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NI 9503
Specifications
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National Instruments NI 9503 Specifications

USER MANUAL AND SPECIFICATIONS
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NI 9503
Stepper Drive
cseriesdoc for information about C Series documentation.
Note The safety guidelines and specifications in this
ni.com/info and
document are specific to the NI 9503. The other components in the system may not meet the same safety ratings and specifications. Refer to the documentation for each component in the system to determine the safety ratings and specifications for the entire system.
Safety Guidelines
Operate the NI 9503 only as described in these operating instructions.
Hot Surface This icon denotes that the component may
be hot. Touching this component may result in bodily injury.
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Caution Do not operate the NI 9503 in a manner not
specified in these operating instructions. Product misuse can result in a hazard. You can compromise the safety protection built into the product if the product is damaged in any way. If the product is damaged, return it to National Instruments for repair.
Safety Guidelines for Hazardous Locations
The NI 9503 is suitable for use in Class I, Division 2, Groups A, B, C, D, T4 hazardous locations; Class I, Zone 2, AEx nA IIC T4, and Ex nA IIC T4 hazardous locations; and nonhazardous locations only. Follow these guidelines if you are installing the NI 9503 in a potentially explosive environment. Not following these guidelines may result in serious injury or death.
Caution Do not disconnect I/O-side wires or connectors
unless power has been switched off or the area is known to be nonhazardous.
Caution Do not remove modules unless power has been
switched off or the area is known to be nonhazardous.
NI 9503 User Manual and Specifications | © National Instruments | 3
Caution Substitution of components may impair
suitability for Class I, Division 2.
Caution For Division 2 and Zone 2 applications, install
the system in an enclosure rated to at least IP 54 as defined by IEC 60529 and EN 60529.
Caution For Division 2 and Zone 2 applications, install
a protection device between the input signal and the V pin. The device must prevent the V
-to-channel voltage
sup
sup
from exceeding 42 V if there is a transient overvoltage condition.
Caution For Zone 2 applications, connected signals
must be within the following limit:
Capacitance .......................... 0.2 μF max
Special Conditions for Hazardous Locations Use in Europe
This equipment has been evaluated as Ex nA IIC T4 Gc equipment under DEMKO Certificate No. 12 ATEX
1202658X. Each module
is marked II 3G and is suitable for use in Zone 2 hazardous locations, in ambient temperatures of -40 °C ≤ Ta ≤ 70 °C. If you are
4 | ni.com | NI 9503 User Manual and Specifications
using the NI 9503 in Gas Group IIC hazardous locations, you must use the device in an NI chassis that has been evaluated as Ex nC IIC T4, EEx nC IIC T4, Ex nA IIC T4, or Ex nL IIC T4 equipment.
Caution You must make sure that transient disturbances
do not exceed 140% of the rated voltage.
Caution The system shall be mounted in an ATEX
certified enclosure with a minimum ingress protection rating of at least IP54 as defined in IEC/EN 60529 and used in an environment of not more than Pollution Degree 2.
Caution The enclosure must have a door or cover
accessible only by the use of a tool.
Electromagnetic Compatibility Guidelines
This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility (EMC) as stated in the product specifications. These requirements and limits are designed to provide reasonable protection against
NI 9503 User Manual and Specifications | © National Instruments | 5
harmful interference when the product is operated in its intended operational electromagnetic environment.
This product is intended for use in industrial locations. As such, there is no guarantee that harmful interference will not occur in a particular installation, when the product is connected to a test object, or if the product is used in residential areas. To minimize the potential for the product to cause interference to radio and television reception or to experience unacceptable performance degradation, install and use this product in strict accordance with the instructions in the product documentation.
Furthermore, any changes or modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules.
Caution To ensure compliance with the applicable
regulatory requirements, product installation requires either special considerations or user-installed, add-on devices. See the product installation instructions for further information.
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Caution The inputs/outputs of this product can be
damaged if subjected to Electrostatic Discharge (ESD). To prevent damage, industry-standard ESD prevention measures must be employed during installation, maintenance, and operation.
Special Guidelines for Marine Applications
Some products are Lloyd’s Register (LR) Type Approved for marine (shipboard) applications. To verify Lloyd’s Register certification for a product, visit ni.com/certification and search for the LR certificate, or look for the Lloyd’s Register mark on the product label.
Caution In order to meet the EMC requirements for
marine applications, install the product in a shielded enclosure with shielded and/or filtered power and input/output ports. In addition, take precautions when designing, selecting, and installing measurement probes and cables to ensure that the desired EMC performance is attained.
NI 9503 User Manual and Specifications | © National Instruments | 7
NI 9503 Hardware Overview
The NI 9503 is a stepper motor drive for use with 2-phase hybrid stepper motors in either bipolar or unipolar winding configuration. It uses software-programmable control algorithms that reduce torque ripple, dampen high-speed resonance, and implements smoother motion during microstepping.
The NI 9503 returns the motor current and bus voltage to the LabVIEW FPGA module for use in a current PI loop and antiresonance algorithms. NI 9503 status information such as drive status and drive faults are also returned to the LabVIEW FPGA module. Refer to the NI 9503 topic in the LabVIEW Help, available by selecting Help»LabVIEW Help, for information about the available status information.
Note National Instruments offers NEMA 8, NEMA 11,
NEMA 14, NEMA 17 and NEMA 23 stepper motors compatible with the NI 9503. Go to ni.com/motion/
stepper
for more information about NI stepper motors.
The NI 9503 reduces torque ripple at speeds near 1 RPS that are caused by fourth harmonic disturbances. The torque ripple smoothing algorithm is software programmable and can be tuned
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for any motor. Motors supported by National Instruments have already been tuned for optimal torque smoothing.
The NI 9503 uses a software-programmable antiresonance algorithm to reduce stepper motor resonance above 2 RPS. The antiresonance algorithm allows a stepper motor to use more available torque and run at higher speeds without stalling.
The NI 9503 supports software-programmable microstepping. Microstepping divides full steps into smaller steps to create smoother motion. The NI 9503 supports microstepping rates up to
256. When full-stepping, a resonance can occur, causing vibration and reducing the motor torque. The NI 9503 offers the best performance when combining microstepping with the torque smoothing and antiresonance properties. Refer to the Step Resolver topic in the LabVIEW Help, available by selecting Help» LabVIEW Help, for information about microstepping options.
The NI 9503 allows for phase current reduction after the motor stops moving. Unlike servo motors, stepper motor coils remain fully energized when the motor is not moving. This allows for strong holding torque, but generates substantial heat in the motor. Many applications do not require maximum holding torque when the motor is at rest, which means that the motor is wasting power. The amount of current reduction and delay before current
NI 9503 User Manual and Specifications | © National Instruments | 9
reduction becomes active is software-programmable. Refer to the Current Scheduler topic in the LabVIEW Help, available by selecting Help»LabVIEW Help, for information about current reduction.
Figure 1. NI 9503 Block Diagram
LabVIEW FPGA Module with SoftMotion
Position
Setpoint
Step
Resolver
Current
Scheduler
Correction
Angle
Current
Loop
Phase A & B
Current
Fault
Monitor
Anti-
resonance
PWM
Generator
NI 9503
Bridge
Controller
Detection
Bus
voltage
Fault
Power
Stage
Current
Sense
V
sup
COM
+
–
Motor
10 | ni.com | NI 9503 User Manual and Specifications
Connecting the NI 9503
The NI 9503 has a 10-terminal detachable screw-terminal connector that provides connections for the stepper motor signals, a motor DC power supply, COM, and chassis ground. Refer to Figure 2 for the pin assignments.
Caution To ensure EMC compliance, special
considerations are required for all cable connections. Refer to the Cable Requirements for EMC Compliance section.
Note You must use 2-wire ferrules to create a secure
connection when connecting more than one wire to a single terminal on the NI 9503 screw terminal.
Caution Do not turn on or plug in the motor DC power
supply until the screw-terminal connector is fully inserted.
NI 9503 User Manual and Specifications | © National Instruments | 11
Figure 2. NI 9503 Connections
Phase A+ Phase A– Phase B+ Phase B– Reserved Reserved Reserved COM Vsup (Chassis Ground)
0 1 2 3 4 5 6 7 8 9
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