National Instruments MID-7602, MID-7604 Specifications
National Instruments MID-7602 Manual
Get Pricing & Availability at
ApexWaves.com
Call Today: 1-800-915-6216
Email: sales@apexwaves.com
https://www.apexwaves.com/modular-systems/national-instruments/motor-drives/MID-7602
USER GUIDE AND SPECIFICATIONS
MID-7604/7602 Stepper Power Motor Drive
This user guide describes the electrical and mechanical aspects of the MID-7604/7602 stepper power
motor drive and how to use the MID-7604/7602 with your motion controller.
Contents
Conventions .........................................................................................................................................2
Introduction.......................................................................................................................................... 2
What You Need to Get Started ............................................................................................................ 3
Safety Information............................................................................................................................... 3
Electromagnetic Compatibility Information........................................................................................ 5
Front Panel Switches ........................................................................................................................... 6
Back Panel Connector Wiring ............................................................................................................. 7
Host Bus Interlock Circuit................................................................................................................... 8
Front Panel LEDs.................................................................................................................................8
Driver Fault Output LEDs ........................................................................................................... 8
Driver Inhibit LEDs.....................................................................................................................8
Limit Status LEDs ....................................................................................................................... 9
Front Panel DIP Switch Settings .........................................................................................................9
Microstepping Selection .............................................................................................................. 10
Output Current Settings ............................................................................................................... 11
Inhibit Input Polarity Setting .......................................................................................................12
Limit Status LED Polarity Setting...............................................................................................13
Back Panel Connector Wiring ............................................................................................................. 13
Motor Power Terminal Blocks .................................................................................................... 13
Encoder Terminal Blocks ............................................................................................................14
Limit Switch Terminal Blocks..................................................................................................... 16
Breakpoint and Trigger Terminal Blocks....................................................................................17
Analog I/O Terminal Blocks........................................................................................................ 17
Accessories for Optional Use .............................................................................................................. 18
Strain-Relief Bar.......................................................................................................................... 18
Panel-Mount Kit (Included)......................................................................................................... 19
Amplifier/Driver Command Signals....................................................................................................19
Stepper Motor Configurations.............................................................................................................20
Specifications....................................................................................................................................... 22
Where to Go for Support .....................................................................................................................26
Conventions
The following conventions are used in this manual:
» The » symbol leads you through nested menu items and dialog box options to a final action.
The sequence Options»Settings»General directs you to pull down the Options menu, select
the Settings item, and select General from the last dialog box.
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. When this symbol is marked on a product, refer to the Specifications section
of this guide for information about precautions to take.
When this symbol is marked on a product, it denotes a component that may be hot. Touching
this component may result in bodily injury.
bold Bold text denotes items that you must select or click in the software, such as menu items and
dialog box options. Bold text also denotes parameter names.
italic Italic text denotes variables, emphasis, a cross-reference, or an introduction to a key concept.
Italic text 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.
overline
Introduction
The 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
using 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.
Indicates the signal is active low.
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
❑ Power cord (IEC type)
MID-7604/7602 Stepper Power Motor Drive User Guide 2 ni.com
❑ Panel-mount kit, NI part number 187243-01 (included)
❑ One of the following shielded cable assemblies, as applicable:
– SH68-C68-S, NI part number 186381-02 (not included)
– SHC68-C68-S, NI part number 186380-02 (not included)
Refer to the Specifications section of this document for detailed specifications for the MID-7604/7602.
Safety Information
The following section contains important safety information that you must follow when installing and
using the hardware.
Do not operate the hardware in a manner not specified in this document and in the user documentation.
Misuse of the hardware can result in a hazard. You can compromise the safety protection if the hardware
is damaged in any way. If the hardware is damaged, return it to National Instruments for repair.
Clean the hardware with a soft, nonmetallic brush. Make sure that the hardware is completely dry and
free from contaminants before returning it to service.
Do not substitute parts or modify the hardware except as described in this document. Use the hardware
only with the chassis, modules, accessories, and cables specified in the installation instructions or
specifications. You must have all covers and filler panels installed during operation of the hardware.
Do not operate the hardware in an explosive atmosphere or where there may be flammable gases or
fumes unless the hardware is UL (U.S.) or Ex (EU) Certified and marked for hazardous locations. The
hardware must be in a suitably rated IP 54 minimum enclosure for hazardous locations.
You must insulate signal connections for the maximum voltage for which the hardware is rated. Do not
exceed the maximum ratings for the hardware. Do not install wiring while the hardware is live with
electrical signals. Do not remove or add connector blocks when power is connected to the system. Avoid
contact between your body and the connector block signal when hot swapping hardware. Remove power
from signal lines before connecting them to or disconnecting them from the hardware.
Caution The MID-7604/7602 does not provide overload protection for motor loads. Overload
protection must be provided externally by the system designer.
Caution The MID-7604/7602 does not provide motor overtemperature sensing. External
temperature sensing must be provided externally by the system designer. Temperature sensing is
required for monitoring the motor temperature and disabling the drive.
Caution 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. Failure to do so could result in electric shock leading to
serious bodily injury or death.
Hot Surface 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 Output Current Settings in the Front Panel DIP Switch
Settings section of this guide for the appropriate current setting and safety hazards.
© National Instruments Corporation 3 MID-7604/7602 Stepper Power Motor Drive User Guide
Operate the hardware only at or below Pollution Degree 2. Pollution is foreign matter in a solid, liquid,
or gaseous state that can reduce dielectric strength or surface resistivity. The following is a description
of pollution degrees:
• Pollution Degree 1 means no pollution or only dry, nonconductive pollution occurs. The pollution
has no influence. Typical level for sealed components or coated PCBs.
• Pollution Degree 2 means that only nonconductive pollution occurs in most cases. Occasionally,
however, a temporary conductivity caused by condensation must be expected. Typical level for
most products.
• Pollution Degree 3 means that conductive pollution occurs, or dry, nonconductive pollution occurs
that becomes conductive due to condensation.
Note The MID-7604/7602 is intended for indoor use only.
Operate the hardware at or below the measurement category1 marked on the hardware label.
Measurement circuits are subjected to working voltages
2
and transient stresses (overvoltage) from the
circuit to which they are connected during measurement or test. Measurement categories establish
standard impulse withstand voltage levels that commonly occur in electrical distribution systems. The
following is a description of measurement categories:
• Measurement Category I is for measurements performed on circuits not directly connected to the
3
electrical distribution system referred to as MAINS
voltage. This category is for measurements of
voltages from specially protected secondary circuits. Such voltage measurements include signal
levels, special hardware, limited-energy parts of hardware, circuits powered by regulated
low-voltage sources, and electronics.
• Measurement Category II is for measurements performed on circuits directly connected to the
3
electrical distribution system (MAINS
). This category refers to local-level electrical distribution,
such as that provided by a standard wall outlet (for example, 115 AC voltage for U.S. or 230 AC
voltage for Europe). Examples of Measurement Category II are measurements performed on
household appliances, portable tools, and similar hardware.
• Measurement Category III is for measurements performed in the building installation at the
distribution level. This category refers to measurements on hard-wired hardware such as hardware
in fixed installations, distribution boards, and circuit breakers. Other examples are wiring,
including cables, bus bars, junction boxes, switches, socket outlets in the fixed installation, and
stationary motors with permanent connections to fixed installations.
• Measurement Category IV is for measurements performed at the primary electrical supply
installation typically outside buildings. Examples include electricity meters and measurements on
primary overcurrent protection devices and on ripple control units.
To obtain the safety certification(s) for this product, visit
ni.com/certification, search by model
number or product line, and click the appropriate link in the Certification column.
1
Measurement categories, also referred to as overvoltage or installation categories, are defined in electrical safety standard
IEC 61010-1 and IEC 60664-1.
2
Working voltage is the highest rms value of an AC or DC voltage that can occur across any particular insulation.
3
MAINS is defined as a hazardous live electrical supply system that powers hardware. Suitably rated measuring circuits may
be connected to the MAINS for measuring purposes.
MID-7604/7602 Stepper Power Motor Drive User Guide 4 ni.com
Electromagnetic Compatibility Information
This hardware has been tested and found to comply with the applicable regulatory requirements and
limits for electromagnetic compatibility (EMC) as indicated in the hardware’s Declaration of
Conformity (DoC)1. These requirements and limits are designed to provide reasonable protection
against harmful interference when the hardware is operated in the intended electromagnetic
environment. In special cases, for example when either highly sensitive or noisy hardware is being used
in close proximity, additional mitigation measures may have to be employed to minimize the potential
for electromagnetic interference.
While this hardware is compliant with the applicable regulatory EMC requirements, there is no
guarantee that interference will not occur in a particular installation. To minimize the potential for
the hardware to cause interference to radio and television reception or to experience unacceptable
performance degradation, install and use this hardware in strict accordance with the instructions in
the hardware documentation and the DoC
If this hardware does cause interference with licensed radio communications services or other nearby
electronics, which can be determined by turning the hardware off and on, you are encouraged to try to
correct the interference by one or more of the following measures:
• Reorient the antenna of the receiver (the device suffering interference).
• Relocate the transmitter (the device generating interference) with respect to the receiver.
• Plug the transmitter into a different outlet so that the transmitter and the receiver are on different
branch circuits.
Some hardware may require the use of a metal, shielded enclosure (windowless version) to meet the
EMC requirements for special EMC environments such as, for marine use or in heavy industrial areas.
Refer to the hardware’s user documentation and the DoC
1
.
1
for product installation requirements.
When the hardware is connected to a test object or to test leads, the system may become more sensitive
to disturbances or may cause interference in the local electromagnetic environment.
Operation of this hardware in a residential area is likely to cause harmful interference. Users are required
to correct the interference at their own expense or cease operation of the hardware.
Changes or modifications not expressly approved by National Instruments could void the user’s right to
operate the hardware under the local regulatory rules.
1
The Declaration of Conformity (DoC) contains important EMC compliance information and instructions for the user or
installer. To obtain the DoC for this product, visit
and click the appropriate link in the Certification column.
© National Instruments Corporation 5 MID-7604/7602 Stepper Power Motor Drive User Guide
ni.com/certification, search by model number or product line,
Front Panel Switches
FUSE
LINE VOLTAGE SELECT
AC POWER
1
AXIS
2 3 4
ON OFF
+
5V
ON OFF
ENABLE
AXIS CONFIGURATION
1 2 3 4105
ON ON ON ON
FAULTS
INHIBITS
LIMITS
6
7
8 9
Figure 1 shows the front panel of your MID-7604/7602. The DIP switches are shown with the
detachable metal cover plate removed.
1 Main Input Fuse
2 Line Voltage Select Switch
3Power Switch
4Green Power LED
Note Items followed by an asterisk (*) are available on the MID-7604 only.
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) and red LEDs (the top row of the LED status array) illuminate for all axes. Refer to the Front
Panel LEDs section of this guide for more information.
Note In older versions of the MID-7604/7602, the red status LEDs do not illuminate when the
yellow status LEDs illuminate. This behavior only occurs in newer versions of the MID-7604/7602.
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.
5 Enable Switch
6 Axis 1 DIP Switch Bank
7 Axis 2 DIP Switch Bank
Figure 1. MID-7604/7602 Front Panel
8 Axis 3 DIP Switch Bank*
9 Axis 4 DIP Switch Bank*
10 LED Status Array
MID-7604/7602 Stepper Power Motor Drive User Guide 6 ni.com
Back Panel Connector Wiring
1
4
11 12
8
97 10
13 14
6
15
16
17
18
532
Figure 2 shows the connectors located on the back panel of your MID-7604/7602.
1 Motion Controller Connector
2 Analog Input Connector
3 Analog Output Connector
4 Trigger Connector
5 Breakpoint Connector
6 AC Power
Note Items followed by an asterisk (*) are available on the MID-7604 only.
Caution Be sure to turn off the ENABLE switch and the main AC power to your MID-7604/7602
and host computer before connecting the accessory to your motion controller.
Caution 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. Failure to do so could result in electric shock leading to
serious bodily injury or death.
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.
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.
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.
3. Finally, install the power cord into the back panel AC connector and plug it in to a correctly rated
power source.
Encoder Connectors
7 Axis 1
8 Axis 2
9 Axis 3*
10 Axis 4*
Limit Connectors
11 Axis 1
12 Axis 2
13 Axis 3*
14 Axis 4*
Figure 2. MID-7604/7602 Back Panel Connectors
Motor Connect ors
15 Axis 1
16 Axis 2
17 Axis 3*
18 Axis 4*
© National Instruments Corporation 7 MID-7604/7602 Stepper Power Motor Drive User Guide
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) and red LEDs (top row) of the LED status array for
all axes. Refer to the Front Panel LEDs section of this guide for more information.
Note In older versions of the MID-7604/7602, the red status LEDs do not illuminate when the
yellow status LEDs illuminate. This behavior only occurs in newer versions of the MID-7604/7602.
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.
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 corresponding status for
each LED in the 3 × 4 array.
Status Motor Axis
Driver Fault Output (red) 1 2 3 4
Table 1. Front Panel LED Indicators
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. The LEDs also
illuminate red when the axis is inhibited. Refer to the Driver Inhibit LEDs section of this guide for more
information about inhibit conditions.
Note In older versions of the MID-7604/7602, the red status LEDs do not illuminate when the
yellow status LEDs illuminate. This behavior only occurs in newer versions of the MID-7604/7602.
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
•if the ENABLE switch on the front panel is in the inhibit (off) position
• if the motion controller’s inhibit signal is low
• if the per-axis inhibit input is actively driven
MID-7604/7602 Stepper Power Motor Drive User Guide 8 ni.com
Loading...