National Instruments NI 9930, User Manual, Page: 50 / 53

© National Instruments Corporation 49 NI 9930 Motion Control Accessories User Guide
Additional NI 9930 Accessories Connector Pinouts
This section contains pinouts for the 37-pin Dsub connector to the NI 9512 module and the MDR
connectors to the drive for each NI 9930 accessory.
Figure 36. NI 9930P I/O Connectors
Reverse Limit
Reserved
+24 V
Reserved
COM
Phase A+
Phase A–
Phase B+
Position Capture
Phase B–
Reserved
Reserved
COM
Enable (Servo On)
DI 3 (Drive Fault)
Dir–
DI 2 (In-Position)
Step–
Forward Limit
Home
COM
DI 0
COM
Index+
Index–
COM
+5 V Out
Position Compare
Reserved
reserved
DO 0
+24 V
DI 1 (Servo Ready)
Dir+
COM
Step+
DO 1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
J3 - NI 9512 Connector
10
9
8
7
6
5
4
3
2
1
11
20
19
18
17
16
15
14
13
12
25
24
23
22
21
35
34
33
32
31
30
29
28
27
26
36
45
44
43
42
41
40
39
38
37
50
49
48
47
46
J2 - Minas A or Minas A5
Connector
COM
Index–
Index+
Phase A–
Phase A+
NC
NC
Negative Direction Torque Limit Input (N-ATL)
COM
Positive Direction Torque Limit Input (P-ATL/TRQR)
COM
Analog Torque Command Input (SPR/TRQR/SPL)
COM
Zero Speed
Brake Off+
Brake Off–
Positive Direction Over Travel (POT)
Negative Direction Over Travel (NOT)
+24 V
SIGN2
SIGN1
PUSL2
PULS1
NC
NC COM
Phase B–
Phase B+
SIGNH2*
SIGNH1*
PULSH2*
PUSLH1*
Speed Monitor Output (SP)
Torque Monitor Output (IM)
COM
Torque Limit Input (TLC)
DI 2 (In-Position)
COM
DI 3 (Drive Fault)
COM
DI 1 (Servo Ready)
COM
Inhibit Input
Control Mode Input (C-MODE)
Alarm Clear
Position Error Clear Input (CL)
Enable (Servo On)
Electronic Gear Switching Input 1 (DIV)
Gain Switching Input (GAIN)
Damping Control Switching Input 1 (VS-SEL1)
* High-speed 4M RS-422 Inputs Available on Minas A5 Drive Only
1
STEP & DIRECTION 10
34
22
23
11
FOR PATENTS: NI.COM/PATENTS
J2
J3
J4
J5
J1
W1
W2
W3
W4
J6
FRONT
COM
VSUP
DS1
DS2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
10
9
8
7
6
5
4
3
2
1
11
20
19
18
17
16
15
14
13
12
25
24
23
22
21
35
34
33
32
31
30
29
28
27
26
36
45
44
43
42
41
40
39
38
37
50
49
48
47
46
+5 V
Out
+24 V