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National Instruments NI 9516 Operating Instructions And Specifications

Servo drive interface module with feedback
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OPERATING INSTRUCTIONS AND
SPECIFICATIONS
NI 9516
Servo Drive Interface Module with Feedback
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  • Page 1 OPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9516 Servo Drive Interface Module with Feedback Français Deutsch ni.com/manuals...
  • Page 2 Related Information Safety Guidelines Operate the NI 9516 only as described in these operating instructions. 2 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 3 Safety Guidelines for Hazardous Locations The NI 9516 is suitable for use in Class I, Division 2, Groups A, B, C, D, T4 hazardous locations; Class I, Zone 2, AEx nA IIC T4 and Ex nA IIC T4 hazardous locations; and nonhazardous locations only.
  • Page 4 II 3G and is suitable for use in Zone 2 hazardous locations, in ambient temperatures of –40 °C  Ta  70 °C. If you are using the NI 9516 in Gas Group IIC hazardous locations, you must use the device in an NI chassis that has been evaluated as Ex nC IIC T4, Ex IIC T4, Ex nA IIC T4, or Ex nL IIC T4 equipment.
  • Page 5 To minimize the potential for the product to cause interference to radio and television reception or to experience unacceptable performance NI 9516 Operating Instructions and Specifications | © National Instruments | 5...
  • Page 6 Some modules are Lloyd’s Register (LR) Type Approved for marine applications. To verify Lloyd’s Register certification, go to ni.com/certification and search for the LR certificate, or look for the Lloyd’s Register mark on the module. 6 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 7 0 to 30 V digital input lines. The NI 9516 also includes a processor to run the spline interpolation engine and PID control loop.
  • Page 8 System Connection The NI 9516 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 servo amplifiers or drives, a 0 to 30 V general-purpose digital input line, and a 19 to 30 V input for power connection.
  • Page 9 NI 9516 Connection Options National Instruments offers several options for connecting the NI 9516 to servo drives. You can use the NI 9514/16 to AKD cable with the AKD analog servo drive and AKM series servo motors from NI. To connect to third-party servo drives use the NI 951x Cable and Terminal Block Bundle.
  • Page 10 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. 3. Connect the NI 9516 module to an external power supply. Do not connect anything to pins marked Caution Reserved.

  • Page 11: Encoder 0 Encoder

    Vsup NI 9516 Limit and Home NI Connection Sensors Accessory/ Custom Cable Power Supply Drive Command Drive Enable Drive Drive Fault Motor Servo Motor Encoder 0 Encoder 1 NI 9516 Operating Instructions and Specifications | © National Instruments | 11...
  • Page 12 Table 1. NI 9516 DSUB Connector Pin Assignments Connector Signal Drive Command Drive Enable Reserved Reserved Reserved Drive Command Digital Input 1 Reserved Reserved Reserved Vsup Reserved Reserved 12 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 13 Encoder 0 Phase A+ Encoder 0 Index+ Encoder 1 Phase B+ Encoder 1 Phase B– Encoder 1 Phase A– Digital Input 0 Encoder 1 Phase A+ Home Reverse Limit Forward Limit NI 9516 Operating Instructions and Specifications | © National Instruments | 13...
  • Page 14 Drive Command Reserved Reserved † Drive Command COM † † Vsup Digital Input 1 † Drive Enable † Reserved Reserved † Reserved Reserved Reserved Reserved Shield † Indicates DSUB connector signals. 14 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 15 Input Reverse Circuitry Digital Input (0-1) +5V Reg +5V OUT This document provides a brief overview of the Note module signal connections. Refer to the NI 951x User NI 9516 Operating Instructions and Specifications | © National Instruments | 15...

  • Page 16: Encoder Signals

    , for more information about signal connections. Drive Command Output The NI 9516 module provides a ±10 V analog Drive Command output. Use the Drive Command COM signal instead of COM as a reference for the Drive Command Output. This reference signal helps keep digital noise separate from the analog output.
  • Page 17 Figure 5. Differential Encoder Input Circuit Encoder NI 9516 Phase + +5 V Receiver Phase – Figure 6. Single-Ended Encoder Input Circuit Encoder NI 9516 +5 V Phase+ +5 V Receiver Phase– Connection NI 9516 Operating Instructions and Specifications | © National Instruments | 17...
  • Page 18 Figure 7. Limit or Digital Input Circuit Configured for Sinking PNP (Sourcing) Output Device NI 9516 Limit, Home, or Digital Input Limit, Home, Current or Digital Input Limiting Circuit V– (Reference) 18 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 19 Figure 8. Limit or Digital Input Circuit Configured for Sourcing NPN (Sinking) Output Device NI 9516 Limit, Home, Current or Digital Input Limiting Circuit Limit, Home, or Digital Input V– (Reference) NI 9516 Operating Instructions and Specifications | © National Instruments | 19...
  • Page 20 Drive Enable The NI 9516 Drive Enable signal is software configurable for sinking or sourcing output type and the active state is software configurable for on or off. Do not connect the Drive Enable output to a Caution +5 V input circuit when the Drive Enable output is configured for sourcing.

  • Page 21: Ni 9516 Operating Instructions And Specifications | © National Instruments

    Figure 10. Drive Enable Output Circuit Configured for Sinking PNP (Sourcing) NI 9516 Input Device NI 9516 Vsup Sourcing Circuit Drive Enable Drive Enable Configured For Sinking V– (Reference) NI 9516 Operating Instructions and Specifications | © National Instruments | 21...

  • Page 22: Led Indicators

    LED Indicators The NI 9516 has four LEDs to display status information. 1 Axis Status (Green) 3 Limit Active (Yellow) 2 Encoder Active (Green) 4 Axis Fault (Red) Axis Status The Axis Status LED (green) has three states to display axis status.

  • Page 23: Ni 9516 Operating Instructions And Specifications | © National Instruments

    The Limit Active LED (yellow) has two states to display the status of the limits and home input. Off—The power supply (Vsup) is not connected, or both the • limits and home input are not active. NI 9516 Operating Instructions and Specifications | © National Instruments | 23...
  • Page 24 Visit ni.com/info and enter cseriesdoc for information about C Series documentation. Typically, when a system is in sleep mode, you cannot communicate with the modules. In sleep mode, the system 24 | ni.com | NI 9516 Operating Instructions and Specifications...

  • Page 25: Specifications

    When using a torque loop, the control loop rate depends on the processor speed and communication bus bandwidth. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information. NI 9516 Operating Instructions and Specifications | © National Instruments | 25...
  • Page 26 ) ....0.3 Ω max ) sourcing..V Output voltage (V - (I ) sinking..I Output voltage (V Min output pulse width ....100 µs Active state......... Software-selectable: on or 26 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 27 Common-mode voltage is the average of Phase+ and Phase-. Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options. NI 9516 Operating Instructions and Specifications | © National Instruments | 27...
  • Page 28 Digital logic levels, OFF state Input voltage ......11 to 30 V Input current......≤1 mA Digital logic levels, ON state Input voltage ......≤5 V Input current......≥2 mA 28 | ni.com | NI 9516 Operating Instructions and Specifications...

  • Page 29: Position Capture

    Sourcing 4 mA ..... 3.9 V min Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options. NI 9516 Operating Instructions and Specifications | © National Instruments | 29...

  • Page 30: Digital Input

    Active state......... Software-selectable: high or Digital Inputs Number of inputs ......2 Input type .......... Software-selectable: sinking or sourcing Digital input configured for sinking Digital logic levels, OFF state Input voltage ......≤5 V 30 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 31 MTBF ..........Contact NI for Bellcore MTBF or MIL-HDBK-217F specifications. Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options. NI 9516 Operating Instructions and Specifications | © National Instruments | 31...
  • Page 32 If you need to clean the module, wipe it with a dry towel. For two-dimensional drawings and Note three-dimensional models of the C Series module and ni.com/dimensions connectors, visit and search by module number. Weight..........155 g (5.5 oz) 32 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 33 Such voltage measurements include signal levels, special equipment, limited-energy parts of equipment, circuits powered by regulated low-voltage sources, and electronics. NI 9516 Operating Instructions and Specifications | © National Instruments | 33...
  • Page 34 Do not connect the NI 9516 to signals or use for Caution measurements within Measurement Categories II, III, or IV. Hazardous Locations U.S. (UL) .......... Class I, Division 2, Groups A, B, C, D, T4; Class I, Zone 2, AEx nA IIC T4 Canada (C-UL) .........
  • Page 35 FCC 47 CFR Part 15B: Class A emissions • ICES-001: Class A emissions For the standards applied to assess the EMC of this Note Online Product Certification product, refer to the section. NI 9516 Operating Instructions and Specifications | © National Instruments | 35...
  • Page 36 Certification column. Shock and Vibration To meet these specifications, you must panel mount the system. Operating vibration Random (IEC 60068-2-64)..5 g , 10 to 500 Hz 36 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 37 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 NI 9516 Operating Instructions and Specifications | © National Instruments | 37...
  • Page 38 WEEE recycling center. For more information about WEEE recycling centers, National Instruments WEEE initiatives, and compliance with WEEE Directive 2002/96/EC on Waste and Electronic Equipment, visit ni.com/environment/ weee 38 | ni.com | NI 9516 Operating Instructions and Specifications...
  • Page 39 NI. A Declaration of Conformity (DoC) is our claim of compliance with the Council of the European Communities using the manufacturer’s NI 9516 Operating Instructions and Specifications | © National Instruments | 39...
  • Page 40 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 . You can find information about end-user license agreements (EULAs) and third-party legal notices in the readme file for your NI product.

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