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USER GUIDE
D
A
NU
RIVE
Contents
™
FlexMotion
, National Instruments
company names mentioned herein are trademarks or trade names of their respective companies.
321942B-01
© Copyright 1998, 2000 National Instruments Corp. All rights reserved.
CCESSORY
This user guide describes the electrical and mechanical aspects of the
nuDrive power amplifier accessory and describes how to use the nuDrive
with your motion controller.
Conventions ............................................................................................ 2
Introduction ............................................................................................. 2
What You Need to Get Started ............................................................... 5
Safety Information .................................................................................. 5
Installation and Connector Wiring.......................................................... 6
Front Panel Switches and Host Bus Interlock Circuit............................. 6
Rear Panel Connector Wiring ................................................................. 7
Motor Power Terminal Blocks ........................................................ 7
Encoder Terminal Blocks ................................................................ 8
Limit Switch Terminal Blocks......................................................... 11
CX and SX nuDrive Configuration .......................................... 11
CF nuDrive Configuration........................................................ 12
I/O Terminal Blocks ........................................................................ 13
CX and SX nuDrive Configuration .......................................... 13
CF nuDrive Configuration........................................................ 15
Amplifier/Driver Command Signals....................................................... 16
Servo Amplifier Signals................................................................... 16
Stepper Driver Signals ..................................................................... 16
Optional Configurations.......................................................................... 16
E-Stop Terminal Block .................................................................... 16
Servo Amplifier Configurations ...................................................... 17
Adjusting Current Gain and Current Limits ............................. 19
Balancing the Amplifier Gain................................................... 21
Status LEDs .............................................................................. 22
Stepper Driver Configurations......................................................... 23
Stepper Motor Current.............................................................. 24
Microstep Selection .................................................................. 26
Stepper Motor Configurations ................................................................ 26
Specifications .......................................................................................... 29
™
™
™
, ni.com
, nuDrive
, and ValueMotion
™
are trademarks of National Instruments Corporation. Product and
January 2000
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Table of Contents
Related Manuals for National Instruments nuDrive 4SX-411
Summary of Contents for National Instruments nuDrive 4SX-411
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Page 1: Table Of Contents
, ni.com , nuDrive , and ValueMotion are trademarks of National Instruments Corporation. Product and company names mentioned herein are trademarks or trade names of their respective companies. 321942B-01 © Copyright 1998, 2000 National Instruments Corp. All rights reserved. January 2000... -
Page 2: Conventions
Conventions The following conventions are used in this manual: This icon denotes a note, which alerts you to important information. This icon denotes a caution, which advises you of precautions to take to avoid injury, data loss, or a system crash. This icon denotes a warning, which advises you of precautions to take to avoid being electrically shocked. - Page 3 The terminal blocks do not require any special wiring tools for installation. Refer to Table 2 for a summary of how to connect various motion controllers to different nuDrives. © National Instruments Corporation nuDrive Accessory User Guide...
- Page 4 Table 2. nuDrive Connectivity Controller Connection nuDrives All 7344 controllers SH68-C68-S cable with a 4SX-411 68M-50F step/servo 2SX-411 bulkhead cable adapter 4SX-211 2SX-211 4CX-001 2CX-001 All FlexMotion-6C SH100-100-F shielded cable 4CF-001 controllers cable 2CF-001 All 7324/7314 SH68-C68-S cable with a 4SX-411 controllers* 68M-50F step/servo...
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Page 5: What You Need To Get Started
If the device is damaged, turn the device off and do not use until service-trained personnel can check its safety. If necessary, return the device to National Instruments for service and repair to ensure that its safety is not compromised. -
Page 6: Installation And Connector Wiring
National Instruments for service and repair to ensure that its safety features are not compromised. When connecting or disconnecting signal lines to the nuDrive terminal block screw terminals, make sure the lines are powered off. Potential differences between the lines and the nuDrive ground create a shock hazard while you connect the lines. -
Page 7: Rear Panel Connector Wiring
Note The dotted loop indicates a shielded cable. Motor + Motor – – Motor Case Ground Shield Servo Motor Figure 1. Typical Servo Motor (DC Brush Type) Terminal Block Pin Assignment © National Instruments Corporation nuDrive Accessory User Guide... -
Page 8: Encoder Terminal Blocks
Winding A Start Winding A End Motor Case Ground Winding B Start Winding B End Stepper Motor Shield Figure 2. Typical Full-Coil Stepper Motor (2-Phase Type) Terminal Block Pin Assignment It is recommended you use shielded, 20 AWG wire or larger for the motor power cable. - Page 9 Phase A and Phase B signals are logic low, as shown in Figure 5. If the Index pulse is inverted, try reversing the Index and Index signals on differential encoders or wiring to the Index input with single-ended wiring. © National Instruments Corporation nuDrive Accessory User Guide...
- Page 10 Figure 5 shows the proper encoder phasing for CW (forward) motor rotation. Phase A Phase B Index Figure 5. Encoder Signal Phasing, CW Rotation Servo and closed-loop stepper applications require consistent directional polarity between the motor and encoder for stable operation. The National Instruments motion control standard directional polarity is as follows: •...
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Page 11: Limit Switch Terminal Blocks
CX and SX nuDrives. CW Limit Home Switch CCW Limit +12 VDC +5 VDC Common Figure 8. Pin Assignment for the Passive Limit Switch Terminal Block on the CX and SX nuDrives © National Instruments Corporation nuDrive Accessory User Guide... -
Page 12: Cf Nudrive Configuration
+12 VDC CW Limit Home Switch CCW Limit +5 VDC Common Figure 9. Pin Assignment for the Active Limit Switch Terminal Block on the CX and SX nuDrives CF nuDrive Configuration On CF nuDrives, the per-axis High-Speed Capture input signal is available on pin 4 of each limit switch terminal block. -
Page 13: I/O Terminal Blocks
The front panel ENABLE switch is wired in parallel to the active-low enable signal of the I/O connector. To use the enable signal in the I/O connector(s), the front panel ENABLE switch must be off (not illuminated). © National Instruments Corporation nuDrive Accessory User Guide... - Page 14 The ENABLE switch is illuminated whenever it is switched on. It will not indicate that the amplifiers/drivers are disabled under the following conditions: E-Stop (see the E-Stop Terminal Block section), Host Bus interlock fault, or amplifier/driver protection fault. Conversely, it will not light if the external Enable function is used via the I/O terminal blocks. ♦...
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Page 15: Cf Nudrive Configuration
+5 V and ground signals on the host computer by properly setting a jumper to connect the isolated voltage (input) to 5 V and the ISO Common signal on the FlexMotion-6C board. Refer to the FlexMotion-6C Hardware User Manual for more information. © National Instruments Corporation nuDrive Accessory User Guide... -
Page 16: Amplifier/Driver Command Signals
The nuDrive uses stepper drivers that have active-low step and direction inputs. You must configure the stepper outputs of your stepper controller for Step and Direction signals with inverted (active-low) polarity. This configuration is the National Instruments default output configuration for stepper controller boards and nuDrives. Optional Configurations... -
Page 17: Servo Amplifier Configurations
The peak current limit is the maximum current that your motor can withstand for short periods of time. The continuous current limit is the maximum current that your motor can withstand indefinitely. © National Instruments Corporation nuDrive Accessory User Guide... - Page 18 Figure 18 shows the command voltage input to current output relationship for periods of time less than approximately two seconds. The maximum current output corresponds to the peak current limit, I peak peak cont –I cont –V Gain Applied –I peak Figure 18.
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Page 19: Adjusting Current Gain And Current Limits
Note ±10 V is the maximum/minimum command voltage for National Instruments motion controllers. Once you have calculated your gain value, determine the resistor values for R6 and R7 using the following formula:... - Page 20 Use the following formula to calculate the value for R42, which determines the peak current limit: × peak ---------------------- - 20 I – peak where R42 represents the resistor value in kΩ and I represents the peak maximum allowable peak current for the motor. Use the following formula to calculate the value for R40, which determines the continuous current limit: ×...
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Page 21: Balancing The Amplifier Gain
ValueMotion or FlexMotion servo controller, you may need to balance the corresponding amplifier. Figure 20 shows the location of the resistors and trimpots on your SSA-8/100 board. © National Instruments Corporation nuDrive Accessory User Guide... -
Page 22: Status Leds
INH. 1 Resistors 2 Trimpots Figure 20. Servo Amplifier Parts Locator Diagram You can only adjust the balance while the nuDrive is powered and the amplifier Warning is enabled. Use extreme caution and adjust the trimpot with a plastic trimpot screwdriver designed for the task. -
Page 23: Stepper Driver Configurations
P1 and P2 terminal blocks and shows where you connect the current adjustment resistors on your discrete motion amplifier board in your nuDrive. Current Adjustment Resistors 1 P1 2 P2 Figure 21. Stepper Driver Parts Locator Diagram © National Instruments Corporation nuDrive Accessory User Guide... -
Page 24: Stepper Motor Current
Stepper Motor Current You can modify the current limit and current reduction settings by changing the values of the current limit resistor (R ) and current reduction resistor (R ) on the stepper driver’s P2 terminal block. If your motor specifies the peak output current, then calculate the value of peak ------------ - 0.002... - Page 25 2.8 A 4.0 A 2.0 kΩ (maximum value) Note If you set R equal to R , then the current reduction will be 50% (I will be equal to one-half of I peak © National Instruments Corporation nuDrive Accessory User Guide...
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Page 26: Microstep Selection
Microstep Selection The microstepping drivers in your stepper nuDrive have a DIP switch for setting the microstep ratio. Table 5 shows the DIP switch settings for all possible microstep configurations. Table 5. Microstep Ratio DIP Switch Setting Binary Selections Decimal Selections Switch Microsteps/Step Switch... - Page 27 Figure 23. Series Stepper Motor Wiring (Higher Torque, Lower Speed) Alternatively, 8-wire stepper motors can be wired in parallel as shown in Figure 24. This configuration produces better high-speed performance but requires more current to produce rated torque. © National Instruments Corporation nuDrive Accessory User Guide...
- Page 28 Phase B Phase A Phase B-CT Phase A Phase B-CT Motor Case Ground Ground Phase B Phase B Phase B Shield Figure 24. Parallel Stepper Motor Wiring (Higher Speed, Lower Torque) 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.
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Page 29: Specifications
Peak current limit (2 s)......0.8 to 20 A (default 10 A) Continuous current limit ......0.8 to 8 A (default 5 A) DC-bus motor voltage......48 VDC PWM frequency ........20 kHz Continuous power (all axes combined) ........ 325 W © National Instruments Corporation nuDrive Accessory User Guide... - Page 30 Stepper Drivers Type ............Intelligent Motion Systems (IMS) IM483, bipolar chopper Current per phase.........0.36–4.0 A peak (0.26–2.8 A RMS) (factory setting is 1.4 A peak) Motor bus voltage ........24 or 40 VDC Microstepping selections ......×2, 4, 8, 16, 32, 64, 128, 256 ×5, 10, 25, 50, 125, 250 (default is 10 times) Encoder Interface (Each Axis)
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Page 31: Power Supply
Width............42.9 cm (16.9 in.) 48.3 cm (19.0 in.) with rack-mounting flanges Height............. 13.2 cm (5.2 in.) (3 U type) Depth............30.5 cm (12 in.) Weight ............ 20–35 lb (depending on model) © National Instruments Corporation nuDrive Accessory User Guide...