National Instruments nuDrive 2CF-001 User Manual Download

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321942B-01

January 2000

USER GUIDE

RIVE

CCESSORY

This user guide describes the electrical and mechanical aspects of the
nuDrive power amplifier accessory and describes how to use the nuDrive
with your motion controller.

Contents

Motor Power Terminal Blocks ........................................................ 7
Encoder Terminal Blocks ................................................................ 8
Limit Switch Terminal Blocks......................................................... 11

CX and SX nuDrive Configuration .......................................... 11
CF nuDrive Configuration........................................................ 12

I/O Terminal Blocks ........................................................................ 13

CX and SX nuDrive Configuration .......................................... 13
CF nuDrive Configuration........................................................ 15

Amplifier/Driver Command Signals ....................................................... 16

Servo Amplifier Signals................................................................... 16
Stepper Driver Signals ..................................................................... 16

Optional Configurations.......................................................................... 16

E-Stop Terminal Block .................................................................... 16
Servo Amplifier Configurations ...................................................... 17

Adjusting Current Gain and Current Limits ............................. 19
Balancing the Amplifier Gain................................................... 21
Status LEDs .............................................................................. 22

Stepper Driver Configurations......................................................... 23

Stepper Motor Current.............................................................. 24
Microstep Selection .................................................................. 26

Stepper Motor Configurations ................................................................ 26
Specifications .......................................................................................... 29

Summary of Contents for nuDrive 2CF-001

Page 1: ...Safety Information 5 Installation and Connector Wiring 6 Front Panel Switches and Host Bus Interlock Circuit 6 Rear Panel Connector Wiring 7 Motor Power Terminal Blocks 7 Encoder Terminal Blocks 8 Lim...

Page 2: ...his font also denotes text that is a placeholder for a word or value that you must supply CF nuDrive Refers to the 4CF 001 and 2CF 001 nuDrives CX nuDrive Refers to the 4CX 001 and 2CX 001 nuDrives SX...

Page 3: ...The terminal blocks do not require any special wiring tools for installation Refer to Table 2 for a summary of how to connect various motion controllers to different nuDrives Table 1 nuDrive Properti...

Page 4: ...t Each nuDrive is packaged in a rugged aluminum enclosure that can be used as a benchtop unit or that can be rack mounted Table 2 nuDrive Connectivity Controller Connection nuDrives All 7344 controlle...

Page 5: ...emove equipment covers or shields unless you are trained to do so Hazardous voltages may exist even when the equipment is turned off To avoid a shock hazard do not perform procedures involving cover o...

Page 6: ...ion controller to the nuDrive interface cable Wire the motor power limit switch encoder I O and E Stop terminal blocks as per the instructions and diagrams in this manual and or your specific system r...

Page 7: ...onitors the presence of 5 V from the host computer and disables the nuDrive when the voltage disappears or falls out of tolerance This circuit shuts down the motors by activating the Inhibit or disabl...

Page 8: ...tions for additional information on connecting 6 and 8 wire motors and on the alternate half coil configuration Caution Never connect unused center taps or winding terminals to pin 3 Encoder Terminal...

Page 9: ...upply to the Common ground signal on the 8 pin encoder terminal block nuDrives have differential inputs for Phase A Phase B and Index signals You can easily accommodate encoders with various phase rel...

Page 10: ...shaft Negative reverse counter clockwise CCW facing motor shaft Figure 6 shows the clockwise and counter clockwise motor rotation Figure 6 Clockwise and Counter Clockwise Motor Rotation When connecti...

Page 11: ...ections CX and SX nuDrive Configuration For end of travel limit and home switch connections nuDrive axes have a separate six position removable screw terminal connector block All limit signals are fil...

Page 12: ...r the CF nuDrive terminal block pin assignments Figure 10 Pin Assignment for the Limit Switch Terminal Block on the CF nuDrive The Limit High Speed Capture and External Inhibit signals are opto couple...

Page 13: ...ing a separate six position terminal block with removable screws Figure 11 shows the two six position I O terminal block pin assignments Figure 11 Pin Assignments for the Two Six Position I O Terminal...

Page 14: ...s interlock and per axis inhibit signals CX nuDrives To use the amplifier inhibit functionality of the 7344 controller set jumpers JP2 through JP5 to the Inhibit position recommended When the jumpers...

Page 15: ...signments Figure 14 Upper I O Terminal Block Pin Assignment on the CF nuDrive Figure 15 Lower I O Terminal Block Pin Assignment on the CF nuDrive The breakpoint output digital signals are opto coupled...

Page 16: ...nfiguration is the National Instruments default output configuration for stepper controller boards and nuDrives Optional Configurations Warning Be sure to turn off the ENABLE switch and disconnect the...

Page 17: ...ble input Refer to Figure 17 for more information on the E Stop terminal block pin assignment Figure 17 E Stop Terminal Block Pin Assignment Note The front panel ENABLE switch will remain illuminated...

Page 18: ...ent output relationship for periods of time greater than approximately two seconds The maximum current output corresponds to the continuous current limit Icont so command voltages that would result in...

Page 19: ...er as a torque current block Configure the current gain on the nuDrive so that the value of the maximum command voltage when multiplied by the gain results in the value of the maximum allowable peak c...

Page 20: ...e that would correspond to a gain of 1 0 and therefore a maximum output current of 10 A Use the closest resistor value below the value you calculate for R40 and R42 to ensure that your current limits...

Page 21: ...im the leads to the proper length bend them at 90 and plug them into the sockets Balancing the Amplifier Gain The balance DC offset of the amplifier is trimmed to zero at the factory If you change the...

Page 22: ...the motor ceases to rotate Status LEDs The amplifiers in the servo nuDrive also have three status LEDs that are useful for troubleshooting potential amplifier faults The amber LED labeled VS indicates...

Page 23: ...settings are 10 times microstepping 2 000 steps rev with standard 1 8 stepper motors and current limits set to approximately 1 A RMS 1 4 A peak per phase All microstep drivers in the nuDrive have an...

Page 24: ...the value of RCL by where RCL represents the current limit resistor value in ohms and IRMS represents the output current as an RMS value Calculate the value for RCR by where RCR represents the current...

Page 25: ...ble 4 Output Current versus RCL Value Output Current per Phase RCL Value 5 1 4 W RMS Peak 0 26 A 0 36 A 180 minimum value 0 31 A 0 44 A 220 0 38 A 0 54 A 270 0 47 A 0 66 A 330 0 55 A 0 78 A 390 0 65 A...

Page 26: ...with all configurations of two phase stepper motors Note The stepper nuDrive is not compatible with five lead unipolar stepper motors or five phase stepper motors the stepper nuDrive is only compatib...

Page 27: ...e 23 produces the most torque per amp but has the disadvantage of higher inductance and poorer high speed performance Figure 23 Series Stepper Motor Wiring Higher Torque Lower Speed Alternatively 8 wi...

Page 28: ...Figure 25 This configuration sacrifices low speed torque for better high speed performance With this configuration it is typically not possible to produce the rated torque of the motor without the ris...

Page 29: ...signal pass through This means the nuDrive may have passive filtering on these signals but will not affect the voltage range or current handling capability Consult your motion controller specification...

Page 30: ...nterface Each Axis Inputs Quadrature incremental Differential input threshold 0 3 V typical Single ended input threshold TTL CMOS Voltage range 0 to 5 VDC Noise filter RC time constant 100 ns Max quad...

Page 31: ...ating temperature 0 to 45 C 32 to 113 F Storage temperature 20 to 70 C 4 to 158 F Humidity 10 to 90 noncondensing Power Supply Input voltage 115 VAC 15 50 60 Hz Input Fuse 24 VDC units F5 5 A 5 20 mm...

Page 32: ......

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