National Instruments MID-7654 User Manual
USER GUIDE
MID-7654/7652 S
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
Front Panel Switches...............................................................................5
Host Bus Interlock Circuit ......................................................................6
Front Panel LEDs.................................................................................... 6
Amplifier Fault Output LEDs .......................................................... 7
Amplifier Inhibit LEDs.................................................................... 7
Limit Status LEDs ........................................................................... 7
Front Panel DIP Switch Settings............................................................. 8
Inhibit Input Polarity Setting ........................................................... 9
Inhibit Output Polarity Setting......................................................... 9
Limit Status LED Polarity Setting................................................... 10
Setting Continuous and Peak Current Limits .................................. 10
Setting Motor Inductance Levels..................................................... 13
Back Panel Connector Wiring.................................................................15
Terminal Block Wiring.................................................................... 17
Servo Motor Power Terminal Blocks....................................... 17
Rear Guard................................................................................ 19
Encoder Terminal Blocks ......................................................... 22
Limit Switch Terminal Blocks ................................................. 24
Breakpoint and Trigger Terminal Blocks................................. 25
Analog I/O Terminal Blocks .................................................... 25
Step and Direction Terminal Block ..........................................26
Cable Installation for CE Compliance .............................................27
Accessories Included for Optional Use...................................................28
Strain-Relief Bar Installation ........................................................... 28
Panel Mount Kit Installation............................................................ 29
ERVOPOWER
M
OTOR
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.
322691B-01 Copyright © 2000, 2001 National Instruments Corp. All rights reserved. June 2001
Modifying the Power Entry Module........................................................30
Replacing a Fuse...............................................................................30
Changing the Line Voltage...............................................................31
Amplifier/Driver Command Signals .......................................................31
Specifications...........................................................................................31
Technical Support Resources ..................................................................36
NI Web Support................................................................................36
Worldwide Support ..........................................................................36
Conventions
The following conventions are used in this guide:
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 warning, which advises you of precautions to take to
avoid being electrically shocked.
italic Italic text denotes emphasis, a cross reference, or an introduction to a key
concept.
monospace
overline
Introduction
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.
Indicates the signal is active-low.
Your MID-7654 or 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.
MID-7654/7652 Servo Power Motor Drive User Guide 2 ni.com
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.
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
MID-7654/7652 Servo Power Motor Drive User Guide
❑
❑
Power cord (IEC type)
❑
Strain-relief bar, part number 187407-01 (included)
❑
Panel-mount kit, part number 187243-01 (included)
❑
SHC68-C68-S shielded cable assembly, part number 186380-02
(not included)
Refer to the Specifications section later in this guide for detailed
specifications for the MID-7654/7652.
Safety Information
Follow these guidelines to ensure your safety and protect your equipment:
• Keep away from live circuits. Do not remove equipment covers or
shields unless you are trained to do so. Hazardous voltages may 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
© National Instruments Corporation 3 MID-7654/7652 Servo Power Motor Drive User Guide
qualified to do so and disconnect all field power prior to removing
covers or shields.
• Do not operate damaged equipment. The safety protection features
built into this device can become impaired if the device becomes
damaged in any way. If the device is damaged, turn the device off and
do not use it until service-trained personnel can check its safety.
If necessary, return the device to National Instruments for service and
repair to ensure its safety is not compromised.
• Do not operate this equipment in a manner that contradicts the
information specified in this guide. Misuse of this equipment could
result in a shock hazard.
• Do not substitute parts or modify equipment. Because of the danger
of introducing additional hazards, do not install unauthorized parts
or modify the device. Return the device to National Instruments for
service and repair to ensure its safety features are not compromised.
• 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.
• 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.
• 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.
• 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.
MID-7654/7652 Servo Power Motor Drive User Guide 4 ni.com
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
MID-7654
4 Axis Servo Motor Drive
4 Axis Servo Motor Drive
6
2 Axis Servo Motor Drive
7
8
9
POL AXIS 1 AXIS 2
21 3
6
7
9
8
MID-7652
1 Polarity DIP Switch Bank
2 Axis 1 DIP Switch Bank
3 Axis 2 DIP Switch Bank
4Axis3DIPSwitchBank*
5Axis4DIPSwitchBank*
6 LED Status Array
7 Enable Switch
8 Green Power LED
9 Power Switch
* This DIP switch bank is only available on the MID-7654.
Figure 1. MID-7654/7652 Front Panel
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.
© National Instruments Corporation 5 MID-7654/7652 Servo Power Motor Drive User Guide
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.
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.
Warning
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
moreinformationonhandlingthepowerentrymodule.
Yo u must change the MID-7654/7652 main input fuse on the rear panel if you
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
FrontPanelLEDssection 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.
MID-7654/7652 Servo Power Motor Drive User Guide 6 ni.com
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.
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.
Table 1. Front Panel LED Indicators
Status Motor Axis
*
*
*
*
4
*
4
*
4
Limit Status LEDs
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.
© National Instruments Corporation 7 MID-7654/7652 Servo Power Motor Drive User Guide
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.
O
N
1234
1 2 3 4
1 Inhibit In Polarity Switch
2 Inhibit Out Polarity Switch
3 Limit Status LED Polarity Switch
4 Reserved
Figure 2. 4-Position DIP Switch Bank Layout
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.
O
123456789
N
1 2
1 Continuous Current Limit Switches
2 Peak Current Limit Switches
Figure 3. 9-Position DIP Switch Bank Layout
3 Motor Inductance Switch
3
MID-7654/7652 Servo Power Motor Drive User Guide 8 ni.com
Inhibit Input Polarity Setting
UseDIPswitch1onthe4-positionDIPswitchbanktogloballysetthe
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 tothat axis illuminates. Table 2 shows the DIP switch setting
for the inhibit input polarity selection.
Switch Setting Operation
Inhibit Output Polarity Setting
UseDIPswitch2onthe4-positionDIPswitchbanktogloballysetthe
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.
O
N
1
O
N
1
Table 3.
O
N
3
Inhibit Input Polarity DIP Switch Settings
Active-high
Active-low
(factory default)
Inhibit Output Polarity DIP Switch Settings
Active-high
(factory default)
O
N
3
© National Instruments Corporation 9 MID-7654/7652 Servo Power Motor Drive User Guide
Active-low
Limit Status LED Polarity Setting
UseDIPswitch3onthe4-positionDIPswitchbanktogloballysetthe
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 your controller’s polarity setting, 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.
Table 4. Limit Status LED DIP Switch Settings
Switch Setting Operation
O
N
2
O
N
2
Setting Continuous and Peak Current Limits
The MID-7654/7652 uses high-efficiency PWM amplifiers configured as
torque blocks (current amplifiers or transconductance amplifiers). The
peak current limit is the maximum current your motor can withstand for
short periods of time. The continuous current limit is the maximum current
your motor can withstand indefinitely. The MID-7654/7652 varies the gain
applied to the input voltage so the maximum input voltage corresponds to
a current output equal to the peak current limit, I
Caution
error trip point is set above zero in the motion controller configuration software. The
default following error is 32,767.
To avoid overheating the drive under a motor fault condition, ensure the following
Active-high
(factory default)
Active-low
.
peak
MID-7654/7652 Servo Power Motor Drive User Guide 10 ni.com
Figure 4 illustrates the command voltage input to current output
relationship for periods of time less than 2.7 seconds.
+I
peak
+V
max
+I
cont
0V
0A
Output Current
–I
Input Command Voltage
–V
max
Gain Applied
cont
–I
peak
Figure 4. Input Voltage to Output Current Relationship for Periods
of Time Less Than 2.7 Seconds
Figure 5 shows the command voltage input to current output relationship
for periods of time greater than 2.7 seconds. The maximum current output
corresponds to the continuous current limit, I
voltages that would result in a higher current output than I
is applied instead result in a current output of I
+V
max
. Therefore, command
cont
cont
.
when the gain
cont
+I
peak
+I
cont
0V
0A
Output Current
–I
Input Command Voltage
–V
max
Gain Applied
cont
–I
peak
Figure 5. Input Voltage to Output Current Relationship for Periods
of Time Greater Than 2.7 Seconds
© National Instruments Corporation 11 MID-7654/7652 Servo Power Motor Drive User Guide
Loading...