NI 9512 C Series Getting Started
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NI 9512 C Series Getting Started

Modules and akd servo drives
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GETTING STARTED
NI 9512 C Series Modules and
AKD Servo Drives
If you are a new user of LabVIEW or are unfamiliar with LabVIEW, refer to
Note
the Getting Started with LabVIEW manual for information about LabVIEW and
LabVIEW terminology.
This document explains how to install and configure the AKD servo drives for use with the
NI 9512 C Series drive interface module.
If you encounter any problems during setup, refer to the
Tip
Troubleshooting
Contents
What You Need to Get Started ................................................................................................. 2
Hardware .......................................................................................................................... 2
Software............................................................................................................................ 3
Related Documentation .................................................................................................... 4
Hardware Installation and Configuration ................................................................................. 5
Step 1: Set Up the CompactRIO System .......................................................................... 6
Step 3: Mount the Drive and Connect the Protective Earth ............................................. 9
Step 6: Connect the Motor and Encoder to the Drive....................................................... 12
Step 7: Connect the AC Input Power................................................................................ 13
Step 8: Connect the Drive Communication...................................................................... 14
Step 9: Confirm Drive Connections ................................................................................. 15
Software Installation and Configuration................................................................................... 15
Step 2: Create a Project in Scan Interface Mode .............................................................. 17
Step 3: Add Resources to the Project ............................................................................... 18
Step 4: Configure the NI 9512 Axis ................................................................................. 20
Step 5: Install AKD WorkBench and Configure the Drive .............................................. 24
Step 7: Enable and Test the Drive Using LabVIEW ........................................................ 31
section for assistance.
Tips and

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Summary of Contents for NI 9512 C Series

  • Page 1: Table Of Contents

    Step 3: Mount the Drive and Connect the Protective Earth ..........9 Step 4: Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable ....9 Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive ....10 Step 6: Connect the Motor and Encoder to the Drive............

  • Page 2: What You Need To Get Started

     Ethernet connection and cable for the CompactRIO controller  Ethernet connection and cable for the AKD servo drive  NI 9512 to AKD Drive Cable 2 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 3: Software

    NI 9512 Module Ethernet Cable Screw Terminal Connector for Power Supply & +24 V Power Supply Additional I/O (NI PS-15 Shown) (Limits, Position Compare, etc.) Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 3...

  • Page 4: Related Documentation

    • NI 9144 User Guide and Specifications—Use this document to learn additional information about how to connect the NI 9144 chassis to a network, how to use the NI 9144 chassis features, and contains the NI 9144 chassis specifications. •...

  • Page 5: Hardware Installation And Configuration

    Hardware Installation and Configuration This section covers the hardware setup for the CompactRIO system, NI 9512 C Series module, and AKD servo drive. Figure 2 shows an overview of the connectors on the AKD servo drive. Figure 2. AKD Servo Drive Connectors...

  • Page 6: Step 1: Set Up The Compactrio System

    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 6 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 7: Step 2: Connect Ni 9512 To Akd Drive Cable To The C Series Module

    Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module Connect the MDR and DSUB connectors on the NI 9512 to AKD Drive Cable to the MDR and DSUB connectors on the C Series module. Figure 4 shows the NI 9512 to AKD Drive Cable connectors.
  • Page 8 NI 9512 Digital Input 0 Vsup Vsup Return NI 9512 Digital Output 0 NI 9512 Digital Output 1 † † NI 9512 +5V OUT Position Compare Position Capture Reserved Reserved 8 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 9: Step 3: Mount The Drive And Connect The Protective Earth

    Complete the following steps to connect the +24 V power supply to the cable. Connect the +24 V power supply (+) terminal to the Vsup terminal on the NI 9512 to AKD Drive Cable screw terminal connector. Refer to Table 1 for the screw terminal connector pinout.

  • Page 10: Step 5: Connect The Ni 9512 To Akd Drive Cable To The Akd Servo Drive

    Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive Connect the NI 9512 to AKD Drive Cable to the AKD servo drive. Refer to Figure 6 for the location of the connectors. Connect the cable X1 3-pin connector to the AKD servo drive X1 3-pin connector. This connector provides +24 V power to both the drive logic and to the safe torque out (STO) input.
  • Page 11 Connect the cable X8 10-pin connector to the AKD servo drive X8 10-pin connector. Figure 6. NI 9512 to AKD Drive Cable Connections +24 V Supply, STO (X1) I/O (X8) Encoder Emulation (X9) I/O (X7) Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 11...

  • Page 12: Step 6: Connect The Motor And Encoder To The Drive

    Step 6: Connect the Motor and Encoder to the Drive All servo motors available from NI come pre-wired for direct connection to the AKD servo drive X2 motor connector and X10 feedback connector. Refer to Figure 7 for the location of the connectors.

  • Page 13: Step 7: Connect The Ac Input Power

    AKD Installation Manual for information about filter and fuse requirements. Figure 9 shows three-phase connection. Figure 9. AC Input Power Three-Phase Connection AKD Servo Drive Protective Protective Earth Earth User-Provided Filter (Optional) Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 13...

  • Page 14: Step 8: Connect The Drive Communication

    Connect the AKD servo drive X11 service port to a hub, switch, or router using an Ethernet cable. Figure 11 shows the location of the X11 service port on the drive. Figure 11. AKD Servo Drive X11 Connector 14 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 15: Step 9: Confirm Drive Connections

    Clear Faults toolbar button in the AKD WorkBench software. Software Installation and Configuration This section covers installing and configuring the software for the AKD servo drive and NI 9512 C Series module. If you are using an NI 9144 chassis, refer to...
  • Page 16 16. Select a recommended software set that includes NI-RIO 3.4.0 or later. 17. Click Next. 18. Select LabVIEW NI SoftMotion Module from the add-ons list. If you are using the NI SoftMotion Module 2010 SP1 or earlier, also select Note LabVIEW NI SoftMotion Module Scan Engine Support from the list.

  • Page 17: Step 2: Create A Project In Scan Interface Mode

    Select Help and make sure that Show Context Help is checked. You can refer to the context help throughout the tutorial for information about items on the block diagram. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 17...

  • Page 18: Step 3: Add Resources To The Project

    NI SoftMotion Axis from the shortcut menu to open the Axis Manager dialog box, shown in Figure 12. 11. Click Add New Axis to create an NI SoftMotion axis associated with the NI 9512 module. Axes are automatically bound to an available module. You can double-click the axis name to rename the axis and give it a descriptive name.
  • Page 19 When you have finished these steps your LabVIEW project should look similar to the image in Figure 13. Figure 13. Project Explorer Window with Modules in Scan Interface Mode Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 19...

  • Page 20: Step 4: Configure The Ni 9512 Axis

    I/O, trajectory, and axis setup. Figure 14 shows the parts of the Axis Configuration dialog box for NI 9512 C Series module. Refer to the NI SoftMotion Module book of the LabVIEW Help for detailed information about each configuration option.
  • Page 21 Configure the Units and Steps Per Unit. • Select rev from the Units text box, or type revolutions if you prefer. • Set Steps Per revolution to 8,000. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 21...
  • Page 22 (Optional) Click the Monitor button ( ) and enable the Enforce Position Error Limit checkbox. This causes NI SoftMotion to disable the drive and turn off the Drive Enable signal when the specified position error limit is exceeded. (Optional) Click the Digital I/O button ( ) to open the Digital I/O page and map the following optional status inputs.
  • Page 23 11. Right-click the controller item in the Project Explorer window and select Deploy All to deploy the axis information. 12. Select File»Save Project to save the project. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 23...

  • Page 24: Step 5: Install Akd Workbench And Configure The Drive

    Figure 16 shows the AKD WorkBench Start page. Figure 16. AKD WorkBench Start Page Available Drives Specify Address Connect to Drive 24 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...
  • Page 25 Command Source Drive Active Indicator Operation Mode Software Enable Status Indicator Clear Faults Hardware Enable Status Indicator Save Configuration Settings to Drive 10 Fault Indicator Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 25...
  • Page 26 AKD WorkBench returns an error. When you have updated these settings, the Settings page should look similar to Figure 18. Figure 18. AKD WorkBench Settings Page 26 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...
  • Page 27 Open the Digital I/O page under the Settings tree item. If you mapped the NI 9512 DI 2 signal to Servo/Drive Ready, select 8 - Enable from the DOUT 1 Mode list.
  • Page 28 Figure 20 shows the AKD WorkBench Encoder Emulation page. Figure 20. AKD WorkBench Encoder Emulation Page 28 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...
  • Page 29 Steps Per revolution setting specified in Step 4: Configure the NI 9512 Axis. Figure 21 shows the AKD WorkBench Feedback 2 page. Figure 21. AKD WorkBench Feedback 2 Page Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 29...

  • Page 30: Step 6: Tune The Motor Using The Workbench Performance Servo Tuner

    The progress bar shows the relative progress of the tuning process. When tuning is complete, the Complete LED illuminates and the Performance Servo Tuner page displays a Bode plot showing the frequency response of the system. 30 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 31: Step 7: Enable And Test The Drive Using Labview

    Connect the controller to a power supply and an Ethernet network on the same subnet as the development computer. Refer to the controller operating instructions for information about wiring the controller to the power supply and Ethernet network. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 31...

  • Page 32: Software Installation And Configuration With The Ni 9144

    If you are using a PXI system, you must add a PXI-8231/8232 network card for the secondary port. You may expand the deterministic Ethernet network by connecting an additional NI 9144 chassis or other slave devices to the OUT port (bottom port) on the first NI 9144 chassis.
  • Page 33 19. Click the Network Settings tab and expand More Settings in the eth1 section 20. Select EtherCAT from the Adapter Mode list. These settings are not available if NI-Industrial Communications for Note EtherCAT is not installed. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 33...

  • Page 34: Adding The Ethercat Master Device To The Labview Project

    Adding the EtherCAT Master Device to the LabVIEW Project If you are using the NI 9144 chassis, complete the following steps to add the EtherCAT master device and detect the C Series modules. In the LabVIEW Project Explorer window, right-click the master controller and select New»Targets and Devices.

  • Page 35: Tips And Troubleshooting

    If, after going through all steps in this document, the AKD servo drive does not enable, verify the following settings: • The Drive Enable line from the NI 9512 C Series module must be active. Figure 17 shows the location of the hardware enable indicator in the AKD WorkBench software. •...

  • Page 36: Increasing The Maximum Velocity And Acceleration

    Select the network connection type corresponding to the port you used to connect the AKD servo drive. This will most likely be Local Area Connection x, where x corresponds to the number of the connection. 36 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 37: The Motor Responds Poorly

    LED displays the digits and dots of the IP address in sequence. Figure 26 shows the location of the B1 button. Figure 26. AKD Servo Drive B1 Button Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 37...

  • Page 38: Wiring Diagram

    Filter 24V DC Mains Contactor Encoder Encoder Evaluation Emulation Service TCP/IP PE–Connection (Protective Earth) L1 L2 L3 PE Chassis Ground Connection (Panel) Shield Connection Via Plug 38 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives...

  • Page 39: Worldwide Support And Services

    United States, visit the Worldwide Offices section of ni.com/ to access the branch office Web sites, which provide up-to-date contact information, niglobal support phone numbers, email addresses, and current events. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 39...
  • Page 40 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. 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...

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