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NI 951x User Manual - National Instruments

1. Forward Limit TI Je Home Ir RI SL com Clg SEE Digital Input 0 Cell SL E Encoder 1 Phase B e 1 SLI Encoder 0 Index e0 El lo Encoder 0 Index Cl 0 SLI Q COM le KI BL 5V OUT Te 0 a Position Compare el i idl a Reserved _I m BL Q Drive Command IRL Ee Reserved _I jel E Val OEL isO O Digital Input 1 e0 eg a Reserved e i Ee comt ISO a amp L c Reserved _ 8L Shield EL a Is m t Indicates DSUB connector signals Reserved Reverse Limit Encoder 1 Phase A Van Encoder 1 Phase A Encoder 1 Phase B Encoder 0 Phase A Encoder 0 Phase A Encoder 0 Phase B Position Capture Encoder 0 Phase B Reserved Drive Command COMt comt Drive Enablet Reserved Reserved Reserved Reserved National Instruments 4 3 Chapter 4 Accessory and Cable Connections Signal Connection Recommendations This section contains detailed information about signal wiring including precautions and guidelines for error free operation General Connection Recommendation
2. Home Vsup Forward Input Circuitry r COM e 5V Reg 5 V OUT Reverse Digital Input 0 1 User Connectors The NI 951x has two connectors a 15 pin DSUB drive interface connector and a 20 pin MDR feedback connector The 15 pin DSUB includes command signals for interfacing with stepper drives or servo amplifiers 0 to 30 V general purpose digital input and digital output lines and an input for power connection The 20 pin MDR connector includes incremental encoder feedback inputs a 5 V output for encoder power home limit and position compare inputs an output for position compare an additional input for power connection and an additional 0 to 30 V general purpose digital input line Refer to Chapter 3 Signal Connections for details about the signals in each connector Note The remainder of this document does not distinguish between drives and amplifiers All references to drives also apply to amplifiers NI 9512 Connectors Refer to Chapter 4 Accessory and Cable Connections for cabling options and connection accessory pin assignments A Caution Do not connect anything to pins marked Reserved National Instruments 2 9 Chapter 2 Hardware Overview Table 2 2 NI 9512 DSUB Control Connector Pin Assignments
3. 5 x 106 counts sec Forward reverse and home inputs Inputty EE Software selectable sinking or sourcing Limit or home input configured for sinking Digital logic levels OFF state Input voltage lt 5V Input current lt 250 pA Digital logic levels ON state Input voltage 11 to 30 V Input current Limit or home input configured for sourcing Digital logic levels OFF state Input voltage 11 to30 V Input current lt 1 mA Digital logic levels ON state Input voltage eeeecececeeceeceteeees lt 5V Input current gt 2mA Input impedance eee eeeeeeeteneeeceeeeeees 30kQ 5 Min pulse width 50 us Position capture input Digital logic levels Voltage e eg 0 25 to 5 25 V High Voir sssitisasebesteitavcatascactesaeientes 2 0 V min LOW Vis pen 0 8 V max Input current OV S Vaa 45V 2 mA max Min pulse width 100 ns Max capture latency 200 ns Capture accuracy ceeeeceseeeseceeeeereeneeeee 1 count Active edge Software selectable rising edge or falling edge Position compare outputs High Von sieste 5 25 V max Sourcing 12 MA 3 7 V min 1 Assumes the minimum filter setting Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options National Instruments A 3 Appendix A Specifications Sourcing 4 MA 3 9 V min Low Vor Sinking 12
4. Connector Pin Signal 1 Reserved 2 Drive Enable 3 Digital Input 3 4 Digital Input 2 5 Digital Output 1 6 Reserved i 7 COM 8 Digital Input 1 3 r 9 Direction CCW 10 Step CW a 11 Digital Output 0 D Voup 13 Direction CCW 14 COM 15 Step CW 4 Note Refer to Appendix B Position Command Connections for position command signal information and information about connecting the NI 9512 module to position command drives 2 10 ni com NI 951x User Manual Figure 2 8 NI 9512 MDR Connector Pin Assignments Encoder 0 Phase B 10 Position Compare Position Capture 5 V OUT 7 Encoder 0 Phase B COM H Encoder 0 Index Encoder 0 Phase A Encoder 0 Index Encoder 0 Phase A COM COM Reserved Digital Input 0 Veup COM Reserved Home IDIoIR olo o co Forward Limit i Reverse Limit National Instruments 2 11 Chapter 2 Hardware Overview NI 9514 Connectors Refer to Chapter 4 Accessory and Cable Connections for cabling options and connection accessory pin assignments A Caution Do not connect anything to pins marked Reserved Table 2 3 NI 9514 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved gege SEH A Reserved Bb 5 Reserved a 6 Drive Command i 7 COM 8 Digital Input 1
5. Forward Reverse sxe LI UI Set ae CCW cw Step and Direction Output Circuit You can configure the active state of both outputs in software as low or high The active state of the direction output corresponds to a forward direction The step and direction output circuits can be configured in software for either single ended or differential output type Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about stepper motor signal settings A Caution Do not connect these outputs to anything other than a 5 V circuit The output buffers will fail if subjected to voltages in excess of 5 5 V A Caution Do not connect any unused output lines directly to COM 5 V OUT or Num Leave all unused output lines unconnected When connecting to drives with differential receiver inputs configure the output type in software to differential and connect as shown in Figure 3 2 Figure 3 2 Differential Step and Direction Output Connection NI 9512 Drive Step Dir Output Receiver Step Dir Output National Instruments 3 5 Chapter 3 Signal Connections Many stepper drive manufacturers offer opto isolated inputs for Step CW Direction CCW signals When connecting to opto isolated inputs configure the Step output type to single ended connect the NI 9512 Step output to the negative cathode side of the optocoupler input and leave the Step
6. 9 Reserved f d 10 Reserved Ve L 11 Reserved 12 Vap 13 Reserved 14 COM 15 Reserved 2 12 ni com NI 951x User Manual Figure 2 9 NI 9514 MDR Connector Pin Assignments Encoder 0 Phase B 20 10 Position Compare k Position Capture 19 9 5 V OUT x Encoder 0 Phase B 18 8 COM Encoder 0 Phase A 17 7 Encoder 0 Index i Encoder 0 Phase A 16 6 Encoder 0 Index com 1515 com Reserved 14 4 Digital Input 0 i Vsup 13 3 COM Reserved 12 2 Home i Reverse Limit 11 1 Forward Limit r National Instruments 2 13 Chapter 2 Hardware Overview NI 9516 Connectors A Caution Do not connect anything to pins marked Reserved Refer to Chapter 4 Accessory and Cable Connections for cabling options and connection accessory pin assignments Table 2 4 NI 9516 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved 4 Reserved 5 Reserved K 6 Drive Command li 7 com 8 Digital Input 1 Fi 9 Reserved 10 Reserved 11 Reserved 12 Veo 13 Reserved 14 COM 15 Reserved 2 14 ni com NI 951x User Manual Figure 2 10 NI 9516 MDR Connector Pin Assignments 7 Encoder 0 Phase B 20 10 Position Compare X E Position Capture 19 9 5 V OUT Go H Encod
7. e AS NZS CISPR 11 Group 1 Class A emissions e FCC 47 CFR Part 15B Class A emissions e ICES 001 Class A emissions A 6 ni com NI 951x User Manual Ka Note For the standards applied to assess the EMC of this product refer to the Online Product Certification section Ka Note For EMC compliance operate this device with double shielded cables CE Compliance CE This product meets the essential requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Online Product Certification Refer to the product Declaration of Conformity DoC for additional regulatory compliance information To obtain product certifications and the DoC for this product visit ni com certification search by module number or product line and click the appropriate link in the Certification column Shock and Vibration To meet these specifications you must panel mount the system Operating vibration Random IEC 60068 2 64 5 Sms 10 to 500 Hz Sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz Operating shock IEC 60068 2 27 ssss ss 30 g 11 ms half sine 50 g 3 ms half sine 18 shocks at 6 orientations Environmental Refer to the manual for the chassis you are using for more information about meeting these specifications Operating temperature IEC 60068 2 1 IEC 60068 2 2 oo ee 40 to 70 C Storage t
8. output on the NI 9512 disconnected Connect the positive anode side of the drive input to a supply as specified by the drive manufacturer Figure 3 3 shows a single ended connection example Figure 3 3 Opto lsolated Step and Direction Output Connection 5V _ NI 9512 f Drive i No Connection i Step Dir Step Dire MW d Se Step Dir SRE A Caution Ifthe optocoupler input does not include its own current limiting resistor you must provide an external resistor in series with the NI 9512 output To prevent damage to the NI 9512 drive interface module or stepper drive use a resistor that limits the current to a value below the maximum specifications of the drive interface module and stepper drive Refer to Appendix A Specifications for more information Y Note Refer to Appendix B Position Command Connections for position command signal descriptions and information about connecting the NI 9512 module to drives that support position command mode Servo Command Signals Drive Command Output The Drive Command output on the servo drive interface modules provide a 10 V analog output The Drive Command output features software configurable torque limits and voltage offset Drive Command COM To help keep digital noise separate from the analog output there is a separate return connection Use this reference connection as the reference for the Drive Command output when connecting to servo drives instead of
9. 61 AIA L Digital Input 0 COM Encoder 0 Index Encoder 0 Index COM 8 5V OUT Position Compare LL OL Reserved 82 ZZ 92 SZ ve EZ zz Drive Commandt 6z Reserved H LE 0 Veup Digital Input 217 Reserved comt Reserved 6 AAA 38 28 38 88 8 88 38 8 DI AHA ZL Ob SL L EL CE H Shield t Indicates DSUB connec IND SL AIA ai or signals i ZE 9 SE tE E ZE 2 A848 8 8 DI DIE OD 8 8 OI DE Reserved 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 Drive Command COMt comt Drive Enablet Reserved Reserved Reserved Reserved Figure 4 4 NI 9516 37 Pin Terminal Block Pin Assignments
10. I Isolation Channel to channel None Channel to earth ground CONTMUOUS 425 22e rrbrrrtsttee se epenurss 30 VDC Measurement Category I Withstand 500 Vs verified by a 5 s dielectric withstand test Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage MAINS is a hazardous live electrical supply system that powers equipment This category is for measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics A Caution Do not connect the NI 951x to signals or use for measurements within Measurement Categories II II or IV Safety Standards This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e TEC 61010 1 EN 61010 1 e UL 61010 1 CSA 61010 1 Note For UL and other safety certifications refer to the product label or the Online Product Certification section Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and laboratory use s EN 61326 1 IEC 61326 Class A emissions Industrial immunity s EN 55011 CISPR 11 Group 1 Class A emissions
11. LabVIEW NI SoftMotion Module LabVIEW Development System LabVIEW Real Time Module NI RIO driver software Q Tip Refer to the software documentation for installation instructions LI The following hardware and documentation NI9512 NI 9514 or NI 9516 drive interface module External power supply Note Refer to the Power Requirements section of Appendix A Specifications for power supply requirements CompactRIO controller and chassis that support the RIO Scan Interface or N19144 distributed chassis 1 2 ni com NI 951x User Manual Using the NI 951x Modules in LabVIEW FPGA Interface Mode LabVIEW FPGA Interface mode enables you to use C Series modules from LabVIEW FPGA VIs Refer to the CompactRIO Reference and Procedures FPGA Interface book of the LabVIEW Help for more information about using C Series modules in LabVIEW FPGA Interface mode To set up and use the NI 951x drive interface modules in LabVIEW FPGA Interface mode you must have the following items The following software packages and documentation Optional LabVIEW NI SoftMotion Module LabVIEW Development System LabVIEW Real Time Module LabVIEW FPGA Module NI RIO driver software Q Tip Refer to the software documentation for installation instructions The following hardware and documentation NI9512 NI 9514 or NI 9516 drive interface module External power supply
12. MA 0 7 V max Sinking 4 MA 0 5 V max Compare mode Software selectable single or periodic Compare action Software selectable set toggle or pulse Max compare rate periodic 5 MHz Pulse width programmable ACTIVE State sis sr nn ent Software selectable high or low Digital I O Inputs Number of inputs NE 9512 si sseccsstecstecbestecbucecsseteats cosas toes 4 NI 9514 and NI 9516 2 Input ty Pen cece ces sevens senses secetecteatecveseenss Software selectable sinking or sourcing Digital input configured for sinking Digital logic levels OFF state Input voltage ce eeeeeceeseeseereereeeeee lt 5V Input current lt 250 pA Digital logic levels ON state Input voltage ce eeeeeseeseeseeseereeeeee 11 to 30 V Input current gt 2 mA Digital input configured for sourcing Digital logic levels OFF state Input voltage 11 to 30 V Input current lt 1 mA Digital logic levels ON state Input voltage ce eeeeeeseeseeseereeeeeeee lt 5V Input current gt 2 mA Input impedance 5 Min pulse width Outputs NI 9512 only Number of outputs 0 0 0 ceeeeeseeseeseeteeees 2 Output type ss Software selectable sinking or sourcing Voltage range ccecececesseteeseeseceeenseneenee 0 to 30 V Assumes the minimum filter setting Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options A 4 ni com NI 951x User Ma
13. The power supply Vu is connected but the module is not receiving encoder pulses Limit Active The Limit Active LED yellow has two states to display the status of the limits and home input Off The power supply Vi is not connected or both the limits and home input are not active Lit The power supply Vu is connected and the forward limit reverse limit or home input is active Axis Fault The Axis Fault LED red has two states to indicate the presence of a fault in the system Refer to the M SoftMotion Module book of the LabVIEW Help for a list of module faults and troubleshooting information Off No module faults e Lit One or more module faults 2 16 ni com Signal Connections This chapter describes how to make input and output signal connections directly to the National Instruments 951x drive interface modules and describes the associated I O circuitry Table 3 1 describes the signals available on the modules Table 3 1 NI 951x Signal Reference Signal Signal Name Signal Overview Stepper Command Step CW Configurable Step Direction or Signals Step CW CW CCW output mode Se Configurable single ended or Direction CCW differential output type Direction CCW 5 MHz max pulse rate Servo Command Signals Drive Command Drive Command COM Separate reference to help keep digital noise separate from the analog output 16 bit analog output 10 V range Dr
14. as Sign Figure B 1 shows a simplified connection diagram National Instruments Bi Appendix B Position Command Connections Figure B 1 NI 9512 to Position Command Drive Connection Diagram Drive Ready gt O Servo Ready gt O In Position Drive Fault gt O Servo Alarm NI 9512 DSUB Connector MDR Connector i Encoder Phase A B Index i i O Step CW Pulse KC optional O Direction CCW Sign O 45V OUT O Servo On Drive Enable O Forward Reverse Limit Home Alarm Clear f O Digital Input KO Vsup NI Connection i Accessory eg EE Custom Cable gt Step CW Pulse Encoder Out Direction CCW Sign A gt Servo On Drive Enable Drive Ready Servo Ready In Position Drive Fault Servo Alarm Encoder In ki Alarm Clear Position Command Drive Servo Motor Encoder i Motor Ka Note For operation the NI 9512 requires an external power supply You can connect the external power supply to the Ne input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module B 2 ni com NI 951x User Manual 3 Map the additional position command drive signals as described in the Position Command Drive Signals section of this appendix Position Command Drive Signals This section describes additional signals that are us
15. can also register for instructor led hands on courses at locations around the world e System Integration If you have time constraints limited in house technical resources or other project challenges National Instruments Alliance Partner members can help To learn more call your local NI office or visit ni com alliance e Declaration of Conformity DoC A Dot is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electromagnetic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification e Calibration Certificate If your product supports calibration you can obtain the calibration certificate for your product at ni com calibration National Instruments C 1 Appendix C Technical Support and Professional Services You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events C 2 ni com Glossary Symbol Prefix Value n nano 10 9 u micro 10 6 m milli 10 3 k kilo 103 M mega 106 Numbers Symbols 5 V OUT A acceleration deceleration amplifier axis C CCW closed loop COM counts crosstalk CW 5 VDC source signal A measurement of the change
16. driver for the Position Capture input provide 3 12 the voltage equivalent of a logical high during the off state of the open collector driver common method to achieve this is by adding a pull up resistor to the output Refer to the Motion I O section of Appendix A Specifications for information about the Position Capture input voltage levels ni com NI 951x User Manual The active edge on the Position Capture input can be set to rising edge or falling edge In addition the Position Capture input signal is digitally filtered Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about Position Capture input configuration options Position Compare You can program a Position Compare output to transition when the associated encoder value equals the position compare position You can use a Position Compare output to directly control actuators or as a trigger to synchronize data acquisition or other functions in the motion control system You can program the Position Compare output for a single or for periodic positions The active state of the Position Compare output is configurable in software to high or low and the action taken at the compare position can be set in software to pulse set or toggle Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about Position Compare output functionality and configuration Digital I O Signals Digital Inputs The NI 95 1x drive in
17. in velocity as a function of time A device that delivers power to operate the motor in response to control signals Unit that controls a motor or any similar motion or control device counterclockwise Implies direction of motor rotation A control system that uses feedback to achieve control Reference signal for digital I O Specified encoder resolution multiplied by four A phenomenon by which a signal transmitted on one channel causes an undesired effect on another channel clockwise Implies direction of motor rotation National Instruments G 1 Glossary D dedicated Direction output drive driver E encoder encoder resolution F filtering full step H half step high G 2 ni com Assigned to a particular function Command signal for stepper motors indicates the commanded direction of motion either forward or reverse Electronic signal amplifier that converts motor control command signals into higher voltage signals suitable for driving motors A hardware device that provides signals or electrical current to activate a transmission line A device that translates mechanical motion into electrical signals used for monitoring position or velocity in a closed loop system The number of lines per unit of measure Units can be inches centimeters revolutions and so on A type of signal conditioning that removes unwanted noise from the signal being measured The coarsest mod
18. input and digital output lines Refer to Chapter 3 Signal Connections for more information about the signals available on each module e The NI 9512 is a single axis stepper or position command drive interface module with incremental encoder feedback Ka Note Refer to Appendix B Position Command Connections for information about using the NI 9512 module with position command servo drives e The NI 9514 is a single axis servo drive interface module with incremental encoder feedback e The NI 9516 is a single axis servo drive interface module with dual incremental encoder feedback Hardware The NI 951x drive interface modules include a processor to run the spline interpolation engine and patented NI step generation algorithm or PID control loop PIV f control loop Working together they produce smoother motion resulting in precise motion control National Instruments 1 1 Chapter 1 Introduction and Installation What You Need to Get Started Using the NI 951x Modules in Scan Interface Mode Scan Interface mode enables you to use C Series modules directly from the LabVIEW Real Time Module Refer to the CompactRIO Reference and Procedures Scan Interface book of the LabVIEW Help for more information about using C Series modules in Scan Interface mode To set up and use the NI 951x drive interface modules in Scan Interface mode you must have the following items The following software packages and documentation
19. lost or additional counts and reduced motion system accuracy Figure 4 5 Shielded Twisted Pairs Drain Shield Li Encoder A Encoder A Encoder B Encoder Index ee Encoder Index e Tie the encoder cable shield to COM at the encoder side only National Instruments 4 5 Chapter 4 Accessory and Cable Connections Connecting Optional Signals This section contains information about wiring optional NI 951x signals Connecting a Brake Signal The NI 951x digital outputs do not provide enough current to drive typical motor brakes For this reason the NI 951x digital outputs must not be used to directly control motor brakes However you can use the NI 951x digital outputs to control external circuitry that does meet the higher current requirements of motor brakes Refer to the specifications for the motor brake to determine the maximum current requirements Use the following recommendations when using an NI 951x digital output to control external circuitry driving the motor brake e Do not exceed the maximum current specifications of the NI 951x digital outputs s Ifthe same power supply is used for the NI 951x module and the brake circuit ensure that the power supply meets the maximum requirements of both the NI 951x and the brake circuit 4 6 ni com Specifications The following specifications are typical for the range 40 to 70 C unless otherwise noted All voltages are relative to COM unless otherw
20. 7 Pin Terminal Block Pin Assignments Forward Limit VIE Home il SI com Uli Cell Digital Input 0 _J L O SL O com il CE Encoder 0 Index e a xi Encoder 0 Index INU ja a COM i EI SL O 5V OUT C EI N EI Position Compare l o BL a Reserved _I m SL o Reserved ORO 0 Ce a Digital Output Ot e o Veup CRIE IL Digital Input 17 _Te 0 Em Direction CCW t Te 0 Il a comt ISH g a Step CW t el sO m Shield _12 et t Indicates DSUB connector signals 4 2 ni com Digital Output 17 Reverse Limit Reserved Van Reserved COM Encoder 0 Phase A Encoder 0 Phase A Encoder 0 Phase B Position Capture Encoder 0 Phase B Reserved Reserved comt Drive Enablet Digital Input 3t Direction CCW Digital Input 2 Step CW i NI 951x User Manual Figure 4 3 NI 9514 37 Pin Terminal Block Pin Assignments Forward Limit Home COM Oz
21. Control_Accessories_User_Guide pdf and on ni com manuals for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives Panasonic Minas A or Minas A5 NI 9930P Motion Control Accessory NI part number 781823 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI_9930_Accessories_User_Guide pdf and on ni com manuals for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives 2 2 ni com NI 951x User Manual Table 2 1 NI 9512 Connection Options Continued Drive Connection Option Yaskawa Sigma II or Sigma V NI 9930Y Motion Control Accessory NI part number 781822 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI_9930_Accessories_User_Guide pdf and on ni com manuals for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives Other third party stepper or p command servo drive NI 951x cable and terminal block bundle NI part number 780553 01 Note Refer to Appendix B Position Command Drive Signals for information about connecting and using
22. Digital Input y Circuit Reference CoM Figure 3 7 Limit Input Configured for Sourcing NPN Sinking Output Device NI 951x V i i i Limit Home i i Current or Digital Input d Limiting i i Limit Home Circuit b i Out or Digital Input j 1 hg DE i Reference COM d i d 7 Figure 3 8 shows an example of wiring the inputs to a high side switch and Figure 3 9 shows an example of wiring the inputs to a low side switch National Instruments 3 9 Chapter 3 Signal Connections Figure 3 8 High Side Switch Connected to a Sinking Home or Limit NI 951x RES High Side MN Limit Home Limit Home or Digital Input Configured or Digital Input i ee TA E gt For Sinking d COM e i Figure 3 9 Low Side Switch Connected to a Sourcing Home or Limit NI 951x NI 951x Veup i Limit Home Limit Home or Digital Input gt Configured or Digital Input gt For Sourcing i Low Side Switch COM i Encoder Inputs The encoder inputs provide position and velocity feedback information The encoder channels consist of a Phase A Phase B and Index input as described in the following sections The NI 9512 and NI 9514 each have a single encoder channel The NI 9516 supports two encoder channels that allow for dual loop feedback whi
23. ENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCTS OR INCIDENTAL OR CONSEQUENTIAL DAMAGES EVEN IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instruments must be brought within one year after the cause of action accrues National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow the National Instruments installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation National Instruments respects the intellectual property of others and we ask our users to do the same NI software is protected by copyright and other intellectual property laws Where NI software m
24. Ka Note Refer to the Power Requirements section of Appendix A Specifications for power supply requirements CompactRIO controller and chassis Safety Information Special Conditions for Marine Applications Some modules are Lloyd s Register LR Type Approved for marine applications To verify Lloyd s Register certification visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the module A Caution To meet radio frequency emission requirements for marine applications use shielded cables and install the system in a metal enclosure Suppression ferrites must be installed on power supply inputs near power entries to modules and controllers Power supply and module cables must be separated on opposite sides of the enclosure and must enter and exit through opposing enclosure walls National Instruments 1 3 Chapter 1 Introduction and Installation Optional Equipment National Instruments offers several options for connecting NI 951x drive interface modules to external stepper drives or servo amplifiers including the following NI 9512 to P7000 Stepper Drives Connectivity Bundle Connects the NI 9512 to the P70530 or P70360 stepper drives available from NI NI part number 780552 01 NI 9514 16 to AKD Cable Connects the NI 9514 or NI 9516 to the AKD servo drive and AKM brushless servo motors available from NI NI part number 781524 01 NI 9512 to AKD Cable Conne
25. Motion Control NI 951x User Manual December 2013 lt 7 NATIONAL 372153E 01 SinstRUMENTS Worldwide Technical Support and Product Information ni com Worldwide Offices Visit ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 For further support information refer to the Technical Support and Professional Services appendix To comment on National Instruments documentation refer to the National Instruments Web site at ni com info and enter the Info Code feedback 2009 2013 National Instruments All rights reserved Legal Information Warranty NI devices are warranted against defects in materials and workmanship for a period of one year from the invoice date as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from the invoice date as evidenced by receipts or other documentation National Instruments will at its option repair or replace software
26. NER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Compliance Electromagnetic Compatibility Information This hardware has been tested and found to comply with the applicable regulatory requirements and limits for electromagnetic compatibility EMC as indicated in the hardware s Declaration of Conformity DoC These requirements and limits are designed to provide reasona
27. NI 9512 C Series Drive Interface Modules and AKD Analog Servo Drives Use this document to learn how use NI 9512 modules with the AKD analog servo drives and AKM servo motors available from NI Access this document by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9512 AKD pdf Getting Started with NI 9514 16 C Series Drive Interface Modules and AKD Analog Servo Drives Use this document to learn how use NI 9514 and NI 9516 modules with the AKD analog servo drives and AKM servo motors available from NI Access this document by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9514 NI 9516 AKD pdf National Instruments ix Introduction and Installation This chapter includes information about the features of the National Instruments 9512 9514 and 9516 drive interface modules Note The remainder of this document will refer to these modules collectively as NI 951x modules About the NI 951x Drive Interface Modules The NI 951x drive interface modules are a family of C Series motion modules These modules enable advanced motion with configuration and programming using NI LabVIEW Features The NI 951x modules provide servo or stepper drive interface signals for a single axis a full set of motion I O including inputs for a home switch and limit switches incremental encoder inputs for position feedback and 0 to 30 V digital
28. NP Sourcing Output Device NI 951x Limit Home ous or Digital Input i o eree DE i Limiting _ gt v Circuit Reference CoM Figure 3 14 Digital Input Configured for Sourcing NPN Sinking Output Device NI 951x Limit Home or Digital Input Current Limiting Limit Home Circuit or Digital Input iV Reference S Figure 3 15 shows an example of wiring the digital inputs to a high side switch Figure 3 16 shows an example of wiring the digital inputs to a low side switch Figure 3 15 High Side Switch Connected to a Sinking Digital Input NI 951x NI 951x Vsup High Side Switch Limit Home i Limit Home or Digital Input b gt Configured or Digital Input 1 For Sinking COM os i 3 14 ni com NI 951x User Manual Figure 3 16 High Side Switch Connected to a Sourcing Digital Input NI 951x NI 951x Vsup b Limit Home Limit Home or Digital Input gt Configured or Digital Input 1 gt M For Sourcing Low Side i Switch i SON i Digital Outputs The NI 9512 drive interface module also has two general purpose digital outputs with an output voltage range of 0 to 30 V Digital Output Circuit You can configure the active state of the digital outputs in software for on or off and the digital output circuit can be con
29. al wiring and cabling recommendations National Instruments 3 11 Chapter 3 Signal Connections Figures 3 11 and 3 12 show simplified schematic diagrams of the encoder input circuit connected to differential and single ended inputs Figure 3 11 Differential Encoder Input Circuit Encoder NI 951x EE i i Phase _ i i ew i i 1 5V Receiver A Phase COM Figure 3 12 Single Ended Encoder Input Circuit Encoder NI 951x Phase i No Phase Connection i COM A 1 f Position Capture Input and Position Compare Output The NI 951x drive interface modules have a high speed Position Capture input and Position Compare output These signals are useful for high speed synchronization of motion with actuators sensors vision and data acquisition devices and other components in the complete motion system Q Tip Refer to the Signal Connection Recommendations section of Chapter 4 Accessory and Cable Connections for wiring and cabling recommendations Position Capture When enabled an active transition on a high speed Position Capture input causes instantaneous position capture of the corresponding encoder count value You can use this high speed position capture functionality for applications ranging from simple logging of feedback sensor data to complex camming systems with advance retard positioning and registration A Caution If you use an open collector
30. ay be used to reproduce software or other materials belonging to others you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction End User License Agreements and Third Party Legal Notices You can find end user license agreements EULAs and third party legal notices in the following locations e Notices are located in the lt National Instruments gt _Legal Information and National Instruments gt directories EULAs are located in the lt National Instruments gt Shared MDF Legal license directory e Review lt National Instruments gt _Legal Information txt for more information on including legal information in installers built with NI products Trademarks Refer to the NI Trademarks and Logo Guidelines at ni com trademarks for more information on National Instruments trademarks ARM Keil and Vision are trademarks or registered of ARM Ltd or its subsidiaries LEGO the LEGO logo WEDO and MINDSTORMS are trademarks of the LEGO Group 2013 The LEGO Group TETRIX by Pitsco is a trademark of Pitsco Inc 2013 FIELDBUS FOUNDATION and FOUNDATION are trademarks of the Fieldbus Foundation EtherCAT is a registered trademark of and licensed by Beckhoff Automation GmbH CANopen is a registered Community Trademark of CAN in Automation e V DeviceNet and EtherNet IP are trademarks of ODVA Go SensorDAQ and Vernier are re
31. ble protection against harmful interference when the hardware is operated in the intended electromagnetic environment In special cases for example when either highly sensitive or noisy hardware is being used in close proximity additional mitigation measures may have to be employed to minimize the potential for electromagnetic interference While this hardware is compliant with the applicable regulatory EMC requirements there is no guarantee that interference will not occur in a particular installation To minimize the potential for the hardware to cause interference to radio and television reception or to experience unacceptable performance degradation install and use this hardware in strict accordance with the instructions in the hardware documentation and the DoC If this hardware does cause interference with licensed radio communications services or other nearby electronics which can be determined by turning the hardware off and on you are encouraged to try to correct the interference by one or more of the following measures e Reorient the antenna of the receiver the device suffering interference e Relocate the transmitter the device generating interference with respect to the receiver e Plug the transmitter into a different outlet so that the transmitter and the receiver are on different branch circuits Some hardware may require the use of a metal shielded enclosure windowless version to meet the EMC requirements for specia
32. bout the individual signals and connecting devices to the module Figure 2 5 NI 9514 Block Diagram Drive Command Phase A 0 Phase B 0 Index 0 Position Microprocessor Capture PID Loop Home Output Forward H Circuitry Reverse Input Circuitry eo Receiver Circuitry Position Compare Drive Enable Digital Input 0 1 5 V OUT NI 9516 Connections Complete the following steps to connect the NI 9516 drive interface module to drives and other I O 1 Install the module in the chassis as specified in the chassis documentation Note Refer to the MI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a drive and other I O using the NI 9514 16 to AKD cable the NI 951x Cable and Terminal Block Bundle or a custom cable for direct connectivity to third party drives Q Tip NI offers AKD analog servo drives and matched servo motors Refer to Getting Started with NI 9514 16 C Series Drive Interface Modules and AKD Analog Servo Drives for installation and configuration information Refer to the Getting Started with NI 951x C Series Drive Interface Modules and LabVIEW for information about using the NI 9516 with other devices 3 Connect the NI 9516 module to an external power supply National Inst
33. ch enhances system stability and precision and provides backlash compensation The Encoder 0 channel consists ofa Phase A a Phase B and an Index input The Encoder 1 channel consists of a Phase A and a Phase B input and does not contain an Index input All encoder signals are digitally filtered and provide programmable filter frequencies The filter settings are based on the software programmable maximum velocity rate Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about encoder filter settings Encoder Phase A Phase B Encoder input channel converts pulses on Phase A and Phase B into 32 bit up down counter values Pulses are generated by optical magnetic laser or electronic devices that provide two signals Phase A and Phase B that are 90 degrees out of phase The leading phase A or B determines the direction of motion The four transition states of the relative signal phases provide distinct pulse edges that are used to determine position 3 10 ni com NI 951x User Manual A typical encoder with a specification of N N number lines per unit of measure in revolutions or linear distance produces 4 x N counts per unit of measure The count is the basic increment of position in closed loop motion systems Note To determine your encoder counts per revolution multiply the specified encoder counts per revolution by four For example a 500 line encoder has 2 000 counts per revolution If an encode
34. covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patent Notice at ni com patents Export Compliance Information Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIG
35. cts the NI 9512 to the AKD servo drive and AKM brushless servo motors available from NI NI part number 781525 01 NI 951x Cable and Terminal Block Bundle Connects the NI 951x module with the 37 pin spring terminal blocks NI part number 780553 01 DSUB and MDR Solder Cup Connectors Simplifies custom cable creation NI part number for DSUB connector 780549 01 NI part number for MDR connector 780551 01 DSUB to Pigtails Cable and MDR to Pigtails Cable Simplifies custom cable creation NI part number for DSUB cable 193412 04 NI part number for MDR cable 193413 04 Caution Do not use the recommended module power supplies to power a drive Check your drive documentation for drive power supply requirements 24 V DC power supply Note Refer to the National Instruments Web site at ni com for available power supplies Refer to Chapter 4 Accessory and Cable Connections for cable and terminal block pin assignments For additional information about these and other available products refer to the National Instruments Web site at ni com or call your National Instruments sales representative 1 4 ni com Hardware Overview This chapter presents an overview of the National Instruments 951x drive interface module hardware including connections and connector pin assignments The following figure shows the NI 951x module Figure 2 1 NI 951x Module NI 951x Connections This section co
36. d Limit Reverse Limit and Home inputs are digitally filtered and have programmable filter frequencies Active limit and home signals should remain active to prevent motion from proceeding further into the limit Pulsed limit signals stop motion but they do not prevent further motion in that direction if another move is started Forward Limit Reverse Limit and Home inputs are not required for basic motion control These inputs are part of a system solution for complete motion control A Caution National Instruments recommends using limits for personal safety as well as to protect the motion system Limit and Home Input Circuit You can use software to enable and disable Forward Limit Reverse Limit and Home inputs and to configure the active state of the signals to on or off You can also configure the Forward Limit Reverse Limit and Home input circuits for current sinking or sourcing output devices 3 8 ni com NI 951x User Manual Tip Refer to the Signal Connection Recommendations section of Chapter 4 Accessory and Cable Connections for additional wiring and cabling recommendations Figure 3 6 shows an example of wiring the inputs to a sourcing output device Figure 3 7 shows an example of wiring the inputs to a sinking output device Figure 3 6 Limit Input Configured for Sinking PNP Sourcing Output Device NI 951x Limit Home Out or Digital Input Currant Limit Home Limiting or
37. e interface modules require an external power supply An onboard regulator generates a 5 V output supply from the Ne input for both internal and external usage The positive terminal for the power supply must be connected to Me and the reference must be connected to COM K Note You can connect the external power supply to the V input provided on either DSUB or MDR connectors Do not connect more than one external power supplies to the module Command Signals The following signals control the stepper or servo drive Stepper Command Signals Step CW and Direction CCW These signals are the NI 9512 drive interface module stepper command outputs The stepper output mode is software configurable for compatibility with various third party drives The NI 9512 module supports both industry standards for stepper command signals step and direction or clockwise CW and counterclockwise CCW pulse outputs as follows e When step and direction mode is configured each commanded step or microstep produces a pulse on the step output The direction output indicates the commanded direction of motion either forward or reverse Refer to Figure 3 1 for an illustration 3 4 ni com NI 951x User Manual s CW and CCW modes produce pulses on the CW output for forward commanded motion and pulses on the CCW output for reverse commanded motion Refer to Figure 3 1 for an illustration Figure 3 1 Step Direction and CW CCW Modes
38. e of stepper motor driving that occurs when fully energizing the windings A stepper motor mode For a two phase motor half step mode is done by alternately energizing two windings and then only one In half step mode alternate steps are strong and weak but there is significant improvement in low speed smoothness over the full step mode An input or output is high if the voltage is higher than the specified digital logic high level high side switch home switch input incremental encoder index L limit switch end of travel position input low low side switch M microstep NI 951x User Manual A switch that provides a path to supply when closed A physical position determined by the mechanical system or designer as the reference location for system initialization Frequently the home position is also regarded as the zero position in an absolute position frame of reference A device that produces two signals Phase A and Phase B which are 90 degrees out of phase allowing for edge counting to provide relative position information Marker on an encoder that produces a single signal per revolution and is typically used to establish a reference position Sensors that alert the control electronics that the physical end of travel is being approached and that the motion should stop An input or output is low if the voltage is lower than the specified digital logic low level A switch that provides a path
39. ection or CW CCW Active State henin N Software selectable high or low Servo command analog outputs Voltage range 10 V relative to Drive Command COM Resolution 16 bits 0 000305 V LSB monotonic Max output current 2 mA Drive Enable output Output type ss Software selectable sinking or sourcing Voltage range ececececeseeteeteeseeseeeeneenee 0 to 30 V Vsup input 19 to 30 V Continuous output current 15 Gtegch ehamnnel ees runs 100 mA max Output impedance RA 0 3 Q max Output voltage Vo sourcing Vsup Haal Output voltage Vo sinking 0 0 0 Ro Min output pulse width 100 us Active stalenn aain Software selectable on or off Motion I O Encoder 0 and 1 Phase A B and Encoder 0 Index inputs d Oss d cased cess nn rat M RS 422 differential or single ended inputs Digital logic levels single ended Noltage ee EES 0 25 to 5 25 V High Viennent 2 0 V min LOWE V eee int d 0 8 V max Digital logic levels differential Phase Phase Input high range 300 mV to 5 V Input low range eee ececseeseeseereeeees 300 mV to 5 V Common mode voltage ccccee 7 to 12 V Input current at AN 1 mA Common mode voltage is the average of Phase and Phase A 2 ni com NI 951x User Manual Min pulse width Differential 100 ns Single ended 0 cececcseeseeseeneereeeeee 400 ns Max count rate Differential 20 x 10 counts sec Single ended
40. ed with position command drives You can use these signals with your drive if you map the signal functionality to an available digital input or digital output using software Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about mapping digital inputs and digital outputs Refer to Chapter 3 Signal Connections for information about other NI 9512 module signals The following inputs are driven from the drive to provide system status to the module e Servo Alarm Drive Fault Disables the drive in case of a drive error The module does not generate step and direction outputs when the alarm input is active The alarm signal is inactive during normal operation e In Position Indicates that the drive has completed the move and has reached the target position e Servo Ready Drive Ready Indicates that the drive is ready or enabled The following signal is driven from the module to the position command drive e Alarm Clear Clears the alarm or fault outputs on the drive Note The Alarm Clear functionality is not mappable in software Refer to the NI SofiMotion LabVIEW Help for information about implementing this functionality using an available digital output National Instruments B 3 Technical Support and Professional Services Log in to your National Instruments ni com User Profile to get personalized access to your services Visit the following sections of ni com for technical support and pr
41. el and the reverse limit at the reverse or negative end of travel e Limit home and digital input signals are digitally filtered Software configurable filters are provided to filter or debounce the input signals Use shorter filter periods for noise filtering and longer filter periods to debounce the input 4 4 ni com NI 951x User Manual Encoder Connection Recommendations The encoder inputs are connected to incremental decoder counter circuits It is very important to minimize noise at this interface Excessive noise on these encoder input signals may result in loss of counts or extra counts and reduced motion system accuracy The following additional recommendations apply to encoder signal connections e National Instruments strongly recommends you use encoders with differential line driver outputs for all applications You must use differential encoders if the encoder cable length is longer than 3 05 m 10 ft Shielded 24 AWG 0 25 mm cross section wire is the minimum recommended size for the encoder cable e Wire encoder signals and their ground connections separately from all other connections Wiring these signals near the motor drive or other signals can cause positioning errors and faulty operation e Cables with twisted pairs and an overall shield are recommended for optimized noise immunity Figure 4 5 shows twisted pairs in a shielded cable Unshielded cables can cause noise to corrupt the encoder signals resulting in
42. emperature IEC 60068 2 1 IEC 60068 2 2 oo ee 40 to 85 C Ingress protection ccccessecseeseeeeeeeeeeeeeeeeeeeees IP 40 Operating humidity IEC 60068 2 56 10 to 90 RH noncondensing Storage humidity IEC 60068 2 56 5 to 95 RH noncondensing Pollution Degree IEC 60664 2 Maximum alpntude neres esseere 5 000 m National Instruments A 7 Appendix A Specifications Environmental Management National Instruments is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers For additional environmental information refer to the Minimize Our Environmental Impact web page at ni com environment This page contains the environmental regulations and directives with which NI complies as well as other environmental information not included in this document Waste Electrical and Electronic Equipment WEEE EU Customers At the end of the product life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste and Electronic Equipment visit ni com environment weee Cd He Pb EFAA mis Riehl BEDE CE RoHS OO RS D National Instruments 46 t E ETAR A m P RANER EEA SE BR ROHS XF National Instrum
43. ence EE J ee e 3 16 ni com Accessory and Cable Connections This chapter describes the accessory and cable connections for the National Instruments 951x drive interface modules including connection diagrams and cable pin assignments custom cable information and additional information about software mappable signals NI 951x Connection Accessories This section contains information about the NI 951x 37 pin terminal blocks and cables including pin assignments for each module Figure 4 1 shows the NI 951x module connected to the 37 pin terminal block using the NI 951x to 37 pin cable Figure 4 1 NI 951x Module and 37 Pin Terminal Block 37 Pin Terminal Block Pin Assignments Figure 4 2 Figure 4 3 and Figure 4 4 show the pin assignments for the NI 951x to 37 pin terminal blocks 4 Note When connecting only the MDR connector to the terminal block all DSUB signals on the terminal block are no connects NC and when connecting only the DSUB connector to the terminal block all MDR signals on the terminal block are no connects National Instruments 4 1 Chapter 4 Accessory and Cable Connections Caution The 37 pin terminal block has separate Vsup and COM terminals for each A connector Make sure you are using the correct Vsup and COM terminals for the connector you are using All signals associated with the DSUB connector in Figures 4 2 4 3 and 4 4 are marked with a dagger t Figure 4 2 NI 9512 3
44. ents FE ROHS AHIS D WE ni com environment rohs_china For information about China ROHS compliance go to ni com environment rohs_china A 8 ni com Position Command Connections This appendix contains information about using the NI 9512 drive interface module with drives that support position command mode or pulse command input Note Ifyou are using a Mitsubishi MR J2 Mitsubishi MR J3 Panasonic Minas A Panasonic Minas A5 Yaskawa Sigma II or Yaskawa Sigma V drive refer to the NI 9930 Motion Control Accessories User Guide which describes how to use the NI 9512 drive interface module with accessories designed for these drives This document is available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI 9930 Accessories User_Guide pdf and on ni com manuals Connecting the NI 9512 to a P Command Drive Complete the following steps to connect the NI 9512 drive interface module to p command drives and other I O 1 Install the module in the chassis as specified in the chassis documentation Note Refer to the MI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a drive and other I O using the NI 951x 37 pin terminal block and NI 951x 37 pin terminal block cable or a custom cable Note Many p command drive manufacturers refer to the Step signal as Pulse and the Direction signal
45. er 0 Phase B 18 8 COM fy i Encoder 0 Phase A 17 7 Encoder 0 Index E Encoder 0 Phase A 16 6 Encoder 0 Index d Encoder 1 Phase B Encoder 1 Phase B b i Encoder 1 Phase A Digital Input 0 f Vsup COM i k Encoder 1 Phase A Home Reverse Limit Forward Limit 1 LED Indicators The NI 951x has four LEDs to display status information 1 Axis Status Green 3 Limit Active Yellow 2 Encoder Active Green 4 Axis Fault Red Axis Status The Axis Status LED green has three states to display axis status e Off The module is in sleep mode or failed to boot correctly Refer to the NI SoftMotion Module book of the LabVIEW Help for troubleshooting information e Flashing The module booted up correctly and is functional s Lit The module is functional and the drive enable output is active National Instruments 2 15 Chapter 2 Hardware Overview Encoder Active The Encoder Active LED green has three states for encoder and V sup status Off The power supply V sup is not connected You must connect a power supply to receive encoder pulses Flashing The power supply V sup is connected and the module is receiving encoder pulses Note The LED flash rate does not correspond to the rate at which the module receives encoder pulses For the NI 9516 module the encoder LED flashes when pulses are received on either Encoder 0 or Encoder 1 Lit
46. ety Informations so cccccceceectecdesscsedeessesvads cesses cence csbechcabcenteesendeesentesesueduactbeucdbcencesdendes 1 3 Special Conditions for Marine Applications s sssessesesssessesesssesstsersssesesseseseeeeses 1 3 Optional Equipment sinistres 1 4 Chapter 2 Hardware Overview NTOSIX Connections erinnere S nine seins 2 1 NI 9512 Connections 2 2 NI 9514 Connections 2 5 NI 9516 Connectong 2 7 UR dee 2 9 NHK Connectors EE EE ed 2 9 NE 9S14 Connectors EE Be ee Bends A ie ee eS 2 12 NI 9516 Connectors 2 14 LED Indicators 2 15 Axis Status 2 15 Encoder AGNES EE EEN ge E ee Aaaa doses ete 2 16 tinit ACUV Stern nn en rt nn 2 16 AXIS EAU Ee 2 16 Chapter 3 Signal Connections Power Connections ss 3 4 Command Signals 3 4 Stepper Command Signals Step CW and Direction CCW 3 4 Servo Command Signals cccccsccsccsecssescesseceseeeseeeeeeesecescesceseeeeesseeaeceeceeeeceaeeaes 3 6 Drive Command Output 3 6 Drive Command COM siennes 3 6 National Instruments vii Contents Additional Drive Signals ccsssssessesseeseesceseeseescescesceseeseeesscesecaeceeceeceeceeceeeeaeeae 3 6 Drive DEE Motion I O Signals sise Limit and Home Inputs o Limit and Home Input Circuit 00 ceeeeseseeseeseseesceeeeceecneneceecesnecneseeaeens 3 8 Ericode
47. figured in software for sinking or sourcing output type If you are connecting to sinking inputs configure the output type to sourcing Conversely if you are connecting to sourcing inputs configure the output type to sinking A Caution Do not connect digital outputs to 5 V input circuitry in either sinking or sourcing configuration Q Tip Refer to the Signal Connection Recommendations section of Chapter 4 Accessory and Cable Connections for additional wiring and cabling recommendations Figure 3 17 shows an example of wiring the digital outputs to a sinking input device Figure 3 18 shows an example of wiring the digital outputs to a sourcing input device Figure 3 17 Digital Output Circuit Configured for Sourcing NPN Sinking NI 951x Input Device NI 951x Vsup Ve i i Drive Enable or b i i Digital Output d Drive Enable or i r Digi A Digital Output an i onfigure i SCH i 1 8 b Sinking i For Sourcing Circuit COM V b i Reference National Instruments 3 15 Chapter 3 Signal Connections Figure 3 18 Digital Output Circuit Configured for Sinking PNP Sourcing NI 951x Input Device i NI 951x Vsup 1 Mi i A A Sourcing Drive Enable or Circuit Drive Enable or Digital Output A Digital Output BS 1 Configured i For Sinking b i Le o COM V i Refer
48. gistered trademarks of Vernier Software amp Technology Vernier Software amp Technology and vernier com are trademarks or trade dress Xilinx is the registered trademark of Xilinx Inc Taptite and Trilobular are registered trademarks of Research Engineering amp Manufacturing Inc FireWire is the registered trademark of Apple Inc Linux is the registered trademark of Linus Torvalds in the U S and other countries Handle Graphics MATLAB Real Time Workshop Simulink Stateflow and xPC TargetBox are registered trademarks and TargetBox and Target Language Compiler are trademarks of The MathWorks Inc Tektronix Tek and Tektronix Enabling Technology are registered trademarks of Tektronix Inc The Bluetooth word mark is a registered trademark owned by the Bluetooth SIG Inc The ExpressCard word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under license The mark LabWindows is used under a license from Microsoft Corporation Windows is a registered trademark of Microsoft Corporation in the United States and other countries Other product and company names mentioned herein are trademarks or trade names of their respective companies Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency partnership or joint venture relationship with National Instruments Patents For patents
49. ise noted Stepper Performance NI 9512 only Stepper ACCULACY 1 full half or microstep Interpolation spline moie 20 kHz max Servo Performance NI 9514 NI 9515 and NI 9516 only Module modes of operation Position loop and torque loop Control loop ratel 20 kHz max position loop PID PIVff and Dual Loop Servo control loop modes Motion Command Signals Stepper outputs Output typene asirieni Software selectable single ended or differential Digital logic levels single ended High Vase deen dE SE Niger 5 25 V max Sourcing 20 m 3 5 V min Sourcing 12 mA 3 7 V min Sourcing 4 MA 3 9 V min Low VoL Sinking 20 mA 0 9 V max Sinking 12 MA 0 7 V max Sinking 4 MA 0 5 V max Digital logic levels differential Step Dir Step Dir At 20 mA 1 V min Eeer tee denn ati 1 5 V min ABA MA eerste eer 2 V min 1 When using a torque loop the control loop rate depends on the processor speed and communication bus bandwidth Refer to the NI SoftMotion Module book of the LabVIEW Help for more information National Instruments A 1 Appendix A Specifications Max pulse mate 5 MHz Continuous output current on each channel 20 mA Pulse width Approximately 50 of the period up to 6 4 us max Output mode oe eee ee eeeeeeeeeeteteeeees Software selectable step and dir
50. ive Enable Drive Enable Connects to the enable function of the drive 0 to 30 V output configurable as sinking or sourcing 100 us minimum output pulse width National Instruments 3 1 Chapter 3 Signal Connections Table 3 1 NI 951x Signal Reference Continued Signal Signal Name Signal Overview Encoder 0 Encoder 0 Phase A Primary encoder for position or Encoder 0 Phase A velocity feedback RS 422 differential compatible Encoder 0 Phase B with single ended encoders Encoder 0 Phase B 20 x 106 counts second maximum Encoder 0 Index 100 ns minimum pulse width differential inputs EE 400 ns minimum pulse width single ended inputs Index input used to establish reference position Digitally filtered Encoder 1 Encoder 1 Phase A Secondary encoder for position or Encoder 1 Phase A EE RS 422 differential compatible Encoder 1 Phase B with single ended encoders Encoder 1 Phase B 20 x 10 counts per second maximum 100 ns minimum pulse width differential inputs 400 ns minimum pulse width single ended inputs Digitally filtered 5 V OUT 5 V OUT 5 V supply output generated from the V sup input Available for encoder power 150 mA maximum NI 9512 and NI 9514 300 mA maximum NI 9516 Limits and Home Forward Limit Reverse Limit Home Connect to switches for system safety Configurable for sinking or sourcing 0 to 30 V input range 100
51. king input device Figure 3 5 shows an example of wiring the output to a sourcing input device Figure 3 4 Drive Enable Circuit Configured for Sourcing NPN Sinking NI 951x Input Device NI 951x Veup Drive Enable or Digital Output H Drive Enable or i e Digital Output In i Gohtig red 7 i i Sinking i For TT Circuit e COM iV i i Reference National Instruments 3 7 Chapter 3 Signal Connections Figure 3 5 Drive Enable Circuit Configured for Sinking PNP Sourcing NI 951x Input Device i NI 951x Vsup 1 Mi gg A Sourcing i Drive Enable or Circuit i Drive Enable or Digital Output A l Digital Output S 1 i Configured i For Sinking i i COM V i i Reference Motion I O Signals Limit and Home Inputs The following inputs are available for limit and home functionality on the NI 951x modules e Forward Limit Input e Reverse Limit Input Home Input These inputs are typically connected to limit switches located at physical ends of travel and or at a specific home position When enabled an active transition on the Forward Limit Reverse Limit or Home input causes motion on the associated axis to stop The stop mode is user configurable in software Refer to the M SoftMotion Module book of the LabVIEW Help for information about the available stop modes The Forwar
52. l EMC environments such as for marine use or in heavy industrial areas Refer to the hardware s user documentation and the DoC for product installation requirements When the hardware is connected to a test object or to test leads the system may become more sensitive to disturbances or may cause interference in the local electromagnetic environment Operation of this hardware in a residential area is likely to cause harmful interference Users are required to correct the interference at their own expense or cease operation of the hardware Changes or modifications not expressly approved by National Instruments could void the user s right to operate the hardware under the local regulatory rules 1 The Declaration of Conformity DoC contains important EMC compliance information and instructions for the user or installer To obtain the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Contents About This Manual Related Documentation iii ix Chapter 1 Introduction and Installation About the NI 951x Drive Interface Modules 1 1 Features n e ee e NEE hg EE as 1 1 Hardware ccccscecseceeesees l 1 What You Need to Get Started cccccccccesseccessecesseeeeees 1 2 Using the NI 951x Modules in Scan Interface Mode eee 1 2 Using the NI 951x Modules in LabVIEW FPGA Interface Mode 1 3 Saf
53. media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical errors exist National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER NATIONAL INSTRUM
54. n CW CCW information to drive a servo motor proportional integral derivative control loop A control method in which the controller output is proportional to the error the sum of all previous errors and the rate at which the error is changing The error is the difference between the observed and the commanded values of the device that is being controlled proportional integral velocity feed forward control loop A control method in which the controller output is proportional to the error the sum of all previous errors and the future trajectory velocity The error is the difference between the observed and the commanded values of the device that is being controlled Record position based on an external event When the encoder reaches a user specified position the associated position compare output performs the user specified action S servo sinking device sourcing device Step output stepper T toggle torque sup NI 951x User Manual Specifies an axis that controls a servo motor A device that provides a path to ground A device that provides a path to supply Command signal for stepper motors each step produces a pulse on the step output leading to a step or microstep of the motor Specifies an axis that controls a stepper motor Changing state between high and low or on and off Rotary force Power supply input National Instruments G 5 Index Symbols 5 V OUT signal description
55. ntains connection information for each drive interface module including connection diagrams for a complete system setup National Instruments 2 1 Chapter 2 Hardware Overview NI 9512 Connections National Instruments offers several options for connecting the NI 9512 to stepper or position command servo drives Refer to Table 2 1 for available NI 9512 connection options Table 2 1 NI 9512 Connection Options Drive Connection Option NI ISM 7400 740 1 7402 NI SMD 7610 NI SMD 7611 7612 NI SMD 7620 7621 Direct Connectivity to NI ISM and NI SMD stepper drives Go to ni com info and enter stepper for installation and configuration information for NI ISM and NI SMD stepper drives AKD Analog Servo NI 9512 to AKD Drive Cable NI part number 781525 01 Note Refer to Getting Started with NI 9512 C Series Drive Interface Modules and AKD Analog Servo Drives available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9512 AKD pdf and on ni com manuals for information about connecting and using the NI 9512 module with AKD analog servo drives and AKM brushless servo motors available from NI Mitsubishi MR J2 or MR J3 NI 9930M Motion Control Accessory NI part number 781824 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI_9930_Motion_
56. nual Maan p tid paseia siras 19 to 30 V Continuous output current 15 on each channel eceseeseeseeseeneeeeneeee 100 mA max Output impedance R 0 3 Q max Output voltage Hal sourcng s V sup GoRo Output voltage Vo sinking 0 00000000 LRo Min output pulse width 100 us Leakage current esuriens 200 pA Active BUER Software selectable on or off RR E Contact NI for Bellcore MTBF or MIL HDBK 217F specifications Power Requirements Power consumption from chassis Active mode NI 9512 925 mW max NI 9514 900 mW max NI 9516 950 mW max Sleep en 0 4 mW max Thermal dissipation at 70 C Active Mode imitant 1 5 W max Sleep MOE slim hemeieerest 0 4 mW max NI 951x Input and Output Characteristics Nam Int EE 19 to 30 V OEB 375 mA max INE QS 14 WEE 150 mA max NLOSl r eege egene ies 150 mA max 5 V regulated output t5 IND ISI EE 150 mA max INL O51 4 E 150 mA max INT 9516 Sms 300 mA max Physical Characteristics If you need to clean the module wipe it with a dry towel Note For two dimensional drawings and three dimensional models of the C Series module and connectors visit ni com dimensions and search by module number KEE 155 g 5 5 oz National Instruments A 5 Appendix A Specifications Safety Safety Voltages Connect only voltages that are within the following limits Channel to COM sssesessessiseessensereressrensreerrees 0 to 30 VDC max Measurement Category
57. ofessional services e Support Technical support at ni com support includes the following resources Self Help Technical Resources For answers and solutions visit ni com support for software drivers and updates a searchable KnowledgeBase product manuals step by step troubleshooting wizards thousands of example programs tutorials application notes instrument drivers and so on Registered users also receive access to the NI Discussion Forums at ni com forums NI Applications Engineers make sure every question submitted online receives an answer Standard Service Program Membership This program entitles members to direct access to NI Applications Engineers via phone and email for one to one technical support as well as exclusive access to self paced online training modules at ni com self paced training All customers automatically receive a one year membership in the Standard Service Program SSP with the purchase of most software products and bundles including NI Developer Suite NI also offers flexible extended contract options that guarantee your SSP benefits are available without interruption for as long as you need them Visit ni com ssp for more information For information about other technical support options in your area visit ni com services or contact your local office at ni com contact s Training and Certification Visit ni com training for training and certification program information You
58. r Do not connect more than one external power supply to the module 2 4 ni com NI 951x User Manual Figure 2 3 shows the NI 9512 block diagram Refer to Chapter 3 Signal Connections for more information about the individual signals and connecting devices to the module Figure 2 3 NI 9512 Block Diagram Phase A 0 oe Receiver Buffer Step Psst Circuitry Index 0 SE Buffer Direction Position b GE Capture Buffer PS Position Microprocessor Compare H O Drive Enable Forward 1 o Gong Output Reverse Circuitry 0 1 c o ke Input k Circuitry K Veup Digital e a eo lt 7 com T 6 5V Reg 9 5 V OUT NI 9514 Connections Complete the following steps to connect the NI 9514 drive interface module to drives and other I O 1 Install the module in the chassis as specified in the chassis documentation Ka Note Refer to the MI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a drive and other I O using the NI 9514 16 to AKD cable the NI 951x Cable and Terminal Block Bundle or a custom cable for direct connectivity to third party drives Q Tip NI offers AKD analog servo drives and matched servo motors Refer to Getting Started with NI 9514 16 C Series Drive In
59. r Inputs n2 entier nanas MANN RENE Se ft En 3 10 Encoder Phase A PhaseB 2 52200e nn nr in un 3 10 Encoder Index sieneen n a da oa sns edie Encoder Input Circuit Ge Position Capture Input and Position Compare Oummut 3 12 Digital RTE Digital Inputs Digital Outputs Chapter 4 Accessory and Cable Connections NI 951x Connection Accessories ne 4 1 37 Pin Terminal Block Pin Assignments 4 1 Signal Connection Recommendations 4 4 General Connection Recommendations 4 4 Limit and Digital Input Connection Recommendations eee seseetereeeeneeees 4 4 Encoder Connection Recommendations ccsecseseseeceseeeeseceseseeeceaeseeecseseeeeens 4 5 Connecting Optional Signals cce eee Connecting a Brake Signal Appendix A Specifications Appendix B Position Command Connections Appendix C Technical Support and Professional Services Glossary Index viii ni com About This Manual This manual describes the electrical and mechanical aspects of the National Instruments 951x C Series drive interface modules and contains information concerning installation and operation Related Documentation The following documents contain information you might find helpful as you read this manual Operating Instructions for the controller and modules shipped with the hardware and available from ni com manuals NI Motion Help Contains information abou
60. r resource is not needed for axis control it is available for other functions including position monitoring as a digital potentiometer encoder input or as a master encoder input for electronic gearing or electronic camming applications Encoder Index The Index input is primarily used to establish a reference position The Index signal produces a single pulse per revolution You can use software to capture the Index pulse position and establish a reference zero position for absolute position control Figure 3 10 shows the single ended representation of the encoder pulses Figure 3 10 Incremental Encoder Phasing Diagram Phase B i 1 1 Index i d i Phase A You can set the index reference criteria in software to change the line state of Phase A and Phase B used in the Index search Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about encoder settings Encoder Input Circuit The NI 951x drive interface modules support RS 422 differential and single ended inputs for Phase A Phase B and Index signals and provide a 5 V output for encoder power You also can set the encoder active state for Phases A Phase B and Index to high or low using software Refer to the M SoftMotion Module book of the LabVIEW Help for more information Q Tip Refer to the Signal Connection Recommendations section of Chapter 4 Accessory and Cable Connections for addition
61. rivers NI resources C 1 K KnowledgeBase C 1 L LED indicators axis fault 2 16 axis status 2 16 encoder active 2 16 limit active 2 16 limit active LED 2 16 limit and home inputs connections 3 8 Forward Limit input 3 8 Home input 3 8 input circuit 3 8 Reverse Limit input 3 8 signal descriptions 3 8 limit signals connection recommendations 4 4 M MDR connector Digital Inputs 3 13 Encoder Index 3 11 Encoder Phase A 3 10 Encoder Phase B 3 10 Forward Limit 3 8 Home 3 8 Position Capture 3 12 Position Compare 3 13 Reverse Limit 3 8 Nau 3 4 motion I O signals 3 8 N National Instruments support and services C 1 NI 9512 connection diagram figure 2 4 connections 2 2 DSUB connector 2 10 MDR connector 2 11 NI 9514 connection diagram figure 2 6 connections 2 5 DSUB connector 2 12 MDR connector 2 13 NI 9516 connection diagram figure 2 8 connections 2 7 DSUB connector 2 14 MDR connector 2 15 NI 951x features 1 1 requirements for getting started 1 2 P physical specifications A 5 position capture input connection recommendations 4 4 Position Capture signal description table 3 3 overview 3 13 purpose and use 3 13 position command drive signals alarm B 3 alarm clear B 3 in position B 3 servo ready B 3 Position Compare signal description table 3 3 overview 3 14 purpose and use 3 14 power connections 3 4 power requirement specifications A 5 p
62. rogramming examples NI resources C 1 NI 951x User Manual R related documentation ix Reverse Limit input signal description table 3 2 purpose and use 3 8 S servo drive command signals 3 6 servo performance specifications A 1 servo ready input B 3 signal connections See power connections command signals motion I O signals and digital I O signals software requirements 1 2 NI resources C 1 specifications digital I O A 4 motion I O A 2 physical A 5 power requirements max A 5 servo performance A 1 stepper performance A 1 Step CW signal connections 3 5 description table 3 1 output circuit 3 5 purpose and use 3 4 stepper drive command signals 3 4 stepper output specifications A 1 stepper performance specifications A 1 support technical C 1 T technical support C 1 terminal block pin assignments 4 2 training and certification NI resources C 1 troubleshooting NI resources C 1 V Voup Signal connections 3 4 description table 3 3 National Instruments 1 3 Index W Web resources C 1 wiring concerns digital input signals 4 4 encoder signals 4 5 home 4 4 limit signals 4 4 position capture input 4 4 l 4 ni com
63. ruments 2 7 Chapter 2 Hardware Overview Figure 2 6 shows a simplified connection diagram Figure 2 6 NI 9516 Connection Diagram i DSUB Connector MDR Connector Drive Command gt O Encoder 0 Phase A B Index O Drive Enable KO Encoder 1 Phase A B gt O Drive Fault 5 V OUT PO Vey KO Forward Reverse Limit Home NI 9516 NI Connection Limit and Home Accessory SCH Sensors Custom Cable yo SSSI I II III III III IIE 7 i Power Supply gt Drive Command i gt Drive Enable i Drive i Drive Fault RS E 2 Ss 4 4 Motor Servo Motor Encoder 0 Encoder 1 Note The NI 9516 requires an external power supply You can connect the external power supply to the Ne input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module A Caution Do not connect anything to pins marked Reserved 2 8 ni com NI 951x User Manual Figure 2 7 shows the NI 9516 block diagram Refer to Chapter 3 Signal Connections for more information about the individual signals and connecting devices to the module Figure 2 7 NI 9516 Block Diagram Phase Ax 0 Dri 0 Receiver DAC 9 Se Phase B 0 Circuitry Indexe 0 Phase A 1 al SE Phase B 1 i Drive D Microprocessor WT Position PID Loop Enable Capture Output Circuitry
64. s Use the following guidelines when wiring signals and creating custom cables s Keep all signals and their ground connections wired separately from the drive and encoder signal connections Wiring these signals near each other can cause faulty motion system operation due to signal noise and crosstalk e Use shielded cables with a low impedance connection to chassis ground to minimize noise and signal crosstalk s Use a separate power supply for the CompactRIO chassis and the NI 951x module s to isolate the I O from the controller e Tiethe Nam cable shield to chassis ground at the module side only e Route wires along the machine frame to reduce high frequency noise e Add clamp on ferrites to cables to further reduce emissions e Adda balun to the power cable to attenuate conducted and radiated emissions Caution Do not exceed the maximum specifications on any input or output Refer to Appendix A Specifications for more information Limit and Digital Input Connection Recommendations Use the following additional recommendations when connecting limits and other digital inputs Caution Failure to follow these guidelines may result in motion that stops at but then travels through a limit potentially damaging the motion system Limits that are wired incorrectly may prevent motion from occurring at all e For the end of travel limits to function correctly the forward limit must be located at the forward or positive end of trav
65. t motion programming concepts and the NI Motion architecture Access the N Motion Help by going to Start All Programs NI Motion Documentation LabVIEW NI SoftMotion Module Help Use this help file to learn about using NI SoftMotion in LabVIEW including information about function blocks and using NI SoftMotion with the LabVIEW Project To access this help file from LabVIEW select Help Search the LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab LabVIEW Help Contains LabVIEW LabVIEW Real Time Module and LabVIEW FPGA Module programming concepts instructions and reference information Access the LabVIEW Help by selecting Help Search the LabVIEW Help from within LabVIEW Getting Started with NI 951x C Series Drive Interface Modules and LabVIEW Use this document as a tutorial to learn how to install and use NI 951x modules with the LabVIEW NI SoftMotion Module Access this document by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 951x Modules LabVIEW pdf Getting Started with NI 9512 C Series Drive Interface Modules and P7000 Series Stepper Drives Use this document as a tutorial to learn how use NI 9512 modules with the P7000 series stepper drives and stepper motors available from NI Access this document by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting_Started_NI_9512_P7000 pdf Getting Started with
66. table 3 2 A alarm clear output B 3 alarm input B 3 axis fault LED 2 16 axis status LED 2 15 B brake signal connection 4 6 C calibration certificate NI resources C 1 CCW signal See Direction CCW signal command signals 3 4 Direction CCW 3 4 Drive Command COM 3 6 Drive Command output 3 6 servo drives 3 6 Step CW 3 4 stepper drives 3 4 connections digital input signals 4 5 Direction CCW signal 3 5 encoder signals 4 5 home 4 5 limit signals 3 8 4 5 NI 9512 2 2 figure 2 4 NI 9514 2 5 figure 2 6 NI 9516 2 7 figure 2 8 position capture input 4 4 Step CW signal 3 5 connectors NI 9512 2 10 NI 9514 2 12 NI 9516 2 14 conventions used in the manual ix CW signal See Step CW signal D Declaration of Conformity NI resources C 1 diagnostic tools NI resources C 1 digital I O connectors specifications A 4 digital I O signals 3 13 Digital Input lt 1 4 gt signal description table 3 3 wiring 3 8 3 9 3 14 3 15 digital inputs connection recommendations 4 5 purpose and use 3 13 signal descriptions 3 15 Digital Output lt 1 2 gt signal description table 3 3 digital outputs purpose and use 3 15 Direction CCW signal connections 3 5 description table 3 1 output circuit 3 5 purpose and use 3 4 documentation conventions used in manual ix NI resources C 1 related documentation x Drive Command COM signal description table 3 1 purpose and
67. terface Modules and AKD Analog Servo Drives for installation and configuration information Refer to the Getting Started with NI 951x C Series Drive Interface Modules and LabVIEW for information about using the NI 9514 with other devices 3 Connect the NI 9514 module to an external power supply National Instruments 2 5 Chapter 2 Hardware Overview Figure 2 4 shows a simplified connection diagram Figure 2 4 NI 9514 Connection Diagram Custom Cable DSUB Connector MDR Connector i i O Drive Command gt O Encoder 0 Phase A B Index O Drive Enable 5V OUT gt O Drive Fault gt O Forward Reverse Limit Home i O V SH NI 9514 i i Limit and Home NI Connection Sensors d Accessory E oor eee E 4 gt Drive Command Drive Fault gt Drive Enable i i 1 i i Drive 4 1 i i i 1 i i 1 1 li i i i f d Motor i i 1 i i U f i i 1 Servo Motor Encoder Note The NI9514 requires an external power supply You can connect the external power supply to the V sup input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module A Caution Do not connect anything to pins marked Reserved 2 6 ni com NI 951x User Manual Figure 2 5 shows the NI 9514 block diagram Refer to Chapter 3 Signal Connections for more information a
68. terface modules have the following digital input signals Digital Input lt 0 1 gt The NI 951x drive interface modules include two 5 kHz digital inputs compatible with 0 to 30 V logic outputs Digital Input lt 2 3 gt The NI 9512 drive interface module includes two additional 5 kHz digital inputs compatible with 0 to 30 V logic outputs Ka Note To use the Drive Fault functionality referenced in the M 951x Connections section of Chapter 2 you must map an available digital input in software Refer to the NI SofiMotion LabVIEW Help for more information about mapping digital inputs and digital outputs to available mappable signals You can configure the digital inputs for current sinking or sourcing output devices and set the active state of the inputs in software to on or off Digital inputs are digitally filtered and have programmable filter frequencies Refer to the M SoftMotion Module book of the LabVIEW Help for more information about digital input configuration options Q Tip Refer to the Signal Connection Recommendations section of Chapter 4 Accessory and Cable Connections for additional wiring and cabling recommendations National Instruments 3 13 Chapter 3 Signal Connections Figure 3 13 shows an example of wiring the digital input signals to a sourcing output device Figure 3 14 shows an example of wiring the digital input signals to a sinking output device Figure 3 13 Digital Input Configured for Sinking P
69. the NI 9512 module with other p command servo drives Complete the following steps to connect the NI 9512 stepper drive interface module to drives and other I O 1 Install the module in the chassis as specified in the chassis documentation Ka Note Refer to the NI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a drive and other I O using on of the connection options in Table 2 1 3 Connect the NI 9512 module to an external power supply National Instruments 2 3 Chapter 2 Hardware Overview Figure 2 2 shows a simplified connection diagram A Caution Do not connect anything to pins marked Reserved Figure 2 2 NI 9512 Connection Diagram DSUB Connector MDR Connector i Step CW gt O Encoder 0 Phase A B Index Direction CCW o 45VOUT gt O Drive Fault gt O Forward Reverse Limit Home gt O i SH NI 9512 i Limitand Home NI Connection i Sensors i Accessory i Ee F Custom Cable i i Drive Enable Motor gt Step CW i gt Direction CCW 1 Drive i Drive Fault Lei Drive Enable pha Ne hy ee ES GEES Stepper Motor Encoder optional Ka Note The NI 9512 requires an external power supply You can connect the external power supply to the V input provided on the DSUB or MDR connecto
70. to ground when closed Proportional control of energy in the coils of a stepper motor that allow the motor to move to or stop at locations other than the fixed magnetic mechanical pole positions determined by the motor specifications This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution National Instruments G 3 Glossary N noise off on open loop P p command PID control loop PIVff control loop position capture input position compare output G 4 ni com An undesirable electrical signal Noise comes from external sources such as the AC power line motors generators transformers fluorescent lights soldering irons CRT displays computers electrical storms welders radio transmitters and internal sources such as semiconductors resistors and capacitors Noise corrupts signals you are trying to send or receive An input or output is off when current is not flowing through the input or output circuit An input or output is on when current is flowing through the input or output circuit A control system where no external sensors feedback devices are used to achieve control of the system A command mode used for certain types of servo motor drives that accept step and directio
71. us minimum pulse width Digitally filtered 3 2 ni com NI 951x User Manual Table 3 1 NI 951x Signal Reference Continued Signal Signal Name Signal Overview Position Capture Position Capture High speed position capture input 5 V TTL input 100 ns minimum pulse width 2 mA max input current Digitally filtered Position Compare Position Compare High speed position compare output 5 V TTL output 100 ns minimum pulse width Digital Inputs Digital Input 0 Digital Input 1 Digital Input 2 Digital Input 3 General purpose digital inputs Configurable for sinking or sourcing 0 to 30 V input range 100 us minimum pulse width Digitally filtered Digital Outputs Digital Output 0 Digital Output 1 General purpose digital outputs 0 to 30 V digital outputs configurable as sinking or sourcing 100 mA maximum current 100 us minimum pulse width sup sup NI 951x power supply input 19 to 30 V Connection required to either the DSUB or MDR 400 mA maximum current COM COM Reference for digital I O Reference for Vsup Reference for 5 V OUT SI Note All signals are not available on all modules Refer to the individual module pinouts in Chapter 2 Hardware Overview for a list of the signals available on each module National Instruments 3 3 Chapter 3 Signal Connections Power Connections The NI 951x driv
72. use 3 7 Drive Command output specifications A 2 Drive Command signal description table 3 1 purpose and use 3 6 Drive Enable output specifications A 2 Drive Enable signal description table 3 1 purpose and use 3 6 drive fault configuring 3 13 drive signals Drive Enable 3 6 drivers NI resources C 1 DSUB connector Digital Inputs 3 13 Digital Outputs 3 15 National Instruments Li Index Direction CCW 3 4 Drive Command 3 6 Drive Command COM 3 6 Step CW 3 4 V oup 3 4 sup E Encoder 0 Index signal description table 3 2 Encoder 0 Phase A signal description table 3 2 Encoder 0 Phase B signal description table 3 2 Encoder 1 Phase A signal description table 3 2 Encoder 1 Phase B signal description table 3 2 encoder active LED 2 16 Encoder Index signal purpose and use 3 11 Encoder Phase A signal purpose and use 3 10 Encoder Phase B signal purpose and use 3 10 encoder signals connection recommendations 4 5 Encoder Index 3 11 input circuit 3 11 Phase A 3 10 Phase B 3 10 signal descriptions 3 11 wiring concerns 4 5 examples NI resources C 1 F feature overview 1 1 Forward Limit input signal description table 3 2 purpose and use 3 8 H hardware requirements 1 2 help technical support C 1 L nicom Home input signal description table 3 2 purpose and use 3 8 home connection recommendations 4 4 in position input B 3 instrument d
73. using COM digital I O reference Additional Drive Signals Drive Enable Use the Drive Enable output on the NI 951x module to control the enable function of a drive The enable input on the drive must be active for the drive to acknowledge commands from the module The Drive Enable signal is active during normal operation and deactivated upon a fault 3 6 ni com NI 951x User Manual or error condition Refer to the M SoftMotion Module book of the LabVIEW Help for a list of faults errors and other conditions that deactivate the Drive Enable output A Caution National Instruments strongly recommends using Drive Enable for personal safety as well as to protect the motion system Drive Enable Output Circuit You can use software to enable and disable the Drive Enable output and to configure the active state of the Drive Enable output to on or off Refer to the drive documentation to determine the active state of the enable input on the drive The Drive Enable output type can be configured in software for sinking or sourcing Ifthe drive has a sinking enable input configure the output type for the Drive Enable circuit for sourcing Conversely if the drive has a sourcing enable input configure the output type for the Drive Enable circuit for sinking A Caution Do not connect the Drive Enable output to a 5 V input circuit when the Drive Enable output is configured for sourcing Figure 3 4 shows an example of wiring the output to a sin

NI 951x User Manual - National Instruments

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