National Instruments NI 9512 User manual

OPERATING INSTRUCTIONS AND SPECIFICATIONS
NI 9512
Stepper Drive Interface Module with Encoder Feedback
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NI 9512 Operating Instructions and Specifications 2ni.com
This document describes how to use the National Instruments 9512
module and includes specifications and pin assignments for the
NI 9512. Visit ni.com/info and enter the Info Code
rdsoftwareversion to determine which software youneed for
the modules youare using. For information about installing,
configuring, and programming the system, refer to the system
documentation. Visit ni.com/info and enter cseriesdoc for
information about C Series documentation.
Note The safety guidelines and specifications in this
document are specific to the NI 9512. The other
components in the system may not meet the same safety
ratings and specifications. Refer to the documentation for
each component in the system to determine the safety
ratings and specifications for the entire system.
Safety Guidelines
Operate the NI 9512 only as described in these operating
instructions.
Hot Surface This icon denotes that the component may be
hot. Touching this component may result in bodily injury.

© National Instruments Corp. 3 NI 9512 Operating Instructions and Specifications
Special Conditions for Marine Applications
Some modules are Lloyd’s Register (LR) Type Approved for
marine applications. To verify Lloyd’s Register certification, go to
ni.com/certification and search for the LR certificate, or
look for the Lloyd’s Register mark on the module.
Caution To meet radio frequency emission requirements
for marine applications, use shielded cables and install
the system in a metal enclosure. Suppression ferrites
must be installed on power supply inputs near power
entries to modules and controllers. Power supply and
module cables must be separated on opposite sides of the
enclosure and must enter and exit through opposing
enclosure walls.
Connecting the NI 9512
The NI 9512 stepper drive interface module is part of a family of
C Series motion modules. The module provides stepper drive
interface signals for a single axis, a full set of motion I/O including
inputs for a home switch and limit switches, incremental encoder
inputs for position feedback, and 0 to 30 V digital input and output
lines. The NI 9512 also includes a processor to run the spline

NI 9512 Operating Instructions and Specifications 4ni.com
interpolation engine and patented NI step generation algorithm.
Working together they produce smoother motion resulting in
precise stepper motion control.
System Connection
The NI 9512 has two connectors, a 15-pin DSUB drive interface
connector and a 20-pin MDR feedback connector. The 15-pin
DSUB includes command signals for interfacing with stepper
drives, 0 to 30 V general-purpose digital input and output lines, and
a +19 to 30 V input for power connection. Refer to Table 1 for the
DSUB connector pin assignments.
The 20-pin MDR connector includes incremental encoder
feedback inputs, a +5 V output for encoder power, home, limit, and
position compare inputs, an output for position compare, an
additional +19 to 30 V input for power connection, and an
additional 0 to 30 V general-purpose digital input line. Refer to
Figure 2 for the MDR connector pin assignments.
Note The NI 9512 requires an external power supply.
Youcan connect the external power supply to the Vsup
input provided on the DSUB or MDR connector. Do not
connect more than one external power supply to the
module.

© National Instruments Corp. 5 NI 9512 Operating Instructions and Specifications
National Instruments offers several options for connecting the
NI 9512 to stepper drives. Youcan use the NI 9512-to-P7000
Stepper Drives Connectivity Bundle to connect the NI 9512 to the
P70530 or P70360 stepper drives from NI. To connect to
third-party stepper drives, youcan use the NI 951x Cable and
Terminal Block Bundle. Refer to Figure 3 for the 37-pin terminal
block pin assignments. Refer to the NI 951x User Manual, which
youcan download from ni.com/manuals, for information about
additional connection accessories and cabling recommendations.
Note Youcan connect the NI 9512 to drives that support
position command mode. Refer to the NI 951x User
Manual for more information.
Complete the following steps to connect the NI 9512 stepper drive
interface module to drives and other I/O:
1. Install the module in the chassis as specified in the chassis
documentation.
Note Refer to the NI SoftMotion Module book of the
LabVIEW Help for information about chassis, slot, or
software restrictions.

NI 9512 Operating Instructions and Specifications 6ni.com
2. Connect the module to a drive and other I/O using the
NI 9512-to-P7000 Stepper Drives Connectivity Bundle, the
NI 951x Cable and Terminal Block Bundle, or a custom cable
for direct connectivity.
3. Connect the NI 9512 module to an external power supply.
Caution Do not connect anything to pins marked
Reserved.
Caution The 37-pin terminal block has separate Vsupand
COM terminals for each connector. Make sure youare
using the correct Vsupand COM terminals for the
connector youare using. All signals associated with the
DSUB connector in Figure 3 are marked with a
dagger (†).
Figure 1 shows a simplified system connection diagram.

© National Instruments Corp. 7 NI 9512 Operating Instructions and Specifications
Figure 1. NI 9512 Connection Example
Encoder (Optional)Stepper Motor
Step±/CW
Step±/CW
Direction±/CCW
Drive Fault
Drive Enable
DSUB Connector
Forward, Reverse Limit, Home
MDR Connector
NI 9512
Drive
Motor
Encoder 0 Phase A, B, Index
Limit and Home
Sensors
Power Supply
V
sup
NI Connection
Accessory/
Custom Cable
+5 V OUT
Direction±/CCW
Drive Fault
Drive Enable

NI 9512 Operating Instructions and Specifications 8ni.com
Table 1. NI 9512 DSUB Connector Pin Assignments
Connector Pin Signal
1Reserved
2Drive Enable
3Digital Input 3
4Digital Input 2
5Digital Output 1
6Reserved
7COM
8Digital Input 1
9Direction (CCW)–
10 Step (CW)–
11 Digital Output 0
12 Vsup
13 Direction (CCW)+
14 COM
15 Step (CW)+
1
6
11
5
10
15

© National Instruments Corp. 9 NI 9512 Operating Instructions and Specifications
Figure 2. NI 9512 MDR Connector Pin Assignments
Forward Limit
Home
COM
Digital Input 0
COM
Encoder 0 Index+
Encoder 0 Index–
COM
+5 V OUT
Position Compare
1
2
3
4
5
6
7
8
9
10
20
11
12
13
14
15
16
17
18
19
COM
Reverse Limit
Vsup
Encoder 0 Phase A+
Encoder 0 Phase A–
Encoder 0 Phase B+
Position Capture
Encoder 0 Phase B–
Reserved
Reserved

NI 9512 Operating Instructions and Specifications 10 ni.com
Figure 3. NI 9512 37-Pin Terminal Block Pin Assignments
37
363534
333231
302928
27
262524
23
22212019
GND
18
17161514131211
10
98765
432
1
Forward Limit
Home
COM
Digital Input 0
COM
Encoder 0 Index+
Encoder 0 Index–
COM
+5V OUT
Position Compare
Reserved
Reserved
Digital Output 0†
Vsup†
Digital Input 1†
Direction (CCW)+†
COM†
Step (CW)+†
Shield
Digital Output 1
Reverse Limit
Reserved
Reserved
COM
Encoder 0 Phase A+
Encoder 0 Phase A–
Encoder 0 Phase B+
Position Capture
Encoder 0 Phase B–
Reserved
Reserved
COM†
Drive Enable†
Digital Input 3†
Digital Input 2†
Direction (CCW)–†
Step (CW)–†
Vsup
† Indicates DSUB connector signals.

© National Instruments Corp. 11 NI 9512 Operating Instructions and Specifications
Signal Connections
Figure 4 shows the NI 9512 block diagram.
Figure 4. NI 9512 Block Diagram
Phase A± (0)
Phase B± (0)
Index± (0)
Home
Position
Capture
Position
Compare
Receiver
Circuitry
+5V Reg +5V OUT
V sup
COM
Output
Circuitry
Input
Circuitry
Step ±
Drive
Enable
Forward
Reverse
Microprocessor
Digital
Output
(0-1)
Direction ±
Buffer
Buffer
Buffer
Buffer
Digital
Input
(0-3)

NI 9512 Operating Instructions and Specifications 12 ni.com
Note This document provides a brief overview of the
module signal connections. Refer to the NI 951x User
Manual, which youcan download from ni.com/
manuals, for more information about signal connections.
The NI 9512 module supports both industry standards for stepper
command signals—step and direction, or clockwise (CW) and
counterclockwise (CCW) pulse outputs. The step and direction
output circuits are software configurable for either single-ended or
differential output type.
When connecting to drives with differential receiver inputs,
configure the output type in software to differential and connect as
shown in Figure 5.
Figure 5. Differential Step and Direction Output Connection
NI 9512
Step– / Dir– Output
Step+ / Dir+ Output
Receiver
Drive

© National Instruments Corp. 13 NI 9512 Operating Instructions and Specifications
Many stepper drive manufacturers offer opto-isolated inputs for
Step (CW)/Direction (CCW) signals. When connecting to
opto-isolated inputs, configure the Step output type to
single-ended, connect the NI 9512 Step+ output to the negative
(cathode) side of the optocoupler input, and leave the Step– output
on the NI 9512 disconnected. Connect the positive (anode) side of
the drive input to a supply as specified by the drive manufacturer.
Figure 6 shows a single-ended connection example.
Figure 6. Opto-Isolated Step and Direction Output Connection
The encoder channel consists of a Phase A, a Phase B, and an Index
input. The NI 9512 supports RS-422 differential and single-ended
inputs for Phase A, Phase B, and Index signals, and provides a
+5 V output for encoder power. National Instruments strongly
recommends youuse encoders with differential line driver outputs
for optimized noise immunity and improved accuracy in all
NI 9512
Step+/Dir+
Drive
Step+/Dir+
Step–/Dir–
+5 V
No Connection Step–/Dir–

NI 9512 Operating Instructions and Specifications 14 ni.com
applications. Figures 7 and 8 show simplified schematic diagrams
of the encoder input circuit connected to differential and
single-ended encoder outputs.
Figure 7. Differential Encoder Input Circuit
Figure 8. Single-Ended Encoder Input Circuit
Receiver
Phase +
Phase –
E
nco
d
er
NI
9512
+5 V
COM
Receiver
Phase+
E
nco
d
er NI 9512
No
Connection Phase–
+5 V
COM
+5 V
Com

© National Instruments Corp. 15 NI 9512 Operating Instructions and Specifications
Yo ucan configure the Forward Limit, Reverse Limit, Home, and
Digital Input <1..4> circuits in software for current sinking or
sourcing output devices and set the active state of the inputs in
software to on or off. To use the Drive Fault functionality
referenced in Figure 1, youcan map an available digital input in
software. Figure 9 shows an example of wiring the inputs to a
sourcing output device.
Figure 9. Limit or Digital Input Circuit Configured for Sinking
PNP (Sourcing)
Output Device
COM
NI 9512
V–
V+
Out
Configured
For Sinking
Limit, Home,
or Digital Input
(Reference)
Limit, Home,
or Digital Input

NI 9512 Operating Instructions and Specifications 16 ni.com
Figure 10 shows an example of wiring the inputs to a sinking
output device.
Figure 10. Limit or Digital Input Circuit Configured for Sourcing
The NI 9512 Drive Enable and Digital Output <1..2> circuits are
software configurable for sinking or sourcing output type and the
active state is software configurable for on or off.
NI 9512 V sup
COM
NI 9512
V–
Out
Configured
For Sourcing
Limit, Home,
or Digital Input
(Reference)
V+
NPN (Sinking)
Output Device
Limit, Home,
or Digital Input

© National Instruments Corp. 17 NI 9512 Operating Instructions and Specifications
Caution Do not connect digital outputs to +5 V input
circuitry in either sinking or sourcing configuration.
Caution Only connect the Drive Enable output to +5 V
input circuitry when the output is configured for sinking.
Figure 11 shows an example of wiring the outputs to a sinking
input device.
Figure 11. Drive Enable or Digital Output Circuit Configured for Sourcing
Drive Enable or
Digital Output
COM
NI 9512
NI 9512 Vsup
NPN (Sinking)
Input Device
Configured
For Sourcing Sinking
Circuit
V–
(Reference)
In
Drive Enable or
Digital Output
V+

NI 9512 Operating Instructions and Specifications 18 ni.com
Figure 12 shows an example of wiring the outputs to a sourcing
input device.
Figure 12. Drive Enable or Digital Output Circuit Configured for Sinking
V+
Drive Enable or
Digital Output
COM
NI 9512
NI 9512 V
sup
PNP (Sourcing)
Input Device
Configured
For Sinking
Sourcing
Circuit
V–
(Reference)
In
Drive Enable or
Digital Output

© National Instruments Corp. 19 NI 9512 Operating Instructions and Specifications
LED Indicators
The NI 9512 has four LEDs to display status information.
Axis Status
The Axis Status LED (green) has three states to display axis status.
•Off—The module is in sleep mode or failed to boot correctly.
Refer to the NI SoftMotion Module book of the LabVIEW Help
for troubleshooting information.
•Flashing—The module booted up correctly and is functional.
•Lit—The module is functional and the drive enable output is
active.
1AxisStatus (Green)
2 Encoder Active (Green)
3 Limit Active (Yellow)
4AxisFault (Red)
1 2 34

NI 9512 Operating Instructions and Specifications 20 ni.com
Encoder Active
The Encoder Active LED (green) has three states for encoder and
Vsupstatus.
•Off—The required power supply (Vsup) is not connected. You
must connect a power supply to receive encoder pulses.
•Flashing—The power supply (Vsup) is connected and the
module is receiving encoder pulses.
Note The LED flash rate does not correspond to the rate
at which the NI 9512 receives encoder pulses.
•Lit—The power supply (Vsup) is connected but the module is
not receiving encoder pulses.
Limit Active
The Limit Active LED (yellow) has two states to display the status
of the limits and home input.
•Off—The power supply (Vsup) is not connected, or both the
limits and home input are not active.
•Lit—The power supply (Vsup) is connected and the forward
limit, reverse limit, or home input is active.