National Instruments UMI-7764, UMI-4A, UMI-Flex6, UMI-Flex4 User Manual
USER GUIDE
U
NIVERSAL
Contents
M
OTION INTERFACE
This user guide describes how to use the UMI-7764, UMI-4A, UMI-Flex6,
and UMI-Flex4 accessories.
Introduction.............................................................................................2
What You Need to Get Started ...............................................................2
UMI-7764................................................................................................4
Motion I/O Terminal Block.............................................................5
Amplifier/Driver Terminal Block....................................................5
Encoder Terminal Block..................................................................6
Limit Switch Terminal Block..........................................................8
Analog Input Terminal Block..........................................................9
Breakpoint Output/Trigger Input Terminal Block...........................9
Shutdown/Inhibit All Terminal Block.............................................10
Power Input Terminal Block............................................................ 10
UMI-7764 Specifications........................................................................11
UMI-4A...................................................................................................13
Amplifier/Driver Terminal Block....................................................13
Encoder Terminal Block..................................................................15
Limit Switch Terminal Block..........................................................16
Digital I/O Terminal Blocks............................................................17
Power Input Terminal Block............................................................ 18
UMI-4A Specifications........................................................... ................19
UMI-Flex6 ..............................................................................................21
Amplifier/Driver Terminal Block....................................................21
Encoder Terminal Block..................................................................22
Limit Switch Terminal Block..........................................................24
Analog Input Terminal Blocks ........................................................25
Breakpoint Output Terminal Block .................................................26
Power Input Terminal Block............................................................ 26
UMI-Flex6 Specifications................................ .......................................27
UMI-Flex4 ..............................................................................................28
Amplifier/Driver Terminal Block....................................................28
Encoder Terminal Block..................................................................30
Limit Switch Terminal Block..........................................................32
Analog Input Terminal Block..........................................................32
Breakpoint Output Terminal Block .................................................33
Power Input Terminal Block............................................................ 33
UMI-Flex4 Specifications................................ .......................................34
(UMI) A
CCESSORY
FlexMotion ™ and ValueMotion ™ are trademarks of National Instruments Corporation. Product and company names mentioned herein are
trademarks or trade names of their respective companies.
321941B-01 © Copyright 1998, 1999 National Instruments Corp. All rights reserved. August 1999
Introduction
Note
Throughout this document, overlined text indicates that a signal is active-low.
The UMI products are connectivity accessories you can use with your
motion control boards for up to four or six axes of simultaneous or
independent control. Ideally suited to industrial and laboratory
applications, UMI accessories connect power supplies, servo amplifiers
or stepper drivers, motors, encoders, and limit switches to National
Instruments plug-in motion control boards.
A UMI accessory simplifies field wiring with separate encoder, limit
switch, and amplifier/driver terminal blocks per axis. All terminal blocks
are industry standard and do not require any special tools for wire
installation. The UMI accessory connects to the motion controller via a
single interface cable. The UMI accessory has a host bus monitor power
interlock that automatically disables the amplifiers if the host computer is
shut down or the interface cable is disconnected.
The UMI-4A and UMI-Flex4 come with an integrated DIN-rail mounting
base. The UMI-Flex6 is encased in metal and comes with attached rubber
feet for desktop use; a DIN-rail mounting kit is available separately. The
UMI-7764 is encased in a metal box with a hinged lid and comes with
attached rubber feet for desktop use.
What You Need to Get Started
To set up and use your UMI accessory, you will need the following items:
❑ One of the following UMI accessories:
–UMI-7764
–UMI-4A
–UMI-Flex6
–UMI-Flex4
❑ Universal Motion Interface (UMI) Accessory User Guide
UMI Accessory User Guide 2 www.natinst.com
❑ One of the following National Instruments cables:
UMI Accessory Cable Motion Controller
UMI-7764 SH68-C68-S All 7344 controllers,
PCI-7324, PCI-7314
UMI-7764 SH68-68-S PXI-7324, PXI-7 314
UMI-4A SH50-50 , NB1 50-pin ValueMotion
controllers
UMI-Flex6,
UMI-Flex4
SH-Flex-100 100-pin FlexMotion
controllers
❑ +5 V power supply
❑ (Optional) Auxiliary power supply (UMI-4A only)
❑ (Optional) ISO power supply (UMI-Flex4 and UMI-Flex6 only)
Detailed specifications for each of the UMI accessories are in the
Specifications section for each device.
© National Instruments Corporation 3 UMI Accessory User Guide
UMI-7764
This section describes the UMI-7764 terminal block. Refer to Figure 1 to
help you locate the different parts of the UMI-7764 accessory.
11
10
1
9 8 7
6
2 3 45
1 Axis 1 Motion I/O Terminal Block
2 Axis 3 Motion I/O Terminal Block
3 Axis 2 Motion I/O Terminal Block
4 Axis 4 Motion I/O Terminal Block
UMI Accessory User Guide — UMI-7764 4 www.natinst.com
5 Power Input Terminal Block
6 Shutdown/Inhibit All Terminal Block
7 Inhibit Output Polarity Switch (S1)
8 Inhibit Input Polarity Switch (S2)
Figure 1.
UMI-7764 Parts Locator Diagram
9 Analog Input Terminal Block
10 68-Pin Motion I/O Connector
11 Breakpoint/Trigger Terminal
Block
Motion I/O Terminal Block
Each axis connected to the UMI-7764 has a motion I/O terminal block to
which the following signals are wired:
• Amplifier/driv er connections
• Encoder connections
• Limit switch connections
• Distributed power connections
Figure 2 shows which portions of the terminal block are used for different
functionality.
Forward Limit
Home Input
Reverse Limit
Inhibit Input
Digital Ground
Analog Output
Analog Output Ground
Inhibit Output
Step (CW)
Dir (CCW)
+5 V (Output)
Digital Ground
Encoder Phase A
Encoder Phase A
Encoder Phase B
Encoder Phase B
Encoder Index
Encoder Index
Limit Switch
Terminals
Amplifier/Driver
Terminals
Distributed
Power
Encoder
Terminals
Figure 2.
UMI-7764 Motion I/O Terminal Block
Amplifier/Driver Terminal Block
Each UMI-7764 axis motion I/O terminal block has five terminals for
amplifier/driver connections. Refer to Figures 1 and 2 to locate the
amplifier/driver terminals on your UMI-7764 accessory. Figure 3 shows
the UMI-7764 amplifier/driver terminal block pin assignment for the
servo/stepper axes.
© National Instruments Corporation 5 UMI Accessory User Guide — UMI-7764
Analog Output
Analog Output Ground
Inhibit Output
Step (CW)
Dir (CCW)
Figure 3. UMI-7764 Axes Amplifier/Driver Terminal Block Pin Assignments
The Analog Output signals are used as command outputs to a servo
amplifier or as general-purpose voltage outputs. The Step and Dir signals
are used as command outputs to a stepper driver.
The Inhibit Output signals are used to disable the amplifier/driver for that
axis. The UMI combines the host bus interlock circuit, the Inhibit All
signal, the per axis Inhibit Input signals, and the per axis controller Inhibit
Output to create the per axis Inhibit Output signal. The host bus interlock
monitors the +5 V pin from the motion controller to verify that the
controller is powered and properly connected to the UMI. If the host bus
interlock detects a problem, if the Inhibit All signal is asserted, or if the
Inhibit Input signal or the controller Inhibit Output signal for that axis is
asserted, the Inhibit Output from the UMI-7764 for that axis is asserted.
You can configure the axis Inhibit Out signal as active-low or active-high
output using switch S1. Setting S1 to the bottom configures the signal as
active-low; setting S1 to the top configures the signal as active-high.
Note You must configure the controller’s Inhibit Output signals as active-low for proper
operation of the inhibit circuitry.
Encoder Terminal Block
Each UMI-7764 axis motion I/O terminal block has six terminals for
incremental encoder connections. The UMI-7764 accepts either
single-ended TTL or differential line driver inputs. You can connect
open-collector encoders to the UMI-7764 accessory by installing a 2.2 kΩ
pull-up resistor to +5 V.
Note Encoders with line driver outputs are recommended for all applications and must be
used if the encoder cable length is greater than 10 feet.
UMI Accessory User Guide — UMI-7764 6 www.natinst.com
Power for the encoders is internally routed from the power input terminal
block and is available on the +5 V terminal on each axis motion I/O
terminal block. You must supply a +5 V source to the power input terminal
block for proper operation. Refer to Figures 1 and 2 to help you locate the
encoder terminals on your UMI-7764 accessory. Figure 4 shows the wiring
for a differential encoder.
Note The dotted loop indicates a shielded cable.
Phase A
Phase A
Phase B
Phase B
Index
Index
1
Connect to Digital Ground
Figure 4. Differential Encoder Wiring
Figure 5 shows the wiring for the single-ended encoder.
Shield
1
1
Shield
Phase A
Phase B
Index
1
Connect to Digital Ground
Figure 5. Single-Ended Encoder Wiring
The UMI-7764 accessory allows for differential inputs for Phase A,
Phase B, and Index signals. You can easily accommodate encoders with
phase relationships different from Figure 6 by swapping the signals as
required by the specific application. The Inde x pulse must occur when both
Phase A and Phase B signals are logic low as shown in Figure 6. Servo and
closed-loop stepper applications require encoder feedback and consistent
directional polarity between the motor and encoder for stable operation.
The UMI-7764 uses the following standards for motor direction:
• Positive = forward = Clockwise (CW) facing motor shaft
• Negativ e = reverse = Counter-clockwise (CCW) facing motor shaft
© National Instruments Corporation 7 UMI Accessory User Guide — UMI-7764
The encoder inputs are filtered by both analog and digital noise filters. You
must use cables with twisted pairs and an overall shield for improved noise
immunity . When connecting the encoder to the UMI-7764, you should use
at least 24-AWG wire.
Caution Using an unshielded cable allows noise to corrupt the encoder signals, which
results in lost counts, reduced accuracy, and other erroneous encoder and controller
operations.
Limit Switch Terminal Block
Each UMI-7764 axis motion I/O terminal block has five terminals for
Forward and Reverse Limit and Home Input switch connections. Refer to
Figures 1 and 2 to help you locate the limit switch terminals on your
UMI-7764 accessory. See Figure 7 for the UMI-7764 limit switch terminal
block pinout.
Phase A
Phase B
Index
Figure 6. Encoder Signal Phasing—CW Rotation
Forward Limit
Home Input
Reverse Limit
Inhibit Input
Digital Ground
Figure 7. UMI-7764 Limit Switch Terminal Block Pin Assignment
Y ou can conf igure the axis Inhibit Input signals as active-lo w or active-high
inputs using switch S2. Setting S2 to the bottom configures the signal as
active-low; setting S2 to the top configures the signal as active-high. The
Inhibit Input signals include a 3.3 kΩ pull-up resistor on their inputs.
UMI Accessory User Guide — UMI-7764 8 www.natinst.com
Analog Input Terminal Block
For analog input wiring, the UMI-7764 has a 6-position terminal block,
which provides access to the four analog input channels on your motion
controller. Refer to Figure 1 to help you locate the analog input terminal
block on your UMI-7764 accessory. See Figure 8 for analog input terminal
block pinout information.
Analog Input Ground
Analog Reference (Output)
Analog Input 4
Analog Input 3
Analog Input 2
Analog Input 1
Figure 8.
UMI-7764 Analog Input Terminal Block Pin Assignments
Breakpoint Output/Trigger Input Terminal Block
For breakpoint output and trigger input wiring, the UMI-7764 has a
10-position terminal block. This terminal block provides access to the four
breakpoint outputs and the four trigger inputs. Refer to Figure 1 to help you
locate the breakpoint output/trigger input terminal block on your
UMI-7764 accessory. See Figure 9 for more information on breakpoint
output and trigger input wiring.
Figure 9.
UMI-7764 Breakpoint/Trigger Terminal Block Pin Assignments
Breakpoint 4
Breakpoint 3
Breakpoint 2
Breakpoint 1
Digital Ground
+5 V (Output)
Trigger 4
Trigger 3
Trigger 2
Trigger 1
© National Instruments Corporation 9 UMI Accessory User Guide — UMI-7764
Shutdown/Inhibit All Terminal Block
The UMI accessory has a 4-position terminal block for shutdown and
inhibit all wiring. Refer to Figure 1 to help you locate the shutdown/inhibit
all terminal block on your UMI-7764 accessory. See Figure 10 for more
information on shutdown/inhibit all wiring.
Digital Ground
NC
Shutdown
Inhibit All
Figure 10.
The Inhibit All signal acts as a global inhibit, and, when asserted, activ ates
the Inhibit Outputs. The Inhibit All signal includes a 3.3 kΩ pull-up resistor
on its input. The Shutdown signal is passed through to the motion controller
and is typically used to disable the controller.
Power Input Terminal Block
The UMI-7764 has a 2-position terminal block for wiring power to the unit.
Refer to Figure 1 to help you locate the power input terminal block on your
UMI-7764 accessory. Figure 11 shows the 2-position terminal block
pinout.
Figure 11.
Note
To properly operate your UMI-7764 accessory, you must supply a +5 V source to
the power input terminal block.
Note
The +5 V power is redistributed to other terminal blocks as an output power source.
Shutdown/Inhibit All Terminal Block Pin Assignments
+5 V
Digital Ground
2-Position Power Input Terminal Block Pin Assignment
UMI Accessory User Guide — UMI-7764 10 www.natinst.com
UMI-7764 Specifications
The following specifications apply only to the UMI-7764 accessory. To
obtain a system specification, you must account for your motion controller.
Please refer to your controller specifications to determine overall system
specifications.
Some signals have compatibility defined as signal pass-through. This
means the UMI-7764 may have passive filtering on these signals but will
not affect the voltage range or current handling capability. Consult your
motion controller specifications to determine the allowable voltage range
and logic level compatibility of the signal.
These specifications are typical at 25 °C unless otherwise specified. Refer
to your motion controller user manual for detailed specifications on
encoder inputs, limit and home switch inputs, breakpoint outputs, trigger
inputs, and analog inputs.
Encoder Interface (Each Axis)
Inputs......................................................Quadrature, incremental
Differential input threshold....................±0.3 V (typical)
Single-ended input threshold .................TTL/CMOS
Voltage range.........................................0 to 5 VDC
Noise filter (RC time constant)..............100 ns
Max quadrature frequency .....................1 MHz
Limit and Home Switch Inputs (Each Axis)
Noise filter (RC time constant)..............10 µs
Compatibility .........................................Signal pass-through
Trigger Inputs
Noise filter (RC time constant)..............100 ns
Compatibility .........................................Signal pass-through
© National Instruments Corporation 11 UMI Accessory User Guide — UMI-7764 Specifications
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