USER MANUAL
NI ISM-7411/7412
Ethernet Integrated Stepper
This manual describes the NI ISM-7411 and the NI ISM-7412 integrated steppers. It describes
electrical and mechanical characteristics of the devices, as well as I/O functionality.
Contents
Getting Started .......................................................................................................................... 2
Mounting the NI ISM-7411/7412............................................................................................. 3
Connecting the Power Supply .................................................................................................. 4
Choosing a Power Supply.........................................................................................................5
Voltage.............................................................................................................................. 5
Current .............................................................................................................................. 5
Connecting the Device Using Ethernet .................................................................................... 10
Option 1: Connect a Drive to Your LAN ......................................................................... 11
Option 2: Connect a Device Directly to Your PC ............................................................ 13
Option 3: Use Two Network Interface Cards (NICs) ....................................................... 13
Connecting Input Signals.......................................................................................................... 14
Connection Examples: STEP & DIR................................................................................ 15
Connection Examples: EN................................................................................................ 16
Connecting the Digital Output.................................................................................................. 18
Configuring the NI ISM-7411/7412......................................................................................... 19
Motor ................................................................................................................................ 20
Control .............................................................................................................................. 21
Self Test............................................................................................................................ 24
Reference Materials .................................................................................................................. 24
Torque-Speed Curves ....................................................................................................... 24
Heating.............................................................................................................................. 25
Mechanical Outlines ......................................................................................................... 28
Technical Specifications ........................................................................................................... 29
Amplifier .......................................................................................................................... 29
Motor ................................................................................................................................ 30
Digital Inputs .................................................................................................................... 30
Analog Input
Digital Output ................................................................................................................... 30
+5V User Output .............................................................................................................. 30
Physical............................................................................................................................. 31
Alarm Codes .....................................................................................................................31
Worldwide Support and Services ............................................................................................. 32
................................................
..................................................................... 30
Figure 1. Block Diagram
+
STEP+
AIN
GND
+5V
STEP–
DIR+
DIR–
EN+
EN–
OUT+
OUT–
–
Powe r
Conn
12-70 VDC
External
Power Supply
100 Mbit Ethernet
Comm
Conn
I/O Connector
Optical
Iso
Digital
Filter
Software
Filter
Software
Filter
Software
Filter
Digital
Filter
Digital
Filter
DSP
Driver
Control
3.3 VDC
Internal
Logic
Supply
Vol tage
Te mp
Det.
5 VDC
Powe r Supply
MOSFET
PWM
Powe r
Amplifier
Motor
Encoder
Over
Current
Detection
Status
Optional
GND
+5 VDC (50 mA max)
Optical
Iso
Optical
Iso
Optical
Iso
Getting Started
You will need the following items to get started with your NI ISM-7411/7412:
12 VDC to 70 VDC power supply. NI PS-12 (NI part number 748906-01) or
Tool for inserting wires into the connector
A PC running Microsoft Windows 8.1/8/7/Vista/XP, with an available Ethernet port
A CAT5 Ethernet cable (not included)
NI Stepper Configuration Utility, available from ni.com/downloads
Refer to Choosing a Power Supply for more information.
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NI PS-13 (NI part number 748907-01) recommended.
Figure 2 shows an overview of the connectors on the NI ISM-7411/7412 integrated stepper.
Figure 2. NI ISM-7411/7412 Integrated Stepper Connectors
2
1
3
4
5
6
1 Status LED
2 DC Power Connector
3 Ethernet Port
3 I/O Connector
4 Rotary Switch
4 Mounting Hole
Mounting the NI ISM-7411/7412
Mount your NI ISM-7411/7412 using four #6 or #8 screws. Securely fasten the
NI ISM-7411/7412 to a smooth, flat metal surface to conduct heat away from the motor. To
prevent overheating, forced airflow from a fan may be required. Refer to the Heating section for
more information.
Caution Never use your NI ISM-7411/7412 in a space where there is no airflow or
where other devices cause the surrounding air to be higher than 40 °C.
Caution Never put the NI ISM-7411/7412 where it can get wet or where metal or
other electrically conductive particles can contact the circuitry.
Caution Always provide air flow around the drive. When mounting multiple
NI ISM-7411/7412 integrated steppers near each other, maintain at least one half inch
of space between devices.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 3
Connecting the Power Supply
Refer to Choosing a Power Supply for more information.
1. Use 1.02 mm to 0.81 mm diameter (18 to 20 AWG) gauge stranded wire for connections.
2. Connect the power supply positive (+) terminal to the connector terminal labeled V+.
3. Connect power supply negative (-) terminal to the connector terminal labeled V- .
The NI ISM-7411/7412 contains an internal fuse that connects to the power supply positive (+)
terminal. This fuse is not user-replaceable. If you want to install a user-replaceable fuse in your
system, install a fast-acting 4 A fuse in line with the positive (+) power supply lead. Figure 3
shows the NI ISM-7411/12 connections.
Figure 3. Orientation of the NI ISM-7411/7412 Power Connector
+VDC GND
Caution Do not reverse the wires. Reverse connection will damage your drive and
void your warranty.
When you rapidly decelerate a load from a high speed, much of the kinetic energy of that load
transfers back to the power supply. This transfer can trigger the overvoltage protection of a
switching power supply, causing it to shut down. Unregulated power supplies generally do not
have overvoltage protection and have large capacitors for storing energy coming back from the
drive. NI offers the SMD-7700 regeneration clamp, part number 748908-01, to solve this
problem.
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Choosing a Power Supply
NI offers two power supplies for the NI ISM-7411/7412:
• NI PS-12 (24 V, 6.3 A)
• NI PS-13 (48 V, 6.7 A)
Voltage
Your motor can provide optimum performance between 24 and 48 volts DC. Choosing the
voltage depends on the performance needed and thermal performance. Higher voltages will give
higher speed performance but will cause the motor to operate at higher temperatures. Using
power supplies with voltage outputs that are near the drive maximum may reduce the operational
duty-cycle significantly. Refer to the charts in Reference Materials to determined thermal
performance at different power supply voltages.
Note If you choose an unregulated power supply, ensure the no-load voltage of the
supply does not exceed 60 VDC.
Current
The power supply current required by the motor at various voltages is shown in the following
charts. The supply current flowing into the motor may be less than the motor phase current,
because the motor amplifier converts high voltages and low currents from the DC power supply
into the higher current and lower voltage required by the motor. Using a higher voltage power
supply will increase high speed torque, but will also increase motor heating.
The current draw is significantly different at higher speeds depending on the motor torque load.
Estimating your current needs may require a good analysis of the load the motor will encounter.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 5
Figure 4. NI ISM-7411 Behavior, 12 V Power Supply
0
20
40
60
80
100
120
140
0 1020304050
Speed (RPS)
Torque (Oz-In)
0.00
0.50
1.00
1.50
2.00
2.50
3.00
Amps
Torque
Supply Current Supply Current No Load
0
20
40
60
80
100
120
140
01020304050
Speed (RPS)
Torque (Oz-In)
0.00
0.50
1.00
1.50
2.00
2.50
3.00
3.50
Amps
Torque
Supply Current Supply Current No Load
Figure 5. NI ISM-7411 Behavior, 24 V Power Supply
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Figure 6. NI ISM-7411 Behavior, 48 V Power Supply
0
20
40
60
80
100
120
140
01020304050
Speed (RPS)
Torque (Oz-In)
0.00
0.50
1.00
1.50
2.00
2.50
3.00
Amps
Torque
Supply Current Supply Current No Load
0
20
40
60
80
100
120
140
01020304050
Speed (RPS)
Torque (Oz-In)
0.00
0.50
1.00
1.50
2.00
2.50
3.00
3.50
Amps
Torque
Supply Current Supply Current No Load
Figure 7. NI ISM-7411 Behavior, 70 V Power Supply
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 7
Figure 8. NI ISM-7412 Behavior, 12 V Power Supply
0
50
100
150
200
250
0
10 20 30 40 50
0.00
0.50
1.00
1.50
2.00
2.50
3.00
3.50
Speed (RPS)
Torque (Oz-In)
Amps
Torque
Supply Current
Supply Current
No Load
Figure 9. NI ISM-7412 Behavior, 24 V Power Supply
Torque
250
200
150
100
Torque (Oz-In)
50
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0
01020304050
Supply Current
Speed (RPS)
Supply Current
No Load
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Figure 10. NI ISM-7412 Behavior, 48 V Power Supply
Torque
250
200
150
100
Torque (Oz-In)
50
0
01020304050
Supply Current
Speed (RPS)
Supply Current
No Load
Figure 11. NI ISM-7412 Behavior, 70 V Power Supply
Torque
250
200
150
100
Torque (Oz-In)
50
0
010 20304050
Supply Current
Speed (RPS)
Supply Current
No Load
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
4.00
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Amps
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. Unregulated power supplies are better suited for
applications with significant regeneration as they generally do not have overvoltage protection
and have large capacitors for storing energy coming back from the drive. Refer to Connecting
the Power Supply for more information.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 9
Connecting the Device Using Ethernet
This process requires three steps:
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.
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 1. 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 (use Quick Tuner for servo drives). 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
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depending on how the administrator has configured DHCP. The DHCP setting is reserved for
NIC PC
LAN
Drive
Switch
or
Router
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).
Option 1: Connect a Drive to Your LAN
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 12. 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’ve 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
address from switch settings 4 through E. Another common subnet is
192.168.0, the most common subnet, you will want to choose an
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.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 11
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.
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 isn’t 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 13. Network Interface Dialog 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’ve 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.
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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 don’t 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.
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 don’t 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 the second NIC:
a. On Windows XP, right-click My Network Places and select Properties.
b. On Windows 7, click Computer. Scroll down the left pane until you see Network.
Right-click and select Properties. Select Change adapter settings.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 13
5. Right-click your network interface card (NIC) and select Properties.
STEP+
STEPDIR+
DIREN+
ENOUT+
OUT+5V
AIN
GND
a. Scroll down until you see Internet Properties (TCP/IP). Select this item and click
the Properties button.
b. On Windows 7 and Vista, look for (TCP/IPv4).
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 255.255.255.0.
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.”
Connecting Input Signals
The NI ISM-7411/7412 has three digital inputs and one analog input:
• STEP—High-speed digital input for step pulse commands, 5 V to 24 V logic
• DIR—High-speed digital input for the direction signal, 5 V to 24 V logic
• EN—5 V to 24 V input for commanding the removal of power from the motor
• AIN—Reserved
Figure 14. Connector Pin Diagram
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Figure 15. Internal Circuit Diagram
RES
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
AIN
GND
Signal
Conditioning
+5V
50 mA Limit
ISM-7411
or
ISM-7412
Indexer
with
Sourcing
Outputs
GND
STEP
DIR
DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP/IN1-
ISM-7411
or
ISM-7412
Indexer
with
Sinking
Outputs
STEP
DIR
5-24 VDC
DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP/IN1-
Connection Examples: STEP & DIR
Figure 16. Connecting to Indexer with Sourcing Outputs
Figure 17. Connecting to Indexer with Sinking Outputs
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 15
Figure 18. Connecting to Indexer with Differential Outputs
ISM-7411
or
ISM-7412
Indexer
with
Differential
Outputs
DIR/IN2+
DIR/IN2–
STEP/IN1+
STEP/IN1–
STEP–
DIR–
DIR+
STEP+
Figure 19. Using Mechanical Switches
+
5-24 VDC
Powe r
Supply
–
Run/Stop Switch
(closed = run)
DIR/IN2+
DIR/IN2–
STEP/IN1+
STEP/IN1–
ISM-7411
or
ISM-7412
When a device is configured to accept streaming commands through the NI Stepper
Configuration Utility, the STEP & DIR inputs are reconfigured to accept limit switch input. The
STEP input can be used with a forward limit (CW) switch while the DIR input can be used with
a reverse limit (CCW) switch.
Connection Examples: EN
Connecting the Enable input as shown in Figure 20 causes the drive to disable when the relay is
closed and enable when the relay is open.
Figure 20. Connecting an Input to a Switch or Relay
+
5-24 VDC
Powe r
Supply
EN+
ISM-7411
or
ISM-7412
–
Switch or Relay
(closed = logic low)
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EN3–
Connecting the Enable signal as shown in Figures 21 and 22 causes the drive to disable when
the proximity sensor activates.
Figure 21. Connecting an NPN Type Proximity Sensor to an Input
5-24 VDC
Powe r
Supply
+
+
NPN
Proximity
Sensor
–
–
Output
EN/IN3+
EN/IN3–
ISM-7411
or
ISM-7412
Figure 22. Connecting a PNP Type Proximity Sensor to an Input
+
+
5-24 VDC
Powe r
Supply
NPN
Proximity
Sensor
–
Output
–
EN/IN3+
EN/IN3–
ISM-7411
or
ISM-7412
Note When the proximity sensor activates, the input closes.
When a device is configured to accept streaming commands through the NI Stepper
Configuration Utility, the EN input is reconfigured to accept an input from a home switch.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 17
Connecting the Digital Output
ISM-7411
or
ISM-7412
5-24 VDC
Powe r
Supply
PLC
+
OUT–
–
IN
COM
OUT+
ISM-7411
or
ISM-7412
5-24 VDC
Powe r
Supply
OUT–
OUT+
–
+
IN
COM
PLC
The NI ISM-7411/7412 has a digital output labeled OUT. You can use this output to
automatically control a motor brake or signal fault conditions. You can also use it to drive LEDs,
relays, and the inputs of other electronic devices like PLCs. The positive collector (OUT+) and
negative emitter (OUT-) terminals of the output transistor are available at the connector. This
allows you to configure the output for current sourcing or sinking.
Diagrams of each type of connection follow.
Caution Do not connect the output to more than 30 VDC. The current through the
output terminal must not exceed 80 mA.
Figure 23. Sinking Output
5-24 VDC
Powe r
Supply
+
–
Load
OUT+
OUT–
Figure 24. Sinking Output with PLC
Figure 25. Sourcing Output
ISM-7411
or
ISM-7412
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Figure 26. Driving a Relay
Relay
5-24 VDC
Powe r
Supply
+
1N4935 suppression diode
–
OUT+
ISM-7411
or
ISM-7412
OUT–
Configuring the NI ISM-7411/7412
The NI ISM-7411/7412 is configured in software with the NI Stepper Configuration Utility,
available at
configure various aspects of the motor performance and control for your application.
The ISM can be set to one of two motion command modes. Pulse and Direction mode accepts a
signal such as that generated by an external indexer or motion controller.With this mode, the
frequency of the pulses fed into the STEP input determines the speed, and the signal fed into the
direction input determines the direction.
Streaming command mode allows the user to command motion with a command stream over
Ethernet. In this comand mode, the STEP, DIR, and EN inputs can be used to accept input from
limit switches.
ni.com/downloads. When you have located your device with the utility, you can
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 19
Motor
From the NI Stepper Configuration Utility home screen, click the Motor icon to open the
configuration window and configure the following settings:
Figure 27. NI Stepper Configuration Utility Configuration Window
Running Current
Seting the Running Current to 100% will achieve maximum torque. However, under some
conditions you might want to reduce the current to save power or lower motor temperature. This
is important if the motor is not mounted to a surface that will help it conduct heat away or if you
expect the ambient temperature to be high.
Step motors produce torque in direct proportion to current, but the amount of heat generated is
roughly proportional to the square of the current. If you operate the motor at 90% of rated
current, the motor provides 90% of the rated torque and approximately 81% as much heat. At
70% current, the torque is reduced to 70% and the heating to about 50%.
Accel/Decel Current
The motor requires the most torque when accelerating and decelerating a load. You may need to
set the Accel\Decel Current higher than the Running Current to account for these peaks.
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Idle Current/Idle Current Delay
You can reduce motor heating and power consumption by lowering the motor current when it is
not moving. The NI ISM-7411/7412 automatically lowers the motor current when it is idle for
longer than the time specified by Idle Current Delay.
The default 50% idle current setting lowers the holding torque to 50% of the specified Running
Current, which is enough to prevent the load from moving in most applications. You can adjust
this value to account for your load and heating requirements.
Load Inertia
The NI ISM-7411/7412 includes anti-resonance and electronic damping features which
greatly improve motor performance. To perform optimally, the drive must understand the
electromechanical characteristics of the motor and load. Most of this is completed automatically
in the factory during motor and drive assembly. To further enhance performance, you must
specify the innertia of the load. If you are unsure of this value, you can experimentally find an
acceptable value by entering a multiplier of the rotor inertia.
Control
From the NI Stepper Configuration Utility home screen, click the Motion icon to open the
Motion Control Mode Window. Select the Pulse & Direction Mode button to configure the
following settings:
Figure 28. NI Stepper Configuration Utility Configuration Window
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 21
Step Pulse Type
Most indexers and motion controllers provide motion commands in the Pulse and Direction
format. The Step signal pulses once for each motor step and the direction signal commands
direction. However, a few PLCs use a different type of command signal, CW and CCW Pulse,
where one signal pulses once for each desired step in the clockwise direction (STEP CW), while
a second signal pulses for counterclockwise motion (STEP CCW). Additionally, the motor can
be controlled from the A/B signals of a master encoder, for “follow” applications.
Steps/Rev
The NI ISM-7411/7412 requires a source of step pulses to command motion. This is normally
commanded by ENET Control however it can also be commanded by a PLC, indexer, motion
controller, or another type of device that can produce step pulses with a frequency proportional
to the desired motor speed. The source must also be able to smoothly ramp the step speed up and
down to produce smooth motor acceleration and deceleration. This is only a consideration when
using a source other than ENET control.
Smaller step sizes result in smoother motion and more precise speed, but also require a higher
step pulse frequency to achieve maximum speed. The smallest step size is 1/51,200th of a motor
turn. To command a motor speed of 50 revolutions per second (3000 rpm) the step pulse
frequency must be 50 × 25,000 = 1.25 MHz. The Steps/Rev value can be entered in any
multiple of 2.
Step Smoothing Filter
At lower step resolutions such as 200 steps per revolution (full step) and 400 steps per revolution
(half step) motors produce more audible noise than when they are microstepped (2000 steps per
revolution and beyond). The NI ISM-7411/7412 includes a feature called microstep emulation,
also called step smoothing, that can provide smooth motion when using full and half steps. If the
Steps/Rev setting is 2000 or higher, this feature is not needed and can be set to the highest
possible value, 2500.
22 | ni.com | NI ISM-7411/7412 Integrated Stepper User Manual
The step smoothing process uses a command filter which causes a slight delay, or lag in the
40
revs
ondsec
----------------- -
20 000
steps
revs
------------ -
,× 800kHz=
motion. The following figure shows an example of the delay that can occur from using the step
smoothing filter.
Figure 29. Delay Due to Filtering
12
10
8
6
4
Rev/ Sec
2
0
0
–2
–4
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Seconds
ON
OFF
Input Noise Filter
Electrical noise can negatively affect the STEP signal by causing the drive to interpret one step
pulse as two or more pulses. This results in extra motion and inaccurate motor and load
positioning. To solve this problem, the NI ISM-7411/7412 includes a digital noise filter on the
STEP and DIR inputs. The default factory setting of this filter is 7.5 MHz, which is suitable for
most applications.
Your maximum pulse rate equals the highest motor speed multiplied by the number of steps per
revolution. For example:
Consider the maximum pulse rate when deciding whether you must increase the filter frequency.
EN Input
You can configure the behavior of the EN input. Common applications use EN as a relay to turn
the device on and off, or to clear fauls.
Programmable Output
The programmable digital output can be used as an indicator to alert you to faults or to control
a brake. It can also be used as a tachometer to report every rotation.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 23
Self Test
oz-in
RPS
0 1020 30 4050
0
20
40
60
80
100
120
140
12 VDC
24 VDC 48 VDC 70 VDC
oz-in
RPS
0 1020304050
0
50
100
150
200
250
12 VDC
24 VDC 48 VDC 70 VDC
If you are having trouble getting your motor to turn, use the built-in self test from the NI Stepper
Configuration Utility home page. Select the Drive menu item and choose Self Test. Use this
feature to confirm that the motor is wired correctly, selected, and otherwise operational.
Reference Materials
To rque-Speed Curves
Figure 30. To r que-Speed Curve for NI ISM-7411
Figure 31. To r que-Speed Curve for NI ISM-7412
24 | ni.com | NI ISM-7411/7412 Integrated Stepper User Manual
Heating
Step motors convert electrical power from the driver into mechanical power to move a load.
Because step motors are not perfectly efficient, some of the electrical power turns into heat on
its way through the motor. This heating depends on the motor speed and power supply voltage
rather than load. There are certain combinations of speed and voltage at which you can
continuously operate a motor without damage.
The drive electronics of the NI ISM-7411/7412 also dissipate power. The heat produced by the
electronics is dependent on power supply voltage and motor speed.
The following figures show the maximum duty cycle versus speed for the NI ISM-7411/7412 at
commonly used power supply voltages. Refer to these curves when planning your application.
Use the charts depicting typical power dissipation when planning the thermal design of your
application.
A step motor typically reaches maximum temperature after 30 to 45 min of operation. Running
the motor for one minute and then idling for one minute results in a 50% duty cycle. Running
the motor for five minutes on and five minutes off also results in 50% duty. One hour on and one
hour off results in 100% duty because the motor will reach full and possibly excessive
temperature during the first hour of use.
Note National Instruments tested the NI ISM-7411/7412 in a 40 °C (104 °F)
environment with the motor mounted to an aluminum plate sized to provide a surface
area consistent with the motor power dissipation. Your results might vary.
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 25
Maximum Duty Cycle
0
20
40
60
80
100
0
10
20 30
40 50
Speed (RPS)
% Duty Cycle
65 V Duty Cycle
48 V Duty Cycle
12/24 V Duty Cycle
0
20
40
60
80
100
0
10
20 30
40 50
Speed (RPS)
% Duty Cycle
65 V Duty Cycle
48 V Duty Cycle
12/24 V Duty Cycle
Figure 32. NI ISM-7411 Speed/Duty Cycle Curve
Figure 33. NI ISM-7412 Speed/Duty Cycle Curve
26 | ni.com | NI ISM-7411/7412 Integrated Stepper User Manual
Temperature
250
200
150
100
Temperature (C)
50
0
180
160
140
120
100
80
60
Temperature (C)
40
20
0
Figure 34. Temperature vs. Speed for the NI ISM-7411
12 V
24 V
48 V
0 1020304050
Speed (RPS)
Figure 35. Temperature vs. Speed for the NI ISM-7412
12 V
24 V
48 V
0 10 20 30 40 50
Speed (RPS)
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 27
Mechanical Outlines
Front view
Top view
Side view
92.4
76
MAX
29.5
MAX
MATING
CONNECTORS
MATING
CONNECTORS
77
20 s 0.22
1.6s 0.2
15s 0.2
4.8s 0.5
38s 1
6.350
38.1s 0.05
;5
5.85s 0.1
0
–0.013
30
30
47.14s 0.2
76 Ref
52
25
13.5
47.14 s
56.4 MAX
Figure 36. Mechanical Outline for the NI ISM-7411
28 | ni.com | NI ISM-7411/7412 Integrated Stepper User Manual
Figure 37. Mechanical Outline for the NI ISM-7412
Front view
Top view
Side view
76
MAX
MATING
CONNECTORS
82
MAX
114 s 4
45
6.350
5.85s 0.1
0
–0.013
30
57s 1
1.6s 0.2
15s 0.2
20s 0.2
4.8s 0.5
30
47.14s 0.2
76 Ref
52
25
13.5
47.14 s
56.4 MAX
38.1s 0.05
MATING
CONNECTORS
;5
Technical Specifications
Amplifier
Amplifier type................................................... Dual H-bridge, 4 quadrant
Current control.................................................. 4 state PWM @ 20 kHz
Protection.......................................................... Over-voltage, under-voltage, over-current,
over-temperature
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 29
Supply voltage ..................................................12 VDC to 70 VDC
Under-voltage alarm ................................. 11 VDC
Over-voltage shutdown............................. 74 VDC
Over-temp shutdown.........................................85 °C
Motor current .................................................... 2.5 to 5.0 A/phase peak of sine
Current reduction range .................................... 0 to 90%, user configurable
Current reduction delay ....................................User configurable
Motor
Torque ............................................................... Refer to Torque-Speed Curves
NI ISM-7411.............................................125 oz-in. max
NI ISM-7412.............................................210 oz-in. max
Microstep resolution .........................................200 to 51,200 steps/rev, user configurable
Digital Inputs
Optically isolated, 5 V to 24 V logic. Sourcing, sinking, or differential signals can be used.
Minimum on voltage......................................... 4 VDC
Maximum voltage .............................................30 VDC
Maximum pulse frequency: .............................. 3 MHz
Minimum pulse width.......................................250 ns
Analog Input
AIN is referenced to GND.
Range ................................................................0 to 5 VDC
Resolution .........................................................12 bits
Digital Output
Optically isolated, user programmable.
Maximum voltage .............................................30 VDC max
Maximum current .............................................40 mA
+5V User Output
Range ................................................................4.8 to 5.0 V
Current ..............................................................40 mA, max
30 | ni.com | NI ISM-7411/7412 Integrated Stepper User Manual
Physical
Frame size......................................................... NEMA 23
NI ISM-7411
Size ........................................................... 2.22 × 3.03 × 3.64 in.
(56.4 × 77 × 92.4 mm), not including pilot or
shaft. 0.25 in. shaft with flat.
Weight....................................................... 30 oz (850 g)
-3
Rotor inertia .............................................. 3.68 × 10
NI ISM-7412
Size ........................................................... 2.22 × 3.23 × 4.49 in.
(56.4 × 82 × 114 mm), not including pilot or
shaft. 0.25 in. shaft with flat.
Weight....................................................... 42 oz (1191 g)
Rotor inertia .............................................. 6.52 × 10
Operating temperature range ............................ 0 °C to 40 °C
oz-in.-sec2 (260 g-cm2)
-3
oz-in.-sec2 (460 g-cm2)
Accessories
Regeneration clamp .......................................... NI SMD-7700, NI part number 748908-01
Power Supply
NI PS-12 ...................................................24 VDC, 6.3 A, NI part number 748906-01
NI PS-13 ...................................................48 VDC, 6.7 A, NI part number 748907-01
Alarm Codes
In the event of a drive fault or alarm, the green LED flashes one or two times, followed by a
series of red flashes. The pattern repeats until the alarm is cleared.
Table 2. Status LED Blink Code Definitions
Blink sequence Code Error
G Solid green No alarm, motor disabled
GG (slow) Flashing green slowly No alarm, motor enabled
GG (rapid) Flashing green quickly Q Program running
RG 1 red, 1 green Motor stall (encoder-equipped only)
RGG 1 red, 2 green Move attempted, drive disabled
RRG 2 red, 1 green CCW limit
RRGG 2 red, 2 green CW limit
RRRG 3 red, 1 green Drive overheating
NI ISM-7411/7412 Integrated Stepper User Manual | © National Instruments | 31
Table 2. Status LED Blink Code Definitions (Continued)
Blink sequence Code Error
RRRGG 3 red, 2 green Internal voltage out of range
RRRRG 4 red, 1 green Power supply overvoltage
RRRRGG 4 red, 2 green Power supply underoltage
RRRRRG 5 red, 1 green Over current/short circuit
RRRRRRG 6 red, 1 green Open motor winding
RRRRRRRG 7 red, 1 green Serial communication error
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