Page 3 - Important Information
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 prove...
Page 4 - Compliance; FCC/Canada Radio Frequency Interference Compliance; Determining FCC Class; Class A; Compliance to EU Directives
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 industri...
Page 5 - Contents; About This Manual
© National Instruments Corporation v NI 7340 User Manual Contents About This Manual Conventions ................................................................................................................... viiRelated Documentation...................................................................
Page 6 - Glossary
Contents NI 7340 User Manual vi ni.com Onboard Programs and Buffers ..................................................................................... 4-5Host Communications ................................................................................................... 4-5 Chapter 5Signal Con...
Page 7 - Conventions
© National Instruments Corporation vii NI 7340 User Manual 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 Conventi...
Page 8 - Related Documentation
About This Manual NI 7340 User Manual viii ni.com 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
Page 9 - Introduction; Features
© National Instruments Corporation 1-1 NI 7340 User Manual 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 so...
Page 10 - RTSI; What You Need to Get Started
Chapter 1 Introduction NI 7340 User Manual 1-2 ni.com 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 sim...
Page 11 - Software Programming Choices
Chapter 1 Introduction © National Instruments Corporation 1-3 NI 7340 User Manual 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 cal...
Page 12 - Motion I/O Connections
Chapter 1 Introduction NI 7340 User Manual 1-4 ni.com 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 di...
Page 13 - Configuration and Installation; Software Installation; Controller Configuration
© National Instruments Corporation 2-1 NI 7340 User Manual 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 Contr...
Page 16 - Hardware Installation
Chapter 2 Configuration and Installation NI 7340 User Manual 2-4 ni.com 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 , l...
Page 18 - Hardware Overview
© National Instruments Corporation 3-1 NI 7340 User Manual 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. Figure 3-1. PXI-7340 Parts Locator Diagram Note The PX...
Page 20 - User Connectors
Chapter 3 Hardware Overview © National Instruments Corporation 3-3 NI 7340 User Manual User Connectors 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-...
Page 21 - Functional Overview; Dual Processor Architecture
© National Instruments Corporation 4-1 NI 7340 User Manual 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...
Page 22 - Trajectory Generators
Chapter 4 Functional Overview NI 7340 User Manual 4-2 ni.com 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 ...
Page 23 - Flash Memory; Axes and Motion Resources; Axes
Chapter 4 Functional Overview © National Instruments Corporation 4-3 NI 7340 User Manual 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 t...
Page 24 - Motion Resources
Chapter 4 Functional Overview NI 7340 User Manual 4-4 ni.com Figure 4-1. Servo Axis Resources 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 ...
Page 25 - Onboard Programs and Buffers; Host Communications
Chapter 4 Functional Overview © National Instruments Corporation 4-5 NI 7340 User Manual 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 encode...
Page 27 - Signal Connections
© National Instruments Corporation 5-1 NI 7340 User Manual 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...
Page 30 - Motion Axis Signals
Chapter 5 Signal Connections NI 7340 User Manual 5-4 ni.com 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...
Page 31 - Limit and Home Inputs
Chapter 5 Signal Connections © National Instruments Corporation 5-5 NI 7340 User Manual • 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 co...
Page 32 - Wiring Concerns; Limit and Home Input Circuit
Chapter 5 Signal Connections NI 7340 User Manual 5-6 ni.com 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 a...
Page 33 - Encoder Signals
Chapter 5 Signal Connections © National Instruments Corporation 5-7 NI 7340 User Manual 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 T...
Page 35 - Encoder Input Circuit
Chapter 5 Signal Connections © National Instruments Corporation 5-9 NI 7340 User Manual 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...
Page 36 - Trigger Inputs, Shutdown Input, and Breakpoint Outputs
Chapter 5 Signal Connections NI 7340 User Manual 5-10 ni.com 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 bre...
Page 38 - Analog Inputs
Chapter 5 Signal Connections NI 7340 User Manual 5-12 ni.com Figure 5-6. Shutdown Input Circuit 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 measurin...
Page 40 - Other Motion I/O Connection
Chapter 5 Signal Connections NI 7340 User Manual 5-14 ni.com 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 h...
Page 41 - Digital I/O Connector
Chapter 5 Signal Connections © National Instruments Corporation 5-15 NI 7340 User Manual 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. Figure 5-8. 68-Pin D...
Page 42 - PWM Features; RTSI Connector
Chapter 5 Signal Connections NI 7340 User Manual 5-16 ni.com 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. ...
Page 43 - RTSI Signal Considerations
Chapter 5 Signal Connections © National Instruments Corporation 5-17 NI 7340 User Manual 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 trigg...
Page 44 - Servo Performance
© National Instruments Corporation A-1 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......................
Page 45 - Stepper Performance
Appendix A Specifications NI 7340 User Manual A-2 ni.com Servo command analog outputs Voltage range...................................±10 V Resolution ........................................16 bits (0.000305 V/LSB) Programmable torque (velocity) limits Positive limit ............................±10...
Page 46 - System Safety
Appendix A Specifications © National Instruments Corporation A-3 NI 7340 User Manual 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 k Ω pull-up to +5 V Pol...
Page 49 - Weight
Appendix A Specifications NI 7340 User Manual A-6 ni.com 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 externa...
Page 50 - Maximum Working Voltage; Environment
Appendix A Specifications © National Instruments Corporation A-7 NI 7340 User Manual Maximum Working Voltage Channel-to-earth..................................... 12 V, Installation Category I (signal voltage plus common-mode voltage) Channel-to-channel ................................ 22 V, Install...
Page 51 - Electromagnetic Compatibility; CE Compliance
Appendix A Specifications NI 7340 User Manual A-8 ni.com 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 ..........
Page 52 - Cable Connector Descriptions
© National Instruments Corporation B-1 NI 7340 User Manual B Cable Connector Descriptions 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 ar...
Page 65 - Numerics
© National Instruments Corporation I-1 NI 7340 User Manual Index Numerics 68-pin digital I/O connector, 3-3motion I/O connector, 3-3 7340 analog feedback, 4-2axes, 4-3breakpoint outputs, 5-10configuring, 2-1embedded operating system, 4-2encoder signals, 5-7features, 1-1flash memory, 4-3general-purpo...
