National Instruments NI 7340 User manual

Getting Started with NI 7340/7350
Motion Controllers and AKD Servo
Drives
This document explains how to install and configure the AKD servo drives for use with the
NI 7340 and NI 7350 motion controllers.
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
Hardware .......................................................................................................................... 2
Software............................................................................................................................ 3
Related Documentation .................................................................................................... 4
NI Motion Controller Configuration and Installation............................................................... 5
Step 1: Install NI-Motion.................................................................................................. 5
Step 2: Install the NI 7340/7350 Motion Controller......................................................... 5
Step 3: Install Software on and Configure the
RT PXI Controller (PXI 7340/7350 Only).................................................................... 7
NI UMI and AKD Servo Drive Configuration and Installation ............................................... 8
Step 1: Connect and Configure the NI UMI..................................................................... 8
Step 2: Mount the Drive and Connect the Protective Earth ............................................. 14
Step 3: Connect the NI UMI to AKD Cable to the AKD Servo Drive............................. 15
Step 4: Connect the Logic Power Supply to the AKD Servo Drive................................. 16
Step 5: Connect the Motor and Encoder to the Drive....................................................... 19
Step 6: Connect the AC Input Power................................................................................ 20
Step 7: Connect the Drive Communication...................................................................... 21
Step 8: Confirm Drive Connections ................................................................................. 22
Software Installation and Configuration................................................................................... 23
Step 1: Update Firmware on the Motion Controller......................................................... 23
Step 2: Configure the NI Motion Controller .................................................................... 23
Step 3: Install AKD WorkBench and Configure the Drive .............................................. 25
Step 4: Test the Motor In MAX........................................................................................ 33
Tips and Troubleshooting......................................................................................................... 34
The Drive Does Not Enable.............................................................................................. 34
Cannot Communicate With the Drive Using Ethernet ..................................................... 34
UMI-7772/74 Does Not Turn On ..................................................................................... 34
Drive Does Not Turn On .................................................................................................. 34
Connecting to the PC Using a Static IP............................................................................ 34

2|ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
The Motor Responds Poorly ............................................................................................. 35
Using an EtherCAT AKD Drive in Analog Mode ...........................................................35
Cannot See the AKD Servo Drive in the AKD WorkBench Software.............................36
Wiring Diagram ........................................................................................................................ 37
Worldwide Support and Services .............................................................................................38
What You Need to Get Started
Caution Before installing the drive, review Chapter 2, Safety, in the AKD
Installation Manual that came with your hardware or is available from ni.com/
manuals. Failure to follow safety instructions may result in injury or damage to
equipment.
You need the following items to get started.
Hardware
A computer with an available PXI or PCI slot
NI 7340 or NI 7350 motion controller
UMI-7764 or UMI-7772/74
68-pin cable to connect your NI UMI and motion controller
–UMI-7764—SH68-C68-S
–UMI-7772/74—SHC68-C68-S
UMI to AKD drive cable appropriate for the UMI you are using
+24 VDC power supply for the NI UMI-7772/74 and AKD servo drive
+5 V power supply for the UMI-7764
Ethernet connection and cable for the AKD servo drive
AKD servo drive
NI or third-party servo motor and encoder
Note AKM series servo motors available from NI contain built-in encoders and
come pre-wired for use with the AKD servo drive. National Instruments recommends
using one of these motors for the best user experience and system performance.

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |3
Software
NI-Motion 7.6 or later driver software
One of the following software packages and documentation:
– LabVIEW 8.5 or later
– LabWindows™/CVI™8.5 or later
– Microsoft Visual C++
– Microsoft Visual Basic
AKD WorkBench software
Figures 1 and 2 show the hardware connections using a UMI-7772/74 and UMI-7764,
respectively.
Figure 1. UMI-7772/74 to AKD Drive Connections
Host PC
SHC68-
C68-S
Cable
UMI-7772/74
to AKD
Drive Cable
Screw Terminal
Connector for
Additional I/O
(Limits, etc.)
Ethernet Cable
(Initial Configuration Only)
+24 V Power Supply
(NI PS-15 Shown)
UMI-7772/74
AKD Analog
Servo Drive
+24 V Power Supply
(NI PS-15 Shown)

4|ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
Figure 2. UMI-7764 to AKD Drive Connections
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.
•NI 7340 User Manual or NI 7350 User Manual—Describes the electrical and mechanical
aspects of the NI 7340/7350 motion controller, and contains information about installing
and operating the device.
•Getting Started with NI-Motion for NI 73xx Motion Controllers—Provides instructions for
installing and getting started with the NI-Motion driver software and NI motion controllers.
•AKD Installation Manual—Provides additional information about the electrical and
mechanical aspects of the AKD servo drive, including important safety information and
advanced configuration information.
•NI-Motion Help—Contains information about designing a basic move, designing a
multi-axis move, incorporating image and data acquisition into motion applications, and
working with common motion concepts, such as contouring and breakpoints. This
document is task-based and takes you through each phase of designing and executing a
motion application.
•NI-Motion Function Help—Contains function reference information for C and Visual Basic
and provides details about each function, including a description of the function, a list of
the function parameters, illustrations, and error codes.
•NI-Motion VI Help—Contains LabVIEW VI reference information and provides details
about each VI, including VI descriptions, lists of VI parameters, usage, illustrations, and
error codes.
•Measurement & Automation Explorer Help for Motion—Provides information about using
MAX to configure the NI motion controller as well as advanced conceptual information
about topics such as Bode analysis and control loop parameters.
Host PC
Ethernet Cable
(Initial Configuration Only)
SH68-C68-S
Cable
+24 V Power Supply
(NI PS-15 Shown)
UMI-7764 to
AKD Drive Cable
AKD Analog
Servo Drive
UMI-7764
+5 V Power
Supply

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |5
NI Motion Controller Configuration and
Installation
Caution Before installing the NI 7340/7350 motion controller refer to the user
manual appropriate to your controller for safety and specification information.
Failure to follow safety instructions may result in damage to equipment.
Step 1: Install NI-Motion
You must install the NI-Motion driver software before installing an NI motion controller for the
first time. If you are upgrading from a previous version of NI-Motion, it is not necessary to
remove the NI motion controller before installing the upgrade. The upgrade does not affect the
existing Microsoft Windows configuration.
Note If you are using a Real-Time OS, install LabVIEW Real-Time on the
development computer before installing NI-Motion so that the RT support files
install.
Complete the following steps to install the NI-Motion driver software:
1. Insert the NI-Motion CD into the CD-ROM drive to display the NI-Motion installation
screen.
2. If you have autorun enabled, autorun.exe runs automatically. Otherwise, double-click
autorun.exe.
3. Follow the onscreen instructions.
Note You must update the firmware on your NI motion controller(s) before you can
use them with the corresponding version of NI-Motion. Refer to Step 1: Update
Firmware on the Motion Controller in the Software Installation and Configuration
section for detailed instructions.
Step 2: Install the NI 7340/7350 Motion Controller
The following sections explain how to install PXI and PCI motion controllers.
Note When adding or removing the motion controller, you must be logged on with
administrator-level access. After you have restarted the system, you may need to
refresh Measurement & Automation Explorer (MAX) to view the new controller.
PXI Controllers
1. Power off and unplug the chassis.
Caution To protect yourself and the computer from electrical hazards, the
computer must remain unplugged until the installation is complete.

6|ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
2. Choose an unused peripheral slot and remove the filler panel.
3. Touch a metal part on the chassis to discharge any static electricity that might be on your
clothes or body. Static electricity can damage the controller.
4. Insert the PXI controller into the chosen slot. Use the injector/ejector handle to fully secure
the device into place.
5. Attach the front panel of the PXI controller to the front panel mounting rails of the chassis
with the slot screws on the chassis.
Caution Make sure you have correctly connected all safety devices before you
power on the motion system. Safety devices include inhibits, limit switches, and
emergency shut down circuits.
Caution Always power on the computer containing the motion controller and
initialize the controller before you power on the rest of the motion system. Power off
the motion system in the reverse order.
6. Plug in and power on the chassis.
PCI Controllers
1. Power off and unplug the computer.
Caution To protect yourself and the computer from electrical hazards, the
computer must remain unplugged until the installation is complete.
2. Open the computer case to expose access to the PCI expansion slots.
3. Touch a metal part on the chassis to discharge any static electricity that might be on your
clothes or body. Static electricity can damage the controller.
4. Choose an unused +3.3 V or +5 V PCI slot, and remove the corresponding expansion slot
cover on the back panel of the computer.
5. Gently rock the controller into the slot. The connection may be tight, but do not force the
controller into place.
Note Check that the bracket of the device aligns with the hole in the back panel rail
of the computer chassis.
6. Secure the mounting bracket of the controller to the back panel rail of the computer.
7. Replace the cover.
Caution Make sure you have correctly connected all safety devices before you
power on the motion system. Safety devices include inhibits, limit switches, and
emergency shut down circuits.

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |7
Caution Always power on the computer containing the motion controller, and then
initialize the controller before you power on the rest of the motion system. Power off
the motion system in the reverse order.
8. Plug in and power on the computer.
Step 3: Install Software on and Configure the RT PXI
Controller (PXI 7340/7350 Only)
Note This step is only required if you are using a PXI-7340/7350 motion controller
and an RT PXI controller. If you are not using an RT PXI controller, skip to the
NI UMI and AKD Servo Drive Configuration and Installation section.
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. Boot the NI PXI embedded controller into the real-time operating system. The PXI
controller automatically boots into LabVIEW RT Safe Mode when no software is installed.
LabVIEW RT Safe Mode loads with the basic real-time operating system and automatically
attempts to connect to the network using DHCP. If DHCP is not available, the controller
connects to the network with a link-local IP address.
Tip You can connect a monitor to the PXI to display startup messages such as the
IP address and MAC address.
2. Launch Measurement & Automation Explorer (MAX) on the development computer by
clicking the MAX icon on the desktop ( ), or by selecting Start»All Programs»
National Instruments»Measurement & Automation.
3. Expand the Remote Systems branch. MAX lists the PXI controller as the model name of
the controller followed by the MAC address (for example, NI-PXI-8104 00802f108562).
Tip Record the PXI controller MAC address, located on the side of the controller,
for use in identifying the controller. The label also can be removed and placed on the
front of the controller for easier access. If you have connected the PXI controller to a
monitor, the MAC address also appears when the PXI system boots up.
4. Select the System Settings tab and type a descriptive name for the system in the Name
field.
5. (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 Static to specify a static IP address in the IPv4 Address
section.
6. Click Save on the toolbar and let MAX reboot the system.

8|ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
7. When the new system name appears under Remote Systems, expand the controller item in
the tree, right-click Software, and select Add/Remove Software.
8. Install the LabVIEW Real-Time software and NI-Motion on the RT target. Go to
ni.com/info and enter etspc for the latest information about supported software.
9. Click Next to install the selected software on the controller. Click Help if you need
information about installing recommended software sets.
10. Expand the Devices and Interfaces item under the PXI system.
11. Right-click the remote motion controller icon and select Map to Local Machine. This
assigns a local board ID to the remote motion controller in the host system.
Mapping the remote controller into the local system allows you to configure the controller
through MAX exactly as you would a controller that is in the host system. You can initialize
the controller, download firmware, and use the interactive and configuration panels exactly
as you would on a controller installed in the host machine. You also can write VIs using the
remote motion controller through the local board ID assigned to it.
This allows you to write and debug your VIs on the host, and then download them to the
remote system when you are ready. All you need to change is the board ID in your VI from
the locally assigned Board ID to the ID assigned by the remote system.
12. Browse to Devices and Interfaces under My System, where there is a shortcut icon next
to a new controller name.
For example, if the motion controller on the remote system is a PXI-7354, and the remote
system has an IP address of 123.45.678.9, then the shortcut device would show a name
like PXI-7354 (X) on 123.45.678.9 (Y).
Xis the board ID assigned to the board by the remote system. Use this board ID for VIs that
are downloaded to the remote system through LabVIEW RT.
Yis the board ID assigned to the remote motion controller by the local system. Use this
board ID for any VIs that run on the host and use the remote motion controller.
13. Close MAX.
NI UMI and AKD Servo Drive Configuration and
Installation
This section covers the hardware setup for the NI UMI and AKD servo drive.
Step 1: Connect and Configure the NI UMI
Connecting a UMI-7772/74
Complete the following steps to connect and configure the UMI-7772/74. If you are using a
UMI-7764 refer to the Connecting a UMI-7764 section.
Tip For more information about connecting external power, encoders, and other
motion I/O signals to the UMI-7772/74, refer to the National Instruments Universal
Motion Interface (UMI)-7772/74 User Manual and Specifications.

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |9
1. Connect the SHC68-C68-S 68-pin shielded cable between the Motion I/O connector on the
NI 7340/7350 motion controller and the Motion I/O connector on the UMI-7772/74.
2. Connect the UMI-7772/74 to AKD Drive Cable to the Control and Feedback connectors on
the UMI-7772/74.
Figure 3 shows the UMI-7772/74 to AKD Drive Cable connectors.
Figure 3. UMI-7772/74 to AKD Drive Cable Connectors
The UMI-7772/74 to AKD Drive Cable contains the following connections:
•UMI-7772/74 Feedback Connector—25-pin DSUB connector containing encoder,
limit, and home sensor signals.
•UMI-7772/74 Control Connector—15-pin DSUB connector containing drive
command and drive enable signals.
•X8 10-Pin Connector—10-pin connector containing the servo command, enable, and
fault signals.
•X9 DSUB Connector—9-pin DSUB connector containing emulated encoder output
signals from the AKD servo drive.
•X1 3-pin Connector—+24 V power supply connection for the AKD servo drive.
•Screw Terminal Connector—20-pin screw terminal connector for external I/O
connections. Table 1 shows the UMI-7772/74 to AKD Drive Cable screw terminal
pinout.
X9
Screw Terminal
Connector
X1 3-Pin
Connector
X8 10-Pin
Connector
X9 DSUB
Connector
UMI-7772/74
Feedback
Connector
UMI-7772/74
Control
Connector

10 |ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
3. Configure the UMI-7772/74 DIP switches. You must set the UMI-7772/74 switches to the
following settings to match the polarity configuration for the AKD servo drive:
• Fault—Active Low
• Enable—Active Low
Table 1. UMI-7772/74 to AKD Drive Cable Screw-Terminal Pinout
Pin Signal Name
1Forward Limit
2Home
3Reverse Limit
4COM†
5+24 V OUT
6COM†
7NC‡
8NC‡
9NC‡
10 Digital Ground†
11 +5 V (Output)
12 Reserved
13 Reserved
14 Digital Ground†
15 Reserved
16 Reserved
17 Reserved
18 Reserved
19 Reserved
20 Reserved
†The COM and Digital Ground signals are tied together if you connect the C and Ciso terminals on the
UMI-7772/74 as shown in Figure 5.
‡NC = Not Connected