NI 9501 C Series Stepper Drive Modules and NI SoftMotion Module
Contents
1. Table 4 NI 9411 Limit and Home Connections 3 Connect additional digital inputs to the following channels Table 5 NI 9411 Digital Input Connections DIO Digital Input 0 DII Digital Input 1 DI2 Digital Input 2 DI3 Digital Input 3 DI4 Digital Input 4 Add and Connect an NI 9472 Digital Output Module 1 Install and connect an NI 9472 digital output module in slot 3 of the chassis 2 Connect digital output devices to the NI 9472 3 Connect the NI 9472 to the NI PS 16 power supply a Connect an available NI 9472 Vsup terminal to one of the two terminals on the NI PS 16 b Connect an available NI 9472 COM terminal to one of the two terminals on the NI PS 16 Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 19 Add and Connect an NI 9401 High Speed Bidirectional Module 1 Install and connect an NI 9401 digital I O module in slot 4 of the chassis 2 Connect the position compare and position capture signals as follows Table 6 NI 9401 Position Capture and Position Compare Connections NI 9401 Signal Function Add and Connect an NI 9411 Digital Input Module 1 Install an NI 9411 digital input module in slot 5 of the chassis 2 Connect the encoder to the NI 9411 The NI 9411 also provides a 5 V supply for encoder power The Stepper Drive with Encoder example uses the following NI 9411 signals for the corresponding encoder signals Table 7 NI 9411 Encoder Connection2. 1 Set Up the CompactRIO System Complete the following steps to set up the CompactRIO hardware 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis 4 Note Write down the controller serial number before installing the controller onto the chassis You will be unable to read the serial number after you install the controller a Make sure that no power is connected to the controller or the chassis b Align the controller with the chassis as shown in Figure 3 Figure 3 Installing the Controller on the Chassis Eight Slot Chassis Shown 1 Controller 4 Reconfigurable Embedded Chassis 2 Captive Screws 5 Grounding Screw 3 Controller Slot Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 5 c Slide the controller onto the controller slot on the chassis Press firmly to ensure the chassis connector and the controller connector are mated d Using a number 2 Phillips screwdriver tighten the two captive screws on the front of the controller 2 Connect the controller to a power supply and an Ethernet network on the same subnet as the development computer Refer to the controller operating instructions for information about wiring the controller to the power supply and Ethernet network Note Do not plug in or turn on any power to the system until after all hardware connections are complete 3 Install the NI 9501 module in sl
3. NI SoftMotion 7 Position Capture Motor Control VI 3 Digital Input 4 through 7 and Position Capture 8 Position Compare Motor Control VI Input Signals 9 Position Compare Output Signals 4 Interpret DIO Control Port B Drive Interface VI 10 Generate DIO Status Port B Drive Interface VI The DIO Config Port B loop manages the DIO contained in DIO Port B This includes the Position Capture Input and Position Compare Output from the NI 9401 C Series module Digital Inputs 4 though 7 from the NI 9423 C Series module and Digital Outputs 4 through 7 that are sent to the NI 9472 C Series module Tips and Troubleshooting Drive Fault on Enable If you receive fault 7180 when you enable the NI 9501 verify that the Rated Phase Current setting is set to the appropriate value for your motor in Amps Phase Refer to Table 2 for information about how to determine this value Complete the following steps to correct the setting 1 Set the Rated Phase Current in the Axis Configuration dialog box and click OK when you are done 2 Right click the axis in the Project Explorer window and select Deploy from the shortcut menu to deploy the updated setting Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 25 Where to Go Next The following documents contain additional information that you may find helpful All referenced documents ship with the product and are available at ni com manuals Operating instructions for the
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5. in the General Settings section matches the serial number on the device If you do not want to format the disk on the controller eliminating all installed software and files skip to step 15 Set the Safe Mode switch on the controller to the On position Ee Note If your controller supports the Attempt to restart into safe mode option you 10 11 12 13 14 15 16 17 18 19 20 21 22 can programmatically enable safe mode rather than using the hardware switch and skip to step 8 Power on the controller If it is already powered on press the Reset button on the controller to reboot it Right click the controller under Remote Systems in the configuration tree in MAX and select Format Disk Optional Enable either the Preserve the primary adapter settings and disable the others or Preserve the settings for all network adapters options if you want to retain the same target name and IP address and retain settings for the secondary network adapter if available Click Format to start formatting the disk When MAX finishes formatting the disk set the Safe Mode switch to the Off position if necessary and click OK in the confirmation dialog box Select the System Settings tab on the bottom and type a descriptive name for the system in the Hostname field Optional Complete this step only if the target has an empty IP address 0 0 0 0 Select the Network Settings tab and select DHCP or Link Local
6. two terminals on the NI PS 16 2 Connect the NI 9501 COM pin 7 to one of the two terminals on the NI PS 16 3 Connect the power supply to AC power step 4 Connect the System to AC Power Complete the following steps to power on the system 1 Connect the controller power supply to AC power 2 Connect the NI 9501 power supply to AC power step 5 Install Software on and Configure the NI RT Controller This step covers installing and configuring the software for the NI 9501 stepper drive module It assumes that all required software from the What You Need to Get Started section is installed on the host machine Complete the following steps to configure the controller and install software on it E Note The Measurement amp Automation Explorer MAX user interface may not match these steps exactly depending on which version of MAX you are using 1 Launch Measurement amp Automation Explorer MAX on the development computer by double clicking the MAX icon on the desktop ED or by selecting Start All Programs National Instruments Measurement amp Automation 2 Expand the Remote Systems tree 3 Highlight your device ea Note If you do not see the controller you may need to disable the firewall on the development computer Go to ni com info and enter RIOMAXTroubleshoot for more information Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 7 6 Verify that the Serial Number
7. 5 though 7 are not used in the example Axis 1 DIO Status Port A Contains information used to report value and latching information for limits home and digital inputs 0 through 3 Axis 1 DIO Status Port B Contains information used to report value and latching information for position capture position compare and digital inputs 4 through 7 Axis 1 Position Feedback Specifies the feedback position from the encoder Axis 1 Velocity Feedback Returns the filtered encoder velocity Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 21 Position Loop Figure 16 shows the Position Loop from the Stepper Drive with Encoder example Figure 16 Stepper Drive with Encoder Position Loop B0G0E 00 B0GCS OC G0G CSO GUG CS OC GUG ON OC GUG CS OGG SOO G0S OCG USCS SOROS CS SOG USS SUG US SUEUR SO SUG SOURS O06 SO SUEDE OO BUGCS OOS UGCS BUGS OO BUGCS OO BUG ET OO BUG Er OO GyeC er j eiri E i se AEAEE 2 2 EAE E 2 1 NI SoftMotion Scan Loop Timer VI 5 Spline Interpolation Motor Control VI 2 Encoder Configuration Information from NI SoftMotion 6 Axis 1 Position Feedback UDV 3 Axis 1 Position Setpoint UDV 7 Axis 1 Velocity Feedback UDV 4 FPGA Butterworth Filter VI When used with encoder feedback the Position Loop calculates interpolated positions filters the encoder velocity using the user specified filter settings and returns the feedback position and filtered velocity feedback inform
8. DODOADOOOADADOOADAOODEAD 1 Fault Code Array 2 Write Fault Drive Interface VI Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 11 Control Status Loop The Axis 1 Control Register and Axis 1 Status Register UDVs are used in the Control Status Loop Figure 8 shows the Control Status Loop from the Stepper Drive Getting Started example Figure 8 Stepper Drive Getting Started Control Status Loop MHS SERS ESR SR Rs Rs Ra RR a Ra EME mes ee g Beset Ons ra EJ ab Src Unable MHri Cures Fault Ense 1 Axis 1 Control Register UDV 4 Generate Status Register Drive Interface VI 2 Interpret Control Register Drive Interface VI 5 Axis 1 Status Register UDV 3 State Change Case Structure The Control Status Loop interprets the Control Register UDV and recognizes state changes executes the appropriate action on a state change and generates the Status Register UDV that returns information to the NI SoftMotion Engine Review the operations that occur at each transition inside the State Change Case structure The Interpret Control Register and Generate Status Register topics in the NI SoftMotion Help describe the valid state transitions and which operations should occur in each state 12 ni com Getting Started with NI 9501 Modules and NI SoftMotion Reset Monitoring Loop The Reset Monitoring Loop latches the reset variable so that it only changes on a rising edge of the Scan Clock This allows prop
9. FPGA Module or later LabVIEW 2012 SP1 NI SoftMotion Module or later Ey JE 2 i NI RIO Device Drivers 2012 or later Figure 1 shows the system setup without optional hardware The Setting Up and Using Optional Hardware section discusses optional hardware including a connection diagram and example walkthrough of optional functionality Figure 1 NI SoftMotion Module with NI 9501 UDV Axis System Overview 24 V Power Supply NI PS 15 Shown Motor Connections oo 35 y Stepper Motor Saim Ethernet es 2 Cable A 8 La NI RT Controller NI cRIO 9014 shown with NI 9501 modules 9 to 30 V Power Supply NI PS 16 Shown Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 3 NI SoftMotion Module Overview NI SoftMotion Module UDV axes allow you to implement an interface for communication between the NI SoftMotion Engine and the LabVIEW FPGA Module This is achieved using user defined variables that you add to the project making it easier to use C Series modules in FPGA mode with the NI SoftMotion Module The following figure shows the NI SoftMotion architecture when you use the NI SoftMotion Module with UDV axes and the LabVIEW FPGA Module Figure 2 NI SoftMotion Module with UDV Axes LabVIEW Real Time Module LabVIEW FPGA with NI Scan Engine Supported Platform Non Real Time User VI Host HMI and Axis Settings NI SoftMotion LabVIEW Project APIs User VI NI
10. GETTING STARTED NI 9501 C Series Stepper Drive Modules and NI SoftMotion Module S Note Ifyou are a new user of LabVIEW or are unfamiliar with LabVIEW refer to the Getting Started with LabVIEW manual for information about LabVIEW and LabVIEW terminology This document explains how to use an NI 9501 C Series drive module with LabVIEW NI SoftMotion Module User Defined Variable UDV axes using an NI 9501 C Series drive module example to demonstrate concepts and programming best practices Q Tip If you encounter any problems during setup refer to the Tips and Troubleshooting section for assistance Contents What You Need to Get Started nneneneeneeeeeseesssessesssssssesssessseeseesssessesssessessssssssssssssssssssssss 2 PHAON ae E E S A ouslsasbieasidaa eMeaaahatne 2 SL A E A E A A E EAEE OE OE A IET AAT 3 NI SoftMotion Module Overview sei cscissssveedecasdaezsneesserdeadrteaiangdinvscidesudreresssadeecdertiesnsnleeiderdenes 4 Hardware and Software Installation sssssssscsicecisssieerin E a Ea E TEESE 5 Step 1 Set Up the CompactRIO System ccccscccnecceccceeccecceeceeeceecceeeeeeeeeeseeeeeess 5 Step 2 Connect NI 9501 to the Stepper Motor 2 0 csssscsscceseescceeeeeceeceeceeeeeeeeeeeeees 6 Step 3 Connect the NI 9501 to the NI PS 16 Power Supply cc cccceececeeeeeeeees 7 Step 4 Connect the System to AC POWet sssssneseenesssseoseeosssssreseeresrereereerererrerreerereereeees 7 Step 5 Install Software on
11. IO 9074 chassis Go toni com info andenter fpgaex for information about how to move the example to a different FPGA target Open Stepper Drive Getting Started lvproj 2 Right click the RTTarget item in the Project Explorer window and select Properties from the shortcut menu to open the real time target properties dialog box 3 On the General page enter the IP address you configured in Step 4 Connect the System to AC Power 4 Click OK 5 Right click the target and select Connect from the shortcut menu The RT target icon in the Project Explorer window changes to indicate a front panel connection with the RT target NI SoftMotion UDV Axes and Configuration Data This section describes each UDV used in the example and explains how module configuration data is communicated from the LabVIEW Project to the LabVIEW FPGA Module 1 Expand the RTTarget item in the Project Explorer window 2 Expand the Chassis item then expand the User Defined Variables item to display the UDVs used in the example Figure 6 shows the LabVIEW Project with the UDVs displayed Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 9 Figure 6 Stepper Drive Getting Started User Defined Variables 13 stepper Drive Getting Started Mproy Projet Co E E File Edit Wiew Project Operate Tools Window Help 3 a X amp GX er eR E F All Iterns Files Aa Dependencies a ee Build Specifications RT Targ
12. National Instruments 17 Setting Up and Using Optional Hardware This section describes how to configure and use the NI 9501 with additional hardware to provide encoder feedback limit and home inputs digital I O and compare and capture operations The Stepper Drive with Encoder example contains four additional modules and additional UDVs and FPGA loops to support these operations Figure 15 shows the system setup with the additional hardware Figure 15 NI SoftMotion Module with NI 9501 UDV Axis System Overview Limit Home and Digital Input Connections Digital Output Connections Compare and Capture Connections 24 V Power Supply NI PS 15 Shown Motor Connections Coa Stepper Motor and Encoder NI RT Controller NI 9074 shown with C Series Modules 9 to 30 V Power Supply NI PS 16 Shown Table 3 shows the additional modules and what they are used for in the Stepper Drive with Encoder example Table 3 Additional C Series Modules Used in the Stepper Drive with Encoder Example Limits Home and Digital Inputs Digital Outputs Position Compare and Position Capture Encoder Inputs 18 ni com Getting Started with NI 9501 Modules and NI SoftMotion Adding and Connecting Additional Modules Add and Connect an NI 9423 Digital Input Module 1 Install and connect an NI 9423 digital input module in slot 2 of the chassis 2 Connect the forward reverse and home switch to the NI 9423 as follows
13. SoftMotion APIs NI SoftMotion NI SoftMotion Engine Supervisory Control Trajectory Axis Generator Interface User VI cRIO C Series j Module s Motor Control Canai s Drive Interface and Sync VIs a E Chassis C Series Module s User Defined Variable Communication Module You use the LabVIEW Project to configure your axis settings and test your configuration When your hardware configuration is complete you use NI SoftMotion APIs to create move profiles Communication to the LabVIEW FPGA Module is handled through user defined variables You use the NI SoftMotion Drive Interface VIs to implement an interface for communication between the NI SoftMotion Engine and the LabVIEW FPGA Module When you use the Drive Interface VIs with UDV axes you communicate using a predefined set of UDVs Refer to Adding User Defined Variables for Use With a UDV Axis in the NI SoftMotion Module Help available by selecting Help LabVIEW Help for information about the predefined UDVs Refer to the Using NI 9501 with NI SoftMotion section for more information about the NI SoftMotion Drive Interface VIs 4 ni com Getting Started with NI 9501 Modules and NI SoftMotion Hardware and Software Installation This section covers the hardware and software setup for the CompactRIO system and NI 9501 C Series drive module Refer to the Setting Up and Using Optional Hardware section for information about connecting additional hardware Step
14. Started Synchronization Loop PY D amp Ml Scan Clack nee Olimar Control as Ae Enable F bhcn F 1 NI SoftMotion Scan Generate Sync Scan Synchronization VI The Synchronization Loop is required to be implemented as is for proper operation Refer to the Synchronization VIs section of the NI SoftMotion Module Help for more information Position Loop and Step Generation Loop The Axis 1 Position Setpoint UDV is used in the Position Loop Figure 12 shows the Position Loop from the Stepper Drive Getting Started example Figure 12 Stepper Drive Getting Started Position Loop JOOOoOoogo0000 OOOO000 DO00000O00O000000 oooo0ooooooo OOOOOOGO0O0GDOODOODOODOODOOODOGOOHPOOKOODODOODOOO000D Position Loop Timer Config Timer Contro T 1 Synchronization Inputs 4 Axis 1 Position Setpoint UDV 2 NI SoftMotion Scan Loop Timer VI 5 Spline Interpolation Motor Control VI 3 Spline Configuration Information from NI SoftMotion The Position Loop receives position setpoints from the NI SoftMotion trajectory generator and uses the Spline Interpolation VI to generate intermediate setpoints resulting in smoother motion The Position Loop receives input from the Synchronization Loop as well as timing information calculated by the NI SoftMotion Engine This timing information is provided to divide down the Scan Clock evenly to run the position loop at the user specified stepper Position Loop Period 14 ni com G
15. and Configure the NI RT Controllef eeeeeeseeneeeseeseesseeeee 7 Usine NLOSOL With NT SOmMOGOR essorer nn a aena 9 NI SoftMotion UDV Axes and Configuration Data cccceeecceeeeseeeeeesseesseeseesseeeeeeeees 9 NI SoftMotion Engine to FPGA Communication 2 0 0 0 ccesseessesessesseesssesssnsssssseesseenseegs 11 Compile and Run the Example cece ceseesssesessessensensssnsssssssesssesseessssessessessesssesssseagegs 15 Setting Up and Using Optional Hardware ou cccccccccccecececeecececceeceeceeeceeeeeceeseeeceeseeseeees 18 Adding and Connecting Additional Modules cccccceceseeseeeeeeeeeeseeeeesesseeseeeeeeeeeeees 19 Additional UDVs and FPGA VI LOops ccccecceseeseeeeeeeeeeseeceseeseeeeeeeseeeseseeeseeeeeeeeeeeees 21 Tips aiid Troubleshoot esen E E ES 25 Drive Fautt on Bia Ol 6 ssiessosnsasceviderertaratiaiscivrabinovestestateriavitaddvansaiacacnaseuisierduneaseousaesasddianoads 25 Ey TM CIN Eas pacers seis crc pc oe re ers eae E E E 26 Worldwide Support and Services seciccis iccstsicisnnsnnccieianiarinaniaidnnceniinendenananetion Zi we NATIONAL p INSTRUMENTS What You Need to Get Started You need the following items to get started Hardware L NI9501 C Series stepper drive module LI NI CompactRIO real time controller and chassis 24 V power supply such as the NI PS 15 for the CompactRIO controller NI part number 781093 01 L 24 V power supply such as the NI PS 16 for the NI 9501 modu
16. ation to the NI SoftMotion Engine 22 ni com Getting Started with NI 9501 Modules and NI SoftMotion Encoder Loop Figure 17 shows the Encoder Loop from the Stepper Drive with Encoder example Figure 17 Stepper Drive with Encoder Encoder Loop Reset fOr iiss isnt sasiecdeistssicasissuiveaesisvensesinessasiscdinsoesssstsies se chases soossssonsscnestiseceseuetssadebbesticustscensessscbessass boewaseaishseeissss asseesies z Initialize ASE Ae EENE Een EA EENE u NEOINEIN ELETE TEE TIE TEENE ENESTELE PECENE TEESE EEEE i D hu Encoder Phase 49 B D ae Phata gt Unfiltered Position Feedback Duu EncoderIndex amp gt Unfiltered Velocity Feedback 23 gt Index Position Jessenecesey D Dipu Enabler A 0 1 Encoder Configuration Information from 3 Incremental Encoder Decoder Motion Control VI NI SoftMotion 4 Position Capture Motor Control VI 2 Encoder Input Signals The encoder loop uses the signals from the NI 9411 module to generate position and velocity feedback Position Capture operations are included in the encoder loop to perform the Index capture operation for use with the NI SoftMotion Find Index routine Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 23 DIO Config Port A Loop Figure 18 shows the DIO Config Port A loop from the Stepper Drive with Encoder example Figure 18 Stepper Drive with Encoder DIO Config Port A Loop 2 3 4 Axis 1 DIO C
17. controller NI 9501 Operating Instructions and Specifications Use this document to learn how to use the National Instruments 9501 including specifications and pin assignments for the NI 9501 NI 9411 Operating Instructions and Specifications Use this document to learn how to use the National Instruments 9411 including specifications and pin assignments for the NI 9411 LabVIEW NI SoftMotion Module Help vse this help file to learn about using the NI SoftMotion Module in LabVIEW including information about function blocks and using the NI SoftMotion Module with the LabVIEW Project To access this help file from LabVIEW select Help LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab LabVIEW Help use the LabVIEW Help to access information about LabVIEW programming concepts step by step instructions for using LabVIEW and reference information about LabVIEW VIs functions palettes menus tools properties methods events dialog boxes and so on The LabVIEW Help also lists the LabVIEW documentation resources available from National Instruments Access the LabVIEW Help by selecting Help LabVIEW Help Getting Started with LabVIEW Use this document as a tutorial to familiarize yourself with the LabVIEW graphical programming environment and the basic LabVIEW features you use to build data acquisition and instrument control applications Access the Getting Started with LabVIEW PDF by selecting Start Al
18. ed at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the world to help address your support needs For telephone support in the United States create your service request at ni com support and follow the calling instructions or dial 512 795 8248 For telephone support outside the United States 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 LabVIEW National Instruments NI ni com the National Instruments corporate logo and the Eagle logo are trademarks of National Instruments Corporation Refer to the Trademark Information at ni com trademarks for other National Instruments trademarks Other product and company names mentioned herein are trademarks or trade names of their respective companies For patents 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 Patents Notice at ni com patents You can find information about end user license agreements EULAs and third party legal notices in the LabVIEW NI SoftMotion Module Readme 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
19. er operation of the NI SoftMotion Motor Control VIs with a reset input Figure 9 shows the Stepper Drive Getting Started Reset Monitoring Loop Figure 9 Stepper Drive Getting Started Reset Monitoring Loop E UU Scan Clock 4 G 1 Scan Clock Mailbox Loop The Axis 1 Mailbox FPGA to Host and Axis 1 Mailbox Host to FPGA UDVs are used in the Mailbox Loop Figure 10 shows the Mailbox Loop from the Stepper Drive Getting Started example Figure 10 Stepper Drive Getting Started Mailbox Loop i Mae Axis LMailbox Host to FPGA r dice Ass LMlailbox FPGA to Host i 1 Axis 1 Mailbox Host to FPGA UDV 3 Axis 1 Mailbox FPGA to Host UDV 2 Mailbox Handler Drive Interface VI The Mailbox Loop transfers axis configuration and other data between the NI SoftMotion Engine and the LabVIEW FPGA Module The transferred data is written to FPGA memory and accessed using the Read Motion Memory and Write Motion Memory Drive Interface VIs This loop is required to be implemented as is for proper operation Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 13 Synchronization Loop The Synchronization Loop synchronizes the FPGA clock slave to the RT clock master to correct for drift and jitter This is the preferred synchronization method to use with the NI SoftMotion Module Figure 11 shows the Synchronization Loop from the Stepper Drive Getting Started example Figure 11 Stepper Drive Getting
20. et 0 0 0 0 Uncontigured IP Address H E Express WI Exarnples m EL Getting_Started_UDVs pdf L i Oe Axis 1 User Defined Variable Axis MI 9501 Eh Chassis cRIQ 907 4 Gee Hef FPGA Target RICO cRIO 9074 lex Axis LContral Register Asis LMlailbox FPGA to Host Asis Lh lailbox Host to FP GAY Axis LPasition Setpoint Axis L Status Register Axis LSteps Generated no Denendi be Build Specifications KB OK The following table briefly describes each UDV used in the project Refer to Adding User Defined Variables for Use With a UDV Axis in the NI SoftMotion Module Help for more information about each UDV Table 1 Stepper Drive Getting Started UDV Descriptions Axis 1 Control Register Contains information used to control the state and operating mode of the device Axis 1 Mailbox Contains information used to provide configuration and FPGA to Host other data from FPGA to the NI SoftMotion Engine Axis 1 Mailbox Contains information used to provide configuration and Host to FPGA other data from the NI SoftMotion Engine to FPGA Axis 1 Position Setpoint Specifies the position setpoint 10 ni com Getting Started with NI 9501 Modules and NI SoftMotion Table 1 Stepper Drive Getting Started UDV Descriptions Continued UDV Name Description Axis 1 Status Register Contains information used to report status and operation mode information from the device to the system Axis 1 Steps Generated Returns the c
21. etting Started with NI 9501 Modules and NI SoftMotion The Position Loop sends interpolated position points to the Step Generation Loop shown in Figure 13 Figure 13 Stepper Drive Getting Started Step Generation Loop PTE rset AEAEE AE EA TE E l P o Mod1 Direction Interpolated Position t a 5 Modi Step Minimum Pulse Width ticks D Corrected Periodk hk ani Ais Lteps Generated 1 Minimum Pulse Width from NI SoftMotion Configuration 4 NI9501 Step and Direction Signals 2 Interpolated Position from Position Loop 5 Axis 1 Steps Generated UDV 3 Position Step Frequency Modulation Motor Control VI The Step Generation Loop uses the Position Step Frequency Modulation Motor Control VI to convert the interpolated position points to Step and Direction signals and returns the steps generated so that this information can be sent to the NI SoftMotion Engine Compile and Run the Example Complete the following steps to compile and run the example 1 Right click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box The Axis Configuration dialog box includes configuration options for stepper drive command signals feedback devices motion and digital I O trajectory and axis setup Getting Started with NI 9501 Modules and NI SoftMotion National Instruments 15 Figure 14 shows the parts of the Axis Configuration dialog box f
22. from the Configure IPv4 Address list to assign an IP address or select the Static to specify a static IP address in the IPv4 Address section Click Save on the toolbar and let MAX reboot the system You may not need to complete this step 1f you did not change the IP address or name When the new system name appears under Remote Systems expand the controller item in the tree right click Software and select Add Remove Software Select a recommended software set that includes NI RIO 2012 or later Click Help if you need information about installing recommended software sets Click Next Select LabVIEW NI SoftMotion Module from the add ons list Click Next to install the selected software on the controller When the software installation completes click Finish to reboot the controller Make a note of the IP address assigned to the controller to use when adding the target in LabVIEW Close MAX 8 ni com Getting Started with NI 9501 Modules and NI SoftMotion Using NI 9501 with NI SoftMotion The following tutorial walks you through using an NI 9501 UDV axis using the Stepper Drive Getting Started example installed in the lt labview gt examples motion UDV Stepper Drive Getting Started directory This example shows how to configure the NI 9501 for a UDV axis using the LabVIEW project and contains all required UDVs for use with the NI 9501 a eee Note NI SoftMotion FPGA examples are configured with a cCR
23. he VI only if the VI or project has changed since you last compiled the VI Ve Note The compilation process goes through several stages Compiling FPGA VIs can take from a few minutes to a few hours National Instruments recommends testing and debugging an FPGA VI before you compile it Refer to Introduction to Debugging FPGA VIs on an FPGA Target in the FPGA Module Help for more information Verify that the FPGA VI is running When a VI runs the Run button changes to a darkened arrow ch to indicate that the VI is running If the VI is not running press the Run button Right click the axis in the Project Explorer window and select Interactive Test Panel from the shortcut menu Q Tip Click the Help button on the bottom of the dialog box for detailed 10 11 12 information about the items available in this dialog box Click the Enable button 4 on the bottom of the dialog box to enable the drive Click the Start button on the bottom of the dialog box to start the move with the configured options If you encounter any errors or faults refer to the Tips and Troubleshooting section for possible solutions Use the Status and Plots tabs to monitor the move while it is in progress Click the Stop button J to stop a move in progress Click the Disable button 4 on the bottom of the dialog box to disable the drive when you are finished testing it Getting Started with NI 9501 Modules and NI SoftMotion
24. l Programs National Instruments LabVIEW LabVIEW Manuals LV_Getting_Started pdf NI PS 16 Power Supply User Manual and Specifications Use this document to learn about the features and specifications of the NI PS 16 power supply and information about installing the power supply 26 ni com Getting Started with NI 9501 Modules and NI SoftMotion Worldwide Support and Services The National Instruments Web site is your complete resource for technical support At ni com support you have access to everything from troubleshooting and application development self help resources to email and phone assistance from NI Application Engineers Visit ni com services for NI Factory Installation Services repairs extended warranty calibration and other services Visit ni com register to register your National Instruments product Product registration facilitates technical support and ensures that you receive important information updates from NI A Declaration of Conformity DoC 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 If your product supports calibration you can obtain the calibration certificate for your product at ni com calibration National Instruments corporate headquarters is locat
25. le and NI 9411 module if connecting an encoder NI part number 781094 01 ea Note NI recommends the NI PS 16 power supply which is designed for motor bus power for use with the NI 9501 module Refer to Regeneration Consideration Using the NI C Series Drive Modules at zone ni com for more information L Ethernet connection and cable for the CompactRIO controller L Nlor third party stepper motor a Note NI offers NEMA 17 and NEMA 23 stepper motors compatible with the NI 9501 Go to ni com for more information Optional Hardware L NI or third party encoder Ee Note NI offers encoders for NEMA 23 stepper motors Go to ni com for more information LI NI9411 digital input module for encoder connections NI part number 779005 01 LI NI9935 15 pin D SUB connector kit for connecting the NI 9411 NI part number 779016 01 L NI9401 high speed bidirectional digital I O module for position compare and position capture operations NI part number 779351 01 LI NI9924 25 pin D SUB connector kit for connecting the NI 9401 NI part number 781922 01 2 ni com Getting Started with NI 9501 Modules and NI SoftMotion L NI9423 sinking digital input module for home limit and digital input connections NI part number 779009 01 L NI9472 sourcing digital output module for digital output connections NI part number 779004 01 Software LabVIEW 2012 SP1 or later LabVIEW 2012 SP1 Real Time Module or later LabVIEW 2012 SP1
26. ontrol Port A 5 DIO Port A Configuration Information from 6 Generate DIO Status Port A Drive Interface VI NI SoftMotion 7 Limit Home and Digital Input O through 3 Signals 8 Interpret DIO Control Port A Drive Interface VI aa G JUU Reverse Limit A o a pae eT eT D h e F home switch i a igital input 0 f on digital input 1 digital input 2 sess digital input 3 fox Axis L DIO Status Port A ee digital output D P iuu Digital Output 0 digital output 1 PUU Digital Output ly ages oo ee digital output 2 PAN Digital Output 2 5 juu Digital Output 3 digital output 3 2 g E E Digital Filter Motor Control VI Axis 1 DIO Status Port A Digital Output 0 through 3 Signals The DIO Config Port A loop manages the DIO contained in DIO Port A This includes the Forward Limit Reverse Limit Home Switch and Digital Inputs 0 though 3 from the NI 9423 C Series module and Digital Outputs O through 3 that are sent to the NI 9472 C Series module 24 ni com Getting Started with NI 9501 Modules and NI SoftMotion DIO Config Port B Loop Figure 18 shows the DIO Config Port B loop from the Stepper Drive with Encoder example Figure 19 Stepper Drive with Encoder DIO Config Port B Loop a 4 6 7 8 D 1 Axis 1 DIO Control Port B 5 Digital Filter Motor Control VI 2 DIO Port B Configuration Information from 6 Digital Output 4 through 7 Signals
27. or NI 9501 UDV axes Refer to the MI SoftMotion Module section of the LabVIEW Help for detailed information about each configuration option Figure 14 Axis Configuration Dialog Box for NI 9501 UDV Axes i 43 Axis Configuration General Settings Trajectory Monitor Spline Stepper Motor E4 a Hk 2 tr ales m gt a Limits amp Home Capture Encoder D p Digital 1 0 ALS T K a _ _ gt e Drive Enable Compare Brake Analog Input A Note The Axis Configuration dialog box user interface may not match this image exactly depending on which version of the LabVIEW NI SoftMotion Module you are using 2 Click the Motor button C and set the Rated Phase Current to the appropriate value for your motor in Amps Phase Use the motor datasheet and the type of motor connection used to determine this setting based on the following table Table 2 NI 9501 Rated Phase Current Setting Connection Type Rated Phase Current Amps Phase Bipolar 4 wire same as datasheet Amps Phase 6 wire series datasheet Amps Phase x 0 707 3 Click OK to close the Axis Configuration dialog box 4 Right click the Chassis item in the Project Explorer window and select Deploy from the shortcut menu 16 ni com Getting Started with NI 9501 Modules and NI SoftMotion 5 Click the Run button on the Stepper Drive Getting Started FPGA vi Clicking the Run button compiles t
28. ot 1 of the chassis if available a Note The NI 9501 example programs are configured for slot 1 If the NI 9501 module is installed in a different slot modify the examples accordingly Step 2 Connect NI 9501 to the Stepper Motor 1 Connect the stepper motor to the NI 9501 Figure 4 shows a typical bipolar stepper motor connection Refer to the NI 9501 Operating Instructions and Specifications for important connection information including information about EMC compliance and connecting 6 or 8 wire stepper motors Figure 4 NI 9501 Bipolar Stepper Motor 2 Phase Type Connection IN Phase A a 6 Phase A Phase B 2 Phase B Phase B Reserved Reserved Reserved 6 COM Vsup ES SF 9 I NEMA 17 and NEMA 23 stepper motors from NI use the following wire color scheme Figure 5 Stepper Motor Wiring Phase A Black Phase A Orange Phase B Phase B Red Yellow 6 ni com Getting Started with NI 9501 Modules and NI SoftMotion Step 3 Connect the NI 9501 to the NI PS 16 Power Supply Tip Refer to the NJ PS 16 Power Supply User Manual and Specifications for more information about connecting and using the NI PS 16 power supply Complete the following steps to connect the NI 9501 module to the NI PS 16 power supply Tip Refer to the NI 9501 Operating Instructions and Specifications for more information about module power supply requirements 1 Connect the NI 9501 Vsup pin 8 to one of the
29. s NI 9411 Signal Encoder Signal DIO Encoder Phase A DII Encoder Phase B DI2 Encoder Index 3 Connect the NI 9411 to the NI PS 16 power supply a Connect the NI 9411 Vsup terminal to one of the two terminals on the NI PS 16 b Connect the NI 9411 COM terminal to one of the two terminals on the NI PS 16 20 ni com Getting Started with NI 9501 Modules and NI SoftMotion Additional UDVs and FPGA VI Loops The Stepper Drive with Encoder example contains several additional UDVs and loops to implement the new functionality In addition to the UDVs described in Table 1 the Stepper Drive with Encoder example uses the following new UDVs Refer to Adding User Defined Variables for Use With a UDV Axis in the NI SoftMotion Module Help for more information about each UDV Table 8 Stepper Drive with Encoder Additional UDV Descriptions Axis 1 DIO Control Port A Contains the values of digital outputs 0 through 3 as well as information to clear input latches for limits home and digital inputs O through 3 Axis 1 DIO Control Port B Contains the values of digital outputs 4 through 7 as well as information to enable position compare and position capture operations and clear input latches for digital inputs 4 through 7 4 Note Because the same digital input module is used for digital inputs and for home and limit connections the Stepper Drive with Encoder example only uses digital inputs 0 through 4 Digital inputs
30. urrent step count of the stepper generator taking into account the direction This value is based on actual steps generated not feedback position and may not exactly match the feedback position NI SoftMotion Engine to FPGA Communication Each User Defined Variable communicates information between the NI SoftMotion Engine and the LabVIEW FPGA Module These UDVs are used directly with the Drive Interface FPGA VIs in specific loops on the block diagram Complete the following steps to open the FPGA VI and display the block diagram 1 Expand the FPGA Target item in the LabVIEW Project Explorer window 2 Double click the Stepper Drive Getting Started FPGA vi item to open the VI 3 Select Window Show Block Diagram to open the FPGA VI block diagram Fault Monitoring Loop The Fault Monitoring loop sends fault information including user defined faults to the NI SoftMotion engine and sends the state machine implemented in the Control Status Loop into a fault state Figure 7 shows the Fault Monitoring Loop from the Stepper Drive Getting Started example Figure 7 Stepper Drive Getting Started Fault Monitoring Loop QOOOOOOQOODOOOODODOOOODODOOODOODODOOODOODODOOOODODODOOOOMDOOOOODOAODOOE Drive Disabled Rated phase current set to zeroi ua Modi Drive Status Module Fault Module Fault Code under voltage over valage rated phase current set to zera sync Faulk QDOOOOOOODODODOOODODOOODODOODOAODOODODADOODOODOODOOOO
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