NI 9502 Series Getting Started
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NI 9502 Series Getting Started

Brushless servo drive module for ni akm motors
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Getting Started with the NI 9502 Brushless Servo
Drive Module and NI AKM Motors
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 install and configure the NI 9502 C Series brushless servo drive module
for use with the NI AKM motors, and provides a walkthrough for both Trapezoidal and Field Oriented
Control commutation modes.
Tip
If you encounter any problems during setup, refer to the
assistance.
Contents
NI 9502 Overview ............................................................................................................................... 2
NI 9502 Commutation Mode....................................................................................................... 2
NI 9502 Connections ................................................................................................................... 4
NI 9502 to AKM Cable ............................................................................................................... 5
Connecting and Using the NI 9502 in Trapezoidal Commutation Mode ............................................ 6
What You Need to Get Started .................................................................................................... 6
Hardware Installation and Configuration .................................................................................... 7
Software Installation and Configuration...................................................................................... 12
What You Need to Get Started .................................................................................................... 16
Hardware Installation and Configuration .................................................................................... 17
Software Installation and Configuration...................................................................................... 21
Tips and Troubleshooting .................................................................................................................... 23
I/O Nodes Are Broken or Unavailable ........................................................................................ 23
Motor Responds Poorly ............................................................................................................... 24
NI AKM Motor Specifications .................................................................................................... 26
Related Documentation........................................................................................................................ 28
Worldwide Support and Services ........................................................................................................ 28
Tips and Troubleshooting
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Summary of Contents for NI 9502 Series

  • Page 1: Table Of Contents

    Started with LabVIEW manual for information about LabVIEW and LabVIEW terminology. This document explains how to install and configure the NI 9502 C Series brushless servo drive module for use with the NI AKM motors, and provides a walkthrough for both Trapezoidal and Field Oriented Control commutation modes.

  • Page 2: Ni 9502 Overview

    NI 9502 Overview The NI 9502 is a brushless servo motor drive that provides outputs to drive a brushless servo motor, inputs for Hall Effect sensors, and power connections. Depending on software settings, the NI 9502 can operate in either Trapezoidal or Field Oriented Control (FOC) commutation mode. Table 1 shows the hardware and software differences between the NI 9502 commutation modes.
  • Page 3 Sense C Series I/O Module Encoder Position Encoder Decoder Feedback Feedback * Proportional to Torque Figure 2. NI 9502 Trapezoidal Commutation Mode Block Diagram with Encoder Feedback © National Instruments Corporation Getting Started with the NI 9502 and AKM Motors...

  • Page 4: Ni 9502 Connections

    VIs and example programs that provide quick setup and application development when using the NI 9502 with FOC commutation mode. Your LabVIEW Platform DVD includes a free 30-day evaluation of NI SoftMotion Module Premium that you can install to evaluate using the NI 9502 in FOC commutation mode.

  • Page 5: Ni 9502 To Akm Cable

    NI 9502 to AKM Cable The NI 9502 to AKM Cable kit connects an NI 9502 C Series brushless servo motor drive module to an NI AKM servo motor available from National Instruments. The kit consists of two cables, one for motor power and one for Hall Effect sensor and encoder feedback, with motor connectors on one end and pigtail connectors to the NI 9502 C Series module and a separate encoder module on the other end.

  • Page 6: Connecting And Using The Ni 9502 In Trapezoidal Commutation Mode

    If you are connecting the optional encoder and using an NI 9411 C Series module for encoder connections, you can use the +5 V output on the NI 9411 module to power the encoder and Hall Effect sensors on the NI AKM motor.

  • Page 7: Hardware Installation And Configuration

    Figure 5 shows the hardware connections when the NI 9502 is used in Trapezoidal commutation mode for velocity control. +24 V Power Supply (NI PS-15 Shown) Motor Connections Ethernet Cable Feedback Connections NI RT Controller (Encoder connections (NI cRIO-9014 shown)
  • Page 8 Install the NI 9502 module in slot 1 of the chassis, if available. Note The NI 9502 example programs are configured for slot 1. If the NI 9502 module is installed in a different slot, modify the examples accordingly. (Optional) Install an NI 9411 module for encoder feedback, if using.
  • Page 9 Step 2: Connect the NI 9502 to the NI AKM Motor Connect the NI AKM motor to the NI 9502 C Series module using the NI 9502 to AKM Motor Cables. Figure 7 shows the NI 9502 to AKM Motor Cable connectors.
  • Page 10 Tables 2, 3, and 4 provide the NI 9502 to AKM Motor cable screw terminal lead descriptions for the motor, encoder, and Hall Effect sensor connections, respectively. Tables 2 and 4 show NI 9502 connections, and Table 3 shows an example NI 9411 connection.
  • Page 11 Table 3. NI 9502 to AKM Feedback Cable Screw Terminal Lead Descriptions (Encoder Portion) (Continued) NI 9411 Connection (NI 9411 Signal Name) Wire Color Signal Name Signal Description — White/Grey Stripes NI AKM Motor Internal thermistor connection within Thermal Sensor the motor which you can connect to an external device for monitoring.

  • Page 12: Software Installation And Configuration

    Connect the +5 V and COM wires from the encoder portion of the cable to a 5 V power supply. Connect the COM from the 5 V power supply to the NI 9502 COM, to provide a common reference. Software Installation and Configuration This section covers installing and configuring the software for the NI 9502 servo drive module.
  • Page 13 (Optional) Remove the unavailable I/O nodes from under the NI 9502 item the Project Explorer window. m. If the NI 9502 is not in slot 1 of the CompactRIO chassis, update the I/O nodes in the FPGA VI to point to the correct location.
  • Page 14 13. Click the Enable Drive button again to disable the drive and stop the motor. 14. Repeat steps 8 through 15 for the other five possible wiring combinations. 15. Stop the VI using the Stop button. Getting Started with the NI 9502 and AKM Motors ni.com...
  • Page 15 Commutation 19. (Optional) Tune the current gains using the same principles in the Tips and Troubleshooting section used to tune the velocity loop. © National Instruments Corporation Getting Started with the NI 9502 and AKM Motors...

  • Page 16: Connecting And Using The Ni 9502 In Field Oriented Control Commutation Mode

    Connecting and Using the NI 9502 in Field Oriented Control Commutation Mode This section explains how to connect and use the NI 9502 module in Field Oriented Control (FOC) commutation mode, using an installed example to help you set up and configure your system.

  • Page 17: Hardware Installation And Configuration

    Figure 5 shows the hardware connections when the NI 9502 is used in FOC commutation mode. +24 V Power Supply (NI PS-15 Shown) Motor Connections Ethernet Cable Feedback Connections NI RT Controller (NI cRIO-9014 shown) with NI 9502 and NI 9411 Modules...
  • Page 18 The NI 9502 example programs are configured for slot 1. If the NI 9502 module is installed in a different slot, modify the examples accordingly. Install an NI 9411 module for encoder feedback, and to provide 5 V power for the encoder and Hall Effect sensors.
  • Page 19 Step 2: Connect the NI 9502 and NI 9411 to the NI AKM Motor Connect the NI AKM motor to the NI 9502 and NI 9411 C Series modules using the NI 9502 to AKM Motor Cables. Figure 7 shows the NI 9502 to AKM Motor Cable connectors.
  • Page 20 Table 7. NI 9502 to AKM Feedback Cable Screw Terminal Lead Descriptions (Encoder Portion) NI 9411 Connection (NI 9411 Signal Name) Wire Color Signal Name Signal Description 1 (DI0a) White/Orange Stripes Encoder Phase A Differential encoder Phase A/A– signals. 9 (DI0b) Orange/White Stripes Encoder Phase A–...

  • Page 21: Software Installation And Configuration

    Connect the motor connector on the cable to the NI AKM motor connector. Connect the motor Phase U, Phase V, and Phase W, and COM wires to the NI 9502. Connect the feedback connector on the cable to the NI AKM feedback connector.
  • Page 22 FPGA Target 2 FPGA Target If the NI 9502 is not in slot 1 and the NI 9411 is not in slot 2 of the CompactRIO chassis, update the I/O nodes in the FPGA VI to point to the correct location.

  • Page 23: Tips And Troubleshooting

    You do not need to run the FPGA VI directly. The other VIs use the FPGA VI to communicate with the NI 9502 module. Refer to the NI SoftMotion Module help for more information about the field-oriented control (FOC) algorithm and autophasing.

  • Page 24: Motor Responds Poorly

    Motor Responds Poorly The NI 9502 example programs are configured with basic gains that may not work well for your system. This section contains some tuning best practices, but does not cover all aspects of tuning a system from scratch.
  • Page 25 Integration Limit parameter. Too high a value of Ki often results in servo loop instability. If necessary, tune the current loop using the same tuning principles as for the velocity loop. © National Instruments Corporation Getting Started with the NI 9502 and AKM Motors...

  • Page 26: Ni Akm Motor Specifications

    NI AKM Motor Specifications The NI AKM motors contain labels listing specifications for the motors. However, these numbers may be incorrect. The following figure lists the correct specifications for each motor. Model: AKM11F-ANMN2-00 Model: AKM11E-ANMN2-00 0.128 0.180 IP54 IP54 Nrtd...

  • Page 27: Ni Akm Motor Thermal Sensor Ptc Resistance Versus Temperature Curve

    NI AKM Motor Thermal Sensor PTC Resistance Versus Temperature Curve The following figure shows the NI AKM motor thermal sensor PTC (positive temperature coefficient) resistance versus temperature response. 10 8 Ω R PTC 10 7 T NTT = 155 °C...

  • Page 28: Related Documentation

    Operating instructions for the real-time controller. • LabVIEW NI SoftMotion Module Help—Use this help file to learn about using the NI SoftMotion Module in LabVIEW including information about the Motor Control VIs and using the NI SoftMotion Module with the LabVIEW Project. To access this help file from LabVIEW, select Help»LabVIEW Help, then expand the LabVIEW NI SoftMotion Module book on the...

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