National Instruments C Series User manual
Getting Started with NI 9514/16
C Series Modules and
AKD Servo Drives
This document explains how to install and configure the AKD servo drives for use with the
NI 9514 and NI 9516 C Series drive interface modules.
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
Hardware Installation and Configuration ................................................................................. 4
Step 1: Set Up the Real Time System............................................................................... 5
Step 2: Connect NI 9514/16 to AKD Drive Cable to the C Series Module ..................... 5
Step 3: Mount the Drive and Connect the Protective Earth ............................................. 7
Step 4: Connect the Logic Power Supply to the NI 9514/16 to AKD Drive Cable ......... 7
Step 5: Connect the NI 9514/16 to AKD Drive Cable to the AKD Servo Drive ............. 7
Step 6: Connect the Motor and Encoder to the Drive....................................................... 9
Step 7: Connect the AC Input Power................................................................................ 9
Step 8: Connect the Drive Communication...................................................................... 11
Step 9: Confirm Drive Connections ................................................................................. 12
Software Installation and Configuration................................................................................... 12
Step 1: Install Software on and Configure the NI RT Controller..................................... 12
Step 2: Creating a Project and Adding NI RT Controller................................................. 13
A. CompactRIO Controller....................................................................................... 13
B. EtherCAT Master and NI 9144 EtherCAT Expansion Chassis ........................... 14
C. NI 9146/7/8/9 Ethernet RIO Expansion Chassis ................................................. 15
Step 3: Adding an NI SoftMotion Axis to the Project...................................................... 15
Step 4: Configure the NI 9514 or NI 9516 C Series Modules.......................................... 17
Step 5: Install AKD WorkBench and Configure the Drive .............................................. 20
Step 6: Enable and Test the Drive using LabVIEW......................................................... 27
Tips and Troubleshooting......................................................................................................... 28
The Drive Does Not Enable.............................................................................................. 28
Using an EtherCAT AKD Drive in Analog Mode ........................................................... 29
Cannot Communicate With the Drive Using Ethernet ..................................................... 29
Connecting to the PC Using a Static IP............................................................................ 30
2|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives
The Motor Responds Poorly............................................................................................. 30
Cannot See the AKD Servo Drive in the AKD WorkBench Software ............................ 30
Wiring Diagram ........................................................................................................................ 31
Where to Go From Here ...........................................................................................................32
Worldwide Support and Services ............................................................................................. 33
What You Need to Get Started
Caution Before installing the drive, review Chapter 2, Safety, of 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 9514 or NI 9516 C Series servo 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 9146/7/8/9 Ethernet RIO Expansion Chassis
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 or Ethernet RIO Expansion
Chassis
Ethernet connection and cable for the AKD servo drive
NI 9514/16 to AKD Drive Cable (Part Number 781524-01)
Kollmorgen AKD servo drive
Kollmorgen AKM or third-party servo motor and encoder
Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |3
Note AKM series servo motors available from NI contain built-in feedback 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
Note The following are the required software for the NI 9514 module. Depending
on the Real Time controller and other C Series module being used, a newer version
of software maybe needed. NI recommends to use the latest available softwares.
LabVIEW 2009 SP1 (minimum).
LabVIEW 2009 SP1 Real-Time Module (minimum).
LabVIEW 2009 SP1 NI SoftMotion Module (minimum).
NI-RIO 3.4.0 (minimum).
NI-Industrial Communications for EtherCAT® 1.2 (minimum), if you are using the NI 9144
distributed chassis.
AKD WorkBench software. Refer to the Step 1: Install Software on and Configure the
NI RT Controller section of this document for installation information.
Figure 1 shows the required hardware and software.
Figure 1. Required Hardware and Software
Ethernet
Cable
NI 9514/16 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 9514/16 Module
+24 V Power Supply
(NI PS-15 Shown)
AKD Analog
Servo Drive
4|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives
Hardware Installation and Configuration
This section covers the hardware setup for the CompactRIO system, NI 9514 or NI 9516
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
6 Feedback (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
Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |5
Step 1: Set Up the Real Time System
Complete the following steps to set up the CompactRIO hardware.
1. Refer to the Getting Started guide included with the Real-Time controller to assemble it,
connect it to power, discover it on the network, and install the software in NI MAX.
2. Install the NI 9514 or NI 9516 module in an available slot that supports High Speed
Interface (HSI) in your chassis.
Note Older model chassis, such as cRIO-902x, cRIO-907x, cRIO-908x, NI 9144,
and NI 9148, have HSI support on slots 1 through 4. Refer to your chassis
documentation for more information about HSI slot support.
Step 2: Connect NI 9514/16 to AKD Drive Cable to the
C Series Module
Connect the MDR and DSUB connectors on the NI 9514/16 to AKD Drive Cable (part number
781524-01) to the MDR and DSUB connectors on the C Series module. Figure 3 shows the
NI 9514/16 to AKD Drive Cable connectors.
Figure 3. NI 9514/16 to AKD Drive Cable Connectors
The NI 9514/16 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.
•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.
X9
MDR
Connector
DSUB
Connector
Screw Terminal
Connector
X1 3-Pin
Connector
X810-Pin
Connector
X9 DSUB
Connector
6|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives
•X1 3-pin Connector—+24 V power supply connection for the AKD servo drive provided
through the 20-pin screw terminal connector.
•Screw Terminal Connector—20-pin screw terminal connector for external I/O
connections.
Table 1 shows the screw terminal I/O connector pinout.
Table 1. NI 9514/16 to AKD Drive Cable Screw-Terminal Pinout
Pin Signal Name
1Forward Limit
2Home
3Reverse Limit
4Digital Input 0
5Vsup
6Vsup Return
7Encoder 1 Phase A+ (NI 9516 only)
8Encoder 1 Phase A- (NI 9516 only)
9Encoder 1 Phase B+ (NI 9516 only)
10 Encoder 1 Phase B- (NI 9516 only)
11 +5V OUT
12 Position Compare
13 Position Capture
14 COM
15 Reserved
16 Reserved
17 Reserved
18 Reserved
19 Reserved
20 Reserved
Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |7
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 9514/16 to AKD Drive Cable
The NI 9514/16 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 9514 or NI 9516 module.
Note Do not plug in or turn on the +24 V power supply until after you complete the
steps in the Step 8: Connect the Drive Communication section.
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 9514/16 to
AKD Drive Cable screw terminal connector.
2. Connect the +24 V power supply return (-) terminal to the Vsup Return terminal on the
NI 9514/16 to AKD Drive Cable screw terminal connector.
Step 5: Connect the NI 9514/16 to AKD Drive Cable to
the AKD Servo Drive
Connect the NI 9514/16 to AKD Drive Cable to the AKD servo drive. Refer to Figure 2 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 +24 V 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 9514/16 to AKD cable X1 connector and
insulate it.
Note The STO and +24V wires are internally connected in the NI 9514/16 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.
8|ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives
Figure 4 shows the X1 connector pin assignment and wire colors.
Figure 4. AKD X1 Connector
2. Connect the cable X9 DSUB connector to the AKD servo drive X9 DSUB connector.
3. 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 9514 and NI 9516 drive interface modules.
Figure 5. NI 9514/16 to AKD Drive Cable Connections
1 +24 V Supply, STO (X1) 2 Encoder Emulation (X9) 3 I/O Connector(X8)
+24 V (Red)
GND (Black)
STO (Brown)
X1 3-Pin
Connector
1
2
3
Getting Started with NI 9514/16 Modules and AKD Servo Drives |© National Instruments |9
Step 6: Connect the Motor and Encoder to the Drive
All Kollmorgen AKM 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 6 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 6. Motor and Encoder Connections
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 section.
1 Motor Connector (X2) 2 Feedback Connector (X10)
1
2
10 |ni.com |Getting Started with NI 9514/16 Modules and AKD Servo Drives
Figure 7 shows the location and pin assignment for the X3 connector.
Figure 7. 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 8 shows three-phase connection.
Figure 8. 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
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