National Instruments C Series Manuale utente

Getting Started with NI 9514/16

C Series Modules and

AKD Servo Drives

This document explains how to install and configure the AKD servo drives for use with the

NI 9514 and NI 9516 C Series drive interface modules.

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

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

Step 1: Set Up the Real Time System............................................................................... 5

Step 2: Connect NI 9514/16 to AKD Drive Cable to the C Series Module ..................... 5

Step 3: Mount the Drive and Connect the Protective Earth ............................................. 7

Step 4: Connect the Logic Power Supply to the NI 9514/16 to AKD Drive Cable ......... 7

Step 5: Connect the NI 9514/16 to AKD Drive Cable to the AKD Servo Drive ............. 7

Step 6: Connect the Motor and Encoder to the Drive....................................................... 9

Step 7: Connect the AC Input Power................................................................................ 9

Step 8: Connect the Drive Communication...................................................................... 11

Step 9: Confirm Drive Connections ................................................................................. 12

Software Installation and Configuration................................................................................... 12

Step 1: Install Software on and Configure the NI RT Controller..................................... 12

Step 2: Creating a Project and Adding NI RT Controller................................................. 13

A. CompactRIO Controller....................................................................................... 13

B. EtherCAT Master and NI 9144 EtherCAT Expansion Chassis ........................... 14

C. NI 9146/7/8/9 Ethernet RIO Expansion Chassis ................................................. 15

Step 3: Adding an NI SoftMotion Axis to the Project...................................................... 15

Step 4: Configure the NI 9514 or NI 9516 C Series Modules.......................................... 17

Step 5: Install AKD WorkBench and Configure the Drive .............................................. 20

Step 6: Enable and Test the Drive using LabVIEW......................................................... 27

Tips and Troubleshooting......................................................................................................... 28

The Drive Does Not Enable.............................................................................................. 28

Using an EtherCAT AKD Drive in Analog Mode ........................................................... 29

Cannot Communicate With the Drive Using Ethernet ..................................................... 29

Connecting to the PC Using a Static IP............................................................................ 30

2|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives

The Motor Responds Poorly............................................................................................. 30

Cannot See the AKD Servo Drive in the AKD WorkBench Software ............................ 30

Wiring Diagram ........................................................................................................................ 31

Where to Go From Here ...........................................................................................................32

Worldwide Support and Services ............................................................................................. 33

What You Need to Get Started

Caution Before installing the drive, review Chapter 2, Safety, of 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 9514 or NI 9516 C Series servo 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 9146/7/8/9 Ethernet RIO Expansion Chassis

– 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 or Ethernet RIO Expansion

Chassis

Ethernet connection and cable for the AKD servo drive

NI 9514/16 to AKD Drive Cable (Part Number 781524-01)

Kollmorgen AKD servo drive

Kollmorgen AKM or third-party servo motor and encoder

Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |3

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

Note The following are the required software for the NI 9514 module. Depending

on the Real Time controller and other C Series module being used, a newer version

of software maybe needed. NI recommends to use the latest available softwares.

LabVIEW 2009 SP1 (minimum).

LabVIEW 2009 SP1 Real-Time Module (minimum).

LabVIEW 2009 SP1 NI SoftMotion Module (minimum).

NI-RIO 3.4.0 (minimum).

NI-Industrial Communications for EtherCAT® 1.2 (minimum), if you are using the NI 9144

distributed chassis.

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

NI RT Controller section of this document for installation information.

Figure 1 shows the required hardware and software.

Figure 1. Required Hardware and Software

Ethernet

Cable

NI 9514/16 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 9514/16 Module

+24 V Power Supply

(NI PS-15 Shown)

AKD Analog

Servo Drive

4|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives

Hardware Installation and Configuration

This section covers the hardware setup for the CompactRIO system, NI 9514 or NI 9516

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

6 Feedback (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

Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |5

Step 1: Set Up the Real Time System

Complete the following steps to set up the CompactRIO hardware.

1. Refer to the Getting Started guide included with the Real-Time controller to assemble it,

connect it to power, discover it on the network, and install the software in NI MAX.

2. Install the NI 9514 or NI 9516 module in an available slot that supports High Speed

Interface (HSI) in your chassis.

Note Older model chassis, such as cRIO-902x, cRIO-907x, cRIO-908x, NI 9144,

and NI 9148, have HSI support on slots 1 through 4. Refer to your chassis

documentation for more information about HSI slot support.

Step 2: Connect NI 9514/16 to AKD Drive Cable to the

C Series Module

Connect the MDR and DSUB connectors on the NI 9514/16 to AKD Drive Cable (part number

781524-01) to the MDR and DSUB connectors on the C Series module. Figure 3 shows the

NI 9514/16 to AKD Drive Cable connectors.

Figure 3. NI 9514/16 to AKD Drive Cable Connectors

The NI 9514/16 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.

•X8 10-Pin Connector—10-pin connector containing the servo command, enable, and fault

signals.

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

signals from the AKD servo drive.

MDR

Connector

DSUB

Connector

Screw Terminal

Connector

X1 3-Pin

Connector

X810-Pin

Connector

X9 DSUB

Connector

6|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives

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

through the 20-pin screw terminal connector.

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

connections.

Table 1 shows the screw terminal I/O connector pinout.

Table 1. NI 9514/16 to AKD Drive Cable Screw-Terminal Pinout

Pin Signal Name

1Forward Limit

2Home

3Reverse Limit

4Digital Input 0

5Vsup

6Vsup Return

7Encoder 1 Phase A+ (NI 9516 only)

8Encoder 1 Phase A- (NI 9516 only)

9Encoder 1 Phase B+ (NI 9516 only)

10 Encoder 1 Phase B- (NI 9516 only)

11 +5V OUT

12 Position Compare

13 Position Capture

14 COM

15 Reserved

16 Reserved

17 Reserved

18 Reserved

19 Reserved

20 Reserved

Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |7

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 9514/16 to AKD Drive Cable

The NI 9514/16 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 9514 or NI 9516 module.

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

steps in the Step 8: Connect the Drive Communication section.

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 9514/16 to

AKD Drive Cable screw terminal connector.

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

NI 9514/16 to AKD Drive Cable screw terminal connector.

Step 5: Connect the NI 9514/16 to AKD Drive Cable to

the AKD Servo Drive

Connect the NI 9514/16 to AKD Drive Cable to the AKD servo drive. Refer to Figure 2 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 +24 V 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 9514/16 to AKD cable X1 connector and

insulate it.

Note The STO and +24V wires are internally connected in the NI 9514/16 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.

8|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives

Figure 4 shows the X1 connector pin assignment and wire colors.

Figure 4. AKD X1 Connector

2. Connect the cable X9 DSUB connector to the AKD servo drive X9 DSUB connector.

3. Connect the cable X8 10-pin connector to the AKD servo drive X8 10-pin connector.

Note You can use the X7 I/O connector for additional I/O but it is not used for

connection to the NI 9514 and NI 9516 drive interface modules.

Figure 5. NI 9514/16 to AKD Drive Cable Connections

1 +24 V Supply, STO (X1) 2 Encoder Emulation (X9) 3 I/O Connector(X8)

+24 V (Red)

GND (Black)

STO (Brown)

X1 3-Pin

Connector

Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |9

Step 6: Connect the Motor and Encoder to the Drive

All Kollmorgen AKM servo motors available from NI come pre-wired for direct connection to

the AKD servo drive X2 motor connector and X10 feedback connector. Refer to Figure 6 for the

location of the connectors.

1. Connect the motor 6-pin connector to the AKD servo drive X2 motor connector.

Note The X2 connector also provides connection for the drive to control the +24 V

holding brake for motors that have a brake. Refer to the AKD Installation Manual for

information about using the holding brake.

2. Connect the motor DSUB feedback connector to the AKD servo drive X10 feedback

connector.

Figure 6. Motor and Encoder Connections

Step 7: Connect the AC Input Power

Connect the X3 mains supply connector to AC input power. Pins 4 through 7 contain the AC

power signals. The X3 connector also provides signals for an external brake (regen) resistor

(±RB) and DC bus link (-DC). Refer to the AKD Installation Manual for information about using

these terminals.

Note Do not turn on the AC power until after you complete Step 8: Connect the

Drive Communication section.

1 Motor Connector (X2) 2 Feedback Connector (X10)

10 |ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives

Figure 7 shows the location and pin assignment for the X3 connector.

Figure 7. AKD Servo Drive X3 Connector

AC input power can be connected for either a three-phase or single-phase operation.

Note External filtering and fusing are optionally provided by the user. Refer to the

AKD Installation Manual for information about filter and fuse requirements.

Figure 8 shows three-phase connection.

Figure 8. AC Input Power Three-Phase Connection

–RB

–DC

+RB

Out

User-Provided

Filter

(Optional)

AKD Servo Drive

Protective

Earth

Protective

Earth

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