National Instruments ISM-7413 User manual

ISM-7413

USER MANUAL
NI ISM-7413
Ethernet Integrated Stepper
This manual describes the NI ISM-7413 integrated stepper. It describes electrical, mechanical
characteristics of the devices, as well as I/O functionality.
Contents
Getting Started .......................................................................................................................... 2
Mounting the NI ISM-7413...................................................................................................... 3
Connecting the Power Supply .................................................................................................. 3
+5V Keep-Alive ............................................................................................................... 4
Choosing a Power Supply.........................................................................................................4
Voltage.............................................................................................................................. 5
Current .............................................................................................................................. 5
Connecting the Device Using Ethernet .................................................................................... 7
Option 1: Connect a Drive to Your LAN ......................................................................... 9
Option 2: Connect a Device Directly to Your PC ............................................................ 10
Option 3: Use Two Network Interface Cards (NICs)....................................................... 11
Connecting Input Signals.......................................................................................................... 12
Connection Examples: STEP & DIR................................................................................ 13
Connection Examples: EN................................................................................................ 15
Connecting the Digital Output.................................................................................................. 16
Configuring the NI ISM-7413 .................................................................................................. 17
Motor ................................................................................................................................ 18
Control .............................................................................................................................. 19
Self Test ............................................................................................................................ 21
Reference Materials.................................................................................................................. 22
Torque-Speed Curves ....................................................................................................... 22
Heating.............................................................................................................................. 22
Mechanical Outlines ......................................................................................................... 24
Technical Specifications........................................................................................................... 24
Amplifier .......................................................................................................................... 24
Motor ................................................................................................................................ 25
Digital Inputs .................................................................................................................... 25
Analog Input ..................................................................................................................... 25
Digital Output................................................................................................................... 25
+5V User Output .............................................................................................................. 25
Physical............................................................................................................................. 25
Alarm Codes .....................................................................................................................26
Worldwide Support and Services ............................................................................................. 27

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Figure 1. Block Diagram
Getting Started
You will need the following items to get started with your NI ISM-7413:
24 VDC to 70 VDC power supply. NI PS-12 (NI part number 748906-01) or NI PS-13
(NI part number 748907-01) recommended.
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.
+
IN1+
AIN
GND
+5V
IN1–
IN2+
IN2–
IN3+
IN3–
OUT4+
OUT4–
–
Power
Conn
12-70 VDC
External
Power Supply
100 Mbit Ethernet
Comm
Conn
I/O Connector
Optical
Iso
Digital
Filter
Software
Filter
Optical
Iso
Digital
Filter
Software
Filter
Software
Filter
Optical
Iso
Digital
Filter
Software
Filter
Optical
Iso
DSP
Driver
Control
3.3VDC
Internal
Logic
Supply
Voltage
Temp
Det.
5 VDC
Power Supply
MOSFET
PWM
Power
Amplifier
Motor
Encoder
Over
Current
Detection
Status
Optional
GND
+5 VDC (50 mA max)
ARM
Processor

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |3
Figure 2 shows an overview of the connectors on the NI ISM-7413 integrated stepper.
Figure 2. NI ISM-7413 Integrated Stepper Connectors
Mounting the NI ISM-7413
Mount your NI ISM-7413 using four #6 or #8 screws. Securely fasten the NI ISM-7413 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-7413 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-7413 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-7413 integrated steppers near each other, maintain at least one half inch of
space between devices.
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-.
1 Status LED
2 DC Power Connector
3 Ethernet Port
4 I/O Connector
5 Rotary Switch
6 Mounting Hole
6
4
5
12
3

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The NI ISM-7413 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-7413 connections.
Figure 3. Orientation of the NI ISM-7413 Power Connector
Caution Do not reverse the wires. Reverse connection will damage your drive and
void your warranty.
Caution To satisfy the EMC Directive of CE, a line filter must be installed between
the DC power supply and the NI ISM-7412.
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.
+5V Keep-Alive
Connecting a constant 5 V power source, 4 A or greaer, to the +5V terminal will keep the digital
logic active if the DC bus voltage is interrupted. This can be used to maintain the encoder
position even when power is interrupeted.
Choosing a Power Supply
NI offers two power supplies for the NI ISM-7413:
• NI PS-12 (24 V, 6.3 A)
• NI PS-13 (48 V, 6.7 A)
+VDC GND

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |5
Voltage
Your motor can provide optimum performance between 24 and 70 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 70 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.
Note The following figures assume a motor current of 6 A/phase.
Figure 4. NI ISM-7413 Behavior, 12V Power Supply
Speed (RPS)
Torque (N·m)
2.5
3.0
2.0
1.5
1.0
0.5
00
5.00
4.00
3.00
2.00
1.00
0
4.50
3.50
2.50
1.50
0.5
10 20 304050
TorqueSupply Current Supply Current No Load

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Figure 5. NI ISM-7413 Behavior, 24 V Power Supply
Figure 6. NI ISM-7413 Behavior, 48 V Power Supply
Speed (RPS)
Torque (N·m)
2.5
3.0
2.0
1.5
1.0
0.5
00
5.00
4.00
3.00
2.00
1.00
0
4.50
3.50
2.50
1.50
0.5
10 20 304050
TorqueSupply Current Supply Current No Load
Speed (RPS)
Torque (N·m)
2.5
3.0
2.0
1.5
1.0
0.5
00
5.00
4.00
3.00
2.00
1.00
0
4.50
3.50
2.50
1.50
0.5
10 20 304050
5.50
TorqueSupply Current Supply Current No Load

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |7
Figure 7. NI ISM-7413 Behavior, 70V Power Supply
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.
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.
Speed (RPS)
Torque (N·m)
2.5
3.0
2.0
1.5
1.0
0.5
00
5.00
4.00
3.00
2.00
1.00
0
4.50
3.50
2.50
1.50
0.5
10 20 304050
5.50
TorqueSupply Current Supply Current No Load

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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.
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
depending on how the administrator has configured DHCP. The DHCP setting is reserved for
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).
Table 1. IP Address Rotary Switch Settings
Position IP Address
010.10.10.10
1192.168.1.10
2192.168.1.20
3192.168.1.30
4192.168.0.40
5192.168.0.50
6192.168.0.60
7192.168.0.70
8192.168.0.80
9192.168.0.90
A 192.168.0.100
B192.168.0.110
C 192.168.0.120
D 192.168.0.130
E 192.168.0.140
FDHCP

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |9
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 8. 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 192.168.0, the most common subnet, you will want to choose an
address from switch settings 4 through E. Another common subnet is 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. 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.
NIC PC
LAN ISM
Switch
or
Router

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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.
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 9. 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.
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.

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |11
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. (Windows XP) Right-click My Network Places and select Properties.
b. (Windows 7) Click Computer. Scroll down the left pane until you see Network.
Right-click and select Properties. Select Change adapter settings.
5. Right-click your network interface card (NIC) and select Properties.
a. Scroll down until you see Internet Properties (TCP/IP). Select this item and click
the Properties button.
b. (Windows 7/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.

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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-7413 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 10. Connector Pin Diagram
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+5V
AIN
GND

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |13
Figure 11. Internal Circuit Diagram
Connection Examples: STEP & DIR
Figure 12. Connecting to Indexer with Sourcing Outputs
RES
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
AIN
GND
Signal
Conditioning
+5V
50 mA Limit
ISM-7413
Indexer
with
Sourcing
Outputs
GND
STEP
DIR DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP/IN1-

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Figure 13. Connecting to Indexer with Sinking Outputs
Figure 14. Connecting to Indexer with Differential Outputs
Figure 15. Using Mechanical Switches
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.
Indexer
with
Sinking
Outputs
STEP
DIR
5-24 VDC DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP/IN1-
ISM-7413
Indexer
with
Differential
Outputs
STEP-
DIR-
DIR+ DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP+
STEP/IN1-
ISM-7413
5-24 VDC
Power
Supply
–
+DIR/IN2+
DIR/IN2-
STEP/IN1+
STEP/IN1-
Run/Stop Switch
(closed = run)
ISM-7413

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |15
Connection Examples: EN
Connecting the Enable input as shown in Figure 16 causes the drive to disable when the relay is
closed and enable when the relay is open.
Figure 16. Connecting an Input to a Switch or Relay
Connecting the Enable signal as shown in Figures 17 and 18 causes the drive to disable when
the proximity sensor activates.
Figure 17. Connecting an NPN Type Proximity Sensor to an Input
Figure 18. Connecting a PNP Type Proximity Sensor to an Input
5-24 VDC
Power
Supply
–
+EN+
EN3-
Switch or Relay
(closed = logic low)
ISM-7413
5-24 VDC
Power
Supply
–
+EN/IN3+
EN/IN3–
Output
NPN
Proximity
Sensor
ISM-7413
–
+
5-24 VDC
Power
Supply
–
+
EN/IN3–
EN/IN3+
Output
ISM-7413
NPN
Proximity
Sensor
–
+

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Figure 19. Connecting a PNP Type Proximity Sensor to an Input
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.
Connecting the Digital Output
The NI ISM-7413 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 100 mA.
Figure 20. Sinking Output
5-24 VDC
Power
Supply
–
+
EN/IN3–
EN/IN3+
Output
ISM-7413
NPN
Proximity
Sensor
–
+
5-24 VDC
Power
Supply
–
+
OUT–
OUT+
Load
ISM-7413

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |17
Figure 21. Sinking Output with PLC
Figure 22. Sourcing Output
Figure 23. Driving a Relay
Configuring the NI ISM-7413
The NI ISM-7413 is configured in software with the NI Stepper Configuration Utility, available
at ni.com/downloads. When you have located your device with the utility, you can 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.
5-24 VDC
Power
Supply
+–
ISM-7413
IN
COM
PLC
OUT+
OUT–
5-24 VDC
Power
Supply
–
+
OUT–
OUT+
Load
ISM-7413
5-24 VDC
Power
Supply
–
+
OUT–
OUT+
Relay
1N4935 suppression diode
ISM-7413

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Motor
From the NI Stepper Configuration Utility home screen, click the Motor icon to open the
configuration window and configure the following settings:
Figure 24. 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.

NI ISM-7413 Ethernet Integrated Stepper User Manual |© National Instruments |19
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-7413 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-7413 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 25. NI Stepper Configuration Utility Configuration Window