National Instruments 9512 C Series User manual

GETTING STARTED
NI 9512 C Series Modules and
P7000 Series Stepper 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 manual helps you quickly install and configure the P7000 series stepper drives and stepper
motors.
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
Software............................................................................................................................ 2
Hardware .......................................................................................................................... 2
Related Documentation .................................................................................................... 3
Hardware Installation and Configuration ................................................................................. 4
Step 1: Set Up the CompactRIO System .......................................................................... 5
Step 2: Connect the Stepper Motor to the Drive .............................................................. 6
Step 3: Configure the DIP Switches ................................................................................. 8
Step 4: Connect the NI 9512 to the P7000 Drive ............................................................. 17
Step 5: Connect Power to the P7000 Drive ...................................................................... 19
Step 6: Configure the P7000 Drive with the Serial Port (Optional) ................................. 21
Software Configuration and Installation................................................................................... 23
Step 1: Install the P7000 Tools (Optional) ....................................................................... 23
Step 2: Test the Motor With the P7000 Tools (Optional) ................................................ 27
Step 3: Install Software on and Configure the NI RT Controller..................................... 28
Step 4: Create a Project in Scan Interface Mode .............................................................. 29
Step 5: Add Resources to the Project ............................................................................... 30
Step 6: Configure the NI 9512 Axis ................................................................................. 31
Step 7: Enable and Test the Drive using LabVIEW......................................................... 34
Tips and Troubleshooting......................................................................................................... 35
Status LED on the Drive is Off, Blinks, or is Red............................................................ 35
P7000 Tools Jog Toolbar Does Not Move The Motor..................................................... 35
The Motor Gets Hot When Idle ........................................................................................ 35
The Motor Moves Backwards .......................................................................................... 35
The P7000 Software Does Not Detect the Drive.............................................................. 35
Worldwide Support and Services ............................................................................................. 36

2|ni.com |Getting Started with NI 9512 and P7000 Drives
What You Need to Get Started
You need the following items to get started.
Software
LabVIEW 2009 or later
LabVIEW 2009 Real-Time Module or later
NI-RIO 3.2.0 or later
LabVIEW 2009 NI SoftMotion Module or later
P7000 Tools configuration software (optional)
Note The RS-232 serial configuration cable and P7000 Tools configuration
software are required only if you are using a third-party motor. If you are using an
NI stepper motor, you can perform configuration using only the DIP switches on the
drive.
Hardware
NI 9512 C Series drive interface module
NI 9512-to-P7000 stepper drives connectivity bundle. This product contains the following
items:
– A cable to directly connect the NI 9512 DSUB with the P7000 series stepper drive
– A 37-pin terminal block and cable for connecting the NI 9512 MDR connector to other
I/O
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 controller
Note Refer to the hardware specifications for information about selecting an
appropriate power supply.
A separate power supply for the modules

Getting Started with NI 9512 and P7000 Drives |© National Instruments |3
Ethernet connection and cable
P70360 or P70530 stepper drive
DC power supply if using the P70530 stepper drive
NI or third-party stepper motor
Note Stepper motors available from NI are matched to the P7000 series stepper
drive. Refer to ni.com/motion for motor options. National Instruments highly
recommends using these motors for the best user experience.
NI or third-party encoder (optional)
RS-232 serial communication cable for P7000 drives (optional)
Figure 1 shows the required hardware and software.
Figure 1. Required Hardware and Software for NI 9512 Drive Interface Module
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 NI 9512 C Series module.
•P70360 (AC) High Performance Micro-stepping Drive Reference Guide—Use this
document to learn additional information about the electrical and mechanical aspects of the
P70360 AC stepper drive, including important safety information.
•P70530 (DC) High Performance Micro-stepping Drive Reference Guide—Use this
document to learn additional information about the electrical and mechanical aspects of the
P70530 DC stepper 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
P7000 Series
Stepper Drive
(P70360 shown)
NI Stepper
Motors
P7000
Direct Connect
Cable
Ethernet
Cable
NI RT Controller
(NI cRIO-9014 shown)
and NI 9512 Module
RS-232 Cable
(Optional)
+24 V Power Supply
(NI PS-15 Shown)
DC Power
Supply
(P70530 only)

4|ni.com |Getting Started with NI 9512 and P7000 Drives
LabVIEW NI SoftMotion Module and how to set up a system using the NI 9144 distributed
chassis. 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.
Hardware Installation and Configuration
You can configure the P7000 series stepper drives using the external DIP switches or with
software through the RS-232 port. If you have an NI stepper motor, you can configure the drive
and motor using only the DIP switches. If you have a third-party motor, you must use the
P7000 Tools configuration software.
Note This document assumes you have already installed your NI 9512 C Series
module and all required software to the host computer. Refer to the Getting Started
with NI 951x C Series Modules and LabVIEW, available from ni.com\manuals
and installed with the NI LabVIEW NI SoftMotion Module, for installation
information. Software installation onto the RT target is covered in Step 3: Install
Software on and Configure the NI RT Controller.

Getting Started with NI 9512 and P7000 Drives |© National Instruments |5
Step 1: Set Up the CompactRIO System
Complete the following steps to set up the CompactRIO hardware.
1. Install the real-time CompactRIO controller on the chassis if you are not using an 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 2.
Figure 2. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)
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.
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 9512 and P7000 Drives
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 you complete
Step 5: Connect Power to the P7000 Drive.
3. Install the NI 9512 module in slot 1, 2, 3, or 4 of the chassis.
Step 2: Connect the Stepper Motor to the Drive
Connect the stepper motor as shown in Figure 3. The NI stepper motors are highly
recommended, as they are optimized to work with the P7000 series stepper drives.
Caution Do not hot-plug the motor connector. Also, avoid “whiskers” from
stranded phase leads protruding from the motor plug.
Figure 3. Connecting the Stepper Motor
The NI stepper motor wire color code is shown in Table 1.
Table 1. NI Stepper Motor Wire Colors
Phase Color
A– Orange
A+ Black
B– Yell ow
B+ Red
PE Green/Yellow Stripe
Motor
Power
1
2
3
4
5
J6
A–
A+
B–
B+
Earth GND
Motor
To avoid electrical shock, motor
ground must be connected to
protective earth.

Getting Started with NI 9512 and P7000 Drives |© National Instruments |7
Note To reverse the motor rotation direction, do one of the following:
• Switch A– with A+
• Switch B– with B+
• Switch A–, A+ with B–, B+
National Instruments offers several standard stepper motors that provide optimum performance
when matched with the P7000 drive. The motors have a four flying lead configuration. If your
motor has six or eight leads, refer to Figures 4 and 5 for connection options.
Figure 4. Six Lead Connection Options
Phase A+
Phase A–
Phase B+
Phase B–
NC*
NC*
*NC = Not Connected
Phase A+
Phase A–
Phase B+
Phase B–
NC*
NC*
6-Wire Half-Coil Connection
(Higher Speed, Lower Torque)
6-Wire Series Connection
(Higher Torque, Lower Speed)

8|ni.com |Getting Started with NI 9512 and P7000 Drives
Figure 5. Eight Lead Connection Options
Step 3: Configure the DIP Switches
Configure the DIP switches as follows for proper operation of your P7000 series stepper drive.
Figure 6 shows switches S2–1 through S2–12 in the OFF position for the P70360 drive.
Figure 6. DIP Switches in OFF Position for P70360 Drive
Phase B–
Phase A+
Phase A–
Phase B+
8-Wire Parallel Connection
(Higher Speed, Lower Torque)
Phase B–
Phase A+
Phase A–
Phase B+
8-Wire Series Connection
(Higher Torque, Lower Speed)
Phase B–
Phase A+
Phase A–
Phase B+
NCNC
NC
NC
8-Wire Half-Coil Connection
(Higher Speed, Lower Torque)
*NC = Not Connected
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
S1S2
112
12345678910 11 12
12
OFF

Getting Started with NI 9512 and P7000 Drives |© National Instruments |9
Figure 7 shows switches S2–1 through S2–12 in the OFF position for the P70530 drive.
Figure 7. DIP Switches in OFF Position for P70530 Drive
Using Table 4 or 5, set switches S1 and S2-1 to configure the drive for your motor. If you have
a third-party motor set the switches for a third-party motor and use the serial configuration using
P7000 Tools.
For the remaining DIP switches, refer to Table 2 for the switch settings and to Table 3 for the
recommended drive settings that correspond to the switch settings.
Note For DIP switch settings to take effect, you must power cycle the P7000 series
stepper drive whenever you make changes.
Table 2. DIP Switch Positions
Motor Selection Step Resolution
S1 S2–1 S2–2 S2–3 S2–4
Motor Dependent Motor Dependent ON OFF ON
Load Inertia
Dynamic
Smoothing
Current
Reduction
Multi-
stepping
Encoderless
Stall
Detection
S2–5 S2–6 S2–7 S2–8 S2–9 S2–10 S2–11 S2–12
OFF OFF OFF OFF OFF OFF OFF OFF
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1234567891011 12
1
OFF
ON
S1 Motor S224578910-12
Step LoadSmooth Advanced
Computer Setup
S1=0,
S2 1-12 = OFF
High = OFF, Open
Low = ON, Closed
2
O
N
3
O
F
F
4
O
N
5
O
F
F
6
O
F
F
7
O
F
F
8
O
F
F
9
O
F
F
10
O
F
F
11
O
F
F
12
O
F
F

10 |ni.com |Getting Started with NI 9512 and P7000 Drives
Motor Selection
Table 4 lists the switch settings for AC P70360-compatible motors. Table 5 lists the switch
settings for DC P70530-compatible motors.
Table 3. Drive Settings
Drive Option Setting
Motor selection Motor dependent
(refer to Tables 4 and 5 for switch positions)
Step resolution 5,000 (refer to Table 6 for switch positions)
Load inertia 0–1 (refer to Table 7 for switch positions)
Dynamic smoothing Minimal (refer to Table 8 for switch positions)
Current reduction Enabled (refer to Table 9 for switch positions)
Multistepping Disabled (refer to Table 10 for switch positions)
Encoderless stall detection Disabled (refer to Table 11 for switch positions)
Table 4. P70360-Compatible Motor DIP Switch Settings
Motor Frame Motor S1 S2–1
NI NEMA 23 T21NRLC 1OFF
T22NRLC 2OFF
T23NRLC 3OFF
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
O
F
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
O
F
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
O
F
F