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XtraWare User`s Manual

1. Parameter Setting Default Category N mbar Name Unit Range Setting Reference x Function Selection Basic p Pn000 Switches 0x00D0 Sell 5 3 5 E Function Selection 5 1 2 5 4 2 S Pn001 Application Switches 1 i 0090 5 5 7 s a Function Selection 5 2 8 5 2 9 5 Pn002 Application Switches 0000 5 7 2 5 a Es Function Selection B Pn003 Application Switches 3 uus 6 4 R o Function Selection 9 Pnoo6 Application Switches 3 meee d D Pn007 Function Selection i 0000 64 Application Switches 3 Pn100 Speed Loop Gain Hz 1 to 2000 40 Speed L Int I Ti 15t o peed Loop Integral Time o 6 2 10 o Pn101 Constant 0 01ms 51200 2000 D 2 Pn102 Position Loop Gain s 1to 2000 40 6 2 10 oO a o c Pn103 Inertia Ratio 0 to 10000 300 T ME t M 9 Feed Forward Speed Pn109 control o 0to100 O 6 2 2 Pn110 Online Autotuning Switches 0010 6 3 4 o Pn190 Motor selection switch 0000 5 8 2 E o Pni91 Motor selection switch i 0000 5 8 5 25 Pulses number of A quad B pulses 2 Pn192 encddar ae 0 9999 2048 5 8 34 Category EN Name Unit Pando SUP Reference pulse Pniga Pulses numberofAquadB 16600 o 419 lo 5 8 encoder High rev counts Pn199 Encoder counts per Scale scale 1 256 1 Pitch of linear motor pitch Pn1A0 Globa
2. an at irae These are the fields in the panes of the Parameters window from left to right e Group Parameter group selection e Parameter status indication An asterisk in this column indicates that the value of the parameter has been changed in the PC but has not been downloaded to the XtraDrive e Parameter ID The parameter number e Value Current parameter value Ox indicates hexadecimal values e Min Minimum value allowed for the parameter e Max Maximum value allowed for the parameter e Units The units used for the parameter e Default The default value for the parameter e Description A short description of the parameter functionality 19 4 2 3 Setting Parameters Online Right click on the row of the parameter you wish to change A pop up window appears Figure 14 displaying the current value of the parameter Figure 14 Parameter Setting Window Pn1AC xj Use the buttons below this value to change the value of the parameter Note that the changed value is sent on line to the XtraDrive Some values take effect immediately others are sent to the driver but take effect only after the power is cycled The Need Reset indicator appears in the status line when this action is necessary 4 2 4 Setting Parameters Offline Double click on the value field of the desired parameter and write the desired value The new value is not sent to the driver a
3. eee 31 4 7 2 Running the Mechanical Analysis eeessssee 33 5 Parameter Referente oov nov eI FORE YN neste 34 6 Command Referente iei esncessesknei ste tea b 3S PYEYH REF AREEES EY eS UY SS OPES AREE Re ERE ea ea EE e ERU 49 6 1 gt IAW are Commands aescontneesecirencxtadipdentcd Uv dec pecora Etape PEU 53 ACCELERATION Profiles iei i bo OE a XR SR PULL OH va OR BR 53 CALL Program Flow CONO uoce eost tata deve Esta verit a dutue 54 CONTROL SOE VO oucoiisca neni scue neos beQs nva aC Ip Eva berlE nsa Een nens be Re pA x MERopuRe MEA 55 lbs S EE comm cC ERES 56 END Program Flow Control eree ae p tnit are Ide tvRds 56 57 MEME o T 57 C MEM i EE 57 GOD M il ineeiieo iaie avant EEEE AREE AEE EE 59 GOH Motoi erae a a A EEEa 60 GO TO Program Flow Contrl arccccccdss ccatocnnecxcsdeeqaadateeacetedecsnceeearins 6l HOME Commands cis coresuncoiannsiprontademminasintonteduayeriadiaguudidnmtausintentaduats 62 HARD HOME Hotne iiiie e rr Een P eR Ee P a a i 62 HOME E HOME ee oer reete eie ee iBve esed eren SNEEN 63 HOME SW JHOme eter e Pet Eee etr etre teer Re Renee ReRDE 63 HOMES W 26 gt HOME vetere rate cnee rte EN ve eun vs erede nexu E RE ETE 64 IF Program Flow Control uas tti ttiv Eoo ipi Reed depo seras 64 IF INPUT Program Flow Control os ee e Eo rtDbR RIP ER Dono Ee ule Min iEE 66 INPUT CASB Program Flow COBLOL eo esto eet hne tie 67 JERK TIME Profile eg oa ecient nis
4. 111 MAIN OFFICE USA OFFICE 13 Hamelacha St Mr Tomas Rincon Afeq Industrial Estate 1651 Pondside Drive Rosh Ha ayin 48091 Statesboro GA 30458 ISRAEL USA Tel 972 3 9004114 Tel 1 912 871 7691 Fax 972 3 9030412 Mobile 1 912 531 7691 info yetmotion com trincon yetmotion com For more information refer to our web site www yetmotion com Specifications are subject to change without notice due to ongoing product modifications and improvements VA XtraWare Version 2 6 for XtraDrive Version 2 9 Catalog No 8U0109 Rev C thd Fhagk Pe eae dh pP
5. Caption Enter the caption to be displayed in the graph Chart Toolbar Figure 22 Chart Toolbar Me GI wg d Save Chart Up one zoom level Start Trace Enable Measure Show markers f Save graph as picture a m Description Saves a copy of the on screen trace graph to a specified file Loads a trace data file Restores the previous zoom level Restores the area shown in the window to its normal size Starts the trigger searching Click the icon again to cancel the search Measures the delta values of X Y1 and Y2 by right clicking and dragging the mouse The values are displayed on the respective axes Displays information on current cursor location Toggles graph units between user units and encoder counts Saves graph in bmp format enabling you to view the graph without the need for the XtraWare software Saves graph data in Excel format csv 28 Zoom A view of an area selected by the mouse can be magnified Zoom in on an area using the following procedure 1 Position the mouse at one corner of the area you want to select and drag while left clicking to the opposite corner A white area will appear around the selected area 2 Release the left mouse button The selected area of the graph is enlarged Click to view the original graph 4 Click g to view the previous zoom level Figure 23 Chart Zoom Feature Bacccuiiswgde Sreo Tage 5 fit Tisi
6. z Sue e Set the parameters required for the command e Click Program to add the command to the program in the Program window It is possible to edit the parameters of commands already listed in the Program window e Double click on a command in the Program window to open the command s pop up window e Edit the parameters as desired and click Program To edit the order of the commands listed in the Program window use the standard Windows operations Ctrl X cut Ctrl C copy and Ctrl V paste When you have completed the program it must be downloaded to the XtraDrive PRG click the Download Program icon a 4 3 2 Running a Program When a program has been completed and downloaded it can be run using either of the following methods e Click the RUN icon on the toolbar to run the program from the first line e In Immediate and Sequential modes select the RUN command from the Program Flow Control commands in the Workspace window In the pop up window type in the label number from which you want the program to run e After downloading a user program to the driver it is possible to run it automatically every time the driver turns ON by setting the parameter Pn2CC to 1 For further information see Section 5 10 of the XtraDrive User Manual 4 4 Program Modes XtraDrive has three programming modes e Program e Immediate e Sequential 22 ees PU CHR RE ITE RT Cree TEE F DANCE uid QNI 7 ee Se Ge CE oe
7. Pn307 Constant 0 01ms 0 to 65535 40 Speed Feedback Filter Time Pn308 Constant 0 01ms 0 to 65535 0 o Pn380 Speed1 mm s 0 5000 10 35g 3 Pn381 Speed mm s 0 5000 20 o 558 Pn382 Speed3 mm s 0 5000 30 a Pn383 Jog Speed mm s 0 5000 40 0 1V Pn400 Eug Reference Input rated 915109 30 5 2 7 torque Torque Reference Filter Pn401 dime Constant 0 01ms 0 to 65535 100 6 2 2 Pn402 Forward Torque Limit 96 0to800 800 5 1 3 D Pn403 Reverse Torque Limit 0to800 800 5 1 3 o S Pn404 jT 010800 100 5 1 3 Ft imit a 9 Pn405 po ose d 010800 100 5 1 8 o imit Pn406 Emergency Stop Torque 96 Oto800 800 5 1 2 Speed Limit during Torque Pn407 Control rpm 0 to 10000 10000 5 2 7 Pn408 Torque Function Switches 0000 6 2 9 Pn409 Notch Filter Frequency Hz 50 to 2000 2000 6 2 9 Pn40A Notch Filter width Hz 70 to 1000 70 6 2 9 Pn500 Positioning Completed Width ref units 0 to 250 7 5 5 3 s Pn501 Zero Clamp Level rpm O to 10000 10 5 4 3 S Pn502 Rotation Detection Level rpm 1 to 10000 20 5 5 5 oO iai o Speed Coincidence Signal 9 Pn503 Output Width rpm 0to100 10 5 5 4 5 Pn504 NEAR Signal Width ref units 1 to 250 7 5 5 8 o D Pn505 Overflow Level riam 1 to 32767 1024 6 2 1 37 Parameter Setting Default Category Number Name Unit Range Setting Reference Brake Reference Servo OFF Pn506 Delay Time 10ms 0 to 50 0
8. for details on this option 3 2 6 Maintenance Menu The Maintenance Menu options allow you to automatically or manually tune the control loops to open close a log file and to send a command to the XtraWare device Maintenance Menu Options Option icon Description Autotuning e Automatically detects control loop gains based on actual system measurements and tunes the XtraDrive driver accordingly See Section 4 5 Tuning the Control Loops for full details Mechanical E The mechanical analysis FFT option samples and analyzes Analysis 2000 points to produce the speed response to sinusoidal torque frequencies command in the frequency domain This is displayed as a graph of the gain dB and phase angle degree versus frequency Hz in log scale According to the graph the relevant parameters can then be adjusted in order to reduce the effect of the mechanical restrictions See Section 4 7 Mechanical Analysis for full details Option icon Description Open Log Starts a new log file and inserts all the commands sent via File communication into the log file The log file is used mainly for debugging purposes When this option is selected the Open Log File dialog box is displayed Figure 6 Figure 6 Open Log File Dialog Box taka a om aa My Fiches Select a directory and select the name of an existing file or type in a name to create a new log file W
9. 4 Save Project Window Tu du OS ai Heave Demo MDA In the File name field type in a name for the project and click Save Save Saves the current project under a new name When this option is Project as selected the Save Project window is opened Close Closes the current project If the project has not been saved the Project following message is displayed Save changes to project name Click Save to save the project Download 8r Downloads a program to the XtraDrive driver Program Download at Downloads a set of parameters to the XtraDrive driver Parameters Upload af Uploads new data from the XtraDrive driver Print Prints the current program on the printer Program Option Icon Description Print Prints the parameter list and their values on the printer The Parameters parameters are printed in tabular format Print Charts Prints the currently displayed chart and its corresponding data See Section 4 6 4 Printing a Chart for further information Exit Exits from XtraWare 3 2 2 Edit Menu Edit Menu options are used to edit the command order of a program in the Program window Edit Menu Options Option Description Cut Deletes selected text or lines from the program and places it on the Ctrl X Windows and XtraWare clipboards Copy Places a copy of selected text or lines from the program on the Windows Ctrl C and XtraWare clipboard Paste Inserts the
10. 4 1 Connecting the Driver to the PC uoa oat descente ideo Sec dien ei ie L7 4 1 1 Communication Settings idees Vean ra 17 2 Parameter Contro lessies ari pdec aud oe dead tuae dO n E MERE cea 18 4 2 1 Uploading and Downloading Parameters 18 4 2 2 Viewing Parameter Settings eese 19 4 2 3 Setting Parameters Onlime iii eti e th eed 20 4 2 4 Setting Parameters Offline sese 20 43 Programming the XIADEVseieucipsecdsuue ia npa decise nci pde deua ge 20 4 3 1 Writing PrOBgr tr iii ecccccecece esee iecore cede de teo eed 20 4 3 2 Running a Program seeeeseeeeeeeeeeeee enne 22 4A Progra Modes mm 22 4 4 1 Program Mode erre erts testo ropes terere tuos eea o 23 4 4 2 Immediate Modern ere ees 23 4 4 3 sequential Mode 2 eiie decide iced 23 4 5 Dunne the Control LoODSag au eeiescpuectud hue cadent sli oan 23 4 5 1 Manual Tuning einen eet i eate Seduce eee te 24 4 5 2 DUUM 24 A dai Bhai PIi hea uir pP n Midi rer ee ee ore ren eee aire Oren eon a DE 25 4 6 1 The Chart Main Window cccccccccccccccceeececeeeeeeeeeeeeeeeeeeeeess 25 4 6 2 Graph Seu gS nonne enden edo ATTE Gaede 2l 4 6 3 Starano he Trace n toot atetotoo to bd oto dor b t Eoo trs 29 4 6 4 Printing a C DEUS ope pter a Fergie erede A foras 30 4 7 Mechanica dl 815 eiie sree oie ere acti ide Teena ibl mei rere 30 4 7 1 Mechanical Analysis Window
11. 5 4 4 Brake Reference Output Pn507 Speed Level rpm 0 to 10000 100 5 4 4 Timing for Brake Reference Pn508 Output during Motor 10ms 10to 100 50 5 4 4 Operation Pn509 Momentary Hold Time ms 20 to 1000 20 5 5 9 o Pn50A Input Signal Selections 1 8881 5 3 3 E Pn50B Input Signal Selections 2 8848 5 3 3 Pn50C Input Signal Selections 3 8888 5 3 3 oO E Pn50D Input Signal Selections 4 8888 5 3 3 S Pn50E Output Signal Selections 1 3000 5 3 4 g Pn50F Output Signal Selections 2 0000 5 3 4 s Pn510 Output Signal Selections 3 0000 5 3 4 Reserved parameter do not Pn511 change 8888 Output Signal Reversal Pn512 Settings 0000 5 3 4 Pn580 Zero clamp level mm s 0 5000 10 gg Pn581 Motion detection level mm s 1 5000 20 S D i i F E 9 Pn582 Speed coincidence signal rime 0 5000 10 oD S output width Eng Pn583 Brake reference output mmis 0 5000 100 speed level Regenerative Resistor 0 to capa sae Pn600 Capacity 10W city 0 5 6 1 lt i oa 2 Pn601 Reserved parameter do not 0 to capa 0 i change city After changing this parameter cycle the main circuit and control power supplies to enable the new settings The multi turn limit is valid only when parameter Pn002 2 Absolute Encoder Usage is set to 2 The value will be processed in the range of 432767 to 32768 for other settings even if the value is changed There is no need to change the multi turn limit exc
12. CR N 0 2 6 5 4 8 0 9 4 8 CR Response Message Format in cases of no fault Nam Id1 Id2 C1 C2 Inx 1 Inx 2 Vi V2 V3 V4 V5 V6 V7 V8 N O0 2 6 5 4 8 JO 9 F JF F F F 0 6 0 where a 0 axis number 0 m 2 Response type is Answer for data request command Id1 6 id2 5 Message identification contains the same value as master message identification C1 4 C228 Response message Operational Code Inx 1 20 Inx 2 9 Variable Position Actual value ID 101 V1 V8 FFFFF060 Variable value Since Position Actual value is signed and the leftmost bit is 1 the number is negative and equals 4000 decimal 1 3 S2 D 0x 100 0x02 0x65 0x48 0x09 0xFF 0xFF 0xF0 0x60 OxFA 7 3 Troubleshooting Problem Possible Cause Solution Unable to establish communication with XtraDrive Communication cable does not match XtraDrive requirements See cable schema in XtraDrive User Manual Appendix C 11 Communication setting is different than XtraDrive requirements See Section 4 1 1 Communication Settings XtraDrive axis address is different than the one referred to by the master Match axis address a second byte to XtraDrive axis address Pn000 2 XtraWare or any other program that communicates with the COM port is on line Clos
13. Input Voltage 0 01 V Pn300 Demand Speed Motor Rated Speed Parameter of motor PnF05 low bite For example the rated speed is 3000 rpm Pn300 is set to 600 6V if the voltage generated is 3V the speed will be 1500 rpm Note Movement acceleration is according to the Acceleration and Jerk Time profiles set by the user The command mode changes to Analog Speed mode 4 Program Sequential TORQUE ANALOG SPEED CONTROL ANALOG INPUT 80 SPEED Syntax Units Description Syntax Parameters Used by Example Example Explanation Modes Notes See Also Profile SPEED n User units defined by the user see Chapter 5 in the XtraDrive User Manual Sets the profile speed value n Default speed in speed units can be defined by the user MOVE MOVE D GO GO D only if command time is set to 1 LABEL 1 CONTROL ON DELAY 500 SPEED 50 MOVE 3600 1 SPEED 200 MOVE D 3600 1 CONTROL OFF END Servo enabled speed profile is set to 50uu first movement occurs speed profile is set to 200uu second movement which uses the new speed profile is faster and in the opposite direction the target value is negative servo disabled end of program Program Immediate Sequential Not used in SLIDE motion or when using motion commands with time the speed is calculated internally and can be greater than the default speed MOVE MOVE D MOVE H MOV
14. Invalid output index in the SET OUT command 146 Autotuning already in progress The Autotuning process is already in progress It cannot be restarted till the process ends 149 Unable to switch CONTROL ON 151 Positive Over Travel 152 Negative Over Travel Can t perform motion Reconfigure New move enable digital input Pn2D1 1 255 Fault buffer full Contact your distributor or YET representative 106 X MEC DEC ad See ee d Uu Rey e HR RT ITE S ET CIT TEE DS Ree ve Ld ett Wee PR Sadoc C RA CE 9 List of System Variables Name Variable Unit Read Min Max Description Group ID Dec Only Analog Speed 42 0 196 0f Yes 2147483648 2147483647 Motor speed when an Others max analog input is used as a reference speed Analog Torque 41 0 196 0f Yes 2147483648 2147483647 Motor torque when an Others max analog input is used as a reference torque Application_gain 27 96 Yes 0 1000 Gain factor Can be Others changed during application running COW Torque limit 20 0 196 0f Yes 1000 1000 Maximum torque to be Torque max applied in CCW Mode and direction as of the Torque torque limit set by Pn403 Related Clock 37 ms No 2147483648 2147483647 System clock Others Command_mode 26 Yes 1 2 Mode of execution of Others command 1 Sequential 2 Program CW_Torque_limit 19 0 1 of Yes 1000 1000 Maximum torque to be Torque max applied in CW direction Mode and as of the torque limit
15. LAS mE SM Sinne Taga Somad O Date Chinga 1 Vanstier Trrelra 5n Wil Sreoolhed Tegai Speed 7 Ere 2 Pasties E E zl yi a Errti i iz rel I1 COH 2 Fu va LLEM Trigger A trigger is a device for designating the timing of data access For example it is possible to set conditions such as After COIN signal goes ON or After the speed feedback exceeds 100 rpm and thereby make detailed reference of the servo operation at the time these conditions occur Trigger conditions are designated as any one of the following four items Source Trigger object selection Specify the object to which the trigger is applied The selected objects can either be from the designated in Y1 and Y2 and I O 1 and I O 2 Figure 20 Trigger Selection 1 Trigger Smoothed Target Speed 5 moothed Target Spee Pre triqger Slope Edge Type Specify the direction of change when a trigger is applied 26 Figure 21 Trigger Selection 2 Trigger Source Smoothed Target Speed Slope Data Change No trigger Pre trigger ek edge alling edge Data Change As the type of edge select e Rising Edge The trigger is detected when the trigger object data rises from below the trigger Level to above the trigger Level i e when the change is from LO to HI in I O e Falling Edge The trigger is detected when the trigger object data falls from above the trigger Level to below
16. LOOP n v 1 Repeats a portion of code beginning at a label for a specified number of times Up to four loops may be nested within one another but may not cross one another n The levels of nesting within this loop up to 4 V The number of cycles of this loop to perform l The label to which this loop belongs Three loops with two nesting levels is shown below the command lines have been separated for clarity Loops 2 and 3 are nested in Loop 1 ABE MOV DELAY 200 LOOP 1 10 2 oop 1 F an LOOP 1 10 3 LOOP 251 END The program has two nesting levels First level Loop 2 and Loop 3 Second level Loop1 Ten movements to the positive side will occur first loop marked by LABEL 2 then ten to the negative side second loop marked by LABEL 3 The two sets of movements will be repeated 5 times 2nd nesting level that contains the two 1st nesting level loops Program LABEL 70 MOVE Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Motion MOVE target lt time gt target user units defined by the user see Chapter 5 in the XtraDrive User Manual time msec Moves the motor to target relative coordinates in the specified time This command automatically changes Motion mode to Position mode The controller calculates the speed of the motor based on the defau
17. Nore td Axis Address fo x Cancel 1 Select the Setting option from the Communication menu The Communication Settings window Figure 12 opens 2 Setthe Port to the correct COM port of your PC the default is COMI on most computers Set the Axis Address 4 Allother communication parameters are predefined and are for display purposes only 17 AME EIU SA TO PUTENT CITRUS DEN Gun NN pA 7 G5 uud bc Lcd CDM du ME b dcl Baud Rate 19200 Parity Even Data Bits 7 Stop bits 1 Flow Control None Oo o0 0 Oo If you set the communication to Online and the communication indicator in the status line changes to online for a few seconds and then reverts to Offline this indicates that communication between XtraWare and the XtraDrive has not been established In such cases check the following e The driver is powered on e The communication cable is connected both to the PC and to the XtraDrive e Select the Setting option from the Communication menu and make sure that the Port is set to the correct COM port of your PC the default is COMI on most computers 4 2 Parameter Control In order to control the motor and the peripheral system such as I O lines the XtraDrive requires setting of certain parameters in its memory Some parameters are automatically set by the system based on the automatic motor identification when applicable and some must be set by the user The parameters define
18. R 105 IF 4 1U 1 VI 4 1U 1U 108 IF INPUT 4 1U 1 U 1U 1U 1U 97 INPUT CASE 4 4U 4U 74 JERK TIME 2 3 4 4U z 88 LABEL 4 1U s E E 75 LOOP 4 2U 4U 1U 113 MOVE 3 4 4 4 129 MOVE D 3 4 4 4 z 118 MOVE H 3 4 4 119 MOVE R 3 4 4 3 0 POLLING 3 i 101 PT_FOLLOWER 334 1U B 77 RETURN 4 2 z 78 RUN 2 3 1U z 79 SET OUT 2 3 4 1U 1U 7 80 SET_PAR 2 3 2U 2U z 2 81 SET VAR 2 3 4 1U 4 a 95 SET ZERO POSITION 2 3 4 115 SLIDE 3 4 4 i 102 SLIDE ANALOG 3 4 2 83 SPEED 2 3 4 4U 100 SPEED CONTROL 3 4 1U x 82 START 4 z 84 STOP 23334 1U 99 STOP MOTION 2 3 4 z 116 TORQUE 3 4 2 E 103 TORQUE ANALOG 3 4 i 87 TORQUE LIMITS 23334 2 2 z 145 WAIT EXACT 3 4 4 2 110 Op Code Name posee Arg 1 Arg 2 Arg 3 Arg 4 Arg 5 146 WAIT FOR START 3 4 i 109 WAIT INPUT 34 1U TUSCE 148 WAIT STOP 3 4 4 s p 110 WAIT_VAR 3 4 1U Tu l4 1 Mode of operation 2 Immediate 3 Sequential 4 Program U Unsigned integer 2 Argument size Number of data bytes of each argument Each byte is 2 hexadecimal digits e g 01011111 5Fx0 3 Condition codes Sign Condition Setting Equal to Greater than Smaller than Greater than or equal to wIN O Smaller than or equal to Not equal to
19. Rud ue hare ese cu maps on bisque teens 68 LABEL Program Flow CODUOL a a a Der adacdrdin uda ilv sq as 69 LOOP Program Flow Control eade d tei bgetu rea NV cu nurse INE EE 70 MOVE vow sm 71 MOVE D IMEI Sete casas E tu ER ces een aaa Pe ir a bari Ead 712 MOVE H Motoi seene o baa E A 13 MOVER Motorene e E e R ted UM 14 PT FOLLOWER NOVO onde DO pn up m REA 75 RETURN Program Flow CODIGO uel uc recipi gelu Ren e e rue E 76 RUN Program Flow Control esurire Denm ard vn is a rua tU TRE 76 ZA 4 Ph PIE eas dole pP SET OUT CUI rr TI SEL VAR M tlab le2 estere EXPE Ee He ERE UERE cine RESERVE EU UY ee 78 SET ZERO POSILION TAO uicissim p Xn a Vn 79 SLIDE TOMO MW vnceivencooddes eer tebuirsCes o gFRC Re kepra ae crga EE EE NEE 79 SLIDE ANALOG MOLDOR c5 Gdaniianeaainsaeonuiuaunaan 80 SPEED Profiler desee eb eoa bu obit pinna Eu i EE 81 SPEED CONTROL JMOLQU S eee lpeve ue nd direi e red ion qun 82 SLARI MOHON eeen a uEnad S EDI MN Mid pup NC dU UNE 82 SLOP DT denied nace Gundam ambi i ia Di nU 83 STOP MOTION Motio ssassn cines adipi sen exa RM deR pend atta EU S 83 TORQUE MOON eese pega Rr OE aD uet EEI OE ah 84 TORQUE ANALOG MOD ipti pna EY REM MAS M ORRE Or Rt RA E RV RUE 85 TORQUE LIMITS SEVO cocinar OR REY Ye NES E Rea rS Yee ede 86 MODI EXACT Wd s geo SET Met E ES Ete E ttd 86 WAIT FOR START W lt assenevesaxaatevivissedsDnseMdestvdrasha re nerd abad 87 WAIL INPUT Wail rr E 87 WAM STOP Waiters E um nm e
20. S1 S2 CR where 95 a 2 axis number 2 m 3 Sequential mode Id1 0 id2 0 ignore message ID C127 C2 1 command operational code 0x71 P1 P2 P16 00000258000003E8 600 0x258 and 1000 0x3E8 Each command parameter has 8 digits 122 S227 Ox 100 0x23 00 0x7 1 00 00 0x02 0x58 00 00 0x03 0xE8 OxFFFFFFFFFFFFFF27 Since only the last two digits are considered S1S2 0x27 7 2 3 Response Message All master messages except broadcast messages are responded to by an XtraDrive response message Format N A m Id1 Id2 Answer S1 S2 CR Description XtraDrive response message start symbol Constant value Range N A Description Axis address The response message holds the same axis address as the original message Range 0x0 OxF m Description Response type Range 0 Acknowledge without Fault Acknowledge with Fault 2 Response for data request command 3 Acknowledge with watch variables field 5 Program upload 96 Id1 and Id2 Description Message Identification in case of Fault Response type m 1 Otherwise no fault the Message Identification is set to 0x00 two bytes for two digits If a fault is related to a specific command message Id1 and Id2 contain the Message Identification as sent by the master Since the range is greater than OxF two bytes are re
21. Starts driver synchronization with external pulses input see the diagram in the MOVE R command above The acceleration is set by the default acceleration value and speed is limited by the default speed value The default speed must be set to a higher value than the master speed The command mode automatically changes to Pulse Train Input mode C3 Syntax switch ON Enables pulse train follower Faramerens Off Disables pulse train follower Modes Program Immediate Sequential See Also MOVE_R Variables Follower_synchronized flag set to 1 when pulse train is synchronized with motion Follower_position_offset Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Related Pn200 Determines the reference pulse form Parameters Pn202 Pn203 The number of received pulses is multiplied by the electronic gear ration defined by the user Pn2A2 Pn2A3 Pn2A4 Pn2A5 Motion profile defaults Pn2C4 Synchronizes window for pulse train Defines the difference between the Target position and actual demand value where the Follower synchronized flag is set to True 75 RETURN Syntax Description Parameters Example Example Explanation Modes See Also RUN Syntax Description Syntax Parameters Modes See Also Program Flow Control RETURN Returns from a subroutine to the command following the CALL that called this subroutine None LABEL 1 CONTRO
22. XtraDrive User Manual Enables change of the target while the motor is still in motion This is unlike the GO and GO D commands where every command is executed only after the previous one has ended After the GO and GO D commands the motor comes to a full stop The motion profile is calculated according to the Command profiles set by the user i e Speed Acceleration and Jerk time Automatically changes Motion mode to Hunting Position mode 1 target The specified target in absolute coordinates SET ZERO POSITION SPEED 1500 GO H 60000 GO H 1000000 WAIT VAR Position actual value 800000 SPEED 500 END The speed is set to 1500 rpm and movement commences to a destination of 600 000 user units While in motion the destination is changed to 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm Program Sequential MOVE H Variables Max Profile Velocity Profile Velocity Max Profile Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 60 GO TO Syntax Description Parameters Example 1 Example 1 Explanation Example 2 Example 2 Explanation Modes See Also Program Flow Control GO TO n Changes the flow of the program by specifying a label to jump to n The number of the label number to jump to LABEL 1 MOVE 3600 500 MOVE 3600 500 GO TO 1 An endless loop applicat
23. a motion according to the SPEED and ACCELERATION defined by the parameters and variables The hunting algorithm causes the motor position to hunt the moving target Pulse Train A reference position command is given by pulse train from an external source MOVE R PT FOLLOWER Analog Speed A reference speed command is given by analog input from an external source and the position control loop is closed on the reference value SLIDE ANALOG Analog Torque A reference torque command is given by analog input from an external source and the position control loop is closed on the reference value TORQUE ANALOG Motion mode name Modes of operation value POSITION 1 VELOCITY 3 TORQUE 4 HOMING 6 SPEED CONTROL 0 HUNTING 1 PULSE TRAIN 3 ANALOG_SPEED 4 ANALOG_TORQUE 5 Motion Command Buffer MCB All motion commands are executed through the MCB The motion buffer can contain commands from only one motion mode at a time For example if the user sends GO and MOVE commands followed by a SLIDE command the buffer will first flush the motion commands before executing the SLIDE command 52 6 1 XtraWare Commands ACCELERATION Profile Syntax ACCELERATION lt n gt Units Acceleration units defined by the user see Chapter 5 in the XtraDrive User Manual Description Predefined value Sets the accelerati
24. condition is True the next program line is executed Otherwise the next program line is skipped input mask is used to define which inputs are detected and which are ignored 1 detected 0 ignore For example if lt input mask is set to 5 in binary 0101 only inputs 0 2 are checked the rest are ignored Input Mask 0 0 0 1 0 1 input state defines the logical combination to be detected as True For example if input state is set to 4 in binary 0100 True means input 0 OFF input 1 OFF input 2 ON and input 3 OFF Input State 0 0 0 1 0 1 Input mask Input Mask decimal value Define which inputs are detected and which are ignored 1 check 0 ignore Input state Input State decimal value A bit string represents the digital input state The leftmost is input O related to pin 40 on CNI etc The eighth bit is not in use LABEL 1 INPUT CASE 7 2 MOVE 4096 1 GO TO 1 END input mask is 7 in binary is 0011 i e check inputs 0 1 2 and ignore the rest input state is 2 in binary is 0010 True means input 0 is OFF input 1 is ON and input 2 is OFF If the condition is true proceed to the MOVE command Otherwise skip the next command and jump to GO TO command Program IF INPUT 67 JERK TIME Syntax Range Description Parameters Used by Example Modes Note See Also Profile JERK
25. contents of the XtraWare clipboard into the program Ctrl V 3 2 3 View Menu The View Menu options show hide the windows you want displayed on the XtraWare screen View Menu Options Option Icon Description Program Displays hides the Program window Parameters Displays hides the Parameters window Workspace Displays hides the Workspace window History Displays hides the History window Charts Opens the Charts window See Section 4 6 Charts for a E description of this window s operation Option Icon Description Variable amp x Opens the Variables window Figure 5 Figure 5 Variables Window ariables Ioj xl Name Wale Variable list Get Venable Add To watch Name it a E Motion Command Variables Target position Position Unit Max_profile_velocity Speed Units Frofile_velocity Speed Units d Toolbar Displays hides the toolbar Status bar Displays hides the status bar 3 2 4 Run Menu The Run Menu options allow you to control the program running on the XtraDrive driver Run Menu Options Option Icon Description Run m Runs the program immediately Program Stop m Stops the program immediately Program Servo ON Switches the XtraDrive driver ON i e in control In this mode the driver holds the motor in position under various load conditions even when
26. effective torque in 10sec cycle Uno0C Input reference pulse counter Displayed in hexadecimal Un00D Feedback pulse counter Displayed in hexadecimal Not used in serial communication command 48 6 Command Reference This chapter contains an alphabetical list of e the commands available for writing a program in the XtraWare system e the commands available in the serial communication protocol The following information is presented for the commands Command Name The name of the command Command Group The group to which the command belongs e Syntax The format in which the command should be written e Units The units of the command value if applicable e Range The range of the command value if applicable All command values are limited to 2 31 2e9 except where another value is specified in the command description e Description A detailed description of the command e Syntax Parameters A description of the parameters used in the command syntax e Example An example that shows the use of the command e Example Explanation A concise explanation of the example e Modes Modes in which the command is available For details of the available modes see Section 4 4 Program Modes Information on how commands are executed in the different modes is provided below e Notes Additional information that is useful to know for using this command e See Also A list of additional commands and or parame
27. is recommended to first set a low torque value If the machine hard stop is not found gradually increase the torque value torque The torque limit and torque indication for finding the Home position 0 1 of rated speed The speed and direction of searching for the Hard stop speed user units Program Sequential HOME SW HOME SW C HOME C 62 HOME C Syntax Description Syntax Parameters Modes See Also HOME SW Syntax Description Syntax Parameters Modes See Also Related Parameters Home HOME C speedi Sets the home position using the encoder C pulse The motor moves at speed1 to the C pulse and only then does the encoder counter zero and the motor decelerate to stop The motor stops after the C pulse Use the GO or GO D commands to set the motor at the zero position speedl The speed and direction of searching for the C pulse speed user units Program Sequential HOME SW HOME SW C HARD HOME Home HOME SW speedl lt speed2 gt Sets the home position using the home switch The motor moves at speed to the home switch and then changes direction and moves at speed2 until it is no longer located on the home switch Only then does the encoder counter zero and the motor decelerates to stop The motor does not stop at the zero position Use the GO or GO D command to set the motor at the zero position speed1 and speed2 must have opposite signs i e the moveme
28. percentage Note If new versions of the PC support files are needed to install XtraWare a window will appear asking whether to overwrite the current version or to cancel the installation XtraWare may not run correctly if the new versions of the support files are not installed 3 The Main Screen Interface This chapter describes the XtraWare main screen which comprises a main toolbar menus and several windows A sample main screen is shown in Figure 1 below For clarity the screen has been divided into separate elements As Figure 1 Sample Main Screen knas lian LIP a cii sa m D a i a e 3 1 Title Bar A The XtraWare title bar displays the name of the currently opened project file 3 2 Menu Bar B Toolbar C The XtraWare menu bar provides access to the XtraWare menus File Edit View Run Communication Maintenance Window and Help The toolbar is located immediately beneath the menu bar It comprises shortcut icons to the most commonly used options in XtraWare In the following descriptions of the menu options the icons where applicable are listed next to the options Note In the different modes some of the menu options are disabled grayed and cannot be accessed Similarly disabled icons indicate that communication is offline 3 2 File Menu A project contains all the data currently active in the XtraWare such as the user program parameter settings and definitions The File Menu
29. pri 3 1 Sree Tape Speed TO ive uz Pos Enca 18 va Ae Coen DEN ae COEN iD ir 4 6 3 Starting the Trace In the Chart main window click the Start Trace icon An illustration showing XtraWare waiting for the trigger appears This illustration is displayed until the set trigger conditions are met Click Start Trace again to stop waiting for the trigger When the conditions are met and the trigger is applied a pop up message appears Press Cancel if you want to halt the data sampling process The Chart main window is displayed when the specified data are obtained 29 Notes 1 Sometimes the trigger cannot be detected in under 2ms due to the relationship of the detection period 2 Ifthe sampling time is increased XtraWare may continue to wait for the trigger even after the trigger has been applied XtraWare waits because data for the sampling time is saved in the XtraDrive after the trigger has been applied 4 6 4 Printing a Chart The chart and data of the Chart main window can be printed To do so select the Print Chart option from the File menu while the chart is open 4 7 Mechanical Analysis Controlling a system amplifier motor and load requires knowing its mechanical restrictions such as resonance and anti resonance frequencies The Mechanical Analysis FFT option samples and analyzes 2000 points to produce the speed response to sinusoidal torque frequencies command in the frequency domain This
30. tab and entering values for the commands parameters See Section 4 3 1 Writing a Program for details on how to write a program To change the value of a command s parameter after it has been added to the program double click on the command line to open its window and enter a new value s 14 Figure 10 Program Window 5 Program XtraDriveDemo BE LeeL 1 2 SET OUT 2 On S SET VAR 25 1 4 WAIT_INPUT 1 1 12 MOVE 65536 48 13 IF INPUT 1 gt 3 4 3 History Window The History window presents a list of all the commands that have been downloaded or sent in Immediate mode to the XtraDrive driver For each command the following information is displayed Name Description ID A sequential number assigned to the command Command The name of the command executed Operation Mode The operation mode Program Immediate Sequential active when the command was issued 3 4 4 Parameters Window Each project in the XtraWare system comprises a program and parameters How to write an XtraWare program is described in detail in Section 4 3 1 Writing a Program The XtraWare parameters are divided into different parameter groups and are displayed in the Parameters window Figure 11 For details on how to set parameters see Section 4 2 3 Setting Parameters Online and Section 4 2 4 Setting Parameters Offline A full list of all the parameters available in the XtraDri
31. time set by the user is shorter than the delay time the program will not wait until the motion has completed before continuing Therefore in order to synchronize the program with completion of the motion use the MOVE D or GO D command Program Flow Control END Terminates the user program currently being executed None LABEL 1 WAIT INPUT 1 1 1 CALL 2 END LABEL 2 SET OUT 1 ON RETURN Waits for INPUT 1 to be ON and then calls subroutine that sets OUTPUT 1 to ON Returns to the program end of program Program Immediate The END command must be used at the end of all programs 56 GAIN GO Syntax Units Range Description Syntax Parameters Modes Syntax Units Description Syntax Parameters Servo GAIN n 0 1000 Sets a user factor for the control loop gains This command can be used to momentarily decrease system bandwidth i e when the motor is not in motion but holding its position or to increase system bandwidth for short and stiff motion n User gain in Default gain is 100 Program Immediate Sequential Motion GO target time User Units defined by the user see Chapter 5 in the XtraDrive User Manual Moves the motor to a specified target absolute coordinates in the specified time This command automatically changes Motion mode to Position mode The controller calculates the speed of the motor based on t
32. types of conditions terms that control the flow of the program If the IF condition is true the action specified by then is performed Otherwise the next program line is performed Syntax variable System variable see Chapter 9 List of System Parameters Variables condition gt lt gt lt mathematical operator value Set a value with the same units as lt variable gt then CALL or GO_TO CALL call subroutine with specified 1abel when finished return GO TO continue from the specified lt label gt label Label to jump to as required by the operation specified in then 64 ZERO POSITION ET OUT 1 Off ELAY 1000 Example D UJ 1 IDE 100 ELAY 100 F Position actual value 550000 THEN GO TO 2 TG al FAQHUNFUNN EL 2 APs Hug O a ri ON DE 0 HM ME Ze SH is Example Position is set to zero output 1 is set to off Explanation The motor starts moving at a constant speed After a short delay the term is checked motor is still running If true i e the position value is greater than 550000 go to LABEL 2 output 1 is set to ON motion stops end of program If false the subroutine labeled 1 starts again until the term becomes true Modes Program See Also IF_INPUT CASE CALL GO_TO WAIT_VAR 65 IF INPUT Syntax Range Description Syntax Parameters Example Exampl
33. 0x0 OxF each Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 94 7 2 2 1 Checksum Calculation Checksum is calculated for a binary message Each factor in the equation excluding N and CR is two digits of a hexadecimal number and consists of two adjacent bytes The checksum of the message N a m idl id2 C1 C2 P1 P2 P3 P4 SIS2 CR is S152 0x100 am idlid2 P1P2 P3P4 Only the two digits on the right are considered Note It is possible to work without checksum by setting Pn2C6 0 When working without checksum set 00 instead of checksum S182 7 2 2 2 Master Message Format Example CONTROL ON command Example of CONTROL ON command to axis 0 in Immediate mode Format N A m Id1 Id2 C1 C2 P1 P2 S1 S2 CR N 0 2 0 0 4 5 0 1 B 8 CR where A 0 axis number 0 m 2 Immediate mode Id1 0 Id2 0 ignore message ID C1 4 C2 5 command operational code 0x45 P1 0 P2 1 one command parameter two digits S1 B S228 0x100 0x02 0x00 0x45 0x01 OxB8 MOVE Command Example of MOVE command 600uu in 1000 msec of axis 2 in Sequential mode Format N a m Id1 Id2 C1 C2 P1 P2 P3 P4 P5 P6 P7 P8 N23 10 O 7 1 O 0 O O IO 2 5 48 P9 P10 P11 P12 P13 P14 P15 P16
34. 16383 0 5 9 1 1 user Pn2C0 Motion end window position 0 250 10 5 9 1 2 units 0 1 of Pn2C1 Torque slope rated 54000 24000 5 9 2 torque UT ms user Chapter 6 Pn2C4 ee Window to position 0 250 7 Command puseta units Reference Zero speed when find hard speed i Pn2C5 home Uit 0 32000 2 5 9 3 Communication switch f Pn2C6 selection null 0 1 1 Appendix E Pn2C7 Home switch selection 0008 5 9 3 Autotuning time between Pn2C8 movements ms 200 2000 400 5 9 5 Autotuning speed of ont Pn2C9 movement maximum 0 100 50 5 9 5 speed Pn2CA i acceleration ns 1 1000 50 5 9 5 Pn2CB Autotuning plateau time of ms 0 1000 50 595 movement 36 Parameter i Setting Default Category Number Name Unit Range Setting Reference Pn2CC Auto start user program 0 99 0 5 10 Pn2D0 Reserved Pn2p1 Expand input signal 8887 5 9 4 selection 2 Pn2D2 Expand output signal 0021 594 selection 1 0 01V 150 to Pn300 Speed Reference Input Gain rated 3000 600 5 2 1 speed Pn301 Speed 1 rpm O to 10000 100 5 2 6 5 Pn302 Speed 2 rpm 0 to 10000 200 5 2 6 E Pn303 Speed 3 rpm 0 to 10000 300 5 2 6 amp Pn304 Jog Speed rpm 0 to 10000 500 5 3 2 g Pn305 Soft Start Acceleration Time ms 0 to 10000 0 6 2 2 3 Pn306 Soft Start Deceleration Time ms 0 to 10000 0 6 2 2 Speed Reference Filter Time
35. 48 2147483647 Output ports state Others Decimal representation of a Binary number 1 ON 0 OFF 107 NOU eom Tu rere echa s y GRRE eo eel Tene bee Name Variable Unit Read Min Max Description Group ID Dec Only Override New Move Enable 58 No 0 1 Specifies the functioning of New Move Enable digital input Pn2D1 1 0 Input functions as Setup 1 Input ignored Position actual value 9 Position Yes 2147483648 2147483647 Motor position in User Motion Units Units as read from Command encoder Variables Position demand value 8 Position Yes 2147483648 2147483647 Present target position Motion Units It is updated every servo Command cycle Variables Profile acceleration 5 Acceler Yes 2147483648 2147483647 Absolute acceleration Motion ation value during Motion Command Units Commands Variables Profile velocity 3 Speed Yes 2147483648 2147483647 Absolute speed value Motion Units during Motion Command Commands Variables Program line 45 Yes 2147483648 2147483647 Holds the last Program Motion line Command Variables Resonance frequency 56 Hz Yes 0 65535 System resonance Others frequency Works only when OCA is activated Pn2D4 0 Sensor WVU 21 Yes 0 111 Hall sensors inputs Digital O when motor on hall sensor W variable equals 100 on V 010 on U 001 Servo cycle time 29 0 1 us Yes 2147483648 2147483647 Servo cycle time Others Speed ref
36. A 30458 USA Tel 1 912 871 7691 Fax 1 912 531 7691 trincon yetmotion com z dai Bhai Pumas uir pe Table of Contents 1 Introduction Wee coseeuwcsnscensvandesosncousunweordesvedbetsnvseitsnsveericsevens 1 2 System Requirements and Software Installation eere 2 3 The Main Screen Interface Luce ed ien te Ira t ERIS EAR SE QUA RF Re AR E RII qUA COS EATHDQE 4 EXE dd i vr 4 3 2 Menu Bar B Toolbar C sse 4 3 2 1 File Menu REM 5 32 2 Edit MBU oec dette teet ette e EERE 7 3 2 3 View Mens Im 7 3 2 4 Run Menu ssssssssssessseeeeeeee eene nennen nennt nnr sse e nnns 8 3 2 5 Communication Menu essere 9 3 2 6 Maintenance Menu iiie eee diis decade cnduds caos dose e eden dua 9 3 2 7 Window Menu ssssssseseeeeeeeeeeeeee rennen nnn ernenerri rennen 11 3 9 Status Bar 1 esee Pero RES A E DA UTO EE C UPADFOS UE QUEE Te PUDE De eds 11 3 4 Work Area B isescesescsce Sessa tee nsu ce e vasa te ses Te Coe Sea aeo ve ETa eR 12 3 4 1 Workspace Window ccccssscccssssseeceessneeeeessneeeesesnaeeeeesaeees 12 3 4 2 Progr m WIDdOW ieiieieiei cede tet de eh ede eh epe de ede tee eee 14 3 4 3 History WIBndOW incre eR En AERE EE EEEE 15 3 4 4 Parameters WindOWw eer ette rete e ERE HE E TEE TUS 15 4 Operating the XtraDrive Using XtraWare eeee esee ee eee eee eee teneo eee eee eno 17
37. Alarm Stop Mode Stops the motor by applying dynamic brake DB Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without using the dynamic brake DB Overtravel Stop Mode Same setting as Pn001 0 stops the motor by applying DB or by coasting Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to servo lock state Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state AC DC Power Input Selection Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply through 1 and terminals 49 Digit z PEE Default Parameter Place Name Setting Description Setting 0 ALO1 ALO2 and ALO3 output only alarm codes Warning Code ALO1 ALO2 and ALO3 output both alarm 9 3 Output 1 codes and warning codes While warning Selection codes are output ALM signal output remains ON normal state 2 Uses absolute encoder as an absolute encoder Uses multi turn limit 0 None Speed Control Uses T REF as an external torque limit o Option T REF input e 0 Terminal 5 Allocation Uses T REF as a torque feed forward input 3 Uses T REF as an external
38. Always 1 5 Quick Stop 1 only while stopping 6 Switch On Disabled Always 0 7 Warning 0 No warning 1 Warning Over torque 8 Manufacturer specific 1 only while waiting to START command Ready for start 9 Remote Always 0 Profile position mode 1 only while cee o er epp Profile torque mode 1 when Target torque reached 11 Internal Limit Active 1 motor on Over Travel switch 12 Operation Mode On homing mode 0 while homing 1 After homing Specific On speed mode SLIDE 0 speed 0 1 speed 0 13 Operation Mode l l l Specific On homing mode 0 No homing error 1 Homing error 14 Manufacturer specific 0 No program running 1 Program running program run 15 Manufacturer specific 1 Need restart need restart 109 Ux Vs dida dd 11 List of Operation Codes Op Code Name A Arg1 Arg2 Arg3 Arg4 Arg 5 64 ACCELERATION 2 3 4 4U 66 CALL 4 1U R A 69 CONTROL 25334 1U z 144 DELAY 3 4 4U 70 END 2 4 z 3 71 GAIN 2 3 4 2U l 3 106 GET DRIVER INFO 2 a 2 85 GET PAR 2 3 4 2U 72 GET VAR 2 3 4 1U E i 63 GET_VERSION 2 112 GO 3 4 4 4 128 GO D 3 4 4 4 R 117 GO H 3 4 4 73 GO TO 4 1U 3 131 HARD_HOME 3 4 2 4 3 133 HOME C 3 4 4 132 HOME_SW 3 4 4 4 130 HOME SW C 3 4 4 4
39. E R GO GO D GO H 81 SPEED CONTROL Motion Syntax Description Syntax Parameters Modes See Also START Syntax Description Modes See Also SPEED CONTROL switch Changes control from NCT position control to NCT speed control The type of speed command is determined according to the switch setting The command mode changes to Speed Control mode 6 switch ANALOG INPUT Analog speed command similar to the SLIDE ANALOG command except that a speed control loop is closed on the command PULSE TRAIN INPUT Pulse train speed command VARIABLE Speed command set by a variable Use the SET VAR command to change the variable Speed reference which changes the motor speed Program Sequential SLIDE ANALOG PT FOLLOWER SET VAR Variable Speed reference Parameters Pn200 Pn202 Pn203 Pn300 Motion START Triggers the execution of a previously defined motion that is held by a WAIT FOR START command The START command reaches all the drivers provided that several drives are connected via serial communication at the same time as a broadcast message The START command clears the WAIT FOR START flag Therefore the WAIT FOR START command must be set per motion Immediate WAIT FOR START 82 STOP Syntax Description Syntax Parameters Note Modes See Also STOP MOTION Syntax Description Example Motion STOP switch Immediately
40. E speed 8 Pn2A3 Work speed default high units 0 256 0 5 9 1 2 S 65536 u Work acceleration default accelera t Pn2A4 low tibnsnfte 0 65535 0 5 9 1 2 E accelera B Pn2A5 dopo POEM default Irion units 0 256 lo 5 9 1 2 9 65536 P prdage Work jerk smoothing time 0 63999 lo 5 9 1 2 default 35 Parameter F Setting Default Category Number Name Unit Range Setting Reference P Quick stop deceleration accelera Pn2A8 low tibmitinite 0 65535 65535 5 9 1 2 1 accelera Pn2A9 E stop deceleration uo units 0 256 256 5 9 1 2 9 65536 Position units ratio Pn2BO numerator low 1 65535 1 5 9 1 1 P Position units ratio Pn2B1 numerator high 0 16383 0 5 9 1 1 Position units ratio Pn2B2 denominator low 1 65535 1 5 9 1 1 Position units ratio Pn2B3 denominator high 0 16383 0 5 9 1 1 Pn2B4 Speed units ratio numerator 1 658535 1 59 1 1 low Pn2B5 Speed units ratio numerator 0 163283 lo 59 1 1 high Speed units ratio Pn2B6 denominator low 1 65535 il 5 9 1 1 Speed units ratio 1 Pn2B7 denominator high 0 16383 JO 5 9 1 1 n Acceleration units ratio Pn2B8 numerator low 1 65535 1 5 9 1 1 Acceleration units ratio Pn2B9 numerator high 0 16383 0 5 9 1 1 Acceleration units ratio Pn2BA denominator low 1 65535 1 5 9 1 1 Acceleration units ratio Pn2BB denominator high 0
41. L ON ELAY 1000 RK TIME 700 VE D 7200 1 ib 2 T OUT 2 OFF NTROL OFF HOw GU J oO HAPA O Hp OE WO EL 2 OUT 2 ON K_TIME 350 E SD 7200 URN lt n DRAGME Servo enabled jerk time is set to 700uu MOVE command executes subroutine LABEL 2 is called Within the subroutine output 2 gets true value jerk time is set to 350uu movement in the negative direction return to the main program command that follows the CALL code line is executed output 2 is false servo disabled end of program Program LABEL CALL Program Flow Control RUN lt n gt Runs a program or a subroutine from the specified label n The label number Immediate Sequential LABEL CALL Parameter Pn2CC 76 SET OUT Syntax Description Syntax Parameters Example Example Explanation Modes Output SET OUT n switch Sets a physical output pin to ON or OFF There are three logical outputs that can be set corresponding to the three output pins on the processor n Program output number 1 3 BEL 1 ET ZERO POSITION IDE 200 AIT VAR Position actual value 10000 IDE 0 ET OUT 2 ON D HnNNSNHE z Jg Current Position is set to zero slide motion takes place until the position value equals or exceeds 10000uu the WAIT VAR command stalls the execution of the next command When the position value eq
42. N a M Id1 Id2 C1 C2 P1 P2 P3 P4 P5 P6 P7 P8 NJ0J3 9 6 7 1 JO O JO JO JO 2 45 8 P9 P10 P11 P12 P13 P14 P15 P16 S1 S2 CR 0 0 0 0 0 3 E 8 B 1 CR Response Message Format in case of fault N a m Id1 Id2 F1 F2 SW1 SW2 SW3 SW4 S1 S2 CR NJ0J1 9 J6 8 C JO 4 3S3 J3 JA 6 CR where a 0 axis number 0 m 1 Response type is Acknowledge with Fault 100 Id1 9 Id2 6 Because of fault message identification Id1 and Id2 contain the same value as master message identification F1 8 F2 C Fault code SW1 0 SW2 4 SW3 3 SW4 3 Shows XtraDrive status No emergency no fault Status word fault only represents XtraDrive hardware faults marked as A control off and in position see Chapter 10 List of Status Word Bits S1 A 5226 0x100 0x01 0x96 0x8C 0x04 0x33 0xA6 Response message format in case of no fault N a m Id1 Id2 F1 F2 SW1 SW2 SW3 SW4 S1 S2 CR NJ0JOJO JO lO 0 JO 4 3 7 C 5 CR GET_VAR command Example of response message to GET_VAR command to variable Position Actual value 0x09 to axis 0 in Immediate mode with message identification of 0x7F Master Message Format N A m id1 id2 C1 C2 P1 P2 S1 S2
43. P e Super VGA or better graphics display minimum 256 colors 65536 colors recommended e One node or more RS 232C or RS 422A I F e CD ROM drive for installation only The XtraWare software is supplied on a CD Before proceeding with the installation procedure close any applications that are open During the procedure XtraWare and its related files are installed on your hard disk If a previous version of XtraWare is already installed the existing program is overwritten To install XtraWare Insert the CD into the CD ROM drive e Ifthe procedure does not start automatically i e autoplay is not enabled either o Click Start Run and type D NInstallNSETUP where D is your CD drive or o Using Windows Explorer load the CD ROM contents and double click D NInstallNSETUP EXE zzzi a eer SE c crc EC Tore CONEQAEL ES warte o rort TR eS R Y UNT e The installation screen appears the installation procedure commences and a message welcoming you to XtraWare appears e Click Next to continue e Follow the onscreen instructions to choose a destination folder for the XtraWare files e Click Next to continue e Select the program group to create the XtraWare icon c Program Files YET XtraWare is the default setting e After selecting the program group or folder click Next to continue e The PC files are copied from the CD ROM During the procedure the progress of the copying is shown as a
44. See STG eS Ty SM b ony AY Each mode utilizes an individual buffer for commands and program processing and execution dedicated for specific need Note that not all of the commands are available in all the buffers A full explanation on the use of the buffers is provided in the introductory section of Chapter 6 Command Reference 4 4 1 Program Mode Use this mode when writing a program that is to be executed after the entire program has been written see Section 4 3 1 Writing a Program This mode stores the program in the User Program Buffer UPB Program execution is activated by the Run command see Section 4 3 2 Running a Program 4 4 2 Immediate Mode Use this mode in order to issue a single command for immediate execution or when sending a single command from a host PC e g changing the state of an output while a program is running lower the gain while the motor is enabled and not in motion and no program is running Commands sent in Immediate Mode are stored in the Immediate Command Buffer ICB and are executed within 2 msec or less 4 4 3 Sequential Mode Use this mode when using a host PC which sends a command stream that should be executed as a program e g move the motor and wait for motion completion wait for input make another move etc Immediate mode cannot be used in such cases since commands like MOVE D move the motor and wait for motion completion are not available in Immediate mode 4 5 Tuni
45. TIME n 0 62 000 msec Defines the time duration for the changing of acceleration and deceleration The default jerk time is stored in the Pn2A6 parameter n Jerk time in microseconds MOVE MOVE D MOVE R MOVE H GO GO D SLIDE JERK TIME 2000 Program Immediate Sequential The JERK TIME value has priority over the Low Pass Command Filter Pn216 variable However if the JERK TIME is smaller than 250 the JERK_TIME is ignored and only the Low Pass Command Filter value is used even if the JERK TIME is subsequently changed Parameters Pn2A6 Pn216 68 LABEL Program Flow Control Syntax LABEL n Description Defines the beginning of a program or subroutine May be used to mark the beginning of a code line in order to use the GO TO or LOOP commands Parameters n The label number Example LABEL 1 CONTROL ON DELAY 1000 GO D 10000 1 IF INPUT 1 1 THEN CALL 2 CONTROL OFF END ABEL 2 SET OUT 1 ON RETURN Example Servo enabled motor moves to position 10000 if INPUT 1 is true calls Explanation LABEL 2 subroutine The subroutine sets output 1 as true If INPUT 1 is false servo is disabled program ends Modes Program See Also GO TO LOOP END CALL RUN 69 LOOP Syntax Description Syntax Parameters Example Example Explanation Modes See Also Program Flow Control
46. Torque set by Pn402 Related Exact_mode 25 No 0 1 Defines the ending Others mode of motion commands Follower position offset 39 Position Yes 2147483648 2147483647 Pulse train position Others Units Position demand value Follower synchronized 39 Yes 0 1 Flag 1 Synchronized Others 0 Not synchronized Following error actual value 10 Position Yes 2147483648 2147483647 Position demand value Motion Units Position actual value Command Variables Inputs State 33 Yes 2147483648 2147483647 Input ports state Others Decimal representation of a Binary number 1 ON 0 OFF Jerk smoothing time 7 us Yes 2147483648 2147483647 Time constant of filter on Motion acceleration Command Variables Max profile acceleration 4 Acceler Yes 2147483648 2147483647 Maximum absolute Motion ation acceleration value Command Units during Motion Variables Commands Max profile velocity 2 Speed Yes 2147483648 2147483647 Maximum absolute Motion Units speed value during Command Motion Commands Variables Modes of operation 23 Yes 5 7 Motion mode XD POSITION 1 Control VELOCITY 3 TORQUE 4 HOMING 6 HUNTING 1 PULSE TRAIN 3 ANALOG SPEED 4 ANALOG TORQUE 5 SPEED CONTROL 6 Motion end window 30 Position No 0 255 Window for Others Units Following error actual value Motion go 24 Yes 0 1 Flag to trigger the XD execution command in Control Motion buffer used with WAIT FOR START START Outputs State 34 Yes 21474836
47. U Ue in iade E E 88 WAIT VAR Wail eredi e dii humana adam atn E uh 89 6 2 Serial Communication Commands iae etui onera RYE PRENSA EOS REIN 90 GET PAR C CORDE 90 GER VAR MC ND tm 90 GEF VERSION uode ib ee ne eS ne idu tds 90 POLIS asunto ovd eiim acu MC 91 VoU MB ZENTREN 91 7 Serial Interface Prot COl ssssscssssssisesssssusssscsssssocsosssssussssssossssesssssosessssosssssesosissaso 92 7 1 Basic Communication Specifications sssesseesseeeeeessseereeessssseee 92 7 2 Protocol Specificatii S encoi E 92 7 2 1 Message Data Structure sisssssssesisssdssssivsssrssosssivsssvssupssnisnnssss 93 7 2 2 Master MeSss89B ice p HH e aeneo 93 7 2 3 Response Message one mie er rro ri ae boa eua 96 To JroublesHoDE DES aeo ascia adeo ae epa ddeu dina ede 102 PE Og Y LETSE T L ETT 103 9 List of System Variables sees cesissccssvsneoncesdssvaceocssnscevess sescveasoncestucdesevensenceacvessss 107 10 List OF Status Word BitS sississssssssssesssssesssasssssoessssssesssssssessssesseses nessssssesssssssss 109 11 List of Operation COMES ys irs cima ror E DEA UPOPRN E VEVE DEP E EV PEE EX E PX FOE U PES ENDE 110 YES hh aprd Fiaip PIi eed Gee ppa 1 Introduction The XtraWare software constitutes the user interface and tool of operation for the XtraDrive It enables parameter settings control loops tuning fault status reporting as well as facilitating programming of the driver both for professional programme
48. XtraWare User s Manual XtraWare Version 2 6 for XtraDrive Version 2 9 Catalog No 8U0109 Rev C Copyright 2003 by YET Yaskawa Eshed Technology Ltd XtraWare User s Manual XtraWare Version 2 6 for XtraDrive Version 2 9 Cat 8U0109 Rev C September 2003 All rights reserved No part of this publication may be stored in a retrieval system or reproduced in any way including but not limited to photocopy photography magnetic or other recording without the prior agreement and written permission of the publisher Program listings may be entered stored and executed in a computer system but not reproduced for publication This manual is designed to provide information about the XtraWare software Every effort has been made to make this book complete and as accurate as possible However no warranty of suitability purpose or fitness is made or implied YET Ltd is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of XtraWare and or the information contained in this publication YET Ltd bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software and manual without prior notice MAIN OFFICE 13 Hamelacha St Afeq Industrial Estate Rosh Ha ayin 48091 ISRAEL Tel 972 3 9004114 Fax 972 3 9030412 info yetmotion com www yetmotion com USA OFFICE Mr Tomas Rincon 1651 Pondside Drive Statesboro G
49. age Data Structure A message consists of bytes where each byte holds one digit of hexadecimal data in ASCII code representation The data can be signed or unsigned according to the Command Operational Code argument type see Chapter 11 List of Operation Codes For signed data the leftmost bit msb determines the sign Negative number representation is according to standard hexadecimal representation and to size of data The messages are a string of bytes according to the formats specified below Every message in this protocol starts with N and terminates with CR Carriage Return Ox represents a hexadecimal number 7 2 2 Master Message Format N A m Id1 Id2 C1 C2 P1 P2 Pn S1 S2 CR N Description XtraDrive message start symbol Constant value Range N Description Axis address Range 0x0 OxF Notes Use Pn000 2 to set Axis address see XtraDrive User Manual Appendix D List of Parameters For a broadcast message and when only one driver is used address 0x0 is written Description Operation mode Range 0 broadcast message 1 polling message 2 Immediate mode 3 Sequential mode 4 Program download 5 Program upload 93 Id1 and Id2 Description Message Identification two bytes for two digits Since the range is greater than OxF two bytes are required for holding the number M
50. al Moves the motor at the specified speed Acceleration to a speed of n is according to the profile acceleration and jerk time parameters This command automatically changes the motion mode to velocity mode n Speed of movement A negative number moves the motor in the negative direction Zero stops the movement 79 Example Example Explanation Modes Notes See Also d D K o o o HONUHONUNE m lt o en c Motor accelerates to 10000uu decelerates to 2000uu decelerates to 2000uu and accelerates in the positive direction to 0 i e motion ends end of program The DELAY commands after each SLIDE command determine the length of movement by stalling the next command Program Sequential The SLIDE command sets unlimited travel jog motion In order to stop the motion the user must enter a SLIDE 0 command since the END command stops the program but does not stop the SLIDE motion ACCELERATION JERK TIME SLIDE ANALOG Motion Syntax Description Modes See Also SLIDE ANALOG Enables use of a potentiometer as an analog means of changing motor speed The speed generated by the driver is proportional to the voltage that the potentiometer creates Parameter Pn300 determines the voltage level in 0 01V that is equivalent to the motor rated speed the higher the voltage the higher the speed Speed calculation Motor Rated Speed
51. al mode motion commands which are executed through the MCB are handled as follows A motion command fetched from the SCB is moved into the MCB The MCB will then execute the motion command after a previously sent motion command has been completed Note When the user issues a motion command MOVE MOVE D GO GO D SLIDE the motion is calculated internally by the controller and then placed in a motion queue inside the motion command buffer MCB Therefore changes made in profile commands ACCELERATION SPEED JERK in Immediate mode do not affect motions that are already in the MCB 50 Immediate Mode Immediate Command Buffer ICB In immediate mode commands are placed in the ICB and executed immediately If a program is running or sequential commands are being executed an immediate command is fetched only when a delay in the program or the sequential commands occurs For example when a MOVE D command is executed it pauses the execution of subsequent commands During that pause commands from the immediate command buffer can be fetched and executed An exception is the immediate stop command which is executed immediately SCB and UPB Motion Command Flushing Motion command flushing from the SCB or UPB depends on the command type Motion commands with D suffix These commands are flushed from the SCB or UPB only when the corresponding movement is terminated according to the precision requirement setting i e subsequent comma
52. alled and the motion stops By setting Input 1 to false the motor returns to its zero position and the two move motions are executed again and again in an endless loop The user can stop the program simply by using the stop command in immediate mode Program Immediate Sequential When using this command the deceleration parameters Pn2A8 and Pn2A9 cannot be defined as zero The default rate of this deceleration is automatically calculated by the XtraDrive according to the motor torque f the user changes this value it is the user s responsibility to set a value which is appropriate for an emergency stop STOP Parameters Pn2A8 Pn2A9 Motion TORQUE n 0 1 of rated motor torque 1000 to 1000 Defines the torque that the motor generates The slope of the torque increase decrease is defined in parameter Pn2Cl This command automatically changes the mode to Torque n The torque value The torque units are 0 1 of the rated motor torque LABEL 1 TORQUE 100 DELAY 1000 TORQUE 200 DELAY 1000 TORQUE 200 DELAY 1500 TORQUE 0 DELAY 1000 END The Torque Profile value is changed four times each time for a period of time determined by the subsequent DELAY command The final TORQUE command sets the profile value to zero see Notes below 84 Modes Program Sequential Notes A TORQUE 0 command must be entered when it is no longer necessary to apply torque The program END
53. ame as Pn50A 1 7 2 Reserved 0 3 Reserved 0 45 Table 5 6 Output Signal Selections Digit Default Parameter Place Name Setting Description Setting 0 Disabled 1 Outputs from the SO1 CN1 25 26 output terminal 0 COIN Signal Mapping 2 Outputs from the SO2 CN1 27 1 SO1 28 output terminal 3 Outputs from the SO3 CN1 29 Pn50E 30 output terminal N CMP Signal 1 Mapping 0 to 3 Same as above 1 SO1 TGON Signal 2 Mapping 0 to 3 Same as above 2 SO2 S RDY Signal 3 Mapping 0 to 3 Same as above 3 SOS 0 CLT Signal Mapping O to 3 Same as above 1 VLT Signal Mapping 0to3 Same as above Pn50F 2 BK Signal Mapping 0 to 3 Same as above 0 Not WARN Signal used 3 Mapping 0 to 3 Same as above 0 NEAR Signal Mapping O to 3 Same as above Pn510 1 Reserved 0 to 3 Same as above 2 Not used 0 0 3 Not used 0 0 0 Output Signal Reversal O Output signal is not reversed for SO1 CN 25 and 26 1 Output signal is reversed Output Signal Reversal 0 Output signal is not reversed N 1 for SO2 CN 25 and 0 Not Pn512 26 Output signal is reversed reversed Output Signal Reversal 0 Output signal is not reversed 2 for SO3 CN 25 and 26 Output signal is reversed 3 Not used 0 Table 5 7 Extended Output Signal Selection The following outputs are used in the user program D
54. ame as above 5 SI5 control when low N CL Signal 3 Mapping Torque 0 to 8 Same as above 6 SI6 control when low SPD D Signal Mapping Internal i 0 Set Speed OtoF Same as above 8 OFF Selection SPD A Signal 1 Mapping Internal OtoF Same as above 8 OFF Set Speed Pn50C Selection SPD B Signal 2 Mapping Internal OtoF Same as above 8 OFF Set Speed Selection C SEL Signal Mapping 3 Control Mode OtoF Same as above 8 OFF Switching ZCLAMP Signal Pn50D 0 Mapping Zero OtoF Same as above 8 OFF Clamping 44 Digit A s Default Parameter Place Name Setting Description Setting INHIBIT Signal 1 Mapping Disabling 0to F Same as above 8 OFF Reference Pulse G SEL Signal 2 Mapping Gain OtoF Same as above 8 OFF Switching 3 Reserved OtoF Same as above 8 OFF Note When Pn50A 0 is set to 0 for the XtraDrive servo amplifier only the following modes are compatible Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 Table 5 4 Home Switches Digit a Default Parameter Place Name Setting Description Setting 0 Home switch input Same as Pn50A 1 8 Pn2C7 1 Reserved 0 2 Reserved 0 3 Reserved 0 Table 5 5 Extended Input Signal Selection These inputs are used in the user program Digit m Default Parameter Place Name Setting Description Setting 0 Emergency input 0 Same as Pn50A 1 8 ON Pn2D1 1 New Move Enable 0 F S
55. an the execution rate 2 Immediate buffer full Serial commands were sent to the Immediate buffer at a rate faster than the execution rate 4 Too many program lines or invalid The program line number is either program line number zero or greater than 100 5 Message checksum error An incorrect checksum indicates that an error occurred during message transmission 6 SET VAR Invalid variable index An invalid variable index has been used in the SET VAR command 7 Variable is read only The position cannot be set to zero while the motor is moving 8 Wrong op code This command does not exist in the command list 9 Wrong motion mode for This command cannot be SET ZERO POSITION command Set performed if the Motion Command STOP MOTION command before buffer is not empty or if a motion is in progress 10 Reply buffer full The reply buffer is full because the command GET VAR is used in very high rate 11 Incomplete message received The time limit for the message to be sent to XtraDrive via serial communication has been exceeded 12 Message too long The size of a message sent to XtraDrive via serial communication is limited to 64 characters 13 C phase parameter not set C phase is not defined by Pn190 14 Invalid input assignment A digital input is configured for more than one function 15 Invalid output assignment A digital output is configured for more than one function 16 Selected traced I O not in use The digital I O selected is no
56. command dialog box o pens See Section 4 3 1 Writing a Program for details on how to insert commands into the program 13 Click on a command name to see a short description of the command in the Description pane or see Chapter 6 Command Reference for a more detailed description Command Groups The Command Groups are Group Description Included Commands Profile Changes the speed at which ACCELERATION JERK TIME SPEED the motor moves Program Program flow handling CALL END GO TO LOOP RETURN Flow RUN LABEL IF IF INPUT Control INPUT CASE Servo Enables and disables CONTROL GAIN TORQUE LIMITS SERVO control in the program Sets gain and torque limits Motion Motion of the motor START STOP STOP MOTION GO connected to the XtraDrive MOVE SLIDE TORQUE driver TORQUE ANALOG GO D GO H MOVE D MOVE H MOVE R PT FOLLOWER SLIDE ANALOG SPEED CONTROL Output Sets output ON OFF SET OUT Variable Setting of variables in the SET VAR program Home Moves the motor to search HARD HOME HOME SW for the system home HOME SW C HOME C position SET ZERO POSITION Wait Stopping of the motor DELAY WAIT EXACT connected to the XtraDrive WAIT FOR START WAIT INPUT driver for a specified period WAIT STOP WAIT VAR of time 3 4 2 Program Window The Program Window Figure 10 presents the entire program The program is written by selecting commands from the Command
57. command theoretical motion generated by the GO D command is completed This command automatically changes Motion mode to Position mode The controller calculates the speed of the motor based on the default values of acceleration and jerk The maximum permitted speed is maximum motor speed Variable Max Profile Velocity If the user specifies the value 1 for time the motion profile is based on the default speed as set in parameters Pn2A2 and Pn2A3 or by the SPEED command target The specified target in absolute coordinates time The time allowed for the motion in msec LABEL 1 GO D 10000 1 SET OUT 1 ON GO D 0 300 END Movement commences to destination 10000 uu 1 indicates that the movement time will be determined by the Motion Profile i e the predefined speed acceleration and jerk time Unlike the GO Example in which the output was set at the beginning of the command output 1 is set to ON only after the movement has completed Motor moves to point O zero position in 300msec end of program Program Sequential GO MOVE MOVE D SPEED ACCELERATION JERK TIME Variables Max Profile Velocity Profile Velocity Max Profile Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 39 GO H Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Motion GO H target User Units defined by the user see Chapter 5 in the
58. command stops the program but does not set the torque to zero See Also Variable Target torque Parameter Pn2C1 TORQUE ANALOG Motion Syntax TORQUE ANALOG Description Enables use of a potentiometer as an analog input of required motor torque The torque generated by the driver is proportional to the voltage that the potentiometer creates Parameter Pn400 determines the voltage level in 0 01V that is equivalent to the motor rated torque the higher the voltage the greater the torque Torque calculation Motor Rated Torque Input Voltage 0 01 V Pn400 Generated Torque For example the rated torque is 500 Nm Pn400 is set to 60 6V if the voltage generated is 3V the torque will be 250 Nm The command mode changes to Analog Torque mode 5 Modes Program Sequential See Also SPEED ANALOG Variable Analog torque Parameter Pn400 85 TORQUE LIMITS Servo Syntax Units Range Description Syntax Parameters Modes See Also TORQUE LIMITS CW lt CCW gt 0 1 of peak motor torque 0 to 1000 Sets torque limits in the CCW and Cw directions in a single command The torque value is specified as 0 196 of the maximum motor torque CW CCW Torque limits Program Immediate Sequential Parameters Pn402 Pn403 WAIT_EXACT Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Wait WAIT_EXACT lt n gt msec Waits until the pos
59. d Analog Pn003 0 used for analog monitor 1 monitor 1 1 selection of 0 Source 1 Pn006 0 used for analog monitor 1 parameter Analog monitor 1 A 2 magnification 0 4 0 x1 1 x10 2 x100 3 x1 10 4 x1 100 O of signal 3 Not used 0 0 0 Servo position error 1V 10 encoder counts 1 Servo position error 1V 5 user units 2 Target speed 1V 500 rpm 3 Target speed after applying command 0 Analog smoothing 1V 500 rpm 0 monitor 2 Torque reference 10V max torque B ed z Motor speed 1V 500 rpm o Target acceleration after applying I o 6 command smoothing 10V max T acceleration allowed a 9 amp Analog 0 Pn003 1 used for analog monitor 2 lt monitor 2 S 1 selection of 0 O source Pn007 0 used for analog monitor 2 parameter Analog monitor 2 2 magnification 4 0 x1 1 x10 2 x100 3 x1 10 4 x1 100 O of signal 3 Not used 0 0 Communica o With commutation sensors s 0 tion sensor 1 5 E switch 1 Without commutation sensors obc RSS Communica g UVW HE T 1 tion sensor e E order 1 UVW S R d 1 8 eserve Reserved E Online 0 Tunes only at the beginning of operation 2 0 Autotuning 1 Always tunes 0 c Method S 2 Does not perform autotuning n Speed Feed c 2o 1 back Enabled 4 5 Compensation as Selection 1 Disabled 2 Friction 0 Friction compensation Disabled o 2 Compensation 1 Friction compensation Small 0 O POSHUR 2 Friction compensation Large 3 Reserved 0 3 Reser
60. data such as current limits encoder type and I O configuration as well as data related to specific user application such as the ratio between the encoder resolution and the user units 4 2 1 Uploading and Downloading Parameters Parameters can be sent from the PC to the XtraDrive Downloading or read from the XtraDrive to the PC Uploading Note too that the Upload function reads not only the parameters from the XtraDrive it also reads the program and all other data currently active in the XtraDrive Therefore it is advisable to save your program prior to using the Upload function PAR To download the parameters click the download icon BL on the toolbar Similarly to upload the parameters click the upload icon al on the toolbar 18 4 2 2 Viewing Parameter Settings Parameters are set in the Parameters window Figure 13 This window displays the current value of the parameters in the project Note that parameter values in the project do not necessarily match the values currently active in the XtraDrive In order to provide easy access to certain parameters the parameters can be viewed in groups The default group setting of the Parameters window is ALL i e all available parameters in the system are shown To display only parameter belonging to a specific group in the Value pane select one of the predefined groups e g Digital I O Servo Control listed in the Group pane Figure 13 Parameters Window Faramebrra
61. e Explanation Modes See Also Program Flow Control IF INPUT input number input condition input State then label Input number 0 to 7 and 8 to 24 depending on Option board type if any The program flow is conditional on the state of digital input If the condition is True the action specified by then will occur Otherwise the next program line is executed Input number Digital input number according to the pin on CNI Pin 40 is related to lt input number 0 and 41 to 1 etc Input condition Constant setting equal sign Input state OOR 1 then CALL or GO TO CALL call subroutine with specified label when finished return GO TO continue from the specified label label Label to jump to as required by the operation specified in then ABEL 1 IF INPUT 1 0 THEN GO TO 2 SET OUT 2 ON ABEL 2 MOVE D 4096 1 END If INPUT 1 is false the condition is true jump to LABEL 2 and move forward else set OUTPUT 2 to ON and move forward Program IF WAIT INPUT INPUT CASE 66 INPUT CASE Syntax Range Description Syntax Parameters Example Example Explanation Modes See Also Program Flow Control INPUT CASE input mask input state input mask 1 to OxOOFFFFFF input state 0 to OxOOFFFFFF The program flow is conditional on the state of a combination of digital inputs If the
62. e all programs that communicate with COM port The response message format or value is different than expected The response message which accepts Data Request Commands response does not necessarily match the master command Data Request Command response will match the master command unless a fault was occur and then fault acknowledgment will accepted before To accept a specific response message write a loop with POLLING command Command Operational Code 0x00 until the appropriate response message is accepted After a variable has been watched in the XtraWare variable watch window even if XtraWare is no longer open message response type is changed to 3 m 3 and the message format holds the variable value as well To delete a variable from the watch list set XtraWare to On line mode Delete the desired variable s and return to Off Line mode If XtraWare is closed rerun the program and go On Line and then Off Line No checksum value accepted on the response message Pn2C6 setting is different than 0x0001 Set Pn2C6 0001 and reset XtraDrive 102 mm UT ATTE re 8 Error Messages Error messages that may be generated by XtraWare are listed below together with a short description of each Code Message Description 1 Sequential buffer full Serial commands were sent to the Sequential buffer at a rate faster th
63. e logic Error Counter Clear Signal Form Oo O COIN OD oOo AJOIN o Clears error counter when the signal goes high Clears error counter at the rising edge of the signal Clears error counter when the signal goes low Clears error counter at the falling edge of the signal 42 Parameter ci Name Setting Description Su 0 Clears error counter at the base block Cl 1 Does not clear error counter which can only 2 ear be cleared with CLR signal 0 Operation 2 Clears error counter when an alarm occurs 3 Clear signal ignore Filter 0 Reference input filter for line driver signals 3 Selection 1 Reference input filter for open collector 0 signals D t heck sum 0 Check Sum 0 oes not use check su 1 S 1 Uses check sum 885 SEF ZEN G E lg Not used 0 1 Normally open 2 Home failure Oscillation 0 OCA is not activated 0 Cancelin x S Ps Mode d 1 OCA is active N 2 8 e 1 0 oc o aada gO OO 2 Not used 3 0 Notch filter 0 Disabled o95582 selection 1 Uses a notch filter for torque reference 9SEt95254 0 SoS FOrS lo Not used 3 Table 5 3 Input Signal Selections Parameter d Name Setting Description SUPE Sets the input signal allocation for Pn50A 0 the sequence to the same one as 0 Input Signal for the Yaskawa special servo 0 Allocation Mode ampl
64. eed reference value which changes according to program input 1 level True or False Program Immediate Sequential SPEED CONTROL WAIT EXACT Variables Speed reference Motion end window Exact mode Clock 78 SET ZERO POSITION Syntax Description Example Example Explanation Notes Modes See Also SLIDE Syntax Units Description Syntax Parameters Home SET ZERO POSITION Sets the current encoder value to zero This command is used to define the current position All other positions are redefined internally in relation to the new current position This command should only be used when the motor is not in motion LABEL 1 HOME C 200 GO D 7800 1000 WAIT EXACT 1 SET ZERO POSITION END This example shifts the home position Zero position from the C pulse location to a different location After searching the C pulse with HOME C command the motor moves to position 7800 uu There is a waiting period for the motor to arrive at the exact position and only then is the encoder counter reset The motor must be in full stop when the SET ZERO POSITION command is used so that Actual position value 0 If error 9 occurs insert a STOP MOTION command before the SET ZERO POSITION command Program Immediate Sequential HARD HOME HOME SW HOME SW C HOME C Motion SLIDE n User units defined by the user see Chapter 5 in the XtraDrive User Manu
65. epend on the sampling time To begin with set the sampling time to a small value Then reset it to a more appropriate value in accordance with the results produced Excitation Amplitude Rated torque Range 1 to 300 Must be set to a value below the Torque Limit Select the size of the reference amplitude applying excitation to the machine as a percentage of the ratio of size to rated torque A larger excitation amplitude tends to give more correct measurements but an excessively large amplitude can cause overspeed A 51 and overcurrent A 10 alarms Problems with the load inertia and the balance would cause alarms and accurate measurements would be impossible Note Accurate measurement is not possible if the torque is restricted during excitation Refer to the XtraDrive User Manual for details on the Torque Limit function Allowable Rotations Rotation Range 1 to 1000 rotations The number of Allowable Rotations must be set so the measurements can be taken safely Set the motor revolutions so the setting is within the operable range Select the limit of motor rotations during measurement If the allowable number of rotations is exceeded the zero clamp function will cause the motor to stop and measurements will be halted Consider the deceleration rations for the pulley radius ball screws and so on and then select a number of motor rotations When reducing the number of motor rotations also reduce the excitation amplitude and t
66. ept in special cases Be careful not to change the setting unless necessary The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor The upper limit is the maximum output capacity W of the servo amplifier 38 Table 5 2 Switches Parameter Digit Place Name Setting Description Default Setting Pn000 Function Selection Basic Switches Direction Selection Sets CCW as forward direction Sets CW as forward direction reverse rotation mode Control Method Selection Speed control analog reference Torque control analog reference Internal set speed control contact reference Internal set speed control contact reference Speed control analog reference Internal set speed control contact reference Torque control analog reference Position control pulse train reference Torque control analog reference Torque control analog reference Speed control analog reference Speed control analog reference Zero clamp Position control pulse train reference Position control Inhibit Position control pulse train Serial communication command Axis Address Sets servo amplifier axis address Reserved Pn001 Function Selection Application Switches Servo OFF or
67. erence 43 Velocity No 2147483648 2147483647 Defines reference speed Others Units for speed control command Target position 1 Position Yes 2147483648 2147483647 Final destination of Motion Units Motion Commands Command Variables Target_torque 16 0 1 of Yes 1000 1000 Torque Command Torque rated Mode and Torque Related Target_velocity 13 Velocity Yes 2147483648 2147483647 User velocity command Speed Units Control Variables Torque_demand_value 17 0 1 of Yes 1000 1000 Actual value for torque Torque rated Mode and Torque Related User_encoder 31 Encoder Yes 2147483648 2147483647 Motor position in Motion Units Encoder Units as read Command from encoder Variables Velocity_actual_value 12 Velocity Yes 2147483648 2147483647 Motor speed in User Speed Units Units as derived from Control encoder Variables Velocity_demand_value 11 Velocity Yes 2147483648 2147483647 Present target speed Speed Units updated every servo Control cycle Variables 108 10 List of Status Word Bits A status word is a 16 bit string containing the current XtraDrive status Use the POLLING command to get a status word An acknowledge ACK message also contains a status word Bit Term Comment 0 Ready to Switch On Always 1 1 Switched On 0 Emergency ON 1 Emergency OFF 2 Operation Enabled 0 Control OFF 1 Control ON 3 Fault 0 No Fault 1 Fault A 4 Voltage disabled
68. essage Identification is needed to bind a fault condition to a specific command and to enable download new or replace of XtraDrive program lines Range 0x0 OxFF 0x0 OxF each Message Identification Description Number 0x00 To ignore message identification 0x01 0xB4 Program line number Program mode 0xB5 0xC8 Message Identification Immediate and Sequential modes 0xC9 OxFF For future use Notes Message ID enables rewriting of lines in XtraDrive program The program must be stopped prior to line rewriting Message ID enables synchronization between status received from XtraDrive and a specific message Message ID may be ignored and set as 0x00 C1 and C2 Description Command Operational Code two bytes for two digits Since the range is greater than OxF two bytes are required for holding the number Range 0x0 OxFF 0x0 OxF each see Chapter 11 List of Operation Codes P1 P2 Pn Description Command Parameter Each Pn is one byte for one digit The number of parameters arguments and size number of digits if relevant depend on the Command Operational Code see Chapter 11 List of Operation Codes Range 0x0 OxF for each Pn S1 and S2 CR Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body See 7 2 2 1 Checksum Calculation Range 0x0 OxFF
69. fined tuning groups based on the motor and driver type and the load inertia Fine Tuning default the driver moves the motor back and forth and searches for the parameters that allow the best system performance 24 Select Start with System Parameters to perform Autotuning using the system default parameters Otherwise select Start with User Parameters and then click Set Parameters to open the Parameters pane of the Parameters window see Section 4 2 Parameter Control and set your own parameters manually Click Start to commence the tuning procedure Note that the motor is about to move When the procedure ends click OK to accept the new parameters which are automatically stored in the controller memory If you selected Fast Tuning when the procedure ends set parameter Pn1 AO 30 Then check the stability of control after turning Servo On If vibrations occur reduce global gain Pn1 AO until stable control is observed 4 6 Charts The Charts option provides a graphical display of signals over a specified time period Two analog signals and two digital I O can be displayed 4 6 1 The Chart Main Window Select the Charts option from the View menu to display the Chart Main window Figure 19 25 o KEV Oe Saee Kem e AL Toe mo UR MUS See Hu TOP PEUT EAT TUNE CLIE TNT LA DANCE he ees usns MCA dica ES po ee SETS eee SM b cS Figure 19 Chart Main Window 1 ma imi x kl d
70. ge 73 A51 Overspeed 74 A71 Overload high load 75 A72 Overload low load 76 A73 Dynamic brake overload 104 Code Message Description 77 A74 Overload of surge current limit resistor 78 A7A Heat sink overheated 79 A81 Absolute encoder backup error 80 A82 Encoder checksum error 81 A83 Absolute encoder battery error 82 A84 Absolute encoder data error 83 A85 Absolute encoder overspeed 84 A86 Encoder overheated 85 AB1 Reference speed input read error 86 AB2 Reference torque input read error 87 ABF System alarm 88 AC1 Servo overrun detected 89 AC2 Phase finding error 90 AC8 Absolute encoder clear error and multi turn limit setting error 91 AC9 Encoder communications error 92 ACA Encoder parameter error 93 ACB Encoder echoback error 94 ACC Multi turn limit disagreement 95 ADO Position error overflow 96 AE7 Option unit detection error 97 AF1 Power line open phase 112 A91 Overload warning 113 A92 Regenerative overload warning 128 Reference to invalid label or END Program flow has been directed to command is missing a non existent label 129 Command not applicable in this Not all commands are applicable programming mode in all programming modes Program Immediate Sequential Program Sequential Immediate The specified command is not applicable in this mode 130 Cannot perf
71. he default values acceleration and jerk The maximum permitted speed is the maximum motor speed Variable Max Profile Velocity If the user specifies the value 1 for time the motion profile is based on the default speed as set in parameters Pn2A2 and Pn2A3 or by the predefined SPEED target The specified target in absolute coordinates time The time allowed for the motion in msec 57 Example Modes Example Explanation See Also GO 10000 1 SET OUT 1 ON GO 0 300 END Program Sequential Motion will start towards destination 10000 uu at the specified speed and acceleration default values Output 1 is then immediately set to ON The second GO command to destination 0 uu starts only after the demand value is equal to 10000 uu and the program ends ACCELERATION JERK TIME GO D MOVE SPEED Variables Max Profile Velocity Profile Velocity Max Profile Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 58 GO D Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Motion GO D target time target User Units defined by the user see Chapter 5 in the XtraDrive User Manual time msec Moves the motor to a specified target absolute coordinates in the specified time This command is identical to the GO command in motion execution but it delays the execution of the next program command until the
72. he previous zoom level Restores the area shown in the window to its normal size Dragging the cursor by left clicking the mouse enables the measurement of the difference delta between the endings of the line The delta values are displayed in each axis label Left clicking in a new location starts a new measurement Shows exact value of a point A yellow cross reflects the movement of the mouse and the exact value can be seen in each axis label Saves graph in bmp format enabling you to view the graph without the need for the XtraWare software Saves graph data in Excel format csv 4 7 2 Running the Mechanical Analysis e Run the motor to excite the machine and measure the frequency characteristics e Run the process by pressing the START button Note The motor will start moving e When the process is completed a graph is displayed in the bottom right corner the values of resonance and anti resonance frequency values if any are displayed 33 5 Parameter Reference This chapter provides information on all the parameters available in XtraWare Table 5 1 Parameters This table lists all the parameters according to their ID number For each parameter this information is provided e The group to which the parameter belongs e A short description e Units e Range e Default value e Reference to the section in the XtraDrive User Manual which provides a full description of the parameter
73. he sampling time o The allowable rotations are a restriction for each excitation period In multiple excitation applications the excitation start position might shift Check the range of motion each time excitation is applied o Detection of the allowable rotation in the XtraDrive may be delayed by a maximum of 2 ms If so operation may exceed the settings due to factors such as inertia size and interference from speed Include a margin when setting the allowable number of rotations No of Executions Set Range 1 to 5 Select the number of times that the measurements should be taken for an average measurement to be calculated A set is a back and forth operation that starts excitation or measurement from the forward side and excitation measurement from the reverse side More measurement iterations tend to yield more accurate measurements but the time required for measurement increases Excitation Signal fixed Excites the machine with cycle wave 32 e Graph Setting Select the graph scale or leave the default setting of AUTO for automatic scale setting Select the colors of the lines used in the graph of the measurement results e Caption Enter the caption to be displayed in the graph Analysis Toolbar Figure 26 Analysis Toolbar asja QA iz t e Saves the current analysis include the settings and the graph Opens a previously saved analysis Prints the currently displayed chart and its corresponding data Restores t
74. hen XtraWare is in Online mode all the commands sent via communication to the XtraDrive are stored in the selected log file To close the log file select the Close Log File option Close Log Stops storing commands in the log file and closes the currently File open log file Reset b After certain parameters are edited the main circuit and control Driver power supply need to be cycled in order to enable the new settings To do so press Reset The Need Reset indicator appears in the status line when this action is necessary Reset to Discards user modifications to the parameters and reverts to Default the factory default parameters Note that some parameters are Parameters updated at power up only and you must therefore restart the XtraDrive after using this option Password Enables the modification of certain parameters displayed in red in the Parameters window which can only be modified by authorized users who are required to enter a password using this option Send For internal use only Command 10 3 2 7 Window Menu The Window menu is used to switch between different views in the XtraWare system and to save a customized screen for future use Window Menu Options Option Description Project Displays the default XtraWare Main Screen interface which includes the Screen Workspace Program History and Parameters windows Program Enlarges the Program window to facilitate program editing The History Ed
75. ifier 1 Possible to freely allocate the input signals 1 S ON Signal 0 Inputs from the SIO CN1 40 input o sip Mapping Servo ON terminal f when low Inputs from the SI1 CN1 41 input terminal 2 Inputs from the SI2 CN1 42 input terminal 3 Inputs from the SI3 CN1 43 input terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 43 Digit A M Default Parameter Place Name Setting Description Setting 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SIO CN1 40 input terminal A Inputs the reverse signal from the SI1 CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input terminal C Inputs the reverse signal from the SI3 CN1 43 input terminal D Input the reverse signals from the SI4 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input terminal P CON Signal 2 Mapping Pcontrol OtoF Same as above 1 SH when low P OT Signal 3 Mapping overtravel O to F Same as above 2 SI2 when high N OT Signal 0 Mapping overtravel O to F Same as above 3 SI3 when high ALM RST Signal 1 Mapping alarm OtoF Same as above 4 SI4 Pn50B reset when low P CL Signal 2 Mapping Torque OtoF S
76. igit z ae Default Parameter Place Name Setting Description Setting 0 Disabled 1 Outputs from the SO1 CN1 25 26 output terminal 0 COIN Signal Mapping i Outputs from the SO2 CN1 27 0 disable 28 output terminal Pn2D2 3 Outputs from the SO3 CN1 29 30 output terminal 1 Not used 0 2 Not used 0 Not used 0 46 Note 1 When more than one signal is allocated to the same output circuit data is output using OR logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN signal is treated as OFF 3 Types of WARN signals Overload and regenerative overload Table 5 8 Auxiliary Functions The following list shows the available auxiliary functions Parameter Function Fn000 Alarm traceback data display Fn001 Rigidity setting for online autotuning Fn002 JOG mode operation Fn003 Zero point search mode Fn004 Reserved parameter Fn005 Parameter settings initialization Fn006 Alarm traceback data clear Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset FnoOC Manual zero adjustment of analog mon
77. ile is set to 900 rpm and the driver moves the motor at a speed of 500 rpm caused by external pulses MOVE R causes the overall speed of the movement the pulse train speed plus MOVE R speed to be 900 rpm for the next distance and the relative speed of the MOVE R command over the pulse train speed is 400 rpm MOVE R 0 is equivalent to PT_FOLLOWER ON The command mode automatically changes to Pulse Train Input mode 3 Share Sees L Precis aa SS ee ee QA Maenu Spied rarinm Ff FOLLTUES Cer Move faa Fosen pied mini d Fin gf distance The movement distance in user units LABEL 1 PT FOLLOWER ON ELAY 10000 OVE R 10000 ELAY 10000 I FOLLOWER OFF ND Hvor PT_FOLLOWER Motor starts responding to an input pulse train After a 10 second delay the motor executes the MOVE_R command and moves 10000 user units at a speed defined in the speed profile 74 Modes Program Sequential See Also PT FOLLOWER Variables Follower synchronized Follower position offset Parameters Pn200 Determines the reference pulse form Pn202 Pn203 The number of received pulses is multiplied by the electronic gear ration defined by the user Pn2C4 Synchronizes window for pulse train Defines the difference between the Target position and actual demand value where the Follower synchronized flag is set to True PT FOLLOWER Motion Syntax PT FOLLOWER switch Description
78. ion A movement in the positive direction occurs followed by a negative direction movement The Go TO 1 command returns to the beginning of the program LABEL 1 LABEL 1 MOVE D 3600 500 MOVE D 3600 500 GO TO 2 END Axis moves 3600 UU forward and returns 3600 UU backwards Then the program jumps to LABEL 1 and starts again This creates an endless loop Program LABEL LOOP 61 HOME Commands e The home switch is a digital input which defines the start point to search for the C pulse Do not define the over travel switch as the home switch e The accuracy of Home position in A quad B encoder by C pulse is 1 count if the motor searches in the same direction If the motor searches in both directions the accuracy is the C pulse width 1 count HARD HOME Syntax Description Syntax Parameters Modes See Also Home HARD HOME torque speed Sets the home position using the machine hard stop The motor moves at profile acceleration and speed until the torque is reached for 2 seconds and the Maximum Encoder Position does not change during that time If the torque exceeds the torque limit parameters Pn402 Pn403 this alarm is output Torque exceeded Torque Limits err 33 The Home Position is defined as the actual position when the torque reaches the defined torque for 2 seconds The torque will not exceed the defined torque during this procedure It
79. ion of the currently selected item 3 4 1 1 Project Tab The Project tab Figure 8 presents the subsections program and parameters of the current project To view the project subsections click on the sign next to the project name in the Workspace window Figure 8 Workspace Window Project Tab Parameter rsDimeeDue 3 4 1 2 Command Tab The Command tab Figure 9 presents the commands that can be used to write the program The commands are divided into groups A full description of each command is provided in Chapter 6 Command Reference 12 To view the commands under a command group click on the sign next to the group name in the Command tab Figure 9 Workspace Window Command Tab xi Project Command file ACCELERATION JERK_TIME TORQUE LIMITS f SET OUT Variables f SET VAR Motion Nj START ee STOP STOP MOTION SPEED CONTROL f PT_FOLLOWER of b o Flow Control The icon next to each command indicates its current status The availability or unavailability of a command depends on the current working mode Icon Description 8 Available command This command can be inserted into the program i Currently selected command When a command is selected its description is displayed in the Description area under the command list X Currently unavailable command To select a command double click on the command name The appropriate
80. is displayed as a graph of the gain dB and phase angle degree versus frequency Hz in log scale According to the graph the relevant parameters can then be adjusted in order to reduce the effect of the mechanical restrictions Note The process uses the predefined parameters of Notch Filter Pn408 0 Pn409 Pn40A and does not take control gains into consideration When you select this option this Warning message appears Figure 24 30 AW re West eG Vw d auem ro Pu HR ae ETa PT CIT TEN E Du URBI bai Lx DE Md UM iac Figure 24 Warning Message Mechanical Analysis xj A WARNING Li dangerous bo operate This function because Te motor will roie Ahaia ies nuns 85 check h usse manual belore apersding Pay particular atieniion o the folowing poinbs T Pertorm safety checks around moving paris The rester evil jurn dor 0 257 sec Tor each Exc aliondMessurement during he eooecution of ds function Periorm this wiber acequaatehr varinvang Pull there E no danger tom molior DEE z Bet an appropriate Allowable Fiobabora improper sahing may lem tcs rame of the machines rue fci reerrun ec Mloresver thee S krvenile Fipbaibona be the limi do each Eschborn The icon Hering ioind mee shi of excied makie tres Ble sure 5 check this before Excibssioni Measuremeni 3 Do not perform measurement on wertical sons The Gurren vernon cant perform maxcurement for verbes este or in machinas configurations where a load in con
81. it Screen and Parameters windows are hidden User Displays the current user customized screen saved under the Save User Screen Screen option Save User The size of the Workspace Program History and Parameters windows Screen can be customized to facilitate your work session This option enables you to save your customized screen for future work sessions Each time you save a new customized screen the previous user screen is overwritten 3 3 Status Bar D The Status Bar Figure 7 located at the bottom of the XtraWare screen indicates the status of the current driver and of the Servo Figure 7 Status Bar DEO ae ae mde ee The indicators on the right of the status bar are as follows A indicates whether or not a program is running on the controller Run Stop B Need Reset indicator After certain parameters are edited the main circuit and control power supply need to be cycled in order to enable the new settings When this indicator appears press Reset C indicates the status of the connection to the XtraDrive driver Offline or Online D indicates the current status of the XtraDrive driver ON or OFF 11 3 4 Work Area E The Work Area comprises the following windows 3 4 1 Workspace Window The Workspace window includes e Project Tab the subsections of the current project e Command Tab a list of the XtraWare commands divided into six groups e Description Pane a descript
82. ition error is smaller than the motion_end_window and theoretical motion is over velocity_demand_value is equal to zero or the time limit is exceeded before proceeding to the next command Motion end window is set by the Pn2CO parameter in user position units Unlike the Exact mode flag the WAIT EXACT command wait only once n The time period to wait If this value is 1 waits for an infinite period of time i e until the motion ends LABEL 1 MOVE 10800 3000 SET OUT 2 ON WAIT EXACT 1 SET OUT 1 ON END Motor starts to move output 2 is set to True motion continues when motion ends output 1 is set to True The WAIT command pauses execution of the following lines of the program Program Sequential Variables Exact mode Motion end window Position error Parameter Pn2CO 86 WAIT FOR START Wait Syntax Description Example Modes See Also WAIT INPUT Syntax Range Description Syntax Parameters Example WAIT FOR START This command pauses the execution of motion commands until a sequential START command is applied The main purpose of this command is to enable the user to send a group of up to 10 sequential commands so that execution of the commands waits for the START command This command is used to coordinate axes The START command clears the WAIT FOR START command Therefore the WAIT FOR START command must be set per motion System with X a
83. itor output FnooD Manual adjustment of analog monitor output gain FnOOE Automatic adjustment of motor current detection signal offset FnooF Manual adjustment of motor current detection signal offset Fn010 Write protect setting protects parameters from being changed Fn011 Motor model display Fn012 Software version display Fn013 Multi turn Limit Setting Change when a multi turn limit disagreement alarm A CC occurs Fn014 Clear option unit detection alarm A E7 47 Table 5 9 Monitor Modes The following list shows monitor modes available Parameter Content of Display Unit Remarks Un000 Actual motor speed rpm Un001 Input speed reference rpm Un002 Internal torque reference 96 Value for rated torque Un003 Rotation angle 1 pulse Number of pulses from the origin Un004 Rotation angle 2 degree Angle from the origin electrical angle Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse speed rpm Un008 Error counter value jou Amount of position error Un009 Accumulated load rate 96 Value for the rated torque as 100 Displays effective torque in 10sec cycle Value for the processable regenerative Un00A Regenerative load rate 96 power as 100 Displays effective torque in 10sec cycle Powerconsumed by tb Value for the processable power when Un00B resistance y 96 dynamic brake is applied as 100 Displays
84. l gain factor tightness 0 500 60 6 3 3 Pn1A2 Speed feedback filter 0 01ms 30 3200 40 6 3 5 Pn1A4 Torque filter low pass 0 01ms 0 2500 20 6 3 5 Pn1A5 Torque filter second order 0 1 0 1000 0 6 3 5 Pn1A7 Integral mode switch 1121 6 3 5 Pn1A9 Integral feedback gain Hz 0 500 40 6 3 5 Pn1AA Proportional feedback gain Hz 0 500 40 6 3 3 Supplementary proportional PniAB feedback gain Hz 0 500 30 6 3 3 5 PniAC Speed feedback gain Hz 0 2000 30 6 3 3 E Pn1AD Acceleration feedback gain 0 500 0 6 3 3 S Pn1AE Acceleration feedback filter 0 01ms 0 2500 300 6 3 9 5 Pn1AF Feed forward gain 96 0 200 0 6 3 3 9 Pn1B5 Maximum variable gain 96 100 1000 160 6 3 7 Pn1BB Feed forward compensation Hz 10 2000 2000 6 3 4 Filter on command Pn1BC acceleration 0 01ms 0 2500 300 6 3 4 Reduction of vibrations due Pn1BD to system flexibility Hz 10 2000 2000 6 3 4 Pn1BF Integral switch advance 1 15 3 6 3 8 Pnico Integral offset averaging m 0 25 0 637 time Pn1C1 Integral switch advance 125us 0 8 Position Control Reference is Pn200 Selection Switches Jj Gand ae 2 Pn201 PG Divider rotary motor p r 0 to 65635 2048 5 2 3 E G Electronic Gear Ratio B Pn202 Numerator 1 to 65535 4 5 2 5 5 Electronic Gear Ratio o Pn203 Denominator 1 to 65535 1 5 2 5 a Pn205 Multi Turn Limit Setting rev 0 to 65535 65535 5 7 2 Pn216 Command smoothing 0 1ms 0 65535 0 6 3 4 Pn2A2 Work speed default low ji 0 65535 0 5 9 1 2 oO
85. lt values of acceleration and jerk The maximum permitted speed is the maximum motor speed Variable Max Profile Velocity If the user specifies the value 1 for t ime the motion profile is based on the default speed as set in Parameters Pn2A2 and Pn2A3 or by the SPEED command target The next point in user units time The time allowed for the motion in msec LABEL 1 MOVE 4096 1000 DELAY 2000 MOVE 4096 1 END The motor moves 4096 user units in the positive direction 2000 msec after the motion begins The next MOVE command is executed this time in the opposite direction The time of the movement is determined internally according to the Motion Profile specified by the user The program ends Program Sequential MOVE D MOVE H MOVE R GO GO D ACCELERATION JERK TIME SPEED Variables Max Profile Velocity Profile Velocity Max Profile Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 71 MOVE D Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Motion MOVE D target time target user units defined by the user see Chapter 5 in the XtraDrive User Manual time msec Moves the motor to target relative coordinates in the specified time This command is identical to the MOVE command in motion execution but it delays the execution of the next program command till the com
86. mand theoretical motion generated by the MOVE D command is completed This command automatically changes Motion mode to Position mode The controller calculates the speed of the motor based on the default values of acceleration and jerk The maximum permitted speed is the maximum motor speed Variable Max Profile Velocity If the user specifies the value 1 for time the motion profile is based on the default speed as set in parameters Pn2A2 and Pn2A3 or by the SPEED command target The next point in user units time The time allowed for the motion in msec ABEL 1 MOVE_D 4096 1000 MOVE D 4096 1 END The motor moves 4096 user units in the positive direction Execution of the next MOVE command commences as soon as the previous motion ends after 1000 msec this time in the opposite direction The time of the movement is determined internally according to the Motion Profile specified by the user The program ends Program Sequential MOVE MOVE H MOVE R GO GO D ACCELERATION JERK TIME SPEED Variables Max Profile Velocity Profile Velocity Max Profile Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 72 MOVE H Syntax Units Description Syntax Parameters Example Example Explanation Modes See Also Motion MOVE H distance User Units defined by the user see Chapter 5 in the XtraDrive User Manual While the motor is still in mo
87. n asterisk appears in the Parameter status indication column Use the Download function to send the changed values to the driver 4 3 Programming the XtraDrive XtraDrive has built in programming capabilities The user can write a program that will be executed by the XtraDrive without the need for an external positioning controller 4 3 1 Writing a Program A program is written by selecting a command from the command list in the Workspace window Figure 15 and adding it to the Program window Figure 16 For a detailed description of the command see Chapter 6 Command Reference You must be in Program mode to write a program click the Program icon in the toolbar or select the Program Mode option from the Run menu The maximum length of a program is 100 command lines 20 CFO Lege ees Pu HR REUTERS ET CIAM TEE E DE ui didi B uud Lcid EDD Ed Mb Figure 15 Workspace Window H Progam Flow Cartio HA Serva EE X MOTION MODE E START 4 STOP i4 STOP_MOTION 4 Go 35 MOVE i5 SLIDE 4 TORQUE 4 Goo LE MOVED H Opu H Variables H Homa H E Wak Figure 16 Program Window The commands in the Workspace window are divided to groups For further details see Section 3 4 2 Program Window To add a command to a program e Open the relevant command group e Double click on the requested command to open a pop up dialog box Figure 17 relating to the command 21 Distanca Time ms
88. nd Y axes Send in serial a WAIT FOR START command to each of the axes and then send in serial a MOVE command to each of the axes The axes will not move until a START command arrives The START command arrives simultaneously at both of the axes but the MOVE command arrives individually at each axis Program Sequential START Wait WAIT INPUT input number input condition input state time Input number 0 to 7 and 8 to 24 depending on Option board type if any Pauses execution of program until the condition on digital input is true or until the time specified by time has passed Input Digital input number according to the pin on CN1 Pin eo 40 is related to lt input number 0 and 41 to 1 etc Input OR Equal to or not equal to condition Input Oor 1 state time The time in msec to wait until the input is set If lt time gt is 1 waits indefinitely LABEL 1 WAIT_INPUT 2 1 1 MOVE 10800 1 WAIT INPUT 2 0 10000 MOVE 10800 1 87 Example Explanation Modes See Also WAIT STOP Syntax Description Syntax Parameters Example Example Explanation Note Modes See Also Only when Input 2 is set to ON does the first movement commence The second WAIT command pauses the next movement for 10000msec 10 sec or until the input is set to OFF Program Sequential INPUT CASE IF INPUT Wait WAIT STOP lt n gt Halts program executi
89. nds in the buffer are executed immediately following movement termination of the D command For example setting of an output will occur at the end of the movement Motion commands without D suffix These commands are transferred to the MCB and are flushed from SCB or UPB immediately following execution This enables the user to enter a number of motion commands and while they are being executed by the driver other commands can be executed sequentially Motion modes The motion commands are divided into Motion modes as described below The current motion mode can be read from the Modes of operation variable e Position Motion commands MOVE GO MOVE D GO D are calculated and a trajectory movement speed and duration are determined e Velocity The velocity command SLIDE can be sent and changed at any time while keeping acceleration and jerk within the limits defined by the relevant variables e Torque The TORQUE command is immediately applied to the motor the torque changing rate being limited by the Torque slope variable 51 Speed Control A speed control loop is closed on the reference command instead of the position control loop that is normally used SPEED CONTROL Homing Homing commands HARD HOME HOME SW HOME SW C HOME C start an automatic search for the home position according to the homing parameter values Hunting A target position value can be changed at any time not necessarily at the end of
90. ng the Control Loops The mathematical coefficients of the control loop an advanced control algorithm must be tuned in order to ensure good system behavior The Autotuning function automatically moves the motor back and forth for a few moments measures the system behavior and sets the proper gains of the control loops Using encoder feedback XtraDrive constantly e checks the current motor position e compares this position to the desired one corrects the motor position if it is found to be different than the desired position 23 This correction is automatically performed within the XtraDrive according to the tuned control loops 4 5 1 Manual Tuning Manual tuning can be performed according to the instructions in the XtraDrive User Manual 4 5 2 Autotuning Autotuning is applicable in sequential command mode only To change the XtraDrive to this mode set the parameter Pn000 1 D Note that this setting becomes active only after the power is recycled When you select the Autotuning option from the Maintenance menu the Autotuning window Figure 18 opens Figure 18 Autotuning Window Aubo unire Automatic Command Filter Setting enables the command filter function The value of the command filter is calculated automatically and stored in parameter Pn216 Notch Filter enables the use of notch filter as set in parameters Pn408 Pn409 Fast Tuning the driver loads a group of parameters from prede
91. no motion is required Servo OFF E Switches the XtraDrive driver OFF i e not in control Immediate Ay Switches to Immediate mode In Immediate mode commands Mode are downloaded immediately to the driver s memory For details of all the available modes see Section 4 4 Program Modes Program Switches to Program mode In Program mode a list of Mode EN commands is prepared in the program editor to be downloaded to the driver at a later stage For details of all the available modes see Section 4 4 Program Modes Option Icon Description Sequential x Switches to Sequential mode In Sequential mode each Mode command is downloaded individually to the driver and then processed For details of all the available modes see Section 4 4 Program Modes Jog o Runs the motor at a constant predefined speed Stop Q Immediately stops the motor motion You can also click the Stop icon on the toolbar or press F9 For further details see the STOP command in Chapter 6 Command Reference 3 2 5 Communication Menu The Communication Menu options are used to switch on off the communication between the XtraWare and the XtraDrive and to customize the communication parameters Communication Menu Options Option Description Online Switches to working in online mode Offline Switches to working in offline mode Settings Opens the Communication Settings window See Section 4 1 1 Communication Settings
92. nt is in opposite directions speedl The speed and direction of searching for the home switch speed user units Must have an opposite sign to that of speed2 speed2 The speed and direction of searching for the home switch speed user units Must have an opposite sign to that of speed1 Program Sequential HOME_C HOME_SW_C HARD_HOME Pn2C7 0 Sets home switch input attribution 63 HOME SW C Home Syntax HOME SW C speedl lt speed2 gt Description Finds the encoder C pulse only after the home switch is found The motor moves at speed to the home switch and then changes direction and moves at speed2 towards the C pulse Only then does the encoder counter zero and the motor decelerates to stop The motor stops after the C pulse Use the GO or GO D command to set the motor at the zero position speedi and speed2 must have opposite signs i e the movement is in opposite directions Syntax speedl The speed and direction of searching for the Parameters home switch speed user units Must have an opposite sign to that of speed2 speed2 The speed and direction of searching for the C pulse speed user units Must have an opposite sign to that of speed1 Modes Program Sequential See Also HOME_C HOME_SW HARD_HOME Related Pn2C7 0 Sets home switch input attribution Parameters IF Program Flow Control Syntax IF variable condition value then label Description Defines the different
93. on until the theoretical motion is over or until the time limit is exceeded before proceeding to the next command n The time period in msec to wait If this value is set to 1 waits for an infinite period of time 1 e until the motion ends LABEL 1 MOVE 4096 800 SET OUT 1 ON WAIT STOP SET OUT 1 OFF END Motor moves 4096uu in the positive direction immediately after the motion begins output 1 is set to ON The WAIT STOP command pauses execution of the next command until the theoretical motion is over 800 msec Then outputl is set to OFF The MOVE command followed by WAIT STOP performs the same operation as the MOVE D command but enables the execution of commands while the motion is in progress Program Sequential MOVE 88 WAIT VAR Syntax Description Syntax Parameters Example Example Explanation Modes See Also Wait WAIT VAR variable condition value Pauses execution of program until the condition on variable value is true variable System variable see Chapter 9 List of System Variables condition gt lt gt lt mathematical operator value Set a value with the same units as lt variable gt LABEL 1 SET ZERO POSITION SLIDE 50 WAIT VAR Position actual value 20000 SLIDE O0 END Position actual value is set to zero motor starts moving at a constant speed 50uu as soon as the mot
94. on value for the motion profile see introductory section of this chapter The command changes the default acceleration value set by parameters Pn2A4 Pn2A5 and remains in effect until the next controller reset Syntax n Profile acceleration in acceleration units can be defined Parameters by the user Example LABEL 1 ACCELERATION 720 SLIDE 200 DELAY 1000 ACCELERATION 360 SLIDE 1000 DELAY 1000 SLIDE 0 END Example The acceleration value is defined as 720 which is used by the SLIDE Explanation command The next slide motions SLIDE 1000 and SLIDE 0 will use the new acceleration value 1 e 360 The SLIDE 0 command stops the motor Modes Program Immediate Sequential See Also MOVE MOVE_D GO GO_D SLIDE Variables Profile_acceleration Max_Profile_acceleration Parameters Pn2A4 Pn2A5 53 CALL Syntax Description Syntax Parameters Example Example Explanation Modes See Also Program Flow Control CALL n Calls a subroutine The program flow is transferred to the subroutine The called subroutine must begin with a LABEL command and end with a RETURN command n The label number at which the subroutine begins ABEL 1 PUT CASE 3 2 j 2 EL 2 SLIDE 1000 DELAY 500 SLIDE 0 RETURN The program checks if a certain input combination has occurred If the combination exists it will call the subroutine LABEL 2 A SLIDE motion will occur for 500 msec Otherwi
95. options are used to create new XtraWare projects open existing projects and save changes to projects Project files which are handled like any other file are automatically assigned an extension of XDR for example projectl XDR In addition the File Menu options are used to download upload and print programs and parameters File Menu Options Option Icon Description New Project D Creates a new XtraWare project When this option is selected the Ctrl N Motor Selection window opens where you select the motor which will be used for this project Figure 2 Motor Selection Window Select the appropriate manufacturer and then one of the listed models If you are using a model which is not listed click Add Motor Enter the name of the model in the Motor Model field and select the Motor Type either Rotary or Linear Click Finish to proceed the Workspace Program History and Parameters windows are opened with their default contents Option Icon Description Open E Opens an existing XtraWare project When this option is selected Project the Load Project window Figure 3 is opened Ctr O Figure 3 Load Project Window 1H Look ir a HYDH estes amp zl EH fem al MesDaveDem HDR Save Ej Saves the current project under its existing name If the project has Project not yet been named the Save Project window Figure 4 is opened Figure
96. or reaches position 20000 the next command is executed and motor stops end of program Program Sequential IF WAIT INPUT 89 6 2 Serial Communication Commands The commands described in this section are available only in the serial communication protocol they are not available in XtraWare Detailed information about the serial communication protocol can be found in Chapter 8 GET PAR Syntax GET PAR parameter number Description Reads the contents of XtraDrive parameter Syntax Parameter number XtraDrive parameter see Chapter 5 Parameters Parameter Reference Modes Immediate Sequential See Also SET PAR GET VAR Syntax GET VAR variable Description Reads the contents of the variable Syntax variable System variable see Chapter 9 List of Parameters System Variables Modes Immediate Sequential See Also POLLING SET VAR GET VERSION Syntax GET VERSION Description Reads XtraDrive version number Modes Immediate 90 POLLING Syntax Description Modes SET PAR Syntax Description Syntax Parameters Modes See Also POLLING Reads XtraDrive status For details see Chapter 10 List of Status Word Bits Immediate S ET_PAR lt parameter number gt lt value gt Sets XtraDrive parameter The driver must be reset before the change takes effect parameter number XtraDrive parameter see Chapter 5 Parameter Reference value Sets value to specified paramete
97. orm this motion with The requested motion cannot be present profile acceleration performed The specified motion time is too short for the specified acceleration 131 Cannot perform this motion with The required speed for this motion present profile speed is greater than the maximum motor speed Set a lower motion speed 134 Too low speed The speed is too low for specified motion 105 dila 7 da Code Message Description 135 SET VAR Variable value out of range The variable value in command SET_VAR is out of range 136 Program flow error Program flow error RETURN without CALL or CALL nesting too deep 137 Moving time is too short with present The specified jerk time exceeds profile Jerk time the maximum of 64000 msec 139 Home sensor not defined The Home sensor is not defined Refer to the HOME_SW and HOME SW C commands in this manual 140 Motion cannot be executed while The motion cannot be executed CONTROL OFF while the motor is disabled Make sure the motor is enabled CONTROL ON before issuing the motion command 141 TORQUE LIMITS Invalid torque limits The maximum torque limit is smaller than the minimum torque limit 142 Invalid or duplicated label The label number is either zero or greater than the maximum line number 143 Invalid input number The input referred to in the command is not defined as an event 144 Invalid output number
98. quired for holding the number Range 0x0 OxFF 0x0 OxF each Answer Description XtraDrive response Can hold acknowledge ACK or value as response to Data Request Commands such as GET VAR The format of ACK and Data Request Commands are described below S1 and S2 Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body see 7 2 2 1 Checksum Calculation Range 0x0 OxFF 0x0 OxF each CR Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 7 2 3 1 Answer Field for Acknowledge ACK A response message is sent either in response to a Data Request command or as a response to the other commands such as ACK ACK accepts only when Response type m 0 1 3 ACK format F1 F2 SW1 SW2 SW3 SW4 where F1 and F2 Description Fault Code Only in cases where Response type m 1 In case of no fault F1 and F2 equal 0x00 Range 0x00 No fault 97 SW1 SW2 SW3 and SW4 Description Status word 16 bit of bit string holding XtraDrive statuses see Chapter 10 List of Status Word Bits Range 0x00 OxFFFF 7 2 3 2 Answer Field for Data Request Command A response message is sent either in response to a Data Request command or as a response to the other commands such as ACK Answer to Data Request command accept
99. r For setting range see Chapter 5 Parameter Reference Immediate Sequential SET PAR 91 7 Serial Interface Protocol This chapter describes the XtraDrive serial communication protocol XtraDrive can work with XtraWare or with any other software that confirms with this protocol Up to 15 XtraDrive units can be connected on a bus Broadcast commands can be sent to all axes XtraDrive units 7 1 Basic Communication Specifications Half duplex communication using the following Baud rate 19200 Auto detect Bit Structure Start 1 bit Data 7 bit ASCII code Stop 1 bit Even number parity 1 bit Synchronization Start Stop synchronization 1 bit 7 2 Protocol Specifications In this master slave protocol a PC or other device is the master and the XtraDrive is the slave The master sends a request or a polling message and the XtraDrive answers with a response message The master can only send a new message after receiving an answer or ACK acknowledge message or after timeout has expired The master can control up to 15 XtraDrive units by using addresses When broadcast messages are sent the master does not wait for an ACK When there is no command to send the master can continue sending polling messages the XtraDrive responds with an ACK The diagram below illustrates the communication protocol between a PC master and a single XtraDrive PCMaser p lec EFFRENUS o 92 Note Mess
100. rs and novices Topics described in this manual include Software installation including system requirements and setup instructions Description of user menus and toolbars Operation of the XtraDrive driver using the XtraWare software including communication parameters and program handling Parameter Reference providing information on all the parameters available in the XtraWare software Command Reference which lists alphabetically o the commands used in the XtraWare software o the commands available in the serial communication protocol Description of the XtraDrive serial communication protocol Error Messages System Variables Status Word Bits Operation Codes Related documents Title Catalog No XtraDrive Series Servo System User Manual 8U0108 TOE C231 2 for gt Il servomotors AC SERVO MOTOR INSTRUCTIONS or other compatible motors XtraDrive XD SERIES AC SERVO DRIVER 8U0107 Short Form Installation Guide 2 System Requirements and Software Installation For optimum performance XtraWare requires e Computer Pentium 166 MHz Pentium II 350 Mhz recommended e At least 32 MB of RAM 64 MB recommended e A hard drive with at least 100 MB of free disk space e Operating System o Windows 95 OSR2 or later IE4 01 Service Pack 2 or later o Windows 98 o Windows NT4 0 Service Pack 3 or later IE4 01 Service Pack 2 or later o Windows 2000 o Windows Me o Windows X
101. s only when Response type m 2 The Answer format depends on the exact command General format is C1 C2 D1 D2 Dn where C1 and C2 Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Range 0x0 OxFF 0x0 OxF each see Chapter 10 List of Operation Codes D1 Dn Description Data field Number of bytes in data field depends on command type Answer Field for GET VAR Command C1 C2 Inx_1 Inx 2 V1 V2 V3 V4 V5 V6 V7 V8 C1 and C2 Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Inx 1 Inx 2n Description variable ID Range See Chapter 9 List of System Variables V1 V8 Description variable value 98 Answer Field for GET PAR Command C1 C2 Inx_1 Inx 2 Inx 3 Inx 4 V1 V2 V3 V4 C1 and C2 Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Inx 1 Inx 4 Description Parameter number reference list in Chapter 5 V1 V4 Description Parameter value Answer field for GET VERSION Command C1 C2 V1 V2 V3 V4 C1 and C2 Description Response message Operational Code C1 and C2 hold the same Operational Code a
102. s the original message V1 V4 Description XtraDrive version number with the following format V1 V2V3 V4 Note V4 can be set only as A or B For example XtraDrive with version number 2 80 A will respond with 1 C2 2 8 0 A 7 2 3 3 Response Message Format Example CONTROL ON command Example of response message to CONTROL ON command to axis 0 in Immediate mode with message identification of Ox7F Format N A m id1 id2 C1 C2 P1 P2 S1 S2 CR 0 2 7 F 4 5 0 1 3 9 CR 99 Format in cases of no fault N A mi lIdi Id2 F1 F2 SW1 SW2 SW3 SW4 S1 S2 CR NJOO O O O JO 0 4 J3 7 JC 5 CR where A 0 axis number 0 m 0 Response type is acknowledge without Fault Id1 0 id2 0 No fault so message identification is 0x00 F1 0 F2 0 No fault so fault code is 0x00 SW1 0 SW2 4 SW3 3 SW4 7 Shows XtraDrive status No emergency no fault control on and in position see Chapter 10 List of Status Word Bits 1 C 2 5 0x100 00 00 00 0x04 0x37 0xC5 MOVE Command Example of response message to MOVE lt 600 gt lt 1000 gt command 600uu in 1000 msec of axis 0 in Sequential mode with message identification of 0x96 when control is off Since a motion cannot be executed when CONTROL OFF fault Ox8C occurs Master Message Format
103. se the CALL 2 code line is skipped End of program Program LABEL RETURN 54 CONTROL Syntax Description Syntax Parameters Example Example Explanation Modes Notes See Also Servo CONTROL switch Enables disables the motor If the servomotor is disabled while a motion is in progress a quick stop is first made using the maximum deceleration before the motor disable command is executed switch ON enables the motor OFF disables the motor LABEL 1 CONTROL ON DELAY 1000 MOVE D 3600 1 CONTROL OFF CONTROL ON enables the servo The MOVE D command is executed the servo is disabled End of program Program Immediate Sequential After the CONTROL ON command is issued an internal delay may occur especially the first time after power cycling or controller reset with AB motors during the phase finding process Parameter Pn200 2 Clear options 55 DELAY Syntax Units Description Syntax Parameters Modes Notes END Syntax Description Parameters Example Example Explanation Modes Notes Wait DELAY n msec Waits for the specified period of time before executing the next command The actual delay is 2 msec in addition to the delay specified by the user n The time in msec to wait before executing the next command Program Sequential If this command is used after a MOVE command and the motion
104. stant applied in ones director Du ruit Web Thit in sich application duse do Thee dargi 3 Ahas be sure bo pertonn position reset after chosing this function The Mechanical Arakna funcion generates a postion deviation biscuits cenis moor excitation by the Tongue relerenoe Afir chosing this funcion acu hore nitor ond ridet Hn padhien bilori nord DEerston La ces Click OK to open the Mechanical Analysis window Figure 25 4 7 4 Mechanical Analysis Window Figure 25 Mechanical Analysis Window EBFT Mechanical fusalysis Ble e Measured Frigai Hz PEDI ExcisSon imatami rre 750 engine Tere j ze Eroto Anode o i zi AKrernisie Fpinlions Rotations Bis ed Pearle Efl Graph Setting Bend furo fine Phase euro mue Fazer Frisur Marker Coke Br dot Flemonance Frequency 1 Harker Color 4s Caii Giaph 1 31 ME IUE CLA TOR PEUT ENTE CLIENT F Du ee ee 7 ux MCA Ge LR CDU SM b Sc Accurate measurement of the frequency characteristics depends on the settings of the following parameters Sampling Time usec Measurement Frequency Hz Excitation Time ms If the sampling time is shortened a higher frequency can be measured and the shorter the excitation time becomes However frequency resolution deteriorates and measurement accuracy is reduced at low measuring frequency The measuring frequency and excitation time d
105. stops the motor motion using the quick stop deceleration as defined in parameters Pn2A8 and Pn2A9 and stops the program and clears the immediate sequential and motion buffers switch This parameter defines system behavior after the motion actually stops ON Keeps the motor enabled OFF disables the motor When using this command the deceleration parameters Pn2A8 and Pn2A9 cannot be defined as zero The default rate of this deceleration is automatically calculated by the XtraDrive according to the motor torque If the user changes this value it is the user s responsibility to set a value which is appropriate for an emergency stop Program Immediate Sequential STOP MOTION Parameters Pn2A8 Pn2A9 Motion STOP MOTION Immediately stops the motor motion not the program using the quick stop deceleration as defined in parameters Pn2A8 and Pn2A9 and clears the motion buffer LABEL 1 MOVE 3600 1 DELAY 100 MOVE 3600 1 DELAY 100 IF INPUT 1 GO TO 1 LABEL 2 STOP MOTION WAIT INPUT 1 GO D 0 RETURN 1 THEN CALL 2 0 1 83 Example Explanation Modes Note See Also TORQUE Syntax Units Range Description Syntax Parameters Example Example Explanation There are two motions one in the positive direction the other in the opposite direction which are continuously executed as long as Input 1 is false When Input 1 is set to true subroutine LABEL 2 is c
106. t defined as an event 17 Command prohibited in present control Incorrect operation mode for serial method command Set parameter 103 Code Message Description Pn000 1 D 18 Parameter storing fault during Contact your distributor or YET autotuning representative 19 Parameter storing fault Contact your distributor or YET representative 20 Motor moving during CONTROL ON XtraDrive has detected that the motor is moving while performing the first CONTROL ON after power up 22 Autotuning available in Programming Autotuning is available in Serial Command mode only Command mode only Change the working mode by setting Pn000 1 D 23 Program already running The requested program cannot be run since another program is already running 24 Variable does not exist 25 Wrong user units setting 26 Wrong setting profile Speed Acceleration or Jerk 27 Invalid parameter 28 EEPROM read buffer full 31 Home Command Both speeds are in the same direction 33 HARD HOME Torque exceeded torque limits 34 Unable to download delete program 64 A 02 parameter breakdown 65 A03 Main circuit encoder error 66 A04 Parameter setting error 67 A05 Servomotor and amplifier combination error 68 A10 Overcurrent or heat sink overheated 69 A30 Regeneration error detected 70 A32 Regenerative overload 71 A40 Overvoltage 72 A41 Undervolta
107. ters that are related to this command Command Reference Conventions The generic term uu found in this section refers to user units The user defines the units by setting the wanted gear ratio For further information see Chapter 5 in the XtraDrive User Manual User Program Immediate Sequential Buffer UPB Command Buffer Command Buffer ICB SCB 1 1 1 2 2 2 3 4 5 100 101 49 Motion Command Buffer MCB Cc1 25ilc nmi Program Mode User Program Buffer UPB In this mode a program a group of commands is downloaded into the UPB of the driver Program commands have the highest priority Program execution is activated by the RUN command or by clicking the RUN icon on the toolbar Motion commands in program mode are first calculated and then inserted into the motion command buffer MCB This enables the setting of an output or insertion of a certain term immediately after the motion begins until it ends Commands with the suffix D are fetched to the MCB and only after their completion i e the MCB is empty is the next command fetched Sequential Mode Sequential Command Buffer SCB In this mode each command is placed in the SCB and processed sequentially If no program is running a command in the SCB is executed immediately after a previous command in the SCB has been executed In sequenti
108. the trigger Level i e when the change is from HI to LO in I O e Data Change The trigger is detected if the trigger object crosses the trigger Level in any way i e when the signal level changes in I O e No Trigger The trigger will be applied at the same time as the START TRACE button is pressed All other trigger settings are irrelevant Level Trigger Level Specify the standard for determining when the trigger starts The units for the setting are the same as those of the trigger object selected in Source The trigger level cannot be set if the trigger object is I O 1 or I O 2 Pre Trigger 0 to 99 Specify to what degree data is displayed in the graph before a trigger is applied 4 6 2 Graph Settings For all of the graph settings described below you can select the scale available values are 1 2 5 10 25 50 100 500 1000 and the color in which the results will be displayed X Sampling Time Interval Specify the time interval for obtaining trace data default 25 ms The total trace time for which results are obtained is the sampling time interval multiplied by 10 Y1 Y2 Sampled Channel Available values are e Target Speed e Smoothed Target Speed e Acceleration 27 Dod DNA 4 iti Lacie LAG e Motor Speed e Position Error e Torque Reference I O1 VO 2 Sampled Digital I O Select the sampled output and input signals Show Select the objects that will be displayed in the graph
109. tion enables addition of a distance to the wanted motion This is unlike the MOVE and MOVE D commands where every command is executed only after the previous one has ended After the MOVE and MOVE D commands the motor comes to a full stop The motion profile is calculated according to the Command profiles set by the user i e Speed Acceleration and Jerk time Automatically changes Motion mode to Hunting Position mode 1 distance The movement distance 1n user units SET ZERO POSITION SPEED 1500 OVE H 600000 MOVE H 400000 WAIT VAR Position actual value gt 800000 SPEED 500 END The speed is set to 1500 rpm and movement commences to a distance of 600 000 user units While in motion another 400 000 user units is added so the total movement distance is 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm Program Sequential GO H 73 MOVE R Syntax Units Description Syntax Parameters Example Example Explanation Motion MOVE R distance User Units defined by the user see Chapter 5 in the XtraDrive User Manual Creates a movement that is not time oriented but synchronized to an External Pulse source The command adds distance user units to the Target position see diagram below Movement profiles are according to the Command profile set by the user For example if the Speed Prof
110. torque limit S input when P CL and N CL are ON T Torque 0 None ae Control Option E 1 V REF Uses V REF as an external speed limit 0 ae Terminal input Allocation 0 Uses absolute encoder as an absolute a encoder S Absolute f 2 Encoder 1 iat ia ute encoder as an incremental 0 S Usage encoder Fi 2 Uses absolute encoder as an absolute encoder Uses multi turn limit 3 Not used 0 0 0 Motor speed 1V 1000rpm 2 1 Speed reference 1V 1000rpm e oO o 5 Analog 2 Torque reference 1V 10096 Monitor 1 3 Position error 0 05V 1 reference units D c 0 Torque 4 Position error 0 05V 100 reference units Reference w Monitor 5 Reference pulse frequency converted to os rpm 1V 1000rpm 9 Ea 6 Motor speed x 4 1V 250rpm E s 7 Motor speed x 8 1V 125rpm o 2 Analog a Monitor 2 5 1 Speed 0 7 Same as Pn003 0 see above s Reference 5 Monitor LL Not used 0 3 Not used 0 0 Analog 0 Servo position error 1V 10 encoder counts 0 S monitor 1 1 Servo position error 1V 5 user units S 2 Target speed 1V 500 rpm e 22 3 Target speed after applying command n a smoothing 1V 500 rom 5 Torque reference 10V max torque Motor speed 1V 500 rpm 40 Digit Default Parameter Place Name Setting Description Setting Target acceleration after applying 6 command smoothing 10V max acceleration allowe
111. uals or exceeds 10000uu the SLIDE 0 command stops tells the motor to move at 0 speed the motor output 2 is True End of program Program Immediate Sequential T SET VAR Syntax Description Syntax Parameters Example Example Explanation Modes See Also Variable SET VAR variable value Sets the contents of a writeable user variable The following three variables are writeable Exact mode a flag 0 1 which defines the behavior of the motion buffer i e the timing of the next motion in relation to the current one If Exact mode is set all motion in the motion buffer waits until the Motion end window is reached The default value of the Motion end window is set by the Pn2CO parameter in user position units Motion end window A predefined window that determines the end of movement i e when Position error is smaller than the motion end window value Clock System clock in ms Speed reference Defines reference speed in speed user units for the SPEED CONTROL command when switch variable variable Exact mode motion end window clock speed reference value The value of the user variable SPEED CONTROL VARIABLE LABEL 1 IF INPUT 1 0 THEN GO TO 2 SET VAR Speed reference 500 GO TO 3 ABEL 2 SET VAR Speed reference 200 ABEL 3 GO TO 1 END The SPEED CONTROL command enables speed control according to the Sp
112. ve system and their values is provided in Chapter 5 Parameter Reference The Parameters window is divided into three panes as shown below 15 Group pane A presents the list of parameter groups For each parameter group the parameters are displayed in the Parameters pane The Value pane B displays the details of each parameter Initially the values displayed for the parameters are the default values The Description pane C displays a short description of the currently selected parameter 16 4 Operating the XtraDrive Using XtraWare This chapter provides detailed instructions on how to operate the XtraDrive servo driver using the XtraWare software 4 1 Connecting the Driver to the PC The communication connection between the PC and the driver is serial 1 Connect a communication cable to an available COM port of your PC Note that only COM 1 through 4 are supported by XtraWare 2 Connect the other end to the CN3 connector on the XtraDrive 4 1 4 Communication Settings Run the XtraWare software The default location is Start gt Programs gt XtraWare In order to establish communication select the Online option from the Communication menu The communication indicator on the status line indicates whether communication is offline or online Figure 12 Communication Settings Window Communication Settings x Port Baud Rate 3200 Parity Ee z Data Bits z Stop Bits ho Flow Control
113. ved parameter do not change 0 4 Parameter Digit Place Name Setting Description Default Setting Pn190 Motor selection switches Motor model Yaskawa A quad B model SGM Yaskawa A quad B model SGMP Non Yaskawa rotary motor e o Non Yaskawa linear motor Encoder type Incremental A quad B encoder Yaskawa absolute A quad B encoder Encoder selection Yaskawa serial encoder A quad B encoder D A quad B encoder with commutation sensors U V W A quad B encoder with commutation sensors U V W C phase mask C phase signal used C phase signal mask Pn191 Motor selection switches Motor phase order Not defined UVW j eoc o o UWV Not used Pn1A7 Motor selection Switches Integral mode Disable clear integral function refer to 6 3 8 Enable clear integral function refer to 6 3 8 Not used eo Pn200 Position Control References Selection Switches Reference Pulse Form Sign pulse positive logic CW CCW positive logic A phase B phase x1 positive logic A phase B phase x2 positive logic A phase B phase x4 positive logic Sign pulse negative logic CW CCW negative logic A phase B phase x1 negative logic A phase B phase x2 negative logic A phase B phase x4 negativ

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