NI 9501 Bedienungsanleitung

OPERATING INSTRUCTIONS AND SPECIFICATIONS

NI 9501

Stepper Drive

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NI 9501 Operating Instructions and Specifications 2 ni.com

This document describes how to use the National Instruments 9501

module and includes specifications and pin assignments for the

NI 9501. Visit ni.com/info and enter rdsoftwareversion to

determine which software youneed for the modules youare using.

For information about installing, configuring, and programming the

system, refer to the system documentation. Visit ni.com/info and

enter cseriesdoc for information about C Series documentation.

Note The safety guidelines and specifications in this

document are specific to the NI 9501. 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.

Safety Guidelines

Operate the NI 9501 only as described in these operating

instructions.

Hot Surface This icon denotes that the component may be

hot. Touching this component may result in bodily injury.

Safety Guidelines for Hazardous Locations

The NI 9501 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 youare installing the NI 9501 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.

Caution For Division 2 and Zone 2 applications, install

the system in an enclosure rated to at least IP 54 as

defined by IEC 60529 and EN 60529.

NI 9501 Operating Instructions and Specifications 4 ni.com

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

This equipment has been evaluated as Ex nA IIC T4 equipment

under DEMKO Certificate No. 07 ATEX 0626664X. 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 9501 in Gas Group IIC hazardous locations, you

must use the device in an NI chassis that has been evaluated as

Ex nC IIC T4, EEx nC IIC T4, Ex nA IIC T4, or Ex nL IIC T4

equipment.

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

aparticular installation, when the product is connected to a test

object, or if the product is used in residential areas. To minimize

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 To ensure compliance with the applicable

regulatory requirements, product installation requires

either special considerations or user-installed, add-on

devices. See the product installation instructions for

further information.

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.

NI 9501 Operating Instructions and Specifications 6 ni.com

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.

NI 9501 Hardware Overview

The NI 9501 is a stepper motor drive for use with 2-phase hybrid

stepper motors in either bipolar or unipolar winding configuration.

It uses an advanced PWM algorithm that reduces torque ripple,

lowers emissions, minimizes power loss, and creates smoother

motion during microstepping.

Note National Instruments offers NEMA 17 and

NEMA 23 stepper motors compatible with the NI 9501.

Go to ni.com/motion/stepper for more information

about NI stepper motors.

The NI 9501 supports software-programmable full step, half step,

and microstepping rates up to 256. When full-stepping,

a resonance occurs at low speeds, generally defined as speeds

between 50 and 150 RPM. This low-speed resonance causes

vibration and reduces the motor torque. Using microstepping

during this speed range provides much smoother motion and

higher motor torque, effectively eliminating the low-speed

resonance. At speeds over 150 RPM, the benefits of microstepping

decrease and can eventually have an overall negative impact on

performance by providing lower motor torque compared to

NI 9501 Operating Instructions and Specifications 8 ni.com

full-stepping. Refer to the NI 9501 topic in the LabVIEW Help,

available by selecting Help»LabVIEW Help, for information

about microstepping options.

The NI 9501 also provides for phase current reduction after the

motor stops moving for a certain amount of time using the Enable

Current Reduction property in software. Unlike servo motors, the

stepper motor coil remains fully energized when the motor is not

moving. This allows for strong holding torque, but generates

substantial heat in the motor. Many applications do not require

maximum holding torque when the motor is at rest, which

means that the motor is wasting power. The amount of current

reduction and delay before current reduction becomes active

is software-programmable. Refer to the NI 9501 topic in the

LabVIEW Help, available by selecting Help»LabVIEW Help,

for more information about current reduction.

Figure 1. NI 9501 Block Diagram

CPLD*

NI 9501

sup

COM

Phase A–

Phase A+

H-Bridge

Phase

B+

Phase

B–

Step

Dir

Status

FPGA

Signals

–

Isolation

* CPLD = Complex Programmable Logic Device

NI 9501 Operating Instructions and Specifications 10 ni.com

Connecting the NI 9501

The NI 9501 has a 10-terminal detachable screw-terminal

connector that provides connections for the stepper motor signals,

a motor DC power supply, COM, and chassis ground. Refer to

Figure 2 for the pin assignments.

Caution To ensure EMC compliance, special

considerations are required for all cable connections.

Refer to the Cable Requirements for EMC Compliance

section.

Note Yo umust use 2-wire ferrules to create a secure

connection when connecting more than one wire to a

single terminal on the NI 9501 screw terminal.

Caution Do not turn on or plug in the motor DC power

supply until the screw-terminal connector is fully

inserted.

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