NI-9505 Hardware

NI-9505 Hardware

Overview

The NI 9505 provides unique flexibility and customization. The NI 9505 works together with the LabVIEW FPGA Module to create a highly customizable motor drive or actuator amplifier. Figure 1 illustrates the functionality of the NI 9505 working in conjunction with the LabVIEW FPGA Module in a typical motion control application. Figures 2 and 3 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 labviewexamplesCompactRIOModule SpecificNI 9505 directory illustrate methods for implementing each of these loops.

The NI 9505 returns the motor or actuator current data to the LabVIEW FPGA Module for use in a current loop or for monitoring. The NI 9505 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, 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 9505. 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.

Hot-Swap Behavior

The NI 9505 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 9505 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.

Wiring the NI 9505

The NI 9505 has a 9-pin female DSUB connector that provides connections for the encoder inputs, a +5 V connection for encoder power, a connection for an emergency stop input, and a connection to COM. Refer to Table 1 for the pin assignments.

The NI 9505 also has a screw terminal connector that provides connections to a motor DC power supply and a DC brushed servo motor. Connect the positive lead of the power supply to terminal 4, VSUP, and the negative lead to terminal 3, COM. Refer to Table 2 for the terminal assignments.

Cable Requirements for EMC Compliance

Use the following guidelines when selecting cables for the NI 9505:

• Use shielded cables with a low impedance connection to chassis ground to minimize noise and signal crosstalk. 

• Tie the VSUP cable shield to chassis ground at the module side only. 

• Tie the motor cable shield to chassis ground at the motor side only. 

• Tie the encoder cable shield to COM at the encoder side only. 

• Wire encoder signals and their ground connections separately from all other connections to prevent lost encoder counts. 

• Route wires along the machine frame to reduce high frequency noise. 

• Add clamp-on ferrites to cables to further reduce emissions. 

• Add a balun to the power cable to attenuate conducted and radiated emissions.

Specifications

Overvoltage.......................................>32 V 

Reverse polarity................................-30 V

short to VSUP...................................Yes 

Temperature fault trip point ..............115 ºC (internal module temperature)

Number of inputs ..............................3 

Input type..........................................Differential or single-ended 

Voltage range ....................................0 to 5.5 VDC

E-Stop Input

Input voltage range ...........................0 to 30 V 

Input ON voltage........................3.5 to 30 V 

Input OFF voltage ......................0 to 2 V