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Motion Control
National Instruments 7340
User Manual
NI 7340 User Manual
November 2003 Edition
Part Number 370838A-01
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Support Worldwide Technical Support and Product Information ni.com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 683 0100 Worldwide Offices Australia 1800 300 800, Austria 43 0 662 45 79 90 0, Belgium 32 0 2 757 00 20, Brazil 55 11 3262 3599, Canada (Calgary) 403 274 9391, Canada (Montreal) 514 288 5722, Canada (Ottawa) 613 233 5949, Canada (Québec) 514 694 8521, Canada (Toronto) 905 785 0085, Canada (Vancouver) 514 685 7530, Ch
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Important Information Warranty The National Instruments 7340 is warranted against defects in materials and workmanship for a period of one year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that 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
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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
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Contents About This Manual Conventions ...................................................................................................................vii Related Documentation..................................................................................................viii Chapter 1 Introduction About the 7340 Controller .............................................................................................1-1 Features................................................................
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Contents Onboard Programs and Buffers..................................................................................... 4-5 Host Communications ................................................................................................... 4-5 Chapter 5 Signal Connections Motion I/O Connector ................................................................................................... 5-1 Motion Axis Signals............................................................................
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About This Manual This manual describes the electrical and mechanical aspects of the PXI/PCI-7340 and contains information about how to operate and program the device. The 7340 is designed for PXI, Compact PCI, and PCI bus computers 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 ite
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About This Manual Related Documentation The following documents contain information you might find helpful as you read this manual: • NI-Motion User Manual NI-Motion C Reference Help NI-Motion VI Reference Help NI 7340 User Manual viii ni.com
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1 Introduction This chapter includes information about the features of the PXI/PCI-7340 controller and information about operating the device. About the 7340 Controller The 7340 controller features advanced motion control with easy-to-use software tools and add-on motion VI libraries for use with LabVIEW. Features The 7340 is a combination servo and stepper motor controller for PXI, Compact PCI, and PCI bus computers. The 7340 provides fully programmable motion control for up to four indepen
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Chapter 1 Introduction powerful function set provide high-speed communications while off-loading complex motion functions from the host PC for optimum command throughput and system performance. With the 7340, you can use full onboard programming to execute up to 10 simultaneous motion programs. The 7340 features motion profiles that are controlled with enhanced PID/PIVff servo updates. Each axis has motion I/O for end-of-travel limit and home switch inputs, breakpoint output, trigger input,
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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 7340 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. Natio
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Chapter 1 Introduction 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 7340 are high-density, 68-pin female VHDCI connectors. For custom cables, use the AMP mating connector (part number 787801-1). NI 7340 User Manual 1-4 ni.com
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2 Configuration and Installation This chapter describes how to configure and install the PXI/PCI-7340. Software Installation Before installing the 7340, install the NI-Motion driver software. Refer to the Getting Started with NI Motion Control manual, which is included with the controller, for specific installation instructions. Note If you do not install the NI-Motion driver software before attempting to use the 7340, the system does not recognize the 7340 and you are unable to configure or
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Chapter 2 Configuration and Installation not use it until service-trained personnel can check its safety. If necessary, return the device to National Instruments for repair. Keep away from live circuits. Do not remove equipment covers or shields unless you are trained to do so. If signal wires are connected to the device, hazardous voltages can exist even when the equipment is turned off. To avoid a shock hazard, do not perform procedures involving cover or shield removal unless you are qua
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Chapter 2 Configuration and Installation Remove power from signal lines before connection to or disconnection from the device. Caution National Instruments measurement products may be classified as either Installation Category I or II. Operate products at or below the Installation Category level specified in the hardware specifications. 1 Installation Category : Measurement circuits are subjected to working 2 voltages and transient stresses (overvoltage) from the circuit to which they are
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Chapter 2 Configuration and Installation meters and measurements on primary overcurrent protection devices and on ripple control units. Hardware Installation Install the 7340 in any open compatible expansion slot in the PXI or PCI system. Appendix A, Specifications, 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 73
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Chapter 2 Configuration and Installation ♦ PCI-7340 1. Power off and unplug the computer. Caution To protect yourself and the computer from electrical hazards, the computer must remain unplugged until the installation is complete. 2. Remove the cover to expose access to the PCI expansion slots. 3. Choose an unused 5 V PCI slot, and remove the corresponding expansion slot cover on the back panel of the computer. 4. Touch a metal part on the computer case to discharge any static electricity tha
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3 Hardware Overview This chapter presents an overview of the PXI/PCI-7340 hardware functionality. Figures 3-1 and 3-3 show the PXI-7340 and PCI-7340 parts locator diagrams, respectively. 1 5 4 3 2 1 Serial Number Label 4 68-Pin Digital I/O Connector 2DSP 5 68-Pin Motion I/O Connector 3CPU Figure 3-1. PXI-7340 Parts Locator Diagram Note The PXI-7340 assembly number is located on the back of the PXI module. © National Instruments Corporation 3-1 NI 7340 User Manual
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Chapter 3 Hardware Overview 1 2 3 1 Identification Number Used in Australia 3 Symbol to Alert User to Read the Manual 2 Symbol Indicating FFC Compliance Figure 3-2. Symbols on the Back of the PXI-7340 9 10 1 2 8 3 4 7 5 ASSY186307D-01 6 1 RTSI Connector 6 Assembly Number Label 2 Serial Number Label 7 68-Pin Digital I/O Connector 3 Symbol to Alert User to Read the Manual 8 68-Pin Motion I/O Connector 4 Symbol Indicating FFC Compliance 9CPU 5 Identification Number Used in Australia 10 DSP Figure
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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, digital-to-analog (DAC), and analog-to-digital (ADC) 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 t
