National Instruments NI 951x, 951 User Manual

Motion Control

NI 951x User Manual

NI 951x User Manual

July 2009
372153B-01

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Important Information

Warranty

The NI 9512, NI 9514, and NI 9516 C Series modules are warranted against defects in materials and workmanship for a period of one year
from the date of shipment, 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 date of shipment, 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
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XCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF

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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)
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.

1

for product installation requirements.

1

.

1

. These requirements and limits are

1

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
and click the appropriate link in the Certification column.

ni.com/certification, search by model number or product line,

Contents

About This Manual

Conventions ...................................................................................................................ix

Related Documentation..................................................................................................x

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 .....................................................................................................2-2

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

NI 9514 Connections.......................................................................................2-4

NI 9516 Connections.......................................................................................2-6

User Connectors.............................................................................................................2-8

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

NI 9514 Connectors.........................................................................................2-11

NI 9516 Connectors.........................................................................................2-13

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

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

Encoder Active ................................................................................................2-15

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

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

© National Instruments Corporation v NI 951x User Manual

Contents

Chapter 3
Signal Connections

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

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

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

Servo Command Signals................................................................................. 3-7

Additional Drive Signals................................................................................. 3-7

Motion I/O Signals ........................................................................................................ 3-9

Limit and Home Inputs ................................................................................... 3-9

Encoder Inputs ................................................................................................ 3-11

Position Capture Input and Position Compare Output .................................... 3-14

Digital I/O Signals......................................................................................................... 3-15

Digital Inputs................................................................................................... 3-15

Digital Outputs................................................................................................ 3-17

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

Drive Command Output ................................................................... 3-7

Drive Command COM ..................................................................... 3-7

Drive Enable .................................................................................... 3-7

Limit and Home Input Circuit .......................................................... 3-9

Encoder Phase A/Phase B................................................................. 3-12

Encoder Index................................................................................... 3-12

Encoder Input Circuit ....................................................................... 3-13

Chapter 4
Accessory and Cable Connections

Connection to P7000 Series Stepper Drives.................................................................. 4-1

NI 951x Connection Accessories .................................................................................. 4-5

37-Pin Terminal Block Pin Assignments........................................................ 4-5

Signal Connection Recommendations........................................................................... 4-7

General Connection Recommendations.......................................................... 4-7

Limit and Digital Input Connection Recommendations ................................. 4-8

Encoder Connection Recommendations ......................................................... 4-8

Connecting Optional Signals......................................................................................... 4-9

Connecting a Brake Signal.............................................................................. 4-9

NI 951x User Manual vi ni.com

Appendix A
Specifications

Appendix B
Position Command Connections

Appendix C
Technical Support and Professional Services

Glossary

Index

Contents

© National Instruments Corporation vii NI 951x User Manual

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.

Conventions

This manual uses the following conventions:

<> Angle brackets that contain numbers separated by an ellipsis represent a

range of values associated with a bit or signal name—for example,
AO <3..0>.

» The » symbol leads you through nested menu items and dialog box options

to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.

This icon denotes a tip, which alerts you to advisory information.

This icon denotes a note, which alerts you to important information.

This icon denotes a caution, which advises you of precautions to take to
avoid injury, data loss, or a system crash. When this symbol is marked on a
product, refer to the Safety Information section for information about
precautions to take.

This icon denotes that the component may be hot. Touching this component may
result in bodily injury.

bold Bold text denotes items that you must select or click in the software, such

as menu items and dialog box options. Bold text also denotes parameter
names.

italic Italic text denotes variables, emphasis, a cross-reference, or an introduction

to a key concept. Italic text also denotes text that is a placeholder for a word
or value that you must supply.

monospace Text in this font denotes text or characters that you should enter from the

keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames, and extensions.

© National Instruments Corporation ix NI 951x User Manual

About This Manual

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.

ni.com/manuals)

NI 951x User Manual x ni.com

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

1

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

the NI 9512 module with position command servo drives.

Hardware

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.

• 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.

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 Corporation 1-1 NI 951x User Manual

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) section 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:

– NI SoftMotion. This software package contains the following

NI software products:

• NI SoftMotion software

• NI-Motion driver software

– 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 951x User Manual 1-2 ni.com

– NI 9144 distributed chassis

Chapter 1 Introduction and Installation

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) section 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) NI SoftMotion. This software package contains the

following NI software products:

• NI SoftMotion software

• NI-Motion driver software

– 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

certification

Register mark on the module.

© National Instruments Corporation 1-3 NI 951x User Manual

ni.com/

and search for the LR certificate, or look for the Lloyd’s

Chapter 1 Introduction and Installation

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.

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 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.

NI 951x User Manual 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.

2

© National Instruments Corporation 2-1 NI 951x User Manual

Figure 2-1. NI 951x Module

Chapter 2 Hardware Overview

NI 951x Connections

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

NI 9512 Connections

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 the
NI 9512-to-P7000 Stepper Drives Connectivity Bundle, the NI 951x
Cable and Terminal Block Bundle, or a custom cable for direct
connectivity.

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

Figure 2-2 shows a simplified connection diagram.

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

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

Caution Do not connect anything to pins marked Reserved.

NI 951x User Manual 2-2 ni.com

Chapter 2 Hardware Overview

DSUB Connector

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

NI Connection

Accessory/

Custom Cable

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

MDR Connector

Encoder 0 Phase A, B, Index

+5 V OUT

Forward, Reverse Limit, Home

V

sup

NI 9512

Limit and Home

Sensors

Power Supply

Drive

Encoder (optional)Stepper Motor

Figure 2-2. NI 9512 Connection Diagram

Note

supply to the V

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

input provided on the DSUB or MDR connector. Do not connect more

sup

than one external power supply to the module.

Motor

© National Instruments Corporation 2-3 NI 951x User Manual

Chapter 2 Hardware Overview

Phase A± (0)

Phase B± (0)

Index± (0)

Position
Capture

Home

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.

Receiver
Circuitry

Buffer

Buffer

Buffer

Buffer

Microprocessor

Step ±

Direction ±

Position
Compare

Drive
Enable

Forward

Reverse

Digital

Input

(0-3)

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

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

chassis, slot, or software restrictions.

Input

Circuitry

+5V Reg

documentation.

Output

Circuitry

V

sup

COM

+5 V OUT

Figure 2-3. NI 9512 Block Diagram

Digital
Output
(0-1)

2. Connect the module to a 37-pin terminal block using the NI 951x to

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

NI 951x User Manual 2-4 ni.com

37-pin cable, or use a custom cable for direct connectivity.

Chapter 2 Hardware Overview

Figure 2-4 shows a simplified connection diagram.

DSUB Connector

Drive Command

Drive Enable

Drive Fault

V

sup

NI Connection

Accessory/

Custom Cable

Drive Command

Drive Enable

Drive Fault

MDR Connector

Encoder 0 Phase A, B, Index

+5 V OUT

Forward, Reverse Limit, Home

NI 9514

Limit and Home

Sensors

Power Supply

Drive

Motor

EncoderServo Motor

Figure 2-4. NI 9514 Connection Diagram

Note

supply to the V

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

input provided on the DSUB or MDR connector. Do not connect more

sup

than one external power supply to the module.

Caution Do not connect anything to pins marked Reserved.

© National Instruments Corporation 2-5 NI 951x User Manual

Chapter 2 Hardware Overview

Phase A± (0)

DAC

Phase B± (0)

Index± (0)

Home

Position
Capture

Position
Compare

Receiver

Circuitry

Microprocessor

(PID Loop)

+5V Reg

+5 V OUT

V

sup

COM

Output

Circuitry

Input

Circuitry

Drive
Command

Drive
Enable

Forward

Reverse

Buffer

Buffer

Digital Input (0-1)

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.

NI 9516 Connections

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

chassis, slot, or software restrictions.

Figure 2-5. NI 9514 Block Diagram

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.

2. Connect the module to a 37-pin terminal block using the NI 951x to
37-pin cable, or use a custom cable for direct connectivity.

NI 951x User Manual 2-6 ni.com

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.

Note

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

supply to the V

input provided on the DSUB or MDR connector. Do not connect more

sup

than one external power supply to the module.

Caution Do not connect anything to pins marked Reserved.

Figure 2-6. NI 9516 Connection Diagram

© National Instruments Corporation 2-7 NI 951x User Manual

Chapter 2 Hardware Overview

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.

Phase A± (0)

Phase B± (0)

Index± (0)

Phase A± (1)

Phase B± (1)

Position

Capture

Home

Forward

Reverse

Digital Input (0-1)

Receiver

Buffer

DAC

Circuitry

Buffer

Microprocessor

(PID Loop)

Output

Circuitry

Input

Circuitry

+5V Reg

Figure 2-7. NI 9516 Block Diagram

Drive
Command

Position
Compare

Drive
Enable

V

sup

COM

+5 V OUT

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.

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

All references to drives also apply to amplifiers.

NI 951x User Manual 2-8 ni.com

NI 9512 Connectors

Caution Do not connect anything to pins marked Reserved.

Table 2-1. NI 9512 DSUB Control Connector Pin Assignments

Connector Pin Signal

15

Chapter 2 Hardware Overview

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

1 Reserved

2 Drive Enable

3 Digital Input 3

4 Digital Input 2

10

5

5 Digital Output 1

6 Reserved

7 COM

8 Digital Input 1

9 Direction (CCW)–

10 Step (CW)–

11 Digital Output 0

11

6

1

12 V

sup

13 Direction (CCW)+

14 COM

15 Step (CW)+

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.

© National Instruments Corporation 2-9 NI 951x User Manual

Chapter 2 Hardware Overview

Reverse Limit

Reserved

V

sup

Reserved

COM
Encoder 0 Phase A+
Encoder 0 Phase A–
Encoder 0 Phase B+

Position Capture

Encoder 0 Phase B–

11
12
13
14
15
16
17
18
19
20

1
2
3
4
5
6
7
8
9

10

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

Figure 2-8. NI 9512 MDR Connector Pin Assignments

NI 951x User Manual 2-10 ni.com

NI 9514 Connectors

1

6

11

5

10

15

Caution Do not connect anything to pins marked Reserved.

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

Connector Pin Signal

Chapter 2 Hardware Overview

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

1 Drive Command COM

2 Drive Enable

3 Reserved

4 Reserved

5 Reserved

6 Drive Command

7 COM

8 Digital Input 1

9 Reserved

10 Reserved

11 Reserved

12 V

sup

13 Reserved

14 COM

15 Reserved

© National Instruments Corporation 2-11 NI 951x User Manual