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National Instruments Corporation
3
Getting Started with the NI 9502 and AKM Motors
Figure 1.
NI 9502 Trapezoidal Commutation Mode Block Diagram
If your application requires position feedback you can also use an additional I/O module, such as the
NI 9411, for encoder feedback as shown in Figure 2.
Figure 2.
NI 9502 Trapezoidal Commutation Mode Block Diagram with Encoder Feedback
Velocity
Loop
Current
Loop
Fault
Monitor
Bridge
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
Hall Sensor Inputs
3-Phase
Bridge
Position
Loop
Velocity
Loop
Current
Loop
Fault
Monitor
Bridge
Controller
Fault
Detection
3-Phase
Bridge
Current
Sense
Encoder
Feedback
Motor
Velocity
Command
Current
Command*
Position
Setpoint
LabVIEW FPGA Module
NI 9502
Encoder
Feedback
Position
Decoder
Motor
Current
Velocity
Feedback
Position
Feedback
Velocity
Estimator
* Proportional to Torque
PWM
Generator
Hall
Inputs
C Series I/O Module
