National Instruments 9505E Manual de usuario

OPERATING INSTRUCTIONS AND SPECIFICATIONS

NI 9505E

DC Brushed Servo Drive

NI 9505E Operating Instructions and Specifications 2ni.com

This document describes how to use the National

Instruments 9505E module and includes dimensions, pin

assignments, and specifications for the NI 9505E DC brushed

servo drive. 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.

Caution National Instruments makes no electromagnetic

compatibility (EMC) or CE marking compliance claims

for the NI 9505E. The end-product supplier is responsible

for conformity to any and all compliance requirements.

Caution The NI 9505E must be installed inside a suitable

enclosure prior to use. Hazardous voltages may be

present.

NI 9505E Dimensions

The following figure shows the dimensions of the NI 9505E.

Figure 1. NI 9505E Dimensions in Millimeters (Inches)

73.4 (2.89)

0.0 (0.00)

26.7 (1.05)

58.4 (2.30)

66.0 (2.60)

NI 9505E Operating Instructions and Specifications 4ni.com

NI 9505E Hardware Overview

The NI 9505E provides unique flexibility and customization. The

NI 9505E works together with the LabVIEW FPGA Module to

create a highly customizable motor drive or actuator amplifier.

Figure 2 illustrates the functionality of the NI 9505E working in

conjunction with the LabVIEW FPGA Module in a typical motion

control application. Figures 3 and 4 show more detailed versions

of the position, velocity, and current loops implemented in the

LabVIEW FPGA Module. A typical application contains a

position loop, velocity loop, and current loop, implemented in

the LabVIEW FPGA Module block diagram. Depending on the

application, you may not need to use all three loops. The examples

installed in the labview\examples\CompactRIO\

Module Specific\NI 9505 directory illustrate methods for

implementing each of these loops.

The NI 9505E returns the motor or actuator current data to the

LabVIEW FPGA Module for use in a current loop or for

monitoring. The NI 9505E also returns status information such as

drive fault status, VSUP presence, and emergency stop status to the

LabVIEW FPGA Module for use in system monitoring. Refer

to the NI 9505 Reference Help book in the LabVIEW Help,

available by selecting Help»Search the LabVIEW Help, for

more information about the available status information.

The LabVIEW FPGA Module generates a PWM signal and sends

the signal to the NI 9505E. The PWM signal is proportional to the

desired current or torque you want to provide to the motor or

actuator. Increasing the PWM duty cycle results in increased

current and thus increased torque.

Quadrature encoder signals pass through the NI 9505E and are

processed in the LabVIEW FPGA Module for use in the position

and velocity loops. Refer to Figure 5 for a typical NI 9505E

connection example, including encoder and E-Stop inputs.

For more advanced motion control applications, NI SoftMotion

provides functions for trajectory generation, spline interpolation,

position and velocity PID control, and encoder implementation

using both the LabVIEW Real-Time Module and the LabVIEW

FPGA Module. With NI SoftMotion you can create a custom

motion controller without the need to develop the trajectory

generator or spline engine yourself. Refer to the labview\

examples\CompactRIO\Module Specific\NI 9505 directory

for example VIs using the NI 9505E and NI SoftMotion.

NI 9505E Operating Instructions and Specifications 6ni.com

Figure 2. NI 9505E Block Diagram

Position

Loop

Velocity

Loop

Current

Loop

Fault

Monitor

Bridge

Controller

Fault

Detection

H-Bridge

Current

Sense

Encoder

Feedback

Servo

Motor

Velocity

Command

Current

Command*

Position

Setpoint

LabVIEW FPGA Module NI 9505E

Motor

(PWM)

Encoder

Feedback

Position

Decoder

Current

Feedback

Velocity

Feedback

Position

Feedback

Velocity

Estimator

* Proportional to Torque

Figure 3. LabVIEW FPGA Module NI 9505E PID Loop

Position

Setpoint

Position Error

Velocity

Acceleration

Vff

Current Command

(Proportional to Torque)

Position

Decoder

LabVIEW FPGA Module

Encoder

Feedback

Aff

Position

Feedback

NI 9505E Operating Instructions and Specifications 8ni.com

Figure 4. LabVIEW FPGA Module NI 9505E Current Loop

Hot-Swap Behavior

The NI 9505E is always disabled when it is inserted in the chassis,

regardless of whether VSUP is present or not. You can enable the

drive using the Enable Drive method in software. Refer to the

NI 9505 Reference Help book in the LabVIEW Help, available

by selecting Help»Search the LabVIEW Help,for more

information about enabling the drive.

When the NI 9505E is removed from the chassis while it is

enabled, the power to the motor is removed and the motor

decelerates to a stop based on its own friction.

Current Error

Motor

(PWM)

Current

Limiter

Current

Command

(Proportional

to Torque)

Current Feedback

(from NI 9505E)

Current Limit

LabVIEW FPGA Module

LED Indicators

The NI 9505E has four LEDs to display status information.

Power

The Power LED (green) illuminates when the NI 9505E is properly

inserted into a powered chassis.

Note The Power LED does not illuminate when the

chassis is in sleep mode.

1 Power (green)

SUP (Motor Power) (green)

3Disable (yellow)

4Fault (red)

1 2 3 4

NI 9505E Operating Instructions and Specifications 10 ni.com

VSUP

The VSUP LED (green) illuminates when the motor DC power

supply is properly connected and powering the drive.

Disable

The Disable LED (yellow) illuminates when the drive is disabled.

The drive is disabled by default at power-on. You can enable the

drive using the Enable Drive method in software. Refer to the

NI 9505 Reference Help book in the LabVIEW Help, available

by selecting Help»Search the LabVIEW Help, for more

information about this method.

Fault

Caution If the Fault LED is lit, determine the cause of the

fault and correct it before enabling the drive.

The Fault LED (red) illuminates when a fault occurs. A fault

disables the drive. Causes for fault are the following:

Caution VSUP greater than 40 V will result in damage to

the NI 9505E.

•Overvoltage

• Undervoltage

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