National Instruments NI SMD-7613 User manual

GETTING STARTED
NI SMD-7613/7614/7615/7616
Stepper Drives and NI 9512 C
Series Modules
This document explains how to install and configure the NI SMD-7613/4/5/6 stepper drives for
use with the NI 9512 C Series drive interface module.
Contents
What You Need to Get Started ................................................................................................. 2
Hardware .......................................................................................................................... 2
Software............................................................................................................................ 3
Hardware Installation and Configuration ................................................................................. 4
Step 1: Set Up the Real Time System............................................................................... 4
Step 2: Connect the NI 9512 to the 37-Pin Terminal Block............................................. 4
Step 3: Connect the 37-Pin Terminal Block to the +24 V Power Supply ........................ 5
Step 4: Connect the Drive Command Signals .................................................................. 5
Step 5: Connect the Drive Enable Signal ......................................................................... 6
Step 6: (Optional) Connect the Encoder Signals .............................................................. 6
Step 7: Connect the NI PS-12/13 Power Supply to the NI SMD-7613/4/5/6................... 7
Step 8: Connect the SMD-7613/4/5/6 to the Motor ......................................................... 8
Four Lead Motors ..................................................................................................... 9
Six Lead Motors ....................................................................................................... 9
Eight Lead Motors .................................................................................................... 10
Step 9: Connect the NI SMD-7613/4/5/6 to the Network ................................................ 11
Step 10: Power on the Drive and Verify Connections...................................................... 11
Step 11: Configure the Drive using NI Stepper Configuration Utility............................. 12
Software Installation and Configuration................................................................................... 15
Step 1: Install Software on and Configure the NI RT Controller..................................... 15
Step 2: Create a Project and add NI RT Controller .......................................................... 15
A. CompactRIO Controller....................................................................................... 16
B. EtherCAT Master and NI 9144 EtherCAT Expansion Chassis ........................... 16
C. NI 9146/7/8/9 Ethernet RIO Expansion Chassis ................................................. 17
Step 3: Add a SoftMotion Axis to the Project .................................................................. 18
Step 4: Configure the NI 9512 Axis ................................................................................. 19
Step 5: Enable and Test the Drive Using LabVIEW ........................................................ 22
Where To Go From Here..........................................................................................................23
Worldwide Support and Services ............................................................................................. 24

2|ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
What You Need to Get Started
You need the following items to get started.
Hardware
NI 9512 C Series stepper drive interface module
NI Real-Time controller
– CompactRIO controller and chassis that support the RIO Scan Interface
Tip To determine if your controller and chassis support the RIO Scan Interface go
to ni.com/info and enter the Info Code rdsoftwareversion.
or
– NI 9146, 9147, 9148, or 9149 Ethernet RIO Expansion Chassis.
or
– NI 9144 distributed chassis and compatible RT controller
+24 V power supply (such as the NI PS-15) for the CompactRIO controller
(NI part number 781093-01)
Separate +24 V power supply for the NI 9512 (such as the NI PS-15)
NI PS-12 or NI PS-13 power supply for the NI SMD-7613/4/5/6
NI SMD-7613/4/5/6 stepper drive
NI or third-party stepper motor
Note NI offers stepper motors matched to the NI SMD-7613/4/5/6. Refer to
ni.com/motion for motor options. National Instruments highly recommends using
these motors for the best user experience.
(Optional) ENC-7740 encoder for ST17 motors (NI part number 748991-01) or ENC-7741
encoder for ST23 motors (NI part number 748992-01)
Encoder cable to connect the encoder to the NI 951x terminal block
(NI part number 783661-10)
Ethernet connection and cable for the CompactRIO controller
DB25M-Pigtail 25-pin Dsub cable (NI Part Number 190911-04)
NI 951x Cable and Terminal Block bundle (NI part number 780553-01)

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |3
Software
LabVIEW 2010 (minimum)
LabVIEW 2010 Real-Time Module (minimum)
LabVIEW 2010 f1 NI SoftMotion Module (minimum)
NI-RIO 3.5.1 (minimum)
Figure 1. NI 9512 to NI SMD-7613/74/5/6 Connections
Encoder
Connections
+24 V Power Supply
(NI PS-15 Shown)
NI RT Controller
(NI cRIO-9014 shown)
and NI 9512 Module
+24 V Power Supply
(NI PS-15 Shown)
37-pin Terminal
Block
Ethernet Cable
DB25M-
Pigtail 25-pin Dsub cable
NI PS-12/13
Power Supply
LN-V+V
Madein China
+V ADJ
+
OUTPUT:48V 6.7A INPUT:100-240VAC 5A 50/60Hz
LN-V+V
Madein China
+V ADJ
+
.
NI Stepper Motor
NI SMD-7613/7614/
7615/7616

4|ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Hardware Installation and Configuration
This section covers the hardware setup for the Real Time system, NI 9512 C Series module, and
NI SMD-7613/4/5/6 stepper drive.
Step 1: Set Up the Real Time System
Complete the following steps to set up the Real Time system depending on your hardware.
1. Refer to the Getting Started guide included with the Real-Time controller to assemble it,
connect it to power, discover it on the network, and install the software in NI MAX.
2. Install the NI 9512 module in an available slot that supports High Speed Interface (HSI) in
your chassis.
Note Older model chassis, such as cRIO-902x, cRIO-907x, cRIO-908x, NI 9144,
and NI 9148, have HSI support on slots 1 through 4. Refer to your chassis
documentation for more information about HSI slot support.
Step 2: Connect the NI 9512 to the 37-Pin Terminal
Block
1. Connect the MDR and DSUB connectors on the NI 951x Y-cable to the MDR and DSUB
connectors on the NI 9512 module.
2. Connect the 37-pin DSUB to the DSUB connector on the NI 951x terminal block.
Figure 2. NI 9512 37-Pin Terminal Block Pin Assignments
37
363534333231302928272625242322212019
GND
181716151413121110987654321
Forward Limit
Home
COM
Digital Input 0
COM
Encoder 0 Index+
Encoder 0 Index–
COM
+5V OUT
Position Compare
Reserved
Reserved
Digital Output 0†
Vsup†
Digital Input 1†
Direction (CCW)+†
COM†
Step (CW)+†
Shield
Digital Output 1†
Reverse Limit
Reserved
Vsup
Reserved
COM
Encoder 0 Phase A+
Encoder 0 Phase A–
Encoder 0 Phase B+
Position Capture
Encoder 0 Phase B–
Reserved
Reserved
COM†
Drive Enable†
Digital Input 3†
Digital Input 2†
Direction (CCW)–†
Step (CW)–†
† IndicatesDSUB connector signals.

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |5
Step 3: Connect the 37-Pin Terminal Block to the +24 V
Power Supply
Note Do not plug in or turn on the power supply until after you complete Step 10:
Power on the Drive and Verify Connections.
1. Connect the V+ terminal from the 24 V power supply to one of the two Vsup inputs on the
37-pin terminal block. The 37-pin terminal block provides a Vsup input for the NI 9512 on
pin 14 and pin 22.
2. Connect the V- terminal from the 24 V power supply to one of the COM terminals on the
37-pin terminal block. The 37-pin terminal block provides COM on pins 3, 5, 8, 17, 24,
and 32.
Step 4: Connect the Drive Command Signals
Complete the following steps to connect the Drive Command signals to the NI 9512 terminal
block by using the DB25M- Pigtail 25-pin Dsub cable (NI Part Number 190911-04).
1. Connect the SMD-7613/4/5/6 STEP+ (pin 10) and DIR+ (pin 12) terminals to the 37-pin
terminal block +5V OUT terminal (pin 9).
2. Connect the SMD-7613/4/5/6 STEP- (pin 11) terminal to the 37-pin terminal block Step
(CW)+ terminal (pin 18).
3. Connect the SMD-7613/4/5/6 DIR- (pin 9) terminal to the 37-pin terminal block Direction
(CCW)+ terminal (pin 16).

6|ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Figure 3. SMD-7613/4/5/6 Drive Command and I/O Connector
Step 5: Connect the Drive Enable Signal
The Drive Enable signal controls the enable function of the drive. To use this signal, connect the
SMD-7613/4/5/6 X3/ENABLE terminal (pin 7) to the 37-pin terminal block Drive Enable
terminal (pin 33).
Step 6: (Optional) Connect the Encoder Signals
If your motor includes an encoder, complete the following steps to connect the encoder to the
NI 9512 by wiring the encoder cable to the 37-pin terminal block:
Note SMD-7614 and SMD-7616 include encoder inputs. The encoder signals must
be connected to the NI 9512 for SoftMotion to have access to the Encoder Feedback.
1. If an NI Encoder is being used, connect the appropriate end of the encoder cable
(NI part number 783661-10) to the encoder.
2. Connect the encoder wires to the 37-pin terminal block as indicated in Table 1.
3. Insulate any unused wires.
GND
X1/STEP+
X1/STEP–
X2/DIR+
X2/DIR–
X COMMON
X3/ENABLE
X4/ALARM RESET
X5/CWJOG
X6/CCWJOG
ANALOG IN2
ANALOG IN1
X8/CCWLIMIT–
X8CCWLIMIT+
X7/CWLIMIT–
X7/CWLIMIT+
Y4–
Y4+
GND
+5V OUT
Y COMMON
Y3/FAULT
Y2/MOTION
Y1/BRAKE
13
12
11
10
9
8
7
6
5
4
3
2
1
25
24
23
22
21
20
19
18
17
16
15
14

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |7
Step 7: Connect the NI PS-12/13 Power Supply to the
NI SMD-7613/4/5/6
Note Do not plug in or turn on the power supply until after you complete Step 10:
Power on the Drive and Verify Connections.
Complete the following steps to connect the power supply to AC input power and to the
NI SMD-7613/4/5/6.
Figure 4. NI PS-12/13 Power Supply Terminals
Table 1. NI SMD-7613/4/5/6 to 37-Pin Terminal Block Connections
Encoder
Signal Name
Encoder Cable
Wire Color
37-Pin
Terminal Block
Pin Number
37-Pin
Terminal Block
Signal Name
CH A blue 25 Encoder 0 Phase A+
CH A- blue/white 26 Encoder 0 Phase A-
CH B yellow 27 Encoder 0 Phase B+
CH B- yellow/white 29 Encoder 0 Phase B-
INDEX orange 6Encoder 0 Index+
INDEX- orange/white 7Encoder 0 Index-
GND black 8COM
+Vcc red 9+5V OUT
1 +24 V (NI PS-12) or +48V (NI PS-13) Output
2 +24 V (NI PS-12) or +48V (NI PS-13) Ground
3 AC Input Ground (Protective Earth)
4 AC Input Neutral
5 AC Input Line
LN-V+V
Made in China
+V ADJ
+
OUTPUT: 48V 6.7A INPUT: 100-240VAC 5A 50/60Hz
LN-V+V
Made in China
+V ADJ
+
1234 5

8|ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Figure 5. SMD-7613/4/5/6 Power and Motor Connector
1. Connect an AC input cable to the line, neutral, and protective earth connectors.
2. Connect the SMD-7613/4/5/6 V+ terminal to the power supply +V connector.
3. Connect the 7613/4/5/6 V- terminal to the power supply -V connector.
4. Connect the SMD-7613/4/5/6 green ground screw to earth ground.
5. Connect the NI 9512 COM to the NI PS-12/13 -V terminal to ensure a common reference.
Note Refer to the NI SMD-7613/7614/7615/7616 User Manual on ni.com/
manuals for more information about connecting the power supply.
Step 8: Connect the SMD-7613/4/5/6 to the Motor
The drive supports various stepper motors. The connection to the stepper motor depends on the
number of leads present. Refer to the following figures to connect your stepper motor.
Note Motor wire colors are correct for NI stepper motors compatible with the
NI SMD-761x. These wire colors may not match a third-party stepper motor.
V+ V- A+ A- B-B+

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |9
Four Lead Motors
Four lead motors can only be configured according to the following diagram.
Figure 6. Four Lead Motor Connection
Six Lead Motors
Six lead motors can be connected in series or center tap.
Figure 7. Six Lead Motor Connected in Series
Phase A+ Phase A–
Phase B+
Phase B–
Red Blue
Yellow
White
Phase A+Green
White No Connect
No Connect
Phase A–Grn/Wht
Phase B+Red/Wht
Black

10 |ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Figure 8. Six Lead Motor Connected in Center Tap
Eight Lead Motors
Eight lead motors can be connected in series or parallel.
Figure 9. Eight Lead Motor Connected in Series
No ConnectGreen
White Phase A+
Phase B+
Phase A–Grn/Wht
No ConnectRed/Wht
Red
Black
Phase B–
Phase B–
Phase A+ Phase A–
Phase B+
Orange
Org/Wht
Blk/Wht
Black
Red
Red/Wht
Yel/Wht
Yellow

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |11
Figure 10. Eight Lead Motor Connected in Parallel
Step 9: Connect the NI SMD-7613/4/5/6 to the Network
1. Connect the NI SMD-7613/4/5/6 to an Ethernet network on the same subnet as the
development computer.
2. Set the rotary switch to one of the preset IP addresses or to the F position to configure the
drive to use DHCP.
Note This document assumes you have configured the drive for DHCP. For
information about other settings refer to the NI SMD-7613/7614/7615/7616 User
Manual on ni.com/manuals.
Step 10: Power on the Drive and Verify Connections
After all hardware connections have been made complete the following steps to confirm the
hardware setup.
1. Turn on all power supplies.
2. Verify that the Drive Status LED on the NI SMD-7613/4/5/6 flashes or is solid green.
Figure 11 shows the location of the Drive Status LED.
Figure 11. Drive Status LED Location
Phase B–
Phase A+ Phase A–
Phase B+
Orange
Red
Yel/Wht
Red/Wht
Yellow
Black
Org/Wht
Blk/Wht
Status LEDs

12 |ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
If the Drive Status LED does not flash or turn solid green, turn off all power, verify the connections,
and try again. Refer to the Worldwide Support and Services section for additional tips.
Step 11: Configure the Drive using NI Stepper
Configuration Utility
The NI Stepper Configuration Utility allows the drive to be customised for a specefic motor.
Complete the following steps to customize the motor by using the NI Stepper Configuration
Utility.
1. Visit ni.com/downloads to download the NI Stepper Configuration Utility.
2. Install and open the Stepper Configuration Utility on the computer connected to the same
network as the drive.
Figure 12. The NI Stepper Configuration Utility Window
3. Enter the IP address of the drive as configured using the rotary switch in the previous steps
and click Upload from Drive. This will retrieve the model number of the drive you are
using.

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |13
4. Click Motion… button in the top-left corner. The option to select the Motion Control mode
is displayed.
Figure 13. Motion Control Mode
5. Click Pulse & Direction Mode to program the drive to receive step and direction signals
from the NI 9512 module.
Figure 14. The Pulse & Direction Mode window
6. In the Pulse & Direction Control window, enter the microstepping resolution in the
Steps/Rev control. By default, this value is set to 20,000 steps/revolution. Click OK.
7. Click Motor… button in the bottom-left corner to configure the motor connected to the
drive.

14 |ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Figure 15. The Motor Configuration window
8. If NI’s ST-series stepper motor is being used, select Standard motor and use the dropdown
menu to select the model.
9. If a third-party stepper motor is being used, select Custom motor then click Define
Custom Motor… to enter the rated current, holding torque, and rotor inertia of the motor.
10. Configure the remaining parameters (Running Current, Idle Current, Idle Current Delay,
and the Load Inertia) for your application. Refer to the Help menu for full descriptions of
these parameters.
11. When configuration is complete, click Download to Drive to save these settings to the
drive.

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |15
Software Installation and Configuration
This section covers installing and configuring software for the NI 9512 C Series module.
Note These instructions assume you have installed all required software from the
What You Need to Get Started section on your development machine.
Step 1: Install Software on and Configure the NI RT
Controller
Complete the following steps to configure the controller and install software on it.
1. Launch Measurement & Automation Explorer (MAX) on the development computer by
clicking the MAX icon on the desktop, or by selecting Start»All Programs»
National Instruments»NI MAX.
2. Select the controller under Remote Systems in the Configuration pane. If you do not see
the controller, you may need to disable the firewall on the development computer.
3. Verify that the Serial Number in the Identification section matches the serial number on
the device.
4. Expand the controller item in the tree, right-click Software, and select Add/Remove
Software.
5. Select a recommended software set that includes NI-RIO 3.5.1 (minimum) with NI Scan
Engine Support.
6. Click Next and enable the following add-ons:
• LabVIEW SoftMotion Module
• NI Industrial Communications for EtherCAT if using the NI 9144.
7. Click Next to install the selected software on the controller. Click Help if you need
information about installing recommended software sets.
8. Close MAX.
Step 2: Create a Project and add NI RT Controller
Complete the following steps to create a LabVIEW project.
1. Launch LabVIEW by selecting Start»All Programs»National Instruments»LabVIEW.
2. Click the Empty Project link in the Getting Started window to display the Project
Explorer window. You can also select File»New Project to display the Project Explorer
window.
3. Select Help and make sure that Show Context Help is checked. You can refer to the
context help throughout the tutorial for information about items on the block diagram.
Depending on the hardware configuration being used, continue to the following respective
sections.

16 |ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
A. CompactRIO Controller
If you are using a CompactRIO controller, complete the following steps to add the device to the
project and detect the C Series modules.
1. Right-click the top-level project item in the Project Explorer window and select New»
Targets and Devices from the shortcut menu to display the Add Targets and Devices
dialog box.
2. Make sure that the Existing target or device radio button is selected.
3. Expand Real-Time CompactRIO.
4. Select the CompactRIO controller to add to the project and click OK.
5. If you have LabVIEW FPGA installed, the Select Programming Mode dialog box
appears. Select Scan Interface to put the system into Scan Interface mode.
Tip Use the CompactRIO Chassis Properties dialog box to change the
programming mode in an existing project. Right-click the CompactRIO chassis in the
Project Explorer window and select Properties from the shortcut menu to display
this dialog box.
6. Click Discover in the Discover C Series Modules? dialog box if it appears.
7. Click Continue.
8. Right-click the controller item in the Project Explorer window and select Properties from
the shortcut menu to display the RT Target Properties dialog box. Select Scan Engine
from the Category list to display the Scan Engine page.
9. Set the Scan Period to 5 ms or lower.
10. Click OK to close the RT Target Properties dialog box.
B. EtherCAT Master and NI 9144 EtherCAT Expansion Chassis
If you are using the NI 9144 chassis, complete the following steps to add the EtherCAT master
device and detect the C Series module.
1. Add the Master Real Time Controller to the project. Right click the top level project item
in the Project Explorer window and select New»Targets and Devices from the shortcut
menu to display the Add Targets and Devices dialog box.
2. Make sure that Existing target or device radio button is selected.
3. Expand the folder that corresponds to the device you are adding, such as Real Time
Industrial Controller, Real Time PXI, and so on.
4. Select Real Time to add to the project and click OK.
5. In the LabVIEW Project Explorer window, right-click the master controller and select
New»Targets and Devices.
6. In the Add Targets and Devices dialog window shown in Figure 16, select Existing target
or device and expand the category EtherCAT Master Device to auto-discover the EtherCAT
port on the master controller. An EtherCAT master device and modules can be added
manually at any time.

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |17
Figure 16. Adding the EtherCAT Master
When all the slave devices are discovered, the LabVIEW Project Explorer window lists each
slave device and any installed C Series modules.
C. NI 9146/7/8/9 Ethernet RIO Expansion Chassis
Complete the following steps to add the device to the project and detect the C Series modules if
the NI 9146/7/8/9 Ethernet RIO Expansion chassis is being used.
1. Right-click the top-level project item in the Project Explorer window and select New»
Targets and Devices from the shortcut menu to display the Add Targets and Devices
dialog box.
2. Make sure that the Existing target or device radio button is selected.
3. Expand Ethernet RIO.
4. Select the Ethernet RIO expansion chassis to add to the project and click OK.
5. If you have LabVIEW FPGA installed, the Select Programming Mode dialog box
appears. Select Scan Interface to put the system into Scan Interface mode.
Tip Use the Chassis Properties dialog box to change the programming mode in an
existing project. Right-click the chassis in the Project Explorer window and select
Properties from the shortcut menu to display this dialog box.
6. Click Discover in the Discover C Series Modules? dialog box if it appears.
7. Click Continue.
8. Right-click the controller item in the Project Explorer window and select Properties from
the shortcut menu to display the Ethernet RIO Properties dialog box. Select Scan Engine
from the Category list to display the Scan Engine page.
9. Set the Scan Period to 5 ms or lower.
10. Click OK to close the Ethernet RIO Properties dialog box.

18|ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Step 3: Add a SoftMotion Axis to the Project
Complete the following steps to create a LabVIEW project and add a SoftMotion Axis to it.
1. Right-click the controller item in the Project Explorer window and select New»
NI SoftMotion Axis from the shortcut menu to open the Axis Manager dialog box.
2. Click Add New Axis to create an NI SoftMotion axis associated with the NI 9512 module.
Axes are automatically bound to an available module. You can double-click the axis name
to rename the axis and give it a descriptive name.
Figure 17. Axis Manager Dialog Box
3. Click OK to close the Axis Manager dialog box. The new axis is added to the Project
Explorer window.
Note You cannot associate more than one axis with the same C Series module.
Figure 18. Project Explorer Window with Modules in Scan Interface Mode

Getting Started with NI SMD-761x and NI 9512 Modules |© National Instruments |19
Step 4: Configure the NI 9512 Axis
The Axis Configuration dialog box includes configuration options for stepper drive command
signals, feedback devices, motion and digital I/O, trajectory, and axis setup. Figure 19 shows the
parts of the Axis Configuration dialog box for the NI 9512 C Series module. Refer to the
SoftMotion Module book of the LabVIEW Help for detailed information about each
configuration option.
Figure 19. Axis Configuration Dialog Box
Note The Axis Configuration dialog box user interface may not match this image
exactly depending on which version of the LabVIEW NI SoftMotion Module you are
using.

20 |ni.com |Getting Started with NI SMD-761x and NI 9512 Modules
Complete the following steps to configure the axis I/O settings for use with the
NI SMD-7613/4/5/6 stepper drive.
1. Right-click the axis in the Project Explorer window and select Properties from the
shortcut menu to open the Axis Configuration dialog box.
2. Configure the following settings on the General Settings page ( ).
a. Confirm that Loop Mode is set to Open-Loop. Axes configured in open-loop mode
produce step outputs but do not require feedback from the motor to verify position.
b. Set Feedback Source to Encoder 0, if you have connected an encoder, or None if you
do not have an encoder connected.
c. Confirm that the Axis Enabled and Enable Drive on Transition to Active Mode
checkboxes contain checkmarks. These selections configure the axes to automatically
activate when the NI Scan Engine switches to Active mode.
Note Disable these options to prevent axes from automatically activating when the
NI Scan Engine switches to Active mode.
3. If you have connected an encoder, click the Encoder button ( ) and configure the
Units and Counts Per Unit.
a. In the Active State section set the Line State for A, B, and Index to High.
b. In the Index Reference Criteria section set the Line State for A and B to Inactive.
c. Select rev from the Units text box, or type revolutions if you prefer.
d. Set the Counts per rev to 8,000. This setting is the encoder resolution in quadrature
counts per revolution and corresponds to the encoder lines per revolution multiplied
by four.
Note The counts per revolution should be set accordingly if a dual shaft motor with
a third party Encoder is being used.
Figure 20. Axis Configuration Encoder Page