the
hardware label. Measurement circuits are subjected to working voltages2
and transient stresses (overvoltage) from the circuit to which they are
connected during measurement or test. Installation categories establish
standard impulse withstand voltage levels that commonly occur in
electrical distribution systems. The following is a description of installation
categories:

1
2
3

•

Installation Category I is for measurements performed on circuits not
directly connected to the electrical distribution system referred to as
MAINS3 voltage. This category is for measurements of voltages from
specially protected secondary circuits. Such voltage measurements
include signal levels, special equipment, limited-energy parts of
equipment, circuits powered by regulated low-voltage sources,
and electronics.

•

Installation Category II is for measurements performed on circuits
directly connected to the electrical distribution system. This category
refers to local-level electrical distribution, such as that provided
by a standard wall outlet (for example, 115 AC voltage for U.S. or
230 AC voltage for Europe). Examples of Installation Category II are
measurements performed on household appliances, portable tools,
and similar devices/modules.

•

Installation Category III is for measurements performed in the building
installation at the distribution level. This category refers to
measurements on hard-wired equipment such as equipment in fixed
installations, distribution boards, and circuit breakers. Other examples
are wiring, including cables, bus bars, junction boxes, switches, socket
outlets in the fixed installation, and stationary motors with permanent
connections to fixed installations.

•

Installation Category IV is for measurements performed at the primary
electrical supply installation (<1,000 V). Examples include electricity
meters and measurements on primary overcurrent protection devices
and on ripple control units.

Installation categories, also referred to as measurement categories, are defined in electrical safety standard IEC 61010-1.
Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation.
MAINS is defined as a hazardous live electrical supply system that powers equipment. Suitably rated measuring circuits may
be connected to the MAINS for measuring purposes.

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Hardware Installation
Install the 7330 in any open compatible expansion slot in the PXI or PCI
system. Appendix A, Specifications, lists the typical power required for
each controller.
The following instructions are for general installation. Consult the
computer user manual or technical reference manual for specific
instructions and warnings.
Caution The 7330 is a sensitive electronic device shipped in an antistatic bag. Open only
at an approved workstation and observe precautions for handling electrostatic-sensitive
devices.

When adding or removing a controller from a Windows 2000/NT/XP system, you
must be logged on with administrator-level access. After you have restarted the system, you
may need to refresh Measurement & Automation Explorer (MAX) to view the new
controller.

Note

♦

PXI-7330
1.

Power off and unplug the chassis.

Caution To protect yourself and the computer from electrical hazards, the computer must
remain unplugged until the installation is complete.

NI 7330 User Manual

Choose an unused +3.3 V or +5 V peripheral slot and remove the filler
panel.

Touch a metal part on the chassis to discharge any static electricity that
might be on your clothes or body. Static electricity can damage the
controller.

Insert the PXI controller into the chosen slot. Use the injector/ejector
handle to fully inject the device into place.

Screw the front panel of the PXI controller to the front panel mounting
rails of the chassis.

Visually verify the installation.

Plug in and power on the chassis.

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Chapter 2

♦

Configuration and Installation

PCI-7330
1.

Power off and unplug the computer.

Caution To protect yourself and the computer from electrical hazards, the computer must
remain unplugged until the installation is complete.

Remove the cover to expose access to the PCI expansion slots.

Choose an unused 5 V PCI slot, and remove the corresponding
expansion slot cover on the back panel of the computer.

Touch a metal part on the computer case to discharge any static
electricity that might be on your clothes or body before handling
the controller. Static electricity can damage the controller.

Gently rock the controller into the slot. The connection may be tight,
but do not force the controller into place.

If required, screw the mounting bracket of the controller to the back
panel rail of the computer.

Replace the cover.

Plug in and power on the computer.

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Hardware Overview

This chapter presents an overview of the PXI/PCI-7330 functionality.
Figures 3-1 and 3-3 show the PXI-7330 and PCI-7330 parts locator
diagrams, respectively.

1
2
3

Serial Number Label
DSP
CPU

4
5

68-Pin Digital I/O Connector
68-Pin Motion I/O Connector

Figure 3-1. PXI-7330 Parts Locator Diagram
Note

The PXI-7330 assembly number is located on the back of the PXI module.

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Chapter 3

Hardware Overview

1
1
2

Identification Number Used in Australia
Symbol Indicating FFC Compliance

3
Symbol to Alert User to Read the Manual

Figure 3-2. Symbols on the Back of the PXI-7330

2
8

NI PCI-7330

7
5

ASSY186307D-01

1
2
3
4
5

RTSI Connector
Serial Number Label
Symbol to Alert User to Read the Manual
Symbol Indicating FFC Compliance
Identification Number Used in Australia

6
7
8
9
10

Assembly Number Label
68-Pin Digital I/O Connector
68-Pin Motion I/O Connector
CPU
DSP

Figure 3-3. PCI-7330 Parts Locator Diagram

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Chapter 3

Hardware Overview

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.
The PCI-7330 RTSI connector provides up to eight triggers to facilitate
synchronization between multiple National Instruments products. The
PXI-7330 RTSI-enabled connection provides up to eight triggers and
one PXI star trigger to facilitate synchronization between multiple National
Instruments PXI-enabled products. Typical applications of the RTSI bus
include triggering an image acquisition or DAQ measurement based on
motion events, or capturing current motion positions based on events
external to the motion controller. You also can use the RTSI bus for general
hardware-based communication between RTSI devices.
The RTSI bus also can be used for general-purpose I/O. Refer to Chapter 5,
Signal Connections, for details about RTSI connector signals.

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This chapter provides an overview of the motion control algorithms and the
PXI/PCI-7330 capabilities.

Dual Processor Architecture
With the 7330, 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 real-time 32-bit CPU
combined with a digital signal processor (DSP) and custom FPGAs give the
7330 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 7330 uses the DSP for all closed-loop control 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, error handling,
general-purpose digital I/O, and overall motion system integration
functions.

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.

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The DSP chip is a separate processor that operates independently from
the CPU but is closely synchronized. The 7330 is a true multiprocessing
and multitasking embedded controller.
Refer to the NI-Motion User Manual for more information about the
features available on the 7330.

Trajectory Generators
The 7330 controller trajectory generators calculate the instantaneous
position command that controls acceleration and velocity while it moves
the axis to its target position. This command is then sent to the stepper pulse
generator.
To implement infinite trajectory control, the 7330 controller has
eight trajectory generators implemented in the DSP chip (two per axis).
Each generator calculates an instantaneous position for each 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 7330 controllers have an 8-channel multiplexed, 12-bit ADC. The
converted analog values are broadcast to both the DSP and CPU through
a dedicated internal high-speed serial bus. The multiplexer provides the
high sampling rates required for feedback loop closure, joystick inputs, or
monitoring analog sensors. Refer to Appendix A, Specifications, for the
multiplexer scan rate. Four of these channels are intended for calibration,
leaving the other four available for analog feedback.

Flash Memory
Nonvolatile memory on the 7330 controller is implemented with flash
ROM, which means that the controllers can electrically erase and
reprogram their own ROM. Because all the 7330 embedded firmware,
including the RTOS and DSP code, is stored in flash memory, you can
upgrade the onboard firmware contents in the field.
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.

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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 NI-Motion software
that ships with the controller.

Axes and Motion Resources
The 7330 controller can control up to four axes of motion. The axes can
be completely independent, simultaneously coordinated, or mapped
in multidimensional groups called coordinate spaces. You also can
synchronize coordinate spaces for multi-vector space coordinated motion
control.

Axes
At a minimum, an axis consists of a trajectory generator, a stepper control
block, and a stepper pulse generator output. Closed-loop stepper axes
require a feedback resource, while open-loop stepper axes do not.
Figure 4-1 shows this axis configuration.
With the 7330 controller, you can map one feedback resource and one or
two output resources to the axis.

Trajectory
Generator
101100111
øA

32-Bit
Encoder
Interface

Optional

01011010

Stepper
Control
Loop

010010110

Stepper
Pulse
Generator

101100111
Index

Figure 4-1. Stepper Axis Resources

The 7330 supports axes with secondary output resources. Defining two
output resources is useful when controlling axes with multiple motors.
Note

Refer to the NI-Motion User Manual for more information about configuring axes.

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Motion Resources
Encoder, 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 ADC as a general-purpose analog input (±10 V) to
measure potentiometers or other analog sensors.
If an encoder resource is not needed for axis control, you can use it for any
number of other functions, including position or velocity monitoring, as a
digital potentiometer encoder input, or as a master encoder input for
master/slave (electronic gearing) applications.
Each axis also has an associated forward and reverse limit input, a home
input, a high-speed capture trigger input, a breakpoint output, and an inhibit
output. These signals can be used for general-purpose digital I/O when they
are not being used for their motion-specific purpose.

Host Communications
The host computer communicates with the controller through a number
of memory port addresses on the host bus. The host bus can be either PXI
or PCI.
The primary bidirectional data transfer port supports FIFO data passing
in both send and readback directions. The 7330 controller has both a
command buffer for incoming commands and a return data buffer (RDB)
for returning data.
The communications status register (CSR) provides bits for
communications handshaking as well as real-time error reporting and
general status feedback to the host PC. The move complete status (MCS)
register provides instantaneous motion status of all axes.

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This chapter includes instructions on how to make input and output signal
connections directly to the PXI/PCI-7330 as well as general information
about the associated I/O circuitry.
The 7330 has 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 Universal Motion
Interface (UMI) units and drives.
Note

The 7330 does not provide isolation between circuits.

Power off all devices when connecting or disconnecting the 7330 controller
motion I/O and auxiliary digital I/O cables. Failure to do so may damage the controller.

Caution

Motion I/O Connector
The motion I/O connector contains all of the signals required to control
up to four axes of stepper motion, including the following features:
•

Motor command 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.

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Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector
on the 7330. Table 5-1 includes descriptions for each of the signals. A line
above a signal name indicates that the signal is active-low.

Axis 1 Dir (CCW)
Digital Ground
Digital Ground
Axis 1 Home Switch
Trigger 1
Axis 1 Inhibit
Axis 2 Dir (CCW)
Digital Ground
Digital Ground
Axis 2 Home Switch
Trigger 2
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
Digital Ground
Axis 3 Home Switch
Trigger 3
Axis 3 Inhibit
Axis 4 Dir (CCW)
Digital Ground
Digital Ground
Axis 4 Home Switch
Trigger 4
Axis 4 Inhibit
Digital Ground
Breakpoint 1
Breakpoint 3
Digital Ground
Reserved
Reserved
Reserved
Analog Input 1
Analog Input 3
Analog Reference (Output)

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23

35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57

Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)

24
25
26
27
28
29
30
31
32
33
34

58
59
60
61
62
63
64
65
66
67
68

Axis 4 Reverse Limit Switch
Host +5 V

Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch

Breakpoint 2
Breakpoint 4
Shutdown
Reserved
Reserved
Reserved
Analog Input 2
Analog Input 4
Analog Input Ground

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

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Table 5-1. Motion I/O Signal Connections
Signal Name

Reference

Direction

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

Trigger <1..4>

Digital Ground

Input

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

—

Analog Input <1..4>

Analog Input Ground

Input

12-bit analog input

Digital Ground

Input

Controlled device shutdown

Analog Input Ground

Output

—

Shutdown
Analog Reference (output)
Digital Ground

Description

Drive inhibit
High-speed position capture trigger
input <1..4>

Reference for analog inputs

+7.5 V—analog reference level
Reference for digital I/O

Motion Axis Signals
The following signals control the stepper driver:
•

Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals
are the stepper command outputs for each axis. The 7330 supports both
major industry standards for stepper command signals: step and
direction, or independent CW and CCW pulse outputs.

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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.
The Step (CW) and Dir (CCW) outputs are driven by high-speed
open-collector TTL buffers that feature 64 mA sink current capability
and built-in 3.3 kΩ pull-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.

•

Axis <1..4> Inhibit—Use the inhibit output signals to control the
enable/inhibit function of a 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 kΩ
pull-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 shutdown
condition, a Kill Motion command, or any motion error that causes a
kill motion condition, such as following error trip. You also can
directly control the inhibit output signals to enable or disable a driver
or amplifier.

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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.
By default, limit and home inputs are digitally filtered and must remain active for at
least 1 ms to be recognized. You can use MAX to disable digital filtering for limit and home
inputs. Active signals should remain active to prevent motion from proceeding further into
the limit. Pulsed limit signals stop motion, but they do not prevent further motion in that
direction if another move is started.

Note

The input polarity of these signals is software programmable for active-low
(inverting) or active-high (non-inverting).
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 7330 controller
and are not required for basic motion control. These inputs are part of a
system solution for complete motion control.
National Instruments recommends using limits for personal safety, as well as to
protect the motion system.

Caution

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.

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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
prevent motion from occurring at all.

Caution

Keep limit and home switch 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 motion system operation
due to signal noise and crosstalk.

Caution

Limit and Home Input Circuit
By default, all limit and home inputs are digitally filtered and must be
active for at least 1 ms. You can use MAX to disable digital filtering for
limit and home inputs. 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.

Vcc

3.3 kΩ

To the limit and home
switch circuits
74HC244

From the external
connector limit
and home switch pins

1 kΩ
1/8 W
DGND

Figure 5-2. Limit and Home Input Circuit
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 7330 offers four channels of single-ended quadrature encoder inputs.
All National Instruments power drives and UMI accessories provide
built-in circuitry that converts differential encoder signals to single-ended
encoder signals. Each channel consists of a Phase A, Phase B, and Index
input, as described in the following sections.

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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, which can be revolutions or linear distance, produces 4 × N
quadrature counts per unit of measure. The count is the basic increment of
position in NI-Motion systems.
Determine quadrature counts by multiplying the encoder resolution in encoder lines
by four. The encoder resolution is the number of encoder lines between consecutive
encoder marker or Z-bit indexes. If the encoder does not have an index output, the
resolution is referred to as lines per revolution, or lines per unit of measure, such as inch,
centimeter, millimeter, and so on.

Tip

Encoder <1..4> Index
The Index input is primarily used to establish a reference position. This
function uses the number of counts per revolution or the linear distance to
initiate a search move that locates the index position. When a valid Index
signal transition occurs during a Find Reference routine, the position of the
Index signal is captured accurately. Use this captured position to establish
a reference zero position for absolute position control or any other motion
system position reference required.

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The default MAX settings guarantee that the Find Index routine completes
successfully if the encoder generates a high index pulse when phases A
and B are low and the encoder is connected through an NI UMI or drive
accessory. Figure 5-3 shows the default encoder phasing diagram at the
inputs to the controller.

Phase A

Phase B

Index

Figure 5-3. Quadrature Encoder Phasing Diagram

You can set the index reference criteria in MAX to change the pattern of
phases A and B for the index search. You also can set the encoder polarity
for phases A, B, and I in MAX.

Wiring Concerns
The encoder inputs are connected to quadrature decoder/counter circuits.
It is very important to minimize noise at this interface. Excessive noise on
these encoder input signals may result in loss of counts or extra counts and
erroneous closed-loop motion operation. Verify the encoder connections
before powering up the system.
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.

Caution

Encoders with differential line driver outputs are strongly recommended
for all applications and must be used if the encoder cable length is longer
than 3.05 m (10 ft). Shielded, 24 AWG wire is the minimum recommended
size for the encoder cable. Cables with twisted pairs and an overall shield
are recommended for optimized noise immunity.
All National Instruments power drives and UMI accessories provide
built-in circuitry that converts differential encoder signals to single-ended
encoder signals.

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Unshielded cable can cause noise to corrupt the encoder signals, resulting in lost
counts and reduced motion system accuracy.

Caution

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.
Vcc
To the quadrature
decoder circuit

3.3 kΩ
74HC244
From the external
connector
encoder input
pins

1 kΩ
1/8 W
DGND

Figure 5-4. Encoder Input Circuit

Trigger Inputs, Shutdown Input, and Breakpoint Outputs
The 7330 offers 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 7330 position mode is to move an axis
Relative to Captured Position.

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The polarity of the trigger input is programmable in software as
active-low (inverting), active-high (non-inverting), rising, or falling
edge. You also can 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 a high state, or 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, or relative
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 kΩ pull-up
resistors to +5 V.
You can directly set and reset breakpoint outputs to use them as
general-purpose digital outputs.

Wiring Concerns
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.

Caution

Excessive input voltages can cause erroneous operation and/or component

failure.

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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.
Vcc

To the trigger
circuits

3.3 kΩ
74HC244
1 kΩ
1/8 W

From the external
connector
trigger pins

DGND

Figure 5-5. Trigger Input Circuit

Vcc

To the shutdown
circuits

3.3 kΩ
74HC244
From the external
connector
shutdown pin

1 kΩ
1/8 W
DGND

Figure 5-6. Shutdown Input Circuit

Vcc
3.3 kΩ
74AS760
To the external
connector
breakpoint pins

From the
breakpoint
circuits

Figure 5-7. Breakpoint Output Circuit

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Analog Inputs
The 7330 has the following ADC input signals:
•

Analog Input <1..4>—The 7330 includes an eight-channel
multiplexed, 12-bit ADC capable of measuring ±10 V, ±5 V, 0–10 V,
and 0–5 V inputs. ADC channels 1 through 4 are brought out
externally on the 68-pin motion I/O connector. ADC channels 5
through 8 are connected internally, as shown in Table 5-2. These
signals can be used for ADC test and system diagnostics.
Table 5-2. Internal ADC Channels

ADC Input

Signal

Filtered +5 V

Floating (NC)

Analog Reference (7.5 V)

Analog Input Ground

You can configure each ADC channel for motion feedback, simple
analog-to-digital conversion, or both.
You can read the digital value of analog voltage on any of the eight
ADC channels of the controller. Table 5-3 shows the range of values
read back and the voltage resolution for each setting. The voltage
resolution is in volts per least significant bit (V/LSB).
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

0 to 4,095

0.0024 V/LSB

0–5 V

0 to 4,095

0.0012 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.

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You can enable and disable individual ADC channels in software.
Disable unused ADC channels for the highest multiplexer scan rate
performance. When the ADC channels are 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. Refer to Appendix A,
Specifications, for analog reference voltage specifications.

•

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)
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 7330 provides 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 on and to shut down external motion system components
when the host computer is powered off or disconnected from the
motion accessory.

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.

Caution

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Digital I/O Connector
All the general-purpose digital I/O lines on the 7330 are available on
a separate 68-pin digital I/O connector. Figure 5-8 shows the pin
assignments for this connector.

+5 V
PCLK
Reserved
Reserved
PWM1
Reserved
Reserved
Reserved
PWM2
Port 1:bit 0
Digital Ground
Port 1:bit 3
Port 1:bit 4
Digital Ground
Port 1:bit 7
Port 2:bit 0
Port 2:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 2:bit 6
Port 2:bit 7
Port 3:bit 0
Digital Ground
Port 3:bit 3
Port 3:bit 4
Digital Ground
Port 3:bit 7
Port 4:bit 0
Digital Ground
Port 4:bit 3
Port 4:bit 4
Digital Ground
Port 4:bit 7

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34

35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68

Digital Ground
Digital Ground
Digital Ground
DPull
Digital Ground
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 1:bit 1
Port 1:bit 2
Digital Ground
Port 1:bit 5
Port 1:bit 6
Digital Ground
Digital Ground
Port 2:bit 2
Port 2:bit 3
Port 2:bit 4
Port 2:bit 5
Digital Ground
Digital Ground
Port 3:bit 1
Port 3:bit 2
Digital Ground
Port 3:bit 5
Port 3:bit 6
Digital Ground
Port 4:bit 1
Port 4:bit 2
Digital Ground
Port 4:bit 5
Port 4:bit 6
Digital Ground

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

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Chapter 5

Signal Connections

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 kΩ pull-ups. Connecting DPull to ground configures the ports for
100 kΩ pull-downs.

PWM Features
The 7330 provides 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. The PWM is comparable to a digital representation
of an analog value because the duty cycle is directly proportional to the
desired output value. PWM outputs are typically used for transmitting
an analog value through an optocoupler. A simple lowpass filter turns a
PWM signal back into its corresponding analog value. If desired, you can
use the PCLK input instead of the internal source as the clock for the PWM
generators.

RTSI Connector
The physical RTSI bus interface varies depending on the type of 7330
controller.
The PXI-7330 uses the PXI chassis backplane to connect to other
RTSI-capable devices.
The PCI-7330 uses a ribbon cable to connect to other RTSI-capable
PCI devices.

RTSI Signal Considerations
The 7330 motion controller allows you to use up to eight RTSI trigger lines
as sources for trigger inputs, or as destinations for breakpoint outputs and
encoder signals. The RTSI trigger lines also can serve as a generic digital
I/O port. The RTSI star trigger line can be used only for a trigger input.
Breakpoint outputs are output-only signals that generate an active-high
pulse of 200 ns duration, as shown in Figure 5-9.

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Chapter 5

Signal Connections

200 ns

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.

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Specifications

This appendix lists the hardware and software performance specifications
for the PXI/PCI-7330. Hardware specifications are typical at 25 °C, unless
otherwise stated.

Stepper Performance
Trajectory update rate range .................. 62.5 to 500 µs/sample
Maximum 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
Maximum relative move size.......... ±231 steps
Velocity range................................. 1 to 4,000,000 steps/s
Acceleration/deceleration1 .............. ±512,000,000 counts/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
Stepper outputs
Maximum pulse rate ....................... 4 MHz (full, half, and microstep)
Minimum pulse width ..................... 120 ns at 4 MHz
Step output mode ............................ Step and direction or CW/CCW

Assumes a PID update rate of 250 µs and a 2,000-count encoder.

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Appendix A

Specifications

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 kΩ pull-up to +5 V
Polarity ............................................Programmable, active-high
or active-low

System Safety
Watchdog timer function ........................Resets board to startup state
Watchdog timeout ...........................63 ms
Shutdown input
Voltage range...................................0 to 5 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
Maximum count rate........................20 MHz
Minimum pulse width......................Programmable; depends
on digital filter settings
Voltage range...................................0 to 5 V
Input low voltage......................0.8 V
Input high voltage.....................2 V
Minimum index pulse width............Programmable; depends
on digital filter settings
Forward, reverse, and home inputs
Number of inputs.............................12 (3 per axis)
Voltage range...................................0 to 5 V
Input low voltage......................0.8 V
Input high voltage.....................2 V
Polarity ............................................Programmable, active-high
or active-low

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Appendix A

Specifications

Minimum pulse width ..................... 1 ms with filter enabled;
60 ns without filter enabled
Control ............................................ Individual enable/disable, stop on
input, prevent motion, Find Home
Trigger inputs
Number of inputs ............................ 4 (Encoders 1 through 4)
Voltage range .................................. 0 to 5 V
Input low voltage ..................... 0.8 V
Input high voltage .................... 2 V
Polarity............................................ Programmable, active-high
or active-low
Minimum pulse width ..................... 100 ns
Capture latency ............................... <100 ns
Capture accuracy............................. 1 count
Maximum repetitive capture rate .... 100 Hz
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 kΩ pull-up to +5 V
Polarity............................................ Programmable, active-high
or active-low
Maximum repetitive
breakpoint rate ................................ 100 Hz
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 kΩ pull-up to +5 V
Polarity............................................ Programmable, active-high
or active-low
Control ............................................ MustOn/MustOff or automatic
when axis off

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Appendix A

Specifications

Analog inputs
Number of inputs.............................8 multiplexed, single ended
Number for user signals ...........4
Number for system diagnostics ...4

Voltage range (programmable)........±10 V, ±5 V, 0–10 V, 0–5 V
Input resistance................................10 kΩ min
Input coupling..................................DC
Resolution........................................12 bits, no missing codes
Monotonic........................................Guaranteed
Multiplexor scan rate.......................25 µs/enabled channel
Analog reference output .........................7.5 V (nominal) @ 5 mA

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
Maximum PWM frequency......50 kHz
Resolution.................................8-bit
Duty cycle range.......................0 to (255/256)%
Clock sources ...........................Internal or external

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Appendix A

Specifications

RTSI
Trigger lines ........................................... 7

Maximum Power Requirements
+5 V (±3%) ............................................ 1 A
+12 V (±3%) .......................................... 30 mA
–12 V (±3%)........................................... 30 mA
Power consumption................................ 5.7 W

Physical
Dimensions (Not Including Connectors)
PXI-7330................................................ 16 × 10 cm (6.3 × 3.9 in.)
PCI-7330 ................................................ 17.5 × 9.9 cm (6.9 × 3.9 in.)

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-7330 ................................................ 113 g (4 oz)
PXI-7330................................................ 170 g (6 oz)

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Appendix A

Specifications

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)
These values represent the maximum allowable voltage between any accessible
signals on the controller. To determine the acceptable voltage range for a particular signal,
refer to the individual signal specifications.

Caution

Environment
Operating temperature ............................0 to 55 °C
Storage temperature ................................–20 to 70 °C
Humidity .................................................10 to 90% RH, noncondensing
Maximum altitude...................................2,000 m
Pollution Degree .....................................2

Safety
This product is designed to meet the requirements of the following
standards of safety for electrical equipment for measurement, control,
and laboratory use:
•

IEC 61010-1, EN 61010-1

•

UL 3111-1, UL 61010B-1

•

CAN/CSA C22.2 No. 1010.1

Note For UL and other safety certifications, refer to the product label or visit
ni.com/hardref.nsf, search by model number or product line, and click the

appropriate link in the Certification column.

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Appendix A

Specifications

Electromagnetic Compatibility
Emissions ............................................... EN 55011 Class A at 10 m
FCC Part 15A above 1 GHz
Immunity................................................ EN 61326:1997 + A2:2001,
Table 1
CE, C-Tick, and FCC Part 15 (Class A) Compliant
Note

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

CE Compliance
This product meets the essential requirements of applicable European
Directives, as amended for CE marking, as follows:
Low-Voltage Directive (safety) ............. 73/23/EEC
Electromagnetic Compatibility
Directive (EMC) .................................... 89/336/EEC
Refer to the Declaration of Conformity (DoC) for this product for any additional
regulatory compliance information. To obtain the DoC for this product, visit
ni.com/hardref.nsf, search by model number or product line, and click the
appropriate link in the Certification column.
Note

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NI 7330 User Manual

Cable Connector Descriptions

This appendix describes the connector pinout for the cables that connect
to the PXI/PCI-7330.
Figure B-1 shows the pin assignments for the stepper 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.

Axis 1 Dir (CCW)
Digital Ground
Digital Ground
Axis 1 Home Switch
Trigger/Breakpoint 1
Axis 1 Inhibit
Axis 2 Dir (CCW)
Digital Ground
Digital Ground
Axis 2 Home Switch
Trigger/Breakpoint 2
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
Digital Ground
Axis 3 Home Switch
Trigger/Breakpoint 3
Axis 3 Inhibit
Axis 4 Dir (CCW)
Digital Ground
Digital Ground
Axis 4 Home Switch
Trigger/Breakpoint 4
Axis 4 Inhibit
Digital Ground

1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49

2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50

Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Host +5 V

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

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NI 7330 User Manual

Technical Support and
Professional Services

Visit the following sections of the National Instruments Web site at
ni.com for technical support and professional services:
•

Support—Online technical support resources include the following:
–

Self-Help Resources—For immediate answers and solutions,
visit our extensive library of technical support resources available
in English, Japanese, and Spanish at ni.com/support. These
resources are available for most products at no cost to registered
users and include software drivers and updates, a KnowledgeBase,
product manuals, step-by-step troubleshooting wizards,
conformity documentation, example code, tutorials and
application notes, instrument drivers, discussion forums,
a measurement glossary, and so on.

–

Assisted Support Options—Contact NI engineers and other
measurement and automation professionals by visiting
ni.com/support. Our online system helps you define your
question and connects you to the experts by phone, discussion
forum, or email.

•

Training—Visit ni.com/training for self-paced tutorials, videos,
and interactive CDs. You also can register for instructor-led, hands-on
courses at locations around the world.

•

System Integration—If you have time constraints, limited in-house
technical resources, or other project challenges, NI Alliance Program
members can help. To learn more, call your local NI office or visit
ni.com/alliance.

•

Declaration of Conformity (DoC)—A DoC is our claim of
compliance with the Council of the European Communities using
the manufacturer’s declaration of conformity. This system affords
the user protection for electronic compatibility (EMC) and product
safety. You can obtain the DoC for your product by visiting
ni.com/hardref.nsf.

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Appendix C

Technical Support and Professional Services

If you searched ni.com and could not find the answers you need, contact
your local office or NI corporate headquarters. Phone numbers for our
worldwide offices are listed at the front of this manual. You also can visit
the Worldwide Offices section of ni.com/niglobal to access the branch
office Web sites, which provide up-to-date contact information, support
phone numbers, email addresses, and current events.

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Glossary
Symbol

Prefix

Value

micro

10 – 6

milli

10 –3

mega

10 6

Numbers/Symbols
/

per

percent

plus or minus

+5 V

+5 VDC source signal

A
A

amperes

A/D

analog-to-digital

absolute mode

treat the target position loaded as position relative to zero (0) while making
a move

absolute position

position relative to zero

acceleration/
deceleration

a measurement of the change in velocity as a function of time. Acceleration
and deceleration describes the period when velocity is changing from one
value to another.

active-high

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

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Glossary

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

API

application programming interface

axis

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

Axis <1..4> Forward
Limit Input

axis 1 through 4 forward/clockwise limit switch

Axis <1.4> Home
Input

axis 1 through 4 home input

Axis <1..4> Inhibit

axis 1 through 4 inhibit output

Axis <1..4> Reverse
Limit Input

axis 1 through 4 reverse/counter-clockwise limit input

B
b

bit—one binary digit, either 0 or 1

base address

memory address that serves as the starting address for programmable or
I/O bus registers. All other addresses are located by adding to the base
address.

binary

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.

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Glossary

C
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

clockwise—implies direction of motor rotation

D
DC

direct current

dedicated

assigned to a particular function

DGND

digital ground signal

digital I/O port

a group of digital input/output signals

DLL

dynamically-linked 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

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Glossary

E
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
f

farad

FIFO

First-In, First-Out

filter parameters

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

filtering

a type of signal conditioning that filters unwanted signals from the signal
being measured

flash ROM

a type of electrically reprogrammable read-only memory

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

G
Gnd

ground

GND

ground

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Glossary

H
half-step

mode of a stepper motor—for a two phase motor this is done by alternately
energizing two windings and then only one. In half step mode, alternate
steps are strong and weak but there is significant improvement in low-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
also is regarded as the zero position in an absolute position frame of
reference.

host computer

computer into which the motion control board is plugged

I
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

identification

in.

inches

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

K
k

kilo—the standard metric prefix for 1,000, or 103, used with units of
measure such as volts, hertz, and meters

kilo—the prefix for 1,024, or 210, used with B in quantifying data or
computer memory

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Glossary

L
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
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

N
noise

an undesirable electrical signal—noise comes from external sources such
as the AC power line, motors, generators, transformers, fluorescent lights,
soldering irons, CRT displays, computers, electrical storms, welders, radio
transmitters, and internal sources such as semiconductors, resistors, and
capacitors. Noise corrupts signals you are trying to send or receive.

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.

O
open-loop

NI 7330 User Manual

refers to a motion control system where no external sensors (feedback
devices) are used to provide position or velocity correction signals

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Glossary

P
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.

port

(1) a communications connection on a computer or a remote controller
(2) a digital port, consisting of eight lines of digital input and/or output

position breakpoint

position breakpoint for an encoder can be set in absolute or relative
quadrature counts. When the encoder reaches a position breakpoint, the
associated breakpoint 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

Q
quadrature counts

the encoder line resolution times four

R
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

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Glossary

RPSPS or RPS/S

revolutions per second squared—units for acceleration and deceleration

RTR

Ready to Receive

S
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

T
toggle

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

torque

force tending to produce rotation

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
V

volts

VCC

positive voltage supply

velocity mode

move the axis continuously at the specified velocity

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Glossary

W
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

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Index
Numerics

68-pin
motion I/O connector, 5-2
signal descriptions, 5-3
7330
analog feedback, 4-2
axes, 4-3
controller, requirements for getting
started, 1-2
digital I/O lines, 5-14
flash ROM, 4-2
functional overview, 4-1
motion I/O
connector signals, 5-1
resources, 4-4
operating system, 4-1
processor architecture, 4-1
pulse width modulation inputs, 5-15
RTSI signal considerations, 5-15
signal connections, 5-1
trajectory control, 4-2

breakpoint, examples, 5-15
Breakpoint Output Circuit, 5-11

C
cables, 1-4
encoders, 5-8
command buffer, 4-4
communications status register (CSR), 4-4
communications, host, 4-4
configuration, 2-1
connectors, 1-4, 3-3
RTSI, 3-3

D
Declaration of Conformity (NI resources), C-1
diagnostic tools (NI resources), C-1
digital I/O connector, pin assignments, 5-14
documentation, NI resources, C-1
drivers (NI resources), C-1

accessories, 1-4
Analog Input <1..4>, 5-12
Analog Input Ground, 5-13
Analog Reference, 5-13
analog signal, wiring, 5-13
Axis <1..4>
Forward Limit Input, 5-5
Home Input, 5-5
Inhibit, 5-4
Reverse Limit Input, 5-5
Step (CW) and Dir (CCW), 5-3

Encoder <1..4>
Index, 5-7
Phase A/Phase B, 5-7
encoders
cables, 5-8
inputs, limiting noise, 5-8
signals
cables, 5-8
ground connections, 5-8
examples (NI resources), C-1

I-1

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Index

features, 1-1
FPGA programs, updating, 4-3
functional overview
host communications, 4-4

motion I/O, connector signals, 5-1
motion I/O connection, Host +5 V, 5-13

N
National Instruments support and
services, C-1
NI support and services, C-1
noise, encoder inputs, 5-8

G
ground connections
encoder signals, 5-8
home switch signals, 5-6
limit signals, 5-6

O
optional equipment, 1-4

H
hardware, 1-1
help, technical support, C-1
home switch signals, ground connections, 5-6
Host +5 V, motion I/O connection, 5-13
host communications, 4-4

P
programming examples (NI resources), C-1

Q
quadrature
encoder inputs, 5-6
signals, 5-7

I
I/O connectors, 1-4
implementing, trajectory control, 4-2
installation
category, 2-3
hardware, 2-4
software, 2-1
instrument drivers (NI resources), C-1

KnowledgeBase, C-1

requirements for getting started, 1-2
return data buffer (RDB), 4-4
RTSI
breakpoint across RTSI (figure), 5-16
connector, 3-3, 5-15
signal considerations, 5-15
using with the 7330, 1-2

limit
inputs, wiring, 5-5
signals, ground connections, 5-6

safety information, 2-2
Shutdown Input Circuit, 5-11
signal descriptions, 68-pin motion I/O
connector, 5-3

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Index

software (NI resources), C-1
software programming choices, 1-3
support, technical, C-1

updating, FPGA programs, 4-3

Web resources, C-1
wiring
analog signals, 5-13
limit inputs, 5-5

technical support, C-1
training (NI resources), C-1
trajectory control, 4-2
Trigger Input Circuit, 5-11
troubleshooting (NI resources), C-1

I-3

NI 7330 User Manual

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Modify Date                     : 2003:10:21 13:59:35-05:00
Create Date                     : 2003:10:21 10:41:27Z
Subject                         : 370837A-01, October 2003
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Creator                         : squaglin
Title                           : UM.book
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UM NI 7330 Hardware User Manual

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