NI 9512 C Series User manual

GETTING STARTED
NI 9512 C Series Modules and
AKD Servo Drives
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 install and configure the AKD servo drives for use with the
NI 9512 C Series drive interface module.
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
Hardware Installation and Configuration ................................................................................. 5
Step 1: Set Up the CompactRIO System .......................................................................... 6
Step 2: Connect NI 9512 to AKD Drive Cable to the C Series Module .......................... 7
Step 3: Mount the Drive and Connect the Protective Earth ............................................. 9
Step 4: Connect the Logic Power Supply to the NI 9512 to AKD Drive Cable .............. 9
Step 5: Connect the NI 9512 to AKD Drive Cable to the AKD Servo Drive .................. 10
Step 6: Connect the Motor and Encoder to the Drive....................................................... 12
Step 7: Connect the AC Input Power................................................................................ 13
Step 8: Connect the Drive Communication...................................................................... 14
Step 9: Confirm Drive Connections ................................................................................. 15
Software Installation and Configuration................................................................................... 15
Step 1: Install Software on and Configure the NI RT Controller..................................... 15
Step 2: Create a Project in Scan Interface Mode .............................................................. 17
Step 3: Add Resources to the Project ............................................................................... 18
Step 4: Configure the NI 9512 Axis ................................................................................. 20
Step 5: Install AKD WorkBench and Configure the Drive .............................................. 24
Step 6: Tune the Motor Using the WorkBench Performance Servo Tuner...................... 30
Step 7: Enable and Test the Drive Using LabVIEW ........................................................ 31

2|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Setting Up a Distributed System...............................................................................................31
Setting Up a System with an NI 9144 Chassis .................................................................31
Software Installation and Configuration with the NI 9144...............................................32
Adding the EtherCAT Master Device to the LabVIEW Project ......................................34
Tips and Troubleshooting ......................................................................................................... 35
The Drive Does Not Enable..............................................................................................35
Cannot Communicate with the Drive Using Ethernet ......................................................35
Increasing the Maximum Velocity and Acceleration ....................................................... 36
Connecting to the PC Using a Static IP ............................................................................ 36
The Motor Responds Poorly ............................................................................................. 37
Cannot See the AKD Servo Drive in the AKD WorkBench Software.............................37
Wiring Diagram ........................................................................................................................ 38
Worldwide Support and Services .............................................................................................39
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 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
NI 9512 C Series stepper drive interface module
NI real-time controller
– CompactRIO 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 the Info Code rdsoftwareversion.
or
– NI 9144 distributed chassis and compatible RT controller
Power supply for the CompactRIO controller
+24 VDC power supply for the drive interface module and AKD servo drive
Ethernet connection and cable for the CompactRIO controller
Ethernet connection and cable for the AKD servo drive
NI 9512 to AKD Drive Cable

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |3
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.
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
NI-Industrial Communications for EtherCAT®1.2 or later, if you are using the NI 9144
distributed chassis
AKD WorkBench software. Refer to Step 1: Install Software on and Configure the NI RT
Controller in the Software Installation and Configuration section of this document for
installation information.
Figure 1 shows the required hardware and software.
Figure 1. Required Hardware and Software
Ethernet
Cable
NI 9512 to
AKD Drive Cable
Screw Terminal
Connector for
Power Supply &
Additional I/O
(Limits, Position
Compare, etc.)
Ethernet Cable
(Initial Configuration Only)
NI RT Controller
(NI cRIO-9014 shown)
and NI 9512 Module
+24 V Power Supply
(NI PS-15 Shown)
AKD Analog
Servo Drive

4|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
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.
• Operating instructions for the controller and C Series module.
•AKD Installation Manual—Use this document to learn additional information about the
electrical and mechanical aspects of the AKD servo drive, including important safety
information.
•Getting Started with NI 951x C Series Modules and LabVIEW—Use this document to learn
about using the NI 951x modules with LabVIEW, including information about the
LabVIEW NI SoftMotion Module. To access this document, select Start»All Programs»
National Instruments»LabVIEW»LabVIEW Manuals»
Getting_Started_NI_951x_Modules_LabVIEW.pdf.
•LabVIEW NI SoftMotion Module Help—Use this help file to learn about using the
NI SoftMotion Module in LabVIEW including information about function blocks and
using the NI SoftMotion Module with the LabVIEW Project. To access this help file from
LabVIEW, select Help»LabVIEW Help, then expand the LabVIEW NI SoftMotion
Module book on the Contents tab.
•NI 9144 User Guide and Specifications—Use this document to learn additional information
about how to connect the NI 9144 chassis to a network, how to use the NI 9144 chassis
features, and contains the NI 9144 chassis specifications.
• NI Industrial Communications for EtherCAT software documentation
•LabVIEW Help—Use the LabVIEW Help to access information about LabVIEW
programming concepts, step-by-step instructions for using LabVIEW, and reference
information about LabVIEW VIs, functions, palettes, menus, tools, properties, methods,
events, dialog boxes, and so on. The LabVIEW Help also lists the LabVIEW documentation
resources available from National Instruments. Access the LabVIEW Help by selecting
Help»LabVIEW Help.
•Getting Started with LabVIEW—Use this document as a tutorial to familiarize yourself
with the LabVIEW graphical programming environment and the basic LabVIEW features
you use to build data acquisition and instrument control applications. Access the Getting
Started with LabVIEW PDF by selecting Start»All Programs»National Instruments»
LabVIEW»LabVIEW Manuals»LV_Getting_Started.pdf.

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |5
Hardware Installation and Configuration
This section covers the hardware setup for the CompactRIO system, NI 9512 C Series module,
and AKD servo drive.
Figure 2 shows an overview of the connectors on the AKD servo drive.
Figure 2. 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
6Feedback (X10)
7 I/O Connector (X8)
8 I/O Connector (X7)
9 Static IP Addressing Switch (S2)
10 Static IP Addressing Switch (S1)
11 Drive Communication (X11)
12 LED Indicators
1
2
36
4
11
9
10
7
5
12
8

6|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Step 1: Set Up the CompactRIO System
Complete the following steps to set up the CompactRIO hardware.
Note If you are using an NI 9144 chassis, refer to Setting Up a System with an
NI 9144 Chassis in the Setting Up a Distributed System section for alternate
configuration instructions, then continue with Step 2: Connect NI 9512 to AKD Drive
Cable to the C Series Module.
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 3.
Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)
1 Controller
2CaptiveScrews
3 Controller Slot
4 Reconfigurable Embedded Chassis
5 Grounding Screw
1
4
2
3
5

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |7
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 8: Connect the Drive Communication.
3. Install the NI 9512 module in slot 1, 2, 3, or 4 of the chassis.
Step 2: Connect NI 9512 to AKD Drive Cable to the
C Series Module
Connect the MDR and DSUB connectors on the NI 9512 to AKD Drive Cable to the MDR and
DSUB connectors on the C Series module. Figure 4 shows the NI 9512 to AKD Drive Cable
connectors.
Figure 4. NI 9512 to AKD Drive Cable Connectors
X9
MDR
Connector
DSUB
Connector
Screw Terminal
Connector
X1 3-Pin
Connector
X810-Pin
Connector
X9 DSUB
Connector
X7 10-Pin
Connector

8|ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
The NI 9512 to AKD Drive Cable contains the following connections:
•DSUB Connector—15-pin DSUB connector containing drive command and drive enable
signals.
•MDR Connector—20-pin MDR connector containing encoder, limit, home sensor,
position compare, and position capture signals.
•X1 3-pin Connector—+24 V power supply connection for the AKD servo drive provided
through the 20-pin screw terminal connector.
•X7 10-Pin Connector—10-pin connector containing the step/direction signals and AKD
digital outputs.
•X8 10-Pin Connector—10-pin connector containing the enable and fault signals.
•X9 DSUB Connector—9-pin DSUB connector containing emulated encoder output
signals from the AKD servo drive.
•Screw Terminal Connector—20-pin screw terminal connector for external I/O
connections.
Table 1 shows the screw terminal connector pinout.
Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout
Pin Signal Name
1Forward Limit
2Home
3Reverse Limit
4NI 9512 Digital Input 0
5Vsup
6Vsup Return
7NI 9512 Digital Output 0
8NI 9512 Digital Output 1
9NC†
10 NC†
11 NI 9512 +5V OUT
12 Position Compare
13 Position Capture
14 COM
15 Reserved
16 Reserved

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |9
Step 3: 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 2 shows the location of the grounding lug on the drive.
Step 4: Connect the Logic Power Supply to the NI 9512
to AKD Drive Cable
The NI 9512 to AKD Drive Cable requires connection to an external +24 V power supply. The
+24 V power supply provides both the logic power to the AKD servo drive and powers the
NI 9512 module.
Note Do not plug in or turn on the +24 V power supply until after you complete
Step 8: Connect the Drive Communication.
Complete the following steps to connect the +24 V power supply to the cable.
1. Connect the +24 V power supply (+) terminal to the Vsup terminal on the NI 9512 to AKD
Drive Cable screw terminal connector. Refer to Table 1 for the screw terminal connector
pinout.
2. Connect the +24 V power supply return (–) terminal to the Vsup Return terminal on the
NI 9512 to AKD Drive Cable screw terminal connector.
17 Reserved
18 Reserved
19 Reserved
20 Reserved
†NC = Not Connected
Table 1. NI 9512 to AKD Drive Cable Screw-Terminal Pinout (Continued)
Pin Signal Name

10 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Step 5: Connect the NI 9512 to AKD Drive Cable to the
AKD Servo Drive
Connect the NI 9512 to AKD Drive Cable to the AKD servo drive. Refer to Figure 6 for the
location of the connectors.
1. Connect the cable X1 3-pin connector to the AKD servo drive X1 3-pin connector. This
connector provides +24 V power to both the drive logic and to the safe torque out (STO)
input. 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:
a. Disconnect the STO wire from the NI 9512 to AKD cable X1 connector and insulate it.
Note The STO and +24V wires are internally connected in the NI 9512 to AKD
cable. You must insulate the STO wire if you disconnect it from the X1 connector.
b. 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 5 shows the X1 connector pin assignment and wire colors.
Figure 5. AKD X1 Connector
+24 V (Red)
GND (Black)
STO (Brown)
X1 3-Pin
Connector

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |11
2. Connect the cable X9 DSUB connector to the AKD servo drive X9 DSUB connector.
3. Connect the cable X7 10-pin connector to the AKD servo drive X7 10-pin connector.
4. Connect the cable X8 10-pin connector to the AKD servo drive X8 10-pin connector.
Figure 6. NI 9512 to AKD Drive Cable Connections
1 +24 V Supply, STO (X1)
2 Encoder Emulation (X9)
3 I/O (X8)
4 I/O (X7)
1
3
4
2

12 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Step 6: 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 7 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 7. Motor and Encoder Connections
1 Motor Connector (X2) 2 Feedback Connector (X10)
2
1

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |13
Step 7: Connect the AC Input Power
Connect the X3 mains supply connector to AC input power. Pins 4 through 7 contain the
AC power signals. The X3 connector also provides signals for an external brake (regen) resistor
(±RB) and DC bus link (–DC). Refer to the AKD Installation Manual for information about
using these terminals.
Note Do not turn on the AC power until after you complete Step 8: Connect the
Drive Communication.
Figure 8 shows the location and pin assignment for the X3 connector.
Figure 8. AKD Servo Drive X3 Connector
AC input power can be connected for either a three-phase or single-phase operation.
Note External filtering and fusing are optionally provided by the user. Refer to the
AKD Installation Manual for information about filter and fuse requirements.
Figure 9 shows three-phase connection.
Figure 9. AC Input Power Three-Phase Connection
1
2
3
4
5
6
7
–RB
–DC
+RB
L1
L2
L3
PE
DC
Out
L1
User-Provided
Filter
(Optional)
L2
L3
AKD Servo Drive
Protective
Earth
L1
L2
L3
Protective
Earth

14 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Figure 10 shows single-phase connection.
Figure 10. AC Input Power Single-Phase Connection
Step 8: Connect the Drive Communication
Complete the following steps to set up the drive for software configuration using Ethernet. These
steps assume you are connecting the AKD servo drive using a hub, switch, or router using
DHCP. If you cannot use DHCP, refer to Connecting to the PC Using a Static IP in the Tips and
Troubleshooting section for instructions about direct connection using a static IP address.
1. Set S1 and S2 on the drive to 0 to configure the drive for DHCP mode. The drive obtains
an IP address from an external DHCP server if one exists on the network. If no DHCP
server is present, the drive assumes an automatic private IP address in the form of
169.254.x.x. This process may take up to a minute to complete. Figure 2 shows the
locations of S1 and S2.
2. Connect the AKD servo drive X11 service port to a hub, switch, or router using an Ethernet
cable. Figure 11 shows the location of the X11 service port on the drive.
Figure 11. AKD Servo Drive X11 Connector
L1 User-Provided
Filter
(Optional)
L2
L3
L1
Neutral (L2)
Protective
Earth
Protective
Earth
DC
Out
AKD Servo Drive
LED

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |15
Step 9: Confirm Drive Connections
After all hardware connections have been made complete the following steps to confirm the
AKD hardware setup.
1. Apply AC power.
2. Turn on the +24 V power supply. After logic power is supplied to the drive, the drive
displays the following sequence of flashes in the LED indicators. Figure 2 shows the
location of the LED indicators on the AKD servo drive.
a. – –
b. []
c. Drive IP address, flashed sequentially
d. Drive status, either current operation mode or the fault code if there is a fault
condition. The operation modes are as follows:
• o0—torque mode (current mode)
• o1—velocity mode
• o2—position mode
Note If the drive shows a fault code, click the Clear Faults button on the AKD
WorkBench software toolbar after you install the AKD WorkBench software in Step 5:
Install AKD WorkBench and Configure the Drive
of the Software Installation and
Configuration section and connect to the drive to clear the fault state. If the fault
reappears, refer to the AKD Fault and Warning Messages Card that came with the
drive for more information about the fault, including possible solutions. After resolving
the cause of the fault, click the
Clear Faults button on the toolbar again. Figure 17
shows the location of the Clear Faults toolbar button in the AKD WorkBench
software.
Software Installation and Configuration
This section covers installing and configuring the software for the AKD servo drive and NI 9512
C Series module.
Note If you are using an NI 9144 chassis, refer to Software Installation and
Configuration with the NI 9144 in the Setting Up a Distributed System section for
alternate configuration instructions, then continue with Step 2: Create a Project in
Scan Interface Mode.
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.

16 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
1. 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.
2. Expand the Remote Systems tree.
3. Highlight the system.
Note 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.
4. Verify that the Serial Number in the General Settings section matches the serial number
on the device.
5. If you do not want to format the disk on the controller, eliminating all installed software and
files, skip to step 15.
6. Set the Safe Mode switch on the controller to the On position.
7. Power on the controller. If it is already powered on, press the Reset button on the controller
to reboot it.
8. Right-click the controller under Remote Systems in the Configuration pane in MAX and
select Format Disk.
9. (Optional) Enable the Keep Network Settings checkbox if you want to retain the same
target name and IP address.
10. Click Format to start formatting the disk.
11. When MAX finishes formatting the disk, set the Safe Mode switch to the Off position and
click OK.
12. Select the System Settings tab on the bottom and type a descriptive name for the system in
the Hostname field.
13. (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.
14. Click Save on the toolbar and let MAX reboot the system. You may not need to complete
this step if you did not change the IP address or name.
15. When the new system name appears under Remote Systems, expand the controller item in
the tree, right-click Software, and select Add/Remove Software.
16. Select a recommended software set that includes NI-RIO 3.4.0 or later.
17. Click Next.
18. Select LabVIEW NI SoftMotion Module from the add-ons list.
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.

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |17
19. Click Next to install the selected software on the controller. Click Help if you need
information about installing recommended software sets.
20. When the software installation completes, click Finish to reboot the controller.
21. Close MAX.
Step 2: Create a Project in Scan Interface Mode
Scan Interface mode enables you to use C Series modules directly from LabVIEW Real-Time.
Modules that you use in Scan Interface mode appear directly under the chassis item in the
Project Explorer window. Unlike most C Series modules, NI 951x modules are not directly
configurable from the Project Explorer window and no I/O variables are directly available
under the module.
Tip Refer to the Select Programming Mode Dialog Box topic of the CompactRIO
Reference and Procedures (Scan Interface) help file for more information about Scan
Interface mode.
Use a LabVIEW project to manage VIs, targets, and I/O modules on the development computer.
Complete the following steps to create a LabVIEW project. Depending on which version of
LabVIEW you are using the steps are slightly different.
Creating a Project in LabVIEW 2012
1. Launch LabVIEW.
2. Select File»Create Project or Project»Create Project to display the Create Project
dialog box. You can also click the Create Project button on the Getting Started window.
The Create Project dialog box includes a list of templates and sample projects you can use
to ensure that the project you create uses reliable designs and programming practices.
3. Select Blank Project from the list of templates.
4. Click Finish.
5. 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.
Creating a Project in LabVIEW 2011 SP1 or Earlier
1. Launch LabVIEW.
2. Select File»New Project or Project»New Project to display the Create Project dialog
box. You can also click the Empty Project link on the Getting Started 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.

18 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Step 3: Add Resources to the Project
1. 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.
2. Make sure that the Existing target or device radio button is selected.
3. Expand Real-Time CompactRIO.
4. Select the CompactRIO controller to add to the project and click OK.
5. If you have LabVIEW FPGA installed, the Select Programming Mode dialog box
appears. Select Scan Interface to put the system into Scan Interface mode.
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.
6. Click Discover in the Discover C Series Modules? dialog box if it appears.
7. Click Continue.
Note If you are using the NI 9144 chassis refer to Adding the EtherCAT Master
Device to the LabVIEW Project in the Setting Up a Distributed System section for
information about adding the EtherCAT master device before continuing.
8. 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.
9. Set the Scan Period to 5 ms or lower, then click OK to close the RT Target Properties
dialog box.
10. 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 12.
11. 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.

Getting Started with NI 9512 Modules and AKD Servo Drives |© National Instruments |19
Figure 12. Axis Manager Dialog Box
12. 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 13.
Figure 13. Project Explorer Window with Modules in Scan Interface Mode

20 |ni.com | Getting Started with NI 9512 Modules and AKD Servo Drives
Step 4: Configure the NI 9512 Axis
The Axis Configuration dialog box includes configuration options for stepper drive command
signals, feedback devices, motion and digital I/O, trajectory, and axis setup. Figure 14 shows the
parts of the Axis Configuration dialog box for NI 9512 C Series module. Refer to the
NI SoftMotion Module book of the LabVIEW Help for detailed information about each
configuration option.
Figure 14. 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.
Complete the following steps to configure the axis I/O settings for use with the AKD 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.
2. Configure the following settings on the General Settings page ( ).
a. Confirm that Loop Mode is set to Open-Loop. Axes configured in open-loop mode
produce step outputs but do not require feedback from the motor to verify position.
b. Set Feedback Source to Encoder 0.
c. Confirm that the Axis Enabled and Enable Drive on Transition to Active Mode
checkboxes contain checkmarks. These selections configure the axes to automatically
activate when the NI Scan Engine switches to Active mode.
Note Disable these options to prevent axes from automatically activating when the
NI Scan Engine switches to Active mode.