NI NIPCI-7358 High-performance stepper/servo motion controller Datasheet

High-Performance Stepper/Servo Motion Controllers
NI 735x
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Up to 8 axes of motion
Configurable stepper or servo control
Up to 4 MHz stepper output rate
62 µs PID loop update rate for up to 2 axes
3D linear and circular interpolation
3D contouring
Sinusoidal commutation for
brushless motors
• Buffered breakpoints for
high-speed integration
• 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
NI 735x PCI and PXI stepper and servo motion controllers are for machine
builders and users who need the highest performance and a high-axis
count in a small space. The NI PXI-7358 is the first 8-axis stepper or servo
motion controller packaged as a 1-slot 3U PXI module. It offers many
advanced features, including sinusoidal commutation for brushless motors.
NI 735x motion controllers are available in 2-, 4-, 6-, and 8-axis versions
for PXI and PCI.
Synchronizing Multiple Axes for
Parallel Mechanism Applications
Because NI 735x controllers can control up to eight axes, they are ideal
for high-axis parallel mechanisms where all axes need to be tightly
synchronized. Using the NI-Motion driver software, you can start all axes
at once and have each axis follow the acceleration and velocity profiles
you have defined. This is useful when working with parallel mechanisms
such as hexapods when the axes must move simultaneously.
Motion Control and LabVIEW Real-Time
Static-Friction Compensation
Many motion applications require very high reliability and integration
with other types of I/O. NI PXI motion controllers are compatible with
the NI LabVIEW Real-Time Module, with which you can create an
integrated motion and I/O system that runs embedded in a real-time OS.
A PXI motion controller with a PXI RT Series controller can run LabVIEW
Real-Time and function as a stand-alone Ethernet-based motion controller.
With this technology, you can create distributed motion control systems
that integrate tightly with data acquisition or vision.
The frictional force present before an object starts moving is called static
friction. Static friction is often higher than dynamic friction (frictional
force present during motion) and if the difference between the two is
large enough, it can make the system difficult to tune. The static-friction
compensation feature of the NI 735x motion controllers compensates for
this difference in friction for easier tuning and precise control. Piezoelectric
systems exhibit high static friction and can benefit from the static friction
compensation feature of the NI 7350 series motion controllers. In addition,
to help you tune your system, NI offers the free Piezo Tuning Wizard.
After tuning your system using the Piezo Tuning Wizard, you can easily
program the system using LabVIEW software and NI Motion Assistant
just as you would program any other system.
I/O Capabilities
NI 735x motion controllers have diverse I/O that is useful in many motion
applications. You can use the 64 bits of digital I/O for a wide variety of
applications such as opening or closing valves or turning on and off
solid-state relays using the SSR adapter. These motion controllers also
have eight channels of 16-bit analog I/O useful for reading potentiometers
or other analog measurements.
High-Performance Stepper/Servo Motion Controllers
Sinusoidal Commutation
Brushless servo motors require sinusoidal commutation. Although many
advanced motor drives have built-in commutation capability, many lowercost drives require the motion controller to provide commutation. With
sinusoidal commutation, offered by the NI 7350, you can obtain the
smoothest possible motion with a brushless servo motor and a lower
cost drive.
Note that when using the sinusoidal commutation feature, use two
axis resources for each drive you connect to. This is because two analog
outputs are needed to provide the commutation.
Increasing Integration Speed with New
Breakpoint and High-Speed Capture
Enhancements
NI 7350 series motion controllers offer buffered breakpoints for precise
timing between motion and measurements or vision. Using this feature,
you can send a buffer of position breakpoints to the controller that
trigger a digital signal upon reaching the positions in the buffer. Buffered
breakpoints can trigger at rates as high as 2 kHz. For equally spaced
positions, you can use periodic breakpoints to achieve even higher
speeds of up to 4 MHz. With periodic breakpoints, you supply a position
modulus. Each time the position reaches that modulus position, the
breakpoint triggers. Another new feature that enhances integration
speed is the new buffered high-speed position capture for NI 735x
controllers. This feature captures positions based on a trigger from an
external source or from a data acquisition or machine vision device. The
high-speed capture can capture positions at rates of up to 2 kHz per axis.
Additional Features
For the NI 735x controllers, your PID update rate can be 62.5 µs for up to
two axes. This means that for multiaxis applications, the PID rates can
be twice as fast as those for previous boards. An NI 735x also has
increased resolution for analog-to-digital conversion, giving you high
resolution for analog position feedback.
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 735x
2, 4, 6, 8
PCI, CompactPCI/PXI
3
3
3
3
3
3
2
2/64/16-bit
8 MHz/20 MHz
NI-Motion Driver
NI Motion Assistant,
NI LabVIEW, C, Visual Basic
NI 7350 Motion I/O 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
Digital Ground
Axis 4 Home Switch
Trigger 4
Axis 4 Inhibit
Digital Ground
Breakpoint 1
Breakpoint 3
Digital Ground
Analog Output 1
Analog Output 3
Analog Output Ground
Analog Input 1
Analog Input 3
Analog Reference (Output)
1
35
2
3
4
5
6
36
37
38
39
40
7
8
9
10
11
12
13
14
41
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43
44
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46
47
48
15 49
16
17
18
19
20
50
51
52
53
54
21 55
22 56
23 57
24
25
26
27
58
59
60
61
28 62
29 63
30
31
32
33
64
65
66
67
34 68
Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Host +5 V
Breakpoint 2
Breakpoint 4
Shutdown
Analog Output 2
Analog Output 4
Reserved
Analog Input 2
Analog Input 4
Analog Input Ground
Motion I/O Connector for Axes 1-4
Axis 5 Dir (CCW)
Digital Ground
Digital Ground
Axis 5 Home Switch
Trigger 5
Axis 5 Inhibit
Axis 6 Dir (CCW)
Digital Ground
Digital Ground
Axis 6 Home Switch
Trigger 6
Axis 6 Inhibit
Axis 7 Dir (CCW)
Digital Ground
Digital Ground
Axis 7 Home Switch
Trigger 7
Axis 7 Inhibit
Axis 8 Dir (CCW)
Digital Ground
Digital Ground
Axis 8 Home Switch
Trigger 8
Axis 8 Inhibit
Digital Ground
Breakpoint 5
Breakpoint 7
Digital Ground
Analog Output 5
Analog Output 7
Analog Output Ground
Analog Input 5
Analog Input 7
Analog Reference (Output)
1
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3
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5
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35 Axis 5 Step (CW)
36 Axis 5 Encoder Phase A
37 Axis 5 Encoder Phase B
38 Axis 5 Encoder Index
39 Axis 5 Forward Limit Switch
40 Axis 5 Reverse Limit Switch
41 Axis 6 Step (CW)
42 Axis 6 Encoder Phase A
43 Axis 6 Encoder Phase B
44 Axis 6 Encoder Index
45 Axis 6 Forward Limit Switch
46 Axis 6 Reverse Limit Switch
47 Axis 7 Step (CW)
48 Axis 7 Encoder Phase A
49 Axis 7 Encoder Phase B
50 Axis 7 Encoder Index
51 Axis 7 Forward Limit Switch
52 Axis 7 Reverse Limit Switch
53 Axis 8 Step (CW)
54 Axis 8 Encoder Phase A
55 Axis 8 Encoder Phase B
56 Axis 8 Encoder Index
57 Axis 8 Forward Limit Switch
58 Axis 8 Reverse Limit Switch
59 Host +5 V
60 Breakpoint 6
61 Breakpoint 8
62 Shutdown
63 Analog Output 6
64 Analog Output 8
65 Reserved
66 Analog Input 6
67 Analog Input 8
68 Analog Input Ground
Motion I/O Connector for Axes 5-8
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2
High-Performance Stepper/Servo Motion Controllers
NI 7350 Digital I/O Connector Pinouts
(two 68-pin VHDCI connectors)
+5 V
PCLK
Reserved
Reserved
PWM1
Reserved
Reserved
Reserved
PWM2
Port 1:bit 0
Digital Ground
Port 1:bit 3
Port 1:bit 4
Digital Ground
Port 1:bit 7
Port 2:bit 0
Port 2:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 2:bit 6
Port 2:bit 7
Port 3:bit 0
Digital Ground
Port 3:bit 3
Port 3:bit 4
Digital Ground
Port 3:bit 7
Port 4:bit 0
Digital Ground
Axis 1, Hall 2/Port 4:bit 3
Axis 1, Hall 3/Port 4:bit 4
Digital Ground
Axis 2, Hall 3/Port 4:bit 7
1
35
2
3
4
36
37
38
5
6
39
40
7
8
41
42
9
43
10 44
11 45
12 46
13 47
14 48
15 49
16 50
17 51
18 52
19
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22
23
24
25
26
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28
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31
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34
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
Digital Ground
Digital Ground
Digital Ground
DPull (P1:P4)
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/Axis 1, Hall 1
Digital Ground
Port 4:bit 5/Axis 2, Hall 1
Port 4:bit 6/Axis 2, Hall 2
Digital Ground
+5 V
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Port 5:bit 0
Digital Ground
Port 5:bit 3
Port 5:bit 4
Digital Ground
Port 5:bit 7
Port 6:bit 0
Port 6:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 6:bit 6
Port 6:bit 7
Port 7:bit 0
Digital Ground
Port 7:bit 3
Port 7:bit 4
Digital Ground
Port 7:bit 7
Port 8:bit 0
Digital Ground
Axis 3, Hall 2/Port 8:bit 3
Axis 3, Hall 3/Port 8:bit 4
Digital Ground
Axis 4, Hall 3/Port 8:bit 7
1
35
2
3
4
36
37
38
5
6
39
40
7
8
41
42
9
43
10 44
11 45
12 46
13 47
14 48
15 49
16 50
17 51
18 52
19
20
21
22
23
24
25
26
27
28
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30
31
32
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34
53
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58
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60
61
62
63
64
65
66
67
68
Digital Ground
Digital Ground
Digital Ground
DPull (P5:P8)
Digital Ground
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 5:bit 1
Port 5:bit 2
Digital Ground
Port 5:bit 5
Port 5:bit 6
Digital Ground
Digital Ground
Port 6:bit 2
Port 6:bit 3
Port 6:bit 4
Port 6:bit 5
Digital Ground
Digital Ground
Port 7:bit 1
Port 7:bit 2
Digital Ground
Port 7:bit 5
Port 7:bit 6
Digital Ground
Port 8:bit 1
Port 8:bit 2/Axis 3, Hall 1
Digital Ground
Port 8:bit 5/Axis 4, Hall 1
Port 8:bit 6/Axis 4, Hall 2
Digital Ground
Digital I/O Connector for Axes 5-8
Digital I/O Connector for Axes 1-4
Ordering Information
NI PXI-7358 (8-axis)
NI PXI-7356 (6-axis)
NI PXI-7354 (4-axis)
NI PXI-7352 (2-axis)
NI PCI-7358 (8-axis)
NI PCI-7356 (6-axis)
NI PCI-7354 (4-axis)
NI PCI-7352 (2-axis)
..............................................................778540-08
..............................................................778540-06
..............................................................778540-04
..............................................................778540-02
..............................................................778440-08
..............................................................778440-06
..............................................................778440-04
..............................................................778440-02
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
Includes NI-Motion software libraries and examples.
Accessories
NI Motion Assistant ..............................................................778553-01
Wiring Interfaces
NI UMI-7764......................................................................777978-02
NI UMI-7772......................................................................778556-01
NI UMI-7774......................................................................778558-01
BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S.) or go to ni.com/infoandenter ni7350.
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)
3
High-Performance Stepper/Servo Motion Controllers
Digital I/O
Specifications
Performance
PID update rate range.........................
Maximum PID update rate .............
8-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
Ports .................................................... 8, 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
±231 counts
±231 counts
1 to 32,767 samples
±32,767 counts
Servo: 1 to ±20,000,000 counts/s
Stepper: 1 to 8,000,000 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 ...................... 8 MHz (full, half, and microstep)
Minimum pulse width .................... 50 ns at >4 MHz
Step output mode ........................... Step and direction or CW/CCW
Voltage range ................................. 0 to 5 V
+3.3 V (±10%)......................................
+5 V (±5%)...........................................
+12 V (±5%).........................................
-12 V (±10%) .......................................
Power consumption ............................
System Safety
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity range...................... 10 to 90% (noncondensing)
Watchdog timer function.................... Resets board to startup state
Shutdown input................................... Disable all axes and
command outputs
2A
2A
30 mA
0 mA
18 W, maximum
Physical
Dimensions (not including connectors)
PXI................................................... 16 by 10 cm (6.3 by 3.9 in.)
PCI................................................... 17.5 by 9.9 cm (6.9 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
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............................ 24 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger (position capture) inputs......... 8 (one per axis)
Maximum buffered capture rate1 ... 2 kHz per axis
Breakpoint (position compare) outputs.. 8 (one per axis),
programmable polarity
Maximum periodic rate .................. 4 MHz
Maximum buffered trigger rate1 .... 2 kHz per axis
Inhibit/enable output .......................... 8 (one per axis),
programmable polarity
Analog inputs...................................... up to 8, 16-bit resolution,
±10 V range, 25 µs scan rate
Analog outputs.................................... 8, 16-bit resolution, ±10 V range
1Assumes
a PID update rate of 250 µs. 2 kHz per axis for PID rates between 62.5 and 250 µs,
and 1 kHz per axis for PID rates greater than 250 µs. This value must not exceed 8 kHz total for
all ongoing buffered breakpoint (position compare) and trigger (position capture) operations.
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4
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*351600A-01*
351600A-01
2008-9716-341-101-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
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