NI 9501 Operating Instructions and Specifications
Contents
1. National Instruments Corp 35 NI 9501 Operating Instructions and Specifications Where to Go for Support 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 National Instruments corporate headquarters is located 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 contact your local branch office Australia 1800 300 800 Austria 43 662 457990 0 Belgium 32 0 2 757 0020 Brazil 55 11 3262 3599 Canada 800 433 3488 China 86 21 5050 9800 Czech Republic 420 224 235 774 Denmark 45 45 76 26 00 Finland 358 0 9 725 72511 France 01 57 66 24 24 Germany 49 89 7413130 India 91 80 41190000 Israel 972 3 6393737 Italy 39 02 41309277 Japan 0120 527196 Korea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 NI 9501 Operating Instructions and Specifications 36 ni com Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 3282. 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 NI 9501 Operating Instructions and Specifications 32 ni com Shock and Vibration To meet these specifications you must panel mount the system and affix ferrules to the end of the screw terminal wires Operating vibration Random IEC 60068 2 64 5 Sims 10 to 500 Hz Sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz Operating shock IEC 60068 2 27 ccuceccececeiccacaas 30 g 11 ms half sine 50 g 3 ms half sine 18 shocks at 6 orientations Environmental National Instruments C Series modules are intended for indoor use only but may be used outdoors if installed in a suitable enclosure 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 40 to 70 C Storage temperature IEC 60068 2 1 IEC 60068 2 2 40 to 85 C National Instruments Corp 33 NI 9501 Operating Instructions and Specifications Ingress protectioOn IP 40 Operating humidity IEC 60068 2 56
3. it is typically not possible to produce the rated torque of the motor without the risk of the motor overheating because only half of the windings are used Phase A Phase A Phase B Phase B NC NC NC Not Connected Phase A Phase A Phase B Phase B Reserved Reserved Reserved COM Vsup vo o s o o o w 2 o Figure 9 8 Wire Half Coil Stepper Motor Connection NI 9501 Operating Instructions and Specifications 18 ni com Wiring for High Vibration Applications If an application is subject to high vibration National Instruments recommends that you use ferrules to terminate wires to the detachable screw terminal connector Refer to Figure 10 for an illustration of using ferrules Ferrule Figure 10 10 Terminal Detachable Screw Terminal Connector with Ferrule National Instruments Corp 19 NI 9501 Operating Instructions and Specifications LED Indicators The NI 9501 has four LEDs to display status information 1 Enabled green 3 User yellow 2 Vsup Motor Power green 4 Fault red Enabled The Enabled LED green illuminates when the drive is enabled and the output power stage is active and is flashing when the drive is disabled and the output power stage is inactive Refer to the NI 9501 topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about enabling the drive NI 9501 Op
4. configurations Connecting the windings in a series configuration as shown in Figure 7 produces the most torque per amp but has the disadvantage of higher inductance and poorer high speed performance Phase A Phase A Phase A Phase A Phase B phase Br Phase B Phase B Reserved Reserved Reserved COM Vsup 77 Figure 7 8 Wire Series Stepper Motor Connection Higher Torque Lower Speed NI 9501 Operating Instructions and Specifications 16 ni com Notice that an 8 wire motor wired in a series configuration is virtually identical to a 6 wire motor and typically has the same high torque but low speed characteristics Alternatively you can connect 8 wire stepper motors in a parallel configuration as shown in Figure 8 This configuration produces better high speed performance but requires more current to produce rated torque Phase A Phase A f phase At p Phase A e Phase B PHSESIBE Phase B Phase B Reserved Reserved Reserved COM Vsup 177 Figure 8 8 Wire Parallel Stepper Motor Connection Higher Speed Lower Torque National Instruments Corp 17 NI 9501 Operating Instructions and Specifications Finally you can connect 8 wire stepper motors in a half coil configuration as shown in Figure 9 The half coil configuration sacrifices low speed torque for better high speed performance With this configuration
5. esses 10 to 9096 RH noncondensing Storage humidity IEC 60068 2 56 esses 5 to 9596 RH noncondensing Maximum altitude 2 000 m Pollution Degree IEC 60664 2 Environmental Management NI 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 NI and the Environment 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 NI 9501 Operating Instructions and Specifications 34 ni com Waste Electrical and Electronic Equipment WEEE X 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 BTS nis Riehl SDE HE RoHS ae National Instruments 4A P E ri E O inp pog n Ae RH RoHS KF Noe Instruments FE RoHS GHEE EL THERE ni com environment rohs_china For information about China RoHS compliance go to ni com environment rohs china
6. 4 equipment Electromagnetic Compatibility Guidelines This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility EMC as stated in the product specifications These requirements and limits are designed to provide reasonable protection against harmful interference when the product is operated in its intended operational electromagnetic environment NI 9501 Operating Instructions and Specifications 4 ni com This product is intended for use in industrial locations As such there is no guarantee that harmful interference will not occur in a particular installation when the product is connected to a test object or if the product is used in residential areas To minimize the potential for the product to cause interference to radio and television reception or to experience unacceptable performance degradation install and use this product in strict accordance with the instructions in the product documentation Furthermore any changes or modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules Caution To ensure compliance with the applicable regulatory requirements product installation requires either special considerations or user installed add on devices See the product installation instructions for further information Caution The inputs outputs of this product can be damaged if s
7. 5 to0 6N m 4 4 to 5 3 Ib in 0 25 mm to 2 5 mm 144 g 5 1 oz NI 9501 Operating Instructions and Specifications 28 ni com Safety Safety Voltages Connect only voltages that are within the following limits Channel to COM 0 to 30 VDC max Measurement Category I Isolation Channel to channel None Channel to earth ground Continuous 60 VDC Measurement Category I Withstand sss 1000 V ms verified by a 5 s dielectric withstand test Measurement Category 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 National Instruments Corp 29 NI 9501 Operating Instructions and Specifications Caution Do not connect the NI 9501 to signals or use for measurements within Measurement Categories II III or IV Hazardous Locations LIS UL estet reete te tni Class I Division 2 Groups A B C D T4 Class I Zone 2 AEx nA IIC T4 Canada C UL usss Class I Division 2 Groups A B C D T4
8. 90 10 Portugal 351 210 311 210 Russia 7 495 783 6851 Singapore 1800 226 5886 Slovenia 386 3 425 42 00 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 2005151 Taiwan 886 02 2377 2222 Thailand 662 278 6777 Turkey 90 212 279 3031 United Kingdom 44 0 1635 523545 National Instruments Corp 37 NI 9501 Operating Instructions and Specifications 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 Patent Notice at ni com patents 2010 National Instruments Corp All rights reserved 375479C 01 Dec10
9. Class I Zone 2 Ex nA IIC T4 Europe DEMRKO Ex nA IIC T4 Power Supply Requirements Caution You must use a UL Listed ITE power supply marked LPS with the NI 9501 NI 9501 Operating Instructions and Specifications 30 ni com Safety Standards The NI 9501 is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e IEC 61010 1 EN 61010 1 UL 61010 1 CSA 61010 1 N 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 EN 61326 1 IEC 61326 1 Class A emissions Industrial immunity e EN 55011 CISPR 11 Group 1 Class A emissions AS NZS CISPR 11 Group 1 Class A emissions FCC 47 CFR Part 15B Class A emissions e ICES 001 Class A emissions National Instruments Corp 31 NI 9501 Operating Instructions and Specifications Note For the standards applied to assess the EMC of this N product refer to the Online Product Certification section NI Note For EMC compliance operate this device with shielded cabling CE Compliance C This product meets the essential requirements of applicable European directives as follows e 2006 95 EC Low Voltage Directive safety
10. OPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9501 Stepper Drive Fran ais Deutsch HAR SSH 1844 FX ni com manuals WW NATIONAL y INSTRUMENTS This document describes how to use the National Instruments 9501 module and includes specifications and pin assignments for the NI 9501 Visit ni com info and enter rdsoftwareversion to determine which software you need for the modules you are using For information about installing configuring and programming the system refer to the system documentation Visit ni com info and enter cseriesdoc for information about C Series documentation N Note The safety guidelines and specifications in this document are specific to the NI 9501 The other components in the system may not meet the same safety ratings and specifications Refer to the documentation for each component in the system to determine the safety ratings and specifications for the entire system Safety Guidelines Operate the NI 9501 only as described in these operating instructions Hot Surface This icon denotes that the component may be hot Touching this component may result in bodily injury NI 9501 Operating Instructions and Specifications 2 ni com Safety Guidelines for Hazardous Locations The NI 9501 is suitable for use in Class I Division 2 Groups A B C D T4 hazardous locations Class I Zone 2 AEx nA IIC T4 and Ex nA IIC T4 hazardous locations and nonhazardous locations only Follow
11. ction 0 25 or 5096 Microstepping selections x2 4 8 16 32 64 128 256 software selectable Vsup capacitance 750 uF MTBF 22573 22450 L nti 002507432 Contact NI for Bellcore MTBF specifications NI 9501 Operating Instructions and Specifications 26 ni com Drive Protection Undervoltage sss 6 V Caution Vsup greater than 40 V will result in damage to the module Overvoltage eerte gt 32 V Motor terminal Phase A Phase B short to ground Yes Motor terminal Phase Ax Phase Bx short tO VSUD acia errore retro Yes Power Requirements Power consumption from chassis Active mode sssssssss 500 mW max Sleep mode nnn 2 5 mW max Thermal dissipation at 70 C Active mode sssssss 1 5 W max Sleep mode iones 2 5 mW max National Instruments Corp 27 NI 9501 Operating Instructions and Specifications Physical Characteristics If you need to clean the module wipe it with a dry towel N 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 Screw terminal wiring 12 to 24 AWG copper conductor wire with 10 mm 0 39 in of insulation stripped from the end Torque for screw terminals 0
12. e NI 9501 supports software programmable full step half step and microstepping rates up to 256 When full stepping a resonance occurs at low speeds generally defined as speeds between 50 and 150 RPM This low speed resonance causes vibration and reduces the motor torque Using microstepping during this speed range provides much smoother motion and higher motor torque effectively eliminating the low speed resonance At speeds over 150 RPM the benefits of microstepping decrease and can eventually have an overall negative impact on performance by providing lower motor torque compared to National Instruments Corp 7 NI 9501 Operating Instructions and Specifications full stepping Refer to the NI 9501 topic in the LabVIEW Help available by selecting Help Lab VIEW Help for information about microstepping options The NI 9501 also provides for phase current reduction after the motor stops moving for a certain amount of time using the Enable Current Reduction property in software Unlike servo motors the stepper motor coil remains fully energized when the motor is not moving This allows for strong holding torque but generates substantial heat in the motor Many applications do not require maximum holding torque when the motor is at rest which means that the motor is wasting power The amount of current reduction and delay before current reduction becomes active is software programmable Refer to the NI 9501 topic in the LabVIEW Help a
13. e motor cable shield to COM bypasses the ferrite as shown in Figure 11 NI 9501 Phase A Phase A Phase B Phase B Motor DC Power Supply COM Vsup Figure 11 NI 9501 Cable Connection e Clamp on ferrites must be connected to the motor cable and Vsup cable as close to the module as possible with a full turn as shown in Figure 12 Placing the ferrite elsewhere on the cable noticeably impairs its effectiveness NI 9501 Operating Instructions and Specifications 24 ni com Figure 12 Installing a Ferrite Determine the clamp on ferrite beads to install based on twice the motor cable and Vsup cable diameter Order the appropriate ferrite beads from NI NI Part Number Aperture Size mm inches 781233 01 7 0 0 275 781233 02 10 2 0 402 777297 01 13 4 0 528 National Instruments Corp 25 NI 9501 Operating Instructions and Specifications Specifications The following specifications are typical for the temperature range 40 to 70 C unless otherwise noted All voltages are relative to COM unless otherwise noted Input Output Characteristics Motor DC power supply Vsup 9 to 30 VDC Max step pulse rate 5 MHz Minimum phase inductance mH TYPO 02 Bipolar chopper Chopping frequency 20 kHz Current per phase sss 3 A RMS 4 24 A peak Current redu
14. erating Instructions and Specifications 20 ni com Vsup The Vsup LED green illuminates when the motor DC power supply is properly connected User You can define the User LED yellow to meet the needs of your application Use the User LED I O node to turn this LED on and off Refer to the NI 9501 topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about the NI 9501 User LED I O node Fault Caution Ifthe Fault LED is lit determine the cause of the fault and correct it before enabling the drive The Fault LED red illuminates when a fault occurs A fault disables the drive Causes for fault are the following Caution Vsup greater than 40 V will result in damage to the NI 9501 Vsup overvoltage Vsup undervoltage National Instruments Corp 21 NI 9501 Operating Instructions and Specifications Motor terminal Phase A or Phase B short to Vsup Motor terminal Phase A or Phase B short to COM Hot Swap Behavior The NI 9501 is always disabled when it is first inserted in the chassis regardless of whether Vsup is present or not You can enable the drive using the Enable Drive method in software Refer to the NJ 9501 topic in the LabVIEW Help available by selecting Help LabVIEW Help for more information about enabling the drive When the NI 9501 is removed from the chassis while it is enabled the power to the motor is removed and the motor decelerates to a stop based on
15. its own friction Sleep Mode This module supports a low power sleep mode Support for sleep mode at the system level depends on the chassis that the module is plugged into Refer to the chassis manual for information about support for sleep mode If the chassis supports sleep mode refer to the software help for information about enabling sleep mode NI 9501 Operating Instructions and Specifications 22 ni com Visit ni com info and enter cseriesdoc for information about C Series documentation Typically when a system is in sleep mode you cannot communicate with the modules In sleep mode the system consumes minimal power and may dissipate less heat than it does in normal mode Refer to the Specifications section for more information about power consumption and thermal dissipation Cable Requirements for EMC Compliance Select and install cables for the NI 9501 in accordance with the following requirements Do not tie the motor case to the NI 9501 chassis ground The motor power cable must be a multiconductor cable with an overall shield Tie the motor cable shield to COM at the module side only Do not tie the motor cable shield to the motor case National Instruments Corp 23 NI 9501 Operating Instructions and Specifications Install a clamp on ferrite bead onto both the motor cable and Vsup cable as shown in Figure 11 Power to the module must be off when adding ferrites N Note The wire connecting th
16. nstructions and Specifications Motor Power Signals The Phase A and Phase B signals power the stepper motor Figure 3 shows a typical bipolar stepper motor connection Phase A Let Phase A Phase A Phase A Phase B Phase B Phase B Phase B Reserved Reserved Reserved COM Vsup 777 vo o s o o e w 2 o Figure 3 Typical Bipolar Stepper Motor 2 Phase Type Connection Caution The stepper motor terminals on this drive are energized when the module is enabled Do not connect wires to or disconnect wires from the NI 9501 when it is enabled Use a multiconductor cable with an overall shield and conductors of 20 AWG or larger for the motor power cable NI 9501 Operating Instructions and Specifications 12 ni com The NI 9501 contains bipolar chopper drivers Two phase stepper motors come in 4 6 and 8 wire variations You must wire the stepper motors in a 4 wire configuration as shown in Figure 3 Caution Never connect unused stepper motor terminals to pin 9 Chassis Ground or to each other When using a 6 or 8 wire stepper motor you must leave unused lead wires disconnected Figure 4 shows a 6 wire and an 8 wire stepper motor 6 wire 8 wire Figure 4 6 Wire and 8 Wire Stepper Motors National Instruments Corp 13 NI 9501 Operating Instructions and Specifications A 4 wire motor is the same as a 6 wire motor except that the center taps CT are not brought
17. out To use a 6 wire motor in a 4 wire configuration you can isolate the center taps for a series full coil configuration Series configurations produce the most torque per amp but have the disadvantage of poorer high speed performance Phase A Phase A Phase B NC Phase B NC Not Connected Phase A Phase A Phase B Phase B Reserved Heserved Reserved COM Vsup olo s olo 5 o w 2 o Figure 5 6 Wire Series Stepper Motor Connection Higher Torque Lower Speed NI 9501 Operating Instructions and Specifications 14 ni com You can obtain improved high speed performance with a 6 wire motor by using a half coil configuration shown in Figure 6 This configuration sacrifices low speed torque for better high speed performance With this configuration it is typically not possible to produce the rated torque of the motor without the risk of the motor overheating because only half of the windings are used Phase A Phase A Ph B ase et IEEE p ase A Phase B Phase B P _ Phase B NC Reserved Reserved Reserved COM Vsup HH NC Not Connected Figure 6 6 Wire Half Coil Stepper Motor Connection Higher Speed Lower Torque National Instruments Corp 15 NI 9501 Operating Instructions and Specifications For maximum flexibility you can connect 8 wire stepper motors in series parallel or half coil
18. these guidelines if you are installing the NI 9501 ina potentially explosive environment Not following these guidelines may result in serious injury or death Caution Do not disconnect I O side wires or connectors unless power has been switched off or the area is known to be nonhazardous Caution Do not remove modules unless power has been switched off or the area is known to be nonhazardous Caution Substitution of components may impair suitability for Class I Division 2 Caution For Division 2 and Zone 2 applications install the system in an enclosure rated to at least IP 54 as defined by IEC 60529 and EN 60529 PPP E National Instruments Corp 3 NI 9501 Operating Instructions and Specifications Caution For Division 2 and Zone 2 applications install a UN protection device between the input signal and the V pin The device must prevent the V yp to channel voltage from exceeding 42 V if there is a transient overvoltage condition Special Conditions for Hazardous Locations Use in Europe This equipment has been evaluated as Ex nA IIC T4 equipment under DEMKO Certificate No 07 ATEX 0626664X Each module is marked s II 3G and is suitable for use in Zone 2 hazardous locations in ambient temperatures of 40 C lt Ta lt 70 C If you are using the NI 9501 in Gas Group IIC hazardous locations you must use the device in an NI chassis that has been evaluated as Ex nC IIC T4 EEx nC IIC T4 Ex nA IIC T4 or Ex nL IC T
19. ubjected to Electrostatic Discharge ESD To prevent damage industry standard ESD prevention measures must be employed during installation maintenance and operation National Instruments Corp 5 NI 9501 Operating Instructions and Specifications Special Guidelines for Marine Applications Some products are Lloyd s Register LR Type Approved for marine shipboard applications To verify Lloyd s Register certification for a product visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the product label Caution In order to meet the EMC requirements for marine applications install the product in a shielded enclosure with shielded and or filtered power and input output ports In addition take precautions when designing selecting and installing measurement probes and cables to ensure that the desired EMC performance is attained NI 9501 Operating Instructions and Specifications 6 ni com NI 9501 Hardware Overview The NI 9501 is a stepper motor drive for use with 2 phase hybrid stepper motors in either bipolar or unipolar winding configuration It uses an advanced PWM algorithm that reduces torque ripple lowers emissions minimizes power loss and creates smoother motion during microstepping NI Note National Instruments offers NEMA 17 and NEMA 23 stepper motors compatible with the NI 9501 Go to ni com motion stepper for more information about NI stepper motors Th
20. vailable by selecting Help LabVIEW Help for more information about current reduction NI 9501 Operating Instructions and Specifications 8 ni com NI 9501 FPGA i Signals Isolation Step H Bridge gt Dir p CPLD Status H Bridge oq all CPLD Complex Programmable Logic Device Figure 1 NI 9501 Block Diagram National Instruments Corp 9 NI 9501 Operating Instructions and Specifications Connecting the NI 9501 The NI 9501 has a 10 terminal detachable screw terminal connector that provides connections for the stepper motor signals a motor DC power supply COM and chassis ground Refer to Figure 2 for the pin assignments N Caution To ensure EMC compliance special considerations are required for all cable connections Refer to the Cable Requirements for EMC Compliance section N Note You must use 2 wire ferrules to create a secure connection when connecting more than one wire to a single terminal on the NI 9501 screw terminal Caution Do not turn on or plug in the motor DC power supply until the screw terminal connector is fully inserted NI 9501 Operating Instructions and Specifications 10 ni com Phase A Phase A Phase B Phase B Reserved Reserved Reserved COM Vsup 777 Chassis Ground Figure 2 NI 9501 Connections National Instruments Corp 11 NI 9501 Operating I
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