Getting Started with NI 7430_7350 Motion Controllers and AKD Servo Drives

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). X is 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. Y is 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. X 9 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 1 Forward Limit 2 Home 3 Reverse Limit 4 COM† 5 +24 V OUT 6 COM† 7 NC‡ 8 NC‡ 9 NC‡ 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 s