National Instruments NI SMD-7613 User manual

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 .................................................................................................................... 2

Block Diagram.......................................................................................................................... 3

Getting Started.......................................................................................................................... 4

Mounting the Drive .................................................................................................................. 4

Connecting the Power Supply .................................................................................................. 5

Choosing a Power Supply......................................................................................................... 5

Voltage.............................................................................................................................. 5

Current .............................................................................................................................. 6

Regeneration ..................................................................................................................... 7

Connecting the Drive Using Ethernet....................................................................................... 7

Motor Wiring Recommendations ............................................................................................. 12

Four Lead Motors ............................................................................................................. 13

Six Lead Motors ............................................................................................................... 13

Eight Lead Motors ............................................................................................................ 14

Connecting Input Signals.......................................................................................................... 15

STEP and DIR Inputs ....................................................................................................... 17

Single Ended Inputs.......................................................................................................... 19

Connecting Limit Switches and Sensors .......................................................................... 21

Analog Inputs ................................................................................................................... 22

Programmable Outputs ............................................................................................................. 23

Connecting an Encoder (SMD-7615/7616).............................................................................. 25

Configuring the Drive............................................................................................................... 28

Motor ................................................................................................................................ 28

Control .............................................................................................................................. 29

I/O Configuration ............................................................................................................. 31

Self Test ............................................................................................................................ 31

2|ni.com |NI SMD-7613/7614/7615/7616 User Manual

Torque Speed Curves................................................................................................................ 32

Motor Heating...........................................................................................................................38

Drive Heating............................................................................................................................46

Mechanical Outline................................................................................................................... 48

Technical Specifications ........................................................................................................... 48

Alarm Codes .............................................................................................................................50

Safety Information

Only qualified personnel are permitted to transport, assemble, 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

• 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.

• 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.

• 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.

• 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.

NI SMD-7613/7614/7615/7616 User Manual |© National Instruments |3

• 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.

• 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 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

INPUT X3

OUTPUT Y3

OUTPUT Y4

ANALOG IN1

ANALOG IN2

Ethernet

INPUT X1

External Power Supply

7613/7615: 24-48 VDC

7614/7616: 24-80 VDC

INPUT X2

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

Optical

Isolation

DSP

Internal

Logic Supply

MOSFET

PWM

Power

Amplifier Motor

Encoder

Status

7615/7616

Only

4|ni.com |NI SMD-7613/7614/7615/7616 User Manual

Getting Started

You need the following to use your NI SMD-761x stepper drive:

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.

one of the recommended motors

a small flathead screwdriver for tightening the connectors

a source of step signals, such as a motion controller

The connectors 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

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.

• 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.

• Never put the drive where it can get wet or where metal or other electrically conductive

particles can get on the circuitry.

• Always provide air flow around the drive. When mounting multiple drives near each other,

maintain at least one and a half inch of space between drives.

1 Chassis Grounding Screw

2 Motor and Power Supply Connector

3 Encoder Feedback (SMD-7615/7616)

4 Input and Output Signals

5 Ethernet Connector

6 Drive Status LEDs

7 Rotary Switch

2345 6 7

NI SMD-7613/7614/7615/7616 User Manual |© National Instruments |5

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+”.

• 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.

• Use 18 or 20 gauge wire.

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. Reversing the 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 do not need the clamp.

Choosing a Power Supply

When choosing 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.

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.

6|ni.com |NI SMD-7613/7614/7615/7616 User Manual

Current

The maximum supply current you 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 is 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 will 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. If you plan to use 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 is rated for 2 A/phase use a 4 A power

supply.

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.

Table 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

Motor

Holding Torque Drive

Current

Setting (A)

Resistance

(Ω)

Inductance

(mH)

Rotor

Inertia

(g · cm2)oz · in kg · 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 2.2 750

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

NI SMD-7613/7614/7615/7616 User Manual |© National Instruments |7

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.

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 2.2 2680

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

Table 1. NI SMD-7613/7615 Power Supply Current (Continued)

Motor

Holding Torque Drive

Current

Setting (A)

Resistance

(Ω)

Inductance

(mH)

Rotor

Inertia

(g · cm2)oz · in kg · cm

8|ni.com |NI SMD-7613/7614/7615/7616 User Manual

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.

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).

Table 2. IP Address Rotary Switch Settings

Position IP Address

010.10.10.10

1192.168.1.10

2192.168.1.20

3192.168.1.30

4192.168.0.40

5192.168.0.50

6192.168.0.60

7192.168.0.70

8192.168.0.80

9192.168.0.90

A192.168.0.100

B192.168.0.110

C192.168.0.120

D192.168.0.130

E192.168.0.140

FDHCP

NI SMD-7613/7614/7615/7616 User Manual |© National Instruments |9

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 system 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

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 have 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 Properties.

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. If the 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. If the option Use the following IP address is selected, change the subnet mask to

255.255.0.0 and click OK.

NIC PC

LAN Drive

Switch

Router

10 |ni.com |NI SMD-7613/7614/7615/7616 User Manual

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 is not 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

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 have 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 CAT5 Ethernet cable into the LAN card (NIC) on your PC and the

other into the device. You do not 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.

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