National Instruments MID-7654, MID-7652 Specifications
National Instruments MID-7654 Manual
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SER GUIDE
MID-7654/7652 Servo Power Motor Drive User Guide and Specifications
This user guide describes the electrical and mechanical aspects of the MID-7654/7652 servo power
motor drive and describes how to use the MID-7654/7652 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
Host Bus Interlock Circuit ................................................................................................................... 7
Front Panel LEDs................................................................................................................................. 7
Amplifier Fault Output LEDs ...................................................................................................... 7
Amplifier Inhibit LEDs................................................................................................................ 7
Limit Status LEDs ....................................................................................................................... 8
Front Panel DIP Switch Settings ......................................................................................................... 8
Inhibit Input Polarity Setting ....................................................................................................... 9
Inhibit Output Polarity Setting..................................................................................................... 9
Limit Status LED Polarity Setting ...............................................................................................9
Setting Continuous and Peak Current Limits .............................................................................. 10
Setting Motor Inductance Levels .................................................................................................13
Back Panel Connector Wiring ............................................................................................................. 14
Terminal Block Wiring ................................................................................................................ 15
Servo Motor Power Terminal Blocks .................................................................................. 15
Rear Guard ........................................................................................................................... 16
Encoder Terminal Blocks .................................................................................................... 19
Limit Switch Terminal Blocks............................................................................................. 21
Breakpoint and Trigger Terminal Blocks ............................................................................ 21
Analog I/O Terminal Blocks................................................................................................ 22
Step and Direction Terminal Block ..................................................................................... 22
Cable Installation for CE Compliance ......................................................................................... 23
Accessories Included for Optional Use ............................................................................................... 24
Strain-Relief Bar Installation ....................................................................................................... 24
Panel Mount Kit Installation........................................................................................................ 25
Modifying the Power Entry Module.................................................................................................... 25
Replacing a Fuse.......................................................................................................................... 25
Changing the Line Voltage .......................................................................................................... 26
Amplifier/Driver Command Signals.................................................................................................... 26
Specifications....................................................................................................................................... 26
Where to Go for Support ..................................................................................................................... 30
Conventions
The following conventions are used in this guide:
» 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-7654/7652 servo power motor drive is a complete power amplifier and
system interface for use with four or two axes of simultaneous servo motion control, respectively.
The MID-7654/7652 is ideal for industrial and laboratory applications and has everything you need
to connect motors, encoders, limit switches, I/O, and other motion hardware to National Instruments
motion controllers.
The MID-7654/7652 can drive a broad range of servo motors with its pulse-width modulation (PWM)
amplifiers with user-specified peak and continuous output current settings. In all configurations, power
supplies are built in and use standard 240/120 VAC for operation. Electronics are fan-cooled to ensure
reliable operation.
The MID-7654/7652 simplifies your field wiring through separate encoder, limit switch, and motor
power removable screw terminal connector blocks for each axis. The terminal blocks do not require any
special wiring tools for installation. The MID-7654/7652 connects to National Instruments motion
controllers via a 68-pin, high-density interconnect cable.
The MID-7654/7652 has four levels of amplifier inhibit/disable protection for motion system shut down.
The front panel contains both enable and power switches for direct motor inhibiting and system
power-down operations. The MID-7654/7652 also has a host bus power interlock that activates an
internal driver inhibit signal if the host computer is shut down or if the motion controller interface cable
is disconnected. The inhibit input from the back panel connectors also inhibits the servo drives when
activated.
Indicates the signal is active low.
MID-7654/7652 Servo Power Motor Drive User Guide 2 ni.com
You can use the MID-7654/7652 enclosure 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-7654/7652 accessory, you must have the following items:
❑ The MID-7654/7652 servo power motor drive with attached rear guard
❑ Power cord (IEC type)
❑ Strain-relief bar, NI part number 187407-01 (included)
❑ Panel-mount kit, NI part number 187243-01 (included)
❑ SHC68-C68-S shielded cable assembly, NI part number 186380-02 (not included)
Refer to the Specifications section of this document for detailed specifications for the MID-7654/7652.
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-7654/7652 does not provide overload protection for motor loads. Overload
protection must be provided externally by the system designer.
Caution The MID-7654/7652 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 When connecting or disconnecting signal lines to the MID-7654/7652 terminal block screw
terminals, make sure the lines are powered off. Potential differences between the lines and the
MID-7654/7652 ground create a shock hazard while you connect the lines.
© National Instruments Corporation 3 MID-7654/7652 Servo Power Motor Drive User Guide
Caution Connections that exceed any of the maximum signal ratings on the MID-7654/7652 device
can create a shock or fire hazard or can damage any or all of the motion controllers connected to the
MID-7654/7652 chassis, the host computer, and the MID-7654/7652 device. This includes power
signals to ground and vice versa. National Instruments is not liable for any damages or injuries
resulting from incorrect signal connections.
Caution The servo motor connectors on this drive are energized when the unit is powered on. The
rear guard must be in place at all times while the unit is connected to a power outlet. Disconnect the
MID-7654/7652 unit from power outlet before connecting wires to or disconnecting wires from
the servo motor connectors. Strip back the insulation of the servo motor wires to the servo motor
connectors no more than 7 mm. Reattach the rear guard before you reconnect the unit to a power
outlet. Failure to do so could result in electric shock leading to serious bodily injury or death. Refer
to the Rear Guard section of this document for more information.
Hot Surface The bottom surface of the MID-7654/7652 can get very hot to the touch under certain
conditions. To avoid a burn hazard, refer to the Setting Continuous and Peak Current Limits section
within the Front Panel DIP Switch Settings section of this guide for the appropriate current setting
and safety hazards.
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-7654/7652 is intended for indoor use only.
Operate the hardware at or below the measurement category1 marked on the hardware label.
2
Measurement circuits are subjected to working voltages
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
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-7654/7652 Servo Power Motor Drive User Guide 4 ni.com
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
number or product line, and click the appropriate link in the Certification column.
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)
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
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.
1
. These requirements and limits are designed to provide reasonable protection
1
.
ni.com/certification, search by model
1
for product installation requirements.
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-7654/7652 Servo Power Motor Drive User Guide
ni.com/certification, search by model number or product line,
Front Panel Switches
Figure 1 shows the front panel for your MID-7654/7652. The DIP switches are shown with the
detachable metal cover plate removed.
POL AXIS 1 AXIS 2 AXIS 3 AXIS 4
21 3 4 5
POL AXIS 1 AXIS 2
MID-7654
4 Axis Servo Motor Drive
4 Axis Servo Motor Drive
6
2 Axis Servo Motor Drive
7
8
9
21 3
6
9
87
MID-7652
1 Polarity DIP Switch Bank
2 Axis 1 DIP Switch Bank
3 Axis 2 DIP Switch Bank
4 Axis 3 DIP Switch Bank*
5 Axis 4 DIP Switch Bank*
6 LED Status Array
7 Enable Switch
8 Green Power LED
9Power Switch
Figure 1. MID-7654/7652 Front Panel
Note Items followed by an asterisk (*) are available on the MID-7654 only.
There are two rocker switches on the MID-7654/7652 front panel: AC POWER and ENABLE. Figure 1
illustrates the location of these switches.
The AC POWER switch energizes the motor bus (+48 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 back panel.
The ENABLE switch enables or inhibits the servo amplifiers. If the ENABLE switch is in the inhibit
position (OFF), the amplifier output stages are inhibited and the yellow LEDs for all axes illuminate.
See the Front Panel LEDs section of this guide for more information.
MID-7654/7652 Servo Power Motor Drive User Guide 6 ni.com
Both the AC POWER and ENABLE switches can inhibit the servo amplifiers. However, as long as the
AC POWER switch is on, only the servo amplifier output stages are disabled. The remaining circuitry
remains active, including the quadrature encoder circuit.
Caution You must change the MID-7654/7652 main input fuse on the rear panel if you change
the line voltage from the factory setting. Refer to the Specifications section of this guide for fuse
specifications. Refer to the Modifying the Power Entry Module section for more information on
handling the power entry module.
Host Bus Interlock Circuit
The MID-7654/7652 has a host bus interlock circuit that monitors the presence of +5 V from the host
computer and disables the MID-7654/7652 when the voltage is not present or falls out of tolerance. This
circuit shuts down the servo amplifiers for all axes by activating the inhibit when the host computer is
disconnected from the MID-7654/7652 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 5 V power is active. 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.
An LED status array of 3 rows by 4 columns on the MID-7654 or 3 rows by 2 columns on the MID-7652
provides a variety of status information. Refer to Figure 1 for the location of the front panel LEDs. 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 axes and statuses to which the
different LEDs in the 3 × 4 or 3 × 2 array correspond.
Table 1. Front Panel LED Indicators
Status Motor Axis
Amplifier Fault Output (red) 1 2 3
Amplifier Inhibit (yellow) 1 2 3
Limit Status (green) 1 2 3
*
These LEDs only appear on the MID-7654.
*
*
*
*
4
*
4
*
4
Amplifier Fault Output LEDs
The top row of the LED status array indicates the status of the amplifiers. A red LED indicates an
overcurrent condition, a short circuit condition, an over temperature condition, or a problem with the
motor bus voltage on that axis.
Amplifier Inhibit LEDs
The middle row of the LED status array indicates if a motor axis is inhibited. An axis is inhibited and
the LED illuminates yellow 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. You can select the polarity of the per-axis inhibit
input from the front panel DIP switches. See the Front Panel DIP Switch Settings section of this guide
for more information.
© National Instruments Corporation 7 MID-7654/7652 Servo Power Motor Drive User Guide
Limit Status LEDs
1234
O
N
1 2 3 4
123456789
O
N
1 2
3
The bottom row of the LED status array indicates if a limit switch is currently active. The LED
illuminates green when 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 of this guide for more information.
Front Panel DIP Switch Settings
The MID-7654/7652 front panel has a detachable metal plate that, when removed, provides access to
one 4-position DIP switch bank and either four (MID-7654) or two (MID-7652) 9-position DIP switch
banks. Refer to Figure 1 for the location of these switches.
Use the DIP switches on the 4-position DIP switch bank to configure the inhibit in, inhibit out, and limit
status LED polarity as shown in Figure 2. The different settings for these switches are described in the
following sections.
1 Inhibit In Polarity Switch
2 Inhibit Out Polarity Switch
Use the DIP switches on each 9-position DIP switch bank to configure the continuous current limit,
the peak current limit, and the motor inductance (low or standard) for each axis, as shown in Figure 3.
The different settings for these switches are described in the following sections.
1 Continuous Current Limit Switches
2 Peak Current Limit Switches
3 Limit Status LED Polarity Switch
4 Reserved
Figure 2. 4-Position DIP Switch Bank Layout
3 Motor Inductance Switch
Figure 3. 9-Position DIP Switch Bank Layout
MID-7654/7652 Servo Power Motor Drive User Guide 8 ni.com
Inhibit Input Polarity Setting
1
O
N
1
O
N
3
O
N
3
O
N
Use DIP switch 1 on the 4-position DIP switch bank to globally set the polarity for the inhibit input for
all axes. Refer to Figures 1 and 3 for the location of this switch.
The factory-default setting of DIP switch 1 is active-low. If the inhibit input is active, the axis is inhibited
and the yellow status LED (middle row) corresponding to that axis illuminates. Table 2 shows the DIP
switch setting for the inhibit input polarity selection.
Switch Setting Operation
Inhibit Output Polarity Setting
Use DIP switch 2 on the 4-position DIP switch bank to globally set the polarity for the inhibit output for
all axes. Refer to Figures 1 and 3 for the location of this switch.
The factory-default setting of DIP switch 2 is active-high. Table 3 shows the DIP switch setting for the
inhibit output polarity selection.
Switch Setting Operation
Table 2. Inhibit Input Polarity DIP Switch Settings
Active-high
Active-low
(factory default)
Table 3. Inhibit Output Polarity DIP Switch Settings
Active-high
(factory default)
Active-low
Limit Status LED Polarity Setting
Use DIP switch 3 on the 4-position DIP switch bank to globally set the polarity for the Limit Status
LED. Refer to Figures 1 and 3 for the location of this switch.
The factory-default setting is active-high. Typically, you set the switch to match the polarity setting on
your controller, so if either the reverse or forward limits for an axis are active, the green status LED (on
the bottom row) corresponding to that axis illuminates. This DIP switch alters only the polarity for the
LEDs, not the actual limit to the motion controller. Table 4 shows the DIP switch setting for the Limit
Status LED polarity selection.
© National Instruments Corporation 9 MID-7654/7652 Servo Power Motor Drive User Guide
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