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 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 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. 1 1 5 4 3 2 6 3 2 4 5 6 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. 1 2 3 4 5 6 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 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. *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.