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Getting Started with the NI 9502 Brushless Servo
Drive Module and NI AKM Motors

Note

If you are a new user of LabVIEW or are unfamiliar with LabVIEW, refer to the

Getting

Started with LabVIEW

manual for information about LabVIEW and LabVIEW terminology.

This document explains how to install and configure the NI 9502 C Series brushless servo drive module
for use with the NI AKM motors, and provides a walkthrough for both Trapezoidal and Field Oriented
Control commutation modes.

Tip

If you encounter any problems during setup, refer to the

Tips and Troubleshooting

section for

assistance.

Contents

NI 9502 Overview ............................................................................................................................... 2

NI 9502 Commutation Mode....................................................................................................... 2
NI 9502 Connections ................................................................................................................... 4
NI 9502 to AKM Cable ............................................................................................................... 5

Connecting and Using the NI 9502 in Trapezoidal Commutation Mode ............................................ 6

What You Need to Get Started .................................................................................................... 6
Hardware Installation and Configuration .................................................................................... 7
Software Installation and Configuration...................................................................................... 12

Connecting and Using the NI 9502 in Field Oriented Control Commutation Mode........................... 16

What You Need to Get Started .................................................................................................... 16
Hardware Installation and Configuration .................................................................................... 17
Software Installation and Configuration...................................................................................... 21

Tips and Troubleshooting .................................................................................................................... 23

I/O Nodes Are Broken or Unavailable ........................................................................................ 23
Motor Responds Poorly ............................................................................................................... 24
NI AKM Motor Specifications .................................................................................................... 26
NI AKM Motor Thermal Sensor PTC Resistance Versus Temperature Curve........................... 27

Содержание 9502 C Series

Страница 1: ...ing section for assistance Contents NI 9502 Overview 2 NI 9502 Commutation Mode 2 NI 9502 Connections 4 NI 9502 to AKM Cable 5 Connecting and Using the NI 9502 in Trapezoidal Commutation Mode 6 What Y...

Страница 2: ...al commutation based on the Hall Effect sensor inputs For proper phase switching to occur the Hall Effect sensors from the motor must be connected to the correct Hall inputs on the NI 9502 module The...

Страница 3: ...e Controller Fault Detection Current Sense Motor Velocity Command Current Command LabVIEW FPGA Module NI 9502 Motor Current Velocity Feedback Velocity Estimator Proportional to Torque PWM Generator Ha...

Страница 4: ...tation Mode Block Diagram NI 9502 Connections The NI 9502 has a 10 terminal detachable screw terminal connector that provides connections for the brushless servo motor signals Hall Effect sensors a 9...

Страница 5: ...hless servo motor drive module to an NI AKM servo motor available from National Instruments The kit consists of two cables one for motor power and one for Hall Effect sensor and encoder feedback with...

Страница 6: ...r the Hall Effect sensors NI part number 780577 01 Note If you are connecting the optional encoder and using an NI 9411 C Series module for encoder connections you can use the 5 V output on the NI 941...

Страница 7: ...lete the following steps to set up the CompactRIO hardware 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis Note Write down the co...

Страница 8: ...Ethernet network on the same subnet as the development computer Refer to the controller operating instructions for information about wiring the controller to the power supply and Ethernet network Note...

Страница 9: ...the NI 9502 in trapezoidal commutation mode for velocity control applications and required when using the NI 9502 in FOC commutation mode Refer to the Connecting and Using the NI 9502 in Field Oriente...

Страница 10: ...wire disconnected some applications may find it beneficial to connect the drain wire to the NI 9502 chassis ground to improve EMC immunity or emissions Table 3 NI 9502 to AKM Feedback Cable Screw Term...

Страница 11: ...the COM terminal on the NI 9411 some applications may find it beneficial to disconnect the drain wire from the NI 9411 to improve EMC immunity or emissions Table 4 NI 9502 to AKM Feedback Cable Screw...

Страница 12: ...Serial Number in the Identification section matches the serial number on the device 4 If you do not want to format the disk on the controller eliminating all installed software and files power on the...

Страница 13: ...es b Select your target from the Add Targets and Devices dialog box c Click OK d Select LabVIEW FPGA Interface from the Select Programming Mode dialog box e Click Continue f Click Discover in the Disc...

Страница 14: ...Table 5 as this wiring scheme can be eliminated 9 Click the Enable button again to disable the drive and stop the motor 10 Enter the same velocity as a negative number in the Velocity Setpoint control...

Страница 15: ...a higher Velocity Setpoint 17 Set hall wiring to the correct value if necessary 18 Connect a load to the system and tune the velocity gains using the 9502 Trapezoidal Commutation VI Refer to the Tips...

Страница 16: ...9502 module Refer to Regeneration Consideration Using the NI C Series Drive Modules at zone ni com for more information Ethernet connection and cable for the CompactRIO controller NI 9502 to AKM Cable...

Страница 17: ...tem Complete the following steps to set up the CompactRIO hardware 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis Note Write dow...

Страница 18: ...e same subnet as the development computer Refer to the controller operating instructions for information about wiring the controller to the power supply and Ethernet network Note Do not plug in or tur...

Страница 19: ...KM Feedback Connector 2 Pigtail Connector to C Series Module for Encoder Feedback 3 Pigtail Connector to NI 9502 Module for Hall Effect Sensors 4 Pigtail Connector to NI 9502 for Motor Phase Connectio...

Страница 20: ...out Brown White Stripes 5 V 5 V supply for encoder and Hall Effect sensors White Grey Stripes NI AKM Motor Thermal Sensor Internal thermistor connection within the motor which you can connect to an ex...

Страница 21: ...nt Automation Explorer 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 un...

Страница 22: ...ware on the controller Click Help if you need information about installing recommended software sets 17 Close MAX Step 2 Configure and Test the Drive using LabVIEW This section uses the Velocity FOC e...

Страница 23: ...n the Output File section of the Run tab 8 Connect the load to the motor 9 Run the 2 Tune Velocity VI load the configuration data saved in step 7 and follow the instructions to tune the velocity loop...

Страница 24: ...system with too small a value of Kp is unable to hold position and is very soft Increasing Kp stiffens the axis and improves its disturbance torque rejection However too large a value of Kp often res...

Страница 25: ...is unable to hold position and is very soft Increasing Kp stiffens the axis and improves its disturbance torque rejection However too large a value of Kp often results in instability 7 Keeping the pr...

Страница 26: ...5 6 ARMS Tcs 0 180 Nm Vs 24 VDC IP54 Nrtd 2002 RPM Prtd 0 038 kW Rm 3 11 L L 25 C CLASS F AMBIENT 40 C Model AKM21I ANMN2 02 Ics 4 A 2 8 ARMS Ipk 8 A 5 6 ARMS Tcs 0 197 Nm Vs 24 VDC IP54 Nrtd 3270 RP...

Страница 27: ...sistance Versus Temperature Curve The following figure shows the NI AKM motor thermal sensor PTC positive temperature coefficient resistance versus temperature response Figure 13 NI AKM Motor Thermal...

Страница 28: ...abVIEW select Help LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab Worldwide Support and Services The National Instruments Web site is your complete resource for tec...

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