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National Instruments NI 9514 User Manual

National Instruments NI 9514 User Manual

Ni 951 series motion control
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Motion Control
NI 951x User Manual
NI 951x User Manual
December 2013
372153E-01

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  • Page 1 Motion Control NI 951x User Manual NI 951x User Manual December 2013 372153E-01...
  • Page 2 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 and enter the Info Code ni.com/info...
  • Page 3 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.
  • Page 4 ™ The ExpressCard word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under 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.
  • Page 5 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.

  • Page 6: Table Of Contents

    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 .........................
  • Page 7 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..................

  • Page 8: About This Manual

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

  • Page 9: Introduction And Installation

    Introduction and Installation This chapter includes information about the features of the National Instruments 9512, 9514, and 9516 drive interface modules. The remainder of this document will refer to these modules collectively as Note NI 951x modules. About the NI 951x Drive Interface Modules The NI 951x drive interface modules are a family of C Series motion modules.

  • Page 10: What You Need To Get Started

    NI-RIO driver software 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 Refer to the Power Requirements section of Appendix A, Specifications, for Note power supply requirements.

  • Page 11: Using The Ni 951X Modules In Labview Fpga Interface Mode

    NI-RIO driver software 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 Refer to the Power Requirements section of Appendix A, Specifications, for Note power supply requirements.

  • Page 12: Optional Equipment

    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) •...

  • Page 13: Hardware Overview

    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.

  • Page 14: Ni 9512 Connections

    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...
  • Page 15 Connect the module to a drive and other I/O using on of the connection options in Table 2-1. Connect the NI 9512 module to an external power supply. © National Instruments | 2-3...
  • Page 16 Chapter 2 Hardware Overview Figure 2-2 shows a simplified connection diagram. Do not connect anything to pins marked Reserved. Caution Figure 2-2. NI 9512 Connection Diagram DSUB Connector MDR Connector Step±/CW Encoder 0 Phase A, B, Index Direction±/CCW +5 V OUT Forward, Reverse Limit, Home Drive Fault Drive Enable...

  • Page 17: Ni 9514 Connections

    Note information about chassis, slot, or software restrictions. 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.
  • Page 18 Drive Fault Motor Servo Motor Encoder The NI 9514 requires an external power supply. You can connect the external Note power supply to the V input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.

  • Page 19: Ni 9516 Connections

    Note information about chassis, slot, or software restrictions. 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.
  • Page 20 Chapter 2 Hardware Overview Figure 2-6 shows a simplified connection diagram. Figure 2-6. NI 9516 Connection Diagram DSUB Connector MDR Connector Encoder 0 Phase A, B, Index Drive Command Encoder 1 Phase A, B Drive Enable +5 V OUT Drive Fault Forward, Reverse Limit, Home NI 9516 Limit and Home...

  • Page 21: User Connectors

    All references to drives also apply to amplifiers. NI 9512 Connectors Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection accessory pin assignments. Do not connect anything to pins marked Reserved. Caution © National Instruments | 2-9...
  • Page 22 Chapter 2 Hardware Overview Table 2-2. NI 9512 DSUB Control Connector Pin Assignments Connector Signal Reserved Drive Enable Digital Input 3 Digital Input 2 Digital Output 1 Reserved Digital Input 1 Direction (CCW)- Step (CW)- Digital Output 0 Direction (CCW)+ Step (CW)+ Refer to Appendix B, Position Command...
  • Page 23 Position Compare Position Capture +5 V OUT Encoder 0 Phase B+ Encoder 0 Phase A– Encoder 0 Index– Encoder 0 Index+ Encoder 0 Phase A+ Digital Input 0 Reserved Home Reserved Forward Limit Reverse Limit © National Instruments | 2-11...

  • Page 24: Ni 9514 Connectors

    Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection accessory pin assignments. Do not connect anything to pins marked Reserved. Caution Table 2-3. NI 9514 DSUB Control Connector Pin Assignments Connector Signal Drive Command COM Drive Enable Reserved...
  • Page 25 NI 951x User Manual Figure 2-9. NI 9514 MDR Connector Pin Assignments Position Compare Encoder 0 Phase B– +5 V OUT Position Capture Encoder 0 Phase B+ Encoder 0 Index– Encoder 0 Phase A– Encoder 0 Phase A+ Encoder 0 Index+...

  • Page 26: Ni 9516 Connectors

    Chapter 2 Hardware Overview NI 9516 Connectors Do not connect anything to pins marked Reserved. Caution 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 Signal Drive Command COM...

  • Page 27: Led Indicators

    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...

  • Page 28: Encoder Active

    Chapter 2 Hardware Overview Encoder Active The Encoder Active LED (green) has three states for encoder and V status. • Off—The power supply (V ) is not connected. You must connect a power supply to receive encoder pulses. • Flashing—The power supply (V ) is connected and the module is receiving encoder pulses.

  • Page 29: Signal Connections

    • ±10 V range Drive Enable Drive Enable • Connects to the enable function of the drive • 0 to 30 V output configurable as sinking or sourcing • 100 μs minimum output pulse width © National Instruments | 3-1...
  • Page 30 • +5 V supply output generated from the V input • 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...
  • Page 31 • Reference for +5 V OUT All signals are not available on all modules. Refer to the individual module Note pinouts in Chapter 2, Hardware Overview, for a list of the signals available on each module. © National Instruments | 3-3...

  • Page 32: Power Connections

    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 input for both internal and external usage. The positive terminal for the power supply must be connected to V and the reference must be connected to COM.
  • Page 33 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 NI 9512 Drive Step+ / Dir+ Output Receiver Step– / Dir– Output © National Instruments | 3-5...

  • Page 34: Servo Command Signals

    Chapter 3 Signal Connections 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.
  • Page 35 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. National Instruments strongly recommends using Drive Enable for Caution personal safety, as well as to protect the motion system.

  • Page 36: Motion I/O Signals

    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. National Instruments recommends using limits for personal safety, as well Caution as to protect the motion system.
  • Page 37 Circuit Limit, Home, or Digital Input V– (Reference) 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...

  • Page 38: Encoder Inputs

    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.

  • Page 39: Encoder Index

    Refer to the NI SoftMotion Module book of the LabVIEW Help for more information. Refer to the Signal Connection Recommendations section of Chapter 4, Accessory and Cable Connections, for additional wiring and cabling recommendations. © National Instruments | 3-11...

  • Page 40: Position Capture Input And Position Compare Output

    Chapter 3 Signal Connections 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 Encoder NI 951x Phase + +5 V Receiver Phase – Figure 3-12. Single-Ended Encoder Input Circuit Encoder NI 951x +5 V...

  • Page 41: Digital I/O Signals

    Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about digital input configuration options. Refer to the Signal Connection Recommendations section of Chapter 4, Accessory and Cable Connections, for additional wiring and cabling recommendations. © National Instruments | 3-13...
  • Page 42 Chapter 3 Signal Connections 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 NI 951x...

  • Page 43: Digital Outputs

    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) NI 951x Input Device NI 951x V Drive Enable or Drive Enable or Digital Output Digital Output Configured Sinking For Sourcing Circuit V– (Reference) © National Instruments | 3-15...
  • Page 44 Chapter 3 Signal Connections Figure 3-18. Digital Output Circuit Configured for Sinking PNP (Sourcing) NI 951x Input Device NI 951x V Sourcing Drive Enable or Circuit Digital Output Drive Enable or Digital Output Configured For Sinking V– (Reference) 3-16 | ni.com...

  • Page 45: Accessory And Cable Connections

    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.
  • Page 46 Chapter 4 Accessory and Cable Connections The 37-pin terminal block has separate Vsup and COM terminals for each Caution 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 (†).
  • Page 47 NI 951x User Manual Figure 4-3. NI 9514 37-Pin Terminal Block Pin Assignments Forward Limit Reserved Home Reverse Limit Reserved Digital Input 0 Reserved Encoder 0 Index+ Encoder 0 Index– Encoder 0 Phase A+ Encoder 0 Phase A– +5V OUT...

  • Page 48: Signal Connection Recommendations

    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.

  • Page 49: Encoder Connection Recommendations

    • 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 cross section) wire is the minimum recommended size for the encoder cable.

  • Page 50: Connecting Optional Signals

    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.
  • Page 51 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 rate ..........

  • Page 52: Appendix A Specifications

    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...
  • Page 53 Position compare outputs High, V ..........5.25 V max Sourcing 12 mA........ 3.7 V min 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...
  • Page 54 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........
  • Page 55 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 ..........
  • Page 56 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 , verified by a 5 s dielectric withstand test Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage.
  • Page 57 (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...
  • Page 58 Appendix A Specifications 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 page at .
  • Page 59 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 Start»All Programs»National Instruments» LabVIEW»LabVIEW Manuals»NI_9930_Accessories_User_Guide.pdf and on ni.com/manuals...
  • Page 60 Appendix B Position Command Connections Figure B-1. NI 9512 to Position Command Drive Connection Diagram DSUB Connector MDR Connector Encoder Phase A, B, Index Step/CW/Pulse± (optional) Direction/CCW/Sign± +5 V OUT Servo On/Drive Enable Forward, Reverse Limit, Home Alarm Clear V sup (Digital Input) Drive Ready/ Servo Ready...
  • Page 61 Alarm Clear—Clears the alarm or fault outputs on the drive. The Alarm Clear functionality is not mappable in software. Refer to the Note NI SoftMotion LabVIEW Help for information about implementing this functionality using an available digital output. © National Instruments | B-3...
  • Page 62 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 ni.com/alliance •...
  • Page 63 Appendix C Technical Support and Professional Services You also can visit the Worldwide Offices section of to access the branch ni.com/niglobal office Web sites, which provide up-to-date contact information, support phone numbers, email addresses, and current events. C-2 | ni.com...
  • Page 64 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. clockwise—Implies direction of motor rotation. © National Instruments | G-1...
  • Page 65 Glossary 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.
  • Page 66 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...
  • Page 67 Glossary 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.
  • Page 68 (or microstep) of the motor. stepper Specifies an axis that controls a stepper motor. toggle Changing state between high and low or on and off. torque Rotary force. Power supply input. © National Instruments | G-5...
  • Page 69 Drive Enable, 3-6 NI 9512, 2-10 drivers (NI resources), C-1 NI 9514, 2-12 DSUB connector NI 9516, 2-14 Digital Inputs, 3-13 conventions used in the manual, ix Digital Outputs, 3-15 CW signal. See Step (CW) signal © National Instruments | I-1...
  • Page 70 Index Direction (CCW), 3-4 Home input signal Drive Command, 3-6 description (table), 3-2 Drive Command COM, 3-6 purpose and use, 3-8 Step (CW), 3-4 home, connection recommendations, 4-4 , 3-4 in-position input, B-3 Encoder 0 Index signal instrument drivers (NI resources), C-1 description (table), 3-2 Encoder 0 Phase A signal description (table), 3-2...
  • Page 71 (table), 3-3 training and certification (NI resources), C-1 overview, 3-14 troubleshooting (NI resources), C-1 purpose and use, 3-14 power connections, 3-4 power requirement specifications, A-5 signal programming examples (NI resources), C-1 connections, 3-4 description (table), 3-3 © National Instruments | I-3...
  • Page 72 Index 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...

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