NI SMD-7611 Manuel utilisateur
USER MANUAL
NI SMD-7611/7612
This manual contains information about the configuration and use of the National Instruments
SMD-7611 and SMD-7612. They are referred to inclusively as the NI SMD-7611/7612.
Functionality on these devices are roughly equivalent. The NI SMD-7611 operates from 24 to
48 VDC, and has a running current of up to 4.5 A per phase. The SMD-7612 operates from 24 to
60 VDC, and runs current up to 7.8 A per phase.
Contents
Safety Information .................................................................................................................... 2
Block Diagram.......................................................................................................................... 3
Getting Started .......................................................................................................................... 3
Mounting the Drive .................................................................................................................. 4
Connecting the Power Supply .................................................................................................. 4
Drive CE Requirements............................................................................................................ 5
Choosing a Power Supply.........................................................................................................5
Voltage.............................................................................................................................. 6
Current .............................................................................................................................. 6
Regeneration ..................................................................................................................... 8
System Wiring Recommendations ........................................................................................... 8
Connecting Motors ........................................................................................................... 8
Connecting Input Signals.................................................................................................. 10
FAULT Output ......................................................................................................................... 13
Configuring the Drive............................................................................................................... 14
Step 1: Selecting a Motor and Setting the Current ........................................................... 14
Step 2: Fine Tuning the Motor Current ............................................................................ 16
Step 3: Setting Idle Current .............................................................................................. 17
Step 4: Load Inertia .......................................................................................................... 17
Step 5: Step Size ...............................................................................................................18
Step 6: Step Pulse Type .................................................................................................... 19
Step 7: Step Pulse Noise Filter ......................................................................................... 20
Step 8: Self Test................................................................................................................ 21
Torque Speed Curves................................................................................................................ 21
Motor Heating........................................................................................................................... 28
Drive Heating ........................................................................................................................... 39
Mechanical Outline................................................................................................................... 40
Technical Specifications........................................................................................................... 41
Alarm Codes ............................................................................................................................. 42
2|ni.com |NI SMD-7611/7612 User Manual
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 STR2 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.
• 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
NI SMD-7611/7612 User Manual |© National Instruments |3
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-7611/7612 Block Diagram
Getting Started
You need the following to use your NI SMD-7611/7612 stepper drive:
a 12 to 48 VDC power supply (60 V max for NI SMD-7612). Refer to Choosing a Power
Supply for help in choosing the right power supply
one of the recommended motors
a small flat blade screwdriver for tightening the connectors
a source of step signals, such as a PLC or motion controller
The connectors and other points of interest are illustrated below. These are detailed later in the
manual.
AMPLIFIER
24-48 VDC (SMD-7611)
24-60 VDC (SMD-7612)
from external power supply
Status LEDs
Motor Selection
Current
Idle Current
Steps/Rev
Load Inertia
Self Test
STEP
DIR
OUT1
O
v
e
rcurr
e
nt
Se
nsors
motor
3.3/5/15V
Regulators
Optical
Isolation
Optical
Isolation
Software
Filter
Digital
Filter
Optical
Isolation
EN
D
S
P
V
o
l
tage
Se
nsors
12345678
4|ni.com |NI SMD-7611/7612 User Manual
Figure 2 shows an overview of the connectors on the NI SMD-7611/7612 stepper drive.
Figure 2. NI SMD-7611/7612 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 half inch of space between drives.
Connecting the Power Supply
If you need information about choosing a power supply, refer to Choosing a Power Supply.
• Connect the power supply “+” terminal to the connector terminal labeled “V+”.
• 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-7611/7612 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 fuse in line with the + power supply lead. Use a 4 amp fuse for the
SMD-7611 and a 7 amp fuse for the SMD-7612.
Caution Do not reverse the wires. Reverse connection will destroy your drive and
void your warranty.
1 Chassis Grounding Screw
2 Motor and Power Supply Connector
3 Drive Configuration DIP Switches
4 Input and Output Signals
5 Motor Selector Switch
6 Drive Status LEDs
12345678
1
2345 6
NI SMD-7611/7612 User Manual |© National Instruments |5
Drive CE Requirements
CE requires you to use an EMI line filter, installed as shown in the following figure.
Figure 3. An EMI Line Filter
If you plan to use a regulated power supply you may encounter a problem with regeneration. If
you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is
transferred back to the power supply. This can trip the overvoltage protection of a switching
power supply, causing it to shut down. NI offers the SMD-7700 regeneration clamp to solve this
problem. If in doubt, buy an SMD-7700 for your first installation. If the regen LED on the
SMD-7700 never flashes, you don’t need the clamp.
Choosing a Power Supply
When choosing a power supply, there are many things to consider. If you are manufacturing
equipment that will be sold to others, you probably want a supply with all the safety agency
approvals. If size and weight are an issue, get a switching supply.
And you must decide what size of power supply (in terms of voltage and current) is needed for
your application.
National Instruments offers two power supplies that are excellent matches for the
NI SMD-7611/7612 drive: PS-12 24V, 6.3A) and PS-13 (48V, 6.7A).
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Voltage
The motor can provide more torque at higher speeds if a higher power supply voltage is used.
Refer to the Torque Speed Curves section for guidance.
If you choose an unregulated power supply, make sure the no load voltage of the supply does not
exceed the drive’s maximum input voltage specification.
Current
The maximum supply current you could ever need is two times the motor current. However, you
will generally need a lot less than that, depending on the motor type, voltage, speed and load
conditions. That’s because the NI SMD-7611/7612 uses a switching amplifier, converting a high
voltage and low current into lower voltage and higher current. The more the power supply
voltage exceeds the motor voltage, the less current you’ll need from the power supply. A motor
running from a 48 volt supply can be expected to draw only half the supply current that it would
with a 24 volt supply.
We recommend the following selection procedure:
1. 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’s 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.
Tables 1 and 2 list the maximum current required for each motor at several common power
supply voltages. Please consider this information when choosing a power supply.
Table 1. NI SMD-7611 Power Supply Current
Switch Motor
Drive Current (A),
peak of sine
Max Power Supply
Current (A)
24 VDC 48 VDC
0Reserved for
custom motors
1
2 ST17-4 2.4 parallel 1.6 1.7
3 ST17-1 1.6 parallel 1.1 1.1
4 ST17-2 2.0 parallel 1.1 1.1
5 ST17-3 2.0 parallel 1.1 1.1
6 ST23-1 3.4 parallel 1.9 2.0
NI SMD-7611/7612 User Manual |© National Instruments |7
7 ST23-4 4.5 parallel 3.2 3.3
8 ST23-6 4.5 parallel 3.2 3.4
9 ST24-1 3.36 2.6 2.3
A ST24-2 4.5 5.2 3.2
B ST24-3 4.5 4.3 3.4
C ST34-2 4.5 series 2.6 2.5
D ST34-5 4.5 series 2.4 2.7
E ST34-1 3.816 series 2.1 2.1
Table 2. NI SMD-7612 Power Supply Current
Switch Motor
Drive Current (A),
peak of sine
Max Power Supply Current (A)
24 VDC 48 VDC 60 VDC
0
Reserved for
custom motors
1
2
3ST23-8 64.4 4.0 4.0
4ST23-1 3.4 1.9 2.0 N/A
5ST23-4 53.2 3.3 N/A
6ST23-6 53.2 3.4 N/A
7ST24-1 3.36 2.6 2.3 2.0
8ST24-2 4.8 5.2 3.2 2.7
9ST24-3 4.8 4.3 3.4 2.9
AST34-2 85.1 5.0 5.0
BST34-5 85.2 4.6 4.4
CST34-8 85.2 5.4 5.3
Table 1. NI SMD-7611 Power Supply Current (Continued)
Switch Motor
Drive Current (A),
peak of sine
Max Power Supply
Current (A)
24 VDC 48 VDC
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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.
System Wiring Recommendations
Maintain at least 2 in. separation between the power supply cable and input lines or encoder
feedback. All power supply cables should be properly shielded, and the shield grounded at the
power supply. Signal cables should be shielded, and grounded as close as possible to the signal
source.
Connecting Motors
This section explains how to connect motors to the NI SMD-7611/7612. Refer to your motor
documentation for any special considerations that may affect your configuration.
Caution Never connect or disconnect the motor while the system is powered on.
Note Ensure any shield or grounding strap on the motor is connected to the chassis
ground screw located near the motor/power connector.
Figure 4. Motor/Power Connector
DST34-1 7.56 4.8 4.2 4.0
EST34-4 7.56 4.4 4.2 4.2
FST34-7 6.72 3.5 3.2 3.3
Table 2. NI SMD-7612 Power Supply Current (Continued)
Switch Motor
Drive Current (A),
peak of sine
Max Power Supply Current (A)
24 VDC 48 VDC 60 VDC
NI SMD-7611/7612 User Manual |© National Instruments |9
Figure 5. Grounding Screw on the Chassis
Four Lead Motors
Four lead motors can only be configured according to the following diagram.
Note Motor wire colors are correct for NI stepper motors compatible with the
NI SMD-7611/7612. These wire colors may not match a third-party stepper motor.
Figure 6. Four Lead Motor Connection
Eight Lead Motors
Eight lead motors can be connected in series or parallel. A series connected motor needs less
current than one that is connected in parallel but it will not be able to run as fast. Refer to the
wiring diagrams below to connect an eight lead motor.
Figure 7. Eight Lead Motor Connected in Series
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Figure 8. Eight Lead Motor Connected in Parallel
Connecting Input Signals
The NI SMD-7611/7612 has three input channels:
• STEP: A high-speed digital input for step pulse commends. 5-24 V logic.
• DIR: A high-speed digital input for the direction signal. 5-24 V logic.
• EN: A digital input for removing power from the motor. 5-24 V logic.
Note Activating then deactivating EN clears alarms and faults, and re-enables the
motor in the case of drive faults.
Note STEP and DIR inputs can be converted to STEP CW and STEP CCW by
configuring the internal jumper. Refer to Step 6: Step Pulse Type for more
information.
Figure 9. Input Connector Pin Diagram
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