National Instruments Home Security System NI 7350 User Manual

Motion Control  
NI 7350 User Manual  
NI 7350 User Manual  
July 2006  
371060B-01  
 
 
Important Information  
Warranty  
The National Instruments PXI/PCI-7350 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. In no event shall National  
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failures caused by owner’s failure to follow the National Instruments installation, operation, or maintenance instructions; owner’s modification of the  
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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.  
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Compliance  
Compliance with FCC/Canada Radio Frequency Interference  
Regulations  
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.  
Consult the FCC Web site at www.fcc.govfor more information.  
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 with 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/certification, 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  
Controller Configuration................................................................................................2-1  
Safety Information .........................................................................................................2-2  
Connecting Brushless Servo Motors..............................................................................2-5  
Connecting the Motor Leads ...........................................................................2-10  
Chapter 4  
Functional Overview  
Dual Processor Architecture ..........................................................................................4-1  
Embedded Real-Time Operating System........................................................4-1  
Trajectory Generators......................................................................................4-2  
Analog Input and Output.................................................................................4-2  
© National Instruments Corporation  
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Contents  
Flash Memory ................................................................................................. 4-3  
Axes and Motion Resources.......................................................................................... 4-3  
Motion Resources ........................................................................................... 4-5  
Chapter 5  
Other Motion I/O Connection......................................................................... 5-13  
Interfacing With Optocouplers........................................................................ 5-13  
PWM Features................................................................................................. 5-17  
RTSI Connector............................................................................................................. 5-18  
RTSI Signal Considerations............................................................................ 5-18  
Appendix A  
Specifications  
Appendix B  
Cable Connector Descriptions  
Input/Output Reset States  
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ni.com  
Contents  
Technical Support and Professional Services  
Glossary  
Index  
© National Instruments Corporation  
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About This Manual  
This manual describes the electrical and mechanical aspects of the National  
Instruments PXI/PCI-7350 motion controller and contains information  
concerning its installation and operation.  
The NI 7350 controller is designed for PXI, CompactPCI, and PCI bus  
computers.  
Conventions  
This manual uses the following conventions:  
<>  
Angle brackets that contain numbers separated by an ellipsis represent a  
range of values associated with a bit or signal name—for example,  
AO <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 tip, which alerts you to advisory information.  
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. When this symbol is marked on a  
product, refer to the Safety Information section of Chapter 2, Configuration  
and Installation, for information about precautions to take.  
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. Italic text also denotes text that is a placeholder for a word  
or value that you must supply.  
© National Instruments Corporation  
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About This Manual  
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.  
Related Documentation  
The following documents contain information you might find helpful as  
you read this manual:  
NI-Motion Function Help  
NI-Motion VI Help  
NI-Motion User Manual  
Getting Started with NI-Motion for NI 73xx Motion Controllers  
PXI Specification, Revision 2.1  
PCI Local Bus Specification, Revision 2.2  
The technical reference manual for the computer you are using  
NI 7350 User Manual  
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1
Introduction  
This chapter includes information about the features of the National  
Instruments PXI/PCI-7350 controller and information about operating the  
device.  
About the NI 7350 Controller  
The NI 7350 controller features advanced motion control with easy-to-use  
software tools and add-on motion VI libraries for use with LabVIEW.  
Features  
The NI 7350 controller is a combination servo and stepper motor controller  
for PXI, CompactPCI, and PCI bus computers. It provides  
fully-programmable motion control for up to eight independent axes of  
motion. Coordinated motion is supported through multi-dimensional  
coordinate spaces. Each axis provides dedicated motion I/O for limit and  
home switches and additional I/O for general-purpose functions.  
You can use the NI 7350 controller for point-to-point and straight-line  
vector moves. The NI 7350 also performs arbitrary and complex motion  
trajectories through circular interpolation and contouring.  
Servo axes can control DC brushed or brushless servo motors, servo  
hydraulics, servo valves, and other servo devices, such as closed-loop piezo  
motor systems. 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 control stepper motors in either open or closed-loop  
mode. They use quadrature encoders or analog inputs for position  
feedback (closed-loop only), and provide step/direction or clockwise  
(CW) /counterclockwise (CCW) digital command outputs. All stepper axes  
support full, half, and microstepping applications.  
© National Instruments Corporation  
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Chapter 1  
Introduction  
Hardware  
The NI 7350 controller is a high performance controller that uses an  
functionality provides high-speed communications while off-loading  
complex motion functions from the host PC for maximum command  
throughput and system performance.  
The NI 7350 features motion profiles that are controlled with enhanced PID  
control loop/PIVff control loop high-speed servo update rates. The update  
rate depends on the number of axes enabled. Refer to Appendix A,  
Specifications, for more information.  
Each axis has motion I/O for end-of-travel limit and home switch inputs,  
breakpoint (position compare) output, trigger (position capture) input, hall  
effect sensor input, and encoder feedback. The NI 7350 controller also has  
non-dedicated user I/O including 64 bits of digital I/O and eight analog  
inputs for 10 V signals, joystick inputs, or analog sensor monitoring.  
Additionally, the NI 7350 analog inputs can provide feedback for loop  
closure.  
RTSI  
The NI 7350 controller supports the National Instruments Real-Time  
System Integration (RTSI) bus. The RTSI bus provides high-speed  
connectivity between National Instruments products, including image  
acquisition and data acquisition products. Using the RTSI bus, you can  
easily synchronize several functions to a common trigger (position capture)  
or timing event across multiple motion, image, or data acquisition devices.  
What You Need to Get Started  
To set up and use the NI 7350 controller, you must have the  
following items:  
NI PXI-7350 controller or NI PCI-7350 controller and documentation  
NI-Motion driver software and documentation  
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Introduction  
One of the following software packages and documentation:  
LabVIEW  
LabWindows/CVI™  
Measurement Studio  
C/C++  
Microsoft Visual Basic  
A computer with an available PXI, CompactPCI, or PCI slot  
Software Programming Choices  
The NI 7350 controller comes with a simple but powerful high-level  
application programming interface (API) that makes it easy to program.  
You can execute all setup and motion control functions by calling into  
a dynamically-linked library (DLL). You can use the full function set  
implementations for LabVIEW and LabWindows/CVI, or call the  
NI-Motion libraries from C and Visual Basic.  
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 VI  
Library, which is a series of virtual instruments (VIs) for using LabVIEW  
with National Instruments motion control hardware. The NI-Motion VI  
library implements the full API, along with a useful set of example  
programs.  
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, measurement, and automation  
solutions. The NI-Motion software includes a series of example programs  
for using LabWindows/CVI with National Instruments motion control  
hardware.  
NI Motion Assistant offers a point-and-click interface for creating motion  
control sequences quickly and easily. When you have created a motion task,  
you can use Motion Assistant to output the task in LabVIEW code or code  
recipes.  
© National Instruments Corporation  
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Chapter 1  
Introduction  
Optional Equipment  
National Instruments offers a variety of products for use with the  
NI 7350 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  
RTSI bus cables for connection with other NI devices  
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 NI 7350 controller  
are high-density, 68-pin female VHDCI connectors.  
For custom cables, use the AMP mating connector (part number  
787801-01).  
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2
Configuration and Installation  
This chapter describes how to configure and install the National  
Instruments PXI/PCI-7350 controller.  
Software Installation  
Before installing the NI 7350 controller, install the NI-Motion software  
and, if appropriate, the NI-Motion VI libraries. For specific installation  
instructions, refer to Getting Started with NI-Motion for NI 73xx Motion  
Controllers, which is installed in the NI-Motion/Documentationfolder  
where you installed NI-Motion. The default directory is Program Files\  
National Instruments\NI-Motion.  
Note If you do not install the NI-Motion driver software before attempting to use the  
NI 7350, the system will not recognize the NI 7350 and you will be unable to configure or  
use the controller.  
Controller Configuration  
Because the motion I/O-related configuration of NI 7350 controller is  
performed entirely with software, it is not necessary to set jumpers  
for motion I/O configuration.  
The PXI-7350 and PCI-7350 controllers are fully compatible with the  
industry standard PXI Specification, Revision 2.1 and the PCI Local Bus  
Specification, Revision 2.2, respectively. This compatibility allows you  
to configure the computer to automatically perform all bus-related  
configuration without user interaction. It is not necessary to configure  
jumpers for bus-related configuration.  
Note When adding or removing a controller from a Windows 2000/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.  
© National Instruments Corporation  
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Chapter 2  
Configuration and Installation  
Safety Information  
Caution The following section contains important safety information that you must follow  
when installing and using the NI 7350.  
Do not operate the device in a manner not specified in this document.  
Misuse of the device can result in a hazard. You can compromise the safety  
protection built into the device if the device is damaged in any way. If the  
device is damaged, return it to National Instruments (NI) for repair.  
Do not substitute parts or modify the device except as described in this  
document. Use the device only with the chassis, modules, accessories, and  
cables specified in the installation instructions. You must have all covers  
and filler panels installed during operation of the device.  
Do not operate the device in an explosive atmosphere or where there may  
be flammable gases or fumes. If you must operate the device in such an  
environment, it must be in a suitably rated enclosure.  
If you need to clean the device, use a soft, nonmetallic brush. Make sure  
that the device is completely dry and free from contaminants before  
returning it to service.  
Operate the device only at or below Pollution Degree 2. Pollution is foreign  
matter in a solid, liquid, or gaseous state that can reduce dielectric strength  
or surface resistivity. The following is a description of pollution degrees:  
Pollution Degree 1 means no pollution or only dry, nonconductive  
pollution occurs. The pollution has no influence.  
Pollution Degree 2 means that only nonconductive pollution occurs in  
most cases. Occasionally, however, a temporary conductivity caused  
by condensation must be expected.  
Pollution Degree 3 means that conductive pollution occurs, or dry,  
nonconductive pollution occurs that becomes conductive due to  
condensation.  
Note The NI 7350 is intended for indoor use only.  
You must insulate signal connections for the maximum voltage for which  
the device is rated. Do not exceed the maximum ratings for the device.  
Do not install wiring while the device is live with electrical signals. Do not  
remove or add connector blocks when power is connected to the system.  
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Configuration and Installation  
Remove power from signal lines before connecting them to or  
disconnecting them from the device.  
Operate the device at or below the measurement category1 marked on the  
hardware label. Measurement circuits are subjected to working voltages2  
and transient stresses (overvoltage) from the circuit to which they are  
connected during measurement or test. Measurement categories establish  
standard impulse withstand voltage levels that commonly occur in  
electrical distribution systems. The following is a description of  
measurement categories:  
Measurement Category I is for measurements performed on circuits  
not directly connected to the electrical distribution system referred to  
as MAINS3 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.  
Measurement 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 (for example, 115 AC voltage for U.S. or  
230 AC voltage for Europe). Examples of Installation Category II are  
measurements performed on household appliances, portable tools,  
and similar devices/modules.  
Measurement 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.  
Measurement Category IV is for measurements performed at the  
primary electrical supply installation (<1,000 V). Examples include  
electricity meters and measurements on primary overcurrent  
protection devices and on ripple control units.  
1
2
3
Measurement categories, also referred to as installation categories, are 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.  
MAINS is defined as a hazardous live electrical supply system that powers equipment. Suitably rated measuring circuits may  
be connected to the MAINS for measuring purposes.  
© National Instruments Corporation  
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Chapter 2  
Configuration and Installation  
Hardware Installation  
You can install the NI 7350 controller in any open compatible expansion  
slot in the computer. Appendix A, Specifications, lists the maximum power  
required for the NI 7350 controller.  
The following instructions are for general installation. Refer to the  
computer user manual or technical reference manual for specific  
instructions and warnings.  
Caution The NI 7350 controller is a sensitive electronic device shipped in an antistatic  
bag. Open only at an approved workstation and observe precautions for handling  
electrostatic-sensitive devices.  
PXI-7350  
1. Power off and unplug the chassis.  
Caution To protect yourself and the chassis from electrical hazards, the computer should  
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 insert 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.  
Caution Make sure you have correctly connected all safety devices before you power on  
the motion system. Safety devices include inhibits, limit switches, and emergency shut  
down circuits.  
Caution Always power on the chassis containing the NI 7350 controller then initialize the  
controller before you power on the rest of the motion system. Power off in the reverse order.  
7. Plug in and power on the chassis.  
8. Initialize the controller.  
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Configuration and Installation  
PCI-7350  
1. Power off and unplug the computer.  
Caution To protect yourself and the computer from electrical hazards, the computer  
should remain unplugged until the installation is complete.  
2. Open the computer case to expose access to the PCI expansion slots.  
3. Choose an unused +3.3 V or +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.  
Caution Make sure you have correctly connected all safety devices before you power on  
the motion system. Safety devices include inhibits, limit switches, and emergency shut  
down circuits.  
Caution Always power on the computer containing the NI 7350 controller then initialize  
the controller before you power on the rest of the motion system. Power off in the reverse  
order.  
8. Plug in and power on the computer.  
9. Initialize the controller.  
Note When adding or removing a controller from a Windows 2000/XP system, you must  
be logged on with administrator-level access. After you have restarted the system, you may  
need to refresh MAX to view the new controller.  
Connecting Brushless Servo Motors  
The NI 7350 controller can connect to brushless servo drives that perform  
sinusoidal commutation or to drives that do not. When connecting to a  
drive that performs the sinusoidal commutation, only one DAC output  
is required per axis. For information about configuring the NI-Motion  
© National Instruments Corporation  
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Chapter 2  
Configuration and Installation  
software to work with this type of system, refer to the NI-Motion User  
Manual.  
When connecting to a drive that does not perform the sinusoidal  
commutation, the NI 7350 commutates the first two phases and the servo  
drive determines the third. Therefore, two DAC outputs are required  
per axis. Refer to the Measurement & Automation Explorer Help for  
Motion for information about configuring the NI-Motion software for  
brushless servo motors.  
Connecting the Hall Effect Sensors  
Before the NI 7350 can calculate the commutation values, some form of  
initialization is necessary to determine the initial commutation phase angle  
of the brushless motor each time the controller is powered on, reset, or  
reconfigured.  
One method of initialization is to connect Hall effect sensors to detect the  
commutation phase angle of the motor. You can specify how the system is  
configured in MAX.  
Tip If you do not connect Hall effect sensors, you can set the commutation phase angle  
directly, or through a process called shake and wake. Shake and wake requires moving the  
motors to the 0º angle and setting the commutation phase angle to match.  
It is important to correctly connect the Hall effect sensors to the controller  
so that the sensors accurately determine the commutation phase angle.  
Complete the following steps to connect the Hall effect sensors.  
1. Locate the Hall effect sensor phase sequence diagram that applies to  
the motor you are using. The manufacturer of the motor should provide  
this diagram with the motor documentation.  
Note The NI 7350 controller can use Hall effect sensors having three sensor outputs per  
motor. Each output is 120 degrees out of phase from the previous output.  
2. Wire the Hall effect sensors based on the Hall effect sensor phase  
sequence diagram for the motor and Figures 2-1 and 2-2.  
Match the Hall effect sensor phase sequence diagram for the motor  
with one of the diagrams in Figures 2-1 and 2-2. The diagrams on the  
left represent the diagram supplied with the motor. The diagrams on  
the right represent the expected inputs to the UMI or NI 7350. The  
arrows in the middle show the correct path to wire the Hall effect  
sensor outputs into the UMI or NI 7350 inputs.  
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Type 1 Base Case  
0°  
0°  
0°  
0°  
0°  
0°  
180°  
180°  
180°  
180°  
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180°  
360°  
360°  
360°  
360°  
360°  
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540°  
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540°  
540°  
720°  
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180°  
180°  
180°  
180°  
180°  
180°  
360°  
360°  
360°  
360°  
360°  
360°  
540°  
540°  
540°  
540°  
540°  
540°  
720°  
720°  
720°  
720°  
720°  
720°  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Figure 2-1. Type 1 Hall Sensor Wiring Diagrams  
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Chapter 2  
Configuration and Installation  
Type 2 Base Case  
180° 540°  
0°  
0°  
0°  
0°  
0°  
0°  
180°  
180°  
180°  
180°  
180°  
180°  
360°  
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360°  
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360°  
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540°  
540°  
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720°  
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0°  
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360°  
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720°  
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720°  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
180°  
180°  
180°  
180°  
180°  
540°  
540°  
540°  
540°  
540°  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Sensor 1  
Sensor 2  
Sensor 3  
Input 1  
Input 2  
Input 3  
Figure 2-2. Type 2 Hall Sensor Wiring Diagrams  
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For example, if the diagram supplied with the motor matches the third  
Type 2 diagram, wire Hall effect sensor 1 to input 3 on the UMI or  
NI 7350, and then wire sensor 2 to input 1 and wire sensor 3 to input 2.  
The Hall effect sensor inputs for Axes 1, 2, 5, and 6 are defined as  
follows:  
Axis 5 uses digital port 8, bits 2–4, with bit 2 as input 1.  
Axis 6 uses digital port 8, bits 5–7, with bit 5 as input 1.  
Refer to Figure 5-7, 68-Pin Digital I/O Connector Pin Assignments  
(Ports 1–4), and Figure 5-8, 68-Pin Digital I/O Connector Pin  
Assignments (Ports 5–8), for detailed pinouts of the digital I/O  
connectors.  
3. Configure the system in MAX. There are two base types of Hall effect  
sensor inputs. Set the NI-Motion software to the base sensor type you  
are using.  
If the motor documentation matches any of the patterns in Figure 2-1,  
you are using Type 1, which matches the graph in Figure 2-3.  
0°  
180°  
360°  
540°  
720°  
1
2
3
Figure 2-3. Type 1 Hall Sensor Phasing Sequence Diagram  
If the motor documentation matches any of the patterns in Figure 2-2,  
you are using Type 2, which matches the graph in Figure 2-4.  
© National Instruments Corporation  
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Chapter 2  
Configuration and Installation  
0°  
180°  
360°  
540°  
720°  
1
2
3
Figure 2-4. Type 2 Hall Sensor Phasing Sequence Diagram  
Refer to the Measurement & Automation Explorer Help for Motion for  
information about configuring the NI-Motion software for brushless servo  
motors.  
Connecting the Motor Leads  
For the brushless motor to generate maximum torque, the motion system  
must output the commutation on the three motor phases correctly. Two  
of the phases are controlled by the NI 7350 controller, and the third phase  
is generated by the drive.  
The primary output of the NI 7350 wires into the primary input of the drive.  
The secondary output wires into the secondary input of the drive. Use MAX  
to configure the NI 7350 for onboard sinusoidal commutation. MAX  
automatically assigns the primary and secondary outputs. Refer to the  
Measurement & Automation Explorer Help for Motion for more  
information.  
When you wire the brushless motor to the drive, use the commutation  
diagram for the motor as a reference. The manufacturer of the motor  
typically provides this diagram with the motor documentation.  
The commutation diagram shows the expected value on each of the motor  
leads at each angle in the commutation phase, typically in 60-degree  
increments. Table 2-1 shows an example of a motor phasing commutation  
diagram, and Figure 2-5 shows the corresponding graphical representation.  
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Chapter 2  
Configuration and Installation  
Table 2-1. Motor Phasing Diagram  
Motor  
Lead  
0º  
+
60º  
+
120º  
NC  
+
180º  
240º  
300º  
NC  
A
B
C
NC  
+
NC  
+
NC  
NC  
+
0°  
60°  
120°  
180°  
240°  
300°  
A
+
NC  
C
B
Figure 2-5. Sine Wave Motor Phasing Diagram  
Table 2-2 shows the correct method of wiring a brushless motor to  
the drive.  
Table 2-2. Correct Wiring Diagram At 0º Commutation Phase  
Drive Motor Output  
Brushless Motor Lead State  
No Current (NC)  
1
2
3
Positive Current  
Negative Current  
For example, if the motor has the phasing characteristics described in  
Table 2-1, wire the motor lead C to the motor output 1 on the drive. You  
wire the lead this way because the motor lead C calls for No Current at  
0º Commutation Phase, and drive motor output 1 matches the No Current  
requirement. Similarly, wire motor lead A to motor output 2 and motor  
lead B to motor output 3 on the drive.  
© National Instruments Corporation  
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NI 7350 User Manual  
 
     
3
Hardware Overview  
This chapter presents an overview of the National Instruments  
PXI/PCI-7350 controller hardware functionality.  
Figures 3-1 and 3-2 illustrate the functional components of the  
NI PXI-7350.  
1
2
9
PXI-7350  
3
8
4
6
5
7
1
2
3
4
5
16-bit ADC  
16-bit DACs  
RTSI and PXI Bus Connector  
Field-Programmable Gate Arrays  
DSP  
6
32-bit CPU  
7
8
9
Nonvolatile FLASH Memory  
68-pin Digital I/O Connectors  
68-pin Motion I/O Connectors  
Figure 3-1. PXI-7350 Parts Locator Diagram (Front Panel)  
© National Instruments Corporation  
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NI 7350 User Manual  
 
         
Chapter 3  
Hardware Overview  
1
COPYRIGHT 2003  
c
C
2
3
4
1
2
Assembly Number Label  
Serial Number Label  
3
4
Symbol Indicating CE Compliance  
Identification Number (used in Australia)  
Figure 3-2. PXI-7350 Parts Locator Diagram (Back Panel)  
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Chapter 3  
Hardware Overview  
Figures 3-3 and 3-4 show the NI PCI-7350 parts locator diagrams.  
2
1
3
9
8
4
7
6
5
1
2
3
4
5
16-bit ADC  
16-bit DACs  
RTSI Bus Connector  
Field-Programmable Gate Arrays  
DSP  
6
7
8
9
32-bit CPU  
Nonvolatile FLASH Memory  
68-pin Digital I/O Connectors  
68-pin Motion I/O Connectors  
Figure 3-3. PCI-7350 Parts Locator Diagram (Front Panel)  
© National Instruments Corporation  
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Chapter 3  
Hardware Overview  
1
2
3
4
5
Assy187109A  
1
2
3
Symbol to Alert User to Read the Manual  
Identification Number (used in Australia)  
Symbol Indicating CE Compliance  
4
5
Serial Number Label  
Assembly Number Label  
Figure 3-4. PCI-7350 Parts Locator Diagram (Back Panel)  
User Connectors  
The two 68-pin motion I/O connectors provide all the signals for up to eight  
axes of closed-loop motion control, including encoder feedback, limit and  
home inputs, breakpoint (position compare) outputs, trigger (position  
capture) inputs, and analog-to-digital (A/D) converter signals. Refer to  
Chapter 5, Signal Connections, for details about the signals in the motion  
I/O connectors.  
The two 68-pin digital I/O connectors provide 64 bits of user-configurable  
digital I/O, including 12 inputs for four Hall effect sensors. Refer to  
Chapter 5, Signal Connections, for details about the signals in the digital  
I/O connectors.  
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Figure 3-5 shows the four 68-pin I/O connectors on the NI 7350 motion  
controller.  
1
2
4
3
1
2
Motion I/O Connector (Axes 1–4)  
Motion I/O Connector (Axes 5–8)  
3
4
Digital I/O Connector (Ports 1–4)  
Digital I/O Connector (Ports 5–8)  
Figure 3-5. PXI/PCI-7350 68-pin Connectors  
The RTSI connector provides up to eight triggers and one PXI star trigger  
(PXI-7350 only) to facilitate synchronization between multiple  
RTSI-enabled National Instruments 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.  
© National Instruments Corporation  
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4
Functional Overview  
This chapter provides an overview of the National Instruments  
PXI/PCI-7350 controller architecture and its capabilities.  
Dual Processor Architecture  
The NI 7350 controller can perform up to eight axes of simultaneous  
motion control in a preemptive, multitasking, real-time environment.  
An advanced dual-processor architecture, 32-bit CPU, digital signal  
processor (DSP) for embedded real-time control, and custom FPGAs give  
the NI 7350 controller high-performance capabilities. The powerful  
function set provides high-speed communications while off-loading  
complex motion functions from the host PC for optimized system  
performance.  
The NI 7350 controller 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 a custom FPGA  
that performs the high-speed encoder interfacing, position capture and  
breakpoint (position compare) functions, motion I/O processing, and  
stepper pulse generation for hard real-time functionality.  
The embedded CPU runs a multitasking real-time operating system  
and handles host communications, command processing, multi-axis  
interpolation, onboard program execution, error handling, general-purpose  
digital I/O, and overall motion system integration functions.  
Embedded Real-Time Operating System  
The embedded firmware is based upon an embedded real-time operating  
system (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.  
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Functional Overview  
The DSP chip is a separate processor that operates independently  
from the CPU but is closely synchronized through interprocessor  
communication. The NI 7350 is a true multiprocessing and multitasking  
embedded controller.  
The architecture of the NI 7350 controller enables advanced motion  
features, such as enhanced PID functions and lowpass and notch filters.  
Refer to the Measurement & Automation Explorer Help for Motion for  
more information about these features.  
Trajectory Generators  
The NI 7350 controller 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 NI 7350 controller has  
16 trajectory generators implemented in the DSP chip (two per axis).  
Each generator calculates an instantaneous position 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 Input and Output  
The NI 7350 controller has an 8-channel multiplexed, 16-bit ADC.  
The converted analog values are broadcast to both the DSP and CPU  
using a dedicated internal high-speed serial bus. The multiplexer scan rate  
provides high sampling rates required for feedback loop closure, joystick  
inputs, or monitoring analog sensors.  
For analog output, the NI 7350 uses two four-channel 16-bit DACs that are  
updated each PID loop.  
Both the analog input and output circuitry are factory-adjusted for excellent  
accuracy and performance. You can use an NI-Motion VI or function to  
read the current temperature of the NI 7350. Refer to either the NI-Motion  
Function Help or the NI-Motion VI Reference Help for information about  
the functions and/or VIs you use to read the current temperature of the  
NI 7350.  
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Chapter 4  
Functional Overview  
Onboard Sinusoidal Commutation  
The NI 7350 controller provides onboard sinusoidal commutation for axes  
controlling brushless DC servo motors. This feature reduces overall system  
cost by allowing you to use less complex, and therefore less expensive,  
motor drives.  
Flash Memory  
Nonvolatile memory on the NI 7350 controller is implemented with flash  
ROM, which means the controller can electrically erase and reprogram its  
own ROM. Because all of the embedded firmware, including the RTOS,  
DSP code, and the FPGA configuration file of the NI 7350 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 configuration 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.  
Use MAX to download new firmware or save configuration defaults to  
flash memory.  
A flash memory download utility is included with the NI-Motion software  
that ships with the controller.  
Axes and Motion Resources  
The NI 7350 controller can control up to eight axes of motion. The axes  
can be completely independent, simultaneously started, or mapped in  
multidimensional groups called coordinate spaces. You also can  
simultaneously start 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 also have either an encoder or ADC channel feedback resource.  
In addition to an encoder feedback, brushless DC servo axes also can use  
Hall effect sensors for initial position feedback. Closed-loop stepper axes  
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Chapter 4  
Functional Overview  
also require a feedback resource, while open-loop stepper axes do not.  
Figures 4-1 and 4-2 show these axis configurations.  
With the NI 7350 controller, you can map one or two feedback resources  
and one or two output resources to the axis.  
A stepper axis has its primary output resource mapped to a stepper output.  
A servo axis has its primary output resource mapped to a DAC.  
Trajectory  
Generator  
101100111  
16-Bit  
D/A  
Converter  
PID  
Servo  
Loop  
øA  
øB  
11101101100  
10 V  
32-Bit  
Encoder  
Interface  
0101011101101  
101100111  
Index  
Figure 4-1. Servo Axis Resources  
Trajectory  
Generator  
Optional  
101100111  
øA  
øB  
Stepper  
Pulse  
Generator  
Stepper  
Control  
Loop  
32-Bit  
Encoder  
Interface  
010010110  
01011010  
101100111  
Index  
Figure 4-2. Stepper Axis Resources  
The NI 7350 controller supports axes with secondary output resources.  
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 NI 7350  
controller also can use two DAC output resources when controlling a  
brushless DC servo axis for sinusoidal commutation.  
The NI 7350 controller also supports secondary feedback resources, or  
encoders, for axes defined as servo. Two feedback resources are used  
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Functional Overview  
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 more 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 non-motion-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.  
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 position breakpoint output, and  
an inhibit output. These signals can be used for general-purpose digital I/O  
when they are not being used for their motion-specific purpose.  
Note When a resource is mapped to an axis, all features and functions of the resource are  
available as part of the axis. Because resources are referenced by axis number after they  
are assigned to that axis, it is not necessary to remember or use the resource number  
directly when accessing these features.  
Onboard Programs and Buffers  
You can use the real-time operating system on the NI 7350 motion  
controller to run custom programs. This functionality allows you to offload  
tasks from the host processor and onto the motion controller. Onboard  
programs run at the lowest priority and are therefore reserved for  
non-time-critical background tasks. Each program is guaranteed at least  
2 ms of time every 63 ms. You can adjust the guaranteed time from 2 ms to  
20 ms using the Load Program Time Slice VI or function. Refer to the  
Changing a Time Slice section of Chapter 14, Onboard Programs, of the  
NI-Motion User Manual for more information and the impact of changing  
the onboard program time slice.  
You can execute the NI-Motion function set from onboard programs.  
In addition, the onboard programs support basic math and data operation  
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Chapter 4  
Functional Overview  
functions for up to 120 general-purpose variables. Refer to the NI-Motion  
User Manual for more information.  
The NI 7350 also features buffered operations for contouring, high-speed  
position captures, and breakpoints (position compare).  
You can store and run onboard programs and buffers from RAM or save  
them to flash ROM. The NI 7350 controller has 128 KB of RAM that is  
divided into two 64 KB sectors and 256 KB of ROM that is divided into  
four 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 the 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 NI 7350 controller has both a  
command buffer for incoming commands and a return data buffer for  
returning data.  
The communications status register provides bits for communications  
handshaking as well as real-time error reporting and general status  
feedback to the host PC. The move complete status register provides  
instantaneous motion status of all axes.  
The host computer also has a read-only register for reading position and  
velocity. This feature allows you to read the position and velocity without  
utilizing the onboard CPU.  
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5
Signal Connections  
This chapter describes how to make input and output signal connections  
directly to the National Instruments PXI/PCI-7350 controller and briefly  
describes the associated I/O circuitry.  
The NI 7350 controller has the following four connectors that handle all  
signals to and from the external motion system.  
Two 68-pin motion I/O connectors  
Two 68-pin digital I/O connectors  
You can connect to the motion system with cables and accessories, varying  
from simple screw terminal blocks to enhanced UMI units and drives.  
Caution The NI 7350 does not provide isolation between circuits.  
Caution Power off all devices when connecting or disconnecting the NI 7350 controller  
motion I/O and auxiliary digital I/O cables. Failure to do so may damage the controller.  
Motion I/O Connectors  
The motion I/O connectors contain all the signals required to control up to  
eight 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 (position compare) outputs  
Trigger (position capture) inputs  
Inhibit outputs  
Controller shutdown input  
The motion I/O connectors also contain up to eight channels of 16-bit A/D  
inputs for analog feedback or general-purpose analog input.  
© National Instruments Corporation  
5-1  
NI 7350 User Manual  
 
           
Chapter 5  
Signal Connections  
Figures 5-1 and 5-2 show the pin assignments for the two 68-pin motion  
I/O connectors on the NI 7350 controller. A signal description follows the  
connector pinout. In this chapter, lines above signal names indicate 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  
Axis 2 Forward Limit Switch  
Axis 2 Reverse Limit Switch  
Axis 3 Step (CW)  
10 44  
11 45  
12 46  
13 47  
14 48  
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 15 49  
Axis 3 Home Switch 16 50  
Trigger 3 17 51  
Axis 3 Inhibit 18 52  
Axis 4 Dir (CCW) 19 53  
Digital Ground 20 54  
Digital Ground 21 55  
Axis 4 Home Switch 22 56  
Trigger 4 23 57  
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 Inhibit 24 58  
Digital Ground 25 59  
Breakpoint 1 26 60  
Breakpoint 3 27 61  
Digital Ground 28 62  
Breakpoint 2  
Breakpoint 4  
Shutdown  
Analog Output 1  
Analog Output 3  
29 63  
30 64  
31 65  
32 66  
33 67  
34 68  
Analog Output 2  
Analog Output 4  
Analog Output Ground  
Analog Input 1  
Reserved  
Analog Input 2  
Analog Input 3  
Analog Input 4  
Analog Reference (Output)  
Analog Input Ground  
Figure 5-1. 68-Pin Motion I/O Connector Pin Assignment for Axes 1–4  
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Chapter 5  
Signal Connections  
1
2
3
4
5
6
7
8
9
35  
36  
37  
38  
39  
40  
41  
42  
43  
Axis 5 Dir (CCW)  
Digital Ground  
Digital Ground  
Axis 5 Home Switch  
Trigger 5  
Axis 5 Step (CW)  
Axis 5 Encoder Phase A  
Axis 5 Encoder Phase B  
Axis 5 Encoder Index  
Axis 5 Forward Limit Switch  
Axis 5 Reverse Limit Switch  
Axis 6 Step (CW)  
Axis 5 Inhibit  
Axis 6 Dir (CCW)  
Digital Ground  
Digital Ground  
Axis 6 Home Switch  
Trigger 6  
Axis 6 Encoder Phase A  
Axis 6 Encoder Phase B  
Axis 6 Encoder Index  
Axis 6 Forward Limit Switch  
Axis 6 Reverse Limit Switch  
Axis 7 Step (CW)  
10 44  
11 45  
12 46  
13 47  
Axis 6 Inhibit  
Axis 7 Dir (CCW)  
Digital Ground 14 48  
Digital Ground 15 49  
Axis 7 Home Switch 16 50  
Trigger 7 17 51  
Axis 7 Encoder Phase A  
Axis 7 Encoder Phase B  
Axis 7 Encoder Index  
Axis 7 Forward Limit Switch  
Axis 7 Reverse Limit Switch  
Axis 8 Step (CW)  
Axis 7 Inhibit 18 52  
Axis 8 Dir (CCW) 19 53  
Digital Ground 20 54  
Digital Ground 21 55  
Axis 8 Home Switch 22 56  
Trigger 8 23 57  
Axis 8 Encoder Phase A  
Axis 8 Encoder Phase B  
Axis 8 Encoder Index  
Axis 8 Forward Limit Switch  
Axis 8 Reverse Limit Switch  
Host +5 V  
Axis 8 Inhibit 24 58  
Digital Ground 25 59  
Breakpoint 5 26 60  
Breakpoint 7 27 61  
Breakpoint 6  
Breakpoint 8  
Digital Ground  
Analog Output 5  
28 62  
29 63  
30 64  
31 65  
32 66  
33 67  
34 68  
Shutdown  
Analog Output 6  
Analog Output 7  
Analog Output 8  
Analog Output Ground  
Analog Input 5  
Reserved  
Analog Input 6  
Analog Input 7  
Analog Input 8  
Analog Reference (Output)  
Analog Input Ground  
Figure 5-2. 68-Pin Motion I/O Connector Pin Assignment for Axes 5–8  
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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  
Digital Ground  
Reference for digital I/O  
Axis <1..8> Dir (CCW)  
Digital Ground  
Output  
Motor direction or counterclockwise  
control  
Axis <1..8> Step (CW)  
Digital Ground  
Digital Ground  
Output  
Input  
Motor step or clockwise control  
Axis <1..8> Encoder Phase A  
Closed-loop only—phase A encoder  
input  
Axis <1..8> Encoder Phase B  
Axis <1..8> Encoder Index  
Digital Ground  
Digital Ground  
Input  
Input  
Closed-loop only—phase B encoder  
input  
Closed-loop only—index encoder  
input  
Axis <1..8> Home Switch  
Axis <1..8> Forward Limit Switch  
Axis <1..8> Reverse Limit Switch  
Axis <1..8> Inhibit  
Digital Ground  
Digital Ground  
Digital Ground  
Digital Ground  
Digital Ground  
Input  
Input  
Input  
Output  
Input  
Home switch  
Forward limit switch  
Reverse limit switch  
Drive inhibit  
Trigger <1..8>  
High-speed position capture trigger  
input <1..8>  
Breakpoint <1..8>  
Host +5 V  
Digital Ground  
Digital Ground  
Output  
Output  
Position breakpoint output <1..8>  
+5 V—host computer +5 V supply  
Reference for analog inputs  
16-bit analog input  
Analog Input Ground  
Analog Input <1..8>  
Analog Output <1..8>  
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  
Digital Ground  
Analog Output Ground  
Input  
Output  
Analog Reference (output)  
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Motion Axis Signals  
The following signals control the servo amplifier or stepper drive.  
Analog Output <1..8>—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 desired. These outputs 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 Reference—For convenience, a 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.  
Note The analog reference output is an output signal only and must not be connected 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.  
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 as the reference for the DAC outputs when  
connecting to servo amplifiers instead of the Digital Ground  
(digital I/O reference).  
Axis <1..8> Step (CW) and Dir (CCW)—These signals are the  
stepper command outputs for each axis. The NI 7350 controller  
supports both industry standards for stepper command signals—step  
and direction, or independent clockwise (CW) and counterclockwise  
(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 modes produce 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 or active high. For example, with step and direction, you can  
make a logic high correspond to either forward or reverse direction.  
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You can choose to drive the Step (CW) and Dir (CCW) outputs by  
using either Totem Pole mode or Open Collector mode. In Totem Pole  
mode, the output buffer can both sink and source current, which is  
appropriate for most applications. In Open Collector mode, the output  
buffer can only sink current. By default, Step (CW) and Dir (CCW)  
outputs are set to Totem Pole mode.  
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.  
Axis <1..8> Inhibit—Use the inhibit output signals to control the  
enable/inhibit function of a servo amplifier or stepper drive. When  
properly connected and configured, the inhibit function causes the  
connected motor to be de-energized and its shaft turns freely.  
You can set the inhibits to either Totem Pole or Open Collector mode.  
In Totem Pole mode, the inhibits can both sink and source current.  
In Open Collector mode, the output buffer can only sink current.  
By default, inhibits are set to Open Collector mode.  
Whereas the industry standard for inhibits is active low, these outputs  
have programmable polarity and can be set to active high for increased  
flexibility.  
Inhibit output signals can be activated automatically upon a  
Kill Motion command or any motion error that causes a kill motion  
condition, such as a following-error trip.  
You also can use the inhibit outputs of unused axes as general-purpose  
outputs. However, for safety considerations, National Instruments  
recommends that you use the inhibit outputs for all active axes.  
Limit and Home Inputs  
The following signals control limit and home inputs:  
Axis <1..8> Forward Limit Input  
Axis <1..8> Home Input  
Axis <1..8> Reverse Limit Input  
These inputs are typically connected to limit switches located at physical  
ends of travel and/or at a specific home position. You can use software to  
enable and disable limit and home inputs at any time. When enabled, an  
active transition on a limit or home input causes a full torque halt stop of  
the associated 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.  
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Limit and home inputs are digitally filtered and must remain active for at  
least 1 ms to be recognized. Refer to Appendix A, Specifications, for more  
information. 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  
or active high.  
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 NI 7350  
controller 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. Limits that are wired  
incorrectly may prevent motion from occurring at all.  
Keep limit and home switch signals and their ground connections wired  
separately from the motor drive/amplifier signal and encoder signal  
connections.  
Caution Wiring these signals near each other can cause faulty motion system operation  
that is due to signal noise and crosstalk.  
Limit and Home Input Circuit  
Limit and home inputs have an onboard pull-up resistor. If left floating, the  
inputs are interpreted as a high logic level.  
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Signal Connections  
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 NI 7350 controller offers up to eight 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.  
Axis <1..8> Encoder 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 monitoring, digital potentiometer encoder  
inputs, or as a master encoder input for master/slave (electronic gearing)  
applications.  
The encoder channels (Axis <1..8> Encoder Phase A/Phase B) are  
implemented in an FPGA and provide advanced features, such as  
high-speed position capture inputs and position breakpoint outputs. The  
encoders have a maximum count frequency of 20 MHz.  
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  
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, which can be revolutions or linear distance, produces 4 × N  
quadrature counts per unit of measure. The count is the basic increment of  
position in National Instruments motion systems.  
Note If your encoder does not supply resolution in quadrature counts per revolution,  
determine quadrature counts per revolution by multiplying the encoder resolution, in  
encoder lines or periods, by 4. The encoder resolution is the number of encoder lines  
between consecutive encoder indexes, such as marker or Z-bit. If the encoder does not have  
an index output, the resolution is referred to as lines per revolution, or lines per unit of  
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measure—inch, centimeter, millimeter, and so on. For example, a 500 line encoder has  
2,000 quadrature counts per revolution.  
Axis <1..8> Encoder 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 an NI UMI or drive accessory.  
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.  
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.  
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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.  
National Instruments strongly recommends you use encoders with  
differential line drive outputs for all applications. You must use differential  
encoders 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 cables can cause noise to corrupt the encoder signals, resulting in lost  
or additional counts and reduced motion system accuracy.  
Encoder Input Circuit  
The Phase A, Phase B, and Index encoder inputs all have an onboard  
pull-up resistor, and are interpreted as high logic level if left floating.  
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 is required for initialization  
functionality with the Find Reference function.  
Trigger Inputs, Shutdown Input, and Breakpoint Outputs  
The NI 7350 controller offers additional high-performance encoder  
features. The encoder channels have high-speed position capture trigger  
inputs and position 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..8>—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  
NI 7350 controller position mode is to move an axis relative to a  
captured position.  
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The polarity of the trigger (position capture) input is programmable in  
software as active low, or active high, rising edge or falling edge. You  
also can use a trigger (position capture) 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 high state.  
Breakpoint <1..8>You can program a breakpoint (position  
compare) output to transition when the associated encoder value  
equals the breakpoint (position compare) position. You can use a  
breakpoint (position compare) output to directly control actuators or as  
a trigger to synchronize data acquisition or other functions in the  
motion control system.  
You can program breakpoints as either absolute, relative, periodic, or  
buffered positions. Breakpoint (position compare) outputs can be  
preset to a known state so that the transition when the breakpoint  
(position compare) occurs can be low to high, high to low, toggle, or  
pulse.  
You can set the breakpoint (position compare) outputs to Totem Pole  
mode or Open Collector mode. In Totem Pole mode, the output buffer  
can both sink and source current, which is appropriate for most  
applications. In Open Collector mode, the output buffer can only sink  
current. By default, breakpoint (position compare) outputs are set to  
Totem Pole mode.  
You can directly set and reset breakpoint (position compare) outputs to  
use them as general-purpose digital outputs.  
Wiring Concerns  
Caution Keep trigger (position capture) input, shutdown input, and breakpoint (position  
compare) output signals and their ground connections wired separately from the motor  
drive/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.  
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Trigger Input and Shutdown Input Circuits  
Trigger (position capture) input and shutdown input circuits have onboard  
pull-up resistors, and are interpreted as high logic level if left floating.  
Analog Inputs  
The NI 7350 controller has the following ADC input signals:  
Analog Input <1..8>—The NI 7350 controller includes an  
eight-channel multiplexed, 16-bit ADC capable of measuring 10 V,  
5 V, 0–10 V, and 0–5 V inputs.  
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 ADC  
channels of the controller by using the Read ADC function. Table 5-2  
shows the range of values read back and the voltage resolution for each  
setting. The voltage resolution is in microvolts per least significant  
bit (μV/LSB).  
Table 5-2. Analog Input Voltage Ranges  
Input Range  
10 V  
Binary Values  
–32,768 to 32,767  
–32,768 to 32,767  
0 to 65,535  
Resolution  
305 μV/LSB  
153 μV/LSB  
153 μV/LSB  
76 μV/LSB  
5 V  
0–10 V  
0–5 V  
0 to 65,535  
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 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.  
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Wiring Concerns  
For proper use of each ADC input channel, the analog signal should be a  
floating source with the positive terminal connected to the channel input  
and the negative terminal connected to analog input ground. Figure 5-4  
shows a simplified schematic diagram of this connection.  
Analog Input  
+
+
Vs  
Analog Input  
Ground  
Figure 5-4. Analog Input Connectivity  
Other Motion I/O Connection  
The NI 7350 controller provides the host +5 V signal, which is the internal  
+5 V supply of the host computer. This signal is typically used to detect  
when the host computer is powered on and to shut down external motion  
system components when the host computer is powered off or disconnected  
from the motion accessory.  
Caution The host +5 V signal is limited 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.  
Interfacing With Optocouplers  
Many motor drive manufacturers offer opto-isolated inputs for  
Step (CW)/Dir (CCW) and other motion control signals. The NI 7350 is  
well-suited to drive most of these inputs directly when you connect the  
controller output signal to the positive side of the optocoupler input and  
connect the controller GND to the negative side of the optocoupler input.  
This method works if the optocoupler is designed to work with a 5 V signal,  
requires less than 16 mA, and the NI 7350 output is configured for Totem  
Pole output mode. Figure 5-5 shows a typical optocoupler wiring example.  
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7350 or UMI  
+5  
Drive  
3.3 kΩ  
Optional  
Step +  
Step –  
STEP OUT  
GND  
Figure 5-5. Typical Optocoupler Wiring (Totem Pole Output Mode)  
In some rare circumstances, the optocoupler will not work with a 5 V  
signal, or it requires more current than the maximum current level the  
controller can provide. In this case, connect the controller output to the  
negative side of the optocoupler input, connect the positive side of the input  
to a supply as specified by the drive manufacturer, and configure the  
controller output for Open Collector mode. Figure 5-6 shows this special  
case wiring example.  
7350 or UMI  
+5  
Drive  
VISO per  
Drive Spec  
3.3 kΩ  
Step +  
Step –  
Optional  
STEP OUT  
Figure 5-6. Special Case Optocoupler Wiring (Open-Collector Output Mode)  
Caution If the optocoupler input does not include its own current-limiting resistor, you  
must provide an external resistor in series with the NI 7350 output. To prevent damage to  
the NI 7350 controller or other motion hardware, use a resistor that limits the current to a  
value below the maximum specifications of the controller and other hardware.  
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Digital I/O Connector  
The general-purpose digital I/O lines on the NI 7350 controller are  
available on two separate 68-pin digital I/O connectors. Figures 5-7  
and 5-8 show the pin assignments for these connectors.  
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 (P1:P4)  
Digital Ground  
Reserved  
Reserved  
Reserved  
PWM1  
Reserved  
Reserved  
Digital Ground  
Digital Ground  
Digital Ground  
Port 1:bit 1  
Reserved  
PWM2  
10 44  
11 45  
12 46  
13 47  
14 48  
15 49  
16 50  
17 51  
18 52  
19 53  
20 54  
21 55  
22 56  
23 57  
24 58  
25 59  
26 60  
27 61  
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 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  
Port 3:bit 7 28 62  
Port 4:bit 0 29 63  
Digital Ground  
Port 4:bit 1  
Digital Ground 30 64  
Port 4:bit 2/Axis 1, Hall 1  
Digital Ground  
Port 4:bit 5/Axis 2, Hall 1  
Port 4:bit 6/Axis 2, Hall 2  
Digital Ground  
Axis 1, Hall 2/Port 4:bit 3 31 65  
Axis 1, Hall 3/Port 4:bit 4 32 66  
Digital Ground 33 67  
Axis 2, Hall 3/Port 4:bit 7 34 68  
Figure 5-7. 68-Pin Digital I/O Connector Pin Assignments (Ports 1–4)  
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1
2
3
4
5
6
7
8
9
35  
36  
37  
38  
39  
40  
41  
42  
43  
+5 V  
Reserved  
Digital Ground  
Digital Ground  
Digital Ground  
DPull (P5:P8)  
Digital Ground  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Digital Ground  
Digital Ground  
Digital Ground  
Port 5:bit 1  
Reserved  
Reserved  
10 44  
11 45  
12 46  
13 47  
14 48  
15 49  
16 50  
17 51  
18 52  
19 53  
20 54  
21 55  
22 56  
23 57  
24 58  
25 59  
26 60  
27 61  
Port 5:bit 0  
Digital Ground  
Port 5:bit 3  
Port 5:bit 4  
Digital Ground  
Port 5:bit 7  
Port 6:bit 0  
Port 6:bit 1  
Digital Ground  
Digital Ground  
Digital Ground  
Port 6:bit 6  
Port 6:bit 7  
Port 7:bit 0  
Digital Ground  
Port 7:bit 3  
Port 7:bit 4  
Digital Ground  
Port 5:bit 2  
Digital Ground  
Port 5:bit 5  
Port 5:bit 6  
Digital Ground  
Digital Ground  
Port 6:bit 2  
Port 6:bit 3  
Port 6:bit 4  
Port 6:bit 5  
Digital Ground  
Digital Ground  
Port 7:bit 1  
Port 7:bit 2  
Digital Ground  
Port 7:bit 5  
Port 7:bit 6  
Port 7:bit 7 28 62  
Port 8:bit 0 29 63  
Digital Ground  
Port 8:bit 1  
Digital Ground 30 64  
Port 8:bit 2/Axis 3, Hall 1  
Digital Ground  
Port 8:bit 5/Axis 4, Hall 1  
Port 8:bit 6/Axis 4, Hall 2  
Digital Ground  
Axis 3, Hall 2/Port 8:bit 3 31 65  
Axis 3, Hall 3/Port 8:bit 4 32 66  
Digital Ground 33 67  
Axis 4, Hall 3/Port 8:bit 7 34 68  
Figure 5-8. 68-Pin Digital I/O Connector Pin Assignments (Ports 5–8)  
The 64-bit digital I/O ports are configured in hardware as up to eight 8-bit  
digital I/O ports. The bits in a port are typically controlled and read with  
byte-wide bitmapped commands.  
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Bits 2–7 in DIO ports 4 and 8 are dual-purpose bits that can be used  
for either general-purpose I/O or Hall sensor feedback during system  
configuration and initialization, but not both. When you set these bits to  
provide Hall sensor feedback, they are reserved for this activity and cannot  
be used for general-purpose I/O until you reinitialize the motion system.  
All digital I/O lines have programmable direction and polarity.  
The DPull(P1:P4) and DPull(P5:P8) pins control the state of the digital  
input pins at power-up.  
Connecting DPull(P1:P4) to +5 V or leaving it unconnected configures all  
pins in ports 1–4 for 10 kΩ pull-ups. Connecting DPull(P1:P4) to ground  
configures these ports for 10 kΩ pull-downs.  
Connecting DPull(P5:P8) to +5 V or leaving it unconnected configures all  
pins in ports 5–8 for 10 kΩ pull-ups. Connecting DPull(P5:P8) to ground  
configures these ports for 10 kΩ pull-downs.  
PWM Features  
The NI 7350 controller provides two pulse width modulation (PWM)  
outputs on the digital I/O connector for ports 1–4. The PWM outputs  
generate periodic waveforms whose period and duty cycles can be  
independently controlled through software commands. You can compare  
PWM to a digital representation of an analog value, because the duty cycle  
is directly proportional to the desired 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. If appropriate, you can use an external clock source  
connected to 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 Measurement & Automation Explorer Help for  
Motion, the NI-Motion Function Help, or the NI-Motion VI Help for more information.  
© National Instruments Corporation  
5-17  
NI 7350 User Manual  
 
     
Chapter 5  
Signal Connections  
RTSI Connector  
The PXI-7350 uses the PXI chassis backplane to connect to other  
RTSI-capable devices.  
The PCI-7350 uses a ribbon cable to connect to other RTSI-capable  
PCI devices.  
RTSI Signal Considerations  
The NI 7350 controller allows you to use up to eight RTSI trigger lines as  
sources for trigger inputs, or as destinations for breakpoint (position  
compare) outputs and encoder signals. The RTSI trigger lines also can  
serve as a generic digital I/O port. The RTSI star trigger line, which is  
available only on the PXI-7350, can be used only for a trigger input.  
Breakpoint (position compare) outputs are output-only signals that  
generate an active high pulse of 200 ns duration 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 motion I/O or generic digital I/O,  
all signals are passed through unaltered.  
NI 7350 User Manual  
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A
Specifications  
This appendix lists the hardware and software performance specifications  
for the PXI/PCI-7350 controller. Hardware specifications are typical at  
25 °C, unless otherwise stated.  
Servo Performance  
PID update rate range............................. 62.5µs/sample to 5 ms/sample  
Max PID update rate....................... 62.5 µs per 2 axes  
8-axis PID update rate..................... 250 µs total  
Trajectory update rate ............................ Same as PID update rate  
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  
Max relative move size................... 231 counts  
Velocity range................................. 1 to 20,000,000 counts/s  
RPM range1..................................... 1,200,000 revolutions/min  
Acceleration/deceleration2 .............. 244 to 512,000,000 counts/s2  
at a PID update rate of 250 µs  
RPS/s range1 ................................... 256,000 revolutions/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  
1
Assumes a 2,000-count encoder.  
2
Refer to the NI-Motion User Manual for more information.  
© National Instruments Corporation  
A-1  
NI 7350 User Manual  
 
       
Appendix A  
Specifications  
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  
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  
Max update rate...............................62.5 µs per 2 axes  
8-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  
Max relative move size.................... 231 steps  
Velocity range .................................1 to 8,000,000 steps/s  
RPM range1 ..................................... 1,200,000 revolutions/min  
Acceleration/deceleration2...............244 to 512,000,000 steps/s2  
at a PID update rate of 250 µs  
RPS/s range1 .................................... 256,000 revolutions/s2  
1
2
Assumes a 2,000-count encoder.  
Refer to the NI-Motion User Manual for more information.  
NI 7350 User Manual  
A-2  
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Appendix A  
Specifications  
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  
Max pulse rate................................. 8 MHz (full, half, and microstep)  
Max pulse width.............................. 6.5 μs at <40 kHz  
Min pulse width .............................. 40 ns at >4 MHz  
Step output mode ............................ Step and direction or CW/CCW  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. 0.6 V at 64 mA sink  
Output high voltage ................. Totem Pole: 2V at 16 mA source;  
open collector: built-in 3.3 kΩ  
pull-up to +5 V  
Polarity............................................ Programmable, active high  
or active low  
System Safety  
Watchdog timer function ....................... Resets board to startup state  
Watchdog timeout........................... 63 or 256 ms, programmable  
Shutdown input  
Voltage range.................................. 0 to 5 V  
Input low voltage..................... 0.8 V  
Input high voltage.................... 2 V  
Built-in pull-up resistor................... 3.3 kΩ to +5 V  
Polarity............................................ Rising edge  
Control ............................................ Disable all axes and  
command outputs; resets I/O  
to default states  
Host +5 V max current  
sourced from controller.......................... 100 mA at 5 V  
Motion I/O  
Encoder inputs........................................ Quadrature, incremental,  
single-ended  
Max count rate ................................ 20 MHz  
© National Instruments Corporation  
A-3  
NI 7350 User Manual  
 
   
Appendix A  
Specifications  
Min 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  
Built-in pull-up resistor ...................3.3 kΩ to +5 V  
Min index pulse width.....................Programmable; depends  
on digital filter settings  
Forward, reverse, and home inputs  
Number of inputs.............................3 per axis, up to 24  
Voltage range...................................0 to 5 V  
Input low voltage......................0.8 V  
Input high voltage.....................2 V  
Built-in pull-up resistor ...................3.3 kΩ to +5 V  
Polarity ............................................Programmable, active high  
or active low  
Min pulse width  
Limit filters enabled .................1 ms  
Limit filters disabled ................50 ns  
Control.............................................Individual enable/disable,  
stop on input, prevent motion,  
Find Reference  
Trigger (position capture) inputs  
Number of inputs.............................Up to 8 (Encoders 1 through 8)  
Voltage range...................................0 to 5 V  
Input low voltage......................0.8 V  
Input high voltage.....................2 V  
Built-in pull-up resistor ...................3.3 kΩ to +5 V  
Polarity ............................................Programmable, active high  
or active low  
Min pulse width...............................100 ns  
Max capture latency ........................100 ns  
Capture accuracy .............................1 count  
Max capture rate (non-buffered) .....150 Hz  
NI 7350 User Manual  
A-4  
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Appendix A  
Specifications  
Max buffered capture rate1 ............. 2 kHz per axis  
Breakpoint (position compare) outputs  
Number of outputs .......................... Up to 8 (Encoders 1 through 8)  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. 0.6 V at 64 mA sink  
Output high voltage ................. Totem Pole: 2 V at 16 mA source;  
open collector: built-in 3.3 kΩ  
pull-up to +5 V  
Polarity............................................ Programmable, active high  
or active low  
Max trigger rate (non-buffered)...... 150 Hz  
Max buffered trigger rate1............... 2 kHz per axis  
Max periodic rate............................ 4 MHz per axis  
Minimum pulse width  
(pulse mode only) ........................... 200 ns  
Inhibit/enable output  
Number of outputs .......................... 1 per axis, up to 8  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. 0.6 V at 64 mA sink  
Output high voltage ................. Totem Pole: 2 V at 16 mA source;  
open collector: built-in 3.3 kΩ  
pull-up to +5 V  
Polarity............................................ Programmable, active high  
or active low  
Control ............................................ MustOn/MustOff or automatic  
when axis off  
Analog inputs  
Control ............................................ Assigned to axis for analog  
feedback or general-purpose  
analog input  
Number of inputs ............................ Up to 8, multiplexed,  
single-ended  
Multiplexer scan rate ...................... 25 μs per enabled ADC  
1
Assumes a PID update rate of 250 μs. 2 kHz per axis for PID rates between 62.5 and 250 μs, and 1 kHz per axis for PID rates  
greater than 250 μs. This value is not to exceed 8 kHz total for all ongoing buffered breakpoint (position compare) and trigger  
(position capture) operation.  
© National Instruments Corporation  
A-5  
NI 7350 User Manual  
 
Appendix A  
Specifications  
Input coupling..................................DC  
Input impedance ..............................100 MΩ min  
Voltage range (programmable)........ 10 V, 5 V, 0–10 V, 0–5 V  
Bandwidth........................................234 kHz  
Resolution........................................16 bits, no missing codes  
Monotonicity ...................................Guaranteed  
Absolute accuracy  
all ranges..........................................0.5% of full-scale  
System noise  
10 V...............................................220 μVrms, typical  
5 V.................................................120 μVrms, typical  
0–10 V.............................................130 μVrms, typical  
0–5 V...............................................60 μVrms, typical  
Maximum working voltage .................... 11 V  
Overvoltage protection  
Powered on...................................... 25 V  
Powered off ..................................... 15 V  
Analog outputs  
Number of outputs...........................Up to 8, single-ended  
Output coupling...............................DC  
Voltage range................................... 10 V  
Output current.................................. 5 mA  
Minimum load .................................2 kΩ at full-scale  
Resolution........................................16 bits, no missing codes  
Monotonicity ...................................Guaranteed  
Absolute accuracy ...........................0.5% of full-scale  
Noise................................................100 μVrms Max  
Protection.........................................Short-circuit to ground  
Settling time.....................................15 μs, full-scale step  
Analog reference output voltage .....7.5 V (nominal)  
Analog reference output current......5 mA  
Onboard temperature sensor accuracy....... 4 °C  
NI 7350 User Manual  
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Appendix A  
Specifications  
Digital I/O  
Ports ....................................................... Up to 8 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  
Built-in pull-up resistor.......................... 10 kΩ, configurable pull-up to  
+5 V or pull-down to GND  
Outputs  
Voltage range.................................. 0 to 5 V  
Output low voltage .................. 0.45 V at 24 mA  
Output high voltage ................. 2.4 V at 24 mA  
Max total DIO current  
Sourced from controller........... 1 A  
Polarity............................................ Programmable, active high  
or active low  
PWM outputs  
Number of PWM outputs ........ 2  
Max PWM frequency .............. 50 kHz  
Resolution................................ 8-bit  
Duty cycle range...................... 0 to (255/256)%  
Clock sources........................... Internal or external  
RTSI  
Trigger lines ........................................... 8  
PXI Star Trigger (PXI-7350 only) ......... 1  
© National Instruments Corporation  
A-7  
NI 7350 User Manual  
 
   
Appendix A  
Specifications  
Maximum Power Requirements  
+3.3 V ( 10%)........................................2 A  
+5 V ( 5%).............................................2 A  
+12 V ( 5%)...........................................30 mA  
–12 V ( 10%) .........................................0 mA  
Power consumption ................................18 W  
Physical  
Dimensions (Not Including Connectors)  
PXI-7350 ................................................16 cm × 10 cm (6.3 in. × 3.9 in.)  
PCI-7330.................................................17.5 cm × 9.9 cm  
(6.9 in. × 3.9 in.)  
Connectors  
Motion I/O connectors............................2 68-pin female high-density  
VHDCI type  
32-bit digital I/O connectors...................2 68-pin female high-density  
VHDCI type  
RTSI connector (PCI-7350 only) ...........37-pin male for ribbon cable  
Weight  
PXI-7350 ................................................170 g (6 oz)  
PCI-7350.................................................113 g (4 oz)  
NI 7350 User Manual  
A-8  
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Appendix A  
Specifications  
Maximum Working Voltage  
Channel-to-earth..................................... 11 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 61010-1, CAN/CSA-C22.2 No. 61010-1  
Note For UL and other safety certifications, refer to the product label or visit  
ni.com/certification, search by model number or product line, and click the  
appropriate link in the Certification column.  
© National Instruments Corporation  
A-9  
NI 7350 User Manual  
 
     
Appendix A  
Specifications  
Electromagnetic Compatibility  
This product is designed to meet the requirements of the following  
standards of EMC for electrical equipment for measurement, control, and  
laboratory use:  
EN 61326 EMC requirements; Minimum Immunity  
EN 55011 Emissions; Group 1, Class A  
CE, C-Tick, ICES, and FCC Part 15 Emissions; Class A  
Note For EMC compliance, operate this device according to product documentation.  
CE Compliance  
This product meets the essential requirements of applicable European  
Directives, as amended for CE marking, as follows:  
73/23/EEC; Low-Voltage Directive (safety)  
89/336/EEC; Electromagnetic Compatibility Directive (EMC)  
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/certification, search by model number or product line, and click the  
appropriate link in the Certification column.  
Waste Electrical and Electronic Equipment (WEEE)  
EU Customers At the end of their life cycle, all products must be sent to a WEEE recycling  
center. For more information about WEEE recycling centers and National Instruments  
WEEE initiatives, visit ni.com/environment/weee.htm.  
NI 7350 User Manual  
A-10  
ni.com  
 
   
B
This appendix describes the connector pinout for the cables that connect  
to the PXI/PCI-7350 controller.  
Figures B-1 and B-2 show the pin assignments for the stepper 50-pin  
motion connectors, while Figures B-3 and B-4 show the pin assignments  
for the 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. You can order the cable  
assembly and cable adapter from ni.com. The following list includes  
part numbers for each of these products:  
2m SHC68-C68-S Cable (part number 186380-02)  
0.5m SHC68-C68-S Cable (part number 186380-0R5)  
68M-50F Extended I/O Cable Adapter (part number 184670-02)  
© National Instruments Corporation  
B-1  
NI 7350 User Manual  
 
 
Appendix B  
Cable Connector Descriptions  
1
3
5
7
9
2
4
Axis 1 Dir (CCW)  
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
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  
Axis 2 Dir (CCW)  
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  
Axis 3 Step (CW)  
Digital Ground  
Axis 2 Home Switch  
Trigger/Breakpoint 2  
Axis 2 Inhibit  
Axis 3 Dir (CCW)  
Digital Ground  
27 28 Axis 3 Encoder Phase A  
29 30 Axis 3 Encoder Phase B  
31 32 Axis 3 Encoder Index  
33 34 Axis 3 Forward Limit Switch  
35 36 Axis 3 Reverse Limit Switch  
37 38 Axis 4 Step (CW)  
Digital Ground  
Axis 3 Home Switch  
Trigger/Breakpoint 3  
Axis 3 Inhibit  
Axis 4 Dir (CCW)  
Digital Ground  
39 40 Axis 4 Encoder Phase A  
41 42 Axis 4 Encoder Phase B  
43 44 Axis 4 Encoder Index  
45 46 Axis 4 Forward Limit Switch  
47 48 Axis 4 Reverse Limit Switch  
49 50 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 (Axes 1–4)  
NI 7350 User Manual  
B-2  
ni.com  
 
   
Appendix B  
Cable Connector Descriptions  
Axis 5 Dir (CCW)  
Digital Ground  
1
3
5
7
9
2
4
Axis 5 Step (CW)  
Axis 5 Encoder Phase A  
Axis 5 Encoder Phase B  
Axis 5 Encoder Index  
Axis 5 Forward Limit Switch  
Axis 5 Reverse Limit Switch  
Axis 6 Step (CW)  
Digital Ground  
6
Axis 5 Home Switch  
Trigger/Breakpoint 5  
8
10  
Axis 5 Inhibit 11 12  
Axis 6 Dir (CCW) 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  
Digital Ground  
Digital Ground  
Axis 6 Encoder Phase A  
Axis 6 Encoder Phase B  
Axis 6 Encoder Index  
Axis 6 Forward Limit Switch  
Axis 6 Reverse Limit Switch  
Axis 7 Step (CW)  
Axis 6 Home Switch  
Trigger/Breakpoint 6  
Axis 6 Inhibit  
Axis 7 Dir (CCW)  
Digital Ground  
Axis 7 Encoder Phase A  
Axis 7 Encoder Phase B  
Axis 7 Encoder Index  
Axis 7 Forward Limit Switch  
Axis 7 Reverse Limit Switch  
Axis 8 Step (CW)  
Digital Ground  
Axis 7 Home Switch  
Trigger/Breakpoint 7  
Axis 7 Inhibit  
Axis 8 Dir (CCW)  
Digital Ground  
Axis 8 Encoder Phase A  
Axis 8 Encoder Phase B  
Axis 8 Encoder Index  
Axis 8 Forward Limit Switch  
Axis 8 Reverse Limit Switch  
Host +5 V  
Digital Ground  
Axis 8 Home Switch  
Trigger/Breakpoint 8  
Axis 8 Inhibit  
Digital Ground  
Figure B-2. 50-Pin Stepper Connector Pin Assignment (Axes 5–8)  
© National Instruments Corporation  
B-3  
NI 7350 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-3. 50-Pin Servo Connector Pin Assignment (Axes 1–4)  
NI 7350 User Manual  
B-4  
ni.com  
 
   
Appendix B  
Cable Connector Descriptions  
Analog Output Ground  
Digital Ground  
1
3
5
7
9
2
4
Analog Output 5  
Axis 5 Encoder Phase A  
Axis 5 Encoder Phase B  
Axis 5 Encoder Index  
Axis 5 Forward Limit Switch  
Axis 5 Reverse Limit Switch  
Analog Output 6  
Digital Ground  
6
Axis 5 Home Switch  
Trigger/Breakpoint 5  
Axis 5 Inhibit  
8
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 6 Encoder Phase A  
Axis 6 Encoder Phase B  
Axis 6 Encoder Index  
Axis 6 Forward Limit Switch  
Axis 6 Reverse Limit Switch  
Analog Output 7  
Digital Ground  
Axis 6 Home Switch  
Trigger/Breakpoint 6  
Axis 6 Inhibit  
Analog Output Ground  
Digital Ground  
Axis 7 Encoder Phase A  
Axis 7 Encoder Phase B  
Axis 7 Encoder Index  
Axis 7 Forward Limit Switch  
Axis 7 Reverse Limit Switch  
Analog Output 8  
Digital Ground  
Axis 7 Home Switch  
Trigger/Breakpoint 7  
Axis 7 Inhibit  
Analog Output Ground  
Digital Ground  
Axis 8 Encoder Phase A  
Axis 8 Encoder Phase B  
Axis 8 Encoder Index  
Axis 8 Forward Limit Switch  
Axis 8 Reverse Limit Switch  
Host +5 V  
Digital Ground  
Axis 8 Home Switch  
Trigger/Breakpoint 8  
Axis 8 Inhibit  
Digital Ground  
Figure B-4. 50-Pin Servo Connector Pin Assignment (Axes 5–8)  
© National Instruments Corporation  
B-5  
NI 7350 User Manual  
 
   
C
Input/Output Reset States  
This appendix lists the various states of the NI PXI/PCI-7350 hardware  
during reset.  
Table C-1. I/O States During Reset  
From Power On Until Device Initialization  
Signal Names  
Direction  
Mode  
Polarity  
State  
Motion I/O Connector  
Inhibit <1..8>  
Output  
Output  
Output  
Output  
Open collector  
Totem Pole  
Totem Pole  
Totem Pole  
Active low  
Active low  
Active low  
Active low  
Active  
Breakpoint <1..8>  
Step <1..8>  
Inactive  
Inactive  
Inactive  
Direction <1..8>  
Digital I/O Connector  
Digital I/O Ports <1..8>  
Input  
Active low  
Pulled up if  
DPull left  
floating  
© National Instruments Corporation  
C-1  
NI 7350 User Manual  
 
   
D
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 at ni.com/support  
include the following:  
Self-Help Resources—For answers and solutions, visit the  
award-winning National Instruments Web site for software drivers  
and updates, a searchable KnowledgeBase, product manuals,  
step-by-step troubleshooting wizards, thousands of example  
programs, tutorials, application notes, instrument drivers, and  
so on.  
Free Technical Support—All registered users receive free Basic  
Service, which includes access to hundreds of Application  
Engineers worldwide in the NI Developer Exchange at  
ni.com/exchange. National Instruments Application Engineers  
make sure every question receives an answer.  
For information about other technical support options in your  
area, visit ni.com/servicesor contact your local office at  
ni.com/contact.  
Training and Certification—Visit ni.com/trainingfor  
self-paced training, eLearning virtual classrooms, interactive CDs,  
and Certification program information. 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, National Instruments  
Alliance Partner 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/certification.  
© National Instruments Corporation  
D-1  
NI 7350 User Manual  
 
                     
Appendix D  
Technical Support and Professional Services  
Calibration Certificate—If your product supports calibration,  
you can obtain the calibration certificate for your product at  
ni.com/calibration.  
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 7350 User Manual  
D-2  
ni.com  
 
 
Glossary  
A
absolute mode  
A move mode that treats the target position loaded as position relative to  
zero (0) while making a move.  
absolute position  
Position relative to zero.  
acceleration/  
deceleration  
A 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  
A signal is active when its value is high (1).  
A signal is active when its value is low (0).  
analog-to-digital converter  
address  
Character code that identifies a specific location (or series of locations)  
in memory or on a host PC bus system.  
amplifier  
The device 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..8>  
Analog Output <1..8>  
API  
16-bit analog ADC input.  
DAC voltage output.  
application programming interface  
axis  
Unit that controls a motor or any similar motion or control device.  
Axis 1 through 8 direction output or counterclockwise direction control.  
Axis 1 through 8 forward limit switch.  
Axis <1..8> Dir (CCW)  
Axis <1..8> Forward  
Limit Input  
Axis <1..8> Home  
Input  
Axis 1 through 8 home input.  
© National Instruments Corporation  
G-1  
NI 7350 User Manual  
 
 
Glossary  
Axis <1..8> Inhibit  
Axis 1 through 8 inhibit output.  
Axis <1..8> Reverse  
Limit Input  
Axis 1 through 8 reverse limit input.  
Axis <1..8> Step (CW)  
Axis 1 through 8 stepper pulse output or clockwise direction control.  
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  
bit  
A number system with a base of 2.  
The smallest unit of memory, or the smallest unit of data used in a digital  
operation; a contraction of binary and digit. A bit can assume values of 0 to  
1 (off or on).  
buffer  
bus  
Temporary storage for acquired or generated data (software).  
The 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 connected.  
C
CCW  
counterclockwise—Implies direction of motor rotation.  
closed-loop  
A 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  
An unwanted signal on one channel due to an input on a different channel.  
communications status register  
CW  
clockwise—Implies direction of motor rotation.  
NI 7350 User Manual  
G-2  
 
ni.com  
Glossary  
D
DAC  
digital-to-analog converter  
data acquisition  
DAQ  
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.  
drive  
Electronic signal amplifier that converts motor control command signals  
into higher-voltage signals suitable for driving motors.  
DSP  
digital signal processor  
E
encoder  
A device that translates mechanical motion into electrical signals; used for  
monitoring position or velocity in a closed-loop system.  
encoder resolution  
The 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  
filter parameters  
filtering  
Indicates the control loop parameter gains (PID gains) for a given axis.  
A type of signal conditioning that filters unwanted signals from the signal  
being measured.  
flash ROM  
Type of electrically reprogrammable read-only memory.  
© National Instruments Corporation  
G-3  
NI 7350 User Manual  
 
Glossary  
following error  
trip point  
The difference between the instantaneous commanded trajectory position  
and the feedback position. If the following error increases beyond the  
maximum allowable value entered—referred to as the following error trip  
point—the motor trips on following error and is killed, preventing the axis  
from running away.  
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  
A stepper motor mode. For a two phase motor, full-step mode is done by  
energizing both windings or phases simultaneously.  
G
Gnd/GND  
ground  
H
half-step  
A stepper motor mode. For a two phase motor, half-step mode 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)  
A 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  
The computer the motion control board is plugged into.  
I
index  
The marker between consecutive encoder revolutions.  
IRQ  
interrupt request—A signal from a hardware device or a CPU peripheral  
device requesting the CPU’s attention.  
NI 7350 User Manual  
G-4  
ni.com  
 
Glossary  
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 byte (B) in quantifying data or  
computer memory.  
L
LIFO  
last-in, first-out  
limit switch/  
end-of-travel position  
(input)  
Sensors that alert the control electronics that the physical end of travel is  
being approached and that the motion should stop.  
M
MCS  
move complete status—A status bit on the motion controller that indicates  
that the current move is finished. The status depends on various factors that  
you can configure using software.  
microstep  
Proportional control of energy in the coils of a stepper motor that allow 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 if it is within the range of total quadrature counts per  
revolution for an axis.  
N
noise  
An 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.  
© National Instruments Corporation  
G-5  
NI 7350 User Manual  
 
Glossary  
O
open collector  
A method of output capable of sinking current, but not sourcing current.  
open-loop  
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. PCI is  
achieving widespread acceptance as a standard for PCs and workstations;  
it offers a theoretical maximum transfer rate of 132 MB/s.  
PID control loop  
PIVff control loop  
proportional-integral-derivative control loop—A control method in which  
the controller output is proportional to the error, the error time history, and  
the rate at which the error is changing. The error is the difference between  
the observed and the commanded values of a variable that is under control  
action.  
proportional-integral-velocity feed forward control loop—A control  
method that operates with zero derivative gain and either velocity feedback  
or a velocity block amplifier.  
port  
(1) A communications connection on a computer or a remote controller;  
(2) A digital port, consisting 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 (position compare) 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—A rugged, open system for modular  
instrumentation based on CompactPCI, with special mechanical, electrical,  
and software features. The PXIbus standard was originally developed by  
National Instruments in 1997, and is now managed by the PXIbus Systems  
Alliance.  
NI 7350 User Manual  
G-6  
ni.com  
 
   
Glossary  
Q
quadrature counts  
Encoder line resolution multiplied by four.  
R
relative breakpoint  
(position compare)  
Sets the position breakpoint for an encoder in relative quadrature counts.  
relative position  
Destination or target position for motion specified with respect to the  
current location regardless of its value.  
relative position mode  
Treat the target position loaded as position relative to current position while  
making a move.  
ribbon cable  
RPM  
A flat cable in which the conductors are side by side.  
revolutions per minute—Units for velocity.  
RPSPS or RPS/S  
RTR  
revolutions per second squared—Units for acceleration and deceleration.  
ready to receive—A status bit on the controller indicating that the controller  
is ready to communicate with the host system.  
S
servo  
Specifies an axis that controls a servo motor.  
s-curve profile  
An s-curve acceleration/deceleration profile eases to a start and smoothly  
accelerates to top speed. Deceleration is equally smooth.  
sinusoidal  
commutation  
A method of controlling current in the windings of a brushless servo motor  
by using the pattern of a sine wave to shape the smooth delivery of current  
to three motor inputs, each 120° out of phase from the next.  
stepper  
Specifies an axis that controls a stepper motor.  
T
toggle  
Changing state from high to low, back to high, and so on.  
A force tending to produce rotation.  
torque  
© National Instruments Corporation  
G-7  
NI 7350 User Manual  
 
Glossary  
Totem Pole  
A method of output capable of sinking and sourcing current.  
trapezoidal profile  
A 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 (position  
capture)  
Any event that causes or starts some form of data capture.  
V
VCC  
Positive voltage supply.  
velocity mode  
This operation mode moves the axis continuously at a 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-bit, 16-bit, or 32-bit.  
NI 7350 User Manual  
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ni.com  
 
Index  
analog input voltage ranges (table), 5-12  
description (table), 5-4  
purpose and use, 5-12  
Symbols  
+5 V signal. See Host +5 V signal  
Analog Input Ground signal  
description (table), 5-4  
purpose and use, 5-12  
Numerics  
7350 controller  
analog inputs, 4-2  
configuration, 2-1  
signal descriptions, 5-12  
wiring concerns, 5-13  
Analog Output <1..8> signal  
description (table), 5-4  
purpose and use, 5-5  
digital I/O connector  
axes 1–4 (figure), 5-15  
axes 5–8 (figure), 5-16  
digital I/O connectors, overview, 3-4  
features, 1-1  
Analog Output Ground signal  
description (table), 5-4  
purpose and use, 5-5  
hardware, 1-2  
hardware overview, 3-1  
installation, 2-4  
axes 1–4 (figure), 5-2  
axes 5–8 (figure), 5-3  
National Instruments application  
software, 1-3  
analog outputs, 4-2  
description (table), 5-4  
purpose and use, 5-5  
overview, 4-3  
servo axis resources (figure), 4-4  
stepper axis resources (figure), 4-4  
Axis <1..8> Dir (CCW) signal  
compatibility with third-party drives, 5-6  
description (table), 5-4  
purpose and use, 5-5  
Axis <1..8> Encoder Index signal  
description (table), 5-4  
purpose and use, 5-9  
optional equipment, 1-4  
parts locator diagrams  
back panel, 3-2, 3-4  
connectors, 3-5  
front panel, 3-1, 3-3  
processor architecture, 4-1  
requirements for getting started, 1-2  
RTSI, 1-2  
software installation, 2-1  
software programming choices, 1-3  
Axis <1..8> Encoder Phase A signal  
description (table), 5-4  
purpose and use, 5-8  
Axis <1..8> Encoder Phase B signal  
description (table), 5-4  
purpose and use, 5-8  
A
analog feedback, 4-2  
Analog Input <1..8> signal  
© National Instruments Corporation  
I-1  
NI 7350 User Manual  
 
 
Index  
Axis <1..8> Forward Limit Switch signal  
description (table), 5-4  
purpose and use, 5-6  
Axis <1..8> Home Switch signal  
description (table), 5-4  
calibration certificate (NI resources), D-2  
CE compliance specifications, A-10  
command buffer, 4-6  
communications, host, 4-6  
configuration, 2-1  
purpose and use, 5-6  
Axis <1..8> Inhibit signal  
description (table), 5-4  
connectors  
cable connectors  
purpose and use, 5-6  
Axis <1..8> Reverse Limit Switch signal  
description (table), 5-4  
50-pin servo connector pin  
(figure), B-4  
50-pin servo connector pin  
(figure), B-5  
assignments, axes 1–4  
purpose and use, 5-6  
Axis <1..8> Step (CW) signal  
compatibility with third-party drives, 5-6  
50-pin stepper connector pin  
B
breakpoint (position compare)  
concepts, 4-5  
custom cables, 1-4  
(figure), 5-15  
digital I/O connector axes 5–8  
(figure), 5-16  
examples, 5-18  
breakpoint (position compare) outputs  
overview, 5-11  
wiring concerns, 5-11  
Breakpoint <1..8> signal  
description (table), 5-4  
purpose and use, 5-11  
brushless servo motors, connecting, 2-5  
buffers, 4-5  
Declaration of Conformity (NI resources), D-1  
68-pin connector axes 1–4 pin  
assignments (figure), 5-15  
C
cable connectors  
50-pin servo connector pin assignments  
axes 1–4 (figure), B-4  
axes 5–8 (figure), B-5  
axes 1–4 (figure), B-2  
68-pin connector axes 5–8 pin  
assignments (figure), 5-16  
description, 5-17  
axes 5–8 (figure), B-3  
cables, custom, 1-4  
parts locator diagram, 3-5  
NI 7350 User Manual  
I-2  
 
ni.com  
Index  
PWM features, 5-17  
specifications, A-7  
documentation  
conventions used in manual, ix  
NI resources, D-1  
drivers (NI resources), D-1  
Hall effect sensors  
connecting, 2-6  
Type 1 wiring diagrams, 2-7  
Type 2 wiring diagrams, 2-8  
hardware  
7350 controller, 1-2  
configuration, 2-1  
connecting brushless servo motors, 2-5  
installation  
E
(RTOS), 4-1  
encoder signals  
connecting brushless servo motor  
leads, 2-10  
connecting Hall effect sensors, 2-6  
procedure, 2-4  
Encoder <1..8> Index, 5-9  
Encoder <1..8> Phase A/Phase B, 5-8  
input circuit, 5-10  
signal descriptions, 5-8  
wiring concerns, 5-9  
motion I/O connectors, 3-4  
overview, 3-1  
parts locator diagrams  
back panel, 3-2, 3-4  
equipment, optional, 1-4  
connectors, 3-5  
front panel, 3-1, 3-3  
safety information, 2-2  
help technical support, D-1  
high-speed capture, 4-5  
Host +5 V signal  
purpose and use, 5-13  
F
flash memory, 4-3  
functional overview, 4-1  
axes, 4-3  
(RTOS), 4-1  
I
flash memory, 4-3  
I/O states, C-1  
host communications, 4-6  
motion resources, 4-5  
onboard programs, 4-5  
trajectory generators, 4-2  
installation  
category, 2-3  
hardware, 2-4  
software, 2-1  
instrument drivers (NI resources), D-1  
© National Instruments Corporation  
I-3  
NI 7350 User Manual  
 
Index  
limit and home inputs  
input circuit, 5-7  
K
signal descriptions, 5-6  
wiring concerns, 5-7  
motion axis signals, 5-5  
shutdown inputs, and breakpoint  
(position compare) outputs  
circuits, 5-12  
L
LabVIEW software, 1-3  
limit and home inputs  
Axis <1..8> Forward Limit Input, 5-6  
Axis <1..8> Home Input, 5-6  
Axis <1..8> Reverse Limit Input, 5-6  
input circuit, 5-7  
signal descriptions, 5-10  
M
memory  
buffer storage, 4-5  
National Instruments  
flash, 4-3  
motion axis signals  
Analog Output <1..8>, 5-5  
Axis <1..8> Dir (CCW), 5-5  
Axis <1..8> Step (CW), 5-5  
68-pin connector axes 5–8 pin  
assignments (figure), 5-3  
analog inputs  
onboard programs, 4-5  
Open-Collector mode, wiring diagram, 5-14  
optocouplers  
interfacing with, 5-13  
Open-Collector output mode (wiring  
diagram), 5-14  
signal descriptions, 5-12  
wiring concerns, 5-13  
custom cables, 1-4  
encoder signals  
Encoder <1..8> Index, 5-9  
Encoder <1..8> Phase A/Phase B, 5-8  
parts locator diagrams  
7350 back panel, 3-2, 3-4  
7350 connectors, 3-5  
signal descriptions, 5-8  
wiring concerns, 5-9  
features, 5-1  
7350 front panel, 3-1, 3-3  
NI 7350 User Manual  
I-4  
 
ni.com  
Index  
power requirement specifications, A-8  
processor, 4-1  
programming examples (NI resources), D-1  
pulse width modulation output, digital I/O  
installation, 2-1  
software, 1-3  
NI resources, D-1  
onboard programs, 4-5  
programming choices, 1-3  
PWM features, digital I/O connector, 5-17  
CE compliance, A-10  
digital I/O connectors, A-7  
electromagnetic compatibility, A-10  
environment, A-9  
R
related documentation, x  
requirements for getting started, 1-2  
resources  
motion I/O, A-3  
ADC, 4-5  
physical, A-8  
motion I/O, 4-5  
return data buffer (RDB), 4-6  
system), 4-1  
power requirements (max), A-8  
RTSI trigger lines, A-7  
safety, A-3, A-9  
servo performance, A-1  
stepper performance, A-2  
working voltage (max), A-9  
RTSI  
7350 controller, 1-2  
connector, 3-1, 3-3  
Totem Pole mode, wiring diagram, 5-14  
training and certification (NI resources), D-1  
trajectory generators, 4-2  
trigger (position capture) inputs  
overview, 5-10  
S
safety information, 2-2  
safety specifications, A-3, A-9  
servo axis resources (figure), 4-4  
servo performance specifications, A-1  
wiring concerns, 5-11  
Trigger <1..8> signal  
purpose and use, 5-11  
purpose and use, 5-10  
signal connections. See digital I/O connector,  
motion I/O connector, and RTSI  
sinusoidal commutation, 2-6  
onboard, 4-3  
troubleshooting (NI resources), D-1  
V
resources, 4-4  
voltage specifications (working max), A-9  
© National Instruments Corporation  
I-5  
NI 7350 User Manual  
 
Index  
W
breakpoint (position compare)  
outputs, 5-11  
encoder signals, 5-9  
limit and home inputs, 5-7  
optocoupler wiring, 5-13  
Totem Pole mode, 5-14  
trigger (position capture) inputs, 5-11  
NI 7350 User Manual  
I-6  
 
ni.com  

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