Motion Control
NI PCI-7342 Hardware User Manual
NI PCI-7342 Hardware User Manual
October 2002 Edition
Part Number 373454A-01
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Important Information
Warranty
The NI PCI-7342 controller 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.
XCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF
E
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE . CUSTOMER’S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF
N
ATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR
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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™, LabVIEW™, 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.
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). Depending on where it is operated, this 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. By
examining the product you purchased, you can determine the FCC Class and therefore which of the two FCC/DOC Warnings
apply in the following sections. (Some products may not be labeled at all for FCC; if so, the reader should then assume these are
Class A devices.)
FCC Class A products only display a simple warning statement of one paragraph in length regarding interference and undesired
operation. Most of our products are FCC Class A. The FCC rules have restrictions regarding the locations where FCC Class A
products can be operated.
FCC Class B products display either a FCC ID code, starting with the letters EXN,
or the FCC Class B compliance mark that appears as shown here on the right.
Consult the FCC Web site at
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 National Instruments could void the user’s authority to operate the
equipment under the FCC Rules.
http://www.fcc.gov for more information.
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 will be required to correct
the interference at his 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.
Class B
Federal Communications Commission
This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the
FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.
This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not
occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can
be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of
the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.
Canadian Department of Communications
This Class B digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.
Cet appareil numérique de la classe B respecte toutes les exigences du Règlement sur le matériel brouilleur du Canada.
Compliance to EU Directives
Readers in the European Union (EU) must refer to the Manufacturer’s Declaration of Conformity (DoC) for information*
pertaining to the CE Marking compliance scheme. The Manufacturer includes a DoC for most every hardware product except
for those bought for OEMs, if also available from an original manufacturer that also markets in the EU, or where compliance is
not required as for electrically benign apparatus or cables.
To obtain the DoC for this product, click Declaration of Conformity at
by product family. Select the appropriate product family, followed by your product, and a link to the DoC appears in Adobe
Acrobat format. Click the Acrobat icon to download or read the DoC.
* The CE Marking Declaration of Conformity will contain important supplementary information and instructions for the user
or installer.
ni.com/hardref.nsf/. This Web site lists the DoCs
Contents
About This Manual
Conventions ................................................................................................................... ix
Related Documentation..................................................................................................x
Chapter 1
Introduction
About the NI PCI-7342.................................................................................................. 1-1
Hardware .........................................................................................................1-1
RTSI ................................................................................................................1-1
PCI-7342 Features ........................................................................................... 1-2
Servo and Stepper Fundamentals .................................................................... 1-2
Getting Started ...............................................................................................................1-3
Software Programming Choices ....................................................................................1-3
National Instruments Application Software ..................................................................1-3
Optional Equipment.......................................................................................................1-4
Motion I/O Connections ................................................................................................1-4
Chapter 2
Configuration and Installation
Software Installation ......................................................................................................2-1
Controller Configuration................................................................................................2-1
Unpacking......................................................................................................................2-1
Safety Information .........................................................................................................2-2
Hardware Installation.....................................................................................................2-4
Chapter 3
Hardware Overview
User Connectors.............................................................................................................3-2
Chapter 4
Functional Overview
Dual Processor Architecture ..........................................................................................4-1
Embedded Real-Time Operating System (RTOS) .......................................... 4-2
Trajectory Generators......................................................................................4-2
Analog Feedback.............................................................................................4-2
Flash Memory..................................................................................................4-3
© National Instruments Corporation vii NI PCI-7342 Hardware User Manual
Contents
Axes and Motion Resources.......................................................................................... 4-3
Axes ................................................................................................................ 4-3
Motion Resources ........................................................................................... 4-4
Host Communications ................................................................................................... 4-5
Chapter 5
Signal Connections
Motion I/O Connector ................................................................................................... 5-2
Motion Axis Signals........................................................................................ 5-5
Limit and Home Inputs ................................................................................... 5-6
Encoder Signals............................................................................................... 5-8
Analog Inputs.................................................................................................. 5-13
Other Motion I/O Connection ......................................................................... 5-15
Digital I/O Connector .................................................................................................... 5-16
PWM Features.................................................................................................5-17
RTSI Connector............................................................................................................. 5-17
RTSI Signal Considerations............................................................................ 5-17
Wiring Concerns............................................................................... 5-7
Limit and Home Input Circuit .......................................................... 5-7
Encoder <1..2> Phase A/Phase B ..................................................... 5-8
Encoder <1..2> Index ....................................................................... 5-9
Wiring Concerns............................................................................... 5-10
Encoder Input Circuit ....................................................................... 5-11
Trigger Inputs, Shutdown Input, and Breakpoint Outputs ............... 5-11
Wiring Concerns............................................................................... 5-12
Trigger Input, Shutdown Input, and Breakpoint Output Circuits..... 5-12
Wiring Concerns............................................................................... 5-15
Appendix A
Specifications
Appendix B
Cable Connector Descriptions
Appendix C
Technical Support and Professional Services
Glossary
Index
NI PCI-7342 Hardware User Manual viii ni.com
About This Manual
This manual provides guidelines for programming and operating the
National Instruments PCI-7342 motion controller and includes controller
specifications and descriptions of electrical and mechanical features.
Refer to the Glossary for definitions of selected related terms.
Conventions
The manual uses the following conventions:
<> Angle brackets that contain numbers separated by an ellipsis represent a
range of values associated with a bit or signal name—for example,
DBIO<3..0>.
This 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.
bold Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names.
italic Italic text denotes variables, emphasis, a cross reference, or an introduction
to a key concept. 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.
© National Instruments Corporation ix NI PCI-7342 Hardware User Manual
About This Manual
Related Documentation
The following documents contain information pertaining to the PCI-7342
motion controller:
• NI-Motion Release Notes
• NI-Motion Software Reference Manual
• NI-Motion Software Reference online help
• NI-Motion VIs online help
• PCI Local Bus Specification, Revision 2.1
• Your computer’s technical reference manual
NI PCI-7342 Hardware User Manual x ni.com
Introduction
This chapter describes the features and functionality of the National
Instruments PCI-7342 motion controller. It includes a list of items
necessary for getting started with your controller, software choices,
and optional equipment.
About the NI PCI-7342
The NI PCI-7342 motion controller features advanced motion control with
easy-to-use software tools and add-on motion VI libraries for use with
LabVIEW. The PCI-7342 controller provides dedicated motion I/O for
limit and home switches and additional I/O for general-purpose functions.
The following sections describe the features of the PCI-7342.
Hardware
The PCI-7342 controller has high-performance capabilities because of the
advanced dual-processor architecture that uses a Motorola MC68331
real-time 32-bit CPU, combined with an Analog Devices ADSP-2185
digital signal processor (DSP) and custom field programmable gate arrays
(FPGAs). The first-in-first-out (FIFO) bus interface and powerful function
set provide high-speed communications while offloading complex motion
functions from the host PC for optimum command throughput and system
performance.
1
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 PCI-7342 controller also has nondedicated user I/O, including 32 bits
of digital I/O and two analog inputs for ±10 V signals, joystick inputs, or
monitoring of analog sensors. Additionally, the analog inputs can provide
feedback for loop closure.
RTSI
The PCI-7342 controller supports the National Instruments Real-Time
System Integration (RTSI) bus. RTSI is a dedicated, high-speed digital bus
that facilitates low-level, high-speed, real-time communication between
© National Instruments Corporation 1-1 NI PCI-7342 Hardware User Manual
Chapter 1 Introduction
Note Seven of the 34 pins on the RTSI connector are available for user signals. You can
use the software-configurable RTSI switch to accommodate more than seven signal options
for each device. With this many-to-few selector switch, any available signal can be routed
to any RTSI pin. You can also route more than one signal to a single RTSI pin or connect
two RTSI pins to the same signal.
National Instruments devices. The RTSI bus provides high-speed
connectivity between National Instruments products, including image
acquisition (IMAQ) and data acquisition (DAQ) devices. With RTSI, you
can easily synchronize several functions to a common trigger or timing
event across multiple motion, IMAQ, and DAQ devices.
RTSI requires no external cabling and does not consume host bus
bandwidth. Additionally, the RTSI bus features built-in switching that you
can control with software to route signals to and from the bus on the fly.
The bus interface on PCI devices is an internal 34-pin connector. Signals
are shared through a ribbon cable inside the PC enclosure. RTSI cables are
available for chaining two, three, four, or five devices together.
Refer to the National Instruments Developer Zone at
more information about RTSI, including tutorials, examples, and
configuration guidelines.
PCI-7342 Features
The PCI-7342 controller combines servo and stepper functionality for PCI
bus computers. It provides motion control for up to two independent or
coordinated axes of motion.
You can use the PCI-7342 motion controller for point-to-point
and straight-line vector moves for stepper and servo motor applications.
Servo and Stepper Fundamentals
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 and 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
ni.com/zone for
NI PCI-7342 Hardware User Manual 1-2 ni.com
Getting Started
Chapter 1 Introduction
clockwise (CW) /counter-clockwise (CCW) digital command outputs. All
stepper axes support full, half, and microstepping applications.
The following items are necessary for setting up and getting started with
your motion controller:
❑ PCI-7342 motion controller
❑ A computer with an available PCI slot
❑ One of the following software packages and documentation:
– LabVIEW
™
– LabWindows
– NI-Motion
/CVI
™
❑ NI PCI-7342 Hardware User Manual
❑ NI-Motion Software Reference Manual
Software Programming Choices
The simple but powerful high-level function set application programming
interface (API) makes programming your controller easy. All setup and
motion control functions are easily executed by calling into either a static
or dynamic link library (DLL). These libraries are callable from C, Visual
Basic, and other high-level languages. Full function set implementations
are available for LabVIEW, LabWindows/CVI, and other
industry-standard software programs.
National Instruments Application Software
LabVIEW is based on the graphical programming language G and features
interactive graphics and a state-of-the-art user interface. In LabVIEW,
you can create 32-bit compiled programs and stand-alone executables
for custom automation, data acquisition, test, measurement, and control
solutions. National Instruments offers the NI-Motion VI Library, a series
of virtual instruments (VIs) for using LabVIEW with the National
Instruments motion control hardware. The NI-Motion VI library
implements the full function set API and a powerful set of demo functions,
example programs, and fully operational, high-level application routines.
© National Instruments Corporation 1-3 NI PCI-7342 Hardware User Manual
Chapter 1 Introduction
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.
NI-Motion is the motion control software and virtual instruments (VIs) for
interfacing with all National Instruments motion controllers.
Optional Equipment
The following optional products are available for use with the National
Instruments motion controllers:
• 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 specific information about these products, refer to the National
Instruments catalog, the National Instruments Web site at
your National Instruments sales representative.
ni.com, or call
Motion I/O Connections
The external motion I/O and digital I/O connectors are high-density, 68-pin
female VHDCI connectors. Refer to the User Connectors section of
Chapter 3, Hardware Overview, for more information about these
connectors.
For custom cables, use the AMP mating connector (part number
787801-01).
NI PCI-7342 Hardware User Manual 1-4 ni.com
Configuration and Installation
This chapter describes how to configure, unpack, and install the National
Instruments PCI-7342 motion controller.
Software Installation
Before installing your controller, install the NI-Motion driver software and,
if appropriate, the Motion VI libraries.
Note You must install the NI-Motion driver software before installing your motion
controller.
Refer to the Release Notes included with the controller for specific
instructions on the software installation sequence for your host PC.
Controller Configuration
Because motion I/O-related configuration is performed entirely with
software, it is not necessary to set jumpers for motion I/O configuration.
2
The PCI-7342 controller is fully compatible with the PCI Local Bus
Specification, Revision 2.1. It is not necessary to configure jumpers for
bus-related configuration.
Unpacking
The PCI-7342 motion controller ships in an antistatic package to prevent
electrostatic discharge from damaging board components. To avoid such
damage in handling the controller, take the following precautions:
1. Ground yourself via a grounding strap or by holding a grounded object,
such as your computer chassis.
2. Touch the antistatic package to a metal part of your computer chassis
before removing the controller from the package.
3. Remove the controller from the package and inspect it for loose
components or any other signs of damage. Notify National Instruments
© National Instruments Corporation 2-1 NI PCI-7342 Hardware User Manual
Chapter 2 Configuration and Installation
if the controller appears damaged in any way. Do not install a damaged
controller in your computer.
Caution Never touch the exposed connector pins.
Safety Information
Caution The following paragraphs contain important safety information you must follow
when installing and operating the device.
Do not operate the device in a manner not specified in the documentation.
Misuse of the device may result in a hazard and may compromise the safety
protection built into the device. If the device is damaged, turn it off and do
not use it until service-trained personnel can check its safety. If necessary,
return the device to National Instruments for repair.
Keep away from live circuits. Do not remove equipment covers or shields
unless you are trained to do so. If signal wires are connected to the device,
hazardous voltages can exist even when the equipment is turned off. To
avoid a shock hazard, do not perform procedures involving cover or shield
removal unless you are qualified to do so. Disconnect all field power prior
to removing covers or shields.
If the device is rated for use with hazardous voltages (>30 V
or 60 V
), it may require a safety earth-ground connection wire. See the
dc
, 42.4 Vpk,
rms
device specifications for maximum voltage ratings.
Because of the danger of introducing additional hazards, do not install
unauthorized parts or modify the device. Use the device only with the
chassis, modules, accessories, and cables specified in the installation
instructions. All covers and filler panels must be installed while operating
the device.
Do not operate the device in an explosive atmosphere or where flammable
gases or fumes may be present. Operate the device only at or below the
pollution degree stated in the specifications. Pollution consists of any
foreign matter—solid, liquid, or gas—that may reduce dielectric strength
or surface resistivity. Pollution degrees are listed below:
• Pollution Degree 1—No pollution or only dry, nonconductive
pollution occurs. The pollution has no effect.
NI PCI-7342 Hardware User Manual 2-2 ni.com
Chapter 2 Configuration and Installation
• Pollution Degree 2—Normally only nonconductive pollution occurs.
Occasionally, nonconductive pollution becomes conductive because of
condensation.
• Pollution Degree 3—Conductive pollution or dry, nonconductive
pollution occurs. Nonconductive pollution becomes conductive
because of condensation.
Clean the device and accessories by brushing off light dust with a soft,
nonmetallic brush. Remove other contaminants with a stiff, nonmetallic
brush. The unit must be completely dry and free from contaminants before
returning it to service.
Yo u must insulate signal connections for the maximum voltage for which
the device is rated. Do not exceed the maximum ratings for the device.
Remove power from signal lines before connection to or disconnection
from the device.
Operate this device only at or below the installation category stated in the
specifications. Installation categories are listed below:
• Installation CAT IV—for measurements performed at the source of the
low-voltage (<1000 V) installation. Examples include electricity
meters, measurements on primary overcurrent protection devices,
and ripple-control units.
• Installation CAT III—for measurements performed in the building
installation. Examples include measurements on distribution boards,
circuit-breakers, wiring (including cables), bus bars, junction boxes,
switches, socket outlets in the fixed installation, equipment for
industrial use, and some other types of equipment, such as stationary
motors permanently connected to the fixed installation.
• Installation CAT II—for measurements performed on circuits directly
connected to the low-voltage installation. Examples include
measurements on household appliances, portable tools, and other
similar equipment.
• Installation CAT I—for measurements performed on circuits not
directly connected to mains
1
. Examples include measurements on
circuits not derived from mains, and specially-protected (internal)
mains-derived circuits.
1
Mains is defined as the electricity supply system to which the equipment concerned is designed to be connected for either
powering the equipment or for measurement purposes.
© National Instruments Corporation 2-3 NI PCI-7342 Hardware User Manual
Chapter 2 Configuration and Installation
Figure 2-1 illustrates a sample installation.
Hardware Installation
Install your PCI-7342 controller in any open compatible expansion slot in
your computer. Appendix A, Specifications, lists the power requirements
for the PCI-7342 controller.
Figure 2-1. Sample Installation
The following instructions are for general installation. Consult your
computer user manual or technical reference manual for specific
instructions and warnings.
Caution Observe precautions for handling electrostatic-sensitive devices. Refer to the
Unpacking section of this chapter for information about handling the controller.
1. Verify that the NI-Motion software is installed on your computer.
2. Power off and unplug your computer.
Caution To protect yourself and the computer from electrical hazards, the computer
should remain off until you finish installing the controller.
3. Remove the top cover or access port to the PCI expansion slots in
your computer.
4. Wait for any motherboard LEDs to turn off to ensure system power
has dissipated.
5. Remove the expansion slot connector port cover on the back panel
of your computer.
NI PCI-7342 Hardware User Manual 2-4 ni.com
Chapter 2 Configuration and Installation
6. Insert the controller into a +3.3 V or +5 V PCI slot. Gently rock the
device to ease it into place. It may be a tight fit, but do not force the
device into place.
7. If available, screw the controller mounting bracket to the back panel
rail of the computer.
8. Replace the cover.
9. Plug in the 68-pin cable for motion I/O to the controller.
10. Plug in and turn on your computer.
Your PCI controller is installed.
© National Instruments Corporation 2-5 NI PCI-7342 Hardware User Manual
Hardware Overview
This chapter provides an overview of the PCI-7342 motion controller
hardware functionality.
Figure 3-1 shows the PCI-7342 parts locator diagram.
6 7
5
3
1
C
2
3
2001
PCI-7342
4
1 RTSI Connector
2 Assembly Number Label
3 Serial Number Label
© National Instruments Corporation 3-1 NI PCI-7342 Hardware User Manual
4 68-Pin Digital I/O Connector
5 68-Pin Motion I/O Connector
Figure 3-1. PCI-7342 Parts Locator Diagram
6 MC68331 CPU
7 ADSP 2185 DSP
Chapter 3 Hardware Overview
User Connectors
The 68-pin motion I/O connector provides all the signals for two 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
motion I/O connector signals.
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
digital I/O connector signals.
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.
NI PCI-7342 Hardware User Manual 3-2 ni.com
Functional Overview
This chapter provides an overview of the motion control algorithms and
controller capabilities.
Dual Processor Architecture
With the PCI-7342 controller, you can perform one or two axes of
simultaneous, coordinated motion control in a preemptive, multitasking,
real-time environment.
An advanced dual-processor architecture that uses a Motorola MC68331
real-time 32-bit CPU combined with an Analog Devices ADSP 2185 DSP
and custom FPGAs give the PCI-7342 controller high-performance
capabilities. The FIFO bus interface and powerful function set provide
high-speed communications while offloading complex motion functions
from the host PC for optimized system performance.
The PCI-7342 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.
© National Instruments Corporation 4-1 NI PCI-7342 Hardware User Manual
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