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Motion Control NI 7350 User Manual NI 7350 User Manual July 2006 371060B-01.
Support Worldwide Technical Support and Product Info rmation ni.com National Instruments Corporate Headquarters 11500 North Mopac Expressway Aust in, Texas 78759-3504 USA Tel: 512 683 0100 Worldwide O.
Important Information Warranty The National Instruments PXI/PCI-7350 is warranted against defect s in materials and workmanship for a period o f one year from t he dat e of shipment, as evidenc ed by receipts or othe r documentation.
Compliance Compliance with FCC/Canada Radio Frequency Interference Regulations Determining FCC Class The Federal Communications Commission (FCC) has rules to protect wireless co mmunications from inte rference. The FCC places digital electronics into two classes.
© National Instruments Corporation v NI 7350 User Manual Contents About This Manual Conventions ............ .............. .............. .............. .............. .............. ............... .............. .... i x Related Documentation ....
Contents NI 7350 User Manual vi ni.com Onboard Sinu soidal Commu ta tion ......... .............. .............. ............... .............. 4-3 Flash Memory ...... .............. ............... .............. .............. .............. .......
Contents © National Instruments Corporation vii NI 7350 User Manual Appendix D Technical Support and Professional Services Glossary Index.
© National Instruments Corporation ix NI 7350 User Manual About This Manual This manual describes the electrical a nd mechanical aspects of the National Instrument s PXI/PCI-7350 motion controller and contai ns information concerning its installation and operation.
About This Manual NI 7350 User Manual x ni.com monospace T ext in this font denotes text or ch aracters that you should ent er from the keyboard, sections of code, programming examples, and syntax examples.
© National Instruments Corporation 1-1 NI 7350 User Manual 1 Introduction This chapter includes information a bout the features of the National Instruments PXI/ PCI-7350 controller and information abou t operating the device.
Chapter 1 Introduction NI 7350 User Manual 1- 2 ni.com Hardware The NI 7350 controller is a high pe rformance controller that uses an advanced dual-processor for embedded real-time control.
Chapter 1 Introduction © National Instruments Corporation 1-3 NI 7350 User Manual ❑ One of the foll o wing softw are packages and documentation: –L a b V I E W – LabW indows ™ /CVI ™ – Me.
Chapter 1 Introduction NI 7350 User Manual 1- 4 ni.com Optional Equipment National Instruments offers a variety o f products for use wit h the NI 7350 controller, including the following accessories: .
© National Instruments Corporation 2-1 NI 7350 User Manual 2 Configuration and Installation This chapter describes how to configu re and install the National Instrument s PXI/PCI-7 350 controller. Software Installation Before installing the NI 7350 con troller, install th e NI-Motion softw are and, if appropriate, th e NI-Motion VI libraries.
Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 2 ni.com Safety Information Caution The following section contains im portant safety information that yo u must follow when installing and using the NI 7350. Do not operate the device in a manner not specified in this document.
Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-3 NI 7350 User Manual Remov e power from signal lines before connecting them to or disconnecting them from the device. Operate the device at or belo w the measurement category 1 marked on the hardware label.
Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 4 ni.com Hardware Installation You can install the NI 7350 controller in any open compatible expansion slot in the compu ter. Appendix A, Specifications , lists the maximum power required for the NI 7350 controller.
Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-5 NI 7350 User Manual ♦ PCI-7350 1. Power of f and unplug the computer . Caution T o protect yourself and the computer from electri cal hazards, the computer should remain unplugged un til the installation is comple te.
Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 6 ni.com software to work with this type of system, refer t o the NI-Motion User Manual . When connecting to a driv e that does not perform the sinusoidal commutation, the NI 7350 commutates the firs t two phases and the serv o dri ve determines the third.
Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-7 NI 7350 User Manual Figure 2-1. T y pe 1 Hall Sensor Wiring Diagrams T ype 1 Base Case 0 ° 180 ° 360 ° 540 ° 720 .
Chapter 2 Configuration and Install ation NI 7350 User Manual 2- 8 ni.com Figure 2-2. T y pe 2 Hall Sensor Wiring Diagrams T ype 2 Base Case 0 ° 180 ° 360 ° 540 ° 720 ° 0 ° 180 ° 360 ° 540 ° .
Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-9 NI 7350 User Manual For e xample, if the diagram supplied wi th the motor matches the third T ype 2 diagram, wire Hall ef fect sensor 1 to input 3 on the UMI or NI 7350, and then wire sensor 2 to input 1 and wire sensor 3 to input 2.
Chapter 2 Configuration and Install ation NI 7350 User Manual 2-10 ni.com Figure 2-4. T ype 2 Hall Sen sor Phasing Sequence Diagr am Refer to the Measurement & Automa tion Explorer Help for M otion for information about configuring the NI-Motion software for brushless servo motors.
Chapter 2 Configurati on and Inst allation © National Instruments Corporation 2-11 NI 7350 User Manual Figure 2-5. S ine Wave Motor Phasing D iagram T able 2-2 shows the correct m ethod of wiring a brushless moto r to the driv e.
© National Instruments Corporation 3-1 NI 7350 User Manual 3 Hardware Over view This chapter presents an overvi ew of the National Instruments PXI/PCI-7350 con troller hardware fun ctionality. Figures 3-1 and 3-2 illustrate the fun ctional components of the NI PXI-7350.
Chapter 3 Hardware Overview NI 7350 User Manual 3- 2 ni.com Figure 3-2. PXI- 7350 Parts Locator Diagram (Back Panel) 1 Assembly Number L abel 2 Serial Number Label 3 Symbol Indicating CE Compliance 4 .
Chapter 3 Hardware Overview © National Instruments Corporation 3-3 NI 7350 User Manual Figures 3-3 and 3-4 show the NI PCI-7350 parts locator diagrams.
Chapter 3 Hardware Overview NI 7350 User Manual 3- 4 ni.com Figure 3-4. PCI- 7350 Parts Locator Diagram (Back Panel) User Connectors The two 68-pin motion I/O connectors provid e all the signals for u.
Chapter 3 Hardware Overview © National Instruments Corporation 3-5 NI 7350 User Manual Figure 3-5 shows the four 68-pin I/O connectors on the NI 7350 motion controller .
© National Instruments Corporation 4-1 NI 7350 User Manual 4 Functional Over view This chapter provides an overview of the National Instruments PXI/PCI-7350 controller archit ecture and its capabilities.
Chapter 4 Functional Ov erview NI 7350 User Manual 4- 2 ni.com The DSP chip is a separate proce ssor that operates independently from the CPU but is closely sync hronized through interprocessor communication. The NI 7350 is a true mul tiprocessing and multitasking embedded contr oller .
Chapter 4 Functional Over view © National Instruments Corporation 4-3 NI 7350 User Manual Onboard Sinusoidal Commutation The NI 7350 controller provides on board sinusoidal commut ation for axes controlling brushless DC servo motors .
Chapter 4 Functional Ov erview NI 7350 User Manual 4- 4 ni.com also require a feedback resource, while open-loop stepper axes do not . Figures 4-1 and 4-2 show th ese axis configurations. W ith the NI 7350 controller , you can map one or two feedback resources and one or two output resources to the axis.
Chapter 4 Functional Over view © National Instruments Corporation 4-5 NI 7350 User Manual when implementing dual-loop control, such as in backlash compensation, which reduces the number of enco ders a vailable for other ax es. Note Refer to the NI-Motion User Manual for more information abo ut configuring ax es.
Chapter 4 Functional Ov erview NI 7350 User Manual 4- 6 ni.com functions for up to 120 general-purpo se v ariables. Refer to the NI-Motion User Manual for more in formation . The NI 7350 also features buf fered op erations for contouring, high-speed position captures, and breakpoints (position com pare).
© National Instruments Corporation 5-1 NI 7350 User Manual 5 Signal Connections This chapter describes how to make input and out put signal connections directly to the National Instruments PXI/PCI-7350 controller and briefly describes the associated I/O circuitry.
Chapter 5 Signal Connections NI 7350 User Manual 5- 2 ni.com Figures 5-1 and 5-2 show the pin assignments for the two 68-pin motion I/O connectors on the NI 7350 controll er . A signal description follows the connector pinout. In this chap ter , line s abov e signal names indicate that the signal is activ e lo w .
Chapter 5 Signal Connections © National Instruments Corporation 5-3 NI 7350 User Manual Figure 5-2. 68-Pin Motion I/O Connector Pin Assignment for Axes 5–8 13 5 23 6 33 7 43 8 53 9 64 0 74 1 84 2 9.
Chapter 5 Signal Connections NI 7350 User Manual 5- 4 ni.com T able 5-1 describes the signal s on the motion I/O connector . Table 5-1. Motion I/O Signal Connections Signal Name Reference Direction Description Digital Ground — — Reference for digital I/O Axis <1.
Chapter 5 Signal Connections © National Instruments Corporation 5-5 NI 7350 User Manual Motion Axis Signals The following signals control the servo amplifier or step per drive. • Analog Output <1..8> —These 16-bit DA C ou tputs are typically the servo command outputs for each axis.
Chapter 5 Signal Connections NI 7350 User Manual 5- 6 ni.com Y ou can choose to driv e the Step (CW) and Dir (CCW) outputs by using either T otem Pole mode or Open Collector mode. In T otem Pole mode, the output buf fer can both si nk and source current, which is appropriate for most applications.
Chapter 5 Signal Connections © National Instruments Corporation 5-7 NI 7350 User Manual Limit and home inputs are digital ly fi ltered and must remain acti ve for at least 1 ms to be recognized. Refer to Appendix A , Specifications , fo r more information.
Chapter 5 Signal Connections NI 7350 User Manual 5- 8 ni.com Caution Excessi ve input v oltages can cause erroneous operation and/or component failure. V erify that the input voltage is within the specification range. Encoder Signals The NI 7350 controller offers up to eight channels of single-ended quadrature encoder inpu ts.
Chapter 5 Signal Connections © National Instruments Corporation 5-9 NI 7350 User Manual measure—inch, centimeter , millimeter , and so on. For example, a 500 line encoder has 2,000 quadrature counts per rev olution. Axis <1..8> Encoder Index The Index input is primarily used to establish a refer ence position.
Chapter 5 Signal Connections NI 7350 User Manual 5-10 ni.com Caution W ire encoder signals and their ground connections separately from all other connections. W iring these signals near the motor dri v e/amplifier or other signals can cause positioning errors and faulty operation.
Chapter 5 Signal Connections © National Instruments Corporation 5-11 NI 7350 User Manual The polarity of the trigger (positio n capture) input is programmable in software as acti ve lo w , or active high, rising edge or falling edge.
Chapter 5 Signal Connections NI 7350 User Manual 5-12 ni.com T rigger Input and Shut down Input Circuits Trigger (position capture) input and shutdown input circuits have onboard pull-up resistors, and are interpreted as high logic level if left floating.
Chapter 5 Signal Connections © National Instruments Corporation 5-13 NI 7350 User Manual Wiring Concerns For proper use of each ADC input cha nnel, the analog signal should be a floating source with the positive term inal connected to the channel input and the negative t erminal connected to analog input ground.
Chapter 5 Signal Connections NI 7350 User Manual 5-14 ni.com Figure 5-5. T ypical Optocoupler Wiring (T otem Pole Output Mode) In some rare circumstances, the opto coupler will not work with a 5 V signal, or it requires more current than the maximum current level the controller can provide.
Chapter 5 Signal Connections © National Instruments Corporation 5-15 NI 7350 User Manual Digital I/O Connector The general-purpose digital I/O lines on the NI 7350 controller are available on two separate 68 -pin digital I/O connectors. Fi gures 5-7 and 5-8 show the pin assignm ents for these connectors.
Chapter 5 Signal Connections NI 7350 User Manual 5-16 ni.com Figure 5-8. 68-Pin Digital I/O Co nnector Pin Assignments (Ports 5–8) The 64-bit digital I/O ports are co nfigured in hardware as up to eight 8-bit digital I/O ports. Th e bits in a p ort are typically controlled and read with byte-wide bitmapped commands.
Chapter 5 Signal Connections © National Instruments Corporation 5-17 NI 7350 User Manual Bits 2–7 in DIO port s 4 and 8 are du al-purpose bits that can be us ed for either general-p urpose I/O or Ha ll sensor feedback during system configuration and initialization, but not both.
Chapter 5 Signal Connections NI 7350 User Manual 5-18 ni.com R TSI Connector The PXI-7350 uses the PXI chassi s backplane to connect to other RTSI-capable devices.
© National Instruments Corporation A- 1 NI 7350 User Manual A Specifications This appendix lists the hardware an d software performance specifications for the PXI/PCI-7350 contro ller . Hardware specifications are typical at 25 °C, unless otherwise stated.
Appendix A Specifications NI 7350 User Manual A-2 ni.com Servo control loop modes ................. ......PID, PIVff, S-Curve, Dual Loop PID (Kp, Ki, and Kd) gains .............0 to 32,767 Integration lim it (Ilim) ... ...... ............0 to 32,767 Derivative sample period (Td).
Appendix A Specifications © National Instruments Corporation A- 3 NI 7350 User Manual S-curve time range .............. ............ 1 to 32,767 samples Following error range ............ ......... 0 to 32,767 counts Gear ratio ................... ..
Appendix A Specifications NI 7350 User Manual A-4 ni.com Min pulse width ................... ... .........Programmable; depends on digital filter settings Voltage range............... .............. ......0 to 5 V Input low voltage ...................
Appendix A Specifications © National Instruments Corporation A- 5 NI 7350 User Manual Max buffered capture rate 1 ............. 2 kHz per axis Breakpoint (position com pare) outputs Number of outputs ......................... . Up to 8 (Encoders 1 through 8) Voltage range .
Appendix A Specifications NI 7350 User Manual A-6 ni.com Input coupling .............. .............. ......DC Input impedance ............ .............. ....100 M Ω min Voltage range (programmable)........ ±10 V, ±5 V, 0–10 V, 0–5 V Bandwidth.
Appendix A Specifications © National Instruments Corporation A- 7 NI 7350 User Manual Digital I/O Ports ...... .............. .............. .............. ....... Up to 8 8-bit ports Line direction ............. ................. .... Individual bit programmable Inputs Voltage range .
Appendix A Specifications NI 7350 User Manual A-8 ni.com Maximum Power Requir ements +3.3 V (±10%) ...................... ................. .2 A +5 V (±5%) ...................... .............. .........2 A +12 V (±5%) ....................... .....
Appendix A Specifications © National Instruments Corporation A- 9 NI 7350 User Manual Maximum W orking Voltage Channel-to-earth...................... ............... 11 V, Installation Category I (signal voltage plus common-mode vol tage) Channel-to-channel .
Appendix A Specifications NI 7350 User Manual A-10 ni.com Electromagnetic Compatibility This product is designed to meet the requirements of the following standards of EMC for elect rical equipment fo.
© National Instruments Corporation B- 1 NI 7350 User Manual B Cable Connector Descriptions This appendix describes the connecto r pinout for the cables that connect to the PXI/PCI-7350 controller .
Appendix B Cable Connector Descr iptions NI 7350 User Manual B-2 ni.com Figure B-1. 50-Pin Stepper Connector Pin Assignment (Axes 1–4) Digital Ground Axis 4 Inhibit T rigger/Breakpoint 4 Axis 4 Home.
Appendix B Cable Co nnector Descr iptions © National Instruments Corporation B- 3 NI 7350 User Manual Figure B-2. 50-Pin Stepper Connector Pin Assignment (Axes 5–8) Digital Ground Axis 8 Inhibit T .
Appendix B Cable Connector Descr iptions NI 7350 User Manual B-4 ni.com Figure B-3. 50-Pin Servo Connector Pin Assignment (Axes 1–4) Digital Ground Axis 4 Inhibit T rigger/Breakpoint 4 Axis 4 Home S.
Appendix B Cable Co nnector Descr iptions © National Instruments Corporation B- 5 NI 7350 User Manual Figure B-4. 50-Pin Servo Connector Pin Assignment (Axes 5–8) Digital Ground Axis 8 Inhibit T ri.
© National Instruments Corporation C- 1 NI 7350 User Manual C Input/Output Reset States This appendix lists the various states of the NI PXI/PCI-7350 hardware during reset. Table C-1. I/O St ates During Res et Signal Names Direction From P ower On Until Device Initialization Mode Pola r it y State Motion I/O Connector Inhibit <1.
© National Instruments Corporation D-1 NI 7350 User Manual D T echnical Support and Professional Ser vices Visit the following sections of the National Instruments Web site at ni.com for technical support an d professional services: • Support —Online technical support resources at ni.
Appendix D T echni cal Support and Profess ional Ser vices NI 7350 User Manual D-2 ni.com •C alibration Certificate —If you r product supports calibration, you can obtain the calibration certificate for your product at ni.com/calibration . If you searched ni.
© National Instruments Corporation G-1 NI 7350 User Manual Glossar y A absolute mode A move mode that treats the tar get 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.
Glossary NI 7350 User Manual G-2 ni.com Axis <1..8> Inhibit Axis 1 through 8 inhibi t output. Axis <1..8> Re vers e Limit Input Axis 1 through 8 reverse limit input. Axis < 1..8 > S tep (CW) Axis 1 throu gh 8 stepper pulse output or clockwise direction control.
Glossary © National Instruments Corporation G-3 NI 7350 User Manual D D A C digital-to-analog conv erter D A Q data acquisition dedicated Assigned to a particular function. DGND Digital ground sign al. digital I/O port Group of digital input/output signals.
Glossary NI 7350 User Manual G-4 ni.com following error trip point The dif ference between the instantane ous commanded trajectory position and the feedback position.
Glossary © National Instruments Corporation G-5 NI 7350 User Manual K k kilo—The standard metric prefix for 1,000, or 10 3 , used with un its of measure such as v olts, hertz, and meters. K kilo—The prefix for 1,024, or 2 10 , used with byte (B) in quantifying d ata or computer memory .
Glossary NI 7350 User Manual G-6 ni.com O open collector A met hod of output capable of sinking current, but not sourcing current. open-loop A motion control system where no external sensors (feedback de vices) are used to provide position or velocity correction signals.
Glossary © National Instruments Corporation G-7 NI 7350 User Manual Q quadrature counts Encoder line resolution multiplied by four . R relati v e breakpoi nt (position compare) Sets the position breakpoint for an encoder in rel ati ve quadrature counts.
Glossary NI 7350 User Manual G-8 ni.com T otem Pole A method of output capable of sinking and sourcin g current. trapezoidal profile A typical motion trajectory , where a mo tor accelerates up to the .
© National Instruments Corporation I-1 NI 7350 User Manual Index Symbols +5 V signal. See Host +5 V signal Numerics 7350 controller configuration, 2-1 digital I/O connector axes 1–4 (figure), 5-15 .
Index NI 7350 User Manual I-2 ni.com Axis <1..8> Forward Limit Switch signal description (table), 5-4 purpose and use, 5-6 Axis <1..8> Home Switch signal description (table), 5-4 purpose and use, 5-6 Axis <1..8> Inhibit signal description (table), 5-4 purpose and use, 5-6 Axis <1.
Index © National Instruments Corporation I-3 NI 7350 User Manual PWM features, 5-17 specifications, A-7 documentation conventions used in manual, ix NI resources, D-1 related documentation, x drivers.
Index NI 7350 User Manual I-4 ni.com K KnowledgeBase, D-1 L LabVIEW software, 1-3 limit and hom e inputs Axis <1..8> Forward Limit Input, 5 -6 Axis <1.
Index © National Instruments Corporation I-5 NI 7350 User Manual physical specifications, A-8 power requirement specifications, A-8 processor, 4-1 programming examples (NI resources), D-1 pulse width.
Index NI 7350 User Manual I-6 ni.com W Web resources, D-1 wiring concerns analog inputs, 5-13 breakpoint (position com pare) outputs, 5-11 encoder signals, 5-9 limit and hom e inputs, 5-7 optocoupler .
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