Getting Started with NI 951x C Series Modules and LabVIEW
Contents
1.2. Figure 11 NI 9512 Connection Diagram 4 Install software on your controller create a LabVIEW project and add NI SoftMotion axes by following the steps provided in the NI SoftMotion Module Tutorial section of this document 5 Right click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box 6 Configure your I O settings according to your system requirements using the Axis Configuration dialog box National Instruments Corporation 25 Getting Started with NI 951x C Series Modules and LabVIEW Configuring and Connecting Servo Axes 3 This section provides additional information about configuring the NI 9514 and NI 9516 servo drive interface modules and connecting to drives and other I O using the NI 951x Cable and Terminal Block bundle Note Refer to Getting Started with NI 9514 16 C Series Drive Interface Modules and AKD Analog Servo Drives available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9514 NI 9516 AKD pdfandonni com manuals for information about connecting and using the NI 9514 and NI 9516 module with AKD analog servo drives and AKM brushless servo motors available from NI Complete the following steps to connect an NI 9514 or NI 9516 drive interface module to drives and other I O 1 Install the module in the chassis as specified in the chassis documentation
3. 2 Inthe Add Targets and Devices dialog window shown in Figure 18 select Existing target or device and expand the category EtherCAT Master Device to auto discover the EtherCAT port on the master controller An EtherCAT master device and modules can be added manually at any time T3 Add Targets and Devices on RT CompactRIO Target Targets and Devices Existing target or device Discover an existing target s or device s Existing device on remote subnet No items can be added to RT CompactRIO Target O New target or device Create a new target or device by type Targets and Devices 3 C3 Chassis 3 EtherCAT Master Device Figure 18 Adding the EtherCAT Master When all the slave devices are discovered the LabVIEW Project Explorer window lists each slave device and any installed C Series modules 3 For more information about configuring the deterministic Ethernet network the NI 9144 chassis and the C Series modules refer to the Related Documentation section of this document National Instruments Corporation 35 Getting Started with NI 951x C Series Modules and LabVIEW 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 he
4. 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 the 37 pin terminal block using the NI 951x 37 pin terminal block cable Getting Started with NI 951x C Series Modules and LabVIEW 26 ni com Figures 12 and 13 show the NI 9514 and NI 9516 37 pin terminal block pinouts respectively Forward Limit Tl CeL l Reserved Home IPO E CsE Reverse Limit com Oe0 E O0 j Reserved Digital Input O Tl L E BU E Vsup COM Ie a BL A Reserved Encoder 0 Index E SL E COM Encoder 0 Index ral aL Encoder 0 Phase A COM LIL El BL E Encoder 0 Phase A 5V OUT _Ie E N Encoder 0 Phase B Position Compare Tel EJ BL K Position Capture Reserved I L E BL El Encoder 0 Phase B Drive Command _I8 amp I8 IQ Reserved Reserved Tle EJ 9 Drive Command COM Vsup e E gU comt Digital Input 1 Jal I
5. Adding Coordinates to the Project NI SoftMotion axes can be grouped into coordinate spaces Coordinate spaces are logical multidimensional groups of axes Like axes coordinate spaces have associated I O resources that you use as resource inputs in your VIs Complete the following steps to add a coordinate space to the project 1 Right click the target in the Project Explorer window and select New NI SoftMotion Coordinate Space from the shortcut menu to open the Configure Coordinate Space dialog box shown in Figure 4 2 Move Axis 1 and Axis 2 from the Available Axes column to the Coordinate Axes column using the arrow Double click the coordinate space name to rename the coordinate space and give it a descriptive name E Configure Coordinate Space Mame Coordinate Space 1 Available Axes Coordinate Axes R gt Figure 4 Configure Coordinate Space Dialog Box ik Note When using coordinate resources target positions and other coordinate information are provided in a one dimensional array with axis information provided in the order that axes are added using this dialog box Refer to the NI SoftMotion Module book of the LabVIEW Help for more information 3 Click OK to close the Configure Coordinate Space dialog box Getting Started with NI 951x C Series Modules and LabVIEW 12 ni com Your project now contains the axes and coordinate spaces you will use in the application Your LabVIEW projec
6. Reserved Reserved Tls is l Reserved Shield J E Lisl Gi Reserved Indicates DSUB connector signals Figure 13 NI 9516 37 Pin Terminal Block Pin Assignments National Instruments Corporation 27 Getting Started with NI 951x C Series Modules and LabVIEW 3 Make the following connections from the 37 pin terminal block to the external hardware device Connect the Drive Command output to the servo drive a b Connect the Drive Enable output to the servo drive c Connect the encoder inputs to the encoder d Connect the Forward Limit Reverse Limit and Home inputs on the terminal block to the limit and home sensors B Note National Instruments strongly recommends using Drive Enable and limits for personal safety as well as to protect the motion system e Connect the module power supply to one of the power supply inputs on either the DSUB or MDR connector 3 Note The NI 9514 and NI 9516 modules require 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 f Connect any additional I O using the provided terminals Getting Started with NI 951x C Series Modules and LabVIEW 28 ni com Figure 14 shows a simplified connection diagram DSU
7. amp E Drive Enablet Reserved lje E gU Reserved comt ISU El aL El Reserved Reserved Tls I s0 fl Reserved Shield T e EE OLL l Reserved Indicates DSUB connector signals Figure 12 NI 9514 37 Pin Terminal Block Pin Assignments il Forward Limit T Iz 2 Reserved Home t CsE 0 Reverse Limit COM eo Ee x Ic Encoder 1 Phase A Digital Input O gt n E RU E Vsup Encoder 1 Phase B I i BU E Encoder 1 Phase A Encoder 0 Index Je 4 Ils m Encoder 1 Phase B Encoder 0 Index INL EJ BUL Lo Encoder 0 Phase A COM Te amp ils Encoder 0 Phase A 5V OUT Oe Ed sL IZ Encoder 0 Phase B Position Compare ell a x HO Position Capture Reserved _I El BU E Encoder 0 Phase B Drive Command Ils E sU Ll Reserved Reserved Ile E Drive Command COMt Vsup II B gO cov Digital Input 1 Te LTl amp Drive Enable Reserved Te El gL Reserved comt Ts td e0
8. Figure 6 Axis Configuration Dialog Box for NI 9512 Modules 3 Note Refer to the NI SoftMotion Module book of the LabVIEW Help for detailed information about each configuration option Complete the following steps to configure the axes If you are configuring axes for a p command drive refer to Appendix B Position Command Connections in the NI 951x User Manual section of this document 1 Right click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box 2 Onthe General Settings page confirm that Loop Mode is set to Open Loop Axes configured in open loop mode produce step outputs but do not require feedback from the motor to verify position 3 Alsoonthe General Settings page confirm that the Axis Enabled and Enable Drive on Transition to Active Mode checkboxes contain checkmarks These selections configure the axes to automatically activate when the NI Scan Engine switches to Active mode yi Note Disable these options to prevent axes from automatically activating when the NI Scan Engine switches to Active mode Getting Started with NI 951x C Series Modules and LabVIEW 14 ni com If the modules do not have physical limit and home input connections you must disable these input signals for proper system operation To disable limits and home go to the Limits amp Home page and remove the checkmarks from the Enable checkboxes in the Forward Limit Reverse Li
9. Frame menu items acord messed periods V Maintain original phase Cancel Help Figure 7 Configuring the Timed Loop 6 Click OK Creating a Move Profile This example uses the NI SoftMotion Line and Read function blocks to create a simple move profile and monitor the position during the move Tip The NI SoftMotion palette is not visible by default Refer to the Showing and Hiding Palette Categories topic in the LabVIEW Help for information about editing the palette view to make the NI SoftMotion function blocks more accessible Complete the following steps to set up the move 1 Place a Line function block inside the Timed Loop The NI SoftMotion function blocks are located on the NI SoftMotion Advanced palette 2 Dragthe Coordinate Space 1 resource from the LabVIEW Project on to the block diagram outside the Timed Loop and wire it to the resource input on the function block 3 Right click the execute input and select Create Control from the shortcut menu to add a control to the front panel for this input 4 Repeat step 3 for the position velocity and acceleration inputs to add controls to the front panel for each of these inputs National Instruments Corporation 17 Getting Started with NI 951x C Series Modules and LabVIEW 10 Place a second Line function block inside the Timed Loop Wire the error terminals and resource terminals of the Line function blocks together Wire the done
10. Getting Started with the LabVIEW Real Time Module Use this document to learn how to develop a real time project and VIs from setting up RT targets to building debugging and deploying real time applications Access the Getting Started with the LabVIEW Real Time Module PDF by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals RT Getting Started pdf e CompactRIO Reference and Procedures Scan Interface Use this help file to learn about using the CompactRIO system in Scan Interface programming mode To access this help file from LabVIEW select Help LabVIEW Help then expand Real Time Module on the Contents tab and select the CompactRIO Reference and Procedures Scan Interface book e NI 9144 User Guide and Specifications Use this document to learn additional information about how to connect the NI 9144 chassis to a network how to use the NI 9144 chassis features and contains the NI 9144 chassis specifications NI Industrial Communications for EtherCAT software documentation National Instruments Corporation 5 Getting Started with NI 951x C Series Modules and LabVIEW NI SoftMotion Module Overview The LabVIEW NI SoftMotion Module allows you to create deterministic motion control applications using the LabVIEW Real Time Module and the RIO Scan Interface 3 Note This document covers using the NI 951x C Series modules with the RIO Scan Interface For information about using the NI 951x modules
11. block API is a non blocking or asynchronous API you use to communicate with your motion hardware Refer to the NI SoftMotion Help book of the LabVIEW Help for more information about function block programming and other NI SoftMotion APIs Getting Started with NI 951x C Series Modules and LabVIEW 6 ni com NI SoftMotion Module Tutorial This section contains a tutorial that uses the NI SoftMotion function blocks to perform a two axis move You use two NI 9512 stepper drive interface modules in open loop mode so you are not required to make any additional feedback device or other hardware connections yi Note The settings configured in this tutorial may not be appropriate for your actual motion system Hardware connections are minimized for demonstration purposes Refer to the Connecting the NI 9512 to Hardware section and the Configuring and Connecting Servo Axes section for more information about drive and I O connections Setting Up the Hardware Complete the following steps to set up the hardware for the application in this tutorial yl Note This tutorial covers setting up NI 951x modules in a CompactRIO controller If you are using an NI 9144 distributed chassis refer to the Setting Up a Distributed System section for setup instructions 1 Install the real time CompactRIO controller on the FPGA backplane if you are not using an integrated controller and backplane Refer to the controller operating instructions for information ab
12. from the last dialog box This icon denotes a tip which alerts you to advisory information This icon denotes a note which alerts you to important information This icon denotes a caution which advises you of precautions to take to avoid injury data loss or a system crash Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names controls and indicators on the front panel dialog boxes sections of dialog boxes menu names and palette names Italic text denotes variables emphasis a cross reference or an introduction to a key concept Italic text also denotes text that is a placeholder for a word or value that you must supply Monospace text denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories programs subprograms subroutines device names functions operations variables filenames and extensions Getting Started with NI 951x C Series Modules and LabVIEW 2 ni com Required Components Required Software This section lists the software and hardware used in the NI SoftMotion Module Tutorial section of this document This section also lists documents you may find helpful while completing the tutorial The following software is required for this tutorial Q Q Q
13. output of the first Line function block to the execute input of the second Line function block Wire the velocity and acceleration inputs of the second Line function block to the controls created in step 3 This configures the second function block to use the same move constraint values as the first function block Right click the position input and select Create Control from the shortcut menu to add a control for the second position to the front panel Add a Read function block to the block diagram and connect the resource input to the Coordinate Space 1 resource 3 Note Reading the position and plotting is generally executed on the host by reading data published by the target and not in the deterministic Timed Loop Reading is included in this example for simplicity 11 12 13 14 15 16 17 Add a Merge Errors function to the block diagram and wire the error out outputs of the Read function block and second Line function block to the Merge Errors function Right click the error out output of the Merge Errors function and select Create Indicator from the shortcut menu to add an indicator to the front panel Wire the error out output to the edge of the Timed Loop Right click the loop tunnel created for the error out output and select Replace with Shift Register from the shortcut menu This transfers the error information to the next loop iteration Wire the error in inputs of the Line and Read function block
14. stepper drive b Connect the Drive Enable output to the stepper drive c Connect the Forward Limit Reverse Limit and Home inputs on the terminal block to the limit and home sensors ER Note National Instruments strongly recommends using Drive Enable and limits for personal safety as well as to protect the motion system d Connect the module power supply to one of the power supply inputs on either the DSUB or MDR connector B Note The NI 9512 requires an external power supply You can connect the external power supply to the V input provided on the DSUB or MDR connector Do not connect more than one external power supply to the module e Connect any additional I O using the provided terminals Figure 10 shows the NI 9512 37 pin terminal block pinout Forward Limit Hp E Digital Output 1t Home P0 El BU Ll Reverse Limit COM AL Ine N E Reserved Digital Input O Tl E RO E Vsup COM Il il JS C Reserved Encoder 0 Index Il E Is El COM Encoder 0 Index L Ed Encoder 0 Pha
15. the controller item in the Project Explorer window and select New VI from the shortcut menu to open a blank VI Place a Timed Loop on the block diagram of the VI Double click the Input Node of the Timed Loop to open the Configure Timed Loop dialog box Under Loop Timing Source for Source Type select Synchronize to Scan Engine You can click the Help button for information about synchronizing to the NI Scan Engine Under Loop Timing Attributes set the Period to 5 scans This step is optional but allows the Timed Loop to execute synchronized to the NI Scan Engine but at a slower rate Getting Started with NI 951x C Series Modules and LabVIEW 16 ni com The Configure Timed Loop dialog box should look similar to the following figure Ibl Configure Timed Loop Loop Timing Source Loop Timing Attributes Use Built In Timing Source Period Priority Source Type 5 T scans 100 T 1 kHz Clock 1 MHz Clock Advanced Timing 1 kHz reset at structure start Deadline Timeout ms 1 MHz lt reset at structure start f E Synchronize to Scan Engine Y scans Offset Phase Loop name rce name 0 i scans L64621332 Synchronize to Scan Engine Ouse Timing Source Terminal Processor Assignment Mode Automatic v 2 Frame Timing Source This structure does not have multiple frames To add multiple Action on Late Iterations frames right click on the border of the loop and select one of the V Discard missed periods Add
16. with LabVIEW FPGA refer to the Motion Modules book of the LabVIEW Help The following figure shows the NI SoftMotion architecture when you use the NI SoftMotion Module with NI 951x C Series drive interface modules and the RIO Scan Interface LabVIEW Real Time Processor RIO Hardware CompactRIO Controller Real Time PXI Windows User VI NI SoftMotion APIs Host HMI and Axis Settings LabVIEW Project EE R re e A SE E Sees A E Sees 1 CompactRIO with NI Scan Engine NI SoftMotion ae NI951x NI 951x cRIO Axis 1 cRIO 1 Communication Chassis C Series eq Motion Manager Module Module s User VI Supervisory i us i EtherCAT with NI Scan Engine NI SoftMotion Fed APIs Trajectory f Generator NI 951x EtherCAT Axis EtherCAT NI 951x p Communication C Series C Series bed Module i Chassis Module s i Figure 1 NI SoftMotion and NI 951x Module Architecture You use the LabVIEW Project to configure all of your axis settings test your configuration and tune your servo motors When your hardware configuration is complete you use NI SoftMotion to create move profiles The tutorial uses the NI SoftMotion function block API to create a VI NI SoftMotion function blocks contain status inputs and outputs used to monitor and maintain the state of each individual function block The function
17. 9 Front Panel 25 Save the VI 26 Save the project Deploying Testing and Using the VI Complete the following steps to deploy test and use the VI 1 Run the VI LabVIEW deploys the VI and all modules and I O variables the VI uses to the controller Pulse the execute control to start execution On the front panel verify that the position graph updates Stop the VI by clicking the Stop button Mv owe ee ed Change any of the input parameters run the VI and pulse execute again to see how the different parameters interact Getting Started with NI 951x C Series Modules and LabVIEW 20 ni com What You Have Learned This tutorial taught the following concepts about developing motion applications using the NI SoftMotion Module and NI 951x C Series modules National Instruments Corporation NI 951x modules differ from most C Series modules in that they are not directly configurable from the Project Explorer window when you are using Scan Interface mode and no I O variables are directly available under the module You must use NI SoftMotion to add axes to the RT target and associate them with NI 951x modules in order to configure and use them in Scan Interface mode You then use the motion I O resources associated with those axes in your VIs NI SoftMotion axes are configured using the Axis Configuration dialog box NI SoftMotion function blocks allow you to create deterministic motion control applications using the
18. B Connector MDR Connector Drive Command gt O Encoder 0 Phase A B Index i i Encoder 1 Phase A B i gt O 1 Drive Enable NI 9516 Only O Drive Fault O 45V OUT i gt O Vup gt O Forward Limit Reverse Limit Home B IB US Ie cer re EE RR RR E A PERRO NI 9514 9516 NI Connection Po Limit and Home Accessory a Sensors Custom Cable dun ea cea i Power Supply i Drive Command i gt Drive Enable i i Drive i Drive Fault 1 i Motor Motor Encoder 0 Encoder 1 NI 9516 only Figure 14 NI 9514 and NI 9516 Connection Diagram Note Refer to the NI 951x User Manual for connection diagrams specific to each NI 951x module 4 Install software on your controller create a LabVIEW project and add NI SoftMotion axes by following the steps provided in the NI SoftMotion Module Tutorial section of this document 5 Right click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box Servo axes only operate in closed loop mode so a feedback device is required If you are using an NI 9514 or NI 9516 drive interface module you must configure additional options for the feedback device servo control loop and drive command output for the servo drive National Instruments Corporation 29 Getting Started with NI 951x C Series Modules and LabVIEW Figure 15 shows the parts of the Axis Configuration dialog box
19. Getting Started with NI 951x C Series Modules and LabVIEW 3 Note If you are a new user of the National Instruments LabVIEW software or are unfamiliar with LabVIEW refer to the Getting Started with LabVIEW manual for information about LabVIEW and LabVIEW terminology This tutorial demonstrates how to develop a motion application using the NI 951x C Series modules in LabVIEW using the RIO Scan Interface and the LabVIEW NI SoftMotion Module The application uses a CompactRIO Reconfigurable Embedded system with LabVIEW and the LabVIEW NI SoftMotion Module to perform a series of two axis moves While developing this application you will learn the concepts and techniques necessary to develop deterministic motion applications using NI SoftMotion function blocks and the RIO Scan Interface The RIO Scan Interface enables you to use C Series modules directly from LabVIEW Real Time Contents CONVENTIONS C 2 Required Components 4 oett teer te beet pce e dues 3 Required Softwatre teca tette en 3 Required Hardware eec eset tenen tatg natn 3 Related Documentation sess 4 NI SoftMotion Module Overview 6 NI SoftMotion Module Tutorial eee 7 Setting Up the Hardware 7 Installing Software on and Configuring the Controller 7 Creating a Project in Scan Interface Mode sss 9 Adding NI SoftMotion Resources
20. I 9930 Accessories User Guide pdf and on ni com manuals for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives Other third party NI 951x cable and terminal block bundle stepper or p command NI part number 780553 01 servo drive Note Refer to Appendix B Position Command Connections in the NI 951x User Manual available by selecting Start All Programs National Instruments NI RIO CompactRIO CompactRIO Manuals NI 951x User Manual pdf and on ni com manuals for information about connecting and using the NI 9512 module with other p command servo drives Connecting to Drives Using the 37 Pin Terminal Block 3 Note Refer to the NMI 951x User Manual for 37 pin terminal block pinouts for each module Complete the following steps to connect an NI 9512 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 the 37 pin terminal block using the NI 951x 37 pin terminal block cable National Instruments Corporation 23 Getting Started with NI 951x C Series Modules and LabVIEW 3 Make the following connections from the 37 pin terminal block to the external hardware device Connect the Step and Direction outputs to the
21. IEW adds the controller the chassis and all the modules to the project B Note Ifyou are using an NI 9144 chassis refer to the Adding the EtherCAT Master Device To the LabVIEW Project section for instructions about adding the EtherCAT master device and detecting the C Series modules 11 When LabVIEW finishes discovering hardware select File Save Project and save the project as 951x Tutorial lvproj When you have finished these steps your LabVIEW project should look similar to the image in Figure 2 13 Project Explorer 951x Tutorial lv BAX Eile Edit View Project Operate Tools Window Help l hGHagixonox ees I Items Files Bi Project 951x Tutorial lvproj S E My Computer iL Dependencies i Build Specifications B 5 cRIO 9012 10 0 67 32 GH Chassis cRIO 9104 HP Modi Slot 1 NI 9512 Po Mod2 Slot 2 NI 9512 Dependencies Ls Build Specifications Figure 2 Project Explorer Window with Modules in Scan Interface Mode Adding NI SoftMotion Resources to the LabVIEW Project In this section you will create NI SoftMotion I O resources tied to the C Series modules You use the NI SoftMotion I O resources in your VIs instead of I O variables Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about motion I O resources and NI SoftMotion Getting Started with NI 951x C Series Modules and LabVIEW 10 ni com Adding Axes to the Project NI SoftM
22. Q Required Hardware The following hardware is required for this tutorial 3 QO LabVIEW 2009 or later LabVIEW 2009 Real Time Module or later NI RIO 3 2 0 or later LabVIEW 2009 NI SoftMotion Module or later CompactRIO controller and chassis that support the RIO Scan Interface or NI 9144 distributed chassis and compatible real time controller Refer to the Setting Up a Distributed System section of this document for information about setting up and configuring the NI 9144 distributed chassis for use with the NI 951x modules Two NI 9512 single axis stepper drive interface modules Power supply for the controller A separate power supply for the modules Note Refer to the hardware specifications for information about selecting an appropriate power supply E Ethernet connection and cable Tip Even if you do not have the specified hardware you can follow the steps in the NI SoftMotion Module Tutorial section of this document and perform offline configuration to learn concepts about using the NI SoftMotion Module with LabVIEW Refer to the Configuring a Project for a CompactRIO Reconfigurable or Integrated System Scan Interface topic of the LabVIEW Help for information about offline configuration National Instruments Corporation 3 Getting Started with NI 951x C Series Modules and LabVIEW Alternatively you can create an NI SoftMotion simulated axis With a simulated axis you can create and execute motion a
23. adquarters 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 visit the Worldwide Offices section of ni com niglobal to access the branch office Web sites which provide up to date contact information support phone numbers email addresses and current events LabVIEW National Instruments NI ni com the National Instruments corporate logo and the Eagle logo are trademarks of National Instruments Corporation Refer to the Trademark Information at ni com trademarks for other 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 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 2009 2011 National Instruments Corporation All rights reserved 372874D 01 Jult1
24. apter Mode list iyi Note These settings are not available if NI Industrial Communications for EtherCAT is not installed 18 National Instruments Corporation In the eth0 Primary section click More Settings and change Packet Detection to Polling Leave the Polling Interval at 1 ms 33 Getting Started with NI 951x C Series Modules and LabVIEW When you have completed these steps the Network Settings tab will look similar to Figure 17 ethO Primary MAC Address Configure IPv4 Address IPv4 Address Subnet Mask Gateway DNS Server Fewer Settings Adapter Mode Preferred Link Speed Packet Detection Polling Interval ethi EtherCAT Master ID Fewer Settings Adapter Mode 00 80 2f 11 80 c9 DHCP or Link Local Y 10 0 67 106 255 255 255 0 10 0 67 1 130 164 12 30 TCP IP Network M J Autonegotiate Polling Z 1 1 10000 Make Primary 0 0 255 EtherCAT z Make Primary Figure 17 Network Settings Tab 19 Click Save 20 Close MAX 2 Continue with the Creating a Project in Scan Interface Mode section Getting Started with NI 951x C Series Modules and LabVIEW 34 ni com Adding the EtherCAT Master Device To the LabVIEW Project If you are using the NI 9144 chassis complete the following steps to add the EtherCAT master device and detect the C Series modules 1 Inthe LabVIEW Project Explorer window right click the master controller and select New Targets and Devices
25. for NI 9514 and NI 9516 C Series modules Ta axis Configuration General Settings Trajectory Spline Position Loop Drive Command o Limits amp Home Capture Encoder a x lv E H Digital 1 0 CAT H Drive Enable Compare fu Figure 15 Axis Configuration Dialog Box for NI 9514 and NI 9516 Modules 6 Configure your I O settings according to your system requirements using the Axis Configuration dialog box 7 Right click the axis in the Project Explorer window and select Gain Tuning Panel from the shortcut menu to access the Gain Tuning Panel 8 Use the Gain Tuning Panel to tune the control loop settings and determine the relative stability of the servo axis Refer to the Using the Gain Tuning Panel topic in the NI SoftMotion Module book of the LabVIEW Help for detailed information about the Gain Tuning Panel and servo system tuning instructions Getting Started with NI 951x C Series Modules and LabVIEW 30 ni com Setting Up a Distributed System Setting Up a System With An NI 9144 Chassis Complete the following steps to set up the EtherCAT master and configure the distributed network for use with the NI 9144 1 Install the real time controller into the CompactRIO or PXI system 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 infor
26. formation about connecting and using the NI 9512 module with AKD analog servo drives and AKM brushless servo motors available from NI Mitsubishi MR J2 or MR J3 NI 9930M Motion Control Accessory NI part number 781824 01 Note Refer to NJ 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI 9930 Motion Control Accessories User Guide pdf and on ni com manuals for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives Getting Started with NI 951x C Series Modules and LabVIEW 22 ni com Drive Connection Option Table 1 NI 9512 Connection Options Continued Panasonic Minas A or NI 9930P Motion Control Accessory Minas A5 NI part number 781823 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals NI 9930 Accessories User Guide pdf and on ni com manual1s for information about connecting and using the NI 9512 module with the referenced Mitsubishi Panasonic and Yaskawa servo drives Yaskawa Sigma II or NI 9930Y Motion Control Accessory Sigma V NI part number 781822 01 Note Refer to NI 9930 Motion Control Accessories User Guide available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals N
27. formatting the disk set the Safe Mode switch to the Off position and press the Reset button on the controller to reboot it Select the System Settings tab and type a descriptive name for the system in the Name field 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 Click Save on the toolbar and let MAX reboot the system Getting Started with NI 951x C Series Modules and LabVIEW 32 ni com em 7 When the new system name appears under Remote Systems expand the controller item in the tree right click Software and select Add Remove Software Select a recommended software set that includes NI RIO 3 4 0 or later with NI Scan Engine Support and the following add ons enabled e LabVIEW NI SoftMotion Module e NI Scan Engine Support for LabVIEW NI SoftMotion Module e ndCom for EtherCAT Scan Engine Support Click Next to install the selected software on the controller Click Help if you need information about installing recommended software sets When MAX finishes installing the software on the controller select the controller under Remote Systems in the Configuration pane Click the Network Settings tab and expand More Settings in the eth1 section Select EtherCAT from the Ad
28. function block programming paradigm NI SoftMotion function blocks provide status outputs for advanced state monitoring 21 Getting Started with NI 951x C Series Modules and LabVIEW Connecting the NI 9512 to Hardware This section describes how to connect the NI 9512 stepper drive interface module to third party drives using the NI 951x Cable and Terminal Block bundle National Instruments offers several options for connecting the NI 9512 to stepper or position command servo drives Refer to Table 1 for available NI 9512 connection options Table 1 NI 9512 Connection Options Drive Connection Option P7000 Series Stepper AKD Analog Servo NI 9512 to P7000 Stepper Drive Connectivity Bundle NI part number 780552 01 Note Refer to Getting Started with NI 9512 C Series Drive Interface Modules and P7000 Series Stepper Drives available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9512 P7000 pdf and on ni com manuals for information about connecting and using the NI 9512 module with P7000 series stepper drives and stepper motors available from NI NI 9512 to AKD Drive Cable NI part number 781525 01 Note Refer to Getting Started with NI 9512 C Series Drive Interface Modules and AKD Analog Servo Drives available by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals Getting Started NI 9512 AKD pdf and on ni com manuals for in
29. he serial number on the device If you do not want to format the disk on the controller eliminating all installed software and files power on the controller and skip to step 12 Set the Safe Mode switch on the controller to the On position Power on the controller If it is already powered on press the Reset button on the controller to reboot it Right click the controller under Remote Systems in the Configuration pane and select Format Disk Click Yes on the dialog box that appears When MAX finishes formatting the disk set the Safe Mode switch to the Off position and press the Reset button on the controller to reboot it B Note The following instructions apply to MAX 4 7 or later Earlier versions of MAX may have slightly different settings names and locations 9 10 11 12 13 14 15 Select the System Settings tab and type a descriptive name for the system in the Name field 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 Click Save on the toolbar and let MAX reboot the system When the new system name appears under Remote Systems expand the controller item in the tree right click Software and select Add Remove Software Select a recommended software set that inc
30. ion out HER velocity velocity il acceleration acceleration position 2 velocity F f1 23 bs o a HE jant acceleration error out Motion Resource gus iz nism My Computer Coordinate Space 1 r Read o o la Read Data ennt error in error out resource resource out gt position is valid position out fetched stop velocity o Figure 8 Block Diagram 19 Switch to the front panel 20 In the position array enter 5000 for the first two elements of the array This specifies an x y position of 5000 5000 21 In the position 2 array enter 0 for the first two elements of the array This moves the x and y axis back to 0 0 22 Keep the velocity and acceleration values at their defaults for now 23 Add a waveform chart to the front panel 24 Switch to the block diagram move the waveform chart indicator into National Instruments Corporation the Timed loop if necessary then connect the position out terminal from the Read function block to the waveform chart indicator 19 Getting Started with NI 951x C Series Modules and LabVIEW Your front panel should look similar to the following when you have completed these steps position velocity Waveform Chart Plot 0 La jg J 1000 1 x i 75 acceleration Jo Bs d E 0 25 position 2 o i E o 0 25 d 0 5 0 75 1 zi execute stop al C STOP Time error out status code f 0 source Figure
31. ludes NI RIO 3 2 0 or later with NI Scan Engine Support and the following add ons enabled e LabVIEW NI SoftMotion Module e NI Scan Engine Support for LabVIEW NI SoftMotion Module Click Next to install the selected software on the controller Click Help if you need information about installing recommended software sets After MAX finishes installing software on the controller close MAX Getting Started with NI 951x C Series Modules and LabVIEW 8 ni com Creating a Project in Scan Interface Mode Scan Interface mode enables you to use C Series modules directly from LabVIEW Real Time Modules that you use in Scan Interface mode appear directly under the chassis item in the Project Explorer window Unlike most C Series modules NI 951x modules are not directly configurable from the Project Explorer window and no I O variables are directly available under the module Tip Refer to the Select Programming Mode Dialog Box topic of the CompactRIO Reference and Procedures Scan Interface book of the LabVIEW Help for more information about Scan Interface mode Use a LabVIEW project to manage VIs targets and I O modules on the development computer Complete the following steps to create a LabVIEW project 1 Launch 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 Sh
32. mation about wiring the controller to the power supply and Ethernet network 3 Connect the secondary port of your EtherCAT Master directly to the IN port top port on the NI 9144 chassis using a standard Category 5 Ethernet cable If you are using the NI cRIO 9074 as your EtherCAT Master the secondary port is top port LAN PORT 2 If you are using a PXI system you must add a PXI 8231 8232 network card for the secondary port You may expand the deterministic Ethernet network by connecting an additional NI 9144 chassis or other slave devices to the OUT port bottom port on the first NI 9144 chassis Secondary Eee Eth my Primar Computer thernet y EtherCAT J NI Master Controller NI 9144 Expansion Chassis OUT Y Additional NI 9144 Chassis Slave Devices Figure 16 Connecting the NI 9144 Chassis to Network 4 Install the NI 9512 modules in slot 1 and slot 2 of the NI 9144 chassis iyi Note The NI 9512 modules require high speed interface slots Some chassis may support the high speed interface in additional slots Refer to ni com for more information 5 Connectthe modules to a power supply Refer to the module operating instructions for information about selecting an appropriate power supply National Instruments Corporation 31 Getting Started with NI 951x C Series Modules and LabVIEW B Note You cannot complete this
33. mit and Home Switch sections 5 Configure any additional I O settings according to your system requirements 6 Click OK to close the Axis Configuration dialog box Repeat steps 1 through 6 for Axis 2 UN Caution Make sure all hardware connections are made and power is turned on before deploying the project Deployment switches the NI Scan Engine to Active mode and enables your axes and drive if connected so that you can start a move immediately Refer to the Deploying and Running VIs on an RT Target topic of the LabVIEW Help for more information about deployment and for troubleshooting tips 8 Right click the controller item in the Project Explorer window and select Deploy All from the shortcut menu to deploy the axes coordinate and axis settings to the RT target Using the Interactive Test Panel Use the Interactive Test Panel to test and debug your motion system and configuration settings on the selected axis With the Interactive Test Panel you can perform a simple straight line move and monitor move and I O status information change move constraints get information about errors and faults in the system and view position or velocity plots of the move If you have a feedback device connected to your system you can also obtain feedback position and position error information Complete the following steps to test your setup after configuring your axes using the Axis Configuration dialog box 1 National Instruments Corp
34. oration Right click the axis in the Project Explorer window and select Interactive Test Panel from the shortcut menu Set the desired position move mode and move constraints using the tabs Refer to the NI SoftMotion Module book of the LabVIEW Help for detailed information about the items available in this dialog box Click the Start button on the bottom of the dialog box to start the move with the configured options Use the Status and Plots tabs to monitor the move while it is in progress 15 Getting Started with NI 951x C Series Modules and LabVIEW Creating a VI in Scan Interface Mode In this section you will create a VI that uses the NI SoftMotion axis and coordinate space I O resources you created earlier Refer to the Real Time Module book of the LabVIEW Help for more information about Scan Interface mode and the NI Scan Engine Configuring the Timed Loop A Timed Loop synchronized to the NI Scan Engine enables your time sensitive motion function blocks to execute at the scan rate Any code placed inside a Timed Loop is guaranteed to execute once per scan period or at an interval you specify Memory allocation should be minimized in Timed Loops to avoid introducing jitter into the system Q Tip If your application does not need to run at the scan rate you can use a While Loop with a Wait Until Next ms Multiple function to control the loop rate Complete the following steps to configure the Timed Loop 1 Right click
35. otion axes are tied to a specific C Series module in the project and allow configuration of the I O present on the module To configure and use the NI 951x modules in Scan Interface mode you must add axes to the RT target and use the motion I O resource associated with that axis in your VIs Complete the following steps to add an NI SoftMotion axis to the project 1 Right click the target in the Project Explorer window and select New NI SoftMotion Axis from the shortcut menu to open the Axis Manager dialog box shown in Figure 3 2 Click Add New Axis twice so that both NI 9512 modules are associated with NI SoftMotion axes Axes are automatically bound to an available module You can double click the axis name to rename the axis and give it a descriptive name but you cannot use the same name for two different axes C Axis Manager Axis Name E Bound Hardware Axis 1 Modi Slot 1 NI 9512 Axis 2 Modz2 Slot 2 NI 9512 Add New Axis Change Binding Delete Axis Move Down Figure 3 Axis Manager Dialog Box Tip Click Change Binding to open the Resource Binding dialog box and change the hardware the axis is associated with if necessary 3 Click OK to close the Axis Manager dialog box All axes are added to the Project Explorer window i Note You cannot associate more than one axis with the same C Series module National Instruments Corporation 11 Getting Started with NI 951x C Series Modules and LabVIEW
36. out installing the controller 2 Install the NI 9512 modules in slot 1 and slot 2 of the chassis 3 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 4 Connectthe modules to a power supply Refer to the module operating instructions for information about selecting an appropriate power supply 5 Connect the module to a drive and other I O if available Refer to Figure 11 for a simplified connection diagram iyi Note You cannot complete this tutorial if the module power supply is not connected Installing Software on and Configuring the Controller Complete the following steps to configure the controller and install software on it If you are setting up a distributed system using the NI 9144 distributed chassis refer to the Software Installation and Configuration With the NI 9144 section for software installation instructions National Instruments Corporation 7 Getting Started with NI 951x C Series Modules and LabVIEW Launch Measurement amp Automation Explorer MAX on the development computer 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 Verify that the Serial Number in the Identification section matches t
37. ow Context Help is checked You can refer to the context help throughout the tutorial for information about items on the block diagram 4 Right click the top level project item in the Project Explorer window and select New Targets and Devices from the shortcut menu to display the Add Targets and Devices dialog box 5 Make sure that the Existing target or device radio button is selected 3 Tip If you do not have hardware installed you can select the New target or device radio button to display a list of targets and devices that you can create without a physical target or device present Throughout this tutorial you can perform similar offline configuration steps to follow along and learn about using the NI SoftMotion Module and LabVIEW 6 Expand Real Time CompactRIO 7 Select the CompactRIO controller to add to the project and click OK 8 If you have LabVIEW FPGA installed the Select Programming Mode dialog box appears Select Scan Interface to put the system into Scan Interface mode Tip Use the CompactRIO Chassis Properties dialog box to change the programming mode in an existing project Right click the CompactRIO chassis in the Project Explorer window and select Properties from the shortcut menu to display this dialog box National Instruments Corporation 9 Getting Started with NI 951x C Series Modules and LabVIEW 9 Click Discover in the Discover C Series Modules dialog box if it appears 10 Click Continue LabV
38. pplications without any hardware installed Refer to the Working with Simulated Axes topic of the NI SoftMotion Module Help for more information about simulated axes Related Documentation The following documents contain information that you may find helpful as you read this tutorial Operating instructions for the controller and modules shipped with the hardware and available at ni com manuals NI 951x User Manual Use this document to learn additional information about the electrical and mechanical aspects of the NI951x C Series drive interface modules LabVIEW NI SoftMotion Module Help Use this help file to learn about using NI SoftMotion in LabVIEW including information about function blocks and using the NI SoftMotion Module with the LabVIEW Project To access this help file from LabVIEW select Help Lab VIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab Getting Started with NI 9512 C Series Drive Interface Modules and P7000 Series Stepper Drives Use this document as a tutorial to learn how use NI 9512 modules with the P7000 series stepper drives and stepper motors available from NI Access this document by selecting Start All Programs National Instruments Lab VIEW LabVIEW Manuals Getting Started NI 9512 P7000 pdf Getting Started with NI 9512 C Series Drive Interface Modules and AKD Analog Servo Drives Use this document to learn how use NI 9512 modules with the AKD analog servo drive
39. s and AKM servo motors available from NI Access this document by selecting Start All Programs National Instruments Lab VIEW Lab VIEW Manuals Getting Started NI 9512 AKD pdf Getting Started with NI 9514 16 C Series Drive Interface Modules and AKD Analog Servo Drives Use this document to learn how use NI 9514 and NI 9516 modules with the AKD analog servo drives and AKM servo motors available from NI Access this document by selecting Start All Programs National Instruments Lab VIEW LabVIEW Manuals Getting Started NI 9514 NI 9516 AKD pdf Getting Started with NI 951x C Series Modules and LabVIEW 4 ni com e LabVIEW Help Use the LabVIEW Help to access information about LabVIEW programming concepts step by step instructions for using LabVIEW and reference information about LabVIEW VIs functions palettes menus tools properties methods events dialog boxes and so on The LabVIEW Help also lists the LabVIEW documentation resources available from National Instruments Access the LabVIEW Help by selecting Help LabVIEW Help e Getting Started with LabVIEW Use this document as a tutorial to familiarize yourself with the LabVIEW graphical programming environment and the basic LabVIEW features you use to build data acquisition and instrument control applications Access the Getting Started with LabVIEW PDF by selecting Start All Programs National Instruments LabVIEW LabVIEW Manuals LV_Getting_Started pdf
40. s to the shift register created on the other side of the Timed Loop Right click the shift register and select Create Constant from the shortcut menu to initialize the error cluster outside the Timed Loop Because the hardware uses the LabVIEW Real Time module all function block arrays and clusters are initialized outside the Timed Loop to prevent jitter in the system Create a constant for the position input on the Read function block and enter 0 for the first two elements of the array Move the position constant outside the Timed Loop This initializes the array so that the function block does not need to allocate any memory Getting Started with NI 951x C Series Modules and LabVIEW 18 ni com 18 Right click the Timed Loop conditional terminal and select Create Control from the shortcut menu to add a Stop button to the front panel This allows you to stop execution of the VI at any time Your block diagram should look similar to the following when you have completed these steps scans b n Bynchror Error bdt E M Eror ba Da 1 f L2 Straight Line Move Straight Line Move 1 execute a T eTe keal m error in error out error in error out eel i resource resource out gt resource resource out S execute done f execute done position position position out position posit
41. se A COM e E Eq Encoder 0 Phase A 5V OUT e 0 N Encoder 0 Phase B Position Compare _I gt El LO Position Capture Reserved Il2 I BL El Encoder 0 Phase B Reserved ORO 0 jel Reserved Digital Output Ot _IeL E Reserved Vsup aL a sl Ez comt Digital Input 1 Ta E El Drive Enablet Direction CCW Tle EJ gL E Digital Input 3t comt LIS Cel al Direction CCW Step CW Cie El amp l Digital Input 2 shield Lo Esc I step cw t Indicates DSUB connector signals Figure 10 NI 9512 37 Pin Terminal Block Pin Assignments Getting Started with NI 951x C Series Modules and LabVIEW 24 ni com Figure 11 shows a simplified connection diagram DSUB Connector MDR Connector O Step CW Encoder 0 Phase A B Index i Directions CCW 5 V OUT gt O Drive Fault Forward Limit Reverse Limit Home V r 1 O _ Drive Enable sup NI 9512 E Limit and Home i NI Connection E Sensors Accessory Doo T i Custom Cable i i Power Supply Steps CW gt Directiont CCW Drive 1 i Drive Fault L Drive Enable BADENS DI FON RSG nee IDE AS age cree opener ances ans ene nu Rene ee ciun Motor Stepper Motor Encoder optional pe
42. t should look similar to Figure 5 13 Project Explorer 951x Tutorial lv Joe File Edit View Project Operate Tools Window Help PoS Hg xx x e s ki B tl Project 951x Tutorial lvproj e Hj My Computer i Build Specifications 5 cRIO 9012 10 0 67 32 WE Chassis cRIO 9104 Wi Modi Slot 1 NI 9512 Wi Mode Slot 2 NI 9512 6 Axis 1 Modi Slot 1 NI 9512 Gr Axis 2 Mod2 Slot 2 NI 9512 J Coordinate Space 1 SP Dependencies eee ge Build Specifications Figure 5 Completed Project with Motion Resources Configuring Axes for Stepper Drive Interface Modules In this section you will configure the axes associated with your NI 9512 C Series modules using the Axis Configuration dialog box Tip Refer to the Configuring and Connecting Servo Axes section of this document for information about configuring servo modules National Instruments Corporation 13 Getting Started with NI 951x C Series Modules and LabVIEW The Axis Configuration dialog box includes configuration options for stepper drive command signals feedback devices motion and digital I O trajectory and axis setup Figure 6 shows the parts of the Axis Configuration dialog box for NI 9512 C Series modules 13 Axis Configuration General Settings Trajectory Spline Stepper o pa aes y Limits amp Home Capture Encoder Digital 1 0 nr Drive Enable Compare
43. to the LabVIEW Project 10 Adding Axes to the Project 11 Adding Coordinates to the Project eese 12 Configuring Axes for Stepper Drive Interface Modules 13 Using the Interactive Test Panel sese 15 Creating a VI in Scan Interface Mode esses 16 Kc NATIONAL p INSTRUMENTS Conventions Configuring the Timed Loop eee 16 Creating a Move Profile ssssseeeeeeeeee 17 Deploying Testing and Using the VI eese 20 What You Have Learned eese 21 Connecting the NI 9512 to Hardware sese 22 Connecting to Drives Using the 37 Pin Terminal Block 23 Configuring and Connecting Servo Axes ssseee 26 Setting Up a Distributed System essere 31 Setting Up a System With An NI 9144 Chassis 31 Software Installation and Configuration With the NI 9144 32 Adding the EtherCAT Master Device To the LabVIEW Project 35 Where to Go for Support sese 36 Q 3 A italic monospace The following conventions appear in this manual The symbol leads you through nested menu items and dialog box options to a final action The sequence Options Settings General directs you to pull down the Options menu select the Settings item and select General
44. tutorial if the module power supply is not connected 6 If using the NI 9144 chassis with a PXI master controller disable Legacy USB Support in the host PC BIOS if it is enabled Connect the module to a drive and other I O if available Continue with the Software Installation and Configuration With the NI 9144 section Software Installation and Configuration With the NI 9144 Complete the following steps to configure the controller and install software on it o 10 11 Launch Measurement amp Automation Explorer MAX on the development computer by clicking the MAX icon on the desktop or by selecting Start All Programs National Instruments Measurement amp Automation 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 Verify that the Serial Number in the Identification section matches the serial number on the device If you do not want to format the disk on the controller eliminating all installed software and files power on the controller and skip to step 12 Set the Safe Mode switch on the controller to the On position Power on the controller If it is already powered on press the Reset button on the controller to reboot it Right click the controller under Remote Systems in the Configuration pane and select Format Disk Click Yes on the dialog box that appears When MAX finishes
Download Pdf Manuals
Related Search