National Instruments NI 9502 User manual

OPERATING INSTRUCTIONS AND
SPECIFICATIONS
NI 9502
Brushless Servo Motor Drive
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2|ni.com |NI 9502 Operating Instructions and Specifications
Thisdocumentdescribeshowto usethe National Instruments9502
module and includes specifications and pin assignments for the
NI 9502.
Note The safety guidelines and specifications in this
document are specific to the NI 9502. The other
components in the system may not meet the same safety
ratings and specifications. Refer to the documentation for
each component in the system to determine the safety
ratings and specifications for the entire system.
Related Information

NI 9502 Operating Instructions and Specifications |© National Instruments |3
Safety Guidelines
Operate the NI 9502 only as described in these operating
instructions.
Safety Guidelines for Hazardous Locations
The NI 9502 is suitable for use in Class I, Division 2, Groups A, B,
C, D, T4 hazardous locations; Class I, Zone 2, AEx nA IIC T4 and
Ex nA IIC T4 hazardous locations; and nonhazardous locations
only. Follow these guidelines if you are installing the NI 9502 in a
potentially explosive environment. Not following these guidelines
may result in serious injury or death.
Caution Do not disconnect I/O-side wires or connectors
unless power has been switched off or the area is known to
be nonhazardous.
Caution Do not remove modules unless power has been
switched off or the area is known to be nonhazardous.
Caution Substitution of components may impair
suitability for Class I, Division 2.

4|ni.com |NI 9502 Operating Instructions and Specifications
Caution For Division 2 and Zone 2 applications, install
the system in an enclosure rated to at least IP 54 as defined
by IEC/EN 60079-15.
Caution For Division 2 and Zone 2 applications, install a
protection device between the input signal and the Vsup
pin. The device must prevent the Vsup-to-channel voltage
from exceeding 42 V if there is a transient overvoltage
condition.
Special Conditions for Hazardous Locations Use in
Europe and Internationally
Thisequipment has been evaluatedasEx nA IIC T4Gc equipment
under DEMKO Certificate No. 07 ATEX 0626664X and is IECEx
UL 14.0089X certified. Each module is marked II 3G and is
suitable for use in Zone 2 hazardous locations, in ambient
temperatures of -40 °C Ta 70 °C. If you are using the NI 9502
in Gas Group IIC hazardous locations, you must use the device in
an NI chassis that has been evaluated as Ex nC IIC T4, Ex IIC T4,
Ex nA IIC T4, or Ex nL IIC T4 equipment.
Caution You must make sure that transient disturbances
do not exceed 140% of the rated voltage.

NI 9502 Operating Instructions and Specifications |© National Instruments |5
Caution The system shall only be used in an area of not
more than Pollution Degree 2, as defined in IEC 60664-1.
Caution The system shall be mounted in an
ATEX/IECEx-certified enclosure with a minimum ingress
protection rating of at least IP54 as defined in
IEC/EN 60079-15.
Caution The enclosure must have a door or cover
accessible only by the use of a tool.
Electromagnetic Compatibility Guidelines
This product was tested and complies with the regulatory
requirements and limits for electromagnetic compatibility (EMC)
as stated in the product specifications. These requirements and
limits are designed to provide reasonable protection against
harmful interference when the product is operated in its intended
operational electromagnetic environment.
This product is intended for use in industrial locations. As such,
there is no guarantee that harmful interference will not occur in a
particular installation, when the product is connected to a test
object, or if the product is used in residential areas. To minimize

6|ni.com |NI 9502 Operating Instructions and Specifications
the potential for the product to cause interference to radio and
television reception or to experience unacceptable performance
degradation, install and use this product in strict accordance with
the instructions in the product documentation.
Furthermore, any changes or modifications to the product not
expressly approved by National Instruments could void your
authority to operate it under your local regulatory rules.
Caution The inputs/outputs of this product can be
damaged if subjected to Electrostatic Discharge (ESD).
To prevent damage, industry-standard ESD prevention
measures must be employed during installation,
maintenance, and operation.
Caution To ensure compliance with the applicable
regulatory requirements, product installation requires
special considerations and user-installed, add-on devices.
Refer to the Connecting the NI 9502 and Cable
Requirements for EMC Compliance sections for details.

NI 9502 Operating Instructions and Specifications |© National Instruments |7
Special Guidelines for Marine Applications
Some products are Lloyd’s Register (LR) Type Approved for
marine (shipboard) applications. To verify Lloyd’s Register
certification for a product, visit ni.com/certification and
search for the LR certificate, or look for the Lloyd’s Register mark
on the product label.
Caution In order to meet the EMC requirements for
marine applications, install the product in a shielded
enclosure with shielded and/or filtered power and
input/output ports. In addition, take precautions when
designing, selecting, and installing measurement probes
and cables to ensure that the desired EMC performance is
attained.

8|ni.com |NI 9502 Operating Instructions and Specifications
NI 9502 Hardware Overview
The NI 9502 is a brushless servo motor drive. It contains motor
outputs for a brushless servo motor, Hall effect sensor inputs, and
power connections.
The NI 9502 returns the motor current to the LabVIEW FPGA
module for use in a current loop or for monitoring. NI 9502 status
information such as drive status and drive faults are also returned
to the LabVIEW FPGA module. Refer to the NI 9502 topic in the
LabVIEW Help, available by selecting Help»LabVIEW Help, for
more information about the available status information.
Depending on software settings, the NI 9502 can operate in either
Trapezoidal or Field Oriented Control (FOC) commutation mode.
Refer to the NI 9502 topic in the LabVIEW Help, available by
selecting Help»LabVIEW Help, for more information about the
available modes.
The LabVIEW SoftMotion Module provides VIs and example
programs that make it easier to use the NI 9502 in FOC
commutation mode. Refer to ni.com/info and enter nismpkg
for more information about the SoftMotion Module.

NI 9502 Operating Instructions and Specifications |© National Instruments |9
Figure 1 shows the NI 9502 working with the LabVIEW FPGA
module in Trapezoidal commutation mode.
Figure 1. NI 9502 Trapezoidal Commutation Mode Block Diagram
Velocity
Loop
Current
Loop
Fault
Monitor
Bridge
Controller
Fault
Detection
Current
Sense
Motor
Velocity
Command
Current
Command*
LabVIEW FPGA Module NI 9502
Motor
Current
Velocity
Feedback
Velocity
Estimator
* Proportional to Torque
PWM
Generator
Hall Sensor Inputs
3-Phase
Bridge

10 |ni.com |NI 9502 Operating Instructions and Specifications
Figure 2 shows the NI 9502 working with the LabVIEW FPGA
module in FOC commutation mode.
Figure 2. NI 9502 FOC Commutation Mode Block Diagram
Position
Loop
Velocity
Loop
FOC
Algorithm**
Fault
Monitor
Bridge
Controller
Fault
Detection
Current
Sense
Encoder
Feedback
Motor
Velocity
Command
Current
Command*
Position
Setpoint
LabVIEW FPGA Module
NI 9502
Encoder Feedback
Position
Decoder
Phase U &
W Current
Velocity
Feedback
Position
Feedback
Velocity
Estimator
* Proportional to Torque
** Available with the LabVIEW NI SoftMotion Module Premium
SVPWM
Generators
(3To t al)
Hall
Inputs
C SeriesI/O Module
3-Phase
Bridge