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Getting Started with NI 9514/16 Modules and AKD Servo Drives

Hardware Installation and Configuration

This section covers the hardware setup for the CompactRIO system, NI 9514 or NI 9516

C Series module, and 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)

5

Drive Grounding Lug

6

Feed

b

ack (X10)

7

I/O Connector (X8)

8

I/O Connector (X7)

9

Static IP Addressing Switch (S2)

10 Static IP Addressing Switch (S1)
11 Drive Communication (X11)
12 LED Indicators

1

2

3

6

4

11

9

10

7

5

12

8

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Содержание 9514

Страница 1: ...ble to the AKD Servo Drive 7 Step 6 Connect the Motor and Encoder to the Drive 9 Step 7 Connect the AC Input Power 9 Step 8 Connect the Drive Communication 11 Step 9 Confirm Drive Connections 12 Software Installation and Configuration 12 Step 1 Install Software on and Configure the NI RT Controller 12 Step 2 Creating a Project and Adding NI RT Controller 13 A CompactRIO Controller 13 B EtherCAT Ma...

Страница 2: ...6 C Series servo drive interface module NI Real Time controller CompactRIO controller and chassis that support the RIO Scan Interface Tip To determine if your controller and chassis support the RIO Scan Interface go to ni com info and enter the Info Code rdsoftwareversion or NI 9146 7 8 9 Ethernet RIO Expansion Chassis or NI 9144 distributed chassis and compatible RT controller Power supply for th...

Страница 3: ... LabVIEW 2009 SP1 minimum LabVIEW 2009 SP1 Real Time Module minimum LabVIEW 2009 SP1 NI SoftMotion Module minimum NI RIO 3 4 0 minimum NI Industrial Communications for EtherCAT 1 2 minimum if you are using the NI 9144 distributed chassis AKD WorkBench software Refer to the Step 1 Install Software on and Configure the NI RT Controller section of this document for installation information Figure 1 s...

Страница 4: ... 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 5 Drive Grounding Lug 6 Feedback X10 7 I O Connector X8 8 I O Connector X7 9 Static IP Addressing Switch S2 10 Static IP Addressing Switch S1 11 Drive Communication X11 12 LED Indicators 1 2 3 6 4 1...

Страница 5: ...514 16 to AKD Drive Cable to the C Series Module Connect the MDR and DSUB connectors on the NI 9514 16 to AKD Drive Cable part number 781524 01 to the MDR and DSUB connectors on the C Series module Figure 3 shows the NI 9514 16 to AKD Drive Cable connectors Figure 3 NI 9514 16 to AKD Drive Cable Connectors The NI 9514 16 to AKD Drive Cable contains the following connections DSUB Connector 15 pin D...

Страница 6: ...ctions Table 1 shows the screw terminal I O connector pinout Table 1 NI 9514 16 to AKD Drive Cable Screw Terminal Pinout Pin Signal Name 1 Forward Limit 2 Home 3 Reverse Limit 4 Digital Input 0 5 Vsup 6 Vsup Return 7 Encoder 1 Phase A NI 9516 only 8 Encoder 1 Phase A NI 9516 only 9 Encoder 1 Phase B NI 9516 only 10 Encoder 1 Phase B NI 9516 only 11 5V OUT 12 Position Compare 13 Position Capture 14...

Страница 7: ...le screw terminal connector 2 Connect the 24 V power supply return terminal to the Vsup Return terminal on the NI 9514 16 to AKD Drive Cable screw terminal connector Step 5 Connect the NI 9514 16 to AKD Drive Cable to the AKD Servo Drive Connect the NI 9514 16 to AKD Drive Cable to the AKD servo drive Refer to Figure 2 for the location of the connectors 1 Connect the cable X1 3 pin connector to th...

Страница 8: ...drive X9 DSUB connector 3 Connect the cable X8 10 pin connector to the AKD servo drive X8 10 pin connector Note You can use the X7 I O connector for additional I O but it is not used for connection to the NI 9514 and NI 9516 drive interface modules Figure 5 NI 9514 16 to AKD Drive Cable Connections 1 24 V Supply STO X1 2 Encoder Emulation X9 3 I O Connector X8 24 V Red GND Black STO Brown X1 3 Pin...

Страница 9: ...ake for motors that have a brake Refer to the AKD Installation Manual for information about using the holding brake 2 Connect the motor DSUB feedback connector to the AKD servo drive X10 feedback connector Figure 6 Motor and Encoder Connections Step 7 Connect the AC Input Power Connect the X3 mains supply connector to AC input power Pins 4 through 7 contain the AC power signals The X3 connector al...

Страница 10: ... three phase or single phase operation Note External filtering and fusing are optionally provided by the user Refer to the AKD Installation Manual for information about filter and fuse requirements Figure 8 shows three phase connection Figure 8 AC Input Power Three Phase Connection 1 2 3 4 5 6 7 RB DC RB L1 L2 L3 PE DC Out L1 User Provided Filter Optional L2 L3 AKD Servo Drive Protective Earth L1 ...

Страница 11: ...t 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 network If no DHCP server is present the drive assumes an automatic private IP address in the form of 169 254 x x This process may take up to a minute to complete Figure 2 shows the locations of S1 and S2 2 C...

Страница 12: ...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 about the fault including possible solutions After resolving the cause of the fault click the Clear Faults button on the toolbar again Figure 17 shows the location of the Clear Faults toolbar button in the AKD WorkBench software Software Installation and Co...

Страница 13: ...le New Project to display the Project Explorer window 3 Select Help and make sure that Show Context Help is checked You can refer to the context help throughout the tutorial for information about items on the block diagram Depending on the hardware configuration being used continue to the following respective sections A CompactRIO Controller If you are using a CompactRIO controller complete the fo...

Страница 14: ...ect item in the Project Explorer window and select New Targets and Devices from the shortcut menu to display the Add Targets and Devices dialog box 2 Make sure that Existing target or device radio button is selected 3 Expand the folder that corresponds to the device you are adding such as Real Time Industrial Controller Real Time PXI and so on 4 Select the Real Time to add to the project and click...

Страница 15: ... project Right click the chassis in the Project Explorer window and select Properties from the shortcut menu to display this dialog box 6 Click Discover in the Discover C Series Modules dialog box if it appears 7 Click Continue 8 Right click the controller item in the Project Explorer window and select Properties from the shortcut menu to display the Ethernet RIO Properties dialog box Select Scan ...

Страница 16: ...he 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 LabVIEW project should look similar to the image in Figure 13 Figure 13 Project Explorer Windows with Modules in Scan Interface Mode ...

Страница 17: ...ow and select Properties from the shortcut menu to open the Axis Configuration dialog box Figure 14 shows the parts of the Axis Configuration dialog box for NI 9514 and NI 9516 C Series modules Figure 14 Axis Configuration Dialog Box Note The Axis Configuration dialog box user interface may not match this image exactly depending on which version of the LabVIEW NI SoftMotion Module you are using 2 ...

Страница 18: ...verse Limit sections 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 in your final application Clear the Enable checkbox from both Forward Limit and Reverse Limit Set the Active State for both Forward Limit and Reverse Limit to Off This prevents a limi...

Страница 19: ... resolution in quadrature counts per revolution and must correspond to the AKD WorkBench emulated encoder output Resolution setting in lines per revolution multiplied by four You may want to choose a different resolution depending on your application needs Changing this setting allows moves to be commanded in units of revolutions per second Note You configure the emulated encoder output Resolution...

Страница 20: ...WorkBench 1 Insert the AKD WorkBench CD in the CD ROM drive on your PC 2 Double click Full Setup exe to launch the installer 3 Follow the onscreen instructions to complete the installation 4 Launch the AKD WorkBench software by clicking the AKD WorkBench icon on the desktop or by selecting Start All Programs Kollmorgen AKD WorkBench 5 Select the drive to configure from the list and click Connect N...

Страница 21: ...ted with NI 9514 16 Modules and AKD Servo Drives National Instruments 21 Figure 16 shows the AKD WorkBench start page Figure 16 AKD WorkBench Start Page 1 Available Drives 2 Specify Address 3 Connect to Drive 1 3 2 ...

Страница 22: ...a more descriptive name Figure 17 shows the AKD Overview page Figure 17 AKD WorkBench Overview Page 1 Software Enable Disable 2 Command Source 3 Operation Mode 4 Clear Faults 5 Save Configuration Settings to Drive 6 Software Enable Disable 7 Drive Active Indicator 8 Software Enable Status Indicator 9 Hardware Enable Status Indicator 10 Fault Indicator 1 2 4 5 3 7 8 10 9 6 ...

Страница 23: ...ion page b Select 1 Output With once per rev index pulse from the Function dropdown list c Set the Resolution to 2 000 lines rev Note The encoder resolution output value determines 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 as 8 000 quadrature c...

Страница 24: ...ion setting in the Axis Configuration dialog box d Set the Index Offset to 0 Figure 19 shows the AKD WorkBench Encoder Emulation page Figure 19 AKD WorkBench Encoder Emulation Page 9 Configure the analog input command scaling a Expand the Settings tree item and open the Motor page b Write down the motor Continuous Current value Note Motor continuous current is in Arms ...

Страница 25: ...ch Motor page Figure 20 AKD WorkBench Motor Page c Expand the Settings tree item and open the Analog Input page d Set the Scale to the appropriate Arms V value based on the following equation Scale Motor continuous current 10 For example if you have a motor with a maximum current of 3 00 Arms set Scale to 0 3 Arms V ...

Страница 26: ... shows the analog input scaling setting Figure 21 AKD WorkBench Analog Input Scale Setting 10 Configure the software enable signal a Click the Parameters tree icon to list all configurable drive parameters b Expand the Drive section c Set the Software enable default parameter to 1 ...

Страница 27: ...Use the Interactive Test Panel to test and debug your motion system and configuration settings on the selected axis With the Interactive Test Panel you can perform a simple straight line move monitor feedback position and position error information I O and move status information change move constraints get information about software errors and faults and view position or velocity plots of the mov...

Страница 28: ... connector pinout 7 Tune the motor with a load connected using the Gain Tuning Panel dialog box Refer to the Using the Gain Tuning Panel topic in the NI SoftMotion Module book of the LabVIEW Help for detailed information about the Gain Tuning Panel and servo system tuning In the eth0 Primary section click More Settings and change Packet Detection to Polling Leave the Polling Interval at 1 ms Tips ...

Страница 29: ...following steps to set the FBUS PARAM 05 parameter 1 Click Parameters icon to list all configurable drive parameters 2 Expand the Fieldbuses section 3 Set the FBUS PARAM 05 parameter to 4 4 Save all configuration changes to the drive by clicking the Save To Drive button Figure 23 shows the Fieldbuses section of the AKD Workbench parameters page Figure 23 AKD WorkBench Fieldbuses Section Cannot Com...

Страница 30: ...roperties then select Internet Protocol TCP IP from the list 6 In the Internet Protocol TCP IP dialog box select Use the following IP address 7 Change IP address to 198 168 0 100 8 Change Subnet mask to 255 255 255 0 Verify that S1 and S2 are set to non zero values The Motor Responds Poorly Use the Gain Tuning Panel dialog box to change the control loop settings for the motor Refer to the Using th...

Страница 31: ...TAL OUT2 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 24 V STO GND RB DC Br PE U V W ENABLE Analog In Referred to I O GND I O GND Emergency Stop Circuit Digital1 Digital2 10 V Speed Setpoint 10 V 24V Referred to I O GND 24 V Referred to I O GND I O GND Control Tachometer Vol...

Страница 32: ...rmation LabVIEW NI SoftMotion Module Help Use this help file to learn about using the NI SoftMotion Module in LabVIEW including information about function blocks and using the NI SoftMotion Module with the LabVIEW Project To access this help file from LabVIEW select Help LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab Setup Guide for Ethernet RIO Expansion Chassi...

Страница 33: ...e with the Council of the European 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 product by visiting ni com certification If your product supports calibration you can obtain the calibration certificate for your product at ni com calibration NI corporate ...

Страница 34: ...can find information about end user license agreements EULAs and third party legal notices in the readme file for your NI product Refer to the Export Compliance Information at ni com legal export compliance for the NI global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data NI MAKES NO EXPRESS OR IMPLIED WARRANTIES AS TO THE ACCURACY OF THE INFORMATION...

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