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GETTING STARTED
NI 9501 C Series Stepper Drive
Modules and NI SoftMotion Module
Note
If you are a new user of LabVIEW or are unfamiliar with LabVIEW, refer to
the Getting Started with LabVIEW manual for information about LabVIEW and
LabVIEW terminology.
This document explains how to use an NI 9501 C Series drive module with LabVIEW
NI SoftMotion Module User-Defined Variable (UDV) axes, using an NI 9501 C Series drive
module example to demonstrate concepts and programming best practices.
Tip
If you encounter any problems during setup, refer to the
Troubleshooting
Contents
What You Need to Get Started ................................................................................................. 2
Hardware .......................................................................................................................... 2
Software............................................................................................................................ 3
NI SoftMotion Module Overview ............................................................................................ 4
Hardware and Software Installation ......................................................................................... 5
Step 1: Set Up the CompactRIO System .......................................................................... 5
Step 2: Connect NI 9501 to the Stepper Motor ................................................................ 6
Step 3: Connect the NI 9501 to the NI PS-16 Power Supply ........................................... 7
Step 4: Connect the System to AC Power ........................................................................ 7
Step 5: Install Software on and Configure the NI RT Controller ..................................... 7
Using NI 9501 with NI SoftMotion.......................................................................................... 9
NI SoftMotion UDV Axes and Configuration Data......................................................... 9
NI SoftMotion Engine to FPGA Communication ............................................................ 11
Compile and Run the Example......................................................................................... 15
Setting Up and Using Optional Hardware ................................................................................ 18
Adding and Connecting Additional Modules................................................................... 19
Additional UDVs and FPGA VI Loops............................................................................ 21
Tips and Troubleshooting ......................................................................................................... 25
Drive Fault on Enable....................................................................................................... 25
Where to Go Next..................................................................................................................... 26
Worldwide Support and Services ............................................................................................. 27
section for assistance.
Tips and
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Table of Contents
Related Manuals for National Instruments 9501 C Series
Summary of Contents for National Instruments 9501 C Series
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Page 1: Table Of Contents
Getting Started with LabVIEW manual for information about LabVIEW and LabVIEW terminology. This document explains how to use an NI 9501 C Series drive module with LabVIEW NI SoftMotion Module User-Defined Variable (UDV) axes, using an NI 9501 C Series drive module example to demonstrate concepts and programming best practices. -
Page 2: What You Need To Get Started
What You Need to Get Started You need the following items to get started. Hardware NI 9501 C Series stepper drive module NI CompactRIO real-time controller and chassis 24 V power supply (such as the NI PS-15) for the CompactRIO controller (NI part number 781093-01) ... -
Page 3: Software
Motor Connections Stepper Motor Ethernet Cable NI RT Controller (NI cRIO-9014 shown) with NI 9501 modules 9 to 30 V Power Supply (NI PS-16 Shown) Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 3... -
Page 4: Ni Softmotion Module Overview
NI SoftMotion Module Overview NI SoftMotion Module UDV axes allow you to implement an interface for communication between the NI SoftMotion Engine and the LabVIEW FPGA Module. This is achieved using user-defined variables that you add to the project, making it easier to use C Series modules in FPGA mode with the NI SoftMotion Module. -
Page 5: Hardware And Software Installation
Align the controller with the chassis as shown in Figure 3. Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown) Controller Reconfigurable Embedded Chassis Captive Screws Grounding Screw Controller Slot Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 5... -
Page 6: Step 2: Connect Ni 9501 To The Stepper Motor
Slide the controller onto the controller slot on the chassis. Press firmly to ensure the chassis connector and the controller connector are mated. Using a number 2 Phillips screwdriver, tighten the two captive screws on the front of the controller. Connect the controller to a power supply and an Ethernet network on the same subnet as the development computer. -
Page 7: Step 3: Connect The Ni 9501 To The Ni Ps-16 Power Supply
If you do not see the controller, you may need to disable the firewall on the development computer. Go to and enter ni.com/info RIOMAXTroubleshoot for more information. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 7... - Page 8 Verify that the Serial Number in the General Settings section matches the serial number on the device. If you do not want to format the disk on the controller, eliminating all installed software and files, skip to step 15. Set the Safe Mode switch on the controller to the On position. If your controller supports the Attempt to restart into safe mode option, you Note can programmatically enable safe mode rather than using the hardware switch and...
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Page 9: Using Ni 9501 With Ni Softmotion
Expand the Chassis item, then expand the User-Defined Variables item to display the UDVs used in the example. Figure 6 shows the LabVIEW Project with the UDVs displayed. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 9... - Page 10 Figure 6. Stepper Drive (Getting Started) User-Defined Variables The following table briefly describes each UDV used in the project. Refer to Adding User-Defined Variables for Use With a UDV Axis in the NI SoftMotion Module Help for more information about each UDV. Table 1.
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Page 11: Ni Softmotion Engine To Fpga Communication
Figure 7 shows the Fault Monitoring Loop from the Stepper Drive (Getting Started) example. Figure 7. Stepper Drive (Getting Started) Fault Monitoring Loop Fault Code Array Write Fault Drive Interface VI Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 11... - Page 12 Control Status Loop The Axis 1.Control Register and Axis 1.Status Register UDVs are used in the Control Status Loop. Figure 8 shows the Control Status Loop from the Stepper Drive (Getting Started) example. Figure 8. Stepper Drive (Getting Started) Control Status Loop Axis 1.Control Register UDV Generate Status Register Drive Interface VI Interpret Control Register Drive Interface VI...
- Page 13 Engine and the LabVIEW FPGA Module. The transferred data is written to FPGA memory and accessed using the Read Motion Memory and Write Motion Memory Drive Interface VIs. This loop is required to be implemented as-is for proper operation. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 13...
- Page 14 Synchronization Loop The Synchronization Loop synchronizes the FPGA clock (slave) to the RT clock (master) to correct for drift and jitter. This is the preferred synchronization method to use with the NI SoftMotion Module. Figure 11 shows the Synchronization Loop from the Stepper Drive (Getting Started) example.
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Page 15: Compile And Run The Example
Axis Configuration dialog box. The Axis Configuration dialog box includes configuration options for stepper drive command signals, feedback devices, motion and digital I/O, trajectory, and axis setup. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 15... - Page 16 Figure 14 shows the parts of the Axis Configuration dialog box for NI 9501 UDV axes. Refer to the NI SoftMotion Module section of the LabVIEW Help for detailed information about each configuration option. Figure 14. Axis Configuration Dialog Box for NI 9501 UDV Axes Note The Axis Configuration dialog box user interface may not match this image exactly depending on which version of the LabVIEW NI SoftMotion Module you are...
- Page 17 ) to stop a move in progress. 12. Click the Disable button ( ) on the bottom of the dialog box to disable the drive when you are finished testing it. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 17...
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Page 18: Setting Up And Using Optional Hardware
Setting Up and Using Optional Hardware This section describes how to configure and use the NI 9501 with additional hardware to provide encoder feedback, limit and home inputs, digital I/O, and compare and capture operations. The Stepper Drive (with Encoder) example contains four additional modules and additional UDVs and FPGA loops to support these operations. -
Page 19: Adding And Connecting Additional Modules
Connect an available NI 9472 Vsup terminal to one of the two (+) terminals on the NI PS-16. Connect an available NI 9472 COM terminal to one of the two (-) terminals on the NI PS-16 Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 19... - Page 20 Add and Connect an NI 9401 High-Speed Bidirectional Module Install and connect an NI 9401 digital I/O module in slot 4 of the chassis. Connect the position compare and position capture signals as follows: Table 6. NI 9401 Position Capture and Position Compare Connections NI 9401 Signal Function DIO0...
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Page 21: Additional Udvs And Fpga Vi Loops
4 through 7. Axis 1.Position Feedback Specifies the feedback position from the encoder. Axis 1.Velocity Feedback Returns the filtered encoder velocity. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 21... - Page 22 Position Loop Figure 16 shows the Position Loop from the Stepper Drive (with Encoder) example. Figure 16. Stepper Drive (with Encoder) Position Loop NI SoftMotion Scan - Loop Timer VI Spline Interpolation Motor Control VI Encoder Configuration Information from NI SoftMotion Axis 1.Position Feedback UDV Axis 1.Position Setpoint UDV Axis 1.Velocity Feedback UDV...
- Page 23 Position Capture operations are included in the encoder loop to perform the Index capture operation for use with the NI SoftMotion Find Index routine. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 23...
- Page 24 DIO Config Port A Loop Figure 18 shows the DIO Config Port A loop from the Stepper Drive (with Encoder) example. Figure 18. Stepper Drive (with Encoder) DIO Config Port A Loop Axis 1.DIO Control (Port A) Digital Filter Motor Control VI DIO Port A Configuration Information from Generate DIO Status (Port A) Drive Interface VI NI SoftMotion...
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Page 25: Tips And Troubleshooting
Set the Rated Phase Current in the Axis Configuration dialog box and click OK when you are done. Right-click the axis in the Project Explorer window and select Deploy from the shortcut menu to deploy the updated setting. Getting Started with NI 9501 Modules and NI SoftMotion | © National Instruments | 25... -
Page 26: Where To Go Next
Operating instructions for the controller • NI 9501 Operating Instructions and Specifications—Use this document to learn how to use the National Instruments 9501, including specifications and pin assignments for the NI 9501. • NI 9411 Operating Instructions and Specifications—Use this document to learn how to use the National Instruments 9411, including specifications and pin assignments for the NI 9411. -
Page 27: Worldwide Support And Services
LabVIEW, National Instruments, NI, ni.com, the National Instruments corporate logo, and the Eagle logo are trademarks of National Instruments Corporation. Refer to the Trademark Information at ni.com/trademarks for other National Instruments trademarks. Other product and company names mentioned herein are trademarks or trade names of their respective companies.
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