NI 9930 Motion Control Accessories User Guide
40
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Step 3: Configure the Drive and Connect the Motor and Encoder to the Drive
This section covers the minimum drive settings and connections to allow the motor to move. Refer to
the drive manual for additional information about drive parameters and signal information.
1.
Configure the drive for position control mode by setting parameter Pn000 to n.0010. This
parameter is the same for the Sigma-II and Sigma-V drive.
2.
Ensure that the drive encoder output pulses and electronic gear parameters are set to the default
values:
Yaskawa Sigma-II
a.
Set parameter Pn200 to n.0000.
b.
Set parameter Pn202 to 4 and parameter Pn203 to 1. This specifies a one to four ratio of steps
to counts.
c.
Set parameter Pn201 to 2048. This is the maximum allowable value for this parameter when
you are using an incremental encoder. If you change this value, you must also change the value
specified for the encoder
Counts per rev
in
Step 3: Configure the NI 9512 C Series Module
Software Installation and Configuration
section by multiplying the value specified here
by four.
Yaskawa Sigma-V
a.
Set parameter Pn20E to 4 and parameter Pn210 to 1. This specifies a one to four ratio of steps
to counts.
b.
Set parameter Pn212 to 2048. If you change this value, you must also change the value
specified for the encoder
Counts per rev
in
Step 3: Configure the NI 9512 C Series Module
Software Installation and Configuration
section by multiplying the value specified here
by four.
3.
Connect the motor and encoder to the drive. Refer to the documentation specific to your drive for
motor and encoder connection information.
Tip
An incorrectly connected encoder may cause NI SoftMotion to return error
-77076
(
NIMCDM_driveReadyNotActiveError
). Verify the encoder connections if you see this error.
4.
Connect the drive power. Refer to the drive documentation for power connections and
specifications.
5.
Plug in the hardware once all connections are made and continue to the next section.
Software Installation and Configuration
This section covers installing and configuring the software for the NI 9512 C Series drive interface
module. It assumes that all required software from the
section is installed.
Step 1: Install Software on and Configure the NI RT Controller
Complete the following steps to configure the controller and install software on it.
Note
The Measurement & Automation Explorer (MAX) user interface may not match these steps
exactly depending on which version of MAX you are using.
1.
Launch MAX on the development computer by clicking the MAX icon on the desktop, or by
selecting
Start»All Programs»National Instruments»Measurement & Automation
.
2.
Select the controller under
Remote Systems
in the
Configuration
pane. 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.
Summary of Contents for NI 9930
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