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National Instruments 9512 User Manual

National Instruments 9512 User Manual

Motor drive interface module
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NI NI 9512
C Series Motor Drive Interface Module
A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
• C r i t i c a l a n d e x p e d i t e d s e r v i c e s
• I n s t o c k / R e a d y - t o - s h i p
Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate, representative, or authorized distributor for any manufacturer listed herein.
Limited Availability
Used and in Excellent Condition
Open Web Page
https://www.artisantg.com/73102-3
• We b u y y o u r e x c e s s , u n d e r u t i l i z e d , a n d i d l e e q u i p me n t
• F u l l - s e r v i c e , i n d e p e n d e n t r e p a i r c e n t e r

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  • Page 1 NI NI 9512 C Series Motor Drive Interface Module Limited Availability Used and in Excellent Condition Open Web Page https://www.artisantg.com/73102-3 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
  • Page 2 Motion Control NI 951x User Manual NI 951x User Manual December 2013 372153E-01 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 683 0100 For further support information, refer to the Technical Support and Professional Services appendix. To comment on National Instruments documentation, refer to the National Instruments Web site at and enter the Info Code ni.com/info...
  • Page 4 Any action against National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control.
  • Page 5 ™ The ExpressCard word mark and logos are owned by PCMCIA and any use of such marks by National Instruments is under license. The mark LabWindows is used under a license from Microsoft Corporation. Windows is a registered trademark of Microsoft Corporation in the United States and other countries.
  • Page 6 Operation of this hardware in a residential area is likely to cause harmful interference. Users are required to correct the interference at their own expense or cease operation of the hardware. Changes or modifications not expressly approved by National Instruments could void the user’s right to operate the hardware under the local regulatory rules.
  • Page 7 Special Conditions for Marine Applications ............1-3 Optional Equipment......................1-4 Chapter 2 Hardware Overview NI 951x Connections ......................2-1 NI 9512 Connections ....................2-2 NI 9514 Connections ....................2-5 NI 9516 Connections ....................2-7 User Connectors ....................... 2-9 NI 9512 Connectors....................2-9 NI 9514 Connectors....................
  • Page 8 Contents Additional Drive Signals ..................3-6 Drive Enable ....................3-6 Motion I/O Signals......................3-8 Limit and Home Inputs ..................... 3-8 Limit and Home Input Circuit ................3-8 Encoder Inputs ......................3-10 Encoder Phase A/Phase B................. 3-10 Encoder Index ....................3-11 Encoder Input Circuit..................
  • Page 9 Getting Started with NI 9512 C Series Drive Interface Modules and P7000 Series Stepper Drives—Use this document as a tutorial to learn how use NI 9512 modules with the P7000 series stepper drives and stepper motors available from NI. Access this document by selecting Start»All Programs»National Instruments»LabVIEW»LabVIEW Manuals»...
  • Page 10 Introduction and Installation This chapter includes information about the features of the National Instruments 9512, 9514, and 9516 drive interface modules. The remainder of this document will refer to these modules collectively as Note NI 951x modules. About the NI 951x Drive Interface Modules The NI 951x drive interface modules are a family of C Series motion modules.
  • Page 11 NI-RIO driver software Refer to the software documentation for installation instructions.  The following hardware and documentation: – NI 9512, NI 9514, or NI 9516 drive interface module – External power supply Refer to the Power Requirements section of Appendix A, Specifications, for Note power supply requirements.
  • Page 12 NI-RIO driver software Refer to the software documentation for installation instructions.  The following hardware and documentation: – NI 9512, NI 9514, or NI 9516 drive interface module – External power supply Refer to the Power Requirements section of Appendix A, Specifications, for Note power supply requirements.
  • Page 13 NI 9514/16 to AKD Cable—Connects the NI 9514 or NI 9516 to the AKD servo drive and AKM brushless servo motors available from NI. (NI part number 781524-01) • NI 9512 to AKD Cable—Connects the NI 9512 to the AKD servo drive and AKM brushless servo motors available from NI. (NI part number 781525-01) •...
  • Page 14 Hardware Overview This chapter presents an overview of the National Instruments 951x drive interface module hardware, including connections and connector pin assignments. The following figure shows the NI 951x module. Figure 2-1. NI 951x Module NI 951x Connections This section contains connection information for each drive interface module, including connection diagrams for a complete system setup.
  • Page 15 Chapter 2 Hardware Overview NI 9512 Connections National Instruments offers several options for connecting the NI 9512 to stepper or position command servo drives. Refer to Table 2-1 for available NI 9512 connection options. Table 2-1. NI 9512 Connection Options...
  • Page 16 NI 9512 module with other p-command servo drives. Complete the following steps to connect the NI 9512 stepper drive interface module to drives and other I/O: Install the module in the chassis as specified in the chassis documentation.
  • Page 17 Drive Enable Motor Stepper Motor Encoder (optional) The NI 9512 requires an external power supply. You can connect the external Note power supply to the V input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.
  • Page 18 NI 951x User Manual Figure 2-3 shows the NI 9512 block diagram. Refer to Chapter 3, Signal Connections, for more information about the individual signals and connecting devices to the module. Figure 2-3. NI 9512 Block Diagram Phase A± (0)
  • Page 19 Chapter 2 Hardware Overview Figure 2-4 shows a simplified connection diagram. Figure 2-4. NI 9514 Connection Diagram DSUB Connector MDR Connector Drive Command Encoder 0 Phase A, B, Index +5 V OUT Drive Enable Forward, Reverse Limit, Home Drive Fault NI 9514 Limit and Home NI Connection...
  • Page 20 Started with NI 951x C Series Drive Interface Modules and LabVIEW for information about using the NI 9516 with other devices. Connect the NI 9516 module to an external power supply. © National Instruments | 2-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 Chapter 2 Hardware Overview Figure 2-6 shows a simplified connection diagram. Figure 2-6. NI 9516 Connection Diagram DSUB Connector MDR Connector Encoder 0 Phase A, B, Index Drive Command Encoder 1 Phase A, B Drive Enable +5 V OUT Drive Fault Forward, Reverse Limit, Home NI 9516 Limit and Home...
  • Page 22 Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection accessory pin assignments. Do not connect anything to pins marked Reserved. Caution © National Instruments | 2-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 Refer to Appendix B, Position Command Connections, for position Note command signal information and information about connecting the NI 9512 module to position command drives. 2-10 | ni.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24 NI 951x User Manual Figure 2-8. NI 9512 MDR Connector Pin Assignments Position Compare Encoder 0 Phase B– +5 V OUT Position Capture Encoder 0 Phase B+ Encoder 0 Phase A– Encoder 0 Index– Encoder 0 Phase A+ Encoder 0 Index+...
  • Page 25 Chapter 2 Hardware Overview NI 9514 Connectors Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection accessory pin assignments. Do not connect anything to pins marked Reserved. Caution Table 2-3. NI 9514 DSUB Control Connector Pin Assignments Connector Signal Drive Command COM...
  • Page 26 Encoder 0 Phase A– Encoder 0 Index– Encoder 0 Phase A+ Encoder 0 Index+ Reserved Digital Input 0 Reserved Home Reverse Limit Forward Limit © National Instruments | 2-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 27 Chapter 2 Hardware Overview NI 9516 Connectors Do not connect anything to pins marked Reserved. Caution Refer to Chapter 4, Accessory and Cable Connections, for cabling options and connection accessory pin assignments. Table 2-4. NI 9516 DSUB Control Connector Pin Assignments Connector Signal Drive Command COM...
  • Page 28 Module book of the LabVIEW Help for troubleshooting information. • Flashing—The module booted up correctly and is functional. • Lit—The module is functional and the drive enable output is active. © National Instruments | 2-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 29 Chapter 2 Hardware Overview Encoder Active The Encoder Active LED (green) has three states for encoder and V status. • Off—The power supply (V ) is not connected. You must connect a power supply to receive encoder pulses. • Flashing—The power supply (V ) is connected and the module is receiving encoder pulses.
  • Page 30 • Connects to the enable function of the drive • 0 to 30 V output configurable as sinking or sourcing • 100 μs minimum output pulse width © National Instruments | 3-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 31 • +5 V supply output generated from the V input • Available for encoder power • 150 mA maximum (NI 9512 and NI 9514) • 300 mA maximum (NI 9516) Limits and Home Forward Limit • Connect to switches for system...
  • Page 32 All signals are not available on all modules. Refer to the individual module Note pinouts in Chapter 2, Hardware Overview, for a list of the signals available on each module. © National Instruments | 3-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 33 Stepper Command Signals Step (CW)± and Direction (CCW)± These signals are the NI 9512 drive interface module stepper command outputs. The stepper output mode is software configurable for compatibility with various third-party drives. The NI 9512 module supports both industry standards for stepper command signals—step and direction, or clockwise (CW) and counterclockwise (CCW) pulse outputs, as...
  • Page 34 Figure 3-2. Figure 3-2. Differential Step and Direction Output Connection NI 9512 Drive Step+ / Dir+ Output Receiver Step– / Dir– Output © National Instruments | 3-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 35 When connecting to opto-isolated inputs, configure the Step output type to single-ended, connect the NI 9512 Step+ output to the negative (cathode) side of the optocoupler input, and leave the Step- output on the NI 9512 disconnected. Connect the positive (anode) side of the drive input to a supply as specified by the drive manufacturer.
  • Page 36 Refer to the NI SoftMotion Module book of the LabVIEW Help for a list of faults, errors, and other conditions that deactivate the Drive Enable output. National Instruments strongly recommends using Drive Enable for Caution personal safety, as well as to protect the motion system.
  • Page 37 Forward Limit, Reverse Limit, and Home inputs are not required for basic motion control. These inputs are part of a system solution for complete motion control. National Instruments recommends using limits for personal safety, as well Caution as to protect the motion system.
  • Page 38 Figure 3-8 shows an example of wiring the inputs to a high-side switch and Figure 3-9 shows an example of wiring the inputs to a low-side switch. © National Instruments | 3-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 39 Phase A, Phase B, and Index input, as described in the following sections. The NI 9512 and NI 9514 each have a single encoder channel. The NI 9516 supports two encoder channels that allow for dual-loop feedback, which enhances system stability and precision and provides backlash compensation.
  • Page 40 Refer to the NI SoftMotion Module book of the LabVIEW Help for more information. Refer to the Signal Connection Recommendations section of Chapter 4, Accessory and Cable Connections, for additional wiring and cabling recommendations. © National Instruments | 3-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 41 Chapter 3 Signal Connections Figures 3-11 and 3-12 show simplified schematic diagrams of the encoder input circuit connected to differential and single-ended inputs. Figure 3-11. Differential Encoder Input Circuit Encoder NI 951x Phase + +5 V Receiver Phase – Figure 3-12. Single-Ended Encoder Input Circuit Encoder NI 951x +5 V...
  • Page 42 0 to 30 V logic outputs. • Digital Input <2..3>—The NI 9512 drive interface module includes two additional 5 kHz digital inputs compatible with 0 to 30 V logic outputs. To use the Drive Fault functionality referenced in the...
  • Page 43 Chapter 3 Signal Connections Figure 3-13 shows an example of wiring the digital input signals to a sourcing output device. Figure 3-14 shows an example of wiring the digital input signals to a sinking output device. Figure 3-13. Digital Input Configured for Sinking PNP (Sourcing) Output Device NI 951x...
  • Page 44 Low-Side Switch Digital Outputs The NI 9512 drive interface module also has two general-purpose digital outputs with an output voltage range of 0 to 30 V. Digital Output Circuit You can configure the active state of the digital outputs in software for on or off and the digital output circuit can be configured in software for sinking or sourcing output type.
  • Page 45 Chapter 3 Signal Connections Figure 3-18. Digital Output Circuit Configured for Sinking PNP (Sourcing) NI 951x Input Device NI 951x V Sourcing Drive Enable or Circuit Digital Output Drive Enable or Digital Output Configured For Sinking V– (Reference) 3-16 | ni.com Artisan Technology Group - Quality Instrumentation ...
  • Page 46 Accessory and Cable Connections This chapter describes the accessory and cable connections for the National Instruments 951x drive interface modules, including connection diagrams and cable pin assignments, custom cable information, and additional information about software-mappable signals. NI 951x Connection Accessories This section contains information about the NI 951x 37-pin terminal blocks and cables, including pin assignments for each module.
  • Page 47 Make sure you are using the correct Vsup and COM terminals for the connector you are using. All signals associated with the DSUB connector in Figures 4-2, 4-3, and 4-4 are marked with a dagger (†). Figure 4-2. NI 9512 37-Pin Terminal Block Pin Assignments Digital Output 1 †...
  • Page 48 † † † † Digital Input 1 Drive Enable Reserved Reserved † Reserved Reserved Reserved Shield Reserved † Indicates DSUB connector signals. © National Instruments | 4-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 49 Chapter 4 Accessory and Cable Connections Signal Connection Recommendations This section contains detailed information about signal wiring including precautions and guidelines for error-free operation. General Connection Recommendations Use the following guidelines when wiring signals and creating custom cables: • Keep all signals and their ground connections wired separately from the drive and encoder signal connections.
  • Page 50 • National Instruments strongly recommends you use encoders with differential line driver outputs for all applications. You must use differential encoders if the encoder cable length is longer than 3.05 m (10 ft). Shielded, 24 AWG (0.25 mm cross section) wire is the minimum recommended size for the encoder cable.
  • Page 51 Chapter 4 Accessory and Cable Connections Connecting Optional Signals This section contains information about wiring optional NI 951x signals. Connecting a Brake Signal The NI 951x digital outputs do not provide enough current to drive typical motor brakes. For this reason, the NI 951x digital outputs must not be used to directly control motor brakes.
  • Page 52 The following specifications are typical for the range -40 to 70 °C unless otherwise noted. All voltages are relative to COM unless otherwise noted. Stepper Performance (NI 9512 only) Stepper accuracy..........1 full, half, or microstep Interpolation/spline rate........20 kHz max...
  • Page 53 Appendix A Specifications Max pulse rate...........5 MHz Continuous output current on each channel.........±20 mA Pulse width..........Approximately 50% of the period, up to 6.4 μs max Output mode ..........Software-selectable: step and direction, or CW/CCW Active state ..........Software-selectable: high or low Servo command analog outputs Voltage range ..........±10 V, relative to Drive Command COM Resolution ..........16 bits (0.000305 V/LSB), monotonic Max output current........±2 mA...
  • Page 54 Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options. © National Instruments | A-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 55 Input current........≥ 2 mA Input impedance........30 kΩ ± 5% Min pulse width ........50 μs Outputs (NI 9512 only) Number of outputs ........2 Output type ..........Software-selectable: sinking or sourcing Voltage range ..........0 to 30 V Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options.
  • Page 56 MTBF ............... Contact NI for Bellcore MTBF or MIL-HDBK- 217F specifications. Power Requirements Power consumption from chassis Active mode NI 9512 ..........925 mW max NI 9514 ..........900 mW max NI 9516 ..........950 mW max Sleep mode ..........0.4 mW max Thermal dissipation (at 70 °C) Active mode..........
  • Page 57 Appendix A Specifications Safety Safety Voltages Connect only voltages that are within the following limits. Channel-to-COM ..........0 to +30 VDC max, Measurement Category I Isolation Channel-to-channel ........None Channel-to-earth ground Continuous ........30 VDC, Measurement Category I Withstand ..........500 V , verified by a 5 s dielectric withstand test Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage.
  • Page 58 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 Maximum altitude..........5,000 m © National Instruments | A-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 59 Appendix A Specifications Environmental Management National Instruments is committed to designing and manufacturing products in an environmentally responsible manner. NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers. For additional environmental information, refer to the Minimize Our Environmental Impact web page at .
  • Page 60 Position Command Connections This appendix contains information about using the NI 9512 drive interface module with drives that support position command mode or pulse command input. If you are using a Mitsubishi MR-J2, Mitsubishi MR-J3, Panasonic Minas-A, Note Panasonic Minas-A5, Yaskawa Sigma-II, or Yaskawa Sigma-V drive, refer to the NI 9930 Motion Control Accessories User Guide, which describes how to use the NI 9512 drive interface module with accessories designed for these drives.
  • Page 61 Encoder In Motor Servo Motor Encoder For operation the NI 9512 requires an external power supply. You can connect Note the external power supply to the V input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.
  • Page 62 Refer to Chapter 3, Signal Connections, for information about other NI 9512 module signals. The following inputs are driven from the drive to provide system status to the module. •...
  • Page 63 You can also register for instructor-led, hands-on courses at locations around the world. • System Integration—If you have time constraints, limited in-house technical resources, or other project challenges, National Instruments Alliance Partner members can help. To learn more, call your local NI office or visit ni.com/alliance •...
  • Page 64 Appendix C Technical Support and Professional Services You also can visit the Worldwide Offices section of to access the branch ni.com/niglobal office Web sites, which provide up-to-date contact information, support phone numbers, email addresses, and current events. C-2 | ni.com Artisan Technology Group - Quality Instrumentation ...
  • Page 65 A phenomenon by which a signal transmitted on one channel causes an undesired effect on another channel. clockwise—Implies direction of motor rotation. © National Instruments | G-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 66 Glossary dedicated Assigned to a particular function. Direction output Command signal for stepper motors, indicates the commanded direction of motion, either forward or reverse. drive Electronic signal amplifier that converts motor control command signals into higher-voltage signals suitable for driving motors. driver A hardware device that provides signals or electrical current to activate a transmission line.
  • Page 67 © National Instruments | G-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 68 Glossary noise An undesirable electrical signal—Noise comes from external sources such as the AC power line, motors, generators, transformers, fluorescent lights, soldering irons, CRT displays, computers, electrical storms, welders, radio transmitters, and internal sources such as semiconductors, resistors, and capacitors. Noise corrupts signals you are trying to send or receive.
  • Page 69 Specifies an axis that controls a stepper motor. toggle Changing state between high and low or on and off. torque Rotary force. Power supply input. © National Instruments | G-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 70 DSUB connector NI 9516, 2-14 Digital Inputs, 3-13 conventions used in the manual, ix Digital Outputs, 3-15 CW signal. See Step (CW) signal © National Instruments | I-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 71 Index Direction (CCW), 3-4 Home input signal Drive Command, 3-6 description (table), 3-2 Drive Command COM, 3-6 purpose and use, 3-8 Step (CW), 3-4 home, connection recommendations, 4-4 , 3-4 in-position input, B-3 Encoder 0 Index signal instrument drivers (NI resources), C-1 description (table), 3-2 Encoder 0 Phase A signal description (table), 3-2...
  • Page 72 3-14 power connections, 3-4 power requirement specifications, A-5 signal programming examples (NI resources), C-1 connections, 3-4 description (table), 3-3 © National Instruments | I-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 73 Index Web resources, C-1 wiring concerns digital input signals, 4-4 encoder signals, 4-5 home, 4-4 limit signals, 4-4 position capture input, 4-4 I-4 | ni.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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