NI 9514 Operating Instructions and Specifications
Contents
1. 10 to 90 RH noncondensing Storage humidity IEC 60068 2 56 5 to 95 RH noncondensing Max altitude 2 000 m Pollution Degree 60664 Environmental Management National Instruments is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers For additional environmental information refer to the and the Environment Web page at ni com environment This page contains the environmental regulations and directives with which NI complies as well as other environmental information not included in this document NI 9514 Operating Instructions and Specifications 32 ni com Waste Electrical and Electronic Equipment WEEE EU Customers At the end of their life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers and National Instruments WEEE initiatives visit ni com environment weee htm ETAR mis Riehl SEMA HE ROHS HAE National Instruments th Ed ri fei oo T b rp ppc IS RoHS National Instruments F El RoHS ni com environment rohs china Forinformation about China RoHS compliance go to ni com environment rohs china National Instruments Corp 33 NI2. 1 1 1 Servo Motor Encoder Figure 1 9514 Connection Example National Instruments Corp 7 NI 9514 Operating Instructions and Specifications Table 1 NI 9514 DSUB Connector Pin Assignments NI 9514 Operating Instructions and Specifications Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved 4 Reserved 5 Reserved 6 Drive Command 7 COM 8 Digital Input 1 9 Reserved 0 Reserved 1 Reserved 2 Vaip 3 Reserved 4 COM 5 Reserved ni com Reverse Limit Reserved Vsup Reserved COM Encoder 0 Phase A Encoder 0 Phase Encoder 0 Phase B Position Capture Encoder 0 Phase B 11 1 Forward Limit 12 2 Home n 13 3 COM n 14 4 Digital Input 0 15 5 1 16 6 Encoder 0 Index 17 7 Encoder 0 Index 18 8 COM 19 9 5V OUT 1 20 10 Position Compare P Figure 2 NI 9514 MDR Connector Pin Assignments National Instruments Corp 9 NI 9514 Operating Instructions and Specifications Forward Li
3. Corp 13 NI 9514 Operating Instructions and Specifications You can configure the Forward Limit Reverse Limit and Digital Input lt 1 2 gt signals in software for sinking or sourcing output devices and set the active state of the inputs in software to on or off To use the Drive Fault signal referenced in Figure 1 you can map an available digital input in software Figure 7 shows an example of wiring the input signals to a sourcing output device PNP Sourcing Output Device NI 9514 i Re D Fer eo ce AY 1 1 t 1 1 1 1 i i Limit Home 1 i 1 i or Digital Input Limit Home i Configured Digital Input 1 6 i For Sinking 1 i V Reference a CoM Figure 7 Limit or Digital Input Circuit Configured for Sinking NI 9514 Operating Instructions and Specifications 14 ni com Figure 8 shows an example of wiring the input signals to a sinking output device NPN Sinking Output Device NI 9514 V NI 9514 Vsup A Limit Home Configured or Digital Input For Sourcing gt Limit Home y Reference 1 1 1 or Digital Input 4 9 1 1 e o Figure 8 Limit or Digital Input Circuit Configured for Sourcing The NI 9514 Drive Enable signal is software configurable for sinking or sourcing output type and the
4. the DSUB connector pin assignments 3 Note The remainder of this document does not distinguish between drives and amplifiers All references to drives also apply to amplifiers NI 9514 Operating Instructions and Specifications 4 ni com The 20 pin MDR connector includes incremental encoder feedback inputs a 5 V output for encoder power home limit and position compare inputs an output for position compare an additional 19 to 30 V input for power connection and an additional 0 to 30 V general purpose digital input line Refer to Figure 2 for the MDR connector pin assignments 3 Note The NI 9514 requires an external power supply You can connect the external power supply to the V sup input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module National Instruments offers several options for connecting the NI 9514 to servo drives You can use the NI 951x Cable and Terminal Block Bundle to connect to third party servo drives Refer to Figure 3 for the 37 pin terminal block pin assignments Refer to the 951x User Manual which you can download from ni com manuals for information about additional connection accessories and cabling recommendations National Instruments Corp 5 NI 9514 Operating Instructions and Specifications Complete the following steps to connect the NI 9514 servo drive interface module to drives and other I O 1 Install the module in the chassis as specif
5. 1 Singapore 1800 226 5886 Slovenia 386 3 425 42 00 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 2005151 Taiwan 886 02 2377 2222 Thailand 662 278 6777 Turkey 90 212 279 3031 United Kingdom 44 0 1635 523545 National Instruments Corp 35 NI 9514 Operating Instructions and Specifications National Instruments NI ni com and LabVIEW are trademarks of National Instruments Corporation Refer to the Terms of Use section on ni com 1ega1 for more information about National Instruments trademarks Other product and company names mentioned herein are trademarks or trade names of their respective companies For patents covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patent Notice atni com patents 2009 National Instruments Corp All rights reserved 374988B 01 Jul09
6. 9514 Operating Instructions and Specifications Where to Go for Support The National Instruments Web site is your complete resource for technical support At ni com support you have access to everything from troubleshooting and application development self help resources to email and phone assistance from NI Application Engineers National Instruments corporate headquarters is located at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the world to help address your support needs For telephone support in the United States create your service request at ni com support and follow the calling instructions or dial 512 795 8248 For telephone support outside the United States contact your local branch office Australia 1800 300 800 Austria 43 662 457990 0 Belgium 32 0 2 757 0020 Brazil 55 11 3262 3599 Canada 800 433 3488 China 86 21 5050 9800 Czech Republic 420 224 235 774 Denmark 45 45 76 26 00 Finland 358 0 9 725 72511 France 01 57 66 24 24 Germany 49 89 7413130 India 91 80 41190000 Israel 972 3 6393737 Italy 39 02 41309277 Japan 0120 527196 NI 9514 Operating Instructions and Specifications 34 ni com Korea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 328 90 10 Portugal 351 210 311 210 Russia 7 495 783 685
7. Axis Fault Red Axis Status The Axis Status LED green has three states to display axis status e Off The module is in sleep mode or failed to boot correctly Refer to the NI SoftMotion Module book of the LabVIEW Help for troubleshooting information Flashing The module booted up correctly and is functional Lit The module is functional and the drive enable output is active NI 9514 Operating Instructions and Specifications 18 ni com Encoder Active The Encoder Active LED green has three states for encoder and Status e Off tThe required power supply is not connected You must connect a power supply to receive encoder pulses Flashing The power supply V4 is connected and the module is receiving encoder pulses Note The LED flash rate does not correspond to the rate at which the NI 9514 receives encoder pulses Lit The power supply is connected but the module is not receiving encoder pulses Limit Active The Limit Active LED yellow has two states to display the status of the limits and home input Off The power supply Vu is not connected or both the limits and home input are not active Lit The power supply is connected and the forward limit reverse limit or home input is active National Instruments Corp 19 NI 9514 Operating Instructions and Specifications Axis Fault The Axis Fault LED red has two states to indicate the pr
8. OPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9514 Servo Drive Interface Module with Encoder Feedback Frangais Deutsch ESA ni com manuals NATIONAL INSTRUMENTS x This document describes how to use the National Instruments 9514 module and includes specifications and pin assignments for the NI 9514 Visit ni com info and enter the Info Code rdsoftwareversion to determine which software you need for the modules you are using For information about installing configuring and programming the system refer to the system documentation Visit com info and enter cseriesdoc for information about C Series documentation Note The safety guidelines and specifications in this document are specific to the NI 9514 The other components in the system may not meet the same safety ratings and specifications Refer to the documentation for each component in the system to determine the safety ratings and specifications for the entire system NI 9514 Operating Instructions and Specifications 2 ni com Safety Guidelines Operate the NI 9514 only as described in these operating instructions Hot Surface This icon denotes that the component may be hot Touching this component may result in bodily injury Special Conditions for Marine Applications Some modules are Lloyd s Register LR Type Approved for marine applications To verify Lloyd s Register certification g
9. active state is software configurable for on or off National Instruments Corp 15 NI 9514 Operating Instructions and Specifications Caution Only connect the Drive Enable output to 5 V A input circuitry when the output is configured for sinking Figure 9 shows an example of wiring the output signals to a sinking input device NPN Sinking NI 9514 Input Device NI9514Vsup V4 1 1 1 _ Drive Enable gt I i pn Drive Enable In Configured i For Sourcing i Sinking Circuit i COM i He 1 Reference Figure 9 Drive Enable Output Circuit Configured for Sourcing NI 9514 Operating Instructions and Specifications 16 ni com Figure 10 shows an example of wiring the output signals to a sourcing input device PNP Sourcing NI 9514 Input Device NI 9514 Vsup 1 Sourcing i Circuit Drive Enable Pu Drive Enable 45 4 Configured 1 1 For Sinking y COM Reference 4 b Figure 10 Drive Enable Output Circuit Configured for Sinking National Instruments Corp 17 NI 9514 Operating Instructions and Specifications LED Indicators The NI 9514 has four LEDs to display status information 1 Axis Status Green 3 Limit Active Yellow 2 Encoder Active Green 4
10. e voltage 7 to 12V Input current at 5 1 mA Min pulse width Differential 100 ns Single ended 400 ns Max count rate Differential 20 x 106 counts sec Single ended 5 x 106 counts sec Forward reverse and home inputs Input type Programmable sinking or sourcing Digital logic levels OFF state Input voltage lt 5V Input lt 250 1 Common mode voltage is the average of Phase and Phase 2 Assumes the minimum filter setting Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options National Instruments Corp 23 NI 9514 Operating Instructions and Specifications Digital logic levels ON state Input voltage 11 to 30 V Input current 22mA Input impedance 30 596 Min pulse width 100 us Position capture input Digital logic levels VONAGE iieri 0 25 to 5 25 V High 2 0 V min Low Vip 0 8 V max Input current OV Vin 4 5 2 mA max Min pulse width 100 ns Max capture latency 200 ns Capture accuracy 1 count Active Programmable rising edge or falling edge 1 Assumes the minimum fil
11. er Requirements Power consumption from chassis Active mode sss 900 mW max Sleep mode scsi 0 4 mW max Thermal dissipation at 70 C Active mode sss 1 5 W max Sleep anode sisi 0 4 mW max V up LLL 19 to 30 V 150 mA max 5 V regulated output 5 V 5 150 mA max Physical Characteristics If you need to clean the module wipe it with a dry towel Note For two dimensional drawings and three dimensional models of the C Series module and connectors visit com dimensions and search by module number 155 g 5 5 oz National Instruments Corp 27 NI 9514 Operating Instructions and Specifications Safety Safety Voltages Connect only voltages that are within the following limits Channel to COM 0 to 30 VDC max Measurement Category I Isolation Channel to channel None Channel to earth ground 60 VDC Measurement Category I Withstand sssss 500 Vms verified by a5 s dielectric withstand test Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage MAINS is a hazardous live electrical supply system that powers equipment This category is for measurements of voltages from specially protected secondary circuits Such voltage measure
12. es as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Online Product Certification Refer to the product Declaration of Conformity DoC for additional regulatory compliance information To obtain product certifications and the DoC for this product visit ni com certification search by module number or product line and click the appropriate link in the Certification column NI 9514 Operating Instructions and Specifications 30 ni com Shock and Vibration To meet these specifications you must panel mount the system Operating vibration Random IEC 60068 2 64 5 Sms 10 to 500 Hz Sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz Operating shock 60068 2 27 30 g 11 ms half sine 50 g 3 ms half sine 18 shocks at 6 orientations Environmental National Instruments C Series modules are intended for indoor use only but may be used outdoors if installed in a suitable enclosure Refer to the manual for the chassis you are using for more information about meeting these specifications Operating temperature IEC 60068 2 1 IEC 60068 2 2 40 to 70 C Storage temperature IEC 60068 2 1 IEC 60068 2 2 40 to 85 C Ingress IP 40 National Instruments Corp 31 NI 9514 Operating Instructions and Specifications Operating humidity IEC 60068 2 56
13. esence of a fault in the system Refer to the NI SoftMotion Module book of the LabVIEW Help for a list of module faults and troubleshooting information Off No module faults Lit One or more module faults Sleep Mode This module supports a low power sleep mode Support for sleep mode at the system level depends on the chassis that the module is plugged into Refer to the chassis manual for information about support for sleep mode If the chassis supports sleep mode refer to the software help for information about enabling sleep mode Visit ni com info and enter cseriesdoc for information about C Series documentation Typically when a system is in sleep mode you cannot communicate with the modules In sleep mode the system consumes minimal power and may dissipate less heat than it does in normal mode Refer to the Specifications section for more information about power consumption and thermal dissipation NI 9514 Operating Instructions and Specifications 20 ni com Specifications The following specifications are typical for the range 40 to 70 C unless otherwise noted All voltages are relative to COM unless otherwise noted Servo Performance Module modes of operation Position loop and torque loop Control loop 20 kHz max position loop Servo control loop modes PID PIVff and Dual Loop Motion Command Signals Servo command analo
14. g outputs Voltage 10 V relative to Drive Command COM Resolution 16 bits 0 000305 V LSB monotonic Max output current 2 mA 1 When using a torque loop the control loop rate depends on the processor speed and communication bus bandwidth Refer to the NI SoftMotion Module book of the LabVIEW Help for more information National Instruments Corp 21 NI 9514 Operating Instructions and Specifications Drive enable output Output type Programmable sinking or sourcing Voltage 0 to 30 V input 19 to 30 V Continuous output current on each channel 100 mA max Output impedance Rj 0 3 O max Output voltage Vo sourcing Vsup QoRo Output voltage Vo sinking IoRo Min output pulse width 100 us Active Programmable on or off Motion 1 0 Encoder 0 Phase A B and Index inputs Type Lied tenete ea RS 422 differential or single ended inputs Digital logic levels single ended Voltage sense 0 25 to 5 25 V High Vj met 2 0 V min Low V ciens 0 8 V max NI 9514 Operating Instructions and Specifications 22 ni com Digital logic levels differential Phase Phase Input high range 300 mV to 5 V Input low range 300 mV to 5 V Common mod
15. ied in the chassis documentation Note Refer to the NI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a 37 pin terminal block using the NI 951x Cable and Terminal Block Bundle or use a custom cable for direct connectivity 09 Connect the NI 9514 module to an external power supply Caution Do not connect anything to pins marked Reserved Caution The 37 pin terminal block has separate and COM terminals for each connector Make sure you are using the correct Vy and COM terminals for the connector you are using All signals associated with the DSUB connector in Figure 3 are marked with a dagger 1 Figure 1 shows a simplified system connection diagram NI 9514 Operating Instructions and Specifications 6 ni com DSUB Connector MDR Connector Drive Command HO Encoder 0 Phase B Index 5V OUT gt O Forward Reverse Limit Home Drive Enable Drive Fault o 9514 Limit and Home Accessory Custom Cable Power Supply 5a P Drive Command gt Drive Enable Drive Fault 1 1 1 1 1 1 1 1 NI Connection 1 1 1 1 i 1 1 1 1 1 1 Drive 1 1 1 1 i 1
16. ments include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics NI 9514 Operating Instructions and Specifications 28 ni com Caution Do not connect the NI 9514 to signals or use for measurements within Measurement Categories II or IV Safety Standards This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use 61010 1 EN 61010 1 UL 61010 1 CSA 61010 1 3 Note For UL and other safety certifications refer to the product label or the Online Product Certification section Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and laboratory use e EN 61326 IEC 61326 Class A emissions Industrial immunity e EN 55011 CISPR 11 Group 1 Class A emissions e AS NZS CISPR 11 Group 1 Class A emissions National Instruments Corp 29 NI 9514 Operating Instructions and Specifications e FCC 47 CFR Part 15B Class A emissions e CES 001 Class A emissions Sy Note For the standards applied to assess the EMC of this product refer to the Online Product Certification section Note For EMC compliance operate this device with double shielded cables CE Compliance This product meets the essential requirements of applicable European Directiv
17. mit Reserved 3 Reverse Limit COM E N Reserved Digital Input 0 E RU Vsup COM ll Reserved Encoder 0 Index I 19 RC E COM Encoder 0 Index LI ie aL Encoder 0 Phase A com E Al Encoder 0 Phase A 5V OUT e N Encoder Phase B Position Compare a 9 Position Capture Reserved Ei Encoder 0 Phase B Drive Command Is EJ amp Reserved Reserved 2 i ef Drive Command Vsupt 80 Digital Input 1 El amp fl Drive Enablet Reserved el i Reserved IR El sU Reserved Reserved LIls 6 Ic Reserved Shield 20 89 e Reserved t Indicates DSUB connector signals Figure 3 NI 9514 37 Pin Terminal Block Pin Assignments NI 9514 Operating Instructions and Specifications 10 ni com Signal Connections Figure 4 shows the NI 9514 block diagram Drive Phase Ax 0 0 Receiver Command Phase B 0 Circuitry Boni osition Index 0 Compare Position Microprocessor Capture PID Loop Drive Enable Home Output Forward Circuitry Reverse Input Circuitry Digital Input 0 1 4 5V OUT Figure 4 NI 9514 Block Diag
18. o to ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the module Caution To meet radio frequency emission requirements for marine applications use shielded cables and install the system in a metal enclosure Suppression ferrites must be installed on power supply inputs near power entries to modules and controllers Power supply and module cables must be separated on opposite sides of the enclosure and must enter and exit through opposing enclosure walls National Instruments Corp 3 NI 9514 Operating Instructions and Specifications Connecting the NI 9514 The NI 9514 servo drive interface module is part of a family of C Series motion modules The module provides servo drive interface signals for a single axis a full set of motion I O including inputs for a home switch and limit switches incremental encoder inputs for position feedback and 0 to 30 V digital input lines The NI 9514 also includes a processor to run the spline interpolation engine and PID control loop Working together they produce smoother motion resulting in precise servo motion control System Connection The NI 9514 has two connectors a 15 pin DSUB drive interface connector and a 20 pin MDR feedback connector The 15 pin DSUB includes command signals for interfacing with servo amplifiers or drives a 0 to 30 V general purpose digital input line and a 19 to 30 V input for power connection Refer to Table 1 for
19. ram National Instruments Corp 11 NI 9514 Operating Instructions and Specifications Note This document provides a brief overview of the module signal connections Refer to the M 951x User Manual which you can download from ni com manuals for more information about signal connections The NI 9514 module provides a 10 V analog Drive Command output Use the Drive Command COM signal instead of COM as a reference for the Drive Command Output This reference signal helps keep digital noise separate from the analog output The encoder channel consists of a Phase A a Phase B and an Index input The NI 9514 supports RS 422 differential and single ended inputs for Phase A Phase B and Index signals and provides a 5 V output for encoder power National Instruments strongly recommends you use encoders with differential line driver outputs for optimized noise immunity and improved accuracy in all applications Figures 5 and 6 show simplified schematic diagrams of the encoder input circuit connected to differential and single ended encoder outputs NI 9514 Operating Instructions and Specifications 12 ni com Encoder NI 9514 Receiver Figure 5 Differential Encoder Input Circuit 1 Encoder 5V 1 1 E 5V 1 i No i Connection i i Com 1 e 1 1 1 Figure 6 Single Ended Encoder Input Circuit National Instruments
20. ter setting Refer to the SoftMotion Module book of the LabVIEW Help for more information about filter options NI 9514 Operating Instructions and Specifications 24 ni com Position compare outputs High Vogt ee ts 5 25 V max Sourcing 12 mA 3 7 V min Sourcing 4 mA 3 9 V min Low Sinking 12 mA 0 7 V max Sinking 4 mA 0 5 V max Compare mode Programmable single or periodic Compare action Programmable set toggle or pulse Max compare rate periodic 5 MHz Pulse width programmable Mif nina ete 100 ns 1 6 ms Active state Programmable high or low National Instruments Corp 25 NI 9514 Operating Instructions and Specifications Digital Inputs Number of inputs sssss 2 Input type te ets Programmable sinking or sourcing Digital logic levels OFF state Input voltage SSV Input current lt 250 Digital logic levels ON state Input voltage 11 to 30 V Input current 22mA Input 30 596 50 us Contact NI for Bellcore MTBF or MIL HDBK 217F specifications 1 Assumes the minimum filter setting Refer to the SoftMotion Module book of the LabVIEW Help for more information about filter options NI 9514 Operating Instructions and Specifications 26 ni com Pow
Download Pdf Manuals
Related Search