National Instruments NI 9502 Manuel utilisateur

NI-9502

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 Tips and Troubleshooting section for

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

Connecting and Using the NI 9502 in Field Oriented Control Commutation Mode........................... 16

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

NI AKM Motor Thermal Sensor PTC Resistance Versus Temperature Curve........................... 27

Related Documentation........................................................................................................................ 28

Worldwide Support and Services ........................................................................................................ 28

Getting Started with the NI 9502 and AKM Motors 2 ni.com

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.

NI 9502 Commutation Mode

Specify the NI 9502 commutation mode in the C Series Module Properties dialog box, available by

right-clicking the NI 9502 C Series module in the Project Explorer window and selecting Properties

from the shortcut menu. The I/O nodes available to the module change depending on which

commutation mode is selected.

Trapezoidal Commutation

Trapezoidal commutation involves sending current through two of the three motor phases at any time.

The phase transitions are controlled by the Hall Effect sensor state changes. With trapezoidal

commutation, one electrical revolution is divided into six steps of 60 degrees each.

The NI 9502 performs trapezoidal commutation based on the Hall Effect sensor inputs. For proper phase

switching to occur, the Hall Effect sensors from the motor must be connected to the correct Hall inputs

on the NI 9502 module. The Hall Effect sensor phase sequence is motor-dependent, so selecting the

correct inputs requires manual testing. Refer to the Connecting and Using the NI 9502 in Trapezoidal

Commutation Mode section for a detailed walkthrough using an example VI for assistance in

determining the proper Hall input connections to the NI 9502 module.

Figure 1 shows the NI 9502 module block diagram when it is used in Trapezoidal commutation mode

for velocity control.

Table 1. NI 9502 Commutation Options

Trapezoidal Commutation

Field Oriented Control

Commutation

NI AKM Motor

Direct Connectivity

Yes Ye s

Torque Ripple Up to 15% Negligible

High-Speed Performance Limited Full motor capability

Feedback Required Velocity control—No

Position control—Yes

Velocity control—Yes

Position control—Yes

Optimized Current Loop Gains

Provided for NI AKM Motors

No Yes

NI SoftMotion Module

Requirement

None NI SoftMotion Module

Premium

Hall Phasing Manual configuration Automatic configuration (using

NI SoftMotion Module

provided example)

Trajectory Generator User-supplied setpoints or velocity

control

NI SoftMotion Module

trajectory generator

©National Instruments Corporation 3 Getting Started with the NI 9502 and AKM Motors

Figure 1. NI 9502 Trapezoidal Commutation Mode Block Diagram

If your application requires position feedback you can also use an additional I/O module, such as the

NI 9411, for encoder feedback as shown in Figure 2.

Figure 2. NI 9502 Trapezoidal Commutation Mode Block Diagram with Encoder Feedback

Velocity

Loop

Current

Loop

Fault

Monitor

Bridge

Controller

Fault

Detection

Current

Sense

Motor

Velocity

Command

Current

Command*

LabVIEW FPGA Module

NI 9502

Motor

Current

Velocity

Feedback

Velocity

Estimator

* Proportional to Torque

PWM

Generator

Hall Sensor Inputs

3-Phase

Bridge

Position

Loop

Velocity

Loop

Current

Loop

Fault

Monitor

Bridge

Controller

Fault

Detection

3-Phase

Bridge

Current

Sense

Encoder

Feedback

Motor

Velocity

Command

Current

Command*

Position

Setpoint

LabVIEW FPGA Module

NI 9502

Encoder

Feedback

Position

Decoder

Motor

Current

Velocity

Feedback

Position

Feedback

Velocity

Estimator

* Proportional to Torque

PWM

Generator

Hall

Inputs

C Series I/O Module

Getting Started with the NI 9502 and AKM Motors 4 ni.com

Trapezoidal commutation produces a torque ripple of up to 15% at slow speeds, which is not the case

with Field Oriented Control commutation.

Field Oriented Control

Field Oriented Control (FOC) commutation mode uses a more advanced algorithm that allows smooth

motion at slow speeds and better efficiency at high speeds. LabVIEW NI SoftMotion Module Premium

provides 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.

Figure 3 shows the NI 9502 module block diagram when it is used in FOC commutation mode.

Figure 3. NI 9502 FOC Commutation Mode Block Diagram

NI 9502 Connections

The NI 9502 has a 10-terminal detachable screw-terminal connector that provides connections for the

brushless servo motor signals, Hall Effect sensors, a 9 to 30 VDC power supply, COM, and chassis

ground. Refer to Figure 4 for the pin assignments.

The NI 9502 requires a a 9 to 30 VDC power supply connection, provided on the screw-terminal

connector. Refer to the NI 9502 Operating Instructions and Specifications for power supply

requirements and other important information.

Position

Loop

Velocity

Loop

FOC

Algorithm**

Fault

Monitor

Bridge

Controller

Fault

Detection

Current

Sense

Encoder

Feedback

Motor

Velocity

Command

Current

Command*

Position

Setpoint

LabVIEW FPGA Module

NI 9502

Encoder

Feedback

Position

Decoder

Phase U &

W Current

Velocity

Feedback

Position

Feedback

Velocity

Estimator

* Proportional to Torque

** Available with LabVIEW NI SoftMotion Module Premium

FOC = Field Oriented Control

SVPWM = Space Vector PWM

SVPWM**

Generators

(3 Total)

Hall

Inputs

C Series I/O Module

3-Phase

Bridge

©National Instruments Corporation 5 Getting Started with the NI 9502 and AKM Motors

Caution To ensure EMC compliance, special considerations are required for all cable connections.

Refer to the Cable Requirements for EMC Compliance section in the NI 9502 Operating Instructions

and Specifications for more information.

Caution Do not turn on or plug in the motor DC power supply until the screw-terminal connector is

fully inserted and the two connector flange screws are tightened.

Figure 4. NI 9502 Screw Terminal Connector and LEDs

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. The

required cable connections differ depending on the NI 9502 commutation mode. Refer to the

Connecting and Using the NI 9502 in Trapezoidal Commutation Mode or Connecting and Using the

NI 9502 in Field Oriented Control Commutation Mode section for cable information.

1Enabled LED (Green)

2Vsup (Motor Power) LED (Green)

3User LED (Yellow)

4Fault LED (Red)

5Screw Terminal Connector

Phase U

Phase V

Phase W

Reserved

Hall 1

Hall 2

Hall 3

COM

Vsup

(Chassis Ground)

1 2 3 4

Getting Started with the NI 9502 and AKM Motors 6 ni.com

Connecting and Using the NI 9502 in Trapezoidal Commutation Mode

This section explains how to connect and use the NI 9502 module in Trapezoidal commutation mode,

using an installed example to help you set up and configure your system.

What You Need to Get Started

You need the following items to get started.

Hardware

❑NI 9502 C Series brushless servo drive module

❑NI CompactRIO real-time controller

❑24 V power supply (such as the NI PS-15) for the CompactRIO controller

(NI part number 781093-01)

❑24 V power supply (such as the NI PS-16) for the NI 9502 module

(NI part number 781094-01)

Note NI recommends the NI PS-16 power supply, which is designed for motor bus power, for use

with the NI 9502 module. Refer to Regeneration Consideration Using the NI C Series Drive Modules

at zone.ni.com for more information.

❑5 V power supply (such as the NI PS-6) for the Hall Effect sensors

(NI part number 780577-01)

Note 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.

❑Ethernet connection and cable for the CompactRIO controller

❑NI 9502 to AKM Cable

(NI part number 153108-03)

❑NI AKM servo motor

❑(Optional) NI 9411 C Series module for encoder connections and +5 V output

(NI part number 779005-01)

❑(Optional) NI 9935 15pin D-Sub connector kit for connecting the NI 9411

(NI part number 779016-01)

Software

❑LabVIEW 2011 or later

❑LabVIEW 2011 Real-Time Module or later

❑NI-RIO 4.0.0 or later with CompactRIO Module Support 4.0.1 installed

❑(Optional) LabVIEW NI SoftMotion Module 2011 f1 or later

Note LabVIEW NI SoftMotion Module Premium provides FPGA Motor Control VIs that you can

use with the NI 9502. Your LabVIEW Platform DVD includes a free 30-day evaluation of

NI SoftMotion Module Premium that you can install. Refer to ni.com/info and enter nismpkg

for more information about the NI SoftMotion Module.

©National Instruments Corporation 7 Getting Started with the NI 9502 and AKM Motors

Figure 5 shows the hardware connections when the NI 9502 is used in Trapezoidal commutation mode

for velocity control.

Figure 5. NI 9502 Trapezoidal Commutation Connections

Hardware Installation and Configuration

This section covers the hardware setup for the CompactRIO system, NI 9502 C Series servo drive

module, and NI AKM brushless servo motor.

Step 1: Set Up the CompactRIO System

Complete the following steps to set up the CompactRIO hardware.

1. Install the real-time CompactRIO controller on the chassis if you are not using an integrated

controller and chassis.

Note Write down the controller serial number before installing the controller onto the chassis.

You will be unable to read the serial number after you install the controller.

a. Make sure that no power is connected to the controller or the chassis.

Feedback Connections

(Encoder connections

not used)

Ethernet

Cable

Motor Connections

NI RT Controller

(NI cRIO-9014 shown)

and NI 9502 Module

+24 V Power Supply

(NI PS-15 Shown)

9 to 30 V Power Supply

(NI PS-16 Shown)

5 V Power Supply

(NI PS-6 recommended)

Getting Started with the NI 9502 and AKM Motors 8 ni.com

b. Align the controller with the chassis as shown in Figure 6.

Figure 6. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)

c. Slide the controller onto the controller slot on the chassis. Press firmly to ensure the chassis

connector and the controller connector are mated.

d. Using a number 2 Phillips screwdriver, tighten the two captive screws on the front of the

controller.

2. 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.

Note Do not plug in or turn on any power to the system until after all hardware connections are

complete.

3. 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.

4. (Optional) Install an NI 9411 module for encoder feedback, if using.

1 Controller

2Captive Screws

3Controller Slot

4 Reconfigurable Embedded Chassis

5Grounding Screw

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.

Figure 7. NI 9502 to NI AKM Motor Cables

Note Encoder feedback is optional when using the NI 9502 in trapezoidal commutation mode for

velocity control applications and required when using the NI 9502 in FOC commutation mode. Refer

to the Connecting and Using the NI 9502 in Field Oriented Control Commutation Mode section for

connecting an NI 9411 C Series module for encoder feedback.

1 Connector to NI AKM Feedback Connector

2Pigtail Connector to C SeriesModule for Encoder Feedback

3Pigtail Connector to NI 9502 Module for Hall Effect Sensors

4Pigtail Connector to NI 9502 for Motor Phase Connections

5 Connector to NI AKM Motor Connector

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