National Instruments 7334, 7344 User Manual
Motion Control
7344/7334 Hardware
User Manual
7344/7334 Hardware User Manual
May 2001 Edition
Part Number 322504B-01
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Important Information
Warranty
The 7344/7334 controllers are warranted against defects in materials and workmanship for a period of 1 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.
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THEREOF
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Contents
About This Manual
Conventions ...................................................................................................................ix
Related Documentation..................................................................................................x
Chapter 1
Introduction
About the 7344/7334 Controller .................................................................................... 1-1
Features............................................................................................................1-1
Hardware .........................................................................................................1-2
RTSI ................................................................................................................1-2
What You Need to Get Started ......................................................................................1-2
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
Hardware Installation.....................................................................................................2-1
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
Axes and Motion Resources ..........................................................................................4-3
Axes.................................................................................................................4-3
Motion Resources............................................................................................4-4
© National Instruments Corporation v 7344/7334 Hardware User Manual
Contents
Onboard Programs (7344 only)..................................................................................... 4-5
Host Communications ................................................................................................... 4-6
Chapter 5
Signal Connections
Motion I/O Connector ................................................................................................... 5-1
Motion Axis Signals........................................................................................ 5-4
Limit and Home Inputs ................................................................................... 5-5
Encoder Signals............................................................................................... 5-7
Trigger Inputs, Shutdown Input, and Breakpoint Outputs .............................. 5-9
Analog Inputs.................................................................................................. 5-12
Other Motion I/O Connections ....................................................................... 5-13
Digital I/O Connector .................................................................................................... 5-14
PWM Features.................................................................................................5-15
RTSI Connector............................................................................................................. 5-15
RTSI Signal Considerations............................................................................ 5-16
Wiring Concerns............................................................................... 5-6
Limit and Home Input Circuit .......................................................... 5-6
Encoder<1..4> Phase A/Phase B ...................................................... 5-7
Encoder <1..4> Index ....................................................................... 5-8
Wiring Concerns............................................................................... 5-8
Encoder Input Circuit ....................................................................... 5-9
Wiring Concerns............................................................................... 5-10
Trigger Input, Shutdown Input, and Breakpoint Output Circuits..... 5-11
Wiring Concerns............................................................................... 5-13
Appendix A
Specifications
Appendix B
Cable Connector Descriptions
Appendix C
Technical Support Resources
7344/7334 Hardware User Manual vi ni.com
Glossary
Index
Figures
Figure 3-1. PCI-7344 Parts Locator Diagram ..........................................................3-1
Figure 3-2. PXI-7344 Parts Locator Diagram.......................................................... 3-2
Figure 3-3. FW-7344 Back Panel.............................................................................3-2
Figure 3-4. PCI-7334 Parts Locator Diagram ..........................................................3-3
Figure 4-1. Servo Axis Resources............................................................................4-3
Figure 4-2. Stepper Axis Resources.........................................................................4-4
Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment .....................................5-2
Figure 5-2. Limit and Home Input Circuit...............................................................5-6
Figure 5-3. Quadrature Encoder Phasing Diagram ..................................................5-8
Figure 5-4. Encoder Input Circuit ............................................................................5-9
Figure 5-5. Trigger Input Circuit .............................................................................5-11
Figure 5-6. Shutdown Input Circuit .........................................................................5-11
Figure 5-7. Breakpoint Output Circuit.....................................................................5-11
Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments ....................................5-14
Figure 5-9. Breakpoint Across RTSI .......................................................................5-16
Contents
Figure B-1. 50-Pin Stepper Connector Pin Assignment........................................... B-1
Figure B-2. 50-Pin Servo Connector Pin Assignment (7344 only) ..........................B-2
Tables
Table 5-1. Motion I/O Signal Connections............................................................. 5-3
Table 5-2. Internal ADC Channels .........................................................................5-12
Table 5-3. Analog Input Voltage Ranges ............................................................... 5-12
© National Instruments Corporation vii 7344/7334 Hardware User Manual
About This Manual
This manual describes the electrical and mechanical aspects of each
controller in the 7344/7334 family and contains information concerning
their operation and programming. Unless otherwise noted, text applies to
all controllers in the 7344/7334 family.
The 7344/7334 family of controllers includes the following controllers:
• PCI-7344
• PXI-7344
• FW-7344
• PCI-7334
The 7344/7334 controllers are designed for PCI, PXI, and 1394 bus
computers.
Refer to the Glossary section of this manual for definitions of selected
related terms.
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,
DBIO<3..0>.
♦ The ♦ symbol indicates that the following text applies only to a specific
product, a specific operating system, or a specific software version.
This icon denotes a note, which alerts you to important information.
This icon denotes a caution, which advises you of precautions to take to
avoid injury, data loss, or a system crash.
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
© National Instruments Corporation ix 7344/7334 Hardware User Manual
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,
About This Manual
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames and extensions, and code excerpts.
Related Documentation
The following documents contain information that you might find helpful
as you read this manual:
• FlexMotion Software Reference Manual
• FlexMotion Software Reference online help
• FlexMotion VI online help
• PCI Local Bus Specification,Revision2.1
• Your computer’s technical reference manual
7344/7334 Hardware User Manual x ni.com
Introduction
This chapter describes the FlexMotion 7344 and 7334 controllers and their
operation.
About the 7344/7334 Controller
Thank you for purchasing a 7344/7334 controller. The 7344/7334
controller features advanced motion control with easy-to-use software tools
and add-on motion VI libraries for use with LabVIEW.
Features
The 7344 controllers are a combination of servo and stepper motor
controllers for PCI, PXI, and 1394 bus computers. The 7334 controllers
are exclusively stepper motor controllers for PCI bus computers. Both
controller families provide fully programmable motion control for up
to four independent or coordinated axes of motion, with dedicated motion
I/O for limit and home switches and additional I/O for general-purpose
functions. You can use the 7334 motion controller for point-to-point
and straight-line vector moves for stepper motor applications. The 7344
controllers add the ability to perform arbitrary and complex motion
trajectories using stepper motors or servo devices. Refer to the FlexMotion
Software Reference Manual for a complete list of the feature differences
between the 7344 and 7334 controller lines.
1
Servo axes can control servo motors, servo hydraulics, servo valves, and
other servo devices. Servo axes always operate in closed-loop mode. These
axes use quadrature encoders or analog inputs for position and velocity
feedback and provide analog command outputs with an industry-standard
range of ±10 V. Stepper axes control stepper motors. These axes can
operate in open or closed-loop mode. They use quadrature encoders or
analog inputs for position and velocity feedback (closed-loop only), and
provide step/direction or clockwise (CW) /counter-clockwise (CCW)
digital command outputs. All stepper axes support full, half, and
microstepping applications.
© National Instruments Corporation 1-1 7344/7334 Hardware User Manual
Chapter 1 Introduction
Hardware
The high-performance capabilities of the 7344/7334 controllers are
the result of an advanced dual-processor architecture using a Motorola
MC68331 real-time 32-bit CPU combined with an Analog Devices
ADSP-2185 digital signal processor (DSP) and custom field programmable
gate arrays (FPGA). Its 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.
On the 7344 controllers, you can use full onboard programming to execute
up to 10 simultaneous motion programs in a preemptive, real-time
multitasking operating system environment.
The 7344 features motion profiles that are controlled with enhanced
PID/PIVff servo updates at 62 µs per axis. With all 7344/7334 controllers,
each axis has motion I/O for end-of-travel limit and home switch inputs,
breakpoint output, trigger input, and encoder feedback rates up to 20 MHz.
The 7344/7334 controller also has non-dedicated user I/O including 32 bits
of digital I/O and four analog inputs for ±10 V signals, joystick inputs, or
monitoring of analog sensors. Additionally, the 7344/7334 analog inputs
can provide feedback for loop closure.
RTSI
The 7344/7334 controller supports the National Instruments Real-Time
System Integration (RTSI) bus. The RTSI bus provides high-speed
connectivity between National Instruments products, including image
acquisition (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, DAQ, or IMAQ devices.
What You Need to Get Started
To set up and use your 7344/7334 controller, you will need the following:
❑
One of the 7344/7334 controllers:
– PCI-7344
– PXI-7344
– FW-7344
– PCI-7334
7344/7334 Hardware User Manual 1-2 ni.com
❑
7344/7334 Hardware User Manual
FlexMotion Software Reference Manual
❑
❑
One of the following software packages and documentation:
– LabVIEW
– LabWindows/CVI
– FlexMotion software
❑
Your computer with an available PCI or PXI slot or a 1394 port,
as appropriate.
Software Programming Choices
Programming your 7344/7334 controller is straightforward using a simple
but powerful high-level function set application programming interface
(API). All setup and motion control functions are easily executed by calling
into either a static or dynamically linked library (DLL). These libraries are
callable from C, Visual Basic, and other high-level languages. Full function
set implementations are available for LabVIEW, LabWindows/CVI, and
other industry-standard software programs.
Chapter 1 Introduction
National Instruments Application Software
LabVIEW, based on the graphical programming language G, features
interactive graphics and a state-of-the-art user interface. In LabVIEW,
you can create 32-bit compiled programs and stand-alone executables
for custom automation, data acquisition, test, measurement, and control
solutions. National Instruments offers the FlexMotion VI Library, a series
of virtual instruments (VIs) for using LabVIEW with National Instruments
motion control hardware. The FlexMotion VI library implements the full
function set API and a powerful set of demo functions, example programs,
and fully operational, high-level application routines.
ANSI C-based LabWindows/CVI also features interactive graphics and a
state-of-the-art user interface. Using LabWindows/CVI, you can generate
C code for custom data acquisition, test, and all measurement and
automation solutions. The FlexMotion software includes a series of sample
programs for using LabWindows/CVI with National Instruments motion
control hardware.
© National Instruments Corporation 1-3 7344/7334 Hardware User Manual
Chapter 1 Introduction
Optional Equipment
National Instruments offers a variety of products for use with the
7344/7334 controller, including cables, Universal Motion Interfaces
(UMIs), drive power amplifier units, and other accessories as follows:
• Cables and cable assemblies for motion and digital I/O
• RTSI bus cables
• UMI wiring connectivity blocks with integrated motion signal
conditioning and motion inhibit functionality
• Stepper and servo motor compatible driver amplifier units with
integrated power supply and wiring connectivity
• Connector blocks, shielded and unshielded 68-pin screw terminal
wiring aids
For more specific information about these products, refer to your National
Instruments catalog, on the Internet at
Instruments sales representative.
Motion I/O Connections
ni.com
, or call your National
The external motion and digital I/O connectors on the 7344/7334 controller
are high-density, 68-pin female VHDCI connectors.
For custom cables, use the following mating connector from AMP
(part number 787801-01).
7344/7334 Hardware User Manual 1-4 ni.com
Configuration and Installation
This chapter describes how to configure and install your 7344/7334
controller.
Software Installation
Install your FlexMotion software, along with your Motion VI libraries
(if appropriate) before you install the 7344/7334 controller. Refer to the
release notes included with your 7344/7334 controller for specific
instructions on the software installation sequence for your host PC.
Controller Configuration
The motion I/O-related configuration of the 7344/7334 controller is
performed entirely with software, so there are no jumpers to set for motion
I/O configuration.
The PCI-7344, PXI-7344, and PCI-7334 controllers are fully compatible
with the PCI Local Bus Specification,Revision2.1.TheFW-7344
controller is fully compatible with the IEEE 1394 specification. This
compatibility allows the computer to automatically perform all bus-related
configuration and requires no user interaction. There are no jumpers to
configure for bus-related configuration.
2
Hardware Installation
You can install the PCI-7344, PXI-7344, or PCI-7334 controller in any
open compatible expansion slot in your computer. The typical power
required for each controller is given in Appendix A, Specifications.
You can connect your FW-7344 to any available 1394 port. The FW-7344
supports IEEE 1394 transfer rates at up to 400 Mbits/s.
© National Instruments Corporation 2-1 7344/7334 Hardware User Manual
Chapter 2 Configuration and Installation
The following are general installation instructions, but consult your
computer user manual or technical reference manual for specific
instructions and warnings.
Caution
7344/7334 controllers are sensitive electronic devices shipped in an antistatic
bag. Open only at an approved workstation and observe precautions for handling
electrostatic-sensitive devices.
♦ PCI-7344 and PCI-7334
1. Turn off and unplug your computer.
2. Remove the top cover or access port to the PCI expansion slots in your
computer.
3. Wait for any motherboard LEDs to turn off. This will ensure that
system power has dissipated.
4. Remove the expansion slot connector port cover on the back panel
of the computer if installed.
5. Insert the 7344/7334 controller into a +3 V or +5 V PCI slot. Gently
rock the board to ease it into place. It may be a tight fit, but do not force
the board into place.
6. If available, screw the mounting bracket of the 7344/7334 controller
to the back panel rail of the computer.
7. Replace the cover.
8. Plug in the 68-pin cable for motion I/O to the 7344/7334 controller.
9. Plug in and turn on your computer.
Your PCI-7344/7334 controller is installed.
♦ PXI-7344
1. Turn off and unplug your chassis.
2. Choose an unused +5 V peripheral slot.
3. Remove the filler panel for the peripheral slot you have chosen.
4. Touch a metal part on your chassis to discharge any static electricity
that might be on your clothes or body.
5. Insert the PXI board into the slot. Use the injector/ejector handle
to fully inject the device into place.
6. Screw the front panel of the PXI board to the front panel mounting rails
of the chassis.
7344/7334 Hardware User Manual 2-2 ni.com
Chapter 2 Configuration and Installation
7. Visually verify the installation.
8. Plug in and turn on the chassis.
Your PXI-7344 controller is installed.
♦ FW-7344
Note
If you are not using the BP-1 battery pack, follow the instructions below. If you are
using the BP-1 battery pack, follow the installation instructions in your BP-1 Battery Pack
Installation Guide andthenstartwithstep2below.
1. Connect the power cord to the wall outlet and the FW-7344 controller.
2. Connect the 1394 cable from the computer or any other 1394 device
to the port on your FW-7344 controller. Your computer should detect
the controller immediately. When the computer recognizes your
controller, the COM LED on the front panel will blink.
3. Verify that the power LED is on.
Your FW-7344 controller is installed.
The FW-7344 controller has two LEDs to help you determine the state
of your device:
• Power LED
– Power LED off—No power is being supplied to the controller.
Either the power cord is unplugged, or the power source is broken.
– Power LED dim—The controller is receiving power but is not
connected to an active 1394 port.
– Power LED on—The controller is receiving power and is
connected to an active 1394 port.
• CommunicationLED—The COM LED blinks wheneverthe controller
sends or receives any commands or data. This LED should blink once
when you first plug in your controller. If you are transferring a large
amount of data, this light should be on or blinking continuously.
© National Instruments Corporation 2-3 7344/7334 Hardware User Manual
Hardware Overview
This chapter presents an overview of the 7344/7334 controller hardware
functionality.
Figures 3-1, 3-2, and 3-4 show the PCI-7344, PXI-7344, and PCI-7334
parts locator diagrams, respectively. Figure 3-3 shows the FW-7344 back
panel.
3
5
4
1 RTSI Connector
2 Assembly Number Label
3 Serial Number Label
6
4 68-Pin Digital I/O Connector
5 68-Pin Motion I/O Connector
7
1
2
C
3
2001
6 MC68331 CPU
7ADSP2185DSP
Figure 3-1. PCI-7344 Parts Locator Diagram
© National Instruments Corporation 3-1 7344/7334 Hardware User Manual
Chapter 3 Hardware Overview
6
5
1 2
34
1 Assembly Number Label
2 Serial Number Label
3ADSP2185DSP
4 MC68331 CPU
5 68-Pin Digital I/O Connector
6 68-Pin Motion I/O Connector
Figure 3-2. PXI-7344 Parts Locator Diagram
1 2 3 4 5 6
_
NATIONAL
INSTRUMENTS
1 1394 Connectors
2 Power Connector
+
EXPANSION
RTSI
9-25 VDC,
1394
30W
3 RTSI Connector
4 Expansion Port Connector
PORT
5 68-Pin Digital I/O Connector
6 68-Pin Motion I/O Connector
MOTION I/ODIGITALI/O
Figure 3-3. FW-7344 Back Panel
7344/7334 Hardware User Manual 3-2 ni.com
Chapter 3 Hardware Overview
6
5
4
7
1
2
C
3
2001
1 RTSI Connector
2 Assembly Number Label
3 Serial Number Label
4 68-Pin Digital I/O Connector
5 68-Pin Motion I/O Connector
6 MC68331 CPU
7ADSP2185DSP
Figure 3-4. PCI-7334 Parts Locator Diagram
User Connectors
The 68-pin motion I/O connector provides all of 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.
© National Instruments Corporation 3-3 7344/7334 Hardware User Manual
Chapter 3 Hardware Overview
The RTSI connector provides up to seven triggers and one high-speed clock
signal to facilitate synchronization between multiple National Instruments
products. Typical applications of the RTSI bus include triggering an image
acquisition or DAQ measurement based on motion events, or capturing
current motion positions based on events external to the motion controller.
The RTSI bus can also be used for general-purpose I/O. Refer to Chapter 5,
Signal Connections, for details about RTSI connector signals.
7344/7334 Hardware User Manual 3-4 ni.com
Functional Overview
This chapter presents an overview of the motion control algorithms and
capabilities of the 7344/7334 controller.
Dual Processor Architecture
You can perform up to four axes of simultaneous, coordinated motion
control in a preemptive, multitasking, real-time environment with the
7344/7334 controller.
The high-performance capabilities of the 7344/7334 controller result
from an advanced dual-processor architecture using a Motorola MC68331
real-time 32-bit CPU combined with an Analog Devices ADSP 2185 DSP
and custom FPGAs. Its FIFO bus interface and powerful function set
provide high-speed communications while off-loading complex motion
functions from the host PC for optimized system performance.
The 7344/7334 controller uses the digital signal processor for all
closed-loop control including position tracking, PID control closed-loop
computation, and motion trajectory generation. The DSP chip is supported
by custom FPGAs that perform the high-speed encoder interfacing,
position capture and breakpoint functions, motion I/O processing, and
stepper pulse generation for hard real-time functionality.
4
The embedded, multitasking real-time CPU handles host communications,
command processing, multi-axis interpolation, onboard program
execution, error handling, general-purpose digital I/O, and overall motion
system integration functions.
Embedded Real-Time Operating System (RTOS)
The embedded firmware is based upon an embedded RTOS kernel for
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.
© National Instruments Corporation 4-1 7344/7334 Hardware User Manual
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