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National Instruments NI 9512 C Series, Getting Started

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24

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ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

Step 5: Install AKD WorkBench and Configure the Drive

AKD WorkBench is available on the CD that came with the AKD servo drive and is also 
available from 

ni.com/updates

. Complete the following steps to install AKD WorkBench.

1.

Insert the AKD WorkBench CD in the CD-ROM drive.

2.

Double-click 

Full Setup.exe

 to launch the installer.

3.

Follow the onscreen instructions to complete the installation.

Complete the following steps to configure the drive settings with AKD WorkBench.

1.

Launch the AKD WorkBench software by clicking the AKD WorkBench icon on the 
desktop (

), or by selecting 

Start»All Programs»Kollmorgen»AKD WorkBench

.

2.

Select the drive to configure from the list and click 

Connect

.

Note

If the drive is not in the list, refer to the 

Tips and Troubleshooting

 section of 

this document for possible solutions.

Figure 16 shows the AKD WorkBench 

Start

 page.

Figure 16.  

AKD WorkBench Start Page

1

Availa

b

le Drives

2

Specify Address

3

Connect to Drive

1

3

2

Summary of Contents for NI 9512 C Series

Page 1: ...NI 9512...

Page 2: ...2 Connect NI 9512 to AKD Drive Cable to the C Series Module 7 Step 3 Mount the Drive and Connect the Protective Earth 9 Step 4 Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable 9 Step 5...

Page 3: ...alling the drive review Chapter 2 Safety in the AKD Installation Manual that came with your hardware or available from ni com manuals Failure to follow safety instructions may result in injury or dama...

Page 4: ...ter NI RIO 3 4 0 or later NI Industrial Communications for EtherCAT 1 2 or later if you are using the NI 9144 distributed chassis AKD WorkBench software Refer to Step 1 Install Software on and Configu...

Page 5: ...Project To access this help file from LabVIEW select Help LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab NI 9144 User Guide and Specifications Use this document to...

Page 6: ...AKD servo drive Figure 2 shows an overview of the connectors on the AKD servo drive Figure 2 AKD Servo Drive Connectors 1 24 V Supply STO X1 2 Motor Brake X2 3 AC Input Power X3 4 Encoder Emulation X9...

Page 7: ...ies Module 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis Note Write down the controller serial number before installing the con...

Page 8: ...or 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 you complete Step 8 Connect the Drive Communicati...

Page 9: ...or containing the step direction signals and AKD digital outputs X8 10 Pin Connector 10 pin connector containing the enable and fault signals X9 DSUB Connector 9 pin DSUB connector containing emulated...

Page 10: ...4 V power supply The 24 V power supply provides both the logic power to the AKD servo drive and powers the NI 9512 module Note Do not plug in or turn on the 24 V power supply until after you complete...

Page 11: ...lity complete the following additional steps a Disconnect the STO wire from the NI 9512 to AKD cable X1 connector and insulate it Note The STO and 24V wires are internally connected in the NI 9512 to...

Page 12: ...the AKD servo drive X9 DSUB connector 3 Connect the cable X7 10 pin connector to the AKD servo drive X7 10 pin connector 4 Connect the cable X8 10 pin connector to the AKD servo drive X8 10 pin conne...

Page 13: ...ation of the connectors 1 Connect the motor 6 pin connector to the AKD servo drive X2 motor connector Note The X2 connector also provides connection for the drive to control the 24 V holding brake for...

Page 14: ...il after you complete Step 8 Connect the Drive Communication Figure 8 shows the location and pin assignment for the X3 connector Figure 8 AKD Servo Drive X3 Connector AC input power can be connected f...

Page 15: ...direct connection using a static IP address 1 Set S1 and S2 on the drive to 0 to configure the drive for DHCP mode The drive obtains an IP address from an external DHCP server if one exists on the net...

Page 16: ...tion and Configuration section and connect to the drive to clear the fault state If the fault reappears refer to the AKD Fault and Warning Messages Card that came with the drive for more information a...

Page 17: ...eep Network Settings checkbox if you want to retain the same target name and IP address 10 Click Format to start formatting the disk 11 When MAX finishes formatting the disk set the Safe Mode switch t...

Page 18: ...ent computer Complete the following steps to create a LabVIEW project Depending on which version of LabVIEW you are using the steps are slightly different Creating a Project in LabVIEW 2012 1 Launch L...

Page 19: ...Click Discover in the Discover C Series Modules dialog box if it appears 7 Click Continue Note If you are using the NI 9144 chassis refer to Adding the EtherCAT Master Device to the LabVIEW Project in...

Page 20: ...lose the Axis Manager dialog box The new axis is added to the Project Explorer window Note You cannot associate more than one axis with the same C Series module When you have finished these steps your...

Page 21: ...odule you are using Complete the following steps to configure the axis I O settings for use with the AKD servo drive 1 Right click the axis in the Project Explorer window and select Properties from th...

Page 22: ...y want to choose a different resolution depending on your application needs A setting of 8 000 assumes an AKD WorkBench Emulated Encoder output Resolution setting of 2 000 lines per revolution Note Yo...

Page 23: ...arm from the dropdown list 2 Ensure that the DI 1 settings match the following Input Type Sinking Active State Off Digital Filter 50 s b Complete the following steps to map DI 2 DSUB Pin 4 to Servo Dr...

Page 24: ...ions ensure that the settings match the following Note These configuration settings disable limits for initial setup and testing purposes National Instruments recommends connecting and enabling limits...

Page 25: ...onscreen instructions to complete the installation Complete the following steps to configure the drive settings with AKD WorkBench 1 Launch the AKD WorkBench software by clicking the AKD WorkBench ico...

Page 26: ...e the default values 4 Optional Change the name of the drive from the default name of no_name on the AKD Overview page to a more descriptive name Figure 17 shows the AKD Overview page Figure 17 AKD Wo...

Page 27: ...ngs page and set the Operation Mode to 2 Position Mode b Set the Command Source to 2 Electronic Gearing Note You must set the Operation Mode before setting the Command Source or AKD WorkBench returns...

Page 28: ...1 Mode list c If you mapped the NI 9512 DI 3 signal to In Position select 4 Position Error Monitor from the DOUT 2 Mode list d Set Param for the Position Error Monitor output to a reasonable tolerance...

Page 29: ...the equivalent resolution of an incremental encoder in pulses per revolution PPR NI SoftMotion returns encoder positions in encoder counts per revolution A resolution of 2 000 lines rev is the same a...

Page 30: ...edback Mode is 1 Input Step and direction signals d Set the Resolution to 8 000 A setting of 8 000 counts rev corresponds to 1 step per count when the AKD emulated encoder Resolution is set to 2 000 a...

Page 31: ...utton 11 Save all configuration changes to the drive by clicking the Save to Drive toolbar button shown in Figure 17 Step 6 Tune the Motor Using the WorkBench Performance Servo Tuner Use the AKD WorkB...

Page 32: ...utions 3 On the Move Constraints tab set Velocity to 1 revolution sec Using the encoder counts per revolution and stepper steps per revolution values specified in this tutorial the motor will move 25...

Page 33: ...n the host PC BIOS if it is enabled 6 Continue with Step 2 Connect NI 9512 to AKD Drive Cable to the C Series Module Software Installation and Configuration with the NI 9144 Complete the following ste...

Page 34: ...s in the IPv4 Address section 12 Click Save on the toolbar and let MAX reboot the system 13 When the new system name appears under Remote Systems expand the controller item in the tree right click Sof...

Page 35: ...Interface Mode Adding the EtherCAT Master Device to the LabVIEW Project If you are using the NI 9144 chassis complete the following steps to add the EtherCAT master device and detect the C Series modu...

Page 36: ...module must be active Figure 17 shows the location of the hardware enable indicator in the AKD WorkBench software The software enable must be enabled This setting is available on the upper toolbar in...

Page 37: ...is powered on you must unplug the network cable from the drive for at least three seconds to reset the IP address 2 Connect the AKD servo drive to the computer directly using an Ethernet cable Figure...

Page 38: ...Autotuner to change the control loop settings for the motor Refer to the Using the Autotuner topic in the WorkBench Help for more information about using the autotuner including advanced autotuning op...

Page 39: ...2 DIGITAL OUT2 DIGITAL OUT1 DIGITAL IN6 NSTOP AGND DGND DGND Fault Feedback Thermal Control Included Reference Safety Instructions and Use As Directed Br RB DC L1 L2 L3 PE 24V STO GND RB DC Br PE U V...

Page 40: ...uropean 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...

Page 41: ...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 Nati...

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