National Instruments NI 9930 User manual

cRIO-9014

NI 9930 Motion Control Accessories User Guide
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 the NI 9930 motion control accessories with the NI 9512 C Series
drive interface module and selected position command servo drives.
Contents
NI 9930M Motion Control Accessory for Mitsubishi Servo Drives ................................................... 1
What You Need to Get Started ....................................................................................................1
Hardware Installation and Configuration .................................................................................... 5
Software Installation and Configuration...................................................................................... 8
NI 9930P Motion Control Accessory for Panasonic Servo Drives ..................................................... 18
What You Need to Get Started ....................................................................................................18
Hardware Installation and Configuration .................................................................................... 21
Software Installation and Configuration...................................................................................... 24
NI 9930Y Motion Control Accessory for Yaskawa Servo Drives ...................................................... 34
What You Need to Get Started ....................................................................................................34
Hardware Installation and Configuration .................................................................................... 37
Software Installation and Configuration...................................................................................... 40
Additional NI 9930 Accessories Connector Pinouts ........................................................................... 49
Related Documentation........................................................................................................................ 52
Worldwide Support and Services ........................................................................................................ 52
NI 9930M Motion Control Accessory for Mitsubishi Servo Drives
The NI 9930M motion control accessory allows easy connection between the NI 9512 C Series drive
interface module and the Mitsubishi MR-J2 or Mitsubishi MR-J3 servo drive.
What You Need to Get Started
You need the following items to get started.
Hardware
❑NI 9930M Motion Control Accessory and NI 951x Y-cable.
(NI part number 781824-01)
❑NI 9512 C Series stepper drive interface module.
(NI part number 779944-01)
❑NI real-time 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 rdsoftwareversion.
❑24 V power supply (such as the NI PS-15) for the CompactRIO controller.
(NI part number 781093-01)
Note Refer to the controller operating instructions for power supply requirements.

NI 9930 Motion Control Accessories User Guide 2 ni.com
❑24 V power supply (such as the NI PS-15) for the NI 9930M. This supply also powers the NI 9512
and any drive I/O.
(NI part number 781093-01)
Note Refer to the NI 9512 Operating Instructions and Specifications and the drive manual to verify
that the selected power supply meets the system requirements.
❑Ethernet connection and cable for the CompactRIO controller.
❑50- or 20-pin MDR cables to connect the accessory to the drive.
– One 50-pin MDR cable for MR-J3 drives
(NI part number 194604-02)
– Two 20-pin MDR cables for MR-J2 drive
(NI part number 194466-02)
❑Mitsubishi MR-J2 or MR-J3 position-command servo drive.
❑Servo motor, encoder, power supply, and associated cables to connect the motor and encoder to the
drive.
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
Figure 1 shows a simplified connection diagram.
Figure 1. NI 9930M Connection Accessory with to MR-J2 Drive Connections
FRONT
36
12 24
25
113
COM
VSUP
FOR PATENTS: NI.COM/PATENTS
J5J1 J7
J4
DS1 DS2
J8
J3
J2 J6
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
25 24 23 22 21
35 34 33 32 31 30 29 28 27 26
36
45 44 43 42 41 40 39 38 37
50 49 48 47 46
+5 V Out +24 V
Ethernet
Cable
NI 951x
Y-Cable
NI RT Controller
(NI cRIO-9014 shown)
and NI 9512 Module
+24 V Power Supply
(NI PS-15 Shown)
Mitsubishi MR-J2
Servo Drive
CN1B Cable
(20-pin MDR)
CN1A Cable
(20-pin MDR)
Screw Terminal Connectors
NI 9930M Motion
Control Accessory
Host Computer

©National Instruments Corporation 3 NI 9930 Motion Control Accessories User Guide
Figure 2. NI 9930M Connection Accessory with to MR-J3 Drive Connections
Ethernet
Cable
NI 951x
Y-Cable
NI RT Controller
(NI cRIO-9014 shown)
and NI 9512 Module
+24 V Power Supply
(NI PS-15 Shown)
Mitsubishi MR-J3
Servo Drive
FRONT
36
12 24
25
113
COM
VSUP
FOR PATENTS: NI.COM/PATENTS
J5J1 J7
J4
DS1 DS2
J8
J3
J2 J6
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
25 24 23 22 21
35 34 33 32 31 30 29 28 27 26
36
45 44 43 42 41 40 39 38 37
50 49 48 47 46
+5 V Out +24 V
CN1 Cable
(50-pin MDR)
Screw Terminal Connectors
NI 9930M Motion
Control Accessory
Host Computer

NI 9930 Motion Control Accessories User Guide 4 ni.com
Figure 3 shows an overview of the connectors on the NI 9930M connection accessory.
Figure 3. NI 9930M Connection Accessory Connectors
1 J1, J5, J7: User I/O Screw Terminal Connectors
2DS1: +5 V Power LED (from NI 9512)
3DS2: +24 V Power LED
4J8: + 24 V Power Supply Connector
5 J6: CN1B Connector (for MR-J2 Drive)
6 J4: NI 9512 Connector
7 J2: CN1A Connector (for MR-J2 Drive)
8J3: CN1 Connector (for MR-J3Drive)
FRONT
36
12 24
25
113
COM
VSUP
FOR PATENTS: NI.COM/PATENTS
J5J1 J7
J4
DS1 DS2
J8
J3
J2 J6
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
10
9 8 7 6 5 4 3 2 1
11
20 19 18 17 16 15 14 13 12
25 24 23 22 21
35 34 33 32 31 30 29 28 27 26
36
45 44 43 42 41 40 39 38 37
50 49 48 47 46
+5 V Out +24 V
1
3
4
2
5
6
7
8

©National Instruments Corporation 5 NI 9930 Motion Control Accessories User Guide
Hardware Installation and Configuration
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 4.
Figure 4. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)
1 Controller
2Captive Screws
3Controller Slot
4 Reconfigurable Embedded Chassis
5Grounding Screw
4
5
1
3
2

NI 9930 Motion Control Accessories User Guide 6 ni.com
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 you complete Step 3: Configure
the Drive and Connect the Motor and Encoder to the Drive.
3. Install the NI 9512 module in slot 1, 2, 3, or 4 of the chassis.
Step 2: Connect the NI 9930M Connection Accessory
The NI 9930M connection accessory contains connections for the NI 9512 C Series module, the
Mitsubishi MR-J2 or MR-J3 servo drive, and a 24 V power supply for NI 9512 module and drive I/O.
1. Connect the NI 9512 module to the NI 9930M J4 connector using the NI 951x Y cable.
2. Connect the NI 9930M to the drive.
•Mitsubishi MR-J2—Connect the J2 connector to the CN1A connector on the drive, and the
J6 connector to the CN1B connector on the drive using two 20-pin MDR cables.
•Mitsubishi MR-J3—Connect the J3 connector to the CN1 connector on the drive using one
50-pin MDR cable.
3. Connect a 24 V power supply to the Vsup and COM terminals on the NI 9930M accessory J8
connector. Figure 3 shows the location of the power supply input.
4. Connect pin 2 (EMG - emergency stop input signal) and pin 1 (COM) to an emergency stop switch.
Refer to the drive manual for more information about emergency stop switch requirements.
Note If the emergency stop functionality is not required, connect the EMG input directly to COM
to bypass any external safety circuitry.
Note You cannot enable the drive if you do not connect the EMG input to an emergency stop switch
or directly to COM.
5. Connect pin 15 (LSP - forward rotation stroke end/forward limit) and pin 14 (LSN - reverse rotation
stroke end/reverse limit) to pin 13 (COM), or configure the drive to ignore limit inputs.
Note These configuration settings disable limits for initial setup and testing purposes. National
Instruments recommends connecting and enabling limits in your final application. Refer to the drive
documentation for limit input requirements.
6. Connect pin 9 (COM) to pin 10 (LG - control common).
Note Not connecting pin 9 and pin 10 will result in unpredictable behavior.
7. Connect any additional I/O, such as limits, DIO, position compare outputs, position capture inputs,
and so on, using the NI 9930M screw terminal connectors. The J1 and J5 connectors allow
connection to the drive I/O signals, and the J7 connector provides connection to the NI 9512 I/O
signals. Refer to the drive or the NI 9512 module documentation for specific signal connection
requirements.

©National Instruments Corporation 7 NI 9930 Motion Control Accessories User Guide
Figure 5 shows the screw terminal connector pinouts.
Figure 5. NI 9930M I/O Connectors
COM
Emergency Stop
Speed Selection 2
ACD 2
Reset
Torque Limit Selection
Proportion Control
Clear
COM
LG (Control Common)
+15 VDC Power Supply
+24 V
1
12
COM
Reverse Rotation Stroke End
Forward Rotation Stroke End
DO1 (from Drive)
Zero Speed
Limiting Torque
Control Selection
Analog Torque Limit
Analog Speed Command
LG (Control Common)
+15 VDC Power Supply
+24 V
13
24
COM
Position Compare
Position Capture
+5 V Out (NI 9512)
COM
DI 0 (NI 9512)
DO 1 (NI 9512)
DO 0 (NI 9512)
Home
Reverse Limit
Forward Limit
+24 V
25
36
J1
J5
J7
FRONT
36
12 24
25
113
COM
VSUP
FOR PATENTS: NI.COM/PATENTS
J4
DS1 DS2
J8
J3
J2 J6
1 2 3 4 5 6 7 8 9
10 11 12
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
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20
21
22
23
24
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37
10
9
8
7
6
5
4
3
2
1
11
20
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18
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15
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13
12
10
9
8
7
6
5
4
3
2
1
11
20
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13
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10
9
8
7
6
5
4
3
2
1
11
20
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15
14
13
12
25
24
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21
35
34
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31
30
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27
26
36
45
44
43
42
41
40
39
38
37
50
49
48
47
46
1 2 3 4 5 6 7 8 9
10 11 12
1 2 3 4 5 6 7 8 9
10 11 12
+5 V Out +24 V
J1
J5
J7
J3
J4
J2
J6
Drive I/O
NI 9512 I/O

NI 9930 Motion Control Accessories User Guide 8 ni.com
Step 3: Configure the Drive and Connect the Motor and Encoder to the Drive
This section covers the minimum drive settings and connections to allow the motor to move. Refer to
the drive manual for additional information about drive parameters and signal information.
1. Power on the drive and configure the drive for position control mode. These parameters differ
depending on the drive. Refer to the drive manual for information about how to set drive
parameters.
•Mitsubishi MR-J2—Set parameter P 21 to 1 (signed pulse train).
•Mitsubishi MR-J3—Set parameter PA 01 to 0 (position control) and PA 13 to 1 (step and
direction). You may also need to set parameter PA 05 (pulses per rev) to the appropriate setting
for your encoder.
2. Ensure that the drive encoder output pulses and electronic gear parameters are set to the default
values:
Mitsubishi MR-J2
a. Set parameter P 27 to 4000 pulses per rev. If you change this from the default value, you must
also change the value specified for the encoder Counts per rev in Step 3: Configure the
NI 9512 C Series Module of the Software Installation and Configuration section.
b. Set parameter 3 and parameter 4 to 1. This disables any electronic gearing settings.
Mitsubishi MR-J3
a. Set parameter PA 15 to 4000 pulses per rev. If you change this from the default value, you must
also change the value specified for the encoder Counts per rev in Step 3: Configure the
NI 9512 C Series Module of the Software Installation and Configuration section.
b. Set parameter PA 05 to 0. This disables the number of command input pulses per servo motor
revolution parameter.
c. Set parameter PA 06 and parameter PA 07 to 1. This disables any electronic gearing setting.
3. Connect the motor and encoder to the drive. Refer to the documentation specific to your drive for
motor and encoder connection information.
Tip An incorrectly connected encoder may cause NI SoftMotion to return error -77076
(NIMCDM_driveReadyNotActiveError). Verify the encoder connections if you see this error.
4. Connect the drive power. Refer to the drive documentation for power connections and
specifications.
5. Apply power to all the hardware once all connections are made and continue to the next section.
Software Installation and Configuration
This section covers installing and configuring the software for the NI 9512 C Series drive interface
module. It assumes that all required software from the What You Need to Get Started section is installed.
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.
1. Launch MAX on the development computer by clicking the MAX icon on the desktop, or by
selecting Start»All Programs»National Instruments»Measurement & Automation.
2. Select the controller under Remote Systems in the Configuration pane. 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.

©National Instruments Corporation 9 NI 9930 Motion Control Accessories User Guide
3. Verify that the Serial Number in the General Settings section matches the serial number on the
device.
4. If you do not want to format the disk on the controller, eliminating all installed software and files,
skip to step 14.
5. Set the Safe Mode switch on the controller to the On position.
6. Power on the controller. If it is already powered on, press the Reset button on the controller to
reboot it.
7. Right-click the controller under Remote Systems in the Configuration pane in MAX and select
Format Disk.
8. (Optional) Enable the Keep Network Settings checkbox if you want to retain the same target name
and IP address.
9. Click Format to start formatting the disk.
10. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position and click
OK.
11. Select the System Settings tab and type a descriptive name for the system in the Hostname field.
12. (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.
13. Click Save on the toolbar and let MAX reboot the system.
14. When the new system name appears under Remote Systems, expand the controller item in the tree,
right-click Software, and select Add/Remove Software.
15. Select a recommended software set that includes NI-RIO 3.4.0 or later.
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.
16. Click Next.
17. Select LabVIEW NI SoftMotion Module from the add-ons list.
18. Click Next to install the selected software on the controller. Click Help if you need information
about installing recommended software sets.
19. When the software installation completes, click Finish to reboot the controller.
20. Close MAX.
Step 2: Creating a Project and Adding an NI SoftMotion Axis
Complete the following steps to create a LabVIEW project.
1. Launch LabVIEW by selecting Start»All Programs»National Instruments»LabVIEW.
2. Click the Empty Project link in the Getting Started window to display the Project Explorer
window. You can also select File»New Project to display the Project Explorer 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.