National Instruments PCI-7354 User manual

PCI-7354

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

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |11
The UMI-7772/74 DIP switch configuration is shown in Figure 4.
Figure 4. UMI-7772/74 Fault and Enable DIP Switch Settings
Note Configuring the limit and home status LEDs on the UMI-7772/74 does not
configure the limit and home inputs themselves as active-high or active-low. You
must configure the limit and home inputs separately on the National Instruments
motion controller using MAX or the NI-Motion driver software. This DIP switch
does not need to be configured when the UMI-7772/74 is used with the AKD servo
drive.
4. Connect the positive lead of the +24 V external power supply to the V terminal and the
negative lead to the C terminal, then connect the V terminal to the Viso terminal and the
C terminal to the Ciso terminal.
Note You may use the same +24 V power supply to power both the UMI-7772/74
and the AKD drive. However, ensure that the power supply is capable of delivering
enough current for the application. If you require more power, connect a separate
+24 V power supply to the AKD drive X1 connector as described in Step 4: Connect
the Logic Power Supply to the AKD Servo Drive.
18
19
20
21
22
23
24
25
17
16
15
14
1
6
7
8
9
10
11
12
13
5
4
3
2
AXIS 1
DISABLED
FAULT FWD HOME REV
ACTIVE
LOW
ACTIVE
HIGH
LIMIT LED
FAULT ENABLE
CONTROL
FEEDBACK
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

12 |ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
Figure 5 shows the power terminal block.
Figure 5. UMI-7772/74 Power Connection
Connecting a UMI-7764
Complete the following steps to connect and configure your UMI-7764.
Tip For more information about connecting external power, encoders, and other
motion I/O signals, refer to the Universal Motion Interface (UMI)-7764 User Guide
and Specifications.
1. Connect the SH68-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-7764.
2. Connect the UMI-7764 to AKD Drive cable to the UMI-7764 by connecting the leads from
the cable to the correct screw terminal. The leads are labeled with the same signal names as
the NI UMI-7764.
Figure 6 shows the UMI-7764 to AKD Drive Cable connectors.
Figure 6. UMI-7764 to AKD Drive Cable
C
V
Viso
Ciso
+24 V External
Supply(+) Terminal
V
(24VDC±10%)
(5-30VDC)
Viso INHIBIT ALL
POWER
POWER
TRIGGER / BREAKPOINT
DIGITAL I/O
ANALOG INPUT
GLOBAL STOP
INTERLOCK
+24 V External
Supply(–) Terminal
V
Viso
Ciso
C
X1 3-Pin
Connector
X8 10-Pin
Connector
X9 DSUB
Connector
UMI-7764 Screw
Terminal Leads
X9
+24V
GND
+24V Power
Supply Leads

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |13
The UMI-7764 to AKD Drive Cable contains the following connections:
•UMI-7764 Screw Terminal Leads—Pigtail wire leads labeled with UMI-7764 signal
names.
•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.
•+24V Power Supply Leads—+24 V power supply leads.
3. Configure the UMI-7764 DIP switches. You must set the DIP switches to the following
settings to match the polarity configuration for the AKD servo drive:
• Inhibit Input (S2)—Active High
• Inhibit Output (S1)—Active Low
The UMI-7764 DIP switch configuration is shown in Figure 7.
Figure 7. UMI-7764 Inhibit Input and Inhibit Output DIP Switch Settings
4. Connect an external +5 V power supply to the UMI-7764 Power Input Terminal Block. This
connection is required to power the encoder circuitry that converts differential encoder
signals to single-ended signals for the motion controller, as well as to power the UMI-7764
Inhibit Output signals.
1Inhibit Input Polarity Switch (S2) 2 Inhibit Output Polarity Switch (S1)
1
BP4 BP3 BP2 BP1 GND +5 V TRIG4 TRIG3 TRIG2 TRIG1
ASSY186343A-01
UMI-7764
FWDLIM1
HOME1
REVLIM1
AXIS1
FWDLIM3
HOME3
REVLIM3
AXIS3
AIGND AREF AIN4 AIN3 AIN2 AIN1
FWDLIM2
HOME2
REVLIM2
AXIS2
FWDLIM4
HOME4
REVLIM4
AXIS4
GND
NC1
SHUTDOWN INH ALL
S2 S1
ACTIVE
HIGH LOW
2

14 |ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
Figure 8 shows the location of the UMI 7764 Power Input Terminal Block.
Figure 8. UMI-7764 Power Input Terminal Block
Step 2: Mount the Drive and Connect the Protective
Earth
1. Mount the drive to a conductive metal plate. Refer to the AKD Installation Manual for
dimensions and additional information specific to the drive model.
2. Connect the protective earth (PE) to either ground screw on the drive grounding lug.
Figure 9 shows the location of the grounding lug on the drive.
BP4 BP3 BP2 BP1 GND +5 V TRIG4 TRIG3 TRIG2 TRIG1
ASSY186343A-01
UMI-7764
FWDLIM1
HOME1
REVLIM1
INHIN1
GND
AOUT1*
AOGND*
INHOUT1
STEP(CW)1
DIR(CCW)1
+5 V
GND
ENCA1
ENCA1
ENCB1
ENCB1
INDEX1
INDEX1
AXIS1
FWDLIM3
HOME3
REVLIM3
INHIN3
GND
AOUT3*
AOGND*
INHOUT3
STEP(CW)3
DIR(CCW)3
+5 V
GND
ENCA3
ENCA3
ENCB3
ENCB3
INDEX3
INDEX3
AXIS3
REQUIRED INPUTS
+5V GND
AIGND AREF AIN4 AIN3 AIN2 AIN1
FWDLIM2
HOME2
REVLIM2
INHIN2
GND
AOUT2*
AOGND*
INHOUT2
STEP(CW)2
DIR(CCW)2
+5 V
GND
ENCA2
ENCA2
ENCB2
ENCB2
INDEX2
INDEX2
AXIS2
FWDLIM4
HOME4
REVLIM4
INHIN4
GND
AOUT4*
AOGND*
INHOUT4
STEP(CW)4
DIR(CCW)4
+5 V
GND
ENCA4
ENCA4
ENCB4
ENCB4
INDEX4
INDEX4
AXIS4
GND
NC1
SHUTDOWN INH ALL
S2 S1
ACTIVE
INHOUT
INHIN
S1S2
HIGH LOW
Power Input
Terminal Block

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |15
Step 3: Connect the NI UMI to AKD Cable to the AKD
Servo Drive
Connect the NI UMI to AKD cable to the AKD servo drive. Refer to Figure 9 for the location of
the connectors.
Figure 9. AKD Servo Drive Connectors
1 24 V Supply, STO (X1)
2 Motor, Brake (X2)
3 AC Input Power (X3)
4 Encoder Emulation (X9)
5 Drive Grounding Lug
6 Feedback (X10)
7 I/O Connector (X8)
8I/O Connector (X7)
9 Static IP Addressing Switch (S2)
10 Static IP Addressing Switch (S1)
11 Drive Communication (X11)
12 LED Indicators
1
2
3
11
7
8
9
10
6
5
4
12

16 |ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
1. Connect the cable X9 DSUB connector to the AKD servo drive X9 DSUB connector.
2. Connect the cable X8 10-pin connector to the AKD servo drive X8 10-pin connector.
Note You can use the X7 I/O connector for additional I/O but it is not used for
connection to the NI UMI.
Step 4: Connect the Logic Power Supply to the AKD
Servo Drive
Using a UMI-7772/74
Note You may use the same +24 V power supply to power both the UMI-7772/74
and the AKD drive. However, ensure that the power supply is capable of delivering
enough current for the application. If you require more power, connect a separate
+24 V power supply to the AKD drive X1 connector as described in this section.
1. Connect the +24 V power supply (+) terminal to the +24V connection on the X1 3-pin
connector.
2. Connect the +24 V power supply return (–) terminal to the GND connection on the X1 3-pin
connector. The X1 connector is connected to the UMI-7772/74 cable by the GND wire. Do
not remove this wire when connecting the +24 V power supply GND wire.
3. Connect the cable X1 3-pin connector to the AKD servo drive X1 3-pin connector.
4. Connect the STO input to the +24 V input, or connect it to the output of an external safety
relay or security control.
Note The STO input must be powered by +24V for proper drive operation. If you
need to use the STO functionality connect the STO terminal and GND terminal to the
output of a safety relay or security control. The safety relay must comply with the
requirements of the SIL 2 according to IEC 61800-5-2, PL d according to
ISO 13849-1, or Category 3 according to EN-954. Refer to the AKD Installation
Manual for more information.

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |17
Figure 10 shows the X1 connector pin assignment and wire colors.
Figure 10. UMI-7772/74 to AKD Cable X1 Connector
Using a UMI-7764
The +24 V power supply provides the logic power to the AKD servo drive.
Complete the following steps to connect the +24 V power supply to the UMI-7764 to AKD
cable. Figure 6 shows the UMI-7764 to AKD Drive Cable +24V power supply leads.
Note Do not plug in or turn on the +24 V power supply until after you complete
Step 7: Connect the Drive Communication in the NI UMI and AKD Servo Drive
Configuration and Installation section.
1. Connect the +24 V power supply (+) terminal to the wire labeled +24V on the UMI-7764
to AKD cable.
2. Connect the +24 V power supply return (–) terminal to the wire labeled GND on the
UMI-7764 to AKD cable.
X1 3-Pin
Connector
+24 V
GND (Black)
STO

18|ni.com |Getting Started with NI 7340/7350 Controllers and AKD Drives
The +24 V logic power supply also powers the safe torque output (STO) input on the X1
connector. The STO input must be powered by +24V for proper drive operation. If you need to
use the STO functionality complete the following additional steps:
1. Disconnect the STO wire from UMI-7764 to AKD cable from the from the X1 connector
and insulate it.
Note The STO and +24V wires are internally connected in the UMI-7774 to AKD
cable. You must insulate the STO wire if you disconnect it from the X1 connector.
2. Connect the STO terminal and GND terminal to the output of a safety relay or security
control. The safety relay must comply with the requirements of the SIL 2 according to
IEC 61800-5-2, PL d according to ISO 13849-1, or Category 3 according to EN-954. Refer
to the AKD Installation Manual for more information.
Figure 11 shows the X1 connector pin assignment and wire colors.
Figure 11. UMI-7764 to AKD Cable X1 Connector
+24 V (Red)
GND (Black)
STO (Brown)
X1 3-Pin
Connector

Getting Started with NI 7340/7350 Controllers and AKD Drives |© National Instruments |19
Step 5: Connect the Motor and Encoder to the Drive
All servo motors available from NI come pre-wired for direct connection to the AKD servo drive
X2 motor connector and X10 feedback connector. Refer to Figure 12 for the location of the
connectors.
1. Connect the motor 6-pin connector to the AKD servo drive X2 motor connector.
Note The X2 connector also provides connection for the drive to control the +24 V
holding brake for motors that have a brake. Refer to the AKD Installation Manual for
information about using the holding brake.
2. Connect the motor DSUB feedback connector to the AKD servo drive X10 feedback
connector.
Figure 12. Motor and Encoder Connections
1 Motor Connector (X2) 2 Feedback Connector (X10)
1
2