Mid-Range Stepper/Servo Motion Controllers NI 734x • • • • • • • 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 • • • • 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 IN TA PL AN MA IN NI Services and Support P DE LO Y EL OP SERVICE NEEDS V DE NI has the services and support to meet your needs around the globe and through the application life cycle – from planning and development through deployment and ongoing maintenance. We offer services and service levels to meet customer requirements in research, design, validation, and manufacturing. Visit ni.com/services. Training and Certification NI training is the fastest, most certain route to productivity with our products. NI training can shorten your learning curve, save development time, and reduce maintenance costs over the application life cycle. We schedule instructor-led courses in cities worldwide, or we can hold a course at your facility. We also offer a professional certification program that identifies individuals who have high levels of skill and knowledge on using NI products. Visit ni.com/training. Professional Services Our NI Professional Services team is composed of NI applications and systems engineers and a worldwide National Instruments Alliance Partner program of more than 600 independent consultants and integrators. Services range from start-up assistance to turnkey system integration. Visit ni.com/alliance. OEM Support We offer design-in consulting and product integration assistance if you want to use our products for OEM applications. For information about special pricing and services for OEM customers, visit ni.com/oem. ni.com • 800 813 3693 National Instruments • [email protected] Local Sales and Technical Support In offices worldwide, our staff is local to the country, giving you access to engineers who speak your language. NI delivers industry-leading technical support through online knowledge bases, our applications engineers, and access to 14,000 measurement and automation professionals within NI Developer Exchange forums. Find immediate answers to your questions at ni.com/support. We also offer service programs that provide automatic upgrades to your application development environment and higher levels of technical support. Visit ni.com/ssp. Hardware Services NI Factory Installation Services NI Factory Installation Services (FIS) is the fastest and easiest way to use your PXI or PXI/SCXI combination systems right out of the box. Trained NI technicians install the software and hardware and configure the system to your specifications. NI extends the standard warranty by one year on hardware components (controllers, chassis, modules) purchased with FIS. To use FIS, simply configure your system online with ni.com/pxiadvisor. Calibration Services NI recognizes the need to maintain properly calibrated devices for high-accuracy measurements. We provide manual calibration procedures, services to recalibrate your products, and automated calibration software specifically designed for use by metrology laboratories. Visit ni.com/calibration. Repair and Extended Warranty NI provides complete repair services for our products. Express repair and advance replacement services are also available. We offer extended warranties to help you meet project life-cycle requirements. Visit ni.com/services. *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 Alliance Partner is a business entity independent from NI and has no agency, partnership, or joint-venture relationship with NI.