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
19
20
21
22
23
24
25
26
27
28
29
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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
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.

NI 9930 Motion Control Accessories User Guide 10 ni.com
4. Right-click the top-level project item in the Project Explorer window and select New»Targets
and Devices from the shortcut menu to display the Add Targets and Devices dialog box. Refer to
Figure 6 for more information.
Figure 6. Adding a New Target
5. Make sure that the Existing target or device radio button is selected.
6. Expand Real-Time CompactRIO.
7. Select the CompactRIO controller to add to the project and click OK.
8. If you have LabVIEW FPGA installed, the Select Programming Mode dialog box appears. Select
Scan Interface to put the system into Scan Interface mode, then click Continue.
Tip Use the CompactRIO Chassis Properties dialog box to change the programming mode in an
existing project. Right-click the CompactRIO chassis in the Project Explorer window and select
Properties from the shortcut menu to display this dialog box.
9. Click Discover in the Discover C Series Modules? dialog box if it appears.
10. Click Continue.

©National Instruments Corporation 11 NI 9930 Motion Control Accessories User Guide
11. Right-click the controller item in the Project Explorer window and select Properties from the
shortcut menu to display the RT Target Properties dialog box. Select Scan Engine from the
Category list to display the Scan Engine page.
12. Set the Scan Period to 10 ms or lower, then click OK to close the RT Target Properties dialog
box.
13. If you did not reformat the CompactRIO device in Step 1: Install Software on and Configure the
NI RT Controller, expand the real-time target. If an axis already exists on the target, right-click the
axis and select Remove from Project, or temporarily associate it with different hardware using the
Axis Manager dialog box. You cannot associate two axes with the same hardware device. Refer to
Figure 8 to view a project with an axis on the target.
14. Right-click the controller item in the Project Explorer window and select New»NI SoftMotion
Axis from the shortcut menu to open the Axis Manager dialog box, shown in Figure 7.
15. Click Add New Axis to create an NI SoftMotion axis associated with the NI 9512 module. Axes
are automatically bound to an available module. You can double-click the axis name to rename the
axis and give it a descriptive name.
Figure 7. Axis Manager Dialog Box

NI 9930 Motion Control Accessories User Guide 12 ni.com
16. Click OK to close the Axis Manager dialog box. The new axis is added to the Project Explorer
window.
Note You cannot associate more than one axis with the same C Series module.
When you have finished these steps your LabVIEW project should look similar to the image in
Figure 8.
Figure 8. Project Explorer Window with Modules in Scan Interface Mode
Step 3: Configure the NI 9512 C Series Module
Complete the following steps to configure the axis I/O settings for use with the Mitsubishi MR-J2 or
MR-J3 servo drive.
1. Right-click the axis in the Project Explorer window and select Properties from the shortcut menu
to open the Axis Configuration dialog box.

©National Instruments Corporation 13 NI 9930 Motion Control Accessories User Guide
Figure 9 shows the parts of the Axis Configuration dialog box for NI 9512 C Series module.
Figure 9. Axis Configuration Dialog Box
Note The Axis Configuration dialog box user interface may not match this image exactly
depending on which version of the LabVIEW NI SoftMotion Module you are using.
2. On the General Settings page set the Loop Mode to Closed-Loop.
3. Click the Encoder button and configure the Units and Counts Per Unit.
a. Make the following changes in the Active State section:
• Set the Line State for Ato High.
• Set the Line State for Bto Low.
• Set the Line State for Index to High.
b. In the Index Reference Criteria section set the Line State for Aand Bto Inactive.
c. Type rev in the Units text box.
d. Set the Counts per rev to 4000. This assumes the default drive setting for encoder pulses per
rev. Refer to Step 3: Configure the Drive and Connect the Motor and Encoder to the Drive in
the Hardware Installation and Configuration section for more information.

NI 9930 Motion Control Accessories User Guide 14 ni.com
When you are finished the Encoder Settings page will look similar to Figure 10.
Figure 10. Axis Configuration Encoder Page
4. Click the Stepper button to open the Stepper page. Configure the stepper output and steps per rev
settings:
a. Set Output Mode to Step and Direction.
b. Set Output Type to Differential.
c. Set Active State to Low.
d. Set Steps Per rev depending on the encoder resolution. For example, if you are using an
encoder with 131,072 pulses per revolution, set Steps Per rev to 131,072.
When you are finished the Stepper Settings page will look similar to Figure 11.
Figure 11. Axis Configuration Stepper Page

©National Instruments Corporation 15 NI 9930 Motion Control Accessories User Guide
e. In the Position Error section, change the Position Error Limit to an acceptable value for
your system. Exceeding the specified position error limit causes NI SoftMotion to disable the
drive and turn off the Drive Enable signal.
5. Click the Digital I/O button to open the Digital I/O page and map the following status inputs.
a. Map DI 1 to Servo/Drive Ready. This signal is active when the drive is enabled.
1) Double-click the text in the Mapping column and select Servo/Drive Ready from the
dropdown list.
2) Ensure that the DI 1 settings match the following:
•Input Type—Sourcing
•Active State—On
•Digital Filter—50 µs
b. Map DI 2 to In-Position. The In-Position signal from the drive is active when the current
position is within a user-specified distance from the target position. This is a drive setting.
1) Double-click the text in the Mapping column and select In-Position from the dropdown
list.
2) Ensure that the DI 2 settings match the following:
•Input Type—Sourcing
•Active State—On
•Digital Filter—50 µs
c. Map DI 3 to Drive Fault/Alarm. When the Drive Fault/Alarm signal is active, the module
does not generate command signals.
1) Double-click the text in the Mapping column and select Drive Fault/Alarm from the
dropdown list.
2) Ensure that the DI 3 settings match the following:
•Input Type—Sourcing
•Active State—Off
•Digital Filter—50 µs
d. (Optional) Configure a digital output to use for the Alarm Clear signal, if required. Position
command drives often require an Alarm Clear signal from the module to the drive. This signal
clears the alarm or fault outputs on the drive. This functionality is not available using a
mappable digital output. However, you can use a digital output to implement this functionality
in your code. Complete the following steps to use a digital output as an Alarm Clear output:
1) Determine the required pulse time and active state for the Alarm Clear signal. This
information is in the specifications for the position command drive.
2) Select an available digital output.
3) Configure the digital output Active State, Safe State, and Output Type as required by
the drive.
4) In your application VI add code to pulse the digital output line for the appropriate amount
of time to clear the alarm output. Do not clear the alarm on the drive until the alarm
condition is resolved.
Note If you are configuring a digital output to use as the Alarm Clear signal, you must connect the
configured output from the J7 screw terminal connector to the drive Clear signal on the J1 screw
terminal connector.

NI 9930 Motion Control Accessories User Guide 16 ni.com
When you are finished the Digital I/O Settings page will look similar to Figure 12.
Figure 12. Axis Configuration Digital I/O Page
6. Open the Trajectory page and enable the In-Position checkbox. This allows the In-Position input
to be used as a criteria for move complete. When this signal is included in the move complete
criteria, the move is only complete if the In-Position signal is active.
7. Click the Drive Enable button and configure the Drive Enable output settings.
a. Place a checkmark in the Enable checkbox.
b. Set Output Type to Sinking.
c. Set Active State to On.
d. Set Safe State to Off.
8. Complete the following additional steps if you do not have limits and home connected at this time:
a. Open the Limits & Home page.
b. In the Forward Limit and Reverse Limit sections ensure that the settings match the
following:
Note These configuration settings disable limits for initial setup and testing purposes. National
Instruments recommends connecting and enabling limits in your final application.
• Clear the Enable checkbox from both Forward Limit and Reverse Limit.
• Set the Active State for both Forward Limit and Reverse Limit to Off. This prevents
a limit warning even though limits are turned off.
c. Open the Home section and clear the Enable checkbox.
9. Configure any additional I/O settings according to your system requirements, such as position
compare or position capture signals.
10. Click OK to close the Axis Configuration dialog box.
11. Right-click the controller item in the Project Explorer window and select Deploy All to deploy
the axis information.
12. Click Apply in the Conflict Resolution dialog box when it appears. The NI Scan Engine must be
in Active mode to move the axis.
13. Select File»Save Project to save the project.

©National Instruments Corporation 17 NI 9930 Motion Control Accessories User Guide
Step 4: Enable and Test the Drive Using LabVIEW
Use the Interactive Test Panel to test and debug your motion system and configuration settings on the
selected axis. With the Interactive Test Panel you can perform a simple straight-line move and monitor
feedback position and position error information, move and I/O status information, change move
constraints, get information about software errors and faults, and view position or velocity plots of the
move.
Complete the following steps to test your setup after configuring the axis using the Axis Configuration
dialog box.
1. Right-click the axis in the Project Explorer window and select Interactive Test Panel from the
shortcut menu.
2. On the Move tab set Target Position to 25 revolutions.
3. On the Move Constraints tab set Velocity to 1 revolution/sec. Using the encoder counts per
revolution and stepper steps per revolution values specified in this tutorial the motor will move
25 revolutions at 60 RPM. Click the Help button for detailed information about the items available
in this dialog box.
4. Click the Enable button to enable the drive.
5. Click the Start button on the bottom of the dialog box to start the move with the configured options.
6. Use the Status and Plots tabs to monitor the move while it is in progress.
Finalize your motion system setup by connecting and configuring additional I/O such as limits as
required by your system using the screw terminal connectors on the NI 9930M accessory.

NI 9930 Motion Control Accessories User Guide 18 ni.com
NI 9930P Motion Control Accessory for Panasonic Servo Drives
The NI 9930P motion control accessory allows easy connection between the NI 9512 C Series drive
interface module and the Panasonic Minas A or Minas A5 servo drive.
What You Need to Get Started
You need the following items to get started.
Hardware
❑NI 9930P Motion Control Accessory and NI 951x Y-cable.
(NI part number 781823-01)
❑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.
❑24 V power supply (such as the NI PS-15) for the NI 9930P. 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-pin MDR cable to connect the accessory to the drive.
(NI part number 194604-02)
❑Panasonic Minas A or Minas A5 position-command servo drive.
Note The Panasonic Minas A drive product numbers start with MxDA, and the Panasonic Minas A5
drive product numbers start with MxDH.
❑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

©National Instruments Corporation 19 NI 9930 Motion Control Accessories User Guide
Figure 13 shows a simplified connection diagram.
Figure 13. NI 9930P Connection Accessory 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)
Panasonic Minas A
or Minas A5
Servo Drive
(Minas A5 shown)
50-pin
Cable
Screw Terminal Connectors
NI 9930P Motion
Control Accessory
1
STEP & DIRECTION
10 3422
23
11
FOR PATENTS: NI.COM/PATENTS
J2
J3
J4 J5
J1
W1 W2 W3 W4
J6
FRONT
COM
VSUP
DS1 DS2
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
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
Host Computer