National Instruments NI 951x User Manual Download

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Motion Control

NI 951x User Manual

NI 951x User Manual

July 2009
372153B-01

Summary of Contents for NI 951x

Page 1: ...Motion Control NI 951x User Manual NI 951x User Manual July 2009 372153B 01...

Page 2: ...Lebanon 961 0 1 33 28 28 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 22 328 90 10 Portugal 351 210 311 210 Russ...

Page 3: ...tocopying 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 th...

Page 4: ...e encouraged to try to correct the interference by one or more of the following measures Reorient the antenna of the receiver the device suffering interference Relocate the transmitter the device gene...

Page 5: ...es in Scan Interface Mode 1 2 Using the NI 951x Modules in LabVIEW FPGA Interface Mode 1 3 Safety Information 1 3 Special Conditions for Marine Applications 1 3 Optional Equipment 1 4 Chapter 2 Hardwa...

Page 6: ...oder Phase A Phase B 3 12 Encoder Index 3 12 Encoder Input Circuit 3 13 Position Capture Input and Position Compare Output 3 14 Digital I O Signals 3 15 Digital Inputs 3 15 Digital Outputs 3 17 Chapte...

Page 7: ...ontents National Instruments Corporation vii NI 951x User Manual Appendix A Specifications Appendix B Position Command Connections Appendix C Technical Support and Professional Services Glossary Index...

Page 8: ...rmation This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash When this symbol is marked on a product refer to the Safety Information section...

Page 9: ...g 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...

Page 10: ...al encoder inputs for position feedback and 0 to 30 V digital input and digital output lines Refer to Chapter 3 Signal Connections for more information about the signals available on each module The N...

Page 11: ...e mode you must have the following items The following software packages and documentation NI SoftMotion This software package contains the following NI software products NI SoftMotion software NI Mot...

Page 12: ...tware package contains the following NI software products NI SoftMotion software NI Motion driver software LabVIEW Development System LabVIEW Real Time Module LabVIEW FPGA Module NI RIO driver softwar...

Page 13: ...mber 780552 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...

Page 14: ...Manual 2 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...

Page 15: ...otion 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 9512 to P7000 Stepper Drives Connectivity B...

Page 16: ...up input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module Encoder optional Stepper Motor Step CW Direction CCW Drive Fault Drive Enable Step CW Di...

Page 17: ...s specified in the chassis documentation 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 37 pin te...

Page 18: ...to the Vsup input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module Caution Do not connect anything to pins marked Reserved Encoder Servo Motor Dr...

Page 19: ...O 1 Install the module in the chassis as specified in the chassis documentation Note Refer to the NI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restricti...

Page 20: ...ut provided on the DSUB or MDR connector Do not connect more than one external power supply to the module Caution Do not connect anything to pins marked Reserved Encoder 0 Servo Motor Drive Command Dr...

Page 21: ...nection 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 f...

Page 22: ...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 Table 2 1 NI 9512 DSUB Cont...

Page 23: ...Assignments Forward Limit Home COM Digital Input 0 COM Encoder 0 Index Encoder 0 Index COM 5 V OUT Position Compare 1 2 3 4 5 6 7 8 9 10 20 11 12 13 14 15 16 17 18 19 COM Reverse Limit Vsup Encoder 0...

Page 24: ...s and connection accessory pin assignments Caution Do not connect anything to pins marked Reserved Table 2 2 NI 9514 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 D...

Page 25: ...Assignments Forward Limit Home COM Digital Input 0 COM Encoder 0 Index Encoder 0 Index COM 5 V OUT Position Compare 1 2 3 4 5 6 7 8 9 10 20 11 12 13 14 15 16 17 18 19 COM Reverse Limit Vsup Encoder 0...

Page 26: ...ter 4 Accessory and Cable Connections for cabling options and connection accessory pin assignments Table 2 3 NI 9516 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 D...

Page 27: ...mit Home COM Digital Input 0 Encoder 1 Phase B Encoder 0 Index Encoder 0 Index COM 5 V OUT Position Compare 1 2 3 4 5 6 7 8 9 10 20 11 12 13 14 15 16 17 18 19 Reverse Limit Encoder 1 Phase A Vsup Enco...

Page 28: ...ve enable output is active Encoder Active The Encoder Active LED green has three states for encoder and Vsup status Off The power supply Vsup is not connected You must connect a power supply to receiv...

Page 29: ...both the limits and home input are not active Lit The power supply Vsup is connected and the forward limit reverse limit or home input is active Axis Fault The Axis Fault LED red has two states to ind...

Page 30: ...Signal Signal Name Signal Overview Stepper Command Signals Step CW Step CW Configurable Step Direction or CW CCW output mode Configurable single ended or differential output type 5 MHz max pulse rate...

Page 31: ...A Secondary encoder for position or velocity feedback RS 422 differential compatible with single ended encoders 20 106 counts per second maximum 100 ns minimum pulse width differential inputs 400 ns...

Page 32: ...minimum pulse width Digital Inputs Digital Input 0 General purpose digital inputs Configurable for sinking or sourcing 0 to 30 V input range 100 s minimum pulse width Digitally filtered Digital Input...

Page 33: ...e 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...

Page 34: ...step and direction output circuits can be configured in software for either single ended or differential output type Refer to the NI SoftMotion LabVIEW Help for more information about stepper motor s...

Page 35: ...y the drive manufacturer Figure 3 3 shows a single ended connection example Figure 3 3 Opto Isolated Step and Direction Output Connection Caution If the optocoupler input does not include its own curr...

Page 36: ...ve during normal operation and deactivated upon a fault or error condition Refer to the NI SoftMotion Module book of the LabVIEW Help for a list of faults errors and other conditions that deactivate t...

Page 37: ...able Circuit Configured for Sourcing Figure 3 5 Drive Enable Circuit Configured for Sinking Drive Enable or Digital Output COM NI 951x NI 951x Vsup NPN Sinking Input Device Configured For Sourcing Sin...

Page 38: ...lter 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...

Page 39: ...ing output device Figure 3 6 Limit Input Configured for Sinking Figure 3 7 Limit Input Configured for Sourcing PNP Sourcing Output Device COM NI 951x V Reference V Out Configured For Sinking Limit Hom...

Page 40: ...s two encoder channels that allow for dual loop feedback which enhances system stability and precision and provides backlash compensation The Encoder 0 channel consists of a Phase A a Phase B and an I...

Page 41: ...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 ha...

Page 42: ...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 NI SoftMotion Module book of the LabVIEW Help for more information Tip...

Page 43: ...off state of the open collector driver A 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...

Page 44: ...x Connections section of Chapter 2 you must map an available digital input in software Refer to the NI SoftMotion LabVIEW Help for more information about mapping digital inputs and digital outputs to...

Page 45: ...als to a sinking output device Figure 3 13 Digital Input Configured for Sinking Figure 3 14 Digital Input Configured for Sourcing PNP Sourcing Output Device COM NI 951x V Reference V Out Configured Fo...

Page 46: ...l 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...

Page 47: ...tputs 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 Figure 3 18 Digital Out...

Page 48: ...block and cable for connecting the NI 9512 MDR connector to other I O Complete the following steps to connect the NI 9512 drive interface module to the P70530 DC drive or the P70360 AC drive and othe...

Page 49: ...k or custom cable 6 Connect the drive power supply to the P7000 drive 7 Update the axis configuration settings in software for proper operation with the P7000 drives Refer to NI 951x to P7000 Drive Co...

Page 50: ...Drive Connection Diagram 1 C Series Chassis 2 NI 9512 MDR Connector 3 NI 9512 DSUB Connector 4 NI 9512 Module 5 Stepper Motor 6 NI 9512 to P7000 Direct Connect Cable 7 P7000 Series Stepper Drive 8 P7...

Page 51: ...r Figure 4 2 NI 9512 37 Pin Terminal Block MDR Only Pin Assignments 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 GND 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Forward Limit Home COM Dig...

Page 52: ...ure 4 4 Figure 4 5 and Figure 4 6 show the pin assignments for the NI 951x to 37 pin terminal blocks Note When connecting only the MDR connector to the terminal block all DSUB signals on the terminal...

Page 53: ...er 0 Phase A Encoder 0 Phase A Encoder 0 Phase B Position Capture Encoder 0 Phase B Reserved Reserved COM Drive Enable Digital Input 3 Digital Input 2 Direction CCW Step CW Indicates DSUB connector si...

Page 54: ...to chassis ground to minimize noise and signal crosstalk Use a separate power supply for the CompactRIO chassis and the NI 951x module s to isolate the I O from the controller Tie the Vsup cable shiel...

Page 55: ...input 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 preven...

Page 56: ...ugh 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 exter...

Page 57: ...n loop and torque loop Control loop rate1 20 kHz max position loop Servo control loop modes PID PIVff and Dual Loop Motion Command Signals Stepper outputs Output type Programmable single ended or diff...

Page 58: ...ction or CW CCW Active state Programmable 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...

Page 59: ...12 V Input current at 5 V 1 mA Min pulse width2 Differential 100 ns Single ended 400 ns Max count rate Differential 20 106 counts sec Single ended 5 106 counts sec Forward reverse and home inputs Inpu...

Page 60: ...rising edge or falling edge Position compare outputs High VOH 5 25 V max Sourcing 12 mA 3 7 V min Sourcing 4 mA 3 9 V min Low VOL Sinking 12 mA 0 7 V max Sinking 4 mA 0 5 V max Compare mode Programmab...

Page 61: ...9 to 30 V Continuous output current I0 on each channel 100 mA max Output impedance R0 0 3 max Output voltage V0 sourcing Vsup I0R0 Output voltage V0 sinking I0R0 Min output pulse width 100 s Leakage c...

Page 62: ...u 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 nu...

Page 63: ...ical equipment for measurement control and laboratory use IEC 61010 1 EN 61010 1 UL 61010 1 CSA 61010 1 Note For UL and other safety certifications refer to the product label or the Online Product Cer...

Page 64: ...to 500 Hz Sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz Operating shock IEC 60068 2 27 30 g 11 ms half sine 50 g 3 ms half sine 18 shocks at 6 orientations Environmental National Instruments C Series modu...

Page 65: ...t 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 E...

Page 66: ...t 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 NI SoftMotion Module book of the...

Page 67: ...o Alarm Servo On Drive Enable DSUB Connector Forward Reverse Limit Home MDR Connector NI 9512 Position Command Drive Motor Encoder Phase A B Index optional Limit and Home Sensors Power Supply Vsup NI...

Page 68: ...abVIEW 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 driv...

Page 69: ...rvice 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 on demand train...

Page 70: ...by visiting ni com certification Calibration Certificate If your product supports calibration you can obtain the calibration certificate for your product at ni com calibration If you searched ni com...

Page 71: ...power to operate the motor in response to control signals axis Unit that controls a motor or any similar motion or control device C CCW counterclockwise Implies direction of motor rotation closed loo...

Page 72: ...ng position or velocity in a closed loop system encoder resolution The number of lines per unit of measure Units can be inches centimeters revolutions and so on F filtering A type of signal conditioni...

Page 73: ...tablish a reference position L limit switch end of travel position input Sensors that alert the control electronics that the physical end of travel is being approached and that the motion should stop...

Page 74: ...tor drives that accept step and direction CW CCW information to drive a servo motor PID control loop proportional integral derivative control loop A control method in which the controller output is pr...

Page 75: ...to ground sourcing device A device that provides a path to supply Step output Command signal for stepper motors each step produces a pulse on the step output leading to a step or microstep of the mot...

Page 76: ...4 NI 9514 figure 2 5 NI 9516 2 6 NI 9516 figure 2 7 position capture input 4 7 Step CW signal 3 5 connectors NI 9512 2 9 NI 9514 2 11 NI 9516 2 13 conventions used in the manual ix CW signal See Step...

Page 77: ...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 15 Encoder Index signal pur...

Page 78: ...n diagram figure 2 3 connections 2 2 DSUB connector 2 9 MDR connector 2 10 NI 9514 connection diagram figure 2 5 connections 2 4 DSUB connector 2 11 MDR connector 2 12 NI 9516 connection diagram figur...

Page 79: ...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 P7000 c...

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