National Instruments NI SMD-7613, NI SMD-7614, NI SMD-7615, NI SMD-7616 User Manual
USER MANUAL
NI SMD-7613/7614/7615/7616
This manual contains information about the configuration and use of the National
Instruments SMD-7613, SMD-7614, SMD-7615, and SMD-7616. They are referred to
inclusively in this manual as the NI SMD-761x.
Note This manual is not applicable for NI SMD-7610/7611/7612 devices. Refer to
to the unique documentation for information related to the NI SMD-7610/7611/7612.
Functionality on these devices are roughly equivalent. The NI SMD-7613/7615 operates from
18 to 53 VDC, and has a running current of up to 5 A per phase. The SMD-7614/7616 operates
from 18 to 88 VDC, and runs current up to 10 A per phase. The SMD-7615/7616 features
encoder feedback.
Contents
Safety Information .................................................................................................................... 2
Block Diagram.......................................................................................................................... 3
Getting Started .......................................................................................................................... 4
Mounting the Drive .................................................................................................................. 4
Connecting the Power Supply .................................................................................................. 5
Choosing a Power Supply......................................................................................................... 5
Voltage.............................................................................................................................. 5
Current .............................................................................................................................. 6
Regeneration ..................................................................................................................... 7
Connecting the Drive Using Ethernet....................................................................................... 7
Motor Wiring Recommendations ............................................................................................. 12
Four Lead Motors ............................................................................................................. 13
Six Lead Motors ............................................................................................................... 13
Eight Lead Motors ............................................................................................................ 14
Connecting Input Signals.......................................................................................................... 15
STEP and DIR Inputs ....................................................................................................... 17
Single Ended Inputs.......................................................................................................... 19
Connecting Limit Switches and Sensors .......................................................................... 21
Analog Inputs ................................................................................................................... 22
Programmable Outputs ............................................................................................................. 23
Connecting an Encoder (SMD-7615/7616).............................................................................. 25
Configuring the Drive............................................................................................................... 28
Motor ................................................................................................................................ 28
Control .............................................................................................................................. 29
I/O Configuration ............................................................................................................. 31
Self Test ............................................................................................................................ 31
Torque Speed Curves................................................................................................................ 32
Motor Heating...........................................................................................................................38
Drive Heating............................................................................................................................ 46
Mechanical Outline................................................................................................................... 48
Technical Specifications ........................................................................................................... 48
Alarm Codes ............................................................................................................................. 50
Safety Information
Only qualified personnel are permitted to transport, assemble, commission, and maintain this
equipment. Properly qualified personnel are persons who are familiar with the transport,
assembly, installation, commissioning and operation of motors, and who have the appropriate
qualifications for their jobs. The qualified personnel must know and observe the following
standards and regulations:
• IEC 364 resp. CENELEC HD 384 or DIN VDE 0100
• IEC report 664 or DIN VDE 0110
• National regulations for safety and accident prevention or VBG 4
To minimize the risk of potential safety problems, you should follow all applicable local and
national codes that regulate the installation and operation of your equipment. These codes vary
from area to area and it is your responsibility to determine which codes should be followed, and
to verify that the equipment, installation, and operation are in compliance with the latest revision
of these codes.
Equipment damage or serious injury to personnel can result from the failure to follow all
applicable codes and standards. We do not guarantee the products described in this publication
are suitable for your particular application, nor do we assume any responsibility for your product
design, installation, or operation.
• Read all available documentation before assembly and commissioning. Incorrect handling
of products in this manual can result in injury and damage to persons and machinery.
Strictly adhere to the technical information on the installation requirements.
• It is vital to ensure that all system components are connected to earth ground. Electrical
safety is impossible without a low-resistance earth connection.
• The SMD-761x contains electrostatically sensitive components that can be damaged by
incorrect handling. Discharge yourself before touching the product. Avoid contact with
high insulating materials (artificial fabrics, plastic film, etc.). Place the product on a
conductive surface.
• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly
hazards that could possibility cause severe damage to health or the product.
• In operation, depending on the degree of enclosure protection, the product can have bare
components that are live or have hot surfaces. Control and power cables can carry a high
voltage even when the motor is not rotating.
2 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
• Never pull out or plug in the product while the system is live. There is a danger of electric
INPUT X3
OUTPUT Y3
OUTPUT Y4
ANALOG IN1
ANALOG IN2
Ethernet
INPUT X1
External Power Supply
7613/7615: 24-48 VDC
7614/7616: 24-80 VDC
INPUT X2
INPUT X4
INPUT X5
INPUT X6
X7/CWLIM
X8/CCWLIM
OUTPUT Y1
OUTPUT Y2
Optical
Isolation
DSP
Internal
Logic Supply
MOSFET
PWM
Power
Amplifier
Motor
Encoder
Status
7615/7616
Only
arcing and danger to persons and contacts.
• After powering down the product, wait at least ten minutes before touching live sections of
the equipment or undoing connections (e.g., contacts, screwed connections). Capacitors
can store dangerous voltages for long periods of time after power has been switched off. To
be safe, measure the contact points with a meter before touching.
Be alert to the potential for personal injury. Follow the recommended precautions and safe
operating practices. Safety notices in this manual provide important information. Read and be
familiar with these instructions before attempting installation, operation, or maintenance. The
purpose of this section is to alert users to possible safety hazards associated with this equipment
and the precautions that need to be taken to reduce the risk of personal injury and damage to the
equipment. Failure to observe these precautions could result in serious bodily injury, damage to
the equipment, or operational difficulty.
Block Diagram
Figure 1. NI SMD-761x Block Diagram
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 3
Getting Started
1
2 3 4
5 6
7
You need the following to use your NI SMD-761x stepper drive:
a 24 to 48 VDC power supply (80 V max for NI SMD-7614/7616). Refer to Choosing a
Power Supply for help in choosing the right power supply.
one of the recommended motors
a small flathead screwdriver for tightening the connectors
a source of step signals, such as a motion controller
The connectors are illustrated below. These are detailed later in the manual.
Figure 2 shows an overview of the connectors on the NI SMD-7613/7614/7615/7616 stepper
drive.
Figure 2. NI SMD-7613/7614/7615/7616 Stepper Drive Connectors
1 Chassis Grounding Screw
2 Motor and Power Supply Connector
3 Encoder Feedback (SMD-7615/7616)
4 Input and Output Signals
5 Ethernet Connector
6 Drive Status LEDs
7 Rotary Switch
Mounting the Drive
You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If
possible, the drive should be securely fastened to a smooth, flat metal surface that will help
conduct heat away from the chassis. If this is not possible, then forced airflow from a fan may
be required to prevent the drive from overheating. Refer to Drive Heating for more information.
• Never use your drive in a space where there is no air flow or where other devices cause the
surrounding air to be more than 50 °C.
• Never put the drive where it can get wet or where metal or other electrically conductive
particles can get on the circuitry.
• Always provide air flow around the drive. When mounting multiple drives near each other,
maintain at least one and a half inch of space between drives.
4 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
Connecting the Power Supply
If you need information about choosing a power supply, refer to Choosing a Power Supply.
• Connect the power supply “+” terminal to the connector terminal labeled “V+”.
• Connect power supply “-” to the connector terminal labeled “V-”.
• The green ground screw on the corner of the chassis should be connected to earth ground.
• Use 18 or 20 gauge wire.
The NI SMD-761x drives contain an internal fuse that connects to the power supply + terminal.
This fuse is not user replaceable. If you want to install a user serviceable fuse in your system,
install a fast acting, 7 A fuse in line with the + power supply lead.
Caution Do not reverse the wires. Reversing the connection will destroy your drive
and void your warranty.
If you plan to use a regulated power supply you may encounter a problem with regeneration. If
you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is
transferred back to the power supply. This can trip the overvoltage protection of a switching
power supply, causing it to shut down. NI offers the SMD-7700 regeneration clamp to solve this
problem. If in doubt, buy an SMD-7700 for your first installation. If the regen LED on the
SMD-7700 never flashes, you do not need the clamp.
Choosing a Power Supply
When choosing a power supply, there are many things to consider. If you are manufacturing
equipment that will be sold to others, you probably want a supply with all the safety agency
approvals. If size and weight are an issue, get a switching supply.
You must decide what size of power supply (in terms of voltage and current) is needed for your
application.
National Instruments offers two power supplies that are excellent matches for the NI SM D-761x
drives: PS-12 24V, 6.3A) and PS-13 (48V, 6.7A).
Voltage
The motor can provide more torque at higher speeds if a higher power supply voltage is used.
Refer to the Torque Speed Curves section for guidance.
If you choose an unregulated power supply, make sure the no load voltage of the supply does not
exceed the drive’s maximum input voltage specification.
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 5
Current
The maximum supply current you need is two times the motor current. However, you will
generally need a lot less than that, depending on the motor type, voltage, speed and load
conditions. That is because the NI SMD-761x uses a switching amplifier, converting a high
voltage and low current into lower voltage and higher current. The more the power supply
voltage exceeds the motor voltage, the less current you will need from the power supply. A
motor running from a 48 volt supply can be expected to draw only half the supply current that it
would with a 24 volt supply.
We recommend the following selection procedure:
1. If you plan to use only a few drives, get a power supply with at least twice per phase current
rating of the step motor. Example: for a motor that is rated for 2 A/phase use a 4 A power
supply.
2. If you are designing for mass production and must minimize cost, get one power supply
with more than twice the rated current of the motor. Install the motor in the application and
monitor the current coming out of the power supply and into the drive at various motor
loads. This will tell you how much current you really need so you can design in a lower cost
power supply.
Table 1 lists the relevant specifications for suggested motors. Please consider this information
when choosing a power supply.
Table 1. NI SMD-7613/7615 Power Supply Current
Motor
Holding Torque Drive
Current
Setting (A)
Resistance
(Ω)
Inductance
(mH)
Rotor
Inertia
· cm
(g
ST11-1 7.0 0.50 1.2 1.4 1.4 8
ST11-2 15.0 1.08 1.2 2.0 2.6 18
ST14-1 26.0 1.87 1.2 4.3 5.5 20
ST17-1 31.4 2.26 1.6 2.1 2.8 35
ST17-2 51.0 3.67 2.0 1.7 3.6 54
ST17-3 62.8 4.52 2.0 1.7 3.0 68
ST23-1 76.6 5.52 3.4 0.7 1.4 120
ST23-4 177 12.7 5.0 0.4 1.2 300
ST23-6 264 19.0 5.0 0.5 1.6 480
2
)oz · in kg · cm
ST23-8 354 25.48 6.0 0.5 2.2 750
ST24-1 123.2 8.87 3.36 0.73 1.6 260
ST24-2 177 12.74 4.8 0.43 1.1 450
6 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
Table 1. NI SMD-7613/7615 Power Supply Current (Continued)
Motor
Holding Torque Drive
Current
Setting (A)
Resistance
(Ω)
Inductance
(mH)
Rotor
Inertia
· cm
(g
ST24-3 354 24.48 4.8 0.65 2.4 900
ST34-2 650 46.8 10.0 0.19 1.3 1400
ST34-5 1200 86.4 9.7 0.27 2.2 2680
ST34-8 1845 133 10.0 0.27 2.4 4000
ST34-1 396.5 28.55 7.56 0.24 1.7 1100
ST34-4 849.6 61.18 7.56 0.33 2.7 1850
ST34-7 1260 90.75 6.72 0.63 5.4 2750
Regeneration
When a motor rapidly decelerates from high speed under load, the kinetic energy may be
reconverted into electrical energy and transferred back to the power supply. When using
regulated power supplies, this can trip the overvoltage protection and lead to a shutdown, or
cause damage to the system. Unregulated power supplies do not typically have overvoltage
protection, and may store regenerated energy in capacitors.
2
)oz · in kg · cm
Connecting the Drive Using Ethernet
The drive requires only a CAT5 Ethernet cable connection to connect to your PC. You can
connect the drive directly to your PC’s network card, to an auxiliary network card in your PC,
or to a router or network switch.
1. Physically connect the device to your network (or directly to the PC).
2. Set the drive IP address.
3. Set the appropriate networking properties on your PC.
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 7
Your device includes a 16 position rotary switch for setting its IP address. The factory default
address for each switch setting is shown in the table below.
Table 2. IP Address Rotary Switch Settings
Position IP Address
0 10.10.10.10
1 192.168.1.10
2 192.168.1.20
3 192.168.1.30
4 192.168.0.40
5 192.168.0.50
6 192.168.0.60
7 192.168.0.70
8 192.168.0.80
9 192.168.0.90
A 192.168.0.100
B 192.168.0.110
C 192.168.0.120
D 192.168.0.130
E 192.168.0.140
F DHCP
The IP address corresponding to positions 1 through E can be changed using the NI Stepper
Configuration Utility software. Setting 0 is always 10.10.10.10, the universal recovery address.
Setting F is DHCP, which commands the device to get an IP address from a DHCP server on the
network. The IP address automatically assigned by the DHCP server may be dynamic or static
depending on how the administrator has configured DHCP. The DHCP setting is reserved for
advanced users.
Your PC, or any other equipment that you use to communicate with the device, will also have
a unique address.
On the device switch settings 1 through E use the standard class B subnet mask (i.e., 255.255.0.0).
The mask for the universal recovery address is the standard class A (i.e., 255.0.0.0).
8 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
Option 1: Connect a Drive to Your LAN
NIC PC
LAN Drive
Switch
or
Router
If you have a spare port on a switch or router and if you are able to set your device to an IP
address that is compatible with your network, and not used by anything else, this is a simple way
to get connected. This technique also allows you to connect multiple devices to your PC. If you
are on a corporate network, check with your system administrator before connecting anything
new to the network. He or she should be able assign you a suitable address and help you get
going.
Figure 3. Example Network Configuration
Many networks use dynamic addressing where a DHCP server assigns addresses on demand.
The address you choose for your device might get assigned to something else by the DHCP
server at another time.
Once you have chosen an appropriate IP address for your device, set the rotary switch according
to the address table above. If none of the default addresses are acceptable for your network, you
can enter a new table of IP addresses using the NI Stepper Configuration Utility. If your network
uses addresses starting with
192.168.0, the most common subnet, you will want to choose
an address from switch settings 4 through E. Another common subnet is 192.168.1. If your
network uses addresses in this range, the compatible default selections are 1, 2 and 3. If your PC
address is not in one of the above private subnets, you will have to change your subnet mask to
255.255.0.0 in order to communicate with your device. To change your subnet mask:
1. Open Network Connections.
a.
(Windows 8.1/8/7/Vista) Open Control Panel. From the icon view, open Network
and Sharing Center, then click Change Adapter Settings.
b.
(Windows XP) Right-click My Network Places and select Properties.
2. Right-click your network interface card (NIC) and select Properties.
a.
(Windows 8.1/8/7/Vista) Scroll down and select (TCP/IPv4), then click Properties.
b.
(Windows XP) Scroll down and select Internet Properties (TCP/IP), then click
Properties.
3. If the Obtain an IP address automatically option is selected, your PC is getting an IP
address and a subnet mask from the DHCP server. Cancel this dialog and proceed to the
Using DHCP section.
4. If the option Use the following IP address is selected, change the subnet mask to
255.255.0.0 and click OK.
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 9
Using DHCP
If you want to use your device on a network where all or most of the devices use dynamic IP
addresses supplied by a DHCP server, set the rotary switch to “F”. When the device is connected
to the network and powered on, it will obtain an IP address and a subnet mask from the server
that is compatible with your PC. However, you will not know what address the server assigns to
the device. The NI Stepper Configuration Utility can find your device using the Drive Discovery
feature, as long as your network is not too large. When the device connected to the network is
powered on, select Drive Discovery from the Drive menu to launch the Network Interface
Dialog dialog box.
Figure 4. Network Interface Dialog Box
Normally, Drive Discovery only detects one network interface card (NIC), and selects it
automatically. If you are using a laptop and have both wireless and wired network connections,
a second NIC may appear. Please select the NIC that you use to connect to the network to which
you have connected your device. Then click OK. Drive Discovery notifies you as soon as it has
detected a device.
If you think this is the correct device, click Yes. If you are not sure, click Not Sure and Drive
Discovery will look for additional devices on you network. Once you have told Drive Discovery
which device is yours, it automatically enters the device IP address in the IP address text box so
that you are ready to communicate.
Option 2: Connect a device Directly to Your PC
1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the
other into the device. You do not need a special crossover cable; the device automatically
detects the direct connection and make the necessary physical layer changes.
2. Set the IP address on the device to 10.10.10.10 by setting the rotary switch to position 0.
3. To set the IP address of your PC:
a.
(Windows 8.1/8/7/Vista) Open Control Panel. From the icon view, open Network
and Sharing Center, then click Change Adapter Settings.
b. (Windows XP) Right-click My Network Places and select Properties.
10 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
4. Right-click your network interface card (NIC) and select Properties.
a.
(Windows 8.1/8/7/Vista) Scroll down and select (TCP/IPv4), then click Properties.
b.
(Windows XP) Scroll down and select Internet Properties (TCP/IP), then click
Properties.
5. Select Use the following IP address and enter the address 10.10.10.11. This assigns
your PC an IP address that is on the same subnet as the device. Windows directs any traffic
intended for the device’s IP address to this interface card.
6. Next, enter the subnet mask as 255.255.255.0.
7. Leave Default gateway blank. This prevents your PC from looking for a router on this
subnet.
Note Because you are connected directly to the device, anytime the device is not
powered you will receive a small message bubble in the corner of your screen saying
“The network cable is unplugged.”
Option 3: Use Two Network Interface Cards (NICs)
This technique allows you to keep your PC connected to your LAN, but keeps the device off the
LAN, preventing possible IP conflicts or excessive traffic.
1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it
directly to the device using a CAT5 cable. You do not need a special “crossover cable”; the
device will automatically detect the direct connection and make the necessary physical
layer changes.
2. If you use a laptop and only connect to your LAN using wireless networking, you can use
the built-in RJ45 Ethernet connection as your second NIC.
3. Set the IP address on the device to 10.10.10.10 by setting the rotary switch to position 0.
4. To set the IP address of your PC:
a.
(Windows 8.1/8/7/Vista) Open Control Panel. From the icon view, open Network
and Sharing Center, then click Change Adapter Settings.
(Windows XP) Right-click My Network Places and select Properties.
b.
5. Right-click your network interface card (NIC) and select Properties.
a.
(Windows 8.1/8/7/Vista) Scroll down and select (TCP/IPv4), then click Properties.
b.
(Windows XP) Scroll down and select Internet Properties (TCP/IP), then click
Properties.
6. Select Use the following IP address and enter the address 10.10.10.11. This assigns
your PC an IP address that is on the same subnet as the device. Windows directs any traffic
intended for the device’s IP address to this interface card.
7. Next, enter the subnet mask as
8. Leave Default gateway blank. This prevents your PC from looking for a router on this subnet.
Note Because you are connected directly to the device, anytime the device is not
powered you will receive a small message bubble in the corner of your screen saying
“The network cable is unplugged.”
255.255.255.0.
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 11
Motor Wiring Recommendations
This section explains how to connect motors to the NI SMD-761x. Refer to your motor
documentation for any special considerations that may affect your configuration.
Maintain at least 2 in. separation between the power supply cable and input lines or encoder
feedback. All power supply cables should be properly shielded, and the shield grounded at the
power supply. Signal cables should be shielded, and grounded as close as possible to the signal
source.
Caution Never connect or disconnect the motor while the system is powered on.
Note Ensure any shield or grounding strap on the motor is connected to the chassis
ground screw located near the motor/power connector.
Figure 5. Motor/Power Connector
Figure 6. Grounding Screw on the Chassis
12 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
Four Lead Motors
Phase A+
Phase A–
Phase B+
Phase B–
Red
Blue
Yellow
White
Four lead motors can only be configured according to the following diagram.
Note Motor wire colors are correct for NI stepper motors compatible with the
NI SMD-761x. These wire colors may not match a third-party stepper motor.
Figure 7. Four Lead Motor Connection
Six Lead Motors
Six lead motors can be connected in series or center tap. A series connected motor produces
more torque but it will not be able to run as fast as a motor in center tap configuration. In series
operation, the motor should be operated at 30% less than the rated current to prevent
overheating. Refer to the wiring diagrams below to connect a six lead motor.
Figure 8. Six Lead Motor Connected in Series
No connect
Phase A+
Green
White
Phase A–Grn/Wht
Black
Red
Phase B+Red/Wht
No connect
Phase B–
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 13
Figure 9. Six Lead Motor Connected in Center Tap
No connectGreen
White
Phase A+
Phase B+
Phase A–Grn/Wht
No connectRed/Wht
Red
Black
Phase B–
Phase B–
Phase A+
Phase A–
Phase B+
Orange
Org/Wht
Blk/Wht
Black
Red
Red/Wht
Yel/Wht
Yellow
Eight Lead Motors
Eight lead motors can be connected in series or parallel. A series connected motor needs less
current than one that is connected in parallel but it will not be able to run as fast. In series
operation, the motor should be operated at 30% less than the rated current to prevent
overheating. Refer to the wiring diagrams below to connect an eight lead motor.
Figure 10. Eight Lead Motor Connected in Series
14 | ni.com | NI SMD-7613/7614/7615/7616 User Manual
Figure 11. Eight Lead Motor Connected in Parallel
Phase B–
Phase A+
Phase A–
Phase B+
Orange
Red
Yel/Wht
Red/Wht
Yellow
Black
Org/Wht
Blk/Wht
Connecting Input Signals
The NI SMD-761x has three types of input:
• High speed digital inputs for step and direction commands/encoder use 5 V logic.
• Digital inputs for other signals use 12 to 24 V logic.
• Analog inputs are reserved for furture use.
All drives include eight digital inputs and two analog inputs:
• CW & CCW Limit: These are optional input that can be used to inhibit motion in a given
• IN1/STEP & IN2/DIR: These are digital signals that can be used for commanding a
• IN3, IN4, IN5, IN6: These are software-prgrammable inputs that can be used for motor
Note All inputs except STEP and DIR use 12 to 24 VDC logic.
direction, forcing the motor and the load to travel within mechanical limits. It can be
configured as active closed or active open.
position. Quadrature signals from encoders can also be used. These inputs can also be
connected to sensors and switches.
enable, alarm reset, or jogging. These inputs can also be connected to sensors and switches.
Note These drives can use input signals from a motion controller or accept ethernet
streaming commands. For more information on commanding the drive using
Ethernet, see the Working with Ethernet Steppers page in SoftMotion help.
NI SMD-7613/7614/7615/7616 User Manual | © National Instruments | 15
Loading...