Mid-Range Stepper/Servo Motion Controllers
NI 734x
•
•
•
•
•
•
•
Up to 4 axes of motion
Configurable stepper or servo control
Up to 4 MHz stepper output rate
3D linear and circular interpolation
3D contouring
62 µs PID loop update rate
Patented step generation technology
for smooth stepper motion
Operating Systems
• Windows Vista/XP/2000
• LabVIEW Real-Time
Recommended NI Software
•
•
•
•
LabVIEW
NI Motion Assistant
LabWindows
™
/CVI
Measurement Studio
Other Compatible Software
• Visual Basic
• C/C++
Driver Software (included)
• NI-Motion
Overview and Applications
NI 734x motion controllers are for end users and machine builders who
need to develop powerful applications quickly and easily. With the
proper drive, you can use NI 734x motion controllers for stepper/servo
motor control and piezoelectric control. These controllers also have four
general-purpose analog inputs that you can use in simple application
monitoring or as feedback for closed-loop control.
Distributed Control with LabVIEW Real-Time
You can use the NI-Motion driver software with the NI LabVIEW Real-Time
Module. With this technology, you can create powerful, distributed
motion control systems using a PXI RT Series controller, the LabVIEW
Real-Time Module, and a PXI-734x motion controller. You can program
this type of system using LabVIEW on a separate computer. The main
advantages of a real-time system are high reliability and the capability
to create powerful distributed motion control solutions that connect to
the main PC using standard Ethernet.
Feature
Number of Axes
PAC Platforms
Linear, Circular, Spherical, and
Helical Interpolation; Blending
Trapezoidal, S-Curve Profiles
Closed-Loop Stepper Control
Contouring, Electronic Gearing, Onboard Programming
Sinusoidal Commutation for Brushless Servo Motors
Buffered Breakpoints, Buffered High-Speed Capture,
4 MHz Periodic Breakpoints
Number of Axes per 62.5 µs PID Rate
PWM Lines/DIO Lines/Analog Input Resolution
Maximum Step Output Rate/Encoder Input Rate
Programming API
Software
NI 734x
2, 4
PCI, CompactPCI/PXI
–
–
1
2/32/12-bit
4 MHz/20 MHz
NI-Motion Driver
NI Motion Assistant, NI LabVIEW,
C, Visual Basic
Features
NI 734x controllers offer advanced features such as blended motion
trajectory control and fully coordinated circular, linear, point-to-point,
gearing, and vector-space control in either embedded motion operation
or host-centric programming environments. NI also provides contouring
capability for more complex moves. NI 734x controllers use a high-
performance motion controller architecture. The CPU and DSP components
operate together to optimize closed-loop control, automate systems control,
and implement motion command processing functions. The onboard CPU
uses an embedded real-time operating system that has event-driven
multitasking control. With this state-of-the-art approach, several motion
control programs and processes can operate simultaneously on the
controller, independently of the host PC and with no outside program
interaction unless the host program or user configuration initiates it.
Mid-Range Stepper/Servo Motion Controllers
NI 7340 Connector Pinouts
(two 68-pin VHDCI connectors)
Axis 1 Dir (CCW)
Digital Ground
Digital Ground
Axis 1 Home Switch
Trigger 1
Axis 1 Inhibit
Axis 2 Dir (CCW)
Digital Ground
Digital Ground
Axis 2 Home Switch
Trigger 2
Axis 2 Inhibit
Axis 3 Dir (CCW)
Digital Ground
Digital Ground
Axis 3 Home Switch
Trigger 3
Axis 3 Inhibit
Axis 4 Dir (CCW)
Digital Ground
Digital Ground
Axis 4 Home Switch
Trigger 4
Axis 4 Inhibit
Digital Ground
Breakpoint 1
Breakpoint 3
Digital Ground
Analog Output
Analog Output
Analog Output Ground
Analog Input 1
Analog Input 3
Analog Reference (Output)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
Axis 1 Step (CW)
Axis 1 Encoder Phase A
Axis 1 Encoder Phase B
Axis 1 Encoder Index
Axis 1 Forward Limit Switch
Axis 1 Reverse Limit Switch
Axis 2 Step (CW)
Axis 2 Encoder Phase A
Axis 2 Encoder Phase B
Axis 2 Encoder Index
Axis 2 Forward Limit Switch
Axis 2 Reverse Limit Switch
Axis 3 Step (CW)
Axis 3 Encoder Phase A
Axis 3 Encoder Phase B
Axis 3 Encoder Index
Axis 3 Forward Limit Switch
Axis 3 Reverse Limit Switch
Axis 4 Step (CW)
Axis 4 Encoder Phase A
Axis 4 Encoder Phase B
Axis 4 Encoder Index
Axis 4 Forward Limit Switch
Axis 4 Reverse Limit Switch
Host +5 V
Breakpoint 2
Breakpoint 4
Shutdown
Analog Output
Analog Output
Reserved
Analog Input 2
Analog Input 4
Analog Input Ground
+5 V
PCLK
Reserved
Reserved
PWM1
Reserved
Reserved
Reserved
PWM2
Port 1:bit 0
Digital Ground
Port 1:bit 3
Port 1:bit 4
Digital Ground
Port 1:bit 7
Port 2:bit 0
Port 2:bit 1
Digital Ground
Digital Ground
Digital Ground
Port 2:bit 6
Port 2:bit 7
Port 3:bit 0
Digital Ground
Port 3:bit 3
Port 3:bit 4
Digital Ground
Port 3:bit 7
Port 4:bit 0
Digital Ground
Port 4:bit 3
Port 4:bit 4
Digital Ground
Port 4:bit 7
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
Digital Ground
Digital Ground
Digital Ground
DPull
Digital Ground
Reserved
Digital Ground
Digital Ground
Digital Ground
Port 1:bit 1
Port 1:bit 2
Digital Ground
Port 1:bit 5
Port 1:bit 6
Digital Ground
Digital Ground
Port 2:bit 2
Port 2:bit 3
Port 2:bit 4
Port 2:bit 5
Digital Ground
Digital Ground
Port 3:bit 1
Port 3:bit 2
Digital Ground
Port 3:bit 5
Port 3:bit 6
Digital Ground
Port 4:bit 1
Port 4:bit 2
Digital Ground
Port 4:bit 5
Port 4:bit 6
Digital Ground
20 54
21 55
22 56
23 57
24 58
25 59
26
27
28
29
60
61
62
20 54
21 55
22 56
23 57
24 58
25 59
26
27
28
29
30
60
61
62
63
64
63
30 64
31 65
32 66
33 67
34 68
31 65
32 66
33 67
34 68
Motion I/O Connector
Digital I/O Connector
Ordering Information
NI PCI-7342 (2 axes) ..............................................................778916-02
NI PCI-7344 (4 axes) ..............................................................778916-04
NI PXI-7342 (2 axes) ..............................................................779036-02
NI PXI-7344 (4 axes) ..............................................................779036-04
Includes NI-Motion software libraries and examples.
Accessories
NI Motion Assistant ..............................................................778553-01
Wiring Interfaces
UMI-7764 ..........................................................................777978-02
UMI-7772 ..........................................................................778556-01
UMI-7774 ..........................................................................778558-01
Power Drives
NI MID-7604......................................................................777936-01
NI MID-7602......................................................................778003-01
NI MID-7654......................................................................778005-01
NI MID-7652......................................................................778004-01
P70530 ..............................................................................780097-01
P70360...............................................................................780098-01
BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S.) or go to
ni.com/info
and
enter
ni7340.
BUY ONLINE
at
ni.com
or
CALL 800 813 3693 (U.S.)
2
Mid-Range Stepper/Servo Motion Controllers
Digital I/O
Ports .................................................... 4, 8-bit TTL ports, bit
configurable, sink or source
24 mA outputs
Open-loop PWM outputs
Number of PWM outputs ............... 2, 50 kHz
Clock sources.................................. Internal or external
Specifications
Performance
PID update rate range.........................
Maximum PID update rate .............
4-axis PID update rate....................
Multiaxis synchronization...................
Trajectory parameters
Absolute position range .................
Maximum relative move size .........
S-curve time range .........................
Following error range .....................
Velocity range .................................
Velocity range .................................
Acceleration/deceleration..............
62.5 to 500 µs/sample
62.5 µs/axis
250 µs total
<1 update sample
±2
31
counts
±2
31
counts
1 to 32,767 samples
±32,767 counts
Servo: 1 to ±20,000,000 counts/s
Stepper: 1 to 4,000,000 steps/s
244 to 512,000,000 counts/s
2
at
a PID rate of 250 µs
Gear ratio........................................ ±32,767:1 to ±1:32,767
Servo-control loop modes................... PID, PIVff, S-curve, dual loop
PID (Kp, Ki, and Kd) gains............... 0 to 32,767
Stepper outputs
Maximum pulse rate ...................... 4 MHz (full, half, and microstep)
Minimum pulse width .................... 120 ns at >2 MHz
Step output mode ........................... Step and direction or CW/CCW
Voltage range ................................. 0 to 5 V
Power Requirements
PCI and PXI
+5 V (±3%) ......................................
+12 V (±3%) ....................................
-12 V (±10%) ...................................
Power consumption ........................
1A
30 mA
30 mA
5.7 W, maximum
Physical
Dimensions (not including connectors)
PCI................................................... 17.5 by 9.9 cm (6.9 by 3.9 in.)
PXI................................................... 16 by 10 cm (6.3 by 3.9 in.)
Connectors
Motion I/O connector ..................... 68-pin female high-density
VHDCI type
Digital I/O connector ...................... 68-pin female high-density
VHDCI type
System Safety
Watchdog timer function.................... Resets board to startup state
Shutdown input................................... Disable all axes and
command outputs
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity range...................... 10 to 90% (noncondensing)
Motion I/O
Servo command analog outputs
Voltage range ................................. ±10 V, 16 bits (0.000305 V/LSB)
Programmable torque (velocity) limits and
programmable offset.................. ±10 V (-32,768 to +32,767)
Encoder inputs .................................... Quadrature, incremental,
single-ended
Maximum count rate ...................... 20 MHz
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger inputs ...................................... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint outputs.............................. 4 (one per axis),
programmable polarity
Maximum repetitive rate................ 100 Hz
Inhibit/enable output .......................... 4 (one per axis),
programmable polarity
Analog inputs...................................... 4, 12-bit resolution, ±10 V range,
25 µs scan rate/enabled channel
Analog outputs.................................... 4, 16-bit resolution, ±10 V range
BUY ONLINE
at
ni.com
or
CALL 800 813 3693 (U.S.)
3
NI Services and Support
IN
TA
PL
SERVICE
NEEDS
LO
Y
V
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NI has the services and support to meet
your needs around the globe and through
the application life cycle – from planning
and development through deployment
and ongoing maintenance. We offer
services and service levels to meet
customer requirements in research,
design, validation, and manufacturing.
Visit
ni.com/services.
Local Sales and Technical Support
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to engineers who speak your language. NI delivers industry-leading
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ni.com/support.
We also offer service programs that provide automatic upgrades to
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ni.com/ssp.
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Partner program of more than 600 independent consultants and
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Visit
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We offer design-in consulting and product integration assistance if you
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Hardware Services
NI Factory Installation Services
NI Factory Installation Services (FIS) is the fastest and easiest way to
use your PXI or PXI/SCXI combination systems right out of the box.
Trained NI technicians install the software and hardware and configure
the system to your specifications. NI extends the standard warranty by
one year on hardware components (controllers, chassis, modules)
purchased with FIS. To use FIS, simply configure your system online
with
ni.com/pxiadvisor.
Calibration Services
NI recognizes the need to maintain properly calibrated devices for
high-accuracy measurements. We provide manual calibration
procedures, services to recalibrate your products, and automated
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Repair and Extended Warranty
NI provides complete repair services for our products. Express repair
and advance replacement services are also available. We offer
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ni.com
• 800 813 3693
National Instruments • info@ni.com
*351433B-01*
351433B-01
2008-9717-341-101-D
©2008 National Instruments. All rights reserved. CVI, LabVIEW, Measurement Studio, National Instruments, National Instruments Alliance Partner, NI, ni.com, NI-Motion, NI Motion
Assistant, and SCXI are trademarks of National Instruments. The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft
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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