National Instruments NI 9503 Manual de usuario

USER MANUAL AND SPECIFICATIONS

NI 9503

Stepper Drive

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2|ni.com |NI 9503 User Manual and Specifications

This document describes how to use the National Instruments 9503

module and includes specifications and pin assignments for the

NI 9503. Visit ni.com/info and enter rdsoftwareversion to

determine which software you need for the modules you are using.

For information about installing, configuring, and programming the

system, refer to the system documentation. Visit ni.com/info and

enter cseriesdoc for information about C Series documentation.

Note The safety guidelines and specifications in this

document are specific to the NI 9503. The other

components in the system may not meet the same safety

ratings and specifications. Refer to the documentation for

each component in the system to determine the safety

ratings and specifications for the entire system.

Safety Guidelines

Operate the NI 9503 only as described in these operating

instructions.

Hot Surface This icon denotes that the component may

be hot. Touching this component may result in bodily

injury.

NI 9503 User Manual and Specifications |© National Instruments |3

Caution Do not operate the NI 9503 in a manner not

specified in these operating instructions. Product misuse

can result in a hazard. You can compromise the safety

protection built into the product if the product is damaged

in any way. If the product is damaged, return it to

National Instruments for repair.

Safety Guidelines for Hazardous Locations

The NI 9503 is suitable for use in Class I, Division 2, Groups A, B,

C, D, T4 hazardous locations; Class I, Zone 2, AEx nA IIC T4, and

Ex nA IIC T4 hazardous locations; and nonhazardous locations

only. Follow these guidelines if you are installing the NI 9503 in a

potentially explosive environment. Not following these guidelines

may result in serious injury or death.

Caution Do not disconnect I/O-side wires or connectors

unless power has been switched off or the area is known

to be nonhazardous.

Caution Do not remove modules unless power has been

switched off or the area is known to be nonhazardous.

4|ni.com |NI 9503 User Manual and Specifications

Caution Substitution of components may impair

suitability for Class I, Division 2.

Caution For Division 2 and Zone 2 applications, install

the system in an enclosure rated to at least IP 54 as

defined by IEC 60529 and EN 60529.

Caution For Division 2 and Zone 2 applications, install

a protection device between the input signal and the Vsup

pin. The device must prevent the Vsup-to-channel voltage

from exceeding 42 V if there is a transient overvoltage

condition.

Caution For Zone 2 applications, connected signals

must be within the following limit:

Capacitance.......................... 0.2 μF max

Special Conditions for Hazardous Locations Use in

Europe

This equipment has been evaluated as Ex nA IIC T4 Gc equipment

under DEMKO Certificate No. 12 ATEX 1202658X. Each module

is marked II 3G and is suitable for use in Zone 2 hazardous

locations, in ambient temperatures of -40 °C ≤Ta ≤70 °C. If you are

NI 9503 User Manual and Specifications |© National Instruments |5

using the NI 9503 in Gas Group IIC hazardous locations, you

must use the device in an NI chassis that has been evaluated as

Ex nC IIC T4, EEx nC IIC T4, Ex nA IIC T4, or Ex nL IIC T4

equipment.

Caution You must make sure that transient disturbances

do not exceed 140% of the rated voltage.

Caution The system shall be mounted in an ATEX

certified enclosure with a minimum ingress protection

rating of at least IP54 as defined in IEC/EN 60529 and

used in an environment of not more than Pollution

Degree 2.

Caution The enclosure must have a door or cover

accessible only by the use of a tool.

Electromagnetic Compatibility Guidelines

This product was tested and complies with the regulatory

requirements and limits for electromagnetic compatibility (EMC)

as stated in the product specifications. These requirements and

limits are designed to provide reasonable protection against

6|ni.com |NI 9503 User Manual and Specifications

harmful interference when the product is operated in its intended

operational electromagnetic environment.

This product is intended for use in industrial locations. As such,

there is no guarantee that harmful interference will not occur in

a particular installation, when the product is connected to a test

object, or if the product is used in residential areas. To minimize

the potential for the product to cause interference to radio and

television reception or to experience unacceptable performance

degradation, install and use this product in strict accordance with

the instructions in the product documentation.

Furthermore, any changes or modifications to the product not

expressly approved by National Instruments could void your

authority to operate it under your local regulatory rules.

Caution To ensure compliance with the applicable

regulatory requirements, product installation requires

either special considerations or user-installed, add-on

devices. See the product installation instructions for

further information.

NI 9503 User Manual and Specifications |© National Instruments |7

Caution The inputs/outputs of this product can be

damaged if subjected to Electrostatic Discharge (ESD).

To prevent damage, industry-standard ESD prevention

measures must be employed during installation,

maintenance, and operation.

Special Guidelines for Marine Applications

Some products are Lloyd’s Register (LR) Type Approved for

marine (shipboard) applications. To verify Lloyd’s Register

certification for a product, visit ni.com/certification and

search for the LR certificate, or look for the Lloyd’s Register mark

on the product label.

Caution In order to meet the EMC requirements for

marine applications, install the product in a shielded

enclosure with shielded and/or filtered power and

input/output ports. In addition, take precautions when

designing, selecting, and installing measurement probes

and cables to ensure that the desired EMC performance is

attained.

8|ni.com |NI 9503 User Manual and Specifications

NI 9503 Hardware Overview

The NI 9503 is a stepper motor drive for use with 2-phase hybrid

stepper motors in either bipolar or unipolar winding configuration.

It uses software-programmable control algorithms that reduce

torque ripple, dampen high-speed resonance, and implements

smoother motion during microstepping.

The NI 9503 returns the motor current and bus voltage to the

LabVIEW FPGA module for use in a current PI loop and

antiresonance algorithms. NI 9503 status information such as drive

status and drive faults are also returned to the LabVIEW FPGA

module. Refer to the NI 9503 topic in the LabVIEW Help, available

by selecting Help»LabVIEW Help, for information about the

available status information.

Note National Instruments offers NEMA 8, NEMA 11,

NEMA 14, NEMA 17 and NEMA 23 stepper motors

compatible with the NI 9503. Go to ni.com/motion/

stepper for more information about NI stepper motors.

The NI 9503 reduces torque ripple at speeds near 1 RPS that are

caused by fourth harmonic disturbances. The torque ripple

smoothing algorithm is software programmable and can be tuned

NI 9503 User Manual and Specifications |© National Instruments |9

for any motor. Motors supported by National Instruments have

already been tuned for optimal torque smoothing.

The NI 9503 uses a software-programmable antiresonance

algorithm to reduce stepper motor resonance above 2 RPS. The

antiresonance algorithm allows a stepper motor to use more

available torque and run at higher speeds without stalling.

The NI 9503 supports software-programmable microstepping.

Microstepping divides full steps into smaller steps to create

smoother motion. The NI 9503 supports microstepping rates up to

256. When full-stepping, a resonance can occur, causing vibration

and reducing the motor torque. The NI 9503 offers the best

performance when combining microstepping with the torque

smoothing and antiresonance properties. Refer to the Step Resolver

topic in the LabVIEW Help, available by selecting Help»

LabVIEW Help, for information about microstepping options.

The NI 9503 allows for phase current reduction after the motor

stops moving. Unlike servo motors, stepper motor coils remain

fully energized when the motor is not moving. This allows for

strong holding torque, but generates substantial heat in the motor.

Many applications do not require maximum holding torque when

the motor is at rest, which means that the motor is wasting power.

The amount of current reduction and delay before current

10 |ni.com |NI 9503 User Manual and Specifications

reduction becomes active is software-programmable. Refer to the

Current Scheduler topic in the LabVIEW Help, available by

selecting Help»LabVIEW Help, for information about current

reduction.

Figure 1. NI 9503 Block Diagram

Current

Scheduler

Step

Resolver

Current

Loop

Fault

Monitor

Bridge

Controller

Fault

Detection

Current

Sense

Motor

Position

Setpoint

LabVIEW FPGA Module with SoftMotion

NI 9503

Phase A & B

Current

PWM

Generator

Anti-

resonance

Bus

voltage

Power

Stage

Vsup

COM

–

Correction

Angle

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