NI 9512 C Series Manuel utilisateur

GETTING STARTED

NI 9512 C Series Modules and

AKD Servo Drives

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 AKD servo drives for use with the

NI 9512 C Series drive interface module.

Tip If you encounter any problems during setup, refer to the Tips and

Troubleshooting section for assistance.

Contents

What You Need to Get Started ................................................................................................. 2

Hardware .......................................................................................................................... 2

Software............................................................................................................................ 3

Related Documentation .................................................................................................... 4

Hardware Installation and Configuration ................................................................................. 5

Step 1: Set Up the CompactRIO System .......................................................................... 6

Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module .......................... 7

Step 3: Mount the Drive and Connect the Protective Earth ............................................. 9

Step 4: Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable .............. 9

Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive .................. 10

Step 6: Connect the Motor and Encoder to the Drive....................................................... 12

Step 7: Connect the AC Input Power................................................................................ 13

Step 8: Connect the Drive Communication...................................................................... 14

Step 9: Confirm Drive Connections ................................................................................. 15

Software Installation and Configuration................................................................................... 15

Step 1: Install Software on and Configure the NI RT Controller..................................... 15

Step 2: Create a Project in Scan Interface Mode .............................................................. 17

Step 3: Add Resources to the Project ............................................................................... 18

Step 4: Configure the NI 9512 Axis ................................................................................. 20

Step 5: Install AKD WorkBench and Configure the Drive .............................................. 24

Step 6: Tune the Motor Using the WorkBench Performance Servo Tuner...................... 30

Step 7: Enable and Test the Drive Using LabVIEW ........................................................ 31

2|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

Setting Up a Distributed System...............................................................................................31

Setting Up a System with an NI 9144 Chassis .................................................................31

Software Installation and Configuration with the NI 9144...............................................32

Adding the EtherCAT Master Device to the LabVIEW Project ......................................34

Tips and Troubleshooting ......................................................................................................... 35

The Drive Does Not Enable..............................................................................................35

Cannot Communicate with the Drive Using Ethernet ......................................................35

Increasing the Maximum Velocity and Acceleration ....................................................... 36

Connecting to the PC Using a Static IP ............................................................................ 36

The Motor Responds Poorly ............................................................................................. 37

Cannot See the AKD Servo Drive in the AKD WorkBench Software.............................37

Wiring Diagram ........................................................................................................................ 38

Worldwide Support and Services .............................................................................................39

What You Need to Get Started

Caution Before installing the drive, review Chapter 2, Safety, in the AKD

Installation Manual that came with your hardware or available from ni.com/

manuals. Failure to follow safety instructions may result in injury or damage to

equipment.

You need the following items to get started.

Hardware

NI 9512 C Series stepper drive interface module

NI real-time controller

– CompactRIO controller and chassis that support the RIO Scan Interface

Tip To determine if your controller and chassis support the RIO Scan Interface go

to ni.com/info and enter the Info Code rdsoftwareversion.

– NI 9144 distributed chassis and compatible RT controller

Power supply for the CompactRIO controller

+24 VDC power supply for the drive interface module and AKD servo drive

Ethernet connection and cable for the CompactRIO controller

Ethernet connection and cable for the AKD servo drive

NI 9512 to AKD Drive Cable

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |3

AKD servo drive

NI or third-party servo motor and encoder

Note AKM series servo motors available from NI contain built-in encoders and

come pre-wired for use with the AKD servo drive. National Instruments recommends

using one of these motors for the best user experience and system performance.

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-Industrial Communications for EtherCAT®1.2 or later, if you are using the NI 9144

distributed chassis

AKD WorkBench software. Refer to Step 1: Install Software on and Configure the NI RT

Controller in the Software Installation and Configuration section of this document for

installation information.

Figure 1 shows the required hardware and software.

Figure 1. Required Hardware and Software

Ethernet

Cable

NI 9512 to

AKD Drive Cable

Screw Terminal

Connector for

Power Supply &

Additional I/O

(Limits, Position

Compare, etc.)

Ethernet Cable

(Initial Configuration Only)

NI RT Controller

(NI cRIO-9014 shown)

and NI 9512 Module

+24 V Power Supply

(NI PS-15 Shown)

AKD Analog

Servo Drive

4|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

Related Documentation

The following documents contain additional information that you may find helpful. All

referenced documents ship with the product and are available at ni.com/manuals.

• Operating instructions for the controller and C Series module.

•AKD Installation Manual—Use this document to learn additional information about the

electrical and mechanical aspects of the AKD servo drive, including important safety

information.

•Getting Started with NI 951x C Series Modules and LabVIEW—Use this document to learn

about using the NI 951x modules with LabVIEW, including information about the

LabVIEW NI SoftMotion Module. To access this document, select Start»All Programs»

National Instruments»LabVIEW»LabVIEW Manuals»

Getting_Started_NI_951x_Modules_LabVIEW.pdf.

•LabVIEW NI SoftMotion Module Help—Use this help file to learn about using the

NI SoftMotion Module in LabVIEW including information about function blocks 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 Contents tab.

•NI 9144 User Guide and Specifications—Use this document to learn additional information

about how to connect the NI 9144 chassis to a network, how to use the NI 9144 chassis

features, and contains the NI 9144 chassis specifications.

• NI Industrial Communications for EtherCAT software documentation

•LabVIEW Help—Use the LabVIEW Help to access information about LabVIEW

programming concepts, step-by-step instructions for using LabVIEW, and reference

information about LabVIEW VIs, functions, palettes, menus, tools, properties, methods,

events, dialog boxes, and so on. The LabVIEW Help also lists the LabVIEW documentation

resources available from National Instruments. Access the LabVIEW Help by selecting

Help»LabVIEW Help.

•Getting Started with LabVIEW—Use this document as a tutorial to familiarize yourself

with the LabVIEW graphical programming environment and the basic LabVIEW features

you use to build data acquisition and instrument control applications. Access the Getting

Started with LabVIEW PDF by selecting Start»All Programs»National Instruments»

LabVIEW»LabVIEW Manuals»LV_Getting_Started.pdf.

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |5

Hardware Installation and Configuration

This section covers the hardware setup for the CompactRIO system, NI 9512 C Series module,

and AKD servo drive.

Figure 2 shows an overview of the connectors on the AKD servo drive.

Figure 2. AKD Servo Drive Connectors

1 24 V Supply, STO (X1)

2 Motor, Brake (X2)

3 AC Input Power (X3)

4 Encoder Emulation (X9)

5 Drive Grounding Lug

6Feedback (X10)

7 I/O Connector (X8)

8 I/O Connector (X7)

9 Static IP Addressing Switch (S2)

10 Static IP Addressing Switch (S1)

11 Drive Communication (X11)

12 LED Indicators

6|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

Step 1: Set Up the CompactRIO System

Complete the following steps to set up the CompactRIO hardware.

Note If you are using an NI 9144 chassis, refer to Setting Up a System with an

NI 9144 Chassis in the Setting Up a Distributed System section for alternate

configuration instructions, then continue with Step 2: Connect NI 9512 to AKD Drive

Cable to the C Series Module.

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.

b. Align the controller with the chassis as shown in Figure 3.

Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)

1 Controller

2CaptiveScrews

3 Controller Slot

4 Reconfigurable Embedded Chassis

5 Grounding Screw

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |7

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 you complete

Step 8: Connect the Drive Communication.

3. Install the NI 9512 module in slot 1, 2, 3, or 4 of the chassis.

Step 2: Connect NI 9512 to AKD Drive Cable to the

C Series Module

Connect the MDR and DSUB connectors on the NI 9512 to AKD Drive Cable to the MDR and

DSUB connectors on the C Series module. Figure 4 shows the NI 9512 to AKD Drive Cable

connectors.

Figure 4. NI 9512 to AKD Drive Cable Connectors

MDR

Connector

DSUB

Connector

Screw Terminal

Connector

X1 3-Pin

Connector

X810-Pin

Connector

X9 DSUB

Connector

X7 10-Pin

Connector

8|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

The NI 9512 to AKD Drive Cable contains the following connections:

•DSUB Connector—15-pin DSUB connector containing drive command and drive enable

signals.

•MDR Connector—20-pin MDR connector containing encoder, limit, home sensor,

position compare, and position capture signals.

•X1 3-pin Connector—+24 V power supply connection for the AKD servo drive provided

through the 20-pin screw terminal connector.

•X7 10-Pin Connector—10-pin connector containing the step/direction signals and AKD

digital outputs.

•X8 10-Pin Connector—10-pin connector containing the enable and fault signals.

•X9 DSUB Connector—9-pin DSUB connector containing emulated encoder output

signals from the AKD servo drive.

•Screw Terminal Connector—20-pin screw terminal connector for external I/O

connections.

Table 1 shows the screw terminal connector pinout.

Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout

Pin Signal Name

1Forward Limit

2Home

3Reverse Limit

4NI 9512 Digital Input 0

5Vsup

6Vsup Return

7NI 9512 Digital Output 0

8NI 9512 Digital Output 1

9NC†

10 NC†

11 NI 9512 +5V OUT

12 Position Compare

13 Position Capture

14 COM

15 Reserved

16 Reserved

Step 3: Mount the Drive and Connect the Protective

Earth

1. Mount the drive to a conductive metal plate. Refer to the AKD Installation Manual for

dimensions and additional information specific to the drive model.

2. Connect the protective earth (PE) to either ground screw on the drive grounding lug.

Figure 2 shows the location of the grounding lug on the drive.

Step 4: Connect the Logic Power Supply to the NI 9512

to AKD Drive Cable

The NI 9512 to AKD Drive Cable requires connection to an external +24 V power supply. The

+24 V power supply provides both the logic power to the AKD servo drive and powers the

NI 9512 module.

Note Do not plug in or turn on the +24 V power supply until after you complete

Step 8: Connect the Drive Communication.

Complete the following steps to connect the +24 V power supply to the cable.

1. Connect the +24 V power supply (+) terminal to the Vsup terminal on the NI 9512 to AKD

Drive Cable screw terminal connector. Refer to Table 1 for the screw terminal connector

pinout.

2. Connect the +24 V power supply return (–) terminal to the Vsup Return terminal on the

NI 9512 to AKD Drive Cable screw terminal connector.

17 Reserved

18 Reserved

19 Reserved

20 Reserved

†NC = Not Connected

Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout (Continued)

Pin Signal Name

10 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives

Step 5: Connect the NI 9512 to AKD Drive Cable to the

AKD Servo Drive

Connect the NI 9512 to AKD Drive Cable to the AKD servo drive. Refer to Figure 6 for the

location of the connectors.

1. Connect the cable X1 3-pin connector to the AKD servo drive X1 3-pin connector. This

connector provides +24 V power to both the drive logic and to the safe torque out (STO)

input. The STO input must be powered by +24V for proper drive operation. If you need to

use the STO functionality complete the following additional steps:

a. Disconnect the STO wire from the NI 9512 to AKD cable X1 connector and insulate it.

Note The STO and +24V wires are internally connected in the NI 9512 to AKD

cable. You must insulate the STO wire if you disconnect it from the X1 connector.

b. Connect the STO terminal and GND terminal to the output of a safety relay or security

control. The safety relay must comply with the requirements of the SIL 2 according to

IEC 61800-5-2, PL d according to ISO 13849-1, or Category 3 according to EN-954.

Refer to the AKD Installation Manual for more information.

Figure 5 shows the X1 connector pin assignment and wire colors.

Figure 5. AKD X1 Connector

+24 V (Red)

GND (Black)

STO (Brown)

X1 3-Pin

Connector

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