NI NIMCA-7790Y 4-axis position (pulse) command motion controller Datasheet

4-Axis Position (Pulse) Command Motion Controller
NI PCI-7390
• 4-axis motion controller with direct
connectivity to Yaskawa Sigma II,
Mitsubishi MR-J2S, and Panasonic
Minas A drives
• Built-in optical isolation for protection
against ground loops, spikes, and surges
• 8 DI, 8 DO general-purpose isolated
24 V digital lines
• Programmable velocity and acceleration
parameters for trapezoidal and S-curve
velocity profiles
• Position capture inputs and
position compare outputs
for I/O synchronization
• Easy application development with
NI LabVIEW, NI Motion Assistant, C,
and Visual Basic
Operating Systems
• Windows Vista/XP/2000
• LabVIEW Real-Time ETS
Recommended NI Software
•
•
•
•
LabVIEW
NI Motion Assistant
LabWindows™/CVI
Measurement Studio
Driver Software (included)
• NI-Motion
Overview
The NI PCI-7390 is a position (pulse) command stepper motion controller
with isolation designed for use with drives that accept position (p-)
command mode or step (pulse) command input. The PCI-7390 has
accessories specifically designed for direct connectivity to Yaskawa
Sigma II, Mitsubishi MR-J2S, and Panasonic Minas A drives. The
PCI-7390 provides fully programmable motion control for up to four
independent or coordinated axes of motion. It features dedicated motion
I/O for limit and home switches and additional I/O for general-purpose
functions such as in-position, inhibit input/drive alarm, and servo ready.
You can use the PCI-7390 controller for point-to-point and straight-line
vector moves. The PCI-7390 also performs arbitrary and complex motion
trajectories through circular, spherical, or helical interpolation. The
PCI-7390 uses quadrature encoders for position and velocity feedback
(closed-loop only) and provides advanced encoder functions such as trigger
(position capture) inputs and breakpoint (position compare) outputs.
Software
The PCI-7390 is shipped with the NI-Motion driver, which includes a VI
library for NI LabVIEW software and functions for NI LabWindows/CVI,
C, and Visual Basic. For other languages, you can execute all setup and
motion control functions by calling into a dynamic link library (DLL). The
NI-Motion VI library implements the full API, along with a useful set
of example programs. The NI-Motion software also includes a series
of example programs for use with ANSI C-based LabWindows/CVI.
NI Motion Assistant offers a point-and-click interface for creating motion
control sequences quickly and easily. When you have created a motion
task, you can use NI Motion Assistant to generate the task in LabVIEW
or C code or code recipes to speed up development.
Hardware
The PCI-7390 is a high-performance controller that uses an advanced
dual-processor architecture including a 32-bit CPU combined with a
digital signal processor (DSP) and a custom field-programmable gate
array (FPGA). The PCI-7390 uses the DSP for all closed-loop control and
motion trajectory generation. The DSP chip is complemented by a
custom FPGA that performs the high-speed encoder interfacing, position
capture (trigger) input and position compare (breakpoint) output functions,
motion I/O processing, and pulse generation for hard real-time
functionality. The embedded CPU runs a multitasking, real-time OS
and handles host communications, command processing, multiaxis
interpolation, error handling, general-purpose digital I/O, and overall
motion system integration functions.
The PCI-7390 also offers high-performance encoder features such
as position capture triggers and position compare breakpoints for highspeed synchronization of motion with actuators, sensors, and other parts
of the complete motion system. You can program a position compare output
to transition when the associated encoder value equals the breakpoint
position. You can use a breakpoint output to directly control actuators or
as a trigger to synchronize data acquisition or other functions in the
motion control system.
4-Axis Position (Pulse) Command Motion Controller
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
DIO Lines
Maximum Step Output Rate/Encoder Input Rate
Programming API
Software
The 100-pin SCSI I/O connector provides all the signals for four axes
of closed-loop motion control, including encoder feedback, limit and home
inputs, breakpoint (position compare) outputs, trigger (position capture)
inputs, inhibit (alarm) inputs, and in-position inputs. The connector also
can provide shutdown (emergency stop) input, drive (servo) ready inputs,
inhibit (drive enable) outputs, alarm clear outputs, and general-purpose
inputs and outputs. All inputs and outputs are optically isolated.
The PCI-7390 incorporates the NI RTSI bus, which provides high-speed
connectivity among National Instruments products, including image
acquisition and data acquisition products. Using the RTSI bus, you can
easily synchronize several functions to a common trigger or timing event
across multiple motion, image, or data acquisition devices.
NI PCI-7390
4
PCI
3
3
3
–
–
–
1
8 input, 8 output
4 MHz/4 MHz
NI-Motion Driver
NI Motion Assistant,
NI LabVIEW, C, Visual Basic
NI PCI-7390 100-Pin D-Sub Connector Pinout
Isolated +5V OUT
Isolated Ground
+24V IN
General-Purpose Output Supply
Axis 1 General-Purpose Output 0
Axis 1 General-Purpose Output 1/Axis 1 Inhibit-Out*
Axis 1 Encoder Phase A +
Axis 1 Encoder Phase A Axis 1 Encoder Phase B +
Axis 1 Encoder Phase B Axis 1 Index (Encoder Phase Z) +
Axis 1 Index (Encoder Phase Z) Isolated Ground
Axis 1 Step (CW) +
Axis 1 Step (CW) Axis 1 Dir (CCW) +
Axis 1 Dir (CCW) Axis 1 Breakpoint (Position Compare)
Axis 1 VI_COM
Axis 1 Trigger (Position Capture)
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 1 Home Switch
Axis 1 Inhibit-In (Alarm)
Axis 1 In-Position
Axis 1 General-Purpose Input 0
Axis 1 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
Isolated Ground
Axis 2 General-Purpose Output 1/Axis 2 Inhibit-Out*
Axis 2 Encoder Phase A +
Axis 2 Encoder Phase A Axis 2 Encoder Phase B +
Axis 2 Encoder Phase B Axis 2 Index (Encoder Phase Z) +
Axis 2 Index (Encoder Phase Z) Isolated Ground
Axis 2 Step (CW) +
Axis 2 Step (CW) Axis 2 Dir (CCW) +
Axis 2 Dir (CCW) Axis 2 Breakpoint (Position Compare)
Axis 2 VI_COM
Axis 2 Trigger (Position Capture)
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 2 Home Switch
Axis 2 Inhibit-In (Alarm)
Axis 2 In-Position
Axis 2 General-Purpose Input 0
Axis 2 General-Purpose Input1*/Axis 4 Drive (Servo) Ready
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Isolated +5V OUT
Isolated Ground
Axis 2 General-Purpose Output 0
Axis 3 General-Purpose Output 0
Axis 4 General-Purpose Output 0
Axis 3 General-Purpose Output 1/Axis 3 Inhibit-Out*
Axis 3 Encoder Phase A +
Axis 3 Encoder Phase A Axis 3 Encoder Phase B +
Axis 3 Encoder Phase B Axis 3 Index (Encoder Phase Z) +
Axis 3 Index (Encoder Phase Z) Isolated Ground
Axis 3 Step (CW) +
Axis 3 Step (CW) Axis 3 Dir (CCW) +
Axis 3 Dir (CCW) Axis 3 Breakpoint (Position Compare)
Axis 3 VI_COM
Axis 3 Trigger (Position Capture)
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 3 Home Switch
Axis 3 Inhibit-In (Alarm)
Axis 3 In-Position
Axis 3 General-Purpose Input 0
Axis 3 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
Isolated Ground
Axis 4 General-Purpose Output 1/Axis 4 Inhibit-Out*
Axis 4 Encoder Phase A +
Axis 4 Encoder Phase A Axis 4 Encoder Phase B +
Axis 4 Encoder Phase B Axis 4 Index (Encoder Phase Z) +
Axis 4 Index (Encoder Phase Z) Isolated Ground
Axis 4 Step (CW) +
Axis 4 Step (CW) Axis 4 Dir (CCW) +
Axis 4 Dir (CCW) Axis 4 Breakpoint (Position Compare)
Axis 4 VI_COM
Axis 4 Trigger (Position Capture)
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Axis 4 Home Switch
Axis 4 Inhibit-In (Alarm)
Axis 4 In-Position
Axis 4 General-Purpose Input 0
Axis 4 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
NI PCI-7390 100-Pin D-Sub Connector Pinout
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
2
4-Axis Position (Pulse) Command Motion Controller
Direct Connectivity to Yaskawa
Sigma II Drives
Direct Connectivity to Panasonic
Minas A Drives
The NI MCA-7790Y accessory connects the PCI-7390 and Yaskawa
Sigma II drives. To connect a Yaskawa drive to the PCI-7390, connect
a 50-pin cable from the drive to the MCA-7790Y, an SCSI 100-pin cable
(included) from the MCA-7790Y to the PCI-7390, and a 24 V power
supply to the MCA-7790Y.
The NI MCA-7790P accessory connects the PCI-7390 and Panasonic
Minas A drives. To connect a Panasonic drive to the PCI-7390, connect
a 50-pin cable from the drive to the MCA-7790P, an SCSI 100-pin cable
(included) from the MCA-7790P to the PCI-7390, and a 24 V power supply
to the MCA-7790P.
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193615B-01
1. Yaskawa Sigma II Series Drive
2. 50-Pin Cable
3. NI MCA-7790Y
1. Panasonic Minas A Series Drive
2. 50-Pin Cable
3. NI MCA-7790P
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
Direct Connectivity to Mitsubishi
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
J2S Series Drives
Connectivity to Other Drives with
Position (Pulse) Command Input
The NI MCA-7790M accessory connects the PCI-7390 and Mitsubishi
MR-J2S drives. To connect a Mitsubishi drive to the PCI-7390, connect
two 20-pin cables from the drive to the MCA-7790M, an SCSI 100-pin
cable (included) from the MCA-7790M to the PCI-7390, and a 24 V power
supply to the MCA-7790M.
You can use the CB-100 kit to connect the PCI-7390 motion controller to
other drives that accept a position (pulse) command input. Connect the
PCI-7390 to the two CB-50 connector blocks with an R1005050 cable
(terminal blocks and cable included in the CB-100 kit). Wire the drive to
the screw terminals on the CB-50 connector blocks.
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B
Ordering Information
A
NI PCI-7390............................................................................779034-01
1. Mitsubishi MR-J2S Series Drive
2. 20-Pin Cables
3. NI MCA-7790M
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
Accessories
NI MCA-7790Y kit (for Yaskawa drives) ..............................779611-01
NI MCA-7790M kit (for Mitsubishi drives) ..........................779612-01
NI MCA-7790P kit (for Panasonic drives)..............................779613-01
CB-100 kit (for other drives) ..................................................777812-01
NI Motion Assistant ..............................................................778553-01
20-pin cable.......................................................................... 194466-02
50-pin cable ..........................................................................194604-02
BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S.) or go to ni.com/info and
enter pci7390.
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
3
4-Axis Position (Pulse) Command Motion Controller
Digital I/O
Specifications
Inputs................................................... 8, sinking or sourcing
Outputs................................................ 8, sinking or sourcing
Performance
Trajectory update rate range ..............
Maximum update rate ....................
4-axis update rate ..........................
Multiaxis synchronization...................
Trajectory parameters
Absolute position range .................
Maximum relative move size .........
S-curve time range .........................
Following error range .....................
Velocity range .................................
Acceleration/deceleration..............
Stepper outputs
Maximum pulse rate ......................
Minimum pulse width ....................
Step output mode ...........................
Voltage range .................................
62.5 to 500 µs/sample
62.5 µs/axis
250 µs total
<1 update period
±231 steps
±231 steps
1 to 32,767 samples
1 to 32,767 counts
1 to 4,000,000 steps/s
244 to 512,000,000 steps/s2
at a PID update rate of 250 µs
Bus Power Requirements
+5 V (±5%)........................................... 600 mA maximum
+12 V (±5%)......................................... 50 mA maximum
Physical Characteristics
Dimensions.......................................... 17.8 by 9.9 cm (7.03 by 3.9 in.)
Motion I/O connector.......................... 100-pin SCSI
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity ................................ 10 to 90%, noncondensing
4 MHz (full, half, and microstep)
50 ns at 4 MHz
Step and direction or CW/CCW
0 to 5 V optically isolated
System Reset
Watchdog timer function.................... Resets board to startup state
Motion I/O
Quadrature encoder inputs
Maximum count rate ...................... 4 MHz quadrature
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger (position capture) inputs......... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint (position compare) outputs.. 4 (one per axis)
Maximum repetitive rate................ 100 Hz
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
4
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*351586B-01*
351586B-01
2008-9719-341-101-D
©2008 National Instruments. All rights reserved. CVI, LabVIEW, National Instruments, National Instruments Alliance Partner, NI, ni.com, NI-Motion, NI Motion Assistant, RTSI, 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.
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