USER GUIDE
MID-7604/7602 P
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.
Contents
Compliance ............................................................................................. 2
Conventions ............................................................................................3
Introduction.............................................................................................4
What You Need to Get Started ............................................................... 4
Safety Information .................................................................................. 5
Front Panel Switches...............................................................................7
Back Panel Connector Wiring.................................................................8
Host Bus Interlock Circuit ......................................................................9
Front Panel LEDs.................................................................................... 9
Driver Fault Output LEDs ............................................................... 10
Driver Inhibit LEDs .........................................................................10
Limit Status LEDs ........................................................................... 10
Front Panel DIP Switch Settings............................................................. 11
Microstepping Selection ..................................................................12
Output Current Settings ...................................................................13
Inhibit Input Polarity Setting ........................................................... 15
Limit Status LED Polarity Setting................................................... 15
Back Panel Connector Wiring.................................................................16
Motor Power Terminal Blocks ........................................................16
Encoder Terminal Blocks ................................................................ 17
Limit Switch Terminal Blocks......................................................... 20
Breakpoint and Trigger Terminal Blocks ........................................ 20
Analog I/O Terminal Blocks............................................................ 21
Accessories for Optional Use.................................................................. 22
Strain-Relief Bar ..............................................................................22
Panel-Mount Kit (Included)............................................................. 23
Amplifier/Driver Command Signals....................................................... 23
Stepper Motor Configurations ................................................................24
Specifications .......................................................................................... 27
OWER
D
RIVE
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 ..................................................................31
NI Web Support................................................................................31
Worldwide Support ..........................................................................31
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 products. 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,
or the FCC Class B compliance mark that appears as shown here on the right.
Consult the FCC web site
http://www.fcc.gov
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).
Changes or modifications not expressly approved by National Instruments could void the user’s authority to operate the
equipment under the FCC Rules.
for more information.
Class A
Federal Communications Commission
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 numérique de la classe A respecte toutes les exigences du Règlement sur le matériel 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 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:
• 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 numérique de la classe B respecte toutes les exigences du Règlement sur le matériel 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 §15.103 Exempted devices,and§15.105(c). Also available in
sections of CFR 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:
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 temperature caution, which advises you of precautions
to take to avoid a burn hazard.
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 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 inhibits 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
To set up and use your MID-7604/7602 accessory, you must have the
following items:
❑
MID-7604/7602 power drive
MID-7604/7602 Power Drive User Guide
❑
❑
Power cord (IEC type)
❑
Panel-mount kit (part number 187243-01)
MID-7604/7602 Power Drive 4 ni.com
❑ 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
Caution
when installing and operating the device.
The following paragraphs contain important safety information you must follow
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 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 (>30 V
or 60 V
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.
), it may require a safety earth-ground connection wire. See the
dc
,42.4Vpk,
rms
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.
• 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.
• Pollution Degree 3—Conductive pollution 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.
Yo u 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.
• 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.
• 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 connected to the fixed installation.
• 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.
• Installation Category I—for measurements performed on circuits not
directly connected to mains
1
. Examples include measurements on
circuits not derived from mains, and specially-protected (internal)
mains-derived circuits.
1
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.
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. Failuretodosocould
result in electric shock leading to serious bodily injury or death.
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.
LINE VOLTAGESELECT
FUSE
1 2 3 4 105 6 7 8 9
AC POWER
ON OFF
+
5V
ENABLE
ON ON ON ON
ON OFF
AXIS CONFIGURATION
FAULTS
INHIBITS
LIMITS
1
234
AXIS
1 Main Input Fuse
2 Line Voltage Select Switch
3PowerSwitch
5 Enable Switch
6Axis1DIPSwitchBank
7Axis2DIPSwitchBank
8 Axis 3 DIP Switch Bank*
9 Axis 4 DIP Switch Bank*
10 LED Status Array
4GreenPowerLED
Figure 1. MID-7604/7602 Front Panel
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 POWER 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.
Caution
Yo u 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.
8
7
1 2 3 4 5
1 Motion Controller Connector
2 Analog Input Connector
3 Analog Output Connector
4 Trigger Connector
5 Breakpoint Connector
6 AC Power
Encoder
Connectors
7Axis1
8Axis2
9Axis3*
10 Axis 4*
11 12
9
10
13 14
Limit
Connectors
11 Axis 1
12 Axis 2
13 Axis 3*
14 Axis 4*
16
15
17
18
Motor
Connectors
15 Axis 1
16 Axis 2
17 Axis 3*
18 Axis 4*
6
Figure 2. MID-7604/7602 Back Panel Connectors
Note
Items followed by an asterisk (*) are available on the MID-7604 only.
MID-7604/7602 Power Drive 8 ni.com
Caution
MID-7604/7602 and host computer before connecting the accessory to your motion
controller.
Be sure to turn off the ENABLE switch and the main AC power to your
Warning
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. Failuretodosocould
result in electric shock leading to serious bodily injury or death.
Caution
change the line voltage from the factory setting. Refer to the Specifications section of this
guide for fuse specifications.
The stepper motor connectors on this drive are energized when the unit is
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. Use the 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.
Yo u must change the MID-7604/7602 main input fuse on the front panel if you
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 columns
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 × 4
array corresponds.
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
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.
Driver Inhibit LEDs
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.
Table 1. Front Panel LED Indicators
Status Motor Axis
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.
Limit Status LEDs
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 panel DIP switches. See the Front Panel DIP Switch
Settings section in this guide for more information.
MID-7604/7602 Power Drive 10 ni.com
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