National Instruments NI 9514, NI 9512, NI 9516 User Manual

Motion Control

NI 951x User Manual

NI 951x User Manual

December 2013
372153E-01

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for product installation requirements.

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Contents

About This Manual

Related Documentation .................................................................................................... ix

Chapter 1
Introduction and Installation

About the NI 951x Drive Interface Modules.................................................................... 1-1

Features..................................................................................................................... 1-1

Hardware .................................................................................................................. 1-1

What You Need to Get Started ......................................................................................... 1-2

Using the NI 951x Modules in Scan Interface Mode............................................... 1-2

Using the NI 951x Modules in LabVIEW FPGA Interface Mode ........................... 1-3

Safety Information ............................................................................................................ 1-3

Special Conditions for Marine Applications ............................................................ 1-3

Optional Equipment.......................................................................................................... 1-4

Chapter 2
Hardware Overview

NI 951x Connections ........................................................................................................ 2-1

NI 9512 Connections ................................................................................................ 2-2

NI 9514 Connections ................................................................................................ 2-5

NI 9516 Connections ................................................................................................ 2-7

User Connectors ............................................................................................................... 2-9

NI 9512 Connectors.................................................................................................. 2-9

NI 9514 Connectors.................................................................................................. 2-12

NI 9516 Connectors.................................................................................................. 2-14

LED Indicators ................................................................................................................. 2-15

Axis Status ................................................................................................................ 2-15

Encoder Active ......................................................................................................... 2-16

Limit Active.............................................................................................................. 2-16

Axis Fault ................................................................................................................. 2-16

Chapter 3
Signal Connections

Power Connections ........................................................................................................... 3-4

Command Signals............................................................................................................. 3-4

Stepper Command Signals........................................................................................ 3-4

Step (CW)± and Direction (CCW)± ................................................................. 3-4

Servo Command Signals .......................................................................................... 3-6

Drive Command Output ................................................................................... 3-6

Drive Command COM ..................................................................................... 3-6

© National Instruments | vii

Contents

Additional Drive Signals .......................................................................................... 3-6

Drive Enable ....................................................................................................3-6

Motion I/O Signals............................................................................................................ 3-8

Limit and Home Inputs ............................................................................................. 3-8

Limit and Home Input Circuit .......................................................................... 3-8

Encoder Inputs .......................................................................................................... 3-10

Encoder Phase A/Phase B ................................................................................. 3-10

Encoder Index ................................................................................................... 3-11

Encoder Input Circuit........................................................................................ 3-11

Position Capture Input and Position Compare Output.............................................. 3-12

Digital I/O Signals ............................................................................................................ 3-13

Digital Inputs ............................................................................................................ 3-13

Digital Outputs.......................................................................................................... 3-15

Chapter 4
Accessory and Cable Connections

NI 951x Connection Accessories...................................................................................... 4-1

37-Pin Terminal Block Pin Assignments..................................................................4-1

Signal Connection Recommendations ..............................................................................4-4

General Connection Recommendations.................................................................... 4-4

Limit and Digital Input Connection Recommendations ........................................... 4-4

Encoder Connection Recommendations................................................................... 4-5

Connecting Optional Signals ............................................................................................ 4-6

Connecting a Brake Signal ....................................................................................... 4-6

Appendix A
Specifications

Appendix B
Position Command Connections

Appendix C
Technical Support and Professional Services

Glossary

Index

viii | ni.com

About This Manual

This manual describes the electrical and mechanical aspects of the National Instruments 951x
C Series drive interface modules and contains information concerning installation and operation.

Related Documentation

The following documents contain information you might find helpful as you read this manual:

• Operating Instructions for the controller and modules (shipped with the hardware and

available from

• NI-Motion Help—Contains information about motion programming concepts and the

NI-Motion architecture. Access the NI-Motion Help by going to Start»All Programs»
NI-Motion»Documentation.

• LabVIEW NI SoftMotion Module Help—Use this help file to learn about using

NI SoftMotion in LabVIEW including information about function blocks and using
NI SoftMotion with the LabVIEW Project. To access this help file from LabVIEW, select
Help»Search the LabVIEW Help, then expand the LabVIEW NI SoftMotion Module book
on the Contents tab.

• LabVIEW Help—Contains LabVIEW, LabVIEW Real-Time Module, and LabVIEW

FPGA Module programming concepts, instructions, and reference information. Access the
LabVIEW Help by selecting Help»Search the LabVIEW Help from within LabVIEW.

• Getting Started with NI 951x C Series Drive Interface Modules and LabVIEW—Use this

document as a tutorial to learn how to install and use NI 951x modules with the LabVIEW
NI SoftMotion Module. Access this document by selecting

National Instruments»LabVIEW»LabVIEW Manuals»
Getting_Started_NI_951x_Modules_LabVIEW.pdf

• Getting Started with NI 9512 C Series Drive Interface Modules and P7000 Series Stepper

Drives—Use this document as a tutorial to learn how use NI 9512 modules with the P7000

series stepper drives and stepper motors available from NI. Access this document by
selecting

Getting_Started_NI_9512_P7000.pdf

• Getting Started with NI 9512 C Series Drive Interface Modules and AKD Analog Servo

Drives—Use this document to learn how use NI 9512 modules with the AKD analog servo

drives and AKM servo motors available from NI. Access this document by selecting

Start»All Programs»National Instruments»LabVIEW»LabVIEW Manuals»
Getting_Started_NI_9512_AKD.pdf

• Getting Started with NI 9514/16 C Series Drive Interface Modules and AKD Analog Servo

Drives—Use this document to learn how use NI 9514 and NI 9516 modules with the AKD

analog servo drives and AKM servo motors available from NI. Access this document by
selecting

Getting_Started_NI_9514_NI_9516_AKD.pdf

ni.com/manuals)

Start»All Programs»

.

Start»All Programs»National Instruments»LabVIEW»LabVIEW Manuals»

.

.

Start»All Programs»National Instruments»LabVIEW»LabVIEW Manuals»

.

© National Instruments | ix

1

Introduction and Installation

This chapter includes information about the features of the National Instruments 9512, 9514, and
9516 drive interface modules.

Note The remainder of this document will refer to these modules collectively as

NI 951x modules.

About the NI 951x Drive Interface Modules

The NI 951x drive interface modules are a family of C Series motion modules. These modules
enable advanced motion with configuration and programming using NI LabVIEW.

Features

The NI 951x modules provide servo or stepper drive interface signals for a single axis, a full set
of motion I/O including inputs for a home switch and limit switches, incremental encoder inputs
for position feedback, and 0 to 30 V digital input and digital output lines. Refer to Chapter 3,

Signal Connections, for more information about the signals available on each module.

• The NI 9512 is a single-axis stepper or position command drive interface module with

incremental encoder feedback.

Note Refer to Appendix B, Position Command Connections, for information about

using the NI 9512 module with position command servo drives.

• The NI 9514 is a single-axis servo drive interface module with incremental encoder

feedback.

• The NI 9516 is a single-axis servo drive interface module with dual incremental encoder

feedback.

Hardware

The NI 951x drive interface modules include a processor to run the spline interpolation engine
and patented NI step generation algorithm or PID control loop/PIVff control loop. Working
together they produce smoother motion resulting in precise motion control.

© National Instruments | 1-1

Chapter 1 Introduction and Installation

What You Need to Get Started

Using the NI 951x Modules in Scan Interface Mode

Scan Interface mode enables you to use C Series modules directly from the LabVIEW
Real-Time Module. Refer to the CompactRIO Reference and Procedures (Scan Interface) book
of the LabVIEW Help for more information about using C Series modules in Scan Interface
mode.

To set up and use the NI 951x drive interface modules in Scan Interface mode, you must have
the following items:

 The following software packages and documentation:

– LabVIEW NI SoftMotion Module

– LabVIEW Development System

– LabVIEW Real-Time Module

– NI-RIO driver software

Tip Refer to the software documentation for installation instructions.

 The following hardware and documentation:

– NI 9512, NI 9514, or NI 9516 drive interface module

– External power supply

Note Refer to the Power Requirements section of Appendix A, Specifications, for

power supply requirements.

– CompactRIO controller and chassis that support the RIO Scan Interface

or

– NI 9144 distributed chassis

1-2 | ni.com

NI 951x User Manual

Using the NI 951x Modules in LabVIEW FPGA Interface Mode

LabVIEW FPGA Interface mode enables you to use C Series modules from LabVIEW FPGA
VIs. Refer to the CompactRIO Reference and Procedures (FPGA Interface) book of the
LabVIEW Help for more information about using C Series modules in LabVIEW FPGA
Interface mode.

To set up and use the NI 951x drive interface modules in LabVIEW FPGA Interface mode, you
must have the following items:

 The following software packages and documentation:

– (Optional) LabVIEW NI SoftMotion Module

– LabVIEW Development System

– LabVIEW Real-Time Module

– LabVIEW FPGA Module

– NI-RIO driver software

Tip Refer to the software documentation for installation instructions.

 The following hardware and documentation:

– NI 9512, NI 9514, or NI 9516 drive interface module

– External power supply

Note Refer to the Power Requirements section of Appendix A, Specifications, for

power supply requirements.

– CompactRIO controller and chassis

Safety Information

Special Conditions for Marine Applications

Some modules are Lloyd’s Register (LR) Type Approved for marine applications. To verify
Lloyd’s Register certification, visit
certificate, or look for the Lloyd’s Register mark on the module.

Caution To meet radio frequency emission requirements for marine applications,

use shielded cables and install the system in a metal enclosure. Suppression ferrites
must be installed on power supply inputs near power entries to modules and
controllers. Power supply and module cables must be separated on opposite sides of
the enclosure and must enter and exit through opposing enclosure walls.

ni.com/certification and search for the LR

© National Instruments | 1-3

Chapter 1 Introduction and Installation

Optional Equipment

National Instruments offers several options for connecting NI 951x drive interface modules to
external stepper drives or servo amplifiers including the following:

• NI 9512-to-P7000 Stepper Drives Connectivity Bundle—Connects the NI 9512 to the
P70530 or P70360 stepper drives available from NI. (NI part number 780552-01)

• NI 9514/16 to AKD Cable—Connects the NI 9514 or NI 9516 to the AKD servo drive and
AKM brushless servo motors available from NI.
(NI part number 781524-01)

• NI 9512 to AKD Cable—Connects the NI 9512 to the AKD servo drive and AKM
brushless servo motors available from NI.
(NI part number 781525-01)

• NI 951x Cable and Terminal Block Bundle—Connects the NI 951x module with the
37-pin spring terminal blocks.
(NI part number 780553-01)

• DSUB and MDR Solder Cup Connectors—Simplifies custom cable creation.
NI part number for DSUB connector: 780549-01
NI part number for MDR connector: 780551-01

• DSUB to Pigtails Cable and MDR to Pigtails Cable—Simplifies custom cable creation.
NI part number for DSUB cable: 193412-04
NI part number for MDR cable: 193413-04

Caution Do not use the recommended module power supplies to power a drive.

Check your drive documentation for drive power supply requirements.

• +24 V DC power supply

Note Refer to the National Instruments Web site at ni.com for available power

supplies.

Refer to Chapter 4, Accessory and Cable Connections, for cable and terminal block pin
assignments. For additional information about these and other available products refer to the
National Instruments Web site at ni.com, or call your National Instruments sales
representative.

1-4 | ni.com

2

Hardware Overview

This chapter presents an overview of the National Instruments 951x drive interface module
hardware, including connections and connector pin assignments. The following figure shows the
NI 951x module.

Figure 2-1. NI 951x Module

NI 951x Connections

This section contains connection information for each drive interface module, including
connection diagrams for a complete system setup.

© National Instruments | 2-1

Chapter 2 Hardware Overview

NI 9512 Connections

National Instruments offers several options for connecting the NI 9512 to stepper or position
command servo drives. Refer to Table 2-1 for available NI 9512 connection options.

Table 2-1. NI 9512 Connection Options

Drive Connection Option

NI ISM-7400/7401/7402

NI SMD-7610

NI SMD-7611/7612

Direct Connectivity to NI ISM and NI SMD stepper drives

Go to

ni.com/info and enter stepper for installation and

configuration information for NI ISM and NI SMD stepper
drives.

NI SMD-7620/7621

AKD Analog Servo NI 9512 to AKD Drive Cable

(NI part number 781525-01)

Note: Refer to Getting Started with NI 9512 C Series Drive
Interface Modules and AKD Analog Servo Drives, available by

selecting

Start»All Programs»National Instruments»
LabVIEW»LabVIEW Manuals»
Getting_Started_NI_9512_AKD.pdf

manuals

, for information about connecting and using the
NI 9512 module with AKD analog servo drives and AKM
brushless servo motors available from NI.

Mitsubishi MR-J2 or
MR-J3

NI 9930M Motion Control Accessory
(NI part number 781824-01)

Note: Refer to NI 9930 Motion Control Accessories User
Guide, available by selecting

Instruments»LabVIEW»LabVIEW Manuals»
NI_9930_Motion_Control_Accessories_User_Guide.pdf

ni.com/manuals, for information about connecting and

on
using the NI 9512 module with the referenced Mitsubishi,
Panasonic, and Yaskawa servo drives.

and on ni.com/

Start»All Programs»National

and

Panasonic Minas-A or
Minas-A5

2-2 | ni.com

NI 9930P Motion Control Accessory
(NI part number 781823-01)

Note: Refer to NI 9930 Motion Control Accessories User
Guide, available by selecting

Start»All Programs»National
Instruments»LabVIEW»LabVIEW Manuals»
NI_9930_Accessories_User_Guide.pdf

manuals

, for information about connecting and using the

and on ni.com/

NI 9512 module with the referenced Mitsubishi, Panasonic, and
Yaskawa servo drives.

Table 2-1. NI 9512 Connection Options (Continued)

Drive Connection Option

NI 951x User Manual

Yaskawa Sigma-II or
Sigma-V

NI 9930Y Motion Control Accessory
(NI part number 781822-01)

Note: Refer to NI 9930 Motion Control Accessories User
Guide, available by selecting

Start»All Programs»National
Instruments»LabVIEW»LabVIEW Manuals»
NI_9930_Accessories_User_Guide.pdf

manuals

, for information about connecting and using the

and on ni.com/

NI 9512 module with the referenced Mitsubishi, Panasonic, and
Yaskawa servo drives.

Other third-party stepper
or p-command servo
drive

NI 951x cable and terminal block bundle
(NI part number 780553-01)

Note: Refer to Appendix B, Position Command Drive Signals,
for information about connecting and using the NI 9512 module
with other p-command servo drives.

Complete the following steps to connect the NI 9512 stepper drive interface module to drives
and other I/O:

1. Install the module in the chassis as specified in the chassis documentation.

Note Refer to the NI SoftMotion Module book of the LabVIEW Help for

information about chassis, slot, or software restrictions.

2. Connect the module to a drive and other I/O using on of the connection options in Table 2-1.

3. Connect the NI 9512 module to an external power supply.

© National Instruments | 2-3

Chapter 2 Hardware Overview

Encoder (optional)Stepper Motor

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

DSUB Connector

Forward, Reverse Limit, Home

MDR Connector

NI 9512

Drive

Motor

Encoder 0 Phase A, B, Index

Limit and Home

Sensors

Power Supply

NI Connection

Accessory/

Custom Cable

+5 V OUT

V

sup

Figure 2-2 shows a simplified connection diagram.

Caution Do not connect anything to pins marked Reserved.

Figure 2-2. NI 9512 Connection Diagram

2-4 | ni.com

Note The NI 9512 requires an external power supply. You can connect the external

power supply to the V
connect more than one external power supply to the module.

input provided on the DSUB or MDR connector. Do not

sup

NI 951x User Manual

Figure 2-3 shows the NI 9512 block diagram. Refer to Chapter 3, Signal Connections, for more
information about the individual signals and connecting devices to the module.

Figure 2-3. NI 9512 Block Diagram

Phase A± (0)

Phase B± (0)

Index± (0)

Position
Capture

Home

Forward

Reverse

Digital

Input

(0-3)

Receiver

Circuitry

Buffer

Microprocessor

Output

Circuitry

Input

Circuitry

+5V Reg

Buffer

Buffer

Buffer

Step ±

Direction ±

Position
Compare

Drive
Enable

Digital
Output
(0-1)

V

sup

COM

+5 V OUT

NI 9514 Connections

Complete the following steps to connect the NI 9514 drive interface module to drives and
other I/O:

1. Install the module in the chassis as specified in the chassis documentation.

Note Refer to the NI SoftMotion Module book of the LabVIEW Help for

information about chassis, slot, or software restrictions.

2. Connect the module to a drive and other I/O using the NI 9514/16 to AKD cable, the
NI 951x Cable and Terminal Block Bundle, or a custom cable for direct connectivity to
third-party drives.

Tip NI offers AKD analog servo drives and matched servo motors. Refer to

Getting Started with NI 9514/16 C Series Drive Interface Modules and AKD Analog
Servo Drives for installation and configuration information. Refer to the Getting
Started with NI 951x C Series Drive Interface Modules and LabVIEW for

information about using the NI 9514 with other devices.

3. Connect the NI 9514 module to an external power supply.

© National Instruments | 2-5

Chapter 2 Hardware Overview

EncoderServo Motor

Drive Command

Drive Enable

Drive Fault

Drive Command

Drive Enable

Drive Fault

V

sup

DSUB Connector

Forward, Reverse Limit, Home

MDR Connector

NI 9514

Drive

Motor

Encoder 0 Phase A, B, Index

Limit and Home

Sensors

Power Supply

NI Connection

Accessory/

Custom Cable

+5 V OUT

Figure 2-4 shows a simplified connection diagram.

Figure 2-4. NI 9514 Connection Diagram

2-6 | ni.com

Note The NI 9514 requires an external power supply. You can connect the external

power supply to the V
connect more than one external power supply to the module.

input provided on the DSUB or MDR connector. Do not

sup

Caution Do not connect anything to pins marked Reserved.

NI 951x User Manual

Figure 2-5 shows the NI 9514 block diagram. Refer to Chapter 3, Signal Connections, for more
information about the individual signals and connecting devices to the module.

Figure 2-5. NI 9514 Block Diagram

Phase A± (0)

Phase B± (0)

Index± (0)

Position
Capture

Forward

Reverse

Digital Input (0-1)

Home

Buffer

Receiver

Circuitry

Microprocessor

(PID Loop)

Input

Circuitry

DAC

Buffer

Output

Circuitry

+5V Reg

Drive
Command

Position
Compare

Drive
Enable

V

sup

COM

+5 V OUT

NI 9516 Connections

Complete the following steps to connect the NI 9516 drive interface module to drives and
other I/O:

1. Install the module in the chassis as specified in the chassis documentation.

Note Refer to the NI SoftMotion Module book of the LabVIEW Help for

information about chassis, slot, or software restrictions.

2. Connect the module to a drive and other I/O using the NI 9514/16 to AKD cable, the
NI 951x Cable and Terminal Block Bundle, or a custom cable for direct connectivity to
third-party drives.

Tip NI offers AKD analog servo drives and matched servo motors. Refer to

Getting Started with NI 9514/16 C Series Drive Interface Modules and AKD Analog
Servo Drives for installation and configuration information. Refer to the Getting
Started with NI 951x C Series Drive Interface Modules and LabVIEW for

information about using the NI 9516 with other devices.

3. Connect the NI 9516 module to an external power supply.

© National Instruments | 2-7

Chapter 2 Hardware Overview

Encoder 0Servo Motor

Drive Command

Drive Enable

Drive Fault

Drive Command

Drive Enable

Drive Fault

V

sup

DSUB Connector

Forward, Reverse Limit, Home

MDR Connector

NI 9516

Drive

Motor

Encoder 0 Phase A, B, Index

Limit and Home

Sensors

Power Supply

Encoder 1 Phase A, B

NI Connection

Accessory/

Custom Cable

Encoder 1

+5 V OUT

Figure 2-6 shows a simplified connection diagram.

Figure 2-6. NI 9516 Connection Diagram

2-8 | ni.com

Note The NI 9516 requires an external power supply. You can connect the external

power supply to the V
connect more than one external power supply to the module.

Caution Do not connect anything to pins marked Reserved.

input provided on the DSUB or MDR connector. Do not

sup

NI 951x User Manual

Phase A± (0)

DAC

Phase B± (0)

Phase A± (1)

Phase B± (1)

Index± (0)

Home

Digital Input (0-1)

Position
Capture

Position
Compare

Receiver
Circuitry

+5V Reg

+5 V OUT

V

sup

COM

Output

Circuitry

Input

Circuitry

Drive
Command

Drive
Enable

Forward

Reverse

Microprocessor

(PID Loop)

Buffer

Buffer

Figure 2-7 shows the NI 9516 block diagram. Refer to Chapter 3, Signal Connections, for more
information about the individual signals and connecting devices to the module.

Figure 2-7. NI 9516 Block Diagram

User Connectors

The NI 951x has two connectors, a 15-pin DSUB drive interface connector and a 20-pin MDR
feedback connector. The 15-pin DSUB includes command signals for interfacing with stepper
drives or servo amplifiers, 0 to 30 V general-purpose digital input and digital output lines, and
an input for power connection.

The 20-pin MDR connector includes incremental encoder feedback inputs, a +5 V output for
encoder power, home, limit, and position compare inputs, an output for position compare, an
additional input for power connection, and an additional 0 to 30 V general-purpose digital input
line. Refer to Chapter 3, Signal Connections, for details about the signals in each connector.

NI 9512 Connectors

Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection
accessory pin assignments.

Note The remainder of this document does not distinguish between drives and

amplifiers. All references to drives also apply to amplifiers.

Caution Do not connect anything to pins marked Reserved.

© National Instruments | 2-9

Chapter 2 Hardware Overview

1

6

11

5

10

15

Table 2-2. NI 9512 DSUB Control Connector Pin Assignments

Connector Pin Signal

1 Reserved

2 Drive Enable

3 Digital Input 3

4 Digital Input 2

5 Digital Output 1

6 Reserved

7 COM

8 Digital Input 1

9 Direction (CCW)-

10 Step (CW)-

11 Digital Output 0

Note Refer to Appendix B, Position Command Connections, for position

command signal information and information about connecting the NI 9512 module
to position command drives.

2-10 | ni.com

12 V

13 Direction (CCW)+

14 COM

15 Step (CW)+

sup

Figure 2-8. NI 9512 MDR Connector Pin Assignments

10

9

8

7
6
5
4

3

2
1

11

20
19
18
17
16
15
14
13
12

Encoder 0 Phase A+

Encoder 0 Phase B–

Encoder 0 Phase B+

COM

Reserved

V

sup

Reserved

Reverse Limit

Position Capture

Encoder 0 Phase A–

Position Compare
+5 V OUT
COM
Encoder 0 Index–
Encoder 0 Index+
COM
Digital Input 0
COM
Home
Forward Limit

NI 951x User Manual

© National Instruments | 2-11

Chapter 2 Hardware Overview

1

6

11

5

10

15

NI 9514 Connectors

Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection
accessory pin assignments.

Caution Do not connect anything to pins marked Reserved.

Table 2-3. NI 9514 DSUB Control Connector Pin Assignments

Connector Pin Signal

1 Drive Command COM

2 Drive Enable

3 Reserved

4 Reserved

5 Reserved

6 Drive Command

7 COM

8 Digital Input 1

9 Reserved

2-12 | ni.com

10 Reserved

11 Reserved

12 V

13 Reserved

14 COM

15 Reserved

sup

Figure 2-9. NI 9514 MDR Connector Pin Assignments

10

Encoder 0 Phase B–

Position Capture
Encoder 0 Phase B+
Encoder 0 Phase A–
Encoder 0 Phase A+

COM

Reserved

V

sup

Reserved

Reverse Limit

20
19
18
17
16
15
14
13
12
11

Position Compare

9

+5 V OUT

8

COM

7

Encoder 0 Index–

6

Encoder 0 Index+

5

COM

4

Digital Input 0

3

COM

2

Home

1

Forward Limit

NI 951x User Manual

© National Instruments | 2-13

Chapter 2 Hardware Overview

NI 9516 Connectors

Caution Do not connect anything to pins marked Reserved.

Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection
accessory pin assignments.

Table 2-4. NI 9516 DSUB Control Connector Pin Assignments

Connector Pin Signal

1 Drive Command COM

2 Drive Enable

3 Reserved

4 Reserved

10

15

5

5 Reserved

6 Drive Command

7 COM

8 Digital Input 1

9 Reserved

2-14 | ni.com

11

6

1

10 Reserved

11 Reserved

12 V

13 Reserved

14 COM

15 Reserved

sup

Figure 2-10. NI 9516 MDR Connector Pin Assignments

1 2 3 4

LED Indicators

Encoder 0 Phase B–

Position Capture
Encoder 0 Phase B+
Encoder 0 Phase A–
Encoder 0 Phase A+
Encoder 1 Phase B+
Encoder 1 Phase A–

Encoder 1 Phase A+

Reverse Limit

V

sup

NI 951x User Manual

10

20
19
18
17
16
15
14
13
12
11

Position Compare

9

+5 V OUT

8

COM

7

Encoder 0 Index–

6

Encoder 0 Index+

5

Encoder 1 Phase B–

4

Digital Input 0

3

COM

2

Home

1

Forward Limit

The NI 951x has four LEDs to display status information.

1 Axis Status (Green)
2 Encoder Active (Green)

3 Limit Active (Yellow)
4 Axis Fault (Red)

Axis Status

The Axis Status LED (green) has three states to display axis status.

• Off—The module is in sleep mode or failed to boot correctly. Refer to the NI SoftMotion
Module book of the LabVIEW Help for troubleshooting information.

• Flashing—The module booted up correctly and is functional.

• Lit—The module is functional and the drive enable output is active.

© National Instruments | 2-15

Chapter 2 Hardware Overview

Encoder Active

The Encoder Active LED (green) has three states for encoder and V

• Off—The power supply (V
receive encoder pulses.

• Flashing—The power supply (V
pulses.

Note The LED flash rate does not correspond to the rate at which the module

receives encoder pulses. For the NI 9516 module, the encoder LED flashes when
pulses are received on either Encoder 0 or Encoder 1.

) is not connected. You must connect a power supply to

sup

) is connected and the module is receiving encoder

sup

status.

sup

• Lit—The power supply (V

) is connected but the module is not receiving encoder pulses.

sup

Limit Active

The Limit Active LED (yellow) has two states to display the status of the limits and home input.

• Off—The power supply (V

) is not connected, or both the limits and home input are not

sup

active.

• Lit—The power supply (V

) is connected and the forward limit, reverse limit, or home

sup

input is active.

Axis Fault

The Axis Fault LED (red) has two states to indicate the presence of a fault in the system. Refer
to the NI SoftMotion Module book of the LabVIEW Help for a list of module faults and
troubleshooting information.

• Off—No module faults.

• Lit—One or more module faults.

2-16 | ni.com

3

Signal Connections

This chapter describes how to make input and output signal connections directly to the National
Instruments 951x drive interface modules and describes the associated I/O circuitry.

Table 3-1 describes the signals available on the modules.

Table 3-1. NI 951x Signal Reference

Signal Signal Name Signal Overview

Stepper Command
Signals

Servo Command
Signals

Drive Enable Drive Enable • Connects to the enable function of

Step (CW)+

Step (CW)-

Direction (CCW)+

Direction (CCW)-

Drive Command • Separate reference to help keep

Drive Command
COM

• Configurable Step/Direction or
CW/CCW output mode

• Configurable single-ended or
differential output type

• 5 MHz max pulse rate

digital noise separate from the
analog output

• 16-bit analog output

• ±10 V range

the drive

• 0 to 30 V output configurable as
sinking or sourcing

• 100 μs minimum output pulse width

© National Instruments | 3-1

Chapter 3 Signal Connections

Table 3-1. NI 951x Signal Reference (Continued)

Signal Signal Name Signal Overview

Encoder 0 Encoder 0 Phase A+

Encoder 0 Phase A-

Encoder 0 Phase B+

Encoder 0 Phase B-

Encoder 0 Index+

Encoder 0 Index-

Encoder 1 Encoder 1 Phase A+

Encoder 1 Phase A-

Encoder 1 Phase B+

Encoder 1 Phase B-

• Primary encoder for position or
velocity feedback

• RS-422 differential, compatible
with single-ended encoders

• 20 × 10

6

counts/second maximum

• 100 ns minimum pulse width
(differential inputs)

• 400 ns minimum pulse width
(single-ended inputs)

• Index input used to establish
reference position

• Digitally filtered

• Secondary encoder for position or
velocity feedback

• RS-422 differential, compatible
with single-ended encoders

• 20 × 10

6

counts per second

maximum

• 100 ns minimum pulse width
(differential inputs)

• 400 ns minimum pulse width
(single-ended inputs)

• Digitally filtered

+5 V OUT +5 V OUT • +5 V supply output generated from

sup

input

the V

• Available for encoder power

• 150 mA maximum
(NI 9512 and NI 9514)

• 300 mA maximum (NI 9516)

Limits and Home Forward Limit • Connect to switches for system

Reverse Limit

Home

safety

• Configurable for sinking or sourcing

• 0 to 30 V input range

• 100 μs minimum pulse width

• Digitally filtered

3-2 | ni.com

NI 951x User Manual

Table 3-1. NI 951x Signal Reference (Continued)

Signal Signal Name Signal Overview

Position Capture Position Capture • High-speed position capture input

• 5 V TTL input

• 100 ns minimum pulse width

• ±2 mA max input current

• Digitally filtered

Position Compare Position Compare • High-speed position compare output

• 5 V TTL output

• 100 ns minimum pulse width

Digital Inputs Digital Input 0 • General-purpose digital inputs

Digital Input 1

Digital Input 2

Digital Input 3

• Configurable for sinking or sourcing

• 0 to 30 V input range

• 100 μs minimum pulse width

• Digitally filtered

Digital Outputs Digital Output 0 • General-purpose digital outputs

Digital Output 1

• 0 to 30 V digital outputs
configurable as sinking or sourcing

• ±100 mA maximum current

• 100 μs minimum pulse width

V

sup

V

sup

• NI 951x power supply input

• 19 to 30 V

• Connection required to either the
DSUB or MDR

• 400 mA maximum current

COM COM • Reference for digital I/O

• Reference for V

sup

• Reference for +5 V OUT

Note All signals are not available on all modules. Refer to the individual module

pinouts in Chapter 2, Hardware Overview, for a list of the signals available on each
module.

© National Instruments | 3-3

Chapter 3 Signal Connections

Power Connections

The NI 951x drive interface modules require an external power supply. An onboard regulator
generates a +5 V output supply from the V
positive terminal for the power supply must be connected to V
connected to COM.

input for both internal and external usage. The

sup

and the reference must be

sup

Note You can connect the external power supply to the V

either DSUB or MDR connectors. Do not connect more than one external power
supplies to the module.

input provided on

sup

Command Signals

The following signals control the stepper or servo drive.

Stepper Command Signals

Step (CW)± and Direction (CCW)±

These signals are the NI 9512 drive interface module stepper command outputs.

The stepper output mode is software configurable for compatibility with various third-party
drives. The NI 9512 module supports both industry standards for stepper command
signals—step and direction, or clockwise (CW) and counterclockwise (CCW) pulse outputs, as
follows:

• When step and direction mode is configured, each commanded step (or microstep)
produces a pulse on the step output. The direction output indicates the commanded
direction of motion, either forward or reverse. Refer to Figure 3-1 for an illustration.

3-4 | ni.com

NI 951x User Manual

Step

Forward Reverse

CW

CCW

Direction

NI 9512

Step– / Dir– Output

Step+ / Dir+ Output

Receiver

Drive

• CW and CCW modes produce pulses on the CW output for forward-commanded motion
and pulses on the CCW output for reverse-commanded motion. Refer to Figure 3-1 for an
illustration.

Figure 3-1. Step/Direction and CW/CCW Modes

Step and Direction Output Circuit

You can configure the active state of both outputs in software as low or high. The active state of
the direction output corresponds to a forward direction. The step and direction output circuits
can be configured in software for either single-ended or differential output type. Refer to the
NI SoftMotion Module book of the LabVIEW Help for more information about stepper motor
signal settings.

Caution Do not connect these outputs to anything other than a +5 V circuit. The

output buffers will fail if subjected to voltages in excess of +5.5 V.

Caution Do not connect any unused output lines directly to COM, +5 V OUT, or

. Leave all unused output lines unconnected.

V

sup

When connecting to drives with differential receiver inputs, configure the output type in
software to differential and connect as shown in Figure 3-2.

Figure 3-2. Differential Step and Direction Output Connection

© National Instruments | 3-5

Chapter 3 Signal Connections

NI 9512

Step+/Dir+

Drive

Step+/Dir+

Step–/Dir–

+5 V

No Connection

Step–/Dir–

Many stepper drive manufacturers offer opto-isolated inputs for Step (CW)/Direction (CCW)
signals. When connecting to opto-isolated inputs, configure the Step output type to single-ended,
connect the NI 9512 Step+ output to the negative (cathode) side of the optocoupler input, and
leave the Step- output on the NI 9512 disconnected. Connect the positive (anode) side of the
drive input to a supply as specified by the drive manufacturer. Figure 3-3 shows a single-ended
connection example.

Figure 3-3. Opto-Isolated Step and Direction Output Connection

Caution If the optocoupler input does not include its own current-limiting resistor,

you must provide an external resistor in series with the NI 9512 output. To prevent
damage to the NI 9512 drive interface module or stepper drive, use a resistor that
limits the current to a value below the maximum specifications of the drive interface
module and stepper drive. Refer to Appendix A, Specifications, for more
information.

Note Refer to Appendix B, Position Command Connections, for position

command signal descriptions and information about connecting the NI 9512 module
to drives that support position command mode.

Servo Command Signals

Drive Command Output

The Drive Command output on the servo drive interface modules provide a ±10 V analog output.
The Drive Command output features software configurable torque limits and voltage offset.

Drive Command COM

To help keep digital noise separate from the analog output, there is a separate return connection.
Use this reference connection as the reference for the Drive Command output when connecting
to servo drives instead of using COM (digital I/O reference).

Additional Drive Signals

Drive Enable

Use the Drive Enable output on the NI 951x module to control the enable function of a drive.
The enable input on the drive must be active for the drive to acknowledge commands from the
module. The Drive Enable signal is active during normal operation and deactivated upon a fault

3-6 | ni.com

NI 951x User Manual

or error condition. Refer to the NI SoftMotion Module book of the LabVIEW Help for a list of
faults, errors, and other conditions that deactivate the Drive Enable output.

Caution National Instruments strongly recommends using Drive Enable for

personal safety, as well as to protect the motion system.

Drive Enable Output Circuit

You can use software to enable and disable the Drive Enable output and to configure the active
state of the Drive Enable output to on or off. Refer to the drive documentation to determine the
active state of the enable input on the drive. The Drive Enable output type can be configured in
software for sinking or sourcing. If the drive has a sinking enable input, configure the output type
for the Drive Enable circuit for sourcing. Conversely, if the drive has a sourcing enable input,
configure the output type for the Drive Enable circuit for sinking.

Caution Do not connect the Drive Enable output to a +5 V input circuit when the

Drive Enable output is configured for sourcing.

Figure 3-4 shows an example of wiring the output to a sinking input device. Figure 3-5 shows
an example of wiring the output to a sourcing input device.

Figure 3-4. Drive Enable Circuit Configured for Sourcing

NPN (Sinking)

NI 951x

NI 951x V

sup

Input Device

V+

Drive Enable or

Digital Output

Configured
For Sourcing

COM

Drive Enable or

Digital Output

In

Sinking

Circuit

V–
(Reference)

© National Instruments | 3-7

Chapter 3 Signal Connections

Figure 3-5. Drive Enable Circuit Configured for Sinking

NI 951x

NI 951x V

sup

PNP (Sourcing)
Input Device

V+

Sourcing

Circuit

In

V–
(Reference)

Drive Enable or

Digital Output

Configured
For Sinking

COM

Drive Enable or

Digital Output

Motion I/O Signals

Limit and Home Inputs

The following inputs are available for limit and home functionality on the NI 951x modules:

• Forward Limit Input

• Reverse Limit Input

• Home Input

These inputs are typically connected to limit switches located at physical ends of travel and/or
at a specific home position. When enabled, an active transition on the Forward Limit, Reverse
Limit, or Home input causes motion on the associated axis to stop. The stop mode is
user-configurable in software. Refer to the NI SoftMotion Module book of the LabVIEW Help
for information about the available stop modes.

The Forward Limit, Reverse Limit, and Home inputs are digitally filtered and have
programmable filter frequencies. Active limit and home signals should remain active to prevent
motion from proceeding further into the limit. Pulsed limit signals stop motion, but they do not
prevent further motion in that direction if another move is started.

Forward Limit, Reverse Limit, and Home inputs are not required for basic motion control. These
inputs are part of a system solution for complete motion control.

Caution National Instruments recommends using limits for personal safety, as well

as to protect the motion system.

Limit and Home Input Circuit

You can use software to enable and disable Forward Limit, Reverse Limit, and Home inputs and
to configure the active state of the signals to on or off. You can also configure the Forward Limit,
Reverse Limit, and Home input circuits for current sinking or sourcing output devices.

3-8 | ni.com

NI 951x User Manual

COM

NI 951x

Out

Limit, Home,

or Digital Input

V–
(Reference)

V+

NPN (Sinking)
Output Device

Limit, Home,

or Digital Input

Current
Limiting

Circuit

Tip Refer to the Signal Connection Recommendations section of Chapter 4,

Accessory and Cable Connections, for additional wiring and cabling

recommendations.

Figure 3-6 shows an example of wiring the inputs to a sourcing output device. Figure 3-7 shows
an example of wiring the inputs to a sinking output device.

Figure 3-6. Limit Input Configured for Sinking

PNP (Sourcing)

Output Device

V+

Out

V–

(Reference)

Limit, Home,

or Digital Input

NI 951x

COM

Current

Limiting

Circuit

Limit, Home,

or Digital Input

Figure 3-7. Limit Input Configured for Sourcing

Figure 3-8 shows an example of wiring the inputs to a high-side switch and Figure 3-9 shows an
example of wiring the inputs to a low-side switch.

© National Instruments | 3-9

Chapter 3 Signal Connections

Low-Side

Switch

COM

NI 951x

Limit, Home,

or Digital Input

NI 951x V

sup

Configured

For Sourcing

Limit, Home,

or Digital Input

Figure 3-8. High-Side Switch Connected to a Sinking Home or Limit

NI 951x

NI 951x V

sup

High-Side

Switch

Limit, Home,

or Digital Input

COM

Configured
For Sinking

Limit, Home,

or Digital Input

Figure 3-9. Low-Side Switch Connected to a Sourcing Home or Limit

Encoder Inputs

The encoder inputs provide position and velocity feedback information. The encoder channels
consist of a Phase A, Phase B, and Index input, as described in the following sections. The
NI 9512 and NI 9514 each have a single encoder channel.

The NI 9516 supports two encoder channels that allow for dual-loop feedback, which enhances
system stability and precision and provides backlash compensation. The Encoder 0 channel
consists of a Phase A, a Phase B, and an Index input. The Encoder 1 channel consists of a Phase
A and a Phase B input and does not contain an Index input.

All encoder signals are digitally filtered and provide programmable filter frequencies. The filter
settings are based on the software-programmable maximum velocity rate. Refer to the
NI SoftMotion Module book of the LabVIEW Help for more information about encoder filter
settings.

Encoder Phase A/Phase B

Encoder input channel converts pulses on Phase A and Phase B into 32-bit up/down counter
values. Pulses are generated by optical, magnetic, laser, or electronic devices that provide
two signals, Phase A and Phase B, that are 90 degrees out of phase. The leading phase, A or B,
determines the direction of motion. The four transition states of the relative signal phases
provide distinct pulse edges that are used to determine position.

3-10 | ni.com

NI 951x User Manual

Phase A

Phase B

Index

A typical encoder with a specification of N (N = number) lines per unit of measure in revolutions
or linear distance, produces 4 × N counts per unit of measure. The count is the basic increment
of position in closed-loop motion systems.

Note To determine your encoder counts per revolution, multiply the specified

encoder counts per revolution by four. For example, a 500 line encoder has
2,000 counts per revolution.

If an encoder resource is not needed for axis control, it is available for other functions including
position monitoring, as a digital potentiometer encoder input, or as a master encoder input for
electronic gearing or electronic camming applications.

Encoder Index

The Index input is primarily used to establish a reference position. The Index signal produces a
single pulse per revolution. You can use software to capture the Index pulse position and
establish a reference zero position for absolute position control. Figure 3-10 shows the
single-ended representation of the encoder pulses.

Figure 3-10. Incremental Encoder Phasing Diagram

You can set the index reference criteria in software to change the line state of Phase A and Phase
B used in the Index search. Refer to the NI SoftMotion Module book of the LabVIEW Help for
more information about encoder settings.

Encoder Input Circuit

The NI 951x drive interface modules support RS-422 differential and single-ended inputs for
Phase A, Phase B, and Index signals, and provide a +5 V output for encoder power.

You also can set the encoder active state for Phases A, Phase B, and Index to high or low using
software. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information.

Tip Refer to the Signal Connection Recommendations section of Chapter 4,

Accessory and Cable Connections, for additional wiring and cabling

recommendations.

© National Instruments | 3-11

Chapter 3 Signal Connections

Receiver

Phase +

Phase –

Encoder NI 951x

+5 V

COM

Figures 3-11 and 3-12 show simplified schematic diagrams of the encoder input circuit
connected to differential and single-ended inputs.

Figure 3-11. Differential Encoder Input Circuit

Figure 3-12. Single-Ended Encoder Input Circuit

Encoder NI 951x

+5 V

Connection

COM

No

Phase+

Phase–

COM

+5 V

Receiver

Position Capture Input and Position Compare Output

The NI 951x drive interface modules have a high-speed Position Capture input and Position
Compare output. These signals are useful for high-speed synchronization of motion with
actuators, sensors, vision and data acquisition devices, and other components in the complete
motion system.

Tip Refer to the Signal Connection Recommendations section of Chapter 4,

Accessory and Cable Connections, for wiring and cabling recommendations.

• Position Capture—When enabled, an active transition on a high-speed Position Capture
input causes instantaneous position capture of the corresponding encoder count value. You
can use this high-speed position capture functionality for applications ranging from simple
logging of feedback sensor data to complex camming systems with advance/retard
positioning and registration.

Caution If you use an open collector driver for the Position Capture input, provide

the voltage equivalent of a logical high during the off state of the open collector
driver. A common method to achieve this is by adding a pull-up resistor to the output.
Refer to the Motion I/O section of Appendix A, Specifications, for information about
the Position Capture input voltage levels.

3-12 | ni.com

NI 951x User Manual

The active edge on the Position Capture input can be set to rising edge or falling edge. In
addition, the Position Capture input signal is digitally filtered. Refer to the NI SoftMotion
Module book of the LabVIEW Help for more information about Position Capture input
configuration options.

• Position Compare—You can program a Position Compare output to transition when the
associated encoder value equals the position compare position. You can use a Position
Compare output to directly control actuators or as a trigger to synchronize data acquisition
or other functions in the motion control system.

You can program the Position Compare output for a single or for periodic positions. The
active state of the Position Compare output is configurable in software to high or low, and
the action taken at the compare position can be set in software to pulse, set, or toggle. Refer
to the NI SoftMotion Module book of the LabVIEW Help for more information about
Position Compare output functionality and configuration.

Digital I/O Signals

Digital Inputs

The NI 951x drive interface modules have the following digital input signals:

• Digital Input <0..1>—The NI 951x drive interface modules include two 5 kHz digital
inputs compatible with 0 to 30 V logic outputs.

• Digital Input <2..3>—The NI 9512 drive interface module includes two additional 5 kHz
digital inputs compatible with 0 to 30 V logic outputs.

Note To use the Drive Fault functionality referenced in the NI 951x Connections

section of Chapter 2, you must map an available digital input in software. Refer to the
NI SoftMotion LabVIEW Help for more information about mapping digital inputs and
digital outputs to available mappable signals.

You can configure the digital inputs for current sinking or sourcing output devices and set the
active state of the inputs in software to on or off. Digital inputs are digitally filtered and have
programmable filter frequencies. Refer to the NI SoftMotion Module book of the LabVIEW Help
for more information about digital input configuration options.

Tip Refer to the Signal Connection Recommendations section of Chapter 4,

Accessory and Cable Connections, for additional wiring and cabling

recommendations.

© National Instruments | 3-13

Chapter 3 Signal Connections

COM

NI 951x

Out

Limit, Home,

or Digital Input

V–
(Reference)

V+

NPN (Sinking)
Output Device

Limit, Home,

or Digital Input

Current
Limiting

Circuit

Figure 3-13 shows an example of wiring the digital input signals to a sourcing output device.
Figure 3-14 shows an example of wiring the digital input signals to a sinking output device.

Figure 3-13. Digital Input Configured for Sinking

PNP (Sourcing)

Output Device

V+

Out

V–

(Reference)

Limit, Home,

or Digital Input

NI 951x

COM

Current

Limiting

Circuit

Limit, Home,

or Digital Input

Figure 3-14. Digital Input Configured for Sourcing

Figure 3-15 shows an example of wiring the digital inputs to a high-side switch. Figure 3-16
shows an example of wiring the digital inputs to a low-side switch.

Figure 3-15. High-Side Switch Connected to a Sinking Digital Input

NI 951x

NI 951x V

sup

High-Side

3-14 | ni.com

Switch

or Digital Input

Limit, Home,

COM

Configured
For Sinking

Limit, Home,

or Digital Input

NI 951x User Manual

Low-Side

Switch

COM

NI 951x

Limit, Home,

or Digital Input

NI 951x V

sup

Configured

For Sourcing

Limit, Home,

or Digital Input

Figure 3-16. High-Side Switch Connected to a Sourcing Digital Input

Digital Outputs

The NI 9512 drive interface module also has two general-purpose digital outputs with an output
voltage range of 0 to 30 V.

Digital Output Circuit

You can configure the active state of the digital outputs in software for on or off and the digital
output circuit can be configured in software for sinking or sourcing output type. If you are
connecting to sinking inputs, configure the output type to sourcing. Conversely, if you are
connecting to sourcing inputs, configure the output type to sinking.

Caution Do not connect digital outputs to +5 V input circuitry in either sinking or

sourcing configuration.

Tip Refer to the Signal Connection Recommendations section of Chapter 4,

Accessory and Cable Connections, for additional wiring and cabling

recommendations.

Figure 3-17 shows an example of wiring the digital outputs to a sinking input device.
Figure 3-18 shows an example of wiring the digital outputs to a sourcing input device.

Figure 3-17. Digital Output Circuit Configured for Sourcing

NPN (Sinking)
Input Device

V+

In

Sinking

Circuit

V–
(Reference)

© National Instruments | 3-15

Drive Enable or

Digital Output

NI 951x V

Configured
For Sourcing

NI 951x

sup

Drive Enable or

Digital Output

COM

Chapter 3 Signal Connections

Figure 3-18. Digital Output Circuit Configured for Sinking

NI 951x

NI 951x V

sup

PNP (Sourcing)
Input Device

V+

Drive Enable or

Digital Output

Configured
For Sinking

COM

Drive Enable or

Digital Output

Sourcing

Circuit

In

V–
(Reference)

3-16 | ni.com

4

NATIONAL

INSTRUMENTS

Accessory and Cable
Connections

This chapter describes the accessory and cable connections for the National Instruments 951x
drive interface modules, including connection diagrams and cable pin assignments, custom
cable information, and additional information about software-mappable signals.

NI 951x Connection Accessories

This section contains information about the NI 951x 37-pin terminal blocks and cables,
including pin assignments for each module. Figure 4-1 shows the NI 951x module connected to
the 37-pin terminal block using the NI 951x to 37-pin cable.

Figure 4-1. NI 951x Module and 37-Pin Terminal Block

37-Pin Terminal Block Pin Assignments

Figure 4-2, Figure 4-3, and Figure 4-4 show the pin assignments for the NI 951x to 37-pin
terminal blocks.

Note When connecting only the MDR connector to the terminal block, all DSUB

signals on the terminal block are no connects (NC) and when connecting only the
DSUB connector to the terminal block, all MDR signals on the terminal block are no
connects.

© National Instruments | 4-1

Chapter 4 Accessory and Cable Connections

Caution The 37-pin terminal block has separate Vsup and COM terminals for each

connector. Make sure you are using the correct Vsup and COM terminals for the
connector you are using. All signals associated with the DSUB connector in
Figures 4-2, 4-3, and 4-4 are marked with a dagger (†).

Figure 4-2. NI 9512 37-Pin Terminal Block Pin Assignments

sup

1

4 3 2

9 8 7 6 5

10

†

†

†

†

17 16 15 14 13 12 11

†

18

†

GND

Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

Reserved

Reserved

Digital Output 0

V

Digital Input 1

Direction (CCW)+

COM

Step (CW)+

†

Indicates DSUB connector signals.

Shield

Digital Output 1

Reverse Limit

Reserved

22 21 20 19

V

23

Reserved

COM

Encoder 0 Phase A+

26 25 24

Encoder 0 Phase A–

27

Encoder 0 Phase B+

Position Capture

Encoder 0 Phase B–

30 29 28

Reserved

Reserved

COM

33 32 31

Drive Enable

Digital Input 3

Direction (CCW)–

36 35 34

Digital Input 2

37

Step (CW)–

†

sup

†

†

†

†

†

†

4-2 | ni.com

NI 951x User Manual

Figure 4-3. NI 9514 37-Pin Terminal Block Pin Assignments

Forward Limit

1

Home

COM

Digital Input 0

4 3 2

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

9 8 7 6 5

10

Reserved

Drive Command

†

Reserved

†

V

sup

Reserved

COM

Reserved

Shield

†

17 16 15 14 13 12 11

†

18

GND

Digital Input 1

†

Indicates DSUB connector signals.

Reserved

Reverse Limit

Reserved

22 21 20 19

V

sup

23

Reserved

COM

Encoder 0 Phase A+

26 25 24

Encoder 0 Phase A–

27

Encoder 0 Phase B+

Position Capture

Encoder 0 Phase B–

30 29 28

Reserved

Drive Command COM

COM

33 32 31

Drive Enable

Reserved

Reserved

36 35 34

Reserved

37

Reserved

†

†

Figure 4-4. NI 9516 37-Pin Terminal Block Pin Assignments

Forward Limit

1

Home

COM

Digital Input 0

4 3 2

Encoder 1 Phase B–

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

9 8 7 6 5

10

Reserved

Reserved

V

sup

Reserved

COM

Reserved

Shield

†

†

†

17 16 15 14 13 12 11

†

18

GND

Drive Command

Digital Input 1

†

Indicates DSUB connector signals.

Reserved

Reverse Limit

Encoder 1 Phase A+

22 21 20 19

V

sup

23

Encoder 1 Phase A–

Encoder 1 Phase B+

Encoder 0 Phase A+

26 25 24

Encoder 0 Phase A–

27

Encoder 0 Phase B+

Position Capture

Encoder 0 Phase B–

30 29 28

Reserved

Drive Command COM

COM

33 32 31

Drive Enable

Reserved

Reserved

36 35 34

Reserved

37

Reserved

†

†

†

†

© National Instruments | 4-3

Chapter 4 Accessory and Cable Connections

Signal Connection Recommendations

This section contains detailed information about signal wiring including precautions and
guidelines for error-free operation.

General Connection Recommendations

Use the following guidelines when wiring signals and creating custom cables:

• Keep all signals and their ground connections wired separately from the drive and encoder
signal connections. Wiring these signals near each other can cause faulty motion system
operation due to signal noise and crosstalk.

• Use shielded cables with a low impedance connection to chassis ground to minimize noise
and signal crosstalk.

• Use a separate power supply for the CompactRIO chassis and the NI 951x module(s) to
isolate the I/O from the controller.

•Tie the V

• Route wires along the machine frame to reduce high frequency noise.

• Add clamp-on ferrites to cables to further reduce emissions.

• Add a balun to the power cable to attenuate conducted and radiated emissions.

cable shield to chassis ground at the module side only.

sup

Caution Do not exceed the maximum specifications on any input or output. Refer

to Appendix A, Specifications, for more information.

Limit and Digital Input Connection Recommendations

Use the following additional recommendations when connecting limits and other digital inputs:

Caution Failure to follow these guidelines may result in motion that stops at, but

then travels through, a limit, potentially damaging the motion system. Limits that are
wired incorrectly may prevent motion from occurring at all.

• For the end of travel limits to function correctly, the forward limit must be located at the
forward or positive end of travel, and the reverse limit at the reverse or negative end
of travel.

• Limit, home, and digital input signals are digitally filtered. Software configurable filters are
provided to filter or debounce the input signals. Use shorter filter periods for noise filtering
and longer filter periods to debounce the input.

4-4 | ni.com

NI 951x User Manual

Encoder Connection Recommendations

The encoder inputs are connected to incremental decoder/counter circuits. It is very important to
minimize noise at this interface. Excessive noise on these encoder input signals may result in
loss of counts or extra counts and reduced motion system accuracy. The following additional
recommendations apply to encoder signal connections:

• National Instruments strongly recommends you use encoders with differential line driver
outputs for all applications. You must use differential encoders if the encoder cable length
is longer than 3.05 m (10 ft). Shielded, 24 AWG (0.25 mm
minimum recommended size for the encoder cable.

• Wire encoder signals and their ground connections separately from all other connections.
Wiring these signals near the motor drive or other signals can cause positioning errors and
faulty operation.

• Cables with twisted pairs and an overall shield are recommended for optimized noise
immunity. Figure 4-5 shows twisted pairs in a shielded cable. Unshielded cables can cause
noise to corrupt the encoder signals, resulting in lost or additional counts and reduced
motion system accuracy.

Figure 4-5. Shielded Twisted Pairs

Drain

Shield

2

cross section) wire is the

Encoder A+

Encoder A–

Encoder B+

Encoder B–

Encoder Index+

Encoder Index–

+5 V OUT

COM

• Tie the encoder cable shield to COM at the encoder side only.

© National Instruments | 4-5

Chapter 4 Accessory and Cable Connections

Connecting Optional Signals

This section contains information about wiring optional NI 951x signals.

Connecting a Brake Signal

The NI 951x digital outputs do not provide enough current to drive typical motor brakes. For this
reason, the NI 951x digital outputs must not be used to directly control motor brakes. However,
you can use the NI 951x digital outputs to control external circuitry that does meet the higher
current requirements of motor brakes. Refer to the specifications for the motor brake to
determine the maximum current requirements. Use the following recommendations when using
an NI 951x digital output to control external circuitry driving the motor brake:

• Do not exceed the maximum current specifications of the NI 951x digital outputs.

• If the same power supply is used for the NI 951x module and the brake circuit, ensure that
the power supply meets the maximum requirements of both the NI 951x and the brake
circuit.

4-6 | ni.com

A

Specifications

The following specifications are typical for the range -40 to 70 °C unless otherwise noted. All
voltages are relative to COM unless otherwise noted.

Stepper Performance (NI 9512 only)

Stepper accuracy............................................... 1 full, half, or microstep

Interpolation/spline rate .................................... 20 kHz max

Servo Performance (NI 9514, NI 9515, and
NI 9516 only)

Module modes of operation.............................. Position loop and torque loop

Control loop rate1.............................................. 20 kHz max (position loop)

Servo control loop modes................................. PID, PIVff, and Dual-Loop

Motion Command Signals

Stepper outputs

Output type ............................................... Software-selectable: single-ended or differential

Digital logic levels, single-ended
High, V

Low, V

Digital logic levels, differential (Step/Dir(+) - Step/Dir(-))

................................................. 5.25 V max

OH

Sourcing 20 mA................................ 3.5 V min

Sourcing 12 mA................................ 3.7 V min

Sourcing 4 mA.................................. 3.9 V min

OL

Sinking 20 mA.................................. 0.9 V max

Sinking 12 mA.................................. 0.7 V max

Sinking 4 mA.................................... 0.5 V max

At 20 mA .......................................... ±1 V min

At 12 mA .......................................... ±1.5 V min

At 4 mA ............................................ ±2 V min

1

When using a torque loop, the control loop rate depends on the processor speed and communication bus
bandwidth. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information.

© National Instruments | A-1

Appendix A Specifications

Max pulse rate...........................................5 MHz

Continuous output current

on each channel.........................................±20 mA

Pulse width................................................ Approximately 50% of the period, up to

6.4 μs max

Output mode ............................................. Software-selectable: step and direction, or

CW/CCW

Active state ............................................... Software-selectable: high or low

Servo command analog outputs

Voltage range ............................................ ±10 V, relative to Drive Command COM

Resolution .................................................16 bits (0.000305 V/LSB), monotonic

Max output current.................................... ±2 mA

Drive Enable output

Output type ............................................... Software-selectable: sinking or sourcing

Voltage range ............................................ 0 to 30 V

V

input .................................................. 19 to 30 V

sup

Continuous output current (I

)

0

on each channel......................................... ±100 mA max

Output impedance (R

Output voltage (V

Output voltage (V

)..............................0.3 Ω max

0

) sourcing ....................V

0

) sinking ......................I0R

0

- (I0R0)

sup

0

Min output pulse width ............................. 100 μs

Active state ............................................... Software-selectable: on or off

Motion I/O

Encoder 0 and 1 Phase A/B and Encoder 0 Index inputs

Type...........................................................RS-422 differential or single-ended inputs

Digital logic levels, single-ended

Voltage .............................................. -0.25 to 5.25 V

High, V

Low, V

Digital logic levels, differential (Phase(+) - Phase(-))

Input high range ................................ 300 mV to 5 V

Input low range .................................-300 mV to -5 V

Common-mode voltage

Input current at 5 V ................................... ±1 mA

1

Common-mode voltage is the average of Phase+ and Phase-.

A-2 | ni.com

........................................... 2.0 V min

IH

............................................ 0.8 V max

IL

1

................... -7 to 12 V

NI 951x User Manual

Min pulse width

1

Differential........................................ 100 ns

Single-ended ..................................... 400 ns

Max count rate

Differential........................................ 20 × 10

Single-ended ..................................... 5 × 10

6

counts/sec

6

counts/sec

Forward, reverse, and home inputs

Input type.................................................. Software-selectable: sinking or sourcing

Limit or home input configured for sinking
Digital logic levels, OFF state

Input voltage ..................................... ≤ 5 V

Input current ..................................... ≤ 250 µA

Digital logic levels, ON state

Input voltage ..................................... 11 to 30 V

Input current ..................................... ≥ 2 mA

Limit or home input configured for sourcing
Digital logic levels, OFF state

Input voltage ..................................... 11 to 30 V

Input current ..................................... ≤ 1 mA

Digital logic levels, ON state

Input voltage ..................................... ≤ 5 V

Input current ..................................... ≥ 2 mA

Input impedance ....................................... 30 kΩ ± 5%

Min pulse width

1

............................................... 50 μs

Position capture input

Digital logic levels

Voltage.............................................. -0.25 to 5.25 V

High, V

Low, V

.......................................... 2.0 V min

IH

............................................ 0.8 V max

IL

Input current

(0 V ≤ Vin ≤ 4.5 V) ................................. ±2 mA max

Min pulse width

2

....................................... 100 ns

Max capture latency.................................. 200 ns

Capture accuracy ...................................... ±1 count

Active edge ............................................... Software-selectable: rising edge or falling edge

Position compare outputs

High, V

................................................. 5.25 V max

OH

Sourcing 12 mA................................ 3.7 V min

1

Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for
more information about filter options.

© National Instruments | A-3

Appendix A Specifications

Sourcing 4 mA .................................. 3.9 V min

Low, V

OL

Sinking 12 mA .................................. 0.7 V max

Sinking 4 mA .................................... 0.5 V max

Compare mode .......................................... Software-selectable: single or periodic

Compare action ......................................... Software-selectable: set, toggle, or pulse

Max compare rate (periodic)..................... 5 MHz

Pulse width (programmable)

Min....................................................100 ns

Max ................................................... 1.6 ms

Active state ....................................... Software-selectable: high or low

Digital I/O

Inputs

Number of inputs

NI 9512 .............................................4

NI 9514 and NI 9516 ........................2

Input type .................................................. Software-selectable: sinking or sourcing

Digital input configured for sinking
Digital logic levels, OFF state

Input voltage ..................................... ≤ 5 V

Input current...................................... ≤ 250 µA

Digital logic levels, ON state

Input voltage ..................................... 11 to 30 V

Input current...................................... ≥ 2 mA

Digital input configured for sourcing
Digital logic levels, OFF state

Input voltage ..................................... 11 to 30 V

Input current...................................... ≤ 1 mA

Digital logic levels, ON state

Input voltage ..................................... ≤ 5 V

Input current...................................... ≥ 2 mA

Input impedance........................................30 kΩ ± 5%

Min pulse width

Outputs (NI 9512 only)

Number of outputs .................................... 2

Output type ............................................... Software-selectable: sinking or sourcing

Voltage range ............................................ 0 to 30 V

1

.......................................50 μs

1

Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for
more information about filter options.

A-4 | ni.com

NI 951x User Manual

V

input .................................................. 19 to 30 V

sup

Continuous output current (I

)

0

on each channel ........................................ ±100 mA max

Output impedance (R0) ............................. 0.3 Ω max

Output voltage (V

Output voltage (V

) sourcing .................... V

0

) sinking ...................... I0R

0

- (I0R0)

sup

0

Min output pulse width............................. 100 μs

Leakage current ........................................ 200 μA

Active state ............................................... Software-selectable: on or off

MTBF ............................................................... Contact NI for Bellcore MTBF or MIL-HDBK-

217F specifications.

Power Requirements

Power consumption from chassis

Active mode

NI 9512 ............................................. 925 mW max

NI 9514 ............................................. 900 mW max

NI 9516 ............................................. 950 mW max

Sleep mode ............................................... 0.4 mW max

Thermal dissipation (at 70 °C)

Active mode.............................................. 1.5 W max

Sleep mode ............................................... 0.4 mW max

NI 951x Input and Output Characteristics

V

input .................................................. 19 to 30 V

sup

NI 9512 ............................................. 375 mA max

NI 9514 ............................................. 150 mA max

NI 9516 ............................................. 150 mA max

+5 V regulated output ............................... 5 V ±5%

NI 9512 ............................................. 150 mA max

NI 9514 ............................................. 150 mA max

NI 9516 ............................................. 300 mA max

Physical Characteristics

If you need to clean the module, wipe it with a dry towel.

Note For two-dimensional drawings and three-dimensional models of the C Series

module and connectors, visit

Weight............................................................... 155 g (5.5 oz)

ni.com/dimensions and search by module number.

© National Instruments | A-5

Appendix A Specifications

Safety

Safety Voltages

Connect only voltages that are within the following limits.

Channel-to-COM ..............................................0 to +30 VDC max, Measurement Category I

Isolation

Channel-to-channel ................................... None

Channel-to-earth ground

Continuous ........................................30 VDC, Measurement Category I

Withstand ..........................................500 V

withstand test

Measurement Category I is for measurements performed on circuits not directly connected to the
electrical distribution system referred to as MAINS voltage. MAINS is a hazardous live electrical
supply system that powers equipment. This category is for measurements of voltages from
specially protected secondary circuits. Such voltage measurements include signal levels, special
equipment, limited-energy parts of equipment, circuits powered by regulated low-voltage
sources, and electronics.

Caution Do not connect the NI 951x to signals or use for measurements within

Measurement Categories II, III, or IV.

Safety Standards

This product meets the requirements of the following standards of safety for electrical equipment
for measurement, control, and laboratory use:

• IEC 61010-1, EN 61010-1

• UL 61010-1, CSA 61010-1

, verified by a 5 s dielectric

rms

Note For UL and other safety certifications, refer to the product label or the Online

Product Certification section.

Electromagnetic Compatibility

This product meets the requirements of the following EMC standards for electrical equipment
for measurement, control, and laboratory use:

• EN 61326-1 (IEC 61326): Class A emissions; Industrial immunity

• EN 55011 (CISPR 11): Group 1, Class A emissions

• AS/NZS CISPR 11: Group 1, Class A emissions

• FCC 47 CFR Part 15B: Class A emissions

• ICES-001: Class A emissions

A-6 | ni.com

NI 951x User Manual

Note For the standards applied to assess the EMC of this product, refer to the

Online Product Certification section.

Note For EMC compliance, operate this device with double-shielded cables.

CE Compliance

This product meets the essential requirements of applicable European Directives as follows:

• 2006/95/EC; Low-Voltage Directive (safety)

• 2004/108/EC; Electromagnetic Compatibility Directive (EMC)

Online Product Certification

Refer to the product Declaration of Conformity (DoC) for additional regulatory compliance
information. To obtain product certifications and the DoC for this product, visit

certification

the Certification column.

, search by module number or product line, and click the appropriate link in

ni.com/

Shock and Vibration

To meet these specifications, you must panel mount the system.

Operating vibration

Random (IEC 60068-2-64)....................... 5 g

Sinusoidal (IEC 60068-2-6)...................... 5 g, 10 to 500 Hz

Operating shock (IEC 60068-2-27) .................. 30 g, 11 ms half sine, 50 g, 3 ms half sine,

, 10 to 500 Hz

rms

18 shocks at 6 orientations

Environmental

Refer to the manual for the chassis you are using for more information about meeting these
specifications.

Operating temperature

(IEC 60068-2-1, IEC 60068-2-2) ..................... - 40 to 70 °C

Storage temperature

(IEC 60068-2-1, IEC 60068-2-2) ..................... - 40 to 85 °C

Ingress protection ............................................. IP 40

Operating humidity (IEC 60068-2-56) ............. 10 to 90% RH, noncondensing

Storage humidity (IEC 60068-2-56)................. 5 to 95% RH, noncondensing

Pollution Degree (IEC 60664).......................... 2

Maximum altitude............................................. 5,000 m

© National Instruments | A-7

Appendix A Specifications

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RoHS

˅

Ё೑ᅶ᠋

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(RoHS)

DŽ݇Ѣ

National InstrumentsЁ೑RoHS

ড়㾘ᗻֵᙃˈ䇋ⱏᔩ

ni.com/

environment/rohs_china

DŽ

(For information about China RoHS compliance,

go to

ni.com/environment/rohs_china

.)

Environmental Management

National Instruments is committed to designing and manufacturing products in an
environmentally responsible manner. NI recognizes that eliminating certain hazardous
substances from our products is beneficial to the environment and to NI customers.

For additional environmental information, refer to the Minimize Our Environmental Impact web

ni.com/environment. This page contains the environmental regulations and

page at
directives with which NI complies, as well as other environmental information not included in
this document.

Waste Electrical and Electronic Equipment (WEEE)

EU Customers At the end of the product life cycle, all products must be sent to a

Cd/Hg/Pb

WEEE recycling center. For more information about WEEE recycling centers,
National Instruments WEEE initiatives, and compliance with WEEE Directive
2002/96/EC on Waste and Electronic Equipment, visit

.

weee

ni.com/environment/

A-8 | ni.com

B

Position Command
Connections

This appendix contains information about using the NI 9512 drive interface module with drives
that support position command mode or pulse command input.

Note If you are using a Mitsubishi MR-J2, Mitsubishi MR-J3, Panasonic Minas-A,

Panasonic Minas-A5, Yaskawa Sigma-II, or Yaskawa Sigma-V drive, refer to the
NI 9930 Motion Control Accessories User Guide, which describes how to use the
NI 9512 drive interface module with accessories designed for these drives. This
document is available by selecting

LabVIEW»LabVIEW Manuals»NI_9930_Accessories_User_Guide.pdf

ni.com/manuals.

Connecting the NI 9512 to a P-Command Drive

Complete the following steps to connect the NI 9512 drive interface module to p-command
drives and other I/O:

1. Install the module in the chassis as specified in the chassis documentation.

Note Refer to the NI SoftMotion Module book of the LabVIEW Help for

information about chassis, slot, or software restrictions.

Start»All Programs»National Instruments»

and on

2. Connect the module to a drive and other I/O using the NI 951x 37-pin terminal block and
NI 951x 37-pin terminal block cable or a custom cable.

Note Many p-command drive manufacturers refer to the Step± signal as Pulse± and

the Direction± signal as Sign±.

Figure B-1 shows a simplified connection diagram.

© National Instruments | B-1

Appendix B Position Command Connections

EncoderServo Motor

Step/CW/Pulse±

Direction/CCW/Sign±

Drive Fault/

Servo Alarm

Servo On/Drive Enable

DSUB Connector

Forward, Reverse Limit, Home

MDR Connector

NI 9512

Position Command Drive

Motor

Encoder Phase A, B, Index
(optional)

Limit and Home Sensors

Power Supply

V

sup

NI Connection

Accessory/

Custom Cable

In-Position

Alarm Clear
(Digital Input)

Drive Ready/

Servo Ready

Step/CW/Pulse±

Direction/CCW/Sign±

Drive Fault/Servo Alarm

Servo On/Drive Enable

In-Position

Alarm Clear

Drive Ready/Servo Ready

+5 V OUT

Encoder Out

Encoder In

Figure B-1. NI 9512 to Position Command Drive Connection Diagram

Note For operation the NI 9512 requires an external power supply. You can connect

the external power supply to the V
Do not connect more than one external power supply to the module.

sup

input provided on the DSUB or MDR connector.

B-2 | ni.com

NI 951x User Manual

3. Map the additional position command drive signals as described in the Position Command
Drive Signals section of this appendix.

Position Command Drive Signals

This section describes additional signals that are used with position command drives. You can
use these signals with your drive if you map the signal functionality to an available digital input
or digital output using software. Refer to the NI SoftMotion Module book of the LabVIEW Help
for more information about mapping digital inputs and digital outputs. Refer to Chapter 3, Signal

Connections, for information about other NI 9512 module signals.

The following inputs are driven from the drive to provide system status to the module.

• Servo Alarm/Drive Fault—Disables the drive in case of a drive error. The module does
not generate step and direction outputs when the alarm input is active. The alarm signal is
inactive during normal operation.

• In-Position—Indicates that the drive has completed the move and has reached the target
position.

• Servo Ready/Drive Ready—Indicates that the drive is ready or enabled.

The following signal is driven from the module to the position command drive:

• Alarm Clear—Clears the alarm or fault outputs on the drive.

Note The Alarm Clear functionality is not mappable in software. Refer to the

NI SoftMotion LabVIEW Help for information about implementing this functionality
using an available digital output.

© National Instruments | B-3

C

Technical Support and
Professional Services

Log in to your National Instruments ni.com User Profile to get personalized access to your
services. Visit the following sections of ni.com for technical support and professional services:

• Support—Technical support at

– Self-Help Technical Resources—For answers and solutions, visit

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Engineers make sure every question submitted online receives an answer.

– Standard Service Program Membership—This program entitles members to direct

access to NI Applications Engineers via phone and email for one-to-one technical
support, as well as exclusive access to self-paced online training modules at ni.com/

self-paced-training

membership in the Standard Service Program (SSP) with the purchase of most
software products and bundles including NI Developer Suite. NI also offers flexible
extended contract options that guarantee your SSP benefits are available without
interruption for as long as you need them. Visit

For information about other technical support options in your area, visit

services

• Training and Certification—Visit
program information. You can also register for instructor-led, hands-on courses at locations
around the world.

• System Integration—If you have time constraints, limited in-house technical resources, or
other project challenges, National Instruments Alliance Partner members can help. To learn
more, call your local NI office or visit

• Declaration of Conformity (DoC)—A DoC is our claim of compliance with the Council
of the European Communities using the manufacturer’s declaration of conformity. This
system affords the user protection for electromagnetic compatibility (EMC) and product
safety. You can obtain the DoC for your product by visiting

• Calibration Certificate—If your product supports calibration, you can obtain the
calibration certificate for your product at ni.com/calibration.

for software drivers and updates, a searchable KnowledgeBase, product

, or contact your local office at ni.com/contact.

ni.com/support includes the following resources:

ni.com/

ni.com/forums. NI Applications

. All customers automatically receive a one-year

ni.com/ssp for more information.

ni.com/

ni.com/training for training and certification

ni.com/alliance.

ni.com/certification.

© National Instruments | C-1

Appendix C Technical Support and Professional Services

You also can visit the Worldwide Offices section of ni.com/niglobal to access the branch
office Web sites, which provide up-to-date contact information, support phone numbers, email
addresses, and current events.

C-2 | ni.com

Glossary

Symbol Prefix Value

nnano10

μ micro 10

m milli 10

k kilo 10

Mmega10

Numbers/Symbols

+5 V OUT +5 VDC source signal

A

-9

-6

-3

3

6

acceleration/
deceleration

amplifier A device that delivers power to operate the motor in response to

axis Unit that controls a motor or any similar motion or control device.

A measurement of the change in velocity as a function of time.

control signals.

C

CCW counterclockwise—Implies direction of motor rotation.

closed-loop A control system that uses feedback to achieve control.

COM Reference signal for digital I/O.

counts Specified encoder resolution multiplied by four.

crosstalk A phenomenon by which a signal transmitted on one channel causes

an undesired effect on another channel.

CW clockwise—Implies direction of motor rotation.

© National Instruments | G-1

Glossary

D

dedicated Assigned to a particular function.

Direction output Command signal for stepper motors, indicates the commanded

direction of motion, either forward or reverse.

drive Electronic signal amplifier that converts motor control command

signals into higher-voltage signals suitable for driving motors.

driver A hardware device that provides signals or electrical current to

activate a transmission line.

E

encoder A device that translates mechanical motion into electrical signals;

used for monitoring position or velocity in a closed-loop system.

encoder resolution The number of lines per unit of measure. Units can be inches,

centimeters, revolutions, and so on.

F

filtering A type of signal conditioning that removes unwanted noise from the

signal being measured.

full-step The coarsest mode of stepper motor driving that occurs when fully

energizing the windings.

H

half-step A stepper motor mode. For a two phase motor, half-step mode is done

by alternately energizing two windings and then only one. In half step
mode, alternate steps are strong and weak but there is significant
improvement in low-speed smoothness over the full-step mode.

high An input or output is high if the voltage is higher than the specified

digital logic high level.

G-2 | ni.com

NI 951x User Manual

high-side switch A switch that provides a path to supply when closed.

home switch (input) A physical position determined by the mechanical system or designer

as the reference location for system initialization. Frequently, the
home position is also regarded as the zero position in an absolute
position frame of reference.

I

incremental encoder A device that produces two signals, Phase A and Phase B, which are

90 degrees out of phase, allowing for edge counting to provide relative
position information.

index Marker on an encoder that produces a single signal per revolution and

is typically used to establish a reference position.

L

limit switch/
end-of-travel position
(input)

low An input or output is low if the voltage is lower than the specified

low-side switch A switch that provides a path to ground when closed.

Sensors that alert the control electronics that the physical end of travel
is being approached and that the motion should stop.

digital logic low level.

M

microstep Proportional control of energy in the coils of a stepper motor that

allow the motor to move to or stop at locations other than the fixed
magnetic/mechanical pole positions determined by the motor
specifications. This capability facilitates the subdivision of full
mechanical steps on a stepper motor into finer microstep locations that
greatly smooth motor running operation and increase the resolution or
number of discrete positions that a stepper motor can attain in each
revolution.

© National Instruments | G-3

Glossary

N

noise An undesirable electrical signal—Noise comes from external sources

such as the AC power line, motors, generators, transformers,
fluorescent lights, soldering irons, CRT displays, computers, electrical
storms, welders, radio transmitters, and internal sources such as
semiconductors, resistors, and capacitors. Noise corrupts signals you
are trying to send or receive.

O

off An input or output is off when current is not flowing through the input

or output circuit.

on An input or output is on when current is flowing through the input or

output circuit.

open-loop A control system where no external sensors (feedback devices) are

used to achieve control of the system.

P

p-command A command mode used for certain types of servo motor drives that

accept step and direction (CW/CCW) information to drive a servo
motor.

PID control loop proportional-integral-derivative control loop—A control method in

which the controller output is proportional to the error, the sum of all
previous errors, and the rate at which the error is changing. The error
is the difference between the observed and the commanded values of
the device that is being controlled.

PIVff control loop proportional-integral-velocity feed forward control loop—A control

method in which the controller output is proportional to the error, the
sum of all previous errors, and the future trajectory velocity. The error
is the difference between the observed and the commanded values of
the device that is being controlled.

position capture input Record position based on an external event.

position compare
output

G-4 | ni.com

When the encoder reaches a user-specified position, the associated
position compare output performs the user-specified action.

NI 951x User Manual

S

servo Specifies an axis that controls a servo motor.

sinking device A device that provides a path to ground.

sourcing device A device that provides a path to supply.

Step output Command signal for stepper motors, each step produces a pulse on the

step output, leading to a step (or microstep) of the motor.

stepper Specifies an axis that controls a stepper motor.

T

toggle Changing state between high and low or on and off.

torque Rotary force.

V

V

sup

Power supply input.

© National Instruments | G-5

Index

Symbols

+5 V OUT signal description (table), 3-2

A

alarm clear output, B-3
alarm input, B-3
axis fault LED, 2-16
axis status LED, 2-15

B

brake signal, connection, 4-6

C

calibration certificate (NI resources), C-1
CCW signal. See Direction (CCW) signal
command signals, 3-4

Direction (CCW), 3-4
Drive Command COM, 3-6
Drive Command output, 3-6
servo drives, 3-6
Step (CW), 3-4
stepper drives, 3-4

connections

digital input signals, 4-5
Direction (CCW) signal, 3-5
encoder signals, 4-5
home, 4-5
limit signals, 3-8, 4-5
NI 9512, 2-2

figure, 2-4

NI 9514, 2-5

figure, 2-6

NI 9516, 2-7

figure, 2-8
position capture input, 4-4
Step (CW) signal, 3-5

connectors

NI 9512, 2-10
NI 9514, 2-12
NI 9516, 2-14

conventions used in the manual, ix
CW signal. See Step (CW) signal

D

Declaration of Conformity

(NI resources), C-1
diagnostic tools (NI resources), C-1
digital I/O connectors specifications, A-4
digital I/O signals, 3-13
Digital Input <1..4> signal

description (table), 3-3
wiring, 3-8, 3-9, 3-14, 3-15

digital inputs

connection recommendations, 4-5
purpose and use, 3-13
signal descriptions, 3-15

Digital Output <1..2> signal

description (table), 3-3

digital outputs

purpose and use, 3-15

Direction (CCW) signal

connections, 3-5
description (table), 3-1
output circuit, 3-5
purpose and use, 3-4

documentation

conventions used in manual, ix
NI resources, C-1
related documentation, x

Drive Command COM signal

description (table), 3-1

purpose and use, 3-7
Drive Command output specifications, A-2
Drive Command signal

description (table), 3-1

purpose and use, 3-6
Drive Enable output specifications, A-2
Drive Enable signal

description (table), 3-1

purpose and use, 3-6
drive fault, configuring, 3-13
drive signals, Drive Enable, 3-6
drivers (NI resources), C-1
DSUB connector

Digital Inputs, 3-13

Digital Outputs, 3-15

© National Instruments | I-1

Index

Direction (CCW), 3-4
Drive Command, 3-6
Drive Command COM, 3-6
Step (CW), 3-4

, 3-4

V

sup

E

Encoder 0 Index signal

description (table), 3-2

Encoder 0 Phase A signal

description (table), 3-2

Encoder 0 Phase B signal

description (table), 3-2

Encoder 1 Phase A signal

description (table), 3-2

Encoder 1 Phase B signal

description (table), 3-2
encoder active LED, 2-16
Encoder Index signal

purpose and use, 3-11
Encoder Phase A signal

purpose and use, 3-10
Encoder Phase B signal

purpose and use, 3-10
encoder signals

connection recommendations, 4-5

Encoder Index, 3-11

input circuit, 3-11

Phase A, 3-10

Phase B, 3-10

signal descriptions, 3-11

wiring concerns, 4-5
examples (NI resources), C-1

F

feature overview, 1-1
Forward Limit input signal

description (table), 3-2

purpose and use, 3-8

H

hardware requirements, 1-2
help, technical support, C-1

Home input signal

description (table), 3-2
purpose and use, 3-8

home, connection recommendations, 4-4

I

in-position input, B-3
instrument drivers (NI resources), C-1

K

KnowledgeBase, C-1

L

LED indicators

axis fault, 2-16
axis status, 2-16
encoder active, 2-16

limit active, 2-16
limit active LED, 2-16
limit and home inputs

connections, 3-8

Forward Limit input, 3-8

Home input, 3-8

input circuit, 3-8

Reverse Limit input, 3-8

signal descriptions, 3-8
limit signals, connection

recommendations, 4-4

M

MDR connector

Digital Inputs, 3-13

Encoder Index, 3-11

Encoder Phase A, 3-10

Encoder Phase B, 3-10

Forward Limit, 3-8

Home, 3-8

Position Capture, 3-12

Position Compare, 3-13

Reverse Limit, 3-8

, 3-4

V

sup

motion I/O signals, 3-8

I-2 | ni.com

NI 951x User Manual

N

National Instruments support and

services, C-1

NI 9512

connection diagram (figure), 2-4
connections, 2-2
DSUB connector, 2-10
MDR connector, 2-11

NI 9514

connection diagram (figure), 2-6
connections, 2-5
DSUB connector, 2-12
MDR connector, 2-13

NI 9516

connection diagram (figure), 2-8
connections, 2-7
DSUB connector, 2-14
MDR connector, 2-15

NI 951x

features, 1-1
requirements for getting started, 1-2

P

physical specifications, A-5
position capture input connection

recommendations, 4-4

Position Capture signal

description (table), 3-3
overview, 3-13
purpose and use, 3-13

position command drive signals

alarm, B-3
alarm clear, B-3
in-position, B-3
servo ready, B-3

Position Compare signal

description (table), 3-3
overview, 3-14

purpose and use, 3-14
power connections, 3-4
power requirement specifications, A-5
programming examples (NI resources), C-1

R

related documentation, ix
Reverse Limit input signal

description (table), 3-2
purpose and use, 3-8

S

servo drive command signals, 3-6
servo performance specifications, A-1
servo ready input, B-3
signal connections. See power connections,

command signals, motion I/O signals, and
digital I/O signals

software

requirements, 1-2
NI resources, C-1

specifications

digital I/O, A-4
motion I/O, A-2
physical, A-5
power requirements (max), A-5
servo performance, A-1
stepper performance, A-1

Step (CW) signal

connections, 3-5
description (table), 3-1
output circuit, 3-5

purpose and use, 3-4
stepper drive command signals, 3-4
stepper output specifications, A-1
stepper performance specifications, A-1
support, technical, C-1

T

technical support, C-1
terminal block pin assignments, 4-2
training and certification (NI resources), C-1
troubleshooting (NI resources), C-1

V

V

signal

sup

connections, 3-4

description (table), 3-3

© National Instruments | I-3

Index

W

Web resources, C-1
wiring concerns

digital input signals, 4-4
encoder signals, 4-5
home, 4-4
limit signals, 4-4
position capture input, 4-4

I-4 | ni.com