National Instruments MID-7604 User Manual
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USER GUIDE
MID-7604/7602 A
Contents
natinst.com
™ and National Instruments ™ are trademarks of National Instruments Corporation. Product and company names mentioned
herein are trademarks or trade names of their respective companies.
322454A-01
CCESSORY
This user guide describes the electrical and mechanical aspects of the
MID-7604/7602 power amplifier accessory and describes how to use the
MID-7604/7602 with your motion controller.
Conventions ............................................................................................ 2
Introduction ............................................................................................. 2
What You Need to Get Started ............................................................... 3
Safety Information .................................................................................. 3
Installation and Connector Wiring.......................................................... 4
Front Panel Switches............................................................................... 5
Host Bus Interlock Circuit ...................................................................... 6
Front Panel LEDs.................................................................................... 6
Driver Fault Output LEDs ............................................................... 6
Driver Inhibit LEDs ......................................................................... 7
Limit Status LEDs ........................................................................... 7
Front Panel DIP Switch Settings............................................................. 7
Microstepping Selection .................................................................. 8
Output Current Settings ................................................................... 9
Inhibit Input Polarity Setting ........................................................... 10
Limit Status LED Polarity Setting ................................................... 10
Back Panel Connector Wiring................................................................. 11
Motor Power Terminal Blocks ........................................................ 11
Encoder Terminal Blocks ................................................................ 12
Limit Switch Terminal Blocks......................................................... 15
Breakpoint and Trigger Terminal Blocks ........................................ 15
Analog I/O Terminal Blocks............................................................ 16
Amplifier/Driver Command Signals....................................................... 17
Stepper Motor Configurations ................................................................ 17
Specifications .......................................................................................... 20
Support Information................................................................................ 24
© Copyright 1999 National Instruments Corp. All rights reserved.
September 1999
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Summary of Contents for National Instruments MID-7604
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Page 1: Table Of Contents
Specifications ..................20 Support Information................24 natinst.com ™ and National Instruments ™ are trademarks of National Instruments Corporation. Product and company names mentioned herein are trademarks or trade names of their respective companies. 322454A-01 © Copyright 1999 National Instruments Corp. All rights reserved. -
Page 2: Conventions
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 240/120 VAC for operation. -
Page 3: What You Need To Get Started
If the device is damaged, turn the device off and do not use it 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 4: Installation And Connector Wiring
Connections, including power signals to ground and vice versa, that exceed any of the maximum signal ratings on the MID-7604/7602 device can create a shock or fire hazard or can damage any or all of the motion controllers connected to the MID-7604/7602 chassis, the host computer, and the MID-7604/7602 device. -
Page 5: Front Panel Switches
The remaining circuitry remains active, including the quadrature encoder circuit. The MID-7604/7602 main input fuse on the front panel must be changed if the Warning line voltage is changed from the factory setting. Refer to the... -
Page 6: Host Bus Interlock Circuit
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... -
Page 7: Driver Inhibit Leds
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 2 for the location of these switches. -
Page 8: Microstepping Selection
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 1.8º stepper motors). Table 2 shows the DIP switch settings for all possible microstep settings. -
Page 9: Output Current Settings
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. -
Page 10: Inhibit Input Polarity Setting
Current reduction disabled 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 2 and 3 for the location of this switch. -
Page 11: Back Panel Connector Wiring
Active-low (factory default) Back Panel Connector Wiring Motor Power Terminal Blocks For motor power wiring, each MID-7604/7602 axis has a separate 5-position removable screw terminal block. Figure 4 shows a typical stepper motor configuration pin assignment. Note The dotted loop indicates a shielded cable. A line above a signal indicates that the signal is active-low. -
Page 12: Encoder Terminal Blocks
Caution other. Encoder Terminal Blocks For quadrature incremental encoder signals, each MID-7604/7602 axis has a separate 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 kΩ... - Page 13 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. If you require other encoder power voltages, reference an external power supply to Note the Digital Ground signal on the 8-pin encoder terminal block.
- Page 14 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.
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Page 15: Limit Switch Terminal Blocks
The MID-7604/7602 stepper drive remains in a reset state for 100 ms after being inhibited. You can lose steps if you attempt to issue a start motion command within 500 ms from the deassertion of the stepper drive inhibit. -
Page 16: Analog I/O Terminal Blocks
Figure 12. Breakpoint Terminal Block Pin Assignment Analog I/O Terminal Blocks There are two analog I/O connectors on the MID-7604/7602. The analog input connector uses a 6-pin removable terminal block and the analog output connector uses a 5-pin removable terminal block. -
Page 17: Amplifier/Driver Command Signals
MID-7604/7602. The MID-7604/7602 is compatible with all configurations of two-phase stepper motors. Caution The MID-7604/7602 is not compatible with 5-lead unipolar stepper motors or 5-phase stepper motors. 2-phase stepper motors come in 4-, 6-, and 8-wire variations. Figure 15 shows a 6-wire and an 8-wire stepper motor respectively. A 4-wire motor is the same as a 6-wire motor except that the center taps (CT) are not brought out. - Page 18 While a parallel configuration is not possible with a 6-wire motor, high-speed performance can usually be obtained with the half-coil connection shown in Figure 18. This configuration sacrifices low-speed torque for better high-speed performance. With this configuration, it is MID-7604 Accessory Guide www.natinst.com...
- Page 19 Figure 18. Half-Coil Stepper Motor Wiring Figure 19 shows the wiring for a typical 4-wire motor. Phase B Phase A Phase A Motor Case Ground Ground Phase B Phase B Phase B Shield Figure 19. 4-Wire Motor Wiring © National Instruments Corporation MID-7604 Accessory Guide...
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Page 20: Specifications
Some signals have compatibility defined as signal pass-through. This 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. - Page 21 Noise filter (RC time constant) ....100 ns Compatibility ......... Signal pass-through Breakpoint Output Compatibility ......... Signal pass-through Analog Input Noise filter (RC time constant) ....10 µs Compatibility ......... Signal pass-through Analog Output Compatibility ......... Signal pass-through © National Instruments Corporation MID-7604 Accessory Guide...
- Page 22 Equipment, UL 508C, and EN 50178—Electronic equipment for use in power installations Installation Category II, Pollution degree 2 Environment Operating temperature ......0 to 45 ºC (32 to 113 ºF) Storage temperature ........–20 to 70 ºC (–4 to 158 ºF) Humidity ..........10% to 90% (noncondensing) MID-7604 Accessory Guide www.natinst.com...
- Page 23 Host Bus Voltage Interlock PC bus host voltage threshold ....4.5 VDC Physical Length ............ 30.7 cm (12.1 in.) Width............25.4 cm (10 in.) Height............. 4.3 cm (1.7 in.) Weight ............ 4.5 kg (10 lb.) © National Instruments Corporation MID-7604 Accessory Guide...
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Page 24: Support Information
Support Information Worldwide Technical Support and Product Information www.natinst.com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 794 0100 Worldwide Offices Australia 03 9879 5166, Austria 0662 45 79 90 0, Belgium 02 757 00 20, Brazil 011 284 5011, Canada (Ontario) 905 785 0085, Canada (Québec) 514 694 8521, China 0755 3904939, Denmark 45 76 26 00,...