NI NI734X Mid-range stepper/servo motion controller Datasheet

Mid-Range Stepper/Servo Motion Controllers
NI 734x
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Up to 4 axes of motion
Configurable stepper or servo control
Up to 4 MHz stepper output rate
3D linear and circular interpolation
3D contouring
62 µs PID loop update rate
Patented step generation technology
for smooth stepper motion
Operating Systems
• Windows Vista/XP/2000
• LabVIEW Real-Time
Recommended NI Software
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LabVIEW
NI Motion Assistant
LabWindows™/CVI
Measurement Studio
Other Compatible Software
• Visual Basic
• C/C++
Driver Software (included)
• NI-Motion
Overview and Applications
Distributed Control with LabVIEW Real-Time
NI 734x motion controllers are for end users and machine builders who
need to develop powerful applications quickly and easily. With the
proper drive, you can use NI 734x motion controllers for stepper/servo
motor control and piezoelectric control. These controllers also have four
general-purpose analog inputs that you can use in simple application
monitoring or as feedback for closed-loop control.
You can use the NI-Motion driver software with the NI LabVIEW Real-Time
Module. With this technology, you can create powerful, distributed
motion control systems using a PXI RT Series controller, the LabVIEW
Real-Time Module, and a PXI-734x motion controller. You can program
this type of system using LabVIEW on a separate computer. The main
advantages of a real-time system are high reliability and the capability
to create powerful distributed motion control solutions that connect to
the main PC using standard Ethernet.
Features
NI 734x controllers offer advanced features such as blended motion
trajectory control and fully coordinated circular, linear, point-to-point,
gearing, and vector-space control in either embedded motion operation
or host-centric programming environments. NI also provides contouring
capability for more complex moves. NI 734x controllers use a highperformance motion controller architecture. The CPU and DSP components
operate together to optimize closed-loop control, automate systems control,
and implement motion command processing functions. The onboard CPU
uses an embedded real-time operating system that has event-driven
multitasking control. With this state-of-the-art approach, several motion
control programs and processes can operate simultaneously on the
controller, independently of the host PC and with no outside program
interaction unless the host program or user configuration initiates it.
Feature
Number of Axes
PAC Platforms
Linear, Circular, Spherical, and
Helical Interpolation; Blending
Trapezoidal, S-Curve Profiles
Closed-Loop Stepper Control
Contouring, Electronic Gearing, Onboard Programming
Sinusoidal Commutation for Brushless Servo Motors
Buffered Breakpoints, Buffered High-Speed Capture,
4 MHz Periodic Breakpoints
Number of Axes per 62.5 µs PID Rate
PWM Lines/DIO Lines/Analog Input Resolution
Maximum Step Output Rate/Encoder Input Rate
Programming API
Software
NI 734x
2, 4
PCI, CompactPCI/PXI
3
3
3
3
–
–
1
2/32/12-bit
4 MHz/20 MHz
NI-Motion Driver
NI Motion Assistant, NI LabVIEW,
C, Visual Basic
Mid-Range Stepper/Servo Motion Controllers
NI 7340 Connector Pinouts
(two 68-pin VHDCI connectors)
Axis 1 Dir (CCW)
Digital Ground
Digital Ground
Axis 1 Home Switch
Trigger 1
Axis 1 Inhibit
Axis 2 Dir (CCW)
Digital Ground
Digital Ground
Axis 2 Home Switch
Trigger 2
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
Digital Ground
Axis 3 Home Switch
Trigger 3
Axis 3 Inhibit
Axis 4 Dir (CCW)
Digital Ground
1
2
3
4
5
6
7
8
35
36
37
38
39
40
41
42
Reserved
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
Reserved
PWM1
Reserved
Reserved
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Digital Ground
Axis 2 Reverse Limit Switch
Port 1:bit 3
Axis 3 Step (CW)
Axis 3 Encoder Phase A
Port 1:bit 4
16
17
18
19
20
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
50
51
52
53
54
Digital Ground
Port 1:bit 7
Port 2:bit 0
Port 2:bit 1
Axis 3 Encoder Phase B
Digital Ground
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
21 55
22 56
23 57
24 58
25 59
Axis 4 Forward Limit Switch
Breakpoint 1
Breakpoint 3
26 60
27 61
28 62
29 63
30 64
Breakpoint 2
Analog Input 1
31 65
32 66
Analog Input 3
Analog Reference (Output)
33 67
34 68
Reserved
Analog Input 2
Analog Input 4
Analog Output
Analog Output Ground
Reserved
PWM2
Port 1:bit 0
Axis 2 Encoder Phase A
9 43
10 44
11 45
12 46
13 47
14 48
15 49
Digital Ground
Axis 4 Home Switch
Trigger 4
Axis 4 Inhibit
Digital Ground
Digital Ground
Analog Output
+5 V
PCLK
Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Digital Ground
Digital Ground
Port 2:bit 6
Port 2:bit 7
Port 3:bit 0
Digital Ground
Port 3:bit 3
Axis 4 Reverse Limit Switch
Host +5 V
Breakpoint 4
Shutdown
Analog Output
Analog Output
Analog Input Ground
Motion I/O Connector
1
35
2
3
36
37
4
5
6
7
8
38
39
40
41
42
9
10
11
12
13
43
44
45
46
47
14 48
15 49
16 50
17 51
18 52
19 53
20 54
21 55
22 56
23 57
24 58
Port 3:bit 4
Digital Ground
25 59
26 60
27 61
Port 3:bit 7
Port 4:bit 0
28 62
29 63
Digital Ground
Port 4:bit 3
Port 4:bit 4
30 64
31 65
32 66
Digital Ground
Port 4:bit 7
33 67
34 68
Digital Ground
Digital Ground
Digital Ground
DPull
Digital Ground
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 1:bit 1
Port 1:bit 2
Digital Ground
Port 1:bit 5
Port 1:bit 6
Digital Ground
Digital Ground
Port 2:bit 2
Port 2:bit 3
Port 2:bit 4
Port 2:bit 5
Digital Ground
Digital Ground
Port 3:bit 1
Port 3:bit 2
Digital Ground
Port 3:bit 5
Port 3:bit 6
Digital Ground
Port 4:bit 1
Port 4:bit 2
Digital Ground
Port 4:bit 5
Port 4:bit 6
Digital Ground
Digital I/O Connector
Ordering Information
NI PCI-7342 (2 axes) ..............................................................778916-02
NI PCI-7344 (4 axes) ..............................................................778916-04
NI PXI-7342 (2 axes) ..............................................................779036-02
NI PXI-7344 (4 axes) ..............................................................779036-04
Includes NI-Motion software libraries and examples.
Accessories
NI Motion Assistant ..............................................................778553-01
Wiring Interfaces
UMI-7764 ..........................................................................777978-02
UMI-7772 ..........................................................................778556-01
UMI-7774 ..........................................................................778558-01
Power Drives
NI MID-7604......................................................................777936-01
NI MID-7602......................................................................778003-01
NI MID-7654......................................................................778005-01
NI MID-7652......................................................................778004-01
P70530 ..............................................................................780097-01
P70360...............................................................................780098-01
BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S.) or go to ni.com/info and
enter ni7340.
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
2
Mid-Range Stepper/Servo Motion Controllers
Digital I/O
Specifications
Performance
PID update rate range.........................
Maximum PID update rate .............
4-axis PID update rate....................
Multiaxis synchronization...................
Trajectory parameters
Absolute position range .................
Maximum relative move size .........
S-curve time range .........................
Following error range .....................
Velocity range .................................
Velocity range .................................
Acceleration/deceleration..............
62.5 to 500 µs/sample
62.5 µs/axis
250 µs total
<1 update sample
±231 counts
±231 counts
1 to 32,767 samples
±32,767 counts
Servo: 1 to ±20,000,000 counts/s
Stepper: 1 to 4,000,000 steps/s
244 to 512,000,000 counts/s2 at
a PID rate of 250 µs
Gear ratio........................................ ±32,767:1 to ±1:32,767
Servo-control loop modes................... PID, PIVff, S-curve, dual loop
PID (Kp, Ki, and Kd) gains............... 0 to 32,767
Stepper outputs
Maximum pulse rate ...................... 4 MHz (full, half, and microstep)
Minimum pulse width .................... 120 ns at >2 MHz
Step output mode ........................... Step and direction or CW/CCW
Voltage range ................................. 0 to 5 V
System Safety
Watchdog timer function.................... Resets board to startup state
Shutdown input................................... Disable all axes and
command outputs
Ports .................................................... 4, 8-bit TTL ports, bit
configurable, sink or source
24 mA outputs
Open-loop PWM outputs
Number of PWM outputs ............... 2, 50 kHz
Clock sources.................................. Internal or external
Power Requirements
PCI and PXI
+5 V (±3%) ......................................
+12 V (±3%) ....................................
-12 V (±10%) ...................................
Power consumption ........................
1A
30 mA
30 mA
5.7 W, maximum
Physical
Dimensions (not including connectors)
PCI................................................... 17.5 by 9.9 cm (6.9 by 3.9 in.)
PXI................................................... 16 by 10 cm (6.3 by 3.9 in.)
Connectors
Motion I/O connector ..................... 68-pin female high-density
VHDCI type
Digital I/O connector ...................... 68-pin female high-density
VHDCI type
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity range...................... 10 to 90% (noncondensing)
Motion I/O
Servo command analog outputs
Voltage range ................................. ±10 V, 16 bits (0.000305 V/LSB)
Programmable torque (velocity) limits and
programmable offset.................. ±10 V (-32,768 to +32,767)
Encoder inputs .................................... Quadrature, incremental,
single-ended
Maximum count rate ...................... 20 MHz
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger inputs ...................................... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint outputs.............................. 4 (one per axis),
programmable polarity
Maximum repetitive rate................ 100 Hz
Inhibit/enable output .......................... 4 (one per axis),
programmable polarity
Analog inputs...................................... 4, 12-bit resolution, ±10 V range,
25 µs scan rate/enabled channel
Analog outputs.................................... 4, 16-bit resolution, ±10 V range
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
3
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IN
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*351433B-01*
351433B-01
2008-9717-341-101-D
©2008 National Instruments. All rights reserved. CVI, LabVIEW, Measurement Studio, National Instruments, National Instruments Alliance Partner, NI, ni.com, NI-Motion, NI Motion
Assistant, and SCXI are trademarks of National Instruments. The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft
Corporation in the United States and other countries. Other product and company names listed are trademarks or trade names of their respective companies. A National Instruments
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