National Instruments NI 9503 C Series Manual de usuario

Getting Started

NI 9503 C Series Stepper Drive

Modules and SoftMotion Module

Note If you are a new user of LabVIEW or are unfamiliar with LabVIEW, refer to

the Getting Started with LabVIEW manual for information about LabVIEW and

LabVIEW terminology.

This document explains how to use an NI 9503 C Series drive module with

LabVIEW NI SoftMotion Module User-Defined Variable (UDV) axes, using an NI 9503

C Series drive module example to demonstrate concepts and programming best practices.

Tip If you encounter any problems during setup, refer to the Tips and

Troubleshooting section for assistance.

Contents

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

Hardware .......................................................................................................................... 2

Software............................................................................................................................ 3

SoftMotion Module Overview.................................................................................................. 4

Hardware and Software Installation ......................................................................................... 5

Step 1: Set Up the Real Time System............................................................................... 5

Step 2: Connect NI 9503 to the Stepper Motor ................................................................ 5

Step 3: Connect the NI 9503 to the NI PS-16 Power Supply ........................................... 6

Step 4: Connect the System to AC Power ........................................................................ 6

Step 5: Install Software on and Configure the NI RT Controller..................................... 6

Using NI 9503 with SoftMotion............................................................................................... 7

SoftMotion UDV Axes and Configuration Data .............................................................. 7

SoftMotion Engine to FPGA Communication ................................................................. 8

Compile and Run the Example......................................................................................... 10

Setting Up and Using Optional Hardware................................................................................ 12

Adding and Connecting Additional Modules................................................................... 13

Additional UDVs and FPGA VI Loops............................................................................ 15

Tips and Troubleshooting......................................................................................................... 16

Drive Fault on Enable....................................................................................................... 16

Interactive Test Panel does not get updated ..................................................................... 17

Where to Go Next..................................................................................................................... 17

Worldwide Support and Services ............................................................................................. 18

2|ni.com |NI 9503 C Series Stepper Drive Modules and SoftMotion Module

What You Need to Get Started

You need the following items to get started.

Hardware

NI 9503 C Series stepper drive module

NI CompactRIO Real-Time controller and chassis

24 V power supply (such as the NI PS-15) for the CompactRIO controller

(NI part number 781093-01)

24 V power supply (such as the NI PS-16) for the NI 9503 module

Note NI recommends the NI PS-16 power supply, which is designed for motor bus

power, for use with the NI 9503 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 or third-party stepper motor

Note NI offers NEMA 17 and NEMA 23 stepper motors compatible with the

NI 9503. Go to ni.com for more information.

Optional Hardware

NI or third-party encoder

Note NI offers encoders for NEMA 17 and NEMA 23 stepper motors. Go to

ni.com for more information. Some NI stepper motors include integrated encoders.

NI 9411 digital input module for encoder connections

(NI part number 779005-01)

NI 9935 15-pin D-SUB connector kit for connecting the NI 9411

(NI part number 779016-01)

NI 9401 high-speed bidirectional digital I/O module for position compare and position

capture operations

(NI part number 779351-01)

NI 9503 C Series Stepper Drive Modules and SoftMotion Module |© National Instruments |3

NI 9924 25-pin D-SUB connector kit for connecting the NI 9401

(NI part number 781922-01)

NI 9423 sinking digital input module for home, limit, and digital input connections

(NI part number 779009-01)

NI 9472 sourcing digital output module for digital output connections

(NI part number 779004-01)

Software

LabVIEW 2014 or later

LabVIEW 2014 Real-Time Module or later

LabVIEW 2014 FPGA Module or later

LabVIEW 2014 SoftMotion Module or later

NI-RIO Device Drivers 2014 or later

Figure 1 shows the system setup without optional hardware. The Setting Up and Using Optional

Hardware section discusses optional hardware, including a connection diagram and example

walkthrough of optional functionality.

Figure 1. SoftMotion Module with NI 9503 UDV Axis System Overview

Ethernet

Cable

Motor Connections

NI RT Controller

(NI cRIO-9014 shown)

with NI 9503modules

+24 V Power Supply

(NI PS-15 Shown)

9 to 30 V Power Supply

(NI PS-16 Shown)

Stepper Motor

4|ni.com |NI 9503 C Series Stepper Drive Modules and SoftMotion Module

SoftMotion Module Overview

SoftMotion Module UDV axes allow you to implement an interface for communication between

the SoftMotion Engine and the LabVIEW FPGA Module. This is achieved using user-defined

variables that you add to the project, making it easier to use C Series modules in FPGA mode

with the SoftMotion Module.

The following figure shows the SoftMotion architecture when you use the SoftMotion Module

with UDV axes and the LabVIEW FPGA Module.

Figure 2. SoftMotion Module with UDV Axes

You use the LabVIEW Project to configure your axis settings and test your configuration. When

your hardware configuration is complete, you use SoftMotion APIs to create move profiles.

Communication to the LabVIEW FPGA Module is handled through user-defined variables. You

use the SoftMotion Drive Interface VIs to implement an interface for communication between

the SoftMotion Engine and the LabVIEW FPGA Module. When you use the Drive Interface VIs

with UDV axes you communicate using a predefined set of UDVs. Refer to Adding

User-Defined Variables for Use With a UDV Axis in the SoftMotion Module Help, available by

selecting Help»LabVIEW Help for information about the predefined UDVs. Refer to the Using

NI 9503 with SoftMotion section for more information about the NI SoftMotion Drive

Interface VIs.

Axis

Interface

Trajectory

Generator

Supervisory

Control

Host HMI and

AxisSettings:

LabVIEW Project

Non Real-Time LabVIEW Real-Time Module

NI SoftMotion

User VI

NI SoftMotion

APIs

LabVIEW FPGA with

NI Scan Engine Supported Platform

C Series

Module(s)

cRIO

Chassis

Motor Control,

Drive Interface,

and Sync VIs

cRIO

Chassis

NI 950x

C Series

Module(s)

User-Defined Variable

Communication

Module

User VI

NI SoftMotion

APIs

User VI

NI SoftMotion Engine

NI 9503 C Series Stepper Drive Modules and SoftMotion Module |© National Instruments |5

Hardware and Software Installation

This section covers the hardware setup for the Real Time system and NI 9503 C Series drive

module.

Step 1: Set Up the Real Time System

Complete the following steps to set up the Real Time system depending on your hardware.

1. Refer to the Getting Started guide included with the Real-Time Controller to assemble it,

connect it to power, discover it on the network, and install the software in NI MAX.

Note Older Model chasis, such as cRIO-902x, cRIO 907x, cRIO-908x, NI 9144,

and NI 9148 have HSI support only on slots 1 through 4. Refer to your chassis

documentation for more information about HSI support.

Step 2: Connect NI 9503 to the Stepper Motor

1. Connect the stepper motor to the NI 9503. Figure 3 shows a typical bipolar stepper motor

connection. Refer to the NI 9503 Operating Instructions and Specifications for important

connection information, including information about EMC compliance and connecting

6- or 8-wire stepper motors.

Figure 3. NI 9503 Bipolar Stepper Motor (2-Phase Type) Connection

NEMA 17 and NEMA 23 stepper motors from NI use the following wire color scheme.

Figure 4. Stepper Motor Wiring

Phase A+

Phase A–

Phase B+

Phase B–

Reserved

COM

Vsup

Phase A+

Phase A–

Phase B+

Phase B–

Phase A+

(Black)

Phase A–

(Orange)

Phase B+

(Red)

Phase B–

(Yellow)

6|ni.com |NI 9503 C Series Stepper Drive Modules and SoftMotion Module

Step 3: Connect the NI 9503 to the NI PS-16

Power Supply

Tip Refer to the NI PS-16 Power Supply User Manual and Specifications for more

information about connecting and using the NI PS-16 power supply.

Complete the following steps to connect the NI 9503 module to the NI PS-16 power supply.

Tip Refer to the NI 9503 Operating Instructions and Specifications for more

information about module power supply requirements.

1. Connect the NI 9503 Vsup (pin 8) to one of the two (+) terminals on the NI PS-16.

2. Connect the NI 9503 COM (pin 7) to one of the two (-) terminals on the NI PS-16.

3. Connect the power supply to AC power.

Step 4: Connect the System to AC Power

Complete the following steps to power on the system.

1. Connect the controller power supply (such as the NI PS-15) to AC power.

Step 5: Install Software on and Configure the

NI RT Controller

This step covers installing and configuring the software for the NI 9503 stepper drive module.

It assumes that all required software from the What You Need to Get Started section is installed

on the host machine.

Complete the following steps to configure the controller and install software on it.

Note The NI Measurement & Automation Explorer (MAX) user interface may not

match these steps exactly depending on which version of MAX you are using.

1. Launch Measurement & Automation Explorer (MAX) on the development computer by

clicking the MAX icon on the desktop, or by selecting Start»All Programs»

National Instruments»NI MAX.

2. Select the controller under Remote Systems in the Configuration pane. If you do not see

the controller, you may need to disable the firewall on the development computer.

3. Verify that the Serial Number in the Identification section matches the serial number on

the device.

4. Expand the controller item in the tree, right-click Software, and select Add/Remove

Software.

5. Highlight your device.

NI 9503 C Series Stepper Drive Modules and SoftMotion Module |© National Instruments |7

Note If you do not see the controller, you may need to disable the firewall on the

development computer. Go to ni.com/info and enter RIOMAXTroubleshoot

for more information.

6. Verify that the Serial Number in the System Settings section matches the serial number

on the device.

7. Select a recommended software set that includes NI CompactRIO 14.0 or later. Click Help

if you need information about installing recommended software sets.

8. Click Next.

9. Select LabVIEW SoftMotion Module from the add-ons list.

10. Click Next to install the selected software on the controller.

11. Make a note of the IP address assigned to the controller, to use when adding the target in

LabVIEW.

12. Close MAX.

Using NI 9503 with SoftMotion

The following tutorial walks you through using an NI 9503 UDV axis using the 9503 Stepper

Drive (NI 9503) sample project. This project shows how to configure the NI 9503 for a

UDV axis using the LabVIEW project and contains all required UDVs for use with the NI 9503.

1. Select File » Create Project» Sample Projects» SoftMotion » Stepper Drive (NI 9503)

to access the sample project provided for the NI 9503

2. Select Position Profile as the Project Type in the Create Project window and click

Finish.

3. Right-click the RT CompactRIO Target item in the Project Explorer window and select

Properties from the shortcut menu to open the real-time target properties dialog box.

4. On the General page, enter the IP address you configured in Step 4: Connect the System to

AC Power.

5. Click OK.

6. Right-click the target and select Connect from the shortcut menu. The RT target icon in the

Project Explorer window changes to indicate a front panel connection with the RT target.

SoftMotion UDV Axes and Configuration Data

This section describes each UDV used in the example and explains how module configuration

data is communicated from the LabVIEW Project to the LabVIEW FPGA Module.

1. Expand the RTCompactRIO Target item in the Project Explorer window.

2. Expand the Chassis item, then expand the User-Defined Variables item to display the

UDVs used in the example. Figure 5 shows the UDVs displayed in Project Manager.

8|ni.com |NI 9503 C Series Stepper Drive Modules and SoftMotion Module

Figure 5. 9503 Stepper Drive (Getting Started) User-Defined Variables

The following table briefly describes each UDV used in the project. Refer to Adding

User-Defined Variables for Use With a UDV Axis in the SoftMotion Module Help for more

information about each UDV.

SoftMotion Engine to FPGA Communication

Each User-Defined Variable communicates information between the SoftMotion Engine and the

LabVIEW FPGA Module. These UDVs are used directly with the Drive Interface FPGA VIs in

specific loops on the block diagram. Complete the following steps to open the FPGA VI and

display the block diagram.

1. Expand the FPGA Target item in the LabVIEW Project Explorer window.

2. Double-click the Stepper Drive (Getting Started) - FPGA.vi item to open the VI.

3. Select Window»Show Block Diagram to open the FPGA VI block diagram.

The following table briefly describes each FPGA VI loop used in the project.

Table 1. Stepper Drive (Getting Started) UDV Descriptions

UDV Name Description

Axis 1.Control Register Contains information used to control the state and operating

mode of the device.

Axis 1.Mailbox

(FPGA to Host)

Contains information used to provide configuration and other

data from FPGA to the SoftMotion Engine.

Axis 1.Mailbox

(Host to FPGA)

Contains information used to provide configuration and other

data from the SoftMotion Engine to FPGA.

Axis 1.Position Setpoint Specifies the position setpoint.

Axis 1.Status Register Contains information used to report status and operation mode

information from the device to the system.

Axis 1.Steps Generated Returns the current step count of the stepper generator taking

into account the direction. This value is based on actual steps

generated, not feedback position, and may not exactly match the

feedback position.

NI 9503 C Series Stepper Drive Modules and SoftMotion Module |© National Instruments |9

Table 2. Stepper Drive (Getting Started) Loop Descriptions

Table 3.

FPGA Loop Name Description

Fault Monitoring Loop The Fault Monitoring loop sends fault information, including

user-defined faults, to the NI SoftMotion engine and sends the

state machine implemented in the Control Status Loop into a

fault state.

Control Status Loop The Control Status Loop interprets the Control Register UDV

and recognizes state changes, executes the appropriate action on

a state change, and generates the Status Register UDV that

returns information to the SoftMotion Engine.

Reset Monitoring Loop The Reset Monitoring Loop latches the reset variable so that it

only changes on a rising edge of the Scan Clock. This allows

proper operation of the SoftMotion Motor Control VIs with a

reset input.

Mailbox Loop The Mailbox Loop transfers axis configuration and other data

between the SoftMotion Engine and the LabVIEW FPGA

Module. The transferred data is written to FPGA memory and

accessed using the Read Motion Memory and Write Motion

Memory Drive Interface VIs. This loop is required to be

implemented as-is for proper operation

Synchronization Loop The Synchronization Loop synchronizes the FPGA clock

(slave) to the RT clock (master) to correct for drift and jitter.

This is the preferred synchronization method to use with the

NI SoftMotion Module. The Synchronization Loop is required

to be implemented as-is for proper operation.

Position Loop and

Current Loop

The Position Loop receives position setpoints from the

SoftMotion trajectory generator and uses the Spline

Interpolation VI to generate intermediate setpoints, resulting in

smoother motion. It converts the position setpoints to an

electrical angle, which is used to generate phase A and phase B

current setpoints. The Position Loop sends current setpoints to

the Current Loop

PWM Loop The PWM Loop takes the A+, A-, B+ and B- duty cycles and

converts them into digital signals that control H-bridges on the

drive. The PWM Loop also triggers the Current Loop to run at

the midpoint of the high phase of the PWM duty cycle.

10 |ni.com |NI 9503 C Series Stepper Drive Modules and SoftMotion Module

Compile and Run the Example

Complete the following steps to compile and run the example.

1. Right-click the axis in the Project Explorer window and select Properties from the shortcut

menu to open the Axis Configuration dialog box. The Axis Configuration dialog box

includes configuration options for stepper drive command signals, feedback devices,

motion and digital I/O, trajectory, and axis setup.

Figure 6 shows the parts of the Axis Configuration dialog box for NI 9503 UDV axes.

Refer to the NI SoftMotion Module section of the LabVIEW Help for detailed information

about each configuration option.

Figure 6. Axis Configuration Dialog Box for NI 9503 UDV Axes

Note The Axis Configuration dialog box user interface may not match this image

exactly depending on which version of the LabVIEW SoftMotion Module you are

using.

2. For NI steppper motors, select the motor name from the drop down list. The motor

parameters are included with SoftMotion and do not require customization. For third party

stepper motors, set the Rated Phase Current and other motor parameters accordingly.

3. Click OK to close the Axis Configuration dialog box.

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