National Instruments NI 9502, Getting Started

Page 1: ...NI 9502...

Page 2: ...ing section for assistance Contents NI 9502 Overview 2 NI 9502 Commutation Mode 2 NI 9502 Connections 4 NI 9502 to AKM Cable 5 Connecting and Using the NI 9502 in Trapezoidal Commutation Mode 6 What Y...

Page 3: ...al commutation based on the Hall Effect sensor inputs For proper phase switching to occur the Hall Effect sensors from the motor must be connected to the correct Hall inputs on the NI 9502 module The...

Page 4: ...e Controller Fault Detection Current Sense Motor Velocity Command Current Command LabVIEW FPGA Module NI 9502 Motor Current Velocity Feedback Velocity Estimator Proportional to Torque PWM Generator Ha...

Page 5: ...tation Mode Block Diagram NI 9502 Connections The NI 9502 has a 10 terminal detachable screw terminal connector that provides connections for the brushless servo motor signals Hall Effect sensors a 9...

Page 6: ...hless servo motor drive module to an NI AKM servo motor available from National Instruments The kit consists of two cables one for motor power and one for Hall Effect sensor and encoder feedback with...

Page 7: ...r the Hall Effect sensors NI part number 780577 01 Note If you are connecting the optional encoder and using an NI 9411 C Series module for encoder connections you can use the 5 V output on the NI 941...

Page 8: ...lete the following steps to set up the CompactRIO hardware 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis Note Write down the co...

Page 9: ...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 Note...

Page 10: ...the NI 9502 in trapezoidal commutation mode for velocity control applications and required when using the NI 9502 in FOC commutation mode Refer to the Connecting and Using the NI 9502 in Field Oriente...

Page 11: ...wire disconnected some applications may find it beneficial to connect the drain wire to the NI 9502 chassis ground to improve EMC immunity or emissions Table 3 NI 9502 to AKM Feedback Cable Screw Term...

Page 12: ...the COM terminal on the NI 9411 some applications may find it beneficial to disconnect the drain wire from the NI 9411 to improve EMC immunity or emissions Table 4 NI 9502 to AKM Feedback Cable Screw...

Page 13: ...Serial Number in the Identification section matches the serial number on the device 4 If you do not want to format the disk on the controller eliminating all installed software and files power on the...

Page 14: ...es b Select your target from the Add Targets and Devices dialog box c Click OK d Select LabVIEW FPGA Interface from the Select Programming Mode dialog box e Click Continue f Click Discover in the Disc...

Page 15: ...Table 5 as this wiring scheme can be eliminated 9 Click the Enable button again to disable the drive and stop the motor 10 Enter the same velocity as a negative number in the Velocity Setpoint control...

Page 16: ...a higher Velocity Setpoint 17 Set hall wiring to the correct value if necessary 18 Connect a load to the system and tune the velocity gains using the 9502 Trapezoidal Commutation VI Refer to the Tips...

Page 17: ...9502 module Refer to Regeneration Consideration Using the NI C Series Drive Modules at zone ni com for more information Ethernet connection and cable for the CompactRIO controller NI 9502 to AKM Cable...

Page 18: ...tem Complete the following steps to set up the CompactRIO hardware 1 Install the real time CompactRIO controller on the chassis if you are not using an integrated controller and chassis Note Write dow...

Page 19: ...e 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 Note Do not plug in or tur...

Page 20: ...KM Feedback Connector 2 Pigtail Connector to C Series Module for Encoder Feedback 3 Pigtail Connector to NI 9502 Module for Hall Effect Sensors 4 Pigtail Connector to NI 9502 for Motor Phase Connectio...

Page 21: ...out Brown White Stripes 5 V 5 V supply for encoder and Hall Effect sensors White Grey Stripes NI AKM Motor Thermal Sensor Internal thermistor connection within the motor which you can connect to an ex...

Page 22: ...nt Automation Explorer MAX on the development computer by clicking the MAX icon on the desktop or by selecting Start All Programs National Instruments Measurement Automation 2 Select the controller un...

Page 23: ...ware on the controller Click Help if you need information about installing recommended software sets 17 Close MAX Step 2 Configure and Test the Drive using LabVIEW This section uses the Velocity FOC e...

Page 24: ...n the Output File section of the Run tab 8 Connect the load to the motor 9 Run the 2 Tune Velocity VI load the configuration data saved in step 7 and follow the instructions to tune the velocity loop...

Page 25: ...system with too small a value of Kp is unable to hold position and is very soft Increasing Kp stiffens the axis and improves its disturbance torque rejection However too large a value of Kp often res...

Page 26: ...is unable to hold position and is very soft Increasing Kp stiffens the axis and improves its disturbance torque rejection However too large a value of Kp often results in instability 7 Keeping the pr...

Page 27: ...5 6 ARMS Tcs 0 180 Nm Vs 24 VDC IP54 Nrtd 2002 RPM Prtd 0 038 kW Rm 3 11 L L 25 C CLASS F AMBIENT 40 C Model AKM21I ANMN2 02 Ics 4 A 2 8 ARMS Ipk 8 A 5 6 ARMS Tcs 0 197 Nm Vs 24 VDC IP54 Nrtd 3270 RP...

Page 28: ...sistance Versus Temperature Curve The following figure shows the NI AKM motor thermal sensor PTC positive temperature coefficient resistance versus temperature response Figure 13 NI AKM Motor Thermal...

Page 29: ...abVIEW select Help LabVIEW Help then expand the LabVIEW NI SoftMotion Module book on the Contents tab Worldwide Support and Services The National Instruments Web site is your complete resource for tec...