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National Instruments Corporation
23
Getting Started with the NI 9502 and AKM Motors
Note
You do not need to run the FPGA VI directly. The other VIs use the FPGA VI to communicate
with the NI 9502 module. Refer to the NI SoftMotion Module help for more information about the
field-oriented control (FOC) algorithm and autophasing.
4.
Run the
1 - AutoPhasing
VI. This VI calculates the motor settings and Hall Effect sensor
phasing values by turning the motor once at low speed to detect the Hall Effect sensor transitions.
Note
If the VI is not executable, right-click the Open FPGA VI reference function and select
Configure Open FPGA VI Reference
from the shortcut menu, then browse to the FPGA VI and
click
OK
.
5.
Select the NI AKM motor you are using from the
Preset Motor
list.
Note
This VI also allows you to manually enter motor values for autophasing with a third-party
motor.
6.
Navigate to the
Run
tab and click the
Run
button to start the autophasing routine.
7.
After the autophasing routine completes successfully, save the information to the file specified in
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. Refer to the
Tips and Troubleshooting
section for tuning tips.
Note
The default current gains for the
Velocity FOC
example are preconfigured for the NI AKM
motors.
10. Run the
3 - Velocity Run
VI, load the configuration data saved in step 7, and enter the velocity
loop gains found in step 9.
11. Select different velocities to test the system with the load attached.
Tips and Troubleshooting
I/O Nodes Are Broken or Unavailable
Verify the commutation mode, which controls the available I/O nodes and properties for the NI 9502. If
any I/O nodes from the unselected mode are present on the block diagram the nodes are broken and the
VI does not compile. Complete the following steps to change the commutation mode:
1.
Right-click the NI 9502 module item in the
Project Explorer
window and select
Properties
to
open the
C Series Module Properties
dialog box.
2.
Change the
Commutation Mode
to the required mode for your application.
3.
(Optional) Remove the unavailable I/O nodes from under the NI 9502 item the
Project Explorer
window by selecting them and pressing <Delete>.
