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Figure 1: Stepper Motion Control System Overview
Four Steps to Stepper Motion Control
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Step 1. Select Stepper Drive and Motor Use this step to select the right NI Stepper Motors and Drive |
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Step 2. Select Motion Controller Use this step to select the right NI Motion Controller |
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Step 3. Select Accessories and Cables Use this step to select the NI Motion accessories and cables |
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Step 4. Select Software Use this step to select software to quickly prototype and deploy your application |
Step 1. Select Stepper Drive and Motor
The first step is to select the right stepper motor and drive combination for your application. Below you will find a breadth of stepper drives and motors that NI offers. Selecting the right motor and drive is very important for the performance of your application.
Stepper Drive–Stepper drives translate command signals received from the motion controller to current that causes rotation in the motor. NI offers 1, 2 and 4 axes stepper drives with a range of power ratings. You can use these drives with NI or 3rd party stepper motors.
Stepper Motor–Stepper motors are permanent magnet motors that increment one step each time the motion controller sends out one pulse. When stopped they hold their position. NI offers stepper motors in NEMA 17, 23 and 34 sizes with a range of torque ratings and single shaft for open loop operation or dual shaft to mount encoder for closed loop operation for each size.
NI Stepper Drives
| Specifications | Units | P70530 | P70360 | MID-7602 | MID-7604 |
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Axes Per Drive |
- |
1 |
1 |
2 |
4 |
|
Input Voltage |
Volts |
20-75 VDC |
120/240 VAC |
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|
Bus Voltage |
VDC |
20-75 |
320 |
24 |
|
|
Cont. Current |
Amps rms |
5 |
2.5 |
1 |
|
|
Peak Current |
Amps peak |
7.1 |
3.5 |
1.4 |
|
|
Max Shaft Power |
Watts |
300 |
525 |
80 (all axis combined) |
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|
Step Resolution |
- |
200-50,000 steps/rev |
x2 - x250 |
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Dimensions |
WxHxL in (mm) |
1.14 × 4.2 × 4.4 |
2.06 × 6.7 × 5.2 |
10 × 1.7 × 12.1 |
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|
Ambient Temperature |
Degree C |
0-45 |
0-40 |
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Motor Inductance Range |
mH |
2-15 |
50-200 |
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Connectivity to NI PCI/PXI Motion Controller |
- |
*Connect multiple drive using NI UMI-7772/7774 or NI UMI 7764 |
*Direct with SHC68-C68-S cable |
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Mounting |
- |
Panel |
Rack Mount |
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Features |
- |
|
|
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P70530 Power Supply–The P70530 drive is the only drive of those listed above that requires a separate power supply. The power supply must provide an output voltage between 20 and 75 VDC for the drive to operate correctly but the power supply choice should be made based on the requirements of the motor being driven. To determine the requirements for your motor, view the torque/speed curves found below and choose a power supply with voltage and current properties necessary for the desired performance.
To view a list of recommended power supplies, visit KnowledgeBase 4GD7J1AJ: Which Power Supply Should I Use with the Danaher P70530 Drive?
NI Stepper Motors
Motors for P70360 Drive
|
Motor |
NEMA Size |
Step Angle |
Dual Shaft for Encoder |
Holding Torque |
Rotor Inertia |
Phase Inductance (mH) | ||
|
(N·m) |
(oz-in) |
(kg-m2 x 10-3) |
(oz-in-s2) |
|||||
| T21NRLC-LNN-NS-00 |
23 |
1.8° |
- |
1.27 |
180 |
0.0248 |
0.0034 |
209 |
| T21NRLC-LDN-NS-00 |
23 |
1.8° |
Yes |
1.27 |
180 |
0.0248 |
0.0034 |
209 |
| T22NRLC-LNN-NS-00 |
23 |
1.8° |
- |
1.98 |
280 |
0.0408 |
0.0056 |
209 |
| T22NRLC-LDN-NS-00 |
23 |
1.8° |
Yes |
1.98 |
280 |
0.0408 |
0.0056 |
209 |
| T23NRLC-LNN-NS-00 |
23 |
1.8° |
- |
2.68 |
380 |
0.0612 |
0.0084 |
136 |
| T23NRLC-LDN-NS-00 |
23 |
1.8° |
Yes |
2.68 |
380 |
0.0612 |
0.0084 |
136 |
| N31HRLG-LNK-NS-00 |
34 |
1.8° |
- |
4.52 |
641 |
0.1430 |
0.0202 |
138 |
| N31HRLG-LEK-M2-00 |
34 |
1.8° |
Yes |
4.52 |
641 |
0.1430 |
0.0202 |
138 |
| N32HRLG-LNK-NS-00 |
34 |
1.8° |
- |
8.76 |
1240 |
0.2680 |
0.0380 |
206 |
| N32HRLG-LEK-M2-00 |
34 |
1.8° |
Yes |
8.76 |
1240 |
0.2680 |
0.0380 |
206 |
| N33HRLG-LNK-NS-00 |
34 |
1.8° |
- |
12.08 |
1710 |
0.4000 |
0.0567 |
144 |
| N33HRLG-LEK-M2-00 |
34 |
1.8° |
Yes |
12.08 |
1710 |
0.4000 |
0.0567 |
144 |
Motors for P70530 Drive
|
Motor |
NEMA Size |
Step Angle |
Dual Shaft for Encoder |
Holding Torque |
Rotor Inertia |
Phase Inductance (mH) | ||
|
(N·m) |
(oz-in) |
(kg-m2 x 10-3) |
(oz-in-s2) |
|||||
| CTP10ELF 10MAA00 |
17 |
1.8° |
- |
0.30 |
43 |
0.0040 |
0.0005 |
7.7 |
| CTP10ELF 10MMA00 |
17 |
1.8° |
Yes |
0.30 |
43 |
0.0040 |
0.0005 |
7.7 |
| CTP11ELF 11MAA00 |
17 |
1.8° |
- |
0.44 |
62 |
0.0050 |
0.0008 |
11 |
| CTP11ELF 11MMA00 |
17 |
1.8° |
Yes |
0.44 |
62 |
0.0050 |
0.0008 |
11 |
| CTP12ELF 10MAA00 |
17 |
1.8° |
- |
0.56 |
80 |
0.0070 |
0.0011 |
12 |
| CTP12ELF 10MAA00 |
17 |
1.8° |
Yes |
0.56 |
80 |
0.0070 |
0.0011 |
12 |
| T21NRLH-LNN-NS-00 |
23 |
1.8° |
- |
1.27 |
180 |
0.0248 |
0.0034 |
4.6 |
| T21NRLH-LDN-NS-00 |
23 |
1.8° |
Yes |
1.27 |
180 |
0.0248 |
0.0034 |
4.6 |
| T22NRLG-LNN-NS-00 |
23 |
1.8° |
- |
1.98 |
280 |
0.0408 |
0.0056 |
7.1 |
| T22NRLG-LDN-NS-00 |
23 |
1.8° |
Yes |
1.98 |
280 |
0.0408 |
0.0056 |
7.1 |
| T23NRLH-LNN-NS-00 |
23 |
1.8° |
- |
2.68 |
380 |
0.0612 |
0.0084 |
6.2 |
| T23NRLH-LDN-NS-00 |
23 |
1.8° |
Yes |
2.68 |
380 |
0.0612 |
0.0084 |
6.2 |
| N31HRHJ-LNK-NS-00 |
34 |
1.8° |
- |
4.55 |
645 |
0.1430 |
0.0202 |
3.5 |
| N31HRHJ-LEK-M2-00 |
34 |
1.8° |
Yes |
4.55 |
645 |
0.1430 |
0.0202 |
3.5 |
| N32HRHJ-LNK-NS-00 |
34 |
1.8° |
- |
8.43 |
1195 |
0.2700 |
0.0380 |
6.5 |
| N32HRHJ-LEK-M2-00 |
34 |
1.8° |
Yes |
8.43 |
1195 |
0.2700 |
0.0380 |
6.5 |
| N33HRHJ-LNK-NS-00 |
34 |
1.8° |
- |
12.07 |
1710 |
0.4000 |
0.0567 |
9.0 |
| N33HRHJ-LEK-M2-00 |
34 |
1.8° |
Yes |
12.07 |
1710 |
0.4000 |
0.0567 |
9.0 |
Motors for MID-7602 and MID-7604
|
Motor |
NEMA Size |
Step Angle |
Dual Shaft for Encoder |
Holding Torque |
Rotor Inertia |
Phase Inductance (mH) | ||
|
(N·m) |
(oz-in) |
(kg-m2 x 10-3) |
(oz-in-s2) |
|||||
| CTP10ELF 10MAA00 |
17 |
1.8° |
- |
0.30 |
43 |
0.0040 |
0.0005 |
7.7 |
| CTP10ELF 10MMA00 |
17 |
1.8° |
Yes |
0.30 |
43 |
0.0040 |
0.0005 |
7.7 |
| CTP11ELF 11MAA00 |
17 |
1.8° |
- |
0.44 |
62 |
0.0050 |
0.0008 |
11 |
| CTP11ELF 11MMA00 |
17 |
1.8° |
Yes |
0.44 |
62 |
0.0050 |
0.0008 |
11 |
| CTP12ELF 10MAA00 |
17 |
1.8° |
- |
0.56 |
80 |
0.0070 |
0.0011 |
12 |
| CTP12ELF 10MMA00 |
17 |
1.8° |
Yes |
0.56 |
80 |
0.0070 |
0.0011 |
12 |
Step 2. Select Motion Controller
The second step is to select a motion controller. A motion controller takes user specified target positions and move constraints including maximum velocity, acceleration, and deceleration and creates a trajectory for the motors to follow.
NI stepper motion controllers implement a patented step generation algorithm. This algorithm averages the pulse frequency over multiple time slices, resulting in smoother moves.
|
Feature |
NI 733x Low Cost Stepper Controller |
NI 734x Full Featured Stepper/Servo Controller |
NI 735x High Performance Stepper/Servo Controller |
| Axes |
2, 4 |
2, 4 |
2, 4, 6, 8 |
| PAC Platforms |
PCI, CompactPCI/PXI |
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| Linear, Circular, Spherical, and Helical Interpolation; Blending |
Yes |
Yes |
Yes |
| Trapezoidal, S-Curve Profiles |
Yes |
Yes |
Yes |
| Closed-Loop Stepper Control |
Yes |
Yes |
Yes |
| Contouring, Electronic Gearing, On-Board Programming |
- |
Yes |
Yes |
| Buffered Breakpoints, Buffered High-Speed Capture, 4 MHz Periodic Breakpoints |
- |
- |
Yes |
| PWM Lines/DIO Lines |
2/32 |
2/32 |
2/64 |
| Analog Input Resolution |
- |
12-bit |
16-bit |
| Maximum Step Output Rate/Encoder Input Rate |
4 MHz/20 MHz |
4 MHz/20 MHz |
8 MHz/20 MHz |
| Programming API |
NI-Motion Driver |
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Step 3. Select Accessories and Cables
A variety of accessories and cables options are available to connect the NI Motion controllers to stepper drives. Based of the drive you select from one of the following connectivity options.
Note: Most motion control setting on the P70530 and P70360 drives can be configured using dip switches. A serial programming cable (P7S2-232-9D, NI Part #: 780099-01) is required for select settings.
P70530 and P70360 Stepper Drive Connectivity Options
NI MID-7602 and MID 7604 Stepper Drive Connectivity Option
Step 4. Select Software
National Instruments offers motion control software products for rapidly creating programs in National Instruments LabVIEW, C, or Visual Basic with centralized (plug-in) or distributed motion controllers. Prototype your motion application and convert your project into ready-to-run NI LabVIEW or C code with NI Motion Assistant. Create custom motion controllers in LabVIEW with the NI SoftMotion Development Module for LabVIEW.
NI Motion Assistant for Interactive Prototyping
