GETTING STARTED NI 9512 C Series Modules and AKD Servo Drives 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 install and configure the AKD servo drives for use with the NI 9512 C Series drive interface module. If you encounter any problems during setup, refer to the Tips and Troubleshooting section for assistance. Tip Contents What You Need to Get Started ................................................................................................. 2 Hardware .......................................................................................................................... 2 Software............................................................................................................................ 3 Related Documentation .................................................................................................... 4 Hardware Installation and Configuration ................................................................................. 5 Step 1: Set Up the CompactRIO System .......................................................................... 6 Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module .......................... 7 Step 3: Mount the Drive and Connect the Protective Earth ............................................. 9 Step 4: Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable .............. 9 Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive .................. 10 Step 6: Connect the Motor and Encoder to the Drive....................................................... 12 Step 7: Connect the AC Input Power................................................................................ 13 Step 8: Connect the Drive Communication...................................................................... 14 Step 9: Confirm Drive Connections ................................................................................. 15 Software Installation and Configuration................................................................................... 15 Step 1: Install Software on and Configure the NI RT Controller ..................................... 15 Step 2: Create a Project in Scan Interface Mode .............................................................. 17 Step 3: Add Resources to the Project ............................................................................... 18 Step 4: Configure the NI 9512 Axis ................................................................................. 20 Step 5: Install AKD WorkBench and Configure the Drive .............................................. 24 Step 6: Tune the Motor Using the WorkBench Performance Servo Tuner...................... 30 Step 7: Enable and Test the Drive Using LabVIEW ........................................................ 31 Setting Up a Distributed System............................................................................................... 31 Setting Up a System with an NI 9144 Chassis ................................................................. 31 Software Installation and Configuration with the NI 9144............................................... 32 Adding the EtherCAT Master Device to the LabVIEW Project ...................................... 34 Tips and Troubleshooting ......................................................................................................... 35 The Drive Does Not Enable.............................................................................................. 35 Cannot Communicate with the Drive Using Ethernet ...................................................... 35 Increasing the Maximum Velocity and Acceleration ....................................................... 36 Connecting to the PC Using a Static IP ............................................................................ 36 The Motor Responds Poorly ............................................................................................. 37 Cannot See the AKD Servo Drive in the AKD WorkBench Software............................. 37 Wiring Diagram ........................................................................................................................ 38 Worldwide Support and Services ............................................................................................. 39 What You Need to Get Started Before installing the drive, review Chapter 2, Safety, in the AKD Installation Manual that came with your hardware or available from ni.com/ manuals. Failure to follow safety instructions may result in injury or damage to equipment. Caution You need the following items to get started. Hardware NI 9512 C Series stepper drive interface module NI real-time controller – CompactRIO controller and chassis that support the RIO Scan Interface Tip To determine if your controller and chassis support the RIO Scan Interface go to ni.com/info and enter the Info Code rdsoftwareversion. or – NI 9144 distributed chassis and compatible RT controller Power supply for the CompactRIO controller +24 VDC power supply for the drive interface module and AKD servo drive Ethernet connection and cable for the CompactRIO controller Ethernet connection and cable for the AKD servo drive NI 9512 to AKD Drive Cable 2 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives AKD servo drive NI or third-party servo motor and encoder Note AKM series servo motors available from NI contain built-in encoders and come pre-wired for use with the AKD servo drive. National Instruments recommends using one of these motors for the best user experience and system performance. Software LabVIEW 2009 SP1 or later LabVIEW 2009 SP1 Real-Time Module or later LabVIEW 2009 SP1 NI SoftMotion Module or later NI-RIO 3.4.0 or later NI-Industrial Communications for EtherCAT® 1.2 or later, if you are using the NI 9144 distributed chassis AKD WorkBench software. Refer to Step 1: Install Software on and Configure the NI RT Controller in the Software Installation and Configuration section of this document for installation information. Figure 1 shows the required hardware and software. Figure 1. Required Hardware and Software Ethernet Cable (Initial Configuration Only) NI RT Controller (NI cRIO-9014 shown) and NI 9512 Module AKD Analog Servo Drive NI 9512 to AKD Drive Cable Ethernet Cable +24 V Power Supply (NI PS-15 Shown) Screw Terminal Connector for Power Supply & Additional I/O (Limits, Position Compare, etc.) Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 3 Related Documentation The following documents contain additional information that you may find helpful. All referenced documents ship with the product and are available at ni.com/manuals. • Operating instructions for the controller and C Series module. • AKD Installation Manual—Use this document to learn additional information about the electrical and mechanical aspects of the AKD servo drive, including important safety information. • Getting Started with NI 951x C Series Modules and LabVIEW—Use this document to learn about using the NI 951x modules with LabVIEW, including information about the LabVIEW NI SoftMotion Module. To access this document, select Start»All Programs» National Instruments»LabVIEW»LabVIEW Manuals» Getting_Started_NI_951x_Modules_LabVIEW.pdf. • LabVIEW NI SoftMotion Module Help—Use this help file to learn about using the NI SoftMotion Module in LabVIEW including information about function blocks and using the NI SoftMotion Module with the LabVIEW Project. To access this help file from LabVIEW, select Help»LabVIEW Help, then expand the LabVIEW NI SoftMotion Module book on the Contents tab. • NI 9144 User Guide and Specifications—Use this document to learn additional information about how to connect the NI 9144 chassis to a network, how to use the NI 9144 chassis features, and contains the NI 9144 chassis specifications. • NI Industrial Communications for EtherCAT software documentation • LabVIEW Help—Use the LabVIEW Help to access information about LabVIEW programming concepts, step-by-step instructions for using LabVIEW, and reference information about LabVIEW VIs, functions, palettes, menus, tools, properties, methods, events, dialog boxes, and so on. The LabVIEW Help also lists the LabVIEW documentation resources available from National Instruments. Access the LabVIEW Help by selecting Help»LabVIEW Help. • Getting Started with LabVIEW—Use this document as a tutorial to familiarize yourself with the LabVIEW graphical programming environment and the basic LabVIEW features you use to build data acquisition and instrument control applications. Access the Getting Started with LabVIEW PDF by selecting Start»All Programs»National Instruments» LabVIEW»LabVIEW Manuals»LV_Getting_Started.pdf. 4 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Hardware Installation and Configuration This section covers the hardware setup for the CompactRIO system, NI 9512 C Series module, and AKD servo drive. Figure 2 shows an overview of the connectors on the AKD servo drive. Figure 2. AKD Servo Drive Connectors 11 12 1 10 9 8 2 7 3 6 4 1 2 3 4 24 V Supply, STO (X1) Motor, Brake (X2) AC Input Power (X3) Encoder Emulation (X9) 5 6 7 8 5 Drive Grounding Lug Feedback (X10) I/O Connector (X8) I/O Connector (X7) 9 10 11 12 Static IP Addressing Switch (S2) Static IP Addressing Switch (S1) Drive Communication (X11) LED Indicators Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 5 Step 1: Set Up the CompactRIO System Complete the following steps to set up the CompactRIO hardware. Note If you are using an NI 9144 chassis, refer to Setting Up a System with an NI 9144 Chassis in the Setting Up a Distributed System section for alternate configuration instructions, then continue with Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module. 1. Install the real-time CompactRIO controller on the chassis if you are not using an integrated controller and chassis. Write down the controller serial number before installing the controller onto the chassis. You will be unable to read the serial number after you install the controller. Note a. Make sure that no power is connected to the controller or the chassis. b. Align the controller with the chassis as shown in Figure 3. Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown) 5 1 4 3 2 1 2 3 Controller Captive Screws Controller Slot 4 5 Reconfigurable Embedded Chassis Grounding Screw 6 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 2. c. Slide the controller onto the controller slot on the chassis. Press firmly to ensure the chassis connector and the controller connector are mated. d. Using a number 2 Phillips screwdriver, tighten the two captive screws on the front of the controller. Connect the controller to a power supply and an 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 Do not plug in or turn on any power to the system until after you complete Step 8: Connect the Drive Communication. 3. Install the NI 9512 module in slot 1, 2, 3, or 4 of the chassis. Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module Connect the MDR and DSUB connectors on the NI 9512 to AKD Drive Cable to the MDR and DSUB connectors on the C Series module. Figure 4 shows the NI 9512 to AKD Drive Cable connectors. Figure 4. NI 9512 to AKD Drive Cable Connectors X1 3-Pin Connector X7 10-Pin Connector DSUB Connector X8 10-Pin Connector MDR Connector X9 X9 DSUB Connector Screw Terminal Connector Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 7 The NI 9512 to AKD Drive Cable contains the following connections: • DSUB Connector—15-pin DSUB connector containing drive command and drive enable signals. • MDR Connector—20-pin MDR connector containing encoder, limit, home sensor, position compare, and position capture signals. • X1 3-pin Connector—+24 V power supply connection for the AKD servo drive provided through the 20-pin screw terminal connector. • X7 10-Pin Connector—10-pin connector containing the step/direction signals and AKD digital outputs. • X8 10-Pin Connector—10-pin connector containing the enable and fault signals. • X9 DSUB Connector—9-pin DSUB connector containing emulated encoder output signals from the AKD servo drive. • Screw Terminal Connector—20-pin screw terminal connector for external I/O connections. Table 1 shows the screw terminal connector pinout. Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout Pin Signal Name 1 Forward Limit 2 Home 3 Reverse Limit 4 NI 9512 Digital Input 0 5 Vsup 6 Vsup Return 7 NI 9512 Digital Output 0 8 NI 9512 Digital Output 1 9 NC† 10 NC† 11 NI 9512 +5V OUT 12 Position Compare 13 Position Capture 14 COM 15 Reserved 16 Reserved 8 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout (Continued) † Pin Signal Name 17 Reserved 18 Reserved 19 Reserved 20 Reserved NC = Not Connected Step 3: Mount the Drive and Connect the Protective Earth 1. Mount the drive to a conductive metal plate. Refer to the AKD Installation Manual for dimensions and additional information specific to the drive model. 2. Connect the protective earth (PE) to either ground screw on the drive grounding lug. Figure 2 shows the location of the grounding lug on the drive. Step 4: Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable The NI 9512 to AKD Drive Cable requires connection to an external +24 V power supply. The +24 V power supply provides both the logic power to the AKD servo drive and powers the NI 9512 module. Note Do not plug in or turn on the +24 V power supply until after you complete Step 8: Connect the Drive Communication. Complete the following steps to connect the +24 V power supply to the cable. 1. Connect the +24 V power supply (+) terminal to the Vsup terminal on the NI 9512 to AKD Drive Cable screw terminal connector. Refer to Table 1 for the screw terminal connector pinout. 2. Connect the +24 V power supply return (–) terminal to the Vsup Return terminal on the NI 9512 to AKD Drive Cable screw terminal connector. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 9 Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive Connect the NI 9512 to AKD Drive Cable to the AKD servo drive. Refer to Figure 6 for the location of the connectors. 1. Connect the cable X1 3-pin connector to the AKD servo drive X1 3-pin connector. This connector provides +24 V power to both the drive logic and to the safe torque out (STO) input. The STO input must be powered by +24V for proper drive operation. If you need to use the STO functionality complete the following additional steps: a. Disconnect the STO wire from the NI 9512 to AKD cable X1 connector and insulate it. Note The STO and +24V wires are internally connected in the NI 9512 to AKD cable. You must insulate the STO wire if you disconnect it from the X1 connector. b. Connect the STO terminal and GND terminal to the output of a safety relay or security control. The safety relay must comply with the requirements of the SIL 2 according to IEC 61800-5-2, PL d according to ISO 13849-1, or Category 3 according to EN-954. Refer to the AKD Installation Manual for more information. Figure 5 shows the X1 connector pin assignment and wire colors. Figure 5. AKD X1 Connector +24 V (Red) GND (Black) STO (Brown) X1 3-Pin Connector 10 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 2. Connect the cable X9 DSUB connector to the AKD servo drive X9 DSUB connector. 3. Connect the cable X7 10-pin connector to the AKD servo drive X7 10-pin connector. 4. Connect the cable X8 10-pin connector to the AKD servo drive X8 10-pin connector. Figure 6. NI 9512 to AKD Drive Cable Connections 1 4 3 2 1 2 +24 V Supply, STO (X1) Encoder Emulation (X9) 3 4 I/O (X8) I/O (X7) Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 11 Step 6: Connect the Motor and Encoder to the Drive All servo motors available from NI come pre-wired for direct connection to the AKD servo drive X2 motor connector and X10 feedback connector. Refer to Figure 7 for the location of the connectors. 1. Connect the motor 6-pin connector to the AKD servo drive X2 motor connector. The X2 connector also provides connection for the drive to control the +24 V holding brake for motors that have a brake. Refer to the AKD Installation Manual for information about using the holding brake. Note 2. Connect the motor DSUB feedback connector to the AKD servo drive X10 feedback connector. Figure 7. Motor and Encoder Connections 1 2 1 Motor Connector (X2) 2 Feedback Connector (X10) 12 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Step 7: Connect the AC Input Power Connect the X3 mains supply connector to AC input power. Pins 4 through 7 contain the AC power signals. The X3 connector also provides signals for an external brake (regen) resistor (±RB) and DC bus link (–DC). Refer to the AKD Installation Manual for information about using these terminals. Note Do not turn on the AC power until after you complete Step 8: Connect the Drive Communication. Figure 8 shows the location and pin assignment for the X3 connector. Figure 8. AKD Servo Drive X3 Connector 1 2 3 4 5 6 7 –RB –DC +RB L1 L2 L3 PE AC input power can be connected for either a three-phase or single-phase operation. Note External filtering and fusing are optionally provided by the user. Refer to the AKD Installation Manual for information about filter and fuse requirements. Figure 9 shows three-phase connection. Figure 9. AC Input Power Three-Phase Connection AKD Servo Drive Protective Earth Protective Earth L1 DC Out L2 L3 User-Provided Filter (Optional) L1 L2 L3 Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 13 Figure 10 shows single-phase connection. Figure 10. AC Input Power Single-Phase Connection AKD Servo Drive Protective Earth L1 DC Out L2 L3 Protective Earth User-Provided Filter (Optional) L1 Neutral (L2) Step 8: Connect the Drive Communication Complete the following steps to set up the drive for software configuration using Ethernet. These steps assume you are connecting the AKD servo drive using a hub, switch, or router using DHCP. If you cannot use DHCP, refer to Connecting to the PC Using a Static IP in the Tips and Troubleshooting section for instructions about direct connection using a static IP address. 1. Set S1 and S2 on the drive to 0 to configure the drive for DHCP mode. The drive obtains an IP address from an external DHCP server if one exists on the network. If no DHCP server is present, the drive assumes an automatic private IP address in the form of 169.254.x.x. This process may take up to a minute to complete. Figure 2 shows the locations of S1 and S2. 2. Connect the AKD servo drive X11 service port to a hub, switch, or router using an Ethernet cable. Figure 11 shows the location of the X11 service port on the drive. Figure 11. AKD Servo Drive X11 Connector LED 14 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Step 9: Confirm Drive Connections After all hardware connections have been made complete the following steps to confirm the AKD hardware setup. 1. Apply AC power. 2. Turn on the +24 V power supply. After logic power is supplied to the drive, the drive displays the following sequence of flashes in the LED indicators. Figure 2 shows the location of the LED indicators on the AKD servo drive. a. –– b. [] c. Drive IP address, flashed sequentially d. Drive status, either current operation mode or the fault code if there is a fault condition. The operation modes are as follows: • o0—torque mode (current mode) • o1—velocity mode • o2—position mode Note If the drive shows a fault code, click the Clear Faults button on the AKD WorkBench software toolbar after you install the AKD WorkBench software in Step 5: Install AKD WorkBench and Configure the Drive of the Software Installation and Configuration section and connect to the drive to clear the fault state. If the fault reappears, refer to the AKD Fault and Warning Messages Card that came with the drive for more information about the fault, including possible solutions. After resolving the cause of the fault, click the Clear Faults button on the toolbar again. Figure 17 shows the location of the Clear Faults toolbar button in the AKD WorkBench software. Software Installation and Configuration This section covers installing and configuring the software for the AKD servo drive and NI 9512 C Series module. Note If you are using an NI 9144 chassis, refer to Software Installation and Configuration with the NI 9144 in the Setting Up a Distributed System section for alternate configuration instructions, then continue with Step 2: Create a Project in Scan Interface Mode. Step 1: Install Software on and Configure the NI RT Controller Complete the following steps to configure the controller and install software on it. Note The Measurement & Automation Explorer (MAX) user interface may not match these steps exactly depending on which version of MAX you are using. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 15 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»Measurement & Automation. 2. Expand the Remote Systems tree. 3. Highlight the system. 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. 4. Verify that the Serial Number in the General Settings section matches the serial number on the device. 5. If you do not want to format the disk on the controller, eliminating all installed software and files, skip to step 15. 6. Set the Safe Mode switch on the controller to the On position. 7. Power on the controller. If it is already powered on, press the Reset button on the controller to reboot it. 8. Right-click the controller under Remote Systems in the Configuration pane in MAX and select Format Disk. 9. (Optional) Enable the Keep Network Settings checkbox if you want to retain the same target name and IP address. 10. Click Format to start formatting the disk. 11. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position and click OK. 12. Select the System Settings tab on the bottom and type a descriptive name for the system in the Hostname field. 13. (Optional) Complete this step only if the target has an empty IP address (0.0.0.0). Select the Network Settings tab and select DHCP or Link Local from the Configure IPv4 Address list to assign an IP address or select the Static to specify a static IP address in the IPv4 Address section. 14. Click Save on the toolbar and let MAX reboot the system. You may not need to complete this step if you did not change the IP address or name. 15. When the new system name appears under Remote Systems, expand the controller item in the tree, right-click Software, and select Add/Remove Software. 16. Select a recommended software set that includes NI-RIO 3.4.0 or later. 17. Click Next. 18. Select LabVIEW NI SoftMotion Module from the add-ons list. If you are using the NI SoftMotion Module 2010 SP1 or earlier, also select LabVIEW NI SoftMotion Module Scan Engine Support from the list. Note 16 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 19. Click Next to install the selected software on the controller. Click Help if you need information about installing recommended software sets. 20. When the software installation completes, click Finish to reboot the controller. 21. Close MAX. Step 2: Create a Project in Scan Interface Mode Scan Interface mode enables you to use C Series modules directly from LabVIEW Real-Time. Modules that you use in Scan Interface mode appear directly under the chassis item in the Project Explorer window. Unlike most C Series modules, NI 951x modules are not directly configurable from the Project Explorer window and no I/O variables are directly available under the module. Refer to the Select Programming Mode Dialog Box topic of the CompactRIO Reference and Procedures (Scan Interface) help file for more information about Scan Interface mode. Tip Use a LabVIEW project to manage VIs, targets, and I/O modules on the development computer. Complete the following steps to create a LabVIEW project. Depending on which version of LabVIEW you are using the steps are slightly different. Creating a Project in LabVIEW 2012 1. Launch LabVIEW. 2. Select File»Create Project or Project»Create Project to display the Create Project dialog box. You can also click the Create Project button on the Getting Started window. The Create Project dialog box includes a list of templates and sample projects you can use to ensure that the project you create uses reliable designs and programming practices. 3. Select Blank Project from the list of templates. 4. Click Finish. 5. Select Help and make sure that Show Context Help is checked. You can refer to the context help throughout the tutorial for information about items on the block diagram. Creating a Project in LabVIEW 2011 SP1 or Earlier 1. Launch LabVIEW. 2. Select File»New Project or Project»New Project to display the Create Project dialog box. You can also click the Empty Project link on the Getting Started window. 3. Select Help and make sure that Show Context Help is checked. You can refer to the context help throughout the tutorial for information about items on the block diagram. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 17 Step 3: Add Resources to the Project 1. Right-click the top-level project item in the Project Explorer window and select New» Targets and Devices from the shortcut menu to display the Add Targets and Devices dialog box. 2. Make sure that the Existing target or device radio button is selected. 3. Expand Real-Time CompactRIO. 4. Select the CompactRIO controller to add to the project and click OK. 5. If you have LabVIEW FPGA installed, the Select Programming Mode dialog box appears. Select Scan Interface to put the system into Scan Interface mode. Use the CompactRIO Chassis Properties dialog box to change the programming mode in an existing project. Right-click the CompactRIO chassis in the Project Explorer window and select Properties from the shortcut menu to display this dialog box. Tip 6. Click Discover in the Discover C Series Modules? dialog box if it appears. 7. Click Continue. If you are using the NI 9144 chassis refer to Adding the EtherCAT Master Device to the LabVIEW Project in the Setting Up a Distributed System section for information about adding the EtherCAT master device before continuing. Note 8. Right-click the controller item in the Project Explorer window and select Properties from the shortcut menu to display the RT Target Properties dialog box. Select Scan Engine from the Category list to display the Scan Engine page. 9. Set the Scan Period to 5 ms or lower, then click OK to close the RT Target Properties dialog box. 10. Right-click the controller item in the Project Explorer window and select New» NI SoftMotion Axis from the shortcut menu to open the Axis Manager dialog box, shown in Figure 12. 11. Click Add New Axis to create an NI SoftMotion axis associated with the NI 9512 module. Axes are automatically bound to an available module. You can double-click the axis name to rename the axis and give it a descriptive name. 18 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Figure 12. Axis Manager Dialog Box 12. Click OK to close the Axis Manager dialog box. The new axis is added to the Project Explorer window. Note You cannot associate more than one axis with the same C Series module. When you have finished these steps your LabVIEW project should look similar to the image in Figure 13. Figure 13. Project Explorer Window with Modules in Scan Interface Mode Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 19 Step 4: Configure the NI 9512 Axis 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 14 shows the parts of the Axis Configuration dialog box for NI 9512 C Series module. Refer to the NI SoftMotion Module book of the LabVIEW Help for detailed information about each configuration option. Figure 14. Axis Configuration Dialog Box Note The Axis Configuration dialog box user interface may not match this image exactly depending on which version of the LabVIEW NI SoftMotion Module you are using. Complete the following steps to configure the axis I/O settings for use with the AKD servo drive. 1. Right-click the axis in the Project Explorer window and select Properties from the shortcut menu to open the Axis Configuration dialog box. 2. Configure the following settings on the General Settings page ( ). a. Confirm that Loop Mode is set to Open-Loop. Axes configured in open-loop mode produce step outputs but do not require feedback from the motor to verify position. b. Set Feedback Source to Encoder 0. c. Confirm that the Axis Enabled and Enable Drive on Transition to Active Mode checkboxes contain checkmarks. These selections configure the axes to automatically activate when the NI Scan Engine switches to Active mode. Note Disable these options to prevent axes from automatically activating when the NI Scan Engine switches to Active mode. 20 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 3. Click the Encoder button ( ) and configure the Units and Counts Per Unit. a. In the Active State section set the Line State for A, B, and Index to High. b. In the Index Reference Criteria section set the Line State for A and B to Active. c. Select rev from the Units text box, or type revolutions if you prefer. d. Set the Counts per Unit to 8,000. This setting is the encoder resolution in quadrature counts per revolution and must correspond to the AKD WorkBench emulated encoder output Resolution setting in lines per revolution multiplied by four. You may want to choose a different resolution depending on your application needs. A setting of 8,000 assumes an AKD WorkBench Emulated Encoder output Resolution setting of 2,000 lines per revolution. Note You configure the emulated encoder output Resolution setting in Step 5: Install AKD WorkBench and Configure the Drive in the Software Installation and Configuration section. When you are finished the Encoder Settings page will look similar to Figure 15. Figure 15. Axis Configuration Encoder Page 4. Click the Stepper button ( a. b. ) to open the Stepper page. Ensure that the Stepper Output settings match the following: • Output Mode—Step/Direction • Output Type—Single-Ended • Active State—Active Low Configure the Units and Steps Per Unit. • Select rev from the Units text box, or type revolutions if you prefer. • Set Steps Per revolution to 8,000. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 21 The Steps Per revolution setting must match the AKD WorkBench Feedback 2 Resolution parameter specified in Step 5: Install AKD WorkBench and Configure the Drive. Note c. 5. (Optional) Click the Monitor button ( ) and enable the Enforce Position Error Limit checkbox. This causes NI SoftMotion to disable the drive and turn off the Drive Enable signal when the specified position error limit is exceeded. (Optional) Click the Digital I/O button ( following optional status inputs. a. Complete the following steps to map DI 1 (DSUB Pin 8) to Drive Fault/Alarm. When the Drive Fault/Alarm signal is active, the module does not generate command signals. 1) 2) b. c. ) to open the Digital I/O page and map the Double-click the text in the Mapping column and select Drive Fault/Alarm from the dropdown list. Ensure that the DI 1 settings match the following: • Input Type—Sinking • Active State—Off • Digital Filter—50 µs Complete the following steps to map DI 2 (DSUB Pin 4) to Servo/Drive Ready. This signal is active when the drive is enabled. 1) Double-click the text in the Mapping column and select Servo/Drive Ready from the dropdown list. 2) Ensure that the DI 2 settings match the following: • Input Type—Sourcing • Active State—On • Digital Filter—50 µs Complete the following steps to map DI 3 (DSUB Pin 3) to In-Position. The In-Position signal from the AKD servo drive is active when the current position is within a user-specified distance from the target position. This distance is set in Step 5: Install AKD WorkBench and Configure the Drive when the Position Error Monitor output is configured. 1) 2) Double-click the text in the Mapping column and select In-Position from the dropdown list. Ensure that the DI 3 settings match the following: • Input Type—Sourcing • Active State—On • Digital Filter—50 µs 22 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 6. (Optional) Click the Trajectory button ( ) and enable the In-Position to be used as a criteria for move complete. When this signal is included in the move complete criteria, the move is only complete if the In-Position signal is active. 7. Click the Drive Enable button ( following: 8. • Output Type—Sourcing • Active State—On • Safe State—Off ) and ensure that the Drive Enable settings match the Complete the following additional steps if you do not have limits and home connected at this time: a. Click the Limits & Home button ( b. In the Forward Limit and Reverse Limit sections ensure that the settings match the following: ). Note These configuration settings disable limits for initial setup and testing purposes. National Instruments recommends connecting and enabling limits in your final application. c. 9. • Clear the Enable checkbox from both Forward Limit and Reverse Limit. • Set the Active State for both Forward Limit and Reverse Limit to Off. This prevents a limit warning even though limits are turned off. Open the Home section and clear the Enable checkbox. Configure any additional I/O settings according to your system requirements, such as position compare or position capture signals. 10. Click OK to close the Axis Configuration dialog box. 11. Right-click the controller item in the Project Explorer window and select Deploy All to deploy the axis information. 12. Select File»Save Project to save the project. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 23 Step 5: Install AKD WorkBench and Configure the Drive AKD WorkBench is available on the CD that came with the AKD servo drive and is also available from ni.com/updates. Complete the following steps to install AKD WorkBench. 1. Insert the AKD WorkBench CD in the CD-ROM drive. 2. Double-click Full Setup.exe to launch the installer. 3. Follow the onscreen instructions to complete the installation. Complete the following steps to configure the drive settings with AKD WorkBench. 1. Launch the AKD WorkBench software by clicking the AKD WorkBench icon on the desktop ( ), or by selecting Start»All Programs»Kollmorgen»AKD WorkBench. 2. Select the drive to configure from the list and click Connect. If the drive is not in the list, refer to the Tips and Troubleshooting section of this document for possible solutions. Note Figure 16 shows the AKD WorkBench Start page. Figure 16. AKD WorkBench Start Page 2 1 1 Available Drives 2 Specify Address 3 3 24 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Connect to Drive 3. Open the Parameter Load/Save page from the configuration tree and click Factory Defaults to return the drive settings to the factory default values. Any drive settings not updated in this document are assumed to be the default values. 4. (Optional) Change the name of the drive from the default name of no_name on the AKD Overview page to a more descriptive name. Figure 17 shows the AKD Overview page. Figure 17. AKD WorkBench Overview Page 1 2 7 1 2 3 4 5 8 3 9 Software Enable/Disable Command Source Operation Mode Clear Faults Save Configuration Settings to Drive 4 5 6 10 6 7 8 9 10 Software Enable/Disable Drive Active Indicator Software Enable Status Indicator Hardware Enable Status Indicator Fault Indicator Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 25 5. Configure the command source and operation mode. a. Open the Settings page and set the Operation Mode to 2 - Position Mode. b. Set the Command Source to 2 - Electronic Gearing. Note You must set the Operation Mode before setting the Command Source or AKD WorkBench returns an error. When you have updated these settings, the Settings page should look similar to Figure 18. Figure 18. AKD WorkBench Settings Page 26 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 6. If you mapped any digital input in Step 4: Configure the NI 9512 Axis, configure the AKD servo drive digital outputs for the same signals: a. Open the Digital I/O page under the Settings tree item. b. If you mapped the NI 9512 DI 2 signal to Servo/Drive Ready, select 8 - Enable from the DOUT 1 Mode list. c. If you mapped the NI 9512 DI 3 signal to In-Position, select 4 - Position Error Monitor from the DOUT 2 Mode list. d. Set Param for the Position Error Monitor output to a reasonable tolerance for the system resolution. This setting will depend on the specified encoder counts and steps per revolution setting. When you are finished configuring the digital outputs, the Digital Inputs and Outputs page will look similar to Figure 19. Figure 19. AKD WorkBench Digital Inputs and Outputs Page 1 1 DOUT 2 Configuration 2 3 2 DOUT 1 Configuration 3 DOUT 2 Param Setting Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 27 7. Configure the emulated encoder output. a. Expand the Settings tree item and open the Encoder Emulation page. b. Select 1 - Output - With once per rev index pulse from the Function dropdown list. c. Set the Resolution to 2,000 lines/rev. The encoder resolution output value determines the equivalent resolution of an incremental encoder in pulses per revolution (PPR). NI SoftMotion returns encoder positions in encoder counts per revolution. A resolution of 2,000 lines/rev is the same as 8,000 quadrature counts per revolution. You may want to choose a different value depending on your application needs. In general, higher resolution values result in more difficult servo loop tuning; lower resolution values provide less accuracy. Note Figure 20 shows the AKD WorkBench Encoder Emulation page. Figure 20. AKD WorkBench Encoder Emulation Page 28 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 8. Configure the secondary feedback resolution. This is the NI 9512 steps per revolution, and must match the Steps Per revolution setting specified in Step 4: Configure the NI 9512 Axis. a. Open the Feedback 2 page under the Settings tree item. b. Set the Feedback Source to 2 - Feedback Source X7. c. Confirm that the Feedback Mode is 1 - Input - Step and direction signals. d. Set the Resolution to 8,000. A setting of 8,000 counts/rev corresponds to 1 step per count, when the AKD emulated encoder Resolution is set to 2,000 and the NI SoftMotion encoder Counts Per revolution is set to 8,000. Note Depending on your application needs, you can chose a value other than 8,000. However, the Feedback 2 Resolution setting must match the NI SoftMotion Module Steps Per revolution setting specified in Step 4: Configure the NI 9512 Axis. Figure 21 shows the AKD WorkBench Feedback 2 page. Figure 21. AKD WorkBench Feedback 2 Page Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 29 9. Configure the software enable signal: a. Click the Parameters tree icon to list all configurable drive parameters. b. Expand the Drive section. c. Set the Software enable default parameter to 1. This enables the drive on bootup so you do not have to enable the drive from WorkBench. Figure 22 shows the AKD WorkBench Parameters page. Figure 22. AKD WorkBench Parameters Page 10. Activate the software enable on the drive by clicking the Enable button on the AKD Overview page or on the toolbar. Figure 17 shows the location of the Enable button. 11. Save all configuration changes to the drive by clicking the Save to Drive toolbar button shown in Figure 17. Step 6: Tune the Motor Using the WorkBench Performance Servo Tuner Use the AKD WorkBench Performance Servo Tuner to quickly tune the servo motor with a single click. Tune the system with a load connected for best results. 1. Select Performance Servo Tuner under the drive tree item. 2. Confirm that the drive is hardware enabled and enable it if it is not. 3. Click Start. The Performance Servo Tuner performs a series of tests and displays the results on the page. The progress bar shows the relative progress of the tuning process. 4. When tuning is complete, the Complete LED illuminates and the Performance Servo Tuner page displays a Bode plot showing the frequency response of the system. 30 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Note Refer to the Using the Performance Servo Tuner topic in the WorkBench Help for more information about using the autotuner including advanced autotuning options. Step 7: Enable and Test the Drive Using LabVIEW Use the Interactive Test Panel to test and debug your motion system and configuration settings on the selected axis. With the Interactive Test Panel you can perform a simple straight-line move and monitor feedback position and position error information, move and I/O status information, change move constraints, get information about software errors and faults, and view position or velocity plots of the move. Complete the following steps to test your setup after configuring the axis using the Axis Configuration dialog box and configuring the drive with the AKD WorkBench software. 1. Right-click the axis in the Project Explorer window and select Interactive Test Panel from the shortcut menu. Opening this dialog box sends the axis settings to the hardware and activates the I/O on the module. 2. On the Move tab set Target Position to 25 revolutions. 3. On the Move Constraints tab set Velocity to 1 revolution/sec. Using the encoder counts per revolution and stepper steps per revolution values specified in this tutorial the motor will move 25 revolutions at 60 RPM. Tip Click the Help button ( ) on the bottom of the dialog box for detailed information about the items available in this dialog box. 4. Click the Enable button ( 5. Click the Start button ( configured options. ) on the bottom of the dialog box to enable the drive. 6. Use the Status and Plots tabs to monitor the move while it is in progress. ) on the bottom of the dialog box to start the move with the Finalize your motion system setup by connecting and configuring additional I/O such as limits as required by your system using the 20-pin screw terminal connector. Table 1 shows the screw-terminal connector pinout. Setting Up a Distributed System Setting Up a System with an NI 9144 Chassis Complete the following steps to set up the EtherCAT master and configure the distributed network for use with the NI 9144. 1. Install the real-time controller into the CompactRIO or PXI system. 2. Connect the controller to a power supply and an 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. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 31 Do not plug in or turn on any power to the system until after you complete Step 8: Connect the Drive Communication. Note 3. Connect the secondary port of your EtherCAT Master directly to the IN port (top port) on the NI 9144 chassis using a standard Category 5 Ethernet cable. If you are using the NI cRIO-9074 as your EtherCAT Master, the secondary port is top port (LAN PORT #2). If you are using a PXI system, you must add a PXI-8231/8232 network card for the secondary port. You may expand the deterministic Ethernet network by connecting an additional NI 9144 chassis or other slave devices to the OUT port (bottom port) on the first NI 9144 chassis. Figure 23. Connecting the NI 9144 Chassis to Network NI Master Controller Host Computer Ethernet Secondary Primary EtherCAT IN OUT NI 9144 Expansion Chassis Additional NI 9144 Chassis/Slave Devices 4. Install the NI 9512 module in slot 1, 2, 3, or 4 of the NI 9144 chassis. 5. If using the NI 9144 chassis with a PXI master controller, disable Legacy USB Support in the host PC BIOS, if it is enabled. 6. Continue with Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module. Software Installation and Configuration with the NI 9144 Complete the following steps to configure the controller and install software on it. 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»Measurement & Automation. 2. Expand the Remote Systems tree. 3. Select the controller under Remote Systems in the Configuration pane. 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. 4. Verify that the Serial Number in the Identification section matches the serial number on the device. 5. If you do not want to format the disk on the controller, eliminating all installed software and files, power on the controller and skip to step 15. 32 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives 6. Set the Safe Mode switch on the controller to the On position. 7. Power on the controller. If it is already powered on, press the Reset button on the controller to reboot it. 8. Right-click the controller under Remote Systems in the Configuration pane and select Format Disk. Click Yes on the dialog box that appears. 9. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position and press the Reset button on the controller to reboot it. 10. Select the System Settings tab and type a descriptive name for the system in the Name field. 11. (Optional) Complete this step only if the target has an empty IP address (0.0.0.0). Select the Network Settings tab and select DHCP or Link Local from the Configure IPv4 Address list to assign an IP address or select the Static to specify a static IP address in the IPv4 Address section. 12. Click Save on the toolbar and let MAX reboot the system. 13. When the new system name appears under Remote Systems, expand the controller item in the tree, right-click Software, and select Add/Remove Software. 14. Select a recommended software set that includes NI-RIO 3.4.0 or later. 15. Click Next. 16. Select the following items from the add-ons list. • LabVIEW NI SoftMotion Module • IndCom for EtherCAT Scan Engine Support Note If you are using the NI SoftMotion Module 2010 SP1 or earlier, also select LabVIEW NI SoftMotion Module Scan Engine Support from the list. 17. Click Next to install the selected software on the controller. Click Help if you need information about installing recommended software sets. 18. When MAX finishes installing the software on the controller, select the controller under Remote Systems in the Configuration pane. 19. Click the Network Settings tab and expand More Settings in the eth1 section 20. Select EtherCAT from the Adapter Mode list. Note These settings are not available if NI-Industrial Communications for EtherCAT is not installed. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 33 21. In the eth0 (Primary) section click More Settings and change Packet Detection to Polling. Leave the Polling Interval at 1 ms. When you have completed these steps the Network Settings tab will look similar to Figure 24. Figure 24. Network Settings Tab 22. Click Save. 23. Close MAX. 24. Continue with Step 2: Create a Project in Scan Interface Mode. Adding the EtherCAT Master Device to the LabVIEW Project If you are using the NI 9144 chassis, complete the following steps to add the EtherCAT master device and detect the C Series modules. 1. In the LabVIEW Project Explorer window, right-click the master controller and select New»Targets and Devices. 2. In the Add Targets and Devices dialog window shown in Figure 25, select Existing target or device and expand the category EtherCAT Master Device to auto-discover the EtherCAT port on the master controller. An EtherCAT master device and modules can be added manually at any time. 34 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Figure 25. Adding the EtherCAT Master When all the slave devices are discovered, the LabVIEW Project Explorer window lists each slave device and any installed C Series modules. 3. For more information about configuring the deterministic Ethernet network, the NI 9144 chassis, and the C Series modules, refer to the Related Documentation section of this document. Tips and Troubleshooting The Drive Does Not Enable If, after going through all steps in this document, the AKD servo drive does not enable, verify the following settings: • The Drive Enable line from the NI 9512 C Series module must be active. Figure 17 shows the location of the hardware enable indicator in the AKD WorkBench software. • The software enable must be enabled. This setting is available on the upper toolbar in the AKD WorkBench software. Figure 17 shows the location of the software enable indicator and toolbar button. • The drive must not be in a fault state. Click the Clear Faults button on the WorkBench toolbar to clear the fault state after determining and fixing the source of the fault. Figure 17 shows the location of the Fault indicator and Clear Faults toolbar button. Tip Refer to the AKD Fault and Warning Messages card that came with the drive for fault information and solutions. Cannot Communicate with the Drive Using Ethernet Confirm that the link LEDs on the drive and PC are both illuminated. Figure 11 shows the location of the link LED on the drive. Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 35 Increasing the Maximum Velocity and Acceleration The default AKD settings limit the velocity to 3000 RPM and the acceleration and deceleration to 10,000 RPM/sec. These limits are acceptable for most applications. Complete the following steps to modify the limits if your application requires different limits. 1. Launch the AKD WorkBench software. 2. Select the drive to configure from the list and click Connect. 3. Open the Electronic Gearing page under the Settings tree item. 4. Set Maximum Velocity to 8000 RPM and set both Maximum Acceleration and Maximum Deceleration to 200,000 RPM/sec. 5. Save the configuration changes to the drive by clicking the Save to Drive toolbar button shown in Figure 17. Connecting to the PC Using a Static IP 1. Use the S1 and S2 rotary switches on the drive to set a static IP address. The IP address is 192.168.0.S1S2. For example, if S1 is set to 2 and S2 is set to 3 the IP address is 192.168.0.23. Note If you change S1 or S2 when the +24 V power supply is powered on, you must unplug the network cable from the drive for at least three seconds to reset the IP address. 2. Connect the AKD servo drive to the computer directly using an Ethernet cable. Figure 11 shows the location of the X11 service port on the drive. 3. Complete the following steps to configure the static IP based on your operating system version. Windows XP a. Select Start»Control Panel»Network Connections to open the Network Connections dialog box. b. Select the network connection type corresponding to the port you used to connect the AKD servo drive. This will most likely be Local Area Connection x, where x corresponds to the number of the connection. c. Click Properties to open the Local Area Connection Properties dialog box. d. Select Internet Protocol (TCP/IP) from the list and click Properties. e. In the Internet Protocol (TCP/IP) dialog box, select Use the following IP address. f. Change IP address to 198.168.0.100. g. Change Subnet mask to 255.255.255.0. Windows Vista or Later a. Select Start»Control Panel»Network and Sharing Center. b. Select the network connection type corresponding to the port you used to connect the AKD servo drive. This will most likely be Local Area Connection x, where x corresponds to the number of the connection. 36 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives c. Click Properties to open the Local Area Connection Properties dialog box. d. Select Internet Protocol Version 4 (TCP/IPv4) from the list and click Properties. e. In the Internet Protocol Version 4 (TCP/IPv4) dialog box, select Use the following IP address. f. Change IP address to 198.168.0.100. g. Change Subnet mask to 255.255.255.0. Verify that S1 and S2 are set to non-zero values. The Motor Responds Poorly Use the AKD WorkBench Autotuner to change the control loop settings for the motor. Refer to the Using the Autotuner topic in the WorkBench Help for more information about using the autotuner including advanced autotuning options. Cannot See the AKD Servo Drive in the AKD WorkBench Software Manually enter the drive IP address by enabling the Specify Address checkbox on the AKD WorkBench software Start Page shown in Figure 16. To obtain the drive IP address either press the B1 button on the top of the drive or disconnect and reconnect the Ethernet cable. In either case, the LED displays the digits and dots of the IP address in sequence. Figure 26 shows the location of the B1 button. Figure 26. AKD Servo Drive B1 Button X11 B1 Getting Started with NI 9512 Modules and AKD Servo Drives | © National Instruments | 37 Wiring Diagram Figure 27. AKD Wiring Diagram Reference Safety Instructions and Use As Directed Control X10 Thermal Control Included X7 DGND DIGITAL–IN7 Feedback Feedback DIGITAL–IN4 DIGITAL–IN3 DIGITAL–OUT2– X2 M B– 1 B+ 2 PE 3 U1 4 V1 5 W1 6 DIGITAL–OUT2+ DIGITAL–OUT1– – Br + Br DIGITAL–OUT1+ PE DIGITAL–IN2 U DIGITAL–IN1 V W Fault 1 2 3 DGND – RB ENABLE – DC (+ DC) + RB FB2 4 5 6 L1 3 2 + Filter 3 4 5 Digital2 6 7 Digital1 8 9 10 DIGITAL–IN5 (PSTOP) 6 AGND L3 PE Analog–In – Analog–In + I/O–GND 4 5 Analog–Out + + 24V X1 Emergency Stop Circuit 3 DIGITAL–IN6 (NSTOP) L2 7 1 2 2 X3 FB1 1 1 X8 Regeneration Resistor + 24V Referred to I/O GND + I/O–GND + + 24V Referred to I/O GND – Tachometer Voltage 7 8 + +/– 10V 9 +/– 10V Speed Setpoint Referred to + I/O–GND – 10 STO GND – Supply Unit 24V DC Mains Contactor X9 FN1 FN2 FN3 Encoder Emulation FH1 FH2 FH3 9 8 X11 Encoder Evaluation Service TCP/IP L1 L2 L3 PE PE–Connection (Protective Earth) Chassis Ground Connection (Panel) Shield Connection Via Plug 38 | ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives Worldwide Support and Services The National Instruments Web site is your complete resource for technical support. 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