Home

XtraWare User Manual Rev. E.

1. INT Table explanation GROUP Interrupt SYNTAX INT lt Priority gt lt Variable gt lt Condition gt lt Value gt Op CODE 139 MODES Program DESCRIPTION This command indicates the beginning of an interrupt service routine and is used for interrupts that are conditional on the value of internal variables See Section 4 11 7 2 INT SYNTAX Priority Specifies the interrupt number ARGUMENTS Serial lU Variable Specifies on which variable the interrupt is conditional Any XtraDrive variable can be chosen When using serial communication specify the ID number of the system variable Serial 1 U Condition The relational operator that specifies how the lt value gt of the lt variable gt must compare to the specified value for the interrupt to be triggered Conditions include Condition Code 0 gt 1 lt 2 gt 3 lt 4 I 5 Serial 1 U Value The value against which the specified variable value is compared for an interrupt to be triggered Serial 4 IV XtraWare User Manual 123 Command Reference EXAMPLE SET VAR Interrupt_mask 1 MOVE D 655360 1 SET OUTPUT 1 OFF END INT Target velocity gt 400 SET OUTPUT 1 ON NT RETURN 1 EXAMPLE The interrupt mask is set so that the program will EXPLANATION only respond to interrupt
2. VERSION This command is available only in drive version 2 91 NoTE For higher versions use STOP_EX GROUP Motion SYNTAX STOP lt switch gt Op CODE 84 DESCRIPTION Immediately stops the motor motion using the quick stop deceleration as defined by parameters Pn2A8 and Pn2A9 and stops the program and clears the immediate sequential and motion buffers SYNTAX switch This parameter defines system behavior PARAMETERS after the motion actually stops Switch Code ON keeps the motor enabled 1 OFF disables the motor 0 NOTE 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 you change this value it is your responsibility to set a value that is appropriate for an emergency stop MODES Program Immediate Sequential SEE ALSO STOP_EX Parameters Pn2A8 Pn2A9 150 XtraWare User Manual Command Reference STOP_EX Table explanation GROUP Motion SYNTAX STOP EX lt Type gt lt Servo gt Op CODE 153 MODES Program Immediate Sequential MOTION Position 1 MODE DESCRIPTION This command is used to stop motor motion The rate of deceleration is dependent on the lt tType gt chosen The lt Servo gt argument specifies whether or not the servo must remain enabled after stopping b
3. Operation Available operations Operator Code 6 7 MOD 8 9 x 10 AND 13 XOR 14 OR 15 Serial 1 U Value Long type Serial 4 V EXAMPLE LABEL 1 SET VAR Var 01 8192 MATH ECAM Shift Actual position registration Var_01 ECAM ENGAGE 1 Non Cyclic END EXAMPLE The ECAM_SHIFT variable is calculated by dividing the EXPLANATION Actual_position_registration by the value of Var_O1 For example if Actual_position_registration is 19300 ECAM_SHIFT will be set to 2 since 19300 8192 2 36 and only the integer part is considered SEE ALSO SET_VAR XtraWare User Manual 131 Command Reference MOVE Table explanation GROUP Motion SYNTAX MOVE lt distance gt lt time gt Op CODE 113 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor by lt distance gt incremental coordinates in the specified time The controller calculates the speed of the motor based on the profile acceleration and profile jerk The maximum permitted speed is the maximum motor speed variable Max_profile_velocity SYNTAX distance Distance to the next point ARGUMENTS user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile will be calculated with a maximum speed equal to the p
4. CODE MESSAGE DESCRIPTION 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 98 A AO I O board disconnected 112 A91 Overload warning 113 A92 Regenerative overload warning 128 Reference to invalid label or END Program flow has been directed command is missing to 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 perform 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 present profile speed motion is greater than the max motor speed Set a lower motion speed 133 Final target too big If a new target position is sent with a MOVE_H command an overflow may occur The motor must first be stopped and only then can the motion continue 134 Too low speed The speed is too low for specified motion 135 SET_VAR Variable v
5. SET_VAR Table explanation GROUP Variables SYNTAX SET VAR lt variable gt lt value gt Op CODE 81 MODES Program Immediate Sequential DESCRIPTION Sets the contents of a writeable user variable SYNTAX variable Set to the ID number of one of ARGUMENTS the writeable system variables In driver ver 2 91 only the following variables can be set Exact_mode Motion_end_window Clock Speed_reference Serial i U value The value of the user variable Serial 4 V EXAMPLE SET VAR Var_01 329 MATH Profile velocity Analog Speed Var 01 EXAMPLE The value of VAR_1 set to 329 This value is then EXPLANATION used in the calculation of the new value of Profile_velocity SEE ALSO MATH WRITE_TO_ARRAY READ_FROM_ARRAY 144 XtraWare User Manual Command Reference SET_ZERO_POSITION Table explanation GROUP Home SYNTAX SET ZERO POSITION lt mode gt Op CODE 95 MODES Program Immediate Sequential DESCRIPTION Zeroes motor position according to lt mode gt Actual position Sets the actual motor position as zero position Demand position Sets the demand position as zero position the position error remains SYNTAX mode Specify the mode ARGUMENTS Mode Code Actual position Sets the actual 0 motor position as zero position Demand position Sets the 1 demand position as zero position The position error will
6. remain Serial 1 U EXAMPLE LABEL 1 HOME C 200 GO D 7800 1000 SET ZERO POSITION demand position EXAMPLE This example shifts the home position zero position EXPLANATION from the C pulse location to a different location After searching the C pulse with the HOME_C command the motor moves to position 7800 UU When the motor is theoretically on position 7800 UU the scale is changed and Position _Demand_Value is set to zero Position_Actual_ Value is Position _Demand_Value plus Following_Error_actual_ Value NOTES If error 9 Wrong motion mode for SET_ZERO_POSITION command Set STOP_EX command before occurs insert a STOP_EX command before the SET_ZERO_POSITION command SEE ALSO HARD_HOME HOME_SW HOME_SW_C HOME_C XtraWare User Manual 145 Command Reference SLIDE Table explanation GROUP Motion SYNTAX SLIDE lt n gt Op CODE 115 MODES Program Sequential MOTION Velocity 3 MODE DESCRIPTION Moves the motor at the specified speed Acceleration to a speed of lt n gt is according to the profile acceleration and jerk time parameters SYNTAX n Speed of movement A negative number ARGUMENTS moves the motor in the negative direction Zero stops the movement user speed units Serial 4 V EXAMPLE
7. WAIT_VAR Table explanation GROUP Wait SYNTAX WAIT VAR lt variable gt lt condition gt lt value gt Op CODE 110 MODES Program Sequential DESCRIPTION Pauses execution of program until the condition on lt variable gt value is met SYNTAX variable System variable see Chapter 9 List ARGUMENTS of System Variables Serial 1 U condition Select a relational operator Condition Code 0 gt 1 lt 2 gt 3 lt 4 I 5 Serial 1 U value Set a value with the same units as lt variable gt Serial 4 V EXAMPLE LABEL 1 SET ZERO POSITION demand position SLIDE 50 VAIT VAR Position actual value 20000 SLIDE 0 END EXAMPLE Position_actual_value is set to zero motor starts EXPLANATION moving at a constant speed 50uu as soon as the motor reaches position 20000 the next command is executed and motor stops SEE ALSO IF WAIT_INPUT XtraWare User Manual 161 Command Reference WRITE_TO_ARRAY Table explanation GROUP Variables SYNTAX WRITE _TO ARRAY lt Index gt lt Value gt Op CODE 158 MODES Immediate Sequential Program DESCRIPTION Write lt Value gt into array element according to lt index gt SYNTAX Index Decimal value in range of 1 512 ARGUMENTS representing the index of the member in the data array Serial 2 JU V Value Long type Serial 4 V EXAMPLE Array va
8. ECAM_POINTS Table explanation SYNTAX ECAM POINTS lt N gt lt Slave Delta 1 gt lt Slave Delta 2 gt lt Slave Delta 3 gt lt Slave Delta 4 gt Op CODE 126 MODES Immediate UNITS Position user units for lt Slave Delta gt DESCRIPTION Specifies the slave position points by setting the delta between each 2 points in the table XtraWare User Manual 163 Command Reference SYNTAX lt N gt The number of points that are ARGUMENTS going to be sent in the command lt N gt determine the number of lt Slave Delta gt arguments Serial 1 U lt Slave Delta 1 The relative distance between 4 gt each pair of slave points lt N gt determines the number of lt Slave Delta gt arguments Serial 2 SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_SEGMENT ECAM_TABLE_END ECAM_PROFILE Table explanation SYNTAX ECAM PROFILE lt ID gt Op CODE 124 MODES Immediate DESCRIPTION Each profile loading should start with this command which specifies the profile ID The profile ID is used to run that profile Up to 4 profiles can be loaded SYNTAX lt ID gt Long type Up to 4 profiles can be loaded but ARGUMENTS the ID can have be any number in the range Serial 1 U SEE ALSO ECAM_TABLE_BEGIN ECAM_SEGMENT ECAM_POINTS ECAM_TABLE_END 164
9. SEE ALSO GO_TO LOOP END CALL RUN Parameters Pn2CC Auto start LATCHING TRIGGER Table explanation GROUP Encoder Latching SYNTAX LATCHING TRIGGER lt Condition gt Op CODE 152 MODES Program Sequential XtraWare User Manual 127 Command Reference DESCRIPTION This command starts the latching function and specifies the condition that the latching input Input 6 CN1 46 must meet for the latching process to start One of two conditions can be chosen registration will either start once the input at CN1 46 changes from 0 to 1 Rising or once the input has changed from 1 to 0 Falling Specifying the condition as OFF disables the registration function See 4 10 3 1 LATCHING_TRIGGER SYNTAX ARGUMENTS Specifies the condition that must be met for the registration process to start Condition Condition Code Off Disables registration 0 canceling any previous LATCHING_TRIGGER command Rising Edge Input at CN1 1 46 input 6 changes from 0 to 1 Falling Edge Input at CN1 2 46 input 6 changes from 1 to 0 Serial 1 U EXAMPLE Speed 300 LATCHING TRIGGER Rising Edge MOVE _H 5000 WAIT VAR Latched_ position ready 1 REGISTRATION DISTANCE 100 EXAMPLE EXPLANATION Registration is enabled setting the
10. Where 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 11 List of Operation Codes 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 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Description Variable ID Range See Chapter 9 List of System Variables XtraWare User Manual 177 Serial Interface Protocol Description Variable value Answer Field for GET_PAR Command C1 C2 INx_1 INX_2 INX_3 INx_4 V1 V2 V3 V4 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Description Parameter number reference list in Chapter 8 Parameter Reference Description Variable value Answer Field for GET_VERSION Command C1 C2 V1 V2 V3 V4 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message 178 XtraWare User Manual Serial Interface Protoco
11. Variable value Interrupt_pending 8 82 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 11 7 Interrupt Commands Commands are used to signal the beginning and the end of each interrupt service routine The commands INT and EXT_INT signal the beginning of interrupt service routines and specify the internal or external interrupt conditions respectively The command INT_RETURN signals the end of the interrupt service routine and specifies the program line to which to return 4 11 7 1 EXT_INT Format EXT_INT lt Priority gt lt Input_Number gt lt Edge gt This command indicates the beginning of an interrupt service routine when the interrupt is conditional on the value of an external input The argument lt Priority gt specifies the interrupt priority lt Priority gt is specified as a value from 0 to 7 where 0 is the highest priority and 7 is the lowest lt Input_Number gt specifies the number of the digital input to be monitored lt Edge gt specifies whether the interrupt is to be triggered when the value of the digital input changes from 0 to 1 Rising from 1 to O Falling or whenever it changes Both EXT_INT Priority Input Number lo Rising Falling PROGRAM E Both Figure 53 Programming an EXT_INT Command 4 11 7 2 INT Format INT lt Priority gt lt Variable gt lt Condition gt lt Value gt This command indicates the beginning of an int
12. XtraWare User Manual 129 Command Reference EXAMPLE The program has two nesting levels EXPLANATION 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 SEE ALSO LABEL MATH Table explanation GROUP Variables SYNTAX MATH lt Result gt lt R Operator gt lt Variable gt lt Operation gt lt Value gt Op CODE 134 MODES Immediate Sequential Program DESCRIPTION Sets the value of the specified lt variable gt to the result of a mathematical operation on two elements If the result is a fraction it will be rounded downward to the nearest integer SYNTAX Result The result of the calculation will ARGUMENTS be stored in the lt Result gt variable Any of the read write system variables can be specified See Chapter 9 List of System Variables Serial 1 U R Operator Operator Operator Code 18 Serial 1 U Variable Can be an integer number or any of the system variables See Chapter 9 List of System Variables Serial 1 U 130 XtraWare User Manual Command Reference
13. DESCRIPTION Sets the acceleration value for the motion profile The command changes the profile acceleration value set by parameters Pn2A4 Pn2A5 and remains in effect until the next controller reset SYNTAX n Profile acceleration ARGUMENT user acceleration units Serial 4 U EXAMPLE LABEL 1 ACCELERATION 720 SLIDE 200 ELAY 1000 CCELERATION 360 ELAY 1000 D A SLIDE 1000 D S EXAMPLE The acceleration value is defined as 720 which is used by EXPLANATION the SLIDE command The next slide motions SLIDE 1000 and SLIDE 0 will use the new acceleration value i e 360 The SLIDE 0 command stops the motor NOTE The acceleration value lt n gt can only be specified by a number To set the profile acceleration equal to the value of a variable use the SET_VAR command SEE ALSO MOVE MOVE_D GO GO_D SET_VAR SLIDE Variables Profile_acceleration Max_Profile_acceleration Parameters Pn2A4 Pn2A5 XtraWare User Manual 97 Command Reference CALL Table explanation GROUP Program Flow Control SYNTAX CALL lt n gt Op CODE 66 MODES Program DESCRIPTION Calls a subroutine The program flow is transferred to the subroutine The called subroutine must begin with a LABEL command and e
14. 222 XtraWare User Manual List of Operation Codes 3 Condition codes Sign Condition Setting 3a 3b 3c 3d 3e Equal to 0 X X Condition gt Greater than 1 X X lt Smaller than 2 X X gt Greater than or 3 X equal to lt Smaller than or 4 X equal to l Not equal to 5 X 4 Multiply 6 X Divide 7 X MOD Modulus 8 X Plus 9 X Minus 10 X AND AND 13 X XOR Exclusive Or 14 X OR Or 15 X Set equal to 18 X 4 See the command description in Chapter 5 Command Reference for available options 5 Set to ID number of one of the system variables 6 Set to ID number of one of the writeable system variables 7 Command is only available in drive version 2 91 For higher versions use STOP_EX XtraWare User s Manual 223 List of Operation Codes XtraWare User Manual 224 XtraWare User Manual Glossary of Terms and Concepts 12 Glossary of Terms and Concepts 12 1 Electronic Gear The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses This is done by setting the Electronic Gear Ratio which is the ratio of the number of pulses that are input to the XtraDrive control algorithm to the number
15. SYNTAX GET_VERSION OP CODE 63 MODES Immediate DESCRIPTION Reads XtraDrive version number POLLING Table explanation SYNTAX POLLING OP CODE 0 MODES Immediate DESCRIPTION Reads XtraDrive status For details see Chapter 10 List of Status Word Bits XtraWare User Manual 167 Command Reference SAVE_PRG_ECAM Table explanation SYNTAX SAVE _PRG_ECAM Op CODE 96 MODES Immediate DESCRIPTION Saves program and ECAM table to the EPROM for further use after power up SET_PAR Table explanation SYNTAX SET PAR lt parameter number gt lt value gt Op CODE 80 MODES Immediate Sequential DESCRIPTION Sets XtraDrive parameter The driver must be reset before the change takes effect SYNTAX parameter number XtraDrive parameter see ARGUMENTS Chapter 5 Parameter Reference Serial 2 U value Sets value to specified parameter For setting range see Chapter 8 Parameter Reference Serial 2 U 168 XtraWare User Manual Serial Interface Protocol 6 Serial Interface Protocol This chapter describes the XtraDrive serial communication protocol XtraDrive can work with XtraWare or with any other software that complies with this protocol Up to 15 XtraDrive units can be connected on a bus Broadcast commands can be sent to all axes XtraDrive units 6 1 Basic Communication S
16. gt To apply an offset 1 Set the value of the variable ECAM_Offset using the SET_VAR command H NOTE The size of the offset is not affected by scaling the slave axis Both shifts and offsets can be applied during motion This will usually result in a sudden jolting motion as the target slave position is adjusted instantly across a discontinuity When applying a shift before engaging ECAM motion ensuring that the profile is shifted to a point at which the slave position is zero will ensure a smooth initial motion Applying an offset will always result in a sudden change to the target slave position When the application of a shift or offset does result in a sudden change to the target slave position the resulting motion will be constrained by the maximum torque settings not by the default profile settings The maximum torque settings in each direction are defined by the variables Forward_Torque_Limit and Reverse_Torque_Limit Use the TORQUE_LIMITS command to temporarily reduce those values Reducing the limits will result in smoother motion at a discontinuity caused by a shift or offset XtraWare User Manual 69 Operating the XtraDrive Using XtraWare 4 9 16 Monitoring Master and Slave Positions The variable ECAM_Master_profile_position reflects the current position of the master The variable ECAM_Slave_profile_position reflects the current position of the slave as dictated by the profile 70 XtraWare User
17. 1 Click Download Program J XtraWare User Manual 29 Operating the XtraDrive Using XtraWare 4 4 2 Programming Commands with Variable Arguments Instead of entering a number to specify the value of an argument you can set the argument to equal one of the system or user variables The variables that can be selected depend on the command being programmed Arguments that can be specified by variables are indicated by the letter V in Chapter 11 List of Operation Codes and in the Syntax Arguments section of each command table in Chapter 5 Command Reference This functionality is available in driver versions 3 0 and upward gt To set an argument equal to a variable 1 Open the relevant command group 2 Double click the required command to open a pop up dialog box relating to the command 3 Click the arrow at the right of the relevant argument field A drop down menu listing available variables is displayed Motion_status Program_line Resonance_frequency Servo_cycle_time Forward_Torque_limit Reverse_Torque_limit Target_torque Figure 19 Sample Command Pop up Dialog Box 4 Click the required variable The selected variable name is displayed in the argument field 30 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 4 2 1 Example The following example program illustrates how arguments can be specified by variables In the program a sequence of movements is performed
18. ve Var 03 1000 21 SET VAI Var 04 400 Ww 22 SET VAR Var 05 1 23 RETURN Subroutine 4 24 LABEL 4 25 SET VAR Var 01 200000 26 SET VAR Var 02 80000 27 SET VAR Var 03 1300 28 SET VAR Var_04 700 29 SET VAR Var 05 600 30 RETURN The chart below graphs the target speed against time for each of the two cases specified in lines 4 and 6 which call the variable settings specified in subroutines 3 and 4 respectively For example note how the initial peak in target speed for Case 2 exceeds that for Case 1 This is because line 9 sets the profile velocity equal to the value of Var_03 Case 1 specifies Var_03 as 1000 user speed units while Case 2 specifies Var_03 as 1300 user speed units Therefore the initial peak in speed of for Case 2 exceeded that of Case 1 Smoothed Target Speed Position Error ee se p e E Or A _ j ee 0 000 200 000 400 000 600 000 800 000 1000 000 Time ms Figure 20 Graph Illustrating Effect of Variable Argument Settings 32 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 4 3 Running a Program When a program has been completed and downloaded it can be run using any of the following methods Clicking the RUN icon gt to run the program from the first line In Immediate and Sequential modes selecting the RUN command from the Program Flow Control commands in the Workspace window In the pop up window that is
19. Internal such as a variable value meeting a given condition 4 11 2 Multiple Interrupts The XtraDrive provides for eight different interrupts to be specified for a single program Each interrupt is assigned an identifying number from O to 7 The identifying number also assigns priority where Interrupt 0 has the highest priority Interrupt 7 has the lowest priority Only one interrupt can be assigned to each priority level If multiple interrupts occur simultaneously the interrupt service routines will be run one at a time in order of priority If while an interrupt routine is being executed a new interrupt of a higher priority occurs the program will exit the present interrupt service routine and handle the higher priority interrupt service routine Once that service routine has been completed the program will continue handling the lower priority interrupt service routine Once all the required service routines have been executed the program will continue at the return point specified by the last interrupt service routine completed 4 11 3 Interrupt Response Time The maximum response time to the highest priority interrupt is 2ms Each lower priority interrupt is handled only once all higher priority interrupt service routines have been completed 4 11 4 Interrupt Masks Using masks you can specify which interrupt events need be handled and which need not be This allows you to specify interrupt service routin
20. The XtraWare menu bar provides access to the XtraWare menus File Edit View Run Communication Tools Maintenance Window and Help The toolbar is located immediately beneath the menu bar It comprises shortcut icons to the most commonly XtraWare options In the following descriptions of the menu options the appropriate icon where applicable is listed next to each option H 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 XtraWare User Manual 5 The Main Screen Interface 3 2 1 File Menu A project contains all the data currently active in XtraWare such as the user program parameter settings and definitions The File Menu 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 project1 XDR In addition the File Menu options are used to download upload and print programs and parameters Table 1 File Menu Options OPTION ICON DESCRIPTION New B Creates a new XtraWare project When this Project option is selected the Motor Selection window in Ctrl N which you select the motor that will be used for this project is displayed SS Motor Selection Select a motor from the the list Authorized users may define a new
21. msb determines the sign Negative number representation is according to standard hexadecimal representation and to the size of data e Each messages is a string structured according to one of the formats specified in the sections that follow where each block in the format represents a byte Every message in this protocol starts with N and terminates with CR Carriage Return DS NOTE Ox represents a hexadecimal number 6 2 2 Master Message Format N A M Id1 Id2 Ci Cc2 Vv1 V2 Pi P2 Pn gt gt S1 S2 CR 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 XtraDrive is used address 0x0 is written If more than one XtraDrive is used use addresses 0x1 to OxF only 170 XtraWare User Manual Serial Interface Protocol Description Operation mode Range 0 0xC Mode Code Broadcast Message 0x8 Polling Message 0x9 Immediate Mode OxA Sequential Mode OxB Program Mode OxC Description Message Identification two bytes for two digits Since the range is greater than OxF two bytes are required for holding the number Message Identification is n
22. GROUP Program Flow Control SYNTAX GO_TO lt n gt Op CODE 73 MODES Program DESCRIPTION Changes the flow of the program by specifying a label to which to jump SYNTAX n The number of the label number to which to ARGUMENTS jump Serial 1 U EXAMPLE LABEL 1 MOVE 3600 500 MOVE 3600 500 GO TO 1 EXAMPLE An endless loop application EXPLANATION 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 SEE ALSO LABEL LOOP HOME Commands The home switch is a digital input that defines the start point to search for the C pulse Do not define the over travel switch as the home switch 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 Table explanation GROUP Home SYNTAX HARD HOME lt torque gt lt speed gt Op CODE 131 114 XtraWare User Manual Command Reference MODES Program Sequential DESCRIPTION Sets the home position using the machine hard stop The motor moves at profile acceleration and lt speed gt until the lt torque gt is reached for 2 seconds and the position does not change during that time If the torque exceeds the torq
23. label 2 86 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 12 Master Slave Synchronization For master slave applications synchronization is generally started by a digital input Starting the synchronization process as quickly as possible thereafter is extremely important to ensure accurate synchronization Any delay will result in an unwanted offset between master and slave positions The command MOVE_R is used to commence synchronization Conditioning the MOVE_R command using the WAIT_INPUT command will result in a delay of up to 2ms which may cause too great a position error between the master and slave The New_move_enable flag can be used to reduce the delay to 125us 4 12 1 Using New_move_enable to Reduce Response Time The New_move_enable input can be used to reduce the response time to 125us A parameter Pn2D1 1 is set to activate this feature Once the flag has been set all motion commands except when in Speed Control mode see Section 5 3 Motion Modes will be delayed until the input has been received The remainder of the program will continue to run It is important that a WAIT_INPUT command or any other wait statement be issued after the motion command that is to be delayed to ensure that the rest of the program is also delayed 4 12 2 Overriding New_move_enable The New_move_enable function can be overridden by setting the variable Override_new_move_enable to 1 Doing so results in a
24. ms When setting lt time gt to 1 a motion profile will be calculated with a maximum speed equal to the profile velocity Serial 4 V EXAMPLE GO 10000 1 SET_OUTPUT 1 ON GO 0 300 EXAMPLE Motion will start towards destination 10000 UU EXPLANATION following the motion profile settings Output 1 is then immediately set to ON The second GO command to destination 0 UU starts once the first motion has been completed within 125us SEE ALSO ACCELERATION JERK_TIME GO_D MOVE SPEED Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile _Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 110 XtraWare User Manual Command Reference GO_D Table explanation GROUP Motion SYNTAX GO_D lt target gt lt time gt Op CODE 128 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor to a specified lt target gt absolute coordinates in the specified lt time gt This command is identical to the GO command in motion execution but it delays the execution of the next program command until the command theoretical motion generated by the GO_D command is completed 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 SYNTAX target The specified target in absolute ARGUMENTS coordinates user position unit
25. on the toolbar The profiles are downloaded to the XtraDrive H NOTE After downloading a profile the profile is saved in the XtraDrive but unlike parameters and programs which can be uploaded from the XtraDrive to XtraWare profiles cannot be uploaded Thus it is important that profiles are saved on a disk for backup purposes 64 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 14 Programming with Electronic Cam Programming commands are used to initiate and terminate movement according to an ECAM profile 4 9 14 1 ECAM_ENGAGE Format ECAM_ENGAGE lt Profile_ID gt lt Mode gt This command is used to initiate motion according to an ECAM profile You must specify the profile number according to which the slave must move as well as whether the motion should continue indefinitely Cyclic mode or only until the profile has been completed once Non Cyclic mode ECAM_ENGAGE Figure 43 Programming an ECAM_ENGAGE Command 4 9 14 2 ECAM_DISENGAGE Format ECAM_DISENGAGE This command is used to terminate ECAM motor motion ECAM_DISENGAGE will cause the motion to stop only once the current profile is completed To stop the motion immediately use the STOP_EX command 4 9 14 3 ENGAGE_VIRTUAL_AXIS Format ENGAGE_VIRTUAL_AXIS lt Profile ID gt lt Direction gt This command is used to start ECAM motion when a time based profile is being used In this case the XtraDrive clock acts as the
26. profile should be followed Setting Code POSITIVE In the positive 0 direction NEGATIVE In the negative 1 direction Serial 1 U EXAMPLE ENGAGE VIRTUAL AXIS 2 POSITIVE EXAMPLE ECAM time based profile number 2 will be followed in EXPLANATION the positive direction SEE ALSO ECAM_ENGAGE ECAM_DISENAGE STOP_EX Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_scale_den ECAM_Slave_scale_num ECAM_Master_profile_position ECAM_Slave_profile_position ECAM_Offset ECAM_ Shift 104 XtraWare User Manual Command Reference EXT_INT Table explanation GROUP Interrupt SYNTAX EXT INT lt Priority gt lt Input_Number gt lt Edge gt Op CODE 138 MODES Program DESCRIPTION This command indicates the beginning of an interrupt service routine and is used for interrupts that are conditional on the value of external inputs See Section 4 11 7 1 EXT_INT SYNTAX Priority Specifies the interrupt number from ARGUMENTS 0 to 7 Serial 1 U Input Number Specifies on which user input from 0 7 to 6 the interrupt is conditional Serial 1 U Edge Specifies how the interrupt is triggered Condition Code Rising By the input value 0 changing from 0 to 1 Falling By the input value 1 changing from 1 to 0 Both By the input 2 changing from 0 to 1 or from 1 to 0 S
27. than 65536 Values over 65536 must be converted to high bits format and stored in Pn2A5 which can hold values up to 256 226 XtraWare User Manual Glossary of Terms and Concepts The value of Profile_acceleration can be changed using the ACCELERATION command To set Profile_acceleration equal to a variable use the SET_VAR command 12 2 3 Profile Jerk Smoothing Time Jerk smoothing time defines the time required for the changing of acceleration and deceleration and is set in milliseconds The Jerk smoothing time is recorded in the system variable Jerk_smoothing_time By default Jerk_smoothing_time is set equal to the Work Jerk Smoothing Time Default specified by parameter Pn2A6 The value of Jerk_smoothing_time can be changed using the command JERK_TIME To set Jerk_smoothing_time equal to a variable use the SET_VAR command XtraWare User s Manual 227 Glossary of Terms and Concepts XtraWare User Manual 12 3 Explanation of Command Table The table shown on the next page explains the significance of each row in the command tables presented in Chapter 5 Command Reference 228 XtraWare User Manual Glossary of Terms and Concepts Command Name GROUP The command group under which the command is listed in XtraWare SYNTAX The format in which the command is written Op CODE The operation code of the command in decimal format to be used w
28. 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 SYNTAX target The specified target in absolute ARGUMENTS coordinates user position units Serial 4 V EXAMPLE SET_ZERO POSIT SPEED 1500 GO H 60000 GO H 1000000 ON demand position VAIT VAR Position actual value gt 800000 SPEED 500 END 112 XtraWare User Manual Command Reference Smoothed Target Speed Position Error 4 j I j 4 I j I J I I I wacap ee eo oe i ek eh a ees pe a ee ee oe ee ee ee i j 4 j r ee Gee fee ree Eee eee eee Tee I a AN me gt al a y 4f d I I ee j L ee Se ee 0 000 200 000 400 000 600 000 800 000 1000 000 T Sampling Time ms 1 000 Time ms EXAMPLE The speed is set to 1500 rpm and movement commences to EXPLANATION 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 SEE ALSO MOVE_H Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 XtraWare User Manual 113 Command Reference GO_TO Table explanation
29. 0 A motor movement to position 655360 is started When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then continue Once the motor motion has finished Output 1 will be set OFF SEE ALSO EXT_INT INT_RETURN Variables Interrupt_mask Interrupt_request Interrupt_pending 124 XtraWare User Manual Command Reference INT_RETURN Table explanation GROUP Interrupt SYNTAX NT_RETURN lt Label gt Op CODE 140 MODES Program DESCRIPTION This command indicates the end of an interrupt service routine and specifies how the program should continue See 4 11 7 3 INT_RETURN SYNTAX Label Specifies the label number from which ARGUMENTS the program must continue running once the interrupt service routine has been completed If set to 1 the program will continue running from the point at which it was interrupted Serial 1 U EXAMPLE MOVE _D 655360 1 SET OUTPUT 1 OFF END INT Target velocity gt 400 SET OUTPUT 1 ON NT RETURN 1 EXAMPLE A motor movement to position 655360 is started EXPLANATION When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then continue from the point at which it was interrupted once the motor motion has finished Output 1 will be set OFF S
30. 0 4472 0 199988 0 8944 0 799951 1 3416 1 799891 1 7888 3 199805 2 236 4 999696 2 6832 7 199562 3 1304 9 799404 3 5776 12 79922 4 0248 16 20 5712 423 1743 4 472 19 21 0184 441 7731 4 9192 24 21 4656 460 772 5 3664 28 21 9128 480 1708 5 8136 33 22 36 500 Figure 38 Sample Spreadsheet for Array Import SS ee a S a ele gt gt e gt gt To import the values into the Curve Shape table 1 Click Import in the Curve Shape window The Import window is displayed 2 Select the CSV file in which the array is saved 3 Click Open The Curve Shape window is redisplayed and the array table is completed with the values specified in the imported file Note that only the integer part of each value will be imported For example 1 79 will be imported as 1 Curve Shape Kj Select curve spe bwo Array Cancel Slave Value a 0 Figure 39 Example of Curve Shape Menu with Completed Array Table XtraWare User Manual 59 Operating the XtraDrive Using XtraWare 4 Click OK The Curve Shape window is closed Array will be displayed in the Curve Shape column of the Position Setting table 4 9 5 7 Saving A Profile To save a profile 1 Click Save in the Cam Profile File area The Save Cam Profile dialog box is displayed 2 Enter a name for the profile file in the File name field select a folder in which to save the file and click Save The
31. 3 0 Yaskawa serial encoder a v a 1 A quad B encoder O Encode b 2 sa A quad B encoder with commutation O selection 2 sensors U V W A quad B encoder with commutation 3 sensors U V W C phase 0 C phase signal used mask s 1 C phase signal mask me 0 Not defined nos 2 Motor phase T So 2 0 order 1 YW s a oO 2 uwv XtraWare User Manual 203 Parameter Reference Digit sale Default Parameter Place Name Setting Description Setting 1 3 Not used 0 0 A Disable clear integral function refer 0 to 6 3 9 Integral Clear Parameters in i Integral the XtraDrive User Manual i ete mode TE Enable clear integral function refer to ar 1 6 3 9 Integral Clear Parameters in the a D XtraDrive User Manual v p O 1 3 Not used 0 0 0 Sign pulse positive logic 1 CW CCW positive logic 2 A phase B phase x1 positive logic 3 A phase B phase x2 positive logic 4 A phase B phase x4 positive logic wn g 0 Reference 5 Sign pulse negative logic 0 8 Pulse Form kA 6 CW CCW negative logic S 7 A phase B phase x1 negative p logic oO nk 8 A phase B phase x2 negative 2S logic S amp D 9 A phase B phase x4 negative T logic ce 0 Clears error counter when the signal 5 goes high O 6 Error 1 Clears error counter at the rising Counter edge of the signal ro 1 A 0 Clear Signal cI i he si
32. 6 0 to Pn303 Speed 3 rpm 10000 300 5 2 6 0 to Pn304 Jog Speed rpm 10000 500 5 3 2 Soft Start Acceleration 0 to Pn305 Time ms 10000 0 6 2 2 i Soft Start Deceleration 0 to 5 Pn306 Time ms 10000 0 6 2 2 J E f Speed Reference Filter 0 to 5 Pn307 Time Constant 0 01ms 65535 40 pr Q Speed Feedback Filter 0 to amp KN30S Time Constant o o tms 65535 0 Pn380 Speed1 mm s 0 5000 10 S p Pn381 Speed2 mm s 0 5000 20 o O0 gt y 2 Pn382 Speed3 mm s 0 5000 30 vo S 2s Pn383 Jog Speed mm s 0 5000 40 XtraWare User Manual 195 Parameter Reference Parameter i Setting Default Category N mbar Name Unit Range Setting Reference 0 1V Pn400 Torque Reference Input rated 10 to 30 5 2 7 Gain 100 torque Torque Reference Filter 0 to Pn401 Time Conetant 0 0ims 65535 100 6 2 2 Pn402 Forward Torque Limit 0 to 800 800 5 1 3 Pn403 Reverse Torque Limit 0 to 800 800 5 1 3 paano POT anA Seine VOU log 0 to 800 100 5 1 3 Pn405 ee eee 0 to 800 100 5 1 3 Pn406 Emergency Stop Torque O to 800 800 5 1 2 Speed Limit during 0 to pnag Torque Control rpm 10000 10900 aa 5 lpndoa een 3 0000 6 2 9 oO z 50t 5 Pn409 Notch Filter Frequency Hz N 2000 6 2 9 a 2000 S 2 Pn40A Notch Filter width Hz Dto zi 6 2 9 1000 Positioning Completed ref Pn500 Width units O to 250 7 5 5 3 0 to Pn501 Zero Clamp Level rpm 10000 10 5 4 3 F 1 to Pn502 Rotation Detection Level
33. 7 PniAO tightness Yo 0 500 60 6 3 3 Pn1A2 Speed feedback filter 0 0ims 30 3200 40 6 3 5 PniA4 Torque filter low pass 0 0ims 0 2500 20 6 3 5 pnia5 Torque filter second oie fo 1000 o 6 3 5 order Pn1A7 Integral mode switch 1121 6 3 5 Pn1A9 Integral feedback gain Hz 0 500 40 6 3 5 Pn1AA RUTER fecdback lij 0 500 40 6 3 3 Supplementary Pn1AB proportional feedback Hz 0 500 30 6 3 3 gain Pn1iAC Speed feedback gain Hz 0 2000 30 6 3 3 Pn1AF Feed forward gain 0 200 0 6 3 3 Pn1iB5 Maximum variable gain 1007 160 6 3 7 a 1000 te p J Ee Jlenipe MEAC TONNA Hz 10 2000 2000 6 3 4 compensation a ipne _ PNe ov commend 0 01ms 0 2500 300 6 3 4 acceleration 192 XtraWare User Manual Parameter Reference Parameter Setting Default Category Number Name Unit Range Setting Reference Reduction of vibrations PniBD due to system flexibility Hz 10 2000 2000 6 3 4 PniBE 0 65535 3160 PniBF Integral switch advance 1 15 3 6 3 8 Pnico oa offset averaging ms 0 25 0 6 3 7 PniC1 Integral switch advance 125us 0 8 Position Control Pn200 Reference Selection 7 0000 5 2 2 Switches PG Divider rotary 0 to x Pn201 motor p r 65635 2048 5 2 3 Electronic Gear Ratio 1 to BICC VYING ocal S gai Numerator 65535 k 220 D D Electronic Gear Ratio 1 to oO BICC VI Stat E Fee Denominator 65535 es a Multi Tur
34. C the Windows and XtraWare clipboard Paste Inserts the contents of the XtraWare clipboard into the Ctrl V program 8 XtraWare User Manual The Main Screen Interface 3 2 3 View Menu The View Menu options show hide the windows you want displayed on the XtraWare screen Table 3 View Menu Options OPTION ICON DESCRIPTION Program Displays hides the Program window Parameters Displays hides the Parameters window Cam List Displays hides the CAM window Workspace Displays hides the Workspace window History Displays hides the History window Chart ke Opens the Charts window See Section 4 7 Charts for a description of this window s operation Variable Opens the Variables window Bed Dec Hex Bin Name Descriptic a Analog_Speed 0 1 of max Value of Analog_Torque 0 1 of max Value of E Digital 1 0 Inputs_State Input porl Outputs_State Output pe Sensors WVU Commuta Frode z EWA Figure 5 Variables Window Toolbar Displays hides the toolbar Status bar Displays hides the status bar XtraWare User Manual The Main Screen Interface 3 2 4 Run Menu The Run Menu options enable you to control the program running on the XtraDrive driver Table 4 Run Menu Options OPTION ICON DESCRIPTION Run p gt Runs the progr
35. CLAM Download Cam button U is pressed Size The number of data points in each profile gt To view or edit a profile 1 Double click anywhere in the row corresponding to the profile number that you would like to view or edit The Electronic Cam window is opened with the Position Setting tab displaying the selected profile See Section 4 9 ECAM Electronic Cam 20 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 4 1 4 1 1 Operating the XtraDrive Using XtraWare This chapter provides detailed instructions on how to operate the XtraDrive servo driver using the XtraWare software Connecting the Driver to the PC Serial communication is used between the PC and the driver gt To connect the driver to the PC 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 Communication Settings It is important that the communication settings are set correctly gt To change the communication settings 1 Run the XtraWare software The default location is Start gt Programs gt XtraWare 2 Select Online from the Communication menu The communication indicator on the status bar indicates whether communication is offline or online 3 Select Setting from the Communication menu The Communication Settings window is displayed Port Baud R
36. Chart main window is displayed once the specified data has been obtained H NOTE 1 Sometimes the trigger cannot be detected in under 2ms due to the relationship of the detection period 2 If the 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 44 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 7 4 Printing a Chart The chart and data of the Chart main window can be printed gt To print a chart 1 Select the Print Chart option from the File menu while the chart is open XtraWare User Manual 45 Operating the XtraDrive Using XtraWare 4 8 Mechanical Analysis Controlling a system amplifier motor and load requires knowledge of its mechanical restrictions such as resonance and anti resonance frequencies The mechanical analysis FFT option samples and analyzes 2000 speed data points The speed is a response to sinusoidal torque frequency commands The response 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 H NOTE The process uses the predefined parameters of Notch Filter Pn408 0 Pn409 Pn40A and does not take control gain
37. Command Buffer ICB and are executed within 2ms or less Sequential Mode Use this mode when using a host PC that sends a command stream that should be executed as a program move the motor and wait for motion completion wait for input make another move etc Immediate mode cannot be used in such cases because commands like MOVE_D move the motor and wait for motion completion are not available in Immediate mode 34 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 6 Tuning the Control Loops The mathematical coefficients of the control loop an advanced control algorithm must be tuned in order to ensure good system behavior These coefficients can be tuned either manually or automatically Autotuning Two Autotuning procedures are available one that calculates the coefficients based only on the user specified motor inertia ratio Fast Tuning and one that sets the coefficients experimentally by moving the motor and analyzing its behavior Fine Tuning 4 6 1 Manual Tuning Manual tuning can be performed according to the instructions provided in the XtraDrive User Manual 4 6 2 Autotuning Autotuning is applicable in programming mode only Pn000 1 D In driver version 2 91 autotuning is not available for linear motors When you select the Autotuning option from the Maintenance menu the Autotuning window Figure 21 is displayed r Inertia Ratio Pn103 600 This parameter enabl
38. ECAM TABLE BEGIN Op CODE 127 MODES Immediate DESCRIPTION Finalizes the ECAM table Must be sent at the end of each ECAM table loading procedure SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_SEGMENT ECAM_POINTS GET_FROM_ARRAY Table explanation Table explanation SYNTAX GET FROM ARRAY lt Index gt Op CODE 160 MODES Immediate Sequential Program DESCRIPTION Reads the value of one data array member SYNTAX lt Index gt Decimal value in range of 1 1000 ARGUMENTS representing the index of the member in the data array Serial 2 U SEE ALSO READ_FROM_ARRAY WRITE_TO_ARRAY GET_PAR SYNTAX GET PAR lt parameter number gt Op CODE 85 MODES Immediate Sequential DESCRIPTION Reads the contents of XtraDrive parameter SYNTAX Parameter XtraDrive parameter see Chapter 8 ARGUMENTS number Parameter Reference Serial 2 U SEE ALSO SET_PAR 166 XtraWare User Manual Command Reference GET_VAR Table explanation SYNTAX GET VAR lt variable gt Op CODE 72 MODES Immediate Sequential DESCRIPTION Reads the contents of the variable SYNTAX variable System variable see Chapter 9 List of ARGUMENTS System Variables Seriali U SEE ALSO POLLING SET_VAR GET_VERSION Table explanation
39. Form 2 ears error counter when the signa goes low Clears error counter at the falling 3 A edge of the signal 2 Clear 0 Clears error counter at the base block 0 Operation 1 Does not clear error counter which can only be cleared with CLR signal 204 XtraWare User Manual Parameter Reference Parameter seg Name Setting Description RA 2 Clears error counter when an alarm occurs 3 Clear signal ignore 0 Reference input filter for line driver gt Filter signals P Selection 1 Reference input filter for open collector signals 0 Does not use check sum E 0 Check Sum 1 1 Uses check sum 3 c 1 v O vw A o 2 C O ec 3 3 Not used 0 E O 1 Normally open O 2 Home failure Oscillation 0 OCA is not activated v 0 Canceling co Mode 1 OCA is active gt ae eee qa 822 dj 0 cos a g on O E 2 Not used O 3 e o Voog O 2555 Notch filter z or oO 55E selection o Disabled 0 ED Pn XtraWare User Manual 205 Parameter Reference 8 3 Table 19 Input Signal Selections Table 19 Input Signal Selections Digit Pore Default Parameter Place Name Setting Description Setting Sets the input signal allocation Pn50A 0 for the sequence to the same Input Si one as for the Yaskawa special 0 pomana e mplifie Allocation Mode SENO aAmpIIMET 1 Possib
40. GO GO_D GO_H MOVE MOVE_D MOVE_H MOVE_R SLIDE SLIDE_ANALOG SPEED_CONTROL v b Figure 16 Workspace Window EsEsESESESESESESESEs Figure 17 Program Window The commands in the Workspace window are divided to groups For further details see Section 3 5 3 Program Window 28 XtraWare User Manual Operating the XtraDrive Using XtraWare gt To add a command to a program 1 Open the relevant command group 2 Double click the required command to open a pop up dialog box Figure 18 relating to the command om Figure 18 Sample Command Pop up Dialog Box 3 Set the arguments required for the command See Section 4 4 2 Programming Commands with Variable Arguments for instruction on specifying the argument with a variable 4 Click Program to add the command to the program in the Program window It is possible to edit the arguments of commands already listed in the Program window gt To edit a programmed command 1 Double click a command in the Program window to open the command s pop up window 2 Edit the arguments as desired and click Program gt To edit the order of programmed commands 1 Use the standard Windows operations Ctrl X cut Ctrl C copy and Ctrl V paste to re order commands in the Program window When you have completed the program it must be downloaded to the XtraDrive gt To download a program to the XtraDrive PRG
41. LABEL 1 SLIDE 10000 DELAY 1000 SLIDE 2000 DELAY 1000 SLIDE 2000 DELAY 1500 SLIDE 0 DELAY 1000 END EXAMPLE Motor accelerates to 10000uu decelerates to 2000uu EXPLANATION 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 NOTES The SLIDE command sets unlimited travel jog motion In order to stop the motion the user must enter a SLIDE 0 command or STOP_EX SEE ALSO ACCELERATION JERK_TIME 146 XtraWare User Manual Command Reference SLIDE_ANALOG Table explanation GROUP Motion SYNTAX SLIDE ANALOG Op CODE 102 MODES Program Sequential MOTION Analog speed 4 MODE DESCRIPTION Enables use of an analog signal 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 x Input Voltage 0 01V Pn300 Demand Speed Motor Rated Speed Parameter of motor PnFO5 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 1 Movement acceleration is acc
42. Manual 13 The Main Screen Interface 3 4 3 5 3 5 1 Status Bar D The Status Bar located at the bottom of the XtraWare screen indicates the status of the current driver and of the Servo Ready axis O W Stop CD NeedReset 52 On line imam Servo off A B C D Figure 7 Status Bar 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 or Stop B Need Reset indicator After certain parameters are edited the main circuit and control power supply must be cycled in order to enable the new settings When this indicator appears click 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 Work Area E The Work Area comprises the following windows Workspace window e Project tab Program window History window Parameters window Cam Window Workspace Window The Workspace window includes Project Tab The subsections of the current project Command Tab A list of the XtraWare commands divided into six groups Description Pane A description of the currently selected item 14 XtraWare User Manual The Main Screen Interface 3 5 2 Project Tab The Project tab Figure 8 presents the subsections Program Parameters and Cam of the current project To vie
43. Pn600 Capacity 10W city 0 5 6 1 D 2K 2K 2K KOK E o 0 to oO a Reserved parameter do capa t oD Enoog not change city 9 E 2k kK KK NOTES D control power supplies to enable the new settings After changing this parameter cycle the main circuit and XtraWare User Manu al 197 Parameter Reference 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 32767 to 32768 for other settings even if the value is changed There is no need to change the multi turn limit except 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 198 XtraWare User Manual Parameter Reference 8 2 Table 18 Switches Table 18 Switches Digit 5 ET Default Parameter Place Name Setting Description Setting 0 Sets CCW as forward direction 0 Direction Selection 1 Sets CW as forward direction reverse rotation mode 0 Speed control analog reference 1 Torque control analog reference 3 Internal set speed control contact reference Internal set speed control
44. To close the log file select the Close Log File option Close Log File Stops storing commands in the log file and closes the currently open log file 12 XtraWare User Manual The Main Screen Interface OPTION ICON DESCRIPTION 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 3 3 3 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 Table 8 Window Menu Options OPTION DESCRIPTION Project Displays the default XtraWare Main Screen interface Screen which includes the Workspace Program History Cam and Parameters windows Program Enlarges the Program window to facilitate program Edit editing The History Cam and Parameters windows are Screen hidden User Displays the current user customized screen saved under Screen the Save User Screen option Save The size and location of the Workspace Program User History Cam and Parameters windows can be Screen 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 XtraWare User
45. a straight line set Master Step to the distance between the start and end points as no points need be interpolated between them Curve Shape Specifies whether the start and end points of the segment are to be joined by a straight line by a portion of a sinusoidal graph or by a user defined array Defining the Master and Slave End Points gt To define the master and slave end points of each segment that makes up the profile 1 Enter the master position in terms of encoder counts or clock pulses at the end of the first segment in the Master End field 2 Enter the slave position in position user units at the end of the first segment in the Slave End field Defining the Segment Resolution The resolution is set by specifying the distance between successive points in the segment gt To set the resolution 1 Enter the distance in encoder counts or clock pulses between the points that XtraWare should generate by interpolation in the Master Step field A lower setting will result in more points being generated and in a smoother motion 54 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 5 5 Defining the Interpolation Method Once the end points and the resolution of a segment have been specified specify how the positions of the remaining points in the segment must be calculated The number of points generated is dependent on the Master Step setting gt To set the interpolation me
46. above 5 SI5 control when low N CL Signal 3 Mapping Torque O to8 Same as above 6 SI6 control when low SPD D Signal 0 Mapping Catena OtoF Same as above 8 OFF Set Speed Selection SPD A Signal 1 Mapping Internal OtoF Same as above 8 OFF Set Speed Selection Pn50C SPD B Signal 2 Mapping Internal OtoF Same as above 8 OFF Set Speed Selection C SEL Signal Mappin 3 pee OtoF Sameas above 8 OFF Control Mode Switching ZCLAMP Signal Pn50D 0 Mapping Zero OtoF Same as above 8 OFF Clamping XtraWare User Manual 207 Parameter Reference Digit ete Default Parameter Blaca Name Setting Description Setting INHIBIT Signal 1 Mapping OtoF Same as above 8 OFF Disabling Reference Pulse G SEL Signal 2 Mapping Gain OtoF Same as above 8 OFF Switching 3 Reserved OtoF Same as above 8 OFF S 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 8 4 Table 20 Home Switches Table 20 Home Switches Digit TES Default Parameter Place Name Setting Description Setting 0 Home switch input Same as Pn50A 1 8 1 Reserved a 0 Pn2C7 2 Reserved 0 3 Reserved 0 8 5 Table 21 Extended Input Signal Selection These inputs are used in the user program Table 21 Extended Input Signal Selection Dig
47. digital input Pn2D1 1 154 ECAM Table is not ready Table sending was not completed or not even started Therefore ECAM motion cannot be executed 155 ECAM Profile ID does not exist Trying to engage to non existant profile ID number 188 XtraWare User Manual Error Messages CODE MESSAGE DESCRIPTION 156 Max slave or master Max slave or master displacement displacement in profile is 2531 in profile is 2531 after scaling after scaling and gearing and electronic gearing 157 ECAM Master overflow When the time to accomplish the profile plus shift is smaller than one servo cycle 125 us 159 INT_RETURN command is not in interrupt service routine 255 Fault buffer full Contact your distributor or YET representative XtraWare User Manual 189 Error Messages 190 XtraWare User Manual Parameter Reference 8 Parameter Reference This chapter provides information on all the parameters available in XtraWare 8 1 Table 17 Parameters This table lists all the parameters according to their ID number For each parameter this information is provided The group to which the parameter belongs A short description Units Range Default value e Reference to the section in the XtraDrive User Manual which provides a full description of the parameter Table 17 Parameters Parameter Setting Default Category number
48. e Some let be O Sale tat etancmeap te 103 ENGAGE_VIRTUAL_AXIS Sx casera e icin halts ste od Ore te ala come ans 104 EXT IN otis catia sahnacuuiaiocses a a E e GE Ea E aa 105 FAST_OUTPUT_SE TING 6 ois iaiis wawcece valent waas eu seis aati es 106 GAIN icc ctens Santas E si EA E cece E S E E EE E T 109 GO a a a A a a ri 110 GOID ase nr a a A al ts delat al tae ee N A 111 SO TA bead a a ti ceeds a tenses al seceamgnaaiaatad Gupta peeniau Ewen 112 2 RSI retentions ee apne ontario RED ETS E to Me eR EOC 114 HOME COMmMand S c cct sweet ivaceca a a aa a aa aa 114 HAARD HOME iaa Sindee a a SE brute E a aei 114 HOME ICa Sma A a A a a Daten dpe okie 115 HOME SW a a a a pais 116 rs Aka Sekine GER mrt a aaa a a a HO CNN ERTS CR a 117 E mE E E E E euewalna bh ane E E 118 TESTI POT aeeie a a a ae enaA a 119 TIN PT ASE A E EE E E ca eee EEE 121 INT erae a a a a a A ah dane 123 INT RETUR N Sister a E e E Lt A aE a a O Ea 125 J RK ME accel a a a a a a E S 126 LABE beina aa a a a eH ies 127 LATCHING TRIGGER iaa aa e aa E E A causes 127 LOOP raea a a a ae 129 MAT a a a a a a E a A am Le 130 MOVA E E E E T E E AE E T NT 132 MOVE Dosen oa a Ea DER 133 MOVE Hnes a a a a A tate een cte ators s 134 XtraWare User Manual iii Table of Contents MOVE Repnin a abe el eh Uoed i ened 135 READ PROM ARRAY ri a aaa aden reid alee s eum ved en ieee 138 REGISTRATION DISTANCE vat tase itsce teint oisetenioedbi ciabatta 138 RETU
49. 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 184 XtraWare User Manual Error Messages CODE MESSAGE DESCRIPTION 33 HARD_HOME Torque exceeded torque limits 34 Unable to download delete program 35 Prohibited in ECAM mode Set Use STOP_EX command before to STOP_EX command before change mode of operation 36 ECAM Too many profiles max 4 37 ECAM Table already exists Clear ECAM table first using the ECAM_TABLE_BEGIN command 38 ECAM Insufficient number of Insufficient number of points in a points in a segment defined by segment defined by CAM_SEGMENT command CAM_SEGMENT command Number of points is Delta Master Master step 39 ECAM No segments were No segments were downloaded downloaded 40 ECAM Too many points in a Too many points in a segment segment defined by defined by CAM_SEGMENT CAM_SEGMENT command command Number of points is Delta Master Master step 41 ECAM Too many points in In ECAM_POINTS command up ECAM_POINTS command max to 4 points at a time can be sent 4 42 ECAM No ECAM table was Distance between profile slave Downloaded ends profile size is limited to 231 encoder counts after electronic gearing 43 ECAM Slave overflow 45 ECAM Too many segments
50. graph is displayed The values of resonance and anti resonance frequency values if any are displayed at the bottom right corner of the graph Excitation Amplitude 50 Sampling Time us 250 Measurement Frequency Hz 1600 00 Excitation TimeMeration ms 250 Gain dB Phase deq Frequency Hz 4 16 01 PM Estimated Resonance Frequency 03 March 2004 Estimated Anti Resonance Frequency 726 Hz Figure 32 Sample Mechanical Analysis Output 50 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 4 9 1 4 9 2 ECAM Electronic Cam Cam creates motion according to a specified profile depending either on the position of a master axis or on time elapsed The ECAM feature allows you to specify the position that a slave axis must reach depending on the position of a master axis or on the time elapsed The XtraDrive allows up to four profiles to be specified per project Each profile can be comprised of a maximum of 16 segments and may contain up to 256 data points ECAM Profile Characteristics The following must be considered when designing a profile Up to four different profiles can be defined simultaneously Each profile can be divided into a maximum of 16 segments e An ECAM table may contain up to 256 data points To avoid exceeding this limit do not specify unnecessarily small Master Step values The maximum slave step is 32767 user position units The maximum master step
51. input not been received Figure 50 Illustration of Motion Terminated by Registration In the diagram D1 The delay between the input being received and registration beginning D2 The predefined registration distance The dashed line in the Velocity graph represents the motion that would have taken place had the input not been received ZS NOTE Only input 6 CN1 46 is used to trigger registration There is no need to set In_6 to function as a latch input XtraWare User Manual 73 Operating the XtraDrive Using XtraWare 4 10 1 Latching Workflow The registration process is described below Detailed instructions for the use of the commands and variables are provided in the sections that follow Define a condition for latching using the LATCHING_TRIGGER command Possible conditions are Input 6 connected at CN1 46 changes from 0 to 1 Rising Edge Input 6 connected at CN1 46 changes from 1 to 0 Falling Edge Start motion The registration process can be applied in the following motion modes Position Velocity Hunting Pulse Train Analog Speed See Section 5 3 Motion Modes After 62 5ms of the condition being met The variable Latched_position_ready changes from 0 to 1 The variable Latched_motor_position is set to the current position of the motor in position user units The variable Latched_master_position is set to the current position of the master if in use
52. is met as per the value of Position_actual_value Encoder Latching Latched_position_ready 66 0 1 Indicates if the latched position value is ready for use 0 No 1 Yes Is reset to 0 by the LATCHING_TRIGGER command Encoder Latching 214 XtraWare User Manual List of System Variables Name Var ID Dec Unit Read Write Min Max Description Group LimitSwitchStatus 57 Status of limit switch 0 No Limit Switch 1 Negative limit switch ON 2 Positive limit switch ON BG Status Master_Position 38 Counts R W 2147483648 2147483647 Position of master axis The variable is reset to 0 automatically when the Motion_mode variable is changed to 7 ECAM or to 3 Pulse Train The variable is updated only in these two modes Position variables Max_profile_acceleration Accelerati on Units 2147483647 Maximum acceleration while running motion commands BG System Profile Max_profile_velocity Speed Units 2147483647 Maximum speed value while running motion commands ST System Profile Motion_end_window 30 Position Units R W 255 Window for Following_error_actual_ value Specifies the maximum satisfactory position error at the end of a movement for use when Exact_mode is set to 1 The WAIT_EXACT command delays program flow until the position err
53. is selected the Save Project window is opened Close Closes the current project If the project has not Project been saved the following message is displayed Save changes to lt project name gt Click Save to save the project Download At Downloads a program to the XtraDrive driver Program Download af Downloads a set of parameters to the XtraDrive Parameters driver XtraWare User Manual 7 The Main Screen Interface OPTION ICON DESCRIPTION Download amp Downloads cam profiles to the XtraDrive driver Cam Upload al Uploads data from the XtraDrive driver Print Prints the current program Program Print Prints the parameter list including their values Parameters on the printer The parameters are printed in tabular format Print Chart Prints the currently displayed chart and its corresponding data See Section 4 7 4 Printing a Chart for further information Exit Exits from XtraWare SD NOTE 1 The ECAM related options are only activated if an ECAM license has been purchased 3 2 2 Edit Menu The Edit Menu options are used to edit the command order of a program in the Program window Table 2 Edit Menu Options OPTION DESCRIPTION Cut Deletes selected text or lines from the program and places Ctri X the selection on the Windows and XtraWare clipboards Copy Places a copy of selected text or lines from the program on Ctrl
54. master and generates a pulse every 125us 8 pulses every millisecond In this case the horizontal axis of the profile is in terms of clock ticks You must specify the profile number according to which the slave must move as well as whether the profile should be followed in the positive or negative direction ECAM_MOVE_ARRAY xi Profile ID 1 X POSITIVE NEGATIVE Figure 44 Programming an ENGAGE_VIRTUAL_AXIS Command XtraWare User Manual 65 Operating the XtraDrive Using XtraWare 4 9 15 Modifying a Profile using Variables The XtraDrive includes functionality that allows you to stretch and shift a profile without having to redefine each segment Simply by adjusting the values of variables you can Stretch the profile horizontally by adjusting the Master scale Stretch the profile vertically by adjusting the Slave scale Shift the profile horizontally Offset the profile vertically 4 9 15 1 Profile Scaling The Master scale can be adjusted by multiplying it by a fraction A B If A B is larger than one the profile will be stretched If A B is less than one the profile will be contracted A the numerator is defined by the variable ECAM_Master_scale_num B the denominator is defined by the variable ECAM_Master_scale_den For example if a scaling factor of 2 3 was applied to the profile shown below the Master axis would be contracted by a third E CAM Profile 120 E 1
55. motion command as if registration had not occurred This will occur if the latching condition was not met To ensure that the motor will stop by registration increase the distance to be traveled specified by the motion command 4 10 3 Commands Two commands are required when using latching one to enable and define a condition for latching and another to define the stopping distance once the condition has been met 4 10 3 1 LATCHING_TRIGGER Format LATCHING_TRIGGER lt Condition gt This command enables latching and specifies the condition that must be specified for latching to begin Specifically once this condition has been met the variable Latched_position_ready is set from 0 to 1 ENABLE_REGISTRATION Off Falling Edge sia Figure 51 Programming a LATCHING_TRIGGER Command The three conditions that can be chosen are Off Setting this condition cancels any previous LATCHING_TRIGGER command Rising Edge Registration will be triggered when Input 6 which is connected at CN1 46 changes from 0 to 1 XtraWare User Manual 75 Operating the XtraDrive Using XtraWare Falling Edge Registration will be triggered when Input 6 which is connected at CN1 46 changes from 1 to 0 Rising Edge Falling Edge Figure 52 Rising and Falling Edge Conditions 4 10 3 2 REGISTRATION_DISTANCE Format REGISTRATION_DISTANCE lt Distance gt This command causes the motor to decelerate to a stop a speci
56. motor as well Motor Models Linear Sigma Smat Step Lineer scale p ch Pn280 Add Another Motor pm New Motor Setting Motor Series Motor Model Motor Type gj etsa Figure 2 Motor Selection Window Select the appropriate manufacturer and then one of the listed models If you are using a model that is not listed click Add Another 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 6 XtraWare User Manual The Main Screen Interface OPTION ICON DESCRIPTION Open cn Opens an existing XtraWare project When this Project option is selected the Load Project window is Ctri O opened Load Project HEI Look in a NYDMaster gt Al c a xtraDriveDemo DA File name i Files of type Project XDR bd Cancel Figure 3 Load Project Window Save La Saves the current project under its existing Project name If the project has not yet been named the Save Project window is opened Save Project x Save in a NYDMaster gt c a xtraDriveDemo DA Save as type Project XDR 7 Cancel Z Figure 4 Save Project Window In the File name field type in a name for the project and click Save Save Saves the current project under a new name Project as When this option
57. position equals 800 000 user units the speed changes to 500 rpm SEE ALSO GO_H MOVE_R Table explanation GROUP Motion SYNTAX MOVE _R lt distance gt Op CODE 119 MODES Program Sequential MOTION Pulse train 3 MODE XtraWare User Manual 135 Command Reference DESCRIPTION Starts synchronization to master encoder external pulse source in terms of speed and position As soon as the command is issued the XtraDrive starts to count the incoming pulses and accelerates at the profile acceleration rate It reaches maximum speed as defined by the profile velocity in order to meet the master encoder and keep the smallest possible distance from it Specifying lt distance gt other than zero can create motion relative to the master encoder Relative motion can be performed while moving as well see diagram below Slave Speed Profile Spe ed shire Reference Speed master MOVE RO gt MOVERI9 Folbwer_Synchranimed SYNTAX distance Specifies the offset from master encoder ARGUMENTS The command adds lt distance gt to the Target_position as per electronic gear Serial 4 V EXAMPLE SET_ZERO POSITION Demand Position MOVE R 0 VAIT VAR Follower synchronized 1 MOVE R 350 VAIT VAR Position demand value gt 6000 STOP EX Emergency Servo ON END EXAMPLE MOVE_R 0 Motor starts responding to an input pulse EXP
58. 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 Table 11 History Window Columns NAME DESCRIPTION ID A sequential number assigned to the command Command The name of the command executed Operation The operation mode Program Immediate Mode Sequential active when the command was issued 18 XtraWare User Manual The Main Screen Interface 3 5 5 Parameters Window Each project in the XtraWare system comprises a program and parameters The XtraWare parameters are divided into different parameter groups and are displayed in the Parameters window Figure 11 For instructions on how to set parameters see Section 4 3 3 Setting Parameters Online and Section 4 3 4 Setting Parameters Offline A full list of all the parameters available in the XtraDrive system and their values is provided in Chapter 8 Parameter Reference The Parameters window is divided into three panes as shown below Parameters oe ol x A leau i Default 1Pn000 0 0000 0 Function Selectior Ox0000 O0x0000 OxFFFF Ox0000 Function Selectior Pn002 0x0100 Ox0000 OxFFFF 0x0100 Function Selectior Pn003 Ox0002 0x0000 OxFFFF Ox0002 Function Selectior Pn006 0x0010 Ox0000 OxFFFF 0x0010 8 CH1 Analog Monit Pn007 0x0012 Ox0000 OxFFFF 0x0012 CH2 Analog Monit Pn0
59. program SEE ALSO SET_OUTPUTS 142 XtraWare User Manual Command Reference SET_OUTPUTS Table explanation GROUP Output SYNTAX SET OUTPUTS lt output mask gt lt output state gt Op CODE 107 MODES Program Immediate Sequential DESCRIPTION Simultaneously sets a group of digital outputs to ON or OFF SYNTAX Output mask Decimal value of a bit string in which ARGUMENTS the digits define which outputs are set and which are ignored The rightmost digit of the string is ignored the next corresponds to OUT 1 on pins CN1 25 CN1 26 etc Setting Code Ignore 0 Set 1 Range 1 to OxOOFFFFFF Serial 4 JU V Output Decimal value A bit string represents state the digital outputs to be set The rightmost digit is ignored the next corresponds to OUT 1 on pins CN1 25 CN1 26 etc Range 1 to OxOOFFFFFF Serial 4 JU V EXAMPLE JAIT VAR Position_actual_value gt 100 SET OUTPUTS 6 4 END EXAMPLE When the position value equals or exceeds 100uu EXPLANATION digital output 1 is set to OFF and digital output 2 to ON lt Output mask gt is 6 0110 i e only outputs 1 and 2 can be affected lt Output state gt is 4 0100 and determines the value of the affected digital outputs SEE ALSO SET_OUTPUT XtraWare User Manual 143 Command Reference
60. 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 Syntax The format in which the command should be written Operation Code The operation code of the command in decimal format to be used when issuing the command using the serial communication protocol See Chapter 6 Serial Interface Protocol Modes The modes in which the command is available For details of the available modes see Section 4 5 Program Modes Information on how commands are executed in the different modes is provided below Motion Mode The motion modes in which the command functions applicable to motion commands only See Section 5 3 Motion Modes Description A detailed description of the command Syntax Arguments A description of the arguments used in the command syntax including the units where applicable Additional information is provided in the Serial blocks for use when issuing the command using the serial communication protocol see Chapter 6 Serial Interface Protocol The length of each argument is given The number shown is the number of data bytes of each argument Each byte consists of 2 hexadecimal digits e g 01011111 5Fx0 Arguments that must be specified by an unsigned integer are indicated with a U Arguments that can be specified either by a numerical value or by the ID number of a system variabl
61. rpm 10000 20 5 5 5 Pn503 N Signal m oto 100 10 5 5 4 Pn504 NEAR Signal Width e 1 to 250 7 5 5 8 256 ref 1 to Pn505 Overflow Level units 32767 1024 6 2 1 p g Brake Reference Servo D Pn506 10ms Oto50 JO 5 4 4 OFF Delay Time g oO a 1 Brake Reference Output 0 to Pn507 Speed Level rpm 10000 100 5 4 4 oO oO v 196 XtraWare User Manual Parameter Reference Parameter i Setting Default Category Ninmber Name Unit Range Setting Reference Timing for Brake 10 to Pn508 Reference Output during 10ms 50 5 4 4 100 Motor Operation Pn509 Momentary Hold Time ms 20 to 20 5 5 9 1000 Pn50A Input Signal Selections 1 8881 5 3 3 Pn50B Input Signal Selections 2 z 8848 5 3 3 Pn50C Input Signal Selections 3 8888 5 3 3 Pn50D Input Signal Selections 4 8888 5 3 3 Pn50E R Signal Selections 7 3000 5 3 4 PnSOF aaa Signal Selections 0000 5 3 4 2 oO r g Pn510 T Signal Selections 0000 5 3 4 g oO a Reserved parameter do 7 m Pn511 not change 8888 J Output Signal Reversal g amp Pn512 Settings 0000 5 3 4 E Pn580 Zero clamp level mm s 0 5000 10 Pn581 Motion detection level mm s 1 5000 20 L O ga Speed coincidence signal 5 g Pn582 output width mm s 0 5000 10 z Q pg Brake reference output oO w amp Pn583 speed level mm s 0 5000 100 0 to Regenerative Resistor capa 2
62. speed 1V 500 rpm Cc S 2 Target acceleration after applying ES 6 command smoothing 10V max a acceleration allowed a lt c Analog 0 Pn003 1 used for analog monitor 2 E monitor 2 1 selection of 0 source 1 Pn007 0 used for analog monitor 2 parameter Analog 2 monitor 2 0 4 0 x1 1 x10 2 x100 3 xi 10 0 magnificatio 4 x1 100 n of signal 3 Not used 0 0 Communica 0 With commutation sensors L G 4 oe 0 tion sensor 1 P9285 switch 1 Without commutation sensors 32 RES aoga Communica 0 UVW S 6 1 tion sensor order 1 UVW 202 XtraWare User Manual Parameter Reference Digit Sate Default Parameter Place Name Setting Description Setting 2 Reserved 7 E 1 3 Reserved 7 0 Tunes only at the beginning of Online operation 0 Autotuning 0 a Method 1 Always tunes iD 5 2 Does not perform autotuning 2 S Speed Feed 0 Enabled o back S 1 Compensatio i c2 pens Disabled a 6 n Selection i 5 lt 2 0 Friction compensation Disabled Friction 2 Compensatio 1 Friction compensation Small 0 n Selection 2 Friction compensation Large 3 Reserved 0 3 Reserved parameter do not change O 0 Yaskawa A quad B model SGM 1 Yaskawa A quad B model SGMP 0 0 Motor model 2 Non Yaskawa rotary motor 3 Non Yaskawa linear motor D 5 Encoder 0 Incremental A quad B encoder i z type A wn 1 Yaskawa absolute A quad B encoder a lt
63. speed reached 400 output 1 was set to ON as interrupt 0 was invoked as a result of its condition Target_velocity gt 400 being met The program returned to the MOVE_D command Once the motor completed its motion the output was set to OFF XtraWare User Manual 85 Operating the XtraDrive Using XtraWare Case 2 In 1 changes during motion Smoothed Target Speed Position Error 2500 ala acid a iia kali iat aia kk 500 2000 4 Jacakan g k 4 H 4 400 1500 ssoi E 300 i ooa Input 1 10007 4 f 4 4 bennt 200 o eee ee e e Output 1 o o N N 5 qd 4 ee ee CEEES 500 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms Figure 57 Interrupt Example Output Chart Case 2 From the chart The motor started moving after In 1 became true As the motor target speed reached 400 output 1 was set to ON as interrupt 0 was invoked as a result of its condition Target_velocity gt 400 being met In 1 became false The motor was stopped at the emergency deceleration by the interrupt service routine for interrupt 1 The program jumped to label 2 Output 1 was set OFF SD NOTE If both interrupts occur simultaneously the interrupt of priority O will be handled as in case 1 and then the interrupt of priority 1 will be handled as in case 2 The program will then return to
64. sssssssasrrrssssarnnreosannnrresannnrrresas 213 10 List of Status Word Bits ees veieratiwitccd Weisadse ain oteereiewies 219 11 List of Operation CodeS s sssssrsrsesssnnrresennnrreessnnrrresns 221 12 Glossary of Terms and Concepts ccceceeeeeeeeeeenaeeeeeaas 225 12 1 Electronic Gear mesi aicecns el nid biati b Ea a ia 225 12 1 1 Electronic Gear Parameters ccccecseeeeesseeeseeeees 225 12 2 Motion PROMI tines aa a a a eaa a a aE 225 12 2 t gt Profile Velocity oroit iani i aeons itd a 226 12 2 2 Profile Acceleration ssssssssrresssrnnreosannnrrosannnrrenas 226 12 2 3 Profile Jerk Smoothing TIME s ssssssssssssrrrrrssrrrrrrens 227 12 3 Explanation of Command Table sssssssssssssssrrssssrrerrssn 228 XtraWare User Manual V Table of Contents vi XtraWare User Manual Introduction 1 Introduction The XtraWare software constitutes the user interface and tool of operation for the XtraDrive It enables parameter setting control loops tuning fault status reporting and facilitates programming of the driver both for professional programmers and novices The 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 Command Reference which lists alpha
65. 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 XtraWare User Manual 47 Operating the XtraDrive Using XtraWare with the load inertia and the balance would cause alarms and accurate measurements would be impossible H 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 rota
66. type of slope select Rising Edge Data collection is triggered when the value of the Source rises from below the trigger Leve to above the trigger Level i e when the change is from LO to HI in I O Falling Edge Data collection is triggered when the value of the Source falls from above the trigger Level to below the trigger Level i e when the change is from HI to LO in I O Data Change Data collection is triggered when the value of the Source crosses the trigger Level in either direction No Trigger Data collection will start at the same time as START TRACE I2 is clicked All other trigger settings are irrelevant Level Trigger Level Specifies the threshold value of the Source at which data collection is triggered 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 A buffer of data is collected even prior to the trigger condition being met This allows XtraWare to include the period before the trigger in the graph The Pre Trigger setting specifies how long this period should be as a percentage of the duration of the graph after the trigger XtraWare User Manual 41 Operating the XtraDrive Using XtraWare 4 7 1 2 4 7 1 3 4 7 1 4 4 7 1 5 Graph Settings For all of the graph settings described below you can select the scale available va
67. value of Pn1A0 System Profile Clock 37 R W 2147483647 System clock Status Command_mode 26 2 Program mode 1 Program not running 2 Program running Status ECAM_Master_profile_ position 52 Counts 2147483648 2147483647 The current master position in the ECAM profile It is a cyclic value according to ECAM profile Valid only while ECAM is engaged ECAM ECAM_Master_scale_den 49 R W 65535 The denominator of the ECAM master scaling factor Changeable only while not in ECAM mode ECAM ECAM_Master_scale_num 48 R W 65535 The numerator of the ECAM master scaling factor Changeable only while not in ECAM mode ECAM ECAM_Offset 47 Position Units 2147483648 2147483647 Specifies the required offset along the slave axis of the ECAM profile ECAM ECAM_Slave_profile_ Position 53 Position Units 2147483648 2147483647 The current slave position in the ECAM profile It is a cyclic value according to ECAM profile Valid only while ECAM is engaged ECAM ECAM_Slave_scale_den 51 R W 65535 The denominator of the ECAM slave scaling factor Changeable only while not in ECAM mode ECAM ECAM_Slave_scale_num 50 R W 65535 The numerator of the ECAM slave scaling factor Changeable only while not in ECAM mode ECAM ECAM_Shift 46 Counts R W 2147483648 2147
68. 0 ECAM POINTS 4 0 2 3 4 ECAM POINTS 4 6 6 8 9 ECAM POINTS 4 9 11 12 12 ECAM POINTS 4 13 14 14 15 ECAM POINTS 4 15 15 16 16 ECAM SEGMENT 100 100 0 ECAM POINTS 1 140 ECAM SEGMENT 200 10 0 ECAM POINTS 4 15 16 15 15 XtraWare User Manual 71 Operating the XtraDrive Using XtraWare ECAM POINTS 4 15 14 14 13 ECAM POINTS 4 12 12 11 9 ECAM POINTS 4 9 8 6 6 ECAM POINTS 4 4 3 2 Slave Position 600 200 300 Master Position Figure 49 Sample ECAM Profile Table 14 Sample ECAM Table Master Slave Delta slave 15 9 3 6 6 4 3 2 q 72 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 10 Registration and Latching The latching function is used to capture the position of the motor encoder or external encoder when signaled to do so by a digital input Latching is performed within 62 5us of the digital input being received The registration function is used to stop motion in a predefined distance once an input has been received For example a MOVE_H command could have been used to cause the motion shown below Registration terminates the motion prematurely after an input has been received The solid line in the graphic below illustrates the motor motion that results due to the input changing from 0 to 1 The dashed line illustrates how the motor would have moved had the
69. 00 80 a 60 E eS 0 500 1000 1500 Master Position E CAM Profile Slave Position on o 0 0 200 400 600 500 1000 Master Position Figure 46 Sample Profile After Master Axis Scaling 66 XtraWare User Manual Operating the XtraDrive Using XtraWare Similarly the profile can be stretched or compressed vertically by multiplying the Slave scale by a fraction C D If C D is larger than one the profile will be stretched If C D is less than one the profile will be contracted e C the numerator is defined by the variable ECAM_Slave_scale_num D the denominator is defined by the variable ECAM_Slave_scale_den The scaling factors cannot by changed while ECAM is engaged gt To apply scaling 1 Set the variables ECAM_Master_scale_num ECAM_Master_scale_den ECAM_Slave_scale_num and ECAM_Slave_scale_den using the SET_VAR command SH NOTE When using a virtual axis it is recommended that scaling only be used to scale the graph down that is A B and C D should be set to values lower than one If a profile is stretched a lack of sufficient data points will result in a profile that is not smooth When designing a profile you should therefore design it for the largest movements that could possibly be required so that it will only ever be necessary to scale the profile down SH NOTE The scaling factors discussed above do not affect the size of the shift or offset if defined XtraWar
70. 0xFFFF 0x0012 CH2 Analog Monit Digital 1 0 Motion Profile 0x0000 Ox0000 0x0011 Ox0000 Linear Pole Sensc Motor Encoder 40 1 2000 40 Speed Loop Gain Other Pulse Train Input Servo Control Torque Force 0 Forward direction User Units 1 Reverse direction Pn000 1 Control Method Selection Figure 14 Parameters Window The fields in the panes of the Parameters window are listed below from left to right Group Parameter group selection 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 Parameter ID The parameter number Value Current parameter value 0x indicates hexadecimal values Min Minimum value allowed for the parameter Max Maximum value allowed for the parameter Units The units used for the parameter o Default The default value for the parameter Description A short description of the parameter functionality 26 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 3 3 4 3 4 4 4 Setting Parameters Online Right click on the row of the parameter you wish to change A pop up window appears Figure 15 displaying the current value of the parameter Figure 15 Parameter Setting Window Use the buttons below each digit to change the value of the parameter Note that t
71. 36 XtraWare User Manual i Table of Contents 4 6 4 Performing Fine Tuning ccccesseeeeeeeeeeeseeeenseeees 37 4 6 5 Evaluating Control Loop Performance ccseeeeeaeee 38 A Ta Chart See ihre NC eR REGRET OE TEE E E n a 40 4 7 1 The Chart Main WiNdOW viscscarsacbigsuscciarasccradscnereds coe 40 Aa SING ZOOM a E a a a aa 43 4 7 3 Starting the Trace nisin ain a a 44 47 4 Printing a Chartisie feces aise aoa neat es 45 4 8 Mechanical AielySIS ssces2s ceotsau aids ave tecdarese trices tecdsase 46 4 8 1 Mechanical Analysis WiINdOW cccceeeeseeeeeeeeeeeaeees 47 4 8 2 Mechanical Analysis Toolbar ccccsceeeeeneeeeeeeeeeaaees 49 4 8 3 Running the Mechanical AnalySiS ccceceeeeeeeeaeeee 50 4 9 ECAM Electronic Cam sssssssssssssssrrssserenrrnssensrrssserena 51 4 9 1 ECAM Profile Characteristics ccccceeesseeeeeeeeenaeees 51 49 27 Installing ECAM ieie ii or aE EEA AEEA o 51 4 93 ECAM WOFKH OW cerien an e a aa 52 A904 EGCAM Promles icn6Sacaukats tonnien e aaa 52 4 9 5 Creating a Profile sssssssrsssessrrssserssrssrsersrrsrrerens 53 4 9 6 Loading a Protea sescSetcect cided eiaaheutasceieeduameicisens 60 WO Js Editing a PLOMIC scirent a i EEEE 61 4 9 8 Deleting a Profile sssssssnnssssssnrnnsensnrsnrsersrrsrrerene 62 4 9 9 Viewing the Master Slave Table ccccceeeeseeeeeeees 62 4 9 10 Viewing the Data Graph cccceesceeeessseeeeeeeenseeees 63
72. 4 P15 7 Oo 2 I5 8 JO JO 0 0 0 3 E P16 S1 S2 CR g 8 1 F CR Where A 2 Axis number 2 m B Sequential mode ID1 0 Id2 0 Ignore message ID Ci 7 C2 1 Command operational code 0x71 Vi V2 0 All the command arguments are specified by numerical values not by variables P1 P8 0x258 600 00000258 P9 P16 0x3E8 1000 000003E8 S1 1 S2 F 0x100 0x2B 00 0x71 00 00 0x02 0x58 00 00 0x03 0xE8 OXFFFFFFFFFFFFFF1F Since only the last two digits are considered S1S2 OxiF Master Message Short Format In cases where all the arguments P1 Pn are specified by numerical values and not by variable ID numbers a shortened form of the master message format may be used Use the short format only when backward support for old projects written in short format is required Id1 Id2 Ci P2 C2 P1 Si S2 Pn CR 174 XtraWare User Manual Serial Interface Protocol To use the short format master message M mode must be set for the short format according to the following table Mode Code Broadcast Message 0x0 Polling Message 0x1 Immediate Mode 0x2 Sequential Mode 0x3 Program Mode 0x4 In this format the V1 and V2 Variable indicators bytes are omitted as the arguments can only be specified by numerical values For an explanation of each component of the short for
73. 4 9 11 Printing from the Electronic Cam Window 000 63 4 9 12 The Cam List WiINdOW cccccceeesseeeeesseereseeeenenees 64 4 9 13 Downloading Profiles to the XtraDrive ccceeeeee 64 4 9 14 Programming with Electronic Cam cccseeeseeeeeeaeees 65 4 9 15 Modifying a Profile using Variables ccccceeeeeeeee 66 4 9 16 Monitoring Master and Slave Positions 0000eeee 70 4 9 17 Serial Communication and ECAM ccceee eee eeeeaeee 71 4 10 Registration and Latching ccccceeeee essen teen e eee een eens 73 410 1 Catching WOrkhOW i s60s24 cect gta seca esiaisa inonib anini 74 4 10 2 Troubleshooting orrainn eis ast as 75 4 10 35 Commands senai e a ea exes 75 4 10 4 Registration Variables sssssssssssssssssrrrssssrrrrnsssrrn 76 4 10 5 Registration Example ssssssssssssrrssesssrnssseesnrrsseesns 78 Atis InterryptSiisirkara mennan ao eai a a aean 79 A als Int rru DEE VENUS ca rrer aE a a a made 79 4 11 2 Multiple Interrupts sssssssssssssssssrrssesssrrnssersnrssrensns 79 4 11 3 Interrupt Response TIME ssssssssssrsssrrrsrrrrrrrrnrrrrsnn 79 AL A Interrupt MaSkSirme a n a A A inte caiin 79 4 11 5 Interr pt Handling ssivissarasyi ionainn y ibia 80 4 11 6 Interrupt Variables ssssssssrsssrsssersnrsnssrsenssssresns 80 4 11 7 Interrupt COMMANS wisei ss cisedis ved ees sevioemiecs weeded 83 4 11 8 Interrupt Example ccccesceeee esse eeeseeeeeee
74. 4 F i a g 121 ECAM_ENGAGE 3 4 1UV 1U 2 126 ECAM_POINTS 2 1U 2 2 2 2 124 ECAM_PROFILE 2 1U 125 ECAM_SEGMENT 2 4U 2U 1U 123 ECAM_TABLE_BEGIN 2 127 ECAM_TABLE_END 2 70 END 2 4 g 136 ENGAGE_VIRTUAL_AXIS 3 4 1UV 1U 138 EXT_INT 4 1U 1U 1 U 154 FAST_OUTPUT_SETTING 2 3 4 1u 1u8 lav 3 z 71 GAIN 2 3 4 2U i a a 160 GET_FROM_ARRAY 2 3 4 2U 85 GET_PAR 2 3 2U s 72 GET_VAR 2 3 1U 2 z 63 GET_VERSION 2 z 112 GO 3 4 4V 4V 2 x a 128 GO_D 3 4 4V 4V g 117 GO_H 3 4 4V 73 GO_TO 4 1U z z p 131 HARD_HOME 3 4 2V 4V 3 3 z 133 HOME_C 3 4 4V 3 g q g 132 HOME_SW 3 4 4V 4V g g 130 HOME_SW_C 3 4 4V 4V 3 105 IF 4 1U 1U 4v 1 U 1U 108 IF_INPUT 4 1U i ere 1 U 1U 97 INPUT_CASE 4 4UV l4uv Z g 139 INT 4 1 U 1U 1U av p 140 INT_RETURN 4 1U 4 4 74 JERK_TIME 2 3 4 4U 88 LABEL 4 1U z p 152 LATCHING_TRIGGER 3 4 1 U 3 z 2 i 75 LOOP 4 2U 4UV 1U l 134 MATH 2 3 4 1 U 1065 1 U 1Uu av 113 MOVE 3 4 4V 4V z g 129 MOVE_D 3 4 4V 4V 118 MOVE_H 3 4 4V 2 3 119 MOVE_R 3 4 4V 5 z z 0 POLLING z 4 159 READ_FROM_ARRAY 2 3 4 2UV 1 U 151 REGISTRATION_DISTANCE 3 4 4V z z 77 RETURN 4 i XtraWare User s Manual 221 List of Operation Codes XtraWare User Manual Op Code Name R Arg 1 Arg2 Arg3 Arg4 Arg 5 78 RUN 2 3 1U g g 96
75. 483647 Specifies the required shift along the master axis of the ECAM profile ECAM Exact_mode 25 R W Defines when a commanded motion is to be considered complete 0 The theoretical motion has ended 1 The actual position error is smaller than specified by Motion_end_window Status Follower_position_offset 40 Position Units 2147483648 2147483647 Theoretical distance from master position master slave Position Variables XtraWare User Manual 213 List of System Variables Name Var Dec Unit Read Write Min Max Description U T Group Follower_synchronized 39 Flag for pulse train mode to indicate whether motor is synchronized in position and speed following a Move_R command 0 Not synchronized 1 Synchronized Status Following_error_actual_val ue 10 Position Units 2147483648 2147483647 Position error calculated as Position_demand_value Position_actual_value Position Variables Forward_Torque_limit 19 0 1 of max R W 1000 1000 Maximum torque or force to be applied in forward direction The maximum torque or force is set by Pn402 or Pn483 respectively Torque Variables In_position 36 2147483647 Indicates whether the motor is in position Is active in the following Motion_modes 1 3 6 1 3 4 and 7 Status
76. 80 0x0000 Ox0000 0x0011 Ox0000 Linear Pole Sensc 40 1 2000 Hz 40 Speed Loop Gain X d Description Advanced Applicatio Analog Inputs Analog Monitor Application Setting Auto Tuning Current Control Digital 1 0 Motion Profile Motor Encoder Other Pulse Train Input Servo Control 0 Forward direction 1 Reverse direction Cc Pn000 1 Control Method Selection n Torque Force User Units Figure 11 Parameters Window Group pane A lists the parameter groups The parameters in the selected group are displayed in the Parameters pane The Parameters 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 selected parameter XtraWare User Manual 19 The Main Screen Interface 3 5 6 Cam Window The Cam window lists all ECAM profiles that have been defined com o Download Size 21 Profile Download Size 1 v 21 234 Figure 12 Cam Window Download size Indicates the number of data points that will be downloaded to the XtraDrive when the Download Cam button is pressed Profile The profiles are identified in the Cam List by their numbers Download Check the checkboxes corresponding to all profiles that should be downloaded to the XtraDrive when the
77. C6 setting is different than 0x0001 Set Pn2C6 0001 and reset XtraDrive 182 XtraWare User Manual Error Messages 7 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 than 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 program line number 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 performed if the Motion Set STOP_EX command before Command 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 has been used at a 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 o
78. E Profile values of speed SPEED acceleration and jerk time Output Sets output ON OFF FAST_OUTPUT_SETTING SET_OUTPUT SET_OUTPUTS Program Program flow handling CALL END GO_TO IF Flow commands IF_INPUT INPUT_CASE LABEL Control LOOP RETURN RUN System Enables and disables CONTROL GAIN SERVO control in the TORQUE_LIMITS program Sets gain and torque limits Variables Sets variable values in MATH READ_FROM_ARRAY the program SET_VAR WRITE_TO_ARRAY Wait Delays program flow DELAY WAIT_EXACT either for a specified time or until a condition is met WAIT_FOR_START WAIT_INPUT WAIT_STOP WAIT_VAR XtraWare User Manual 17 The Main Screen Interface 3 5 3 Program Window The Program Window Figure 10 displays the entire program The program is written by selecting commands from the Command tab and entering values for the commands parameters See Section 4 4 1 Writing a Program for details on how to write a program gt To change the value of a command s argument after it has been added to the program 1 Double click on the command line to open its window and enter a new value s E Program XtraDriveD emo OF x SET_OUTPUT 2 On SET_VAR 25 1 WAIT_INPUT 1 1 GAIN 100 SET_OUTPUT 2 Off LABEL 4 MOVE 65536 48 LOOP 1 19 4 SET_OUTPUT 2 Off LABEL 5 MOVE 65536 48 IF_INPUT 1 a Figure 10 Program Window 3 5 4 History Window The History window
79. EE ALSO EXT_INT INT Variables Interrupt_mask Interrupt_request Interrupt_pending XtraWare User Manual 125 Command Reference JERK_TIME Table explanation GROUP Motion Profile SYNTAX JERK TIME lt time gt Op CODE 74 MODES Program Immediate Sequential DESCRIPTION Defines the time duration for the changing of acceleration and deceleration Sets the jerk time value for the motion profile The command changes the profile jerk time value set by parameter Pn2A6 and remains in effect until the next controller reset The jerk time affects the profile of motions commanded by MOVE MOVE_D MOVE_R MOVE_H GO GO_D SLIDE SLIDE_ANALOG SYNTAX time Jerk time ARGUMENTS us Range 0 63999 us Serial 4 U EXAMPLE JERK_TIME 2000 NOTE 1 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 2 For the motion commands GO GO_D MOVE MOVE_D which are stored in the motion buffer changing the jerk value will affect them only if the change is made before the command is issued i e before the command is sent to the buffer 3 For commands GO_H MOVE_H changing the jerk value will affect them only if the change is made before the first command is i
80. Inputs_State 33 2147483648 2147483647 Input ports state For example when Inputs_State is 010 the state of In_1 CN 41 is On and all other inputs are Off Digital I O Interrupt_mask 63 R W 2147483648 2147483647 Interrupt mask to enable disable interrupts 0 7 Interrupt mask to enable disable interrupts 0 7 For example 010 indicates that only interrupt 1 is enabled interrupts 0 and 2 are disabled Interrupt Interrupt_pending 64 2147483648 2147483647 Bits 0 7 indicate which interrupts are to be handled For example 010 indicates that only interrupt 1 is to be handled interrupts 0 and 2 are not to be handled Interrupt Interrupt_request 62 R W 2147483648 2147483647 Bits 0 7 indicate which interrupt requests have occurred For example 011 indicates that requests for interrupts 0 and 1 have been received and that no request for interrupt 2 has been received Interrupt Jerk_smoothing_time us R W 64000 Time to reach profile acceleration See Profile Jerk Smoothing Time System Profile Latched_master_position 54 Counts 2147483648 2147483647 The position of the master axis when the latching condition is met as per the value of the Master position Encode Latching Latched_motor_position 55 Position Units 2147483648 2147483647 Actual position of the motor when latching condition
81. LANATION train When the motor is synchronized to master a relative motion of 350 units starts When the motor has moved a total of 6000 user units it stops 136 XtraWare User Manual Command Reference NOTES 1 Movement profiles are according to the Command profile you set Make sure that the profile velocity is greater than that of the master encoder and that the profile acceleration is sufficient to follow it If the profile velocity is less than that of the master encoder the axes can be never synchronized 2 Speed and acceleration can be changed during motion The jerk value used at the beginning of the motion remains in effect as long as motion mode is Pulse Train Input Use the STOP_EX command to change the motion mode 3 To set deceleration for end of synchronization use quick stop deceleration parameters Pn2A8 and Pn2A9 Important These parameters also determine the emergency stop deceleration Setting too small a value could be dangerous Note that this applies only to driver versions up to 2 91 Higher driver versions decelerate at the profile acceleration 4 If a filter on command is set Jerk PN2A6 or smooth factor Pn216 the motor will lag after the master encoder according to the value of the filter 5 For information on using New_move_enable to enable faster execution of the MOVE_R command see Section 4 12 Master Slave Synchronization SEE ALSO Variables Follower_
82. LE A STOP_EX command was issued 200ms after motion EXPLANATION started Because lt Type gt was set to Emergency the motor decelerated at the quick stop deceleration rate which was higher than the profile acceleration at which the motor accelerated initially The SET_OUTPUT command was executed only once the motor had stopped SEE ALSO Parameters Pn2A8 Pn2A9 STOP_MOTION Table explanation VERSION This command is available only in drive version 2 91 NoTE For higher versions use STOP_EX GROUP Motion SYNTAX STOP MOTION Op CODE 99 152 XtraWare User Manual Command Reference DESCRIPTION Immediately stops the motor motion not the program using the quick stop deceleration as defined by parameters Pn2A8 and Pn2A9 and clears the motion buffer EXAMPLE LABEL MOVE 3600 1 DELAY 100 MOVE 3600 1 DELAY 100 F INPUT 1 1 THEN CALL 2 GO TO 1 LABEL 2 STOP MOTION WAIT INPUT 1 0 1 GO D 0 RETURN EXAMPLE Two motions one in the positive direction the other EXPLANATION in the opposite direction are continuously executed as long as Input 1 is false When Input 1 is set to true subroutine LABEL 2 is called and the motion stops By setting Input 1 to false the motor returns to its zero position and the two MOVE motions are executed in an endless loop You can stop the program s
83. List tab displays all the interpolated points through which the slave will move listed per segment gt To view the Master Slave table 1 Open the Data List tab 2 Click on one of the segments listed on the left panel of the Data List tab The master slave table is displayed on the right listing all of the interpolated points as well as the specified start and end points of the selected segment Flow Chart Position Setting Data List Data Graph Segment Master Width Slave Width Size Subtotal Size Master Slave 1 100 f 1 0 0 10 20 2 10 156 100 120 3 20 309 4 30 453 5 40 587 6 50 707 7 60 809 8 70 891 9 80 951 10 90 987 114 100 1000 Figure 40 Data List Table 62 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 10 Viewing the Data Graph The data graph graphically represents the specified table The dots along the curve represent the interpolated points gt To view the data graph 1 Open the Data Graph tab The data graph is displayed Flow Chart Position Setting Data List Data Graph Slave Position are en a ee a er cara aera ee aa os area 0 20 40 60 80 100 120 140 160 180 200 220 240 260 Master Position Figure 41 Data Graph 4 9 11 Printing from the Electronic Cam Window The contents of each of the Position Setting Data List and Data Graph tabs can be printed gt To print from the Electronic Cam Window 1 Select the profile to prin
84. M window gt To open the Position Setting tab 1 Click the Position Setting tab The Position Setting tab is displayed Each field is explained below j Data List Data Graph Figure 34 Position Setting Tab Segment Each segment is automatically assigned a number Master Start The first segment starts at master position 0 Each subsequent segment starts at the position at which the previous segment ended The master position is defined in terms of master encoder counts Master End Specifies the master position at the end of the segment XtraWare User Manual 53 Operating the XtraDrive Using XtraWare 4 9 5 3 4 9 5 4 If a time based profile is being created Master End specifies the time at which the segment ends For example if the segment is to span 100ms the difference between the Start and End values must be 800ms as the clock generates eight pulses per millisecond Slave Start The first segment starts at slave position 0 Each subsequent segment starts at the position at which the previous segment ended The slave position is defined in terms of position user units Slave End Specifies the slave position at the end of the segment Master Step Specifies the distance required between the points that are interpolated between the start and end points The greater the step size the lower the resolution will be When the start and end points are to be joined simply by
85. Manual Operating the XtraDrive Using XtraWare 4 9 17 Serial Communication and ECAM This chapter has described how ECAM profiles are created and downloaded to the XtraDrive using XtraWare ECAM profiles can also be sent to the XtraDrive by a host using serial communication For more information on using serial communication see Chapter 6 Serial Interface Protocol 4 9 17 1 ECAM Commands for Serial Communication The following commands are used to send an ECAM profile to the XtraDrive using serial communication More information on these commands is available in Chapter 5 Command Reference 4 9 17 2 ECAM_TABLE_BEGIN Clears any existing table from the XtraDrive and initializes the new table ECAM_PROFILE Specifies the identifying number of the profile that is to be loaded ECAM_SEGMENT Defines the range of the master values covered by the next segment that is to be defined and specifies the size of the increments between consecutive points ECAM_POINTS Specifies the difference between the slave positions of consecutive points ECAM_TABLE_END Finalizes the ECAM table that has been loaded Example of Using Serial Communication to Send an ECAM Table to the XtraDrive The code that follows downloads an ECAM table as specified in Table 14 Sample ECAM Table and illustrated in Figure 49 Sample ECAM Profile ECAM TABLE BEGIN ECAM PROFILE 1 ECAM SEGMENT 200 10
86. Mechanical Analysis Toolbar The following table explains the function of each icon Table 13 Description of Mechanical Analysis Toolbar Icons OPTION ICON DESCRIPTION Save Chart Saves the current analysis include the settings and the Score 7 Open f opens a Opens a previously saved analysis saved analysis Print a Prints the currently displayed chart and its corresponding data Up one zoom ve ane zoom Ley restores the previous zoom level Reset zoom Restores the area shown in the window to its eee 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 ane ae graph data in Excel format csv XtraWare User Manual 49 Operating the XtraDrive Using XtraWare 4 8 3 Running the Mechanical Analysis gt To perform a mechanical analysis 1 Run the motor to excite the machine and measure the frequency characteristics 2 Run the process by pressing the START button WARNING The motor will begin moving once Start has been pressed Once the process is completed a
87. N MOVE_D 10000 400 DELAY 400 MOVE_D 10000 400 END oi e ea le Figure 22 Program for Checking Control Coefficients PRG 3 Click Program Download J to download your program to the XtraDrive 4 Click Chart bs to open the Chart window 5 In the Graph Setting area set Smoothed Target Speed to 50 6 Click Start Trace TA The message Waiting for trigger and data collection completion is displayed 7 Click Run Program gt to run the program The program runs and the data is uploaded A graph of the motion is displayed 8 Study the graph particularly the Position Error shown by default in yellow and decide whether the control coefficients are set appropriately 38 XtraWare User Manual Operating the XtraDrive Using XtraWare Position Error Smoothed Target Speed 500 400 300 j j j j j 4 j j j T j 1 j 1 j J 1 j 1 T 1 j 1 j j 1 j I T j j Figure 23 Sample Chart of Position Error 39 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 7 Charts The Charts option provides a graphical display of signals over a specified time period Two analog signals and two digital I O signals can be displayed 4 7 1 The Chart Main Window Select the Charts option from the View menu to display the Chart Main window Figure 24 11x Be 28124 4 lul Ge Trigger Name Value Sour
88. Name Unit Range Setting Reference Function Selection Basic 5 1 1 1 ngog Switches 0x00D0 5 3 5 5 1 2 ppor E Se SEBON v a a 0000 5 4 2 Application Switches 1 5 5 7 5 2 8 pagpa ondion Selection z 0000 5 2 9 Application Switches 5 7 2 Function Selection pens Application Switches 3 0002 6 4 Function Selection Pnooe Application Switches 3 9000 oa Function Selection Pnooz Application Switches 3 i 0000 os Function Selection Parameters 1 to Pn100 Speed Loop Gain Hz 2000 40 6 2 2 6 2 7 Speed Loop Integral 15 to 6 2 10 PnLOL Time Constant ooms 51200 ae 2 g oO 5 Pn102 Position Loop Gain st ani 40 6 2 10 5 2000 7 Cc E Pn103 Inertia Ratio 0 to 300 6 2 6 XtraWare User Manual 191 Parameter Reference Category lta Name Unit eatery E Reference 10000 6 3 1 6 3 5 Pn109 e Formal opee ioe 0 to 100 0 6 2 2 control Online Autotuning x Pn110 Switches 0010 6 3 4 Pni90 Motor selection switch 7 0000 5 8 A Pn191 Motor selection switch 0000 5 8 D a Pulses number of A quad pulses E Pn192 B encoder rev 0 9999 2048 5 8 5 l pulse 6 pnigge Pulses number of Aquad i oqq07 o a19 l0 5 8 5 B encoder High rev Encoder counts per Scale counts Pn199 scale 1 256 1 Pitch of linear motor pitch Global gain factor
89. R 1000 1000 Target torque or force Cc Torque rated specified by the Variables TORQUE command Target_velocity 13 Velocity R 2147483647 Target speed specified Cc Speed Units 2147483648 by the SLIDE command Variables Torque_demand_value 17 0 1 of R 1000 1000 Theoretical torque or BG Torque rated force value Variables User_encoder 31 Encoder R 2147483647 Actual position in 2 Position Units 2147483648 encoder units Variables 216 XtraWare User Manual List of System Variables Name Var Unit Read Min Max Description U T Group ID IN Dec Write Var_01 67 R W 2147483647 User variable C User 2147483648 Variables Var_02 68 R W 2147483647 User variable Cc User 2147483648 Variables Var_03 69 R W 2147483647 User variable Cc User 2147483648 Variables Var_04 70 R W 2147483647 User variable Cc User 2147483648 Variables Var_05 71 R W 2147483647 User variable Cc User 2147483648 Variables Var_06 72 R W 2147483647 User variable C User 2147483648 Variables Var_07 73 R W 2147483647 User variable Cc User 2147483648 Variables Var_08 74 R W 2147483647 User variable C User 2147483648 Variables Var_09 75 R W 2147483647 User variable Cc User 2147483648 Variables Var_10 76 R W 2147483647 User variable Cc User 2147483648 Variables Velocity_actual_value 12 Velocity R 2147483647 Actual speed 2 Speed Units 2147483648
90. RN escce Sin caneseesanenacqausnsersme EO E AEAEE 140 AE A ict EEE A ET 141 SET OUTPUT hce devote Aerie ee ee 141 SET OUT PUTS e aii eed ee eek ee ee 143 SET WAR ties pans eee edd oats eats enact eee tues iia back 144 SET ZERO POSITION sencossmeeagsncpgantevsae Aar ADEIR 145 SIAD E E E 146 SLIDE ANALOG pi a a es 147 SPEED ereer a I ahd ea Ras A E E ee 148 SPEED CONTROL diarii a a a aa iA 149 STAR T ean eo EE EE E E E E EEEE AEA ONERE 149 EP E eae A E T 150 STOP EX sacairie hrania a aaa a aiea a aa 151 STOP MOTION careia ti et AERA Eaa ee 152 MOR OW Erer akae EE A EE EE a tacts 154 TORQUE ANALOG virons anaE EAEE tapers Aa o 155 TORO WE LIMITS irrena eae eed ede A a a EEEE 156 WATT EXACT dieton neii puaa oe a ee e Eai 157 WATT FORA STAR nea a A a eee 158 WATT INPU Tii endire a aE E a Eai 159 WAI STOP arrora avenge eats a EEA C EaR 160 WATT OVAR e a a A A E A AA a a 161 WRITE TOARRAY gabenor tienes ye nE a E E n ds 162 5 6 Serial Communication CommandS sssssssssssrrrresssrrrrres 163 CLEAR BUFFER aregon ea aa O aa a a a DAEA EENE 163 ECAM POINTS ai a a ia E Ea a a EAE AED a 163 ECAM PROFILE maiin aa tan lee A EA ETAS 164 EGAM SEGMENT vrari ionen aee enoni a a balsteteathd 165 ECAM TABLE BEGIN avesina ar e evi is cee aed 165 ECAM TABLE END nrden a E a DEEA 166 GEL FROM ARRAY a a aa kana Tea a E a ea aa sed p ieS 166 GEM PAR Gerea a a a e a A a A AETS 166 GETA VAR scons tstineietttanneenatabouteteselee hte nanhd i aai 167 GE
91. SAVE_PRG_ECAM 2 z 79 SET_OUTPUT 2 3 4 2UV 1U 107 SET_OUTPUTS 2 3 4 4UV l4uv l 5 E 80 SET_PAR 2 3 2U 2U z g 81 SET_VAR 2 3 4 1 U 4V z 95 SET_ZERO_POSITION 2 3 4 1 U z 115 SLIDE 3 4 4V z 102 SLIDE_ANALOG 3 4 z p 83 SPEED 2 3 4 4U y g 100 SPEED_CONTROL 3 4 1 U4 z 82 START 2 g E g 84 STOP 2 3 4 1U 3 153 STOP_EX 2 3 4 1 U 1U 99 STOP_MOTION 2 3 4 3 E 5 116 TORQUE 3 4 2V 5 3 p 103 TORQUE_ANALOG 3 4 3 3 87 TORQUE_LIMITS 2 3 4 2 2 g 145 WAIT_EXACT 3 4 4V z 3 z 146 WAIT_FOR_START 3 4 g z p 5 109 WAIT_INPUT 3 4 1U eT 1U 4V z 148 WAIT_STOP 3 4 4V F x 3 110 WAIT_VAR 3 4 1 U 1uU av 158 WRITE_TO_ARRAY 2 3 4 2UV 4V H NOTES 1 Mode of operation 2 Immediate 3 Sequential 4 Program 2 Argument size Number of data bytes of each argument In serial communication each data byte consists of two hexadecimal digits Example to issue a TORQUE command to specify a torque value of 1000 The table shows that the number of data bytes is 2 1000 in hexadecimal form is 0x03E8 The string that should therefore be sent consists of the ASCII values 30 33 45 38 U Unsigned integer V Argument value can be specified by numerical value or by a variable Example 2 U V indicates that the argument consists of 2 hexadecimal digits is unsigned and can be specified either by a numerical value or by a variable
92. SITION demand position SET OUTPUT 1 Off DELAY 1000 LABEL 1 SLIDE 100 DELAY 100 IF Position actual value gt 550000 THEN GO_TO 2 GO TO 1 END LABEL 2 SET_OUTPUT 1 ON SLIDE 0 END EXAMPLE Position is set to zero output 1 is set to off The EXPLANATION 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 SEE ALSO IF_INPUT CASE CALL GO_TO WAIT_VAR IF_INPUT Table explanation GROUP Program Flow Control SYNTAX F INPUT lt input number gt lt input condition gt lt input state gt lt then gt lt label gt Op CODE 108 MODES Program RANGE Input number 0 to 7 and 8 to 24 depending on Option board type if any DESCRIPTION The program flow is conditional on the state of a digital input If the condition is True the action specified by lt then gt will occur Otherwise the next program line is executed XtraWare User Manual 119 Command Reference SYNTAX Input number Digital input number according to ARGUMENTS th
93. T VERSION a a aroha al E e cia at E E TEA 167 POLLING mirna a E a 167 SAVE PRG ECA Ms stat a a aa EE ay wane A a NEEE ee 168 SET PAR merania E AE EAA E E A AS 168 6 Serial Interface Protocol ssssssssrrsensssnnnreossnnnnreesarnnrrenan 169 6 1 Basic Communication SpecificationS ssssssssseserrrersss 169 6 2 Protocol Specifications ccceeeseeeeesceeeeeseeeeneeeeeees 169 6 2 1 Message Data Structure cccceeceee eens eeeeeeeeeneeees 170 6 2 2 Master Messages erdies o aanre aai E AATE 170 6 2 3 RESPONSE Messagen ao E E E Ta 175 iv XtraWare User Manual Table of Contents 6 3 Troubleshooting esinin a a Rt 182 Zar ERLO MESSAGES aria a a A a Na 183 8 Parameter ReferenCe sssrssrsssnrrrrnssunnnreosannnrroesnnnrrresan 191 8 1 Table 17 Parameters sussssrrsnnessnnnrrossannnreesarnnrrenan 191 8 2 Table 18 Switches cirri reeni a eee ces 199 8 3 Table 19 Input Signal Selections ssssssssssrrrsssrrrrrrsss 206 8 4 Table 20 Home SwitcheS sssssssssrrrrrsssrrrrrrrerrrrrrsens 208 8 5 Table 21 Extended Input Signal Selection 0085 208 8 6 Table 22 Output Signal Selections cceeeeseee seen ees 209 8 7 Table 23 Extended Output Signal Selection 210 8 8 Table 24 Auxiliary FUNCtIONS cceceeeeeeee essen eene eens 211 8 9 Table 25 Monitor MOde S is sccsaseadexaxcasiecviesssececdevaems dvets 212 9 List of System Variables
94. The motion characteristics of each movement are dependent on the value of the digital inputs For each combination of digital inputs a different set of values are assigned to the variables that set the motion characteristics The main part of the program 8 to 16 sets the profile velocity and initiates motion Once a pre specified position has been passed the speed is reduced Once the commanded motion has ended a second motion back to the origin is started 500ms after the second motion has ended the program restarts Most of the commands used in the main section use variables to specify the value of the arguments Depending on the initial state of the inputs the program calls in lines 4 and 6 a different subroutine Label 3 or Label 4 to set the variable values Evaluation of Digital Inputs 1 LABEL 1 WAIT INPUT 1 0 1 WAIT INPUT 1 1 1 INPUT CASE 12 4 INPUT CASE 12 12 2 3 4 5 CALL 3 6 7 CALL 4 Main 8 LABEL 2 9 SET VAR Profile velocity Var_03 10 GO H Var 01 N anes VAIT VAR Position actual value gt Var 02 SET VAR Profile velocity Var 04 VAIT STOP 1 GO D 0 Var_05 DELAY 500 DY Or B W N G T 1 Subroutine 3 17 LABEL 3 18 SET_VAR Var 01 100000 19 SET_VAR Var 02 50000 XtraWare User Manual 31 Operating the XtraDrive Using XtraWare 20 SET_VAI
95. The second WAIT command pauses the next XtraWare User Manual 159 Command Reference movement for 10000ms 10 seconds or until the input is set OFF SEE ALSO INPUT_CASE IF_INPUT WAIT_STOP Table explanation GROUP Wait SYNTAX WAIT STOP lt n gt Op CODE 148 MODES Program Sequential DESCRIPTION Halts program execution until the theoretical motion is over or until the time limit is exceeded before proceeding to the next command SYNTAX n The time period to wait ARGUMENTS ms Setting this value to 1 delays the program for an infinite period of time i e until the motion ends Serial 4 V EXAMPLE LABEL 1 MOVE 4096 800 SET OUTPUT 1 ON WAIT STOP 1 SET OUTPUT 1 OFF END EXAMPLE Motor moves 4096uu in the positive direction EXPLANATION Immediately after the motion begins output 1 is set to ON The WAIT_STOP command delays execution of the next command until the theoretical motion is over 800ms Then output 1 is set to OFF NOTE 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 SEE ALSO MOVE 160 XtraWare User Manual Command Reference
96. Variables Velocity_demand_value 11 Velocity R 2147483647 Theoretical speed BG Speed Units 2147483648 Variables D NOTE 1 U T Update Time U T specifies when the value of each variable is updated ST Start setting The variable is updated only after power up or software reset BG Background setting A low priority is assigned to the variable update the driver updates the variable when there is an opportunity to do so between other operations T Task setting The variable is updated when the relevant conditions are met C Command setting The variable is updated when a command to do so is issued 2 2ms The variable is updated every 2 milliseconds Whenever specifying a condition based on the value of a variable it is important that the update time or interval of that variable is considered XtraWare User Manual 217 List of System Variables XtraWare User Manual 218 XtraWare User Manual List of Status Word Bits 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 The status word updates every 10ms 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 Fa
97. XtraDrive XD SERIES AC SERVO DRIVER XtraWare User Manual XtraWare Version 2 7 Supporting XtraDrive Versions 2 91 and 3 01 Revision E Catalog No 8U0109 Copyright 2004 by YET Yaskawa Eshed Technology Ltd XtraWare User Manual XtraWare Version 2 7 for XtraDrive Version 2 9 1 and 3 01 Cat No 8U0109 Rev E April 2004 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 E mail info yetmotion
98. XtraWare User Manual Command Reference HOME_SW_C Table explanation GROUP Home SYNTAX HOME SW C lt speedl gt lt speed2 gt Op CODE 130 MODES Program Sequential DESCRIPTION Finds the encoder C pulse only after the home switch is found The motor moves at lt speedi gt to the home switch and then changes direction and moves at lt speed2 gt towards the C pulse 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 command to set the motor at the zero position lt speedi gt and lt speed2 gt must have opposite signs i e the movement is in opposite directions Note When working with a linear motor and a Yaskawa serial converter for the encoder the maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example when the encoder scale pitch is 20um the maximum speed at which the motor will move while executing a HOME_C command will be 100mm s SYNTAX speedl The speed and direction of ARGUMENTS searching for the home switch Must have an opposite sign to that of lt speed2 gt speed user units Serial 4 V speed2 The speed and direction of searching for the C pulse Must have an opposite sign to that of lt speedl gt speed user units Serial 4 V SEE ALSO HOME_C HOME_SW HARD_HOME RELATED Pn2C7 0 Sets home switch input
99. XtraWare User Manual Command Reference ECAM_SEGMENT Table explanation SYNTAX ECAM SEGMENT lt Master Delta gt lt Master Step gt lt N A gt Op CODE 125 MODES Immediate DESCRIPTION Defines the range and size of increments of master in this segment Must be sent at the beginning of each segment SYNTAX lt Master Delta gt Defines the relative distance ARGUMENTS between the start point and the end point of a segment Units are according to the electronic gear Serial 4 U lt Master Step gt Defines the table increment in master pulses To each increment there is equivalent slave value so it determines the ECAM table resolution Units are according to the electronic gear Serial 2 U lt N A gt Currently not in use Send 1 byte with 0 value Serial 1 U SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_POINTS ECAM_TABLE_END ECAM_TABLE_BEGIN Table explanation SYNTAX ECAM TABLE BEGIN OP CODE 123 MODES Immediate DESCRIPTION Initializes the ECAM table and clears the previous tables Must be sent at the beginning of each ECAM table loading procedure SEE ALSO ECAM_PROFILE ECAM_SEGMENT ECAM_POINTS ECAM_TABLE_END XtraWare User Manual 165 Command Reference ECAM_TABLE_END Table explanation SYNTAX
100. after scaling is 32767 counts Installing ECAM To enable the ECAM functionality see the document Instructions for License Setting 4 9 2 1 Verifying that ECAM is Installed gt To verify that ECAM is installed 1 Open XtraWare 2 From the Communication menu select On Line to enter on line mode 3 Click Upload Project al to upload a project from the XtraDrive 4 Open the File menu If the Download Cam option in the File menu is enabled the installation was successful XtraWare User Manual 51 Operating the XtraDrive Using XtraWare 4 9 3 4 9 4 ECAM Workflow When working with ECAM the following process is followed Designing the ECAM Profile You define the profile using XtraWare XtraWare automatically generates a Master Slave Table The Master Slave table is downloaded to the XtraDrive Programming an Application CAM motion is engaged or disengaged upon external events or logical conditions e Running a Program The profile table can be adjusted by applying a shift or offset or by scaling the master or slave positions ECAM Profiles A profile defines the relationship between the motion of the master and the motion of the slave The profile dictates the required slave position for a given master position The graph below illustrates a typical profile ECAM Profile 2 5 E D ep 400 soo Master Position Figure 33 Example of an ECAM Profile A pro
101. ally interrupted or From another location specified in the interrupt service routine 4 11 6 Interrupt Variables The XtraDrive uses three variables registers each of which is a system variable Each variable consists of eight bits one for each interrupt labeled 0 to 7 80 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 11 6 1 Interrupt_request When an interrupt event occurs the corresponding bit in the Interrupt_request variable is set to 1 Once the corresponding interrupt service routine has been completed the bit in the variable is reset to 0 The values of the bits are read write therefore interrupts can be reset from within the program using the SET_VAR command This allows you for example to clear all interrupts from within one interrupt service routine Clearing an interrupt cancels the execution of the associated interrupt service routine However if an interrupt is cleared from within its own interrupt service routine the interrupt service routine will be completed first The values of the bits of Interrupt_request are set using the SET_VAR command The value of the variable must be set in decimal format For example to set bits 0 and 1 to 1 and all other bits to 0 Interrupt_request would have to be set to 3 which in binary form is 0000011 4 11 6 2 Interrupt_mask By setting a mask you can specify to which interrupts the XtraDrive should react and which should be ignor
102. alue out of The variable value in command range SET_VAR is out of range XtraWare User Manual 187 Error Messages CODE MESSAGE DESCRIPTION 136 Program flow error Program flow error RETURN without CALL or CALL nesting too deep 137 Moving time is too short with The specified jerk time exceeds present profile Jerk time the maximum of 64000ms 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 The maximum torque limit is limits 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 Invalid output index in the SET_OUTPUT command 146 Autotuning already in progress The Autotuning process is already in progress It cannot be restarted until the process ends 149 Unable to switch CONTROL_ON 150 Command argument value is out of range 151 Positive Over Travel 152 Negative Over Travel 153 Can t perform motion Reconfigure New move enable
103. am immediately Program Stop B Stops the program immediately Program Servo ON aq 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 no motion is required Servo OFF gay Switches the XtraDrive driver OFF i e not in control Immediate E Switches to Immediate mode In Immediate Mode mode commands are downloaded immediately to the driver s memory For details of all the available modes see Section 4 5 Program Modes Program EN Switches to Program mode In Program mode a Mode list of 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 5 Program Modes Sequential E Switches to Sequential mode In Sequential Mode mode each command is downloaded individually to the driver and then processed For details of all the available modes see Section 4 5 Program Modes Jog P Runs the motor at a constant predefined speed Stop Immediately stops the motor motion You can E also click Stop E on the toolbar or press F9 For further details see the STOP_EX command in Chapter 5 Command Reference 10 XtraWare User Manual The Main Screen Interface 3 3 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 para
104. as been purchased XtraWare User Manual 11 The Main Screen Interface 3 3 2 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 Table 7 Maintenance Menu Options OPTION ICON DESCRIPTION Reset Driver D Cycles the main circuit and control power supply This is necessary after certain parameters are edited to enable the new settings The Need Reset indicator appears in the status line when this action is necessary Reset to Default Parameters Discards user modifications to the parameters and reverts to the factory default parameters Note that some parameters are updated at power up only and you must therefore restart the XtraDrive after using this option Open Log File Starts a new log file and inserts all the commands sent via 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 Look in E My Documents Tl c My Pictures Files of type Log Files log 7 Cancel Figure 6 Open Log File Dialog Box Select a directory and select the name of an existing file or type in a name to create a new log file When XtraWare is in Online mode all the commands sent via communication to the XtraDrive are stored in the selected log file
105. ate Parity Even 7 Data Bits Stop Bits fi Flow Control None Axis Address 0 v Figure 13 Communication Settings Window XtraWare User Manual 21 Operating the XtraDrive Using XtraWare 4 2 4 Set the Port to the correct COM port of your PC the default is COM1 on most computers 5 Set the Axis Address 6 All other communication parameters are predefined and are for display purposes only Baud Rate 19200 Parity Even Data Bits 7 Stop bits 1 Flow Control None If you set the communication to Online and the communication indicator in the status bar changes to Online for a few seconds and then reverts to Offline communication between XtraWare and the XtraDrive has not been established In such cases check the following The driver is powered on The communication cable is connected both to the PC and to the XtraDrive 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 COM1 on most computers Setup Wizard To facilitate the setup procedure XtraWare offers a Setup Wizard that guides you through the following steps Select Motor Yaskawa or other Set Reference Command Type Pn000 1 Set User Units Set Motion Profile Default Set End of Motion definitions Set analog input command of Speed and Torque if required Set pul
106. ation are available Program Mode Sequential Mode Immediate Mode 5 1 1 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 RUN gt 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 Only after their completion i e the MCB is empty is the next command fetched 5 1 2 Sequential Mode Sequential Command Buffer SPB 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 the previous command in the SCB has been executed In sequential mode motion commands that 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 the previously sent motion command has been completed H NOTE When you issue 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 chan
107. attribution PARAMETERS XtraWare User Manual Command Reference IF Table explanation GROUP Program Flow Control SYNTAX IF lt variable gt lt condition gt lt value gt lt then gt lt label gt Op CODE 105 MODES Program DESCRIPTION Defines the different types of conditions terms that control the flow of the program If the IF condition is true the action specified by lt then gt is performed Otherwise the next program line is performed SYNTAX variable System variable see Chapter 9 List of ARGUMENTS System Variables Serial 1 U condition Select from Condition Code 0 gt 1 lt 2 gt 3 lt 4 5 Serial 1 U value Set a value or system variable ID number with the same units as lt variable gt Serial 4 IV then Specifies the action to take Setting Code CALL call subroutine 0 with specified lt label gt when finished return GO_TO continue from 1 the specified lt label gt Serial 1 U 118 XtraWare User Manual Command Reference SYNTAX label Label to jump to as required by the ARGUMENTS operation specified in lt then gt Serial 1 U EXAMPLE SET ZERO PO
108. ayin 48091 Unit 1 ISRAEL Littleton MA 01460 Tel 972 3 9004114 USA Fax 972 3 9030412 Tel 1 866 YET 8080 info yetmotion com USinfo yetmotion com For more information refer to our web site www yetmotion com UY Specifications are subject to change without notice due to ongoing product modifications and improvements YASKAWA ESHED TECHNOLOGY LTD XtraWare Ver 2 7 for XtraDrive Vers 2 9 1 and 3 01 Catalog No 8U0109 Rev E 230 Version 2 6 1
109. betically The commands used in the XtraWare software The commands available in the serial communication protocol Description of the XtraDrive serial communication protocol Error Messages Parameter Reference providing information on all the parameters available in the XtraWare software System Variables Status Word Bits Operation Codes Related documents TITLE CATALOG NUMBER XtraDrive XD SERIES AC SERVO DRIVER User Manual 8U0108 TOE C231 2 for gt II AC SERVO MOTOR INSTRUCTIONS servomotors or other compatible motors XtraDrive XD SERIES AC SERVO DRIVER Short Form Installation Guide 8U0107 XtraWare User Manual 1 Introduction XtraWare User Manual System Requirements and Software Installation 2 System Requirements and Software Installation For optimum performance XtraWare requires Computer Pentium 166 MHz Pentium II 350 MHz recommended At least 32 MB of RAM 64 MB recommended A hard drive with at least 100 MB of free disk space Operating System Windows 95 OSR2 or later IE4 01 Service Pack 2 or later Windows 98 Windows NT4 0 Service Pack 3 or later IE4 01 Service Pack 2 or later Windows 2000 Windows Me Windows XP e Super VGA or better graphics display minimum 256 colors 65536 colors recommended One node or more RS 232C or RS 422A I F CD ROM drive for installation only The XtraWare sof
110. ble in the currently selected mode gt To select a command 1 Double click on the command name The appropriate command dialog box is displayed See Section 4 4 1 Writing a Program for details on how to insert commands into the program Click on a command name to see a short description of the command in the Description pane or see Chapter 5 Command Reference for a more detailed description 3 5 2 2 Command Groups The Command Groups are listed in the table below Table 10 Command Groups GROUP DESCRIPTION INCLUDED COMMANDS EXAMPLES ECAM Controls the motor ECAM_ENGAGE motion according toa ECAM_DISENGAGE profile that is ECAM_VIRTUAL_AXIS dependent on the position of a master axis or on time elapsed Encoder Controls the latching LATCHING_TRIGGER Latching and registration REGISTRATION_DISTANCE process Home Moves the motor to HARD_HOME HOME_C search for the HOME_SW HOME_SW_C system home SET_ZERO_POSITION position 16 XtraWare User Manual The Main Screen Interface GROUP DESCRIPTION INCLUDED COMMANDS EXAMPLES Interrupt Specifies the interrupt EXT_INT INT INT_RETURN routines to be run for various interrupt events Motion Controls motor GO GO_D GO_H MOVE motion MOVE_D MOVE_H MOVE_R SLIDE SLIDE_ANALOG SPEED_CONTROL START STOP_EX TORQUE TORQUE_ANALOG Motion Changes the default ACCELERATION JERK_TIM
111. cable to DC power input K 0 Input AC power supply through L1 a AC DC L2 and L3 terminals S 2 Power Input 0 5 Selection Applicable to DC power input Input 1 DC power supply through 1 and iL terminals 0 ALO1 ALO2 and ALO3 output only alarm codes ALO1 ALO2 and ALO3 output both 0 Warning alarm codes and warning codes 3 Code Output 1 While warning codes are output ALM Selection signal output remains ON normal state 2 Uses absolute encoder as an absolute encoder Uses multi turn limit 0 None s a Speed 1 Uses T REF as an external torque 59 Control limit input o tion T A g amp 0 SEES 2 Uses T REF as a torque feed forward 0 S 6 Terminal input 4 g Allogaton Uses T REF as an external torque 2g 3 limit input when P CL and N CL are lt ON 1 Torque 0 None 0 200 XtraWare User Manual Parameter Reference Digit sale Default Parameter Place Name Setting Description Setting Control Option V foes REF 1 Uses V REF as an external speed limit Terminal input Allocation 0 Uses absolute encoder as an absolute encoder Absolute 2 Encoder 1 Uses abso a nsd as an 0 Usage incremental encoder 2 Uses absolute encoder as an absolute encoder Uses multi turn limit 3 Not used 0 E 0 0 Motor speed 1V 1000 rpm 2 1 Speed reference 1V 1000 rpm 2 Torque reference 1V 100 wn Fe Analog 3 Position error 0 05V 1 referen
112. cale_den ECAM_Slave_scale_num ECAM_Master_profile_position ECAM_Slave_profile_position ECAM_Offset ECAM_ Shift 102 XtraWare User Manual Command Reference END Table explanation GROUP Program Flow Control SYNTAX END OP CODE 70 MODES Program Immediate DESCRIPTION Terminates the user program currently being executed EXAMPLE LABEL 1 WAIT INPUT 1 1 1 CALL 2 END LABEL 2 SET OUTPUT 1 ON RETURN EXAMPLE Waits for INPUT 1 to be ON and then calls subroutine EXPLANATION that sets OUTPUT 1 to ON Returns to the program end of program NOTES The END command must be used at the end of all programs XtraWare User Manual 103 Command Reference ENGAGE _VIRTUAL_AXIS Table explanation GROUP ECAM SYNTAX ENGAGE VIRTUAL AXIS lt Profile ID gt lt Direction gt Op CODE 136 MODES Program Sequential DESCRIPTION Initiates motion according to the ECAM profile lt Profile_ID gt where the ECAM profile is time based In this case the master pulse is generated internally every 125us See 4 9 14 3 ENGAGE_VIRTUAL_AXIS SYNTAX Profile ID The identifying number of the profile to ARGUMENTS o be used Serial 1 JU V Direction Specifies the direction in which the
113. ccording to the motion profile Speed and acceleration can be changed during motion as shown in the example below The jerk value used at the beginning of the motion remains in effect while in Hunting mode see Section 5 3 Motion Modes Use the STOP_EX command to change the motion mode SYNTAX ARGUMENTS The movement distance user position units Serial 4 IV Distance EXAMPLE SET_ZERO_ POSIT SPEED 1500 MOVE H 600000 MOVE H 400000 VAIT VAR Position actual value gt 800000 SPEED 500 END ON demand position 134 XtraWare User Manual Command Reference Smoothed Target Speed Position Error au a a ee a a aa aa ee org oe ae 1 I I 1 1 I I I 1 j I I I Ie eee be ee I I I I I I 1 I 1 I I j j I 1 1 pr r 500 1 r 500 0 0 500 4 1 4 H 4 500 1000 4 ieee eee ee eee 1000 ce aoe See ees eres eee eee reer tee a 1500 2000 4 1r nnn dennah 2000 2500 2500 0 000 200 000 400 000 600 000 800000 1900 00 Sampling Time ms 1 000 Time ms EXAMPLE The speed is set to 1500 rpm and movement commences to EXPLANATION 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
114. ce Monitor 1 units T e 9 A 4 Position error 0 05V 100 reference 5 Monitor units 8 n E 5 Reference pulse frequency converted o E to rpm 1V 1000 rpm Cc S 2 6 Motor speed x 4 1V 250 rpm O oO g 7 Motor speed x 8 1V 125 rpm 6 Analog t Monitor 2 P 1 Speed 0 7 Same as Pn003 0 see above Reference Monitor 2 Not used z s 0 3 Not used 0 0 Analog 0 Servo position error 1V 10 encoder 0 monitor 1 counts Cc O Roo 1 Servo position error 1V 5 user units S22 2 2g 2 Target speed 1V 500 rpm acts A 3 Target speed after applying command O smoothing 1V 500 rpm 4 Torque reference 10V max torque XtraWare User Manual 201 Parameter Reference Digit ile Default Parameter Place Name Setting Description Setting 5 Motor speed 1V 500 rpm Target acceleration after applying 6 command smoothing 10V max acceleration allowed Analog 0 Pn003 0 used for analog monitor 1 monitor 1 1 selection of 0 source 1 Pn006 0 used for analog monitor 1 parameter Analog 2 monitor 1 0 4 0 x1 1 x10 2 x100 3 x1 10 4 0 magnificatio x1 100 n 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 Target speed after applying command Analog 3 0 monitor 2 smoothing 1V 500 rpm 0 wn S 4 Torque reference 10V max torque kA 5 Motor
115. ce Smoothed Target Speed 01 Slope Data Change 11 x 4 gt Graph Setting Anis Variables Scale Co x Time ms 50 Wh 1 Smoothed Target Speed 2 Gre 2 Position Error 50 i B Ex Yel 120 1 COIN 2 Pur 120 2 COIN 50 Aqu gt Caption X Axis Figure 24 Chart Main Window 4 7 1 1 Trigger A trigger is a device used to specify exactly when data collection should begin The trigger can be made conditional on any of a range of aspects of the servo operation For example you can specify that data collection should begin after the COIN signal is set ON or after the speed feedback exceeds 100 rpm A trigger condition is specified by four settings Source Trigger object selection Specifies the variable on which the trigger is conditional Any one of the variables listed in the Y1 Y2 I O 1 and I O 2 fields can be selected from the drop down menu Trigger Source Smoothed Target Speed Slope Smoothed Target Speed Level Position Error Pretrianer 2 COIN PROG Pre triqger COIN PROG Figure 25 Trigger Selection 1 40 XtraWare User Manual Operating the XtraDrive Using XtraWare Slope Edge Type Specifies in which direction across the trigger Level the Source must change to trigger data collection Trigger Level Pre trigger Smoothed Target Speed Data Change x No trigger Rising edge Falling edge Data Change Figure 26 Trigger Selection 2 As the
116. com Homepage http www yetmotion com USA OFFICE YET US Inc 531 King St Unit 1 Littleton MA 01460 USA Tel 1 866 YET 8080 E mail USinfo yetmotion com Homepage http www yetmotion com Table of Contents Table of Contents dy TEROGUCTION cb2s0s toed gi ooheh out soearit a eta ooae ee bess 1 2 System Requirements and Software Installation 00085 3 3 The Main Screen Interface vecces sec secs se uals he ndededs ode oan 5 321 Tithe Bar A ein oinn eee ees Yee aoe 5 3 2 Menu Bar B Toolbar C sssssssssssssssssrrrrsssrrrrrssssrrrrssssn 5 Sree Fle MENU aei ia vias has asec i ik aa en piae aes 6 32 2 Edit MCU con2cess ceases o aE EEE caemnes ATI DEEE 8 372 3 ACW MENU aosi raa a he mbiestad nu ticlraecat tats 9 S ARUP MERI sutincctattcsens cei anions a tortnn Se bcmuninaa eames EN 10 3 3 COMMUNICATION MENU wisicise ciccceccivesermr ial ce arie creda 11 Sook OOH MAU stars seas tslnete aa Dace aaa i atini 11 3 3 2 Maintenance Men srcivactensnmzenuarecgarrererseieaaenens 12 3 3 3 Window MENU ass inmense ances teens EAE EE 13 3 4 Status Bar D rreren or re aeia a a cutee 14 3 5 Work Area E ipai e eena ica dia ees 14 3 5 1 Workspace WindOW s sssssssssssssssrrrrrssrrrrrrssrrrrrresss 14 3 5 2 Project TaD niire ain aa aa OE DER 15 3 5 3 Program WINKOW su oss eeevoincer enced ates ai 18 3 9 History WINdOW yecnecs sn tecorritdtohen be thneabiteaedenis lbetew les 18 3 5 5 Para
117. condition that input CN1 46 must change from 0 to 1 for registration to begin The motor is commanded to move 5000 user units Once the latching condition has been met the registration begins such that the motor will move 100 user units before stopping NOTE Once a latching function has been completed the latching input will not be monitored further unless this command is repeated SEE ALSO REGISTRATION_DISTANCE WAIT_VAR Variables Latched_motor_position Latched_master_position Motion_Status Latched_position_ready 128 XtraWare User Manual Command Reference LOOP Table explanation GROUP Program Flow Control SYNTAX LOOP lt n gt lt v gt lt 1 gt OP CODE 75 MODES Program DESCRIPTION Repeats a portion of code beginning at a label a specified number of times Up to four loops may be nested within one another but may not cross one another SYNTAX n The levels of nesting within this loop up to ARGUMENTS 4 Serial 2 U y The number of cycles of this loop to perform Serial 4 JU V il The label to which this loop belongs Serial 1 U EXAMPLE Three loops with two nesting levels are shown below the command lines have been separated for clarity Loops 2 and 3 are nested in Loop 1 LABEL 1 LABEL 2 MOVE 4096 1 DELAY 200 Loop 1 LOOP 1 10 2 LABEL 3 MOVE 4096 1 DELAY 200 LOOP 1 10 3 LOOP 251 END
118. contact 4 reference Speed control analog reference Internal set speed control contact 6 reference Torque control analog y reference ta 2 amp Control Position control pulse train 1 Method D LY i 8 reference Torque control analog Do Selection reference o a S 5 cp a O KO Torque control analog 8 9 reference Speed control analog c reference aS Z A Speed control analog T reference Zero clamp B Position control pulse train reference Position control Inhibit C Position control pulse train D Serial communication command 2 Axis Address 0 to F Sets servo amplifier axis address 0 3 Reserved 0 XtraWare User Manual 199 Parameter Reference Digit sale Default Parameter Place Name Setting Description Setting 0 Stops the motor by applying dynamic brake DB Servo OFF i R Stops the motor by applying dynamic 0 or Alarm 1 brak d th l 0 Stop Mode rake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB 0 Same setting as Pn001 0 stops the motor by applying DB or by coasting 9 Sets the torque of Pn406 to the 5 1 maximum value decelerates the 1 Overtravel motor to a stop and then sets it to 0 a Stop Mode servo lock state E S Sets the torque of Pn406 to the rs 2 maximum value decelerates the 2 motor to a stop and then sets it to oc coasting state ES z Not appli
119. d function gt To download parameters PAR 1 Click Download Parameters J on the toolbar H NOTE If the motor is not fitted with a serial encoder SII or W Series and the project was opened using Open Project and not by running the Wizard you must enter a password or the motor parameters highlighted in red will not be changed gt To upload parameters 1 Click Upload al on the toolbar XtraWare User Manual 25 Operating the XtraDrive Using XtraWare 4 3 2 Viewing Parameter Settings Parameters are set in the Parameters window Figure 14 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 Parameters Default De Advanced Applicatio 3 s Analog Inputs OxFFFF Ox0000 Analog Monitor 0x0100 Ox0000 OxFFFF 0x0100 Function Selectior Application Setting Ox0002 Ox0000 OxFFFF 0x0002 Function Selectior Auto Tuning 0x0010 0x0000 OxFFFF 0x0010 CH1 Analog Monit Current Control 0x0012 Ox0000
120. d MOVE commands which may be different for each axis The axes will not move until a START command arrives A START command can then be sent and it will arrive simultaneously at both of the axes causing both axes to start moving simultaneously SEE ALSO START 158 XtraWare User Manual Command Reference WAIT_INPUT Table explanation GROUP Wait SYNTAX WAIT INPUT lt input number gt lt input condition lt input state gt lt time gt Op CODE 109 MODES Program Sequential DESCRIPTION Pauses execution of program until the condition on digital input is true or until the time specified by lt time gt has elapsed SYNTAX Input Digital input number according to the ARGUMENTS number pin on CN1 Pin CN1 40 corresponds to lt input number gt 0 and CN1 41 to 1 etc Range 0 to 7 and 8 to 24 depending on Option board type if any Serial 1 U Input Input condition condition Condition Code 0 Serial 1 U Input Oori SERRE Serial 1 U time The time to wait until the input is set Setting lt time gt to 1 specifies an indefinite wait ms Serial 4 V EXAMPLE LABEL 1 VAIT INPUT 2 1 1 MOVE 10800 1 WAIT INPUT 2 0 10000 MOVE 10800 1 END EXAMPLE Only when Input 2 is set ON does the first movement EXPLANATION commence
121. d reset the position before normal operation Cancel Figure 29 Mechanical Analysis Warning Message 2 Click OK to open the Mechanical Analysis window Figure 30 46 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 8 1 Mechanical Analysis Window Mechanical Analysis eas 8 QC Als Hel ment Frequency Hz 1600 00 41c 1000 Frequency Hz Frequency nce Frequency Figure 30 Mechanical Analysis Window Accurate measurement of the frequency characteristics depends on the settings of the following parameters Sampling Time usec Measurement Frequency Hz a wo 209 vo Measurement Conditions Setting Excitation Signal Cycle wave Measurement Frequency Hz 1600 Excitation TimesIteration ms 250 Sampling Time ps Excitation Amplitude 50 Allowable Rotations Rotations 1 No of Executions Set 1 Graph Setting Scale Gaina fauto x ff Lime Phase deg AUTO x fD Yellow Resonance Frequency Pred e v Marker Color Anti Resonance Frequency Marker Color fD Aqua Caption Graph 1 Excitation Time ms If the sampling time is shortened a higher frequency can be measured and the excitation time is shortened However frequency resolution deteriorates and measurement accuracy is reduced at low measuring frequency The measuring frequency and excitation time depend on the sampling time To begin with set
122. displayed type in the label number from which you want the program to run 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 XtraWare User Manual 33 Operating the XtraDrive Using XtraWare 4 5 4 5 1 4 5 2 4 5 3 Program Modes XtraDrive has three programming modes e Program Immediate Sequential Each mode utilizes an individual buffer for commands and program processing and execution Note that not all of the commands are available in all the program modes A full explanation on the use of the buffers is provided in the introductory section of Chapter 5 Command Reference Program Mode Use this mode when writing a program that is to be executed after the entire program has been written see Section 4 4 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 4 3 Running a Program Immediate Mode Use this mode to issue a single command for immediate execution or when sending a single command from a host PC for example to change the state of an output while a program is running or to 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
123. e Un005 Input signal monitor Un006 Output signal monitor 7 Un007 Input reference pulse speed rpm Un008 Error counter value bhai Amount of position error Value for the rated torque as Un009 Accumulated load rate 100 Displays effective torque in 10sec cycle Value for the processable j fo UnO00A Regenerative load rate regenerative powgras 109 N Displays effective torque in 10sec cycle Value for the processable power Un00B Power consumed by DB o when dynamic brake is applied as resistance i 100 Displays effective torque in 10sec cycle Input reference pulse F f Un00C co hter Displayed in hexadecimal Un00D Feedback pulse counter Displayed in hexadecimal D NOTE Not used in serial communication command 212 XtraWare User Manual List of System Variables 9 List of System Variables Name Var ID Dec Unit Read I Write Min Max Description U T Group Absolute_position_error 61 Position Units R 2147483647 The absolute value of Following_actual_value Position Variables Analog_Speed 42 0 1 of max R 2147483648 2147483647 Value of analog speed input See Pn300 and Pn380 BG Analog Inputs Analog_ Torque 41 0 1 of max 2147483648 2147483647 Value of analog torque input See Pn400 and Pn480 BG Analog Inputs Application_gain 27 R W 1000 Gain factor multiplies the
124. e arguments Arg 1 Arg 2 Arg 3 Arg 4 Arg 5 If Arg 3 is to be specified by a variable and all others by numerical values then the V string in binary form would be 00100 where the right most 0 corresponds to Arg 1 and the left most to Arg 5 00100 corresponds to 0x4 in hexadecimal format and thus V1 would be set to 0 and V2 to 4 Description Command Argument Each Pn is one byte for one digit The number of arguments and size number of digits if relevant depend on the Command Operational Code see Chapter 11 List of Operation Codes Range 0 The corresponding P bit Notes Either a numerical value or a variable ID number can be specified for some arguments The corresponding V bit specifies whether the number entered for the argument denotes a numerical value or the ID number of a system variable See Chapter 9 List of System Variables 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 Chapter 11 List of Operation Codes Range 0x0 OxFF 0x0 OxF each Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 172 XtraWare User Manual Serial Interface Protocol 6 2 2 1 Checksum Calculation Checksum is calculated for a binary message Each factor in the equation excluding N and CR is two di
125. e detected and which are ignored 1 detected 0 ignored For example if lt input mask gt is set to 5 in binary 0101 only inputs 0 2 are checked the rest are ignored Input Mask O IO JO J1 O J1 lt input state gt defines the logical combination to be detected as True For example if lt input state gt is set to 4 in binary 0100 True means input O OFF input 1 OFF input 2 ON and input 3 OFF Input State O IO JO 1 0 1 SYNTAX Input mask Input mask decimal value Defines ARGUMENTS which inputs are detected and which are ignored Setting Code Ignore the input 0 Check the input 1 Serial 4 U IV XtraWare User Manual 121 Command Reference Input state Input State decimal value A bit string represents the digital input state The leftmost is input 0 related to pin 40 on CN1 etc The eighth bit is not in use Serial 4 U IV EXAMPLE LABEL INPUT_CASE 7 2 MOVE 4096 1 GO TO 1 END EXAMPLE lt input mask gt is 7 in binary is 0111 i e check EXPLANATION inputs 0 1 2 and ignore the rest lt input state gt S 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 SEE ALSO IF_INPUT 122 XtraWare User Manual Command Reference
126. e Setting Description Setting Output Signal 0 Output signal is not 2 Reversal for SO3 reversed CN 25 and 26 Output signal is reversed 3 Not used 0 8 7 Table 23 Extended Output Signal Selection The following outputs are used in the user program Table 23 Extended Output Signal Selection Digit s SR Default Parameter Place Name Setting Description Setting 0 Disabled Outputs from the SO1 1 CN1 25 26 output terminal 0 nA EE Outputs from the SO2 O disable 2 CN1 27 28 output terminal Pn2D2 Outputs from the SO3 3 CN1 29 30 output terminal 1 Not used a 0 2 Not used 2 0 3 Not used 0 H NOTES 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 210 XtraWare User Manual Parameter Reference 8 8 Table 24 Auxiliary Functions The following list shows the available auxiliary functions Table 24 Auxiliary Functions Parameter Function Fn000 Alarm traceback data display Fn001 Rigidity setting for online autotuning Fn002 JOG mode operation Fn003 Zero point search mode F
127. e User Manual 67 Operating the XtraDrive Using XtraWare 4 9 15 2 Shift By applying a positive shift the profile graph is shifted in the negative direction along the master position axis Conversely by applying a negative shift the profile graph is shifted in the positive direction along the master position axis Slave Position 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Master Position Figure 47 Illustration of the Application of Shift The shift is specified as an absolute distance from the origin of the profile graph In the case of a cyclic profile the next profile will be followed as it was originally specified unless a different shift is specified gt To apply a shift 1 Set the value of the variable ECAM_Shift using the SET_VAR command H NOTE The size of the shift is not affected by scaling the master axis 68 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 15 3 Offset By applying an offset you can shift a profile vertically A positive offset shifts the profile upward increasing the slave position reached at each master position A negative offset shifts the profile downward reducing the slave position reached at each master position The following graphic illustrates a positive offset E CAM Profile 120 100 80 60 40 20 Slave Position 0 200 400 600 800 1000 Master Position Figure 48 Illustration of the Application of a Positive Offset
128. e are indicated by a V This is applicable for version 3 0 and upward Where the argument is specified by an option such as a conditional operator and not by a number the numerical code for each option is provided When programming in XtraWare User Manual 89 Command Reference XtraWare the numerical code is not required as the options are simply selected from drop down menus Example Serial 2 U IV 2 U V indicates that the argument consists of 2 hexadecimal digits is unsigned and can be specified either by a numerical value or by a variable Example An example that shows the use of the command Example Explanation An explanation of the example Notes Additional information that is useful to know when using the command See Also A list of additional commands and or parameters that are related to the command Command Reference Conventions The generic term UU found in this section refers to user units For further information see Chapter 5 in the XtraDrive User Manual USER PROGRAM BUFFER UPB 1 2 100 MOTION COMMAND BUFFER MCB 1 2 3 4 5 IMMEDIATE COMMAND BUFFER ICB Aa ALWINI e SEQUENTIAL COMMAND BUFFER SCB 101 90 XtraWare User Manual Command Reference 5 1 XtraWare Modes Three modes of oper
129. e phase finding process SEE ALSO Parameter Pn200 2 Clear options XtraWare User Manual 99 Command Reference DELAY Table explanation GROUP Wait SYNTAX DELAY lt n gt Op CODE 144 MODES Program Sequential DESCRIPTION Waits for the specified period of time before executing the next command The actual delay is up to 2ms longer than the delay specified by the user SYNTAX n The time to wait before executing the next ARGUMENTS command ms Serial 4 U V NOTES If this command is used after a MOVE command and the motion time you set is shorter than the delay time the program will not wait until the motion has ended before continuing Therefore in order to synchronize the program with completion of the motion use the MOVE_D or GO_D command 100 XtraWare User Manual Command Reference ECAM_DISENGAGE Table explanation GROUP ECAM SYNTAX ECAM_ DISENGAGE Op CODE 122 MODES Program Sequential DESCRIPTION Terminates ECAM motion Motion only stops once the current profile has been completed To stop the motion immediately use the STOP_EX command instead See 4 9 14 2 ECAM_DISENGAGE EXAMPLE ECAM ENGAGE 3 CYCLIC DELAY 10000 ECAM DISENGAGE EXAMPLE ECAM profile number 3 will be followed for 10 EXPLANATION seconds After 10 seconds the ECAM motion
130. e pin on CN1 Pin 40 is related to lt input number gt 0 and 41 to 1 etc Serial 1 U Input condition Only the equal to condition is available Condition Code 0 Serial 1 U Input state Can be set to either O OR 1 Serial 1 U IV then Specifies the action to take Setting Code CALL call subroutine 0 with specified lt label gt when finished return GO_TO continue from 1 the specified lt label gt Serial 1 U label Label to jump to as required by the operation specified in lt then gt Serial 1 U EXAMPLE LABEL 1 IF_INPUT 1 0 THEN GO TO 2 SET OUTPUT 2 ON LABEL 2 MOVE D 4096 1 END EXAMPLE If INPUT 1 is false the condition is true jump to LABEL 2 EXPLANATION and move forward else set OUTPUT 2 to ON and move forward SEE ALSO IF WAIT_INPUT INPUT_CASE 120 XtraWare User Manual Command Reference INPUT_CASE Table explanation GROUP Program Flow Control SYNTAX INPUT CASE lt input mask gt lt input state gt Op CODE 97 MODES Program RANGE lt input mask gt 1 to OxOOFFFFFF lt input state gt 0 to OxOOFFFFFF DESCRIPTION The program flow is conditional on the state of a combination of digital inputs If the condition is True the next program line is executed Otherwise the next program line is skipped lt input mask gt is used to define which inputs ar
131. ed This allows you to specify interrupt service routines for a number of interrupts and to then enable or disable each interrupt from within the program By setting a bit in the variable to 1 the corresponding interrupt is enabled Setting a bit corresponding to an interrupt that has already occurred to 0 does not prevent the execution of its interrupt service routine but does prevent the interrupt from being handled again The values of the bits of Interrupt_mask are set using the SET_VAR command The value of the variable must be set in decimal format For example to set bits 1 and 2 to 1 and all other bits to 0 Interrupt_mask would have to be set to 6 which in binary form is 0000110 Note that by default all bits in Interrupt_mask are set to 0 and thus by default none of the interrupts will be handled The command SET_VAR must be used to change the value of the mask variable so as to enable an interrupt The Interrupt_mask variable is reset to zero each time the program is started by the RUN command or the auto start switch Therefore the Interrupt_mask must be set each time XtraWare User Manual 81 Operating the XtraDrive Using XtraWare 4 11 6 3 Interrupt_pending The Interrupt_pending variable indicates which interrupts are to be handled The value of a bit in Interrupt_pending is only set to 1 indicating that the interrupt is to be handled if both of the following conditions are met The interrupt e
132. eeded 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 X 0x00 To ignore message identification S 0x01 OxB4 Program line number Program mode fa OxB5 OxC8 Message Identification Immediate as and Sequential modes Q l 0OxC9 OXFF For future use H 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 Description Command Operational Code two bytes for two digits Because 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 XtraWare User Manual 171 Serial Interface Protocol Description Variable indicators Each of the eight bits in V1 and V2 corresponds to one argument and indicates whether the argument is specified by a numerical value or a variable ID number Range 0 The argument is specified by a numerical value 1 The argument is specified by the ID number of a system variable See Chapter 9 List of System Variables Example Consider the IF command which consists of fiv
133. eensseees 84 4 12 Master Slave Synchronization ccccee ese e eens e ee en eens 87 4 12 1 Using New_move_enable to Reduce Response Time 87 4 12 2 Overriding New_move_enable cccssceceeseeenseeees 87 ii XtraWare User Manual Table of Contents 4 12 3 Example Program for a Flying Shear Application 87 5 Command Reference sisiiel sce tasciaventevescaiierdidediaatedceies 89 5 1 XtraWare MOdeES sncagrsdcctutedsuaved eieaeseananes eave pwaveosaeadenaws 91 5 1 1 Program Mode User Program Buffer UPB 91 5 1 2 Sequential Mode Sequential Command Buffer SPB 91 5 1 3 Immediate Mode Immediate Command Buffer SPB 92 5 2 SCB and UPB Command Flushing cece eset seen ee eeaeeee 92 5 2 1 Motion Commands With _D Suffix ccccccceeeee eens 92 5 2 2 Motion Commands Without _D SUffix cccce eee e ees 92 5 3 Motion ModE S ieizti sg gupta tbo a eae 92 5 3 1 Transition Between Motion Modes ccceeeeeeeeeeeeees 93 5 4 Motion Command Buffer ccccccscsseeeeeeesecceueuuuuuveeenaaes 95 5 5 XtraWare COMMANAS cccecceeeeeueeeueeeeeeeeaueeueueueuvenenes 96 ACCEWE RAT LON ost ervad ach Saint aastua oie aa nee ont RAE noeebeet 97 CALCE hacteads winston a E a a bint ocala tested clara ea Ara 98 CONTROL aerea A r Aa thd ata a oh en N 99 DELA Y a E E E EENE 100 ECAM DISENGAGE rror A AE OEE EA AAA EIIE 101 EGAN NESE E E E T 101 END ea a aA a a Sle aa
134. eme 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 online Close 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 be 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 Online mode Delete the desired variable s and return to Offline mode If XtraWare is closed rerun the program and go Online and then Offline No checksum value accepted on the response message Pn2
135. ent on the Master Step setting For example consider the following specification Segment Master Start Master End Slave Start Slave End Master Step 1 E 1000 0 500 20 Figure 36 Example of End Point Specification The length of the segment is 1000 master counts and the Master Step is 20 The number of points in the segment including the start and end points is thus 51 gt To open the Curve Shape window 1 First specify the values of Master End Slave End and Master Step as explained previously in Sections 4 9 5 3 and 4 9 5 4 2 Click in or tab to the Curve Shape field 3 Click the H icon that is displayed in the Curve Shape field The Curve Shape dialog box is displayed 4 Select Array from the Curve Shape window A table is displayed in the Curve Shape window Each row corresponds to one point in the segment For the example shown above a table with 51 rows will be displayed The slave values for the first and last points are entered automatically based on the Slave Start and Slave End values specified Only the slave values need be entered the master values are calculated automatically based on the end points and the master step value 56 XtraWare User Manual Operating the XtraDrive Using XtraWare Curve Shape og Select curve shape Figure 37 Example of Curve Shape Window with Array Table XtraWare User Manual 57 Operating the XtraDrive Using XtraWare Entering the va
136. eration values are mandatory The values can be changed in the program using the appropriate commands Set the end of motion window in the Advance Setting screen Analog Input If you plan to use the analog input command set the following values Otherwise skip this screen Ratio between the analog command and the generated speed XtraWare User Manual 23 Operating the XtraDrive Using XtraWare Ratio between the analog command and the generated torque Pulse Train Set the following if your application requires pulse train values Otherwise skip this screen Pulse train form and logic Electronic Gear between the pulse train and the motor See Electronic Gear in the Glossary If position control Pn000 1 C is set the Position Completed Width screen is enabled When using programming mode Pn000 1 D the equivalent value is set by Pn2C4 Pulse train synchronization window Inputs Allocate digital inputs to system functions Digital inputs used as general purpose inputs can be simply referred to by their input numbers from within the program The polarity can be reversed by checking the Reverse polarity checkbox Outputs Allocate digital outputs to system functions If digital outputs are to be used as general purpose outputs simply refer to the output number in the program Each output can be used either as a system function output or as a general purpose output E
137. erial 1 U EXAMPLE SET_VAR Interrupt mask 1 MOVE D 655360 1 S ET OUTPUT 1 OFF EXT INT O 1 Rising SET OUTPUT 1 ON NT_RETURN 1 XtraWare User Manual 105 Command Reference EXAMPLE EXPLANATION The interrupt mask is set so that the program will only respond to interrupt 0 A motor movement to position 655360 is started If during the motion the value of input 1 changes from O0 to 1 Output 1 will be set ON The program will then continue once the motor motion has finished Output 1 will be set OFF SEE ALSO INT INT_RETURN Variables Interrupt_mask Interrupt_request Interrupt_pending FAST_OUTPUT_SETTING Table explanation GROUP Output SYNTAX FAST _OUTPUT_SETTING lt Variable gt lt Condition gt lt Value gt Op CODE 154 MODES Program Immediate Sequential DESCRIPTION This command is used to set an output to ON once the specified lt variable gt has met a specified condition The output is set within 125us of the condition being met Using this command is more effective than using an IF command followed by a SET_OUTPUT command which would result in the output being set only after 2ms The output to be set to ON is specified in the parameter Pn2D2 0 as explained below Only one output can be controlled by FAST_OUTPUT_SETTING 106 XtraWare User Manual Com
138. errupt service routine and is used when the interrupt is conditional on the value of an internal variable The argument lt Priority gt specifies the input priority lt Priority gt is specified as a value from 0 to 7 where 0 is the highest priority and 7 is the lowest lt Variable gt specifies on which internal variable the interrupt is conditional Any XtraDrive variable can be used lt Condition gt and lt Value gt specify the interrupt condition As shown in Figure 54 any of the relational operators can be specified for lt Condition gt lt Value gt is entered in decimal format XtraWare User Manual 83 Operating the XtraDrive Using XtraWare Value Variable Condition Position_actual_value gt Priority PROGRAM Figure 54 Programming an INT Command 4 11 7 3 INT_RETURN Format INT_RETURN lt Label gt This command signals the end of an interrupt service routine lt Label gt specifies the program label to which the program must proceed once the interrupt service routine has been completed Setting lt Label gt to 1 specifies that the program must simply continue running from the point at which the interrupt occurred If an interrupt service routine of a lower priority interrupt is executed after a higher priority interrupt service routine the program will continue from the position defined by the last INT_RETURN command Return Label 1 Figure 55 Prog
139. es for a number of possible events and then to deactivate them from within the program as required XtraWare User Manual 79 Operating the XtraDrive Using XtraWare If no mask is specified the program will not react to any interrupt event An interrupt mask must therefore always be specified if interrupt are to be used See Section 4 11 6 2 Interrupt_mask 4 11 5 Interrupt Handling The process that occurs when an interrupt occurs is summarized below Detailed instructions on the use of the various variables and commands are provided in the sections that follow Event Occurs External event such as a change in an input value or Internal event such as a system variable meeting some condition Interrupt is registered The relevant bit in the variable Interrupt_request is set to 1 If the registered interrupt is masked in Interrupt_mask the program flow is interrupted The XtraDrive stops retrieving commands from the user program buffer e The XtraDrive executes the interrupt service routine for the highest priority interrupt received The XtraDrive clears the relevant bit in the variables Interrupt_request and Interrupt_pending to indicate that the interrupt has been cleared e The XtraDrive executes the interrupt service routines for any other outstanding interrupts in order of priority The XtraDrive continues running the program Either from the program line where it was initi
140. es you to enter a rough estimation of your system s external load as a percentage of the motor s inertia I Oscillation Canceling Algorithm OCA Fine Tuning With User Parameters f Auto Select Parameters Cancel Start WARNING In Fine Tuning pressing STAAT causes movement Note Move axis to center of travel Figure 21 Autotuning Window The fields and options are explained below Inertia Ratio Pn103 Inertia ratio between the load and the motor as a percentage XtraWare User Manual 35 Operating the XtraDrive Using XtraWare 4 6 3 D OCA Activates the OCA Oscillation Canceling Algorithm by setting Pn2D4 0 to 1 For further information on OCA refer to the XtraDrive user manual Fast Tuning The driver loads a group of parameters from predefined tuning groups based on the motor and driver type and the load inertia Fine Tuning The driver moves the motor back and forth and searches for the parameters that allow the best system performance Auto Select Parameters Uses Fast Tuning gains as the starting point The motion profile of the motor while tuning is determined automatically according to system characteristics The motor will make approximately one turn to each side and this process is repeated until all coefficients have been set With User Parameters The gain values start at their current values set by parameters such as PniAC 54 The motion d
141. f a message sent to XtraDrive via serial communication is limited to 64 characters XtraWare User Manual 183 Error Messages CODE MESSAGE DESCRIPTION 13 C phase Index not found 1 C phase is not defined by Pn190 2 May occur with linear motor if the JOG command was used after power up and then the HOME_C command Reset the XtraDrive and execute HOME_C command without first using the JOG command 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 not defined as an event 17 Command prohibited in present Incorrect operation mode for control method serial command Set parameter 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 XtraDrive has detected that the CONTROL_ON motor is moving while performing the first CONTROL_ON after power up 22 Autotuning available in Autotuning is available in Serial Programming Command mode Command mode only Change the only working mode by setting Pn000 1 D 23 Program already running The requested program cannot be run because another program is already running 24 Variable does not
142. fied distance from the point at which the motor position was latched Latched_motor_position The distance over which the deceleration occurs is specified by the lt Distance gt argument which is specified in user position units Note the following The rate at which the motor will decelerate is governed by the profile acceleration The motor will stop at the requested position unless the distance required for the deceleration exceeds the remaining motion distance The variable Motion_status indicates whether the motion ended as commanded by the REGISTRATION_DISTANCE command See Section 4 10 4 3 Motion_status This command executes immediately and it should thus be preceded in the program by a command that delays its execution until latching has been completed Use the command WAIT_VAR Latched_position_ready 1 or an interrupt conditional on this variable to ensure that REGISTRATION_DISTANCE is executed only once latching has been completed 4 10 4 Registration Variables There are four variables related to registration Latched_position_ready acts as a flag to indicate when the latching condition has been met The Latched_motor_position and Latched_master_position variables record the positions of the controlled motor and of the master if applicable at the instant the condition is met Finally the Motion_status variable indicates whether the registration movement was performed 76 XtraWare User Manual Operatin
143. file consists of a number of segments For example the profile shown consists of four segments the first stretches from Master Position 0 to 100 the second from 100 to 200 and so on You need only specify the start and end points of each segment XtraWare interpolates between those points according to shape specified XtraWare can interpolate along straight lines and sinusoidal curves You define the resolution the distance between consecutive data points in the profile with which the curve must be generated The profile created should be smooth to ensure smooth motion 52 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 9 4 1 Time based Profiles Virtual Axis XtraWare also allows you to specify a time based profile where the XtraDrive s internal clock generates the master pulses A pulse is generated every 125us In this case the Master Position axis is in fact a time axis 4 9 5 Creating a Profile Profiles are defined in the Electronic CAM window 4 9 5 1 Adding a Profile gt To add a profile to your project 1 Select Electronic CAM from the Too menu or click Electronic Cam on the toolbar The Electronic CAM window is displayed 2 Enter a number that you will use to identify the profile in the Profile Number field 3 Click Add Profile The profile is added to the Profile List 4 9 5 2 The Position Setting Tab Profiles are defined on the Position Setting tab of the Electronic CA
144. file is saved with an XDP extension SD NOTE After downloading a profile it is saved in the XtraDrive Unlike parameters and programs which can be uploaded from the XtraDrive to XtraWare ECAM tables cannot be uploaded Thus it is important that profiles are saved on a disk for backup purposes 4 9 5 8 Completing a Profile gt To complete your profile definition 1 Once you have completed the profile click Finish 2 The Electronic Cam window is closed 4 9 6 Loading a Profile You can load and use profiles that have previously been saved It does not matter if the profile was originally written for a different project gt To load a profile 1 Select Electronic CAM from the Too menu or click Electronic Cam amp on the toolbar The Electronic CAM window is displayed 2 Enter a number that you will use to identify the profile in the Profile Number field 3 Click Add Profile The profile is added to the Profile List 4 Click on the Position Setting tab 5 Click Open in the Cam Profile File area The Open Cam Profile dialog box is displayed 6 Select the file to open and click Open 60 XtraWare User Manual Operating the XtraDrive Using XtraWare The segments of the opened profile are listed in the Position Setting tab 4 9 7 Editing a Profile 4 9 7 1 Inserting Additional Profile Segments gt To insert a segment between existing segments in a profile 1 Click any field in the row of the seg
145. g the XtraDrive Using XtraWare 4 10 4 1 Latched_motor_position This variable records the position of the motor when the latching condition was met Because the sampling time is 62 5us the accuracy of the latching is dependent on the motor speed and the exact moment in the sampling interval at which latching takes place The position is recorded in terms of user position units 4 10 4 2 Latched_master_position This variable records the position of the master axis when the latching condition was met Because the sampling time is 62 5us the accuracy of the latching is dependent on the motor speed and the exact moment in the sampling interval at which latching takes place The position is recorded in terms of master counts 4 10 4 3 Motion_status This variable indicates how the motion ended Motion_status has four possible states O Not in motion Motor not in motion 1 Stopped by registration The latching condition was met during motion and the motion was stopped by registration 2 Motion stopped but not in registration requested position The latching condition was met during motion but the registration distance exceeded the remaining motion distance The motion thus ended normally but further than the registration distance 3 Still in motion The latching condition has not been met and the motor is still in motion 4 10 4 4 Latched_position_ready This variable indicates whether or not the latching cond
146. ges made in profile commands ACCELERATION SPEED JERK in Immediate mode do not affect motions that are already in the MCB XtraWare User Manual 91 Command Reference 5 1 3 5 2 5 2 1 5 2 2 5 3 Immediate Mode Immediate Command Buffer SPB 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 STOP_EX command which is executed immediately SCB and UPB 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 commands in the buffer are executed immediately following movement termination of the _D command For example setting 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 you to enter a number of motion commands While the motion command
147. gits of a hexadecimal number and consists of two adjacent bytes The checksum of the message N A M id1 id2 C1 C2 V1 V2 P1 P2 P3 P4 S1S2 CR is S1S2 0x100 am idlid2 ViV2 P1P2 P3P4 Only the two digits on the right are considered SH NOTE It is possible to work without checksum by setting Pn2C6 0 When working without checksum set 00 instead of checksum S1S2 6 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 Ip1 Ip2 C1 C2 V1 V2 P1 P2 S1 S2 CR N O A O O 4 5 JO JO JO 1 B JO CR Where A 0 Axis number 0 M 0xA Immediate mode ID1 0 Id2 0 Ignore message ID C1 4 C2 5 Command operational code 0x45 Vi V2 0 The arguments are specified by numerical values not variable ID numbers P1 0 P2 1 One command argument two digits S1 B S2 8 0x100 0x0A 0x00 0x45 0x01 OxBO XtraWare User Manual 173 Serial Interface Protocol 6 2 2 3 MOVE command Example of MOVE command 600uu in 1000ms of axis 2 in Sequential mode Format N As a m Idi Id2 C1 C2 V1 V2 P1 P2 P3 P4 N2 B 3 O 0 7 1 O JO JO JO JO JO P5 P6 P7 P8 P9 P10 P11 P12 P13 P1
148. 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 ECAM In ECAM mode you specify the position that a slave axis must reach depending on the position of a master axis or on the time elapsed Table 15 Mode of Operation Values MOTION MODE NAME MOTION_MODE VALUE POSITION 1 VELOCITY 3 TORQUE 4 HOMING 6 SPEED_CONTROL 0 HUNTING 1 PULSE_TRAIN 3 ANALOG_SPEED 4 ANALOG_TORQUE 5 ECAM 7 5 3 1 Transition Between Motion Modes When motion commands that function under different motion modes are issued consecutively in some cases the motor will first be stopped at the Profile_acceleration and only then will the second motion commence In other cases the second XtraWare User Manual 93 Command Reference motion will continue continuously after the first without stopping in between The table below specifies the type of transition between each pair of motion modes C Continuous transition without stopping S The motor will first decelerate to a complete stop according to Profile_acceleration before performing the new motion The command smoothing set by Pn216 will not be applied to the deceleration Table 16 Nature of Tra
149. he autotuning parameters Pn2C8 Pn2CB gt To perform fine tuning 1 Place the motor so that it can move according to the autotuning profile 2 Enter a rough estimation of load inertia in the Inertia Ratio field 3 Select Auto Select Parameters or With User Parameters depending on the motor motion required 4 Press Start WARNING After pressing Start the motor will begin to move 5 6 7 Wait for a few minutes while the best gain is detected Click OK Enable the servo control and check the performance See 4 6 5 Evaluating Control Loop Performance If you are not satisfied you can easily improve the performance and stability by adjusting the global gain Pn1A0 or by trying the following For very rigid systems try the fine tuning without the OCA option selected Seta different Inertia ratio XtraWare User Manual 37 Operating the XtraDrive Using XtraWare 4 6 5 Evaluating Control Loop Performance After having tuned the control loop coefficients using either manual or automatic tuning it is useful to verify that the coefficients chosen result in adequate control The procedure detailed below describes how the quality of the control coefficients can be checked gt To evaluate control loop performance 1 Click Program Mode ES to select Program mode 2 Enter the program shown below in Figure 22 See Section 4 4 Programming the XtraDrive 1O x CONTROL O
150. he 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 Setting Parameters Offline Double click on the value field of the desired parameter and enter the desired value The new value is not sent to the driver automatically an asterisk appears in the Parameter status PAR indication column Use the Download function J to send the changed values to the driver Programming the XtraDrive XtraDrive has built in programming capabilities You can write a program that will be executed by the XtraDrive without the need for an external positioning controller XtraWare User Manual 27 Operating the XtraDrive Using XtraWare 4 4 1 Writing a Program A program is written by selecting a command from the command list in the Workspace window Figure 16 and adding it to the Program window Figure 17 For a detailed description of the different commands see Chapter 5 Command Reference You must be in Program mode to write a program gt To enter Program mode 1 Click Program Mode EN in the toolbar or select the Program Mode option from the Run menu The maximum length of a program is 100 command lines C Encoder Latching C Home HARD_HOME 4 HOME_C 4 HOME_SW 2 HOME_SWw_C 4 SET_ZERO_POSITI Interrupt Motion
151. hen issuing the command using the serial communication protocol see Chapter 6 Serial Interface Protocol MODES Modes in which the command is available For details of the available modes see Section 4 5 Program Modes MOTION The motion modes in which the command functions MODE applicable to motion commands only See 5 3 Motion Modes DESCRIPTION A detailed description of the command and how it is used SYNTAX Argument Description of the argument ARGUMENT ame The units in which the argument is defined when applicable Condition Variable Code Lists the codes to be used when specifying an argument as a condition e g lt gt or a variable variable ID code when using the serial communication protocol When using XtraWare simply select the required option from a drop down menu The length ofthe argumentin bytes ior use in serial come Indicates thatthe argument must be specified byan unsigned integer Indicates that the argumentcan be specified bya number or bya variable EXAMPLE An example that shows the use of the command EXAMPLE An explanation of the example EXPLANATION NOTE Addition information relating to the use of the command SEE ALSO A list of related commands variables and parameters XtraWare User s Manual 229 Glossary of Terms and Concepts XtraWare User Manual MAIN OFFICE USA OFFICE 13 Hamelacha St YET US Inc Afeq Industrial Estate 531 King St Rosh Ha
152. ial Interface Protocol 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 Ip2 C1 C2 V1 V2 P1 P2 S1 S2 CR NIO JIA 6 5 4 i8 JO JO O 9 4 JO CR Response Message Format in cases of no fault N A Ip1 ID2 C1 C2 INx_1 INX_2 N IO 2 J6 5 4 8 0 9 x Vi V2 V3 V4 V5 V6 V7 V8 S1i S2 CR E F F F F F 0 6 0 F A CR 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 Ci 4 C2 8 Response message Operational Code Inx_1 0 Variable Position _Actual_value ID Inx_2 9 Vi V8 Variable value Since Position_Actual_value FFFFFO60 is signed and the leftmost bit is 1 the number is negative and equals 4000 decimal S1 3 S2 D 0x100 0x02 0x65 0x48 0x09 0xFF OxFF 0xF0 0x60 OxFA XtraWare User Manual 181 Serial Interface Protocol 6 3 Troubleshooting PROBLEM POSSIBLE CAUSE SOLUTION Unable to establish communication with XtraDrive Communication cable does not match XtraDrive requirements See cable sch
153. imply by using the STOP_EX command in immediate mode MODES Program Immediate Sequential NOTE 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 you change this value it is your responsibility to set a value that is appropriate for an emergency stop SEE ALSO STOP_EX Parameters Pn2A8 Pn2A9 XtraWare User Manual 153 Command Reference TORQUE Table explanation GROUP Motion SYNTAX TORQUE lt n gt Op CODE 116 MODES Program Sequential MOTION Torque 4 MODE RANGE 1000 to 1000 DESCRIPTION Defines the torque that the motor generates The slope of the torque increase decrease is defined by parameter Pn2C1 SYNTAX n The torque value ARGUMENTS 0 1 of the rated motor torque Serial 2 V EXAMPLE LABEL 1 TORQUE 100 DELAY 1000 TORQUE 200 DELAY 1000 TORQUE 200 DELAY 1500 TORQUE 0 DELAY 1000 END EXAMPLE The Torque Profile value is changed four times each EXPLANATION 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 NOTES A TORQUE 0 command must be entered when it is no longer necessary to apply torque The program END command stops the pr
154. in Profile can contain up to 16 profile max 16 segments only 46 ECAM table too long max 256 Table can contain up to 256 points points only 47 Duplicated interrupt number Use different number for each interrupt 49 Wrong variable indicator Vi The value of Vi doesn t match command arguments 50 Program was stopped by Emergency 64 A 02 parameter breakdown XtraWare User Manual 185 Error Messages CODE MESSAGE 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 Undervoltage 73 A51 Overspeed 74 A71 Overload high load 75 A72 Overload low load 76 A73 Dynamic brake overload 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 186 XtraWare User Manual Error Messages
155. in encoder counts Perform the next step only once the Latched_position_ready variable has changed from 0 to 1 Use the command WAIT_VAR lt Latched_position_ready gt or assign an interrupt conditional on this variable Define the distance from where the input is received to where the motor must stop using the REGISTRATION_DISTANCE command The deceleration caused by registration is defined by the variable Profile_acceleration When specifying the registration distance ensure that it is sufficiently long for the motor to be able to decelerate to a stop at the profile acceleration The motor decelerates to a stop Under certain circumstances the motor will not stop at the point command by REGISTRATION_DISTANCE See 4 10 2 Troubleshooting 74 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 10 2 Troubleshooting In certain circumstances the motor will not stop at the point specified by the registration process The variable Motion_status indicates how the motion ended 1 The motor traveled further than the registration distance but not as far as the target position of the original motion command This will occur if the registration distance is not sufficiently long for the motor to be able to decelerate to a stop at the profile acceleration Either increase the registration distance or increase the profile acceleration 2 The motor stopped at the target position specified by the original
156. it 2548 Default Parameter Place Name Setting Description Setting 0 Emergency input 0 Same as Pn50A 1 8 ON 1 New Move Enable 0 F Same as Pn50A 1 7 Pn2D1 2 Reserved E 0 3 Reserved 0 208 XtraWare User Manual Parameter Reference 8 6 Table 22 Output Signal Selections Table 22 Output Signal Selections Digit ame Default Parameter Place Name Setting Description Setting 0 Disabled Outputs from the SO1 1 CN1 25 26 output terminal 0 Tei Outputs from the SO2 1 SO1 2 CN1 27 28 output terminal Outputs from the SO3 Pn50E 3 CN1 29 30 output terminal 1 Cnn ignal Oto3 Same as above 1 SO1 Mapping TGON Signal 2 Mapping 0 to 3 Same as above 2 SO2 S RDY Signal 3 Mapping 0to3 Same as above 3 S03 0 et Signal 0 to 3 Same as above apping 1 ite Signal 0 to 3 Same as above Pn50F apping 2 BK Signal Mapping O to 3 Same as above 0 Not used WARN Signal 3 Mapping 0to3 Same as above 0 Sh Signal 0 to 3 Same as above apping Pn510 1 Reserved 0 to 3 Same as above 2 Not used 0 0 3 Not used 0 E 0 Pn512 Output Signal 0 Output signal is not 0 Not 0 Reversal for SO1 reversed reversed KGN29 anid 26 1 Output signal is reversed Output Signal 0 Output signal is not 1 Reversal for SO2 reversed N 2 2 Iean ae Output signal is reversed XtraWare User Manual 209 Parameter Reference Digit Default Parameter place Nam
157. ition has been met The variable has two possible states 0 The latching condition has not yet been met 1 The latching condition has been met This variable is automatically set to 0 by the LATCHING_TRIGGER command It is set to 1 once the latching data has been processed this may take up to 4ms XtraWare User Manual 77 Operating the XtraDrive Using XtraWare 4 10 5 Registration Example The following short example program illustrates the use of the commands and variables discussed above 1 Speed 300 Sets the speed for the MOVE_H command 2 LATCHING_TRIGGER Rising Edge Sets latching condition 3 MOVE_H 5000 Starts motion 4 WAIT_VAR Latched_position_ready 1 Delays next command until variable changes to 1 5 REGISTRATION_DISTANCE 100 Starts registration movement to stop 100 user position units after latching condition is met 78 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 11 Interrupts When an event for which an interrupt has been defined occurs program execution is postponed while the specified interrupt service routine is executed This allows the XtraDrive to react to events regardless of when they occur Typical interrupt events include the onset of an emergency situation or changes in user inputs or in user or system variables 4 11 1 Interrupt Events Interrupt events can be either e External such as a change in an input from one value to another or
158. l Description XtraDrive version number with the following format V1 V2 V3 _ V4 Note that V4 can only be set as A or B For example XtraDrive with version number 2 80 A will respond with Ci C2 2 8 JO JA 6 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 0x7F Master Message Format N A M ID1 ID2 C1 C2 V1 V2 P1 P2 S1 S2 CR N IO JAIZ F 4 I5 JO JO JO f1 J3 J1 ICR Response Message Format in case of no fault N A M ID1 IpD2 Fi F2 SW1 SW2 SW3 SW4 gt N 0 0 0 0 Oo Or JO 4 3 7 S1 S2 CR gt C 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 Fl 0 F2 0 No fault so fault code is 0x00 SW1 0 SW2 4 Shows XtraDrive status No emergency no SW3 3 SW4 7 fault control on and in position See Chapter 10 List of Status Word Bits S1 C S2 5 0x100 00 00 00 0x04 0x37 OxC5 MOVE Command Example of response message to MOVE lt 600 gt lt 1000 gt command 600uu in 1000ms of axis 0 in Sequential mode with message identification of 0x96 when control is off Because a
159. le to freely allocate the input signals 1 S ON Signal 0 Inputs from the SIO CN1 40 0 SIO Mapping Servo input terminal ON when low 1 Inputs from the SIi 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 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF Inputs the reverse signal from 9 the SIO CN1 40 input terminal Inputs the reverse signal from A the SI1 CN1 41 input terminal Inputs the reverse signal from B the SI2 CN1 42 input terminal Inputs the reverse signal from C the SI3 CN1 43 input terminal Input the reverse signals from D the SI4 CN1 44 input terminal 206 XtraWare User Manual Parameter Reference Digit at Default Parameter Place Name Setting Description Setting Inputs the reverse signal from E the SI5 CN1 45 input terminal Inputs the reverse signal from F the SI6 CN1 46 input terminal P CON Signal 2 Mapping Pcontrol O to F Same as above 1 SI1 when low P OT Signal 3 Mapping OtoF Same as above 2 SI2 overtravel when high N OT Signal 0 Mapping OtoF Same as above 3 SI3 overtravel when high ALM RST Signal 1 Mapping alarm jOtoF Same as above 4 SI4 Pn50B reset when low P CL Signal 2 Mapping Torque O to F Same as
160. ll following motion commands being run without the program waiting until a New_move_enable input is received 4 12 3 Example Program for a Flying Shear Application The program below controls the implementation of a simple flying shear The parameter Pn2D1 1 is set to 0 mapping the New_move_enable input to input terminal CN1 40 1 LABEL 1 2 MOVE_R O 3 WAIT_VAR Follower_synchronized 1 4 SET_OUTPUT 1 ON 5 WAIT_VAR Position _demand_value gt 1000 6 SET_VAR Override_new_move_enable 1 7 GO_D 0 1 8 SET_VAR Override_new_move_enable 0 9 GO_TO 1 10 END XtraWare User Manual 87 Operating the XtraDrive Using XtraWare The command MOVE_R 0 line 2 is suspended until an input is received at CN1 40 Once the slave is synchronized to the master line 3 Output 1 is set On line 4 Once the Position_demand_value variable has exceeded 1000 line 5 the New_move_enable function in disabled line 6 Therefore the GO_D function line 7 is run immediately irrespective of the state of the New_move_enable input The New_move_enable input is then re enabled line 8 and the program returns to the beginning line 9 See MOVE_R in Chapter 5 Command Reference 88 XtraWare User Manual Command Reference 5 Command Reference This chapter contains an alphabetical list of The commands available for writing a program in the XtraWare system The commands available in the serial communication
161. lue before Index 1 2 3 See LT sae 512 Value 98 WRITE TO ARRAY 17 5432 Array value after Index 1 2 3 sew 17 ses 512 Value 5432 EXAMPLE Data array 17 was equal to 98 After the EXPLANATION WRITE_TO_ARRAY command it was changed to 5432 SEE ALSO SET_VAR READ_FROM_ARRAY GET_FROM_ARRAY Only in immediate or sequential mode 162 XtraWare User Manual Command Reference 5 6 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 6 Serial Interface Protocol CLEAR_BUFFER Table explanation SYNTAX CLEAR BUFFER lt Buffer gt Op CODE 94 MODES Immediate DESCRIPTION Clears either the program buffer or the sequential buffer depending on the value of lt Buffer gt It is recommended that this command be used before sending a program to the drive by serial communication to remove an existing program from memory Not doing so can result in unexpected behavior such as the program jumping to labels within the old program SYNTAX lt Buffer gt Indicates which buffer is to be cleared ARGUMENTS Buffer Code Sequential Buffer 0 Program Buffer 1 Serial i U
162. lues are 1 2 5 10 25 50 100 500 1000 and the color in which the results will be displayed X Sampling Time Interval Specifies the time interval for obtaining trace data default 25ms The total trace time for which results are obtained is the sampling time interval multiplied by 10 Y1 Y2 Sampled Channel Available values are Target Speed Smoothed Target Speed Acceleration Motor Speed Position Error Torque Reference I 01 1 O 2 Sampled Digital I O Select the sampled output and input signals Show Select the objects that will be displayed in the graph Caption Enter the caption to be displayed in the graph Chart Toolbar The chart toolbar is shown below Hs QQigiA 4 u GA Figure 27 Chart Toolbar The toolbar icons are explained in the following table 42 XtraWare User Manual Operating the XtraDrive Using XtraWare Table 12 Chart Toolbar Icon Definitions DESCRIPTION Saves a copy of the 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 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 the graph in bmp format enabling you to view the graph with other software packages Save
163. lues directly into the table gt To enter the values into the Curve Shape table 1 Enter the values in the Slave Value column Note that the first and last values are entered for you according to the values you assigned to Slave Start and Slave End 2 Click OK The Curve Shape window is closed Array will be displayed in the Curve Shape column of the Position Setting table Importing the values into the table XtraWare allows you to import data into the array table This allows you to prepare an array in a spreadsheet and then import it The following specifications must be adhered to when creating the file The number of rows in the spreadsheet must be the same as the number of rows in the table displayed in the Curve Shape window The slave values of the first and last points must be the same as those in the table displayed in the Curve Shape window The spreadsheet table may have any number of columns The slave values must be located in the right most column The values may have any number of digits after the decimal point but XtraWare will import only the integer part of each value For example 1 79 will be imported as 1 The file must be saved in CSV format The file must not be in use by other software while being imported into XtraWare A sample spreadsheet is shown in Figure 38 on the following page 58 XtraWare User Manual Operating the XtraDrive Using XtraWare pon ee ae sara 0 0
164. m the specified label SYNTAX n The label number ARGUMENTS Serial i lu SEE ALSO LABEL CALL Parameter Pn2CC SET_OUTPUT Table explanation GROUP Output SYNTAX SET OUTPUT lt n gt lt switch gt OP CODE 79 MODES Program Immediate Sequential DESCRIPTION Sets a digital output pin to ON or OFF There are three logical outputs that can be set corresponding to the three output pins on the XtraDrive SYNTAX n Digital output number set according to ARGUMENTS the table below Output Digital Output number 1 Out_i CN1 25 26 2 Out_2 CN1 27 28 3 Out_3 CN1 29 30 Serial 2 JU V XtraWare User Manual 141 Command Reference switch Specifies the required output state State Code Off 0 On 1 Serial 1 U EXAMPLE LABEL 1 SET ZERO POSITION demand_position SLIDE 200 WAIT VAR Position actual value gt 10000 SLIDE 0 SET OUTPUT 2 ON END EXAMPLE Current Position is set to zero slide motion takes EXPLANATION place until the position value equals or exceeds 10000uu the WAIT_VAR command stalls the execution of the next command When the position value equals or exceeds 10000uu the SLIDE 0 command stops tells the motor to move at 0 speed the motor output 2 is set ON End of
165. mand Reference SYNTAX Variable The output can be conditional on any of ARGUMENTS the following variables Variable Code Position _demand_value 8 Position_actual_value 9 Following_error_actual_value 10 Torque_demand_value 17 Distance_from_target 36 Master_position 38 Absolute_position_error 61 In general this code is used for In_position but here it is used for Distance_from_target Serial 1 U Condition Select from Condition Code gt 1 lt 2 Serial 1 U Value Specify the value against which the variable must be compared using decimal format Serial 4 V NOTES Specify which output must be set to ON by setting parameter Pn2D2 0 as follows 0 Fast output setting disabled default 1 Output 1 CN1 25 26 2 Output 2 CN1 27 28 3 Output 3 CN1 29 30 After configuring Pn2D2 0 the assigned output will function as a Coincidence output until the FAST_OUTPUT_SETTING command is issued A Coincidence output signal is produced when the position error is smaller than defined by Pn500 and the motion command has ended After the FAST_OUTPUT_SETTING command is issued the output selected by Pn2D2 0 will function as specified by the FAST_OUTPUT_SETTING command After issuing a FAST_OUTPUT_SETTING command it XtraWare User Manual 107 Command Reference is not possible to rest
166. mand using the serial communication protocol see Chapter 6 Serial Interface Protocol MODES Modes in which the command is available For details of the available modes see Section 4 5 Program Modes MOTION The motion modes in which the command functions MODE applicable to motion commands only See 5 3 Motion Modes DESCRIPTION A detailed description of the command and how it is used SYNTAX Argument Description of the argument ARGUMENT ame The units in which the argument is defined when applicable Condition Variable Code Lists the codes to be used when specifying an argument as a condition e g lt gt or a variable variable ID code when using the serial communication protocol When using XtraWare simply select the required option from a drop down menu The length ofthe argumentin bytes ior use in serial come Indicates that the argument must be specified by an unsigned integer Indicates that the argumentcan be specified bya number or bya variable EXAMPLE An example that shows the use of the command EXAMPLE An explanation of the example EXPLANATION NOTE Addition information relating to the use of the command SEE ALSO A list of related commands variables and parameters 96 XtraWare User Manual Command Reference ACCELERATION Table explanation GROUP Motion Profile SYNTAX ACCELERATION lt n gt Op CODE 64 MODES Program Immediate Sequential
167. mat master message refer to Section 6 2 2 Master Message H NOTE The short format is the same format as was used in previous versions of XtraWare in which the specification of arguments was limited to numerical values 6 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 Where Description XtraDrive 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 Description Response type Range 0 Acknowledge without Fault 1 Acknowledge with Fault 2 Response for data request command 3 Acknowledge with watch variables field 5 Program upload XtraWare User Manual 175 Serial Interface Protocol 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 Idi and Id2 contain the Message Identification as sent by the master Since the range is greater than OxF two bytes are required for holding the number Range 0x0 OxFF 0x0 OxF each Description XtraDrive response Can hold acknowledge ACK or value as response to Data Request Commands
168. ment before which the new segment should be inserted 2 Click Insert A new line is inserted 3 Enter the required data to define the new segment 4 9 7 2 Deleting a Segment gt To delete a segment 1 Click any field in the row of the segment that is to be deleted 2 Click Delete The selected segment is deleted 4 9 7 3 Editing Values in the Position Setting Table gt To edit an entered value 1 Click the field that you would like to change 2 Enter the new value The value is changed and the table values are automatically updated If the value of a Master End position is changed all subsequent Master End values are automatically adjusted so as to maintain the size of the segments as they were before the change Changing a Master End value therefore affects only the size of the segment that the point ends The Master Start values are also updated to match the revised Master End values Changing the value of a Slave End position does not result in subsequent Slave End values being updated only the next Slave Start value is updated XtraWare User Manual 61 Operating the XtraDrive Using XtraWare 4 9 8 Deleting a Profile gt To delete a profile 1 Select the profile to be deleted from the Profile List 2 Click Delete Profile WARNING Clicking Delete Profile deletes the profile immediately you will not be asked for confirmation 4 9 9 Viewing the Master Slave Table The Data
169. meters Table 5 Communication Menu Options OPTION DESCRIPTION Online Switches to working in online mode Offline Switches to working in offline mode Setting Opens the Communication Settings window See Section 4 1 1 Communication Settings for details on this option 3 3 1 Tool Menu The Tool Menu options allow you to access the Electronic Cam interface to automatically tune the control loops and to perform a mechanical analysis of the motor load system Table 6 Tool Menu Options OPTION ICON DESCRIPTION Electronic Creates motion according to a specified profile Cam that is dependent on the position of a master axis or on the elapsed time Autotuning Ge Automatically sets control loop gains based on actual system measurements and tunes the XtraDrive driver accordingly See Section 4 6 Tuning the Control Loops for full details Mechanical Gy The mechanical analysis FFT option samples Analysis and analyzes 2000 speed data points The speed is a response to sinusoidal torque frequency commands The response 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 8 Mechanical Analysis for full details H NOTE 1 The ECAM related options are only activated if an ECAM license h
170. meters WINdOW siicccevscateiwiee ei eas 19 3 5 6 ani WINKOW inl eratcs ceva ceorvies Sec onai ts eee dial ieta 20 4 Operating the XtraDrive Using XtraWare ccccccseeeeeeeeeeees 21 4 1 Connecting the Driver to the PC cccceeee essen eeeee eens 21 4 1 1 Communication SetUNGS sicirasiv nivel avinanieeia eds 21 4 2 SGU WiZard ssieicsds waiids Hxedtiet eels E eee 22 4 3 Parameter Control casas taste a eae 25 4 3 1 Uploading and Downloading Parameters 04 25 4 3 2 Viewing Parameter SettingS cccceeeee eee eee eee eens 26 4 3 3 Setting Parameters Online cccccesseeeeeeeeeeeeeees 27 4 3 4 Setting Parameters Offline ccceeceeeeeee ee eeeeeenaaees 27 4 4 Programming the XtraDrive ccccceeceee eset eee ee eeee eens 27 4 4 1 Writing a ProgtaM sisri tia vied tien an vnasans aA aon 28 4 4 2 Programming Commands with Variable Arguments 30 44 R n a PrOG FAM eis tse ascaees sores caxetmohenbonsws A 33 4 5 Program ModeS cistsed cds bacane a es 34 4 5 1 Program Mode sssssssssssrsssssrrrensssrrrrenssrrrrereesrnn 34 4 5 2 Immediate MOC sian teen sce inia a AA 34 4 5236 Sequential MOGG i i0 lt g riaccenccescseescsextes ea aa Raani 34 4 6 Tuning the Control LOOPS ssssssssessrrrssssssrnnssensrrssserens 35 46A Manual TUNING secede acl asetinets e a aa 35 4 6 2 AUTONO ern aa a a A a 35 4 6 3 Performing Fast TUNING cccceeseeeeesseeeeeeeeenseeees
171. motion cannot be executed when CONTROL_OFF fault Ox8C occurs XtraWare User Manual 179 Serial Interface Protocol Master Message Format N A M JIp1 Ip2 C1 C2 Vi v2 P1 P2 P3 P4 P5 P6 N 0 B 9 6 7 11 1O JO 1O IO JO JO O 2 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 S1 S2 5 8 IO JO 0 0 0 3 E 8 A 9 Response Message Format in case of fault CR N A M ID1 ID2 F1 F2 SW1 SW2 SWS SW4 CR N O 1 19 6 8 IC JO 4 3 3 A S1 S2 CR an A 6 CR Where A 0 Axis number 0 m 1 Response type is acknowledge with Fault ID1 9 Id2 6 Because of fault message identification Id1 and Id2 contain the same value as master message identification Fl 8 F2 C Fault code SW1 0 SW2 4 Shows XtraDrive status No emergency no SW3 3 SW4 3 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 S2 6 0x100 0x01 0x96 0x8C 0x04 0x33 OxA6 Response message format in case of no fault N A M IpD1 ID2 F1 F2 SW1 SW2 SW3 Sw4 N O O0 0 JO JO JO JO 4 3 S1 S2 CR C 5 CR 180 XtraWare User Manual Ser
172. n Limit 0 to x 5 Pn205 Setting rev 65535 65535 5 7 2 S Pn216 Command smoothing 0 ims 0 65535 J0 6 3 4 Pn2A2 Work speed default low Po 0 65535 0 5 9 1 2 speed Pn2A3 a derail units 0 256 lo 5 9 1 2 g 65536 2 accelera Pn2A4 nan acceleration default i on 0 lt 655a5 0 5 9 1 2 units accelera Pn2A5 Work acceleration default tion 0 256 0 5 9 1 2 high units 65536 E Work jerk smoothing x r S Pn2A6 time default uS 0 63999 O 5 9 1 2 S accelera Pn2a8 a stop decclenaten ton 0 65535 65535 5 9 1 2 S units E E accelera 9 Quick stop deceleration tion ma i 5 Pn2A9 high units 0 256 256 5 9 1 2 o 65536 XtraWare User Manual 193 Parameter Reference Parameter 3 Setting Default Category N mbar Name Unit Range Setting Reference pn2go Position units ratio 1 65535 1 5 9 1 1 numerator low Pized Osition units ratio 0 16383 0 5 9 1 1 numerator high papas OstHon units ratio 1 65535 1 5 9 1 1 denominator low Position units ratio x Pn2B3 denominator high 0 16383 0 5 9 1 1 RiaBas P PSed units vane 1 65535 1 5 9 1 1 numerator low phang gt eee d unite ratio 0 16383 0 5 9 1 4 numerator high Cha eat pper P PeSdunts ratio 1 65535 1 5 9 1 1 denominator low prose m Peed units tate 0 16383 0 5 9 1 1 denominator high son Acceleration units ratio x Pn2B8 numerator low 1 65535 1 5 9 1 1 Pn2B9 Acceleration u
173. n004 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 Fn00C Manual zero adjustment of analog monitor output Fn00D 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 XtraWare User Manual 211 Parameter Reference 8 9 Table 25 Monitor Modes The following list shows monitor modes available Table 25 Monitor Modes Parameter Content of Display Unit Remarks Un000 Actual motor speed rpm Un001 Input speed reference rpm Un002 Internal torque reference 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 angl
174. nation GROUP Motion SYNTAX SPEED CONTROL lt switch gt Op CODE 100 MODES Program Sequential MOTION Speed control 0 MODE DESCRIPTION Changes control to NCT speed control The type of speed command is determined according to the lt switch gt setting SYNTAX switch Mode Co ARGUMENTS de ANALOG_INPUT Analog speed 2 command similar to the SLIDE_ANALOG command except that a speed control loop is closed on the command PULSE_TRAIN_INPUT Pulse 3 train speed command VARIABLE Speed command 4 set by a variable Use the SET_VAR command to change the variable Speed_reference which changes the motor speed Serial 1 U SEE ALSO SLIDE_ANALOG SET_VAR Variable Speed_reference Parameters Pn200 Pn202 Pn203 Pn300 START Table explanation GROUP Motion SYNTAX START Op CODE 82 MODES Immediate XtraWare User Manual 149 Command Reference DESCRIPTION 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 SEE ALSO WAIT_FOR_START STOP Table explanation
175. ncoder Output Settings In case of a host controlled application where output pulses PG out are required set the output gear Otherwise skip this screen Click Finish to complete the setup and create a parameters file PAR Click Download Parameters J to download the parameters to XtraDrive Cycle the power or click RESET to reset the XtraDrive You can now proceed to Autotuning See 4 6 Tuning the Control Loops 24 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 3 4 3 1 Parameter Control In order to control the motor and the peripheral system such as I O lines the XtraDrive requires that certain parameters be set in its memory Some parameters are automatically set by the system based on the automatic motor identification when applicable and some must be set manually The parameters define data such as current limits encoder type and I O configuration as well as data related to specific user applications such as the ratio between the encoder resolution and the user units 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 the parameters from the XtraDrive as well as the program and all other data currently active in the XtraDrive excluding ECAM tables Therefore it is advisable to save your program prior to using the Uploa
176. nd with a RETURN command SYNTAX n The label number at which the subroutine ARGUMENTS begins Serial 1 U EXAMPLE LABEL 1 INPUT CASE 3 2 CALL 2 END LABEL 2 SLIDE 1000 DELAY 500 SLIDE 0 RETURN EXAMPLE The program checks if a certain input combination EXPLANATION has occurred If the combination exists it will call the subroutine LABEL 2 A SLIDE motion will occur for 500ms Otherwise the CALL 2 code line is skipped End of program SEE ALSO LABEL RETURN 98 XtraWare User Manual Command Reference CONTROL Table explanation GROUP System SYNTAX CONTROL lt switch gt OP CODE 69 MODES Program Immediate Sequential DESCRIPTION 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 SYNTAX Switch Specifies whether to enable or disable ARGUMENTS Setting Code OFF disables the motor 0 ON enables the motor 1 Serial i U EXAMPLE LABEL 1 CONTROL ON DELAY 1000 MOVE D 3600 1 CONTROL OFF END EXAMPLE CONTROL ON enables the servo The MOVE_D EXPLANATION command is executed the servo is disabled End of program NOTES 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 th
177. nite period of time i e until the motion ends ms Serial 4 V EXAMPLE LABEL 1 MOVE 10800 3000 ET OUTPUT 2 ON AIT EXACT 1 ET OUTPUT 1 ON ND An sn EXAMPLE Motor starts to move output 2 is set ON motion EXPLANATION continues when motion ends output 1 is set ON The WAIT command pauses execution of the following lines of the program until the motion is complete SEE ALSO Variables Exact_mode Motion_end_window Position_error Parameter Pn2CO XtraWare User Manual 157 Command Reference WAIT_FOR_START Table explanation GROUP Wait SYNTAX WAIT _FOR_START Op CODE 146 MODES Program Sequential DESCRIPTION This command pauses the execution of motion commands until a sequential START command is applied The main purpose of this command is to enable you to send a group of up to 10 sequential commands so that execution of the commands is delayed until a START command is received 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 EXAMPLE Consider a system with X and Y axes that are required to start moving at exactly the same time To ensure that their motions start simultaneously a WAIT_FOR_START command should be sent via serial communication to each of the axes followed by the require
178. nits ratio _ 0 16383 0 5 9 1 1 numerator high Pn2BA Acceleration units ratio _ 1 65535 l1 5 9 1 1 denominator low propee Acceleratiomunits ratio i 0 16383 0 5 9 1 1 denominator high user Pn2CO Motion end window position 0 250 10 5 9 1 2 units 0 1 of rated Pn2C1 Torque slope torque 1 24000 24000 5 9 2 ms A user Chapter 6 Pn2C4 ee window for position 0 250 7 Command P units Reference Pn2C5 Zero speed when find speed 0 32000 2 5 9 3 hard home units Communication switch Pn2C6 selection null 0 1 1 Appendix E Pn2C7 Home switch selection 0008 5 9 3 Autotuning time 200 Prece between movements ms 2000 aoe 3 3 3 194 XtraWare User Manual Parameter Reference Category rela Name Unit eae R Reference of pn2cg Autotuning speed of faximu o 100 50 5 9 5 movement m speed Pn2CA Autotuning acceleration ae 1 1000 50 5 9 5 time we pages Autotuning plateau lie 0 1000 50 5 9 5 time of movement a Pn2CC Auto start user program 0 99 0 5 10 Pn2D0 Reserved 7 7 Pn2D1 Expand input signal 7 8887 5 9 4 selection 2 aor Pn2D2 Expand output signal _ 0021 5 9 4 selection 1 wy Pn300 Speed Reference Input ae 150 to 600 5 2 1 Gain speed 3000 0 to Pn301 Speed 1 rpm 10000 100 5 2 6 0 to Pn302 Speed 2 rpm 10000 200 5 2
179. nsition Between Motion Modes SF ea sec ee Gee S 2 AE 13 E38 e 2 E 2 gt gt N Z yle je je slel Pl FialF iE Sl ee cee iter a e E E E N a o A I W lt lt ou lt I Speed mode 0 C S S C S S C S S S S Profile position 1 S C S S C C S S C Profile Velocity 3 S S S S C C S S C Profile Torque 4 S S S S S G S S S S Homing 6 S S S S C S S S S S S ECAM 7 S S S S S C S S S S S Analog torque 5 S S S C S S C S S S S Analog Speed 4 S S Rims S ims s amp Pulse train 3 S S S S C C C S Auto tuning 2 s s s s is is s s S FS Hunting 1 S S C S S C C S S C 94 XtraWare User Manual Command Reference 5 4 Motion Command Buffer 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 you send GO and MOVE commands followed by a SLIDE command the buffer will first flush the motion commands before executing the SLIDE command XtraWare User Manual 95 Command Reference 5 5 XtraWare Commands Command Name GROUP The command group under which the command is listed in XtraWare SYNTAX The format in which the command is written Op CODE The operation code of the command in decimal format to be used when issuing the com
180. o the next point ARGUMENTS user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile will be calculated with a maximum speed equal to the profile velocity Serial 4 V EXAMPLE LABEL 1 MOVE D 4096 1000 MOVE D 4096 1 END XtraWare User Manual 133 Command Reference EXAMPLE EXPLANATION 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 1000ms this time in the opposite direction The time of the movement is determined internally according to the motion profile you specified SEE ALSO 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 MOVE_H Table explanation GROUP Motion SYNTAX MOVE _H lt distance gt Op CODE 118 MODES Program Sequential MOTION MODE Hunting 1 DESCRIPTION While the motor is still in motion enables addition of a lt distance gt to the commanded 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 is a
181. of reference input pulses received from the host controller The user position units can then be set in terms of the pulses that are input to the XtraDrive control algorithm Electronic Control Gear Current Loop Motor TU ites Reference Input Pulse Converted Pulse Figure 59 Illustration of Gear Function 12 1 1 Electronic Gear Parameters The electronic gear ratio B A is ratio of the number of pulses received by the XtraDrive from the master or host to the number of pulses seen by the motor e Pn200 specifies the form of the reference input pulse e Pn202 is the numerator of the electronic gain ratio B e Pn203 is the denominator of the electronic gain ratio A It is recommended that the master used should have a higher resolution than the slave 12 2 Motion Profile In an XtraDrive program motion commands are used to specify the required motor motion A motor motion is characterized by the rate at which it accelerates the ultimate speed reached and the rate at which acceleration changes should the ultimate speed be changed XtraWare User s Manual 225 Glossary of Terms and Concepts XtraWare User Manual When using motion commands these parameters may be specified Alternatively the XtraDrive will use the default motion profile parameters which you can set The profile parameters are Profile Velocity Profile Acceleration Jerk Smoothing Time 12 2 1 Profile Velocity The
182. ogram but does not set the torque to zero SEE ALSO Variable Target torque Parameter Pn2C1 154 XtraWare User Manual Command Reference TORQUE_ANALOG Table explanation GROUP Motion SYNTAX TORQUE ANALOG Op CODE 103 MODES Program Sequential MOTION MODE Analog Torque DESCRIPTION Enables use of an analog signal as an 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 x Input Voltage 0 01V 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 rate of change of torque is specified by the parameter Pn2C1 SEE ALSO SPEED_ANALOG Variable Analog torque Parameter Pn2C1 Pn400 XtraWare User Manual 155 Command Reference TORQUE_LIMITS Table explanation GROUP System SYNTAX TORQUE LIMITS lt FRW gt lt REV gt Op CODE 87 MODES Program Immediate Sequential RANGE O to 1000 DESCRIPTION Sets torque limits in the forward lt FRW gt and reverse lt REV gt directions in a single command The torque value is
183. or is smaller than Motion_end_window System Profile Motion_go 24 R W Indicates whether a motion command is being delayed by a WAIT_FOR_START command and is waiting for a START command before executing 0 Motion commands are not waiting 1 Motion commands are waiting Status Motion_mode 23 7 Motion mode 0 SPEED_CONTROL 1 POSITION 3 VELOCITY 4 TORQUE 6 HOMING 1 HUNTING 3 PULSE_TRAIN 4 ANALOG_SPEED 5 ANALOG_TORQUE 7 ECAM Status Motion_status 65 Motion status indicator 0 Not in motion 1 Stopped by registration 2 Motion stopped but not in registration requested position 3 Still in motion Status XtraWare User Manual 215 List of System Variables Name Var Unit Read Min Max Description U T Group ID UN Dec Write Outputs_State 34 R 2147483647 Output ports state The 2 Digital I O 2147483648 right most digit is not in use For example when Outputs_State is 010 only output 1 CN1 25 26 is on Only outputs that are set by commands are monitored including the Fast Output embedded function Other embedded output functions are not reflected by this variable Override New Move 58 R W 0 1 Specifies the functioning 2 System Enable of New Move Enable Profile digital input Pn2D1 1 0 Input functions as setup 1 Input ignored P
184. ording to the profile acceleration and profile jerk time values set by the user 2 SLIDE_ANALOG also maintains position control to minimize position error SEE ALSO TORQUE _ANALOG SPEED_CONTROL ANALOG_INPUT XtraWare User Manual 147 Command Reference SPEED Table explanation GROUP Motion Profile SYNTAX SPEED lt n gt Op CODE 83 MODES Program Immediate Sequential DESCRIPTION Sets the velocity value for the motion profile The command changes the profile velocity value set by parameters Pn2A2 Pn2A3 The profile velocity value then remains in effect until the next controller reset SYNTAX n Sets the profile velocity ARGUMENTS user speed units Serial 4 U EXAMPLE LABEL 1 CONTROL ON DELAY 500 SPEED 50 MOVE 3600 1 SPEED 200 MOVE D 3600 1 CONTROL OFF END EXAMPLE Servo enabled speed profile is set to 50uu first EXPLANATION movement occurs speed profile is set to 200uu second movement which uses the new speed profile is faster and in the opposite direction servo disabled end of program NOTES The speed value lt n gt can only be specified by a number To set the profile velocity equal to the value of a variable use the SET_VAR command SEE ALSO MOVE MOVE_D MOVE_H MOVE_R GO GO_D GO_H SET_VAR 148 XtraWare User Manual Command Reference SPEED_CONTROL Table expla
185. ore the output to function as a Coincidence output To set the output to function as a Coincidence output use a FAST_OUTPUT_SETTING command with lt variable gt set to Distance_from_target EXAMPLE MOVE 300000 1 FAST OUTPUT SETTING Position _actual_value gt 100000 WAIT VAR Position actual value gt 100000 FAST OUTPUT SETTING Position actual value lt 250000 WAIT VAR Position actual value gt 250000 FAST OUTPUT SETTING Coincidence lt 200 Smoothed Target Speed Position Error 2500 EA A a ee nae A A eee 2000 4 1 d H 4 H 4 400 00l 4 a SEEE eee een RE eed Po 10004 4 f t EA Gs EE ore mae Sees ee 500 S latetetet eietel detetata latetetet 100 gt ey A ee ES Ase Target a 500 lt oe eee 100 gt 1000 11 Uw e ee 200 1500 sere ee bala act 300 2000 a4 t 3 r 1 400 lt 2500 i 500 Pa 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms EXAMPLE After motion has started a quick output is set EXPLANATION conditional on Position_actual_value exceeding 100000 Output 1 is set ON as soon as this condition is met The fast output condition is then changed so that Output 1 will remain on until position 250000 is reached Once this position is reached Output 1 is turned off The fast output condition is then changed again so that Output 1
186. original motion was triggered by this input the Override_new_move_enable may have to be set to allow the REGISTRATION_DISTANCE command to be executed SEE ALSO LATCHING_ TRIGGER WAIT_VAR Variables Latched_motor_position Latched_master_position Motion_Status Latched_position_ready XtraWare User Manual 139 Command Reference RETURN Table explanation GROUP Program Flow Control SYNTAX RETURN Op CODE 77 MODES Program DESCRIPTION Returns from a subroutine to the command following the CALL command that called the subroutine EXAMPLE LABEL 1 CONTROL ON DELAY 1000 JERK TIME 700 MOVE D 7200 1 CALL 2 SET OUTPUT 2 OFF CONTROL OFF END LABEL 2 SET OUTPUT 2 ON JERK TIME 350 MOVE D 7200 1 RETURN EXAMPLE Servo enabled jerk time is set to 700ms MOVE EXPLANATION command executes subroutine LABEL 2 is called Within the subroutine output 2 is set ON jerk time is set to 350ms movement in the negative direction return to the main program command that follows the CALL code line is executed output 2 is set OFF servo disabled end of program SEE ALSO LABEL CALL 140 XtraWare User Manual Command Reference RUN Table explanation GROUP Program Flow Control SYNTAX RUN lt n gt Op CODE 78 MODES Immediate Sequential DESCRIPTION Runs a program or a subroutine fro
187. osition_actual_value 9 Position R 2147483647 Actual position 2 Position Units 2147483648 Variables Position_demand_value 8 Position R 2147483647 Theoretical position 2 Position Units 2147483648 Variables Profile_acceleration 5 Accelerati R W 0 2147483647 Acceleration value while Cc System on Units running motion Profile commands Profile_velocity 3 Speed R W 0 2147483647 Speed while running Cc System Units motion commands Profile Program_line 45 R 1 2147483647 Holds the last program 2 Status line number Resonance_frequency 56 Hz R 0 65535 System resonance Status frequency Only applicable to rotary motors Reverse_Torque_limit 20 0 1 of R W 1000 1000 Maximum torque to be C Torque max applied in reverse Variables direction The maximum torque or force is set by Pn403 or Pn484 respectively Sensor_WVU 21 R 0 7 Commutation sensor BG Digital I O input values Each of the three binary digits represents the state of one sensor 100 indicates that the motor is positioned at commutation sensor W 010 at sensor V 001 at sensor U Servo_cycle_time 29 0 1 us R 0 2147483647 Servo cycle time Status Speed_reference 43 Velocity R W 2147483647 Defines the reference Cc Speed Units 2147483648 speed for the Variables SPEED_CONTROL command when Variable is selected as the input to SPEED_CONTROL Target_position 1 Position R 2147483647 Final destination of Cc Position Units 2147483648 motion commands Variables Target_torque 16 0 1 of
188. pecifications 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 1 bit synchronization 6 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 Response Figure 58 Master Slave Communication Protocol PC Master 1 Message 2 Message Timeout 3 message XtraWare User Manual 169 Serial Interface Protocol 6 2 1 Message Data Structure e 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
189. profile velocity is the default speed to which the motor accelerates if the desired duration of the motion is not specified The motor will accelerate until it reaches the profile velocity The profile velocity is recorded in the system variable Profile_Velocity By default Profile_velocity is set equal to the Work Speed Default specified by parameters Pn2A2 and Pn2A3 e Pn2A2 The profile speed in user speed units in the low bits format e Pn2A3 The profile speed in user speed units in the high bits format Pn2A2 is used to store the work speed default if its value is less than 65536 Values over 65536 must be converted to high bits format and stored in Pn2A3 which can hold values up to 256 The value of Profile_velocity can be changed using the SPEED command To set Profile_velocity equal to a variable use the SET_VAR command 12 2 2 Profile Acceleration The profile acceleration defines the default rate of acceleration that is used whenever the motor accelerates in Position mode The profile acceleration is recorded in the system variable Profile_acceleration By default Profile_acceleration is set equal to the Work Acceleration Default specified by parameters Pn2A4 and Pn2A5 Pn2A4 The profile acceleration in user acceleration units in the low bits format Pn2A5 The profile acceleration in user acceleration units in the high bits format Pn2A4 is used to store the profile acceleration if its value is less
190. ramming an INT_RETURN Command 4 11 8 Interrupt Example The following example program illustrates the use of interrupts 1 SET_VAR Interrupt_mask 3 Activates Interrupt 0 and 1 2 LABEL 2 3 SET_OUTPUT 1 OFF Sets Output 1 value to 0 4 WAIT_INPUT 1 1 1 Waits for In 1 to become True 5 CONTROL ON Starts the servo 6 MOVE_D 655360 i1 Moves motor 655360 UU at profile speed 7 SET_OUTPUT 1 OFF Sets Output 1 value to 0 8 END Program ends 84 XtraWare User Manual Operating the XtraDrive Using XtraWare 9 INT O Target_velocity gt 400 Interrupt service routine 0 Runs if Target_velocity variable is equal to or exceeds 400 10 SET_OUTPUT 1 ON Sets Output 1 value to 1 11 INT_RETURN 1 Returns to program line at which the interrupt occurred 12 EXT_INT 1 1 Falling Interrupt service routine 1 Runs if In 1 becomes False 13 STOP_EX Emergency Servo OFF Stops the motion and turns the servo off 14 INT_RETURN 2 Returns to program to label 2 The program will execute differently depending on whether or not In 1 changes during motion Case 1 In 1 does not change during motion Smoothed Target Speed Position Error ps ee i I I I 4 I I 4 I j i r 500 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms Figure 56 Interrupt Example Output Chart Case 1 From the chart The motor started moving after In 1 became true As the motor target
191. rofile velocity Serial 4 V EXAMPLE LABEL 1 MOVE 4096 1000 DELAY 2000 MOVE 4096 1 END EXAMPLE The motor moves 4096 user units in the positive EXPLANATION direction 2000ms 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 you specified 132 XtraWare User Manual Command Reference SEE ALSO 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 MOVE_D Table explanation GROUP Motion SYNTAX MOVE D lt distance gt lt time gt OP CODE 129 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor a specified lt distance gt incremental coordinates in the specified lt time gt This command is identical to the MOVE command in motion execution but it delays the execution of the next program command until the command theoretical motion generated by the MOVE_D command is completed The controller calculates the speed of the motor based on the profile acceleration and profile jerk The maximum permitted speed is the maximum motor speed variable Max_profile_velocity SYNTAX distance Distance t
192. s Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile will be calculated with a maximum speed equal to the profile velocity Serial 4 IV EXAMPLE LABEL 1 GO D 10000 1 SET OUTPUT 1 ON O D 0 300 ND A Q EXAMPLE Movement commences to destination 10000 UU 1 EXPLANATION 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 ended Motor moves to point 0 zero position in 300ms end of program XtraWare User Manual 111 Command Reference GO_H SEE ALSO GO MOVE MOVE_D SPEED ACCELERATION JERK_TIME Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 Table explanation GROUP Motion SYNTAX GO_H lt target gt Op CODE 117 MODES Program Sequential MOTION Hunting 1 MODE DESCRIPTION Enables change of the lt target gt 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
193. s 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 Motion_mode variable Position Motion commands MOVE GO MOVE_D GO_D are calculated and a trajectory movement speed and duration are determined 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 Torque The TORQUE command is immediately applied to the motor the torque changing rate being limited by the Torque_slope variable 92 XtraWare User Manual Command Reference Speed Control A speed control loop is closed on the reference command instead of the position control loop that is normally used GPEED_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 While in this mode both the target position and the motion profile can be adjusted during motion The revised settings will be applied even to the motion in progress Note that changing the jerk time while in hunting mode does not take effect until the motion mode is changed Pulse Train A reference position command is given by pulse train from an external source MOVE_R Analog Speed A reference speed command is
194. s graph data in Excel format csv 4 7 2 Using Zoom The view of an area selected by the mouse can be magnified gt To zoom in on an area 1 Position the mouse at one corner of the area you want to select Hold down the left mouse button and drag to the opposite corner A white area will appear around the selected area Release the left mouse button The selected area of the graph is enlarged Click Up one zoom level g to view the previous zoom level Click Reset zoom to view the original graph XtraWare User Manual 43 Operating the XtraDrive Using XtraWare Benare loxi USALAS ul g A Trigger ae Name Value Source Smoothed Target Speed 01 Slope Data Change 11 x gt Graph Setting Variables Co x Time ms 50 wh 1 Smoothed Target Speed 10 Gre y 2 Position Error 10 Yell 1204 COIN Pur 140 2 COIN 10 Aqu r Caption x Axis 0 000 Sampling Time Figure 28 Chart Zoom Feature 4 7 3 Starting the Trace gt To start a trace 1 In the Chart main window click Start Trace tA A message Waiting for trigger and data collection completion is displayed 2 To cancel the trace click Start Trace I2 again Otherwise click Run d to run the program When the conditions are met and the trigger is applied a message Uploading data is displayed 3 Click Cancel if you want to halt the data sampling process otherwise wait until the process ends The
195. s into consideration gt To start mechanical analysis 1 Click FFT Q or select Mechanical Analysis from the Tools menu A Warning message is displayed Figure 29 Mechanical Analysis DA F x A WARNING it is dangerous to operate this function because the motor will rotate Always be sure to check the user s manual before operating Pay particular attention to the following points 1 Perform safety checks around moving parts The motor will turn for 0 25 2 sec for each Excitation Measurement during the execution of this function Perform this after adequately verifying that there is no danger from motor operation 2 Set an appropriate Allowable Rotations Improper setting may lead to damage of the machine due to overrun etc Moreover the Allowable Rotations is the limit to each Excitation Measurement The excitation starting point may shift if excited multiple times Be sure to check this before Excitation Measurement 3 Do not perform measurement on vertical axes The current version cannot perform measurement for vertical axis or in machine configurations where a load in constantly applied in one direction Do not use this in such application due to the danger 4 Always be sure to perform position reset after closing this function The Mechanical Analysis function generates a position deviation because it executes motor excitation by the torque reference After closing this function execute home return an
196. se train settings for master slave applications if required e Set digital I O e Set PG divider output ratio 22 XtraWare User Manual Operating the XtraDrive Using XtraWare gt To operate the wizard 1 Select New Project from the File menu 2 Follow the instructions on the following Wizard screens Motor Selection Select your motor from the list or add a new motor Basic Selection Set the control method usually programming For host controller applications with pulse train output use Position control Pulse train For Yaskawa option board NS300 NS500 etc set for Yaskawa Option board Set motor direction Axis address XtraDrive supports networking of up to 15 drives connected by serial communication RS 232 for single XtraDrive and RS422 for 1 15 Set XtraDrive address Commutation Settings Only applicable for motors with A quad B encoders Software commutation Phase finding XtraDrive finds the commutation angle without sensors This takes several seconds on the first CONTROL ON after powering up With commutation sensors Hall sensors Some models of XtraDrive support commutation sensors of 5V or 24V Set according to the sensors polarity User Units Set user units for position speed and acceleration Position units must be in the range of 0 01 100 Default Profile Set default speed acceleration and jerk speed and accel
197. specified as 0 1 of the maximum motor torque set by Pn402 and Pn403 When applied to linear motors the maximum force in the forward and reverse directions is set by Pn483 and Pn484 respectively SYNTAX FRW Torque limit in forward direction ARGUMENTS 0 1 of the maximum motor torque Serial 2 REV Torque limit in reverse direction 0 1 of the maximum motor torque Serial 2 NOTE Increasing torque limits while the motor is in CONTROL ON can cause a fast and therefore dangerous movement It is highly recommended to first set the motor to CONTROL OFF and only then increase the torque limits SEE ALSO Variable Reverse_Torque_limit Forward_Torque_limit Parameters Pn402 Pn403 156 XtraWare User Manual Command Reference WAIT_EXACT Table explanation GROUP Wait SYNTAX WAIT_EXACT lt n gt OP CODE 145 MODES Program Sequential DESCRIPTION Waits until the position 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 causes a one time delay only SYNTAX n The time period to wait Setting this value to ARGUMENTS 1 specifies that the program must wait for an infi
198. ssued For the change to affect the motion the motion mode must first be changed e g by using the STOP_EX command 4 For the command MOVE_R changing the jerk value will affect it only if the change is made before the command is issued For the change to affect the motion the motion mode must first be changed e g by using the STOP_EX command 5 The jerk time value lt time gt can only be specified by a number To set the profile jerk time equal to the value of a variable use the SET_VAR command 126 XtraWare User Manual Command Reference SEE ALSO SET_VAR Parameters Pn2A6 Pn216 LABEL Table explanation GROUP Program Flow Control SYNTAX LABEL lt n gt Op CODE 88 MODES Program 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 CALL or LOOP commands or for program auto start after power up SYNTAX n The label number ARGUMENTS Serial 1 lU EXAMPLE LABEL 1 CONTROL ON DELAY 1000 GO D 10000 1 F INPUT 1 1 THEN CALL 2 CONTROL OFF END LABEL 2 ET OUTPUT 1 ON ETURN Dw EXAMPLE Servo enabled motor moves to position 10000 if EXPLANATION INPUT 1 is true calls LABEL 2 Subroutine The subroutine sets OUTPUT 1 as true If INPUT 1 is false servo is disabled program ends
199. such as GET_VAR The format of ACK and Data Request Commands are described below Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body Section 6 2 2 1 Checksum Calculation Range 0x0 OxFF 0x0 OxF each Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 6 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 Fl F2 SW1 SW2 SW3 SW4 Where Description Fault Code Only in cases where Response type m 1 In case of no fault F1 and F2 equal 0x00 Range 0x00 OxFF 176 XtraWare User Manual Serial Interface Protocol Description Status word 16 bit of bit string holding XtraDrive statuses See Chapter 10 List of Status Word Bits Range 0x00 OxFFFF 6 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 accepts only when Response type m 2 The Answer format depends on the specific command General format is C1 c2 Di1 D2 ue DN
200. synchronized Follower_position_offset Parameters Pn200 Determines the reference pulse form Pn202 Pn203 The number of received pulses is multiplied by the electronic gear ratio you defined Pn2A8 and Pn2A9 quick stop deceleration 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 XtraWare User Manual 137 Command Reference READ_FROM_ARRAY Table explanation GROUP Variables SYNTAX READ FROM ARRAY lt Index gt lt Variable gt Op CODE 159 MODES Immediate Sequential Program DESCRIPTION Reads the value of an array element according to lt index gt and sets it to lt variable gt SYNTAX Index Decimal value in range of 1 512 ARGUMENTS representing the index of the member in the data array Serial 2 U V Variable Any of the read write system variables See Chapter 9 List of System Variables Serial 1 U EXAMPLE READ FROM ARRAY 291 Var 01 Index 1 2 3 291 512 Value 56312 EXAMPLE Var_01 will be equal to 56312 EXPLANATION SEE ALSO SET_VAR WRITE_TO_ARRAY GET_FROM_ARRAY Only in immediate or sequential mode REGISTRATION_DISTANCE Table explanation GROUP Encoder Latching SYNTAX REGISTRATION DISTANCE lt Dis
201. t from the Profile List 2 Select the tab to be printed 3 Click Print The Print dialog box is displayed 4 Make any necessary changes to the settings shown and click Print XtraWare User Manual 63 Operating the XtraDrive Using XtraWare 4 9 12 The Cam List Window By default the Cam List window is displayed on the project screen If the window is not displayed ensure that Cam list is checked in the View menu Download Size 21 Profilett Download Size 1 v 21 234 Figure 42 Cam List Window Download size Indicates the number of data points that will be downloaded to the XtraDrive when the Download Cam button is pressed Profile The profiles are identified in the Cam List by their numbers Download Check the checkboxes corresponding to all profiles that should be downloaded to the XtraDrive when the CAM Download Cam button J is pressed Size The number of data points in each profile gt To view or edit a profile 1 Click anywhere in the row corresponding to the profile number that you would like to view or edit The Electronic Cam window is displayed with the Position Setting tab displaying the selected profile 4 9 13 Downloading Profiles to the XtraDrive A profile is not transferred to the XtraDrive until you download it gt To download a profile 1 Ensure that the relevant Download checkboxes in the Cam List window are checked CAM 2 Click Download Parameters J
202. tance gt Op CODE 151 MODES Program Sequential MOTION MODE Hunting 1 138 XtraWare User Manual Command Reference DESCRIPTION This command sets the lt distance gt from the Latched_motor_position over which the motor must decelerate to a stop SYNTAX ARGUMENTS Distance Sets the distance over which the motor must decelerate to a stop user position units EXAMPLE Serial 4 V Speed 300 LATCHING TRIGGER Rising Edge MOVE _H 5000 WAIT VAR Latched_ position ready 1 REGISTRATION DISTANCE 100 EXAMPLE EXPLANATION Registration is enabled setting the condition that input CN1 46 must change from 0 to 1 for registration to begin The motor is commanded to move 5000 user units Once the latching condition has been met the registration begins such that the motor will move 100 user units before stopping NOTE 1 The command usually follows the command WAIT_VAR Latched_position_ready 1 as the variable Latched_position_ready is set to 1 once the latching condition has been met See 4 10 3 2 REGISTRATION_DISTANCE 2 The variable Motion_status indicates whether the motion ended as commanded by the REGISTRATION_DISTANCE command See Section 4 10 4 3 Motion_status 3 If the New_move_enable input is enabled the execution of a REGISTRATION_DISTANCE command will be delayed until the input is received If the
203. thod 1 Click in or tab to the Curve Shape field 2 Click the 4 icon that is displayed in the Curve Shape field The Curve Shape window is displayed Select curve shape Ok E 5 Straight Line Cancel Array sin 90 to 90 sinf to 90 sin 30 to 0 Figure 35 Curve Shape Window 3 Select a curve shape from the drop down menu Straight Line Points will be generated by interpolation to join the start and end points with a straight line Array Instead of selecting a shape for XtraWare to generate by interpolation you can specify all the points directly See Section 4 9 5 6 Specifying an Array sin 90 to 90 sin O to 90 sin 90 to 0 Points will be generated by interpolation to join the start and end points with the required section of a sinusoidal graph 4 Click OK A new line for the next segment is displayed in the Position Setting tab with the Master Start and Slave Start fields filled in automatically 5 Continue filling in the table until every segment in the profile has been defined XtraWare User Manual 55 Operating the XtraDrive Using XtraWare 4 9 5 6 Specifying an Array Instead of specifying a curve shape along which points must be interpolated XtraWare allows you to specify each point directly You can either specify the points within the XtraWare interface or you can import a file created in a spreadsheet program The number of points to be specified is depend
204. tions also reduce the excitation amplitude and the sampling time 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 Detection of the allowable rotation in the XtraDrive may be delayed by a maximum of 2ms 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 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 Caption Enter the caption to be displayed in the graph 48 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 8 2 Mechanical Analysis Toolbar The mechanical analysis toolbar is shown below als S QQ Als Bil Figure 31
205. traWare may not run correctly if the new versions of the support files are not installed 4 XtraWare User Manual The Main Screen Interface 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 i XtraWare C Documents and Settings B Fie Edt Mew Run Communication Tool Maintenance Window Help C O Psa pm ae 44 HAT ot El E Progam ue TLABEL 1 2 MOVED 5000 500 fH We Gis a o 5 Progam Flow Control 3 SET_OUTPUT 1 ON 8 CALL 4 DELAY 1000 eno S SET_OUTPUT 1 OFF GO_TO __ 6 MOVED 5000 500 4 Loop Z SET_OUTPUT 1 ON 4 RETURN B DELAY 1000 E RUN 9 SET_OUTPUT 1 OFF 5 LABEL 5 INPUT_CASE IF E IF_INPUT L EXT_INT 2 INT 2 INT_RETUAN 2 Servo 2 CONTROL 2 GAIN L TORQUE_LIMITS 5 0 Outpt 8 SET_OUTPUT illjc Se ee ae Ra Command Smoot Currert Control Parameters Digtal 1 0 Drive Characteri Fers Flexible Syst Monitoring unction Selection Basic Switches Mate len ig 000 0 Direction Selection 4 erminates the user program urrently being executed D re msa ED So D 2 Oie E Sewo NUM Figure 1 Sample Main Screen 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
206. tware 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 gt To install XtraWare 1 2 Insert the CD into the CD ROM drive If the procedure does not start automatically i e autoplay is not enabled either Click Start Run and type D Install SETUP where D is your CD drive or Using Windows Explorer load the CD ROM contents and double click D Install SETUP EXE The installation screen is displayed the installation procedure commences and a message welcoming you to XtraWare is displayed Click Next to continue 4 Follow the onscreen instructions to choose a destination folder for the XtraWare files XtraWare User Manual 3 System Requirements and Software Installation 5 Click Next to continue 6 Select the program group to create the XtraWare icon c Program Files YET XtraWare is the default setting 7 After selecting the program group or folder click Next to continue The PC files are copied from the CD ROM During the procedure the installation progress is displayed SD 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 X
207. ue limit parameters Pn402 Pn403 the alarm is output Torque exceeded Torque Limits err 33 The Home Position is defined as the actual position when the torque reaches the defined lt torque gt for 2 seconds The torque will not exceed the defined lt torque gt during this procedure It is recommended to first set a low lt torque gt value If the machine hard stop is not found gradually increase the lt torque gt value SYNTAX torque The torque limit and torque indication ARGUMENTS for finding the Home position 0 1 of rated Serial 2 V speed The speed and direction of searching for the Hard stop speed user units Serial 4 V SEE ALSO HOME_SW HOME_SW_C HOME_C HOME_C Table explanation GROUP Home SYNTAX HOME C lt speed1 gt Op CODE 133 MODES Program Sequential DESCRIPTION Sets the home position using the encoder C pulse The motor moves at lt speedi gt 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 Note When working with a linear motor and a Yaskawa serial converter for the encoder the XtraWare User Manual 115 Command Reference maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example
208. ult O No Fault 1 Fault A 4 4 Voltage disabled Always 1 5 Quick Stop 1 only while stopping 6 Switch On Disabled Always 0 7 Warning 0 No warning 1 Warning Over torque Manufacturer 1 only while waiting to START command 8 specific Ready for start 9 Remote Always 0 Profile position mode 1 only while Velocity_demand_value 0 AND Position 10 Target Reached error lt Pn500 Profile velocity mode 1 when Target speed reached Profile torque mode 1 when Target torque reached 11 Internal Limit 1 motor on Over Travel switch Active On homing mode 0 while homing 1 After 12 Operation Mode homing Specific On speed mode SLIDE 0 speed 0 1 speed 0 13 Operation Mode On homing mode 0 No homing error 1 Specific Homing error Manufacturer 0 No program running 1 Program running 14 specific program run Manufacturer 1 Need restart 15 specific need restart XtraWare User s Manual 219 List of Status Word Bits XtraWare User Manual 220 XtraWare User Manual List of Operation Codes 11 List of Operation Codes Op Code Name Sent Arg 1 Arg 2 Arg 3 Arg 4 Arg 5 64 ACCELERATION 2 3 4 4U R 2 2 66 CALL 4 1U 94 CLEAR_BUFFER 2 1U 69 CONTROL 2 3 4 1 U 4 144 DELAY 3 4 4UV 7 g 122 ECAM_DISENGAGE 3
209. uring the tuning autotuning profile is set according to Pn2C8 Pn2C9 Pn2CA and Pn2CB allowing you to specify how far and how fast the motor should turn during fine tuning Performing Fast Tuning gt To perform fast tuning 1 Enter a rough estimation of load inertia in Inertia Ratio 2 Click Start The Fast Tuning window is displayed 3 Click OK 4 Enable the servo control and check the performance See 4 6 5 Evaluating Control Loop Performance If the motor behavior is good you can either perform Fine Tuning or leave it as is 5 If you are not satisfied with the performance the following methods can be used to improve the performance and stability of the system Adjust the global gain Pn1A0 For very rigid systems re run fast tuning after disabling the OCA option Seta different Inertia ratio NOTE The value of the command filter is calculated automatically and stored in parameter Pn216 during fast tuning 36 XtraWare User Manual Operating the XtraDrive Using XtraWare 4 6 4 Performing Fine Tuning During fine tuning the motor moves in the positive direction and then back again and repeats this motion several times The control parameters are optimized by analyzing the motor movement Motor movement is as follows If you select Auto Select Parameters the motor will rotate approximately twice If you select With User Parameters the motor will rotate according to the settings of t
210. ut cannot be used to enable a previously disabled servo The program can also be terminated after the motor has stopped SYNTAX Type Specifies the rate of deceleration and ARGUMENTS whether the program is stopped Setting Code Profile The motor will 0 decelerate at the profile acceleration Emergency The motor will 1 decelerate at the quick stop deceleration specified by parameters Pn2A8 Pn2A9 Emergency Program Stop 2 The motor will decelerate at the quick stop deceleration specified by parameters Pn2A8 Pn2A9 After stopping the program is terminated Serial 1 U Servo This argument defines the motor state after the motion actually stops Setting Code Servo ON the motor 0 remains enabled Servo OFF the motor is 1 disabled Serial 1 U XtraWare User Manual 151 Command Reference NOTES Unless lt Type gt is set to Emergency Program Stop the program line following the STOP_EX command will only be executed once the theoretical deceleration has been completed EXAMPLE SLIDE 1000 DELAY 200 STOP_EX Emergency Servo OFF SET OUTPUT 1 ON Smoothed Target Speed 2500 2000 1500 4 1000 y i H 4 H 4 PIETE ee l 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms EXAMP
211. vent has occurred and the corresponding bit in Interrupt_request has been set to 1 e You have enabled the interrupt in the mask register Interrupt_mask Once the corresponding interrupt service routine has been completed the bit in the variable is reset to 0 Interrupt_pending is a read only variable and its values thus cannot be changed by the user 4 11 6 4 Example of Interrupt Variable Functioning Interrupt_mask To specify that only interrupts 3 and 7 be handled should their conditions be met bits 3 and 7 in the variable Interrupt_mask must be set to 1 and all other bits must be set to 0 as shown BIT 7 6 51 4132 0 1 0 Setting 1 O IO 1O 12 10 10 JO Variable value Interrupt_mask 136 Interrupt_request If the interrupt conditions for interrupts 1 3 and 4 are met then bits 1 3 and 4 in the variable Interrupt_request will be set to 1 and all other bits will be set to 0O BIT 7 16 15 14 3 2 1 0 Setting O 1O IO 112 11 10 11 JO Variable value Interrupt_request 26 Interrupt_ reg Because only bit 3 is set to 1 in the Interrupt_mask variable only interrupt 3 will be handled interrupts 4 and 1 will be ignored Only bit 3 in Interrupt_pending will be set to 1 as it is the only bit set to 1 in both Interrupt_request and Interrupt_mask BIT 7 16 51 41 312 11 10 Setting O 1O IO 1O 12 10 10 JO
212. w the project subsections click the sign next to the project name in the Workspace window CT 4 Project Command FLY XtraDrive Demo Program Parameters Project Information Cam 9 Figure 8 Workspace Window Project Tab 3 5 2 1 Command Tab The Command tab Figure 9 lists 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 5 Command Reference To view the commands under a command group click the sign next to the group name in the Command tab nace ae x Project Command H Encoder Latching C Home HARD_HOME HOME_C HOME_Sw HOME_Sw_C SET_ZERO_POSITI Interrupt Motion GO GO_D GO_H MOVE MOVE_D t MOVE_H t MOVE_R SLIDE SLIDE_ANALOG SPEED_CONTROL vf b Figure 9 Workspace Window Command Tab XtraWare User Manual 15 The Main Screen Interface The icon next to each command indicates its current status The availability or unavailability of a command depends on the current working mode Table 9 Command Tab Icons ICON DESCRIPTION Ea Available command This command can be used in the current working mode Currently selected command When a command is selected its description is displayed in the Description area under the command list Ki Command is not availa
213. when the encoder scale pitch is 20um the maximum speed at which the motor will move while executing a HOME_C command will be 100mm s SYNTAX speedl The speed and direction of searching ARGUMENTS for the C pulse Speed user units Serial 4 V SEE ALSO HOME_SW HOME_SW_C HARD_HOME HOME_SW Table explanation GROUP Home SYNTAX HOME SW lt speedl gt lt speed2 gt Op CODE 132 MODES Program Sequential DESCRIPTION Sets the home position using the home switch The motor moves at lt speed1 gt to the home switch and then changes direction and moves at lt speed2 gt until it is no longer located on the home switch Only then does the encoder counter zero and the motor decelerate 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 lt speedi gt and lt speed1 gt must have opposite signs i e the movement is in opposite directions SYNTAX speedl The speed and direction of ARGUMENTS searching for the home switch Must have an opposite sign to that of lt speed2 gt speed user units Serial 4 V speed2 The speed and direction of searching for the home switch Must have an opposite sign to that of lt speedi gt speed user units Serial 4 V SEE ALSO HOME_C HOME_SW_C HARD_HOME RELATED Pn2C7 0 Sets home switch input attribution PARAMETERS 116
214. will continue until the current profile has been completed irrespective of how many cycles have already been completed ECAM motion will then stop SEE ALSO ECAM_ENGAGE ENGAGE_VIRTUAL_AXIS STOP_EX Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_scale_den ECAM_Slave_scale_num ECAM_Offset ECAM_ Shift ECAM_Master_profile_position ECAM_Slave_profile_position ECAM_ENGAGE Table explanation GROUP ECAM SYNTAX ECAM ENGAGE lt Profile ID gt lt Mode gt Op CODE 121 MODES Program Sequential DESCRIPTION Initiates motion according to the ECAM profile lt Profile_ID gt which is specified in the ECAM table See Section 4 9 14 1 ECAM_ENGAGE XtraWare User Manual 101 Command Reference SYNTAX Profile ID The identifying number of the profile to ARGUMENTS 7 be used Seriali U IV Mode Specifies whether the motion should continue indefinitely or only until the profile has been completed once Setting Code Non Cyclic Profile will be 0 completed once only Cyclic Profile will continue 1 indefinitely Serial 1 U EXAMPLE ECAM ENGAGE 3 NON CYCLIC EXAMPLE ECAM profile number 3 will be followed once EXPLANATION SEE ALSO CAM_DISENGAGE ENGAGE_VIRTUAL_AXIS Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_s
215. will be turned on once Distance_from_target is lower than 200 After the motion has been completed to within the specified position error window of 200 Output 1 is set ON again SEE ALSO Parameters Pn2D2 0 Pn500 108 XtraWare User Manual Command Reference GAIN Table explanation GROUP System SYNTAX GAIN lt n gt Op CODE 71 MODES Program Immediate Sequential DESCRIPTION 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 SYNTAX n User gain ARGUMENTS Range 0 1000 Default gain is 100 Serial 2 U XtraWare User Manual 109 Command Reference GO GROUP Motion SYNTAX GO lt target gt lt time gt Op CODE 112 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor to a specified lt target gt absolute coordinates in the specified lt time gt The controller calculates the speed of the motor based on the profile acceleration and profile jerk The maximum permitted speed is the maximum motor speed variable Max_profile_velocity SYNTAX target The specified target in absolute ARGUMENTS coordinates user position units Serial 4 V time The time allowed for the motion

XtraWare User Manual Rev. E.

Contents

Download Pdf Manuals

Related Search

Related Contents