4-Axis Position (Pulse) Command Motion Controller
Feature
Number of Axes
PAC Platforms
Linear, Circular, Spherical, and
Helical Interpolation; Blending
NI PCI-7390
The 100-pin SCSI I/O connector provides all the signals for four axes
of closed-loop motion control, including encoder feedback, limit and home
inputs, breakpoint (position compare) outputs, trigger (position capture)
inputs, inhibit (alarm) inputs, and in-position inputs. The connector also
can provide shutdown (emergency stop) input, drive (servo) ready inputs,
inhibit (drive enable) outputs, alarm clear outputs, and general-purpose
inputs and outputs. All inputs and outputs are optically isolated.
The PCI-7390 incorporates the NI RTSI bus, which provides high-speed
connectivity among National Instruments products, including image
acquisition and data acquisition products. Using the RTSI bus, you can
easily synchronize several functions to a common trigger or timing event
across multiple motion, image, or data acquisition devices.
4
PCI
ꢀ
Trapezoidal, S-Curve Profiles
Closed-Loop Stepper Control
Contouring, Electronic Gearing, Onboard Programming
Sinusoidal Commutation for Brushless Servo Motors
Buffered Breakpoints, Buffered High-Speed Capture,
4 MHz Periodic Breakpoints
ꢀ
ꢀ
–
–
–
Number of Axes per 62.5 µs PID Rate
1
DIO Lines
8 input, 8 output
4 MHz/4 MHz
NI-Motion Driver
Maximum Step Output Rate/Encoder Input Rate
Programming API
Software
NI Motion Assistant,
NI LabVIEW, C, Visual Basic
NI PCI-7390 100-Pin D-Sub Connector Pinout
Isolated +5V OUT 50 100 Isolated +5V OUT
Isolated Ground 49
+24V IN 48
General-Purpose Output Supply 47
Axis 1 General-Purpose Output 0 46
99 Isolated Ground
98 Axis 2 General-Purpose Output 0
97 Axis 3 General-Purpose Output 0
96 Axis 4 General-Purpose Output 0
95 Axis 3 General-Purpose Output 1/Axis 3 Inhibit-Out*
94 Axis 3 Encoder Phase A +
93 Axis 3 Encoder Phase A -
92 Axis 3 Encoder Phase B +
91 Axis 3 Encoder Phase B -
90 Axis 3 Index (Encoder Phase Z) +
89 Axis 3 Index (Encoder Phase Z) -
88 Isolated Ground
Axis 1 General-Purpose Output 1/Axis 1 Inhibit-Out* 45
Axis 1 Encoder Phase A + 44
Axis 1 Encoder Phase A - 43
Axis 1 Encoder Phase B + 42
Axis 1 Encoder Phase B - 41
Axis 1 Index (Encoder Phase Z) + 40
Axis 1 Index (Encoder Phase Z) - 39
Isolated Ground 38
Axis 1 Step (CW) + 37
87 Axis 3 Step (CW) +
Axis 1 Step (CW) - 36
86 Axis 3 Step (CW) -
Axis 1 Dir (CCW) + 35
85 Axis 3 Dir (CCW) +
Axis 1 Dir (CCW) - 34
84 Axis 3 Dir (CCW) -
Axis 1 Breakpoint (Position Compare) 33
Axis 1 VI_COM 32
83 Axis 3 Breakpoint (Position Compare)
82 Axis 3 VI_COM
Axis 1 Trigger (Position Capture) 31
Axis 1 Forward Limit Switch 30
Axis 1 Reverse Limit Switch 29
Axis 1 Home Switch 28
81 Axis 3 Trigger (Position Capture)
80 Axis 3 Forward Limit Switch
79 Axis 3 Reverse Limit Switch
78 Axis 3 Home Switch
Axis 1 Inhibit-In (Alarm) 27
77 Axis 3 Inhibit-In (Alarm)
Axis 1 In-Position 26
76 Axis 3 In-Position
Axis 1 General-Purpose Input 0 25
Axis 1 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready 24
Isolated Ground 23
75 Axis 3 General-Purpose Input 0
74 Axis 3 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
73 Isolated Ground
Axis 2 General-Purpose Output 1/Axis 2 Inhibit-Out* 22
Axis 2 Encoder Phase A + 21
Axis 2 Encoder Phase A - 20
Axis 2 Encoder Phase B + 19
Axis 2 Encoder Phase B - 18
Axis 2 Index (Encoder Phase Z) + 17
Axis 2 Index (Encoder Phase Z) - 16
Isolated Ground 15
72 Axis 4 General-Purpose Output 1/Axis 4 Inhibit-Out*
71 Axis 4 Encoder Phase A +
70 Axis 4 Encoder Phase A -
69 Axis 4 Encoder Phase B +
68 Axis 4 Encoder Phase B -
67 Axis 4 Index (Encoder Phase Z) +
66 Axis 4 Index (Encoder Phase Z) -
65 Isolated Ground
Axis 2 Step (CW) + 14
64 Axis 4 Step (CW) +
Axis 2 Step (CW) - 13
63 Axis 4 Step (CW) -
Axis 2 Dir (CCW) + 12
62 Axis 4 Dir (CCW) +
Axis 2 Dir (CCW) - 11
61 Axis 4 Dir (CCW) -
Axis 2 Breakpoint (Position Compare) 10
60 Axis 4 Breakpoint (Position Compare)
59 Axis 4 VI_COM
58 Axis 4 Trigger (Position Capture)
57 Axis 4 Forward Limit Switch
56 Axis 4 Reverse Limit Switch
55 Axis 4 Home Switch
54 Axis 4 Inhibit-In (Alarm)
53 Axis 4 In-Position
52 Axis 4 General-Purpose Input 0
51 Axis 4 General-Purpose Input 1*/Axis 4 Drive (Servo) Ready
Axis 2 VI_COM
Axis 2 Trigger (Position Capture)
Axis 2 Forward Limit Switch
9
8
7
6
5
4
3
2
1
Axis 2 Reverse Limit Switch
Axis 2 Home Switch
Axis 2 Inhibit-In (Alarm)
Axis 2 In-Position
Axis 2 General-Purpose Input 0
Axis 2 General-Purpose Input1*/Axis 4 Drive (Servo) Ready
NI PCI-7390 100-Pin D-Sub Connector Pinout
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2
NI [ National Instruments ]
