National Instruments NI 9516 Manuel utilisateur

OPERATING INSTRUCTIONS AND

SPECIFICATIONS

NI 9516

Servo Drive Interface Module with Feedback

ni.com/manuals

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2|ni.com |NI 9516 Operating Instructions and Specifications

This document describes how to use the National Instruments 9516

module and includes specifications and pin assignments for the

NI 9516.

Note The safety guidelines and specifications in this

document are specific to the NI 9516. The other

components in the system may not meet the same safety

ratings and specifications. Refer to the documentation for

each component in the system to determine the safety

ratings and specifications for the entire system.

Related Information

Safety Guidelines

Operate the NI 9516 only as described in these operating

instructions.

NI 9516 Operating Instructions and Specifications |© National Instruments |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. Follow these guidelines if you are installing the NI 9516 in a

potentially explosive environment. Not following these guidelines

may result in serious injury or death.

Caution Do not disconnect I/O-side wires or connectors

unless power has been switched off or the area is known to

be nonhazardous.

Caution Do not remove modules unless power has been

switched off or the area is known to be nonhazardous.

Caution Substitution of components may impair

suitability for Class I, Division 2.

Caution For Division 2 and Zone 2 applications, install

the system in an enclosure rated to at least IP 54 as defined

by IEC/EN 60079-15.

4|ni.com |NI 9516 Operating Instructions and Specifications

Caution For Division 2 and Zone 2 applications, install a

protection device between the input signal and the Vsup

pin. The device must prevent the Vsup-to-channel voltage

from exceeding 42 V if there is a transient overvoltage

condition.

Special Conditions for Hazardous Locations Use in

Europe and Internationally

This equipment has been evaluated as Ex nA IIC T4 Gc equipment

under DEMKO Certificate No. 07 ATEX 0626664X and is IECEx

UL 14.0089X certified. Each module is marked 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.

Caution You must make sure that transient disturbances

do not exceed 140% of the rated voltage.

Caution The system shall only be used in an area of not

more than Pollution Degree 2, as defined in IEC 60664-1.

NI 9516 Operating Instructions and Specifications |© National Instruments |5

Caution The system shall be mounted in an

ATEX/IECEx-certified enclosure with a minimum ingress

protection rating of at least IP54 as defined in

IEC/EN 60079-15.

Caution The enclosure must have a door or cover

accessible only by the use of a tool.

Electromagnetic Compatibility Guidelines

This product was tested and complies with the regulatory

requirements and limits for electromagnetic compatibility (EMC)

as stated in the product specifications. These requirements and

limits are designed to provide reasonable protection against

harmful interference when the product is operated in its intended

operational electromagnetic environment.

This product is intended for use in industrial locations. As such,

there is no guarantee that harmful interference will not occur in

a particular installation, when the product is connected to a test

object, or if the product is used in residential areas. To minimize

the potential for the product to cause interference to radio and

television reception or to experience unacceptable performance

6|ni.com |NI 9516 Operating Instructions and Specifications

degradation, install and use this product in strict accordance with

the instructions in the product documentation.

Furthermore, any changes or modifications to the product not

expressly approved by National Instruments could void your

authority to operate it under your local regulatory rules.

Caution To ensure compliance with the applicable

regulatory requirements, product installation requires

either special considerations or user-installed, add-on

devices. See the product installation instructions for

further information.

Caution The inputs/outputs of this product can be

damaged if subjected to Electrostatic Discharge (ESD). To

prevent damage, industry-standard ESD prevention

measures must be employed during installation,

maintenance, and operation.

Special Conditions for Marine Applications

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.

NI 9516 Operating Instructions and Specifications |© National Instruments |7

Caution To meet radio frequency emission requirements

for marine applications, use shielded cables and install the

system in a metal enclosure. Suppression ferrites must be

installed on power supply inputs near power entries to

modules and controllers. Power supply and module cables

must be separated on opposite sides of the enclosure and

must enter and exit through opposing enclosure walls.

Connecting the NI 9516

The NI 9516 servo drive interface module is part of a family of

C Series motion modules. The module provides servo drive

interface signals for a single axis, a full set of motion I/O including

inputs for a home switch and limit switches, dual incremental

encoder inputs for position feedback and velocity feedback, and

0 to 30 V digital input lines. The NI 9516 also includes a processor

to run the spline interpolation engine and PID control loop.

Working together they produce smoother motion resulting in

precise servo motion control.

8|ni.com |NI 9516 Operating Instructions and Specifications

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. Refer to Table 1 for

the DSUB connector pin assignments.

Note The remainder of this document does not

distinguish between drives and amplifiers. All

references to drives also apply to amplifiers.

The 20-pin MDR connector includes dual incremental encoder

feedback inputs, a +5 V output for encoder power, home, limit, and

position compare inputs, an output for position compare, an

additional 19 to 30 V input for power connection, and an additional

0 to 30 V general-purpose digital input line. Refer to Figure 2 for

the MDR connector pin assignments.

Note The NI 9516 requires an external power supply.

You can connect the external power supply to the Vsup

input provided on the DSUB or MDR connector. Do not

connect more than one external power supply to the

module.

NI 9516 Operating Instructions and Specifications |© National Instruments |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. Refer to Figure 3 for the 37-pin

terminal block pin assignments. Refer to the NI 951x User Manual,

which you can download from ni.com/manuals, for information

about additional connection accessories and cabling

recommendations.

Tip NI offers AKD analog servo drives and matched

servo motors. Refer to Getting Started with NI 9514/16

C Series Drive Interface Modules and AKD Analog Servo

Drives for installation and configuration information.

Refer to the Getting Started with NI 951x C Series Drive

Interface Modules and LabVIEW for information about

using the NI 9516 with other devices.

How to Connect the NI 9516 to Drives and I/O

Complete the following steps to connect the NI 9516 servo drive

interface module to drives and other I/O.

10 |ni.com |NI 9516 Operating Instructions and Specifications

1. Install the module in the chassis as specified in the chassis

documentation.

Note Refer to the NI SoftMotion Module book of the

LabVIEW Help for information about chassis, slot, or

software restrictions.

2. Connect the module to a drive and other I/O using the

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.

Caution Do not connect anything to pins marked

Reserved.

Caution The 37-pin terminal block has separate Vsup

and COM terminals for each connector. 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 Figure 3 are marked with a

dagger (†).

Figure 1 shows a simplified system connection diagram.

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