NIOPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9505

installed on power supply inputs near power entries to 

modules and controllers. Power supply and module cables 

must be separated on opposite sides of the enclosure and 

must enter and exit through opposing enclosure walls.

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. 

Quadrature encoder signals pass through the NI 9505 and are 

processed in the LabVIEW FPGA Module for use in the position 

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.

Power

The Power LED (green) illuminates when the NI 9505 is properly 

inserted into a powered chassis.

Note The Power LED does not illuminate when the 

chassis is in sleep mode. 

VSUP

The VSUP LED (green) illuminates when the motor DC power 

supply is properly connected and powering the drive.

Disable

The Disable LED (yellow) illuminates when the drive is disabled. 

The drive is disabled by default at power-on. 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 this method.

Fault

Caution If the Fault LED is lit, determine the cause of the 

fault and correct it before enabling the drive.

The Fault LED (red) illuminates when a fault occurs. A fault 

disables the drive. Causes for fault are the following:

Caution VSUP greater than 40 V will result in damage to 

the NI 9505.

• Overvoltage

• Undervoltage

• Motor terminal (MOTOR±) short to VSUP

• Motor terminal (MOTOR±) short to COM

• Module temperature exceeds 115 ºC

• Sending commands to the motor before enabling the drive

Note Do not command motor movement until the drive is 

enabled with the Enable Drive method. Attempting to 

control the motor before it is enabled will result in a fault.

• Violating PWM minimum pulse width requirements. Refer to 

the Specifications section for more information about PWM.

Sleep Mode

This module supports a low-power sleep mode. Support for sleep 

mode at the system level depends on the chassis that the module is 

plugged into. Refer to the chassis manual for information about 

support for sleep mode. If the chassis supports sleep mode, refer 

to the software help for information about enabling sleep mode. 

Visit ni.com/info and enter cseriesdoc for information about 

C Series documentation.

Typically, when a system is in sleep mode, you cannot 

communicate with the modules. In sleep mode, the system 

consumes minimal power and may dissipate less heat than it does 

in normal mode. Refer to the Specifications section for more 

information about power consumption and thermal dissipation.

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.