National Instruments 9512 C Series Manuale utente

GETTING STARTED

NI 9512 C Series Modules and

P7000 Series Stepper 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 manual helps you quickly install and configure the P7000 series stepper drives and stepper

motors.

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

Software............................................................................................................................ 2

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

Related Documentation .................................................................................................... 3

Hardware Installation and Configuration ................................................................................. 4

Step 1: Set Up the CompactRIO System .......................................................................... 5

Step 2: Connect the Stepper Motor to the Drive .............................................................. 6

Step 3: Configure the DIP Switches ................................................................................. 8

Step 4: Connect the NI 9512 to the P7000 Drive ............................................................. 17

Step 5: Connect Power to the P7000 Drive ...................................................................... 19

Step 6: Configure the P7000 Drive with the Serial Port (Optional) ................................. 21

Software Configuration and Installation................................................................................... 23

Step 1: Install the P7000 Tools (Optional) ....................................................................... 23

Step 2: Test the Motor With the P7000 Tools (Optional) ................................................ 27

Step 3: Install Software on and Configure the NI RT Controller..................................... 28

Step 4: Create a Project in Scan Interface Mode .............................................................. 29

Step 5: Add Resources to the Project ............................................................................... 30

Step 6: Configure the NI 9512 Axis ................................................................................. 31

Step 7: Enable and Test the Drive using LabVIEW......................................................... 34

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

Status LED on the Drive is Off, Blinks, or is Red............................................................ 35

P7000 Tools Jog Toolbar Does Not Move The Motor..................................................... 35

The Motor Gets Hot When Idle ........................................................................................ 35

The Motor Moves Backwards .......................................................................................... 35

The P7000 Software Does Not Detect the Drive.............................................................. 35

Worldwide Support and Services ............................................................................................. 36

2|ni.com |Getting Started with NI 9512 and P7000 Drives

What You Need to Get Started

You need the following items to get started.

Software

LabVIEW 2009 or later

LabVIEW 2009 Real-Time Module or later

NI-RIO 3.2.0 or later

LabVIEW 2009 NI SoftMotion Module or later

P7000 Tools configuration software (optional)

Note The RS-232 serial configuration cable and P7000 Tools configuration

software are required only if you are using a third-party motor. If you are using an

NI stepper motor, you can perform configuration using only the DIP switches on the

drive.

Hardware

NI 9512 C Series drive interface module

NI 9512-to-P7000 stepper drives connectivity bundle. This product contains the following

items:

– A cable to directly connect the NI 9512 DSUB with the P7000 series stepper drive

– A 37-pin terminal block and cable for connecting the NI 9512 MDR connector to other

I/O

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 controller

Note Refer to the hardware specifications for information about selecting an

appropriate power supply.

A separate power supply for the modules

Getting Started with NI 9512 and P7000 Drives |© National Instruments |3

Ethernet connection and cable

P70360 or P70530 stepper drive

DC power supply if using the P70530 stepper drive

NI or third-party stepper motor

Note Stepper motors available from NI are matched to the P7000 series stepper

drive. Refer to ni.com/motion for motor options. National Instruments highly

recommends using these motors for the best user experience.

NI or third-party encoder (optional)

RS-232 serial communication cable for P7000 drives (optional)

Figure 1 shows the required hardware and software.

Figure 1. Required Hardware and Software for NI 9512 Drive Interface Module

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 NI 9512 C Series module.

•P70360 (AC) High Performance Micro-stepping Drive Reference Guide—Use this

document to learn additional information about the electrical and mechanical aspects of the

P70360 AC stepper drive, including important safety information.

•P70530 (DC) High Performance Micro-stepping Drive Reference Guide—Use this

document to learn additional information about the electrical and mechanical aspects of the

P70530 DC stepper 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

P7000 Series

Stepper Drive

(P70360 shown)

NI Stepper

Motors

P7000

Direct Connect

Cable

Ethernet

Cable

NI RT Controller

(NI cRIO-9014 shown)

and NI 9512 Module

RS-232 Cable

(Optional)

+24 V Power Supply

(NI PS-15 Shown)

DC Power

Supply

(P70530 only)

4|ni.com |Getting Started with NI 9512 and P7000 Drives

LabVIEW NI SoftMotion Module and how to set up a system using the NI 9144 distributed

chassis. 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.

Hardware Installation and Configuration

You can configure the P7000 series stepper drives using the external DIP switches or with

software through the RS-232 port. If you have an NI stepper motor, you can configure the drive

and motor using only the DIP switches. If you have a third-party motor, you must use the

P7000 Tools configuration software.

Note This document assumes you have already installed your NI 9512 C Series

module and all required software to the host computer. Refer to the Getting Started

with NI 951x C Series Modules and LabVIEW, available from ni.com\manuals

and installed with the NI LabVIEW NI SoftMotion Module, for installation

information. Software installation onto the RT target is covered in Step 3: Install

Software on and Configure the NI RT Controller.

Getting Started with NI 9512 and P7000 Drives |© National Instruments |5

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.

b. Align the controller with the chassis as shown in Figure 2.

Figure 2. 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.

1 Controller

2CaptiveScrews

3 Controller Slot

4 Reconfigurable Embedded Chassis

5 Grounding Screw

6|ni.com |Getting Started with NI 9512 and P7000 Drives

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 5: Connect Power to the P7000 Drive.

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

Step 2: Connect the Stepper Motor to the Drive

Connect the stepper motor as shown in Figure 3. The NI stepper motors are highly

recommended, as they are optimized to work with the P7000 series stepper drives.

Caution Do not hot-plug the motor connector. Also, avoid “whiskers” from

stranded phase leads protruding from the motor plug.

Figure 3. Connecting the Stepper Motor

The NI stepper motor wire color code is shown in Table 1.

Table 1. NI Stepper Motor Wire Colors

Phase Color

A– Orange

A+ Black

B– Yell ow

B+ Red

PE Green/Yellow Stripe

Motor

Power

A–

A+

B–

B+

Earth GND

Motor

To avoid electrical shock, motor

ground must be connected to

protective earth.

Getting Started with NI 9512 and P7000 Drives |© National Instruments |7

Note To reverse the motor rotation direction, do one of the following:

• Switch A– with A+

• Switch B– with B+

• Switch A–, A+ with B–, B+

National Instruments offers several standard stepper motors that provide optimum performance

when matched with the P7000 drive. The motors have a four flying lead configuration. If your

motor has six or eight leads, refer to Figures 4 and 5 for connection options.

Figure 4. Six Lead Connection Options

Phase A+

Phase A–

Phase B+

Phase B–

NC*

*NC = Not Connected

Phase A+

Phase A–

Phase B+

Phase B–

NC*

6-Wire Half-Coil Connection

(Higher Speed, Lower Torque)

6-Wire Series Connection

(Higher Torque, Lower Speed)

8|ni.com |Getting Started with NI 9512 and P7000 Drives

Figure 5. Eight Lead Connection Options

Step 3: Configure the DIP Switches

Configure the DIP switches as follows for proper operation of your P7000 series stepper drive.

Figure 6 shows switches S2–1 through S2–12 in the OFF position for the P70360 drive.

Figure 6. DIP Switches in OFF Position for P70360 Drive

Phase B–

Phase A+

Phase A–

Phase B+

8-Wire Parallel Connection

(Higher Speed, Lower Torque)

Phase B–

Phase A+

Phase A–

Phase B+

8-Wire Series Connection

(Higher Torque, Lower Speed)

Phase B–

Phase A+

Phase A–

Phase B+

NCNC

8-Wire Half-Coil Connection

(Higher Speed, Lower Torque)

*NC = Not Connected

S1S2

112

12345678910 11 12

OFF

Getting Started with NI 9512 and P7000 Drives |© National Instruments |9

Figure 7 shows switches S2–1 through S2–12 in the OFF position for the P70530 drive.

Figure 7. DIP Switches in OFF Position for P70530 Drive

Using Table 4 or 5, set switches S1 and S2-1 to configure the drive for your motor. If you have

a third-party motor set the switches for a third-party motor and use the serial configuration using

P7000 Tools.

For the remaining DIP switches, refer to Table 2 for the switch settings and to Table 3 for the

recommended drive settings that correspond to the switch settings.

Note For DIP switch settings to take effect, you must power cycle the P7000 series

stepper drive whenever you make changes.

Table 2. DIP Switch Positions

Motor Selection Step Resolution

S1 S2–1 S2–2 S2–3 S2–4

Motor Dependent Motor Dependent ON OFF ON

Load Inertia

Dynamic

Smoothing

Current

Reduction

Multi-

stepping

Encoderless

Stall

Detection

S2–5 S2–6 S2–7 S2–8 S2–9 S2–10 S2–11 S2–12

OFF OFF OFF OFF OFF OFF OFF OFF

1234567891011 12

OFF

S1 Motor S224578910-12

Step LoadSmooth Advanced

Computer Setup

S1=0,

S2 1-12 = OFF

High = OFF, Open

Low = ON, Closed

10 |ni.com |Getting Started with NI 9512 and P7000 Drives

Motor Selection

Table 4 lists the switch settings for AC P70360-compatible motors. Table 5 lists the switch

settings for DC P70530-compatible motors.

Table 3. Drive Settings

Drive Option Setting

Motor selection Motor dependent

(refer to Tables 4 and 5 for switch positions)

Step resolution 5,000 (refer to Table 6 for switch positions)

Load inertia 0–1 (refer to Table 7 for switch positions)

Dynamic smoothing Minimal (refer to Table 8 for switch positions)

Current reduction Enabled (refer to Table 9 for switch positions)

Multistepping Disabled (refer to Table 10 for switch positions)

Encoderless stall detection Disabled (refer to Table 11 for switch positions)

Table 4. P70360-Compatible Motor DIP Switch Settings

Motor Frame Motor S1 S2–1

NI NEMA 23 T21NRLC 1OFF

T22NRLC 2OFF

T23NRLC 3OFF

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