National Instruments NI 9516 User manual

OPERATING INSTRUCTIONS AND
SPECIFICATIONS
NI 9516
Servo Drive Interface Module with Feedback
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2|ni.com |NI 9516 Operating Instructions and Specifications
This document describes how to use the National Instruments 9516
module and includes specifications and pin assignments for the
NI 9516.
Note The safety guidelines and specifications in this
document are specific to the NI 9516. 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.
Related Information
Safety Guidelines
Operate the NI 9516 only as described in these operating
instructions.

NI 9516 Operating Instructions and Specifications |© National Instruments |3
Safety Guidelines for Hazardous Locations
The NI 9516 is suitable for use in Class I, Division 2, Groups A, B,
C, D, T4 hazardous locations; Class I, Zone 2, AEx nA IIC T4 and
Ex nA IIC T4 hazardous locations; and nonhazardous locations
only. Follow these guidelines if you are installing the NI 9516 in a
potentially explosive environment. Not following these guidelines
may result in serious injury or death.
Caution Do not disconnect I/O-side wires or connectors
unless power has been switched off or the area is known to
be nonhazardous.
Caution Do not remove modules unless power has been
switched off or the area is known to be nonhazardous.
Caution Substitution of components may impair
suitability for Class I, Division 2.
Caution For Division 2 and Zone 2 applications, install
the system in an enclosure rated to at least IP 54 as defined
by IEC/EN 60079-15.

4|ni.com |NI 9516 Operating Instructions and Specifications
Caution For Division 2 and Zone 2 applications, install a
protection device between the input signal and the Vsup
pin. The device must prevent the Vsup-to-channel voltage
from exceeding 42 V if there is a transient overvoltage
condition.
Special Conditions for Hazardous Locations Use in
Europe and Internationally
This equipment has been evaluated as Ex nA IIC T4 Gc equipment
under DEMKO Certificate No. 07 ATEX 0626664X and is IECEx
UL 14.0089X certified. Each module is marked II 3G and is
suitable for use in Zone 2 hazardous locations, in ambient
temperatures of –40 °C Ta 70 °C. If you are using the NI 9516
in Gas Group IIC hazardous locations, you must use the device in
an NI chassis that has been evaluated as Ex nC IIC T4, Ex IIC T4,
Ex nA IIC T4, or Ex nL IIC T4 equipment.
Caution You must make sure that transient disturbances
do not exceed 140% of the rated voltage.
Caution The system shall only be used in an area of not
more than Pollution Degree 2, as defined in IEC 60664-1.

NI 9516 Operating Instructions and Specifications |© National Instruments |5
Caution The system shall be mounted in an
ATEX/IECEx-certified enclosure with a minimum ingress
protection rating of at least IP54 as defined in
IEC/EN 60079-15.
Caution The enclosure must have a door or cover
accessible only by the use of a tool.
Electromagnetic Compatibility Guidelines
This product was tested and complies with the regulatory
requirements and limits for electromagnetic compatibility (EMC)
as stated in the product specifications. These requirements and
limits are designed to provide reasonable protection against
harmful interference when the product is operated in its intended
operational electromagnetic environment.
This product is intended for use in industrial locations. As such,
there is no guarantee that harmful interference will not occur in
a particular installation, when the product is connected to a test
object, or if the product is used in residential areas. To minimize
the potential for the product to cause interference to radio and
television reception or to experience unacceptable performance

6|ni.com |NI 9516 Operating Instructions and Specifications
degradation, install and use this product in strict accordance with
the instructions in the product documentation.
Furthermore, any changes or modifications to the product not
expressly approved by National Instruments could void your
authority to operate it under your local regulatory rules.
Caution To ensure compliance with the applicable
regulatory requirements, product installation requires
either special considerations or user-installed, add-on
devices. See the product installation instructions for
further information.
Caution The inputs/outputs of this product can be
damaged if subjected to Electrostatic Discharge (ESD). To
prevent damage, industry-standard ESD prevention
measures must be employed during installation,
maintenance, and operation.
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.

NI 9516 Operating Instructions and Specifications |© National Instruments |7
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 9516
The NI 9516 servo drive interface module is part of a family of
C Series motion modules. The module provides servo drive
interface signals for a single axis, a full set of motion I/O including
inputs for a home switch and limit switches, dual incremental
encoder inputs for position feedback and velocity feedback, and
0 to 30 V digital input lines. The NI 9516 also includes a processor
to run the spline interpolation engine and PID control loop.
Working together they produce smoother motion resulting in
precise servo motion control.

8|ni.com |NI 9516 Operating Instructions and Specifications
System Connection
The NI 9516 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 servo
amplifiers or drives, a 0 to 30 V general-purpose digital input line,
and a 19 to 30 V input for power connection. Refer to Table 1 for
the DSUB connector pin assignments.
Note The remainder of this document does not
distinguish between drives and amplifiers. All
references to drives also apply to amplifiers.
The 20-pin MDR connector includes dual 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 9516 requires an external power supply.
You can 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.

NI 9516 Operating Instructions and Specifications |© National Instruments |9
NI 9516 Connection Options
National Instruments offers several options for connecting the
NI 9516 to servo drives. You can use the NI 9514/16 to AKD cable
with the AKD analog servo drive and AKM series servo motors
from NI. To connect to third-party servo drives 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 you can download from ni.com/manuals, for information
about additional connection accessories and cabling
recommendations.
Tip NI offers AKD analog servo drives and matched
servo motors. Refer to Getting Started with NI 9514/16
C Series Drive Interface Modules and AKD Analog Servo
Drives for installation and configuration information.
Refer to the Getting Started with NI 951x C Series Drive
Interface Modules and LabVIEW for information about
using the NI 9516 with other devices.
How to Connect the NI 9516 to Drives and I/O
Complete the following steps to connect the NI 9516 servo drive
interface module to drives and other I/O.

10 |ni.com |NI 9516 Operating Instructions and Specifications
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.
2. Connect the module to a drive and other I/O using the
NI 9514/16 to AKD cable, the NI 951x Cable and Terminal
Block Bundle, or a custom cable for direct connectivity to
third-party drives.
3. Connect the NI 9516 module to an external power supply.
Caution Do not connect anything to pins marked
Reserved.
Caution The 37-pin terminal block has separate Vsup
and COM terminals for each connector. Make sure you are
using the correct Vsup and COM terminals for the
connector you are using. All signals associated with
the DSUB connector in Figure 3 are marked with a
dagger (†).
Figure 1 shows a simplified system connection diagram.

NI 9516 Operating Instructions and Specifications |© National Instruments |11
Figure 1. NI 9516 Connection Example
Encoder 0
Servo Motor
Drive Command
Drive Command
Drive Enable
Drive Fault
Vsup
DSUB Connector
Forward, Reverse Limit, Home
MDR Connector
NI 9516
Drive
Motor
Encoder 0 Phase A, B, Index
Limit and Home
Sensors
Power Supply
Encoder 1 Phase A, B
NI Connection
Accessory/
Custom Cable
Encoder 1
+5 V OUT
Drive Enable
Drive Fault

12 |ni.com |NI 9516 Operating Instructions and Specifications
Table 1. NI 9516 DSUB Connector Pin Assignments
Connector Pin Signal
1Drive Command
COM
2Drive Enable
3Reserved
4Reserved
5Reserved
6Drive Command
7COM
8Digital Input 1
9Reserved
10 Reserved
11 Reserved
12 Vsup
13 Reserved
14 COM
15 Reserved
1
6
11
5
10
15

NI 9516 Operating Instructions and Specifications |© National Instruments |13
Figure 2. NI 9516 MDR Connector Pin Assignments
10
9
8
7
6
5
4
3
2
1
11
20
19
18
17
16
15
14
13
12
+5 V OUT
COM
Encoder 0 Index–
Encoder 0 Index+
Encoder 1 Phase B–
Digital Input 0
COM
Home
Forward Limit
Position Compare
Encoder 0 Phase A+
Encoder 0 Phase B–
Encoder 0 Phase B+
Encoder 1 Phase B+
Encoder 1 Phase A–
Vsup
Encoder 1 Phase A+
Reverse Limit
Position Capture
Encoder 0 Phase A–

14 |ni.com |NI 9516 Operating Instructions and Specifications
Figure 3. NI 9516 37-Pin Terminal Block Pin Assignments
37
363534333231302928272625242322212019
GND
18
17161514131211
10
98765
432
1
Forward Limit
Home
COM
Digital Input 0
Encoder 1 Phase B–
Encoder 0 Index+
Encoder 0 Index–
COM
+5V OUT
Position Compare
Reserved
Drive Command†
Reserved
Vsup†
Digital Input 1†
Reserved
COM†
Reserved
Reserved
Reverse Limit
Encoder 1 Phase A+
Vsup
Encoder 1 Phase A–
Encoder 1 Phase B+
Encoder 0 Phase A+
Encoder 0 Phase A–
Encoder 0 Phase B+
Position Capture
Encoder 0 Phase B–
Reserved
Drive Command COM†
COM†
Drive Enable†
Reserved
Reserved
Reserved
Shield Reserved
† IndicatesDSUB connector signals.

NI 9516 Operating Instructions and Specifications |© National Instruments |15
Signal Connections
Figure 4 shows the NI 9516 block diagram.
Figure 4. NI 9516 Block Diagram
Note This document provides a brief overview of the
module signal connections. Refer to the NI 951x User
Phase A± (0) DAC
Phase B± (0)
Phase A± (1)
Phase B± (1)
Index± (0)
Home
Digital Input (0-1)
Position
Capture
Position
Compare
Receiver
Circuitry
+5V Reg +5V OUT
Vsup
COM
Output
Circuitry
Input
Circuitry
Drive
Command
Drive
Enable
Forward
Reverse
Microprocessor
(PID Loop)
Buffer
Buffer

16 |ni.com |NI 9516 Operating Instructions and Specifications
Manual, which you can download from ni.com/
manuals, for more information about signal connections.
Drive Command Output
The NI 9516 module provides a ±10 V analog Drive Command
output. Use the Drive Command COM signal instead of COM as a
reference for the Drive Command Output. This reference signal
helps keep digital noise separate from the analog output.
Encoder Signals
The NI 9516 supports two encoder channels that allow for
dual-loop feedback, which enhances system stability and precision
and provides backlash compensation. The Encoder 0 channel
consists of a Phase A, a Phase B, and an Index input. The
Encoder 1 channel consists of a Phase A and a Phase B input.
The NI 9516 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 you use encoders with differential line driver outputs
for optimized noise immunity and improved accuracy in all
applications. Figures 5 and 6 show simplified schematic diagrams

NI 9516 Operating Instructions and Specifications |© National Instruments |17
of the encoder input circuit connected to differential and
single-ended encoder outputs.
Figure 5. Differential Encoder Input Circuit
Figure 6. Single-Ended Encoder Input Circuit
Receiver
Phase +
Phase –
Encoder NI 9516
+5 V
COM
Receiver
Phase+
Encoder NI 9516
No
Connection
Phase–
+5 V
COM
+5 V
Com

18 |ni.com |NI 9516 Operating Instructions and Specifications
Limit and Digital Input Signals
You can configure the Forward Limit, Reverse Limit, and
Digital Input <1..2> signals in software for sinking or sourcing
output devices and set the active state of the inputs in software to
on or off. To use the Drive Fault signal referenced in Figure 1, you
can map an available digital input in software. Figure 7 shows an
example of wiring the input signals to a sourcing output device.
Figure 7. Limit or Digital Input Circuit Configured for Sinking
PNP (Sourcing)
Output Device
COM
NI 9516
V–
V+
Out
Current
Limiting
Circuit
Limit, Home,
or Digital Input
(Reference)
Limit, Home,
or Digital Input

NI 9516 Operating Instructions and Specifications |© National Instruments |19
Figure 8 shows an example of wiring the input signals to a sinking
output device.
Figure 8. Limit or Digital Input Circuit Configured for Sourcing
COM
NI 9516
V–
Out
Limit, Home,
or Digital Input
(Reference)
V+
NPN (Sinking)
Output Device
Limit, Home,
or Digital Input
Current
Limiting
Circuit

20 |ni.com |NI 9516 Operating Instructions and Specifications
Drive Enable
The NI 9516 Drive Enable signal is software configurable for
sinking or sourcing output type and the active state is software
configurable for on or off.
Caution Do not connect the Drive Enable output to a
+5 V input circuit when the Drive Enable output is
configured for sourcing.
Figure 9 shows an example of wiring the output signals to a sinking
input device.
Figure 9. Drive Enable Output Circuit Configured for Sourcing
Drive Enable
COM
NI 9516
NI 9516 Vsup
NPN (Sinking)
Input Device
Configured
For Sourcing Sinking
Circuit
V–
(Reference)
In
Drive Enable
V+