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Motion Control

NI 951x User Manual

NI 951x User Manual

December 2013
372153E-01

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Содержание NI 9514

Страница 1: ...Motion Control NI 951x User Manual NI 951x User Manual December 2013 372153E 01...

Страница 2: ...and current events National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 683 0100 For further support information refer to the Technical Support...

Страница 3: ...nstruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures cau...

Страница 4: ...NTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFT...

Страница 5: ...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...

Страница 6: ...onditions for Marine Applications 1 3 Optional Equipment 1 4 Chapter 2 Hardware Overview NI 951x Connections 2 1 NI 9512 Connections 2 2 NI 9514 Connections 2 5 NI 9516 Connections 2 7 User Connectors...

Страница 7: ...gital Inputs 3 13 Digital Outputs 3 15 Chapter 4 Accessory and Cable Connections NI 951x Connection Accessories 4 1 37 Pin Terminal Block Pin Assignments 4 1 Signal Connection Recommendations 4 4 Gene...

Страница 8: ...ting Started with NI 951x C Series Drive Interface Modules and LabVIEW Use this document as a tutorial to learn how to install and use NI 951x modules with the LabVIEW NI SoftMotion Module Access this...

Страница 9: ...s 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 NI 9512 is a sing...

Страница 10: ...rive interface modules in Scan Interface mode you must have the following items The following software packages and documentation LabVIEW NI SoftMotion Module LabVIEW Development System LabVIEW Real T...

Страница 11: ...he following hardware and documentation NI 9512 NI 9514 or NI 9516 drive interface module External power supply Note Refer to the Power Requirements section of Appendix A Specifications for power supp...

Страница 12: ...cts the NI 951x module with the 37 pin spring terminal blocks NI part number 780553 01 DSUB and MDR Solder Cup Connectors Simplifies custom cable creation NI part number for DSUB connector 780549 01 N...

Страница 13: ...drive interface module hardware including connections and connector pin assignments The following figure shows the NI 951x module Figure 2 1 NI 951x Module NI 951x Connections This section contains c...

Страница 14: ...AKD pdf and on ni com manuals for information about connecting and using the NI 9512 module with AKD analog servo drives and AKM brushless servo motors available from NI Mitsubishi MR J2 or MR J3 NI 9...

Страница 15: ...V NI 9930Y Motion Control Accessory NI part number 781822 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW...

Страница 16: ...xternal power supply to the Vsup 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...

Страница 17: ...the NI 9514 16 to AKD cable the NI 951x Cable and Terminal Block Bundle or a custom cable for direct connectivity to third party drives Tip NI offers AKD analog servo drives and matched servo motors...

Страница 18: ...ided 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 Drive Command Drive Enabl...

Страница 19: ...r I O using the NI 9514 16 to AKD cable the NI 951x Cable and Terminal Block Bundle or a custom cable for direct connectivity to third party drives Tip NI offers AKD analog servo drives and matched se...

Страница 20: ...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 Drive Enable Drive Fault...

Страница 21: ...er power home limit and position compare inputs an output for position compare an additional input for power connection and an additional 0 to 30 V general purpose digital input line Refer to Chapter...

Страница 22: ...connecting the NI 9512 module to position command drives Table 2 2 NI 9512 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Reserved 2 Drive Enable 3 Digital Input 3 4 Digital Input 2 5 D...

Страница 23: ...ments 10 9 8 7 6 5 4 3 2 1 11 20 19 18 17 16 15 14 13 12 Encoder 0 Phase A Encoder 0 Phase B Encoder 0 Phase B COM Reserved Vsup Reserved Reverse Limit Position Capture Encoder 0 Phase A Position Comp...

Страница 24: ...ory pin assignments Caution Do not connect anything to pins marked Reserved Table 2 3 NI 9514 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved...

Страница 25: ...ments Position Compare 5 V OUT COM Encoder 0 Index Encoder 0 Index COM Digital Input 0 COM Home Forward Limit 10 9 8 7 6 5 4 3 2 1 11 20 19 18 17 16 15 14 13 12 Encoder 0 Phase A Encoder 0 Phase B Enc...

Страница 26: ...le Connections for cabling options and connection accessory pin assignments Table 2 4 NI 9516 DSUB Control Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved...

Страница 27: ...oubleshooting information Flashing The module booted up correctly and is functional Lit The module is functional and the drive enable output is active 1 Axis Status Green 2 Encoder Active Green 3 Limi...

Страница 28: ...d on either Encoder 0 or Encoder 1 Lit The power supply Vsup is connected but the module is not receiving encoder pulses Limit Active The Limit Active LED yellow has two states to display the status o...

Страница 29: ...ame 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 Direction CCW D...

Страница 30: ...ry 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 minimum pu...

Страница 31: ...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 1 Digital Input 2 Di...

Страница 32: ...module Command Signals The following signals control the stepper or servo drive Stepper Command Signals Step CW and Direction CCW These signals are the NI 9512 drive interface module stepper command o...

Страница 33: ...er single ended or differential output type Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about stepper motor signal settings Caution Do not connect these outputs to...

Страница 34: ...r drive Refer to Appendix A Specifications for more information Note Refer to Appendix B Position Command Connections for position command signal descriptions and information about connecting the NI 9...

Страница 35: ...Drive Enable output type can be configured in software for sinking or sourcing If the drive has a sinking enable input configure the output type for the Drive Enable circuit for sourcing Conversely i...

Страница 36: ...r 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 tha...

Страница 37: ...nking output device Figure 3 6 Limit Input Configured for Sinking Figure 3 7 Limit Input Configured for Sourcing Figure 3 8 shows an example of wiring the inputs to a high side switch and Figure 3 9 s...

Страница 38: ...er signals are digitally filtered and provide programmable filter frequencies The filter settings are based on the software programmable maximum velocity rate Refer to the NI SoftMotion Module book of...

Страница 39: ...ution You can use software to capture the Index pulse position and establish a reference zero position for absolute position control Figure 3 10 shows the single ended representation of the encoder pu...

Страница 40: ...ns for wiring and cabling recommendations Position Capture When enabled an active transition on a high speed Position Capture input causes instantaneous position capture of the corresponding encoder c...

Страница 41: ...utput functionality and configuration Digital I O Signals Digital Inputs The NI 951x drive interface modules have the following digital input signals Digital Input 0 1 The NI 951x drive interface modu...

Страница 42: ...al inputs to a high side switch Figure 3 16 shows an example of wiring the digital inputs to a low side switch Figure 3 15 High Side Switch Connected to a Sinking Digital Input PNP Sourcing Output Dev...

Страница 43: ...utput type to sinking Caution Do not connect digital outputs to 5 V input circuitry in either sinking or sourcing configuration Tip Refer to the Signal Connection Recommendations section of Chapter 4...

Страница 44: ...ctions Figure 3 18 Digital Output Circuit Configured for Sinking V Drive Enable or Digital Output COM NI 951x NI 951x Vsup PNP Sourcing Input Device Configured For Sinking Sourcing Circuit V Reference...

Страница 45: ...cables including pin assignments for each module Figure 4 1 shows the NI 951x module connected to the 37 pin terminal block using the NI 951x to 37 pin cable Figure 4 1 NI 951x Module and 37 Pin Term...

Страница 46: ...ssignments 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 Digital Input 0 COM Encoder 0 Index Encoder 0 Index COM 5V O...

Страница 47: ...Phase B Position Capture Encoder 0 Phase B Reserved Drive Command COM COM Drive Enable Reserved Reserved Reserved Reserved Indicates DSUB connector signals 37 36 35 34 33 32 31 30 29 28 27 26 25 24 2...

Страница 48: ...e high frequency noise Add clamp on ferrites to cables to further reduce emissions Add a balun to the power cable to attenuate conducted and radiated emissions Caution Do not exceed the maximum specif...

Страница 49: ...is longer than 3 05 m 10 ft Shielded 24 AWG 0 25 mm2 cross section wire is the minimum recommended size for the encoder cable Wire encoder signals and their ground connections separately from all oth...

Страница 50: ...1x digital outputs to control external circuitry that does meet the higher current requirements of motor brakes Refer to the specifications for the motor brake to determine the maximum current require...

Страница 51: ...Servo control loop modes PID PIVff and Dual Loop Motion Command Signals Stepper outputs Output type Software selectable single ended or differential Digital logic levels single ended High VOH 5 25 V m...

Страница 52: ...tage range 0 to 30 V Vsup input 19 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 o...

Страница 53: ...sourcing Digital logic levels OFF state Input voltage 11 to 30 V Input current 1 mA Digital logic levels ON state Input voltage 5 V Input current 2 mA Input impedance 30 k 5 Min pulse width1 50 s Pos...

Страница 54: ...ng Digital input configured for sinking Digital logic levels OFF state Input voltage 5 V Input current 250 A Digital logic levels ON state Input voltage 11 to 30 V Input current 2 mA Digital input con...

Страница 55: ...sis Active mode NI 9512 925 mW max NI 9514 900 mW max NI 9516 950 mW max Sleep mode 0 4 mW max Thermal dissipation at 70 C Active mode 1 5 W max Sleep mode 0 4 mW max NI 951x Input and Output Characte...

Страница 56: ...pment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics Caution Do not connect the NI 951x to signals or use for measurements within Measurement Categ...

Страница 57: ...m certification search by module number or product line and click the appropriate link in the Certification column Shock and Vibration To meet these specifications you must panel mount the system Oper...

Страница 58: ...onmental regulations and directives with which NI complies as well as other environmental information not included in this document Waste Electrical and Electronic Equipment WEEE EU Customers At the e...

Страница 59: ...grams National Instruments LabVIEW LabVIEW Manuals NI_9930_Accessories_User_Guide pdf and on ni com manuals Connecting the NI 9512 to a P Command Drive Complete the following steps to connect the NI 9...

Страница 60: ...he module Encoder Servo Motor Step CW Pulse Direction CCW Sign Drive Fault Servo Alarm Servo On Drive Enable DSUB Connector Forward Reverse Limit Home MDR Connector NI 9512 Position Command Drive Moto...

Страница 61: ...ut other NI 9512 module signals The following inputs are driven from the drive to provide system status to the module Servo Alarm Drive Fault Disables the drive in case of a drive error The module doe...

Страница 62: ...ervice Program SSP with the purchase of most software products and bundles including NI Developer Suite NI also offers flexible extended contract options that guarantee your SSP benefits are available...

Страница 63: ...rt and Professional Services You also can visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone number...

Страница 64: ...e 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 loop A control syst...

Страница 65: ...n 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 conditioning that re...

Страница 66: ...eference 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 low An inpu...

Страница 67: ...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 proportional...

Страница 68: ...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 motor stepper...

Страница 69: ...mity NI resources C 1 diagnostic tools NI resources C 1 digital I O connectors specifications A 4 digital I O signals 3 13 Digital Input 1 4 signal description table 3 3 wiring 3 8 3 9 3 14 3 15 digit...

Страница 70: ...resources C 1 F feature overview 1 1 Forward Limit input signal description table 3 2 purpose and use 3 8 H hardware requirements 1 2 help technical support C 1 Home input signal description table 3 2...

Страница 71: ...wer connections 3 4 power requirement specifications A 5 programming examples NI resources C 1 R related documentation ix Reverse Limit input signal description table 3 2 purpose and use 3 8 S servo d...

Страница 72: ...Index I 4 ni com W Web resources C 1 wiring concerns digital input signals 4 4 encoder signals 4 5 home 4 4 limit signals 4 4 position capture input 4 4...

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