NI 9514 Operating Instructions and Specifications
Contents
1. Digital logic levels ON state Input voltage oe 11 to 30 V Input current 22 mA Digital input configured for sourcing Digital logic levels OFF state Input voltage oo eee 11 to 30 V Input current lt l mA Digital logic levels ON state Input voltage Input current 28 nicom NI9514 Operating Instructions and specifications MEP BE nissene Contact NI for Bellcore MTBF or MIL HDBK 217F specifications Power Requirements Power consumption from chassis Active mode eee seeeeereeeeteee 900 mW max Sleep mode sans 0 4 mW max Thermal dissipation at 70 C Active mode ieeeeeeseeeessesssees 1 5 W max Sleep mode 0 4 mW max NI 9514 Input and Output Characteristics Voup INPUT 19 to 30 V 150 mA max 5 V regulated output 5 V 5 150 mA max Assumes the minimum filter setting Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options NI 9514 Operating Instructions and specifications National Instruments 29 Physical Characteristics If you need to clean the module wipe it with a dry towel DE Note For two dimensional drawings and three dimensional models of the C Series module and connectors visit ni com dimensions and search by module number MWelohtsi shimnnnmnane sin 155 g 5 5 oz Safety Safety Voltages Connect only voltages that are within the following limits Channel to COM iiiieeeeeseeseeerseees 0 to 30 VDC max Measur2. 422 differential or single ended inputs NI 9514 Operating Instructions and specifications National Instruments 23 Digital logic levels single ended Voltage isisisi 0 25 to 5 25 V High Vip 2 0 V min LOW V eee ER 0 8 V max Digital logic levels differential Phase Phase Input high range 300 mV to 5 V Input low range eee 300 mV to 5 V Common mode voltage 7 to 12 V Input current at 5 Vo 1 mA Min pulse width Differential Single ended Max count rate Differential 20 x 106 counts sec Single ended 0 0 eee 5 x 106 counts sec Common mode voltage is the average of Phase and Phase 2 Assumes the minimum filter setting Refer to the NJ SofiMotion Module book of the LabVIEW Help for more information about filter options 24 nicom NI 9514 Operating Instructions and specifications Forward reverse and home inputs Input type Software selectable sinking or sourcing Limit or home input configured for sinking Digital logic levels OFF state Input voltage eeeeeeeeeeeee lt 5 V Input current 5250 WA Digital logic levels ON state Input voltage eeeeeeeeeeeee 11 to 30 V Input current gt 2 mA Limit or home input configured for sourcing Digital logic levels OFF state Input voltage 0 eee 11 to 30 V Input current lt l mA Digital logic levels ON state Input voltage oo eee lt 5 V Input current 22 mA NI 9514 Operating
3. Home Reverse Limit 11 1 Forward Limit 10 nicom NI9514 Operating Instructions and specifications Figure 3 NI 9514 37 Pin Terminal Block Pin Assignments Forward Limit m Home i HIL COM a Le 02 6L Digital Input 0 gt I COM S Encoder 0 Index io Encoder 0 Index i COM 6 5V OUT ME Position Compare LE OL Reserved eb Drive Commandt il RIBIRIRIRIRIRIRBIRIRIRIE Reserved LE OE 6Z 82 ZZ 92 SZ te 2 zz HI Vsupt Digital Input 1t Ak Reserved comt JL Reserved GND 8L ZE 9L St pL Eb Shield I BIBIRIHIRIRIH LE 9 SE ve E ZE BIRMIRBIRIBIRIRIRIRHIRIBIRIRIRIRMIRIRIRIR fIndicates DSUB connector signals NI 9514 Operating Instructions and specifications Reserved Reverse Limit Reserved Vsup Reserved COM Encoder 0 Phase A Encoder 0 Phase A Encoder 0 Phase B Position Capture Encoder 0 Phase B Reserved Drive Command COMt comt Drive Enablet Reserved Reserved Reserved Reserved National Instruments 11 Signa
4. 16 C Series Drive Interface Modules and AKD Analog Servo Drives for installation and configuration information Refer to the Getting Started with NI 951x C Series Drive Interface Modules and LabVIEW for information about using the NI 9514 with other devices How to Connect the NI 9514 to Drives and I O 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 specified in the chassis documentation Note Refer to the MI SoftMotion Module book of the LabVIEW Help for information about chassis slot or software restrictions 2 Connect the module to a drive and other I O using the NI 9514 16 to AKD cable the NI 951x Cable and Terminal Block Bundle or a custom cable for direct connectivity to third party drives 6 nicom NI9514 Operating Instructions and specifications 3 Connect the NI 9514 module to an external power supply Caution Do not connect anything to pins marked Reserved DE Caution The 37 pin terminal block has separate V sup and COM terminals for each connector Make sure you are using the correct V and COM terminals for the connector you are using All signals associated with the DSUB connector in Figure 3 are marked with a dagger f Figure 1 shows a simplified system connection diagram NI 9514 Operating Instructions and specifications National Instruments 7 Figure 1 NI 9514 Connection Example DSUB
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6. Circuit Configured for Sinking PNP Sourcing NI 9514 Input Device i V i 1 1 1 i NI 9514 Vsup i t 1 1 1 A 1 Sourcing Circuit i Drive Enable In i Drive Enable 1 1 p 1 1 1 1 Configured I i i For Sinking 1 y j COM j Reference 18 nicom NI9514 Operating Instructions and specifications LED Indicators The NI 9514 has four LEDs to display status information T 1414 OOC 1 Axis Status Green 3 Limit Active Yellow 2 Encoder Active Green 4 Axis Fault Red Axis Status The Axis Status LED green has three states to display axis status 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 e Lit The module is functional and the drive enable output is active NI 9514 Operating Instructions and specifications National Instruments 19 Encoder Active The Encoder Active LED green has three states for encoder and V sup Status e Off the required power supply Viup is not connected You must connect a power supply to receive encoder pulses e Flashing The power supply Vu is connected and the module is receiving encoder pulses DE Note The LED flash rate does not correspond to the rate at which the NI 9514 receives encoder
7. Connector MDR Connector Drive Command gt O Encoder 0 Phase A B Index gt O Forward Reverse Limit Home 1 i Drive Enable O 5V OUT i i o gt O Drive Fault TO Limit and Home i NI Connection i Sensors i Accessory Custom Cable gt Drive Command gt Drive Enable Drive Fault i i 1 Drive i f 1 f i i i 1 f i i f Motor i f f 1 i f f 1 Servo Motor Encoder 8 nicom NI 9514 Operating Instructions and specifications Table 1 NI 9514 DSUB Connector Pin Assignments Connector Pin Signal 1 Drive Command COM 2 Drive Enable 3 Reserved gs 4 Reserved o 5 Reserved 6 Drive Command CR 7 COM 8 Digital Input 1 9 Reserved _ 10 Reserved 11 Reserved 12 Voup 13 Reserved 14 COM NI 9514 Operating Instructions and specifications National Instruments 9 Figure 2 NI 9514 MDR Connector Pin Assignments 4 Encoder 0 Phase B 20 10 Position Compare Op Position Capture 19 9 5 V OUT Encoder 0 Phase B 18 8 COM es i Encoder 0 Phase A 17 7 Encoder 0 Index om 1 Encoder 0 Phase A 16 6 Encoder 0 Index 5 i COM 15 5 COM 4 k Reserved 14 4 Digital Input 0 o F 7 Veup 13 3 COM y Reserved 12 2
8. Instructions and specifications National Instruments 25 Min pulse width 50 us Position capture input Digital logic levels Voltage iieeeeeesseesseessssenss 0 25 to 5 25 V High Viy 2 0 V min Low Vi 0 8 V max Input current 0 V lt Vin S4 5 VV 2 mA max Min pulse width 0 100 ns Max capture latency sseseseee 200 ns Capture aCCuracy ou eee eee 1 count Active edge Software selectable rising edge or falling edge Position compare outputs High Vos 5 25 V max Sourcing 12 mA 3 7 V min Sourcing 4 mA Assumes the minimum filter setting Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options 26 nicom NI 9514 Operating Instructions and specifications Low Vor Sinking 12 MA 0 7 V max Sinking 4 MA 0 5 V max Compare mode s Software selectable single or periodic Compare action cece Software selectable set toggle or pulse Max compare rate periodic 5 MHz Pulse width programmable Miniset 100 ns Maximin 1 6 ms Active state Software selectable high or low Digital Inputs Number of inputs eereeeereeeeenseerese 2 Inputity pesis eee Bak Saeed Software selectable sinking or sourcing NI 9514 Operating Instructions and specifications National Instruments 27 Digital input configured for sinking Digital logic levels OFF state Input voltage oe eee SV Input current lt 250 pA
9. OPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9514 Servo Drive Interface Module with Encoder Feedback Frangais Deutsch AG ESH MARP ni com manuals NATIONAL INSTRUMENTS This document describes how to use the National Instruments 9514 module and includes specifications and pin assignments for the NI 9514 DE 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 Related Information NI CompactRIO Documentation ni com info cseriesdoc Chassis Compatibility ni com info compatibility Software Support ie Services Ld ni com info rdsoftwareversion ni com services 2 nicom NI9514 Operating Instructions and specifications 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 go to ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the m
10. asurement control and laboratory use e EN 61326 1 IEC 61326 1 Class A emissions Industrial immunity EN 55011 CISPR 11 Group 1 Class A emissions e AS NZS CISPR 11 Group 1 Class A emissions e FCC 47 CFR Part 15B Class A emissions e ICES 001 Class A emissions DE Note For the standards applied to assess the EMC ofthis product refer to the Online Product Certification section DE Note For EMC compliance operate this device with double shielded cables 32 nicom NI9514 Operating Instructions and specifications CE Compliance C This product meets the essential requirements of applicable European Directives 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 Shock and Vibration To meet these specifications you must panel mount the system Operating vibration Random IEC 60068 2 64 5 ging 10 to 500 Hz Sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz NI 9514 Operating Instructions and specifications National Instruments 33 Operating shock IEC 60068 2 27 30 g 11 ms
11. ement Category I Isolation Channel to channel 0 None Channel to earth ground Continuous iiieeeeereeseeseses 30 VDC Measurement Category I Withstand 0 0 cece 500 Vims Verified by a 5 s dielectric withstand test 30 nicom NI 9514 Operating Instructions and specifications 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 measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics Caution Do not connect the NI 9514 to signals or use for measurements within Measurement Categories II III or IV Safety Standards This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use IEC 61010 1 EN 61010 1 e UL 61010 1 CSA 61010 1 DE Note For UL and other safety certifications refer to the product label or the Online Product Certification section NI 9514 Operating Instructions and specifications National Instruments 31 Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for me
12. 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 protection IP 40 Operating humidity IEC 60068 2 56 10 to 90 RH noncondensing Storage humidity IEC 60068 2 56 5 to 95 RH noncondensing 34 nicom NI9514 Operating Instructions and specifications Maximum altitude 2 000 m Pollution Degree IEC 60664 2 Environmental Management NI 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 Minimize Our Environmental Impact 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 Waste Electrical and Electronic Equipment WEEE Y EU Customers At the end of the product life cycle a
13. l Connections Figure 4 shows the NI 9514 block diagram Figure 4 NI 9514 Block Diagram Phase A 0 DAC Dive Receiver Command Phase B 0 _ Circuitry 7 nde 0 aise Position Microprocessor Capture PID Loop rive Enable Home 6 Output Forward Circuitry Vsup Reverse Input Circuitry I com Digital Input 0 1 4 T e 5V Reg F 5V OUT ha 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 12 nicom NI 9514 Operating Instructions and specifications Drive Command Output 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 Encoder Signals 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 accurac
14. ll products must be sent to a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste and Electronic Equipment visit ni com environment weee NI 9514 Operating Instructions and specifications National Instruments 35 EFAA ais Ril BEDE ChE ROHS RAA National Instruments th Hatta GS PE REMEH REA EME ROHS KF National Instruments F iE ROHS GWEIR EO WER ni com environment rohs_china For information about China RoHS compliance go to ni com environment rohs_china Worldwide Support and Services The National Instruments website 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 A Declaration of Conformity DoC is our claim of compliance with the Council of the European Communities using the manufacturer s declaration of conformity This system affords the user protection for electromagnetic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification If your product supports calibration 36 nicom NI 9514 Operating Instructions and specifications you can obtain the calibration certificate for your product at ni com calibration National Instrument
15. n example of wiring the input signals to a sinking output device Figure 8 Limit or Digital Input Circuit Configured for Sourcing NPN Sinking Output Device NI 9514 Ve a i i i i i i Pae i Current oe t i Limiting OC gta Input i 1 ji it 1 Limit Home Circu Out or Digital Input 4 i i i i TAL iv Reference i i o COM 16 nicom NI9514 Operating Instructions and specifications Drive Enable The NI 9514 Drive Enable signal is software configurable for sinking or sourcing output type and the active state is software configurable for on or off Caution Do not connect the Drive Enable output to a 5 V input circuit when the Drive Enable output is configured for sourcing Figure 9 shows an example of wiring the output signals to a sinking input device Figure 9 Drive Enable Output Circuit Configured for Sourcing NPN Sinking NI 9514 Input Device Ueno eue Cahir Se ak loses A ear i NI 9514 Vsup V i A i i i Drive Enable Is i i i gt le Drive Enable In i Configured hd i For Sourcing 1 Sinking i Circuit i COM i i i e i i i i Reference NI 9514 Operating Instructions and specifications National Instruments 17 Figure 10 shows an example of wiring the output signals to a sourcing input device Figure 10 Drive Enable Output
16. odule A 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 NI 9514 Operating Instructions and specifications National Instruments 3 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 the DSUB connector pin assignments DE Note The remainder of this document does not distinguish between dri
17. onsumption and thermal dissipation NI 9514 Operating Instructions and specifications National Instruments 21 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 rate 20 kHz max position loop Servo control loop modes 0 0 PID PIVff and Dual Loop Motion Command Signals Servo command analog outputs Voltage range 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 22 nicom NI 9514 Operating Instructions and specifications Drive enable output Outputty pe rennes Software selectable sinking or sourcing Voltage range 0 to 30 V Voup INPUT 19 to 30 V Continuous output current 15 on each channel 100 mA max Output impedance R 0 3 Q max Output voltage Vo sourcing Vay oRo Output voltage Vo sinking IoRo Min output pulse width 100 us Active state Software selectable on or off Motion I O Encoder 0 Phase A B and Index inputs P ri ees RS
18. pulses Lit The power supply V4 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 V sup is not connected or both the limits and home input are not active Lit The power supply Vi is connected and the forward limit reverse limit or home input is active 20 nicom NI 9514 Operating Instructions and specifications Axis Fault The Axis Fault LED red has two states to indicate the presence of a fault in the system Refer to the MI 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 c
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20. ves and amplifiers All references to drives also apply to amplifiers 4 nicom NI9514 Operating Instructions and specifications 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 Note The NI 9514 requires an external power supply You can connect the external power supply to the Vas input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module NI 9514 Connection Options National Instruments offers several options for connecting the NI 9514 to servo drives You can use the NI 9514 16 to AKD cable to connect the NI 9514 to the AKD analog servo drive and AKM series servo motors from NI To connect to third party servo drives use the NI 951x Cable and Terminal Block Bundle Refer to Figure 3 for the 37 pin terminal block pin assignments Refer to the NI 951x User Manual which you can download from ni com manuals for information about additional connection accessories and cabling recommendations NI 9514 Operating Instructions and specifications National Instruments 5 Tip NI offers AKD analog servo drives and matched Q servo motors Refer to Getting Started with NI 9514
21. y 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 National Instruments 13 Figure 5 Differential Encoder Input Circuit Encoder NI 9514 i i i Phase i 5V Receiver i i Phase i i i i i i COM i Phase 5V Receiver No Connection 14 nicom NI 9514 Operating Instructions and specifications Limit and Digital Input Signals 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 Figure 7 Limit or Digital Input Circuit Configured for Sinking PNP Sourcing Output Device NI 9514 1 z 1 1 1 I 1 I 1 I 1 1 1 1 I 1 1 1 1 1 1 I i i i Limit Home i I 1 igi I 1 Out or Digital Input 4 1 i Current Limit Home Limiting or Digital Input i 1 Circuit i V Reference 4 COM NI 9514 Operating Instructions and specifications National Instruments 15 Figure 8 shows a
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