YASKAWA XtraDrive Series User Manual
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YASKAWA XtraDrive Series User Manual

YASKAWA XtraDrive Series User Manual

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XtraDrive SERIES
AC SERVO DRIVER
XtraDrive-DP
Embedded PROFIBUS
User Manual
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France
Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20
Web : http: www.audin.fr - Email : info@audin.fr

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  • Page 1 XtraDrive SERIES AC SERVO DRIVER XtraDrive-DP Embedded PROFIBUS User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...
  • Page 2 Copyright 2003 YET, Yaskawa Eshed Technology Ltd. All rights reserved. Other company and brand products and service names are trademarks or registered trademarks of their respective holders.
  • Page 3 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.
  • Page 4 XtraDrive-DP User Manual 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 AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 5: Table Of Contents

    About This Manual Table of Contents Chapter 1: Introducing XtraDrive-DP........1 What is XtraDrive? .......................2 XtraDrive with Embedded PROFIBUS (XtraDrive-DP) ..........3 Product Overview ......................4 XtraDrive-DP Specifications..................4 PROFIBUS Interface Specifications ................6 Nameplate ........................7 Type Description ......................8 Introduction to PROFIBUS ...................9 PROFIBUS-DP ......................9 Parameterization.....................11 Configuration......................12 Data Exchange......................12...
  • Page 6 XtraDrive-DP User Manual Sending Commands ....................33 Setting XtraDrive-DP Parameters ................37 Setting Parameters at Parameterization..............37 Setting Parameters During Data Exchange...............38 Setting Parameters with XtraWare ................38 Reading Variables .......................39 Downloading XtraDrive-DP Programs................40 Starting Program Synchronization ................41 Diagnostics .........................42 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...
  • Page 7 About This Manual 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.
  • Page 8 XtraDrive-DP User Manual viii 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.
  • Page 9 About This Manual 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.
  • Page 10 XtraDrive-DP User Manual 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.
  • Page 11 About This Manual 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.
  • Page 12 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 13: Chapter 1: Introducing Xtradrive-Dp

    Introducing XtraDrive-DP HAPTER Chapter 1 Introducing XtraDrive-DP About This Chapter This chapter provides a brief overview of XtraDrive-DP and its use on a PROFIBUS network. ✦ What is XtraDrive?, page 2, provides a brief introduction to XtraDrive-DP. ✦ Product Overview, page 4, provides a list of XtraDrive-DP and PROFIBUS specifications.

  • Page 14: What Is Xtradrive

    XtraDrive-DP User Manual What is XtraDrive? XtraDrive is a family of state-of-art, high-precision AC servo drivers. XtraDrive is based on a unique proprietary control technology, offering solutions for the most demanding applications. XtraDrive characteristics include: ✦ Advanced servo control ❖ High-precision During Movement (NCT Algorithm) ❖...

  • Page 15: Xtradrive With Embedded Profibus (Xtradrive-Dp)

    Introducing XtraDrive-DP HAPTER 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.

  • Page 16: Product Overview

    XtraDrive-DP User Manual Product Overview Below are the specifications for the XtraDrive-DP and the PROFIBUS interface. XtraDrive-DP Specifications Servo motor capacity (kW) 0.5 1.5 2.0 3.0 Voltage 3-Phase 400 VAC Command input PROFIBUS, Analog, pulse train Integrated positioner Various programmable motion profile modes Encoder I/F A/B (Z) encoder, serial encoder:...
  • Page 17 Introducing XtraDrive-DP HAPTER External torque limitation Input voltage +/- 12 V max. Ambient/storage 0-55° C/ -20 to -85° C temperature Ambient/storage humidity 90% or less (with no condensation) Dimensions for 400W LxWxH 180x110x160 model 0.5, 1.0, 1.5 kW Dimensions for 400W LxWxH 180x110x250 model 2, 3 kW AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France...

  • Page 18: Profibus Interface Specifications

    XtraDrive-DP User Manual PROFIBUS Interface Specifications Maximum Expansion 126 stations max. Communication RS-485 Auto-configuring GSD file PROFIBUS Profile PROFIBUS Port 9-pin D-shell Node Address 0-125 decimal Set by rotary switches (2 digit hex number) Segment distance 100 meters (327 feet) to 1200 meters (3270 feet) Baud Rate Selectable from 9.6 kbps to...

  • Page 19: Nameplate

    Introducing XtraDrive-DP HAPTER 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. Type Type Type Serial number Serial number Applicable power supply Applicable power supply Servomotor output...

  • Page 20: Type Description

    XtraDrive-DP User Manual Type Description This section specifies the model type information for each XtraDrive-DP. 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...

  • Page 21: Introduction To Profibus

    Introducing XtraDrive-DP HAPTER 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: ✦...
  • Page 22 XtraDrive-DP User Manual 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.

  • Page 23: Parameterization

    Introducing XtraDrive-DP HAPTER 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.

  • Page 24: Configuration

    XtraDrive-DP User Manual 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.

  • Page 25: Gsd File

    Introducing XtraDrive-DP HAPTER 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.
  • Page 26 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 27: Chapter 2: Installing 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.

  • Page 28: The Profibus Network

    XtraDrive-DP User Manual 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.
  • Page 29 Installing XtraDrive-DP HAPTER Electrical Characteristics The following table provides electrical characteristics for network communication cables. Table 1: Line Parameters Parameter Line A Line B 135 ...165 W 100 ...130 W Impedance (3 to 20 Mhz) (f >100kHz) Capacity <30 pF/m <60 pF/m Resistance <110 W /km...

  • Page 30: Connecting Xtradrive-Dp To A Profibus Network

    XtraDrive-DP User Manual Connecting XtraDrive-DP to a PROFIBUS Network Overview The diagram below shows a typical configuration of XtraDrive-DPs on a PROFIBUS network. Master Master GSD files PROFIBUS 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.
  • Page 31 Installing XtraDrive-DP HAPTER ✦ 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. ✦...

  • Page 32: Setting The Node Address

    XtraDrive-DP User Manual 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.

  • Page 33: Led Indicators

    Installing XtraDrive-DP HAPTER 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 ❖...
  • Page 34 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 35: Chapter 3: Working With Xtradrive-Dp

    Working with XtraDrive-DP HAPTER Chapter 3 Working with XtraDrive-DP About This Chapter This chapter discusses the main stages of working with XtraDrive-DP on a PROFIBUS network, the various types of parameters that can be set and diagnostics available for XtraDrive-DP. ✦...

  • Page 36: Overview

    XtraDrive-DP User Manual ✦ Starting Program Synchronization, page 41, describes how to synchronize the starting of programs on multiple XtraDrive-DP slaves. ✦ Diagnostics, page 42, 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.

  • Page 37: Setting Up Xtradrive-Dp

    Working with XtraDrive-DP HAPTER 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.
  • Page 38 XtraDrive-DP User Manual ✦ Torque Control (Analog Reference), page 30 ✦ 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.
  • Page 39 Working with XtraDrive-DP HAPTER The following table shows the digital I/O module I/O map: Digital I/O (input) Size Offset (bytes) Inputs_state Outputs_state Command This module is used for sending XtraDrive-DP’s commands from the master. The command module parameters are: ✦ User units ✦...
  • Page 40 XtraDrive-DP User Manual 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) Size Offset (bytes) Status_word Clock Mode_of_operation Command_mode AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...
  • Page 41 Working with XtraDrive-DP HAPTER System Profile This module is used for reading the XtraDrive-DP’s system profile. The following table shows the system profile module I/O map: System profile (input) Size Offset (bytes) Profile_velocity Profile_acceleration Jerk_smoothing_time Max_profile_velocity Max_profile_acceleration CW_Torque_limit CCW_Torque_limit Application_gain Motion_end_window Exact_mode Pulse-Train Input...
  • Page 42 XtraDrive-DP User Manual 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.
  • Page 43 Working with XtraDrive-DP HAPTER 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) Size Offset (bytes) Target_velocity Velocity_demand_value Velocity_actual_value Torque Variables This module is used for reading the XtraDrive-DP’s torque variables.
  • Page 44 XtraDrive-DP User Manual 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: Speed variables (input) Size Offset...

  • Page 45: Sending Commands

    Working with XtraDrive-DP HAPTER 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.
  • Page 46 XtraDrive-DP User Manual The table below lists all the commands and their opcodes (in decimal format): Name Op_Code Command Parameters ACCELERATION Acceleration CALL Label CONTROL ON=1/OFF=0 DELAY Delay [ms] GAIN Gain [%] GET_PAR Parameter Number Target Motion Time [ms] GO_D Target Motion Time [ms] GO_H...
  • Page 47 Working with XtraDrive-DP HAPTER Name Op_Code Command Parameters LOOP Loop Level Number of cycles Label MOVE Distance Motion Time [ms] MOVE_D Distance Motion Time [ms] MOVE_H Distance MOVE_R Distance PT_FOLLOWER ON=1/OFF=0 RETURN Label SET_OUT Output Number ON=1/OFF=0 SET_PAR Parameter Number Value SET_VAR Variable Value...
  • Page 48 XtraDrive-DP User Manual Name Op_Code Command Parameters WAIT_FOR_START WAIT_INPUT Input Number Timeout [ms] WAIT_STOP Timeout [ms] WAIT_VARIABLE_GT Variable Value WAIT_VARIABLE_LT Variable Value AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 49: Setting Xtradrive-Dp Parameters

    Working with XtraDrive-DP HAPTER 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.

  • Page 50: Setting Parameters During Data Exchange

    XtraDrive-DP User Manual 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.

  • Page 51: Reading Variables

    Working with XtraDrive-DP HAPTER 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.

  • Page 52: Downloading Xtradrive-Dp Programs

    XtraDrive-DP User Manual Timeline Module Offset Size Description (µ µ µ µ s) Target_position Position_demand_value 2000 Position_actual_value Following_error_actual_value User_encoder 2000 Target_velocity 2000 Velocity_demand_value 2000 Velocity_actual_value 2000 Target_torque 2000 Torque_demand_value 2000 Downloading XtraDrive-DP Programs You can download programs to an XtraDrive-DP in one of two ways: ✦...

  • Page 53: Starting Program Synchronization

    Working with XtraDrive-DP HAPTER 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 µsec. To enable this functionality, use the PROFIBUS SYNC command.

  • Page 54: Diagnostics

    XtraDrive-DP User Manual 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.
  • Page 55 Working with XtraDrive-DP HAPTER 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.

  • Page 56: Xtradrive-Dp's Response To Clear Data Control Command

    XtraDrive-DP User Manual XtraDrive-DP's Response to Clear Data Control Command When XtraDrive-DP receives a Clear Data control command (sent by master class 1), it performs the following steps: ✦ Stops all motion, if the motion command is executing. ✦ Turns the servo off. ✦...

  • Page 57: Appendix A: Xtradrive-Dp Gsd File

    XtraDrive-DP GSD File PPENDIX 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.
  • Page 58 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 59: Appendix B: Xtradrive-Dp Parameters List

    XtraDrive-DP Parameters List PPENDIX Appendix B XtraDrive-DP Parameters List Module Name Description Direction Selection: Pn000.0: Direction 0 — Forward direction Selection 1 — Reverse direction Control Method Selection: 0 — Speed (analog) 2 — Torque (analog) 3 — Speed (contact) Pn000.1: Control Method 4 —...
  • Page 60 XtraDrive-DP User Manual Module Name Description Overtravel Stop Mode: Pn001.1: Overtravel Stop 0 — Same as Pn001.0 Mode 1 — Maximum torque Pn406, servo lock 2 — Maximum torque Pn406, coast state AC/DC Power Input Selection: Pn001.2: AC/DC Power 0 — Input AC power via L1, L2, L3 Input terminals 1 —...
  • Page 61 XtraDrive-DP Parameters List PPENDIX Module Name Description Inertia Ratio: This parameter enables you to enter a rough estimation of your Pn103: Inertia Ratio system’s external load, as a percentage of the motor’s inertia. Pn110.0 Reserved Pn110.1 Reserved Pn110.2 Reserved Pn110.3 Reserved Reference Pulse Form: 0 —...
  • Page 62 XtraDrive-DP User Manual Module Name Description Clear Operation: 0 — Clear error counter at base block Pn200.2: Clear Operation 1 — Does not clear error counter 2 — Clear error counter on alarm 3 — Clear signal ignore Filter Selection: Pn200.3: Filter 0 —...
  • Page 63 XtraDrive-DP Parameters List PPENDIX Module Name Description Pn508: Brake Reference Timing for brake reference output during On Time motor operation Momentary Hold Time: This parameter Pn509: Momentary Hold determines if an alarm is generated Time when a power loss occurs. Regenerative Resistor Capacity: This Pn600: Regenerative parameter specifies the capacity for an...
  • Page 64 XtraDrive-DP User Manual Module Name Description Program Input 1: 0 — SI0 (CN1-40) 1 — SI1 (CN1-41) 2 — SI2 (CN1-42) 3 — SI3 (CN1-43) Pn2D0.0: Program Input 1 4 — SI4 (CN1-44) 5 — SI5 (CN1-45) 6 — SI6 (CN1-46) 7 —...
  • Page 65 XtraDrive-DP Parameters List PPENDIX Module Name Description Fast Input Detection (125 µ µ µ µ sec): 0 — SI0 (CN1-40) 1 — SI1 (CN1-41) Pn2D1.1: Motion Input 2 — SI2 (CN1-42) (125 µsec) 3 — SI3 (CN1-43) 4 — SI4 (CN1-44) 5 —...
  • Page 66 XtraDrive-DP User Manual Module Name Description /S-ON Signal Mapping (Servo ON when Low): 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) Pn50A.1: /S-ON Input 7 —...
  • Page 67 XtraDrive-DP Parameters List PPENDIX Module Name Description /P-CL Signal Mapping (External Forward Torque Limit Enable according to Pn50B.2: /P-CL Input Pn404): Refer to Pn50A.1, page 54. /N-CL Signal Mapping (External Reversed Torque Limit Enable: Pn50B.3: /N-CL Input Refer to Pn50A.1, page 54. /SPD-D Signal Mapping Internal Speed Selection —...
  • Page 68 XtraDrive-DP User Manual Module Name Description /G-SEL Signal Mapping (Gain Switching): Pn50D.2: /G-SEL Input Refer to Pn50A.1, page 54. Pn50D.3 Reserved /COIN Signal Mapping: 0 — Disabled Pn2D2.0: /COIN Output 1 — SO1 (CN1-25,26) 2 — SO2 (CN1-27,28) 3 — SO3 (CN1-29,30) Program Output 1: Pn2D2.1: Program Output 1...
  • Page 69 XtraDrive-DP Parameters List PPENDIX 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 Not Used Pn510.2...
  • Page 70 XtraDrive-DP User Manual Module Name Description Work Speed Default (High): This Pn2A3: Work Speed parameter, together with Pn2A2, defines Default (High) the default value of the profile speed variable. Work Speed Default (Low): This Pn2A2: Work Speed parameter, together with Pn2A3, defines Default (Low) the default value of the profile speed variable.
  • Page 71 XtraDrive-DP Parameters List PPENDIX Module Name Description Position Units Ratio Denominator (High): This parameter, together with Pn2B3: Position Units Pn2B2, sets the denominator to be used Ratio Den (High) in the ratio to convert position units from user units to encoder counts. Position Units Ratio Denominator (Low): This parameter, together with Pn2B2: Position Units...
  • Page 72 XtraDrive-DP User Manual Module Name Description Speed Units Ratio Denominator (Low): This parameter, together with Pn2B7, Pn2B6: Speed Units Ratio sets the denominator to be used in the Denominator (Low) ratio to convert speed units from user speed units to encoder counts/msec. Acceleration Units Ratio Numerator (High): This parameter, together with Pn2B9: Acceleration Units...
  • Page 73 XtraDrive-DP Parameters List PPENDIX Module Name Description Motion End Window: This parameter Pn2C0: Motion End defines the default value of the window Window of acceptable position errors after a motion has been completed. Torque Slope: This parameter defines the default value, as 0.1% of the rated Pn2C1: Torque Slope torque/1 msec, for the torque slope command.
  • Page 74 XtraDrive-DP User Manual Module Name Description Soft Start Acceleration Time: This parameter sets the interval between the Pn305: Soft Start time when the servomotor starts until it Acceleration Time reaches maximum speed (contact reference). Soft Start Deceleration Time: This parameter sets the interval between the Pn306: Soft Start time when the servomotor reaches Deceleration Time...
  • Page 75 XtraDrive-DP Parameters List PPENDIX Module Name Description Speed Loop Integral Time Constant: When NCT is not used, this parameter, together with Pn100, enables you to Pn101: Speed Loop ensure that the speed error (the Integral Time difference between the internal speed command and the actual speed) is as small as possible.
  • Page 76 XtraDrive-DP User Manual Module Name Description Feed-Forward (Speed Control): When NCT is not used, this parameter is used to shorten positioning time, as well as to differentiate a speed reference at the host controller to generate a torque feed- Pn109: Feed Forward forward reference and then input this (Speed Control) reference together with the speed...
  • Page 77 XtraDrive-DP Parameters List PPENDIX Module Name Description Speed 2: In Speed Control (contact reference) mode, this parameter, Pn303: Speed 3 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 Pn304: Jog Speed servomotor from a panel or digital operator.
  • Page 78 XtraDrive-DP User Manual Module Name Description Reverse External Torque Limit: This Pn405: Reverse External parameter sets the maximum reverse Torque Limit torque limit when torque is limited by an external contact input. Emergency Stop Torque: This parameter specifies the stop torque applied for Pn406: Emergency Stop overtravel when using the input signal Torque...

  • Page 79: Appendix C: Xtradrive-Dp Alarms, Warnings And Faults

    XtraDrive-DP Alarms, Warnings and Faults PPENDIX 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. Code Alarm Message A.02: Parameter Breakdown...
  • Page 80 XtraDrive-DP User Manual Code Alarm Message A.71: Overload: High Load A.72: Overload: Low Load A.73: Dynamic Brake Overload A.74: Overload of Surge Current Limit Resistor A.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...

  • Page 81: Warning Messages

    XtraDrive-DP Alarms, Warnings and Faults PPENDIX Warning Messages Code Warning Message A.91: Overload A.92: Regenerative Overload Fault Messages Code Fault Message 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 Wrong op_code SET_ZERO_POSITION: Unable to SET_ZERO_POSITION while...
  • Page 82 XtraDrive-DP User Manual Code Fault Message Parameter storing fault — during auto tuning* 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 Invalid parameter EEPROM read buffer full Home Command: Both speeds are in the same direction...
  • Page 83 XtraDrive-DP Alarms, Warnings and Faults PPENDIX Code Fault Message Auto tuning already in progress* Unable to switch CONTROL_ON Positive overtravel Negative overtravel Command buffer full Duplicate Configuration module Command parameter out of range Parameterization fail Configuration fail Wrong GSD file version Parameterization timeout Servo circuit communication error Servo circuit internal watchdog error...
  • Page 84 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 85: Appendix D: Working With Xtraware

    Working with XtraWare PPENDIX 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: ✦...
  • Page 86 XtraDrive-DP User Manual AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 87: Appendix E: Example Of Using Xtradrive-Dp

    Example of Using XtraDrive-DP PPENDIX 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.

  • Page 88: Workflow

    XtraDrive-DP User Manual 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, page 76, describes how to set up the hardware components used in this example.
  • Page 89 Example of Using XtraDrive-DP PPENDIX 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).

  • Page 90: Application Setup

    XtraDrive-DP User Manual 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.
  • Page 91 Example of Using XtraDrive-DP PPENDIX • Speed Units — 1 RPM Pn2B5/4: Spd.Unts Ratio Num = 65536 Pn2B7/6: Spd.Unts Ratio Den = 60000 • Acceleration Units — 1 rad/sec Pn2B9/8: Acc.Unts Ratio Num = 65536 Pn2BB/A: Acc.Unts Ratio Den = 62832 For explanations about how to determines these values, refer to the XtraDrive User Manual.
  • Page 92 XtraDrive-DP User Manual The I/O map for this application is shown below: Input Size Offset Content (bytes) Digital Input Digital Output Status_word Clock Mode_of_operation Command_mode Output Size Offset Content (bytes) OP_code Mode Command_Parameter_1 Command_Parameter_2 Command_Parameter_3 Command_Parameter_4 Command_Parameter_5 AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 93: Application Execution During Data Exchange

    Example of Using XtraDrive-DP PPENDIX Application Execution During Data Exchange The master must send the following commands in Sequential Mode: CONTROL MOVE_D 3470 SET_OUT Three messages will be transferred to XtraDrive-DP during data exchange, as follows: ✦ Message 1 — For the CONTROL ON command: Byte # 8-11 12-15...
  • Page 94 XtraDrive-DP User Manual ✦ Message 3 — For the SET_OUT command: Byte # 8-11 12-15 16-19 20-23 Value 0x0003 0x4F 0x03 0x00000001 0x00000001 0x00000000 0x00000000 0x00000000 AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 Web : http: www.audin.fr - Email : info@audin.fr...

  • Page 95: Index

    Index Index speed control, 30 speed variables, 31 system profile, 29 Commands system setup, 26 sending, 33 torque control, 30 Configuration, 10, 12 torque variables, 31 Connection port, 19 XtraDrive status, 28 Data exchange, 10, 12 Nameplate, 7 Diagnostics, 42 Node address setting, 20 GSD file, 13, 25...
  • Page 96 XtraDrive-DP User Manual introduction, 9 transmission line lengths, 17 XtraDrive-DP XtraDrive-DP operation on, 10 controlling, 12 Program Synchronization, 41 diagnostics, 42 downloading programs to master, 40 modules, 25 Specifications nameplate, 7 PROFIBUS, 6 parameters list, 47 XtraDrive-DP, 4 setting up, 25, 75 specifications, 4 type description, 8 Type description, 8...

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