XtraDrive-DP User Manual
Contents
1. Sending Commands Perform the following steps in order to send commands during data exchange 1 Select the command module see Setting Up XtraDrive DP page 25 2 During data exchange the master sends the command to the XtraDrive DP The command message contains the following fields ID A numeric identifier that is used to associate between the command and the relevant command response or diagnostic Op code Shown in the table on page 34 Mode 4 Immediate Mode 2 Use this mode in order to issue a single command for immediate execution for example changing the state of an output while a program is running or lowering the gain while the motor is enabled Program download Mode 4 Use this mode when downloading a program to the XtraDrive DP gt Sequential Mode 3 Use this mode when the master sends a command stream that should be executed as a program for example move the motor and wait for the motion to complete wait for input or execute another move Command Parameter 1 Command parameter 5 Command arguments dd e uqpaix YM BUDHOM n XtraDrive DP User Manual The table below lists all the commands and their opcodes in decimal format YASKAWA ESHED TECHNOLOGY LTD Name Op Code Command Parameters auen o freios ne l L3 Connor 6 jowws paw wm eem O w LL eon omer CSS emm 9 E ko o ee CT coo ma ee frtontimem2. 200 o fim mm Torque demand value 2000 Variables Variables Downloading XtraDrive DP Programs You can download programs to an XtraDrive DP in one of two ways From a PC via the serial port to the XtraDrive DP by using the XtraWare software This is the recommended method Via the PROFIBUS network during data exchange by downloading a program line by line In the command the mode field is set to program download mode 4 and the ID field is set to the program s line number to be downloaded NOTE we In order to download programs to the XtraDrive DP during data exchange you must first chose the Command module during configuration For further information refer to the XtraDrive User Manual YASKAWA ESHED TECHNOLOGY LTD Working with XtraDrive DP CHAPTER 3 Starting Program Synchronization XtraDrive DP is designed to enable the synchronization of the start of programs on a group of drives within a maximum time gap of 125 usec To enable this functionality use the PROFIBUS SYNC command SYNC is a PROFIBUS control command which is sent broadcast to multiple slaves simultaneously After the slaves receive the SYNC command from the master output is frozen in its current state and new outputs are not sent to XtraDrive DP until the next SYNC command Start program synchronization includes the following steps You add to program the WAIT TO START command before first move
3. Indicates a potentially hazardous situation which if not avoided could result in minor or moderate personal injury and or damage to the equipment In some instances items described in a CAUTION could also result in a serious accident Read the following safety precautions thoroughly before installation operation maintenance or inspection of the XtraDrive DP XtraDrive DP User Manual A AN YASKAWA ESHED TECHNOLOGY LTD WARNING After voltage resistance testing wait at least five minutes before servicing the product Failure to observe this warning could result in electric shock CAUTION Never use the equipment near flammable materials or where it may be exposed to splashes of water or corrosive or flammable gases Failure to observe this caution could result in electric shock or fire 8 e Wiring WARNING XtraDrive grounding must be in accordance with the national code and consistent with sound local practices Failure to observe this warning could result in electric shock or fire YASKAWA ESHED TECHNOLOGY LTD AN CAUTION Do not connect three phase power supply to XtraDrive output terminals U V and W Failure to observe this caution could result in personal injury or fire Securely tighten screws on the terminal block and ground terminals of power input and motor connections When using a 400V XtraDrive the amount of current leaking from the power line increases Therefore use cables
4. Pn506 Brake to Servo OFF Time Pn507 Brake Reference Output Speed Level YASKAWA ESHED TECHNOLOGY LTD Clear Operation O Clear error counter at base block 1 Does not clear error counter 2 Clear error counter on alarm 3 Clear signal ignore Filter Selection O Reference input filter line driver 1 Reference input filter open collect Multi turn Limit Setting This parameter periodically clears the encoder s counter that is returns the setting to O after a predefined ratio of motor to load axis revolutions Quick Stop Deceleration High This parameter together with Pn2A8 defines the motor s deceleration when a STOP command is issued Quick Stop Deceleration Low This parameter together with Pn2A9 defines the motor s deceleration when a STOP command is issued Overflow Level This parameter defines the Position error overflow level The units are user units x 256 Brake Reference Servo OFF Delay Time This parameter sets the delay between the time when the Brake Reference signal is issued until the servo is off Brake Reference Output Speed Level Speed level for brake reference output during motor operation XtraDrive DP Parameters List 51 APPENDIX B YASKAWA ESHED TECHNOLOGY LTD System Parameters Digital I O Pn508 Brake Reference Timing for brake reference output during On Time motor operation Momentary Hold Time This parameter Pn509 Momenta
5. Refer to Pn50A 1 page 54 Pn50C 0 SPD D Input Pn50C 1 SPD A Input S E E O Pn50C 2 SPD B Input SI SADJOUIDAD dq 9 Au1qpaix XtraDrive DP User Manual Module Name Description G SEL Signal Mapping Gain Pn50D 2 G SEL Input Switching Refer to Pn50A 1 page 54 COIN Signal Mapping 0 Disabled Pn2D2 0 COIN Output 1 SO1 CN1 25 26 2 SO2 CN1 27 28 3 SO3 CN1 29 30 Pn2D2 1 Program Program Output 1 Output 1 Refer to Pn2D2 0 page 56 Pn2D2 2 Program Program Output 2 Output 2 Refer to Pn2D2 0 page 56 Pn2D2 3 Program Program Output 3 Output 3 Refer to Pn2D2 0 page 56 COIN Signal Mapping Pn50E 0 COIN Output Refer to Pn2D2 0 page 56 V CMP Signal Mapping Pn50E 1 V CMP Output Refer to Pn2D2 0 page 56 TGON Signal Mapping Pn50E 2 TGON Output Refer to Pn2D2 0 page 56 Digital I O S RDY Signal Mapping Pn50E 3 S RDY Output Refer to Pn2D2 0 page 56 CLT Signal Mapping Pn50F 0 CLT Output Refer to Pn2D2 0 page 56 VLT Signal Mapping Pn50F 1 VLT Output Refer to Pn2D2 0 page 56 XtraDrive DP Parameters List APPENDIX B YASKAWA ESHED TECHNOLOGY LTD BK Signal Mapping Pn50F 2 BK Output Refer to Pn2D2 0 page 56 WARN Signal Mapping Pn50F 3 WARN Output Refer to Pn2D2 0 page 56 NEAR Signal Mapping Pn510 0 NEAR Output Refer to Pn2D2 0 page 56 Pn510 1 Not Used Pn510 2 Not Used Pn510 3 Not Used Out
6. XtraDrive SERIES AC SERVO DRIVER XtraDrive DP Embedded PROFIBUS YASKAWA ESHED TECHNOLOGY LTD i XtraDrive DP User Manual YA YASKAWA ESHED TECHNOLOGY LTD This manual is delivered subject to the following conditions and restrictions This manual contains proprietary information belonging to YET Ltd Such information is supplied solely for the purpose of assisting explicitly and properly authorized users of XtraDrive DP 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 The text and graphics are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice Some of the software described in this manual is furnished under a license and may be used or copied only in accordance with the terms of that agreement This includes third party software such as the S7 SIMATEC Manager This manual is designed to provide information about XtraDrive DP Every effort has been made to make this manual as complete and 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
7. E E C Pn2D1 0 Emergency Input 4 SI4 CN1 44 5 SI5 CN1 45 6 Sl6 CN1 46 OFF 8 ON XtraDrive DP Parameters List APPENDIX B YASKAWA ESHED TECHNOLOGY LTD Mode wame Decl Fast Input Detection 125 psec O SIO CN1 40 1 SI1 CN1 41 Pn2D1 1 Motion Input 2 SI2 CN1 42 125 usec 3 SI3 CN1 43 4 SI4 CN1 44 5 SI5 CN1 45 6 SI6 CN1 46 Program Input 5 Pn2D1 2 Program Input 5 Refer to Pn2D0 0 page 52 abita pa enfant Pn2D1 3 Program Input 6 Refer to Pn2D0 0 page 52 Home Switch Input O SIO CN1 40 1 SH CN1 41 2 SD CN1 42 3 SI3 CN1 43 zi E E Q Pn2C7 0 Home Switch Input 4 SI4 CN1 44 5 SI5 CN1 45 6 Sl6 CN1 46 7 F Home failure SI SADJOUIDAD dq 9 Au1qpaix Home Switch Polarity Pn2C7 1 Home Switch 0 Normally closed 0 Volt logic Polarity 1 Normally open 2 Home failure XtraDrive DP User Manual Module Name Description S ON Signal Mapping Servo ON when Low 0 SIO CN1 40 1 SIT CN1 41 2 SI2 CN1 42 3 SI3 CN1 43 4 SI4 CN1 44 5 SI5 CN1 45 6 Sl6 CN1 46 7 ON 8 OFF 9 SIO CN1 40 Negative Logic A SM CN1 41 B SI2 CN1 42 C SI3 CN1 43 D SI4 CN1 44 Negative Logic E SI5 CN1 45 Negative Logic F Sl6 CN1 46 Negative Logic P Con Sign
8. Pn2C4 Synchronized Window Pulse Train XtraDrive DP User Manual Module Name Description Soft Start Acceleration Time This arameter sets the interval between the Pn305 Soft Start P time when the servomotor starts until it Acceleration Time reaches maximum speed contact reference Soft Start Deceleration Time This arameter sets the interval between the Pn306 Soft Start P time when the servomotor reaches Deceleration Time maximum speed until it stops contact reference Pn307 Speed Ref i pere ies Speed Reference Filter Time Constant Filter Time Pn308 Speed Feedback es Speed Feedback Filter Time Constant Filter Time Speed Reference Input Gain This parameter sets the voltage range for the V REF CN1 5 speed reference input based on the host controller or external Pn300 Speed Reference Input Gain oO Q Z QD wi oO ye oO cec OO O qv c o I Z O EO oO oO Q N circuit s output range Speed Loop Gain When NCT is not used this parameter together with Pn101 enables you to ensure that the Pn100 Speed L Gai pers speed error the difference between the internal speed command and the actual speed is as small as possible XtraDrive DP Parameters List 63 APPENDIX B YASKAWA ESHED TECHNOLOGY LTD oO Q QD YI oO q oO cec OO lt lt Oo c o U C O Q oO oO Q Un Speed Loop Integral Time Constant When NC
9. The GSD file is loaded only once at the beginning of the setup process Refer to Appendix E Example of Using XtraDrive DP for a complete example of how to use a PROFIBUS DP configuration tool Information can also be downloaded from PROFIBUS website www profibus com A copy of the most updated GSD file YETMO7AA GSD for the XtraDrive DP can be downloaded from YET s website www yetmotion com or from www profibus com dQd 3Auqpurx Bunnpouj L 14 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Installing XtraDrive DP CHAPTER 2 YASKAWA ESHED TECHNOLOGY LTD Chapter 2 Installing XtraDrive DP dd 9 Augnarx Buryjoysuy About This Chapter This chapter describes how to connect an XtraDrive DP to a PROFIBUS network It provides a brief description of PROFIBUS network architecture and gives instructions for setting the node address of each XtraDrive DP Connecting an XtraDrive DP XtraDrive DP servo drives are connected to a PROFIBUS network via a standard RS 485 communication cable For information on how to connect other XtraDrive series products to peripheral devices as well as for examples of main circuit wiring and I O signal connections refer to Chapter 3 Wiring in the XtraDrive User Manual XtraDrive DP User Manual The PROFIBUS Network 24 YASKAWA ESHED TECHNOLOGY LTD PROFIBUS devices are connected in a bus structure Up to 32 stations master or slaves can
10. Two analog inputs for general purpose usage Network connectivity Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD XtraDrive with Embedded PROFIBUS XtraDrive DP XtraDrive DP provides all the benefits of working with the XtraDrive family of products while running on PROFIBUS network XtraDrive DP uses PROFIBUS standard diagnostic features to provide continuous diagnostics as well as driver status and information about runtime error in motion commands XtraDrive DP has PROFIBUS product certification according to EN 50170 and IEC 61158 As XtraDrive DP has the same parameter set system variables motion commands and programming functions as the rest of the XtraDrive family it functions in a familiar and easy to use manner Refer to the XtraDrive and XtraWare User Manuals for detailed information about using XtraDrive Even when XtraDrive is connected to a network you can use XtraWare for tuning oscilloscope functions program editing and program download Refer to the XtraWare User s Manual for detailed information about the XtraWare software dQd 3Auqpurx Bunnpouj L XtraDrive DP User Manual Product Overview Below are the specifications for the XtraDrive DP and the PROFIBUS interface YASKAWA ESHED TECHNOLOGY LTD XtraDrive DP Specifications Servo motor capacity kW 0 5 1 0 1 5 2 0 3 0 PROFIBUS Analog pulse train Integrated positioner Various programmable motion profile m
11. V alarms faults 69 Variables warnings 69 reading 39 XtraWare 73 Specifications PROFIBUS fo XtraDrive DP 4
12. a a GOTO TO 73 Jubel 0 HARD E x e Ta O Ed of rated HOMEC o C E 133 Speed e kaa HOME SWC omo Seeedtonvich ope couse Wo ow aee o NPT o meme were s oposto mese we 7 me wn w jw 1 This command has 5 parameters For more information refer to the XtraWare User s Manual YASKAWA ESHED TECHNOLOGY LTD Name Op Code Command Parameters move o once CO mt powo wm pee Novi ine si woven m pee o mover om pee fd prrouower w ooo muw 2 0 o mw je O sron 7 E onroro stem cm eme E rw n wee me ERES s O EL so ms Be E aos om LL wm e e 0 o M M NN NUN START a o ON 0 E OFF 1 STOP MOTION MOTION um 1 rated Torque anaoga wa TORQUE LIMITS ow CW 0 1 of max CCW 0 1 of max o Working with XtraDrive DP 35 CHAPTER 3 dd e uqpaix YM BUDHOM n XtraDrive DP User Manual Name Op Code Command Parameters YASKAWA ESHED TECHNOLOGY LTD mM o a a Maso ms meam war vaene we fva e arvense 150 ve ve Working with XtraDrive DP CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD Setting XtraDrive DP Parameters XtraDrive DP parameters define how the XtraDrive DP will operate Refer to Appendix B XtraDrive DP Parameters List for a complete list of all XtraDrive DP parameter modules their paramet
13. Control Method 4 Speed contact analog Selection 6 Speed contact torque analog 9 Torque analog speed analog A Speed control analog zero clamp C NCT Position control pulse train D NCT Programming mode Servo OFF Alarm Stop Mode N U Q J Q C Soe far A Q _ NY gt Un O Apply dynamic brake stop 1 Apply amp release dynamic brake stop 2 Stop without dynamic brake coast Pn001 0 Servo OFF Alarm Stop Mode ISI SAS JIUIDADA dq 9Anqparmx a XtraDrive DP User Manual Module Name Description Overtravel Stop Mode Pn001 1 Overtravel Stop 0 Same as Pn001 0 Mode 1 Maximum torque Pn406 servo lock 2 Maximum torque Pn406 coast state AC DC Power Input Selection Pn001 2 AC DC Power 0 Input AC power via L1 L2 L3 Input terminals 1 Input DC power via 1 terminals Warning Code Output Selection Pn001 3 Warning Code O ALO1 2 3 output alarm codes only Output 1 ALO1 2 3 output both alarms amp warnings Speed Control Option T REF Terminal Allocation O None Pn002 0 Speed Control o 1 External torque limit input Uses T REF Uses 2 Torque feed forward input N Se oO oO qv L ev C oO un gt Un 3 External torque limit when P N CL ON Torque Control Option V REF Terminal Pn002 1 Torque Control Allocation V REF O None 1 VREF is external sp
14. and isolation materials rated for 400V and keep the wires as short as possible WARNING Be sure to turn power OFF before inspection or maintenance Failure to observe this warning could result in electric shock Never open the terminal cover while power is ON and never turn power ON when the terminal cover is open Failure to observe this warning could result in electric shock After turning power OFF wait at least five minutes before servicing the product Failure to observe this warning could result in residual electric charges causing electric shock CAUTION Never change wiring while power is ON Failure to observe this warning could result in electric shock or personal injury About This Manual x XtraDrive DP User Manual wf ANN YASKAWA ESHED TECHNOLOGY LTD Receiving CAUTION Use the specified combination of servomotor and XtraDrive Failure to observe this caution could result in fire or equipment failure Operation CAUTION To avoid accidents perform a test run of the servomotor with no load Failure to observe this caution could result in personal injury Before starting operation with a load connected set up user constants suitable for the machine Failure to do so could result in overrun failure When the load moves vertically incorrect setting of the user constants may cause the load to fall Before starting operation with a load connected make sure emergency stop procedure
15. and jerk smoothing time Program definitions dd e uqpaix YM BUDHOM n The following table shows the command module 1 O map Command output Size Offset oo 2 Ez Op_Code Command Parameter 1 EN Command Parameter 3 Command Parameter 4 Command Parameter 5 8 4 Command Parameter 2 XtraDrive DP User Manual XtraDrive Status YASKAWA ESHED TECHNOLOGY LTD This module is used for reading the XtraDrive DP s status by the master The following table shows the XtraDrive status module I O map XtraDrive Status input em EN Mode_of_operation Working with XtraDrive DP CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD System Profile This module is used for reading the XtraDrive DP s system profile The following table shows the system profile module I O map System profile input Size o 4 Profile velocity 4 Profile acceleration Bo 4 Jerk smoothing time 4 Max profile velocity CCW Torque limit EE Application gain par 1 bamde Pulse Train Input dd e uqpaix YM BUDHOM n EN EM ER EM 2 EN 2 RE CW Torque limit 2 2 2 1 1 This module is used for reading the pulse train The pulse train parameters are Pulse Train gear Synchronized window XtraDrive DP User Manual Speed Control Analog Reference YASKAWA ESHED TECHNOLOGY LTD This module is used to determine the speed controls mode of operation The speed control
16. be connected in one segment and multiple buses may be connected if line amplifiers are used The bus has an active bus terminator at the beginning and end of each segment To ensure error free operation both bus terminations must always be powered up Station 1 RxD TxD P 3 O DGND 5 O vP 6 O RxD TxD N 8 O Station 2 O 3 RxD TxD P O 5 DGND O 6 VP O 8 RxD TxD N VP 6 390 Q Data Line RxD TxD P 3 220 Q Data Line RxD TxD N 8 Shielding 390 Q Protective Protective Ground Ground DGND 5 Cabling Bus Termination When more than 32 stations are used repeaters line amplifiers must be used to connect the individual bus segments The maximum cable length depends on the transmission speed and cable type see Table 2 The specified cable length can be increased by the use of repeaters The use of more than three repeaters in series is not recommended Installing XtraDrive DP CHAPTER 2 YASKAWA ESHED TECHNOLOGY LTD Electrical Characteristics The following table provides electrical characteristics for network communication cables Table 1 Line Parameters 135 165W 100 130 W 3 to 20 Mhz f gt 100kHz nestes arah Transmission Line Lengths dd 9 Augnarx Buijjpisu The following table shows the cable lengths to be used at different transmission speeds Table 2 Line Lengths for Different Transmission Speeds Baud rate kbit s 19 2 93 75 187
17. in Appendix D Working with XtraWare Only XtraWare may change password protected parameters XtraWare may not change parameters that have been set and configured with the PROFIBUS DP configuration tool XtraWare can be downloaded from YET s website www yetmotion com Working with XtraDrive DP 39 CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD Reading Variables You define the variables you want to read by choosing at least one of the following modules during configuration see Setting Up XtraDrive DP page 25 The variables are read in a predefined fixed order You can choose one or more of these modules and define the order of the modules but not the order of the variables within the modules Timeline refers to the lapse time for the transfer of a message between the PROFIBUS I O map and the XtraDrive DP us o a n ws o n mode af operion 2000 o a command mode 2000 o a Profle velocity 2000 o 4 irk smoothing time 2000 E o n 22 2 CCW Torque limit XtraDrive Status qv O Q m 2 O U OW oO un gt Un dd e uqpaix YM BUDHOM n XtraDrive DP User Manual 40 YASKAWA ESHED TECHNOLOGY LTD Timeli 4 Target position position 35 Position demand value 2000 pa sinal valve us EJES uui E salen Position Variables iw 4 Userencoder 2000 o a Tagetvetocty 200 4 4 Veloiy demand value 200 o 4 Veroa acu vale
18. jerk smoothing time variable Position Units Ratio Numerator High This parameter together with Pn2BO sets the numerator to be used in the ratio to convert position units from user units to encoder counts Position Units Ratio Numerator Low This parameter together with Pn2B1 sets the numerator to be used in the ratio to convert position units from user units to encoder counts YASKAWA ESHED TECHNOLOGY LTD z c O Pn2B3 Position Units Ratio Den High Pn2B2 Position Units Ratio Denominator Low Pn2B5 Speed Units Ratio Numerator High Pn2B4 Speed Units Ratio Numerator Low Pn2B7 Speed Units Ratio Denominator High XtraDrive DP Parameters List APPENDIX B Position Units Ratio Denominator High This parameter together with Pn2B2 sets the denominator to be used in the ratio to convert position units from user units to encoder counts Position Units Ratio Denominator Low This parameter together with Pn2B3 sets the denominator to be used in the ratio to convert position units from user units to encoder counts Speed Units Ratio Numerator High This parameter together with Pn2B4 sets the numerator to be used in the ratio to convert speed units from user speed units to encoder counts msec Speed Units Ratio Numerator Low This parameter together with Pn2B5 sets the numerator to be used in the ratio to convert speed units from user speed units to encoder coun
19. or entity for loss or damage in connection with or stemming from the use of XtraDrive and or the information contained in this publication YET Ltd bears no responsibility for errors that may appear in this publication and retains the right to make changes to the products and the guide without prior notice Copyright 2003 YET Yaskawa Eshed Technology Ltd All rights reserved Other company and brand products and service names are trademarks or registered trademarks of their respective holders Catalog No 8U0112 June 2003 About This Manual ii YASKAWA ESHED TECHNOLOGY LTD About This Manual This manual is intended for users who want to easily integrate the XtraDrive DP system into a PROFIBUS network It explains how to connect XtraDrive DP to a PROFIBUS network and how to use standard tools to set up the behavior and functionality of the XtraDrive DP on the PROFIBUS network This manual contains the following chapters Chapter 1 Introducing XtraDrive DP describes the XtraDrive DP servo driver and provides an introduction to PROFIBUS networking Chapter 2 Installing XtraDrive DP describes how to connect XtraDrive DP to PROFIBUS Chapter 3 Working with XtraDrive DP describes the process of setting up and configuring XtraDrive DP to work on a PROFIBUS network Appendix A XtraDrive DP GSD File provides a link to the most updated GSD file Appendix B XtraDrive DP Parameters List prov
20. parameters are Velocity control loop Acceleration Speed Torque Control Analog Reference This module is used to determine the torque control s mode of operation The torque control parameters are Torque limits Emergency stop Speed limit Position Variables This module is used for reading the XtraDrive DP s position variables The following table shows the position variables module I O map Position variables input ai Size bytes Target position Working with XtraDrive DP CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD Speed Variables This module is used for reading the XtraDrive DP s speed variables The following table shows the speed variables module I O map Speed variables input o s Dewey o a feias Torque Variables This module is used for reading the XtraDrive DP s torque variables The following table shows the torque variables module I O map Speed variables input Size Offset bytes Target_position Sa dd e uqpaix YM BUDHOM n XtraDrive DP User Manual Get Parameters YASKAWA ESHED TECHNOLOGY LTD This module is used for reading the answer to the Get Parameters command NOTE In order to use the Get Parameters module you must also choose Command The following table shows the get parameters module I O map Speed variables input Number Value Working with XtraDrive DP CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD
21. the hardware components used in this example Application Setup page 78 describes how to set up the commands used to transfer data Application Execution During Data Exchange page 81 describes how to execute the application during data exchange System Setup System setup is composed of three steps Install the XtraDrive GSD File An updated file YETMO7AA GSD can be downloaded from YET s website http Avww yetmotion com From the S7 s Options menu select Install New GSD When the GSD file is loaded the XtraDrive DP s name appears in the list of drives in the Catalog window YE YASKAWA ESHED TECHNOLOGY LTD 2 3 Example of Using XtraDrive DP APPENDIX E Select and define the network components the PLC XtraDrive DP transmission rate and so on Select the hardware components to be used on the PROFIBUS network starting with the master including its specific CPU and power supply and then the network for example determining the profile and transmission rate Once this has been carried out you must determine the slave XtraDrive DP and its address It is important to ensure that this is the same as the address set by the rotary switches on the XtraDrive DP s front panel The picture below displays the system setup as shown in the S7 SIMATIC Manager GUS HW Config SIMATIC 300 1 Station Edit Insert PLC View Options Window Help Dis e S sin a ED CS 28 x RI SIMAT
22. vendor independent open field bus standard used in a wide variety of industries including manufacturing process and building automation Many certified PROFIBUS products are available including sensors motor drives and starters PLCs remote I O systems and so on There are three types of PROFIBUS products Fieldbus Message Specification FMS This version is designed as a general purpose solution for communication tasks at the cell level and can also be used for extensive and complex communication tasks Process Automation PA This version is designed for process automation It permits sensors and actuators to be connected on one common bus line This version can be used for data communication and power over the bus using 2 wire technology according to IEC 1158 2 Decentralized Periphery DP This version is designed for communication between automation control systems and distributed I O at the device level This version can be used in place parallel signal transmission with 24V or O to 20 mA PROFIBUS DP PROFIBUS DP is a master slave communication profile which allows up to 126 stations on each bus These stations perform connection oriented communication and have a transmission rate of up to 12 Mbps The length of the messages between the master and slave is up to 256 bytes Information transferred from the master to the slave is called Output and information transferred from the slave to the master is called
23. 4 Work Accel Default 10000 3 Select the XtraDrive Status module While it is not mandatory to select this module it is helpful in enabling you to retrieve the XtraDrive s working status You have now defined the user units working speed and acceleration assigned output 1 and defined the structure of I O data The XtraDrive is now ready to run the application dd 9 Anqpuiyx Buisn jo ajduipxy 80 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD The I O map for this application is shown below Size bytes Content Digital Input Digital Output Mode of operation VA Example of Using XtraDrive DP APPENDIX E YASKAWA ESHED TECHNOLOGY LTD Application Execution During Data Exchange The master must send the following commands in Sequential Mode CONTROL ON MOVE_D 3470 1 SET OUT 1 ON Three messages will be transferred to XtraDrive DP during data exchange as follows Message 1 For the CONTROL ON command Explanation Command Parameter 1 Command Parameter 2 Command Parameter 3 Command Parameter 4 Command Parameter 5 OP code NM Message 2 For the MOVE D command Command Parameter 1 Command Parameter 2 Command Parameter 3 Command Explanation Parameter 4 Command Parameter 5 OP code o we Ele dd 9 Anqpuiyx Buisn jo ajduipxy 82 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Message 3 For the SET OUT comm
24. 5 500 1500 3000 12000 Length line B im 1200 1200 1200 600 xo Connection Cables The following are examples of cables that may be used to connect XtraDrive DP to a PROFIBUS network Desina PROFIBUS cable Catalog no 3DRX 22X 02R Siemens PROFIBUS cable Catalog no V45467 G16 C85 G1 XtraDrive DP User Manual Connecting XtraDrive DP to a PROFIBUS Network Overview YASKAWA ESHED TECHNOLOGY LTD The diagram below shows a typical configuration of XtraDrive DPs on a PROFIBUS network Master E N Master AR ao ES GSD files 4 PROFIBUS oe dg fs i E 4 i P E irre E re DRE ato o T irre p efe so 49 Ci E XtraDrive DP XtraDrive DP A typical configuration consists of the following components Using a PC based configuration tool you create a project containing parameterization and configuration information for the XtraDrive DP which is then downloaded to a master A master receives this information from a PC and then uses it to control the activity of the XtraDrive DP slaves Installing XtraDrive DP 19 CHAPTER 2 XtraDrive DP slaves receive commands from the master and produce data t
25. Command page 27 XtraDrive Status page 28 System Profile page 29 Pulse Train Input page 29 44 4 444 Speed Control Analog Reference page 30 XtraDrive DP User Manual Torque Control Analog Reference page 30 YASKAWA ESHED TECHNOLOGY LTD Position Variables page 30 Speed Variables page 31 Torque Variables page 31 444 Get Parameters page 32 The order of the fields in each module is fixed but the placement of the module changes according to your definitions For a detailed explanation of variables and commands refer to the XtraWare User s Manual System Setup This module determines the XtraDrive DP s mode of operation Selecting this module is mandatory The system setup parameters are Control method Stop mode Setting system limits Motor direction Turning off the motor Digital 1 0 This module is used for defining and reading XtraDrive DP s external input and output The digital I O parameters are Type of response for each signal input Digital data that will be transmitted for each output Working with XtraDrive DP CHAPTER 3 The following table shows the digital I O module I O map Digital 1 O input Size o 4 inputs state YASKAWA ESHED TECHNOLOGY LTD Command This module is used for sending XtraDrive DP s commands from the master The command module parameters are User units Default profile value of velocity acceleration
26. Compatible PROFIBUS DP SI E 50F 3 7 WARN Disabled Closed Loop Controller E Configured Stations E DP VO slaves zy DP AS i A A A DP PA Link 0 ENCODER ET 2008 Ca ET 200 System Parameters ND System Parameters ES ET 200eco 66 ieli 11 0 s Cd ET 2005 Le Ba Insertion possible ic PStart KSlinbos Microsoft Outlook BJ exemple 57 Microsoft Word SIMATIC Manager XtraD JRR HW Config SIMATIC B A E NBI 144 2 Select the Command module This module enables a master to send motion commands during data exchange as well as allows you set the parameters related to the commands In this example you must define the parameters as follows User Units e Position Units 0 1 degree Pn2B1 0 Pos Unts Ratio Num 65536 Pn2B3 2 Pos Unts Ratio Den 3600 Example of Using XtraDrive DP APPENDIX E YASKAWA ESHED TECHNOLOGY LTD e Speed Units 1 RPM Pn2B5 4 Spd Unts Ratio Num 65536 Pn2B7 6 Spd Unts Ratio Den 60000 e Acceleration Units 1 rad sec Pn2B9 8 Acc Unts Ratio Num 65536 Pn2BB A Acc Unts Ratio Den 62832 For explanations about how to determines these values refer to the XtraDrive User Manual 4 Work Speed e Default value for working speed 1000 RPM Pn2A3 2 Work Spd Default 1000 4 Work Acceleration e Work acceleration default 10000 rad sec Pn2A5
27. FIBUS diagnostic information plus additional diagnostic information for the XtraDrive DP alarms warnings faults and command IDs The structure of an XtraDrive DP diagnostic message is shown in the following diagram XtraDrive DP Extension 1 2 3 4 5 6 7 8 9 1011 12 Standard ID 2 bytes Fault 1 byte Warning 1 byte Alarm 1 byte Working with XtraDrive DP CHAPTER 3 The following information is contained in a diagnostic message YASKAWA ESHED TECHNOLOGY LTD Bytes 1 6 contain standard PROFIBUS diagnostic information Byte 7 contains information about the length of the extension in the message that will contain the required XtraDrive DP diagnostics The next five bytes contain diagnostic information specifically for the XtraDrive DP This is shown graphically in the diagram on page 42 Byte 8 contains a code for alarms Alarm messages refer to XtraDrive DP states After receiving an alarm message in order to continue work you must restart the XtraDrive DP Byte 9 contains a code for warnings Warning messages refer to problems that may become alarms such as decreasing battery voltage Byte 10 contains a code for faults Fault messages refer to XtraDrive DP motion commands and can appear only at command execution Bytes 11 and 12 contain a command ID relevant only for faults where the ID specifies the command that caused the fault NOTE we Refer to the Appendix C XtraD
28. Gain When NCT is not Pn102 Position Loop Gain used this parameter increases Suns and reduces position error during the trajectory following Speed 1 In Speed Control contact reference mode this parameter together with Pn302 and Pn303 enables you to select the motor s speed Pn301 Speed 1 oO Q oO Lu QU q oO DE OO Oo c e Y O Q oO oO Q N Speed 2 In Speed Control contact reference mode this parameter together with Pn301 and Pn303 enables you to select the motor s speed Pn302 Speed 2 XtraDrive DP Parameters List 65 APPENDIX B YASKAWA ESHED TECHNOLOGY LTD Speed 2 In Speed Control contact reference mode this parameter together with Pn301 and Pn302 enables you to select the motor s speed Pn303 Speed 3 Jog Speed This parameter sets the motor s speed when operating the Pn304 Jog Speed n JOE pes servomotor from a panel or digital Reference operator Speed Control Analog Zero Clamp Level This parameter sets Pn501 Zero Clamp Level the motor speed level at which zero clamp is performed Torque Reference Input Gain This parameter sets the voltage range for the T REF CN1 9 torque reference input based on the host controller or external Pn400 Torque Reference Input Gain circuit s output range Forward Torque Limit This parameter Pn402 Forward Torque sets the maximum forward torque limit Limit when torque is limi
29. IC 300 1 Configuration XtraDrive E xemple LE JOE x Profile Standard PROFIBUS DP 3 Additional Field Devices a Drives au SIMODRIVE ma JUSP NS500 XtraDrive 1 0 E Gateway gg PLC 3 Compatible PROFIBUS DP SI H Closed Loop Controller Configured Stations z DP VO slaves 9 DPVAS i DP PA Link H A ENCODER mz ET 2008 ET 200C E ET 200eco ET 20015 ET 200L mcg ET 200M ET 2005 m ET 200U H ET 200K Function Modules H A IDENT IPC 3 NC XL Network Components E SIMADYN SIMATIC SIMODRIVE Ed H EH 3 XtraDrive Order Number Designation l Address Q Address Comment Insertion possible IC Astor KS Inbox Microsoft Outlook fil exemple S7 Microsoft Word A SIMATIC Manager XtraDr a HW Config SIMATIC HAE NOH 14 41 Select the System Parameters module NOTE amp The three steps described above must be performed for any application Once you have finished setting the system definitions and configuration you can continue with the specific application dd 9 Anqpuiyx Buisn jo ajduipxy 78 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Application Setup In this example the application setup is co
30. Input dQd 3Auqpurx Bunrnpoatu D XtraDrive DP User Manual YASKAWA ESHED TECHNOLOGY LTD PROFIBUS allows Peer to peer user data communication or multicast control commands Cyclic master slave user data communication Control commands which allow synchronization of I O During integration of the XtraDrive DP to the PROFIBUS network you set up the data types and parameter values that will be transferred over the network and then transfer this information to the master The master then uses this information to control the XtraDrive DP during data exchange This process is composed of four steps Power ON Reset In this step communications are initialized between the XtraDrive DP and the PROFIBUS network Parameterization In this step the parameters that you have chosen to determine XtraDrive DP s behavior Parameterization and operation are downloaded to the d XtraDrive DP slave More detail is provided on page 11 O Configuration In this step the VO Configuration structure of the input and output data that will be transferred between the master and the XtraDrive DP during data exchange is downloaded to the Data Exchange XtraDrive DP slave More detail is CO provided on page 12 Data Exchange In this step cyclic exchange of data and slave diagnostics is performed Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD During the Parameterization stage the
31. P Q REAGING Variables cupones XtraDrive DP s Response to Clear Data Control Command Appendix A XtraDrive DP GSD File eere Appendix B XtraDrive DP Parameters List Appendix C XtraDrive DP Alarms Warnings and Faults Alarm MESSADES uat ieni de torte ie reina cen Seres n niic cin Heime mes in tuae dons Warning MOSSagBS adu qi t edere tese ge e E Ero RAIN OIUS poco rinoqun ONDES SULORUN ines Fault MESSADES m Appendix D Working with XtraWare Appendix E Example of Using XtraDrive DP Speco rc WY INI T coca an aaa OY s Rio s S RENE ETT POON CAMO a s iP NR E E E Application Execution During Data Exchange cccccccsecccccsecceceeeeceeaeeeeeesaeeeeaees E So Index 0C0000000000000000000000000000000000000000000000000000000000000000000000000000000000060 About This Manual YASKAWA ESHED TECHNOLOGY LTD Safety Precautions In this manual safety precautions are classified as WARNING or CAUTION It is extremely important that you pay close attention to these precautions The following symbols are used N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious personal injury AN CAUTION
32. SKAWA ESHED TECHNOLOGY LTD Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD Chapter 1 Introducing XtraDrive DP About This Chapter This chapter provides a brief overview of XtraDrive DP and its use on a PROFIBUS network What is XtraDrive page 2 provides a brief introduction to XtraDrive DP Product Overview page 4 provides a list of XtraDrive DP and PROFIBUS specifications Introduction to PROFIBUS page 9 provides an introduction to PROFIBUS Parameterization page 1 provides an overview of the Parameterization stage Configuration page 2 provides an overview of the Configuration stage Data Exchange page 2 provides an overview of the data exchange stage GSD File page 13 provides a brief description of the GSD files dQd 3Auqpurx Bunrnpoatu D XtraDrive DP User Manual What is XtraDrive XtraDrive is a family of state of art high precision AC servo drivers XtraDrive is based on a unique proprietary control technology offering solutions for the most demanding applications YASKAWA ESHED TECHNOLOGY LTD XtraDrive characteristics include Advanced servo control 4 High precision During Movement NCT Algorithm Oscillation Canceling Algorithm OCA Automatic tuning of servo parameters for optimal setting time Integrated positioner by various programmable motion profile modes 1 5 Axis Master Slave with automatic offset correction
33. T is not used this parameter together with Pn100 enables you to ensure that the speed error the difference between the internal speed Pn101 Speed Loop Integral Time command and the actual speed is as small as possible Torque Reference Filter Time Constant This parameter sets the torque Pn401 Torque Reference a reference s filter time constant in the Filter Time servo amplifier the smaller the value the faster the speed control response is Notch Filter Selection O Disabled 1 Use notch filter for torque ref Pn408 1 Not Used Pn408 2 Not Used Pn408 3 Not Used Notch Filter Frequency This parameter together with Pn40A sets the frequency at which the notch filter is effective Notch Filter Width This parameter Pn40A Notch Filter Width together with Pn409 sets the frequency at which the notch filter is effective Pn408 0 Notch Filter Selection Pn409 Notch Filter Frequency ISI SADJOWIDAD G dA IALGDAX a XtraDrive DP User Manual Module Name Description Feed Forward Speed Control When NCT is not used this parameter is used to shorten positioning time as well as to differentiate a speed reference at the host Pno Feed Forvard controller to generate a torque feed forward reference and then input this reference together with the speed reference to the servo amplifier Speed Control This parameter is applicable only in Speed Control analog mode Position Loop
34. T s website www yetmotion com SID MDX UHM BUDNOM a 74 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Example of Using XtraDrive DP APPENDIX E YASKAWA ESHED TECHNOLOGY LTD Appendix E Example of Using XtraDrive DP About This Chapter This appendix provides an example of the usage of XtraDrive DP on a PROFIBUS network First it shows how to use the S7 SIMATIC Manager to define the parameterization and configuration processes and then it shows how to implement the application during data exchange The following is a list of the system and application tasks to be carried out in this example The XtraDrive DP will drive a rotary motor with 16 bit encoder The master will instruct the XtraDrive DP to perform the following tasks 4 Make a movement of 34 7 degrees at a speed not higher than 1000 RPM At the end of the movement the XtraDrive DP output 1 CN1 25 26 will be set to HIGH An S7 SIMATIC Manager is used on the network dd 9 Anqpuiyx Buisn jo ajduipxy XtraDrive DP User Manual YASKAWA ESHED TECHNOLOGY LTD Workflow The following main steps must performed to carry out the above specifications 2 3 Initialization conditions 4 Definition of movement units 0 1 degrees Assignment of output 1 Send the Movement command Set the output The workflow has three stages as follows System Setup page 76 describes how to set up
35. When the LED is blinking red communication is taking place but the XtraDrive DP is not performing data exchange 22 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Working with XtraDrive DP CHAPTER 3 YASKAWA ESHED TECHNOLOGY LTD Chapter 3 Working with XtraDrive DP About This Chapter This chapter discusses the main stages of working with XtraDrive DP on a PROFIBUS network the various types of parameters that can be set and diagnostics available for XtraDrive DP dd e uqpaix YM BUDHOM n Overview page 24 provides an introduction to XtraDrive DP functionality and how it fits into a PROFIBUS network Setting Up XtraDrive DP page 25 describes the major steps involved in setting up parameterizing and configuring a PROFIBUS network Sending Commands page 33 describes the steps to follow in order to send commands during data exchange Setting XtraDrive DP Parameters page 37 describes three different methods for setting parameters on the XtraDrive DP Reading Variables page 39 describes how to define variables that that will be used to transmit data during data exchange Downloading XtraDrive DP Programs page 40 provides two methods for downloading programs to an XtraDrive DP XtraDrive DP User Manual Starting Program Synchronization page 41 describes how to synchronize the starting of programs on multiple XtraDrive DP slaves Diagnostics page 42 desc
36. aDrive DP providing the drive s model number and other product information The information from this nameplate is used for example when placing orders for XtraDrive DPs Type XtraDrive MODEL XD 05 TSDO AC INPUT AC OUTPUT ene 50 60Hz 0 480V 3 PHASE 3 PHASE 2 0 AMPS 0 5 0 67 kW hp 1 9 AMPS TOV TAISONA Ui C Vu Bauart pruft TUV SERVICE Yaskawa Eshed Technology O INR MADE IN JAPAN A A AIT IND CONT EQ Serial number Applicable power supply Servomotor output The following information is included on the nameplate Serial number Applicable power supply Servomotor output dQd 3Auqpurx Bunnpouj L E XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Type Description This section specifies the model type information for each XtraDrive DP XD 01 TS Di R Y999 XtraDrive Series EN Max Applicable Servomotor Power see table below Input Voltage M 200VAC or T 400VAC Extended Functionality By Option Boards S no CN10 connector or N with CN10 connector Design Version DO DF Blank or R Rack mounted or V Board coating optional Blank or Y followed by 1 to 4 alphanumeric characters to identify customer applications optional Output Max Applicable Capacity Servomotor Power kW Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD o Introduction to PROFIBUS PROFIBUS Process Field Bus is a
37. al Mapping P control when Pn50A 2 P CON Input Low Refer to Pn50A 1 page 54 P OT Signal Mapping Overtravel when Pn50A 3 P OT Input High Refer to Pn50A 1 page 54 N OT Signal Mapping Overtravel when Pn50B 0 N OT Input High Refer to Pn50A 1 page 54 ALM RST Signal Mapping Alarm Reset Pn50B 1 ALM RST Input When Low Refer to Pn50A 1 page 54 Pn50A 1 S ON Input Negative Logic Negative Logic Negative Logic Q S 20 A XtraDrive DP Parameters List 55 APPENDIX B YASKAWA ESHED TECHNOLOGY LTD Module me Dep P CL Signal Mapping External Forward Torque Limit Enable according to Pn50B 2 P CL Input Pn404 Refer to Pn50A 1 page 54 N CL Signal Mapping External Pn50B 3 N CL Input Reversed Torque Limit Enable Refer to Pn50A 1 page 54 SPD D Signal Mapping Internal Speed Selection Selects direction 0 Forward 1 Reversed Refer to Pn50A 1 page 54 SPD A Signal Mapping Internal Speed Selection Defines internal speed together with SPD B Refer to Pn50A 1 page 54 SPD B Signal Mapping Internal Speed Selection Defines internal speed together with SPD A Refer to Pn50A 1 page 54 C SEL Signal Mapping Control Mode Pn50C 3 C SEL Input Switching Refer to Pn50A 1 page 54 ZCLAMP Signal Mapping Zero Pn50D 0 ZCLAMP Input Clamping Refer to Pn50A 1 page 54 INHIBIT Signal Mapping Disabling Pn50D 1 INHIBIT Input Pulse Train Input
38. and OP code Command Parameter 1 Command Parameter 2 E c E e x babel Command Parameter 3 Command Parameter 4 Command Parameter 5 24 YASKAWA ESHED TECHNOLOGY LTD C Commands sending 33 Configuration 10 12 Connection port 19 D Data exchange 10 12 Diagnostics 42 G GSD file 13 25 E O configuration 10 1 2 L LEDs 21 M Modules command 27 digital VO 26 get parameters 32 position variables pulse train input Index Index speed control 30 speed variables 31 system profile 29 system setup torque control 30 torque variables 31 XtraDrive status 28 Nameplate Node address setting P Parameterization 10 11 Parameters set at parameterization 37 set by XtraWare 38 set during data exchange 38 setting Power ON Reset 10 PROFIBUS connection port 19 PROFIBUS network 16 components 18 connecting to 15 18 connection cables 17 connection port 19 electrical characteristics XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD introduction 9 X transmission line lengths 17 XtraDrive DP operation on 10 XtraDrive DP Program Synchronization 41 controlling 12 diagnostics 42 S downloading programs to master 40 modules 25 nameplate 7 parameters list 47 setting up 25 75 T specifications 4 type description 8 Type description XtraDrive DP messages
39. eed limit input Absolute Encoder Usage Pn002 2 Absolute Encoder 0 Use as absolute encoder 1 Use as incremental encoder Usage 2 Absolute encoder with multiturn limit Pn002 3 Not Used YASKAWA ESHED TECHNOLOGY LTD System Parameters Pn103 Inertia Ratio XtraDrive DP Parameters List 49 APPENDIX B Inertia Ratio This parameter enables you to enter a rough estimation of your system s external load as a percentage of the motor s inertia Pn200 0 Reference Pulse Form Pn200 1 Error Counter Clear Signal Form Reference Pulse Form O Sign amp pulse positive logic 1 CW amp CCW positive logic 2 AB x1 positive logic 3 AB x2 positive logic 4 AB x4 positive logic 5 Sign amp pulse negative logic 6 CW amp CCW negative logic AB x1 negative logic 8 AB x2 negative logic 9 AB x4 negative logic Error Counter Clear Signal Form O Clear error counter when signal high 1 Clear error counter on signal rising edge 2 Clear error counter when signal low 3 Clear error counter on signal falling edge ISI SAS JIUIDADA dq 9Anqparmx a XtraDrive DP User Manual N L oO _ oO qe Lu qr oe oO J N gt Un Pn200 2 Clear Operation Pn200 3 Filter Pn205 Multi turn Limit Setting Pn2A9 Quick Stop Deceleration High Pn2A8 Quick Stop Deceleration Low Pn505 Overflow Level
40. er numbers and descriptions More detail is provided in the XtraDrive User Manual Parameters can be set using any of three methods Setting Parameters at ParameterizationError Reference source not found below describes parameters that are set using a PROFIBUS DP configuration tool during initial configuration Setting Parameters During Data Exchange page 38 describes how to change parameters using external commands during data exchange Setting Parameters with XtraWare page 38 describes the option to change parameters using XtraWare and download them to the XtraDrive DP You select the relevant modules and define the value of the parameters with a PROFIBUS DP configuration tool and download them to the master Refer to Appendix E Example of Using XtraDrive DP dd e uqpaix YM BUDHOM n XtraDrive DP User Manual amp YASKAWA ESHED TECHNOLOGY LTD Setting Parameters During Data Exchange Using this method you can modify parameters using the SET PAR command during data exchange To enable the ability to set parameters during data exchange you must first select the Command module during configuration Then during data exchange you use the SET PAR command to change selected parameters See Command on page 27 for further details Setting Parameters with XtraWare XtraWare is an advanced PC based software tool that can be used to change parameters An overview of XtraWare s functionality is provided
41. hat are sent back to the master Information is continuously and cyclically transmitted between the master and the XtraDrive DP over the PROFIBUS network during data exchange Other types of slaves may be connected to the PROFIBUS network as well YASKAWA ESHED TECHNOLOGY LTD PROFIBUS Connection Port CN6 Use a 9 pin D sub connector to connect to a PROFIBUS network using RS 485 communications The diagrams below show the various connection ports on an XtraDrive DP The placement of the various ports varies on different models However the PROFIBUS connection port is always labeled CN6 dd 9 Augnarx Buipisu Node Address wi SOY PROFIBUS n SM Connector RS 232 RS 422 81 a eag CN6 Node Address Communication e il j RS 232 RS 422 I O Communication e A B Encoder B Commutation Sensors lO of Serial Encoder N PROFIBUS N j AJB Encoder Connector 5 tt Commutation Sensors CN6 lo JES y of Serial Encoder For information about other connections on the XtraDrive DP refer to the XtraDrive User Manual XtraDrive DP User Manual Setting the Node Address The second stage of the installation process is setting the node address YASKAWA ESHED TECHNOLOGY LTD Set the PROFIBUS node address by rotating the rotary switches located on the front of the Xt
42. ides a list of configurable XtraDrive DP parameters Appendix C XtraDrive DP Alarms Warnings and Faults provides a list of system errors Appendix D Working with XtraWare provides an overview of the PC based XtraWare software Appendix E Example of Using XtraDrive DP describes how to set up and control an XtraDrive DP slave The DP configuration tool used in this example is the S7 SIMATEC Manager XtraDrive DP User Manual The following books provide additional information XtraDrive User Manual Catalog No 800108 XtraWare User s Manual Catalog No 800109 XtraDrive Short Form Installation Guide Catalog No 8U0107 YASKAWA ESHED TECHNOLOGY LTD About This Manual Lv Table of Contents Chapter 1 Introducing XtraDrive DP ssssecssecsesesseesseeeseecseeee YASKAWA ESHED TECHNOLOGY LTD W Dal P ue DO T M XtraDrive with Embedded PROFIBUS XtraDrive DP eere died T ON C 1 al XtraDrive DP SPECHICALIONS cusscisevexosvbss tests eatur Uude tenes tva edu pae D nets Eia Deae pore iM Ui dd PROFIBUS Interface Specifications eesseessseseseeee ener lel Sel D sarada nadie sind e di do AA I ines dades ani dpi ia dd road PP bd tdi Type a eO PUNTO me Introduction to PROFIBUS user vira ria REFERS QR ORSO lo PRODU DT seternum Mee EU DEM l
43. master downloads PROFIBUS bus parameters and XtraDrive parameters to the XtraDrive DP Parameterization needs to be performed only once when the XtraDrive DP is powered on or after a power failure or other system restart The first seven bytes of a parameterization message are standard for all PROFIBUS slaves Among other information these first seven bytes include Response monitoring time control time for bus activity to the slave TSDR minimum slave response time Freeze Sync mode Lock or unlock slave for this master Master address 444 Ident number identification number for verification Bytes 8 244 can contain additional user defined parameters specifically for the XtraDrive DP Refer to XtraDrive DP Parameters in Chapter 3 Working with XtraDrive DP for further details Using a PROFIBUS DP configuration tool you select the desired module s parameters and values Refer to Appendix B XtraDrive DP Parameters List for a list of all available XtraDrive DP parameters Refer to Appendix E Example of Using XtraDrive DP for an example of how to use the S7 SIMATIC Manager to set up parameterize and configure an XtraDrive DP to work on a PROFIBUS network SN After the parameterization stage the XtraDrive DP resets its servo circuit dQd 3Auqpurx Bunrnpoatu D XtraDrive DP User Manual Configuration YASKAWA ESHED TECHNOLOGY LTD In the Configuration stage you define the structure of the input and out
44. ment command During data exchange the master sends a RUN lt label gt command to each XtraDrive The program runs until the first movement is ready to be executed location in MCB Motion Command Buffer The master checks if the status word s 8th bit Ready for Start is set to 1 in each drive The master sends a SYNC command to the group of XtraDrives During data exchange the master sends a START command to each XtraDrive Mode broadcast The command will not execute until the next SYNC command The master sends a second SYNC command to the group of XtraDrives dd e uqpaix YM BUDHOM n XtraDrive DP User Manual A PROFIBUS network enables a slave to report back to the master regarding problems on the network YASKAWA ESHED TECHNOLOGY LTD Diagnostics take place during the normal process of data exchange To initiate a diagnostics request XtraDrive DP sends an error flag in the frame control to the master The master then sends a diagnostic request that is answered by XtraDrive DP The master can request diagnostic information at different times Before downloading parameters to make sure the field device is available Before entering the data exchange mode to validate parameters and configuration and make sure the field device is ready During data exchange whenever indicated by the field device The XtraDrive DP diagnostic information that is sent to the master consists of standard PRO
45. mposed of three steps 1 Select the Digital I O module This module must be selected for output assignment Pn2D2 1 Program Output 1 SO1 CN1 25 26 The following screen displays this parameter selected iS HW Config SIMATIC 300 1 Station Edit Insert PLC View Options Window Help Deje 34 amp ele lial En e vel m SIMATIC 300 1 Configuration XtraDrive E xemple P x Profile Standard amp PROFIBUS DP 3 Additional Field Devices Drives SIMODRIVE Address D Parameter Assignment a JUSP NS500 Parameters Value XtraDrive HE 500 1 SPD 4 OFF Id Universal module H 500 2 SPD B OFF ld System Parameters H 50C 3 C SEL OFF ld Digital 1 0 E 50D 0 2CLAMP OFF ld Command L 50D 1 INHIBIT DFF I xtraDrive Status E 50D 2 G SEL DFF 9 System Profile E 2D2 0 COIN Program mode Disabled ld Pulse Train Input 8 2D2 1 Program Output 1 ld Speed Control Analo 8 2D2 2 Program Output 2 ld Torque Control Analc E 2D2 3 Program Output 3 I Position Variables E 50E 0 COIN ld Speed Variables LE 50E 1 4 CMP re ld Torque Variables LE 50E 2 TGON Disabled ld Get Parameters 8 50E 3 S RDY 03 CN1 29 30 C3 vo E 50F 0 CLT Disabled mr Gateway H 50F 1 vLT Disabled mg PLC amp 50F 2 BK Disabled H
46. not in use Command prohibited in present control method XtraDrive DP User Manual Fault Message Parameter storing fault during auto tuning YASKAWA ESHED TECHNOLOGY LTD Parameter storing fault Motor moving during CONTROL ON Auto tuning available in Programming Control mode only Program already running 2 Pomar Wrong user units setting SET VAR Variable value out of range Program flow error XtraDrive DP Alarms Warnings and Faults APPENDIX C YASKAWA ESHED TECHNOLOGY LTD Fault Message Auto tuning already in progress Configuration fail These messages are displayed only in XtraWare SH ND4 pup shulwippM SULDIY dd oAuqpaux n XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Working with XtraWare APPENDIX D YASKAWA ESHED TECHNOLOGY LTD Appendix D Working with AtraWare XtraWare is an advanced PC based software tool for the setup optimal tuning and user programming of the XtraDrive family of products Using XtraWare you are able to perform a variety of functions Write and download a user program Immediately execute control commands Tune Set up Edit parameters Display alarms Perform jog operation Monitor Provide help See system status with a Watch window 4 4 4 4 4 4 See a graphic representation of changes in parameter values For further details refer to the XtraWare User s Manual XtraWare can be downloaded from YE
47. odes Encoder I F A B Z encoder serial encoder 13 16 or 17 bit incremental absolute value Protection functions Overcurrent overvoltage undervoltage overload regeneration error main circuit voltage error heat sink overheat overspeed encoder error overrun parameter error Speed voltage regulation Rated voltage 10 096 at rated speed Speed load regulation 0 100 load 0 01 max at rated speed Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD External torque limitation Input voltage 12 V max Ambient storage 0 55 C 20 to 85 C temperature Ambient storage humidity 9096 or less with no condensation Dimensions for 400W LxWxH 180x110x160 model 0 5 1 0 1 5 kW Dimensions for 400W LxWxH 180x110x250 model 2 3 kW dQd 3Auqpurx Bunnpouj L XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD PROFIBUS Interface Specifications Maximum Expansion PROFIBUS Profile IDR PROFIBUS Port 9 pin D shell Node Address 0 125 decimal Set by rotary switches 2 digit hex number Segment distance 100 meters 327 feet to 1200 meters 3270 feet 12 Mbps LED Indicators BF BF Bus failure m No SF System failure communication F linking Communication but not in data exchange Red o System failure Red S Everything OK Red YE Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD A nameplate is attached to each Xtr
48. ol POI te Ml 201 Ma e Mm Sonic a RR DDR DOCES EUN ee ep se eats AR arse SIDE Connecineg an XtraDrive DP aiii irr h i d3E s aestas 5 ep EEUU GERA III o Nas The PROFIBUS INE o sois IOSEPH PRU RU UU VORNE NEUF IN UU PONI AD UN Connecting XtraDrive DP to a PROFIBUS Network eee sorte VS NOC SOC So c A PE VCC Oe SENDER T o DT Setting Up XiraDrive DP e PH T Here pleas o DOG c pe ee Using Modules to Set Up XtraDrive DP 2 0 0 ecccccecccceecccceecceeeeceeeeceeaeeceeueeesuneceeaes XtraDrive DP User Manual Sending Commands nasais asia desi rias OD IS YASKAWA ESHED TECHNOLOGY LTD Setting XtraDrive DP Parameters sooosososcsssossssssssssssossssssssssssssssssssssssssssssssssssssssss Setting Parameters at ParameteriZation cccccsccsecsecseceecsecsecsecsecsecaecaecascascesceees Setting Parameters During Data Exchange cccccceccccssececeeececeecceeeeceeaeceeueceeaeess Setting Parameters with XtraW are ccccccssscccescccesecccesececusececuscceueeceeueeceeaneceeuees Downloading XtraDrive DP Programs eeeeee esee eee ee eene eene eee tttnnnnn enean nene Starting Program SynchronizallODsiicirisio o oe eana sis etanesinaaansi PEE VANMER EC eo RE REUS Ce UE Pe E eund Pls DaDo NCS TT
49. put Signal Reversal for SO1 CN1 Pn512 0 SO1 Output 25 26 Reversal O Output signal not reversed 1 Output signal reversed Output Signal Reversal for SO2 CN1 Pn512 1 SO2 Output 27 28 Reversal O Output signal not reversed 1 Output signal reversed Output Signal Reversal for SO3 CN1 Pn512 2 SO3 Output 29 30 Reversal O Output signal not reversed 1 Output signal reversed Pn512 3 Not Used Q S E A ISI SAS JIUIDADA dA IALGDAX a XtraDrive DP User Manual s C c z E O Pn2A3 Work Speed Default High Pn2A2 Work Speed Default Low Pn2A5 Work Acceleration Default High Pn2A4 Work Acceleration Default Low Pn2A6 Work Jerk Smoothing Time Pn2B1 Position Units Ratio Number High Pn2BO Position Units Ratio Number Low YASKAWA ESHED TECHNOLOGY LTD Work Speed Default High This parameter together with Pn2A2 defines the default value of the profile speed variable Work Speed Default Low This parameter together with Pn2A3 defines the default value of the profile speed variable Work Acceleration Default High This parameter together with Pn2A4 defines the default value of the profile acceleration variable Work Acceleration Default Low This parameter together with Pn2A5 defines the default value of the profile acceleration variable Work Jerk Smoothing Time Default This parameter defines the default value of the
50. put messages that will be transmitted between the master and XtraDrive DP during data exchange Inputs and outputs include XtraDrive DP system variables physical I O state flags and motion commands This stage is performed using a PROFIBUS DP configuration tool This information will later be downloaded to the XtraDrive DP slave during the Configuration stage Configuration is also performed only once after Parameterization when the XtraDrive DP is powered on or after a power failure or other System restart XtraDrive DP s I O configuration modules are all contained in the GSD file that you loaded into the PROFIBUS DP configuration tool Data Exchange During the data exchange stage the master reads inputs from the XtraDrive DP and writes outputs to the XtraDrive DP These inputs and outputs are determined according to what you have defined during the Configuration stage Introducing XtraDrive DP CHAPTER 1 YASKAWA ESHED TECHNOLOGY LTD GSD File Every product that runs on a PROFIBUS network has a GSD file device data file associated with it The GSD file contains a superset of all the parameters available for a particular product It also describes the data that can be transmitted between the master and slave during data exchange The information provided in a GSD file has a precisely defined format which enables the PROFIBUS DP configuration tool to automatically use this information when configuring the bus system
51. r with Pn2BA Acceleration Units Pn2BB sets the denominator to be used Ratio Denominator Low in the ratio to convert acceleration units from user acceleration units to encoder counts 10 msec XtraDrive DP Parameters List APPENDIX B YASKAWA ESHED TECHNOLOGY LTD Motion End Window This parameter Pn2CO Motion End defines the default value of the window Window of acceptable position errors after a motion has been completed Torque Slope This parameter defines the default value as 0 1 of the rated torque 1 msec for the torque slope command Pn2C1 Torque Slope Command Auto Start User Program This parameter specifies the label number 1 99 of the user program to start when the power is turned on If the value is set to O then no program is automatically run Pn2CC AutoStart User Program Pulse Train Electronic Gear Ratio Pn202 Pulse Train Gear Numerator When using pulse train Ratio Numerator this parameter sets the numerator to be used in the electronic gear function Pulse Train Electronic Gear Ratio Pn203 Pulse Train Gear Denominator When using pulse train Ratio Denominator this parameter sets the denominator to SI SADJOUIDAD dq 9 Au1qpaix be used in the electronic gear function Pulse Train Input Synchronized Window for Pulse Train This parameter defines the window of acceptable synchronization errors in a dynamic motion as used by the Follower_Synchronize flag
52. raDrive DP Use a small flat screwdriver to set the switches to an available node address from O to 125 Note that x10 represents the hexadecimal sixteens place MSB and x1 represents the units place LSB For example to set a node address of 52 you should set rotary switches to 34 Hex meaning that the MSB dial x10 should be turned to 3 and the LSB dial x1 should be turned to 4 The status of the node address rotary switches is only read immediately after power on You should take note of this fact when changing the node address Installing XtraDrive DP CHAPTER 2 YASKAWA ESHED TECHNOLOGY LTD LED Indicators The front of the XtraDrive DP contains two LEDs that indicate the XtraDrive DP s status One of the LEDs displays bus information and the other displays system information Each of the LEDs can have three states System failure LED 4 When the LED is green no system failure has occurred 4 When the LED is red a system failure has occurred 4 When the LED is blinking red a warning or alarm has occurred NOTE SN If the system failure LED indicates that a warning message or alarm has been received refer to the XtraDrive User Manual for further information Bus failure LED 4 When the LED is green data exchange is taking place dd 9 Augnarx Buipisu 4 9 When the LED is red no communication is taking place gt
53. ribes the structure of alarm warning and error messages from XtraDrive DP YASKAWA ESHED TECHNOLOGY LTD Overview In order to take advantage of PROFIBUS network functionality the XtraDrive DP must be configured in a specific way Firstly a GSD file is installed via a PROFIBUS DP configuration tool enabling access to all the parameters associated with the XtraDrive DP Once the GSD file has been installed by selecting the required module you define a set of parameters and or the data exchange I O structure to be used Working with XtraDrive DP CHAPTER 3 Setting Up XtraDrive DP Installing GSD Files The first step in setting up an XtraDrive DP is to install its associated GSD file according to the requirements of the configuration tool you are using Using Modules to Set Up XtraDrive DP The next step is to select the XtraDrive DP modules that will be used in your application The XtraDrive GSD file YETMO7AA GSD provides a list of modules you can choose to setup the XtraDrive DP for specific applications dd e uqpaix YM BUDHOM n During this stage you use a standard configuration tool to set the parameters and determine the structure of the data that is transferred during data exchange Later these parameters are sent to the XtraDrive DP during the parameterization and configuration stages The following modules are used for setting up applications System Setup mandatory page 26 Digital I O page 26
54. rive DP Alarms Warnings and Faults for a complete list of alarm warning and fault messages To solve problems resulting from alarm or fault messages refer to the XtraDrive User Manual To solve problems resulting from warning messages refer to the XtraWare User s Manual dd e uqpaix YM BUDHOM n XtraDrive DP User Manual XtraDrive DP s Response to Clear Data Control Command When XtraDrive DP receives a Clear Data control command sent by master class 1 it performs the following steps YASKAWA ESHED TECHNOLOGY LTD Stops all motion if the motion command is executing Turns the servo off Keeps the last state of XtraDrive DP s digital output XtraDrive DP GSD File APPENDIX A YASKAWA ESHED TECHNOLOGY LTD Appendix A XtraDrive DP GSD File The GSD file contains all the parameters available for use on the XtraDrive DP Download the most updated GSD file YETMO7AA GSD from www yetmotion com or from www profibus com before beginning to work with the XtraDrive DP 9 GSO dd o ugpaux 46 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD XtraDrive DP Parameters List APPENDIX B YASKAWA ESHED TECHNOLOGY LTD Appendix B XtraDrive DP Parameters List Direction Selection Pn000 0 Direction O Forward direction Selection 1 Reverse direction Control Method Selection O Speed analog 2 Torque analog 3 Speed contact Pn000 1
55. rive User Manual Instructions on how to handle these alarms are also provided there 66 Aorfaameeremtmo es A10 Overcurrent or Heat Sink Overheard 6 A30 Regeneration Eror Detected SH ND4 pup shulwippM SULDIY dd oAuqpaux 68 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Alarm Message A 71 Overload High Load A 72 Overload Low Load A 73 Dynamic Brake Overload A 74 Overload of Surge Current Limit Resistor A 7 A Heat Sink Overheated A 81 Absolute Encoder Backup Power Supply Error A 82 Encoder Checksum Error 82 A 84 Absolute Encoder Data Error 83 A 85 Absolute Encoder Overspeed 84 A 86 Encoder Overheated A86 Encoder Overheated T T A C8 Absolute Encoder Clear Error and Multi Turn Limit Setting Error 92 A CA Encoder Parameter Error 93 A CB Encoder Echoback Error 94 A CC Multi Turn Limit Disagreement A DO Position Error Overflow A F1 Power Line Open Phase XtraDrive DP Alarms Warnings and Faults 6 APPENDIX C YASKAWA ESHED TECHNOLOGY LTD Warning Message A 91 Overload A 92 Regenerative Overload SET_ZERO_POSITION Unable to SET_ZERO_POSITION while executing motion Reply buffer full Incomplete message received Message too long C phase parameter not set SH ND4 pup shulwippM SULDIY dd oAuqpaux Invalid input assignment 14 Invalid input assignment SET OUT Invalid output assignment Selected traced I O
56. ry Hold l determines if an alarm is generated Time when a power loss occurs Regenerative Resistor Capacity This Pn600 Regenerative n parameter specifies the capacity for an Resistor Capacit P y external regenerative resistor Rotation Detection Level This parameter sets the speed at which the servo amplifier determines that the Pn502 Rotation Detection Level i l servomotor is running and if so to output an appropriate signal Pn504 NEAR Signal l Positioning Completed Width This Pn500 Positioning parameter sets the number of error Completed Width pulses and adjusts the output timing of the positioning completed signal ISI SAS JIUIDADA dA IALGDAX a Speed Coincidence Signal Output Width This parameter sets the required Pn503 Speed Coincidence Signal Output Width CA ei dd conditions for speed coincidence output XtraDrive DP User Manual Module Name Description Program Input 1 O SIO CN1 40 1 SI CN1 41 2 SI2 CN1 42 Pn2D0 0 Program Input 1 ONS IN Ted 4 SI4 CN1 44 5 SI5 CN1 45 6 SI6 CN1 46 7 ON 8 OFF Program Input 2 Pn2D0 1 Program Input 2 Refer to Pn2D0 0 page 52 Program Input 3 Refer to Pn2D0 0 page 52 Program Input 4 Pn2D0 3 Program Input 4 Refer to Pn2D0 0 page 52 Emergency Input O SIO CN1 40 1 SI CN1 41 2 SD CN1 42 3 SI3 CN1 43 Pn2D0 2 Program Input 3
57. s are in place Failure to observe this caution could result in personal injury During operation do not touch the XtraDrive s heat sink Failure to observe this caution could result in burns Motor overload protection is internally provided For further information refer to the XtraDrive User Manual Catalog No 8U0108 About This Manual YASKAWA ESHED TECHNOLOGY LTD General Precautions To ensure safe application the following must be noted The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers Ifthe manual must be ordered due to loss or damage inform your nearest YET representative or one of the offices listed on the back of this manual YET will not take responsibility for the results of unauthorized modifications of this product YET shall not be liable for any damages or problems resulting from unauthorized modification Lodi XtraDrive DP User Manual VA YA
58. ted due to equipment conditions SI SADJOUIDAD dq 9 Au1qpaix Reverse Torque Limit This parameter Pn403 Reverse Torque sets the maximum reverse torque limit Limit when torque is limited due to equipment conditions Torque Control Analog Reference Forward External Torque Limit This Pn404 Fwd External parameter sets the maximum forward Torque Limit torque limit when torque is limited by an external contact input 66 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Reverse External Torque Limit This Pn405 Reverse External parameter sets the maximum reverse Torque Limit torque limit when torque is limited by an external contact input Emergency Stop Torque This parameter specifies the stop torque applied for Pn406 E St i i luas dd overtravel when using the input signal bs for prohibiting forward or reverse rotation Speed Limit During Torque Control Pn407 Speed Limit This parameter sets a speed limit for the motor when torque control is selected Torque Control 4 Q a Oo YI Q q Q ce OD O qvi a lt o I c O Q oO Yi O and is used to prevent excessive equipment speed during torque control XtraDrive DP Alarms Warnings and Faults APPENDIX C YASKAWA ESHED TECHNOLOGY LTD Appendix C XtraDrive DP Alarms Warnings and Faults Alarm Messages A represents an alarm code that is described in more detail in the XtraD
59. ts msec Speed Units Ratio Denominator High This parameter together with Pn2B6 sets the denominator to be used in the ratio to convert speed units from user speed units to encoder counts msec ISI SAS JIUIDADA dA IALGDAX a 60 XtraDrive DP User Manual VA YASKAWA ESHED TECHNOLOGY LTD Speed Units Ratio Denominator Low Thi ter together with Pn2B7 Pn2B6 Speed Units Ratio E Deena viet Mtn AD l sets the denominator to be used in the Denominator Low ratio to convert speed units from user speed units to encoder counts msec Acceleration Units Ratio Numerator High This parameter together with Pn2B9 Acceleration Units Pn2B8 sets the numerator to be used in Ratio Numerator High the ratio to convert acceleration units from user acceleration units to encoder counts 10 msec Acceleration Units Ratio Numerator Low This parameter together with Pn2B8 Acceleration Units Pn2B9 sets the numerator to be used in Ratio Numerator Low the ratio to convert acceleration units from user acceleration units to encoder E c E O counts 10 msec Acceleration Units Ratio Denominator High This parameter together with Pn2BB Acceleration Units Pn2BA sets the denominator to be used Ratio Denominator High in the ratio to convert acceleration from user acceleration units to encoder counts 10 msec Acceleration Units Ratio Denominator Low This parameter togethe
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