National Instruments Switch 7340 PCI User Manual

Motion Control  
National Instruments 7340  
User Manual  
NI 7340 User Manual  
November 2003 Edition  
Part Number 370838A-01  
 
 
Important Information  
Warranty  
The National Instruments 7340 is warranted against defects in materials and workmanship for a period of one year from the date of shipment,  
as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective  
during the warranty period. This warranty includes parts and labor.  
The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects  
in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National  
Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives  
notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be  
uninterrupted or error free.  
A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before  
any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are  
covered by warranty.  
National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical  
accuracy. In the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent  
editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected.  
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shall not be liable for any delay in performance due to causes beyond its reasonable control. The warranty provided herein does not cover  
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Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying,  
recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National  
Instruments Corporation.  
Trademarks  
CVI, IMAQ, LabVIEW, Measurement Studio, National Instruments, NI, ni.com, NI-Motion, and RTSIare trademarks of  
National Instruments Corporation.  
Product and company names mentioned herein are trademarks or trade names of their respective companies.  
Patents  
For patents covering National Instruments products, refer to the appropriate location: Help»Patents in your software, the patents.txtfile  
on your CD, or ni.com/patents.  
WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS  
(1) NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF  
RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN  
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PROTECT AGAINST SYSTEM FAILURES, INCLUDING BUT NOT LIMITED TO BACK-UP OR SHUT DOWN MECHANISMS.  
BECAUSE EACH END-USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS' TESTING  
PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN  
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INCORPORATED IN A SYSTEM OR APPLICATION, INCLUDING, WITHOUT LIMITATION, THE APPROPRIATE DESIGN,  
PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION.  
 
Compliance  
FCC/Canada Radio Frequency Interference Compliance  
Determining FCC Class  
The Federal Communications Commission (FCC) has rules to protect wireless communications from interference. The FCC  
places digital electronics into two classes. These classes are known as Class A (for use in industrial-commercial locations only)  
or Class B (for use in residential or commercial locations). All National Instruments (NI) products are FCC Class A products.  
Depending on where it is operated, this Class A product could be subject to restrictions in the FCC rules. (In Canada, the  
Department of Communications (DOC), of Industry Canada, regulates wireless interference in much the same way.) Digital  
electronics emit weak signals during normal operation that can affect radio, television, or other wireless products.  
All Class A products display a simple warning statement of one paragraph in length regarding interference and undesired  
operation. The FCC rules have restrictions regarding the locations where FCC Class A products can be operated.  
FCC/DOC Warnings  
This equipment generates and uses radio frequency energy and, if not installed and used in strict accordance with the instructions  
in this manual and the CE marking Declaration of Conformity*, may cause interference to radio and television reception.  
Classification requirements are the same for the Federal Communications Commission (FCC) and the Canadian Department of  
Communications (DOC).  
Changes or modifications not expressly approved by NI could void the user's authority to operate the equipment under the FCC  
Rules.  
Class A  
Federal Communications Commission  
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC  
Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated  
in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and  
used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this  
equipment in a residential area is likely to cause harmful interference in which case the user is required to correct the interference  
at their own expense.  
Canadian Department of Communications  
This Class A digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.  
Cet appareil numérique de la classe A respecte toutes les exigences du Règlement sur le matériel brouilleur du Canada.  
Compliance to EU Directives  
Users in the European Union (EU) should refer to the Declaration of Conformity (DoC) for information pertaining to the CE  
marking. Refer to the Declaration of Conformity (DoC) for this product for any additional regulatory compliance information.  
To obtain the DoC for this product, visit ni.com/hardref.nsf, search by model number or product line, and click the appropriate  
link in the Certification column.  
*
The CE marking Declaration of Conformity contains important supplementary information and instructions for the user or  
installer.  
 
About This Manual  
Chapter 1  
RTSI ................................................................................................................1-2  
What You Need to Get Started ......................................................................................1-2  
National Instruments Application Software ..................................................................1-3  
Chapter 2  
Configuration and Installation  
Controller Configuration................................................................................................2-1  
Hardware Installation.....................................................................................................2-4  
Chapter 3  
Chapter 4  
Trajectory Generators......................................................................................4-2  
Analog Feedback.............................................................................................4-2  
Flash Memory..................................................................................................4-3  
Axes and Motion Resources ..........................................................................................4-3  
Axes.................................................................................................................4-3  
Motion Resources............................................................................................4-4  
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Contents  
Chapter 5  
Wiring Concerns............................................................................... 5-13  
Other Motion I/O Connection......................................................................... 5-14  
PWM Features................................................................................................. 5-16  
RTSI Connector............................................................................................................. 5-16  
RTSI Signal Considerations............................................................................ 5-17  
Appendix A  
Specifications  
Appendix B  
Technical Support and Professional Services  
Glossary  
Index  
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About This Manual  
This manual describes the electrical and mechanical aspects of the  
PXI/PCI-7340 and contains information about how to operate and program  
the device.  
The 7340 is designed for PXI, Compact PCI, and PCI bus computers  
Conventions  
The following conventions appear in this manual:  
<>  
Angle brackets that contain numbers separated by an ellipsis represent a  
range of values associated with a bit or signal name—for example,  
DIO<3..0>.  
»
The » symbol leads you through nested menu items and dialog box options  
to a final action. The sequence File»Page Setup»Options directs you to  
pull down the File menu, select the Page Setup item, and select Options  
from the last dialog box.  
The symbol indicates that the following text applies only to a specific  
product, a specific operating system, or a specific software version.  
This icon denotes a note, which alerts you to important information.  
This icon denotes a caution, which advises you of precautions to take to  
avoid injury, data loss, or a system crash.  
bold  
Bold text denotes items that you must select or click in the software, such  
as menu items and dialog box options. Bold text also denotes parameter  
names.  
italic  
Italic text denotes variables, emphasis, a cross reference, or an introduction  
to a key concept. This font also denotes text that is a placeholder for a word  
or value that you must supply.  
monospace  
Text in this font denotes text or characters that you should enter from the  
keyboard, sections of code, programming examples, and syntax examples.  
This font is also used for the proper names of disk drives, paths, directories,  
programs, subprograms, subroutines, device names, functions, operations,  
variables, filenames and extensions, and code excerpts.  
© National Instruments Corporation  
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About This Manual  
Related Documentation  
The following documents contain information you might find helpful as  
you read this manual:  
NI-Motion User Manual  
NI-Motion C Reference Help  
NI-Motion VI Reference Help  
NI 7340 User Manual  
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1
Introduction  
This chapter includes information about the features of the PXI/PCI-7340  
controller and information about operating the device.  
About the 7340 Controller  
The 7340 controller features advanced motion control with easy-to-use  
software tools and add-on motion VI libraries for use with LabVIEW.  
Features  
The 7340 is a combination servo and stepper motor controller for PXI,  
Compact PCI, and PCI bus computers. The 7340 provides fully  
programmable motion control for up to four independent or coordinated  
axes of motion, with dedicated motion I/O for limit and home switches and  
additional I/O for general-purpose functions.  
You can use the 7340 to perform arbitrary and complex motion trajectories  
using stepper motors or servo devices.  
Servo axes can control servo motors, servo hydraulics, servo valves, and  
other servo devices. Servo axes always operate in closed-loop mode. These  
axes use quadrature encoders or analog inputs for position and velocity  
feedback and provide analog command outputs with an industry-standard  
range of 10 V.  
Stepper axes can operate in open or closed-loop mode. In closed-loop  
mode, they use quadrature encoders or analog inputs for position and  
velocity feedback (closed-loop only), and provide step/direction or  
clockwise (CW) /counter-clockwise (CCW) digital command outputs.  
All stepper axes support full, half, and microstepping applications.  
Hardware  
The 7340 uses an advanced dual-processor architecture that uses a 32-bit  
CPU, combined with a digital signal processor (DSP) and custom field  
programmable gate arrays (FPGAs), making the controller a  
high-performance device. The first-in-first-out (FIFO) bus interface and  
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Chapter 1  
Introduction  
powerful function set provide high-speed communications while  
off-loading complex motion functions from the host PC for optimum  
command throughput and system performance.  
With the 7340, you can use full onboard programming to execute up to  
10 simultaneous motion programs.  
The 7340 features motion profiles that are controlled with enhanced  
PID/PIVff servo updates. Each axis has motion I/O for end-of-travel limit  
and home switch inputs, breakpoint output, trigger input, and encoder  
feedback. Refer to Appendix A, Specifications, for information about the  
feedback rates. The 7340 also has non-dedicated user I/O including 32 bits  
of digital I/O and four analog inputs for 10 V signals, joystick inputs, or  
monitoring of analog sensors. Additionally, the 7340 analog inputs can  
provide feedback for loop closure.  
RTSI  
The 7340 supports the National Instruments Real-Time System Integration  
(RTSI) bus. The RTSI bus provides high-speed connectivity between  
National Instruments products, including image acquisition (IMAQ) and  
data acquisition (DAQ) products. Using the RTSI bus, you can easily  
synchronize several functions to a common trigger or timing event across  
multiple motion, IMAQ, or DAQ devices.  
What You Need to Get Started  
To set up and use the 7340 controller, you must have the following items:  
NI PXI-7340 or PCI-7340 motion controller  
This manual  
NI-Motion 6.1 or later driver software and documentation  
One of the following software packages and documentation:  
LabVIEW 6.0 or later  
LabWindows/CVI™  
Measurement Studio  
C/C++  
Microsoft Visual Basic  
A computer with an available PXI or PCI slot  
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Introduction  
Software Programming Choices  
NI-Motion is a simple but powerful high-level application programming  
interface (API) that makes programming the 7340 easy. All setup and  
motion control functions are easily executed by calling into a  
dynamically-linked library (DLL). You can call these libraries from C,  
Microsoft Visual Basic, and other high-level languages. Full function sets  
are available for LabVIEW, LabWindows/CVI, and other  
industry-standard software programs.  
National Instruments Application Software  
LabVIEW is based on the graphical programming language, G, and  
features interactive graphics and a state-of-the-art user interface. In  
LabVIEW, you can create 32-bit compiled programs and stand-alone  
executables for custom automation, data acquisition, test, measurement,  
and control solutions. National Instruments offers the NI-Motion driver  
software support for LabVIEW, which includes a series of virtual  
instruments (VIs) for using LabVIEW with National Instruments motion  
control hardware. The NI-Motion VI library implements the NI-Motion  
API and a powerful set of demo functions; example programs; and fully  
operational, high-level application routines.  
ANSI C-based LabWindows/CVI also features interactive graphics and a  
state-of-the-art user interface. Using LabWindows/CVI, you can generate  
C code for custom data acquisition, test, and measurement and automation  
solutions. NI-Motion includes a series of sample programs for using  
LabWindows/CVI with National Instruments motion control hardware.  
Optional Equipment  
National Instruments offers a variety of products for use with the  
7340 controller, including the following accessories:  
Cables and cable assemblies for motion and digital I/O  
Universal Motion Interface (UMI) wiring connectivity blocks with  
integrated motion signal conditioning and motion inhibit functionality  
Stepper and servo motor compatible drive amplifier units with  
integrated power supply and wiring connectivity  
Connector blocks and shielded and unshielded 68-pin screw terminal  
wiring aids  
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Introduction  
For more specific information about these products, refer to the  
National Instruments catalog, the National Instruments Web site at  
ni.com, or call your National Instruments sales representative.  
Motion I/O Connections  
The external motion and digital I/O connectors on the 7340 are  
high-density, 68-pin female VHDCI connectors.  
For custom cables, use the AMP mating connector (part number  
787801-1).  
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2
Configuration and Installation  
This chapter describes how to configure and install the PXI/PCI-7340.  
Software Installation  
Before installing the 7340, install the NI-Motion driver software. Refer to  
the Getting Started with NI Motion Control manual, which is included with  
the controller, for specific installation instructions.  
Note If you do not install the NI-Motion driver software before attempting to use the  
7340, the system does not recognize the 7340 and you are unable to configure or use the  
device.  
Controller Configuration  
Because motion I/O-related configuration of the 7340 is performed entirely  
with software, it is not necessary to set jumpers for motion I/O  
configuration.  
The PXI-7340 and PCI-7340 controllers are fully compatible with the  
industry standard PXI Specification, Revision 2.0 and the PCI Local Bus  
Specification, Revision 2.2, respectively. This compatibility allows the PXI  
or PCI system to automatically perform all bus-related configuration and  
requires no user interaction. It is not necessary to configure jumpers for  
bus-related configuration, including setting the device base memory and  
interrupt channel.  
Safety Information  
Caution The following paragraphs contain important safety information you must follow  
when installing and operating the 7340 and all devices connecting to the 7340.  
Do not operate the device in a manner not specified in the documentation.  
Misuse of the device may result in a hazard and may compromise the safety  
protection built into the device. If the device is damaged, turn it off and do  
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Configuration and Installation  
not use it until service-trained personnel can check its safety. If necessary,  
return the device to National Instruments for repair.  
Keep away from live circuits. Do not remove equipment covers or shields  
unless you are trained to do so. If signal wires are connected to the device,  
hazardous voltages can exist even when the equipment is turned off. To  
avoid a shock hazard, do not perform procedures involving cover or shield  
removal unless you are qualified to do so. Disconnect all field power prior  
to removing covers or shields.  
If the device is rated for use with hazardous voltages (>30 Vrms, 42.4 Vpk,  
or 60 Vdc), it may require a safety earth-ground connection wire. Refer to  
the device specifications for maximum voltage ratings.  
Because of the danger of introducing additional hazards, do not install  
unauthorized parts or modify the device. Use the device only with the  
chassis, modules, accessories, and cables specified in the installation  
instructions. All covers and filler panels must be installed while operating  
the device.  
Do not operate the device in an explosive atmosphere or where flammable  
gases or fumes may be present. Operate the device only at or below the  
pollution degree stated in the specifications. Pollution consists of any  
foreign matter—solid, liquid, or gas—that may reduce dielectric strength  
or surface resistivity. Pollution degrees are listed below.  
Pollution Degree 1—No pollution or only dry, nonconductive  
pollution occurs. The pollution has no effect.  
Pollution Degree 2—Normally only nonconductive pollution occurs.  
Occasionally, nonconductive pollution becomes conductive because of  
condensation.  
Pollution Degree 3—Conductive pollution or dry, nonconductive  
pollution occurs. Nonconductive pollution becomes conductive  
because of condensation.  
Note The 7340 is intended for indoor use only.  
Clean the device and accessories by brushing off light dust with a soft,  
nonmetallic brush. Remove other contaminants with a stiff, nonmetallic  
brush. The unit must be completely dry and free from contaminants before  
returning it to service.  
You must insulate signal connections for the maximum voltage for which  
the device is rated. Do not exceed the maximum ratings for the device.  
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Configuration and Installation  
Remove power from signal lines before connection to or disconnection  
from the device.  
Caution National Instruments measurement products may be classified as either  
Installation Category I or II. Operate products at or below the Installation Category level  
specified in the hardware specifications.  
Installation Category1: Measurement circuits are subjected to working  
voltages2 and transient stresses (overvoltage) from the circuit to which they  
are connected during measurement or test. Installation Category establishes  
standardized impulse withstand voltage levels that commonly occur in  
electrical distribution systems. The following is a description of Installation  
(Measurement3) Categories:  
Installation Category I is for measurements performed on circuits not  
directly connected to the electrical distribution system referred to as  
MAINS4 voltage. This category is for measurements of voltages from  
specially protected secondary circuits. Such voltage measurements  
include signal levels, special equipment, limited-energy parts of  
equipment, circuits powered by regulated low-voltage sources, and  
electronics.  
Installation Category II is for measurements performed on circuits  
directly connected to the electrical distribution system. This category  
refers to local-level electrical distribution, such as that provided by a  
standard wall outlet (e.g., 115 V for U.S. or 230 V for Europe).  
Examples of Installation Category II are measurements performed on  
household appliances, portable tools, and similar products.  
Installation Category III is for measurements performed in the building  
installation at the distribution level. This category refers to  
measurements on hard-wired equipment such as equipment in fixed  
installations, distribution boards, and circuit breakers. Other examples  
are wiring, including cables, bus-bars, junction boxes, switches,  
socket-outlets in the fixed installation, and stationary motors with  
permanent connections to fixed installations.  
Installation Category IV is for measurements performed at the primary  
electrical supply installation (<1,000 V). Examples include electricity  
1
2
3
4
Installation Categories as defined in electrical safety standard IEC 61010-1.  
Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation.  
Installation Category is also referred to as Measurement Category.  
MAINS is defined as the (hazardous live) electrical supply system to which equipment is designed to be connected for the  
purpose of powering the equipment. Suitably rated measuring circuits may be connected to the MAINS for measuring  
purposes.  
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Configuration and Installation  
meters and measurements on primary overcurrent protection devices  
and on ripple control units.  
Hardware Installation  
Install the 7340 in any open compatible expansion slot in the PXI or PCI  
system. Appendix A, Specifications, lists the typical power required for  
each controller.  
The following instructions are for general installation. Consult the  
computer user manual or technical reference manual for specific  
instructions and warnings.  
Caution The 7340 is a sensitive electronic device shipped in an antistatic bag. Open only  
at an approved workstation and observe precautions for handling electrostatic-sensitive  
devices.  
Note When adding or removing a controller from a Windows 2000/NT/XP system, you  
must be logged on with administrator-level access. After you have restarted the system, you  
may need to refresh Measurement & Automation Explorer (MAX) to view the new  
controller.  
PXI-7340  
1. Power off and unplug the chassis.  
Caution To protect yourself and the computer from electrical hazards, the computer must  
remain unplugged until the installation is complete.  
2. Choose an unused +3.3 V or +5 V peripheral slot and remove the filler  
panel.  
3. Touch a metal part on the chassis to discharge any static electricity that  
might be on your clothes or body. Static electricity can damage the  
controller.  
4. Insert the PXI controller into the chosen slot. Use the injector/ejector  
handle to fully inject the device into place.  
5. Screw the front panel of the PXI controller to the front panel mounting  
rails of the chassis.  
6. Visually verify the installation.  
7. Plug in and power on the chassis.  
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PCI-7340  
1. Power off and unplug the computer.  
Caution To protect yourself and the computer from electrical hazards, the computer must  
remain unplugged until the installation is complete.  
2. Remove the cover to expose access to the PCI expansion slots.  
3. Choose an unused 5 V PCI slot, and remove the corresponding  
expansion slot cover on the back panel of the computer.  
4. Touch a metal part on the computer case to discharge any static  
electricity that might be on your clothes or body before handling the  
controller. Static electricity can damage the controller.  
5. Gently rock the controller into the slot. The connection may be tight,  
but do not force the controller into place.  
6. If required, screw the mounting bracket of the controller to the back  
panel rail of the computer.  
7. Replace the cover.  
8. Plug in and power on the computer.  
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3
Hardware Overview  
This chapter presents an overview of the PXI/PCI-7340 hardware  
functionality.  
Figures 3-1 and 3-3 show the PXI-7340 and PCI-7340 parts locator  
diagrams, respectively.  
1
5
4
3
2
1
2
3
Serial Number Label  
DSP  
CPU  
4
5
68-Pin Digital I/O Connector  
68-Pin Motion I/O Connector  
Figure 3-1. PXI-7340 Parts Locator Diagram  
Note The PXI-7340 assembly number is located on the back of the PXI module.  
© National Instruments Corporation  
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Chapter 3  
Hardware Overview  
1
2
3
1
2
Identification Number Used in Australia  
Symbol Indicating FFC Compliance  
3
Symbol to Alert User to Read the Manual  
Figure 3-2. Symbols on the Back of the PXI-7340  
9
10  
1
2
3
8
7
4
5
ASSY186307D-01  
6
1
2
3
4
5
RTSI Connector  
Serial Number Label  
Symbol to Alert User to Read the Manual  
Symbol Indicating FFC Compliance  
Identification Number Used in Australia  
6
7
8
9
Assembly Number Label  
68-Pin Digital I/O Connector  
68-Pin Motion I/O Connector  
CPU  
10 DSP  
Figure 3-3. PCI-7340 Parts Locator Diagram  
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Chapter 3  
Hardware Overview  
The 68-pin motion I/O connector provides all the signals for four axes of  
closed-loop motion control, including encoder feedback, limit and home  
inputs, breakpoint outputs, trigger inputs, digital-to-analog (DAC), and  
analog-to-digital (ADC) converter signals. Refer to Chapter 5, Signal  
Connections, for details about the signals in the motion I/O connector.  
The 68-pin digital I/O connector provides 32 bits of user-configurable  
digital I/O. Refer to Chapter 5, Signal Connections, for details about the  
signals in the digital I/O connector.  
The PCI-7340 RTSI connector provides up to eight triggers to facilitate  
synchronization between multiple National Instruments products. The  
PXI-7340 RTSI-enabled connection provides up to eight triggers and one  
PXI star trigger to facilitate synchronization between multiple National  
Instruments PXI-enabled products. Typical applications of the RTSI bus  
include triggering an image acquisition or DAQ measurement based on  
motion events, or capturing current motion positions based on events  
external to the motion controller. You also can use the RTSI bus for general  
hardware-based communication between RTSI devices.  
The RTSI bus also can be used for general-purpose I/O. Refer to Chapter 5,  
Signal Connections, for details about RTSI connector signals.  
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4
Functional Overview  
This chapter provides an overview of motion control algorithms and the  
PXI/PCI-7340 controller.  
Dual Processor Architecture  
With the 7340, you can perform up to four axes of simultaneous,  
coordinated motion control in a preemptive, multitasking, real-time  
environment.  
An advanced dual-processor architecture that uses a 32-bit CPU combined  
with a digital signal processor (DSP) and custom FPGAs give the 7340  
high-performance capabilities. The FIFO bus interface and powerful  
function set provide high-speed communications while off-loading  
complex motion functions from the host PC for optimized system  
performance.  
The 7340 uses the DSP for all closed-loop control, including position  
tracking, PID control closed-loop computation, and motion trajectory  
generation. The DSP chip is supported by custom FPGAs that perform the  
high-speed encoder interfacing, position capture and breakpoint functions,  
motion I/O processing, and stepper pulse generation for hard real-time  
functionality.  
The embedded, multitasking real-time CPU handles host communications,  
command processing, multi-axis interpolation, onboard program  
execution, error handling, general-purpose digital I/O, and overall motion  
system integration functions.  
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Embedded Real-Time Operating System (RTOS)  
The embedded firmware is based on an embedded RTOS kernel and  
provides optimum system performance in varying motion applications.  
Motion tasks are prioritized. Task execution order depends on the priority  
of each task, the state of the entire motion system, I/O or other system  
events, and the real-time clock.  
The DSP chip is a separate processor that operates independently from  
the CPU but is closely synchronized. The 7340 is a true multiprocessing  
and multitasking embedded controller.  
The advanced architecture of the 7340 enables advanced motion features,  
such as enhanced PID functions. Refer to the NI-Motion User Manual for  
more information about the features available on the 7340.  
Trajectory Generators  
The 7340 trajectory generators calculate the instantaneous position  
command that controls acceleration and velocity while it moves the axis to  
its target position. Depending on how you configure the axis, this command  
is then sent to the PID servo loop or stepper pulse generator.  
To implement infinite trajectory control, the 7340 has eight trajectory  
generators implemented in the DSP chip (two per axis). Each generator  
calculates an instantaneous position for each PID update period. While  
simple point-to-point moves require only one trajectory generator,  
two simultaneous generators are required for blended moves and infinite  
trajectory control processing.  
Analog Feedback  
The 7340 has an 8-channel multiplexed, 12-bit ADC. The converted analog  
values are broadcast to both the DSP and CPU through a dedicated internal  
high-speed serial bus. The multiplexer provides the high sampling rates  
required for feedback loop closure, joystick inputs, or monitoring analog  
sensors. Refer to Appendix A, Specifications, for the multiplexer scan rate.  
Four of these channels are intended for calibration, leaving the other four  
available for analog feedback.  
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Flash Memory  
Nonvolatile memory on the 7340 is implemented with flash ROM, which  
means that the controllers can electrically erase and reprogram their own  
ROM. Because all the 7340 embedded firmware, including the RTOS and  
DSP code, is stored in flash memory, you can upgrade the onboard  
firmware contents in the field for support and new feature enhancement.  
Flash memory also allows objects such as programs and data arrays to be  
stored in non-volatile memory. It is possible to save the entire parameter  
state of the controller to the flash memory. On the next power cycle, the  
controller automatically loads and returns the configuration to these new  
saved default values.  
The FPGA configuration programs also are stored in the flash ROM.  
At power-up, the FPGAs are booted with these programs, which means  
that updates to the FPGA programs can be performed in the field.  
A flash memory download utility is included with the NI-Motion software  
that ships with the controller.  
Axes and Motion Resources  
The 7340 can control up to four axes of motion. The axes can be completely  
independent, simultaneously coordinated, or mapped in multidimensional  
groups called coordinate spaces. You also can synchronize coordinate  
spaces for multi-vector space coordinated motion control.  
Axes  
At a minimum, an axis consists of a trajectory generator, a PID (for servo  
axes) or stepper control block, and at least one output resource—either  
a DAC output (for servo axes) or a stepper pulse generator output. Servo  
axes must have either an encoder or ADC channel feedback resource.  
Closed-loop stepper axes also require a feedback resource, while open-loop  
stepper axes do not. Figures 4-1 and 4-2 show these axis configurations.  
With the 7340, you can map one or two feedback resources and one or two  
output resources to the axis. An axis with its primary output resource  
mapped to a stepper output is by definition a stepper axis. An axis with its  
primary output resource mapped to a DAC is by definition a servo axis.  
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101100111  
øA  
32-Bit  
Encoder  
Interface  
16-Bit  
D/A  
Converter  
PID  
Servo 11101101100  
Loop  
0101011101101  
øB  
10 V  
101100111  
Index  
Figure 4-1. Servo Axis Resources  
Trajectory  
Generator  
101100111  
øA  
Stepper  
Pulse  
Generator  
Stepper  
Control  
Loop  
32-Bit  
Encoder  
Interface  
010010110  
01011010  
Optional  
101100111  
Index  
Figure 4-2. Stepper Axis Resources  
The 7340 supports axes with secondary output resources, such as DACs for  
servo axes or stepper outputs. Defining two output resources is useful when  
controlling axes with multiple motors, such as gantry systems in which  
two DAC outputs can be configured with different torque limits and/or  
offsets.  
The 7340 controller also supports secondary feedback resources, called  
encoders, for axes defined as servo. Two feedback resources are used when  
implementing dual-loop control, such as in backlash compensation,  
which reduces the number of encoders available for other axes.  
Note Refer to the NI-Motion User Manual for information about configuring axes.  
Motion Resources  
Encoder, DAC, ADC, and motion I/O resources that are not used by an axis  
are available for non-axis or nonmotion-specific applications. You can  
directly control an unmapped DAC as a general-purpose analog output  
( 10 V). Similarly, you can use any ADC channel to measure  
potentiometers or other analog sensors.  
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If an encoder resource is not needed for axis control, you can use it for any  
number of other functions, including position or velocity monitoring, as a  
digital potentiometer encoder input, or as a master encoder input for  
master/slave (electronic gearing) applications.  
Each axis also has an associated forward and reverse limit input, a home  
input, a high-speed capture trigger input, a breakpoint output, and an inhibit  
output. These signals can be used for general-purpose digital I/O when not  
being used for their motion-specific purpose.  
Onboard Programs and Buffers  
The 7340 controller has full onboard programmability capable of executing  
up to 10 simultaneous motion programs.  
You can execute the NI-Motion function set from onboard programs.  
In addition, the onboard programs support basic math and data operation  
functions for up to 120 general-purpose variables.  
You can store and run onboard programs and buffers from RAM or save  
them to flash ROM. The 7340 controller has 64 KB of RAM and 128 KB  
of ROM that is divided into two 64 KB sectors for program and buffer  
storage. You can store and run programs and buffers from either RAM or  
ROM, but you cannot split programs between the two, and you cannot split  
programs or buffers between the two 64 KB ROM sectors.  
Note Refer to the NI-Motion User Manual for detailed information about all of these  
onboard programming and buffer features.  
Host Communications  
The host computer communicates with the controller through a number of  
memory port addresses on the host bus. The host bus can be either PXI or  
PCI.  
The primary bidirectional data transfer port supports FIFO data passing  
in both send and readback directions. The 7340 controller has both a  
command buffer for incoming commands and a return data buffer (RDB)  
for returning data.  
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The communications status register (CSR) provides bits for  
communications handshaking as well as real-time error reporting and  
general status feedback to the host PC. The move complete status (MCS)  
register provides instantaneous motion status of all axes.  
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5
Signal Connections  
This chapter describes how to make input and output signal connections  
directly to the PXI/PCI-7340 as well as general information about the  
associated I/O circuitry.  
The 7340 has three connectors that handle all signals to and from the  
external motion system.  
68-pin motion I/O connector  
68-pin digital I/O connector  
RTSI connector  
You can connect to your motion system with cables and accessories,  
varying from simple screw terminal blocks to enhanced Universal Motion  
Interface (UMI) units and drives.  
Note The 7340 does not provide isolation between circuits.  
Caution Turn off power to all devices when connecting or disconnecting the  
7340 controller motion I/O and auxiliary digital I/O cables. Failure to do so may damage  
the controller.  
Motion I/O Connector  
The motion I/O connector contains all of the signals required to control up  
to four axes of servo and stepper motion, including the following features:  
Motor command analog and stepper outputs  
Encoder feedback inputs  
Forward, home, and reverse limit inputs  
Breakpoint outputs  
Trigger inputs  
Inhibit outputs  
The motion I/O connector also contains four channels of 12-bit A/D inputs  
for analog feedback or general-purpose analog input.  
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Chapter 5  
Signal Connections  
Figure 5-1 shows the pin assignments for the 68-pin motion I/O connector  
on the 7340. Table 5-1 includes descriptions for each of the signals. A line  
above a signal name indicates that the signal is active-low.  
1
2
3
4
5
6
7
8
9
35  
36  
37  
38  
39  
40  
41  
42  
43  
Axis 1 Dir (CCW)  
Digital Ground  
Digital Ground  
Axis 1 Home Switch  
Trigger 1  
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 1 Inhibit  
Axis 2 Dir (CCW)  
Digital Ground  
Digital Ground  
Axis 2 Home Switch  
Trigger 2  
Axis 2 Encoder Phase A  
Axis 2 Encoder Phase B  
Axis 2 Encoder Index  
10 44  
11 45  
12 46  
13 47  
Axis 2 Forward Limit Switch  
Axis 2 Reverse Limit Switch  
Axis 3 Step (CW)  
Axis 2 Inhibit  
Axis 3 Dir (CCW)  
Digital Ground 14 48  
Digital Ground 15 49  
Axis 3 Encoder Phase A  
Axis 3 Encoder Phase B  
Axis 3 Encoder Index  
Axis 3 Home Switch  
16 50  
17 51  
18 52  
19 53  
20 54  
Trigger 3  
Axis 3 Inhibit  
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  
Axis 4 Dir (CCW)  
Digital Ground  
Digital Ground 21 55  
Axis 4 Home Switch 22 56  
Trigger 4 23 57  
Axis 4 Inhibit  
24 58  
25 59  
Digital Ground  
Breakpoint 1 26 60  
Breakpoint 3  
Digital Ground 28 62  
Breakpoint 2  
27 61  
Breakpoint 4  
Shutdown  
Analog Output  
Analog Output  
29 63  
30 64  
31 65  
Analog Output  
Analog Output  
Analog Output Ground  
Reserved  
Analog Input 1 32 66  
Analog Input 3 33 67  
Analog Input 2  
Analog Input 4  
Analog Reference (Output) 34 68  
Analog Input Ground  
Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment  
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Table 5-1 describes the signals on the motion I/O connector.  
Table 5-1. Motion I/O Signal Connections  
Signal Name  
Reference  
Direction  
Description  
Motor direction or  
Axis <1..4> Dir (CCW)  
Digital Ground  
Output  
counter-clockwise control  
Axis <1..4> Step (CW)  
Digital Ground  
Digital Ground  
Output  
Input  
Motor step or clockwise control  
Axis <1..4> Encoder Phase A  
Closed-loop only—phase A encoder  
input  
Axis <1..4> Encoder Phase B  
Axis<1..4> Encoder Index  
Digital Ground  
Digital Ground  
Input  
Input  
Closed-loop only—phase B encoder  
input  
Closed-loop only—index encoder  
input  
Axis <1..4> Home Switch  
Digital Ground  
Digital Ground  
Digital Ground  
Input  
Input  
Input  
Home switch  
Axis <1..4> Forward Limit Switch  
Axis <1..4> Reverse Limit Switch  
Forward/clockwise limit switch  
Reverse/counter-clockwise limit  
switch  
Axis <1..4> Inhibit  
Trigger <1..4>  
Digital Ground  
Digital Ground  
Output  
Input  
Drive inhibit  
High-speed position capture trigger  
input <1..4>  
Breakpoint <1..4>  
Host +5 V  
Digital Ground  
Digital Ground  
Output  
Output  
Breakpoint output <1..4>  
+5 V—host computer +5 V supply  
Reference for analog inputs  
12-bit analog input  
Analog Input Ground  
Analog Input <1..4>  
Analog Output <1..4>  
Analog Output Ground  
Shutdown  
Analog Input Ground  
Analog Output Ground  
Input  
Output  
16-bit analog output  
Reference for analog outputs  
Controlled device shutdown  
+7.5 V—analog reference level  
Reference for digital I/O  
Digital Ground  
Analog Input Ground  
Input  
Output  
Analog Reference (output)  
Digital Ground  
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Motion Axis Signals  
The following signals control the servo amplifier or stepper driver.  
Analog Output <1..4>—These 16-bit DAC outputs are typically  
the servo command outputs for each axis. They can drive the  
industry-standard 10 V output, and can be software limited to  
any positive or negative voltage range. They also feature  
a software-programmable voltage offset.  
Although typically used as the command output of an axis control  
loop, unused DACs also can function as independent analog outputs  
for general-purpose control.  
Analog Output Ground—To help keep digital noise separate from the  
analog DAC outputs, there is a separate return connection. Use this  
analog ground connection and not Digital Ground (digital I/O  
reference) as the reference for the DAC outputs when connecting to  
servo amplifiers.  
Axis <1..4> Step (CW) and Dir (CCW)—These open-collector signals  
are the stepper command outputs for each axis. The 7340 supports both  
major industry standards for stepper command signals: step and  
direction, or independent CW and CCW pulse outputs.  
The output configuration and signal polarity is software programmable  
for compatibility with various third-party drives, as follows:  
When step and direction mode is configured, each commanded  
step (or microstep) produces a pulse on the step output. The  
direction output signal level indicates the command direction of  
motion, either forward or reverse.  
CW and CCW mode produces pulses (steps) on the CW output for  
forward-commanded motion and pulses on the CCW output for  
reverse-commanded motion.  
In either case, you can set the active polarity of both outputs to  
active-low (inverting) or active-high (non-inverting). For example,  
with step and direction, you can make a logic high correspond to either  
forward or reverse direction.  
The Step (CW) and Dir (CCW) outputs are driven by high-speed  
open-collector TTL buffers that feature 64 mA sink current capability  
and built-in 3.3 kpull-up resistors to +5 V.  
Caution Do not connect these outputs to anything other than a +5 V circuit. The output  
buffers will fail if subjected to voltages in excess of +5.5 V.  
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Axis <1..4> Inhibit—Use the inhibit output signals to control the  
enable/inhibit function of a servo amplifier or stepper driver. When  
properly connected and configured, the inhibit function causes the  
connected motor to be de-energized and its shaft turns freely. These  
open-collector inhibit signals feature 64 mA current sink capability  
with built-in 3.3 kpull-up resistors to +5 V, and can directly drive  
most driver/amplifier inhibit input circuits.  
While the industry standard for inhibits is active-low (inverting), these  
outputs have programmable polarity and can be set to active-high  
(non-inverting) for increased flexibility and unique drive  
compatibility.  
Inhibit output signals can be activated automatically upon a shutdown  
condition, a Kill Motion command, or any motion error that causes a  
kill motion condition, such as following error trip. You also can  
directly control the inhibit output signals to enable or disable a driver  
or amplifier.  
Limit and Home Inputs  
The following signals control limit and home inputs.  
Axis <1..4> Forward Limit Input  
Axis <1..4> Home Input  
Axis <1..4> Reverse Limit Input  
These inputs are typically connected to limit switches located at physical  
ends of travel and/or at a specific home position. Limit and home inputs can  
be software enabled or disabled at any time. When enabled, an active  
transition on a limit or home input causes a full torque halt stop of the  
associated motor axis. In addition, an active forward or reverse limit input  
impedes future commanded motion in that direction for as long as the  
signal is active.  
Note By default, limit and home inputs are digitally filtered and must remain active for at  
least 1 ms to be recognized. You can use MAX to disable digital filtering for limit and home  
inputs. Active signals should remain active to prevent motion from proceeding further into  
the limit. Pulsed limit signals stop motion, but they do not prevent further motion in that  
direction if another move is started.  
The input polarity of these signals is software programmable for active-low  
(inverting) or active-high (non-inverting).  
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You can use software disabled limit and home inputs as general-purpose  
inputs. You can read the status of these inputs at any time and set and  
change their polarity as required.  
Limit and home inputs are a per axis enhancement on the 7340 and are not  
required for basic motion control. These inputs are part of a system solution  
for complete motion control.  
Caution National Instruments recommends using limits for personal safety, as well as to  
protect the motion system.  
Wiring Concerns  
For the end of travel limits to function correctly, the forward limit must be  
located at the forward or positive end of travel, and the reverse limit at the  
negative end of travel.  
Caution Failure to follow these guidelines may result in motion that stops at, but then  
travels through, a limit, potentially damaging the motion system. Miswired limits may  
prevent motion from occurring at all.  
Keep limit and home switch signals and their ground connections wired  
separately from the motor driver/amplifier signal and encoder signal  
connections.  
Caution Wiring these signals near each other can cause faulty motion system operation  
due to signal noise and crosstalk.  
Limit and Home Input Circuit  
By default, all limit and home inputs are digitally filtered and must be  
active for at least 1 ms. You can use MAX to disable digital filtering for  
limit and home inputs. Figure 5-2 shows a simplified schematic diagram of  
the circuit used by the limit and home switch inputs for input signal  
buffering and detection.  
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Signal Connections  
Vcc  
3.3 kΩ  
To the limit and home  
switch circuits  
74FCT244  
1 kΩ  
1/8 W  
From the external  
connector limit  
and home switch pins  
DGND  
Figure 5-2. Limit and Home Input Circuit  
Caution Excessive input voltages can cause erroneous operation and/or component  
failure. Verify that the input voltage is within the specification range.  
Encoder Signals  
The 7340 offers four channels of single-ended quadrature encoder inputs.  
All National Instruments power drives and UMI accessories provide  
built-in circuitry that converts differential encoder signals to single-ended  
encoder signals. Each channel consists of a Phase A, Phase B, and Index  
input, as described in the following sections.  
Encoder <1..4> Phase A/Phase B  
The encoder inputs provide position and velocity feedback for absolute  
and relative positioning of axes in any motion system configuration.  
If an encoder resource is not needed for axis control, it is available for other  
functions including position or velocity monitoring, digital potentiometer  
encoder inputs, or as a master encoder input for master/slave (electronic  
gearing) applications.  
The encoder channels (Encoder <1..4>) are implemented in an FPGA  
and are high performance with extended input frequency response and  
advanced features, such as high-speed position capture inputs and  
breakpoint outputs.  
An encoder input channel converts quadrature signals on Phase A and  
Phase B into 32-bit up/down counter values. Quadrature signals are  
generated by optical, magnetic, laser, or electronic devices that provide  
two signals, Phase A and Phase B, that are 90° out of phase. The leading  
phase, A or B, determines the direction of motion. The four transition states  
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of the relative signal phases provide distinct pulse edges that cause count  
up or count down pulses in the direction determined by the leading phase.  
A typical encoder with a specification of N (N = number) lines per unit  
of measure (revolutions or linear distance) produces 4 × N quadrature  
counts per unit of measure. The count is the basic increment of position  
in NI-Motion systems.  
Tip Determine quadrature counts by multiplying the encoder resolution in encoder lines  
by four. The encoder resolution is the number of encoder lines between consecutive  
encoder marker or Z-bit indexes. If the encoder does not have an index output, the  
resolution is referred to as lines per revolution, or lines per unit of measure, such as inch,  
centimeter, millimeter, and so on.  
Encoder <1..4> Index  
The Index input is primarily used to establish a reference position. This  
function uses the number of counts per revolution or the linear distance to  
initiate a search move that locates the index position. When a valid Index  
signal transition occurs during a Find Reference routine, the position of the  
Index signal is captured accurately. Use this captured position to establish  
a reference zero position for absolute position control or any other motion  
system position reference required.  
The default MAX settings guarantee that the Find Index routine completes  
successfully if the encoder generates a high index pulse when phases A  
and B are low and the encoder is connected through an NI UMI or drive  
accessory. Figure 5-3 shows the default encoder phasing diagram at the  
inputs to the controller.  
Phase A  
Phase B  
Index  
Figure 5-3. Quadrature Encoder Phasing Diagram  
You can set the index reference criteria in MAX to change the pattern of  
phases A and B for the index search. You also can set the encoder polarity  
for phases A, B, and I in MAX.  
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Signal Connections  
Wiring Concerns  
The encoder inputs are connected to quadrature decoder/counter circuits.  
It is very important to minimize noise at this interface. Excessive noise on  
these encoder input signals may result in loss of counts or extra counts and  
erroneous closed-loop motion operation. Verify the encoder connections  
before powering up the system.  
Caution Wire encoder signals and their ground connections separately from all other  
connections. Wiring these signals near the motor drive/amplifier or other signals can cause  
positioning errors and faulty operation.  
Encoders with differential line driver outputs are strongly recommended  
for all applications and must be used if the encoder cable length is longer  
than 3.05 m (10 ft). Shielded, 24 AWG wire is the minimum recommended  
size for the encoder cable. Cables with twisted pairs and an overall shield  
are recommended for optimized noise immunity.  
All National Instruments power drives and UMI accessories provide  
built-in circuitry that converts differential encoder signals to single-ended  
encoder signals.  
Caution Unshielded cable can cause noise to corrupt the encoder signals, resulting in lost  
counts and reduced motion system accuracy.  
Encoder Input Circuit  
Figure 5-4 shows a simplified schematic diagram of the circuit used for  
the Phase A, Phase B, and Index encoder inputs. Both phases A and B are  
required for proper encoder counter operation, and the signals must support  
the 90° phase difference within system tolerance. The encoder and Index  
signals are conditioned by a software-programmable digital filter inside  
the FPGA. The Index signal is optional but highly recommended and  
required for initialization functionality with the Find Index function.  
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Signal Connections  
Vcc  
To the quadrature  
decoder circuit  
3.3 kΩ  
74FCT244  
1 kΩ  
1/8 W  
From the external  
connector  
encoder input  
pins  
DGND  
Figure 5-4. Encoder Input Circuit  
Trigger Inputs, Shutdown Input, and Breakpoint Outputs  
The 7340 offers additional high-performance features in the encoder  
FPGA. The encoder channels have high-speed position capture trigger  
inputs and breakpoint outputs. These signals are useful for high-speed  
synchronization of motion with actuators, sensors, and other parts of the  
complete motion system:  
Trigger Input <1..4>—When enabled, an active transition on a  
high-speed position capture input causes instantaneous position  
capture of the corresponding encoder count value. You can use this  
high-speed position capture functionality for applications ranging  
from simple position tagging of sensor data to complex camming  
systems with advance/retard positioning and registration. An available  
7340 position mode is to move an axis Relative to Captured Position.  
The polarity of the trigger input is programmable in software as  
active-low (inverting) or active-high (non-inverting), rising or falling  
edge. You also can use a trigger input as a latching general-purpose  
digital input by simply ignoring the captured position.  
Shutdown Input—When enabled in software, the shutdown input  
signal can be used to kill all motion by asserting the controller inhibits,  
setting the analog outputs to 0 V, and stopping any stepper pulse  
generation. To activate shutdown, the signal must transition from a low  
to a high state, or rising edge.  
Breakpoint Output <1..4>—A breakpoint output can be programmed  
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.  
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You can program breakpoints as absolute, modulo, or relative  
positions. Breakpoint outputs can be preset to a known state so that the  
transition when the breakpoint occurs can be low to high, high to low,  
or toggle.  
The breakpoint outputs are driven by open-collector TTL buffers that  
feature 64 mA sink current capability and built-in 3.3 kpull-up  
resistors to +5 V.  
You can directly set and reset breakpoint outputs to use them as  
general-purpose digital outputs.  
Wiring Concerns  
Caution Keep trigger input, shutdown input, and breakpoint output signals and their  
ground connections wired separately from the motor driver/amplifier signal and encoder  
signal connections. Wiring these signals near each other can cause faulty operation.  
Caution Excessive input voltages can cause erroneous operation and/or component  
failure.  
Trigger Input, Shutdown Input, and Breakpoint  
Output Circuits  
Figures 5-5, 5-6, and 5-7 show a simplified schematic diagram of the  
circuits used by the trigger inputs, shutdown inputs, and breakpoint outputs  
for signal buffering.  
Vcc  
To the trigger  
circuits  
3.3 kΩ  
74FCT244  
1 kΩ  
1/8 W  
From the external  
connector  
trigger pins  
DGND  
Figure 5-5. Trigger Input Circuit  
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Chapter 5  
Signal Connections  
Vcc  
To the shutdown  
circuits  
3.3 kΩ  
74FCT244  
1 kΩ  
1/8 W  
From the external  
connector  
shutdown pin  
DGND  
Figure 5-6. Shutdown Input Circuit  
Vcc  
3.3 kΩ  
74AS760  
To the external  
connector  
breakpoint pins  
From the  
breakpoint  
circuits  
Figure 5-7. Breakpoint Output Circuit  
Analog Inputs  
The 7340 has the following ADC input signals:  
Analog Input <1..4>—The 7340 includes an eight-channel  
multiplexed, 12-bit ADC capable of measuring 10 V, 5 V, 0–10 V,  
and 0–5 V inputs. ADC channels 1 through 4 are brought out  
externally on the 68-pin motion I/O connector. ADC channels 5  
through 8 are connected internally, as shown in Table 5-2. These  
signals can be used for ADC test and system diagnostics.  
Table 5-2. Internal ADC Channels  
ADC Input  
Signal  
5
6
7
8
Filtered +5 V  
Floating (NC)  
Analog Reference (7.5 V)  
Analog Input Ground  
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ni.com  
           
Chapter 5  
Signal Connections  
You can configure each ADC channel for motion feedback, simple  
A/D conversion, or both.  
You can read the digital value of analog voltage on any of the eight  
ADC channels of the controller. Table 5-3 shows the range of values  
read back and the voltage resolution for each setting. The voltage  
resolution is in volts per least significant bit (V/LSB).  
Table 5-3. Analog Input Voltage Ranges  
Input Range  
10 V  
Binary Values  
–2,048 to 2,047  
–2,048 to 2,047  
0 to 4,095  
Resolution  
0.0049 V/LSB  
0.0024 V/LSB  
0.0024 V/LSB  
0.0012 V/LSB  
5 V  
0–10 V  
0–5 V  
0 to 4,095  
As indicated in Figure 5-3, when configured as analog feedback, an  
analog sensor acts like a limited range absolute position device with a  
full-scale position range. You can map any ADC channel as feedback  
to any axis.  
You can enable and disable individual ADC channels in software.  
Disable unused ADC channels for the highest multiplexer scan rate  
performance. Properly enabled, the scan rate is high enough to support  
analog feedback at the highest PID sample rate.  
Analog Reference—For convenience, 7.5 V (nominal) analog  
reference voltage is available. You can use this output as a low-current  
supply to sensors that require a stable reference. Refer to Appendix A,  
Specifications, for analog reference voltage specifications.  
Analog Input Ground—To help keep digital noise out of the analog  
input, a separate return connection is available. Use this reference  
ground connection and not Digital Ground (digital I/O reference) or  
Analog Output Ground as the reference for the analog inputs.  
Wiring Concerns  
For proper use of each ADC input channel, the analog signal to be  
measured should be connected to the channel input and its ground reference  
connected to the Analog Input Ground.  
Note The analog reference output is an output signal only and must not connect to an  
external reference voltage. Connect the common of the external reference to the Analog  
Input Ground pin for proper A/D reference and improved voltage measurement.  
© National Instruments Corporation  
5-13  
NI 7340 User Manual  
 
       
Chapter 5  
Signal Connections  
Other Motion I/O Connection  
The 7340 provides Host +5 V, which is the internal +5 V supply of the host  
computer. It is typically used to detect when the host computer is powered  
and to shut down external motion system components when the host  
computer is turned off or disconnected from the motion accessory.  
Caution The host +5 V signal is limited to <100 mA and should not be used to power any  
external devices, except those intended in the host bus monitor circuits on the UMI and  
drive products.  
NI 7340 User Manual  
5-14  
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Chapter 5  
Signal Connections  
Digital I/O Connector  
All the general-purpose digital I/O lines on the 7340 are available on a  
separate 68-pin digital I/O connector. Figure 5-8 shows the pin  
assignments for this connector.  
1
2
3
4
5
6
7
8
9
35  
36  
37  
38  
39  
40  
41  
42  
43  
+5 V  
PCLK  
Digital Ground  
Digital Ground  
Digital Ground  
DPull  
Reserved  
Reserved  
PWM1  
Digital Ground  
Reserved  
Reserved  
Reserved  
Reserved  
PWM2  
Digital Ground  
Digital Ground  
Digital Ground  
Port 1:bit 1  
Port 1:bit 0  
10 44  
Digital Ground 11 45  
Port 1:bit 3 12 46  
Port 1:bit 2  
Digital Ground  
Port 1:bit 5  
13 47  
14 48  
15 49  
16 50  
17 51  
18 52  
19 53  
20 54  
Port 1:bit 4  
Port 1:bit 6  
Digital Ground  
Port 1:bit 7  
Digital Ground  
Digital Ground  
Port 2:bit 2  
Port 2:bit 0  
Port 2:bit 1  
Digital Ground  
Digital Ground  
Digital Ground  
Port 2:bit 3  
Port 2:bit 4  
Port 2:bit 5  
Port 2:bit 6 21 55  
Port 2:bit 7 22 56  
Port 3:bit 0 23 57  
Digital Ground  
Digital Ground  
Port 3:bit 1  
Digital Ground  
Port 3:bit 3  
24 58  
25 59  
Port 3:bit 2  
Digital Ground  
Port 3:bit 5  
Port 3:bit 4 26 60  
Digital Ground  
Port 3:bit 7 28 62  
Port 4:bit 0  
Digital Ground 30 64  
Port 4:bit 3  
27 61  
Port 3:bit 6  
Digital Ground  
Port 4:bit 1  
29 63  
Port 4:bit 2  
31 65  
Digital Ground  
Port 4:bit 5  
Port 4:bit 4 32 66  
Digital Ground 33 67  
Port 4:bit 7 34 68  
Port 4:bit 6  
Digital Ground  
Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments  
© National Instruments Corporation  
5-15  
NI 7340 User Manual  
 
       
Chapter 5  
Signal Connections  
The 32-bit digital I/O port is configured in hardware as four 8-bit digital I/O  
ports. The bits in a port are typically controlled and read with byte-wide  
bitmapped commands.  
All digital I/O lines have programmable direction and polarity. Each output  
circuit can sink and source 24 mA.  
The DPull pin controls the state of the input pins at power-up. Connecting  
DPull to +5 V or leaving it unconnected configures all pins in all ports for  
100 kpull-ups. Connecting DPull to ground configures the ports for  
100 kpull-downs.  
PWM Features  
The 7340 provides two pulse width modulation (PWM) outputs on the  
digital I/O connector. The PWM outputs generate periodic waveforms  
whose period and duty cycles can be independently controlled through  
software commands. The PWM is comparable to a digital representation of  
an analog value because the duty cycle is directly proportional to the  
expected output value. PWM outputs are typically used for transmitting an  
analog value through an optocoupler. A simple lowpass filter turns a PWM  
signal back into its corresponding analog value. You have the option to use  
the PCLK input instead of the internal source as the clock for the PWM  
generators.  
Note These signals are configured in software and are in no way associated with the  
PID servo control loop. Refer to the NI-Motion User Manual for more information.  
RTSI Connector  
The physical RTSI bus interface varies depending on the type of 7340  
controller.  
The PXI-7340 uses the PXI chassis backplane to connect to other  
RTSI-capable devices.  
The PCI-7340 uses a ribbon cable to connect to other RTSI-capable PCI  
devices.  
NI 7340 User Manual  
5-16  
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Chapter 5  
Signal Connections  
RTSI Signal Considerations  
The 7340 motion controller allows you to use up to eight RTSI trigger lines  
as sources for trigger inputs, or as destinations for breakpoint outputs and  
encoder signals. The RTSI trigger lines also can serve as a generic digital  
I/O port. The RTSI star trigger line can be used only for a trigger input.  
Breakpoint outputs are output-only signals that generate an active-high  
pulse of 200 ns duration, as shown in Figure 5-9.  
200 ns  
Figure 5-9. Breakpoint across RTSI  
Encoder and Index signals are output-only signals across RTSI that are  
the digitally-filtered versions of the raw signals coming into the controller.  
If you are using the RTSI bus for trigger inputs or generic digital I/O,  
all signals are passed through unaltered.  
© National Instruments Corporation  
5-17  
NI 7340 User Manual  
 
       
A
Specifications  
This appendix lists the hardware and software performance specifications  
for the PXI/PCI-7340. Hardware specifications are typical at 25 °C, unless  
otherwise stated.  
Servo Performance  
PID update rate range............................. 62.5 µs to 5 ms/sample  
Maximum PID update rate.............. 62.5 µs/axis  
4-axis PID update rate..................... 250 µs total  
Multi-axis synchronization .................... <1 update sample  
Position accuracy  
Encoder feedback............................ 1 quadrature count  
Analog feedback ............................. 1 LSB  
Double-buffered trajectory parameters  
Absolute position range .................. 231 counts  
Maximum relative move size.......... 231 counts  
Velocity range................................. 1 to 20,000,000 counts/s  
Acceleration/deceleration1 .............. 512,000,000 counts/s2  
S-Curve time range ......................... 1 to 32,767 samples  
Following error range ..................... 1 to 32,767 counts and disabled  
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  
Integration limit (Ilim).................... 0 to 32,767  
Derivative sample period (Td)........ 1 to 63 samples  
Feedforward (Aff, Vff) gains.......... 0 to 32,767  
Velocity feedback (Kv) gain........... 0 to 32,767  
1
Assumes a PID update rate of 250 µs and a 2,000-count encoder.  
© National Instruments Corporation  
A-1  
NI 7340 User Manual  
 
     
Appendix A  
Specifications  
Servo command analog outputs  
Voltage range................................... 10 V  
Resolution........................................16 bits (0.000305 V/LSB)  
Programmable torque (velocity) limits  
Positive limit ............................ 10 V (–32,768 to +32,767)  
Negative limit........................... 10 V (–32,768 to +32,767)  
Programmable offset ....................... 10 V (–32,768 to +32,767)  
Stepper Performance  
Trajectory update rate range...................62.5 to 500 µs/sample  
Maximum update rate......................62.5 µs/axis  
4-axis update rate.............................250 µs total  
Multi-axis synchronization.....................<1 update sample  
Position accuracy  
Open-loop stepper ...........................1 full, half, or microstep  
Encoder feedback ............................ 1 quadrature count  
Analog feedback.............................. 1 LSB  
Double-buffered trajectory parameters  
Position range.................................. 231 steps  
Maximum relative move size .......... 231 steps  
Velocity range .................................1 to 4,000,000 steps/s  
Acceleration/deceleration1............... 512,000,000 counts/s2  
S-Curve time range..........................1 to 32,767 samples  
Following error range......................0 to 32,767 counts  
Gear ratio......................................... 32,767:1 to 1:32,767  
Stepper outputs  
Maximum pulse rate........................4 MHz (full, half, and microstep)  
Minimum pulse width......................120 ns at 4 MHz  
Step output mode.............................Step and direction or CW/CCW  
1
Assumes a PID update rate of 250 µs and a 2,000-count encoder.  
NI 7340 User Manual  
A-2  
ni.com  
 
Appendix A  
Specifications  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. <0.6 V at 64 mA sink  
Output high voltage ................. Open collector with built-in  
3.3 kpull-up to +5 V  
Polarity............................................ Programmable, active-high  
or active-low  
System Safety  
Watchdog timer function ....................... Resets board to startup state  
Watchdog timeout........................... 63 ms  
Shutdown input  
Voltage range.................................. 0 to 5 V  
Input low voltage..................... 0.8 V  
Input high voltage.................... 2 V  
Polarity..................................... Rising edge  
Control ............................................ Disable all axes and  
command outputs  
Motion I/O  
Encoder inputs........................................ Quadrature, incremental,  
single-ended  
Maximum count rate....................... 20 MHz  
Minimum pulse width..................... Programmable; depends  
on digital filter settings  
Voltage range.................................. 0 to 5 V  
Input low voltage..................... 0.8 V  
Input high voltage.................... 2 V  
Minimum index pulse width........... Programmable; depends  
on digital filter settings  
Forward, reverse, and home inputs  
Number of inputs ............................ 12 (3 per axis)  
Voltage range.................................. 0 to 5 V  
Input low voltage..................... 0.8 V  
Input high voltage.................... 2 V  
Polarity............................................ Programmable, active-high  
or active-low  
© National Instruments Corporation  
A-3  
NI 7340 User Manual  
 
Appendix A  
Specifications  
Minimum pulse width......................1 ms with filter enabled;  
60 ns without filter enabled  
Control.............................................Individual enable/disable, stop on  
input, prevent motion, Find Home  
Trigger inputs  
Number of inputs.............................4 (Encoders 1 through 4)  
Voltage range...................................0 to 5 V  
Input low voltage......................0.8 V  
Input high voltage.....................2 V  
Polarity ............................................Programmable, active-high  
or active-low  
Minimum pulse width......................100 ns  
Capture latency................................<100 ns  
Capture accuracy .............................1 count  
Maximum repetitive capture rate.....100 Hz  
Breakpoint outputs  
Number of outputs...........................4 (Encoders 1 through 4)  
Voltage range...................................0 to 5 V  
Output low voltage...................<0.6 V at 64 mA sink  
Output high voltage..................Open collector with built-in  
3.3 kpull-up to +5 V  
Polarity ............................................Programmable, active-high  
or active-low  
Maximum repetitive  
breakpoint rate.................................100 Hz  
Inhibit/enable output  
Number of outputs...........................4 (1 per-axis)  
Voltage range...................................0 to 5 V  
Output low voltage...................<0.6 V at 64 mA sink  
Output high voltage..................Open collector with built-in  
3.3 kpull-up to +5 V  
Polarity ............................................Programmable, active-high  
or active-low  
Control.............................................MustOn/MustOff or  
automatic when axis off  
NI 7340 User Manual  
A-4  
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Appendix A  
Specifications  
Analog inputs  
Number of inputs ............................ 8, multiplexed, single ended  
Number for user signals........... 4  
Number for system diagnostics... 4  
Voltage range (programmable)....... 10 V, 5 V, 0–10 V, 0–5 V  
Input coupling................................. DC  
Input resistance ............................... 10 kmin  
Resolution ....................................... 12 bits, no missing codes  
Monotonic....................................... Guaranteed  
Multiplexor scan rate ...................... 25 µs/enabled channel  
Analog outputs  
Number of outputs .......................... 4, single ended  
Output coupling .............................. DC  
Voltage range.................................. 10 V  
Output current................................. 5 mA  
Resolution ....................................... 16 bits, no missing codes  
Monotonic....................................... Guaranteed  
Analog reference output.................. 7.5 V (nominal) @ 5 mA  
Digital I/O  
Ports ....................................................... 4, 8-bit ports  
Line direction.................................. Individual bit programmable  
Inputs  
Voltage range.................................. 0 to 5 V  
Input low voltage..................... 0.8 V  
Input high voltage.................... 2.0 V  
Polarity............................................ Programmable, active-high  
or active-low  
Outputs  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. <0.45 V at 24 mA sink  
Output high voltage ................. >2.4 V at 24 mA source  
Polarity............................................ Programmable, active-high  
or active-low  
© National Instruments Corporation  
A-5  
NI 7340 User Manual  
 
Appendix A  
Specifications  
PWM outputs  
Number of PWM outputs.........2  
Maximum PWM frequency......50 kHz  
Resolution.................................8-bit  
Duty cycle range.......................0 to (255/256)%  
Clock sources ...........................Internal or external  
RTSI  
Trigger lines............................................8  
Maximum Power Requirements  
+5 V ( 3%).............................................1 A  
+12 V ( 3%)...........................................30 mA  
–12 V ( 3%) ...........................................30 mA  
Power consumption ................................5.7 W  
Physical  
Dimensions (Not Including Connectors)  
PXI-7340 ................................................16 × 10 cm (6.3 × 3.9 in.)  
PCI-7340.................................................17.5 × 9.9 cm (6.9 × 3.9 in.)  
Connectors  
Motion I/O connector .............................68-pin female high-density  
VHDCI type  
32-bit digital I/O connector ....................68-pin female high-density  
VHDCI type  
Weight  
PXI-7340 ................................................170 g (6 oz)  
PCI-7340.................................................113 g (4 oz)  
NI 7340 User Manual  
A-6  
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Appendix A  
Specifications  
Maximum Working Voltage  
Channel-to-earth..................................... 12 V, Installation Category I  
(signal voltage plus  
common-mode voltage)  
Channel-to-channel ................................ 22 V, Installation Category I  
(signal voltage plus  
common-mode voltage)  
Caution These values represent the maximum allowable voltage between any accessible  
signals on the controller. To determine the acceptable voltage range for a particular signal,  
refer to the individual signal specifications.  
Environment  
Operating temperature............................ 0 to 55 °C  
Storage temperature ............................... –20 to 70 °C  
Humidity ................................................ 10 to 90% RH, noncondensing  
Maximum altitude.................................. 2,000 m  
Pollution Degree .................................... 2  
Safety  
This product is designed to meet the requirements of the following  
standards of safety for electrical equipment for measurement, control,  
and laboratory use:  
IEC 61010-1, EN 61010-1  
UL 3111-1, UL 61010B-1  
CAN/CSA C22.2 No. 1010.1  
Note For UL and other safety certifications, refer to the product label, or visit  
ni.com/hardref.nsf, search by model number or product line, and click the  
appropriate link in the Certification column.  
© National Instruments Corporation  
A-7  
NI 7340 User Manual  
 
Appendix A  
Specifications  
Electromagnetic Compatibility  
Emissions................................................EN 55011 Class A at 10 m  
FCC Part 15A above 1 GHz  
Immunity ................................................EN 61326:1997 + A2:2001,  
Table 1  
EMC/EMI ...............................................CE, C-Tick, and FCC Part 15  
(Class A) Compliant  
Note For EMC compliance, you must operate this device with shielded cabling.  
CE Compliance  
This product meets the essential requirements of applicable European  
Directives, as amended for CE marking, as follows:  
Low-Voltage Directive (safety)..............73/23/EEC  
Electromagnetic Compatibility  
Directive (EMC).....................................89/336/EEC  
Note Refer to the Declaration of Conformity (DoC) for this product for any additional  
regulatory compliance information. To obtain the DoC for this product, visit  
ni.com/hardref.nsf, search by model number or product line, and click the  
appropriate link in the Certification column.  
NI 7340 User Manual  
A-8  
ni.com  
 
B
This appendix describes the connector pinout for the cables that connect  
to the PXI/PCI-7340.  
Figures B-1 and B-2 show the pin assignments for the stepper and servo  
50-pin motion connectors. These connectors are available when you use  
the SH68-C68-S shielded cable assembly and the 68M-50F step/servo  
bulkhead cable adapter.  
1
3
5
7
9
2
4
Axis 1 Dir (CCW)  
Digital Ground  
Digital Ground  
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)  
6
8
Axis 1 Home Switch  
Trigger/Breakpoint 1  
Axis 1 Inhibit  
10  
11 12  
13 14  
15 16  
Axis 2 Dir (CCW)  
Digital Ground  
Axis 2 Encoder Phase A  
17 18 Axis 2 Encoder Phase B  
Digital Ground  
19 20  
21 22  
23 24  
25 26  
27 28  
29 30  
31 32  
33 34  
Axis 2 Encoder Index  
Axis 2 Forward Limit Switch  
Axis 2 Reverse Limit Switch  
Axis 3 Step (CW)  
Axis 2 Home Switch  
Trigger/Breakpoint 2  
Axis 2 Inhibit  
Axis 3 Dir (CCW)  
Digital Ground  
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)  
Digital Ground  
Axis 3 Home Switch  
Trigger/Breakpoint 3  
Axis 3 Inhibit 35 36  
37 38  
39 40  
41 42  
43 44  
45 46  
47 48  
49 50  
Axis 4 Dir (CCW)  
Digital Ground  
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  
Digital Ground  
Axis 4 Home Switch  
Trigger/Breakpoint 4  
Axis 4 Inhibit  
Digital Ground  
Figure B-1. 50-Pin Stepper Connector Pin Assignment  
© National Instruments Corporation  
B-1  
NI 7340 User Manual  
 
   
Appendix B  
Cable Connector Descriptions  
1
3
5
7
9
2
4
Analog Output Ground  
Digital Ground  
Analog Output 1  
Axis 1 Encoder Phase A  
Axis 1 Encoder Phase B  
Axis 1 Encoder Index  
Axis 1 Forward Limit Switch  
Axis 1 Reverse Limit Switch  
Analog Output 2  
6
Digital Ground  
8
Axis 1 Home Switch  
Trigger/Breakpoint 1  
Axis 1 Inhibit  
10  
11 12  
13 14  
15 16  
17 18  
19 20  
21 22  
23 24  
25 26  
27 28  
29 30  
31 32  
33 34  
35 36  
37 38  
39 40  
41 42  
43 44  
45 46  
47 48  
49 50  
Analog Output Ground  
Digital Ground  
Axis 2 Encoder Phase A  
Axis 2 Encoder Phase B  
Axis 2 Encoder Index  
Axis 2 Forward Limit Switch  
Axis 2 Reverse Limit Switch  
Analog Output 3  
Digital Ground  
Axis 2 Home Switch  
Trigger/Breakpoint 2  
Axis 2 Inhibit  
Analog Output Ground  
Digital Ground  
Axis 3 Encoder Phase A  
Axis 3 Encoder Phase B  
Axis 3 Encoder Index  
Axis 3 Forward Limit Switch  
Axis 3 Reverse Limit Switch  
Analog Output 4  
Digital Ground  
Axis 3 Home Switch  
Trigger/Breakpoint 3  
Axis 3 Inhibit  
Analog Output Ground  
Digital Ground  
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  
Digital Ground  
Axis 4 Home Switch  
Trigger/Breakpoint 4  
Axis 4 Inhibit  
Digital Ground  
Figure B-2. 50-Pin Servo Connector Pin Assignment  
NI 7340 User Manual  
B-2  
ni.com  
 
 
C
Technical Support and  
Professional Services  
Visit the following sections of the National Instruments Web site at  
ni.comfor technical support and professional services:  
Support—Online technical support resources include the following:  
Self-Help Resources—For immediate answers and solutions,  
visit our extensive library of technical support resources available  
in English, Japanese, and Spanish at ni.com/support. These  
resources are available for most products at no cost to registered  
users and include software drivers and updates, a KnowledgeBase,  
product manuals, step-by-step troubleshooting wizards,  
conformity documentation, example code, tutorials and  
application notes, instrument drivers, discussion forums,  
a measurement glossary, and so on.  
Assisted Support Options—Contact NI engineers and other  
measurement and automation professionals by visiting  
ni.com/support. Our online system helps you define your  
question and connects you to the experts by phone, discussion  
forum, or email.  
Training—Visit ni.com/trainingfor self-paced tutorials, videos,  
and interactive CDs. You also can register for instructor-led, hands-on  
courses at locations around the world.  
System Integration—If you have time constraints, limited in-house  
technical resources, or other project challenges, NI Alliance Program  
members can help. To learn more, call your local NI office or visit  
ni.com/alliance.  
Declaration of Conformity (DoC)—A DoC is our claim of  
compliance with the Council of the European Communities using  
the manufacturer’s declaration of conformity. This system affords  
the user protection for electronic compatibility (EMC) and product  
safety. You can obtain the DoC for your product by visiting  
ni.com/hardref.nsf.  
© National Instruments Corporation  
C-1  
NI 7340 User Manual  
 
                     
Appendix C  
Technical Support and Professional Services  
If you searched ni.comand could not find the answers you need, contact  
your local office or NI corporate headquarters. Phone numbers for our  
worldwide offices are listed at the front of this manual. You also can visit  
the Worldwide Offices section of ni.com/niglobalto access the branch  
office Web sites, which provide up-to-date contact information, support  
phone numbers, email addresses, and current events.  
NI 7340 User Manual  
C-2  
ni.com  
 
Glossary  
Symbol  
Prefix  
micro  
milli  
Value  
10– 6  
10–3  
106  
µ
m
M
mega  
Numbers/Symbols  
/
per  
plus or minus  
+
positive of, or plus  
negative of, or minus  
+5 V  
+5 VDC source signal  
A
A
amperes  
A/D  
analog-to-digital  
absolute mode  
treat the target position loaded as position relative to zero (0) while making  
a move  
absolute position  
position relative to zero  
acceleration/  
deceleration  
measurement of the change in velocity as a function of time. Acceleration  
and deceleration describes the period when velocity is changing from one  
value to another.  
active-high  
active-low  
ADC  
signal is active when its value goes high (1)  
signal is active when its value goes low (0)  
analog-to-digital converter  
© National Instruments Corporation  
G-1  
NI 7340 User Manual  
 
 
Glossary  
address  
character code that identifies a specific location (or series of locations)  
in memory or on a host PC bus system  
amplifier  
drive that delivers power to operate the motor in response to low level  
control signals. In general, the amplifier is designed to operate with a  
particular motor type—for example, you cannot use a stepper drive to  
operate a DC brush motor  
Analog Input <1..4>  
12-bit analog ADC input  
Analog Output <1..4>  
16-bit DAC voltage output  
API  
axis  
application programming interface  
unit that controls a motor or any similar motion or control device  
axis 1 through 4 forward/clockwise limit switch  
Axis <1..4> Forward  
Limit Input  
Axis <1..4> Home  
Input  
axis 1 through 4 home input  
Axis <1..4> Inhibit  
axis 1 through 4 inhibit output  
Axis <1..4> Reverse  
Limit Input  
axis 1 through 4 reverse/counter-clockwise limit input  
B
b
bit—one binary digit, either 0 or 1  
base address  
memory address that serves as the starting address for programmable or  
I/O bus registers. All other addresses are located by adding to the base  
address.  
binary  
buffer  
bus  
number system with a base of 2  
temporary storage for acquired or generated data (software)  
group of conductors that interconnect individual circuitry in a computer.  
Typically, a bus is the expansion vehicle to which I/O or other devices are  
NI 7340 User Manual  
G-2  
 
ni.com  
Glossary  
byte  
eight related bits of data, an eight-bit binary number. Also used to denote  
the amount of memory required to store one byte of data.  
C
CCW  
counter-clockwise—implies direction of rotation of the motor  
closed-loop  
motion system that uses a feedback device to provide position and velocity  
data for status reporting and accurately controlling position and velocity  
common  
CPU  
reference signal for digital I/O  
central processing unit  
crosstalk  
CSR  
unwanted signal on one channel due to an input on a different channel  
Communications Status Register  
CW  
clockwise—implies direction of motor rotation  
D
D/A  
digital-to-analog  
DAC  
Digital-to-Analog Converter  
direct current  
DC  
dedicated  
DGND  
digital I/O port  
DIP  
assigned to a particular function  
digital ground signal  
group of digital input/output signals  
dual inline package  
DLL  
dynamic link library—provides the API for the motion control boards  
drivers  
software that communicates commands to control a specific motion control  
board  
DSP  
Digital Signal Processor  
© National Instruments Corporation  
G-3  
NI 7340 User Manual  
 
Glossary  
E
encoder  
device that translates mechanical motion into electrical signals; used for  
monitoring position or velocity in a closed-loop system  
encoder resolution  
number of encoder lines between consecutive encoder indexes (marker or  
Z-bit). If the encoder does not have an index output, the encoder resolution  
can be referred to as lines per revolution.  
F
f
farad  
FIFO  
first in, first out—data buffering technique that functions like a shift register  
where the oldest values (first in) come out first  
filter parameters  
filtering  
indicates the control loop parameter gains (PID gains) for a given axis  
type of signal conditioning that filters unwanted signals from the signal  
being measured  
flash ROM  
type of electrically reprogrammable read-only memory  
following error  
trip point  
difference between the instantaneous commanded trajectory position and  
the feedback position  
FPGA  
Field Programmable Gate Array  
freewheel  
condition of a motor when power is de-energized and the motor shaft is free  
to turn with only frictional forces to impede it  
full-step  
full-step mode of a stepper motor—for a two phase motor this is done by  
energizing both windings or phases simultaneously  
G
Gnd  
ground  
ground  
GND  
NI 7340 User Manual  
G-4  
ni.com  
 
Glossary  
H
half-step  
mode of a stepper motor—for a two phase motor this is done by alternately  
energizing two windings and then only one. In half step mode, alternate  
steps are strong and weak but there is significant improvement in low-speed  
smoothness over the full-step mode.  
hex  
hexadecimal  
home switch (input)  
physical position determined by the mechanical system or designer as the  
reference location for system initialization. Frequently, the home position is  
also regarded as the zero position in an absolute position frame of reference.  
host computer  
computer into which the motion control board is plugged  
I
I/O  
input/output—the transfer of data to and from a computer system involving  
communications channels, operator interface devices, and/or motion  
control interfaces  
ID  
identification  
in.  
inches  
index  
inverting  
marker between consecutive encoder revolutions  
polarity of a switch (limit switch, home switch, and so on) in active state.  
If these switches are active-low they are said to have inverting polarity.  
IRQ  
interrupt request  
K
k
kilo—the standard metric prefix for 1,000, or 103, used with units of  
measure such as volts, hertz, and meters  
K
kilo—the prefix for 1,024, or 210, used with B in quantifying data or  
computer memory  
© National Instruments Corporation  
G-5  
NI 7340 User Manual  
 
Glossary  
L
LIFO  
last in, last out—data buffering technique where the newest values (last in)  
come out first  
limit switch/  
end-of-travel position  
(input)  
sensors that alert the control electronics that physical end of travel is being  
approached and that the motion should stop  
M
m
meters  
MCS  
microstep  
Move Complete Status  
proportional control of energy in the coils of a Stepper Motor that  
allows the motor to move to or stop at locations other than the fixed  
magnetic/mechanical pole positions determined by the motor  
specifications. This capability facilitates the subdivision of full mechanical  
steps on a stepper motor into finer microstep locations that greatly smooth  
motor running operation and increase the resolution or number of discrete  
positions that a stepper motor can attain in each revolution.  
modulo position  
treat the position as within the range of total quadrature counts per  
revolution for an axis  
N
noise  
undesirable electrical signal—noise comes from external sources such as  
the AC power line, motors, generators, transformers, fluorescent lights,  
soldering irons, CRT displays, computers, electrical storms, welders, radio  
transmitters, and internal sources such as semiconductors, resistors, and  
capacitors. Noise corrupts signals you are trying to send or receive.  
noninverting  
polarity of a switch (limit switch, home switch, and so on) in active state.  
If these switches are active-high, they are said to have non-inverting  
polarity.  
NI 7340 User Manual  
G-6  
ni.com  
 
Glossary  
O
open-loop  
refers to a motion control system where no external sensors (feedback  
devices) are used to provide position or velocity correction signals  
P
PCI  
Peripheral Component Interconnect—a high-performance expansion bus  
architecture originally developed by Intel to replace ISA and EISA. It is  
achieving widespread acceptance as a standard for PCs and workstations;  
it offers a theoretical maximum transfer rate of 132 MB/s.  
PID  
proportional-integral-derivative control loop  
proportional-integral-velocity feed forward  
PIVff  
port  
(1) a communications connection on a computer or a remote controller;  
(2) a digital port, which consists of eight lines of digital input and/or output  
position breakpoint  
position breakpoint for an encoder can be set in absolute or relative  
quadrature counts. When the encoder reaches a position breakpoint,  
the associated breakpoint output immediately transitions.  
power cycling  
PWM  
turning the host computer off and then back on, which causes a reset of  
the motion control board  
Pulse Width Modulation—a method of controlling the average current in  
a motor phase winding by varying the on-time (duty cycle) of transistor  
switches  
PXI  
PCI eXtensions for Instrumentation  
Q
quadrature counts  
encoder line resolution times four  
R
RAM  
random-access memory  
relative breakpoint  
sets the position breakpoint for an encoder in relative quadrature counts  
© National Instruments Corporation  
G-7  
NI 7340 User Manual  
 
   
Glossary  
relative position  
destination or target position for motion specified with respect to the  
current location regardless of its value  
relative position mode  
ribbon cable  
RPM  
position relative to current position  
flat cable in which the conductors are side by side  
revolutions per minute—units for velocity  
revolutions per second squared—units for acceleration and deceleration  
Ready to Receive  
RPSPS or RPS/S  
RTR  
S
s
seconds  
servo  
stepper  
specifies an axis that controls a servo motor  
specifies an axis that controls a stepper motor  
direction output or counter-clockwise direction control  
stepper <1..4>  
Dir (CCW)  
stepper <1..4>  
Step (CW)  
stepper pulse output or clockwise direction control  
T
toggle  
changing state from high to low, back to high, and so on  
force tending to produce rotation  
torque  
trapezoidal profile  
typical motion trajectory, where a motor accelerates up to the programmed  
velocity using the programmed acceleration, traverses at the programmed  
velocity, then decelerates at the programmed acceleration to the target  
position  
trigger  
TTL  
any event that causes or starts some form of data capture  
transistor-transistor logic  
NI 7340 User Manual  
G-8  
 
ni.com  
Glossary  
V
V
volts  
VCC  
positive voltage supply  
velocity mode  
move the axis continuously at the specified velocity  
W
watchdog  
timer task that shuts down (resets) the motion control board if any serious  
error occurs  
word  
standard number of bits that a processor or memory manipulates at  
one time, typically 8-, 16-, or 32-bit  
© National Instruments Corporation  
G-9  
NI 7340 User Manual  
 
Index  
Numerics  
68-pin  
Analog Input <1..4>, 5-12  
Analog Input Ground, 5-13  
Analog Output <1..4>, 5-4  
Analog Output Ground, 5-4  
Analog Reference, 5-13  
analog signals, wiring, 5-13  
axes, 4-3  
digital I/O connector, 3-3  
motion I/O connector, 3-3  
7340  
analog feedback, 4-2  
axes, 4-3  
breakpoint outputs, 5-10  
configuring, 2-1  
secondary  
embedded operating system, 4-2  
encoder signals, 5-7  
features, 1-1  
feedback resources, 4-4  
output resources, 4-4  
Axis <1..4>  
flash memory, 4-3  
general-purpose digital I/O lines, 5-15  
hardware, 1-1  
Forward Limit Input, 5-5  
Home Input, 5-5  
Inhibit, 5-5  
architecture, 4-1  
home inputs, 5-5  
input and output signal connections, 5-1  
installing software, 2-1  
introduction, 1-1  
concepts, 4-5  
motion  
examples, 5-17  
circuit, 5-12  
I/O connections, 1-4  
buffers, 4-5  
outputs, 5-16  
shutdown input, 5-10  
software programming choices, 1-3  
trajectory generators, 4-2  
trigger inputs, 5-10  
user connectors, 3-3  
using RTSI, 1-2  
command buffer, 4-5  
communications status register (CSR), 4-5  
communications, host, 4-5  
connectors  
68-pin  
digital I/O, 3-3, 5-1  
© National Instruments Corporation  
I-1  
NI 7340 User Manual  
 
 
Index  
motion I/O, 3-3, 5-1  
H
help, technical support, C-1  
high-speed capture, 4-5  
home inputs  
conventions used in the manual, vii  
circuit, 5-7  
ground connections, 5-6  
D
Declaration of Conformity (NI resources), C-1  
diagnostic tools (NI resources), C-1  
documentation  
conventions used in manual, vii  
NI resources, C-1  
I
installing  
hardware, 2-4  
software, 2-1  
instrument drivers (NI resources), C-1  
E
Encoder <1..4>  
Index, 5-8  
Phase A/Phase B, 5-7  
encoder signals  
K
KnowledgeBase, C-1  
limit input circuit, 5-7  
limit inputs, ground connections, 5-6  
F
functional overview  
buffers, 4-5  
M
onboard programs, 4-5  
memory, buffer storage, 4-5  
motion I/O  
connector  
G
ground connections  
encoder signals, 5-9  
wiring  
N
breakpoint outputs, 5-11  
shutdown input, 5-11  
National Instruments support and  
services, C-1  
NI support and services, C-1  
NI 7340 User Manual  
I-2  
 
ni.com  
Index  
O
onboard programs, 4-5  
training (NI resources), C-1  
Trigger Input <1..4>, 5-10  
trigger input circuit, 5-11  
troubleshooting (NI resources), C-1  
P
pin assignments  
programming examples (NI resources), C-1  
R
Web resources, C-1  
related documentation, viii  
return data buffer (RDB), 4-5  
RTSI  
wiring, analog signals, 5-13  
S
safety information, 2-1  
Shutdown Input, 5-10  
software (NI resources), C-1  
software, onboard programs, 4-5  
support, technical, C-1  
© National Instruments Corporation  
I-3  
NI 7340 User Manual  
 

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