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 National Instruments Corporation

43

NI 9930 Motion Control Accessories User Guide

12. Set the 

Scan Period

 to 10 ms or lower, then click 

OK

 to close the 

RT Target Properties

 dialog 

box.

13. If you did not reformat the CompactRIO device in 

Step 1: Install Software on and Configure the 

NI RT Controller

, expand the real-time target. If an axis already exists on the target, right-click the 

axis and select 

Remove from Project

, or temporarily associate it with different hardware using the 

Axis Manager

 dialog box. You cannot associate two axes with the same hardware device. Refer to 

Figure 31 to view a project with an axis on the target.

14. Right-click the controller item in the 

Project Explorer

 window and select 

New»NI SoftMotion 

Axis

 from the shortcut menu to open the 

Axis Manager

 dialog box, shown in Figure 30.

15. Click 

Add New Axis

 to create an NI SoftMotion axis associated with the NI 9512 module. Axes 

are automatically bound to an available module. You can double-click the axis name to rename the 
axis and give it a descriptive name.

Figure 30.  

Axis Manager Dialog Box

16. Click 

OK

 to close the 

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.

Содержание NI 9930

Страница 1: ...cRIO 9014...

Страница 2: ...ed 34 Hardware Installation and Configuration 37 Software Installation and Configuration 40 Additional NI 9930 Accessories Connector Pinouts 49 Related Documentation 52 Worldwide Support and Services...

Страница 3: ...IEW 2009 SP1 or later LabVIEW 2009 SP1 Real Time Module or later LabVIEW 2009 SP1 NI SoftMotion Module or later NI RIO 3 4 0 or later Figure 1 shows a simplified connection diagram Figure 1 NI 9930M C...

Страница 4: ...3 COM VSUP FOR PATENTS NI COM PATENTS J5 J1 J7 J4 DS1 DS2 J8 J3 J2 J6 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 1...

Страница 5: ...J4 NI 9512 Connector 7 J2 CN1A Connector for MR J2 Drive 8 J3 CN1 Connector for MR J3 Drive FRONT 36 12 24 25 1 13 COM VSUP FOR PATENTS NI COM PATENTS J5 J1 J7 J4 DS1 DS2 J8 J3 J2 J6 1 2 3 4 5 6 7 8...

Страница 6: ...d controller and chassis Note Write down the controller serial number before installing the controller onto the chassis You will be unable to read the serial number after you install the controller a...

Страница 7: ...the drive using one 50 pin MDR cable 3 Connect a 24 V power supply to the Vsup and COM terminals on the NI 9930M accessory J8 connector Figure 3 shows the location of the power supply input 4 Connect...

Страница 8: ...13 24 COM Position Compare Position Capture 5 V Out NI 9512 COM DI 0 NI 9512 DO 1 NI 9512 DO 0 NI 9512 Home Reverse Limit Forward Limit 24 V 25 36 J1 J5 J7 FRONT 36 12 24 25 1 13 COM VSUP FOR PATENTS...

Страница 9: ...stallation and Configuration section b Set parameter PA 05 to 0 This disables the number of command input pulses per servo motor revolution parameter c Set parameter PA 06 and parameter PA 07 to 1 Thi...

Страница 10: ...ect the Static to specify a static IP address in the IPv4 Address section 13 Click Save on the toolbar and let MAX reboot the system 14 When the new system name appears under Remote Systems expand the...

Страница 11: ...ime CompactRIO 7 Select the CompactRIO controller to add to the project and click OK 8 If you have LabVIEW FPGA installed the Select Programming Mode dialog box appears Select Scan Interface to put th...

Страница 12: ...me target If an axis already exists on the target right click the axis and select Remove from Project or temporarily associate it with different hardware using the Axis Manager dialog box You cannot a...

Страница 13: ...d these steps your LabVIEW project should look similar to the image in Figure 8 Figure 8 Project Explorer Window with Modules in Scan Interface Mode Step 3 Configure the NI 9512 C Series Module Comple...

Страница 14: ...e to Closed Loop 3 Click the Encoder button and configure the Units and Counts Per Unit a Make the following changes in the Active State section Set the Line State for A to High Set the Line State for...

Страница 15: ...igure the stepper output and steps per rev settings a Set Output Mode to Step and Direction b Set Output Type to Differential c Set Active State to Low d Set Steps Per rev depending on the encoder res...

Страница 16: ...mmand signals 1 Double click the text in the Mapping column and select Drive Fault Alarm from the dropdown list 2 Ensure that the DI 3 settings match the following Input Type Sourcing Active State Off...

Страница 17: ...Limit and Reverse Limit sections ensure that the settings match the following Note These configuration settings disable limits for initial setup and testing purposes National Instruments recommends co...

Страница 18: ...he axis in the Project Explorer window and select Interactive Test Panel from the shortcut menu 2 On the Move tab set Target Position to 25 revolutions 3 On the Move Constraints tab set Velocity to 1...

Страница 19: ...NI part number 781093 01 Note Refer to the controller operating instructions for power supply requirements 24 V power supply such as the NI PS 15 for the NI 9930P This supply also powers the NI 9512...

Страница 20: ...onic Minas A or Minas A5 Servo Drive Minas A5 shown 50 pin Cable Screw Terminal Connectors NI 9930P Motion Control Accessory 1 STEP DIRECTION 10 34 22 23 11 FOR PATENTS NI COM PATENTS J2 J3 J4 J5 J1 W...

Страница 21: ...er Supply Connector 5 J3 NI 9512 Connector 6 J2 Minas A or Minas A5 Connector 7 W1 W2 W3 and W4 Step and Direction Input Jumpers 1 STEP DIRECTION 10 34 22 23 FOR PATENTS NI COM PATENTS J2 J3 J4 J5 J1...

Страница 22: ...ill be unable to read the serial number after you install the controller a Make sure that no power is connected to the controller or the chassis b Align the controller with the chassis as shown in Fig...

Страница 23: ...3 Configure the Step and Direction Input jumpers The default setting shown in Figure 16 configures the step and direction inputs as low speed 500K inputs This setting is compatible with either the Mi...

Страница 24: ...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...

Страница 25: ...rmation 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 powe...

Страница 26: ...e new system name appears under Remote Systems expand the controller item in the tree right click Software and select Add Remove Software 15 Select a recommended software set that includes NI RIO 3 4...

Страница 27: ...W FPGA installed the Select Programming Mode dialog box appears Select Scan Interface to put the system into Scan Interface mode Tip Use the CompactRIO Chassis Properties dialog box to change the prog...

Страница 28: ...associate it with different hardware using the Axis Manager dialog box You cannot associate two axes with the same hardware device Refer to Figure 20 to view a project with an axis on the target 14 Ri...

Страница 29: ...ox 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 s...

Страница 30: ...k the Encoder button and configure the Units and Counts Per Unit a Make the following changes in the Active State section Set the Line State for A to High Set the Line State for B to Low Set the Line...

Страница 31: ...to Differential c Set Active State to Low d Set Steps Per rev depending on the encoder resolution For example if you are using an encoder with 2500 pulses per revolution set Steps Per rev to 2500 When...

Страница 32: ...sure that the DI 3 settings match the following Input Type Sourcing Active State Off Digital Filter 50 s d Optional Configure a digital output to use for the Alarm Clear signal if required Position co...

Страница 33: ...ts Home page b In the Forward Limit and Reverse Limit sections ensure that the settings match the following Note These configuration settings disable limits for initial setup and testing purposes Nati...

Страница 34: ...he axis in the Project Explorer window and select Interactive Test Panel from the shortcut menu 2 On the Move tab set Target Position to 25 revolutions 3 On the Move Constraints tab set Velocity to 1...

Страница 35: ...r NI part number 781093 01 Note Refer to the controller operating instructions for power supply requirements 24 V power supply such as the NI PS 15 for the NI 9930M This supply also powers the NI 9512...

Страница 36: ...15 Shown 50 pin Cable Screw Terminal Connectors NI 9930Y Motion Control Accessory Yaskawa Sigma II or Sigma V Servo Drive Sigma V shown FRONT 36 12 24 25 1 13 COM VSUP FOR PATENTS NI COM PATENTS J4 J...

Страница 37: ...512 3 DS2 24 V Power LED 4 J6 24 V Power Supply Connector 5 J3 NI 9512 Connector 6 J2 Sigma II and Sigma V Connector FRONT 36 12 24 25 1 13 COM VSUP FOR PATENTS NI COM PATENTS J4 J1 J5 J3 DS1 DS2 J6 J...

Страница 38: ...ill be unable to read the serial number after you install the controller a Make sure that no power is connected to the controller or the chassis b Align the controller with the chassis as shown in Fig...

Страница 39: ...ctor using the NI 951x Y cable 2 Connect the NI 9930Y J2 connector to the drive CN1 connector using the 50 pin MDR cable 3 Connect a 24 V power supply to the Vsup and COM terminals on the NI 9930Y acc...

Страница 40: ...ture 5 V Out NI 9512 COM DI 0 NI 9512 DO 1 NI 9512 DO 0 NI 9512 Home Reverse Limit Forward Limit 24 V 25 36 J1 SEN Signal Input SEN P Operation Input P CON Reverse Side External Torque Limit Input N C...

Страница 41: ...onfigure the NI 9512 C Series Module of the 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 do...

Страница 42: ...ect the Static to specify a static IP address in the IPv4 Address section 13 Click Save on the toolbar and let MAX reboot the system 14 When the new system name appears under Remote Systems expand the...

Страница 43: ...W FPGA installed the Select Programming Mode dialog box appears Select Scan Interface to put the system into Scan Interface mode Tip Use the CompactRIO Chassis Properties dialog box to change the prog...

Страница 44: ...te two axes with the same hardware device Refer to Figure 31 to view a project with an axis on the target 14 Right click the controller item in the Project Explorer window and select New NI SoftMotion...

Страница 45: ...ep 3 Configure the NI 9512 C Series Module Complete the following steps to configure the axis I O settings for use with the Yaskawa Sigma II or Sigma V drive 1 Right click the axis in the Project Expl...

Страница 46: ...o the encoder resolution needs to be converted to quadrature counts per revolution before entering the information into the Axis Configuration dialog box If your encoder does not supply resolution in...

Страница 47: ...Ready from the dropdown list 2 Ensure that the DI 1 settings match the following Input Type Sourcing Active State On Digital Filter 50 s b Map DI 2 to In Position The In Position signal from the drive...

Страница 48: ...e drive 4 In your application VI add code to pulse the digital output line for the appropriate amount of time to clear the alarm output Do not clear the alarm on the drive until the alarm condition is...

Страница 49: ...eractive 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 and monitor feedbac...

Страница 50: ...dex 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 O...

Страница 51: ...d 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...

Страница 52: ...NC Torque Reference Input T REF Reference Pulse Input PULS Reference Pulse Input PULS NC Speed Reference Input V REF SEN Signal Input SEN Battery For Open Collector Reference PL1 COM COM NC S Phase S...

Страница 53: ...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 Worldwide Support and Services The National Ins...

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