National Instruments 9505E User manual

OPERATING INSTRUCTIONS AND SPECIFICATIONS
NI 9505E
DC Brushed Servo Drive

NI 9505E Operating Instructions and Specifications 2ni.com
This document describes how to use the National
Instruments 9505E module and includes dimensions, pin
assignments, and specifications for the NI 9505E DC brushed
servo drive. Visit ni.com/info and enter rdsoftwareversion
to determine which software you need for the modules you are
using. For information about installing, configuring, and
programming the system, refer to the system documentation. Visit
ni.com/info and enter cseriesdoc for information about
C Series documentation.
Caution National Instruments makes no electromagnetic
compatibility (EMC) or CE marking compliance claims
for the NI 9505E. The end-product supplier is responsible
for conformity to any and all compliance requirements.
Caution The NI 9505E must be installed inside a suitable
enclosure prior to use. Hazardous voltages may be
present.

© National Instruments Corp. 3 NI 9505E Operating Instructions and Specifications
NI 9505E Dimensions
The following figure shows the dimensions of the NI 9505E.
Figure 1. NI 9505E Dimensions in Millimeters (Inches)
73.4 (2.89)
0.0 (0.00)
0.0 (0.00)
26.7 (1.05)
58.4 (2.30)
66.0 (2.60)

NI 9505E Operating Instructions and Specifications 4ni.com
NI 9505E Hardware Overview
The NI 9505E provides unique flexibility and customization. The
NI 9505E works together with the LabVIEW FPGA Module to
create a highly customizable motor drive or actuator amplifier.
Figure 2 illustrates the functionality of the NI 9505E working in
conjunction with the LabVIEW FPGA Module in a typical motion
control application. Figures 3 and 4 show more detailed versions
of the position, velocity, and current loops implemented in the
LabVIEW FPGA Module. A typical application contains a
position loop, velocity loop, and current loop, implemented in
the LabVIEW FPGA Module block diagram. Depending on the
application, you may not need to use all three loops. The examples
installed in the labview\examples\CompactRIO\
Module Specific\NI 9505 directory illustrate methods for
implementing each of these loops.
The NI 9505E returns the motor or actuator current data to the
LabVIEW FPGA Module for use in a current loop or for
monitoring. The NI 9505E also returns status information such as
drive fault status, VSUP presence, and emergency stop status to the
LabVIEW FPGA Module for use in system monitoring. Refer
to the NI 9505 Reference Help book in the LabVIEW Help,

© National Instruments Corp. 5 NI 9505E Operating Instructions and Specifications
available by selecting Help»Search the LabVIEW Help, for
more information about the available status information.
The LabVIEW FPGA Module generates a PWM signal and sends
the signal to the NI 9505E. The PWM signal is proportional to the
desired current or torque you want to provide to the motor or
actuator. Increasing the PWM duty cycle results in increased
current and thus increased torque.
Quadrature encoder signals pass through the NI 9505E and are
processed in the LabVIEW FPGA Module for use in the position
and velocity loops. Refer to Figure 5 for a typical NI 9505E
connection example, including encoder and E-Stop inputs.
For more advanced motion control applications, NI SoftMotion
provides functions for trajectory generation, spline interpolation,
position and velocity PID control, and encoder implementation
using both the LabVIEW Real-Time Module and the LabVIEW
FPGA Module. With NI SoftMotion you can create a custom
motion controller without the need to develop the trajectory
generator or spline engine yourself. Refer to the labview\
examples\CompactRIO\Module Specific\NI 9505 directory
for example VIs using the NI 9505E and NI SoftMotion.

NI 9505E Operating Instructions and Specifications 6ni.com
Figure 2. NI 9505E Block Diagram
Position
Loop
Velocity
Loop
Current
Loop
Fault
Monitor
Bridge
Controller
Fault
Detection
H-Bridge
Current
Sense
Encoder
Feedback
DC
Servo
Motor
Velocity
Command
Current
Command*
Position
Setpoint
LabVIEW FPGA Module NI 9505E
Motor
(PWM)
Encoder
Feedback
Position
Decoder
Current
Feedback
Velocity
Feedback
Position
Feedback
Velocity
Estimator
* Proportional to Torque

© National Instruments Corp. 7 NI 9505E Operating Instructions and Specifications
Figure 3. LabVIEW FPGA Module NI 9505E PID Loop
Position
Setpoint
Position Error
Velocity
Acceleration
Vff
Kp
Ki
Kd
Kv
Current Command
(Proportional to Torque)
Position
Decoder
LabVIEW FPGA Module
Encoder
Feedback
Aff
Position
Feedback

NI 9505E Operating Instructions and Specifications 8ni.com
Figure 4. LabVIEW FPGA Module NI 9505E Current Loop
Hot-Swap Behavior
The NI 9505E is always disabled when it is inserted in the chassis,
regardless of whether VSUP is present or not. You can enable the
drive using the Enable Drive method in software. Refer to the
NI 9505 Reference Help book in the LabVIEW Help, available
by selecting Help»Search the LabVIEW Help,for more
information about enabling the drive.
When the NI 9505E is removed from the chassis while it is
enabled, the power to the motor is removed and the motor
decelerates to a stop based on its own friction.
Current Error
Motor
(PWM)
Kp
Ki
Current
Limiter
Current
Command
(Proportional
to Torque)
Current Feedback
(from NI 9505E)
Current Limit
LabVIEW FPGA Module

© National Instruments Corp. 9 NI 9505E Operating Instructions and Specifications
LED Indicators
The NI 9505E has four LEDs to display status information.
Power
The Power LED (green) illuminates when the NI 9505E is properly
inserted into a powered chassis.
Note The Power LED does not illuminate when the
chassis is in sleep mode.
1 Power (green)
2V
SUP (Motor Power) (green)
3Disable (yellow)
4Fault (red)
1 2 3 4

NI 9505E Operating Instructions and Specifications 10 ni.com
VSUP
The VSUP LED (green) illuminates when the motor DC power
supply is properly connected and powering the drive.
Disable
The Disable LED (yellow) illuminates when the drive is disabled.
The drive is disabled by default at power-on. You can enable the
drive using the Enable Drive method in software. Refer to the
NI 9505 Reference Help book in the LabVIEW Help, available
by selecting Help»Search the LabVIEW Help, for more
information about this method.
Fault
Caution If the Fault LED is lit, determine the cause of the
fault and correct it before enabling the drive.
The Fault LED (red) illuminates when a fault occurs. A fault
disables the drive. Causes for fault are the following:
Caution VSUP greater than 40 V will result in damage to
the NI 9505E.
•Overvoltage
• Undervoltage