Summary of the content on the page No. 1
USER GUIDE
MID-7654/7652 SERVO POWER MOTOR DRIVE
This user guide describes the electrical and mechanical aspects of the
MID-7654/7652 servo power motor drive and describes how to use
the MID-7654/7652 with your motion controller.
Contents
Conventions ............................................................................................ 2
Introduction............................................................................................. 2
What You Need to Get Started .................
Summary of the content on the page No. 2
Modifying the Power Entry Module........................................................30 Replacing a Fuse...............................................................................30 Changing the Line Voltage...............................................................31 Amplifier/Driver Command Signals .......................................................31 Specifications...........................................................................................31 Technical Support Res
Summary of the content on the page No. 3
The MID-7654/7652 simplifies your field wiring through separate encoder, limit switch, and motor power removable screw terminal connector blocks for each axis. The terminal blocks do not require any special wiring tools for installation. The MID-7654/7652 connects to National Instruments motion controllers via a 68-pin, high-density interconnect cable. The MID-7654/7652 has four levels of amplifier inhibit/disable protection for motion system shut down. The front panel contains both enable and p
Summary of the content on the page No. 4
qualified to do so and disconnect all field power prior to removing covers or shields. Do not operate damaged equipment. The safety protection features built into this device can become impaired if the device becomes damaged in any way. If the device is damaged, turn the device off and do not use it until service-trained personnel can check its safety. If necessary, return the device to National Instruments for service and repair to ensure its safety is not compromised. Do not operate this e
Summary of the content on the page No. 5
Front Panel Switches Figure 1 shows the front panel for your MID-7654/7652. The DIP switches are shown with the detachable metal cover plate removed. 4 4 A Axis xis S Se er rv vo o M Mot otor or Driv Drive e POL AXIS 1 AXIS 2 AXIS 3 AXIS 4 1 2 3 4 5 6 7 8 9 MID-7654 2 Axis Servo Motor Drive POL AXIS 1 AXIS 2 9 1 2 3 6 7 8 MID-7652 1 Polarity DIP Switch Bank 4Axis3DIPSwitchBank* 7 Enable Switch 2 Axis 1 DIP Switch Bank 5Axis4DIPSwitchBank* 8 Green Power LED 3 Axis 2 DIP Switch Bank 6 LED Status A
Summary of the content on the page No. 6
The ENABLE switch enables or inhibits the servo amplifiers. If the ENABLE switch is in the inhibit position (OFF), the amplifier output stages are inhibited and the yellow LEDs for all axes illuminate. See the Front Panel LEDs section of this guide for more information. Both the AC POWER and ENABLE switches can inhibit the servo amplifiers. However, as long as the AC POWER switch is on, only the servo amplifier output stages are disabled. The remaining circuitry remains active, including the qua
Summary of the content on the page No. 7
Table 1. Front Panel LED Indicators Status Motor Axis * * Amplifier Fault Output (red) 1 2 3 4 * * Amplifier Inhibit (yellow) 1 2 3 4 * * Limit Status (green) 1 2 3 4 * These LEDs only appear on the MID-7654. Amplifier Fault Output LEDs The top row of the LED status array indicates the status of the amplifiers. A red LED indicates an overcurrent condition, a short circuit condition, an over temperature condition, or a problem with the motor bus voltage on that axis. Amplifier Inhibit LEDs The mi
Summary of the content on the page No. 8
Front Panel DIP Switch Settings The MID-7654/7652 front panel has a detachable metal plate that, when removed, provides access to one 4-position DIP switch bank and either four (MID-7654) or two (MID-7652) 9-position DIP switch banks. Refer to Figure 1 for the location of these switches. Use the DIP switches on the 4-position DIP switch bank to configure the inhibit in, inhibit out, and limit status LED polarity as shown in Figure 2. The different settings for these switches are described in the
Summary of the content on the page No. 9
Inhibit Input Polarity Setting UseDIP switch1onthe 4-position DIPswitchbanktogloballyset the polarity for the inhibit input for all axes. Refer to Figures 1 and 3 for the location of this switch. The factory-default setting of DIP switch 1 is active-low. If the inhibit input is active, the axis is inhibited and the yellow status LED (middle row) corresponding to that axis illuminates. Table 2 shows the DIP switch setting for the inhibit input polarity selection. Table 2. Inhibit Input Polarity D
Summary of the content on the page No. 10
Limit Status LED Polarity Setting UseDIP switch3onthe 4-position DIPswitchbanktogloballyset the polarity for the Limit Status LED. Refer to Figures 1 and 3 for the location of this switch. The factory-default setting is active-high. Typically, you set the switch to match your controller’s polarity setting, so if either the reverse or forward limits for an axis are active, the green status LED (on the bottom row) corresponding to that axis illuminates. This DIP switch alters only the polarity for
Summary of the content on the page No. 11
Figure 4 illustrates the command voltage input to current output relationship for periods of time less than 2.7 seconds. +I peak +V max +I cont 0V 0A –I cont –V max Gain Applied –I peak Figure 4. Input Voltage to Output Current Relationship for Periods of Time Less Than 2.7 Seconds Figure 5 shows the command voltage input to current output relationship for periods of time greater than 2.7 seconds. The maximum current output corresponds to the continuous current limit, I . Therefore, command cont
Summary of the content on the page No. 12
The amplifier peak and continuous current limits have been factory set for 5 A continuous current output and 10 A peak current output. Verify that these settings are appropriate for your application before powering your motors. Use DIP switches 1 through 4 on each of the 9-position DIP switch banks to set the continuous current limit for each axis. Use DIP switches 5 through 8 on each of the 9-position DIP switch banks to set the peak current limit for each axis. Refer to Figures 1 and 3 for the
Summary of the content on the page No. 13
If you are connecting multiple motors to your MID-7654/7652, verify that the total power dissipated by the motors at any given time is less than the total power the drive can provide. If the total power requirement exceeds the capability of the drive at any point, the drive will provide less power to the motors than desired until the total power requirement drops back down. Your MID-7654/7652 may overheat under continuous operation with loads that exceed specified limits. Caution A fire safety h
Summary of the content on the page No. 14
Use the last DIP switch on each of the 9-position DIP switch banks to set the motor inductance level for each axis. Refer to Figures 1 and 3 for the location of the of the motor inductance level switch. Table 7 shows the DIP switch settings for low and standard motor inductance. Table 7. Motor Inductance Level DIP Switch Settings Switch Setting Operation O Low motor inductance N 9 O Standard motor inductance N (factory default) 9 MID-7654/7652 Servo Power Motor Drive User Guide 14 ni.com
Summary of the content on the page No. 15
Back Panel Connector Wiring Figure 6 shows the MID-7654/7652 back panel connectors without their rear guards. MID-7654 MID-7652 1 Motion Controller Connector Encoder Limit Motor 2 Analog Input Connector Connectors Connectors Connectors 3 Analog Output Connector 8Axis1 12 Axis 1 16 Axis 1 4 Trigger Connector 9Axis2 13 Axis 2 17 Axis 2 5 Breakpoint Connector 10 Axis 3* 14 Axis 3* 18 Axis 3* 6 Step/Direction Connector 11 Axis 4* 15 Axis 4* 19 Axis 4* 7ACPower * This connector is available only on t
Summary of the content on the page No. 16
Caution Be sure to turn off the ENABLE and AC POWER switches for your MID-7654/7652 and host computer and disconnect the unit from the power outlet before making connections to your motion controller. Warning The servo motor connectors on this drive are energized when the unit is powered on. The rear guard must be in place at all times while the unit is connected to a power outlet. Disconnect the MID-7654/7652 unit from power outlet before connecting wires to or disconnecting wires from the serv
Summary of the content on the page No. 17
Terminal Block Wiring This section describes how to wire the terminal blocks on your MID-7654/7652. Servo Motor Power Terminal Blocks For motor power wiring, each MID-7654/7652 axis has a separate 5-position removable screw terminal block. Figure 7 shows a typical servo motor configuration pin assignment. The dotted loop indicates a shielded cable. Motor + 1 Motor – + – 2 Motor Case Ground 3 4 Shield 5 Servo Motor Figure 7. Typical Servo Motor (DC Brush Type) Terminal Block Pin Assignment Warnin
Summary of the content on the page No. 18
Depending on your motor, you may need to reverse the connections shown in Figure 7, as there is no industry standard for direction of movement relative to the positive and negative motor inputs. Table 8 shows the National Instruments motion control standard directional polarity. Table 8. National Instruments Standard Directional Polarity Commanded Motor Signal Command Direction Description Relationship Signal Forward Clockwise (CW) facing Motor – is greater than Positive voltage motor shaft Moto
Summary of the content on the page No. 19
Rear Guard The rear guard consists of the protection cover, protection plates, and bottom mounting plate as shown in Figure 9. 1 Bottom Mounting Plate 3ProtectionPlate 2ProtectionCover Figure 9. Rear Guard Consisting of the Protection Cover, Protection Plates, and Bottom Mounting Plate © National Instruments Corporation 19 MID-7654/7652 Servo Power Motor Drive User Guide
Summary of the content on the page No. 20
The rear guard installed on the MID-7654/7652 is shown in Figure 10. Figure 10. Rear Guard Installed on the MID-7654/7652 Warning The servo motor connectors on this drive are energized when the unit is powered on. The rear guard must be in place at all times while the unit is connected to a power outlet. Disconnect the MID-7654/7652 unit from power outlet before connecting wires to or disconnecting wires from the servo motor connectors. Strip back the insulation of the servo motor wires to the s
