National Instruments NI 9930 User Manual
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National Instruments NI 9930 User Manual

National Instruments NI 9930 User Manual

Motion control accessories
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  • Page 1 cRIO-9014...

  • Page 2: Table Of Contents

    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 the NI 9930 motion control accessories with the NI 9512 C Series drive interface module and selected position command servo drives.
  • Page 3 NI RT Controller (NI cRIO-9014 shown) and NI 9512 Module FOR PATENTS: NI.COM/PATENTS NI 9930M Motion Mitsubishi MR-J2 Control Accessory Servo Drive Figure 1. NI 9930M Connection Accessory with to MR-J2 Drive Connections NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 4 (NI cRIO-9014 shown) and NI 9512 Module FOR PATENTS: NI.COM/PATENTS NI 9930M Motion Mitsubishi MR-J3 Control Accessory Servo Drive Figure 2. NI 9930M Connection Accessory with to MR-J3 Drive Connections © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 5 J4: NI 9512 Connector DS2: +24 V Power LED J2: CN1A Connector (for MR-J2 Drive) J8: + 24 V Power Supply Connector J3: CN1 Connector (for MR-J3 Drive) Figure 3. NI 9930M Connection Accessory Connectors NI 9930 Motion Control Accessories User Guide ni.com...

  • Page 6: Hardware Installation And Configuration

    Align the controller with the chassis as shown in Figure 4. Controller Reconfigurable Embedded Chassis Captive Screws Grounding Screw Controller Slot Figure 4. Installing the Controller on the Chassis (Eight-Slot Chassis Shown) © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 7 I/O signals, and the J7 connector provides connection to the NI 9512 I/O signals. Refer to the drive or the NI 9512 module documentation for specific signal connection requirements. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 8 +5 V Out (NI 9512) DI 0 (NI 9512) DO 1 (NI 9512) DO 0 (NI 9512) Home Reverse Limit Forward Limit +24 V Figure 5. NI 9930M I/O Connectors © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 9: Software Installation And Configuration

    Select the controller under Remote Systems in the Configuration pane. If you do not see the controller, you may need to disable the firewall on the development computer. Go to and enter for more information. ni.com/info RIOMAXTroubleshoot NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 10 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. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 11 Right-click the CompactRIO chassis in the Project Explorer window and select Properties from the shortcut menu to display this dialog box. Click Discover in the Discover C Series Modules? dialog box if it appears. 10. Click Continue. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 12 You can double-click the axis name to rename the axis and give it a descriptive name. Figure 7. Axis Manager Dialog Box © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 13 Complete the following steps to configure the axis I/O settings for use with the Mitsubishi MR-J2 or MR-J3 servo drive. Right-click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 14 Set the Counts per rev to 4000. This assumes the default drive setting for encoder pulses per rev. Refer to Step 3: Configure the Drive and Connect the Motor and Encoder to the Drive Hardware Installation and Configuration section for more information. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 15 131,072 pulses per revolution, set Steps Per rev to 131,072. When you are finished the Stepper Settings page will look similar to Figure 11. Figure 11. Axis Configuration Stepper Page NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 16 If you are configuring a digital output to use as the Alarm Clear signal, you must connect the configured output from the J7 screw terminal connector to the drive Clear signal on the J1 screw terminal connector. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 17 12. Click Apply in the Conflict Resolution dialog box when it appears. The NI Scan Engine must be in Active mode to move the axis. 13. Select File»Save Project to save the project. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 18 Finalize your motion system setup by connecting and configuring additional I/O such as limits as required by your system using the screw terminal connectors on the NI 9930M accessory. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 19: Ni 9930P Motion Control Accessory For Panasonic Servo Drives

    Servo motor, encoder, power supply, and associated cables to connect the motor and encoder to the drive. Software ❑ LabVIEW 2009 SP1 or later ❑ LabVIEW 2009 SP1 Real-Time Module or later ❑ LabVIEW 2009 SP1 NI SoftMotion Module or later ❑ NI-RIO 3.4.0 or later NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 20 NI 9930P Motion Control Accessory Panasonic Minas A or Minas A5 Servo Drive (Minas A5 shown) +24 V Power Supply (NI PS-15 Shown) Figure 13. NI 9930P Connection Accessory Connections © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 21 J2: Minas A or Minas A5 Connector DS2: +24 V Power LED W1, W2, W3, and W4: Step and Direction Input Jumpers J6: + 24 V Power Supply Connector Figure 14. NI 9930P Connection Accessory Connectors NI 9930 Motion Control Accessories User Guide ni.com...

  • Page 22: Hardware Installation And Configuration

    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. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 23 I/O signals, and the J5 connector provides connection to the NI 9512 I/O signals. Refer to the drive or the NI 9512 module documentation for specific signal connection requirements. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 24 Panasonic Minas A—Set parameter PA_r02 to 0 (position control) and parameter PA_r42 to 3 (step and direction). • Panasonic Minas A5—Set parameter PR0.07 to 3 (pulse train + signal). © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 25: Software Installation And Configuration

    If you do not want to format the disk on the controller, eliminating all installed software and files, skip to step 14. Set the Safe Mode switch on the controller to the On position. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 26 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. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 27 11. Right-click the controller item in the Project Explorer window and select Properties from the shortcut menu to display the RT Target Properties dialog box. Select Scan Engine from the Category list to display the Scan Engine page. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 28 You can double-click the axis name to rename the axis and give it a descriptive name. Figure 19. Axis Manager Dialog Box © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 29 You cannot associate more than one axis with the same C Series module. When you have finished these steps your LabVIEW project should look similar to the image in Figure 20. Figure 20. Project Explorer Window with Modules in Scan Interface Mode NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 30 Encoder counts per revolution is also referred to as counts per index. For example, a 500 line encoder has 2,000 quadrature counts per revolution. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 31 In the Position Error section, change the Position Error Limit to an acceptable value for your system. Exceeding the specified position error limit causes NI SoftMotion to disable the drive and turn off the Drive Enable signal. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 32 If you are configuring a digital output to use as the Alarm Clear signal, you must connect the configured output from the J5 screw terminal connector to the drive Alarm Clear signal on the J4 screw terminal connector. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 33 11. Right-click the controller item in the Project Explorer window and select Deploy All to deploy the axis information. 12. Click Apply in the Conflict Resolution dialog box when it appears. 13. Select File»Save Project to save the project. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 34 Finalize your motion system setup by connecting and configuring additional I/O such as limits as required by your system using the screw terminal connectors on the NI 9930P accessory. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 35: Ni 9930Y Motion Control Accessory For Yaskawa Servo Drives

    Servo motor, encoder, power supply, and associated cables to connect the motor and encoder to the drive. Software ❑ LabVIEW 2009 SP1 or later ❑ LabVIEW 2009 SP1 Real-Time Module or later ❑ LabVIEW 2009 SP1 NI SoftMotion Module or later ❑ NI-RIO 3.4.0 or later NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 36 FOR PATENTS: NI.COM/PATENTS Yaskawa Sigma-II NI 9930Y Motion or Sigma-V Control Accessory Servo Drive (Sigma-V shown) +24 V Power Supply (NI PS-15 Shown) Figure 25. NI 9930Y Connection Accessory Connections © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 37 J6: + 24 V Power Supply Connector DS1: +5 V Power LED (from NI 9512) J3: NI 9512 Connector DS2: +24 V Power LED J2: Sigma-II and Sigma-V Connector Figure 26. NI 9930Y Connection Accessory Connectors NI 9930 Motion Control Accessories User Guide ni.com...

  • Page 38: Hardware Installation And Configuration

    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. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 39 I/O signals, and the J5 connector provides connection to the NI 9512 I/O signals. Refer to the drive or the NI 9512 module documentation for specific signal connection requirements. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 40 +5 V Out (NI 9512) DI 0 (NI 9512) DO 1 (NI 9512) DO 0 (NI 9512) Home Reverse Limit Forward Limit +24 V Figure 28. NI 9930Y I/O Connectors © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 41: Software Installation And Configuration

    Select the controller under Remote Systems in the Configuration pane. If you do not see the controller, you may need to disable the firewall on the development computer. Go to and enter for more information. ni.com/info RIOMAXTroubleshoot NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 42 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. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 43 11. Right-click the controller item in the Project Explorer window and select Properties from the shortcut menu to display the RT Target Properties dialog box. Select Scan Engine from the Category list to display the Scan Engine page. NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 44 16. Click OK to close the Axis Manager dialog box. The new axis is added to the Project Explorer window. Note You cannot associate more than one axis with the same C Series module. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 45 Right-click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box. Figure 32 shows the parts of the Axis Configuration dialog box for NI 9512 C Series module. Figure 32. Axis Configuration Dialog Box NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 46 Set Active State to Low. Set Steps Per rev depending on the encoder resolution. For example, if you are using an encoder with 2048 pulses per revolution, set Steps Per rev to 2048. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 47 Double-click the text in the Mapping column and select Drive Fault/Alarm from the dropdown list. Ensure that the DI 3 settings match the following: • Input Type—Sourcing • Active State—Off • Digital Filter—50 µs NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 48 Click the Drive Enable button and configure the Drive Enable output settings. Place a checkmark in the Enable checkbox. Set Output Type to Sinking. Set Active State to On. Set Safe State to Off. © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...
  • Page 49 Use the Status and Plots tabs to monitor the move while it is in progress. Finalize your motion system setup by connecting and configuring additional I/O such as limits as required by your system using the screw terminal connectors on the NI 9930Y accessory. NI 9930 Motion Control Accessories User Guide ni.com...

  • Page 50: Additional Ni 9930 Accessories Connector Pinouts

    Additional NI 9930 Accessories Connector Pinouts This section contains pinouts for the 37-pin Dsub connector to the NI 9512 module and the MDR connectors to the drive for each NI 9930 accessory. Forward Limit Reverse Limit Home Reserved +24 V...
  • Page 51 +24 V Enable (Servo On) DI 1 (Servo Ready) DI 3 (Drive Fault) Dir+ Dir– DI 2 (In-Position) Step+ Step– DO 1 J4 - NI 9512 Connector Figure 37. NI 9930M I/O Connectors NI 9930 Motion Control Accessories User Guide ni.com...
  • Page 52 Battery For Open Collector Reference (PL1) Rotating Detection Output+ (/TGON+) Speed Match Detection Output– (/V-CMP–) * Sigmal-II Drive Only J2 - Sigma-II or Sigma-V Connector Figure 38. NI 9930Y I/O Connectors © National Instruments Corporation NI 9930 Motion Control Accessories User Guide...

  • Page 53: Related Documentation

    National Instruments corporate headquarters is located at 11500 North Mopac Expressway, Austin, Texas, 78759-3504. National Instruments also has offices located around the world to help address your support needs. For telephone support in the United States, create your service request at ni.com/...

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