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

Download

Motion Control

NI 951x User Manual

December 2013 372153E-01

Support

Worldwide Technical Support and Product Information

ni.com

Worldwide Offices

ni.com/niglobal to access the branch office Web sites, which provide up-to-date

Visit contact information, support phone numbers, email addresses, and current events.

National Instruments Corporate Headquarters

11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 683 0100

For further support information, refer to the Technical Support and Professional Services appendix. To comment on National Instruments documentation, refer to the National Instruments Web site at ni.com/info and enter the Info Code feedback.

Legal Information

Warranty

NI devices are warranted against defects in materials and workmanship for a period of one year from the invoice date, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective during the warranty period. This warranty includes parts and labor.

The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from the invoice date, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free.

A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty.

National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical accuracy. In the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected. In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it.

XCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY

WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER’S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHA LL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER.

ATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL

OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. This limitation of the liability of National Instruments

will apply regardless of the form of action, whether in contract or tort, including negligence. Any action against National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or service failures caused by owner’s failure to follow the National Instruments installation, operation, or maintenance instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts; and power failure or surges, fire, flood, accident, actions of third parties, or other events outside reasonable control.

Copyright

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National Instruments Corporation.

National Instruments respects the intellectual property of others, and we ask our users to do the same. NI software is protected by copyright and other intellectual property laws. Where NI software may be used to reproduce software or other materials belonging to others, you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction.

End-User License Agreements and Third-Party Legal Notices

You can find end-user license agreements (EULAs) and third-party legal notices in the following locations:

• Notices are located in the directories.

• EULAs are located in the

•Review

<National Instruments>\_Legal Information.txt for more information on including legal information

in installers built with NI products.

Trademarks

Refer to the NI Trademarks and Logo Guidelines at ni.com/trademarks for more information on National Instruments trademarks.

ARM, Keil, and µVision are trademarks or registered of ARM Ltd or its subsidiaries.

FIELDBUS FOUNDATION

EtherCAT

CANopen

DeviceNet

Go!, SensorDAQ, and Vernier are registered trademarks of Vernier Software & Techn ology. Vernier Software & Technology and

Xilinx is the registered trademark of Xilinx, Inc.

Taptite and Trilobular are registered trademarks of Research Engineering & Manufacturing Inc.

FireWire

Linux

is a registered trademark of and licensed by Beckhoff Automation GmbH.

is a registered Community Trademark of CAN in Automation e.V.

™

and EtherNet/IP™ are trademarks of ODVA.

vernier.com are trademarks or trade dress.

is the registered trademark of Apple Inc.

is the registered trademark of Linus Torvalds in the U.S. and other countries.

<National Instruments>\_Legal Information and <National Instruments>

<National Instruments>\Shared\MDF\Legal\license directory.

™

and FOUNDATION™ are trademarks of the Fieldbus Foundation.

Handle Graphics®, MATLAB®, Real-Time Workshop®, Simulink®, Stateflow®, and xPC TargetBox® are registered trademarks, and TargetBox

Tektronix

The Bluetooth

The ExpressCard license.

The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft Corporation in the United States and other countries.

, Tek, and Tektronix, Enabling Technology are registered trademarks of Tektronix, Inc.

word mark is a registered trademark owned by the Bluetooth SIG, Inc.

™

and Target Language Compiler™ are trademarks of The MathWorks, Inc.

™

word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under

Other product and company names mentioned herein are trademarks or trade names of their respective companies.

Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency, partnership, or joint-venture relationship with National Instruments.

Patents

For patents covering National Instruments products/technology, refer to the appropriate location: Help»Patents in your software, the patents.txt file on your media, or the National Instruments Patent Notice at ni.com/patents.

Export Compliance Information

Refer to the Export Compliance Information at ni.com/legal/export-compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes, ECCNs, and other import/export data.

WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS

(1) NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN.

(2) IN ANY APPLICATION, INCLUDING THE ABOVE, RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS, INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY, COMPUTER HARDWARE MALFUNCTIONS, COMPUTER OPERATING SYSTEM SOFTWARE FITNESS, FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION, INSTALLATION ERRORS, SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS, MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES, TRANSIENT FAILURES OF ELECTRONIC SYSTEMS (HARDWARE AND/OR SOFTWARE), UNANTICIPATED USES OR MISUSES, OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER (ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED “SYSTEM FAILURES”). ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS (INCLUDING THE RISK OF BODILY INJURY AND DEATH) SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE. TO AVOID DAMAGE, INJURY, OR DEATH, THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES, INCLUDING BUT NOT LIMITED TO BACK-UP OR SHUT DOWN MECHANISMS. BECAUSE EACH END-USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS' TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS, THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION, INCLUDING, WITHOUT LIMITATION, THE APPROPRIATE DESIGN, PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION.

Compliance

Electromagnetic Compatibility Information

This hardware has been tested and found to comply with the applicable regulatory requirements and limits for electromagnetic compatibility (EMC) as indicated in the hardware’s Declaration of Conformity (DoC) These requirements and limits are designed to provide reasonable protection against harmful interference when the hardware is operated in the intended electromagnetic environment. In special cases, for example when either highly sensitive or noisy hardware is being used in close proximity, additional mitigation measures may have to be employed to minimize the potential for electromagnetic interference.

While this hardware is compliant with the applicable regulatory EMC requirements, there is no guarantee that interference will not occur in a particular installation. To minimize the potential for the hardware to cause interference to radio and television reception or to experience unacceptable performance degradation, install and use this hardware in strict accordance with the instructions in the hardware documentation and

the DoC

If this hardware does cause interference with licensed radio communications services or other nearby electronics, which can be determined by turning the hardware off and on, you are encouraged to try to correct the interference by one or more of the following measures:

• Reorient the antenna of the receiver (the device suffering interference).

• Relocate the transmitter (the device generating interference) with respect to the receiver.

• Plug the transmitter into a different outlet so that the transmitter and the receiver are on different branch

circuits.

Some hardware may require the use of a metal, shielded enclosure (windowless version) to meet the EMC requirements for special EMC environments such as, for marine use or in heavy industrial areas. Refer to the hardware’s user documentation and the DoC

When the hardware is connected to a test object or to test leads, the system may become more sensitive to disturbances or may cause interference in the local electromagnetic environment.

Operation of this hardware in a residential area is likely to cause harmful interference. Users are required to correct the interference at their own expense or cease operation of the hardware.

Changes or modifications not expressly approved by National Instruments could void the user’s right to operate the hardware under the local regulatory rules.

for product installation requirements.

The Declaration of Conformity (DoC) contains important EMC compliance information and instructions for the user or installer. To obtain the DoC for this product, visit model number or product line, and click the appropriate link in the Certification column.

ni.com/certification, search by

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

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.

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.

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

– 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

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

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.

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.

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

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

Step ±

Direction ±

Position Compare

Drive Enable

Digital Output (0-1)

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.

Chapter 2 Hardware Overview

EncoderServo Motor

Drive Command

Drive Enable

Drive Fault

Drive Command

Drive Enable

Drive Fault

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

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

information about using the NI 9516 with other devices.

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

Chapter 2 Hardware Overview

Encoder 0Servo Motor

Drive Command

Drive Enable

Drive Fault

Drive Command

Drive Enable

Drive Fault

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

sup

COM

Output

Circuitry

Input

Circuitry

Drive Command

Drive Enable

Forward

Reverse

Microprocessor

(PID Loop)

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.

Chapter 2 Hardware Overview

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

+ 50 hidden pages

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

Specifications and Main Features

Frequently Asked Questions

User Manual

NI 951x User Manual

Support

Worldwide Technical Support and Product Information

Worldwide Offices

National Instruments Corporate Headquarters

Legal Information

Warranty

Copyright

End-User License Agreements and Third-Party Legal Notices

Trademarks

Patents

Export Compliance Information

WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS

Compliance

Contents

About This Manual

Related Documentation

About the NI 951x Drive Interface Modules

Features

Hardware

What You Need to Get Started

Using the NI 951x Modules in Scan Interface Mode

Using the NI 951x Modules in LabVIEW FPGA Interface Mode

Safety Information

Special Conditions for Marine Applications

Optional Equipment

Figure 2-1. NI 951x Module

NI 951x Connections

NI 9512 Connections

Table 2-1. NI 9512 Connection Options

Figure 2-2. NI 9512 Connection Diagram

Figure 2-3. NI 9512 Block Diagram

NI 9514 Connections

Figure 2-4. NI 9514 Connection Diagram

Figure 2-5. NI 9514 Block Diagram

NI 9516 Connections

Figure 2-6. NI 9516 Connection Diagram

Figure 2-7. NI 9516 Block Diagram

User Connectors

NI 9512 Connectors

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