National Instruments 9501 C Series User manual

GETTING STARTED
NI 9501 C Series Stepper Drive
Modules and NI 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 9501 C Series drive module with LabVIEW
NI SoftMotion Module User-Defined Variable (UDV) axes, using an NI 9501 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
NI SoftMotion Module Overview ............................................................................................4
Hardware and Software Installation .........................................................................................5
Step 1: Set Up the CompactRIO System.......................................................................... 5
Step 2: Connect NI 9501 to the Stepper Motor................................................................6
Step 3: Connect the NI 9501 to the NI PS-16 Power Supply........................................... 7
Step 4: Connect the System to AC Power........................................................................ 7
Step 5: Install Software on and Configure the NI RT Controller..................................... 7
Using NI 9501 with NI SoftMotion.......................................................................................... 9
NI SoftMotion UDV Axes and Configuration Data......................................................... 9
NI SoftMotion Engine to FPGA Communication............................................................11
Compile and Run the Example......................................................................................... 15
Setting Up and Using Optional Hardware................................................................................18
Adding and Connecting Additional Modules................................................................... 19
Additional UDVs and FPGA VI Loops............................................................................ 21
Tips and Troubleshooting......................................................................................................... 25
Drive Fault on Enable....................................................................................................... 25
Where to Go Next.....................................................................................................................26
Worldwide Support and Services.............................................................................................27

2|ni.com |Getting Started with NI 9501 Modules and NI SoftMotion
What You Need to Get Started
You need the following items to get started.
Hardware
NI 9501 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 9501 module and NI 9411 module
(if connecting an encoder)
(NI part number 781094-01)
Note NI recommends the NI PS-16 power supply, which is designed for motor bus
power, for use with the NI 9501 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 9501. Go to ni.com for more information.
Optional Hardware
NI or third-party encoder
Note NI offers encoders for NEMA 23 stepper motors. Go to ni.com for more
information.
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 9924 25-pin D-SUB connector kit for connecting the NI 9401
(NI part number 781922-01)

Getting Started with NI 9501 Modules and NI SoftMotion |© National Instruments |3
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 2012 SP1 or later
LabVIEW 2012 SP1 Real-Time Module or later
LabVIEW 2012 SP1 FPGA Module or later
LabVIEW 2012 SP1 NI SoftMotion Module or later
NI-RIO Device Drivers 2012 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. NI SoftMotion Module with NI 9501 UDV Axis System Overview
Ethernet
Cable
Motor Connections
NI RT Controller
(NI cRIO-9014 shown)
with NI 9501 modules
+24 V Power Supply
(NI PS-15 Shown)
9 to 30 V Power Supply
(NI PS-16 Shown)
Stepper Motor

4|ni.com |Getting Started with NI 9501 Modules and NI SoftMotion
NI SoftMotion Module Overview
NI SoftMotion Module UDV axes allow you to implement an interface for communication
between the NI 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 NI SoftMotion Module.
The following figure shows the NI SoftMotion architecture when you use the NI SoftMotion
Module with UDV axes and the LabVIEW FPGA Module.
Figure 2. NI 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 NI SoftMotion APIs to create move profiles.
Communication to the LabVIEW FPGA Module is handled throughuser-defined variables. You
use the NI SoftMotion Drive Interface VIs to implement an interface for communication
between the NI 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 NI SoftMotion Module Help, available
by selecting Help»LabVIEW Help for information about the predefined UDVs. Refer to the
Using NI 9501 with NI 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

Getting Started with NI 9501 Modules and NI SoftMotion |© National Instruments |5
Hardware and Software Installation
This section covers the hardware and software setup for the CompactRIO system and NI 9501
C Series drive module. Refer to the Setting Up and Using Optional Hardware section for
information about connecting additional hardware.
Step 1: Set Up the CompactRIO System
Complete the following steps to set up the CompactRIO hardware.
1. Install the real-time CompactRIO controlleron the chassis if you arenot usingan integrated
controller and chassis.
Note 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.
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)
1 Controller
2CaptiveScrews
3 Controller Slot
4 Reconfigurable Embedded Chassis
5 Grounding Screw
1
4
2
3
5

6|ni.com |Getting Started with NI 9501 Modules and NI SoftMotion
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.
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.
Note Do not plug in or turn on any power to the system until after all hardware
connections are complete.
3. Install the NI 9501 module in slot 1 of the chassis, if available.
Note The NI 9501 example programs are configured for slot 1. If the NI 9501
module is installed in a different slot, modify the examples accordingly.
Step 2: Connect NI 9501 to the Stepper Motor
1. Connect the stepper motor to the NI 9501. Figure 4 shows a typical bipolar stepper motor
connection. Refer to the NI 9501 Operating Instructions and Specifications for important
connection information, including information about EMC compliance and connecting
6- or 8-wire stepper motors.
Figure 4. NI 9501 Bipolar Stepper Motor (2-Phase Type) Connection
NEMA 17 and NEMA 23 stepper motors from NI use the following wire color scheme.
Figure 5. Stepper Motor Wiring
0
1
2
3
4
5
6
7
8
9
Phase A+
Phase A–
Phase B+
Phase B–
Reserved
Reserved
Reserved
COM
Vsup
Phase A+
Phase A–
Phase B+
Phase B–
Phase A+
(Black)
Phase A–
(Orange)
Phase B+
(Red)
Phase B–
(Yellow)

Getting Started with NI 9501 Modules and NI SoftMotion |© National Instruments |7
Step 3: Connect the NI 9501 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 9501 module to the NI PS-16 power supply.
Tip Refer to the NI 9501 Operating Instructions and Specifications for more
information about module power supply requirements.
1. Connect the NI 9501 Vsup (pin 8) to one of the two (+) terminals on the NI PS-16.
2. Connect the NI 9501 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 to AC power.
2. Connect the NI 9501 power supply 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 9501 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 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
double-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 your device.
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.

8|ni.com |Getting Started with NI 9501 Modules and NI SoftMotion
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.
Note If your controller supports the Attempttorestartinto safemodeoption,you
can programmatically enable safe mode rather than using the hardware switch and
skip to step 8.
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 tree in MAX and
select Format Disk.
9. (Optional) Enable either the Preserve the primary adapter settings and disable the
others or Preserve the settings for all network adapters options if you want to retain the
same target name and IP address and retain settings for the secondary network adapter, if
available.
10. Click Format to start formatting the disk.
11. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position
(if necessary) and click OK in the confirmation dialog box.
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 2012 or later. Click Help if you
need information about installing recommended software sets.
17. Click Next.
18. Select LabVIEW NI SoftMotion Module from the add-ons list.
19. Click Next to install the selected software on the controller.
20. When the software installation completes, click Finish to reboot the controller.
21. Make a note of the IP address assigned to the controller, to use when adding the target in
LabVIEW.
22. Close MAX.

Getting Started with NI 9501 Modules and NI SoftMotion |© National Instruments |9
Using NI 9501 with NI SoftMotion
The following tutorial walks you through using an NI 9501 UDV axis using the Stepper
Drive (Getting Started) example installed in the <labview>\examples\motion\
UDV\Stepper Drive (Getting Started) directory. This example shows how to
configure the NI 9501 for a UDV axis using the LabVIEW project and contains all required
UDVs for use with the NI 9501.
Note NI SoftMotion FPGA examples are configured with a cRIO-9074chassis. Go
toni.com/info and enter fpgaex forinformation about how tomove the example
to a different FPGA target.
1. Open Stepper Drive (Getting Started).lvproj.
2. Right-click the RTTarget item in the Project Explorer window and select Properties
from the shortcut menu to open the real-time target properties dialog box.
3. On the General page, enter the IP address you configured in Step 4: Connect the System to
AC Power.
4. Click OK.
5. Right-click the target and selectConnect from the shortcut menu. The RT targeticon in the
Project Explorer window changes to indicate a front panel connection with the RT target.
NI 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 RTTarget 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 6 shows the LabVIEW Project with the UDVs
displayed.

10 |ni.com |Getting Started with NI 9501 Modules and NI SoftMotion
Figure 6. 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 NI SoftMotion Module Help for more
information about each UDV.
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 NI SoftMotion Engine.
Axis 1.Mailbox
(Host to FPGA) Contains information used to provide configuration and other data from the NI SoftMotion Engine to FPGA.
Axis 1.Position Setpoint Specifies the position setpoint.