National Instruments NI 9930 Manuale utente

cRIO-9014

NI 9930 Motion Control Accessories User Guide

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 use the NI 9930 motion control accessories with the NI 9512 C Series

drive interface module and selected position command servo drives.

Contents

NI 9930M Motion Control Accessory for Mitsubishi Servo Drives ................................................... 1

What You Need to Get Started ....................................................................................................1

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

Software Installation and Configuration...................................................................................... 8

NI 9930P Motion Control Accessory for Panasonic Servo Drives ..................................................... 18

What You Need to Get Started ....................................................................................................18

Hardware Installation and Configuration .................................................................................... 21

Software Installation and Configuration...................................................................................... 24

NI 9930Y Motion Control Accessory for Yaskawa Servo Drives ...................................................... 34

What You Need to Get Started ....................................................................................................34

Hardware Installation and Configuration .................................................................................... 37

Software Installation and Configuration...................................................................................... 40

Additional NI 9930 Accessories Connector Pinouts ........................................................................... 49

Related Documentation........................................................................................................................ 52

Worldwide Support and Services ........................................................................................................ 52

NI 9930M Motion Control Accessory for Mitsubishi Servo Drives

The NI 9930M motion control accessory allows easy connection between the NI 9512 C Series drive

interface module and the Mitsubishi MR-J2 or Mitsubishi MR-J3 servo drive.

What You Need to Get Started

You need the following items to get started.

Hardware

❑NI 9930M Motion Control Accessory and NI 951x Y-cable.

(NI part number 781824-01)

❑NI 9512 C Series stepper drive interface module.

(NI part number 779944-01)

❑NI real-time 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 rdsoftwareversion.

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

(NI part number 781093-01)

Note Refer to the controller operating instructions for power supply requirements.

NI 9930 Motion Control Accessories User Guide 2 ni.com

❑24 V power supply (such as the NI PS-15) for the NI 9930M. This supply also powers the NI 9512

and any drive I/O.

(NI part number 781093-01)

Note Refer to the NI 9512 Operating Instructions and Specifications and the drive manual to verify

that the selected power supply meets the system requirements.

❑Ethernet connection and cable for the CompactRIO controller.

❑50- or 20-pin MDR cables to connect the accessory to the drive.

– One 50-pin MDR cable for MR-J3 drives

(NI part number 194604-02)

– Two 20-pin MDR cables for MR-J2 drive

(NI part number 194466-02)

❑Mitsubishi MR-J2 or MR-J3 position-command servo drive.

❑Servo motor, encoder, power supply, and associated cables to connect the motor and encoder to the

drive.

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

Figure 1 shows a simplified connection diagram.

Figure 1. NI 9930M Connection Accessory with to MR-J2 Drive Connections

FRONT

12 24

113

COM

VSUP

FOR PATENTS: NI.COM/PATENTS

J5J1 J7

DS1 DS2

J2 J6

+5 V Out +24 V

Ethernet

Cable

NI 951x

Y-Cable

NI RT Controller

(NI cRIO-9014 shown)

and NI 9512 Module

+24 V Power Supply

(NI PS-15 Shown)

Mitsubishi MR-J2

Servo Drive

CN1B Cable

(20-pin MDR)

CN1A Cable

(20-pin MDR)

Screw Terminal Connectors

NI 9930M Motion

Control Accessory

Host Computer

©National Instruments Corporation 3 NI 9930 Motion Control Accessories User Guide

Figure 2. NI 9930M Connection Accessory with to MR-J3 Drive Connections

Ethernet

Cable

NI 951x

Y-Cable

NI RT Controller

(NI cRIO-9014 shown)

and NI 9512 Module

+24 V Power Supply

(NI PS-15 Shown)

Mitsubishi MR-J3

Servo Drive

FRONT

12 24

113

COM

VSUP

FOR PATENTS: NI.COM/PATENTS

J5J1 J7

DS1 DS2

J2 J6

+5 V Out +24 V

CN1 Cable

(50-pin MDR)

Screw Terminal Connectors

NI 9930M Motion

Control Accessory

Host Computer

NI 9930 Motion Control Accessories User Guide 4 ni.com

Figure 3 shows an overview of the connectors on the NI 9930M connection accessory.

Figure 3. NI 9930M Connection Accessory Connectors

1 J1, J5, J7: User I/O Screw Terminal Connectors

2DS1: +5 V Power LED (from NI 9512)

3DS2: +24 V Power LED

4J8: + 24 V Power Supply Connector

5 J6: CN1B Connector (for MR-J2 Drive)

6 J4: NI 9512 Connector

7 J2: CN1A Connector (for MR-J2 Drive)

8J3: CN1 Connector (for MR-J3Drive)

FRONT

12 24

113

COM

VSUP

FOR PATENTS: NI.COM/PATENTS

J5J1 J7

DS1 DS2

J2 J6

+5 V Out +24 V

©National Instruments Corporation 5 NI 9930 Motion Control Accessories User Guide

Hardware Installation and Configuration

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 4.

Figure 4. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)

1 Controller

2Captive Screws

3Controller Slot

4 Reconfigurable Embedded Chassis

5Grounding Screw

NI 9930 Motion Control Accessories User Guide 6 ni.com

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 3: Configure

the Drive and Connect the Motor and Encoder to the Drive.

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

Step 2: Connect the NI 9930M Connection Accessory

The NI 9930M connection accessory contains connections for the NI 9512 C Series module, the

Mitsubishi MR-J2 or MR-J3 servo drive, and a 24 V power supply for NI 9512 module and drive I/O.

1. Connect the NI 9512 module to the NI 9930M J4 connector using the NI 951x Y cable.

2. Connect the NI 9930M to the drive.

•Mitsubishi MR-J2—Connect the J2 connector to the CN1A connector on the drive, and the

J6 connector to the CN1B connector on the drive using two 20-pin MDR cables.

•Mitsubishi MR-J3—Connect the J3 connector to the CN1 connector on the drive using one

50-pin MDR cable.

3. Connect a 24 V power supply to the Vsup and COM terminals on the NI 9930M accessory J8

connector. Figure 3 shows the location of the power supply input.

4. Connect pin 2 (EMG - emergency stop input signal) and pin 1 (COM) to an emergency stop switch.

Refer to the drive manual for more information about emergency stop switch requirements.

Note If the emergency stop functionality is not required, connect the EMG input directly to COM

to bypass any external safety circuitry.

Note You cannot enable the drive if you do not connect the EMG input to an emergency stop switch

or directly to COM.

5. Connect pin 15 (LSP - forward rotation stroke end/forward limit) and pin 14 (LSN - reverse rotation

stroke end/reverse limit) to pin 13 (COM), or configure the drive to ignore limit inputs.

Note These configuration settings disable limits for initial setup and testing purposes. National

Instruments recommends connecting and enabling limits in your final application. Refer to the drive

documentation for limit input requirements.

6. Connect pin 9 (COM) to pin 10 (LG - control common).

Note Not connecting pin 9 and pin 10 will result in unpredictable behavior.

7. Connect any additional I/O, such as limits, DIO, position compare outputs, position capture inputs,

and so on, using the NI 9930M screw terminal connectors. The J1 and J5 connectors allow

connection to the drive I/O signals, and the J7 connector provides connection to the NI 9512 I/O

signals. Refer to the drive or the NI 9512 module documentation for specific signal connection

requirements.

©National Instruments Corporation 7 NI 9930 Motion Control Accessories User Guide

Figure 5 shows the screw terminal connector pinouts.

Figure 5. NI 9930M I/O Connectors

COM

Emergency Stop

Speed Selection 2

ACD 2

Reset

Torque Limit Selection

Proportion Control

Clear

COM

LG (Control Common)

+15 VDC Power Supply

+24 V

COM

Reverse Rotation Stroke End

Forward Rotation Stroke End

DO1 (from Drive)

Zero Speed

Limiting Torque

Control Selection

Analog Torque Limit

Analog Speed Command

LG (Control Common)

+15 VDC Power Supply

+24 V

COM

Position Compare

Position Capture

+5 V Out (NI 9512)

COM

DI 0 (NI 9512)

DO 1 (NI 9512)

DO 0 (NI 9512)

Home

Reverse Limit

Forward Limit

+24 V

FRONT

12 24

113

COM

VSUP

FOR PATENTS: NI.COM/PATENTS

DS1 DS2

J2 J6

+5 V Out +24 V

Drive I/O

NI 9512 I/O

NI 9930 Motion Control Accessories User Guide 8 ni.com

Step 3: Configure the Drive and Connect the Motor and Encoder to the Drive

This section covers the minimum drive settings and connections to allow the motor to move. Refer to

the drive manual for additional information about drive parameters and signal information.

1. Power on the drive and configure the drive for position control mode. These parameters differ

depending on the drive. Refer to the drive manual for information about how to set drive

parameters.

•Mitsubishi MR-J2—Set parameter P 21 to 1 (signed pulse train).

•Mitsubishi MR-J3—Set parameter PA 01 to 0 (position control) and PA 13 to 1 (step and

direction). You may also need to set parameter PA 05 (pulses per rev) to the appropriate setting

for your encoder.

2. Ensure that the drive encoder output pulses and electronic gear parameters are set to the default

values:

Mitsubishi MR-J2

a. Set parameter P 27 to 4000 pulses per rev. If you change this from the default value, you must

also change the value specified for the encoder Counts per rev in Step 3: Configure the

NI 9512 C Series Module of the Software Installation and Configuration section.

b. Set parameter 3 and parameter 4 to 1. This disables any electronic gearing settings.

Mitsubishi MR-J3

a. Set parameter PA 15 to 4000 pulses per rev. If you change this from the default value, you must

also change the value specified for the encoder Counts per rev in Step 3: Configure the

NI 9512 C Series Module of the Software Installation and Configuration section.

b. Set parameter PA 05 to 0. This disables the number of command input pulses per servo motor

revolution parameter.

c. Set parameter PA 06 and parameter PA 07 to 1. This disables any electronic gearing setting.

3. Connect the motor and encoder to the drive. Refer to the documentation specific to your drive for

motor and encoder connection information.

Tip An incorrectly connected encoder may cause NI SoftMotion to return error -77076

(NIMCDM_driveReadyNotActiveError). Verify the encoder connections if you see this error.

4. Connect the drive power. Refer to the drive documentation for power connections and

specifications.

5. Apply power to all the hardware once all connections are made and continue to the next section.

Software Installation and Configuration

This section covers installing and configuring the software for the NI 9512 C Series drive interface

module. It assumes that all required software from the What You Need to Get Started section is installed.

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

Complete the following steps to configure the controller and install software on it.

Note The Measurement & Automation Explorer (MAX) user interface may not match these steps

exactly depending on which version of MAX you are using.

1. Launch MAX on the development computer by clicking the MAX icon on the desktop, or by

selecting Start»All Programs»National Instruments»Measurement & Automation.

2. Select the controller under Remote Systems in the Configuration pane. If you do not see the

controller, you may need to disable the firewall on the development computer. Go to

ni.com/info and enter RIOMAXTroubleshoot for more information.

©National Instruments Corporation 9 NI 9930 Motion Control Accessories User Guide

3. Verify that the Serial Number in the General Settings section matches the serial number on the

device.

4. If you do not want to format the disk on the controller, eliminating all installed software and files,

skip to step 14.

5. Set the Safe Mode switch on the controller to the On position.

6. Power on the controller. If it is already powered on, press the Reset button on the controller to

reboot it.

7. Right-click the controller under Remote Systems in the Configuration pane in MAX and select

Format Disk.

8. (Optional) Enable the Keep Network Settings checkbox if you want to retain the same target name

and IP address.

9. Click Format to start formatting the disk.

10. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position and click

OK.

11. Select the System Settings tab and type a descriptive name for the system in the Hostname field.

12. (Optional) Complete this step only if the target has an empty IP address (0.0.0.0). Select the

Network Settings tab and select DHCP or Link Local from the Configure IPv4 Address list to

assign an IP address or select the Static to specify a static IP address in the IPv4 Address section.

13. Click Save on the toolbar and let MAX reboot the system.

14. When the new system name appears under Remote Systems, expand the controller item in the tree,

right-click Software, and select Add/Remove Software.

15. Select a recommended software set that includes NI-RIO 3.4.0 or later.

Note If you are using the NI SoftMotion Module 2010 SP1 or earlier, also select LabVIEW

NI SoftMotion Module Scan Engine Support from the list.

16. Click Next.

17. Select LabVIEW NI SoftMotion Module from the add-ons list.

18. Click Next to install the selected software on the controller. Click Help if you need information

about installing recommended software sets.

19. When the software installation completes, click Finish to reboot the controller.

20. Close MAX.

Step 2: Creating a Project and Adding an NI SoftMotion Axis

Complete the following steps to create a LabVIEW project.

1. Launch LabVIEW by selecting Start»All Programs»National Instruments»LabVIEW.

2. Click the Empty Project link in the Getting Started window to display the Project Explorer

window. You can also select File»New Project to display the Project Explorer window.

3. Select Help and make sure that Show Context Help is checked. You can refer to the context help

throughout the tutorial for information about items on the block diagram.

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