NI SMD-7613/7614/7615/7616 User Manual
Contents
1. 1400 m ST34 8 10 A phase m ST34 5 9 7 A phase 1200 ST34 2 10 A phase 1000 800 Ss N Oo 600 400 200 0 0 5 10 15 20 25 30 35 40 rev sec Figure 52 SMD 7614 7616 Torque Curve for ST34 2 5 8 80V Power Supply ST34 2 5 8 with SMD 7614 7616 80 VDC power supply 20000 steps rev all motors connected in parallel 1400 ST34 8 10 A phase Re HH ST34 5 9 7 A phase 1200 ST34 2 10 A phase 1000 800 N o 600 400 200 0 0 5 10 15 20 25 30 35 40 rev sec 36 nicom NI SMD 7613 7614 7615 7616 User Manual Figure 53 SMD 7614 7616 Torque Curve for ST34 1 4 7 24V Power Supply ST34 1 4 7 with SMD 7614 7616 24 VDC power supply 20000 steps rev all motors connected in parallel 1000 m ST34 7 6 72 A phase 900 gt ST34 4 7 56 A phase gt ST34 1 7 56 A phase 800 700 600 500 ozin 400 300 200 100 0 5 10 15 20 25 30 35 40 rev sec Figure 54 SMD 7614 7616 Torque Curve for ST34 1 4 7 48V Power Supply ST34 1 4 7 with SMD 7614 7616 48 VDC power supply 20000 steps rev all motors connected2. NI SMD 7613 7614 7615 7616 User Manual National Instruments 39 Figure 57 Duty Cycle for the ST17 1 with the SMD 761x 48 VDC ST17 1 Max Duty cycle vs Speed 48 VDC 1 60 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 100 80 60 40 Duty Cycle 20 0 10 20 30 40 50 Speed RPS Figure 58 Duty Cycle for the ST17 2 with the SMD 761x 48 VDC 100 80 60 40 Duty Cycle 20 ST17 2 Max Duty cycle vs Speed 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate EV EE 0 10 20 30 40 50 Speed RPS 40 nicom NISMD 7613 7614 7615 7616 User Manual Figure 59 Duty Cycle for the ST17 3 with the SMD 761x 48 VDC 100 i Duty Cycle ST17 2 Max Duty cycle vs Speed 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 60 40 20 0 10 20 30 40 50 Speed RPS Figure 60 Duty Cycle for the ST23 1 with the SMD 761x 48 VDC Duty Cycle 100 me ST23 1 Max Duty Cycle vs Speed 48 VDG 3 4 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 80 60 40 20 0 10 20 30 40 50 Speed RPS NI SMD 7613 7614 7615 7616 User Manual National Instruments 41 Figure 61 Duty Cycle for the ST23 4 with the SMD 761x 24 VDC ST23 4 Max Duty cycle vs Speed 24VDC 5 0A 40 C Ambient on 6
3. Fault Output The fault output will be triggered if there is a fault condition This may be a fault within the drive or a system fault Not all faults will cause the drive to be disabled If you are running the NI Stepper Configuration Utility while an alarm condition develops a dialog box will give you details of the fault Alarms and faults are also displayed by a pattern of red and green flashes on the drive s front panel LED Refer to the Alarm Code section for code definitions Alarm Reset Input This parameter allows you to configure an input to reset any alarms that result from a fault If this is not enabled you must reset alarms by cycling power to the drive Brake Output If your motor features a brake you can configure an output to release the brake when the motor is enabled You can configure the delay settings to ensure the brake is fully applied before disabling the motor Motor Enable Input The Motor Enable input toggles the power stage of the drive This allows the drive to be powered on while the motor is inactive Self Test If you are having trouble getting your motor to turn use the built in self test from the NI Stepper Configuration Utility home page Select the Drive menu item and choose Self Test Use this feature to confirm that the motor is wired correctly selected and otherwise operational NI SMD 7613 7614 7615 7616 User Manual National Instruments 31 Torque Speed Curves Figure 43 SM
4. ni com NI SMD 7613 7614 7615 7616 User Manual Drive Heating While NI SMD 7613 7614 7615 7616 devices efficiently transmit power between the power supply and motor they do generate some heat in the process This will cause the temperature of the drive to rise above the surrounding air temperature and may also require that the drive be mounted to a heat conducting metal surface To calculate the power dissipation and temperature rise the following information is provided Given drive power dissipation Py versus motor refer to the figures below drive thermal constant Ro The final drive case temperature is given by Tc T Ro Pa where T is the ambient temperature of the surrounding air The case of the drive should not be allowed to exceed 70 C or the life of the product could be reduced Drive thermal constant Narrow side of drive mounted on a 3 5 x 13 5 steel plate 0 070 in thick Rg 1 0 C W Narrow side of drive mounted on a non heat conducting surface Rg 2 1 C W Figure 71 Drive Thermal Losses SMD 7611 7612 Drive Losses 25 60V 48V 207 24V 15 no no fo sl g 5 10 5 0 1 2 3 4 5 6 7 8 Motor Current A NI SMD 7613 7614 7615 7616 User Manual National Instruments 47 Mechanical Outline Figure 72 Mechanical Dimensions NATIO
5. 10 nicom NI SMD 7613 7614 7615 7616 User Manual Right click your network interface card NIC and select Properties a Windows 8 1 8 7 Vista Scroll down and select TCP IPv4 then click Properties b Windows XP Scroll down and select Internet Properties TCP IP then click Properties Select Use the following IP address and enter the address 10 10 10 11 This assigns your PC an IP address that is on the same subnet as the device Windows directs any traffic intended for the device s IP address to this interface card Next enter the subnet mask as 255 255 255 0 Leave Default gateway blank This prevents your PC from looking for a router on this subnet Note Because you are connected directly to the device anytime the device is not powered you will receive a small message bubble in the corner of your screen saying The network cable is unplugged Option 3 Use Two Network Interface Cards NICs This technique allows you to keep your PC connected to your LAN but keeps the device off the LAN preventing possible IP conflicts or excessive traffic 1 If you use a desktop PC and have a spare card slot install a second NIC and connect it directly to the device using a CATS cable You don t need a special crossover cable the device will automatically detect the direct connection and make the necessary physical layer changes If you use a laptop and only connect to your LAN using wireless networking yo
6. 192 168 0 40 192 168 0 50 192 168 0 60 192 168 0 70 192 168 0 80 192 168 0 90 192 168 0 100 192 168 0 110 192 168 0 120 192 168 0 130 192 168 0 140 Sale JOR ele Qin amp DHCP The IP address corresponding to positions 1 through E can be changed using the NI Stepper Configuration Utility software Setting 0 is always 10 10 10 10 the universal recovery address Setting F is DHCP which commands the device to get an IP address from a DHCP server on the network The IP address automatically assigned by the DHCP server may be dynamic or static depending on how the administrator has configured DHCP The DHCP setting is reserved for advanced users Your PC or any other equipment that you use to communicate with the device will also have a unique address On the device switch settings 1 through E use the standard class B subnet mask i e 255 255 0 0 The mask for the universal recovery address is the standard class A i e 255 0 0 0 8 nicom NI SMD 7613 7614 7615 7616 User Manual Option 1 Connect a Drive to Your LAN If you have a spare port on a switch or router and if you are able to set your device to an IP address that is compatible with your network and not used by anything else this is a simple way to get connected This technique also allows you to connect multiple devices to your PC If you are on a corporate network check with your s
7. ST34 2 Max Duty cycle vs Speed 80 VDG 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 100 80 60 40 Duty Cycle 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS ni com NI SMD 7613 7614 7615 7616 User Manual Figure 67 Duty Cycle for the ST34 5 with the SMD 761x 48 VDC ST34 5 Max Duty Cycle vs Speed 48 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 100 V gt 80 60 40 Duty Cycle 20 0 T T T T 0 10 20 30 40 50 Speed RPS Figure 68 Duty Cycle for the ST34 5 with the SMD 761x 80 VDC ST34 5 Max Duty cycle vs Speed 80 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 100 80 2 S 60 6 a 40 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS NI SMD 7613 7614 7615 7616 User Manual National Instruments 45 Figure 69 Duty Cycle for the ST34 8 with the SMD 761x 48 VDC ST34 8 Max Duty Cycle vs Speed 48 VDC 10 0 Amps 40 C Ambient on 10x 10 x 5 Aluminum Plate 50 100 n e 80 2 3 60 2 T 40 20 0 T T T T 1 0 10 20 30 40 Speed RPS Figure 70 Duty Cycle for the ST34 8 with the SMD 761x 80 VDC 46 ST34 8 Max Duty cycle vs Speed 80 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 100 80 Q Duty Cycle A oO 20 0 T T T 0 10 20 30 Speed RPS 40 50
8. Figure 8 Six Lead Motor Connected in Series No connect Phase A Phase A Phase B No connect Phase B NI SMD 7613 7614 7615 7616 User Manual O National Instruments 13 Figure 9 Six Lead Motor Connected in Center Tap No connect Phase A Phase A Red Wht No connect Black Phase B Phase B Eight Lead Motors Eight lead motors can be connected in series or parallel A series connected motor needs less current than one that is connected in parallel but it will not be able to run as fast In series operation the motor should be operated at 30 less than the rated current to prevent overheating Refer to the wiring diagrams below to connect an eight lead motor Figure 10 Eight Lead Motor Connected in Series 14 ni com Phase A Phase A Phase B Red Wht Phase B NI SMD 7613 7614 7615 7616 User Manual Figure 11 Eight Lead Motor Connected in Parallel Phase A Phase A Phase B Yel Wht Yellow Phase B Connecting Input Signals The NI SMD 761x has three types of input High speed digital inputs for step and direction commands encoder following 5 V logic e Digital inputs for other signals 12 to 24 V logic e Analog inputs are reserved for furture use Note All inputs except STEP and DIR use 12 to 24 VDC logic All drives include eight digital inputs and two analog inputs e CW amp CCW Limit Optional input that can be
9. GENUINE 23 22009 v art X7 CWLIM i 24 X8 CCWLIM gt NN 25 22002 ade 16 nicom NI SMD 7613 7614 7615 7616 User Manual STEP and DIR Inputs The drive includes two high speed inputs called STEP and DIR They accept 5 volt single ended or differential signals up to 2 MHz Normally these inputs connect to an external controller that provides step amp direction command signals You can also connect a master encoder to the inputs for following applications The following section demonstrates example signal connections Refer to Motor Wiring Recommendations for cable instructions Figure 14 Connecting to Indexer with Sourcing Outputs with Sourcing i Outputs i X1 STEP X2 DIR Indexer DIR x2 DIR with Sinking Outputs i X1 STEP with 7 T Differential i i Outputs STEP X1 STEP NI SMD 7613 7614 7615 7616 User Manual O National Instruments 17 Figure 17 Connecting for Encoder Following OPE IN OUT 1 Indexer i Differential 1 Outputs 8 X2 DIR Using 12 to 24 Volt Signals Most PLC s don t use 5 V signals Use external dropping resistors to connect signals up to 24 V to the STEP and DIR inputs For 12 V logic use 820 Q 1 4 W resistors For 24 V logic use 2200 Q 1 4 W resistors AN Caution Do not exceed an input voltage of 24 VDC Never apply AC power to an input terminal Connect the resistors according to the following diagrams Figure 18 C
10. 28 ni com NISMD 7613 7614 7615 7616 User Manual Idle Current Idle Current Delay You can reduce motor heating and power consumption by lowering the motor current when it is not moving The drive automatically lowers the motor current when it is idle for longer than the time specified by Idle Current Delay The default 50 idle current setting lowers the holding torque to 50 of the specified Running Current which is enough to prevent the load from moving in most applications You can adjust this value to account for your load and heating requirements Load Inertia The drive includes anti resonance and electronic damping features which greatly improve motor performance To perform optimally the drive must understand the electromechanical characteristics of the motor and load Most of this is completed automatically in the factory during motor and drive assembly To further enhance performance you must specify the innertia of the load If you are unsure of this value you can experimentally find an acceptable value by entering a multiplier of the rotor inertia Control From the NI Stepper Configuration Utility home screen click the Motion icon to open the Motion Control Mode Window Select the Pulse amp Direction Mode button to configure the following settings Figure 40 NI Stepper Configuration Utility Configuration Window gt Pulse amp Direction Control Steps Rev 25000 OK Step Smoothing Filter 2500 Hz Hel
11. 4 x 6 4 x 25 Aluminum Plate o 80 oO amp 60 Aa 40 gt 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS Figure 62 Duty Cycle for the ST23 4 with the SMD 761x 48 VDC ST23 4 Max Duty cycle vs Speed 48VDC 5 0A 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 80 Ko 60 gt A 40 i 20 0 T 7 T T 1 0 10 20 30 40 50 Speed RPS 42 nicom NI SMD 7613 7614 7615 7616 User Manual Figure 63 Duty Cycle for the ST23 6 with the SMD 761x 24 VDC ST23 6 Max Duty Cycle vs Speed 24 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 80 2 S amp 60 D 5 O 40 gt 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS Figure 64 Duty Cycle for the ST23 6 with the SMD 761x 48 VDC ST23 6 Max Duty cycle vs Speed 48 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 80 60 40 Duty Cycle 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS NI SMD 7613 7614 7615 7616 User Manual National Instruments 43 Figure 65 Duty Cycle for the ST34 2 with the SMD 761x 48 VDC ST34 2 Max Duty cycle vs Speed 48 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 100 80 60 Duty Cycle 40 20 0 7 0 10 20 30 40 50 Speed RPS Figure 66 Duty Cycle for the ST34 2 with the SMD 761x 80 VDC 44
12. i 1 Drive i i i i 1 XCOM 12 24 VDC NPN Power Proximity Output PE Supply i Sensor X3 X6 20 nicom NISMD 7613 7614 7615 7616 User Manual Figure 24 Connecting a PNP Type Proximity Sensor to an Input 12 24 VDC PNP Power Proximity Output Supply Sensor Connecting Limit Switches and Sensors The CWLIMIT and CCWLIMIT differential inputs can be used to connect end of travel sensors You can use signals that are sinking NPN sourcing PNP or differential line driver By connecting switches or sensors that are triggered by the motion of the motor or load you can force the motor to operate within certain limits preventing damage to your system by traveling too far The limit inputs are optically isolated allowing you to choose a voltage for your limit circuits of 12 to 24 VDC This also allows you to have long wires on limit sensors that may be far from the drive with less risk of introducing noise to the drive electronics Refer to the following diagrams for help connecting limit switches and sensors Figure 25 Wiring a Mechanical Limit Switch 12 24 VDC Power i O CCWLIMIT Drive Supply NI SMD 7613 7614 7615 7616 User Manual National Instruments 21 Figure 26 Wiring a Sinking Output Limit Sensor CW LIMIT DC Limit i i Power Sensor Output Sin Drive Supply i DC Pro
13. in parallel 1000 gt ST34 7 6 72 A phase 900 gt ST34 4 7 56 A phase ST34 1 7 56 A phase 800 700 600 500 ozin 400 300 200 100 0 5 10 15 20 25 30 35 40 rev sec NI SMD 7613 7614 7615 7616 User Manual National Instruments 37 Figure 55 SMD 7614 7616 Torque Curve for ST34 1 4 7 60V Power Supply ST34 1 4 7 with SMD 7614 7616 60 VDC power supply 20000 steps rev all motors connected in parallel 1000 ST34 7 6 72 A phase 900 m ST34 4 7 56 A phase ST34 1 7 56 A phase 800 700 600 N 500 eV VV 400 300 t 200 100 0 t 0 5 10 15 20 25 30 35 40 rev sec Motor Heating Step motors convert electrical power from the driver into mechanical power to move a load Because step motors are not perfectly efficient some of the electrical power turns into heat on its way through the motor This heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage There are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage The following table and figures show the maximum duty cycle versus speed for each motor at commonly used power supply voltages Please refer to this information when planning your application A step motor typically reaches maximum temperature after 30 to 45 minutes o
14. only a few drives get a power supply with at least twice per phase current rating of the step motor Example for a motor that s rated for 2 A phase use a 4 A power supply NI SMD 7613 7614 7615 7616 User Manual National Instruments 5 2 If you are designing for mass production and must minimize cost get one power supply with more than twice the rated current of the motor Install the motor in the application and monitor the current coming out of the power supply and into the drive at various motor loads This will tell you how much current you really need so you can design in a lower cost power supply Tables 1 lists the relevant specifications for suggested motors Please consider this information when choosing a power supply Table 1 NI SMD 7613 7615 Power Supply Current Holding Dri R bide Gre Resistance Inductance heni Motor oz in kg cm Setting A 9 mH g cm ST11 1 7 0 0 50 1 2 1 4 1 4 8 ST11 2 15 0 1 08 1 2 2 0 2 6 18 ST14 1 26 0 1 87 1 2 4 3 5 5 20 ST17 1 31 4 2 26 1 6 2 1 2 8 35 ST17 2 51 0 3 67 2 0 1 7 3 6 54 ST17 3 62 8 4 52 2 0 1 7 3 0 68 ST23 1 76 6 5 52 3 4 0 7 1 4 120 ST23 4 177 12 7 5 0 0 4 1 2 300 ST23 6 264 19 0 5 0 0 5 1 6 480 ST23 8 354 25 48 6 0 0 5 232 750 ST24 1 123 2 8 87 3 36 0 73 1 6 260 ST24 2 177 12 74 4 8 0 43 1 1 450 ST24 3 354 24 48 4 8 0 65 2 4 900 ST34 2 650 46 8 10 0 0 19 1 3 1400 ST34 5 1200 86 4 9 7 0 27 22 2
15. positioning To solve this problem the drive includes a digital noise filter on the STEP and DIR inputs The default factory setting of this filter is 7 5 MHz which is suitable for most applications Your maximum pulse rate equals the highest motor speed multiplied by the number of steps per revolution For example revs secon steps _ 40 x 20 000 800kHz evs Consider the maximum pulse rate when deciding whether you must increase the filter frequency 30 nicom NISMD 7613 7614 7615 7616 User Manual I O Configuration From the NI Stepper Configuration Utility home screen click the I O icon to open the Motion I O Configuration window to configure the following settings Figure 42 NI Stepper Configuration Utility Configuration Window VO Configuration If a fault occurs close alarm output Y3 S open alarm output 73 nether Help OK I Allow lamReset input X4 to clea k by doerg _ Show hete Limit sensors At end ol tavel im naus wilbe General Pupos v Motion Output Y2 Enable motor Closed when motor is moving Automaticaly We Do LL EE C When Enable rout lt 3 is closed Tack 100 pu re amp Not used When Enable nou 3 is oper Brake V1 IT Release brake when motor enabled by Maxmum Decelerabon p 1000 tew s s Used at links and faults Wait A msec before mowing for brake to release Wall 200 mesc for beake to engage before disabling servo
16. used to inhibit motion in a given direction forcing the motor and load to travel within mechanical limits It can be configured for active closed or active open INL STEP amp IN2 DIR Digital signals that can be used for commanding position Quadrature signals from encoders can also be used These inputs can also be connected to sensors and switches IN3 IN4 IN5 IN6 Software prgrammable inputs that can be used for motor enable alarm reset or jogging These inputs can also be connected to sensors and switches e Analog In Analog signals that can command velocity or position Can be configured for 0 to 10 V 0 to 5 V 10 V or 5 V with or without an offset NI SMD 7613 7614 7615 7616 User Manual National Instruments 15 Figure 12 Input Connector Pin Diagram p X8 CCWLIMIT 25 iS EE X8CCWLIMIT 24 11 X1 STEP X7ICWLIMIT 2355 X2 DIR X7 CWLIMIT 22 5 Sk 579 X2 DIR v 50 8 X COMMON ee 37 X3 ENABLE 6 X4 ALARM RESET 5V OUT 18 5 X5 CWJOG Y COMMON 172 X6 CCWJOG Y3 FAULT 1613 VUBRAKE 1412 ANALOG IN2 1 ANALOG IN1 q Figure 13 ISelect Internal Circuitry of the I O Connector 8 i i COM Dm 7 22002 A vol C XEN e VWWV 6 22000 A wo C x4 RST i i WW 5 22000 vo C x5 i i VW 4 22000 AV art X6 22
17. 2 Encoder A 3 Encoder B 4 Encoder B 5 Encoder Z 6 Encoder Z 7 5 VDC 200 mA NI SMD 7613 7614 7615 7616 User Manual National Instruments 23 Table 3 Encoder Connection Pin Definition Continued Pin Function 8 GND 9 No Connect 10 No Connect 11 No Connect 12 No Connect 13 No Connect 14 No Connect 15 Shield The internal circuitry of the encoder connection is depicted below Figure 31 Encoder Connection Pin Numbering 8 8 8 Gn Gu G Toe Nip BM re 5V e oo o di 3 NI 2 i wo RA oO a N IP F i co O z o e 24 nicom NI SMD 7613 7614 7615 7616 User Manual Programmable Outputs The drive features four digital outputs These outputs can be set to automically control a motor brake to signal a fault condition to indicate when the motor is moving or to provide an output frequency proportional to motor speed tach signal Refer to the diagram below for a representation of the internal cirtucitry of the digital outputs Figure 32 Potentiometer Connected to Analog Input 1 The outputs can be used to drive LEDs relays and the inputs of other electronic devices like PLCs and counters For Y4 the collector and emitter terminals of each transistor are available at the connector This allows you to configure this output f
18. 23 8 6 0 A phase ST23 6 5 0 A phase 300 m ST234 5 0 A phase ST23 1 3 4 A phase 250 200 E N fe 150 100 50 0 0 5 10 15 20 25 30 35 40 rev sec NI SMD 7613 7614 7615 7616 User Manual National Instruments Figure 47 SMD 761x Torque Curve for ST23 48 V Power Supply 34 ST23 48 VDC power supply 20000 steps rev all motors connected in parallel 350 m ST23 8 6 0 A phase m ST23 6 5 0 A phase 300 m ST23 4 5 0 A phase m ST23 1 3 4 A phase 250 200 8 150 100 50 0 0 5 10 15 20 25 30 35 40 rev sec Figure 48 SMD 761x Torque Curve for ST24 24V Power Supply ST24 24 VDC power supply 20000 steps rev 350 gt ST24 3 4 8 A phase m ST24 2 4 8 A phase 300 ST24 1 3 36 A phase 250 200 E N fo 150 100 50 0 0 5 10 15 20 25 30 35 40 rev sec ni com NI SMD 7613 7614 7615 761
19. 6 User Manual Figure 49 SMD 761x Torque Curve for ST24 48V Power Supply ST24 48 VDC power supply 20000 steps rev 350 ST24 3 4 8 A phase m ST24 2 4 8 A phase 300 ST24 1 3 36 A phase 250 200 N fo 150 100 50 0 0 5 10 15 20 25 30 35 40 rev sec Figure 50 SMD 7614 7616 Torque Curve for ST34 2 5 8 48V Power Supply ST34 2 5 8 with SMD 7614 7616 24 VDC power supply 20000 steps rev all motors connected in parallel 1400 ST34 8 10 A phase ST34 5 9 7 A phase 1200 ST34 2 10 A phase 1000 800 E N fo 600 400 200 0 1 0 5 10 15 20 25 30 35 40 rev sec NI SMD 7613 7614 7615 7616 User Manual National Instruments 35 Figure 51 SMD 7614 7616 Torque Curve for ST34 2 5 8 48V Power Supply ST34 2 5 8 with SMD 7614 7616 48 VDC power supply 20000 steps rev all motors connected in parallel
20. 68 109 1 255 255 255 0 Selectthe host interface to search and click OK Cancel x Normally Drive Discovery only detects one network interface card NIC and selects it automatically If you are using a laptop and have both wireless and wired network connections a second NIC may appear Please select the NIC that you use to connect to the network to which you ve connected your device Then click OK Drive Discovery notifies you as soon as it has detected a device If you think this is the correct device click Yes If you are not sure click Not Sure and Drive Discovery will look for additional devices on you network Once you have told Drive Discovery which device is yours it automatically enters the device IP address in the IP address text box so that you are ready to communicate Option 2 Connect a device Directly to Your PC 1 Connect one end of a CATS Ethernet cable into the LAN card NIC on your PC and the other into the device You don t need a special crossover cable the device automatically detects the direct connection and make the necessary physical layer changes 2 Set the IP address on the device to 10 10 10 10 by setting the rotary switch to position 0 3 To set the IP address of your PC a Windows 8 1 8 7 Vista Open Control Panel From the icon view open Network and Sharing Center then click Change Adapter Settings b Windows XP Right click My Network Places and select Properties
21. 680 ST34 8 1845 133 10 0 0 27 2 4 4000 ST34 1 396 5 28 55 7 56 0 24 1 7 1100 ST34 4 849 6 61 18 7 56 0 33 2 7 1850 ST34 7 1260 90 75 6 72 0 63 5 4 2750 6 nicom NI SMD 7613 7614 7615 7616 User Manual Regeneration When a motor rapidly decelerates from high speed under load the kinetic energy may be reconverted into electrical energy and transferred back to the power supply When using regulated power supplies this can trip the overvoltage protection and lead to a shutdown or cause damage to the system Unregulated power supplies do not typically have overvoltage protection and may store regenerated energy in capacitors Connecting the Drive Using Ethernet The drive requires only a CAT5 Ethernet cable connection to connect to your PC You can connect the drive directly to your PC s network card to an auxiliary network card in your PC or to a router or network switch 1 Physically connect the device to your network or directly to the PC 2 Set the drive IP address 3 Set the appropriate networking properties on your PC NI SMD 7613 7614 7615 7616 User Manual National Instruments 7 Your device includes a 16 position rotary switch for setting its IP address The factory default address for each switch setting is shown in the table below Table 2 IP Address Rotary Switch Settings Position IP Address 0 10 10 10 10 1 192 168 1 10 192 168 1 20 192 168 1 30
22. D 761x Torque Curve for ST11 amp ST14 24 V Power Supply ST11 ST14 24 VDC power supply 20000 steps rev 25 Tr ST14 1 1 2A phase ST11 2 1 2A phase 20 ST11 1 1 2A phase 15 S N T fo 10 5 0 0 5 10 15 20 25 30 35 40 rev sec Figure 44 SMD 761x Torque Curve for ST17 24 V Power Supply ST17 24 VDC power supply 20000 steps rev all motors connected in parallel 100 m ST17 3 2 0 A phase 90 ST17 2 2 0 A phase ST17 1 1 6 A phase 80 70 60 50 ozin 40 30 20 0 5 10 15 20 25 30 35 40 rev sec 32 ni com NISMD 7613 7614 7615 7616 User Manual Figure 45 SMD 761x Torque Curve for ST17 48 V Power Supply ST17 48 VDC power supply 20000 steps rev all motors connected in parallel 100 ST17 3 2 0 A phase m ST17 2 2 0 A phase ST17 1 1 6 A phase 90 80 70 60 50 ozin 40 30 20 0 5 10 15 20 25 30 35 40 rev sec Figure 46 SMD 761x Torque Curve for ST23 24V Power Supply ST23 24 VDC power supply 20000 steps rev all motors connected in parallel 350 m ST
23. It is vital to ensure that all system components are connected to earth ground Electrical safety is impossible without a low resistance earth connection The SMD 761x contains electrostatically sensitive components that can be damaged by incorrect handling Discharge yourself before touching the product Avoid contact with high insulating materials artificial fabrics plastic film etc Place the product on a conductive surface e During operation keep all covers and cabinet doors shut Otherwise there are deadly hazards that could possibility cause severe damage to health or the product In operation depending on the degree of enclosure protection the product can have bare components that are live or have hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating e Never pull out or plug in the product while the system is live There is a danger of electric arcing and danger to persons and contacts 2 nicom NI SMD 7613 7614 7615 7616 User Manual After powering down the product wait at least ten minutes before touching live sections of the equipment or undoing connections e g contacts screwed connections Capacitors can store dangerous voltages for long periods of time after power has been switched off To be safe measure the contact points with a meter before touching Be alert to the potential for personal injury Follow the recommended precautions and safe operating
24. NAL Go INSTRUMENTS E O er E 0000000000000 O 5 Embe lt 5 0 gt A 0 61 eee as 3 00 1 98 y 6X SLOT 0 16 WIDE FULL R y p a7 gt Technical Specifications Amplifier Features vs siserssssrisikbatsvesperesvrsenessskgde Digital MOSFET 20 kHz PWM Suitable for driving step motors with four six or eight leads SMD 7613 7615 Supply voltage rrnrrnrrnrrvrrvrrvrrvrrnnn 12 to 53 VDC Motor current neonnnrnnnrrnrrnrnrrnrnernernr 0 5 to 5 0 A phase peak of sine SMD 7614 7616 Supply voltage n se eerren 18 to 88 VDC Motor current succeer 0 5 to 10 0 A phase peak of sine 48 ni com NISMD 7613 7614 7615 7616 User Manual Digital inputs Step amp Direction Isolation eeenvrrvvrerrrrsrrsrvrrrsersennn Optically isolated 5 V logic Digital logic ssrerrerrrrrrrrrrrrvrvrrrvrrrnn 5 V differential Internal resistance eroenrvrrvrrvrrrnne 330 Q Minimum pulse width 0 5 psec Minimum set up direction 2 0 5 psec Other inputs Isolation aa Optically isolated 12 V logic Digital logic 12 to 24 V differential Internal resistance 2 suc 22000 Q Analog inputs Input Voltage oo eee eeseneeecesereeeceeeeees 10 VDC Internal resistance osornrvrnnorvavrrnersvvenne 100 kQ QUtpUts ss skr ee RR SR ee Pho
25. RRGG 4 red 2 green Power supply underoltage RRRRRG 5 red 1 green Over current short circuit RRRRRGG 5 red 2 green Motor resistance out of range RRRRRRG 6 red 1 green Open motor winding RRRRRRGG 6 red 2 green Bad encoder signal RRRRRRRG 7 red 1 green Serial communication error RRRRRRRRG 8 red 1 green Internal voltage out of range Refer to the NI Trademarks and Logo Guidelines ai ni com trademarks for more information on National Instruments trademarks Other product and company names mentioned herein are trademarks or trade names of their respective companies For patents covering National Instruments products technology refer to the appr opriate location Help Patents in your software the patents txt file on your media or the National Instruments Patents Notice at ni com patents You can find information about end user license agreements EULAs and third party legal notices in the readme file for your NI produci Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data NI MAKES NO EXPRESS OR IMPLIED WARRANTIES AS TO HE ACCURACY OF THE INFORMATION CONTAINED HEREIN AND SHALL NOT BE LIABLE FOR ANY ERRORS U S Government Customers The data contained in this manual was developed at private expense and is subject to the applicable limited rights and restricted data
26. Recommendations cccescceccesceeceecesescecseceesseesceseeseeseeesseeseceseeceaeeaeeaeeaeease 12 Four Lead Motors sales Six Lead Motors unnin heron e hited Acasa eet A A e Eight Lead Motors Connecting Input Signals STEP and DIR Inputs s Single Ended puts ss lerne den diuers basan seen dannede Connecting Limit Switches and Sensors seenrnrnvrvrvnvrnrrrvnrrrrnervevevnensrrevrevsrrevervevseversesensee 21 Analog Inputs sitsscsecisssesasedeasnesss sours ati sap scvowetevecatssavetseausanechoapans dar EPPEN RESE EEA EEE Ehe 22 Connecting an Encoder SMD 7615 7616 nnnrnnnnnnervrnnenrvnnvvrvevrnvernrvrenensrnesvensrrevervevseversesessee 23 Programmable Outputs 0 cesses eeeeeeeees suelo Configuring the Drive scsi ies iinet Reel pa REE dhe AE eee enn sted cece EATE 28 Motor ue 1 28 Control saasa ena site ie oi ieee iat nerne enes 29 I O Configuration cccccccssesssecceseeseeseeseesecsecaecsesaeeseeseeseseeseeseseecnecnecneceaeceeceecaecaeceaeeaeeae 31 OLE SS bs anda aan 31 Qy NATIONAL gt INSTRUMENTS Torqu Speed Curves anon na E ed A A A ES SG 32 Motor H Gating Luse 38 Drive Heating joc cisees cove tess k dradd teen eiet 47 Mechanical Outline sssrin n tans ioe et Kite SEE 48 Technical Specifications Asie hii an ail dsl idan eda ee arenaen E Mee 48 Alarm GdS i husnes eee ane rep ESS RER ES SEES 50 Safety Information Only qualified personnel are permitted to transport assem
27. USER MANUAL NI SMD 7613 7614 7615 7616 This manual contains information about the configuration and use of the National Instruments SMD 7613 SMD 7614 SMD 7615 and SMD 7616 They are referred to inclusively in this manual as the NI SMD 761x Note This manual is not applicable for NI SMD 7610 7611 7612 devices Refer to to the unique documentation for information related to the NI SMD 7610 7611 7612 Functionality on these devices are roughly equivalent The NI SMD 7613 7615 operates from 18 to 53 VDC and has a running current of up to 5 A per phase The SMD 7614 7616 operates from 18 to 88 VDC and runs current up to 10 A per phase The SMD 7615 7616 features encoder feedback Contents Safety Information Block Diagram th Getting Started ssccssessessnssereetsstestesncstsenssnssveseatesueanesessnssnsansassneazeaneszencsansacssceserstdecdsnsonsoes Mounting the Drives cisssesisstvcieettssegeasediossscissoatensseerevecestveiel reana aKa SET Ese EROE Trat ENESE RENERE ESS 4 Connecting the Power Supply ss aen dere enderne ege aa EESTO 4 Choosing Power Supply z isismmssrberentie causes tocsesescoacgeotrsiedes cdoanssesesa enste orade sartana sener ges 5 Voltati enose haces sesseuskg A A EEE E EEE R E sdvach EEEE 5 LO bin a n ATATA E E E 5 Regeneration screen waT Connecting the Drive Using Ethernet cccccccecesessessessessecseseeeseeseeseeseeseeseeseceeceececeeeeaeeaeenes 7 Motor Wiring
28. a power supply there are many things to consider If you are manufacturing equipment that will be sold to others you probably want a supply with all the safety agency approvals If size and weight are an issue get a switching supply And you must decide what size of power supply in terms of voltage and current is needed for your application National Instruments offers two power supplies that are excellent matches for the NI SMD 761x drives PS 12 24V 6 3A and PS 13 48V 6 7A Voltage The motor can provide more torque at higher speeds if a higher power supply voltage is used Refer to the Torque Speed Curves section for guidance If you choose an unregulated power supply make sure the no load voltage of the supply does not exceed the drive s maximum input voltage specification Current The maximum supply current you could ever need is two times the motor current However you will generally need a lot less than that depending on the motor type voltage speed and load conditions That s because the NI SMD 761x uses a switching amplifier converting a high voltage and low current into lower voltage and higher current The more the power supply voltage exceeds the motor voltage the less current you ll need from the power supply A motor running from a 48 volt supply can be expected to draw only half the supply current that it would with a 24 volt supply We recommend the following selection procedure 1 Ifyou plan to use
29. ble commission and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation commissioning and operation of motors and who have the appropriate qualifications for their jobs The qualified personnel must know and observe the following standards and regulations IEC 364 resp CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 e National regulations for safety and accident prevention or VBG 4 To minimize the risk of potential safety problems you should follow all applicable local and national codes that regulate the installation and operation of your equipment These codes vary from area to area and it is your responsibility to determine which codes should be followed and to verify that the equipment installation and operation are in compliance with the latest revision of these codes Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards We do not guarantee the products described in this publication are suitable for your particular application nor do we assume any responsibility for your product design installation or operation e Read all available documentation before assembly and commissioning Incorrect handling of products in this manual can result in injury and damage to persons and machinery Strictly adhere to the technical information on the installation requirements
30. f operation If you run the motor for one minute then let it sit idle for one minute that is a 50 duty cycle Five minutes on and five minutes off is also 50 duty However one hour on and one hour off has the effect of 100 duty because during the first hour the motor will reach full and possibly excessive temperature The actual temperature of the motor depends on how much heat is conducted convected or radiated out of it Our measurements were made in a 40 C 104 F environment with the motor mounted to an aluminum plate sized to provide a surface area consistent with the motor power dissipation Your results may vary 38 nicom NISMD 7613 7614 7615 7616 User Manual Table 4 SMD 761x Maximum Motor Duty Cycle Drive Current A Max Duty Cycle at 40 C Motor peak of sine 24 VDC 48 VDC ST11 1 1 2 100 ST11 2 1 2 100 ST14 1 1 2 See chart ST17 1 1 6 100 See chart ST17 2 2 0 100 See chart ST17 3 2 0 100 See chart ST23 1 3 4 100 See chart ST23 4 5 0 See chart See chart ST23 6 5 0 See chart See chart ST34 2 10 0 See chart See chart ST34 5 9 7 See chart See chart ST34 8 10 0 See chart See chart Figure 56 Duty Cycle for the ST17 1 with the SMD 761x 24 VDC ST14 1 Max Duty Cycle vs Speed 24 VDC 1 2A 40 C Ambient Mounted on 4 75 x 4 75 x 25 Aluminum Plate 100 80 o 3 60 5 2 40 20 0 T T T T 1 0 10 20 30 40 50 Speed RPS
31. le drives near each other maintain at least one half inch of space between drives Connecting the Power Supply If you need information about choosing a power supply refer to Choosing a Power Supply Connect the power supply terminal to the connector terminal labeled V e Connect power supply to the connector terminal labeled V The green ground screw on the corner of the chassis should be connected to earth ground e Use 18 or 20 gauge wire 4 nicom NISMD 7613 7614 7615 7616 User Manual The NI SMD 761x drives contain an internal fuse that connects to the power supply terminal This fuse is not user replaceable If you want to install a user serviceable fuse in your system install a fast acting 7 A fuse in line with the power supply lead Caution Do not reverse the wires Reverse connection will destroy your drive and void your warranty If you plan to use a regulated power supply you may encounter a problem with regeneration If you rapidly decelerate a load from a high speed much of the kinetic energy of that load is transferred back to the power supply This can trip the overvoltage protection of a switching power supply causing it to shut down NI offers the SMD 7700 regeneration clamp to solve this problem If in doubt buy an SMD 7700 for your first installation If the regen LED on the SMD 7700 never flashes you don t need the clamp Choosing a Power Supply When choosing
32. ns that may affect your configuration Maintain at least 2 in separation between the power supply cable and input lines or encoder feedback All power supply cables should be properly shielded and the shield grounded at the power supply Signal cables should be shielded and grounded as close as possible to the signal source AN Caution Never connect or disconnect the motor while the system is powered on AS Note Ensure any shield or grounding strap on the motor is connected to the chassis ground screw located near the motor power connector Figure 5 Motor Power Connector MOTOR row 1 1 o Figure 6 Grounding Screw on the Chassis 12 ni com NISMD 7613 7614 7615 7616 User Manual Four Lead Motors Four lead motors can only be configured according to the following diagram Note Motor wire colors are correct for NI stepper motors compatible with the NI SMD 761x These wire colors may not match a third party stepper motor Figure 7 Four Lead Motor Connection Red Phase A Blue Phase A Yellow Phase B Phase B Six Lead Motors Six lead motors can be connected in series or center tap A series connected motor produces more torque but it will not be able to run as fast as a motor in center tap configuration In series operation the motor should be operated at 30 less than the rated current to prevent overheating Refer to the wiring diagrams below to connect a six lead motor
33. onnecting to PLC with Sourcing PNP Outputs 12 24V i OUT1 X2 DIR PLC i i X1 STEP 761x Sourcing i GND X2 DIR 18 ni com NISMD 7613 7614 7615 7616 User Manual Figure 19 Connecting to PLC with Sinking NPN Outputs i PLC with Sinking i Outputs X2 DIR 24 VDC Power i I Supply o www X1 STEP Run Stop Switch Drive Geer eek i closed run i Single Ended Inputs The SMD 761x includes four single ended optically isolated input circuits that can be used with sourcing or sinking signals These inputs can be used with PLCs sensors relays or mechanical switches These inputs require an external power supply 4 Note COM or common refers to a connection to a common voltage This is often ground but not always If using sourcing PNP signals connect COM to the negative terminal of the power supply When using sinking NPN signals connect COM to the positive terminal of the power supply Refer to the following diagrams for examples of how to connect the drive to commonly used devices NI SMD 7613 7614 7615 7616 User Manual National Instruments 19 Figure 21 Connecting to Input Switch or Relay 12 24VDC i Power i Supply CI UR oe eee i Switch or Relay eee se mh closed logic low 7 i i i 1 Drive 1 i i i i Figure 22 Connecting Multiple Drives 12 24 VDC Power Supply i i 1 i i
34. or current sourcing or sinking The Y1 to 3 outputs can only sink current The Y COM terminal must be tied to power supply NI SMD 7613 7614 7615 7616 User Manual National Instruments 25 Diagrams of each type of connection follow A Caution Do not connect outputs to more than 30 VDC A Caution The current through an output terminal must not exceed 100 mA Figure 33 Sinking Output Using Y1 Y2 or Y3 5 24 VDC r I Power i IN OUT1 i Supply 5 24 VDC Power i IN OUT1 Supply Power Supply 5 24 VDC IN OUT1 26 ni com NISMD 7613 7614 7615 7616 User Manual Figure 36 Sourcing Output Using Y4 5 24VDC i IN OUT1 1N4935 suppression diode CI 1 5 24VDC _ itt YUS i Power i IN OUT1 I Supply lt 4 1 1 i i 1N4935 suppression diode i i ED YCOM Figure 38 Driving a Relay Using Y4 Relay Bee te ae 6 o C Sd V4 5 24 VDC nat j i im Power i i IN OUT1 1 Supply i NI SMD 7613 7614 7615 7616 User Manual National Instruments 27 Configuring the Drive The drive is configured in software with the NI Stepper Configuration Utility available at ni com downloads When you have located your device with the utility you can configure various aspects of the motor performance and control for your application Motor From the NI Stepper Configuration Utili
35. p Input Noise Filter 10 MHz Steps Rev You can configure the number of steps per revolution to match the details of your application A higher value provides smoother motion though you may want to configure this value to match the phsyical parameters of the system such as gearing or screw pitch Step Smoothing Filter At lower step resolutions such as 200 steps per revolution full step and 400 steps per revolution half step motors produce more audible noise than when they are microstepped 2000 steps per revolution and beyond The drive includes a feature called microstep emulation also called step smoothing that can provide smooth motion when using full and half steps If the Steps Rev NI SMD 7613 7614 7615 7616 User Manual National Instruments 29 setting is 2000 or higher this feature is not needed and can be set to the highest possible value 2500 The step smoothing process uses a command filter which causes a slight delay or lag in the motion The following figure shows an example of the delay that can occur from using the step smoothing filter Figure 41 Delay Due to Filtering Motion Profile with Step Smoothing Filter we rs 0 1 0 2 0 3 0 4 0 5 06 0 7 revisec Seconds Input Noise Filter Electrical noise can negatively affect the STEP signal by causing the drive to interpret one step pulse as two or more pulses This results in extra motion and inaccurate motor and load
36. practices Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance The purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty Block Diagram Figure 1 NI SMD 761x Block Diagram External Power Supply 7613 7615 24 48 VDC 7614 7616 24 80 VDC INPUT X1 INPUT X2 INPUT X3 INPUT X4 INPUT X5 INPUT X6 X7 CWLIM X8 CCWLIM OUTPUT Y1 OUTPUT Y2 OUTPUT Y3 OUTPUT Y4 ANALOG IN1 ANALOG IN2 Internal Logic Supply SS Status e MOSFET A PWM ene Power ssoration Amplifier Motor Encoder DSP FH PT 7615 7616 N Only y t Ethernet Getting Started You need the following to use your NI SMD 761x stepper drive one of the recommended motors NI SMD 7613 7614 7615 7616 User Manual National Instruments a 24 to 48 VDC power supply 80 V max for NI SMD 7614 7616 Refer to Choosing a Power Supply for help in choosing the right power supply 3 a small flat blade screwdriver for tightening
37. rights as set forth in FAR 52 227 14 DFAR 252 227 7014 and DFAR 252 227 7015 2014 National Instruments All rights reserved 374809A 01 Sep14
38. the connectors a source of step signals such as a PLC or motion controller The connectors and other points of interest are illustrated below These are detailed later in the manual Figure 2 shows an overview of the connectors on the NI SMD 7613 7614 7615 7616 stepper drive Figure 2 NI SMD 7613 7614 7615 7616 Stepper Drive Connectors L ji NATIONAL ESS na Vs RUMENTS o D m yY m FOR A ere 8 a ee 1 Chassis Grounding Screw 5 Ethernet Connector 2 Motor and Power Supply Connector 6 Drive Status LEDs 3 Encoder Feedback SMD 7615 7616 7 Rotary Switch 4 Input and Output Signals Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis using 6 screws If possible the drive should be securely fastened to a smooth flat metal surface that will help conduct heat away from the chassis If this is not possible then forced airflow from a fan may be required to prevent the drive from overheating Refer to Drive Heating for more information e Never use your drive in a space where there is no air flow or where other devices cause the surrounding air to be more than 50 C e Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry e Always provide air flow around the drive When mounting multip
39. ties 2 Right click your network interface card NIC and select Properties a Windows 8 1 8 7 Vista Scroll down and select TCP IPv4 then click Properties b Windows XP Scroll down and select Internet Properties TCP IP then click Properties 3 Ifthe Obtain an IP address automatically option is selected your PC is getting an IP address and a subnet mask from the DHCP server Cancel this dialog and proceed to the Using DHCP section 4 Ifthe option Use the following IP address is selected change the subnet mask to 255 255 0 0 and click OK NI SMD 7613 7614 7615 7616 User Manual National Instruments 9 Using DHCP If you want to use your device on a network where all or most of the devices use dynamic IP addresses supplied by a DHCP server set the rotary switch to F When the device is connected to the network and powered on it will obtain an IP address and a subnet mask from the server that is compatible with your PC However you will not know what address the server assigns to the device The NI Stepper Configuration Utility can find your device using the Drive Discovery feature as long as your network isn t too large When the device connected to the network is powered on select Drive Discovery from the Drive menu to launch the Network Interface Dialog dialog box Figure 4 Network Interface Dialog Box amp Network Interface Dialog 3 Netmask JER 255 255 255 0 169 254 130 38 255 255 0 0 192 1
40. todarlington 100 mA 30 VDC max Voltage Arop ccececcecceceseeteeteeeeeeeceeneens 1 2 V max at 100 mA FSV Outputussssnssasnedsenebndneetsieikn 5 VDC Max c ret onara aaa ea 100 mA Dimensions 0 0 so cevecvecasesseceesscead seteesseasecseade cavesse 1 775 x 3 0 x 5 0 in 45 x 76 2 x 127 mm Weilghittesicscsciineniiekinenstitetioieiinn ba ndege 10 oz 280 g Operating temperature range user 0 C to 40 C Mating connectors Motor power supply servrrnrnvrnrvnrnrvrnvernne Phoenix Contact 1757051 included NOUT Luske ee DB 25 male included Encoder feedback HD 15 male Accessories Regeneration clamp rosnronrorrrnrvnrrnrrvrennn NI SMD 7700 NI part number 748908 01 NI SMD 7613 7614 7615 7616 User Manual National Instruments 49 Alarm Codes In the event of an error the green LED on the main board will flash one or two times followed by a series of red flashes The pattern repeats until the alarm is cleared Table 5 Status LED Blink Code Definitions Blink sequence Code Error G Solid green No alarm motor disabled GG slow Flashing green No alarm motor enabled RG 1 red 1 green Motor stall encoder equipped only RGG 1 red 2 green Move attempted drive disabled RRG 2red 1 green CCW limit RRGG 2 red 2 green CW limit RRRG 3 red 1 green Drive overheating RRRGG 3 red 2 green Internal voltage out of range RRRRG 4 red 1 green Power supply overvoltage RR
41. ty home screen click the Motor icon to open the configuration window Figure 39 NI Stepper Configuration Utility Configuration Window p gt Motor Standard motor ST11 1 Custom motor Help Running Current Motor Specs 1 20 amps Connection 4 leads has Holding Torque 7 0 oz in TL GR Rated Current 12 Rotor Inertia 80 gcm2 OK Idle Current Smoothing Gain 0 Phase 0 50 0 604 Load Inertia C 00000 ogem2 Idle Current Delay fc 1 0 X rotor inertia Te 0 40 secs HO EGO Electronic Damping Anti resonance Off Waveform Smoothing Off x The drive works best with the specially matched motors selectable from the Standard Motor list Select the motor you will use and configure the following settings Running Current Seting the Running Current to 100 will achieve maximum torque However under some conditions you might want to reduce the current to save power or lower motor temperature This is important if the motor is not mounted to a surface that will help it conduct heat away or if you expect the ambient temperature to be high Step motors produce torque in direct proportion to current but the amount of heat generated is roughly proportional to the square of the current If you operate the motor at 90 of rated current the motor provides 90 of the rated torque and approximately 81 as much heat At 70 current the torque is reduced to 70 and the heating to about 50
42. u can use the built in RJ45 Ethernet connection as your second NIC Set the IP address on the device to 10 10 10 10 by setting the rotary switch to position 0 To set the IP address of your PC a Windows 8 1 8 7 Vista Open Control Panel From the icon view open Network and Sharing Center then click Change Adapter Settings b Windows XP Right click My Network Places and select Properties Right click your network interface card NIC and select Properties a Windows 8 1 8 7 Vista Scroll down and select TCP IPv4 then click Properties b Windows XP Scroll down and select Internet Properties TCP IP then click Properties Select Use the following IP address and enter the address 10 10 10 11 This assigns your PC an IP address that is on the same subnet as the device Windows directs any traffic intended for the device s IP address to this interface card Next enter the subnet mask as 255 255 255 0 Leave Default gateway blank This prevents your PC from looking for a router on this subnet AS Note Because you are connected directly to the device anytime the device is not powered you will receive a small message bubble in the corner of your screen saying The network cable is unplugged NI SMD 7613 7614 7615 7616 User Manual National Instruments 11 Motor Wiring Recommendations This section explains how to connect motors to the NI SMD 761x Refer to your motor documentation for any special consideratio
43. ximity Output Drive Power Sensor p CW LIMIT i i Supply z i CW LIMT Analog Inputs The device features two analog inputs Each input can accept a signal range of 0 VDC 5 VDC 0 to 10 VDC or 10 VDC The drive can be configured to operate at a speed or position that is proportional to the analog signal The following figure represents the internal circuitry of the analog inputs Figure 28 Internal Circuitry of Analog Inputs 2 Signal Conditioning 13 GND A Caution Always use a shielded cable to maintain signal integrity 22 nicom NI SMD 7613 7614 7615 7616 User Manual Us the NI Stepper Configuration Utility to configure settins such as signal range offset deadband and filter frequency The following diagram depicts the connection of a potentiometer to the analog input which could be used to control the commanded position or velocity Figure 29 Potentiometer Connected to Analog Input 1 Connecting an Encoder SMD 7615 7616 The encoder connections use a HD 15 connector which you must connect to your encoder as shown below If your encoder is single ended connect the encoder outputs to the A B and Z inputs Leave A B and Z unconnected Z is the encoder index signal and is optional Figure 30 Encoder Connection Pin Numbering Table 3 Encoder Connection Pin Definition Pin Function 1 Encoder A
44. ystem administrator before connecting anything new to the network He or she should be able assign you a suitable address and help you get going Figure 3 Example Network Configuration NIC PC Switch LAN 4 gt or Drive Router Many networks use dynamic addressing where a DHCP server assigns addresses on demand The address you choose for your device might get assigned to something else by the DHCP server at another time Once you ve chosen an appropriate IP address for your device set the rotary switch according to the address table above If none of the default addresses are acceptable for your network you can enter a new table of IP addresses using the NI Stepper Configuration Utility If your network uses addresses starting with 192 168 0 the most common subnet you will want to choose an address from switch settings 4 through E Another common subnet is 192 168 1 If your network uses addresses in this range the compatible default selections are 1 2 and 3 If your PC address is not in one of the above private subnets you will have to change your subnet mask to 255 255 0 0 in order to communicate with your device To change your subnet mask 1 Open Network Connections a Windows 8 1 8 7 Vista Open Control Panel From the icon view open Network and Sharing Center then click Change Adapter Settings b Windows XP Right click My Network Places and select Proper
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