Manual - National Instruments
Contents
1. Pin Description J7 1 120 230 VAC line J7 2 230 VAC neutral J7 3 120 VAC neutral J7 4 PE Protective Earth National Instruments Corporation 13 Getting Started with NI 73xx Controllers and P7000 Drives 3 Connection for a 320 VDC Bus Connection for a 320 VDC Bus Using 240 VAC Using 120 VAC D a 240 J7 q Hne 7 Line 120 AC 2 240N AC 2 livo Power i PE Protective Earth j Power A PE Protective Earth Connecting 240 VAC to pin 3 of a AC power connector damages the drive Figure 6 320 VDC Bus Connection Refer to the P70360 AC High Performance Micro stepping Drive Reference Guide available from ni com manuals or from the Product Support Package CD in your kit for 160 VDC bus connection This configuration is required for third party motors with 7 to 30 mH inductance Connecting DC Power J7 DC Power Bus Gnd PE Figure 7 DC Power Connector Table 13 J7 DC Power Pin Description J7 1 Bus Plus power supply terminal 20 to 75 V J7 2 Negative power supply terminal 5 A max Gnd Negative power supply terminal Bus Isolated unregulated or regulated Gnd is normally earthed power supply Maximum allowable voltage between Bus Gnd J7 2 and Chassis J7 3 is 100 V peak J7 3 Connect to PE Protective Earth FE J7 3 connects to J6 5 inside drive shield Note National2. 4 Click Next Figure 11 Product Selection Getting Started with NI 73xx Controllers and P7000 Drives 18 ni com 5 Inthe motor selection dialog shown in Figure 12 select the NI stepper motor you have connected to the drive If you are using a third party motor select None from the list click the Motor File Editor button and enter the motor information The T23NRLC motor is selected in this example Setup Wizard Step 2 Motor Selection Select a motor from the list below or use the motor file editor to create a custom motor file fP 1 untitled Status None E ih Configuration NGT i Stepper Motor Te By Mechanical E Command o A x 5moothness F Advanced z a Motion Motor File Editor t Figure 12 Motor Selection Click Next Click Next in the mechanical information command values and I O functions dialog boxes No changes are required for these settings 8 Click Finish Your drive setup is complete The P7000 Tools configuration software downloads the new configuration data to your drive and performs an initialization process with the motor You may see a dialog box such as the one in shown Figure 13 when the configuration data is about to download Click Yes to continue the download process Motor Type Conflict A This drive configuration contains a motor type which is different than the motor type currently in the drive Do you wish to se
3. 7 0 12 0 O Z OFF ON aB e o sa o z N 12 0 20 0 OFF ON ON Poy i sl 8 20 0 32 0 ON ON ON oe 25 BS z a Dynamic Smoothing Dynamic smoothing is a temporal filter second order low pass applied to the command sequence to reduce jerk It helps reduce overshoot and lessens the excitation of mechanical resonance in the system It filters from slightly below the resonant frequency up to well above resonance to remove spectral content that would be misrepresented in the motor output and may also excite other parts of the machine Dynamic smoothing is a very powerful feature for achieving maximum torque from the motor However it is difficult to optimize and is not necessary for the vast majority of applications Therefore National Instruments recommends setting both DIP switches to OFF for minimal smoothing Table 8 lists the dynamic smoothing switch settings Table 8 Dynamic Smoothing DIP Switch Settings Dynamic Smoothing S2 8 S2 9 Minimal OFF OFF il ed Moderate ON OFF g Heavy OFF ON ry a m a of Aggressive ON ON K 2 z H National Instruments Corporation a 1 Getting Started with NI 73xx Controllers and P7000 Drives Current Reduction Current reduction reduces drive and motor heating by invoking standby current reduction When enabled current reduction c
4. The P7000 series stepper drive is uniquely designed to sense the motor shaft position at all times The drive monitors the commanded position and compares it to the actual position As with any two phase step motor when the shaft position and commanded position are greater than two full steps apart a stall is detected and the drive faults Table 11 lists the encoderless stall detection switch settings Table 11 Encoderless Stall Detection DIP Switch Settings Encoderless Stall Detection S2 12 Enabled ON g Disabled OFF i Encoderless stall detection uses an internal motor model for stall detection Motors listed in Tables 4 and 5 work well with encoderless stall detection Third party motors may not work as well as the algorithm is subject to constraints National Instruments makes no guarantees of reliability of this feature when using third party motors Step 3 Connecting Power to the P7000 Drive A Connect either AC or DC input power to your P7000 series stepper drive If you are using the P70360 drive connect AC power as shown in Figure 6 Refer to Table 12 for DC power connector pin descriptions If you are using the P70530 drive connect DC power as shown in Figure 7 Refer to Table 13 for DC power connector pin descriptions Connecting AC Power to the P70360 Caution Do not use J7 as an on off switch Hot plugging damages the connector Table 12 J7 AC Power for 320 VDC Bus
5. Explorer MAX To assist with configuring your NI motion controller NI provides ready made configuration files to configure your motion controller with the P7000 series stepper drives To import these files launch MAX and select File Import The Configuration Import Wizard appears as shown in Figure 16 The MAX configuration files are installed at lt NI Motion gt Configuration where lt NI Motion gt is the location where you installed NI Motion In the Import from file dialog box browse to this directory and select the appropriate file for your motion controller Table 17 lists the MAX filename to import for each NI motion controller After selecting the file click Next amp Configuration Import Wizard NATIONAL Welcome to the i einstRuMents Configuration Import Wizard This wizard imports configuration data for E Nl Motion 7 60 3001 Import from file PE C Program Files N ational Instruments NI Motion Configuration 7350 Settings for P7000 Drives nce v To system 9 My System x Ce C Figure 16 Configuration Import Wizard Table 17 MAX Configuration Filenames for NI Motion Controllers NI Motion Controller Configuration File NI PCI PXI 7330 lt NI Motion gt Configuration 7330 Settings for P7000 Drives nce NI PCI PXI 7340 lt NI Motion gt Configuration 7340 Settings for P7000 Drives nce NI PCI PXI 7350 lt NI Motion gt Configuration 7350 Settings for P7000 Drives n
6. Instruments recommends using insulated wire ferrules to prevent shorting and add strain relief Getting Started with NI 73xx Controllers and P7000 Drives 14 ni com Power on your DC or AC power supply Once powered the P7000 drive enters a configuration mode that causes the LED to flash and the motor to audibly squeal This is expected operation as the drive is measuring the motor windings to optimize its settings Once complete the status LED should illuminate green If it is not refer to the Troubleshooting the P7000 Series Stepper Drive section 3 Note The following step is required only if you are using the P7000 Tools configuration software and configuring the drive with the RS 232 port If you are using an NI stepper motor you can configure the drive with the DIP switches only and proceed to Step 7 Configuring the NI UMI to configure the NI UMI Step 4 Configuring the P7000 Drive with the Serial Port Optional 1 Connect the RS 232 serial communication cable between the drive and computer COM1 port You must set the COM1 port to the following settings Baud Rate 19 200 e Data Bits 8 e Parity Even e Stop Bits 1 e Flow Control None 2 Configure a COM port to be used with the serial cable To change your COM port open the Device Manager click Ports COM amp LPT and double click the desired COM port as shown in Figure 8 Device Manager Joey File Action View Help gal amp ZRA 4 BLUEMOTIONXP p Comput
7. Stepper Drive Table 18 lists problems you may encounter with the P7000 series stepper drive and their possible causes Table 18 P7000 Series Stepper Drive Troubleshooting Problem Possible Causes The status LED on the drive is off blinks or The power source is not properly connected Refer to is red the P70360 or P70530 Reference Guide for detailed LED troubleshooting The motor does not move using the jog toolbar The DIP switches are not properly configured in the P7000 Tool fi ti ft inthe E 000 Tools configuration sofware The DIP switches were changed but the drive was not power cycled Motor gets hot when idle Current reduction is disabled Motor moves backwards Refer to Step 1 Connecting the Stepper Motor to the Drive The P7000 Tools configuration software does not Verify that the drive is connected to the COM1 port on detect the drive the computer Verify that the COM1 port settings are correct as described in Step 4 Configuring the P7000 Drive with the Serial Port Optional Power is not properly connected Verify that the green LED is on Where to Go for Support The National Instruments Web site is your complete resource for technical support At ni com support you have access to everything from troubleshooting and application development self help resources to email and phone assistance from NI Application Engineers National Instruments corporate headqua
8. a Calibration Gy PCI 7342 2 S E Software 9 Remote Systems Trajectory Parameters D Honea MEE Age Axis 1 x p Motor off axis is killed 2 Following error occurred Open Loop x Current direction is forward Stepper Loop Mode e Axis is currently moving Cycle Mode Trajectory generation is complete Move is complete Current Trajectory Data Operation Mode Absolute Position x Position 0 steps Load Velocity in revolutions v Velocity 0 ipm Velocity 200 S rpm Acceleration 100 psss es Deceleration 100 lea ips s Primary a S steps Target Position 9 lea steps Secondary Go steps Motion Functions Execution Status Applies trajectory parameters for the Ea axis selected to the motion device a Successful No Errors Ga Main Gal Advanced Advanced a Misc Plots Figure 20 1 D Interactive Panel Settings ays Note Limits are disabled with these configuration files National Instruments recommends enabling limits in your final application Click Start Your stepper motor should move at the desired velocity Configuring Moves with NI Motion Assistant Optional NI Motion Assistant is a motion control prototyping utility for quickly developing your motion control application You can use interactive menus to set up and configure move profiles Complete the following steps to configure a simple one axis straight line move usin
9. can configure the drive and motor using only the DIP switches If you have a third party motor you must use the P7000 Tools configuration software Complete the following steps to configure your stepper drive and motor Step 1 Connecting the Stepper Motor to the Drive Connect the stepper motor as shown in Figure 3 The NI stepper motors are highly recommended as they are optimized to work with the P7000 series stepper drives UN Caution Do not hot plug the motor connector Also avoid whiskers from stranded phase leads protruding from the motor plug A Motor Power Earth GND A To avoid electrical shock motor ground must be connected to protective earth Figure 3 Connecting the Stepper Motor Getting Started with NI 73xx Controllers and P7000 Drives 4 ni com The NI stepper motor wire color code is shown in Table 1 Table 1 NI Stepper Motor Wire Colors Phase Color A Orange A Black B Yellow B Red PE Green Yellow Stripe 3 Note To reverse the motor rotation direction do one of the following Switch A with A Switch B with B Switch A A with B B National Instruments offers several standard stepper motors that provide optimum performance when matched with the P7000 series stepper drive The motors have a four flying lead configuration If your motor has six or eight leads consult your distributor or the fac
10. e P70530 DC High Performance Micro stepping Drive Reference Guide Provides additional information about the electrical and mechanical aspects of the P70530 DC stepper drive including important safety information e NI Motion Help Contains information about selecting a motor designing a basic move designing a multi axis move incorporating image and data acquisition into motion applications and working with common motion concepts such as contouring and breakpoints This document is task based and takes you through each phase of designing and executing a motion application e NI Motion Function Help Contains function reference information for C and Visual Basic and provides details about each function including a description of the function a list of the function parameters illustrations and error codes e NI Motion VI Help Contains LabVIEW VI reference information and provides details about each VI including VI descriptions lists of VI parameters usage illustrations and error codes e Measurement amp Automation Explorer Help for Motion Provides information about using MAX to configure the NI 73xx motion controller as well as advanced conceptual information about topics such as Bode analysis and control loop parameters Configuration and Installation You can configure the P7000 series stepper drives using the external DIP switches or with software through the RS 232 port If you have an NI stepper motor you
11. motion controller Q NI UMI 7764 or NI UMI 7774 7772 Qy NATIONAL p INSTRUMENTS OococCOCcCCHL Software Q m Oo Power supply for the NI UMI 5 V if using the UMI 7764 24 V if using the UMI 7774 7772 68 pin cable to connect your NI UMI and motion controller P70360 or P70530 stepper drive P7000 direct connect cable appropriate for the NI UMI you are using DC power supply if using the P70530 stepper drive NI or third party stepper motor NI or third party encoder optional RS 232 serial communication cable for P7000 drives optional NI Motion 7 6 or later driver software One of the following software packages and documentation LabVIEW 7 1 1 or later LabWindows CVI 7 0 or later Microsoft Visual C 6 0 or later Microsoft Visual Basic 6 0 or later NI Motion Assistant 2 2 or later optional P7000 Tools configuration software optional Note The RS 232 serial configuration cable and P7000 Tools configuration software are required only if you are using a third party motor If you are using an NI stepper motor you can perform configuration using only the DIP switches on the drive Getting Started with NI 73xx Controllers and P7000 Drives 2 ni com Figures 1 and 2 shows the required hardware connections when using the P7000 Series stepper drives with the UMI 7764 and UMI 7772 74 respectively sidebar eters PS 232 Cable cece Optional P7000 Series
12. 00 OFF OFF ON 18 000 ON ON OFF 4 a National Instruments Corporation 9 Getting Started with NI 73xx Controllers and P7000 Drives Table 6 Step Resolution DIP Switch Settings Continued Resolution S2 2 S2 3 S2 4 25 000 OFF OFF OFF i i i 25 400 OFF ON OFF i 8 iy 50 000 ON OFF OFF g a Load Inertia The P7000 series stepper drives eliminate the resonance typical of step motors with high speed digital processing of motor electrical activity To use this feature you must set three switches based on the load to rotor inertia ratio These switches select the gain parameter the drive uses to stabilize the motor You can calculate the load inertia by hand or by using the Motioneering sizing software If you do not know your inertia ratio set the DIP switches to OFF for a load to rotor inertia ratio of 0 1 Table 7 lists the load inertia switch settings Table 7 Load Inertia DIP Switch Settings Load to Rotor Inertia Ratio S2 5 S2 6 82 7 0 1 OFF OFF OFF i i i 1 1 5 ON OFF OFF al i i 1 5 2 5 OF F ON OFI F i 8 l 2 5 5 0 ON ON OFI F 5 0 7 0 OFF OFF ON J ot E Getting Started with NI 73xx Controllers and P7000 Drives 10 ni com Table 7 Load Inertia DIP Switch Settings Continued Load to Rotor Inertia Ratio S2 5 S2 6 S2 7
13. 2 serial communication cable between the computer and P7000 series stepper drive is no longer needed but you can leave it connected Step 7 Configuring the NI UMI Follow these steps to connect and configure your NI UMI Refer to Figure 1 for more information about connecting the NI UMI to your stepper drive 1 Connect your 68 pin shielded cable between the Motion I O connector on your NI motion controller and the Motion I O connector on your NI UMI 2 Connect the P7000 direct connect cable between the NI UMI and the P7000 series stepper drive If you are using the NI UMI 7774 7772 connect the cable between the Control connector on the NI UMI and the Command I O connector on the drive If you are using the NI UMI 7764 connect the leads from the cable to the correct screw terminal The leads are labeled with the same signal Getting Started with NI 73xx Controllers and P7000 Drives 20 ni com names as the NI UMI 7764 and can be connected to any axis terminal block You can connect the ground lead to any ground pin on the NI UMI 7764 Refer to Table 14 for the wire colors Table 14 Wire Color Code for NI UMI 7764 to P7000 Direct Connect Cable Wire Color Signal Name Blue STEP CW Red DIR CCW Purple INHIN Orange INHOUT Black GND Note Overlined text indicates that a signal is active low National Instruments Corporation Configure the NI UMI slide switches You m
14. Stepper Drive SH68 C68 S ca P70360 shown Cable P7000 Direct Connect Cable s NI Stepper 5 V Power Motors Supply Figure 1 NI 73xx Motion Controller and UMI 7764 Hardware Connections to P7000 Drive RS 232 Cable f poo eee Optional pe 0 cee eg ee oe od P7000 Series Stepper Drive P70360 shown UMI 7772 74 y TA Direct Connect NI Stepper Motors 24 V Power Supply NI PS 15 Shown Figure 2 NI 73xx Motion Controller and UMI 7772 74 Hardware Connections to P7000 Drive Related Documentation The following documents contain additional information that you may find helpful All referenced documents ship with the product and are available at ni com manuals NI 7330 User Manual NI 7340 User Manual or NI 7350 User Manual Describes the electrical and mechanical aspects of the NI 73xx motion controller and contains information about installing and operating the device Getting Started with NI Motion for NI 73xx Motion Controllers Provides instructions for installing and getting started with the NI Motion driver software and NI PXI PCI 73xx motion controllers National Instruments Corporation 3 Getting Started with NI 73xx Controllers and P7000 Drives e P70360 AC High Performance Micro stepping Drive Reference Guide Provides additional information about the electrical and mechanical aspects of the P70360 AC stepper drive including important safety information
15. ce Getting Started with NI 73xx Controllers and P7000 Drives 22 ni com Verify that the settings being imported are checked You also can select the device that uses the imported settings by clicking the Import Only link as shown in Figure 17 After selecting the motion controller for the settings click Import Import items Check the items to be imported Import items 9 7350 Settings for P7000 Drives nce x NI Motion data H 7350 Settings for P7000 Drives 9g Configuration Import Wizard 2 leg Warnings and conflicts A Select device to use settings Import only lt Select gt 3 Import only Warnings and conflicts x View stk Jct crea Figure 17 Importing MAX Settings National Instruments Corporation 23 Getting Started with NI 73xx Controllers and P7000 Drives You also can change the settings a device is using by clicking Change Settings and selecting the desired settings as shown in Figure 18 3 Note The P7000 MAX configuration files are the same as the default settings with the following changes e Type is changed to Stepper in the Axis Configuration tab under Axis Configuration in the MAX Configuration tree Stepper Loop Mode is changed to Open Loop and Stepper Steps per Revolution is changed to 5000 in the Stepper Settings tab under Axis Configuration in the MAX Configuration tree The Forward Reverse and Home Limit switches are changed to Disabled i
16. ction Step Resolution S1 S2 1 S2 2 S2 3 S2 4 Motor Dependent Motor Dependent ON OFF ON ul ia y Encoderless Current Multi Stall Load Inertia Dynamic Smoothing Reduction stepping Detection S2 5 S2 6 S2 7 82 8 S2 9 S2 10 S2 11 S2 12 OFF OFF OFF OFF OFF OFF OFF OFF DM M Mo al MIM 12 Getting Started with NI 73xx Controllers and P7000 Drives 6 ni com Table 3 Drive Settings Drive Option Setting Motor selection Motor dependent refer to Tables 4 and 5 for switch positions Step resolution 5 000 refer to Table 6 for switch positions Load inertia 0 1 refer to Table 7 for switch positions Dynamic smoothing Minimal refer to Table 8 for switch positions Current reduction Enabled refer to Table 9 for switch positions Multistepping Disabled refer to Table 10 for switch positions Encoderless stall detection Disabled refer to Table 11 for switch positions Motor Selection Table 4 lists the switch settings for AC P70360 compatible motors Table 5 lists the switch settings for DC P70530 compatible motors Table 4 P70360 Compatible Motor DIP Switch Settings Motor Frame Motor S1 S2 1 NI NEMA 23 T21NRLC 1 OFF 2 456 3 z ii Nyat T22NRLC 2 OFF 2 45 o p Ne i Gg 5 N i T23NRLC 3 OFF tse We il Sg 93 National Instruments Corporation 7 Getting Started w
17. ee GETTING STARTED NI 7330 7340 7350 Motion Controllers and P7000 Series Stepper Drives This manual helps you quickly install and configure the P7000 series stepper drives and stepper motors for use with NI 7330 NI 7340 and NI 7350 motion controllers It assumes you have already installed your National Instruments motion controller and driver software The driver CD installs the NI Measurement amp Automation Explorer MAX configuration files and documents referenced in this manual You can find all the software files and documents at ni com motion stepper Additionally this manual assumes you are using either the NI Universal Motion Interface UMI 7764 or NI UMI 7774 7772 and have the appropriate 68 pin cable for connecting to your NI motion controller Refer to the NI Stepper Motion System Selection Guide at ni com motion stepper for assistance For specifications or installation questions about your NI motion controller or NI UMI refer to the appropriate user manual Contents What You Need to Get Started i ss dsvesacassgatgabessestessesetsscsssesbdstestegucecdgven stg bogie EETA S NERS 1 Hardware eee wl Software ae Related Documentation e3 Configuration and Installation sssi irssi esere inscne saa e aea Ea EE TST NEER 4 Step 1 Connecting the Stepper Motor to the Drive esseesseessssrsssssserererststsrersrsrrsrersrersrersreees 4 Step 2 Configuring the DIP Switches s 1 cisissscsscoscsssssssaa bass sosve
18. er amp Disk drives 2 Display adapters lt 2 DVD CD ROM drives Floppy disk controllers J Floppy disk drives E IDE ATA ATAPI controllers gt Keyboards 1 gt Mice and other pointing devices Monitors National Instruments Motion Controllers E Network adapters a ay F ommunications Port COM2 MR Processors Sound video and game controllers 3 System devices Figure 8 Selecting the COM1 Port in the Device Manager National Instruments Corporation 15 Getting Started with NI 73xx Controllers and P7000 Drives 3 Select the Port Settings tab and change the settings as shown in Figure 9 Click OK to apply the new settings Close the Device Manager after this step Communications Port COM1 Properties General Port Settings Driver Details Resources Bits per second 19200 iv Data bits 8 x Parity Even Stop bits 1 x Elow control None w Restore Defaults Figure 9 COM Port Settings Step 5 Installing the P7000 Tools Optional 1 Install the P7000 Tools configuration software You can find the software at ni com motion stepper 3 Note If you have a previous version of P7000 Tools on your system the installation wizard automatically uninstalls it After the previous version is uninstalled you must run the installer again to install the new version Getting Started
19. g NI Motion Assistant 1 Launch NI Motion Assistant by selecting Start All Programs National Instruments NI Motion Assistant Click Add Step Select Straight Line Move from the Add Step dialog box Click the 1D button to set up a single axis move Choose the axis you want to control Click the Position tab Enter the number of steps or revolutions you want the motor to move Wo wos Click Run on the toolbar to execute the move Getting Started with NI 73xx Controllers and P7000 Drives 26 ni com Exporting to LabVIEW After prototyping your moves using NI Motion Assistant you can export the move profile to LabVIEW for further motion control system development To export to LabVIEW select Tools Generate Code LabVIEW Diagram Figure 21 shows an example block diagram generated from NI Motion Assistant To execute the code click the Run arrow in the LabVIEW toolbar test vi Block Diagram Une The value for Jerk has been converted from counts steps s 3 to 5S Curve time in update periods Figure 21 LabVIEW Block Diagram of Motion Assistant Code You have now successfully built a LabVIEW application to move a stepper motor using a P7000 series stepper drive You are now ready to develop advanced applications For additional information refer to ni com motion stepper National Instruments Corporation 27 Getting Started with NI 73xx Controllers and P7000 Drives Troubleshooting the P7000 Series
20. iassodesssee sees va seabsotestavavavuededscbonies 5 Step 3 Connecting Power to the P7000 Drive wo cece eeseeeseeseneseeeseseeecsecseseeseeerseeesetsesesaeees 13 Step 4 Configuring the P7000 Drive with the Serial Port Optional eee eeeeeeeeeeeeee 15 Step 5 Installing the P7000 Tools Optional 0 ccc esceeeseeeeeeeeeersesecseeeeseeesseeaesessesetaeeeens 16 Step 6 Testing the Motor With the P7000 Tools Optional cece eseeeeseeeeseeeeeeesesesseees 20 Step 7 Configuring the NOU MU vissri konii iia eia aE A AEE e ERR 20 Step 8 Configuring Your NI Motion Controller Using Measurement amp Automation Explorer MAX jac csccsccs sceseneseesedsodeesisenccesisochcaie cence E E E AEREA A A E EEEa 22 Step 9 Testing ithe Motor Using MAX ou ci scicoiseserseecasesvesctueeteeteoncoagnscoscnacoadeecend sudeusenupetenatentse 26 Configuring Moves with NI Motion Assistant Optional s sesessesssseseereisrersrrrrtrrrisrerererererersrerene 26 Exporune to LabVIEW vi cass cescssssts sends scssies verse veateacevnodstse conssnncvcevensescaansaptesvasees Seasedacezcosaeisaseincepstans 27 Troubleshooting the P7000 Series Stepper Drive eseeesseseescscnecseceeseeseeesseeessesseesseeeenaees 28 Whereto Go for Support x sscssticsstasscisesseszavessuisedeatostubs add cidepisibssetaseaseuevosusaiseis tucssbedacdscacsdiivsasesstnbesden 28 What You Need to Get Started You need the following items to get started Hardware LY NI 7330 7340 7350
21. ith NI 73xx Controllers and P7000 Drives Table 4 P70360 Compatible Motor DIP Switch Settings Continued Motor Frame Motor S1 S2 1 NI NEMA 34 N31HRLG 4 OFF v24 So p IOR G93 N N32HRLG 5 OFF tso ea De il 758 N33HRLG 6 OFF o24 56 ke Sy je il G98 Third party Serial configuration using 0 OFF P7000 Tools 12486 pZ S x kl Table 5 P70530 Compatible Motor DIP Switch Settings Motor Frame Motor S1 S2 1 NI NEMA 17 CTP 10 ELF 10 D ON PAN ig E E i CTP 11 ELF 11 ON aptse fre l Bl CTP 12 ELF 10 F ON otto p A l SS ee 4l NI NEMA 23 T21NRLH 2 OFF 924 Se ke INE G93 pey T22NRLG 3 OFF PAN Pa W i G98 SN T23NRLH 4 OFF othe eal DP Q98 pmm Getting Started with NI 73xx Controllers and P7000 Drives 8 ni com Table 5 P70530 Compatible Motor DIP Switch Settings Continued Motor Frame Motor S1 S2 1 NI NEMA 34 N31HRHJ 1 ON S f lt gt x am N32HRHJ 2 ON Ss g lt gt se a N33HRHJ 3 ON ws gt se BA Third party Serial configuration using 0 OFF P7000 Tools apse p S fT Goa N Step Resolution Table 6 lists the step resolution switch settings Table 6 Step Resolution DIP Switch Settings Resolution S2 2 S2 3 S2 4 200 ON ON ON Full Step ig ig lg 400 OnF ON ON Half Step k _ i 4 4 5 000 ON OFF ON 4 i y 10 0
22. n the Motion I O tab under Motion I O Settings in the MAX Configuration tree 3 Default 7350 Settings Measurement amp Automation Explorer Max File Edit View Tools Help Configuration EY iritializ Change Settings Save 2 Refresh XP Defaults amp Show Help B 9 My System B fey Devices and Interfaces 5 NI Motion Devices u Settings X S PXI 7350 1 E EA Default 7350 Settings E E Interactive ions ck x B Calibration d sy ce a PCI 7342 2 E l Software 9 Remote Systems Select the Initialization Settings you want to apply to the Motion Device Settings type 7350 Settings Do not Change Current Settings 2f Initialization Preferences Lz Vector Spaces Figure 18 Choosing MAX Settings File Getting Started with NI 73xx Controllers and P7000 Drives 24 ni com Click Initialize in MAX to send the settings to the NI motion controller as shown in Figure 19 9 7350 Settings for P7000 Drives Measurement amp Automation Explorer EN og Tools Help Configuration EQ initialize Change Settings Save 2 Refresh XP Defaults amp Show Help 9 My System Devices and Interfaces S NI Motion Devices a PXI 7350 1 g 7350 Settings for P7000 Drives Gai Interactive J Calibration a PCI 7342 2 Ea l Software 9 Remote Systems 7350 Settings for P7000 Drives Fay Type of Settings 7350 Settings Description These are
23. nd this configuration and change the motor type Figure 13 Motor Type Conflict National Instruments Corporation 19 Getting Started with NI 73xx Controllers and P7000 Drives 9 When the configuration data is downloaded the drive performs the initialization process with the motor as shown in Figure 14 Click OK Motor Probe i P7000 Tools is about to probe the step motor for physical characteristics 4 motor probe is required when the drive is first connected to a motor If the step motor is not connected select Cancel power down the drive and connect the motor The step motor will emit several audible tones during this test but will not move the shaft Cancel Figure 14 Drive and Motor Initialization UN Caution The motor shaft rotates when performing the following test Step 6 Testing the Motor With the P7000 Tools Optional Test the motor and P7000 series stepper drive configuration by jogging the motor in the negative and positive directions using the following arrows on the Motion Toolbar Icon Behavior Description Jog motor negative Jogs the motor in the negative direction at the selected velocity Jog velocity toggle Selects the active jog velocity for the jog arrow buttons L designates low speed H designates high speed Jog motor positive Jogs the motor in the positive direction at L the selected velocity Stop motion Stops all motion 3 Note The RS 23
24. rters is located at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the world to help address your support needs For telephone support in the United States create your service request at ni com support and follow the calling instructions or dial 512 795 8248 For telephone support outside the United States contact your local branch office Visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events CVI LabVIEW National Instruments NI ni com the National Instruments corporate logo and the Eagle logo are trademarks of National Instruments Corporation Refer to the Trademark Information at ni com trademarks for other National Instruments trademarks The mark LabWindows is used under a license from Microsoft Corporation Windows is a registered trademark of Microsoft Corporation in the United States and other countries Other product and company names mentioned herein are trademarks or trade names of their respective companies For patents covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patent Notice at ni com patents 2007 2010 National Instruments Corporation All rights reserved 372324D 01 Juni0
25. the current intialization settings which are used to intialize the motion control device Initializing the Controller Progress 50 cal PCEEEEEEEEEE EEE EEE Lo Initialization Status Sending Parameters to the Controller open loop stepper p defaults closed loop stepper y defaults pean or extemal ory defaults M Automatically close when initialization completes successfully Mm settings Ok Stop Initialization I Lz Vector Spaces SE Current Settings of Initialization Preferences Figure 19 MAX Initialize Button National Instruments Corporation 25 Getting Started with NI 73xx Controllers and P7000 Drives Step 9 Testing the Motor Using MAX You will now move the motor using the NI motion controller and MAX Select the 1 D Interactive panel in the Configuration tree and change the settings to match those shown in Figure 20 Change the axis if you are not using Axis 1 1 D Interactive Measurement amp Automation Explorer Loe Eile Edit Yiew Tools Help gt Start Blend Hat Decelerate X Kill amp Show Help Configuration 9 My System 5 4 Devices and Interfaces a PXI 7350 B e NI Motion Devices o PXI 7350 1 Apply trajecto Single Axis x Axis Status a 7350 Settings For P7000 Drives commands to a Limit switch is active Gai Interactive eal 1 D Interactive el 2 D Interactive
26. tory for assistance Step 2 Configuring the DIP Switches Configure the DIP switches as follows for proper operation of your P7000 series stepper drive Figure 4 shows switches 2 1 through S2 12 in the OFF position for the P70360 drive iS meg g Or 1 i ia 1 1 Wat 7 8 9 10 T2 n wile 7 s1 1 s2 12 Sassi Figure 4 DIP Switches in OFF Position for P70360 Drive National Instruments Corporation 5 Getting Started with NI 73xx Controllers and P7000 Drives 3 Figure 5 shows switches 2 1 through S2 12 in the OFF position for the P70530 drive Computer Setup 1 0 S2 1 12 OFF E alalalalals 9 101112 S1 Motor S2 l step 4 High OFF Open Low ON Closed 5 Load 7 8 Smooth 10 12Advanced Figure 5 DIP Switches in OFF Position for P70530 Drive Using Table 4 or 5 set switches S1 and S2 1 to configure the drive for your motor or use the serial configuration using P7000 Tools if you are using a third party motor For the remaining DIP switches refer to Tables 2 and 3 Note For DIP switch settings to take effect you must power cycle the P7000 series stepper drive whenever you make changes Table 2 DIP Switch Positions Motor Sele
27. ust set the NI UMI switches to match the polarity configuration for the P7000 series stepper drive as shown in Tables 15 and 16 Connect power to the NI UMI e Ifyou are using the NI UMI 7764 connect a 5 V external power supply to the two position terminal block labeled required inputs Connect the positive lead of the 5 V power supply to the 5 V terminal and the negative lead to the digital ground GND terminal e Ifyou are using the NI UMI 7774 7772 connect the positive lead of the 24 V external power supply to the V terminal and the negative lead to the C terminal then connect the V terminal to the Viso terminal and the C terminal to the Ciso terminal Figure shows the power terminal block POWER GLOBAL STOP o te Figure 15 UMI 7772 7774 Power Connection Note For more information about connecting external power encoders and other motion I O signals refer to the Universal Motion Interface UMI Accessory User Guide and Specifications or National Instruments Universal Motion Interface UMI 7774 7772 User Manual and Specifications Table 15 NI UMI 7774 7772 Switch Settings Fault Enable Active low Active high 21 Getting Started with NI 73xx Controllers and P7000 Drives Table 16 NI UMI 7764 Switch Settings Inhibit Input Inhibit Output Active high Active low Step 8 Configuring Your NI Motion Controller Using Measurement amp Automation
28. uts motor current to 75 percent of its commanded value 100 ms after receipt of the last step pulse You can adjust the reduction proportion and delay to other values using the P7000 Tools configuration software When current reduction is enabled the motor holding torque is reduced Do not enable it for applications that require full holding torque when the motor is stationary Table 9 lists the current reduction DIP switch settings 3 Note Current reduction is enabled when switch S2 10 is OFF Table 9 Current Reduction DIP Switch Settings Current Reduction S2 10 Enabled OFF lo aa s20 Disabled O Z 5 Multistepping Multistepping is similar to dynamic smoothing except it is a much more aggressive use of the filter Typically it results in a filter that begins to roll off two octaves below the resonant frequency This is intended for use with coarse resolution full half step input pulses to smooth large steps into a continuous train of microsteps and may provide smoother motion depending on your motion application Disable multistepping if you are not using full or half step resolution Table 10 lists the multistepping switch settings Table 10 Multistepping DIP Switch Settings Multistepping S2 11 Enabled ON Ea 2mm Disabled O zs gs 2o Getting Started with NI 73xx Controllers and P7000 Drives 12 ni com Encoderless Stall Detection
29. with NI 73xx Controllers and P7000 Drives 16 ni com 2 Launch the P7000 Tools configuration software The setup wizard appears as shown in Figure 10 Welcome Welcome to the P7000 Setup Wizard This wizard will assist you through setting the essential drive setup parameters which will allow you to get your application up and running in the shortest time possible At a later time you can fine tune your application by adjusting the advanced drive parameters in the tree view on the left side of the project workspace window Press Next to begin the wizard setup or press Cancel at any time to open a blank project Disable Auto Device Detection ach Cancel Help Figure 10 P7000 Setup Wizard National Instruments Corporation 17 Getting Started with NI 73xx Controllers and P7000 Drives 3 Click Next and the P7000 software searches for connected drives on the COM1 port Once detected the product selection dialog appears as shown in Figure 11 You may enter a new name for the drive or leave the default T ies Status ih Configuration w Stepper Motor By Mechanical Command g ro A x 5moothness F Advanced B Motion Product Selection Select a device type below for offline setup C p70360AC C p70530 pc Select a connected device or add a new drive setup Enter a name for this configuration P7000 Setup Wizard Step 1 cma He
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