NI 9503 User Manual and Specifications
Contents
1. Europe This equipment has been evaluated as Ex nA 4 Gc equipment under DEMKO Certificate No 12 ATEX 1202658X Each module is marked II 3G and is suitable for use in Zone 2 hazardous locations in ambient temperatures of 4 nicom NI9503 User Manual and Specifications 40 C lt Ta lt 70 C If you are using the NI 9503 in Gas Group hazardous locations you must use the device in an NI chassis that has been evaluated as Ex nC 4 EEx nC 4 Ex nA 4 or Ex nL 4 equipment A Caution You must make sure that transient disturbances do not exceed 140 of the rated voltage A Caution The system shall be mounted in an ATEX certified enclosure with a minimum ingress protection rating of at least IP54 as defined in IEC EN 60529 and used in an environment of not more than Pollution Degree 2 A Caution The enclosure must have a door or cover accessible only by the use of a tool Electromagnetic Compatibility Guidelines This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility EMC as stated in the product specifications These requirements and limits are designed to provide reasonable protection against NI 9503 User Manual and Specifications National Instruments 5 harmful interference when the product is operated in its intended operational electromagnetic environment This product is intended for use in industrial loc2. Enabled The Enabled LED green illuminates when the drive is enabled and the output power stage is active and is flashing when the drive is disabled and the output power stage is inactive Refer to the NI 9503 topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about enabling the drive Vsup The Vsup LED green illuminates when the motor DC power supply is properly connected NI 9503 User Manual and Specifications National Instruments 21 User You can define the User LED yellow to meet the needs of your application Use the User LED I O node to turn this LED on and off Refer to the NI 9503 topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about the NI 9503 User LED I O node Fault Caution Ifthe Fault LED is lit determine the cause of the fault and correct it before enabling the drive The Fault LED red illuminates when a fault occurs A fault disables the drive Causes for fault are the following e Vsupundervoltage Caution Vsup greater than 40 V will result in damage to the NI 9503 Vsup overvoltage Overcurrent 22 nicom NI 9503 User Manual and Specifications Hot Swap Behavior The NI 9503 is always disabled when it is first inserted in the chassis regardless of whether Vsup is present or not You can enable the drive using the Enable Drive method in software Refer to the NJ 9503 topic in the LabVIEW Help available
3. 36 nicom NI 9503 User Manual and Specifications Waste Electrical and Electronic Equipment WEEE K EU Customers At the end of the product life cycle all 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 Ber mises BEDE ChE RoHS HE National Instruments Ferr Bafa oo P Bg qup f Ae RoHS XF National Instruments F El RoHS HEI D ni com environment rohs china Forinformation about China RoHS compliance go to ni com environment rohs china NI 9503 User Manual and Specifications National Instruments 37 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 Visit ni com services for NI Factory Installation Services repairs extended warranty and other services Visit ni com register to register your National Instruments product Product registration facilitates technical support and ensures that you receive important information updates from NI A Declaration of Conformity DoC is our claim of compliance with the Council of t
4. EMC standards for electrical equipment for measurement control and laboratory use EN 61326 1 IEC 61326 1 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 e FCC 47 CFR Part 15B Class A emissions ICES 001 Class A emissions Ka Note For the standards applied to assess the EMC of this product refer to the Online Product Certification section NI 9503 User Manual and Specifications National Instruments 33 Note For EMC compliance operate this device with shielded cabling CE Compliance C This product meets the essential requirements of applicable European directives as follows e 2006 95 Low Voltage Directive safety 2004 108 EC Electromagnetic Compatibility Directive EMC e 94 9 EC Potentially Explosive Atmosphere ATEX 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 34 nicom NI 9503 User Manual and Specifications Shock and Vibration To meet these specifications you must panel mount the system and affix ferrules to the end of the screw terminal wires Operating vibration Random IEC 60068 2 64 5 gms 10 to 5
5. by selecting Help LabVIEW Help for more information about enabling the drive When the NI 9503 is removed from the chassis while it is enabled the power to the motor is removed and the motor decelerates to a stop based on its own friction 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 NI 9503 User Manual and Specifications National Instruments 23 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 Cable Requirements for EMC Compliance Select and install cables for the NI 9503 in accordance with the following requirements Do not tie the motor case to the NI 9503 chassis ground e Use only shielded cables to connect the NI 9503 to a motor and a power supply Terminate the motor and power supply cable shields to the COM terminal of the NI 9503 In addition terminate the cable shields at the other end to
6. either earth ground or the chassis of the connected motor and or power supply 24 nicom NI 9503 User Manual and Specifications Install a clamp on ferrite bead onto both the motor cable and Vsup cable as shown in Figure 11 Power to the module must be off when adding ferrites Note The wire connecting the motor cable shield to COM bypasses the ferrite as shown in Figure 11 Figure 11 NI 9503 Cable Connection NI 9501 Phase A 5 Phase A U Phase Phase B Shield Motor DC Power COM Vsup NI 9503 User Manual and Specifications National Instruments 25 Clamp on ferrites must be connected to the motor cable and Vsup cable as close to the module as possible with a full turn as shown in Figure 12 Placing the ferrite elsewhere on the cable noticeably impairs its effectiveness Figure 12 Installing a Ferrite Determine the clamp on ferrite beads to install based on twice the motor cable and Vsup cable diameter Order the appropriate ferrite beads from NI 26 nicom NI 9503 User Manual and Specifications NI Part Number Aperture Size mm inches 781233 01 7 0 0 275 781233 02 10 2 0 402 777297 01 13 4 0 528 Specifications The following specifications are typical for the temperature range 40 to 70 C unless otherwise noted All voltages are relative to COM unless otherwise noted Input Output Characteristics Motor DC power supply Vsu
7. 00 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 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 protecton IP 40 NI 9503 User Manual and Specifications National Instruments 35 Operating humidity 60068 2 56 10 to 90 RH noncondensing Storage humidity 60068 2 56 5 to 95 RH noncondensing Maximum alptude 2 000 m Pollution Degree IEC 60664 Indoor use only 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
8. 6 6 Wire Half Coil Stepper Motor Connection Higher Speed Lower Torque Phase Phase Phase m Phase ase A EM Phase B Phase B NC Reserved Reserved Reserved COM Vsup 777 NC Not Connected 16 nicom NI 9503 User Manual and Specifications For maximum flexibility you can connect 8 wire stepper motors in series parallel or half coil configurations Connecting the windings in a series configuration as shown in Figure 7 produces the most torque per amp but has the disadvantage of higher inductance and poorer high speed performance Figure 7 8 Wire Series Stepper Motor Connection Higher Torque Lower Speed Phase A Phase Phase A Phase A Phase B Phase B Reserved Reserved Reserved COM Vsup NI 9503 User Manual and Specifications National Instruments 17 Notice that an 8 wire motor wired in a series configuration is virtually identical to a 6 wire motor and typically has the same high torque but low speed characteristics Alternatively you can connect 8 wire stepper motors in a parallel configuration as shown in Figure 8 This configuration produces better high speed performance but requires more current to produce rated torque Figure 8 8 Wire Parallel Stepper Motor Connection Higher Speed Lower Torque Phase Phase A Phase A Phase A Ph
9. USER MANUAL AND SPECIFICATIONS NI 9503 Stepper Drive Frangais Deutsch a ni com manuals b d NATIONAL y INSTRUMENTS This document describes how to use the National Instruments 9503 module and includes specifications and pin assignments for the NI 9503 Visit com info and enter 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 9503 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 Safety Guidelines Operate the NI 9503 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 2 nicom NI 9503 User Manual and Specifications Caution Do not operate the NI 9503 in a manner not A specified in these operating instructions Product misuse can result in a hazard You can compromise the safety protection built into the product if the product is damaged in any way If the product is damage
10. ase B Phase B Phase B Reserved Reserved Reserved COM Vsup Yellow 18 nicom NI 9503 User Manual and Specifications Finally you can connect 8 wire stepper motors in a half coil configuration as shown in Figure 9 The half coil configuration sacrifices low speed torque for better high speed performance With this configuration it is typically not possible to produce the rated torque of the motor without the risk of the motor overheating because only half of the windings are used Figure 9 8 Wire Half Coil Stepper Motor Connection Phase Phase A Phase B Phase B Phase A Phase A Phase B Phase B Reserved Reserved Reserved COM Vsup 177 NC Not Connected NI 9503 User Manual and Specifications National Instruments 19 Wiring for High Vibration Applications If an application is subject to high vibration National Instruments recommends that you use ferrules to terminate wires to the detachable screw terminal connector Refer to Figure 10 for an illustration of using ferrules Figure 10 10 Terminal Detachable Screw Terminal Connector with Ferrule Terminated Wire Ferrule 20 nicom NI 9503 User Manual and Specifications LED Indicators The NI 9503 has four LEDs to display status information 1 Enabled green 3 User yellow 2 Vsup Motor Power green 4 Fault red
11. ations As such there is no guarantee that harmful interference will not occur in a particular installation when the product is connected to a test object or if the product is used in residential areas To minimize the potential for the product to cause interference to radio and television reception or to experience unacceptable performance degradation install and use this product in strict accordance with the instructions in the product documentation Furthermore any changes or modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules A Caution To ensure compliance with the applicable regulatory requirements product installation requires either special considerations or user installed add on devices See the product installation instructions for further information 6 nicom NI9503 User Manual and Specifications Caution The inputs outputs of this product can be A damaged if subjected to Electrostatic Discharge ESD To prevent damage industry standard ESD prevention measures must be employed during installation maintenance and operation Special Guidelines for Marine Applications Some products are Lloyd s Register LR Type Approved for marine shipboard applications To verify Lloyd s Register certification for a product visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on t
12. d return it to National Instruments for repair Safety Guidelines for Hazardous Locations The NI 9503 is suitable for use in Class I Division 2 Groups A B C D T4 hazardous locations Class I Zone 2 AEx nA IIC T4 and Ex nA IIC T4 hazardous locations and nonhazardous locations only Follow these guidelines if you are installing the NI 9503 in a potentially explosive environment Not following these guidelines may result in serious injury or death A Caution Do not disconnect I O side wires or connectors unless power has been switched off or the area is known to be nonhazardous A Caution Do not remove modules unless power has been switched off or the area is known to be nonhazardous NI 9503 User Manual and Specifications National Instruments 3 gt pep A Caution Substitution of components may impair suitability for Class I Division 2 Caution For Division 2 and Zone 2 applications install the system in an enclosure rated to at least IP 54 as defined by IEC 60529 and EN 60529 Caution For Division 2 and Zone 2 applications install a protection device between the input signal and the V up pin The device must prevent the V to channel voltage from exceeding 42 V if there is a transient overvoltage condition Caution For Zone 2 applications connected signals must be within the following limit 0 2 uF max Special Conditions for Hazardous Locations Use
13. e configuration as shown in Figure 3 Caution Never connect unused stepper motor terminals to pin 9 Chassis Ground or to each other When using a 6 or 8 wire stepper motor you must leave unused lead wires disconnected Figure 4 shows a 6 wire and an 8 wire stepper motor Figure 4 6 Wire and 8 Wire Stepper Motors 6 wire 8 wire 14 nicom NI 9503 User Manual and Specifications A 4 wire motor is the same as a 6 wire motor except that the center taps CT are not brought out To use a 6 wire motor in a 4 wire configuration you can isolate the center taps for a series full coil configuration Series configurations produce the most torque per amp but have the disadvantage of poorer high speed performance Figure 5 6 Wire Series Stepper Motor Connection Higher Torque Lower Speed Phase NC Phase A Phase B Phase A Phase A Phase B Phase B Reserved Reserved Reserved COM Vsup zz NC Not Connected NI 9503 User Manual and Specifications National Instruments 15 You can obtain improved high speed performance with a 6 wire motor by using a half coil configuration shown in Figure 6 This configuration sacrifices low speed torque for better high speed performance With this configuration it is typically not possible to produce the rated torque of the motor without the risk of the motor overheating because only half of the windings are used Figure
14. es and electronics Caution Do not connect the NI 9503 to signals or use for measurements within Measurement Categories II HI or IV Ka Note Measurement Categories CAT I and CAT O Other are equivalent These test and measurement circuits are not intended for direct connection to the MAINS building installations of Measurement Categories CAT II CAT and CAT IV NI 9503 User Manual and Specifications National Instruments 31 Hazardous Locations US Ub e rere ie ies Class I Division 2 Groups A B C D T4 Class I Zone 2 AEx nA 4 Canada C UL Class I Division 2 Groups A B C D T4 Class I Zone 2 Ex nA IIC T4 Europe DEMKO Ex nA 4 Gc Power Supply Requirements Safety and Hazardous Locations Standards The NI 9503 is designed to meet the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use EC 61010 1 EN 61010 1 UL 61010 1 CSA 61010 1 EN 60079 0 2012 EN 60079 15 2010 60079 0 Ed 6 IEC 60079 15 Ed 4 32 nicom NI 9503 User Manual and Specifications e UL 60079 0 Ed 5 UL 60079 15 Ed e CSA 60079 0 2011 CSA 60079 15 2012 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
15. he 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 you can obtain the calibration certificate for your product at ni com calibration 38 nicom NI 9503 User Manual and Specifications National Instruments corporate headquarters is located at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the world For telephone support in the United States create your service request at ni com support or dial 1 866 ASK MYNI 275 6964 For telephone support outside the United States visit the Worldwide Offices section of ni com niglobal to access the branch office websites which provide up to date contact information support phone numbers email addresses and current events Refer to the MI Trademarks and Logo Guidelines at com trademarks for more information on 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 at com patents You can find informat
16. he product label A Caution In order to meet the EMC requirements for marine applications install the product in a shielded enclosure with shielded and or filtered power and input output ports In addition take precautions when designing selecting and installing measurement probes and cables to ensure that the desired EMC performance is attained NI 9503 User Manual and Specifications National Instruments 7 NI 9503 Hardware Overview The NI 9503 is a stepper motor drive for use with 2 phase hybrid stepper motors in either bipolar or unipolar winding configuration It uses software programmable control algorithms that reduce torque ripple dampen high speed resonance and implements smoother motion during microstepping The NI 9503 returns the motor current and bus voltage to the LabVIEW FPGA module for use in a current PI loop and antiresonance algorithms NI 9503 status information such as drive status and drive faults are also returned to the LabVIEW FPGA module Refer to the 9503 topic in the LabVIEW Help available by selecting Help Lab VIEW Help for information about the available status information Ka Note National Instruments offers NEMA 8 NEMA 11 NEMA 14 NEMA 17 and NEMA 23 stepper motors compatible with the NI 9503 Go to ni com motion stepper for more information about NI stepper motors The NI 9503 reduces torque ripple at speeds near 1 RPS that are caused by fourth harmonic disturbances The torque r
17. ion about end user license agreements EULAs and third party legal notices in the readme file for your NI product Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data NI MAKES NO EXPRESS OR IMPLIED WARRANTIES AS TO THE ACCURACY OF THE INFORMATION CONTAINED HEREIN AND SHALL NOT BE LIABLE FOR ANY ERRORS U S Government Customers The data contained in this manual was developed at private expense and is subject to the applicable limited rights and restricted data rights as set forth in FAR 52 227 14 DFAR 252 227 7014 and DFAR 252 227 7015 2014 National Instruments All rights reserved 375481A 01 14
18. ipple smoothing algorithm is software programmable and can be tuned 8 nicom NI9503 User Manual and Specifications for any motor Motors supported by National Instruments have already been tuned for optimal torque smoothing The NI 9503 uses a software programmable antiresonance algorithm to reduce stepper motor resonance above 2 RPS The antiresonance algorithm allows a stepper motor to use more available torque and run at higher speeds without stalling The NI 9503 supports software programmable microstepping Microstepping divides full steps into smaller steps to create smoother motion The NI 9503 supports microstepping rates up to 256 When full stepping a resonance can occur causing vibration and reducing the motor torque The NI 9503 offers the best performance when combining microstepping with the torque smoothing and antiresonance properties Refer to the Step Resolver topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about microstepping options The NI 9503 allows for phase current reduction after the motor stops moving Unlike servo motors stepper motor coils remain fully energized when the motor is not moving This allows for strong holding torque but generates substantial heat in the motor Many applications do not require maximum holding torque when the motor is at rest which means that the motor is wasting power The amount of current reduction and delay before current NI 9503 Use
19. must use 2 wire ferrules to create secure connection when connecting more than one wire to a single terminal on the NI 9503 screw terminal A Caution Do not turn on or plug in the motor DC power supply until the screw terminal connector is fully inserted NI 9503 User Manual and Specifications National Instruments 11 Figure 2 NI 9503 Connections Phase A Phase Phase B Phase B Reserved Reserved Reserved COM Vsup 777 Chassis Ground 12 nicom NI 9503 User Manual and Specifications Motor Power Signals The Phase A and Phase B signals power the stepper motor Figure 3 shows a typical bipolar stepper motor connection Figure 3 Typical Bipolar Stepper Motor 2 Phase Type Connection Phase Phase A PhaseA Phase A Phase B Phase B Phase B Phase B Reserved Reserved Reserved COM Vsup 777 o o s olo 5 o v 2 o A Caution The stepper motor terminals on this drive are energized when the module is enabled Do not connect wires to or disconnect wires from the NI 9503 when it is enabled Use a multiconductor cable with an overall shield and conductors of 20 AWG or larger for the motor power cable NI 9503 User Manual and Specifications National Instruments 13 The NI 9503 contains a highly efficient power stage Two phase stepper motors come in 4 6 and 8 wire variations You must wire the stepper motors in a 4 wir
20. p 9 to 30 VDC Minimum phase inductance 1 mH Maximum phase inductance 20 mH PWM PWM 20 kHz Current per 3 ARMS 4 24 A peak NI 9503 User Manual and Specifications National Instruments 27 Current reduction sss 0 to 99 software selectable Microstepping selections x2 4 8 16 32 64 128 256 software selectable Vsup 750 uF RRE Contact NI for Bellcore MTBF specifications Drive Protection LUndervoltage sss lt 6V Caution Vsup greater than 40 V will result in damage to the module Overvolt ge cake eene gt 32 V Power Requirements Power consumption from chassis Active mode Sleep 2 5 mW max 28 nicom NI9503 User Manual and Specifications Thermal dissipation at 70 C Active mode Sleep 2 5 mW 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 ni com dimensions and search by module number Screw terminal wiring Ga Be 12 to 24 AWG copper conductor wire with 10 mm 0 39 in of insulation stri
21. pped from the end Temperature rating 85 C min Wires per screw terminal One wire per screw terminal two when using 2 wire ferrule NI 9503 User Manual and Specifications National Instruments 29 rte Tn 0 25 mm to 2 5 mm Torque for screw terminals 0 5 to0 6N m 4 4 to 5 3 Ib in Connector securement Securement type Screw flanges provided Torque for screw flanges 0 2N m 1 8 Ib in Weight dette 144 g 5 1 oz Safety Safety Voltages Connect only voltages that are within the following limits 1 0 to 30 VDC max Measurement Category I Isolation Channel to channel None Channel to earth ground Contpmnuousg 60 VDC Measurement Category I Withstand ssssss 1000 Vims verified by a 5 s dielectric withstand test 30 nicom NI 9503 User Manual 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 sourc
22. r Manual and Specifications National Instruments 9 reduction becomes active is software programmable Refer to the Current Scheduler topic in the LabVIEW Help available by selecting Help LabVIEW Help for information about current reduction Figure 1 NI 9503 Block Diagram LabVIEW FPGA Module with SoftMotion NI 9503 qm mem SS E eR TUI EVE m PSE RD ES OR IT 1 1 1 Position Correction i Setpoint Angle Anti La Bus Vsup i resonance 1 voltage WI COM i Step Current Current WM b Resolver gt scheduter EI Loop i E i 1 ha i 1 i 1 Y rg 1 ra 1 i 1 01 Bridge Power Generator fei Controller P Stage 1 1 i 1 1 1 Phase A amp B 1 Current un E Current i a Sense i 1 i 1 d i 1 1 Fault Fault 1 Monitor i Detection d 1 d 10 nicom 9503 User Manual and Specifications Connecting the NI 9503 The NI 9503 has a 10 terminal detachable screw terminal connector that provides connections for the stepper motor signals a motor DC power supply COM and chassis ground Refer to Figure 2 for the pin assignments A Caution To ensure EMC compliance special considerations are required for all cable connections Refer to the Cable Requirements for EMC Compliance section Note You
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