National Instruments NI 951x User Manual

Motion Control

NI 951x User Manual

NI 951x User Manual

July 2009

372153B-01

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Important Information

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The NI 9512, NI 9514, and NI 9516 C Series modules are warranted against defects in materials and workmanship for a period of one year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective during the warranty period. This warranty includes parts and labor.

The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free.

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This hardware has been tested and found to comply with the applicable regulatory requirements and limits for electromagnetic compatibility (EMC) as indicated in the hardware’s Declaration of Conformity (DoC) 1 . These requirements and limits are designed to provide reasonable protection against harmful interference when the hardware is operated in the intended electromagnetic environment. In special cases, for example when either highly sensitive or noisy hardware is being used in close proximity, additional mitigation measures may have to be employed to minimize the potential for electromagnetic interference.

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Contents

About This Manual

Conventions ...................................................................................................................ix

Related Documentation..................................................................................................x

Chapter 1

Introduction and Installation

About the NI 951x Drive Interface Modules .................................................................1-1

Features............................................................................................................1-1

Hardware .........................................................................................................1-1

What You Need to Get Started ......................................................................................1-2

Using the NI 951x Modules in Scan Interface Mode ......................................1-2

Using the NI 951x Modules in LabVIEW FPGA Interface Mode ..................1-3

Safety Information .........................................................................................................1-3

Special Conditions for Marine Applications ...................................................1-3

Optional Equipment .......................................................................................................1-4

Chapter 2

Hardware Overview

NI 951x Connections .....................................................................................................2-2

NI 9512 Connections .......................................................................................2-2

NI 9514 Connections .......................................................................................2-4

NI 9516 Connections .......................................................................................2-6

User Connectors.............................................................................................................2-8

NI 9512 Connectors.........................................................................................2-9

NI 9514 Connectors.........................................................................................2-11

NI 9516 Connectors.........................................................................................2-13

LED Indicators...............................................................................................................2-15

Axis Status.......................................................................................................2-15

Encoder Active ................................................................................................2-15

Limit Active.....................................................................................................2-16

Axis Fault ........................................................................................................2-16

NI 951x User Manual © National Instruments Corporation v

Contents

Chapter 3

Signal Connections

Power Connections ........................................................................................................ 3-4

Command Signals.......................................................................................................... 3-4

Stepper Command Signals .............................................................................. 3-4

Step (CW)± and Direction (CCW)± ................................................. 3-4

Servo Command Signals ................................................................................. 3-7

Drive Command Output ................................................................... 3-7

Drive Command COM ..................................................................... 3-7

Additional Drive Signals................................................................................. 3-7

Drive Enable .................................................................................... 3-7

Motion I/O Signals ........................................................................................................ 3-9

Limit and Home Inputs ................................................................................... 3-9

Limit and Home Input Circuit .......................................................... 3-9

Encoder Inputs ................................................................................................ 3-11

Encoder Phase A/Phase B................................................................. 3-12

Encoder Index................................................................................... 3-12

Encoder Input Circuit ....................................................................... 3-13

Position Capture Input and Position Compare Output.................................... 3-14

Digital I/O Signals......................................................................................................... 3-15

Digital Inputs................................................................................................... 3-15

Digital Outputs ................................................................................................ 3-17

Chapter 4

Accessory and Cable Connections

Connection to P7000 Series Stepper Drives.................................................................. 4-1

NI 951x Connection Accessories .................................................................................. 4-5

37-Pin Terminal Block Pin Assignments........................................................ 4-5

Signal Connection Recommendations........................................................................... 4-7

General Connection Recommendations.......................................................... 4-7

Limit and Digital Input Connection Recommendations ................................. 4-8

Encoder Connection Recommendations ......................................................... 4-8

Connecting Optional Signals ......................................................................................... 4-9

Connecting a Brake Signal.............................................................................. 4-9

NI 951x User Manual vi ni.com

Appendix A

Specifications

Appendix B

Position Command Connections

Appendix C

Technical Support and Professional Services

Glossary

Index

Contents

© National Instruments Corporation vii NI 951x User Manual

About This Manual

This manual describes the electrical and mechanical aspects of the National

Instruments 951x C Series drive interface modules and contains information concerning installation and operation.

Conventions

<>

» bold italic monospace

This manual uses the following conventions:

Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name—for example,

AO <3..0>.

The » symbol leads you through nested menu items and dialog box options to a final action. The sequence File»Page Setup»Options directs you to pull down the File menu, select the Page Setup item, and select Options 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. When this symbol is marked on a product, refer to the Safety Information section for information about precautions to take.

This icon denotes that the component may be hot. Touching this component may result in bodily injury.

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.

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.

Text in this font 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.

© National Instruments Corporation ix NI 951x User Manual

About This Manual

Related Documentation

The following documents contain information you might find helpful as you read this manual:

• Operating Instructions for the controller and modules (shipped with the hardware and available from ni.com/manuals )

• NI-Motion Help —Contains information about motion programming concepts and the NI-Motion architecture. Access the NI-Motion Help by going to Start»All Programs»NI-Motion»Documentation .

• LabVIEW NI SoftMotion Module Help —Use this help file to learn about using NI SoftMotion in LabVIEW including information about function blocks and using NI SoftMotion with the LabVIEW Project.

To access this help file from LabVIEW, select Help»Search the

LabVIEW Help , then expand the LabVIEW NI SoftMotion Module book on the Contents tab.

• LabVIEW Help —Contains LabVIEW, LabVIEW Real-Time Module, and LabVIEW FPGA Module programming concepts, instructions, and reference information. Access the LabVIEW Help by selecting

Help»Search the LabVIEW Help from within LabVIEW.

NI 951x User Manual x ni.com

1

Introduction and Installation

This chapter includes information about the features of the National

Instruments 9512, 9514, and 9516 drive interface modules.

Note The remainder of this document will refer to these modules collectively as NI 951x modules.

About the NI 951x Drive Interface Modules

The NI 951x drive interface modules are a family of C Series motion modules. These modules enable advanced motion with configuration and programming using NI LabVIEW.

Features

The NI 951x modules provide servo or stepper 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 and digital output lines. Refer to Chapter 3, Signal Connections , for more information about the signals available on each module.

• The NI 9512 is a single-axis stepper or position command drive interface module with incremental encoder feedback.

Note Refer to Appendix B, Position Command Connections , for information about using the NI 9512 module with position command servo drives.

• The NI 9514 is a single-axis servo drive interface module with incremental encoder feedback.

• The NI 9516 is a single-axis servo drive interface module with dual incremental encoder feedback.

Hardware

The NI 951x drive interface modules include a processor to run the spline interpolation engine and patented NI step generation algorithm or

PID control loop / PIVff control loop . Working together they produce smoother motion resulting in precise motion control.

© National Instruments Corporation 1-1 NI 951x User Manual

Chapter 1 Introduction and Installation

What You Need to Get Started

Using the NI 951x Modules in Scan Interface Mode

Scan Interface mode enables you to use C Series modules directly from the

LabVIEW Real-Time Module. Refer to the CompactRIO Reference and

Procedures (Scan Interface) section of the LabVIEW Help for more information about using C Series modules in Scan Interface mode.

To set up and use the NI 951x drive interface modules in Scan Interface mode, you must have the following items:

❑

The following software packages and documentation:

– NI SoftMotion. This software package contains the following

NI software products:

• NI SoftMotion software

• NI-Motion driver software

– LabVIEW Development System

– LabVIEW Real-Time Module

– NI-RIO driver software

Tip Refer to the software documentation for installation instructions.

❑

The following hardware and documentation:

– NI 9512, NI 9514, or NI 9516 drive interface module

– External power supply

Note Refer to the Power Requirements section of Appendix A, Specifications , for power supply requirements.

– CompactRIO controller and chassis that support the RIO Scan

Interface or

– NI 9144 distributed chassis

NI 951x User Manual 1-2 ni.com


Using the NI 951x Modules in LabVIEW FPGA Interface Mode

LabVIEW FPGA Interface mode enables you to use C Series modules from

LabVIEW FPGA VIs. Refer to the CompactRIO Reference and Procedures

(FPGA Interface) section of the LabVIEW Help for more information about using C Series modules in LabVIEW FPGA Interface mode.

To set up and use the NI 951x drive interface modules in LabVIEW FPGA

Interface mode, you must have the following items:

❑

The following software packages and documentation:

– (optional) NI SoftMotion. This software package contains the following NI software products:

• NI SoftMotion software

• NI-Motion driver software

– LabVIEW Development System

– LabVIEW Real-Time Module

– LabVIEW FPGA Module

– NI-RIO driver software

Tip Refer to the software documentation for installation instructions.

❑

The following hardware and documentation:

– NI 9512, NI 9514, or NI 9516 drive interface module

– External power supply


– CompactRIO controller and chassis

Safety Information

Special Conditions for Marine Applications

Some modules are Lloyd’s Register (LR) Type Approved for marine applications. To verify Lloyd’s Register certification, visit ni.com/ certification and search for the LR certificate, or look for the Lloyd’s

Register mark on the module.



Caution To meet radio frequency emission requirements for marine applications, use shielded cables and install the system in a metal enclosure. Suppression ferrites must be installed on power supply inputs near power entries to modules and controllers. Power supply and module cables must be separated on opposite sides of the enclosure and must enter and exit through opposing enclosure walls.

Optional Equipment

National Instruments offers several options for connecting NI 951x drive interface modules to external stepper drives or servo amplifiers including the following:

• NI 9512-to-P7000 Stepper Drives Connectivity Bundle —Connects the NI 9512 to the P70530 or P70360 stepper drives available from NI.

(NI part number 780552-01)

• NI 951x Cable and Terminal Block Bundle —Connects the NI 951x module with the 37-pin spring terminal blocks. (NI part number

780553-01)

• DSUB and MDR Solder Cup Connectors —Simplifies custom cable creation.

NI part number for DSUB connector: 780549-01

NI part number for MDR connector: 780551-01

• DSUB to Pigtails Cable and MDR to Pigtails Cable —Simplifies custom cable creation.

NI part number for DSUB cable: 193412-04

NI part number for MDR cable: 193413-04

Caution Do not use the recommended module power supplies to power a drive. Check your drive documentation for drive power supply requirements.

• +24 V DC power supply

Note Refer to the National Instruments Web site at ni.com

for available power supplies.

Refer to Chapter 4, Accessory and Cable Connections , for cable and terminal block pin assignments. For additional information about these and other available products refer to the National Instruments Web site at ni.com

, or call your National Instruments sales representative.


2

Hardware Overview

This chapter presents an overview of the National Instruments 951x drive interface module hardware, including connections and connector pin assignments. The following figure shows the NI 951x module.

Figure 2-1. NI 951x Module


Chapter 2 Hardware Overview

NI 951x Connections

This section contains connection information for each drive interface module, including connection diagrams for a complete system setup.

NI 9512 Connections

Complete the following steps to connect the NI 9512 stepper 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 NI 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 9512-to-P7000 Stepper Drives Connectivity Bundle, the NI 951x

Cable and Terminal Block Bundle, or a custom cable for direct connectivity.

3.

Connect the NI 9512 module to an external power supply.

Figure 2-2 shows a simplified connection diagram.

Note Refer to Appendix B, Position Command Connections , for position command signal information and information about connecting the NI 9512 module to drives that support position command mode.

Caution Do not connect anything to pins marked Reserved.



DSUB Connector

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

NI Connection

Accessory/

Custom Cable

Step±/CW

Direction±/CCW

Drive Fault

Drive Enable

MDR Connector

Encoder 0 Phase A, B, Index

+5 V OUT

Forward, Reverse Limit, Home

V sup

NI 9512

Limit and Home

Sensors

Power Supply

Drive

Motor

Stepper Motor Encoder (optional)

Figure 2-2. NI 9512 Connection Diagram

Note The NI 9512 requires an external power supply. You can connect the external power supply to the V sup

input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.



Figure 2-3 shows the NI 9512 block diagram. Refer to Chapter 3, Signal

Connections , for more information about the individual signals and connecting devices to the module.

Phase A ± (0)

Phase B ± (0)

Index ± (0)

Position

Capture

Receiver

Circuitry

Buffer

Home

Forward

Reverse

Digital

Input

(0-3)

Buffer Step ±

Input

Circuitry

Microprocessor

Output

Circuitry

+5V Reg

Buffer

Buffer

Direction ±

Position

Compare

Drive

Enable

Digital

Output

(0-1)

V sup

COM

+5 V OUT

Figure 2-3. NI 9512 Block Diagram


Complete the following steps to connect the NI 9514 drive interface module to drives and other I/O:

1.



2.

Connect the module to a 37-pin terminal block using the NI 951x to

37-pin cable, or use a custom cable for direct connectivity.

3.

Connect the NI 9514 module to an external power supply.




DSUB Connector

Drive Command

Drive Enable

Drive Fault

V sup

MDR Connector


+5 V OUT


NI Connection

Accessory/

Custom Cable

NI 9514

Limit and Home

Sensors

Power Supply

Drive Command

Drive Enable

Drive Fault

Drive

Motor

Servo Motor Encoder


Note The NI 9514 requires an external power supply. You can connect the external power supply to the V sup

input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.






Phase A ± (0)

Phase B ± (0)

Index ± (0)

Position

Capture

Buffer

Receiver

Circuitry

Microprocessor

(PID Loop)

DAC

Buffer

Home

Forward

Reverse

Input

Circuitry

Output

Circuitry

Digital Input (0-1)

+5V Reg

Drive

Command

Position

Compare

Drive

Enable

V sup

COM

+5 V OUT



Complete the following steps to connect the NI 9516 drive interface module to drives and other I/O:

1.



2.

Connect the module to a 37-pin terminal block using the NI 951x to

37-pin cable, or use a custom cable for direct connectivity.




DSUB Connector

Drive Command

Drive Enable

Drive Fault

V sup

NI Connection

Accessory/

Custom Cable

MDR Connector


Encoder 1 Phase A, B

+5 V OUT


NI 9516

Limit and Home

Sensors

Power Supply

Drive Command

Drive Enable

Drive Fault

Drive

Motor

Servo Motor Encoder 0 Encoder 1


Note The NI 9516 requires an external power supply. You can connect the external power supply to the V sup input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.






Phase A ± (0)

Phase B ± (0)

Index ± (0)

Phase A ± (1)

Phase B ± (1)

Position

Capture

Receiver

Circuitry

Buffer

Microprocessor

(PID Loop)

DAC

Buffer

Output

Circuitry Home

Forward

Reverse

Input

Circuitry

Digital Input (0-1)

+5V Reg

Drive

Command

Position

Compare

Drive

Enable

V sup

COM

+5 V OUT


User Connectors

The NI 951x 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 stepper drives or servo amplifiers,

0 to 30 V general-purpose digital input and digital output lines, and an input for power connection.

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 input for power connection, and an additional 0 to 30 V general-purpose digital input line. Refer to

Chapter 3, Signal Connections , for details about the signals in each connector.

Note The remainder of this document does not distinguish between drives and amplifiers.

All references to drives also apply to amplifiers.



NI 9512 Connectors

Refer to Chapter 4, Accessory and Cable Connections , for cabling options and connection accessory pin assignments.


Table 2-1. NI 9512 DSUB Control Connector Pin Assignments

Connector

15

11

10

6

5

1

Pin

9

10

7

8

3

4

5

6

1

2

11

12

13

14

15

Signal

Reserved

Drive Enable

Digital Input 3

Digital Input 2

Digital Output 1

Reserved

COM

Digital Input 1

Direction (CCW)–

Step (CW)–

Digital Output 0

V sup

Direction (CCW)+

COM

Step (CW)+

Note Refer to Appendix B, Position Command Connections , for position command signal information and information about connecting the NI 9512 module to position command drives.



Reverse Limit

Reserved

V sup

Reserved

COM

Encoder 0 Phase A+

Encoder 0 Phase A–

Encoder 0 Phase B+

Position Capture

Encoder 0 Phase B–

16

17

18

19

20

11

12

13

14

15

6

7

8

9

10

1

2

3

4

5

Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5 V OUT

Position Compare

Figure 2-8. NI 9512 MDR Connector Pin Assignments







Connector

15

11

10

6

5

1

Pin

9

10

7

8

3

4

5

6

1

2

11

12

13

14

15

Signal

Drive Command COM

Drive Enable

Reserved

Reserved

Reserved

Drive Command

COM

Digital Input 1

Reserved

Reserved

Reserved

V sup

Reserved

COM

Reserved



Reverse Limit

Reserved

V sup

Reserved

COM

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


11

12

13

14

15

16

17

18

19

20

1

2

3

4

5

6

7

8

9

10

Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5 V OUT

Position Compare








Connector

15

11

10

6

5

1

Pin

12

13

14

15

8

9

10

11

6

7

4

5

1

2

3

Signal

Drive Command COM

Drive Enable

Reserved

Reserved

Reserved

Drive Command

COM

Digital Input 1

Reserved

Reserved

Reserved

V sup

Reserved

COM

Reserved



Reverse Limit

Encoder 1 Phase A+

V sup


Encoder 1 Phase B+

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


11

12

13

14

15

16

17

18

19

20

1

2

3

4

5

6

7

8

9

10

Forward Limit

Home

COM

Digital Input 0


Encoder 0 Index+

Encoder 0 Index–

COM

+5 V OUT

Position Compare




LED Indicators

The NI 951x has four LEDs to display status information.

1 2 3 4

1 Axi s S t a t us (Green)

2 Encoder Active (Green)

3 Limit Active (Yellow)

4 Axi s F au lt (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.

• Lit —The module is functional and the drive enable output is active.

Encoder Active

The Encoder Active LED (green) has three states for encoder and V sup status.

• Off —The power supply (V sup

) is not connected. You must connect a power supply to receive encoder pulses.

• Flashing —The power supply (V sup

) is connected and the module is receiving encoder pulses.

Note The LED flash rate does not correspond to the rate at which the module receives encoder pulses. For the NI 9516 module, the encoder LED flashes when pulses are received on either Encoder 0 or Encoder 1.

• Lit —The power supply (V sup

) 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 (V sup

) is connected and the forward limit, reverse limit, or home input is active.

Axis Fault

The Axis Fault LED (red) has two states to indicate the presence of a fault in the system. Refer to the NI SoftMotion Module book of the LabVIEW

Help for a list of module faults and troubleshooting information.

• Off —No module faults.

• Lit —One or more module faults.


3

Signal Connections

This chapter describes how to make input and output signal connections directly to the National Instruments 951x drive interface modules and describes the associated I/O circuitry.

Signal Signal Name

Stepper Command Signals Step (CW)+

Step (CW)–

Direction (CCW)+

Direction (CCW)–

Servo Command Signals Drive Command

Drive Command COM

Drive Enable

Table 3-1 describes the signals available on the modules.

Table 3-1. NI 951x Signal Reference

Drive Enable

Signal Overview

• Configurable Step/Direction or

CW/CCW output mode

• Configurable single-ended or differential output type

• 5 MHz max pulse rate

• Separate reference to help keep digital noise separate from the analog output

• 16-bit analog output

• ±10 V range

• Connects to the enable function of the drive

• 0 to 30 V output configurable as sinking or sourcing

• 100

μ s minimum output pulse width


Chapter 3 Signal Connections

Encoder 0

Encoder 1

Signal

+5 V OUT

Limits and Home

NI 951x User Manual

Table 3-1. NI 951x Signal Reference (Continued)

Signal Name

Encoder 0 Phase A+


Encoder 0 Phase B+


Encoder 0 Index+

Encoder 0 Index–

Encoder 1 Phase A+


Encoder 1 Phase B+


+5 V OUT

Forward Limit

Reverse Limit

Home

Signal Overview

• Primary encoder for position or velocity feedback

• RS-422 differential, compatible with single-ended encoders

• 20 × 10 6 counts/second maximum

• 100 ns minimum pulse width

(differential inputs)


(single-ended inputs)

• Index input used to establish reference position

• Digitally filtered

• Secondary encoder for position or velocity feedback

• RS-422 differential, compatible with single-ended encoders

• 20

×

10 6 counts per second maximum


(differential inputs)


(single-ended inputs)


• +5 V supply output generated from the

V sup input

• Available for encoder power

• 150 mA maximum

(NI 9512 and NI 9514)

• 300 mA maximum (NI 9516)

• Connect to switches for system safety

• Configurable for sinking or sourcing

• 0 to 30 V input range

• 100 μ s minimum pulse width


3-2 ni.com


Signal

Position Capture

Position Compare

Digital Inputs

Digital Outputs

V sup

COM

Table 3-1. NI 951x Signal Reference (Continued)

Signal Name

Position Capture

Position Compare

Digital Input 0

Digital Input 1

Digital Input 2

Digital Input 3

Digital Output 0

Digital Output 1

V sup

COM

Signal Overview

• High-speed position capture input

• 5 V TTL input


• ±2 mA max input current


• High-speed position compare output

• 5 V TTL output


• General-purpose digital inputs

• Configurable for sinking or sourcing

• 0 to 30 V input range

• 100

μ s minimum pulse width


• General-purpose digital outputs

• 0 to 30 V digital outputs configurable as sinking or sourcing

• ±100 mA maximum current

• 100 μ s minimum pulse width

• NI 951x power supply input

• 19 to 30 V

• Connection required to either the DSUB or MDR

• 400 mA maximum current

• Reference for digital I/O

• Reference for V sup

• Reference for +5 V OUT

Note All signals are not available on all modules. Refer to the individual module pinouts in Chapter 2, Hardware Overview , for a list of the signals available on each module.



Power Connections

The NI 951x drive interface modules require an external power supply. An onboard regulator generates a +5 V output supply from the V sup

input for both internal and external usage. The positive terminal for the power supply must be connected to V sup

and the reference must be connected to COM.

Note You can connect the external power supply to the V sup

input provided on either

DSUB or MDR connectors. Do not connect more than one external power supplies to the module.

Command Signals

The following signals control the stepper or servo drive.

Stepper Command Signals

Step (CW)± and Direction (CCW)±

These signals are the NI 9512 drive interface module stepper command outputs.

The stepper output mode is software configurable for compatibility with various third-party drives. The NI 9512 module supports both industry standards for stepper command signals—step and direction, or clockwise (CW) and counterclockwise (CCW) pulse outputs, as follows:

• When step and direction mode is configured, each commanded step (or microstep) produces a pulse on the step output. The direction output indicates the commanded direction of motion, either forward or reverse. Refer to Figure 3-1 for an illustration.

• CW and CCW modes produce pulses on the CW output for forward-commanded motion and pulses on the CCW output for reverse-commanded motion. Refer to Figure 3-1 for an illustration.


Forward


Reverse

Step

Direction

CW

CCW

Figure 3-1. Step/Direction and CW/CCW Modes

Step and Direction Output Circuit

You can configure the active state of both outputs in software as low or high. The active state of the direction output corresponds to a forward direction. The step and direction output circuits can be configured in software for either single-ended or differential output type. Refer to the

NI SoftMotion LabVIEW Help for more information about stepper motor signal settings.

Caution Do not connect these outputs to anything other than a +5 V circuit. The output buffers will fail if subjected to voltages in excess of +5.5 V.

Caution Do not connect any unused output lines directly to COM, +5 V OUT, or V sup

.

Leave all unused output lines unconnected.



When connecting to drives with differential receiver inputs, configure the output type in software to differential and connect as shown in Figure 3-2.

NI 9512

Step+ / Dir+ Output

Drive

Receiver

Step– / Dir– Output

Figure 3-2. Differential Step and Direction Output Connection

Many stepper drive manufacturers offer opto-isolated inputs for

Step (CW)/Direction (CCW) signals. When connecting to opto-isolated inputs, configure the Step output type to single-ended, connect the NI 9512

Step+ output to the negative (cathode) side of the optocoupler input, and leave the Step– output on the NI 9512 disconnected. Connect the positive

(anode) side of the drive input to a supply as specified by the drive manufacturer. Figure 3-3 shows a single-ended connection example.

NI 9512

No Connection

Step–/Dir–

Step+/Dir+

+5 V

Drive

Step+/Dir+

Step–/Dir–

Figure 3-3. Opto-Isolated Step and Direction Output Connection

Caution If the optocoupler input does not include its own current-limiting resistor, you must provide an external resistor in series with the NI 9512 output. To prevent damage to the NI 9512 drive interface module or stepper drive, use a resistor that limits the current to a value below the maximum specifications of the drive interface module and stepper drive.

Refer to Appendix A, Specifications , for more information.

Note Refer to Appendix B, Position Command Connections , for position command signal descriptions and information about connecting the NI 9512 module to drives that support position command mode.



Servo Command Signals

Drive Command Output

The Drive Command output on the servo drive interface modules provide a ±10 V analog output. The Drive Command output features software configurable torque limits and voltage offset.

Drive Command COM

To help keep digital noise separate from the analog output, there is a separate return connection. Use this reference connection as the reference for the Drive Command output when connecting to servo drives instead of using COM (digital I/O reference).

Additional Drive Signals

Drive Enable

Use the Drive Enable output on the NI 951x module to control the enable function of a drive. The enable input on the drive must be active for the drive to acknowledge commands from the module. The Drive Enable signal is active during normal operation and deactivated upon a fault or error condition. Refer to the NI SoftMotion Module book of the LabVIEW Help for a list of faults, errors, and other conditions that deactivate the Drive

Enable output.

Caution National Instruments strongly recommends using Drive Enable for personal safety, as well as to protect the motion system.

Drive Enable Output Circuit

You can use software to enable and disable the Drive Enable output and to configure the active state of the Drive Enable output to on or off. Refer to the drive documentation to determine the active state of the enable input on the drive. The Drive Enable output type can be configured in software for sinking or sourcing. If the drive has a sinking enable input, configure the output type for the Drive Enable circuit for sourcing. Conversely, if the drive has a sourcing enable input, configure the output type for the Drive

Enable circuit for sinking.

Caution Only connect the Drive Enable output to +5 V input circuitry when the output is configured for sinking.



Figure 3-4 shows an example of wiring the output to a sinking input device.

Figure 3-5 shows an example of wiring the output to a sourcing input device.

NI 951x

NI 951x V sup

NPN (Sinking)

Input Device

V+

Drive Enable or

Digital Output

Configured

For Sourcing

COM

Drive Enable or

Digital Output In

Sinking

Circuit

V–

(Reference)

Figure 3-4. Drive Enable Circuit Configured for Sourcing

NI 951x

NI 951x V sup

PNP (Sourcing)

Input Device

V+

Drive Enable or

Digital Output In

Sourcing

Circuit

Drive Enable or

Digital Output

Configured

For Sinking

COM V–

(Reference)

Figure 3-5. Drive Enable Circuit Configured for Sinking



Motion I/O Signals

Limit and Home Inputs

The following inputs are available for limit and home functionality on the

NI 951x modules:

• Forward Limit Input

• Reverse Limit Input

• Home Input

These inputs are typically connected to limit switches located at physical ends of travel and/or at a specific home position. When enabled, an active transition on the Forward Limit, Reverse Limit, or Home input causes motion on the associated axis to stop. The stop mode is user-configurable in software. Refer to the NI SoftMotion Module book of the LabVIEW Help for information about the available stop modes.

The Forward Limit, Reverse Limit, and Home inputs are digitally filtered and have programmable filter frequencies. Active limit and home signals should remain active to prevent motion from proceeding further into the limit. Pulsed limit signals stop motion, but they do not prevent further motion in that direction if another move is started.

Forward Limit, Reverse Limit, and Home inputs are not required for basic motion control. These inputs are part of a system solution for complete motion control.

Caution National Instruments recommends using limits for personal safety, as well as to protect the motion system.

Limit and Home Input Circuit

You can use software to enable and disable Forward Limit, Reverse Limit, and Home inputs and to configure the active state of the signals to on or off.

You can also configure the Forward Limit, Reverse Limit, and Home input circuits for current sinking or sourcing output devices.

Tip Refer to the Signal Connection Recommendations section of Chapter 4, Accessory and Cable Connections , for additional wiring and cabling recommendations.



Figure 3-6 shows an example of wiring the inputs to a sourcing output device. Figure 3-7 shows an example of wiring the inputs to a sinking output device.

PNP (Sourcing)

Output Device

V+

NI 951x

Out

Limit, Home, or Digital Input

V–

(Reference) COM

Configured

For Sinking


Figure 3-6. Limit Input Configured for Sinking

NPN (Sinking)

Output Device

V+

Out


NI 951x

NI 951x V sup

Configured

For Sourcing


V–

(Reference) COM

Figure 3-7. Limit Input Configured for Sourcing



Figure 3-8 shows an example of wiring the inputs to a high-side switch and

Figure 3-9 shows an example of wiring the inputs to a low-side switch.

High-Side

Switch


NI 951x

NI 951x V sup

Configured

For Sinking


COM

Figure 3-8. High-Side Switch Connected to a Sinking Home or Limit

Low-Side

Switch


NI 951x

NI 951x V sup

Configured

For Sourcing


COM

Figure 3-9. Low-Side Switch Connected to a Sourcing Home or Limit

Encoder Inputs

The encoder inputs provide position and velocity feedback information.

The encoder channels consist of a Phase A, Phase B, and Index input, as described in the following sections. The NI 9512 and NI 9514 each have a single encoder channel.

The NI 9516 supports two encoder channels that allow for dual-loop feedback, which enhances system stability and precision and provides backlash compensation. The Encoder 0 channel consists of a Phase A, a Phase B, and an Index input. The Encoder 1 channel consists of a Phase

A and a Phase B input and does not contain an Index input.

All encoder signals are digitally filtered and provide programmable filter frequencies. The filter settings are based on the software-programmable maximum velocity rate. Refer to the NI SoftMotion Module book of the

LabVIEW Help for more information about encoder filter settings.



Encoder Phase A/Phase B

Encoder input channel converts pulses on Phase A and Phase B into 32-bit up/down counter values. Pulses are generated by optical, magnetic, laser, or electronic devices that provide two signals, Phase A and Phase B, that are 90 degrees out of phase. The leading phase, A or B, determines the direction of motion. The four transition states of the relative signal phases provide distinct pulse edges that are used to determine position.

A typical encoder with a specification of N ( N = number) lines per unit of measure in revolutions or linear distance, produces 4

×

N counts per unit of measure.

The count is the basic increment of position in closed-loop motion systems.

Note To determine your encoder counts per revolution, multiply the specified encoder counts per revolution by four. For example, a 500 line encoder has 2,000 counts per revolution.

If an encoder resource is not needed for axis control, it is available for other functions including position monitoring, as a digital potentiometer encoder input, or as a master encoder input for electronic gearing or electronic camming applications.

Encoder Index

The Index input is primarily used to establish a reference position. The

Index signal produces a single pulse per revolution. You can use software to capture the Index pulse position and establish a reference zero position for absolute position control. Figure 3-10 shows the single-ended representation of the encoder pulses.

Phase A

Phase B

Index

Figure 3-10. Incremental Encoder Phasing Diagram



You can set the index reference criteria in software to change the line state of Phase A and Phase B used in the Index search. Refer to the NI SoftMotion

Module book of the LabVIEW Help for more information about encoder settings.

Encoder Input Circuit

The NI 951x drive interface modules support RS-422 differential and single-ended inputs for Phase A, Phase B, and Index signals, and provide a

+5 V output for encoder power.

You also can set the encoder active state for Phases A, Phase B, and Index to high or low using software. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information.


Figures 3-11 and 3-12 show simplified schematic diagrams of the encoder input circuit connected to differential and single-ended inputs.

Encoder

Phase +

NI 951x

+5 V

Phase –

Receiver

COM

Figure 3-11. Differential Encoder Input Circuit

+5 V

Phase+

Com

No

Connection

Phase–

COM

+5 V

Receiver

Figure 3-12. Single-Ended Encoder Input Circuit



Position Capture Input and Position Compare Output

The NI 951x drive interface modules have a high-speed Position Capture input and Position Compare output. These signals are useful for high-speed synchronization of motion with actuators, sensors, vision and data acquisition devices, and other components in the complete motion system.

Tip Refer to the Signal Connection Recommendations section of Chapter 4, Accessory and Cable Connections , for wiring and cabling recommendations.

• Position Capture —When enabled, an active transition on a high-speed Position Capture input causes instantaneous position capture of the corresponding encoder count value. You can use this high-speed position capture functionality for applications ranging from simple logging of feedback sensor data to complex camming systems with advance/retard positioning and registration.

Caution If you use an open collector driver for the Position Capture input, provide the voltage equivalent of a logical high during the off state of the open collector driver. A common method to achieve this is by adding a pull-up resistor to the output. Refer to the

Motion I/O section of Appendix A, Specifications , for information about the Position

Capture input voltage levels.

The active edge on the Position Capture input can be set to rising edge or falling edge. In addition, the Position Capture input signal is digitally filtered. Refer to the NI SoftMotion Module book of the

LabVIEW Help for more information about Position Capture input configuration options.

• Position Compare —You can program a Position Compare output to transition when the associated encoder value equals the position compare position. You can use a Position Compare output to directly control actuators or as a trigger to synchronize data acquisition or other functions in the motion control system.

You can program the Position Compare output for a single or for periodic positions. The active state of the Position Compare output is configurable in software to high or low, and the action taken at the compare position can be set in software to pulse , set , or toggle . Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about Position Compare output functionality and configuration.



Digital I/O Signals

Digital Inputs

The NI 951x drive interface modules have the following digital input signals:

• Digital Input <0..1> —The NI 951x drive interface modules include two 5 kHz digital inputs compatible with 0 to 30 V logic outputs.

• Digital Input <2..3> —The NI 9512 drive interface module includes two additional 5 kHz digital inputs compatible with 0 to 30 V logic outputs.

Note To use the Drive Fault functionality referenced in the NI 951x Connections section of Chapter 2, you must map an available digital input in software. Refer to the

NI SoftMotion LabVIEW Help for more information about mapping digital inputs and digital outputs to available mappable signals.

You can configure the digital inputs for current sinking or sourcing output devices and set the active state of the inputs in software to on or off. Digital inputs are digitally filtered and have programmable filter frequencies.

Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about digital input configuration options.




Figure 3-13 shows an example of wiring the digital input signals to a sourcing output device. Figure 3-14 shows an example of wiring the digital input signals to a sinking output device.

PNP (Sourcing)

Output Device

V+

NI 951x

Out


V–

(Reference) COM

Configured

For Sinking


Figure 3-13. Digital Input Configured for Sinking

NPN (Sinking)

Output Device

V+

Out


NI 951x

NI 951x V sup

Configured

For Sourcing


V–

(Reference) COM

Figure 3-14. Digital Input Configured for Sourcing



Figure 3-15 shows an example of wiring the digital inputs to a high-side switch. Figure 3-16 shows an example of wiring the digital inputs to a low-side switch.

High-Side

Switch


NI 951x

NI 951x V sup

Configured

For Sinking


COM

Figure 3-15. High-Side Switch Connected to a Sinking Digital Input

Low-Side

Switch


NI 951x

NI 951x V sup

Configured

For Sourcing


COM

Figure 3-16. High-Side Switch Connected to a Sourcing Digital Input

Digital Outputs

The NI 9512 drive interface module also has two general-purpose digital outputs with an output voltage range of 0 to 30 V.

Digital Output Circuit

You can configure the active state of the digital outputs in software for on or off and the digital output circuit can be configured in software for sinking or sourcing output type. If you are connecting to sinking inputs, configure the output type to sourcing. Conversely, if you are connecting to sourcing inputs, configure the output type to sinking.



Caution Do not connect digital outputs to +5 V input circuitry in either sinking or sourcing configuration.


Figure 3-17 shows an example of wiring the digital outputs to a sinking input device. Figure 3-18 shows an example of wiring the digital outputs to a sourcing input device.

NI 951x

NI 951x V sup

NPN (Sinking)

Input Device

V+

Drive Enable or

Digital Output

Configured

For Sourcing

COM

Drive Enable or

Digital Output In

Sinking

Circuit

V–

(Reference)

Figure 3-17. Digital Output Circuit Configured for Sourcing

NI 951x

NI 951x V sup

PNP (Sourcing)

Input Device

V+

Drive Enable or

Digital Output In

Sourcing

Circuit

Drive Enable or

Digital Output

Configured

For Sinking

COM V–

(Reference)

Figure 3-18. Digital Output Circuit Configured for Sinking


4

Accessory and Cable Connections

This chapter describes the accessory and cable connections for the

National Instruments 951x drive interface modules, including connection diagrams and cable pin assignments, custom cable information, and additional information about software-mappable signals.

Connection to P7000 Series Stepper Drives

This section contains information about connecting the NI 9512 stepper drive interface module to the P7000 series stepper drives using the

NI 9512-to-P7000 stepper drives connectivity bundle. This product contains a cable to directly connect the NI 9512 DSUB with the

P7000 series stepper drive, and a 37-pin terminal block and cable for connecting the NI 9512 MDR connector to other I/O.

Complete the following steps to connect the NI 9512 drive interface module to the P70530 DC drive or the P70360 AC drive and other I/O:

1.



2.

Connect the module DSUB connector to the P7000 series drive

Command I/O connector using the NI 9512-to-P7000 cable.

3.

Connect the power supply to the NI 9512-to-P7000 direct connect cable V sup

inputs.


4.

Connect the module MDR connector to the 37-pin terminal block using the terminal block cable. Refer to the Signal Connection

Recommendations section of this chapter for cabling recommendations.


Chapter 4 Accessory and Cable Connections

5.

Connect the limits, feedback, and other I/O signals to the 37-pin terminal block or custom cable.

6.

Connect the drive power supply to the P7000 drive.

7.

Update the axis configuration settings in software for proper operation with the P7000 drives. Refer to NI 951x to P7000 Drive Configuration

Settings in the NI SoftMotion Module book of the LabVIEW Help for axis setting information.




8

6

4

7

5

3

2

11

9

10

1 C S erie s Ch ass i s

2 NI 9512 MDR Connector

3 NI 9512 D S UB Connector

4 NI 9512 Mod u le

1

5 S tepper Motor

6 NI 9512-to-P7000

Direct Connect C ab le

7 P7000 S erie s S tepper Drive

8 P7000 Comm a nd I/O Connector

9 NI 951x MDR to Termin a l Block C ab le

10 3 7-pin Termin a l Block

11 Power Su pply (V su p

)

Figure 4-1. NI 9512 to P7000 Series Drive Connection Diagram



When connecting only the MDR connector to the terminal block, all DSUB signals on the terminal block are no connects (NC). The following figure shows the 37-pin terminal block pinout when connecting only the MDR connector.

Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

Reserved

Reserved

NC

NC

NC

NC

NC

NC

Shield

NC

Reverse Limit

Reserved

V sup

Reserved

COM

NC

NC

NC

NC

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


Reserved

Reserved

NC

NC

Figure 4-2. NI 9512 37-Pin Terminal Block MDR-Only Pin Assignments



NI 951x Connection Accessories

This section contains information about the NI 951x 37-pin terminal blocks and cables, including pin assignments for each module. Figure 4-3 shows the NI 951x module connected to the 37-pin terminal block using the

NI 951x to 37-pin cable.

NAL

INST

NA

Figure 4-3. NI 951x Module and 37-Pin Terminal Block

37-Pin Terminal Block Pin Assignments

Figure 4-4, Figure 4-5, and Figure 4-6 show the pin assignments for the

NI 951x to 37-pin terminal blocks.

Note When connecting only the MDR connector to the terminal block, all DSUB signals on the terminal block are no connects (NC) and when connecting only the DSUB connector to the terminal block, all MDR signals on the terminal block are no connects.

Caution The 37-pin terminal block has separate Vsup and COM terminals for each connector. Make sure you are using the correct Vsup and COM terminals for the connector you are using. All signals associated with the DSUB connector in Figures 4-4, 4-5, and 4-6 are marked with a dagger (†).




Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

Reserved

Reserved

Digital Output 0 †

V sup

†

Digital Input 1 †

Direction (CCW)+ †

COM †

Step (CW)+ †

Shield

† Indicates DSUB connector signals.

Digital Output 1 †

Reverse Limit

Reserved

V sup

Reserved

COM

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


Reserved

Reserved

COM †

Drive Enable †

Digital Input 3 †

Direction (CCW)– †

Digital Input 2 †

Step (CW)– †

Figure 4-4. NI 9512 37-Pin Terminal Block Pin Assignments

Forward Limit

Home

COM

Digital Input 0

COM

Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

Reserved

Drive Command †

Reserved

V sup

†

Digital Input 1 †

Reserved

COM †

Reserved

Shield


Reserved

Reverse Limit

Reserved

V sup

Reserved

COM

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


Reserved

Drive Command COM †

COM †

Drive Enable †

Reserved

Reserved

Reserved

Reserved


4-6 ni.com


Forward Limit

Home

COM

Digital Input 0


Encoder 0 Index+

Encoder 0 Index–

COM

+5V OUT

Position Compare

Reserved

Drive Command †

Reserved

V sup

†

Digital Input 1 †

Reserved

COM †

Reserved

Shield


Reserved

Reverse Limit

Encoder 1 Phase A+

V sup


Encoder 1 Phase B+

Encoder 0 Phase A+


Encoder 0 Phase B+

Position Capture


Reserved

Drive Command COM †

COM †

Drive Enable †

Reserved

Reserved

Reserved

Reserved


Signal Connection Recommendations

This section contains detailed information about signal wiring including precautions and guidelines for error-free operation.

General Connection Recommendations

Use the following guidelines when wiring signals and creating custom cables:

• Keep all signals and their ground connections wired separately from the drive and encoder signal connections. Wiring these signals near each other can cause faulty motion system operation due to signal noise and crosstalk.

• Use shielded cables with a low impedance connection to chassis ground to minimize noise and signal crosstalk.

• Use a separate power supply for the CompactRIO chassis and the

NI 951x module(s) to isolate the I/O from the controller.

• Tie the V sup

cable shield to chassis ground at the module side only.

• Route wires along the machine frame to reduce high frequency noise.



• Add clamp-on ferrites to cables to further reduce emissions.

• Add a balun to the power cable to attenuate conducted and radiated emissions.

Caution Do not exceed the maximum specifications on any input or output. Refer to

Appendix A, Specifications , for more information.

Limit and Digital Input Connection Recommendations

Use the following additional recommendations when connecting limits and other digital inputs:

• For the end of travel limits to function correctly, the forward limit must be located at the forward or positive end of travel, and the reverse limit at the reverse or negative end of travel.

• Limit, home, and digital input signals are digitally filtered. Software configurable filters are provided to filter or debounce the input signals.

Use shorter filter periods for noise filtering and longer filter periods to debounce the input.

Caution Failure to follow these guidelines may result in motion that stops at, but then travels through, a limit, potentially damaging the motion system. Limits that are wired incorrectly may prevent motion from occurring at all.

Encoder Connection Recommendations

The encoder inputs are connected to incremental decoder/counter circuits.

It is very important to minimize noise at this interface. Excessive noise on these encoder input signals may result in loss of counts or extra counts and reduced motion system accuracy. The following additional recommendations apply to encoder signal connections:

• National Instruments strongly recommends you use encoders with differential line driver outputs for all applications. You must use differential encoders if the encoder cable length is longer than 3.05 m

(10 ft). Shielded, 24 AWG (0.25 mm 2 cross section) wire is the minimum recommended size for the encoder cable.

• Wire encoder signals and their ground connections separately from all other connections. Wiring these signals near the motor drive or other signals can cause positioning errors and faulty operation.



• Cables with twisted pairs and an overall shield are recommended for optimized noise immunity. Figure 4-7 shows twisted pairs in a shielded cable. Unshielded cables can cause noise to corrupt the encoder signals, resulting in lost or additional counts and reduced motion system accuracy.

Drain

Shield

Encoder A+

Encoder A–

Encoder B+

Encoder B–

Encoder Index+

Encoder Index–

+5 V OUT

COM

Figure 4-7. Shielded Twisted Pairs

• Tie the encoder cable shield to COM at the encoder side only.

Connecting Optional Signals

This section contains information about wiring optional NI 951x signals.

Connecting a Brake Signal

The NI 951x digital outputs do not provide enough current to drive typical motor brakes. For this reason, the NI 951x digital outputs must not be used to directly control motor brakes. However, you can use the NI 951x digital outputs to control external circuitry that does meet the higher current requirements of motor brakes. Refer to the specifications for the motor brake to determine the maximum current requirements. Use the following recommendations when using an NI 951x digital output to control external circuitry driving the motor brake:

• Do not exceed the maximum current specifications of the NI 951x digital outputs.

• If the same power supply is used for the NI 951x module and the brake circuit, ensure that the power supply meets the maximum requirements of both the NI 951x and the brake circuit.


A

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.

Stepper Performance (NI 9512 only)

Stepper accuracy .................................... 1 full, half, or microstep

Interpolation/spline rate ......................... 20 kHz max

Servo Performance (NI 9514 and NI 9516 only)

Module modes of operation ................... Position loop and torque loop

Control loop rate 1 ................................... 20 kHz max (position loop)

Servo control loop modes ...................... PID, PIVff, and Dual-Loop

Motion Command Signals

Stepper outputs

Output type ..................................... Programmable: single-ended or differential

Digital logic levels, single-ended

High, V

OH

........................................ 5.25 V max

Sourcing 20 mA....................... 3.5 V min

Sourcing 12 mA....................... 3.7 V min

Sourcing 4 mA......................... 3.9 V min

Low, V

OL

Sinking 20 mA......................... 0.9 V max

Sinking 12 mA......................... 0.7 V max

Sinking 4 mA........................... 0.5 V max

1 When using a torque loop, the control loop rate depends on the processor speed and communication bus bandwidth. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information.

© National Instruments Corporation A-1 NI 951x User Manual

Appendix A Specifications

Digital logic levels, differential (Step/Dir(+) – Step/Dir(–))

At 20 mA ..................................±1 V min

At 12 mA ..................................±1.5 V min

At 4 mA....................................±2 V min

Max pulse rate .................................5 MHz

Continuous output current on each channel ...............................±20 mA

Pulse width ......................................Approximately 50% of the period, up to 6.4

μ s max

Output mode ....................................Programmable: step and direction, or CW/CCW

Active state ......................................Programmable: high or low

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

Drive enable output

Output type ......................................Programmable: sinking or sourcing

Voltage range................................... 0 to 30 V

V sup

input .........................................19 to 30 V

Continuous output current ( I

0

) on each channel ...............................±100 mA max

Output impedance ( R

0

) ....................0.3

Ω

max

Output voltage ( V

0

) sourcing ...........V

sup

– ( I

0

R

0

)


0

) sinking .............I

0

R

0

Min output pulse width....................100 μ s

Active state ......................................Programmable: on or off

NI 951x User Manual A-2 ni.com

Motion I/O


Encoder 0 and 1 Phase A/B and Encoder 0 Index inputs

Type ................................................ RS-422 differential or single-ended inputs

Digital logic levels, single-ended

Voltage..................................... –0.25 to 5.25 V

High, V

IH

................................. 2.0 V min

Low, V

IL

.................................. 0.8 V max

Digital logic levels, differential (Phase(+) – Phase(–))

Input high range....................... 300 mV to 5 V

Input low range ........................ –300 mV to –5 V

Common-mode voltage 1 .......... –7 to 12 V

Input current at 5 V ......................... ±1 mA

Min pulse width 2

Differential............................... 100 ns

Single-ended ............................ 400 ns

Max count rate

Differential............................... 20 × 10 6 counts/sec

Single-ended ............................ 5

×

10 6 counts/sec

Forward, reverse, and home inputs

Input type ........................................ Programmable: sinking or sourcing

Digital logic levels, OFF state

Input voltage ............................

≤

5 V

Input current ............................ ≤ 250 μ A

Digital logic levels, ON state

Input voltage ............................ 11 to 30 V

Input current ............................

≥

2 mA

Input impedance.............................. 30 k Ω ± 5%

Min pulse width 2 ............................. 100 µs

1 Common-mode voltage is the average of Phase+ and Phase–.

2 Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options.



Digital I/O

Position capture input

Digital logic levels

Voltage .....................................–0.25 to 5.25 V

High, V

IH

..................................2.0 V min

Low, V

IL

...................................0.8 V max

Input current

(0 V

≤

V in

≤

4.5 V) ........................±2 mA max

Min pulse width 2 .............................100 ns

Max capture latency ........................200 ns

Capture accuracy .............................±1 count

Active edge ......................................Programmable: rising edge or falling edge

Position compare outputs

High, V

OH

........................................5.25 V max

Sourcing 12 mA .......................3.7 V min

Sourcing 4 mA .........................3.9 V min

Low, V

OL

Sinking 12 mA .........................0.7 V max

Sinking 4 mA ...........................0.5 V max

Compare mode.................................Programmable: single or periodic

Compare action................................Programmable: set, toggle, or pulse

Max compare rate (periodic) ...........5 MHz

Pulse width (programmable)

Min ...........................................100 ns

Max...........................................1.6 ms

Active state...............................Programmable: high or low

Inputs

Number of inputs

NI 9512.....................................4

NI 9514 and NI 9516................2

Input type.........................................Programmable: sinking or sourcing



Digital logic levels, OFF state

Input voltage ............................

≤

5 V

Input current ............................ ≤ 250 μ A

Digital logic levels, ON state

Input voltage ............................ 11 to 30 V

Input current ............................

≥

2 mA

Input impedance.............................. 30 k Ω ± 5%

Min pulse width 1 ............................. 100 μ s

Outputs (NI 9512 only)

Number of outputs .......................... 2

Output type ..................................... Programmable: sinking or sourcing

Voltage range .................................. 0 to 30 V

V sup

input ........................................ 19 to 30 V

Continuous output current ( I

0

) on each channel............................... ±100 mA max

Output impedance ( R

0

).................... 0.3 Ω max


0

) sourcing .......... V sup

– ( I

0

R

0

)


0

) sinking ............ I

0

R

0

Min output pulse width ................... 100

μ s

Leakage current............................... 200 μ A

Active state ..................................... Programmable: on or off

MTBF..................................................... Contact NI for Bellcore MTBF or

MIL-HDBK-217F specifications.

Power Requirements

Power consumption from chassis

Active mode

NI 9512 .................................... 925 mW max

NI 9514 .................................... 900 mW max

NI 9516 .................................... 950 mW max

Sleep mode...................................... 0.4 mW max

1 Assumes the minimum filter setting. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about filter options.



Thermal dissipation (at 70 °C)

Active mode.....................................1.5 W max

Sleep mode ......................................0.4 mW max

V sup

input ................................................19 to 30 V

NI 9512............................................375 mA max

NI 9514............................................150 mA max

NI 9516............................................150 mA max

+5 V regulated output .............................5 V ±5%

NI 9512............................................150 mA max

NI 9514............................................150 mA max

NI 9516............................................300 mA max

Physical Characteristics

If you need to clean the module, wipe it with a dry towel.

Note For two-dimensional drawings and three-dimensional models of the C Series module and connectors, visit ni.com/dimensions and search by module number.

Weight ....................................................155 g (5.5 oz)

Safety

Safety Voltages

Connect only voltages that are within the following limits.

Channel-to-COM ....................................0 to +30 VDC max,

Measurement Category I

Isolation

Channel-to-channel..........................None

Channel-to-earth ground

Continuous ...............................60 VDC,

Measurement Category I

Withstand .................................500 V rms

, verified by a 5 s dielectric withstand test



Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as

MAINS voltage. MAINS is a hazardous live electrical supply system that powers equipment. This category is for measurements of voltages from specially protected secondary circuits. Such voltage 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 951x 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

• UL 61010-1, CSA 61010-1

Note For UL and other safety certifications, refer to the product label or the Online

Product Certification section.

Electromagnetic Compatibility

This product meets the requirements of the following EMC standards for electrical equipment for measurement, control, and laboratory use:

• EN 61326 (IEC 61326): Class A emissions; Industrial immunity

• EN 55011 (CISPR 11): Group 1, Class A emissions

• AS/NZS CISPR 11: Group 1, Class A emissions

• FCC 47 CFR Part 15B: Class A emissions

• ICES-001: Class A emissions

Note For the standards applied to assess the EMC of this product, refer to the Online

Product Certification section.

Note For EMC compliance, operate this device with double-shielded cables.

CE Compliance

This product meets the essential requirements of applicable European

Directives as follows:

• 2006/95/EC; Low-Voltage Directive (safety)

• 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 g rms

, 10 to 500 Hz

Sinusoidal (IEC 60068-2-6) ............5 g, 10 to 500 Hz

Operating shock (IEC 60068-2-27) ........30 g, 11 ms half sine,

50 g, 3 ms half sine,

18 shocks at 6 orientations

Environmental

National Instruments C Series modules are intended for indoor use only, but may be used outdoors if installed in a suitable enclosure. Refer to the manual for the chassis you are using for more information about meeting these specifications.

Operating temperature

(IEC 60068-2-1, IEC 60068-2-2) ...........–40 to 70 °C

Storage temperature

(IEC 60068-2-1, IEC 60068-2-2) ...........–40 to 85 °C

Ingress 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

Max altitude ............................................2,000 m

Pollution Degree .....................................2



Environmental Management

National Instruments is committed to designing and manufacturing products in an environmentally responsible manner. NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers.

For additional environmental information, refer to the NI and the

Environment Web page at ni.com/environment . This page contains the environmental regulations and directives with which NI complies, as well as other environmental information not included in this document.

Waste Electrical and Electronic Equipment (WEEE)

EU Customers At the end of their life cycle, all products must be sent to a WEEE recycling center. For more information about WEEE recycling centers and National Instruments

WEEE initiatives, visit ni.com/environment/weee.htm

.

⬉ᄤֵᙃѻક∵ᶧ᥻ࠊㅵ⧚ࡲ⊩ ˄Ё೑

RoHS

˅

Ё೑ᅶ᠋ National Instruments

ヺড়Ё೑⬉ᄤֵᙃѻકЁ䰤ࠊՓ⫼ᶤѯ᳝ᆇ⠽䋼ᣛҸ

(RoHS)

Ǆ

݇Ѣ

National Instruments

Ё೑

RoHS

ড়㾘ᗻֵᙃˈ䇋ⱏᔩ ni.com/environment/rohs_china Ǆ

(For information about China RoHS compliance, go to ni.com/environment/rohs_china

.)


B

Position Command Connections

This Appendix contains information about using the NI 9512 drive interface module with drives that support position command mode or pulse command input.

Connecting the NI 9512 to a P-Command Drive

Complete the following steps to connect the NI 9512 drive interface module to p-command drives and other I/O:

1.



2.

Connect the module to a drive and other I/O using the NI 951x 37-pin terminal block and NI 951x 37-pin terminal block cable or a custom cable.

Note Many p-command drive manufacturers refer to the Step± signal as Pulse± and the

Direction± signal as Sign±.

© National Instruments Corporation B-1 NI 951x User Manual

Appendix B Position Command Connections

Figure B-1 shows a simplified connection diagram.

DSUB Connector

Step/CW/Pulse±

Direction/CCW/Sign±

Servo On/Drive Enable

Alarm Clear

(Digital Input)

Drive Ready/

Servo Ready

In-Position

Drive Fault/

Servo Alarm

MDR Connector

Encoder Phase A, B, Index

(optional)

+5 V OUT


Vsup

NI Connection

Accessory/

Custom Cable

NI 9512

Limit and Home Sensors

Power Supply

Step/CW/Pulse±

Direction/CCW/Sign±

Servo On/Drive Enable

Alarm Clear

Drive Ready/Servo Ready

In-Position

Drive Fault/Servo Alarm

Encoder Out

Encoder In

Position Command Drive


Servo Motor Encoder Motor

Figure B-1. NI 9512 to Position Command Drive Connection Diagram

B-2 ni.com

Appendix B Position Command Connections

Note For operation the NI 9512 requires an external power supply. You can connect the external power supply to the V sup input provided on the DSUB or MDR connector. Do not connect more than one external power supply to the module.

3.

Map the additional position command drive signals as described in the

Position Command Drive Signals section of this appendix.

Position Command Drive Signals

This section describes additional signals that are used with position command drives. You can use these signals with your drive if you map the signal functionality to an available digital input or digital output using software. Refer to the NI SoftMotion Module book of the LabVIEW Help for more information about mapping digital inputs and digital outputs.

Refer to Chapter 3, Signal Connections , for information about other

NI 9512 module signals.

The following inputs are driven from the drive to provide system status to the module.

• Servo Alarm/Drive Fault — Disables the drive in case of a drive error.

The module does not generate step and direction outputs when the alarm input is active. The alarm signal is inactive during normal operation.

• In-Position —Indicates that the drive has completed the move and has reached the target position.

• Servo Ready/Drive Ready —Indicates that the drive is ready or enabled.

The following signal is driven from the module to the position command drive:

• Alarm Clear —Clears the alarm or fault outputs on the drive.

Note The Alarm Clear functionality is not mappable in software. Refer to the

NI SoftMotion LabVIEW Help for information about implementing this functionality using an available digital output.

© National Instruments Corporation B-3 NI 951x User Manual

C

Technical Support and

Professional Services

Visit the following sections of the award-winning National Instruments

Web site at ni.com

for technical support and professional services:

• Support —Technical support at ni.com/support includes the following resources:

– Self-Help Technical Resources —For answers and solutions, visit ni.com/support for software drivers and updates, a searchable KnowledgeBase, product manuals, step-by-step troubleshooting wizards, thousands of example programs, tutorials, application notes, instrument drivers, and so on.

Registered users also receive access to the NI Discussion Forums at ni.com/forums . NI Applications Engineers make sure every question submitted online receives an answer.

– Standard Service Program Membership —This program entitles members to direct access to NI Applications Engineers via phone and email for one-to-one technical support as well as exclusive access to on demand training modules via the Services

Resource Center. NI offers complementary membership for a full year after purchase, after which you may renew to continue your benefits.

For information about other technical support options in your area, visit ni.com/services , or contact your local office at ni.com/contact .

• Training and Certification —Visit ni.com/training for self-paced training, eLearning virtual classrooms, interactive CDs, and Certification program information. You also can register for instructor-led, hands-on courses at locations around the world.

• System Integration —If you have time constraints, limited in-house technical resources, or other project challenges, National Instruments

Alliance Partner members can help. To learn more, call your local

NI office or visit ni.com/alliance .

© National Instruments Corporation C-1 NI 951x User Manual

Appendix C Technical Support and Professional Services

• Declaration of Conformity (DoC) —A 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 .

• Calibration Certificate —If your product supports calibration, you can obtain the calibration certificate for your product at ni.com/calibration .

If you searched ni.com

and could not find the answers you need, contact your local office or NI corporate headquarters. Phone numbers for our worldwide offices are listed at the front of this manual. You also can 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.

NI 951x User Manual C-2 ni.com

Glossary

Symbol n

μ m k

M

Prefix nano micro milli kilo mega

Numbers/Symbols

+5 V OUT +5 VDC source signal

Value

10 –9

10 – 6

10 –3

10 3

10 6

A

acceleration/ deceleration amplifier

A measurement of the change in velocity as a function of time.

A device that delivers power to operate the motor in response to control signals.

Unit that controls a motor or any similar motion or control device.

axis

C

CCW closed-loop

COM counts crosstalk

CW counterclockwise—Implies direction of motor rotation.

A control system that uses feedback to achieve control.

Reference signal for digital I/O.

Specified encoder resolution multiplied by four.

A phenomenon by which a signal transmitted on one channel causes an undesired effect on another channel.

clockwise—Implies direction of motor rotation.

© National Instruments Corporation G-1 NI 951x User Manual

Glossary

D

dedicated

Direction output drive driver

E

encoder encoder resolution

F

filtering full-step

H

half-step

Assigned to a particular function.

Command signal for stepper motors, indicates the commanded direction of motion, either forward or reverse.

Electronic signal amplifier that converts motor control command signals into higher-voltage signals suitable for driving motors.

A hardware device that provides signals or electrical current to activate a transmission line.

A device that translates mechanical motion into electrical signals; used for monitoring position or velocity in a closed-loop system.

The number of lines per unit of measure. Units can be inches, centimeters, revolutions, and so on.

A type of signal conditioning that removes unwanted noise from the signal being measured.

The coarsest mode of stepper motor driving that occurs when fully energizing the windings.

high

A stepper motor mode. For a two phase motor, half-step mode is done by alternately energizing two windings and then only one. In half step mode, alternate steps are strong and weak but there is significant improvement in low-speed smoothness over the full-step mode.

An input or output is high if the voltage is higher than the specified digital logic high level.

NI 951x User Manual G-2 ni.com

Glossary high-side switch home switch (input)

A switch that provides a path to supply when closed.

A physical position determined by the mechanical system or designer as the reference location for system initialization. Frequently, the home position is also regarded as the zero position in an absolute position frame of reference.

I

incremental encoder index

A device that produces two signals, Phase A and Phase B, which are

90 degrees out of phase, allowing for edge counting to provide relative position information.

Marker on an encoder that produces a single signal per revolution and is typically used to establish a reference position.

L

limit switch/ end-of-travel position

(input) low low-side switch

Sensors that alert the control electronics that the physical end of travel is being approached and that the motion should stop.

An input or output is low if the voltage is lower than the specified digital logic low level.

A switch that provides a path to ground when closed.

M

microstep Proportional control of energy in the coils of a stepper motor that allow the motor to move to or stop at locations other than the fixed magnetic/mechanical pole positions determined by the motor specifications. This capability facilitates the subdivision of full mechanical steps on a stepper motor into finer microstep locations that greatly smooth motor running operation and increase the resolution or number of discrete positions that a stepper motor can attain in each revolution.


Glossary

N

noise An undesirable electrical signal—Noise comes from external sources such as the AC power line, motors, generators, transformers, fluorescent lights, soldering irons, CRT displays, computers, electrical storms, welders, radio transmitters, and internal sources such as semiconductors, resistors, and capacitors. Noise corrupts signals you are trying to send or receive.

O

off on open-loop

An input or output is off when current is not flowing through the input or output circuit.

An input or output is on when current is flowing through the input or output circuit.

A control system where no external sensors (feedback devices) are used to achieve control of the system.

P

p-command

PID control loop

PIVff control loop position capture input position compare output

A command mode used for certain types of servo motor drives that accept step and direction (CW/CCW) information to drive a servo motor. proportional-integral-derivative control loop—A control method in which the controller output is proportional to the error, the sum of all previous errors, and the rate at which the error is changing. The error is the difference between the observed and the commanded values of the device that is being controlled. proportional-integral-velocity feed forward control loop—A control method in which the controller output is proportional to the error, the sum of all previous errors, and the future trajectory velocity. The error is the difference between the observed and the commanded values of the device that is being controlled.

Record position based on an external event.

When the encoder reaches a user-specified position, the associated position compare output performs the user-specified action.

NI 951x User Manual G-4 ni.com

Glossary stepper

T

toggle torque

V

V sup

S

servo sinking device sourcing device

Step output

Specifies an axis that controls a servo motor.

A device that provides a path to ground.

A device that provides a path to supply.

Command signal for stepper motors, each step produces a pulse on the step output, leading to a step (or microstep) of the motor.

Specifies an axis that controls a stepper motor.

Changing state between high and low or on and off.

Rotary force.

Power supply input.


Index

Symbols

+5 V OUT signal description (table), 3-2

A

alarm clear output, B-3 alarm input, B-3 axis fault LED, 2-16 axis status LED, 2-15

B

brake signal, connection, 4-9

C

calibration certificate (NI resources), C-2

CCW signal. See Direction (CCW) signal command signals, 3-4

Direction (CCW), 3-4

Drive Command COM, 3-7

Drive Command output, 3-7 servo drives, 3-7

Step (CW), 3-4 stepper drives, 3-4 connections digital input signals, 4-8

Direction (CCW) signal, 3-5 encoder signals, 4-8 home, 4-8 limit signals, 3-9, 4-8

NI 9512, 2-2

NI 9512 (figure), 2-3

NI 9514, 2-4

NI 9514 (figure), 2-5

NI 9516, 2-6

© National Instruments Corporation I-1

NI 9516 (figure), 2-7 position capture input, 4-7

Step (CW) signal, 3-5 connectors

NI 9512, 2-9

NI 9514, 2-11

NI 9516, 2-13 conventions used in the manual, ix

CW signal. See Step (CW) signal

D

Declaration of Conformity (NI resources), C-2 diagnostic tools (NI resources), C-1 digital I/O connectors, specifications, A-4 digital I/O signals, 3-15

Digital Input <1..4> signal description (table), 3-3 wiring, 3-8, 3-10, 3-16, 3-18 digital inputs connection recommendations, 4-8 purpose and use, 3-15 signal descriptions, 3-17

Digital Output <1..2> signal description (table), 3-3 digital outputs purpose and use, 3-17

Direction (CCW) signal connections, 3-5 description (table), 3-1 output circuit, 3-5 purpose and use, 3-4 documentation conventions used in manual, ix

NI resources, C-1 related documentation, x


Index

Drive Command COM signal description (table), 3-1 purpose and use, 3-7

Drive Command Output Specifications, A-2

Drive Command signal description (table), 3-1 purpose and use, 3-7

Drive Enable Output Specifications, A-2

Drive Enable signal description (table), 3-1 purpose and use, 3-7 drive fault, configuring, 3-15 drive signals, Drive Enable, 3-7 drivers (NI resources), C-1

DSUB connector

Digital Inputs, 3-15

Digital Outputs, 3-17

Direction (CCW), 3-4

Drive Command, 3-7

Drive Command COM, 3-7

Step (CW), 3-4

V sup

, 3-4

E

Encoder 0 Index signal description (table), 3-2

Encoder 0 Phase A signal description (table), 3-2

Encoder 0 Phase B signal description (table), 3-2

Encoder 1 Phase A signal description (table), 3-2

Encoder 1 Phase B signal description (table), 3-2 encoder active LED, 2-15

Encoder Index signal purpose and use, 3-12

Encoder Phase A signal purpose and use, 3-12

NI 951x User Manual I-2

Encoder Phase B signal purpose and use, 3-12 encoder signals connection recommendations, 4-8

Encoder Index, 3-12 input circuit, 3-13

Phase A, 3-11

Phase B, 3-11 signal descriptions, 3-13 wiring concerns, 4-8 examples (NI resources), C-1

F

feature overview, 1-1

Forward Limit input signal description (table), 3-2 purpose and use, 3-9

H

hardware requirements, 1-2 help, technical support, C-1

Home input signal description (table), 3-2 purpose and use, 3-9 home, connection recommendations, 4-8

I

in-position input, B-3 instrument drivers (NI resources), C-1

K

KnowledgeBase, C-1 ni.com

Index

L

LED indicators axis fault, 2-16 axis status, 2-15 encoder active, 2-15 limit active, 2-16 limit active LED, 2-16 limit and home inputs connections, 3-9

Forward Limit input, 3-9

Home input, 3-9 input circuit, 3-9

Reverse Limit input, 3-9 signal descriptions, 3-9 limit signals, connection recommendations,

4-8

M

MDR connector

Digital Inputs, 3-15

Encoder Index, 3-12

Encoder Phase A, 3-11

Encoder Phase B, 3-11

Forward Limit, 3-9

Home, 3-9

Position Capture, 3-14

Position Compare, 3-14

Reverse Limit, 3-9

V sup

, 3-4 motion I/O signals, 3-9

N

National Instruments support and services,

C-1

NI 9512 connection diagram (figure), 2-3 connections, 2-2

DSUB connector, 2-9

MDR connector, 2-10

© National Instruments Corporation I-3


DSUB connector, 2-11

MDR connector, 2-12


DSUB connector, 2-13

MDR connector, 2-14

NI 951x features, 1-1 requirements for getting started, 1-2

NI support and services, C-1

P

P7000 stepper drive connection diagram (figure), 4-3 connections, 4-1 physical specifications, A-6 position capture input connection recommendations, 4-7

Position Capture signal description (table), 3-3 overview, 3-14 purpose and use, 3-14 position command drive signals alarm, B-3 alarm clear, B-3 in-position, B-3 servo ready, B-3

Position Compare signal description (table), 3-3 overview, 3-14 purpose and use, 3-14 power connections, 3-4 power requirement specifications, A-5 programming examples (NI resources), C-1


Index

R

related documentation, x

Reverse Limit input signal description (table), 3-2 purpose and use, 3-9

S

servo drive command signals, 3-7 servo performance specifications, A-1 servo ready input, B-3 signal connections. See power connections, command signals, motion I/O signals, and digital I/O signals software

NI resources, C-1 requirements, 1-2 specifications digital I/O, A-4 motion I/O, A-3 physical, A-6 power requirements (max), A-5 servo performance, A-1 stepper performance, A-1

Step (CW) signal connections, 3-5 description (table), 3-1 output circuit, 3-5 purpose and use, 3-4 stepper drive command signals, 3-4

P7000 connections, 4-1

Stepper Output Specifications, A-1 stepper performance specifications, A-1 support, technical, C-1

T

technical support, C-1 terminal block pin assignments, 4-5 training and certification (NI resources), C-1 troubleshooting (NI resources), C-1

V

V sup signal connections, 3-4 description (table), 3-3

W

Web resources, C-1 wiring concerns digital input signals, 4-8 encoder signals, 4-8 home, 4-8 limit signals, 4-8 position capture input, 4-7

NI 951x User Manual I-4 ni.com

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