4-Axis Position (Pulse) Command Motion Controller
NI PCI-7390
• 4-axis motion controller with direct
connectivity to Yaskawa Sigma II,
Mitsubishi MR-J2S, and Panasonic
Minas A drives
• Built-in optical isolation for protection
against ground loops, spikes, and surges
• 8 DI, 8 DO general-purpose isolated
24 V digital lines
• Programmable velocity and acceleration
parameters for trapezoidal and S-curve
velocity profiles
• Position capture inputs and
position compare outputs
for I/O synchronization
• Easy application development with
NI LabVIEW, NI Motion Assistant, C,
and Visual Basic
Operating Systems
• Windows Vista/XP/2000
• LabVIEW Real-Time ETS
Recommended NI Software
•
•
•
•
LabVIEW
NI Motion Assistant
LabWindows
™
/CVI
Measurement Studio
Driver Software (included)
• NI-Motion
Overview
The NI PCI-7390 is a position (pulse) command stepper motion controller
with isolation designed for use with drives that accept position (p-)
command mode or step (pulse) command input. The PCI-7390 has
accessories specifically designed for direct connectivity to Yaskawa
Sigma II, Mitsubishi MR-J2S, and Panasonic Minas A drives. The
PCI-7390 provides fully programmable motion control for up to four
independent or coordinated axes of motion. It features dedicated motion
I/O for limit and home switches and additional I/O for general-purpose
functions such as in-position, inhibit input/drive alarm, and servo ready.
You can use the PCI-7390 controller for point-to-point and straight-line
vector moves. The PCI-7390 also performs arbitrary and complex motion
trajectories through circular, spherical, or helical interpolation. The
PCI-7390 uses quadrature encoders for position and velocity feedback
(closed-loop only) and provides advanced encoder functions such as trigger
(position capture) inputs and breakpoint (position compare) outputs.
control sequences quickly and easily. When you have created a motion
task, you can use NI Motion Assistant to generate the task in LabVIEW
or C code or code recipes to speed up development.
Hardware
The PCI-7390 is a high-performance controller that uses an advanced
dual-processor architecture including a 32-bit CPU combined with a
digital signal processor (DSP) and a custom field-programmable gate
array (FPGA). The PCI-7390 uses the DSP for all closed-loop control and
motion trajectory generation. The DSP chip is complemented by a
custom FPGA that performs the high-speed encoder interfacing, position
capture (trigger) input and position compare (breakpoint) output functions,
motion I/O processing, and pulse generation for hard real-time
functionality. The embedded CPU runs a multitasking, real-time OS
and handles host communications, command processing, multiaxis
interpolation, error handling, general-purpose digital I/O, and overall
motion system integration functions.
The PCI-7390 also offers high-performance encoder features such
as position capture triggers and position compare breakpoints for high-
speed synchronization of motion with actuators, sensors, and other parts
of the complete motion system. You can program a position compare output
to transition when the associated encoder value equals the breakpoint
position. You can use a breakpoint output to directly control actuators or
as a trigger to synchronize data acquisition or other functions in the
motion control system.
Software
The PCI-7390 is shipped with the NI-Motion driver, which includes a VI
library for NI LabVIEW software and functions for NI LabWindows/CVI,
C, and Visual Basic. For other languages, you can execute all setup and
motion control functions by calling into a dynamic link library (DLL). The
NI-Motion VI library implements the full API, along with a useful set
of example programs. The NI-Motion software also includes a series
of example programs for use with ANSI C-based LabWindows/CVI.
NI Motion Assistant offers a point-and-click interface for creating motion
4-Axis Position (Pulse) Command Motion Controller
Feature
Number of Axes
PAC Platforms
Linear, Circular, Spherical, and
Helical Interpolation; Blending
Trapezoidal, S-Curve Profiles
Closed-Loop Stepper Control
Contouring, Electronic Gearing, Onboard Programming
Sinusoidal Commutation for Brushless Servo Motors
Buffered Breakpoints, Buffered High-Speed Capture,
4 MHz Periodic Breakpoints
Number of Axes per 62.5 µs PID Rate
DIO Lines
Maximum Step Output Rate/Encoder Input Rate
Programming API
Software
NI PCI-7390
4
PCI
–
–
–
1
8 input, 8 output
4 MHz/4 MHz
NI-Motion Driver
NI Motion Assistant,
NI LabVIEW, C, Visual Basic
The 100-pin SCSI I/O connector provides all the signals for four axes
of closed-loop motion control, including encoder feedback, limit and home
inputs, breakpoint (position compare) outputs, trigger (position capture)
inputs, inhibit (alarm) inputs, and in-position inputs. The connector also
can provide shutdown (emergency stop) input, drive (servo) ready inputs,
inhibit (drive enable) outputs, alarm clear outputs, and general-purpose
inputs and outputs. All inputs and outputs are optically isolated.
The PCI-7390 incorporates the NI RTSI bus, which provides high-speed
connectivity among National Instruments products, including image
acquisition and data acquisition products. Using the RTSI bus, you can
easily synchronize several functions to a common trigger or timing event
across multiple motion, image, or data acquisition devices.
NI PCI-7390 100-Pin D-Sub Connector Pinout
Isolated +5V OUT
Isolated Ground
+24V IN
General-Purpose Output Supply
Axis 1 General-Purpose Output 0
Axis 1 General-Purpose Output 1/Axis 1 Inhibit-Out*
Axis 1 Encoder Phase A +
Axis 1 Encoder Phase A -
Axis 1 Encoder Phase B +
Axis 1 Encoder Phase B -
Axis 1 Index (Encoder Phase Z) +
Axis 1 Index (Encoder Phase Z) -
Isolated Ground
Axis 1 Step (CW) +
Axis 1 Step (CW) -
Axis 1 Dir (CCW) +
Axis 1 Dir (CCW) -
Axis 1 Breakpoint (Position Compare)
Axis 1 VI_COM
Axis 1 Trigger (Position Capture)
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 1 Home Switch
Axis 1 Inhibit-In (Alarm)
Axis 1 In-Position
Axis 1 General-Purpose Input 0
Axis 1 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
Isolated Ground
Axis 2 General-Purpose Output 1/Axis 2 Inhibit-Out*
Axis 2 Encoder Phase A +
Axis 2 Encoder Phase A -
Axis 2 Encoder Phase B +
Axis 2 Encoder Phase B -
Axis 2 Index (Encoder Phase Z) +
Axis 2 Index (Encoder Phase Z) -
Isolated Ground
Axis 2 Step (CW) +
Axis 2 Step (CW) -
Axis 2 Dir (CCW) +
Axis 2 Dir (CCW) -
Axis 2 Breakpoint (Position Compare)
Axis 2 VI_COM
Axis 2 Trigger (Position Capture)
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 2 Home Switch
Axis 2 Inhibit-In (Alarm)
Axis 2 In-Position
Axis 2 General-Purpose Input 0
Axis 2 General-Purpose Input1*/Axis 4 Drive (Servo) Ready
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Isolated +5V OUT
Isolated Ground
Axis 2 General-Purpose Output 0
Axis 3 General-Purpose Output 0
Axis 4 General-Purpose Output 0
Axis 3 General-Purpose Output 1/Axis 3 Inhibit-Out*
Axis 3 Encoder Phase A +
Axis 3 Encoder Phase A -
Axis 3 Encoder Phase B +
Axis 3 Encoder Phase B -
Axis 3 Index (Encoder Phase Z) +
Axis 3 Index (Encoder Phase Z) -
Isolated Ground
Axis 3 Step (CW) +
Axis 3 Step (CW) -
Axis 3 Dir (CCW) +
Axis 3 Dir (CCW) -
Axis 3 Breakpoint (Position Compare)
Axis 3 VI_COM
Axis 3 Trigger (Position Capture)
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 3 Home Switch
Axis 3 Inhibit-In (Alarm)
Axis 3 In-Position
Axis 3 General-Purpose Input 0
Axis 3 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
Isolated Ground
Axis 4 General-Purpose Output 1/Axis 4 Inhibit-Out*
Axis 4 Encoder Phase A +
Axis 4 Encoder Phase A -
Axis 4 Encoder Phase B +
Axis 4 Encoder Phase B -
Axis 4 Index (Encoder Phase Z) +
Axis 4 Index (Encoder Phase Z) -
Isolated Ground
Axis 4 Step (CW) +
Axis 4 Step (CW) -
Axis 4 Dir (CCW) +
Axis 4 Dir (CCW) -
Axis 4 Breakpoint (Position Compare)
Axis 4 VI_COM
Axis 4 Trigger (Position Capture)
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Axis 4 Home Switch
Axis 4 Inhibit-In (Alarm)
Axis 4 In-Position
Axis 4 General-Purpose Input 0
Axis 4 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
NI PCI-7390 100-Pin D-Sub Connector Pinout
BUY ONLINE
at
ni.com
or
CALL 800 813 3693 (U.S.)
2
4-Axis Position (Pulse) Command Motion Controller
Direct Connectivity to Yaskawa
Sigma II Drives
The NI MCA-7790Y accessory connects the PCI-7390 and Yaskawa
Sigma II drives. To connect a Yaskawa drive to the PCI-7390, connect
a 50-pin cable from the drive to the MCA-7790Y, an SCSI 100-pin cable
(included) from the MCA-7790Y to the PCI-7390, and a 24 V power
supply to the MCA-7790Y.
1
4
5
6
Direct Connectivity to Panasonic
Minas A Drives
The NI MCA-7790P accessory connects the PCI-7390 and Panasonic
Minas A drives. To connect a Panasonic drive to the PCI-7390, connect
a 50-pin cable from the drive to the MCA-7790P, an SCSI 100-pin cable
(included) from the MCA-7790P to the PCI-7390, and a 24 V power supply
to the MCA-7790P.
1
4
5
6
2
3
193615B-01
2
3
1. Yaskawa Sigma II Series Drive
2. 50-Pin Cable
3. NI MCA-7790Y
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
1. Panasonic Minas A Series Drive
2. 50-Pin Cable
3. NI MCA-7790P
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
Direct Connectivity to Mitsubishi
J2S Series Drives
The NI MCA-7790M accessory connects the PCI-7390 and Mitsubishi
MR-J2S drives. To connect a Mitsubishi drive to the PCI-7390, connect
two 20-pin cables from the drive to the MCA-7790M, an SCSI 100-pin
cable (included) from the MCA-7790M to the PCI-7390, and a 24 V power
supply to the MCA-7790M.
1
2
3
4
5
6
Connectivity to Other Drives with
Position (Pulse) Command Input
You can use the CB-100 kit to connect the PCI-7390 motion controller to
other drives that accept a position (pulse) command input. Connect the
PCI-7390 to the two CB-50 connector blocks with an R1005050 cable
(terminal blocks and cable included in the CB-100 kit). Wire the drive to
the screw terminals on the CB-50 connector blocks.
B
A
Ordering Information
NI PCI-7390............................................................................779034-01
Accessories
NI MCA-7790Y kit (for Yaskawa drives) ..............................779611-01
NI MCA-7790M kit (for Mitsubishi drives) ..........................779612-01
NI MCA-7790P kit (for Panasonic drives)..............................779613-01
CB-100 kit (for other drives) ..................................................777812-01
NI Motion Assistant ..............................................................778553-01
20-pin cable.......................................................................... 194466-02
50-pin cable ..........................................................................194604-02
1. Mitsubishi MR-J2S Series Drive
2. 20-Pin Cables
3. NI MCA-7790M
4. Power Supply Connection
5. SCSI 100-Pin Cable
6. NI PCI-7390
BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S.) or go to
ni.com/info
and
enter
pci7390.
BUY ONLINE
at
ni.com
or
CALL 800 813 3693 (U.S.)
3
4-Axis Position (Pulse) Command Motion Controller
Digital I/O
Inputs................................................... 8, sinking or sourcing
Outputs................................................ 8, sinking or sourcing
62.5 to 500 µs/sample
62.5 µs/axis
250 µs total
<1 update period
±2
31
steps
±2
31
steps
1 to 32,767 samples
1 to 32,767 counts
1 to 4,000,000 steps/s
244 to 512,000,000 steps/s
2
at a PID update rate of 250 µs
4 MHz (full, half, and microstep)
50 ns at 4 MHz
Step and direction or CW/CCW
0 to 5 V optically isolated
Specifications
Performance
Trajectory update rate range ..............
Maximum update rate ....................
4-axis update rate ..........................
Multiaxis synchronization...................
Trajectory parameters
Absolute position range .................
Maximum relative move size .........
S-curve time range .........................
Following error range .....................
Velocity range .................................
Acceleration/deceleration..............
Stepper outputs
Maximum pulse rate ......................
Minimum pulse width ....................
Step output mode ...........................
Voltage range .................................
Bus Power Requirements
+5 V (±5%)........................................... 600 mA maximum
+12 V (±5%)......................................... 50 mA maximum
Physical Characteristics
Dimensions.......................................... 17.8 by 9.9 cm (7.03 by 3.9 in.)
Motion I/O connector.......................... 100-pin SCSI
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity ................................ 10 to 90%, noncondensing
System Reset
Watchdog timer function.................... Resets board to startup state
Motion I/O
Quadrature encoder inputs
Maximum count rate ...................... 4 MHz quadrature
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger (position capture) inputs......... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint (position compare) outputs.. 4 (one per axis)
Maximum repetitive rate................ 100 Hz
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at
ni.com
or
CALL 800 813 3693 (U.S.)
4
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• 800 813 3693
National Instruments • info@ni.com
*351586B-01*
351586B-01
2008-9719-341-101-D
©2008 National Instruments. All rights reserved. CVI, LabVIEW, National Instruments, National Instruments Alliance Partner, NI, ni.com, NI-Motion, NI Motion Assistant, RTSI, and
SCXI are trademarks of National Instruments. The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft Corporation in
the United States and other countries. Other product and company names listed are trademarks or trade names of their respective companies. A National Instruments Alliance Partner
is a business entity independent from NI and has no agency, partnership, or joint-venture relationship with NI.
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