National Instruments MID-7604/7602 User's Manual
Contents
1. Binary Selections Decimal Selections Switch Microsteps Step Switch Microsteps Step eR 2 half step vm 5 4 4 Q m 4 R Lm 10 ig aa dL factory default mpm 8 SERE 25 Fal 16 rm 50 xix TTE Raa Ay 32 haan 125 6 DES 6789 rr 64 b ann 250 la np RENE 128 ii Do not use nmre 256 R Do not use mim mm 6789 6789 MID 7604 7602 Power Drive 12 ni com Output Current Settings The MID 7604 7602 can provide 0 20 1 4 A peak 0 14 1 A RMS depending on the peak output current DIP switch settings for each axis DIP switches 1 through 4 control the peak output current Table 3 shows the DIP switch settings for all possible peak output current settings Table 3 Peak Output Current DIP Switch Setting Switch Peak Output A Switch Peak Output A i 1 40 i 0 35 Sonora 1 20 e 0 30 aat 1234 kOe 1 00 R 0 282. eee es enia E EE e 22 Strain Relief Bat 2 See eere ete ie IRE Ee te gi 22 Panel Mount Kit Included sse 23 Amplifier Driver Command Signals eee 23 Stepper Motor Configurations sese 24 Specifications 5o ne deed dedu dette pe 27 National Instruments NI and ni com are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies 322454C 01 Copyright 1999 2001 National Instruments Corp All rights reserved July 2001 Technical Support Resources eseeeeeeeeeeeeenee eee 31 NI Web Support Worldwide Support Compliance FCC Canada Radio Frequency Interference Compliance 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 Depending on where it is operated this 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 produc
3. Active high ZO Active low factory default Limit Status LED Polarity Setting The MID 7604 7602 has a DIP switch that globally sets the polarity for the Limit Status LED DIP switch 10 on the axis 2 DIP switch bank controls this setting Refer to Figures 1 and 3 for the location of this switch The factory default setting is active low Typically you set the switch to match your controller s polarity setting so that if either the reverse or forward limits for an axis are active the green status LED on the bottom row for the axis illuminates This DIP switch alters only the polarity for the LEDs and not the actual limit to the motion controller Table 6 shows the DIP switch setting for the Limit Status LED polarity selection Table 6 Limit Status LED DIP Switch Settings Axis 2 Switch Setting Operation P Active high b Active low fa factory default National Instruments Corporation 15 MID 7604 7602 Power Drive Back Panel Connector Wiring Motor Power Terminal Blocks Each axis on the MID 7604 7602 has a separate 5 position removable screw terminal block for motor power wiring Figure 4 shows a typical stepper motor configuration pin assignment 3 Note The dotted loop indicates a shielded cable A line above a signal indicates that the signal is active low Phase A Olt Phase A i i D l2 C
4. 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 will be required to correct the interference at his own expense Canadian Department of Communications This Class A digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Class B Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference
5. a complete power amplifier and system interface for use with four or two axes of simultaneous stepper motion control Ideally suited to industrial and laboratory applications the MID 7604 7602 has everything you need to connect motors encoders limit switches I O and other motion hardware to National Instruments motion controllers The MID 7604 7602 can drive a broad range of stepper motors with its rugged microstepping bipolar chopper driver and user selectable current per phase settings In all configurations power supplies are built in and use standard 230 115 VAC for operation Electronics are fan cooled to assure reliable operation The MID 7604 7602 simplifies field wiring through separate encoder limit switch and motor power removable screw terminal connector blocks for each axis The terminal blocks do not require special wiring tools for installation The MID 7604 7602 connects to National Instruments motion controllers via a 68 pin high density interconnect cable The MID 7604 7602 has four levels of amplifier inhibit disable protection for motion system shutdown The front panel contains both enable and power switches for direct motor inhibiting and system power down operations The MID 7604 7602 also has a host bus power interlock that activates an internal driver inhibit signal if the host computer is shut down or the motion controller interface cable is disconnected The inhibit input from the back panel connectors also i
6. on the side panels of the MID 7604 7602 Strain Relief Bar Figure 15 MID 7604 7602 with the Strain Relief Bar Installed MID 7604 7602 Power Drive 22 ni com Panel Mount Kit Included The panel mount kit allows you to mount the MID 7604 7602 inside a cabinet or enclosure Using the provided screws attach the panel mount kit to the rear and front set of screw holes on the side panels of the MID 7604 7602 as shown in Figure 16 Panel Mount Bracket Figure 16 MID 7604 7602 with the Panel Mount Kit Installed iyi Note The strain relief bar and panel mount kit cannot be installed at the same time Amplifier Driver Command Signals For stepper drivers the two industry standards for command signals are as follows e Step and Direction signals MID 7604 7602 standard Independent CW and CCW pulses The MID 7604 7602 uses stepper drivers that have active low step and direction inputs You must configure the stepper outputs of your motion controller for Step and Direction signals with inverted active low polarity National Instruments Corporation 23 MID 7604 7602 Power Drive Stepper Motor Configurations This section describes the various industry standard winding configurations for stepper motors and shows how to connect them to a MID 7604 7602 The MID 7604 7602 is compatible with all configurations of two phase stepper motors Sy Note The MID 7604 7602 is not comp
7. 2 2528 7227 United Kingdom 01635 523545 National Instruments Corporation 31 MID 7604 7602 Power Drive
8. 47 The CE Mark Declaration of Conformity will contain important supplementary information and instructions for the user or installer Conventions This guide uses the following conventions i This icon denotes a note which alerts you to important information N This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash N This icon denotes a temperature caution which advises you of precautions to take to avoid a burn hazard AN This icon denotes a warning which advises you of precautions to take to avoid being electrically shocked bold Bold text denotes items that you must select or click on in the software such as menu items and dialog box options Bold text also denotes parameter names italic Italic text denotes emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply 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 and code excerpts National Instruments Corporation 3 MID 7604 7602 Power Drive Introduction National Instruments MID 7604 7602 power drive is
9. IW NATIONAL y INSTRUMENTS MID 7604 7602 Power Drive Contents This user guide describes the electrical and mechanical aspects of the MID 7604 7602 power drive and how to use the MID 7604 7602 with your motion controller Compliance e eo Rae png desea HIER RR 2 Conventions itn r et e erbe e a e o P a ee eg 3 Introd ctiOfi ioi Ree aia eae Mae EORR PERENNE RES 4 What You Need to Get Started sse 4 Safety Information da cde ade baden rn 5 Front Panel Switches eiie erret rre erre drei 7 Back Panel Connector Wiring esee nene 8 Host Bus Interlock Circuit aue terr tete een he ren tertio 9 Front Panel EBDSs nee tette eee ERE te AT ERa 9 Driver Fault Output LEDS eee 10 Driver Inhibit LEDs eire tre eren ne e EORR 10 Limit Status LEDS 5e rere iere ee Tee 10 Front Panel DIP Switch Settings esee 11 Microstepping Selections ienr e 12 Output Current Settings 13 Inhibit Input Polarity Setting sese 15 Limit Status LED Polarity Setting see 15 Back Panel Connector Wiring ene 16 Motor Power Terminal Blocks eene 16 Encoder Terminal Blocks esee 17 Limit Switch Terminal Blocks eee 20 Breakpoint and Trigger Terminal Blocks 20 Analog I O Terminal Blocks eene 21 Accessories for Optional Use
10. OWER and ENABLE Figure 1 shows the location of these switches The AC POWER switch energizes the motor bus 24 V and the logic 5 V power supplies When switched on the green power LED labeled 5 V illuminates If this LED fails to illuminate check the power cord and main input fuse on the front panel The ENABLE switch enables or inhibits the stepper drivers If the ENABLE switch is in the inhibit position off the stepper drivers are inhibited and the yellow LEDs the middle row of the LED status array for all axes illuminate See the Front Panel LEDs section of this guide for more information Both the AC POWER and ENABLE switches can inhibit the stepper drivers However as long as the AC POWER switch is on only the stepper driver output stages are disabled The remaining circuitry remains active including the quadrature encoder circuit UN Caution You must change the MID 7604 7602 main input fuse on the front panel if you change the line voltage from the factory setting Refer to the Specifications section of this guide for fuse specifications Back Panel Connector Wiring Figure 2 shows connectors located on the back panel of your MID 7604 7602 LIMITS AN OU RG BP 1 2 a 2 Ez g d D e Bx EA e HEBES CONTROLLER r HS F e TERTE aa d 2 i PETE 1 Motion Controller Connector Encoder Limit Mo
11. arate 8 position removable screw terminal block Where applicable the MID 7604 7602 accepts two types of encoder signal inputs single ended TTL or differential line driver You can accommodate open collector output encoders by using 2 2 KQ pullup resistors to 5 VDC Figure 5 shows the typical encoder wiring pin assignment for single ended signal input m 2 o o Qo v A Encoder B n OOGOOOOG Figure 5 Typical Single Ended Encoder Wiring Pin Assignment Figure 6 shows the typical encoder wiring pin assignment for differential line driver signal inputs Encoder A Encoder A Encoder B 4 Encoder B Encoder Index Encoder Index 4 5V OOGOOOO0G ONoOoaRWD Digital Ground Figure 6 Typical Differential Line Driver Encoder Wiring Pin Assignment National Instruments Corporation 17 MID 7604 7602 Power Drive If the encoder cable length is greater than 10 ft use encoders with line driver outputs for your applications Power for a 5 V encoder generated by a power supply inside the MID 7604 7602 is available on pin 7 hy Note If you require other encoder power voltages reference an external power supply to the Digital Ground signal on the 8 pin encoder terminal block The MID 7604 7602 supports differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with various phase relati
12. ase Ground i G a Phase B O l4 Phase B 35 Stepper Motor Shield Figure 4 Typical Full Coil Stepper Motor 2 Phase Type Terminal Block Pin Assignment AN Warning The stepper motor connectors on this drive are energized when the unit is powered on Disconnect the MID 7604 7602 unit from the power outlet before connecting wires to or disconnecting wires from the stepper connectors Strip back the insulation of the stepper wires to the stepper connectors no more than 7 mm Failure to do so could result in electric shock leading to serious bodily injury or death MID 7604 7602 Power Drive Use shielded 20 AWG wire or larger for the motor power cable If available you should connect a case ground wire to pin 3 Ground Shield to avoid ground loops and signal noise problems Case ground connects to the motor housing and not to the motor power terminals The MID 7604 7602 contains bipolar chopper drivers You must wire the stepper motors in a 4 wire configuration as shown in Figure 4 You must isolate unused lead wires and leave them disconnected Refer to the Stepper Motor Configurations section in this guide for additional information on connecting 6 and 8 wire motors and on the alternate half coil configuration 16 ni com A Caution Never connect unused center taps or winding terminals to pin 3 ground or to each other Encoder Terminal Blocks For quadrature incremental encoder signals each MID 7604 7602 axis has a sep
13. atible with 5 lead unipolar stepper motors or 5 phase stepper motors 2 phase stepper motors come in 4 6 and 8 wire variations Figure 17 shows a 6 wire and an 8 wire stepper motor A 4 wire motor is the same as a 6 wire motor except that the center taps CT are not brought out 19 V eseug IDV SSE g y 9Seug y oseug 19 V eseud 1O V eseug Phase B Phase B CT Phase B CT Phase B Phase B CT Phase B 6 wire 8 wire Figure 17 6 Wire and 8 Wire Stepper Motors MID 7604 7602 Power Drive 24 ni com For maximum flexibility you can connect 8 wire stepper motors in either a series or parallel configuration Connecting the windings in series as shown in Figure 18 produces the most torque per amp but has the disadvantage of higher inductance and poorer high speed performance Phase B Phase A Phase A Ground Phase B Phase B Phase B CT Phase B CT Motor Case Ground DOODO akwanh Shield Figure 18 Series Stepper Motor Wiring Higher Torque Lower Speed Alternatively you can wire 8 wire stepper motors in parallel as shown in Figure 19 This configuration produces better high speed performance but requires more current to produce rated torque 1O V aseud 1O V eseud Phase B x 1 P
14. e MID 7604 7602 main input fuse on the front panel if you change the line voltage from the factory setting Refer to the Specifications section of this guide for fuse specifications 3 Finally install the power cord into the back panel AC connector and plug it in to a correctly rated power source Host Bus Interlock Circuit The MID 7604 7602 has a host bus interlock circuit that monitors the presence of 5 V from the host computer and disables the MID 7604 7602 when the voltage is not present or falls out of tolerance This circuit shuts down the stepper drives for all axes by activating the inhibit when the host computer is disconnected from the MID 7604 7602 or inadvertently shut down Activation of the host bus interlock circuitry illuminates the yellow LEDs middle row of the LED status array for all axes See the Front Panel LEDs section of this guide for more information Front Panel LEDs The front panel LEDs consist of a single green LED to indicate if the main power is active and an LED status array of 3 rows by 4 columns that provides a variety of status information Refer to Figure 1 for the location of the front panel LEDs National Instruments Corporation 9 MID 7604 7602 Power Drive If the DC power supplies are active the green power LED illuminates If this LED fails to illuminate check the power cord and the main input fuse on the front panel The LED status array is arranged by motor axes Each of the four c
15. equency 1 MHz Compatibility 4 Signal pass through National Instruments Corporation 27 MID 7604 7602 Power Drive Inhibit Inputs Inhibit Output Trigger Input Breakpoint Output Analog Input Analog Output Shutdown Input Voltage range seeeeeeeee 0 12 VDC Inhibit low voltage 0 8 V Inhibit high voltage 2V Voltage range es oneseeteeeenent 0 5 VDC Output low voltage esses 0 5 V at 64 mA Output high voltage 2 4 V at 32 mA Noise filter RC time constant 100 ns Compatibility eene Signal pass through Compatibility eese Signal pass through Noise filter RC time constant 10 us Compatibility esee Signal pass through Compatibility eee Signal pass through Compatibility esee Signal pass through Included Connectors Encoders oe aaa 8 position mini combicon 3 81 mm plug 1 per axis Limits aae heces 6 position mini combicon 3 81 mm plug 1 per axis MOtOI8 cepe tette 5 position combicon MID 7604 7602 Power Drive 28 5 08 mm plug 1 per axis ni com Breakpoints ee 6 position mini combicon 3 81 mm plug 1 total TriBgersseoe eerte 6 position mini combicon 3 81 mm plug 1 total Analog input esee 6 pos
16. hase A Motor Case Ground D 2 Phase A 4 O 3 Ground Phase B iz 4 Phase B I 9 5 Phase B Shield Figure 19 Parallel Stepper Motor Wiring Higher Speed Lower Torque National Instruments Corporation 25 MID 7604 7602 Power Drive Notice that an 8 wire motor wired in series is virtually identical to a 6 wire motor and typically has the same high torque but low speed characteristics While a parallel configuration is not possible with a 6 wire motor you can usually obtain high speed performance with the half coil connection shown in Figure 20 This configuration sacrifices low speed torque for better high speed performance With this configuration it is typically not possible to produce the rated torque of the motor without the risk of the motor overheating because only half of the windings are being used y eseud IDY eseug Phase B L Phase A Phase A Ground Phase B Phase B Phase B CT Phase B CT Motor Case Ground DOO akwond im 2 Shield Figure 20 Half Coil Stepper Motor Wiring Figure 21 shows the wiring for a typical 4 wire motor Phase B A 1 Phase A p 2 Phase A Motor Case Ground 3 Ground a 4 Phase B 5 Phase B Shield Figure 21 4 Wire Motor Wiring MID 7604 7602 Power Drive 26 ni com Specif
17. ications Stepper Amplifiers Encoder Interface The following specifications apply only to the MID 7604 7602 To obtain a system specification you must account for your motion controller Refer to your controller specifications to determine overall system specifications Some signals have compatibility defined as signal pass through which means the MID 7604 7602 may have passive filtering on these signals but will not affect the voltage range or current handling capability Consult your motion controller specifications to determine the allowable voltage range and logic level compatibility of the signal TYDe cuieiiateeates depo UR res IM481H modular hybrid bipolar chopper Chopping frequency sss 20 kHz DC bus motor eee 24 VDC nominal Current per phase sese 0 20 1 4 A peak 0 14 1 A RMS factory setting is 0 50 A peak Microstepping selections x2 4 8 16 32 64 128 256 X5 10 25 50 125 250 factory default is x10 Limit and Home Switch Inputs microsteps step Continuous power output rating all axes combined ss 80 W continuous T puts 5o ime rS Quadrature incremental Differential input threshold x 0 3V typical Single ended input threshold TTL CMOS Voltage range sese 0 5 VDC Noise filter RC time constant 100 ns Maximum quadrature fr
18. inal block and the analog output connector uses a 5 pin removable terminal block The analog input terminal block provides access to four analog to digital converter channels an analog reference voltage from the converter circuit and an analog input ground signal The analog output terminal block provides access to four digital to analog converter channels with 10 V output range and analog output ground Refer to Figures 13 and 14 for terminal block pin assignments Analog Input 1 Analog Input 2 34 D Analog Input 3 3 Analog Input 4 34 Analog Reference Output j Analog Input Ground 34 oarhwnh Figure 13 Analog Input Terminal Block Pin Assignment Analog Output 1 2 1 Analog Output 2 D 2 Analog Output 3 S 3 Analog Output 4 4 Analog Output Ground 5 Figure 14 Analog Output Terminal Block Pin Assignment National Instruments Corporation 21 MID 7604 7602 Power Drive Accessories for Optional Use Strain Relief Bar The strain relief bar provides strain relief for wiring to the back panel terminals of the MID 7604 7602 The arms of the strain relief bar attach to the sides of the MID 7604 7602 with the thumb nuts facing upward as shown in Figure 15 Using the provided screws attach the strain relief bar to the rear set of screwholes
19. inreg 0 85 karga 0 27 tata 4 i 4 e 0 70 iam 0 25 Ug 1234 arara 0 60 koara 0 24 tol 234 irog 0 55 o i 0 23 cae b 0 50 o 0 20 tal Ut factory default tl JUL If you are connecting multiple motors to your MID 7604 7602 verify that the total power dissipated by the motors at any given time is less than the total power the drive can provide If the total power requirement exceeds the capability of the drive at any point the drive will provide less power to the motors than desired until the total power requirement drops back down The MID 7604 7602 may overheat under continuous operation with loads that exceed specified limits UN Caution A fire safety hazard exists when the total power dissipated by the motors exceeds 80 W continuous for a sustained period of time National Instruments Corporation 13 MID 7604 7602 Power Drive MID 7604 7602 Power Drive To determine the maximum total power dissipation of all of the motors combined add up the maximum power each motor can dissipate If this value is less than or equal to 80 W continuous you will not exceed the capabilities of the MID 7604 7602 If the value is greater than 80 W continuous you may still be within the operating capabilities of the MID 7604 7602 since it is unlikely you will run all of your motors simultaneously at their maximum levels Make a reasonable estimation of the maximum power your motors will require at any given time and verify that this value
20. is less than 80 W continuous You can configure the MID 7604 7602 stepper drivers in a current reduction mode on a per axis basis This configuration is useful to minimize motor heating when you are not stepping With current reduction enabled the current decreases by 5096 when no stepping has occurred for approximately 500 ms DIP switch 5 controls current reduction on a per axis basis When this DIP switch is on current reduction is enabled When this DIP switch is off current reduction is disabled The factory default setting is current reduction enabled Table 4 shows the available settings for DIP switch 5 Table 4 Current Reduction DIP Switch Settings Switch Setting Operation em Current reduction enabled t factory default Current reduction disabled 14 ni com Inhibit Input Polarity Setting The MID 7604 7602 has a DIP switch that globally sets the polarity for the inhibit input for all axes DIP switch 10 on the axis 1 DIP switch bank controls this setting Refer to Figures 1 and 3 for the location of this switch The factory default setting of DIP switch 10 is active low If the inhibit input is active the axis is inhibited and the yellow status LED middle row illuminates for the axis Table 5 shows the DIP switch setting for the inhibit input polarity selection Table 5 Inhibit Input Polarity DIP Switch Settings Axis 1 Switch Setting Operation o NC 10
21. ition mini combicon 3 81 mm plug 1 total Analog output essere 5 position mini combicon 3 81 mm plug 1 total AG DOWEL aeter Galata teh Detachable AC power cord IEC standard type Motion I O eps 68 pin female high density VHDCI type Power Supply Input volt ge 3 opes 115 230 VAC 10 47 63 Hz Installation category II Input fuse 115 VAC factory default 3A Type F Bussmann GMA 3 230 VAC inea ete eis 1 5 A Type F Bussmann GMA 1 5 Input fuse dimensions 5 x 20 mm Host Bus Voltage Interlock Undervoltage threshold 4 VDC Physical Length eet rei RR 30 7 cm 12 1 in MAadtbi uites tree e 25 4 cm 10 in Height sept e ms 4 3 cm 1 7 in Weight ate 4 5 kg 10 Ib National Instruments Corporation 29 MID 7604 7602 Power Drive Environment Operating temperature sssse 0 to 40 C 32 to 104 F Storage temperature esses 20 to 70 C to 158 F Hiunaidity eerie nete tes 10 to 9096 RH noncondensing Maximum altitude 2000 m Pollution degree esses 2 USAGE nter tae Indoor use only Electromagnetic Compatibility EMCJZEMIL eoe serere rue pn EehEY CE C Tick and FCC Part 15 Class A Compliant Electrical emissions eene EN 55011 Class A 10 meters FCC Part 15A abo
22. n 500 ms from the deassertion of the stepper drive inhibit A Kill command asserts the inhibit signal from the controller and a Halt command deasserts the inhibit signal from the controller The yellow LEDs middle row on the front panel illuminate if an axis is currently inhibited killed state Execute a halt stop to de assert the inhibit signal from the controller after which you must wait at least 500 ms before executing a start Breakpoint and Trigger Terminal Blocks MID 7604 7602 Power Drive Both the breakpoint and trigger connectors use a 6 pin removable terminal block The trigger terminal block provides access to the trigger input lines shutdown input line and digital ground The breakpoint terminal block provides access to the breakpoint output lines 5 V supplied by the MID 7604 7602 and digital ground Figures 11 and 12 show the breakpoint and trigger 6 position terminal block assignments 20 ni com Trigger Input 1 Trigger Input 2 Trigger Input 3 Trigger Input 4 Shutdown Input Digital Ground SDO OnAROUON Figure 11 Trigger Terminal Block Pin Assignment Breakpoint Output 1 Breakpoint Output 2 Breakpoint Output 3 Breakpoint Output 4 5V Digital Ground QOOOSS OORUN Figure 12 Breakpoint Terminal Block Pin Assignment Analog 1 0 Terminal Blocks The MID 7604 7602 has two analog I O connectors The analog input connector uses a 6 pin removable term
23. nhibits the stepper drives when activated The MID 7604 7602 is packaged in a rugged lightweight enclosure that can be used as a benchtop unit panel mounted using a panel mount kit or rack mounted using a 19 inch standard rack kit What You Need to Get Started MID 7604 7602 Power Drive To set up and use your MID 7604 7602 accessory you must have the following items CL MID 7604 7602 power drive MID 7604 7602 Power Drive User Guide Q C Power cord IEC type Q Panel mount kit part number 187243 01 4 ni com L One of the following shielded cable assemblies as applicable SH68 C68 S part number 186381 02 SHC68 C68 S part number 186380 02 Detailed specifications for the MID 7604 7602 are in the Specifications section in this guide Safety Information UN Caution The following paragraphs contain important safety information you must follow when installing and operating the device Do not operate the device in a manner not specified in the documentation Misuse of the device may result in a hazard and may compromise the safety protection built into the device If the device is damaged turn it off and do not use it until service trained personnel can check its safety If necessary return the device to National Instruments for repair Keep away from live circuits Do not remove equipment covers or shields unless you are trained to do so If signal wires are connected to the device hazardous
24. oder A Encoder B i Encoder Index n Digital EE Ground Figure 9 Shielded Twisted Pairs hy Note If you use an unshielded cable noise can corrupt the encoder signals resulting in lost counts reduced accuracy and other erroneous encoder and controller operation National Instruments Corporation 19 MID 7604 7602 Power Drive Limit Switch Terminal Blocks For end of travel limit home inhibit input and inhibit output connections MID 7604 7602 axes have a separate 6 position removable screw terminal connector block Figure 10 shows the limit switch terminal block pin assignments Forward Limit Home Input Reverse Limit Inhibit Input inhibit Output Digital Ground ounhWND QOOOSS Figure 10 Limit Switch Terminal Block Pin Assignment Passive Limit Switch Connection Example The inhibit output signal is asserted low from the MID 7604 7602 when an axis is inhibited This signal can be useful for actuating mechanical brakes or for monitoring an axis status An axis is inhibited if the host bus interlock circuitry is activated if the ENABLE switch on the front panel is in the inhibit position if the motion controller s inhibit signal is low or if the per axis inhibit input is actively driven The MID 7604 7602 stepper drive remains in a reset state for 500 ms after the inhibit is deasserted Therefore you can lose steps if you attempt to issue a start motion command withi
25. olumns represents an axis and each of the three rows represents a particular status Table 1 summarizes the axis and status to which each LED in the 3 x 4 array corresponds Table 1 Front Panel LED Indicators Status Motor Axis Driver Fault Output red 1 2 3 4 Driver Inhibit yellow 1 2 3 4 Limit Status green 1 2 3 4 Driver Fault Output LEDs Driver Inhibit LEDs Limit Status LEDs MID 7604 7602 Power Drive The top row of LEDs indicates the status of the stepper drivers An LED illuminates red when an overcurrent condition or a problem with the motor bus voltage on that axis occurs The middle row of LEDs indicates whether or not a motor axis is inhibited An axis is inhibited and the LED illuminates yellow in the following instances if the host bus interlock circuitry is activated from the back panel if the ENABLE switch on the front panel is in the inhibit position if the motion controller s inhibit signal is low or if the per axis inhibit input is actively driven The polarity of the per axis inhibit input is selectable from the front panel DIP switches See the Front Panel DIP Switch Settings section of this guide for more information The bottom row of LEDs indicates whether or not a limit switch is currently active The LED illuminates green if either the forward or reverse limit switch is active for each axis You can select the polarity for the limit status LEDs from the front
26. onnected to the fixed installation e Installation Category II for measurements performed on circuits directly connected to the low voltage installation Examples include measurements on household appliances portable tools and other similar equipment e Installation Category I for measurements performed on circuits not directly connected to mains Examples include measurements on circuits not derived from mains and specially protected internal mains derived circuits Mains is defined as the electricity supply system to which the equipment concerned is designed to be connected for either powering the equipment or for measurement purposes MID 7604 7602 Power Drive 6 ni com The following is a diagram of a sample installation Category IV Category Ill Category II Category Electric Circuit Plug in Meter Breaker Equipment Source of Building Fixed Local Level Secondary Low Voltage Installation Distribution Such Windings of lt 1000V Distribution as Wall Sockets Isolation Installation Panel Transformers AN Warning The stepper motor connectors on this drive are energized when the unit is powered on Disconnect the MID 7604 7602 unit from the power outlet before connecting wires to or disconnecting wires from the stepper connectors Strip back the insulation of the stepper wires to the stepper connectors no more than 7 mm Failure to do so could result in electric shock leading to serious bodily inj
27. onships by swapping the signals and or connecting them to the inverting inputs as specific applications require The Index signal must occur when both Phase A and Phase B signals are low as shown in Figure 7 If the Index polarity is inverted try reversing the Index and Index signals on differential encoders or using the Index input on single ended encoders Figure 7 shows the proper encoder phasing for CW forward motor rotation Phase A Phase B Index Figure 7 Encoder Signal Phasing CW Rotation Closed loop stepper applications require consistent directional polarity between the motor and encoder for correct operation The National Instruments motion control standard directional polarity is as follows e Positive forward clockwise CW facing motor shaft e Negative reverse counter clockwise CCW facing motor shaft MID 7604 7602 Power Drive 18 ni com Figure 8 shows clockwise and counter clockwise motor rotation c Figure 8 Clockwise and Counter Clockwise Motor Rotation When connecting the encoder wiring to your MID 7604 7602 use shielded wire of at least 24 AWG Analog noise filters filter the encoder inputs in the MID 7604 7602 You must use cables with twisted pairs and an overall shield for improved noise immunity and enhanced encoder signal integrity Figure 9 shows twisted pairs in a shielded cable ee Encoder A i Enc
28. panel DIP switches See the Front Panel DIP Switch Settings section in this guide for more information 10 ni com Front Panel DIP Switch Settings The MID 7604 7602 front panel has a detachable metal plate that when removed provides access to four 10 position DIP switch banks Refer to Figure 1 for the location of these switches Use the first nine DIP switches on each 10 position DIP switch bank to configure the microstep rate peak output current and current reduction for each axis The DIP switch banks for axes 1 and 2 contain a global DIP switch switch 10 which sets the polarity of the inhibit input and the polarity of the limit status LED respectively Figure 3 shows the DIP switch bank layout ZO 1 Peak Current Output Switches 4 Global Polarity Switch unused on 2 Microstep Rate Switches axes 3 and 4 DIP switch banks 3 Current Reduction Switch Figure 3 DIP Switch Bank Layout National Instruments Corporation 11 MID 7604 7602 Power Drive Microstepping Selection The MID 7604 7602 uses bipolar chopper two phase microstepping drivers with a broad range of microstep rates The factory default setting is 10 times microstepping 2 000 steps rev with standard 1 8 stepper motors Table 2 shows the DIP switch settings for all possible microstep settings DIP switches 6 through 9 control the microstep rate on a per axis basis Table 2 Microstep Rate DIP Switch Setting
29. section of ni com Worldwide Support National Instruments has offices located around the world to help address your support needs You can access our branch office Web sites from the Worldwide Offices section of ni com Branch office Web sites provide up to date contact information support phone numbers e mail addresses and current events If you have searched the technical support resources on our Web site and still cannot find the answers you need contact your local office or National Instruments corporate For telephone support in the United States dial 512 795 8248 For telephone support outside the United States contact your local branch office Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 284 5011 Canada Calgary 403 274 9391 Canada Montreal 514 288 5722 Canada Ottawa 613 233 5949 Canada Qu bec 514 694 8521 Canada Toronto 905 785 0085 China Shanghai 021 6555 7838 China ShenZhen 0755 3904939 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Malaysia 603 9596711 Mexico 5 280 7625 Netherlands 0348 433466 New Zealand 09 914 0488 Norway 32 27 73 00 Poland 0 22 528 94 06 Portugal 351 1 726 9011 Singapore 2265886 Spain 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 0
30. tor 2 Analog Input Connector Connectors Connectors Connectors 3 Analog Output Connector 7 Axis 1 11 Axis 1 15 Axis 1 4 Trigger Connector 8 Axis 2 12 Axis 2 16 Axis 2 5 Breakpoint Connector 9 Axis 3 13 Axis 3 17 Axis 3 6 AC Power 10 Axis 4 14 Axis 4 18 Axis 4 Figure 2 MID 7604 7602 Back Panel Connectors 3 Note Items followed by an asterisk are available on the MID 7604 only MID 7604 7602 Power Drive 6 ni com A Caution Be sure to turn off the ENABLE switch and the main AC power to your MID 7604 7602 and host computer before connecting the accessory to your motion controller AN Warning The stepper motor connectors on this drive are energized when the unit is powered on Disconnect the MID 7604 7602 unit from the power outlet before connecting wires to or disconnecting wires from the stepper connectors Strip back the insulation of the stepper wires to the stepper connectors no more than 7 mm Failure to do so could result in electric shock leading to serious bodily injury or death 1 Use the interface cable to connect the motion controller to the MID 7604 7602 Wire the motor power limit switch encoder and I O terminal blocks as described in this guide and to your specific system requirements 2 Usethe LINE VOLTAGE SELECT switch to configure the MID 7604 7602 for 115 VAC 60 Hz or 230 VAC 50 Hz operation For proper operation you must set this switch to match your power source UN Caution You must change th
31. ts By examining the product you purchased you can determine the FCC Class and therefore which of the two FCC DOC Warnings apply in the following sections Some products may not be labeled at all for FCC if so the reader should then assume these are Class A devices FCC Class A products only display a simple warning statement of one paragraph in length regarding interference and undesired operation Most of our products are FCC Class A The FCC rules have restrictions regarding the locations where FCC Class A products can be operated FCC Class B products display either a FCC ID code starting with the letters EXN Trade Name Model Number or the FCC Class B compliance mark that appears as shown here on the right Fe Tested to Comply with FCC Standards Consult the FCC web site http www fcc gov for 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 Mark 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 FOR HOME OR OFFICE USE Changes or modifications not expressly approved by National Instruments could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission
32. ury or death AN Caution The bottom surface of the MID 7604 7602 can get very hot to the touch under certain conditions To avoid a burn hazard refer to the Output Current Settings section in the Front Panel DIP Switch Settings section of this guide for the appropriate current setting and safety hazards Front Panel Switches Figure 1 shows the front panel of your MID 7604 7602 The DIP switches are shown with the detachable metal cover plate removed NATIONAL 4 INSTRUMENTS M D 7604 2 T AXIS CONFIGURATION c LINE VOLTAGE SELECT c FUSE AC POWER 2 ENAREE ms O O O O n a LA peeenenaaaajenennnnnafianannnnanf ananaaaaaa 0o00 Aw s gt 1 2 3 4 A ON OFF ben pe AXIS 0 000 1 Main Input Fuse 5 Enable Switch 8 Axis 3 DIP Switch Bank 2 Line Voltage Select Switch 6 Axis 1 DIP Switch Bank 9 Axis 4 DIP Switch Bank 3 Power Switch 7 Axis 2 DIP Switch Bank 10 LED Status Array 4 Green Power LED Figure 1 MID 7604 7602 Front Panel My Note Items followed by an asterisk are available on the MID 7604 only National Instruments Corporation 7 MID 7604 7602 Power Drive The two rocker switches on the MID 7604 7602 front panel are the AC P
33. ution or dry nonconductive pollution occurs Nonconductive pollution becomes conductive because of condensation Clean the device and accessories by brushing off light dust with a soft nonmetallic brush Remove other contaminants with a stiff nonmetallic brush The unit must be completely dry and free from contaminants before returning it to service You must insulate signal connections for the maximum voltage for which the device is rated Do not exceed the maximum ratings for the device Remove power from signal lines before connection to or disconnection from the device The MID 7604 7602 drive is not a measurement device However if you want to make a measurement of the circuits or devices connected to the drive operate the device only at or below the installation category stated in the specifications Installation categories are listed below e Installation Category IV for measurements performed at the source of the low voltage 1000 V installation Examples include electricity meters measurements on primary overcurrent protection devices and ripple control units e Installation Category III for measurements performed in the building installation Examples include measurements on distribution boards circuit breakers wiring including cables bus bars junction boxes switches socket outlets in the fixed installation equipment for industrial use and some other types of equipment such as stationary motors permanently c
34. ve 1 GHz Electrical immunity Evaluated to EN 61326 1998 Table 1 3 Note This device should only be operated with shielded cabling for full EMC amp EMI compliance Refer to the Declaration of Conformity DoC for this product for any additional regulatory compliance information The DoC for this product is available via the following web site http digital ni com hardref nsf This site lists the DoCs by product family Select the appropriate product family followed by your product and a link to the DoC will appear in Adobe Acrobat format Click on the Acrobat icon to download or read the DoC Safety MID 7604 7602 Power Drive Meets the requirements of the following standards for safety for electrical equipment for measurement control and laboratory use e EN 61010 1 1993 A2 1995 IEC 61010 1 1990 A2 1995 e UL3101 1 1993 UL 3111 1 1994 UL 3121 1 1998 e CAN CSA C22 No 1010 1 1992 A2 1997 UL Recognized to UL 508C power conversion equipment File E208822 30 ni com Technical Support Resources NI Web Support National Instruments Web support is your first stop for help in solving installation configuration and application problems and questions Online problem solving and diagnostic resources include frequently asked questions knowledge bases product specific troubleshooting wizards guides drivers software updates and more Web support is available through the Technical Support
35. voltages can exist even when the equipment is turned off To avoid a shock hazard do not perform procedures involving cover or shield removal unless you are qualified to do so Disconnect all field power prior to removing covers or shields If the device is rated for use with hazardous voltages 230 Vims 42 4 Vox or 60 Vac it may require a safety earth ground connection wire See the device specifications for maximum voltage ratings Because of the danger of introducing additional hazards do not install unauthorized parts or modify the device Use the device only with the chassis modules accessories and cables specified in the installation instructions All covers and filler panels must be installed while operating the device Do not operate the device in an explosive atmosphere or where flammable gases or fumes may be present Operate the device only at or below the pollution degree stated in the specifications Pollution consists of any foreign matter solid liquid or gas that may reduce dielectric strength or surface resistivity Pollution degrees are listed below e Pollution Degree 1 No pollution or only dry nonconductive pollution occurs The pollution has no effect National Instruments Corporation 5 MID 7604 7602 Power Drive Pollution Degree 2 Normally only nonconductive pollution occurs Occasionally nonconductive pollution becomes conductive because of condensation e Pollution Degree 3 Conductive poll
36. will not Occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver MID 7604 7602 Power Drive 2 ni com Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Canadian Department of Communications This Class B digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe B respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada European Union Compliance to EU Directives Readers in the EU must refer to the Manufacturer s Declaration of Conformity DoC for information pertaining to the CE Mark compliance scheme The Manufacturer includes a DoC for most every hardware product except for those bought for OEMs if also available from an original manufacturer that also markets in the EU or where compliance is not required as for electrically benign apparatus or cables Certain exemptions may apply in the USA see FCC Rules 815 103 Exempted devices and 15 105 c Also available in sections of CFR
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