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XtraDrive (XD-) SERIES
AC SERVO DRIVER
XtraDrive-DP
Embedded PROFIBUS
User Manual
Revision B
Catalog No. 8U0112
XtraDrive-DP User Manual
Copyright 2003 by YET, Yaskawa Eshed Technology Ltd. All rights reserved.
XtraDrive-DP User Manual
Catalog No. 8U0112, Revision B
November 2003
All rights reserved. No part of this publication may be stored in a retrieval system, or reproduced in any way, including but not limited to photocopy, photography, magnetic or other recording, without the prior agreement and written permission of the publisher. Program listings may be entered, stored, and executed in a computer system, but not reproduced for publication.
This guide is designed to provide information about the XtraDrive hardware.
Every effort has been made to make this guide 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 XtraDrive 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 products and the guide without prior notice.
Some of the software described in this manual is furnished under a license and may be used or copied only in accordance with the terms of that agreement.
This includes third-party software such as the S7 SIMATEC Manager.
Other company and brand products and service names are trademarks or registered trademarks of their respective holders.
MAIN OFFICE
13 Hamelacha St.,
Afeq Industrial Estate
Rosh Ha'ayin 48091
ISRAEL
Tel: +972-3-9004114
Fax: +972-3-9030412
E-mail: [email protected]
Homepage: www.yetmotion.com
YET US Inc.
531 King St.,
Unit 1
Littleton, MA 01460
USA
Tel: +1-866-YET-8080
Fax: +1-978-952-6821
XtraDrive-DP User Manual About This Manual
About This Manual
This manual is intended for users who want to easily integrate the
XtraDrive-DP system into a PROFIBUS network. It explains how to connect XtraDrive-DP to a PROFIBUS network and how to use standard tools to set up the behavior and functionality of the
XtraDrive-DP on the PROFIBUS network.
This manual contains the following chapters:
✦ Chapter 1, Introducing XtraDrive-DP, describes the
XtraDrive-DP servo driver and provides an introduction to
PROFIBUS networking.
✦ Chapter 2, Installing XtraDrive-DP, describes how to connect
XtraDrive-DP to PROFIBUS.
✦ Chapter 3, Working with XtraDrive-DP, describes the process of setting up and configuring XtraDrive-DP to work on a
PROFIBUS network.
✦ Appendix A, XtraDrive-DP GSD File, provides a link to the most updated GSD file.
✦ Appendix B, XtraDrive-DP Parameters List, provides a list of configurable XtraDrive-DP parameters.
✦ Appendix C, XtraDrive-DP Alarms, Warnings and Faults, provides a list of system errors.
✦ Appendix D, Working with XtraWare, provides an overview of the PC-based XtraWare software.
✦ Appendix E, Example of Using XtraDrive-DP, describes how to set up and control an XtraDrive-DP slave. The DP configuration tool used in this example is the S7 SIMATEC Manager. iii
XtraDrive-DP User Manual Related Documents
Related Documents
The following books provide additional information:
✦ XtraDrive User Manual, Catalog No. 8U0108
✦ XtraWare User’s Manual, Catalog No. 8U0109
✦ XtraDrive Short Form Installation Guide, Catalog No. 8U0107 iv
XtraDrive-DP User Manual Table of Contents
Table of Contents
Chapter 1: Introducing XtraDrive-DP...................................... 1
XtraDrive with Embedded PROFIBUS (XtraDrive-DP)...............................................3
Chapter 2: Installing XtraDrive-DP........................................ 15
Connecting XtraDrive-DP to a PROFIBUS Network................................................18
Chapter 3: Working with XtraDrive-DP................................. 23
v
XtraDrive-DP User Manual Table of Contents
XtraDrive-DP’s Response to Clear Data Control Command ...................................... 44
Appendix A: XtraDrive-DP GSD File ..................................... 45
Appendix B: XtraDrive-DP Parameters List............................ 47
Appendix C: XtraDrive-DP Alarms, Warnings and Faults ...... 67
Appendix D: Working with XtraWare.................................... 73
Appendix E: Example of Using XtraDrive-DP......................... 75
Index ..................................................................................... 83
vi
XtraDrive-DP User Manual Safety Precautions
Safety Precautions
In this manual, safety precautions are classified as WARNING or
CAUTION. It is extremely important that you pay close attention to these precautions.
The following symbols are used:
WARNING
Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury.
CAUTION
Indicates a potentially hazardous situation, which, if not avoided, could result in minor or moderate personal injury and/or damage to the equipment. In some instances, items described in a CAUTION could also result in a serious accident.
Read the following safety precautions thoroughly before installation, operation, maintenance or inspection of the
XtraDrive-DP. vii
XtraDrive-DP User Manual Safety Precautions
Installation
WARNING
After voltage resistance testing, wait at least five minutes before servicing the product.
Failure to observe this warning could result in electric shock.
CAUTION
Never use the equipment near flammable materials, or where it may be exposed to splashes of water or corrosive or flammable gases.
Failure to observe this caution could result in electric shock or fire.
Wiring
WARNING
XtraDrive grounding must be in accordance with the national code and consistent with sound local practices.
Failure to observe this warning could result in electric shock or fire.
viii
XtraDrive-DP User Manual Safety Precautions
CAUTION
Do not connect three-phase power supply to XtraDrive output terminals U, V, and W.
Failure to observe this caution could result in personal injury or fire.
Securely tighten screws on the terminal block and ground terminals of power input and motor connections.
When using a 400V XtraDrive, the amount of current leaking from the power line increases. Therefore, use cables and isolation materials rated for 400V, and keep the wires as short as possible.
Inspection and Maintenance
WARNING
Be sure to turn power OFF before inspection or maintenance.
Failure to observe this warning could result in electric shock.
Never open the terminal cover while power is ON, and never turn power ON when the terminal cover is open.
Failure to observe this warning could result in electric shock.
After turning power OFF, wait at least five minutes before servicing the product.
Failure to observe this warning could result in residual electric charges causing electric shock.
CAUTION
Never change wiring while power is ON.
Failure to observe this warning could result in electric shock or personal injury.
ix
XtraDrive-DP User Manual Safety Precautions
Receiving
CAUTION
Use the specified combination of servomotor and XtraDrive.
Failure to observe this caution could result in fire or equipment failure.
Operation
CAUTION
To avoid accidents, perform a test run of the servomotor with no load.
Failure to observe this caution could result in personal injury.
Before starting operation with a load connected, set up user constants suitable for the machine.
Failure to do so could result in overrun failure. When the load moves vertically, incorrect setting of the user constants may cause the load to fall.
Before starting operation with a load connected, make sure emergency-stop procedures are in place.
Failure to observe this caution could result in personal injury.
During operation, do not touch the XtraDrive's heat sink.
Failure to observe this caution could result in burns.
Motor overload protection is internally provided. For further information, refer to the
XtraDrive User Manual, Catalog No. 8U0108. x
XtraDrive-DP User Manual Safety Precautions
General Precautions
To ensure safe application, the following must be noted:
✦ The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.
✦ The drawings presented in this manual are typical examples and may not match the product you received.
✦ This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated, and the new manual is published as a next edition. The edition number appears on the front and back covers.
✦ If the manual must be ordered due to loss or damage, inform your nearest YET representative or one of the offices listed on the back of this manual.
✦ YET will not take responsibility for the results of unauthorized modifications of this product. YET shall not be liable for any damages or problems resulting from unauthorized modification. xi
XtraDrive-DP User Manual Safety Precautions xii
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Chapter 1
About This Chapter
Introducing
XtraDrive-DP
This chapter provides a brief overview of XtraDrive-DP and its use on a PROFIBUS network.
✦ What is XtraDrive?, page 2, provides a brief introduction to
XtraDrive-DP.
✦ Product Overview, page 4, provides a list of XtraDrive-DP and
PROFIBUS specifications.
✦ Introduction to PROFIBUS, page 9, provides an introduction to
PROFIBUS.
✦ Parameterization, page 11, provides an overview of the
Parameterization stage.
✦ Configuration, page 12, provides an overview of the
Configuration stage.
✦ Data Exchange, page 12, provides an overview of the data
exchange stage.
✦ GSD File, page 13, provides a brief description of the GSD files.
1
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
What is XtraDrive?
XtraDrive is a family of state-of-art, high-precision AC servo drivers.
XtraDrive is based on a unique proprietary control technology, offering solutions for the most demanding applications.
XtraDrive characteristics include:
✦ Advanced servo control
❖ High-precision During Movement (NCT Algorithm)
❖ Oscillation Canceling Algorithm (OCA)
✦ Automatic tuning of servo parameters for optimal setting time
✦ Integrated positioner by various programmable motion profile modes
✦ 1.5 Axis (Master-Slave with automatic offset correction)
✦ Two analog inputs for general purpose usage
✦ Network connectivity
2
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
XtraDrive with Embedded
PROFIBUS (XtraDrive-DP)
XtraDrive-DP provides all the benefits of working with the
XtraDrive family of products, while running on PROFIBUS network.
XtraDrive-DP uses PROFIBUS’ standard diagnostic features to provide continuous diagnostics, as well as driver status and information about runtime error in motion commands.
XtraDrive-DP has PROFIBUS product certification according to
EN 50170 and IEC 61158.
As XtraDrive-DP has the same parameter set, system variables, motion commands and programming functions as the rest of the
XtraDrive family, it functions in a familiar and easy to-use manner.
Refer to the XtraDrive and XtraWare User Manuals for detailed information about using XtraDrive.
Even when XtraDrive is connected to a network, you can use
XtraWare for tuning, oscilloscope functions, program editing and program download. Refer to the XtraWare User’s Manual for detailed information about the XtraWare software.
3
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Product Overview
Below are the specifications for the XtraDrive-DP and the
PROFIBUS interface.
XtraDrive-DP Specifications
Servo motor capacity (kW) 0.5 1.0 1.5 2.0 3.0
Voltage
Command input
3-Phase 400 VAC
PROFIBUS, Analog, pulse train
Integrated positioner
Encoder I/F
Various programmable motion profile modes
A/B (Z) encoder, serial encoder:
13, 16 or 17 -bit
(incremental/absolute value)
Protection functions
Digital inputs
Digital outputs
Analog input
Analog output
Speed control range
Overcurrent, overvoltage, undervoltage, overload, regeneration error, main circuit voltage error, heat sink overheat, overspeed, encoder error overrun, parameter error
7
7
2 at +/- 10 VDC at rated torque
2 at +/- 10 VDC at rated torque
1 to 6000 rpm
Speed-voltage regulation Rated voltage +/- 10%: 0% (at rated speed)
Speed-load regulation 0-100% load: 0.01% max. (at rated speed)
External torque limitation Input voltage +/- 12 V max.
4
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Ambient/storage temperature
0-55
°
C/ -20 to -85
°
C
Ambient/storage humidity 90% or less (with no condensation)
Dimensions for 400V 0.5,
1.0, 1.5 kW models
LxWxH 180x110x160
Dimensions for 400V 2,
3 kW models
LxWxH 180x110x250
LxWxH 130x55x160 Dimensions for 200V 30,
50, 100, 200 W models
Dimensions for 200V
400 W model
Dimensions for 200V 0.8,
1.0 kW models
LxWxH 130x75x160
LxWxH 130x90x160
5
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
PROFIBUS Interface Specifications
Maximum Expansion 126 stations max.
Communication RS-485
PROFIBUS Profile
PROFIBUS Port
Node Address
Segment distance
Baud Rate
LED Indicators:
BF - Bus failure
SF - System failure
DP
9-pin D-shell
0-125 decimal
Set by rotary switches (2 digit hex number)
100 meters (327 feet) to
1200 meters (3270 feet)
Selectable from 9.6 kbps to
12 Mbps
Red No communication
SF
Red
Off but not in data exchange
Everything OK
Red
6
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Nameplate
A nameplate is attached to each XtraDrive-DP, providing the drive’s model number and other product information. The information from this nameplate is used, for example, when placing orders for XtraDrive-DPs.
The following information is included on the nameplate:
✦ Serial number
✦ Applicable power supply
✦ Servomotor output
7
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Type Description
This section specifies the model type information for each
XtraDrive-DP.
XD 01 T S D1 R Y999
XtraDrive Series
Max. Applicable
Servomotor Power
(see table below)
Input Voltage:
M - 200VAC, or
T - 400VAC
Extended Functionality
By Option Boards:
S - no CN10 connector, or
N - with CN10 connector
Design Version #
D0-DF
Blank, or
R - Rack mounted, or
V - Board coating
(optional)
Blank, or Y followed by
1 to 4 alphanumeric characters to identify customer applications
(optional)
Output Capacity
Code
Max. Applicable
Servomotor Power (kW)
P3 0.03
P5 0.05
01 0.1
02 0.2
04 0.4
05 0.50
08 0.75
10 1.0
15 1.5
20 2.0
30 3.0
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XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Introduction to PROFIBUS
PROFIBUS (Process Field Bus) is a vendor-independent, open-field bus standard used in a wide variety of industries, including manufacturing, process and building automation. Many certified
PROFIBUS products are available, including sensors, motor drives and starters, PLCs, remote I/O systems, and so on.
There are three types of PROFIBUS products:
✦ Fieldbus Message Specification (FMS)
This version is designed as a general-purpose solution for communication tasks at the cell level, and can also be used for extensive and complex communication tasks.
✦ Process Automation (PA)
This version is designed for process automation. It permits sensors and actuators to be connected on one common bus line. This version can be used for data communication and power over the bus using 2-wire technology according to
IEC 1158-2.
✦ Decentralized Periphery (DP)
This version is designed for communication between automation control systems and distributed I/O at the device level. This version can be used in place parallel signal transmission with 24V or 0 to 20 mA.
PROFIBUS-DP
PROFIBUS-DP is a master/slave communication profile, which allows up to 126 stations on each bus. These stations perform connection-oriented communication and have a transmission rate of up to 12 Mbps. The length of the messages between the master and slave is up to 256 bytes. Information transferred from the master to the slave is called Output, and information transferred from the slave to the master is called Input.
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XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
PROFIBUS allows:
✦ Peer-to-peer (user data communication) or multicast (control commands)
✦ Cyclic master/slave user data communication
✦ Control commands which allow synchronization of I/O
During integration of the XtraDrive-DP to the PROFIBUS network, you set up the data types and parameter values that will be transferred over the network, and then transfer this information to the master. The master then uses this information to control the
XtraDrive-DP during data exchange.
This process is composed of four steps:
✦ Power ON/Reset - In this step communications are initialized between the XtraDrive-DP and the
PROFIBUS network.
Power ON/
Reset
✦ Parameterization - In this step the parameters that you have chosen to determine XtraDrive-DP’s behavior and operation are downloaded to the
XtraDrive-DP slave. More detail is provided on page 11.
✦ I/O Configuration - In this step the structure of the input and output data that will be transferred between the master and the XtraDrive-DP during data exchange is downloaded to the
XtraDrive-DP slave. More detail is provided on page 12.
✦ Data Exchange - In this step cyclic exchange of data and slave diagnostics is performed.
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XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Parameterization
During the Parameterization stage, the master downloads
PROFIBUS bus parameters and XtraDrive parameters to the
XtraDrive-DP. Parameterization needs to be performed only once, when the XtraDrive-DP is powered on, or after a power failure or other system restart.
The first seven bytes of a parameterization message are standard for all PROFIBUS slaves. Among other information, these first seven bytes include:
✦ Response monitoring time - control time for bus activity to the slave
✦ TSDR - minimum slave response time
✦ Freeze/Sync mode
✦ Lock or unlock slave for this master
✦ Master address
✦ Ident number - identification number for verification
Bytes 8-244 can contain additional user-defined parameters specifically for the XtraDrive-DP. Refer to XtraDrive-DP Parameters in Chapter 3, Working with XtraDrive-DP for further details.
Using a PROFIBUS DP configuration tool, you select the desired module’s parameters and values. (Refer to Appendix B,
XtraDrive-DP Parameters List
, for a list of all available
XtraDrive-DP parameters. Refer to Appendix E, Example of Using
XtraDrive-DP
for an example of how to use the S7 SIMATIC
Manager to set up, parameterize and configure an XtraDrive-DP to work on a PROFIBUS network.)
NOTE:
After the parameterization stage, the XtraDrive-DP resets its servo circuit.
11
XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
Configuration
In the Configuration stage, you define the structure of the input and output messages that will be transmitted between the master and
XtraDrive-DP during data exchange. Inputs and outputs include
XtraDrive-DP system variables, physical I/O state, flags and motion commands. This stage is performed using a PROFIBUS DP configuration tool.
This information will later be downloaded to the XtraDrive-DP slave during the Configuration stage. Configuration is also performed only once, after Parameterization, when the
XtraDrive-DP is powered on, or after a power failure or other system restart.
XtraDrive-DP’s I/O configuration modules are all contained in the
GSD file that you loaded into the PROFIBUS DP configuration tool.
Data Exchange
During the data exchange stage the master reads inputs from the
XtraDrive-DP and writes outputs to the XtraDrive-DP. These inputs and outputs are determined according to what you have defined during the Configuration stage.
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XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
GSD File
Every product that runs on a PROFIBUS network has a GSD file
(device data file) associated with it. The GSD file contains a superset of all the parameters available for a particular product. It also describes the data that can be transmitted between the master and slave during data exchange.
The information provided in a GSD file has a precisely defined format, which enables the PROFIBUS DP configuration tool to automatically use this information when configuring the bus system.
The GSD file is loaded only once, at the beginning of the setup process. Refer to Appendix E, Example of Using XtraDrive-DP for a complete example of how to use a PROFIBUS DP configuration tool. Information can also be downloaded from PROFIBUS’ website: www.profibus.com
. A copy of the most updated GSD file
(YETM07AA.GSD) for the XtraDrive-DP can be downloaded from
YET’s website: www.yetmotion.com
or from www.profibus.com
.
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XtraDrive-DP User Manual Chapter 1: Introducing XtraDrive-DP
14
XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
Chapter 2
About This Chapter
Installing
XtraDrive-DP
This chapter describes how to connect an XtraDrive-DP to a
PROFIBUS network. It provides a brief description of PROFIBUS network architecture, and gives instructions for setting the node address of each XtraDrive-DP.
Connecting an XtraDrive-DP
XtraDrive-DP servo drives are connected to a PROFIBUS network via a standard RS-485 communication cable.
For information on how to connect other XtraDrive series products to peripheral devices, as well as for examples of main circuit wiring and I/O signal connections, refer to Chapter 3, Wiring in the
XtraDrive User Manual
.
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
The PROFIBUS Network
PROFIBUS devices are connected in a bus structure. Up to
32 stations (master or slaves) can be connected in one segment, and multiple buses may be connected if line amplifiers are used.
The bus has an active bus terminator at the beginning and end of each segment. To ensure error-free operation, both bus terminations must always be powered up.
VP (6)
Station 1
RxD/TxD-P (3)
DGND (5)
VP (6)
RxD/TxD-N (8)
Shielding
Station 2
(3) RxD/TxD-P
(5) DGND
(6) VP
(8) RxD/TxD-N
Data Line
Data Line
390
Ω
RxD/TxD-P (3)
220
Ω
RxD/TxD-N (8)
390
Ω
Protective
Ground
Protective
Ground
Cabling
DGND (5)
Bus Termination
When more than 32 stations are used, repeaters (line amplifiers) must be used to connect the individual bus segments.
The maximum cable length depends on the transmission speed and cable type (see Table 2). The specified cable length can be increased by the use of repeaters. The use of more than three repeaters in series is not recommended.
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
Electrical Characteristics
The following table provides electrical characteristics for network communication cables.
Table 1: Line Parameters
Parameter
Impedance
Type A
135 ...165 W
(3 to 20 Mhz)
Type B
100 ...130 W
(f >100kHz)
Capacity
Resistance
<30 pF/m
<110 Ω/km -
Wire gauge
>0,64 mm
Conductor area >0,34 mm
<60 pF/m
>0,53 mm
>0,22 mm
Transmission Line Lengths
The following table shows the cable lengths to be used at different transmission speeds.
Table 2:
Line Lengths for Different Transmission Speeds
Baud rate (kbit/s) 9.6 19.2 93.75 187.5 500 1500 3000-
12000
Length Type A (m) 1200 1200 1200 1000 400 200 100
Length Type B (m) 1200 1200 1200 600 200 - -
Connection Cables
The following are examples of cables that may be used to connect
XtraDrive-DP to a PROFIBUS network:
✦ Desina - PROFIBUS cable - Catalog no. 3DRX 22X 02R
✦ Siemens - PROFIBUS cable - Catalog no. V45467-G16-C85-G1
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
Connecting XtraDrive-DP to a
PROFIBUS Network
Overview
The diagram below shows a typical configuration of XtraDrive-DPs on a PROFIBUS network.
PC
Master Master
PROFIBUS
GSD files
XtraDrive-DP XtraDrive-DP
A typical configuration consists of the following components:
✦ Using a PC-based configuration tool, you create a project containing parameterization and configuration information for the XtraDrive-DP, which is then downloaded to a master.
✦ A master receives this information from a PC and then uses it to control the activity of the XtraDrive-DP slaves.
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
✦ XtraDrive-DP slaves receive commands from the master and produce data that are sent back to the master. Information is continuously and cyclically transmitted between the master and the XtraDrive-DP over the PROFIBUS network during data exchange.
✦ Other types of slaves may be connected to the PROFIBUS network as well.
PROFIBUS Connection Port (CN6)
Use a 9-pin D-sub connector to connect to a PROFIBUS network, using RS-485 communications.
The diagrams below show the various connection ports on an
XtraDrive-DP. The placement of the various ports varies on different models. However, the PROFIBUS connection port is always labeled CN6.
Node Address
RS-232/RS-422
Communication
I/O
A/B Encoder
Commutation Sensors of Serial Encoder
PROFIBUS
Connector
(CN6)
Node Address
RS-232/RS-422
Communication
I/O
PROFIBUS
Connector
(CN6)
A/B Encoder
Commutation Sensors of Serial Encoder
For information about other connections on the XtraDrive-DP, refer to the XtraDrive User Manual.
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
Setting the Node Address
The second stage of the installation process is setting the node address.
Set the PROFIBUS node address by rotating the rotary switches located on the front of the XtraDrive-DP. Use a small flat screwdriver to set the switches to an available node address, from
0 to 125. Note that x10 represents the hexadecimal sixteens place
(MSB) and x1 represents the units place (LSB). For example, to set a node address of 52, you should set rotary switches to 34 Hex, meaning that the MSB dial (x10) should be turned to 3 and the
LSB dial (x1) should be turned to 4.
B
D
E
F
0
1
2
3
5
A
9
8
7
6
B
D
E
F
0
1
2
3
5
A
9
8
7
6 x10 x1
The status of the node address rotary switches is only read immediately after power on. You should take note of this fact when changing the node address.
20
XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
LED Indicators
The front of the XtraDrive-DP contains two LEDs that indicate the
XtraDrive-DP’s status. One of the LEDs displays bus information and the other displays system information.
Each of the LEDs can have three states.
✦ System failure LED
❖ When the LED is off, no system failure has occurred.
❖ When the LED is red, a system failure has occurred.
❖ When the LED is blinking red, a warning or alarm has occurred.
NOTE:
If the system failure LED indicates that a warning message or alarm has been received, refer to the XtraDrive User Manual for further information.
✦ Bus failure LED
❖ When the LED is green, data exchange is taking place.
❖ When the LED is red, no communication is taking place.
❖ When the LED is blinking red, communication is taking place but the XtraDrive-DP is not performing data exchange.
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XtraDrive-DP User Manual Chapter 2: Installing XtraDrive-DP
22
XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Chapter 3
About This Chapter
Working with
XtraDrive-DP
This chapter discusses the main stages of working with
XtraDrive-DP on a PROFIBUS network, the various types of parameters that can be set and diagnostics available for
XtraDrive-DP.
✦ Overview, page 24, provides an introduction to XtraDrive-DP
functionality and how it fits into a PROFIBUS network.
✦ Setting Up XtraDrive-DP, page 25, describes the major steps
involved in setting up, parameterizing and configuring a
PROFIBUS network.
✦ Sending Commands, page 33, describes the steps to follow in
order to send commands during data exchange.
✦ Setting XtraDrive-DP Parameters, page 37, describes three
different methods for setting parameters on the XtraDrive-DP.
✦ Reading Variables, page 39, describes how to define variables
that that will be used to transmit data during data exchange.
✦ Downloading XtraDrive-DP Programs, page 40, provides two
methods for downloading programs to an XtraDrive-DP.
23
XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
✦ Starting Program Synchronization, page 41, describes how to
synchronize the starting of programs on multiple XtraDrive-DP slaves.
✦ Diagnostics, page 42, describes the structure of alarm, warning
and error messages from XtraDrive-DP.
Overview
In order to take advantage of PROFIBUS network functionality, the
XtraDrive-DP must be configured in a specific way. Firstly, a GSD file is installed via a PROFIBUS DP configuration tool, enabling access to all the parameters associated with the XtraDrive-DP.
Once the GSD file has been installed, by selecting the required module, you define a set of parameters and/or the data exchange
I/O structure to be used.
24
XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Setting Up XtraDrive-DP
Installing GSD Files
The first step in setting up an XtraDrive-DP is to install its associated GSD file, according to the requirements of the configuration tool you are using.
Using Modules to Set Up
XtraDrive-DP
The next step is to select the XtraDrive-DP modules that will be used in your application.
The XtraDrive GSD file (YETM07AA.GSD) provides a list of modules you can choose to setup the XtraDrive-DP for specific applications.
During this stage, you use a standard configuration tool to set the parameters and determine the structure of the data that is transferred during data exchange. Later, these parameters are sent to the XtraDrive-DP during the parameterization and configuration stages.
The following modules are used for setting up applications:
✦ System Setup (mandatory), page 26
✦ Digital I/O, page 26
✦ Command, page 27
✦ XtraDrive Status, page 28
✦ System Profile, page 29
✦ Pulse-Train Input, page 29
✦ Speed Control (Analog Reference), page 30
✦ Torque Control (Analog Reference), page 30
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
✦ Position Variables, page 30
✦ Speed Variables, page 31
✦ Torque Variables, page 31
✦ Get Parameters, page 32
The order of the fields in each module is fixed, but the placement of the module changes according to your definitions.
For a detailed explanation of variables and commands, refer to the
XtraWare User’s Manual
.
System Setup
This module determines the XtraDrive-DP’s mode of operation.
The system setup parameters are:
✦ Control method
✦ Stop mode
✦ Setting system limits
✦ Motor direction
✦ Turning off the motor
Digital I/O
This module is used for defining and reading XtraDrive-DP’s external input and output.
The digital I/O parameters are:
✦ Type of response for each signal input
✦ Digital data that will be transmitted for each output.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
The following table shows the digital I/O module I/O map:
Digital I/O (input)
Offset
Size
(bytes)
Command
This module is used for sending XtraDrive-DP’s commands from the master.
The command module parameters are:
✦ User units
✦ Default profile value of velocity, acceleration and jerk smoothing time
✦ Program definitions
The following table shows the command module I/O map:
Offset
Command (output)
Size
(bytes)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
XtraDrive Status
This module is used for reading the XtraDrive-DP’s status by the master.
The following table shows the XtraDrive status module I/O map:
XtraDrive Status (input)
Offset
Size
(bytes)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
System Profile
This module is used for reading the XtraDrive-DP’s system profile.
The following table shows the system profile module I/O map:
System profile (input)
Offset
Size
(bytes)
Pulse-Train Input
This module is used for reading the pulse-train.
The pulse-train parameters are:
✦ Pulse-Train gear
✦ Synchronized window
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Speed Control (Analog Reference)
This module is used to determine the speed control’s mode of operation.
The speed control parameters are:
✦ Velocity control loop
✦ Acceleration
✦ Speed
Torque Control (Analog Reference)
This module is used to determine the torque control’s mode of operation.
The torque control parameters are:
✦ Torque limits
✦ Emergency stop
✦ Speed limit
Position Variables
This module is used for reading the XtraDrive-DP’s position variables.
The following table shows the position variables module I/O map:
Position variables (input)
Offset
Size
(bytes)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Speed Variables
This module is used for reading the XtraDrive-DP’s speed variables.
The following table shows the speed variables module I/O map:
Speed variables (input)
Offset
Size
(bytes)
Torque Variables
This module is used for reading the XtraDrive-DP’s torque variables.
The following table shows the torque variables module I/O map:
Torque variables (input)
Offset
Size
(bytes)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Get Parameters
This module is used for reading the answer to the Get Parameters command.
NOTE:
In order to use the Get Parameters module, you must also choose
Command.
The following table shows the get parameters module I/O map:
Offset
Speed variables (input)
Size
(bytes)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Sending Commands
Perform the following steps in order to send commands during data exchange:
1 Select the command module (see Setting Up XtraDrive-DP, page 25).
2 During data exchange, the master sends the command to the
XtraDrive-DP.
The command message contains the following fields:
✦ ID - A numeric identifier that is used to associate between the command and the relevant command response or diagnostic.
✦ Op_code - Shown in the table on page 34.
✦ Mode:
❖ Immediate (Mode 2): Use this mode in order to issue a single command for immediate execution (for example, changing the state of an output while a program is running, or lowering the gain while the motor is enabled).
❖ Program download (Mode 4): Use this mode when downloading a program to the XtraDrive-DP.
❖ Sequential (Mode 3): Use this mode when the master sends a command stream that should be executed as a program
(for example, move the motor and wait for the motion to complete, wait for input, or execute another move).
✦ Command Parameter 1 — Command parameter 5 - Command arguments.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
The table below lists all the commands and their opcodes (in decimal format):
Name Op_Code Command Parameters
ACCELERATION
CALL
CONTROL
DELAY
END
GAIN
GET_PAR
GO
GO_D
GO_H
GO_TO
64
66
69
144
70
71
85
112
128
117
73
Acceleration
Label
ON=1/OFF=0
Delay [ms]
Target
Target
Label
Gain [%]
Parameter Number
Target Motion Time [ms]
Motion Time [ms]
HARD_HOME 131 Speed
[0.1% of rated]
HOME_C
HOME_SW
HOME_SW_C
IF
*
133
132
130
Speed
Speed to switch
Speed to switch
Return Speed
Speed to C-pulse
IF_INPUT
INPUT_CASE
89
97
Input Number
Inputs Mask Inputs State
JERK_TIME
LABEL
74
88
Time [us]
Label
* This command has 5 parameters. For more information, refer to the
XtraWare User’s Manual
.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Name Op_Code Command Parameters
LOOP
MOVE
MOVE_D
MOVE_H
MOVE_R
PT_FOLLOWER
RETURN
RUN
SET_OUT
101
77
78
79
75
113
129
118
119
Loop Level
Distance
Distance
Distance
Distance
Number of cycles Label
Motion Time [ms]
Motion Time [ms]
ON=1/OFF=0
Label
Output Number ON=1/OFF=0
SET_ZERO_POSITION
SLIDE
SLIDE_ANALOG
SPEED
SPEED_CONTROL
START
95
115
102
83
100
82
STOP_MOTION
TORQUE
TORQUE_ANALOG
TORQUE_LIMITS
WAIT_EXACT
WAIT_FOR_START
99
116
103
87
145
146
Speed
Speed
Speed Control
Control OFF=1
Torque [0.1% of rated]
CW [0.1% of max] CCW [0.1% of max]
Timeout [ms]
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Name Op_Code Command Parameters
WAIT_INPUT
WAIT_STOP
147
148
Input Number
Timeout [ms]
WAIT_VARIABLE_GT 149 Variable
Timeout [ms]
Value
Value
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Setting XtraDrive-DP
Parameters
XtraDrive-DP parameters define how the XtraDrive-DP will operate.
Refer to Appendix B, XtraDrive-DP Parameters List for a complete list of all XtraDrive-DP parameter modules, their parameter numbers and descriptions. More detail is provided in the XtraDrive
User Manual
.
Parameters can be set using any of three methods:
✦ Setting Parameters at Parameterization, below, describes parameters that are set using a PROFIBUS DP configuration tool during initial configuration.
✦ Setting Parameters During Data Exchange, page 38, describes how to change parameters using external commands during data exchange.
✦ Setting Parameters with XtraWare, page 38, describes the option to change parameters using XtraWare and download them to the XtraDrive-DP.
Setting Parameters at
Parameterization
You select the relevant modules and define the value of the parameters with a PROFIBUS DP configuration tool, and download them to the master. Refer to Appendix E, Example of Using
XtraDrive-DP
.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Setting Parameters During Data
Exchange
Using this method, you can modify parameters using the SET_PAR command during data exchange. To enable the ability to set parameters during data exchange, you must first select the
Command module during configuration. Then, during data exchange, you use the SET_PAR command to change selected parameters. See Command on page 27 for further details.
Setting Parameters with XtraWare
XtraWare is an advanced PC-based software tool that can be used to change parameters. An overview of XtraWare’s functionality is provided in Appendix D, Working with XtraWare.
NOTE:
✦
Only XtraWare may change password-protected parameters.
✦
XtraWare may not change parameters that have been set and configured with the PROFIBUS DP configuration tool.
XtraWare can be downloaded from YET’s website: www.yetmotion.com
.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Reading Variables
You define the variables you want to read by choosing at least one of the following modules during configuration (see Setting Up
XtraDrive-DP
, page 25). The variables are read in a predefined, fixed order. You can choose one or more of these modules and define the order of the modules, but not the order of the variables within the modules.
Timeline refers to the lapse time for the transfer of a message between the PROFIBUS I/O map and the XtraDrive-DP.
Module Offset Size
0
Description
Timeline
(
µµµµ
s)
4 Status_word 125
0
2000
2000
2000
4 Profile_velocity 2000
2000
2000
2000
16 4 2000
2000
2000
2000
2000
2000
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Module Offset Size
0
Description
Timeline
(
µµµµ
s)
4 Target_position 125
2000
125
0
0
2000
4 Target_velocity 2000
2000
2000
2 Target_torque 2000
2000
Downloading XtraDrive-DP
Programs
You can download programs to an XtraDrive-DP in one of two ways:
✦ From a PC via the serial port to the XtraDrive-DP, by using the
XtraWare software. This is the recommended method.
✦ Via the PROFIBUS network during data exchange, by downloading a program line by line. In the command, the mode field is set to program download (mode 4) and the ID field is set to the program’s line number to be downloaded.
NOTE:
In order to download programs to the XtraDrive-DP during data exchange, you must first chose the Command module during configuration.
For further information, refer to the XtraDrive User Manual.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Starting Program
Synchronization
XtraDrive-DP is designed to enable the synchronization of the start of programs on a group of drives, within a maximum time gap of
125
µ sec. To enable this functionality, use the PROFIBUS SYNC command.
SYNC is a PROFIBUS control command, which is sent (broadcast) to multiple slaves simultaneously. After the slaves receive the
SYNC command from the master, output is frozen in its current state and new outputs are not sent to XtraDrive-DP until the next
SYNC command.
Start program synchronization includes the following steps:
✦ You add to program the WAIT_TO_START command, before first movement command.
✦ During data exchange, the master sends a RUN < label > command to each XtraDrive.
✦ The program runs until the first movement is ready to be executed (location in MCB - Motion Command Buffer).
✦ The master checks if the status word’s 8th bit (Ready for Start) is set to 1 in each drive.
✦ The master sends a SYNC command to the group of XtraDrives.
✦ During data exchange, the master sends a START command to each XtraDrive.
✦ (Mode - broadcast). The command will not execute until the next SYNC command.
✦ The master sends a second SYNC command to the group of
XtraDrives.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
Diagnostics
A PROFIBUS network enables a slave to report back to the master regarding problems on the network.
Diagnostics take place during the normal process of data exchange.
To initiate a diagnostics request, XtraDrive-DP sends an error flag in the frame control to the master. The master then sends a diagnostic request that is answered by XtraDrive-DP.
The master can request diagnostic information at different times:
✦ Before downloading parameters, to make sure the field device is available.
✦ Before entering the data exchange mode, to validate parameters and configuration and make sure the field device is ready.
✦ During data exchange, whenever indicated by the field device.
The XtraDrive-DP diagnostic information that is sent to the master consists of standard PROFIBUS diagnostic information, plus additional diagnostic information for the XtraDrive-DP: alarms, warnings, faults and command IDs.
The structure of an XtraDrive-DP diagnostic message is shown in the following diagram:
XtraDrive-DP
Extension
1 2 3 4 5 6 7 8 9 10 11 12
Standard
ID (2 bytes)
Fault (1 byte)
Warning (1 byte)
Alarm (1 byte)
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
The following information is contained in a diagnostic message:
✦ Bytes 1-6 contain standard PROFIBUS diagnostic information.
✦ Byte 7 contains information about the length of the extension in the message that will contain the required XtraDrive-DP diagnostics.
The next five bytes contain diagnostic information specifically for the XtraDrive-DP. This is shown graphically in the diagram on page 42.
✦ Byte 8 contains a code for alarms.
Alarm messages refer to XtraDrive-DP states.
After receiving an alarm message, in order to continue work you must restart the XtraDrive-DP.
✦ Byte 9 contains a code for warnings.
Warning messages refer to problems that may become alarms, such as decreasing battery voltage.
✦ Byte 10 contains a code for faults.
Fault messages refer to XtraDrive-DP motion commands, and can appear only at command execution.
✦ Bytes 11 and 12 contain a command ID (relevant only for faults), where the ID specifies the command that caused the fault.
NOTE:
Refer to the Appendix C, XtraDrive-DP Alarms, Warnings and Faults for a complete list of alarm, warning and fault messages.
To solve problems resulting from alarm or fault messages, refer to the XtraDrive User Manual. To solve problems resulting from warning messages, refer to the XtraWare User’s Manual.
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XtraDrive-DP User Manual Chapter 3: Working with XtraDrive-DP
XtraDrive-DP's Response to
Clear Data Control Command
When XtraDrive-DP receives a Clear Data control command (sent by master class 1), it performs the following steps:
✦ Stops all motion, if the motion command is executing.
✦ Turns the servo off.
✦ Keeps the last state of XtraDrive-DP’s digital output.
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XtraDrive-DP User Manual Appendix A: XtraDrive-DP GSD File
Appendix A
XtraDrive-DP
GSD File
The GSD file contains all the parameters available for use on the
XtraDrive-DP. Download the most updated GSD file
(YETM07AA.GSD) from www.yetmotion.com
or from www.profibus.com
before beginning to work with the
XtraDrive-DP.
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XtraDrive-DP User Manual Appendix A: XtraDrive-DP GSD File
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Appendix B
XtraDrive-DP
Parameters List
Module Name Description
Direction Selection:
Pn000.0: Direction
Selection
0 — Forward direction
1 — Reverse direction
Control Method Selection:
Pn000.1: Control Method
Selection
C — NCT: Position control (pulse train)
D — NCT: Programming mode
Pn000.2
Pn000.3
Pn001.0: Servo
OFF/Alarm Stop Mode
Reserved
Reserved
Servo OFF/Alarm Stop Mode:
0 — Apply dynamic brake (stop)
1 — Apply & release dynamic brake
(stop)
2 — Stop without dynamic brake (coast)
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
Overtravel Stop Mode:
Pn001.1: Overtravel Stop
Mode
0 — Same as Pn001.0
1 — Maximum torque Pn406, servo lock
2 — Maximum torque Pn406, coast state
AC/DC Power Input Selection:
Pn001.2: AC/DC Power
Input
0 — Input AC power via L1, L2, L3 terminals
1 — Input DC power via +1, - terminals
Warning Code Output Selection:
Pn001.3: Warning Code
Output
0 — ALO1, 2, 3 output alarm codes only
1 — ALO1, 2, 3 output both alarms & warnings
Speed Control Option (T-REF Terminal
Allocation):
Pn002.0: Speed Control
(Uses T-REF)
Pn002.1: Torque Control
(V-REF)
0 — None
1 — External torque limit input
2 — Torque feed-forward input
3 — External torque limit when
P/N-CL=ON
Torque Control Option (V-REF Terminal
Allocation):
Pn002.2: Absolute
Encoder Usage
0 — None
1 — VREF is external speed limit input
Absolute Encoder Usage:
0 — Use as absolute encoder
1 — Use as incremental encoder
2 — Absolute encoder with multiturn limit
Pn002.3 Not Used
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn103: Inertia Ratio
Description
Inertia Ratio: This parameter enables you to enter a rough estimation of your system’s external load, as a percentage of the motor’s inertia.
Reserved Pn110.0
Pn110.1
Pn110.2
Pn110.3
Pn200.0: Reference Pulse
Form
Pn200.1: Error Counter
Clear Signal Form
Reserved
Reserved
Reserved
Reference Pulse Form:
0 — Sign & pulse, positive logic
1 — CW & CCW, positive logic
2 — AB (x1), positive logic
3 — AB (x2), positive logic
4 — AB (x4), positive logic
5 — Sign & pulse, negative logic
6 — CW & CCW, negative logic
7 — AB (x1), negative logic
8 — AB (x2), negative logic
9 — AB (x4), negative logic
Error Counter Clear Signal Form:
0 — Clear error counter when signal=high
1 — Clear error counter on signal rising edge
2 — Clear error counter when signal=low
3 — Clear error counter on signal falling edge
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
Clear Operation:
Pn200.2: Clear Operation
Pn200.3: Filter
0 — Clear error counter at base block
1 — Does not clear error counter
2 — Clear error counter on alarm
3 — Clear signal ignore
Filter Selection:
0 — Reference input filter: line driver
1 — Reference input filter: open collect
Pn205: Multi-turn Limit
Setting
Pn2A9: Quick Stop
Deceleration (High)
Multi-turn Limit Setting: This parameter periodically clears the encoder’s counter
(that is, returns the setting to 0) after a predefined ratio of motor-to-load axis revolutions.
Quick Stop Deceleration (High): This parameter, together with Pn2A8, defines the motor’s deceleration when a STOP command is issued.
Pn2A8: Quick Stop
Deceleration
(Low)
Pn505: Overflow Level
Pn506: Brake to Servo
OFF Time
Quick Stop Deceleration (Low): This parameter, together with Pn2A9, defines the motor’s deceleration when a STOP command is issued.
Overflow Level: This parameter defines the Position error overflow level. The units are user units x 256.
Brake Reference Servo OFF Delay Time:
This parameter sets the delay between the time when the Brake Reference signal is issued until the servo is off.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn507: Brake Reference
Output Speed Level
Pn508: Brake Reference
On Time
Description
Brake Reference Output Speed Level:
Speed level for brake reference output during motor operation
Timing for brake reference output during motor operation
Pn509: Momentary Hold
Time
Pn600: Regenerative
Resistor Capacity
Pn502: Rotation
Detection Level
Momentary Hold Time: This parameter determines if an alarm is generated when a power loss occurs.
Regenerative Resistor Capacity: This parameter specifies the capacity for an external regenerative resistor.
Rotation Detection Level: This parameter sets the speed at which the servo amplifier determines that the servomotor is running and, if so, to output an appropriate signal.
Pn504: /NEAR Signal
Width
/NEAR Signal Width
Pn500: Positioning
Completed Width
Pn503: Speed
Coincidence Signal
Output Width
Positioning Completed Width: This parameter sets the number of error pulses and adjusts the output timing of the positioning completed signal.
Speed Coincidence Signal Output Width:
This parameter sets the required conditions for speed coincidence output.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
Program Input 1:
Pn2D0.0: Program Input 1
Pn2D0.1: Program Input 2
0 — SI0 (CN1-40)
1 — SI1 (CN1-41)
2 — SI2 (CN1-42)
3 — SI3 (CN1-43)
4 — SI4 (CN1-44)
5 — SI5 (CN1-45)
6 — SI6 (CN1-46)
7 — ON
8 — OFF
Program Input 2:
Refer to Pn2D0.0, page 52.
Program Input 3:
Pn2D0.2: Program Input 3
Pn2D0.3: Program Input 4
Pn2D1.0: Emergency
Input
Refer to Pn2D0.0, page 52.
Program Input 4:
Refer to Pn2D0.0, page 52.
Emergency Input:
0 — SI0 (CN1-40)
1 — SI1 (CN1-41)
2 — SI2 (CN1-42)
3 — SI3 (CN1-43)
4 — SI4 (CN1-44)
5 — SI5 (CN1-45)
6 — SI6 (CN1-46)
7 — OFF
8 — ON
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
Fast Input Detection (125
µµµµ
sec):
Pn2D1.1: Motion Input
(125
µ sec)
0 — SI0 (CN1-40)
1 — SI1 (CN1-41)
2 — SI2 (CN1-42)
3 — SI3 (CN1-43)
4 — SI4 (CN1-44)
5 — SI5 (CN1-45)
6 — SI6 (CN1-46)
Pn2D1.2: Program Input 5
Program Input 5:
Refer to Pn2D0.0, page 52.
Program Input 6:
Pn2D1.3: Program Input 6
Pn2C7.0: Home Switch
Input
Refer to Pn2D0.0, page 52.
Home Switch Input:
0 — SI0 (CN1-40)
1 — SI1 (CN1-41)
2 — SI2 (CN1-42)
3 — SI3 (CN1-43)
4 — SI4 (CN1-44)
5 — SI5 (CN1-45)
6 — SI6 (CN1-46)
7-F — Home failure
Pn2C7.1: Home Switch
Polarity
Home Switch Polarity:
0 — Normally closed (0 Volt logic)
1 — Normally open
2 — Home failure
Pn2C7.2
Pn2C7.3
Pn50A.0
Reserved
Reserved
Reserved
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
/S-ON Signal Mapping (Servo ON when
Low):
Pn50A.1: /S-ON Input
Pn50A.2: /P-CON Input
0 — SI0 (CN1-40)
1 — SI1 (CN1-41)
2 — SI2 (CN1-42)
3 — SI3 (CN1-43)
4 — SI4 (CN1-44)
5 — SI5 (CN1-45)
6 — SI6 (CN1-46)
7 — ON
8 — OFF
9 — SI0 (CN1-40) (Negative Logic)
A — SI1 (CN1-41) (Negative Logic)
B — SI2 (CN1-42) (Negative Logic)
C — SI3 (CN1-43) (Negative Logic)
D — SI4 (CN1-44) (Negative Logic)
E — SI5 (CN1-45) (Negative Logic)
F — SI6 (CN1-46) (Negative Logic)
/P-Con Signal Mapping (P-control when
Low):
Pn50A.3: P-OT Input
Pn50B.0: N-OT Input
Refer to Pn50A.1, page 54.
P-OT Signal Mapping (Overtravel when
High):
Refer to Pn50A.1, page 54.
N-OT Signal Mapping (Overtravel when
High):
Pn50B.1: /ALM-RST Input
Refer to Pn50A.1, page 54.
/ALM-RST Signal Mapping (Alarm Reset when Low):
Refer to Pn50A.1, page 54.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn50B.2: /P-CL Input
Description
/P-CL Signal Mapping (External Forward
Torque Limit Enable according to
Pn404):
Pn50B.3: /N-CL Input
Refer to Pn50A.1, page 54.
/N-CL Signal Mapping (External Reversed
Torque Limit Enable:
Pn50C.0: /SPD-D Input
Refer to Pn50A.1, page 54.
/SPD-D Signal Mapping
Internal Speed Selection — Selects direction (0 — Forward; 1 — Reversed)
Pn50C.1: /SPD-A Input
Refer to Pn50A.1, page 54.
/SPD-A Signal Mapping
Internal Speed Selection — Defines internal speed together with /SPD-B
Pn50C.2: /SPD-B Input
Refer to Pn50A.1, page 54.
/SPD-B Signal Mapping.
Internal Speed Selection — Defines internal speed together with /SPD-A
Pn50C.3: /C-SEL Input
Pn50D.0: /ZCLAMP Input
Pn50D.1: /INHIBIT Input
Refer to Pn50A.1, page 54.
/C-SEL Signal Mapping (Control Mode
Switching):
Refer to Pn50A.1, page 54.
/ZCLAMP Signal Mapping (Zero
Clamping):
Refer to Pn50A.1, page 54.
/INHIBIT Signal Mapping (Disabling
Pulse-Train Input):
Refer to Pn50A.1, page 54.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
/G-SEL Signal Mapping (Gain Switching):
Pn50D.2: /G-SEL Input
Refer to Pn50A.1, page 54.
Pn50D.3
Pn2D2.0: /COIN Output
Pn2D2.1: Program
Output 1
Pn2D2.2: Program
Output 2
Pn2D2.3: Program
Output 3
Pn50E.0: /COIN Output
Pn50E.1: /V-CMP Output
Pn50E.2: /TGON Output
Pn50E.3: /S-RDY Output
Pn50F.0: /CLT Output
Pn50F.1: /VLT Output
Reserved
/COIN Signal Mapping:
0 — Disabled
1 — SO1 (CN1-25,26)
2 — SO2 (CN1-27,28)
3 — SO3 (CN1-29,30)
Program Output 1:
Refer to Pn2D2.0, page 56.
Program Output 2:
Refer to Pn2D2.0, page 56.
Program Output 3:
Refer to Pn2D2.0, page 56.
/COIN Signal Mapping:
Refer to Pn2D2.0, page 56.
/V-CMP Signal Mapping:
Refer to Pn2D2.0, page 56.
/TGON Signal Mapping:
Refer to Pn2D2.0, page 56.
/S-RDY Signal Mapping:
Refer to Pn2D2.0, page 56.
/CLT Signal Mapping:
Refer to Pn2D2.0, page 56.
/VLT Signal Mapping:
Refer to Pn2D2.0, page 56.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name Description
/BK Signal Mapping:
Pn50F.2: /BK Output
Refer to Pn2D2.0, page 56.
/WARN Signal Mapping:
Pn50F.3: /WARN Output
Refer to Pn2D2.0, page 56.
/NEAR Signal Mapping:
Pn510.0: /NEAR Output
Refer to Pn2D2.0, page 56.
Pn510.1
Pn510.2
Pn510.3
Pn512.0: SO1 Output
Reversal
Pn512.1: SO2 Output
Reversal
Pn512.2: SO3 Output
Reversal
Pn512.3
Not Used
Not Used
Not Used
Output Signal Reversal for SO1 (CN1-25,
26):
0 — Output signal not reversed
1 — Output signal reversed
Output Signal Reversal for SO2 (CN1-27,
28):
0 — Output signal not reversed
1 — Output signal reversed
Output Signal Reversal for SO3 (CN1-29,
30):
0 — Output signal not reversed
1 — Output signal reversed
Not Used
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn2A3: Work Speed
Default (High)
Pn2A2: Work Speed
Default (Low)
Pn2A5: Work
Acceleration Default
(High)
Pn2A4: Work
Acceleration Default
(Low)
Description
Work Speed Default (High): This parameter, together with Pn2A2, defines the default value of the profile speed variable.
Work Speed Default (Low): This parameter, together with Pn2A3, defines the default value of the profile speed variable.
Work Acceleration Default (High): This parameter, together with Pn2A4, defines the default value of the profile acceleration variable.
Work Acceleration Default (Low): This parameter, together with Pn2A5, defines the default value of the profile acceleration variable.
Pn2A6: Work Jerk -
Smoothing Time
Pn2B1: Position Units
Ratio Number (High)
Pn2B0: Position Units
Ratio Number (Low)
Work Jerk-Smoothing Time Default: This parameter defines the default value of the jerk-smoothing time variable.
Position Units Ratio Numerator (High):
This parameter, together with Pn2B0, sets the numerator to be used in the ratio to convert position units from user units to encoder counts.
Position Units Ratio Numerator (Low):
This parameter, together with Pn2B1, sets the numerator to be used in the ratio to convert position units from user units to encoder counts.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn2B3: Position Units
Ratio Den (High)
Description
Position Units Ratio Denominator (High):
This parameter, together with Pn2B2, sets the denominator to be used in the ratio to convert position units from user units to encoder counts.
Pn2B2: Position Units
Ratio Denominator (Low)
Pn2B5: Speed Units Ratio
Numerator (High)
Pn2B4: Speed Units Ratio
Numerator (Low)
Pn2B7: Speed Units Ratio
Denominator (High)
Position Units Ratio Denominator (Low):
This parameter, together with Pn2B3, sets the denominator to be used in the ratio to convert position units from user units to encoder counts.
Speed Units Ratio Numerator (High):
This parameter, together with Pn2B4, sets the numerator to be used in the ratio to convert speed units from user speed units to encoder counts/msec.
Speed Units Ratio Numerator (Low): This parameter, together with Pn2B5, sets the numerator to be used in the ratio to convert speed units from user speed units to encoder counts/msec.
Speed Units Ratio Denominator (High):
This parameter, together with Pn2B6, sets the denominator to be used in the ratio to convert speed units from user speed units to encoder counts/msec.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn2B6: Speed Units Ratio
Denominator (Low)
Pn2B9: Acceleration
Units Ratio Numerator
(High)
Description
Speed Units Ratio Denominator (Low):
This parameter, together with Pn2B7, sets the denominator to be used in the ratio to convert speed units from user speed units to encoder counts/msec.
Acceleration Units Ratio Numerator
(High): This parameter, together with
Pn2B8, sets the numerator to be used in the ratio to convert acceleration units from user acceleration units to encoder counts/(10 msec)
2
.
Pn2B8: Acceleration
Units Ratio Numerator
(Low)
Pn2BB: Acceleration
Units Ratio Denominator
(High)
Pn2BA: Acceleration
Units Ratio Denominator
(Low)
Acceleration Units Ratio Numerator
(Low): This parameter, together with
Pn2B9, sets the numerator to be used in the ratio to convert acceleration units from user acceleration units to encoder counts/(10 msec)
2
.
Acceleration Units Ratio Denominator
(High): This parameter, together with
Pn2BA, sets the denominator to be used in the ratio to convert acceleration from user acceleration units to encoder counts/(10 msec)
2
.
Acceleration Units Ratio Denominator
(Low): This parameter, together with
Pn2BB, sets the denominator to be used in the ratio to convert acceleration units from user acceleration units to encoder counts/(10 msec)
2
.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn2C0: Motion End
Window
Pn2C1: Torque Slope
Pn2CC: AutoStart User
Program
Pn202: Pulse-Train Gear
Ratio (Numerator)
Pn203: Pulse-Train Gear
Ratio (Denominator)
Pn2C4: Synchronized
Window (Pulse-Train)
Description
Motion End Window: This parameter defines the default value of the window of acceptable position errors after a motion has been completed.
Torque Slope: This parameter defines the default value, as 0.1% of the rated torque/1 msec, for the torque slope command.
Auto-Start User Program: This parameter specifies the label number (1-99) of the user program to start when the power is turned on. If the value is set to 0, then no program is automatically run.
Pulse-Train Electronic Gear Ratio
(Numerator): When using pulse train, this parameter sets the numerator to be used in the electronic gear function.
Pulse-Train Electronic Gear Ratio
(Denominator): When using pulse train, this parameter sets the denominator to be used in the electronic gear function.
Synchronized Window for Pulse-Train:
This parameter defines the window of acceptable synchronization errors in a dynamic motion, as used by the
Follower_Synchronize flag.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn305: Soft Start
Acceleration Time
Pn306: Soft Start
Deceleration Time
Description
Soft Start Acceleration Time: This parameter sets the interval between the time when the servomotor starts until it reaches maximum speed (contact reference).
Soft Start Deceleration Time: This parameter sets the interval between the time when the servomotor reaches maximum speed until it stops (contact reference).
Pn307: Speed Reference
Filter Time
Pn308: Speed Feedback
Filter Time
Speed Reference Filter Time Constant
Speed Feedback Filter Time Constant
Pn300: Speed Reference
Input Gain
Pn100: Speed Loop Gain
Speed Reference Input Gain: This parameter sets the voltage range for the V-
REF (CN1-5) speed reference input, based on the host controller or external circuit’s output range.
Speed Loop Gain: When NCT is not used, this parameter, together with Pn101, enables you to ensure that the speed error
(the difference between the internal speed command and the actual speed) is as small as possible.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn101: Speed Loop
Integral Time
Pn401: Torque Reference
Filter Time
Pn408.0: Notch Filter
Selection
Description
Speed Loop Integral Time Constant:
When NCT is not used, this parameter, together with Pn100, enables you to ensure that the speed error (the difference between the internal speed command and the actual speed) is as small as possible.
Torque Reference Filter Time Constant:
This parameter sets the torque reference’s filter time constant in the servo amplifier; the smaller the value, the faster the speed control response is.
Notch Filter Selection:
0 — Disabled
1 — Use notch filter for torque ref
Pn408.1
Pn408.2
Pn408.3
Pn409: Notch Filter
Frequency
Not Used
Not Used
Not Used
Notch Filter Frequency: This parameter, together with Pn40A, sets the frequency at which the notch filter is effective.
Pn40A: Notch Filter
Width
Notch Filter Width: This parameter, together with Pn409, sets the frequency at which the notch filter is effective.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn109: Feed Forward
(Speed Control)
Description
Feed-Forward (Speed Control): When
NCT is not used, this parameter is used to shorten positioning time, as well as to differentiate a speed reference at the host controller to generate a torque feedforward reference and then input this reference together with the speed reference to the servo amplifier.
This parameter is applicable only in
Speed Control (analog) mode.
Pn102: Position Loop
Gain
Position Loop Gain: When NCT is not used, this parameter increases stiffness and reduces position error during the trajectory following.
Pn301: Speed 1
Pn302: Speed 2
Speed 1: In Speed Control (contact reference) mode, this parameter, together with Pn302 and Pn303, enables you to select the motor’ s speed.
Speed 2: In Speed Control (contact reference) mode, this parameter, together with Pn301 and Pn303, enables you to select the motor’ s speed.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn303: Speed 3
Pn304: Jog Speed
Description
Speed 2: In Speed Control (contact reference) mode, this parameter, together with Pn301 and Pn302, enables you to select the motor’s speed.
Jog Speed: This parameter sets the motor’s speed when operating the servomotor from a panel or digital operator.
Pn501: Zero Clamp Level
Pn400: Torque Reference
Input Gain
Pn402: Forward Torque
Limit
Pn403: Reverse Torque
Limit
Pn404: Fwd External
Torque Limit
Zero Clamp Level: This parameter sets the motor speed level at which zero clamp is performed.
Torque Reference Input Gain: This parameter sets the voltage range for the
T-REF (CN1-9) torque reference input, based on the host controller or external circuit’s output range.
Forward Torque Limit: This parameter sets the maximum forward torque limit when torque is limited due to equipment conditions.
Reverse Torque Limit: This parameter sets the maximum reverse torque limit when torque is limited due to equipment conditions.
Forward External Torque Limit: This parameter sets the maximum forward torque limit when torque is limited by an external contact input.
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XtraDrive-DP User Manual Appendix B: XtraDrive-DP Parameters List
Module Name
Pn405: Reverse External
Torque Limit
Pn406: Emergency Stop
Torque
Pn407: Speed Limit
(Torque Control)
Description
Reverse External Torque Limit: This parameter sets the maximum reverse torque limit when torque is limited by an external contact input.
Emergency Stop Torque: This parameter specifies the stop torque applied for overtravel when using the input signal for prohibiting forward or reverse rotation.
Speed Limit During Torque Control: This parameter sets a speed limit for the motor when torque control is selected, and is used to prevent excessive equipment speed during torque control.
66
XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
Appendix C
XtraDrive-DP
Alarms, Warnings and Faults
Alarm Messages
A represents an alarm code that is described in more detail in the
XtraDrive User Manual
. Instructions on how to handle these alarms are also provided there.
64
65
66
67
68
69
70
A.02: Parameter Breakdown
A.03: Main Circuit Encoder Error
A.04: Parameter Setting Error
A.05: Servomotor and Amplifier Combination Error
A.10: Overcurrent or Heat Sink Overheated
A.30: Regeneration Error Detected
A.32: Regenerative Overload
74 A.71: Overload: High Load
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XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
91
92
93
94
95
97
84
85
86
87
80
81
82
83
75
76
77
78
79
88
89
90
A.72: Overload: Low Load
A.73: Dynamic Brake Overload
A.74: Overload of Surge Current Limit Resistor
A.7A: Heat Sink Overheated
A.81: Absolute Encoder Backup Power Supply Error
A.82: Encoder Checksum Error
A.83: Absolute Encoder Battery Error
A.84: Absolute Encoder Data Error
A.85: Absolute Encoder Overspeed
A.86: Encoder Overheated
A.B1: Reference Speed Input Read Error
A.B2: Reference Torque Input Read Error
A.BF: System Alarm
A.C1: Servo Overrun Detected
A.C2: Phase finding error
A.C8: Absolute Encoder Clear Error and Multi-Turn Limit Setting
Error
A.C9: Encoder Communications Error
A.CA: Encoder Parameter Error
A.CB: Encoder Echoback Error
A.CC: Multi-Turn Limit Disagreement
A.D0: Position Error Overflow
A.F1: Power Line Open Phase
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XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
Warning Messages
112 A.91: Overload
113 A.92: Regenerative Overload
Fault Messages
1
2
4
5
6
7
Sequential buffer full
Immediate buffer full
Too many program lines/Invalid program line number
Message checksum error*
SET_VAR: Invalid variable index
Variable is read-only
9
14
15
16
17
10
11
12
13
18
SET_ZERO_POSITION: Unable to SET_ZERO_POSITION while executing motion
Reply buffer full
Incomplete message received*
Message too long*
C-phase parameter not set
Invalid input assignment
SET_OUT: Invalid output assignment
Selected traced I/O not in use*
Command prohibited in present control method
Parameter storing fault — during auto tuning*
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XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
19
20
22
23
24
25
26
Parameter storing fault
Motor moving during CONTROL_ON
Auto tuning available in Programming Control mode only*
Program already running
Variable does not exist*
Wrong user units setting
Wrong setting profile speed acceleration or jerk
28 EEPROM read buffer full
31
33
Home Command: Both speeds are in the same direction
Hard Home: Torque exceeded torque limits
128 Reference to invalid label
129 Command not applicable in this programming mode
130 Can’t perform this motion with present profile acceleration
131 Can’t perform this motion with present profile speed
134 Too low speed
135 SET_VAR: Variable value out of range
136 Program flow error
137 Moving time is too short with present profile jerk time
139 Home sensor not defined
140 Motion cannot be executed while CONTROL_OFF
141 TORQUE_LIMITS: Invalid torque limits
142 Invalid or duplicated label
143 Invalid input number
144 Invalid output number
146 Auto tuning already in progress*
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XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
149 Unable to switch CONTROL_ON
192 Command buffer full
193 Duplicate Configuration module
194 Command parameter out of range
195 Parameterization fail
196 Configuration fail
197 Wrong GSD file version
199 Servo circuit communication error
200 Servo circuit internal watchdog error
201 Wrong station address*
202 Command disabled in PROFIBUS data exchange*
205 Error buffer full
* These messages are displayed only in XtraWare.
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XtraDrive-DP User Manual Appendix C: XtraDrive-DP Alarms, Warnings and Faults
72
XtraDrive-DP User Manual Appendix D: Working with XtraWare
Appendix D
Working with
XtraWare
XtraWare is an advanced PC-based software tool for the setup, optimal tuning and user programming of the XtraDrive family of products.
Using XtraWare, you are able to perform a variety of functions:
✦ Write and download a user program
✦ Immediately execute control commands
✦ Tune
✦ Set up
✦ Edit parameters
✦ Display alarms
✦ Perform jog operation
✦ Monitor
✦ Provide help
✦ See system status with a Watch window
✦ See a graphic representation of changes in parameter values
For further details, refer to the XtraWare User’s Manual.
XtraWare can be downloaded from YET’s website: www.yetmotion.com
.
73
XtraDrive-DP User Manual Appendix D: Working with XtraWare
74
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
Appendix E
Example of Using
XtraDrive-DP
About This Chapter
This appendix provides an example of the usage of XtraDrive-DP on a PROFIBUS network. First it shows how to use the S7 SIMATIC
Manager to define the parameterization and configuration processes and then it shows how to implement the application during data exchange.
Specifications
The following is a list of the system and application tasks to be carried out in this example:
✦ The XtraDrive-DP will drive a rotary motor with 16-bit encoder.
✦ The master will instruct the XtraDrive-DP to perform the following tasks:
❖ Make a movement of 34.7 degrees at a speed not higher than 1000 RPM.
❖ At the end of the movement, the XtraDrive-DP output #1
(CN1-25, 26) will be set to HIGH.
✦ An S7 SIMATIC Manager is used on the network.
75
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
Workflow
The following main steps must performed to carry out the above specifications:
1 Initialization conditions:
❖ Definition of movement units — 0.1 degrees
❖ Assignment of output #1
2 Send the Movement command.
3 Set the output.
The workflow has three stages, as follows:
1 System Setup, below, describes how to set up the hardware components used in this example.
2 Application Setup, page 78, describes how to set up the commands used to transfer data.
3 Application Execution During Data Exchange, page 81, describes how to execute the application during data exchange.
System Setup
System setup is composed of three steps:
1 Install the XtraDrive GSD File. An updated file
(YETM07AA.GSD) can be downloaded from YET’s website, http://www.yetmotion.com
.
From the S7’s Options menu, select Install New GSD.
When the GSD file is loaded, the XtraDrive-DP’s name appears in the list of drives in the Catalog window.
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XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
2
Select and define the network components: the PLC,
XtraDrive-DP, transmission rate, and so on.
Select the hardware components to be used on the PROFIBUS network, starting with the master (including its specific CPU and power supply), and then the network (for example, determining the profile and transmission rate). Once this has been carried out, you must determine the slave XtraDrive-DP and its address. It is important to ensure that this is the same as the address set by the rotary switches on the XtraDrive-DP’s front panel.
The picture below displays the system setup as shown in the S7
SIMATIC Manager:
3 Select the System Parameters module.
NOTE:
The three steps described above must be performed for any application.
Once you have finished setting the system definitions and configuration, you can continue with the specific application.
77
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
Application Setup
In this example, the application setup is composed of three steps:
1 Select the Digital I/O module. This module must be selected for output assignment.
Pn2D2.1: Program Output 1 = SO1(CN1-25,26)
The following screen displays this parameter selected:
2 Select the Command module. This module enables a master to send motion commands during data exchange, as well as allows you set the parameters related to the commands.
In this example, you must define the parameters as follows:
❖ User Units
•
Position Units — 0.1 degree
Pn2B1/0: Pos.Unts Ratio Num = 65536
Pn2B3/2: Pos.Unts Ratio Den = 3600
78
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
•
Speed Units — 1 RPM
Pn2B5/4: Spd.Unts Ratio Num = 65536
Pn2B7/6: Spd.Unts Ratio Den = 60000
•
Acceleration Units — 1 rad/sec
2
Pn2B9/8: Acc.Unts Ratio Num = 65536
Pn2BB/A: Acc.Unts Ratio Den = 62832
For explanations about how to determines these values, refer to the XtraDrive User Manual.
❖ Work Speed
•
Default value for working speed — 1000 RPM
Pn2A3/2: Work Spd Default = 1000
❖ Work Acceleration
•
Work acceleration default — 10000 rad/sec
2
Pn2A5/4: Work Accel. Default = 10000
3 Select the XtraDrive Status module. While it is not mandatory to select this module, it is helpful in enabling you to retrieve the
XtraDrive’s working status.
You have now defined the user units, working speed and acceleration, assigned output #1 and defined the structure of I/O data. The XtraDrive is now ready to run the application.
The I/O map for this application is shown below:
Input
Offset
Size
(bytes)
Content
79
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
Offset
Size
(bytes)
Output
Content
80
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
Application Execution During Data
Exchange
The master must send the following commands in Sequential
Mode:
CONTROL ON
MOVE_D 3470 -1
SET_OUT 1 ON
Three messages will be transferred to XtraDrive-DP during data exchange, as follows:
✦ Message 1 — For the CONTROL ON command:
Value
0x0001 0x45 0x03 0x00000001 0x00000000 0x00000000 0x00000000 0x00000000
✦ Message 2 — For the MOVE_D command:
Byte # 0-1 2 3 4-7 8-11 12-15 16-19 20-23
Value
0x0002 0x81 0x03 0x00000E10 0xFFFFFFFF 0x00000000 0x00000000 0x00000000
81
XtraDrive-DP User Manual Appendix E: Example of Using XtraDrive-DP
✦ Message 3 — For the SET_OUT command:
Byte # 0-1 2 3 4-7 8-11 12-15 16-19 20-23
Value
0x0003 0x4F 0x03 0x00000001 0x00000001 0x00000000 0x00000000 0x00000000
82
XtraDrive-DP User Manual
Commands
C
D
G
I
L
M
Modules
Index
Index
N
Node address
P
Parameters
set by XtraWare, 38 set during data exchange, 38
electrical characteristics, 17
83
XtraDrive-DP User Manual
S
Specifications
T
V
Variables
X
XtraDrive-DP
downloading programs to master, 40
XtraDrive-DP messages
Index
84
MAIN OFFICE
13 Hamelacha St.,
Afeq Industrial Estate
Rosh Ha'ayin 48091
ISRAEL
Tel: +972-3-9004114
Fax: +972-3-9030412
E-mail: [email protected]
YET US Inc.
531 King St.,
Unit 1
Littleton, MA 01460
USA
Tel: +1-866-YET-8080
Fax: +1-978-952-6821
For more information refer to our website: www.yetmotion.com
Specifications are subject to change without notice due to ongoing product modifications and improvements.
Catalog No. 8U0112 Rev. B
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