Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Click HERE Find the Yaskawa XD-10-TS at our website:...
Page 2 Manual No. 8U0108-E1-01 XtraDrive (XD-) SERIES AC Servo Driver USER’S ManUal OMRON YASKAWA MOTION CONTROL B.V. – Wegalaan 65 – 2132 JD Hoofddorp – The Netherlands phone: + 31 (0) 23 568 74 00 – fax: + 31 (0) 23 568 74 88 – www.omronyaskawa.com Note: Specifications subject to change without notice. Manual No. 8U0108-E1-01 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 Copyright  2003 by YET, Yaskawa Eshed Technology Ltd. XtraDrive User Manual Catalog No.8U0108, Revision C 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.
Page 4 WARNING YET manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YET products remain the responsibility of the equipment designer or end user. YET accepts no responsibility for the way its products are incorporated into the final system design.
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Page 6 Safety Information The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each. Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.
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Page 8: Table Of Contents
XtraDrive User Manual Table of Contents/Preface Table of Contents Checking Product and Part Names ..............1-1 1.1. Checking the XtraDrive Series Products on Delivery........1-2 1.1.1. Servo Amplifiers..................1-2 1.2. Product Part Names..................1-3 1.2.1. Servo Amplifiers..................1-3 1.2.2. Model Numbers ..................1-4 Installation.
Page 9 XtraDrive User Manual Table of Contents/Preface Parameter Settings and Functions ..............5-1 5.1. Settings According to Device Characteristics ..........5-4 5.1.1. Switching Servomotor Rotation Direction..........5-4 5.1.2. Setting the Overtravel Limit Function ............. 5-5 5.1.3. Limiting Torque..................5-8 5.2. Settings According to Host Controller............5-12 5.2.1.
Page 10 XtraDrive User Manual Table of Contents/Preface 5.9.1.4. Acceleration Units .................. 5-93 5.9.1.5. Setting Default Motion Profile Parameters..........5-94 5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .............. 5-95 5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5)............ 5-95 5.9.1.8. Jerk Smoothing Time (Pn2A6) .............. 5-95 5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ..........5-96 5.9.1.10.
Page 11 Connecting the GL-series MC20 Motion Module ........A-2 A.2. Connecting the CP-9200SH Servo Controller Module (SVA).....A-3 A.3. Connecting the GL-series B2813 Positioning Module .........A-4 A.4. Connecting OMRON's C500-NC222 Position Control Unit......A-5 A.5. Connecting OMRON's C500-NC112 Position Control Unit......A-6 A.6. Connecting MITSUBISHI's AD72 Positioning Unit ........A-7 A.7.
Page 12 XtraDrive User Manual Table of Contents/Preface B.4. Extending Encoder Cables ................B-10 B.5. 400V Power Supply Voltage ...............B-12 B.6. Reactor for Harmonic Suppression..............B-14 Appendix C. Specifications for Peripheral Devices.........C-1 C.1. Connector Terminal Block Converter Unit JUSP-TA50P......C-2 C.2. External Regenerative Resistors ..............C-4 C.3.
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Page 14 XtraDrive User Manual Table of Contents/Preface Using This Manual Intended Audience This manual is intended for the following users. • Those designing XtraDrive XD- Series servodrive systems. • Those installing or wiring XtraDrive XD- Series servodrives. • Those performing trial operation or adjustments of XtraDrive XD- Series servodrives.
Page 15 XtraDrive User Manual Table of Contents/Preface Safety Precautions The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections. Checking Products upon Delivery CAUTION • Always use the servomotor and servo amplifier in one of the specified combinations. Not doing so may cause fire or malfunction.
Page 16 XtraDrive User Manual Table of Contents/Preface CAUTION • Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents. Not doing so may result in injury. • Before starting operation with a machine connected, change the settings to match the parameters of the machine.
Page 17 XtraDrive User Manual Table of Contents/Preface General Precautions NOTE THE FOLLOWING TO ENSURE SAFE APPLICATION: • 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 18: Checking Product And Part Names
XtraDrive User Manual Chapter 1: Checking Product and Part Names 1. Checking Product and Part Names This chapter describes the procedure for checking products upon delivery as well as names for product parts. Checking Product and Part Names ..............1-1 1.1. Checking the XtraDrive Series Products on Delivery ........1-2 1.1.1.
Page 19: Checking The Xtradrive Series Products On Delivery
XtraDrive User Manual Chapter 1: Checking Product and Part Names 1.1. Checking the XtraDrive Series Products on Delivery The following procedure is suggested to check XtraDrive series products upon delivery. Use the following checklist when XtraDrive series products are delivered. Initial Inspection Comments Are the delivered products...
Page 20: Servo Amplifiers
XtraDrive User Manual Chapter 1: Checking Product and Part Names 1.2. Product Part Names This section describes product part names. 1.2.1. Servo Amplifiers The figure below shows the part names for servo amplifiers. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 21: Model Numbers
XtraDrive User Manual Chapter 1: Checking Product and Part Names 1.2.2. Model Numbers XD - 01 - M S 01 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...
Page 22: Installation
XtraDrive User Manual Chapter 2: Inst a lla t i o n 2. Installation This chapter describes precautions for XtraDrive Series servomotor and servo amplifier installation. 2.1. Servo Amplifiers ..................2-2 2.1.1. Storage Conditions................2-2 2.1.2. Installation Site ...................2-2 2.1.3. Orientation ..................2-3 2.1.4.
Page 23: Servo Amplifiers
XtraDrive User Manual Chapter 2: Installation 2.1. Servo Amplifiers The XtraDrive servo amplifiers are base-mounted. Incorrect installation will cause problems. Follow the installation instructions below. 2.1.1. Storage Conditions Store the servo amplifier within the following temperature range, as long as it is stored with the power cable disconnected. -20 to 85°C 2.1.2.
Page 24: Orientation
XtraDrive User Manual Chapter 2: Installation 2.1.3. Orientation Install the servo amplifier perpendicular to the wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan. Secure the servo amplifier using the mounting holes.
Page 25 XtraDrive User Manual Chapter 2: Installation Servo Amplifier Orientation Install the servo amplifier perpendicular to the wall so the front panels’ connectors faces outward. Cooling As shown in the figure above, allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection. Side-by-side Installation When installing servo amplifiers side by side as shown in the figure above, allow at least 0.39in (10mm) between and at least 1.97in...
Page 26: Wiring
XtraDrive User Manual Chapter 3: Wiring 3. Wiring This chapter describes the procedure used to connect XtraDrive Series products to peripheral devices and gives typical examples of main circuit wiring as well as I/O signal connections. 3.1. Connecting to Peripheral Devices...............3-2 3.1.1.
Page 27: Connecting To Peripheral Devices
XtraDrive User Manual Chapter 3: Wiring 3.1. Connecting to Peripheral Devices This section provides examples of standard XtraDrive Series product connections to peripheral devices. It also briefly explains how to connect each peripheral device. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 28: Single-Phase 200V Main Circuit Specifications
XtraDrive User Manual Chapter 3: Wiring 3.1.1. Single-Phase 200V Main Circuit Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 29: Single-Phase 0.8Kw 200V Main Circuit Specifications
XtraDrive User Manual Chapter 3: Wiring 3.1.2. Single-Phase 0.8kW 200V Main Circuit Specifications XtraDrive XD-08-MS has been changed from three-phase specifications to single- phase. Main circuit connection terminals (L1, L2, L3) remained. These devices have terminal B3 and internal regenerative resistor. Observe the following points.
Page 30: Three-Phase 200V Main Circuit Specifications
XtraDrive User Manual Chapter 3: Wiring 3.1.3. Three-phase 200V Main Circuit Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 31: Three-Phase 400V Main Circuit Specifications
XtraDrive User Manual Chapter 3: Wiring 3.1.4. Three-Phase 400V Main Circuit Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 32: Xtradrive Internal Block Diagrams
XtraDrive User Manual Chapter 3: Wiring 3.2. XtraDrive Internal Block Diagrams The following sections show internal block diagrams of the servo amplifiers. 3.2.1. Single-phase 30W to 800W, 200V Models Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 33: Three-Phase 1Kw To 3Kw, 200V Models
XtraDrive User Manual Chapter 3: Wiring 3.2.2. Three-phase 1kW to 3kW, 200V Models Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 34: Three-Phase 0.5Kw To 3.0Kw, 400V Models
XtraDrive User Manual Chapter 3: Wiring 3.2.3. Three-phase 0.5kW to 3.0kW, 400V Models Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 35: Main Circuit Wiring
XtraDrive User Manual Chapter 3: Wiring 3.3. Main Circuit Wiring This section shows typical examples of main circuit wiring for XtraDrive Series servo products, functions of main circuit terminals, and the power ON sequence. Observe the following precautions when wiring. CAUTION •...
Page 36: Names And Descriptions Of Main Circuit Terminal
XtraDrive User Manual Chapter 3: Wiring 3.3.1. Names and Descriptions of Main Circuit Terminal The following table gives the names and a description of main circuit terminals. Table 3.1: Main Circuit Names and Description Terminal Name Description Symbol L1, L2 30W to 1kW Single-phase 200 to 230V (+10%, -15%), 50/60Hz Main circuit AC input...
Page 37: Typical Main Circuit Wiring Example
XtraDrive User Manual Chapter 3: Wiring 3.3.2. Typical Main Circuit Wiring Example The following figure shows a typical example of main circuit wiring. Designing a Power ON Sequence Note the following when designing the power ON sequence. • Design the power ON sequence so that power is turned OFF when a servo alarm signal is output.
Page 38: Servo Amplifier Power Losses
XtraDrive User Manual Chapter 3: Wiring 3.3.3. Servo Amplifier Power Losses The following table shows servo amplifier power losses at the rated output. Table 3.2: Servo Amplifier Power Losses at Rated Output Maximum Main Control Main Output Regenerative Total Applicable Circuit Circuit Servo Amplifier...
Page 39: Wiring Main Circuit Terminal Blocks
XtraDrive User Manual Chapter 3: Wiring 3.3.4. Wiring Main Circuit Terminal Blocks Observe the following precautions when wiring main circuit terminal blocks. CAUTION Remove the terminal block from the servo amplifier prior to wiring. • Insert only one wire per terminal on the terminal block. •...
Page 40: I/O Signals
XtraDrive User Manual Chapter 3: Wiring 3.4. I/O Signals This section describes I/O signals for the XtraDrive servo amplifier. 3.4.1. Example of Typical I/O Signal Connections 3-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 41: List Of Cn1 Terminals
XtraDrive User Manual Chapter 3: Wiring 3.4.2. List of CN1 Terminals The following diagram shows the layout and specifications of CN1 terminals. Table 3.3: CN1 Terminal Layout Speed coinci- /V-CMP- dence detection (/COIN-) output TGON signal 27 /TGON+ Open-collector output TGON signal reference /TGON...
Page 42: I/O Signal Names And Functions
XtraDrive User Manual Chapter 3: Wiring 3.4.3. I/O Signal Names and Functions The following section describes servo amplifier I/O signal names and functions. Input Signals Refer- Signal Name Function ence Common Servo ON: Turns ON the servomotor when the gate block /S-ON 5.5.2 in the inverter is released.
Page 43 XtraDrive User Manual Chapter 3: Wiring Output Signals Signal Name Function Reference Common ALM+ Servo alarm: Turns OFF when an error is detected. 5.5.1 ALM- Detection during servomotor rotation: detects /TGON+ whether the servomotor is rotating at a speed higher 5.5.5 /TGON- than the motor speed setting.
Page 44: Interface Circuits
XtraDrive User Manual Chapter 3: Wiring 3.4.4. Interface Circuits This section shows examples of servo amplifier I/O signal connection to the host controller. Interface for Reference Input Circuits Analog Input Circuit Analog signals are either speed or torque reference signals at the impedance below.
Page 45 XtraDrive User Manual Chapter 3: Wiring The following examples show how to select the pull-up resistor R1 so the input current (I) falls between 7 and 15mA. Application Examples R1 =2.2kΩ with R1 =1kΩ with R1 =180Ω with = 24V ±5% = 12V ±5% = 5V ±5% •...
Page 46 XtraDrive User Manual Chapter 3: Wiring Output Circuit Interfaces Any of the following three types of servo amplifier output circuits can be used. Connect an input circuit at the host controller following one of these types. • Connecting to a Line-driver Output Circuit Encoder serial data converted to two-phase (A and B phase) pulse output signals (PAO, /PAO, PBO, /PBO), origin pulse signals (PCO, /PCO) and S phase rotation signals (PCO, /PCO) are output via line-...
Page 47 XtraDrive User Manual Chapter 3: Wiring • Connecting an optocoupler output circuit An optocoupler output circuits are used for servo alarm, servo ready, and other sequence output signal circuits. Connect an optocoupler output circuit through a relay or line receiver circuit. Note: The maximum allowable capacities for optocoupler output circuits are: •...
Page 48: Wiring Encoders (For Sgmgh And Sgmsh Motors Only)
XtraDrive User Manual Chapter 3: Wiring 3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) The following sections describe the procedure for wiring a servo amplifier to the encoder. 3.5.1. Encoder Connections The following diagrams show the wiring of the encoder output from the motor to CN2 of the servo amplifier, and PG output signals from CN1 to the controller.
Page 49 XtraDrive User Manual Chapter 3: Wiring Absolute Serial Encoders Incremental A/B+C Encoders 3-24 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 50: Cn2 Encoder Connector Terminal Layout And Types
XtraDrive User Manual Chapter 3: Wiring 3.5.2. CN2 Encoder Connector Terminal Layout and Types The following tables describe CN2 connector terminal layout and types. CN2 Connector Terminal Layout Serial PG PPG0V PG GND SPG0V Battery ”+” PPG0V PG GND BAT+ input Battery “...
Page 51: Encoder Cables Interconnections
XtraDrive User Manual Chapter 3: Wiring 3.5.3. Encoder Cables Interconnections This chapter shows interconnections for all standard encoder cables available from YET (Refer to YET Part Number). For additional types of encoders (like with communication sensors etc.) contact your YET representative.
Page 52 XtraDrive User Manual Chapter 3: Wiring Absolute Serial Encoder Cable For Yaskawa SGMAH motors. (P/N 004139) XtraDrive side Motor side 20-pin connector 6-pin connector SPG5V 10 1 PG5V Battery BLACK SPG0V 11 2 GND connector ORANGE BAT+ 1 3 PGBAT+ WHITE/ORANGE BAT- 2 4 PGBAT-...
Page 53: Examples Of Standard Connections
XtraDrive User Manual Chapter 3: Wiring 3.6. Examples of Standard Connections The following diagrams show examples of standard servo amplifier connections by specifications and type of control. Note for single-phase power supply specifications: XtraDrive XD-08** have changed from three-phase specifications to single- phase.
Page 54 XtraDrive User Manual Chapter 3: Wiring Position Control Mode *1. P represents twisted-pair wires *7. These circuits are SELV circuits, therefore are *2. The time constant for the primary filter is 47us. separated from all other circuits by double and reinforced insulator.
Page 55 XtraDrive User Manual Chapter 3: Wiring Speed Control Mode *1. P represents twisted-pair wires *7. These circuits are SELV circuits, therefore are *2. The time constant for the primary filter is 47us. separated from all other circuits by double and reinforced insulator.
Page 56 XtraDrive User Manual Chapter 3: Wiring Torque Control Mode *1. P represents twisted-pair wires *7. These circuits are SELV circuits, therefore are separated from all other circuits by double and *2. The time constant for the primary filter is 47us. *3.
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Page 58 XtraDrive User Manual Chapter 4: Trial Operation 4. Trial Operation This chapter describes a two-step trial operation. Be sure to complete step 1 before proceeding to step 2. 4.1. Two-Step Trial Operation ................4-2 4.1.1. Step 1: Trial Operation for Servomotor without Load......4-3 4.1.2.
Page 59: Trial Operation
XtraDrive User Manual Chapter 4: Trial Operation 4.1. Two-Step Trial Operation Make sure that all wiring is completed prior to starting trial operation. For your own safety, perform the trial operation in the order given below (step 1 and 2). See 4.1.1 Trial Operation for Servomotor without Load and 4.1.2 Trial Operation for Servomotor Connected to Mashine for more details on the trial operation.
Page 60: Step 1: Trial Operation For Servomotor Without Load
XtraDrive User Manual Chapter 4: Trial Operation 4.1.1. Step 1: Trial Operation for Servomotor without Load Caution • Do not operate the servomotor while it is connected to the equipment. To prevent accidents, initially perform step 1 where the trial operation is conducted under no- load conditions (with all couplings and belts disconnected).
Page 61 XtraDrive User Manual Chapter 4: Trial Operation 1. Secure the servomotor. Secure the servomotor mounting plate to the equipment in order to prevent the servomotor from moving during operation. 2. Check the wiring. Disconnect the CN1 connector and check the servomotor wiring in the power supply circuit.
Page 62 XtraDrive User Manual Chapter 4: Trial Operation 4. Operate with the panel operator. Operate the servomotor using the panel operator. Check to see if the servomotor runs normally. See 7.2.2 JOG Operation for more details on the procedure. 5. Connect the signal lines. Use the following procedure to connect the CN1 connector.
Page 63 XtraDrive User Manual Chapter 4: Trial Operation Input Signal Status LED Display OFF (high level) Top LED indicators light. ON (low level) Bottom LED indicators light. Note: The servomotor will not operate properly if the following signal lines are not wired correctly. Always wire them correctly.
Page 64 XtraDrive User Manual Chapter 4: Trial Operation Set /S-ON (CN1-40) to 0V. If everything is normal, the servomotor will turn ON and the LED indicator on the front panel will display as shown above. If an alarm display appears, take appropriate action as described in 9.2 Troubleshooting. Note: If there is noise in the reference voltage for speed control, the “-”...
Page 65 XtraDrive User Manual Chapter 4: Trial Operation Operating Procedure In Position Control Mode: Set Pn000.1 to 1 1. Set the parameter Pn200.0 so that the reference pulse form is the same as the host controller output form. To select the reference pulse form: See 5.2.2 Position Reference. 2.
Page 66: Step 2: Trial Operation With Servomotor Connected To Machine
XtraDrive User Manual Chapter 4: Trial Operation 4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine Warning Follow the procedure below for step 2 operation precisely as given. Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.
Page 67: Additional Setup Procedures In Trial Operation
XtraDrive User Manual Chapter 4: Trial Operation 4.2. Additional Setup Procedures in Trial Operation For two equipment configurations, which are delineated in the subsequent sections, precautionary setup procedures must be followed before starting trial operation. 4.2.1. Servomotors with Brakes Use a servomotor with a brake for vertical shaft applications or for the application of external force to the shaft to prevent rotation due to gravity or external force during a power loss.
Page 68: Position Control By Host Controller
XtraDrive User Manual Chapter 4: Trial Operation 4.2.2. Position Control by Host Controller If the position control algorithm of the host controller has not been established or finalized, disconnect the servomotor from the equipment before performing a trial operation. This will prevent the servomotor from running out of control and damaging the equipment.
Page 69: Minimum Parameters And Input Signals
XtraDrive User Manual Chapter 4: Trial Operation 4.3. Minimum Parameters and Input Signals This section describes the minimum parameters and input signals required for trial operation. 4.3.1. Parameters See 7.1.5 Operation in Parameter Setting Mode for more details on setting parameters. Turn power OFF once after changing any parameter except Pn300.
Page 70: Parameter Settings And Functions
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5. Parameter Settings and Functions 5.1. Settings According to Device Characteristics..........5-4 5.1.1. Switching Servomotor Rotation Direction..........5-4 5.1.2. Setting the Overtravel Limit Function ..........5-5 5.1.3. Limiting Torque ..................5-8 5.2. Settings According to Host Controller............5-12 5.2.1.
Page 71 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.1.3. Speed Units ...................5-92 5.9.1.4. Acceleration Units ................5-93 5.9.1.5. Setting Default Motion Profile Parameters........5-94 5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .............5-95 5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) ..........5-95 5.9.1.8. Jerk Smoothing Time (Pn2A6) .............5-95 5.9.1.9.
Page 72: Parameters
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Before Reading This Chapter This chapter describes the use of each CN1 connector I/O signals in the XtraDrive servo amplifier as well as the procedure for setting the related parameters for the intended purposes. The following sections can be used as references for this chapter.
Page 73: Settings According To Device Characteristics
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.1. Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and performance characteristics of the equipment used. 5.1.1. Switching Servomotor Rotation Direction XtraDrive has a Reverse Rotation mode that reverses the direction of servomotor rotation without rewiring.
Page 74: Setting The Overtravel Limit Function
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.1.2. Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion. Using the Overtravel Function To use the overtravel function, connect the overtravel limit switch input signal terminals shown below to the correct pins of the servo amplifier CN1 connector.
Page 75 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Servomotor Stop Mode for P-OT and N-OT Input Signals Set the following parameters to specify the servomotor Stop mode when P-OT and N-OT input signals are used. Specify the servomotor Stop mode when either of the following signals is input during servomotor operation.
Page 76 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Parameter Signal Setting Control Mode Speed/Torque Pn001.1 Overtravel Stop Mode Default Setting: 0 Control, Position Control Pn001.1 Stop Mode After Stopping Overtravel setting Pn001.0 = 0 Stop by dynamic brake Pn001.1 = 0 Coast status Coast to a stop Zero clamp...
Page 77: Limiting Torque
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.1.3. Limiting Torque The XtraDrive servo amplifier limits torque as follows: • Level 1: Limits maximum output torque to protect equipment or workpiece. • Level 2: Limits torque after the servomotor moves the equipment to a specified position (external torque limit).
Page 78 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Using the /CLT Signal The following section describes the use of the contact output signal /CLT as a torque limit output signal. Speed/Torque Control, Output /CLT CN1- Torque Limit Output Position Control This signal indicates whether the servomotor output torque (current) is being limited.
Page 79 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Setting Level 2: External Torque Limit A contact input signal is used to enable the torque (current) limits previously set in parameters. Torque limits can be set separately for forward and reverse rotation. XtraDrive Reverse Rotation...
Page 80 XtraDrive User Manual Chapter 5: Parameter Settings and Functions The following output signals and monitor methods are used when torque is being limited. Signal Description Generated when Pn50F.0 is allocated to an /CLT output terminal from SO1 to SO3. Monitor Mode (Un006) —...
Page 81: Settings According To Host Controller
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2. Settings According to Host Controller This section describes the procedure for connecting a XtraDrive Series servo to a host controller, including the procedure for setting related parameters. 5.2.1. Speed Reference Input the speed reference using the input signal: Speed Reference Input.
Page 82 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Input Circuit Example 470 Ω, 1/2W min. XtraDrive V-REF CN1-5 2 kΩ +12V CN1-6 Always use twisted pair cable for noise control. Recommended variable resistor: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd. Connect V-REF and SG to the speed reference output terminals on the host controller when using a host controller, such as a programmable controller, for position control.
Page 83: Position Reference
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Using the /P-CON Signal Proportional Control Speed Control, Position Input P-CON CN1-41 Reference Control The /P-CON input signal switches the Speed Control mode from PI (proportional-integral) to P (proportional) control. Proportional control can be used in the following two ways: •...
Page 84 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Connection Example 1: Line-driver Output Applicable line driver: SN75174, manufactured by Texas Instruments Inc., MC3487 or equivalent Ω Connection Example 2: Open-collector Output Set limiting resistor R1 so that input current I falls within the following range: Ω...
Page 85 XtraDrive User Manual Chapter 5: Parameter Settings and Functions This circuit uses the 12V power supply built into the servo amplifier. The input is not isolated in this case. Ω Ω Note: The noise margin of the input signal will decrease if the reference pulse is provided by an open- collector output.
Page 86 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Reference Forward Rotation Reverse Rotation Pulse Form Reference Reference PULS PULS (CN1-7) (CN1-7) Sign + pulse SIGN train SIGN High (CN1-11) (CN1-11) PULS PULS (CN1-7) CW pulse + (CN1-7) SIGN CCW pulse SIGN (CN1-11) (CN1-11)
Page 87 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example of I/O Signal Generation Timing µ Note: 1. For the input pulse to register, the interval from the time the servo ON signal is turned ON until a reference pulse is entered must be a minimum of 40ms. 2.
Page 88 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Error Counter Clear Input The procedure for clearing the error counter is described below. Clear Input Position Control Input CLR CN1-15 Clear Input Position Control Input /CLR CN1-14 The following occurs when the CLR signal is set to high level. XtraDrive Clear Position loop...
Page 89: Using The Encoder Signal Output
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.3. Using the Encoder Signal Output Encoder output signals are divided inside the servo amplifier and can be output externally. These signals can be used to form a position control loop in the host controller. These outputs explained here XtraDrive...
Page 90 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Output Phase Form Forward Reverse 90 ° 90 ° rotation rotation Input SEN CN1-4 SEN Signal Input Speed/Torque Control Input /SEN CN1-2 Signal Ground Speed/Torque Control Output PSO CN1-48 Encoder Output Phase S Speed/Torque Control, Position Control Output /PSO CN1-49...
Page 91 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Number of Encoder Resolution Pulses Per Setting Range (Bits) Revolution (PPR) 2048 16 to 2048 16384 16 to 16384 Note: 1. Turn OFF power once and turn ON again after changing the parameter. 2.
Page 92: Sequence I/O Signals
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.4. Sequence I/O Signals Sequence I/O signals are used to control servo amplifier operation. Connect these signal terminals as required. Input Signal Connections Connect the sequence input signals as shown below. Note: Provide a separate external I/O power supply;...
Page 93 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Contact input signals: /S-ON (CN1-40) /P-CON (CN1-41) P-OT (CN1-42) N-OT (CN1-43) /ALM-RST (CN1-44) /P-CL (CN1-45) /N-CL (CN1-46) Output Signal Connections Connect the sequence output signals as shown in the following figure. Note: Provide a separate external I/O power supply;...
Page 94: Using The Electronic Gear Function
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.5. Using the Electronic Gear Function The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value. It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses.
Page 95 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 2. Determine the reference unit used. A reference unit is the minimum position data unit used to move a load (minimum unit of reference from the host controller). To move a table in 0.001 mm units Reference unit: 0.001 mm Determine the reference unit according to equipment specifications and positioning accuracy.
Page 96 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5. Set the parameters. Reduce the electronic gear ratio to lower terms so that both A and B are integers smaller than 65535, then set A and B in the respective parameters: Pn202 Electronic Gear Ratio (Numerator)
Page 97 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Belts and Pulleys 1416 Travel distance per load shaft revolution = 0010 12566   16384   Electronic gear ratio   12566 196608 20480 12566 1309 Preset Pn202 20480 Values Pn203 1309...
Page 98: Contact Input Speed Control
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.6. Contact Input Speed Control This function provides a method for easy speed control. It allows the user to initially set three different motor speeds with parameters, and then select one of the speeds externally using a contact input. XtraDrive /P- CON (/SPD - D) CN1-41...
Page 99 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Meanings for the following signals change when the contact input speed control function is used: Pn000.1 Description Input Signal Setting Used to switch between P and PI Input /P-CON (CN1-41) control. 0, 2, 7, 8, contacts.
Page 100 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 3. Set the soft start time. Parameter Signal Setting (rpm) Control Mode Soft Start Acceleration Setting Range: 1 to 10000 Pn305 Speed Control Time Default Setting: 0 Soft Start Deceleration Setting Range: 1 to 10000 Pn306 Speed Control Time...
Page 101 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Use the following table when contact input speed control is used. Contact Signal Parameter Selected Speed /P-CON /P-CL /N-CL Pn000.1 (/SPD-D) (/SPD-A) (/SPD-B) Stopped by an internal speed reference of 0. Analog speed reference (V- REF) input Pulse reference input...
Page 102 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example of Contact Input Speed Control Operation The following example shows operation by contact input speed control. Using the soft start function reduces physical shock when the speed is changed. Note: The soft start function is available only when contact input speed control is used with Pn000.1 set to 5. It is not available when a pulse reference input is used.
Page 103: Using Torque Control
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.7. Using Torque Control The XtraDrive servo amplifier limits torque as shown below. • Level 1: Limits maximum output torque to protect equipment or workpiece. • Level 2: Limits torque after the servomotor moves the equipment to a specified position (external torque limit).
Page 104 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Application Examples • Tension control • Pressure control Pn000.1 Control Mode Torque Control S ervo amplifier This is a dedicated Torque Control mode. A torque reference is input from T-REF (CN1- •...
Page 105 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Pn000.1 Control Mode Speed Control: When /P-CON (/C-SEL) is ON Set the parameter Pn002.0 as shown below. Parameter Speed Reference Torque Reference Comments Pn002.0 Input (V-REF) Input (T-REF) State (CN1-5,6) (CN1-9,10) Speed Control Speed Reference Cannot be used.
Page 106 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Input Signals Torque Reference Inputs The following input signals are used for torque control. XtraDrive CN1-9 Torque Torque reference input reference CN1-10 (analog voltage input) CN1-5 Speed reference Speed reference input (analog voltage input) CN1-6 represents twisted-pair wires...
Page 107 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example of an Input Circuit XtraDrive 470Ω, 1/2W T-REF +12V 2kΩ CN1-9 CN1-10 Note: Always use twisted pair cables for noise control. Speed Reference Inputs Refer to Section 5.2.1. Using the /P-CON Signal Proportional Control Reference, Speed/Torque Control, Input /P-CON CN1-41...
Page 108 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Torque Control Parameter The following parameter is used for torque control. Set the parameter according to requirements of the servo system that is used. SETTING Parameter Signal (0.1V X RATED Control Mode TORQUE) Torque Reference Setting Range: 10 to 100...
Page 109: Torque Feed-Forward Function
XtraDrive User Manual Chapter 5: Parameter Settings and Functions The maximum speed of the servomotor will be used if Pn407 is set to a value higher than the maximum speed of the servomotor. External Speed Limit Function: This function sets the voltage range for speed reference input V-REF (CN1-5) according to the output range of the host controller or external circuit.
Page 110 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Using the Torque Feed-Forward Function To use the torque feed-forward function, set the following parameter to 2. Parameter Signal Setting Control Mode Speed Control Option Speed/Torque Pn002.0 Default Setting: 0 (T-REF Terminal Allocation) Control This setting enables the torque feed-forward function.
Page 111: Torque Limiting By Analog Voltage Reference
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.9. Torque Limiting by Analog Voltage Reference Torque limiting by analog voltage reference limits the torque by assigning a torque analog voltage to the T-REF terminal (CN1-9 and 10). It cannot be used for torque control because the torque reference input terminal T-REF is used as an input terminal.
Page 112 XtraDrive User Manual Chapter 5: Parameter Settings and Functions To use this function, verify how input signals have been allocated. (Refer to section 5.3.3 Input Circuit Signal Allocation). The following table outlines factory default settings. Input Signal Signal Level Description Comments Limit value: either CN1-45 is at “L”...
Page 113: Reference Pulse Inhibit Function (/Inhibit)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.2.10. Reference Pulse Inhibit Function (/INHIBIT) This function inhibits the servo amplifier from counting input reference pulses during position control. The servomotor remains locked (clamped) while the function is in use. The /P-CON(/INHIBIT) signal is used to enable or disable the function.
Page 114: Setting Up The Servo Amplifier
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Relationship between Inhibit Signal and Reference Pulses /INHIBIT signal (/P-CON) Reference pulse t1, t2 > 0.5 ms Input reference pulses are not counted during this period. 5.3. Setting Up the Servo Amplifier This section describes the procedure of setting parameters to operate the XtraDrive servo amplifier.
Page 115: Jog Speed
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.3.2. JOG Speed Use the following parameter to set or modify motor speed when operating the servomotor from a panel or digital operator. Parameter Signal Setting (rpm) Control Mode Speed/Torque Setting Range: 0 to 10000 Pn304 JOG Speed Control, Position...
Page 116 XtraDrive User Manual Chapter 5: Parameter Settings and Functions The following parameter is used to enable input signal allocation. Parameter Signal Setting Control Mode Speed/Torque Control, Pn50A.0 Input Signal Allocation Mode Default Setting: 0 Position Control Pn50A.0 Setting Description Default setting for sequence input signal allocation. Enables any sequence input signal settings.
Page 117 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the /S-ON signal as a typical example. Pn50A.1 Description Setting Signal polarity: Inputs the /S-ON signal from the SI0 (CN1-40) input terminal. Normal.
Page 118 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Allocating Other Input Signals Input signal allocation can be changed as shown below. Input Signal Parameter Description Applicable Name Number Setting Logic Inputs the specified signal from SI0 (CN1-40). Inputs the specified signal from SI1 (CN1-41). Inputs the specified signal from SI2 (CN1-42).
Page 119: Output Circuit Signal Allocation
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.3.4. Output Circuit Signal Allocation Output Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below. Default Setting CN1 Connector Output Terminal Terminal Comments Symbol Name Numbers Name...
Page 120 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Allocating Other Output Signals Parameter Output Signal Description Number Setting Disabled. (Not used for the specified output signal.) Outputs the specified signal from the SO1 Positioning Completed (CN1-25 and 26) output terminal. Pn50E.0 (/COIN) Outputs the specified signal from the SO2...
Page 121: Control Mode Selection
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.3.5. Control Mode Selection The XtraDrive servo amplifier offers speed control, position control, torque control, and the other control modes shown in the following table. The following parameter is used to set the control mode. Parameter Signal Setting...
Page 122 XtraDrive User Manual Chapter 5: Parameter Settings and Functions (3) Contact Input Speed Control Selection (Contact Reference) This mode uses the /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/SPD-B) input signals to control speed as it switches among the three preset operating speeds in the servo amplifier. See 5.2.6 Contact Input Speed Control.
Page 123: Setting Stop Functions
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.4. Setting Stop Functions This section describes the procedure used to stop the servo amplifier properly. 5.4.1. Adjusting Offset When the Servomotor Will Not Stop The servomotor may rotate at very low speed and not stop even when 0V is specified as the reference voltage for servo amplifier speed and torque control (analog reference).
Page 124: Servo Off Stop Mode Selection
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Reference Offset Adjustment The following methods can be used to adjust the reference offset to 0V. Adjustment Method Result Automatic Adjustment of The reference offset is automatically Reference Offset adjusted to 0V. Manual Adjustment of The reference offset can be set Reference Offset...
Page 125: Using The Zero Clamp Function
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Specify the Stop mode as one of these options. Pn001.0 Setting Result Uses the dynamic brake to stop the servomotor. Maintains dynamic brake after the servomotor stops. Uses the dynamic brake to stop the servomotor. Releases dynamic brake after the servomotor stops, and the servomotor coasts to a stop.
Page 126 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Parameter Setting Set the following parameter so that the input signal /P-CON (/ZCLAMP) can be used to enable or disable the zero clamp function. Parameter Signal Setting (ms) Description Control Method Pn000.1 Default Setting: 0 Speed Control...
Page 127: Using The Holding Brake
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Speed V-REF speed reference Preset value for zero clamping Time Closed Open (OFF) (ON) /P-CON (/ZCLAMP) input Zero clamp is performed Note: When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control (Pn000.1 = 0).
Page 128 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Output Brake Interlock Output Speed/Torque Control, Position Control This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake.
Page 129 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied, set the following parameter to adjust brake ON timing. Parameter Signal Setting (10ms) Description Brake Reference Servo Setting Range: 0 to 50 Speed/Torque Control, Pn506...
Page 130: Forming A Protective Sequence
XtraDrive User Manual Chapter 5: Parameter Settings and Functions /S-ON input Servo ON Power OFF by /S-ON Servo OFF (CN1-40) input or alarm occurrence Stop by dynamic brake Motor speed or coast to a stop. (r/min) (Pn001.0) Pn-507 Release /BK output brake Hold with brake Pn508...
Page 131 XtraDrive User Manual Chapter 5: Parameter Settings and Functions The user must provide a suitable external I/O power supply separately because there is no internal 24V power supply in the servo amplifier. The use of the photocoupler output signals is described below. Speed/Torque Control, Output ALM+ CN1-31...
Page 132: Using The Servo On Input Signal (/S-On)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Form an external circuit so that the servo amplifier turns OFF when an alarm occurs. Alarms are reset automatically when the control power supply is turned OFF. Alarms can also be reset using a panel or digital operator. Note: 1.
Page 133: Using The Positioning Completed Output Signal (/Coin)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions XtraDrive The external short-circuit wiring shown CN1-40 in the figure can be omitted if the Servo (/S-ON) ON (/S-ON) input signal is not used. Pn50A.1 Status Result Setting Enables the servo ON The servo is OFF when CN-40 is open and ON when (/S-ON) input signal.
Page 134: Speed Coincidence Output (/V-Cmp)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Circuit between CN1-25 and 26 is Positioning is not completed. open, and CN1-25 is at high level. (Position error is above the setting.) The following parameter is used to change the CN1 connector terminal that outputs the /COIN signal.
Page 135 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Speed Coincidence Output Output /V-CMP CN1-25 Speed Control Signal This signal is output when the actual motor speed during speed control is the same as the speed reference input. /V-CMP State Status Result Circuit between CN1-25 and 26 is...
Page 136: Using The Running Output Signal (/Tgon)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions This parameter is used to set conditions for speed coincidence signal /TGON output. The /V-CMP signal is output when the difference between the speed reference and actual motor speed is below this setting. Example: The /V-CMP signal turns ON at 1900 to 2100rpm if the parameter is set to 100 and the reference speed is 2000rpm.
Page 137: Using The Servo Ready Output Signal (/S-Rdy)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Motor speed (Un000) Pn502 /TGON Parameter Signal Setting (rpm) Description Speed/Torque Setting Range: 1 to 10000 Pn502 Rotation Detection Level Control, Position Default Setting: 20 Control This parameter is used to set the speed at which the servo amplifier determines that the servomotor is running and then to output an appropriate signal.
Page 138: Using The Warning Output Signal (/Warn)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions The following parameter setting is used to change the CN1 connector terminal that outputs the /S-RDY signal. Parameter Signal Setting) Description Pn50E Output Signal Selections 1 Default Setting: 3211 Position Control The parameter is factory set so the /V-CMP signal is output between CN1-29 and 30.
Page 139 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Note: *1 and *2 are output terminals allocated with parameter Pn 510.0. Multiple signals allocated to the same output terminal follow Boolean OR logic. In order to use the /WARN output signal alone, set other output signals to a value other than the one allocated to the /WARN signal.
Page 140: Handling Power Loss
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.5.8. Handling Power Loss The following parameter is used to specify whether to generate an alarm when power loss occurs. Parameter Signal Setting (ms) Description Speed/Torque Setting Range: 20 to 1000 Pn509 Momentary Hold Time Control,...
Page 141: Selecting A Regenerative Resistor
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.6. Selecting a Regenerative Resistor When the servomotor operates in Generator mode, power is returned to the servo amplifier side. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the capacitor’s charging limit is exceeded, the regenerative power is then reduced by the regenerative resistor.
Page 142: External Regenerative Resistor
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.6.1. External Regenerative Resistor When installing an external regenerative resistor, a parameter setting must be changed as shown below. Parameter Signal Setting (x 10W) Description Regenerative Setting Range: 0 to maximum Speed/Torque Control, Pn600 Resistor Capacity...
Page 143: Calculating The Regenerative Power Capacity
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.6.2. Calculating the Regenerative Power Capacity Simple Calculation Method When driving a servomotor normally along the horizontal axis, check the external regenerative resistor requirements using the calculation method shown below. Servo Amplifiers with a Capacity of 400W or Less Servo amplifiers with a capacity of 400W or less do not have built-in regenerative resistors.
Page 144 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Series Allowable Frequencies in Regeneration Mode (r/min) Voltage Capacity Symbol SGMAH — — — — — — — — SGMPH — — — — — — — 200V SGMGH- — — —...
Page 145 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Regenerative Energy Calculation Method This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration operation is as shown in the following diagram. Calculation Procedure The procedure for calculating the capacity is as follows: Units Step Procedure...
Page 146 XtraDrive User Manual Chapter 5: Parameter Settings and Functions If the amount of regenerative power that can be processed by the built- in resistor is exceeded, install an external regenerative resistor for the capacity obtained from the above calculation. If the energy consumed by load system loss (in step 2 above) is unknown, then perform the calculation using E = 0.
Page 147: Absolute Encoders
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.7. Absolute Encoders If a motor with an absolute encoder is used, a system to detect the absolute position can be formed in the host controller. Consequently, automatic operation can be performed without zero return operation immediately after the power is turned ON.
Page 148: Interface Circuit
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.7.1. Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor. Applicable line receivers: SN75175 or MC3486 by TI. Terminating resistance R: 220 to 470Ω SEN Signals •...
Page 149: Configuring An Absolute Encoder
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.7.2. Configuring an Absolute Encoder Select the absolute encoder’s application with the following parameter. Parameter Signal Setting Control Mode Speed/Torque Absolute Encoder Setting Range: 0 or 1 Pn002.2 Control, Position Application Default Setting: 0 Control Either “0”...
Page 150: Absolute Encoder Setup
XtraDrive User Manual Chapter 5: Parameter Settings and Functions In order to set a multi-turn limit value to the encoder, perform the multi- term limit setting operation (Fn-013). This operation can be executed using the hand-held digital operator or the servo amplifier panel operator. Note: The multi-turn limit setting is enabled only during the multi-turn limit value mismatch alarm.
Page 151 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 4. Press the Up Arrow key, holding it down until “PGCL5” is displayed. If an erroneous key entry is made, “nO_OP” will flash for one second, and the display will return to the Auxiliary Function mode.
Page 152 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Multi-turn Setup 1. Press the MODE/SET key to select the Auxiliary Function mode. 2. Press the Up Arrow or Down Arrow key to select the parameter Fn013. 3. Press the DATA/SHIFT key. The following display will appear. 4.
Page 153: Absolute Encoder Reception Sequence
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.7.4. Absolute Encoder Reception Sequence This section describes the sequence in which the servo amplifier receives data from the absolute encoder and transmits it to the host device. Be sure you understand this section when designing the host device.
Page 154 XtraDrive User Manual Chapter 5: Parameter Settings and Functions The final absolute data P can be found by using the following formulas: Forward rotation Reverse rotation = M x R + P = -(M x R) + P mode: mode: (Pn0000.0 = 1) Where: P = The current value read by the encoder.
Page 155 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Detailed Signal Specifications PAO Serial Data Specifications The number of revolutions is output in five digits. Start-stop Synchronization Data Transfer Method (ASYNC) Baud rate 9600bps Start bits 1 bit Stop bits 1 bit Parity Even...
Page 156 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Incremental Pulses and Origin Pulses Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first divided by the frequency divider inside the servo amplifier and then output. Setting the Pulse Dividing Ratio Use the following parameter to set the pulse-dividing ratio.
Page 157 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Transferring Alarm Contents When an absolute encoder is used, SEN signals can be utilized to transfer the alarm contents through PAO outputs to the host device as serial data. Alarm Contents Output Example "H"...
Page 158: Ab Encoders
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.8. AB Encoders The XtraDrive supports both square wave (A quad B) and serial (Yaskawa’s standard) encoder types. Yaskawa serial encoders are automatically detected by the XtraDrive and require no additional settings (please refer to chapter 5.7 for detailed information).
Page 159 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Set the direction of electrical phase. This parameter used to find the electrical phase in the AB encoder (other than Yaskawa); if you don’t know the direction, just set unknown direction and XtraDrive will find it automatically. Pn191.0 Setting Results Unknown direction...
Page 160: Configuration Of Serial Commands For Ab Encoders
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9. Configuration of Serial Commands for AB Encoders 5.9.1. Position Control 5.9.1.1. Defining User Units for Motion Profiles XtraDrive’s built-in programming capability enables the user to define various motion profiles without the need for an external motion controller.
Page 161: Speed Units
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example: A rotary motion system uses a motor with a 17-bit encoder. The user wants to program the system in units of 0.1 degree: 17-bit encoder produces 131072 [counts] per revolution. 360 [degree] = 3600 [0.1 degree] 131072 Position...
Page 162: Acceleration Units
XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example: A rotary motion system uses a motor with a 17-bit encoder. The user wants to program the system in speed units of rpm: 17-bit encoder produces 131072[counts] per revolution. U=131072 1[minute]=60000[ms] T=60000 counts...
Page 163: Setting Default Motion Profile Parameters
XtraDrive User Manual Chapter 5: Parameter Settings and Functions The maximum value of numerator (Pn2B8) or denominator (Pn2BA) is 65535. In cases where greater values are required, it is possible to use parameters Pn2B9 and Pn2BB for storing the high bits of numerator and denominator respectively<...
Page 164: Profile Speed (Pn2A2, Pn2A3)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.1.6. Profile Speed (Pn2A2, Pn2A3) These parameters are used to define the default value of the profile speed variable. This variable is used to reach a target within a minimum period of time (set the time of movement to –1). The driver accelerates until it reaches this profile speed.
Page 165: Quick Stop Deceleration (Pn2A8, Pn2A9)
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) These parameters are used to define the deceleration of the motor when a STOP command is issued. Parameter Setting Signal Setting range 0-65535 Deceleration of motor in Default setting: 65535 Pn2A8 case of STOP command...
Page 166: Homing
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.3. Homing For serial commands, the homing procedure is different. You will need a host (PC) to perform the procedure. To perform the homing procedure, proceed as follows: 1. Move the motor to its home position (see parameters below for this command).
Page 167: Digital I/O
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.4. Digital I/O In addition to the digital input parameters Pn50A – Pn50D, there is one more input for serial commands, Pn2D1 that work in the same way and can be related in the program. You can define Emergency input to set servo OFF.
Page 168: Auto Tuning
XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5.9.5. Auto Tuning For the auto tuning procedure refer to the XtraWare User Manual. Auto Tuning is performed by moving forward and reverse, while parameters are being tuned. The following parameters define the profile of this movement.
Page 169: Servo Adjustment
XtraDrive User Manual Chapter 6: Servo Adjustment 6. Servo Adjustment This chapter describes the functions required for servo adjustment. Find the required information by selecting the section from the following table of contents. 6.1. Selection of Control Mode................6-2 6.2. Analog Input or Contact Input Velocity Control ........6-3 6.2.1.
Page 170: Selection Of Control Mode
XtraDrive User Manual Chapter 6: Servo Adjustment 6.1. Selection of Control Mode The XtraDrive servo amplifier offers speed control, position control, torque control, and the other control modes shown in the following table. The following parameter is used to set the control mode. Parameter Signal Setting...
Page 171: Analog Input Or Contact Input Velocity Control
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2. Analog Input or Contact Input Velocity Control This section provides technical information for operation of servomotors in Velocity Control mode with Analog Input. The Identical Control principle is applied in case of Contact Input or Analog Input.
Page 172: Parameters Of The Velocity Control
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.2. Parameters of the Velocity Control The following parameters are related to Velocity Control: Pn305 Soft Start Acceleration time Pn306 Soft Stop Deceleration time Pn103 Inertia Ratio Pn300 Speed Reference Input gain Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time constant...
Page 173: Adjusting Offset
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.4. Adjusting Offset The servo system does not operate smoothly if reference voltage from the host controller or external equipment has a reference offset value close to 0V. In that case, adjust the reference offset value to 0V. Reference Voltage Offset from Host Controller or External Circuitry Offset...
Page 174: Using The Soft Start Function
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.5. Using the Soft Start Function The soft start function adjusts progressive speed reference input inside the servo amplifier so that acceleration and deceleration can be as constant as possible. To use this function, set the following parameters. Setting Parameter Signal...
Page 175: Load Inertia Setting
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.6. Load Inertia Setting In order to use values of Loop Gains that are closely related to the characteristics of your system, loop gains are normalized in Hertz. This normalization of parameters is done according to the assumed inertia of the system.
Page 176: Adjusting Speed Loop Gain
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.7. Adjusting Speed Loop Gain The adjustment of Speed Loop Gains is an iterative process in interaction with the adjustment of Notch Filter and Torque Filter. Before executing it, you should read sections 6.1.7 and 6.1.8.
Page 177: Setting The Torque Reference Filter Time Constant
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.8. Setting the Torque Reference Filter Time Constant If there is machine vibration, which may be caused by the servo drive, try adjusting the filter time constant in Pn401. This may stop the vibration.
Page 178: Gain Setting Reference Values
XtraDrive User Manual Chapter 6: Servo Adjustment 6.2.10. Gain Setting Reference Values This section describes servo gain reference values. Refer to the following for optimal gain adjustments according to the rigidity of the mechanical system. Refer to these values and use the previously mentioned methods to make gain adjustments.
Page 179 XtraDrive User Manual Chapter 6: Servo Adjustment IMPORTANT When the inertia ratio is larger than 10, start gain adjustments with the position and speed loop • gains slightly below the ranges given above and the speed loop integral constant slightly over the range.
Page 180: Nct Position Control
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3. NCT Position Control Position control can be performed by PULSE TRAIN (Pn000.1=C) or by SERIAL commands (Pn000.1=D. XtraDrive provides an automatic tuning function. In case of auto- tuning, only a rough estimation of load inertia is required. Refer to Section 6.3.2 for the evaluation of the load inertia, then to Section 5.9.5.
Page 181 XtraDrive User Manual Chapter 6: Servo Adjustment The following wizard will help you to calculate your load inertia. Estimation of Equivalent Load ( J load Case 1_ Load is a cylinder directly mounted or coupled to motor axis: π × ρ...
Page 182: Position Control Block Diagram
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3.2. Position Control Block Diagram The following is a general block diagram of the NCT. The NCT algorithm includes specific non-linear functions for each one of the blocks shown here, so that this block diagram should be used for general understanding only.
Page 183: Nct Gain Parameters
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3.3. NCT Gain Parameters The following are the main parameters of NCT servo control: Pn1AC Differential gain Pn1AA Proportional gain Pn1AB Additional proportional gain Pn1A9 Integral feedback gain Pn1AD Acceleration gain These parameters should be tuned in the order of the list above. •...
Page 184: Oca - Oscillation Canceling Algorithm
XtraDrive User Manual Chapter 6: Servo Adjustment • Ka (Pn1AD) range 0-500 [%], default 0. Filter Pn1AE range 0- 2500 [0.01ms] default 300: This parameter is the acceleration gain. It can be used when there is a high-resolution encoder. In most cases, a 0 value is used, but in some cases it can improve the control quality.
Page 185: Additional Parameters Tuning
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3.5. Additional Parameters Tuning After having set the default value for a given load, additional tuning may be done. Typically, the following parameters can be further tuned: To prevent vibrations with Torque Filters Pn1A2-Pn1A5 flexible coupling and poor damping.
Page 186: Flexible System Parameters
XtraDrive User Manual Chapter 6: Servo Adjustment • Second Order Torque Filter (Pn1A5), Range 0-1000 [0.1%], Default 0: This parameter is a part of the second order torque filter. It has good influence in many cases, even if the first order torque filter is not active.
Page 187: Gain Factor
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3.8. Gain Factor • Tightness (Pn1A0), Range 0-500[%], Default 60: This parameter changes the frequencies of feedback parameter linearly, keeping their relative ratio, so that system rigidity can be changed without getting unstable. A good starting value is 60[%]. After setting the default values for load, one can increase or decrease the stiffness of the servo control by changing this parameter.
Page 188 XtraDrive User Manual Chapter 6: Servo Adjustment This parameter changes the frequencies of feedback parameter linearly, keeping their relative ratio, so that system rigidity can be changed without getting unstable. A good starting value is 60[%]. After setting the default values for load, one can increase or decrease the stiffness of the servo control by changing this parameter.
Page 189: Tuning Procedure For Position Control Parameters
XtraDrive User Manual Chapter 6: Servo Adjustment 6.3.10. Tuning Procedure for Position Control Parameters System Requirements Use any command input to the XtraDrive, and watch the performance of control (see analog output). It is recommended to use commands that include a constant speed section (plateau of trapeze for example).
Page 190 XtraDrive User Manual Chapter 6: Servo Adjustment f) Increase the Second Order torque filter (Pn1A5) to obtain smoothed movement, very helpful in flexible systems. You can increase it till 60 to 70 percentages. g) If necessary, repeat sub-steps b) to d) until an optimal value is obtained.
Page 191: Analog Monitor
XtraDrive User Manual Chapter 6: Servo Adjustment 6.4. Analog Monitor The analog monitor can be used to observe a variety of analog voltage signals. Analog monitor signals must be observed through the CN5 connector using the Yaskawa P/N DE9404559 cable. Black Black 8.
Page 192 XtraDrive User Manual Chapter 6: Servo Adjustment Description Settings in Pn006.0 and Pn007.0 Monitor signal Observation gain Servo position error 1V / 10 Encoder Counts Servo position error 1V / 5 User Units Target speed 1V / 500 rpm. Smoothed target speed 1V / 500 rpm.
Page 193: Using The Panel Operator
XtraDrive User Manual Chapter 7: Using the Panel Operator 7. Using the Panel Operator This chapter describes the basic operation of the digital operator and the features it offers. All parameter settings and motor operations can be executed by simple, convenient operations.
Page 194: Basic Operation
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.1. Basic Operation This section provides information on the basic operation of the built-in digital operator for setting operating conditions. 7.1.1. Panel Operator A built-in operator incorporating a panel indicator and switches is located on the front panel of the servo amplifier.
Page 195: Resetting Servo Alarms
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.1.2. Resetting Servo Alarms Servo alarms can be reset using the digital operator. Using the Built-in Panel Operator Press the Up Arrow AND Down Arrow keys together in Status Display mode. The alarm can be reset with CN1-44 or /ALM-RST signal input.
Page 196: Status Display Mode
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.1.4. Status Display Mode In Status Display mode, bit data and codes are displayed to indicate the status of the servo amplifier. Selecting Status Display Mode The digital operator goes into Status Display mode when the digital operator is turned ON.
Page 197 XtraDrive User Manual Chapter 7: Using the Panel Operator Codes and Meanings in Speed and Torque Control Mode Code Meaning Baseblock Servo OFF (motor power OFF) Servo ON (motor power ON) Forward Run Prohibited CN1-42 (P-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit Function. Reverse Run Prohibited CN1-43 (N-OT) is OFF.
Page 198: Operation In Parameter Setting Mode
XtraDrive User Manual Chapter 7: Using the Panel Operator Codes and Meanings in Position Control Mode Code Meaning Baseblock Servo OFF (motor power OFF) Servo ON (motor power ON) Forward Run Prohibited CN1-42 (P-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit Function. Reverse Run Prohibited CN1-43 (N-OT) is OFF.
Page 199 XtraDrive User Manual Chapter 7: Using the Panel Operator 3. Press the DATA/SHIFT key for a minimum of one second to display the current data for the parameter selected in step 2. 4. Press the Up Arrow or Down Arrow key to change the value as desired to “00085”.
Page 200 XtraDrive User Manual Chapter 7: Using the Panel Operator Function Selection Parameters Function Selection Parameter Types The following table shows the parameters for selecting servo amplifier functions. Parameter Default Important Category Name Number Setting Note Pn000 Function Selection Basic Switches 00D0 (See 1) Function Selection Application...
Page 201 XtraDrive User Manual Chapter 7: Using the Panel Operator Parameter settings are displayed in two patterns as shown below. Display Application Display Format Function selection Hexadecimal display for each digit Parameter setting Decimal display in five digits Since each digit in the function selection parameters has its own meaning, the value can only be changed for each individual digit.
Page 202 XtraDrive User Manual Chapter 7: Using the Panel Operator Changing Function Selection Parameter Settings 1. Press the MODE/SET key to select the Parameter Setting mode. 2. Press the Up Arrow or Down Arrow key to select the parameter number to be set. (Pn000 is selected in this example.) 3.
Page 203: Operation In Monitor Mode
XtraDrive User Manual Chapter 7: Using the Panel Operator 7. Press the DATA/SHIFT key once more for a minimum of one second to return to the parameter number display. This has changed the 1 digit of parameter Pn000 to “1”. 7.1.6.
Page 204 XtraDrive User Manual Chapter 7: Using the Panel Operator Contents of Monitor Display The following table shows contents of the monitor display. Monitor Monitor Display Unit Comments Number Un000 Actual motor speed — Un001 Input speed reference (See note 3 below) Un002 Internal torque reference Value for rated torque...
Page 205 XtraDrive User Manual Chapter 7: Using the Panel Operator Sequence I/O Signal Monitor Display The following section describes the monitor display for sequence I/O signals. Input Signal Monitor Display Top: OFF ("H" level) Bottom: ON ("L" level) 8 7 6 5 4 3 2 1 Number LED Number Input Terminal Name...
Page 206 XtraDrive User Manual Chapter 7: Using the Panel Operator Output Signal Monitor Display Top: OFF ("H" level) Bottom: ON ("L" level) 7 6 5 4 3 2 1 Number LED Number Output Terminal Name Default Setting (CN1-31, -32) SO1 (CN1-25, -26) /COIN or /V-CMP SO2 (CN1-27, -28) /TGON...
Page 207 XtraDrive User Manual Chapter 7: Using the Panel Operator Reference Pulse/Feedback Pulse Counter Monitor Display The monitor display of the reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal. The display procedure is as follows: 1. Press the MODE/SET key to select the Monitor mode. 2.
Page 208: Applied Operation
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2. Applied Operation This section describes how to apply basic operations, using the digital operator, to run and adjust the motor. Read the description of the basic operations in 7.1 Basic Functions before proceeding to this section. Parameters for applied operation can be set in the Auxiliary Function mode.
Page 209: Operation In Alarm Traceback Mode
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.1. Operation in Alarm Traceback Mode The Alarm Traceback mode can display up to ten alarms that have occurred, thus making it possible to check what kind of alarms have been generated. Alarm traceback data is not cleared on alarm reset or when the servo amplifier power is turned OFF.
Page 210: Jog Operation
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.2. JOG Operation CAUTION • Forward Run Prohibited (/P-OT) and Reverse Run Prohibited (/N-OT) signals are not effective during JOG operations using parameter Fn002. Operation from the digital operator allows the servo amplifier to run the motor.
Page 211 XtraDrive User Manual Chapter 7: Using the Panel Operator 3. Press the MODE/SET key to set the servo to ON (with motor power turned ON). 4. Press the Up Arrow or Down Arrow key to operate the motor. The motor keeps operating while the key is pressed. 5.
Page 212: Automatic Adjustment Of Speed And Torque Reference Offset
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.3. Automatic Adjustment of Speed and Torque Reference Offset When speed and torque control are used, the motor may rotate slowly even when 0V is specified as the analog reference voltage. This occurs when the host controller or external circuit has a small offset (measured in mV) in the reference voltage.
Page 213 XtraDrive User Manual Chapter 7: Using the Panel Operator Follow this procedure to automatically adjust the speed/torque reference offset. 1. Input the (intended) 0V reference voltage from the host controller or external circuit. Servomotor 0V Speed or Torque Reference Host Controller Servo OFF Slow Rotation...
Page 214: Manual Adjustment Of Speed And Torque Reference Offset
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.4. Manual Adjustment of Speed and Torque Reference Offset Manual speed/torque reference offset adjustment is useful in the following situations: • If a position loop is formed with a host controller and the error zeroed-out when the motor was stopped in servo lock (zero reference) •...
Page 215 XtraDrive User Manual Chapter 7: Using the Panel Operator Follow the procedure below to manually adjust the speed reference offset. 1. Press the MODE/SET key to select the Auxiliary Function mode. 2. Press the Up Arrow or Down Arrow key to select the parameter Fn00A.
Page 216 XtraDrive User Manual Chapter 7: Using the Panel Operator Manual Adjustment of Torque Reference Offset Follow the procedure below to manually adjust the torque reference offset. 1. Press the MODE/SET key to select the Auxiliary Function mode. 2. Press the Up Arrow or Down Arrow key to select the parameter Fn00B.
Page 217: Clearing Alarm Traceback Data
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.5. Clearing Alarm Traceback Data This procedure clears the alarm history, which stores alarms generated in the servo amplifier. After clearing, each alarm in the alarm history is set to A.- -, which is not an alarm code. Refer to 7.2.1 Operation in Alarm Traceback Mode for details.
Page 218: Checking The Motor Model
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.6. Checking the Motor Model Set the parameter Fn011 to select the Motor Model Check mode. This mode is used for motor maintenance and can also be used to check the special (Y-specification) codes of the servo amplifiers.
Page 219: Checking The Software Version
XtraDrive User Manual Chapter 7: Using the Panel Operator 5. Press the MODE/SET key, and the encoder type and resolution code will be displayed. Encoder type Encoder resolution Encoder Type Encoder Resolution Code Voltage Code Resolution Incremental Encoder 13 bits Absolute Encoder 16 bits 17 bits...
Page 220: Origin Search Mode
XtraDrive User Manual Chapter 7: Using the Panel Operator 3. Press the MODE/SET key to display the encoder software version. Software Version 4. Press the DATA/SHIFT key for a minimum of one second to return to the parameter code display. 7.2.8.
Page 221 XtraDrive User Manual Chapter 7: Using the Panel Operator Follow the procedure below to execute the origin search. 1. Press the MODE/SET key to select the Auxiliary Function mode. 2. Press the Up Arrow or Down Arrow key to select the parameter Fn003.
Page 222: Initializing Parameter Settings
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.9. Initializing Parameter Settings This function is used to reset all parameters to the default settings (standard factory settings). IMPORTANT • Initialize the parameter settings with the servo OFF. • After performing the procedure, cycle the power to reset all the parameters to the default settings.
Page 223: Manual Zero Adjustment And Gain Adjustment Of Analog Monitor Output
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.10. Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output Motor speed, torque reference, and position error can be monitored through the analog monitor output. Refer to 6.6 Analog Monitor . Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering the monitor system.
Page 224 XtraDrive User Manual Chapter 7: Using the Panel Operator 3. Press the DATA/SHIFT key for a minimum of one second, and the display will be as shown below. 4. Press the MODE/SET key. Each time the MODE/SET key is pressed, the monitor output will toggle between the displays for the two channels shown below.
Page 225 XtraDrive User Manual Chapter 7: Using the Panel Operator Manual Gain Adjustment of Analog Monitor Output Follow the procedure below to execute the manual gain adjustment of analog monitor output. 1. Press the MODE/SET key to select the Auxiliary Function mode. 2.
Page 226: Adjusting The Motor Current Detection Offset
XtraDrive User Manual Chapter 7: Using the Panel Operator 7.2.11. Adjusting the Motor Current Detection Offset Motor current detection offset adjustment is performed at Yaskawa before shipping. Normally, the user does not need to perform this adjustment. Make this adjustment only if highly accurate adjustment is required to reduce torque ripple caused by current offset.
Page 227 XtraDrive User Manual Chapter 7: Using the Panel Operator 5. Press the DATA/SHIFT key for a minimum of one second to return to the Auxiliary Function mode display. This completes the automatic adjustment of the motor current detection offset. Manually Adjusting the Motor Current Detection Offset Follow the procedure below to manually adjust the current detection offset.
Page 228: Write Protection Setting
XtraDrive User Manual Chapter 7: Using the Panel Operator 5. Press the DATA/SHIFT key for less than one second to display the current detection data. Press the DATA/SHIFT key again for less than one second, and the display will return to show as in step 3 or 4 above.
Page 229: Clearing The Option Unit Detection Alarm
XtraDrive User Manual Chapter 7: Using the Panel Operator 3. Press the DATA/SHIFT key for a minimum of one second, and the display will be as shown below. 4. Input the value (0001) and press the MODE/SET key. The display will change as shown below and the write protection will be established.
Page 230 XtraDrive User Manual Chapter 7: Using the Panel Operator Use the following procedure to initialize parameter settings. 1. Press the MODE/SET key to select the Auxiliary Function mode. 2. Select the parameter Fn014. Press the Left Arrow or Right Arrow key to select the digit. Press the Up Arrow or Down Arrow key to change the value.
Page 231 XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8. Ratings, Specifications and Dimensional Drawings This chapter provides the ratings, torque-speed characteristics diagrams, and dimensional drawings of the XtraDrive series servo drives. 8.1. Ratings and Specifications................8-2 8.2. Single-phase 200V XtraDrive and Motors Combinations ......8-6 8.3.
Page 232 XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.1. Ratings and Specifications The following table shows ratings and specifications for the XtraDrive servo amplifier to use in selecting the appropriate servo amplifier. XtraDrive Ratings and Specifications The table’s input current rates are at the lower range of the voltage specifications.
Page 233: Ratings, Specifications And Dimensional Drawings
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings XtraDrive Ratings and Specifications (continued) XtraDrive Model 200V Single/Three-phase 200 to 230V +10 to -15%, 50/60Hz * Main Circuit 400V Three-phase. 380 to 480V +10 to -15%, 50/60Hz 200V For Single-phase 200 to 230.5V +10 to -15%, 50/60Hz Control Circuit...
Page 234 XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings XtraDrive Ratings and Specifications (continued) XtraDrive Model 1:5000 (The lowest speed of the speed control range is the point just Speed Control Range before the motor stops under full-load condition.) Load Regulation 0 to 100% load: 0.01% maximum (at rated speed) Voltage...
Page 235 XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings XtraDrive Ratings and Specifications (continued) XtraDrive Model A -, B -, C - phase line driver Form S - phase line driver (only with an absolute encoder) Frequency Dividing Ratio Servo ON, P control (or Control Mode switching, forward/reverse motor Signal allocation rotation by internal speed setting, zero clamping, reference pulse prohibited),...
Page 236: Single-Phase 200V Xtradrive And Motors Combinations
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.2. Single-phase 200V XtraDrive and Motors Combinations XtraDrive Model P3-** P5-** 01-** 02-** 04-** 08-** Model SGMAH- Capacity (KW) 0.03 0.05 0.75 Motor Speed (Rpm) Rated 3000/maximum 5000 YASKAWA serial or incremental A quad B or absolute encoder. Applicable Encoder DIFFERENT incremental A quad B encoders Continuous Output Current A...
Page 237: Three-Phase 200V Xtradrive And Motor Combinations
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.3. Three-phase 200V XtraDrive and Motor Combinations XtraDrive Model 08-** 10-** 20-** 30-** Model SGMGH- ― Capacity (KW) ― 0.85 Motor Speed (Rpm) Rated 1500/maximum 3000 YASKAWA serial or incremental A quad B or absolute encoder. Applicable Encoder DIFFERENT incremental A quad B encoders Continuous Output Current A...
Page 238: Three-Phase 400V Xtradrive And Motors Combinations
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.4. Three-phase 400V XtraDrive and Motors Combinations XtraDrive Model 05-** 10-** 15-** 20-** 30-** Model SGMAH- — — — Capacity (KW) 0.65 — — — Motor Speed (Rpm) Rated 3000/maximum 5000 YASKAWA serial or incremental A quad B or absolute encoder.
Page 239: Three-Phase 400V Xtradrive And Motors Combinations
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings Three-phase 400V XtraDrive and Motors Combinations (continued) XtraDrive Model 05-** 10-** 15-** 20-** 30-** Model SGMSH- — Capacity (KW) — Motor Speed (Rpm) Rated 3000/maximum 5000 YASKAWA serial or incremental A quad B or absolute encoder. Applicable Encoder DIFFERENT incremental A quad B encoders Continuous Output Current A...
Page 240: Base-Mounted Dimensional Drawings
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.5. Base-mounted Dimensional Drawings 8.5.1. XD-P3 to -02 (1-phase 200V, 30 to 200 W) 8-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 241: 1-Phase 200 V, 400 W)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.5.2. XD-04 (1-phase 200 V, 400 W) 8-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 242: 1-Phase 200V, 0.75Kw) And Xd-10 (3-Phase 200V, 1.0Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.5.3. XD-08 (1-phase 200V, 0.75kW) and XD-10 (3-phase 200V, 1.0kW) 8-12 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 243: Xd-05, 10, 15 (3-Phase 400V, 0.5 To 1.5Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.5.4. XD-05, 10, 15 (3-phase 400V, 0.5 to 1.5kW) 8-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 244: Xd-20, -30 (3-Phase 200V,400V, 2.0 And 3.0 Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.5.5. XD-20, -30 (3-phase 200V,400V, 2.0 and 3.0 kW) 8-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 245: Rack-Mounted Dimensional Drawings
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.6. Rack-mounted Dimensional Drawings 8.6.1. XD-P3 to -02 (1-phase 200V, 30 to 200 W) Units: mm(in) 8-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 246: 1-Phase 200 V, 400 W)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.6.2. XD-04 (1-phase 200 V, 400 W) Units: mm(in) 8-16 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 247: 1-Phase 200V, 0.75Kw) And Xd-10 (3-Phase 200V, 1.0Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.6.3. XD-08 (1-phase 200V, 0.75kW) and XD-10 (3-phase 200V, 1.0kW) Units: mm(in) 8-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 248: Xd-05, 10, 15 (3-Phase 400V, 0.5 To 1.5Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.6.4. XD-05, 10, 15 (3-phase 400V, 0.5 to 1.5kW) Units: mm(in) 8-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 249: Xd-20, -30 (3-Phase 200V,400V, 2.0 And 3.0 Kw)
XtraDrive User Manual Chapter 8: Ratings, Specifications and Dimensional Drawings 8.6.5. XD-20, -30 (3-phase 200V,400V, 2.0 and 3.0 kW) Units: mm(in) 8-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 250 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting 9. Inspection, Maintenance, and Troubleshooting This chapter describes the basic inspection and maintenance to be carried out by the user. In addition, troubleshooting procedures are described for problems, which generate an alarm display, and for problems, which result in no alarm display.
Page 251: Inspection, Maintenance, And Troubleshooting
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting 9.1. XtraDrive Inspection and Maintenance This section describes the basic inspections and maintenance of servomotors and servo amplifiers and the procedures for replacing the battery for absolute encoders. 9.1.1. Servomotor Inspection For inspection and maintenance of servomotors, follow the simple, daily inspection procedures in the following table.
Page 252: Replacing The Battery For The Absolute Encoder
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Part Replacement Schedule The following parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated. The parameters of any servo amplifiers overhauled by YET are reset to the default (standard factory) settings before shipping.
Page 253: Troubleshooting
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting 9.2. Troubleshooting This section describes causes and remedies for problems, which generate an alarm display, and for problems, which result in no alarm display. 9.2.1. Troubleshooting Problems with Alarm Displays Problems that occur in the servo drives are displayed on the panel operator as “A.##”...
Page 254 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.04: Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON Cause of the Problem Solution An out-of-range parameter was...
Page 255 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.10: Overcurrent or Heat Sink Overheated Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When Servo ON During servomotor...
Page 256 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.30: Regenerative Error Detected Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During servomotor When the control A, B...
Page 257 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.40: Main Circuit DC Voltage Error Detected: Overvoltage Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During servomotor When the control...
Page 258 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.41: Main Circuit DC Voltage Error Detected: Undervoltage Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During servomotor When the control...
Page 259 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Cause of the Problem Solution Check and correct wiring. Incorrect servomotor wiring. (Check for U-, V-, and W-phase wiring errors.) Position or speed reference input is too Lower the reference input large.
Page 260 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Overload Characteristics Servo amplifiers have a built-in overload protection function that protects the servo amplifiers and servo motors from overload. Allowable power for the servo amplifiers is limited by the overload protective function, as shown in the figure below.
Page 261 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.74: Overload of Surge Current Limit Resistor Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When the circuit power is turned...
Page 262 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.81: Absolute Encoder Backup Power Supply Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON.
Page 263 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Cause of the Problem Solution • Follow absolute encoder setup Error during encoder memory procedure. check. • Replace servomotor if error occurs frequently. Defective circuit board (1PWB). Replace servo amplifier. A.83: Absolute Encoder Battery Error Display and Outputs Alarm Outputs Alarm Code Output...
Page 264 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.84: Absolute Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm During servomotor At power ON.
Page 265 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.86: Encoder Overheated Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm During servomotor When the control A, B C, D...
Page 266 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.C1: Servo Run Away Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When Servo ON (S- At power ON.
Page 267 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.C2: Commutation (Phase Finding) Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At first motor on sequence after power- - A, B ,C...
Page 268 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.C9: Encoder Communications Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During servomotor At power ON.
Page 269 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.Cb: Encoder Echoback Error Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON.
Page 270 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.d0: Position Error Pulse Overflow Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON.
Page 271 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.E7: Option Unit Detection Error A.E7 occurs the first time the SGDH amplifier is used after disconnecting an option unit. This alarm cannot be cleared with an alarm reset; instead, clear it with function Fn014. Display and Outputs Alarm Outputs Alarm Code Output...
Page 272 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting A.F1: Power Line Open Phase Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When the main When the control...
Page 273 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting CPF01: Digital Operator Transmission Error 2 This alarm is not stored in the alarm history. Display and Outputs Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Not Applicable Status and Remedy for Alarm During servomotor A, B, C, D operation.
Page 274: Troubleshooting Problems With No Alarm Display
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting 9.2.2. Troubleshooting Problems with No Alarm Display Use the tables below to identify the cause of a problem that causes no alarm display and follow the described corrective procedure. Turn OFF the servo system power supply before starting the shaded procedures.
Page 275: Alarm Display Table
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Symptom Cause Comment Solution Reduce speed loop gain Speed loop gain value (Pn100) preset value. — too high. Increase integration time High rotation speed constant (Pn101). overshoot on Increase the value of starting Speed loop gain is too parameter Pn100 (speed...
Page 276 XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Alarm Alarm Code Output Alarm Name Description Display ALO1 ALO2 ALO3 Output Main circuit DC voltage is A.41 Undervoltage excessively low. Rotational speed of the motor is A.51 Overspeed excessively high. The motor was operating for several seconds to several tens A.71...
Page 277: Warning Displays
XtraDrive User Manual Chapter 9: Inspection, Maintenance, and Troubleshooting Alarm Alarm Code Output Alarm Name Description Display ALO1 ALO2 ALO3 Output Contents of communications Encoder Echo back A.Cb with Error* encoder is incorrect. Different multi-turn limits have Multi-Turn Limit A.CC been set in the encoder and Disagreement servo amplifier.
Page 278 A.2. Connecting the CP-9200SH Servo Controller Module (SVA) ....A-3 A.3. Connecting the GL-series B2813 Positioning Module ......A-4 A.4. Connecting OMRON's C500-NC221 Position Control Unit .....A-5 A.5. Connecting OMRON's C500-NC112 Position Control Unit .....A-6 A.6. Connecting MITSUBISHI's AD72 Positioning Unit.........A-7 A.7.
Page 279: Appendix A. Host Controller Connection Examples
XtraDrive User Manual Appendix A: Host Controller Connection Examples A.1. Connecting the GL-series MC20 Motion Module The following diagram shows an example of connecting to the GL-series MC20 Motion Module. In this example, the servo amplifier is used in Speed Control Mode Artisan Technology Group - Quality Instrumentation ...
Page 280: Connecting The Cp-9200Sh Servo Controller Module (Sva
XtraDrive User Manual Appendix A: Host Controller Connection Examples A.2. Connecting the CP-9200SH Servo Controller Module (SVA) The following diagram shows an example of connecting to the CP-9200SH servo controller Module (SVA). In this example, the servo amplifier is used in Speed Control Mode.
Page 281: Connecting The Gl-Series B2813 Positioning Module
XtraDrive User Manual Appendix A: Host Controller Connection Examples A.3. Connecting the GL-series B2813 Positioning Module The following diagram shows an example of connecting to the GL-series B2813 Positioning Module. In this example, the servo amplifier is used in Position Control Mode. *1.
Page 282: Connecting Omron's C500-Nc222 Position Control Unit
*2. Connect the shield wire of the I/O cable to the connector shell. *3. P indicates twisted pair wires. Note: Only signals applicable to OMRON's C500NC222 Position Control Unit and YET's XtraDrive are shown here. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 283: Connecting Omron's C500-Nc112 Position Control Unit
*2. Set parameter Pn200.0 to “1”. *3. Manufactured by Yaskawa Controls Co. Note: Only signals applicable to OMRON's C500NC112 Position Control Unit and YET's XtraDrive are shown here. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 284: Connecting Mitsubishi's Ad72 Positioning Unit
XtraDrive User Manual Appendix A: Host Controller Connection Examples A.6. Connecting MITSUBISHI's AD72 Positioning Unit The following diagram shows an example of connecting to the MITSUBISHI AD72 Positioning Unit. In this example, the servo amplifier is used in Speed Control Mode. *1.
Page 285: Connecting Mitsubishi's Ad75 Positioning Unit
XtraDrive User Manual Appendix A: Host Controller Connection Examples A.7. Connecting MITSUBISHI's AD75 Positioning Unit The following diagram shows an example of connecting to the MITSUBISHI AD75 Positioning Unit. In this example, the servo amplifier is used in Position Control Mode. Ω...
Page 286 XtraDrive User Manual Appendix B: Special Wiring Appendix B. Special Wiring This appendix provides examples for XtraDrive servo amplifiers connected to typical host controllers. Refer to the manuals for the host controller when actually connecting to them. B.1. Wiring Precautions..................B-2 B.2.
Page 287: Appendix B. Special Wiring
XtraDrive User Manual Appendix B: Special Wiring B.1. Wiring Precautions To ensure safe and stable operation, always observe the following wiring precautions: 1. Always use the following cables for reference input and encoder wiring. Yaskawa Cable Type Maximum Allowable Length Drawing Number Reference Input Twisted pair wires...
Page 288 XtraDrive User Manual Appendix B: Special Wiring 5. To prevent malfunction due to noise, take the following actions: • Position the input reference device and noise filter as close to the servo amplifier as possible. • Always install a surge absorber circuit in the relay, solenoid, and electromagnetic contactor coils.
Page 289 XtraDrive User Manual Appendix B: Special Wiring MCCB or Fuse According to Power Capacity The following table shows the MCCB or fuse capacity for each power supply capacity. Servo Amplifier Power Current Model Capacity per Main Circuit Capacity per Applicable MCCB or Power Servo...
Page 290: Wiring For Noise Control
XtraDrive User Manual Appendix B: Special Wiring B.2. Wiring for Noise Control Wiring Example This servo amplifier uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if wiring or grounding around the servo amplifier is not appropriate.
Page 291 XtraDrive User Manual Appendix B: Special Wiring Noise on the Reference Input Line If the reference input line is affected by noise, ground the 0V line (SG) of the reference input line. If the main circuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box.
Page 292 XtraDrive User Manual Appendix B: Special Wiring Installation and Wiring a Noise Filter Incorrect application of a noise filter significantly reduces its benefits. Follow these instructions for the best results. • Separate the input lines from the output lines. Do not put the input and output lines in the same duct or bundle them together.
Page 293 XtraDrive User Manual Appendix B: Special Wiring • Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. • When grounding a noise filter inside an enclosure: If a noise filter is located inside an enclosure, connect the noise filter ground wire and the ground wires from other devices inside to the ground plate for the enclosure first, then ground these wires.
Page 294: Using More Than One Xtradrive
XtraDrive User Manual Appendix B: Special Wiring B.3. Using More Than One XtraDrive The following diagram is an example of the wiring when more than one XtraDrive is used. Note: Wire the system to comply to National Electrical Code. Connect the alarm output (ALM) terminals for the three servo amplifiers in series to enable alarm detection relay 1RY to operate.
Page 295: Extending Encoder Cables
XtraDrive User Manual Appendix B: Special Wiring B.4. Extending Encoder Cables Standard encoder cables have a maximum length of 20m. If a longer cable is required, prepare an extension cable as described below. The maximum allowable cable length is 50m. Preparing 50m (164.0ft) Encoder Cables •...
Page 296 XtraDrive User Manual Appendix B: Special Wiring • Preparing Encoder Cables • Encoder Connector • • Cable Line Encoder Connector at Motor End at XtraDrive end For SGMAH and SGMPH servomotors For SGMGH, SGMSH, and SGMUH servomotors B-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 297: Power Supply Voltage
XtraDrive User Manual Appendix B: Special Wiring B.5. 400V Power Supply Voltage Caution • Do not connect the servo amplifier directly to any voltage level other than what is specified on the servomotor. Doing so will destroy the servo amplifier. There are 3 types of XtraDrive servo amplifiers.
Page 298 XtraDrive User Manual Appendix B: Special Wiring Single-phase Power Supply Connection Example Transformer for XtraDrive Three-phase 380 voltage conversion VAC to 480VAC 200VAC Electromagnetic contactor for power supply ON/OFF B-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 299: Reactor For Harmonic Suppression
XtraDrive User Manual Appendix B: Special Wiring B.6. Reactor for Harmonic Suppression XtraDrive servo amplifiers have DC reactor connection terminals for power supply harmonic suppression. Connecting a DC Reactor The DC reactor is connected in series to the rectifier circuit’s output side.
Page 300 XtraDrive User Manual Appen dix C: Specifications for Peripheral Devices Appendix C. Specifications for Peripheral Devices This chapter provides specifications and dimensional drawings for peripheral devices required in XtraDrive Series Servo System. C.1. Connector Terminal Block Converter Unit JUSP-TA50P......C-2 C.2. External Regenerative Resistors ..............C-4 C.3.
Page 301: Connector Terminal Block Converter Unit Jusp-Ta50P
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.1. Connector Terminal Block Converter Unit JUSP-TA50P * Terminal specifications: see the following page Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 302 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices JUSP-TA50P Terminal Block Pin Numbers and Signal Names. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 303: External Regenerative Resistors
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.2. External Regenerative Resistors Regenerative resistors can be externally mounted onto all XtraDrive models. Mount a regenerative resistor externally if regenerative energy exceeds the capacity of the XtraDrive. If a regenerative resistor is to be mounted externally, the jumper between B2 and B3 terminals of XtraDrive must be removed.
Page 304 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices Specifications ± ± ± Resistor Tolerance 10%, J: 5%, H: Resistor Temperature ± Ω ± Ω 400 PPM/ºC (Up to 20 260 PPM/ºC (20 Characteristics higher) ± Ω Withstand Voltage ∆R at 200 VAC/1min: (0.1% + 0.05 Insulation Resistance Ω...
Page 305: Dc Reactors For Power Supplies Designed For Minimum Harmonics
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.3. DC Reactors for Power Supplies Designed for Minimum Harmonics If necessary for power supplies designed for minimum harmonics, connect a DC reactor between the (+)1 and (+)2 terminals of XtraDrive main circuits. Select a DC reactor that matches the ratings of the XtraDrive from among those listed in table.
Page 306 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices Dimensional Drawings Approxi- Dimensions mm (in) Reactor mate Model Mass kg фH фI (lb) X5071 (1.38) (2.05) (3.15) (3.74) (1.18) (1.57) (1.77) (0.16) (0.17) (1.102) X5070 (1.57) (2.32) (3.94) (4.72) (1.38) (1.77) (1.97) (0.16)
Page 307: Brake Power Supplies
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.4. Brake Power Supplies Brake power supplies are available for 200V inputs for servomotors with brakes. • 200 V input: LPSE-2H01 Dimensional Drawings 50 (1.97) 30 (1.18) Units: mm (in) Two mounting holes measuring 3 mm (0.12 in) in diameter (Spot facing 25 (0.98) measuring 5.5 mm (0.22 in) in diameter...
Page 308: Surge Suppressor
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.5. Surge Suppressor Recommended to install surge suppressor that absorbs surge voltage generated when the magnetic coil is OFF. This prevents faulty operation or damage to electronic circuits near the magnetic contactors or switches. C.6.
Page 309: Connecting Pulse A/B Encoder Without C Pulse (Index Pulse
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.9. Connecting Pulse A/B Encoder without C Pulse (Index Pulse) OEM Encoder Cable XtraDrive Side Pin Number Signal Name Wire Color Remarks (20-pin connector) 1,2,3 PG GND Black Twisted 4,5,6 PG +5V Pair White Green...
Page 310: Absolute Encoder Battery
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.10. Absolute Encoder Battery When the power supply of an absolute encoder is OFF, a data backup battery is required. Customers can install one of the absolute encoder batteries shown below. Battery Installed at the Absolute Encoder Cable End Model: ER6V (Lithium battery by Toshiba Battery Co.
Page 311: Cables For Connecting Pc To Xtradrive
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.11. Cables for Connecting PC to XtraDrive C.11.1. RS-232 Communication Cable Cable Configuration D-Sub 9-pin connector Half-pitch 14-pin connector Plug: 77SDE-09S Plug: 10114-3000VE Shell: 17JE-09-H1C Shell: 10314-52A0-008 Amphenol Ltd. Sumitomo 3M Ltd. Cable model: 004145 (YET) Communication Specifications The communication specifications are as follows:...
Page 312 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices • With RS-422A Port XtraDrive can also be connected to an RS-422A port. In this case, the connection circuit is as follows: • Transmission Distance: 30 m (98.4 ft) • Transmission System: RS-422A XtraDrive end (CN3) RS-422A port (PC end) TXD 1...
Page 313: Cable With Rs-232 To Rs-422 Active Adapter
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.11.2. Cable with RS-232 to RS-422 Active Adapter This cable is required when operating XtraDrive in Programming mode. Cable Model: 004197 (YET) 9-Pin D-Sub Connector 14-Pin Half Pitch with active adapter inside Connector TXD (1) (3) RXD...
Page 314: Connecting Regenerative Resistors
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.12. Connecting Regenerative Resistors The method for connecting regenerative resistors is shown below. Disconnect the wire between the servo amplifier’s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals. XtraDrive Regenerative resistor Be sure to take out the lead wire...
Page 315 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices Servo Amplifier Capacity of 0.8 to 3.0kW Servomotors with a capacity of 500W to 3kW have built-in regenerative resistors. The allowable frequencies for just the servomotor during acceleration/deceleration operation, in the run cycle from 0 to the maximum rotation speed to 0, are summarized in the following table.
Page 316 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices Regenerative Energy Calculation Method This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration operation is as shown in the following diagram. Calculation Procedure The procedure for calculating the capacity is as follows: Units Step Procedure...
Page 317 XtraDrive User Manual Appendix C: Specifications for Peripheral Devices If the amount of regenerative power that can be processed by the built-in resistor is exceeded, install an external regenerative resistor for the capacity obtained from the above calculation. If the energy consumed by load system loss (in step 2 above) is unknown, then perform the calculation using E = 0.
Page 318: Connecting Yaskawa Option Board
XtraDrive User Manual Appendix C: Specifications for Peripheral Devices C.13. Connecting Yaskawa Option Board XtraDrive supports Yaskawa option boards. When connecting the Yaskawa option board, XtraDrive acts as an SGDH servo amplifier, includes control loops, which are not NCT (standard control loop of XtraDrive). Note: XtraDrive’s digital I/O allocation input (Pn50A –...
Page 319: Appendix D. List Of Parameters
XtraDrive User Manual Appendix D: List of Parameters Appendix D. List of Parameters This appendix lists the parameters, switches, and input signal selections, out put signal selections, auxiliary functions, and monitor modes for XtraDrive servo amplifiers. D.1. Parameters....................D-2 D.2. Switches .....................D-7 D.3.
Page 320: Parameters
XtraDrive User Manual Appendix D: List of Parameters D.1. Parameters The following list shows parameters and their settings. Parameter Setting Default Category Name Unit Reference Number Range Setting Function Selection Basic 5.1.1, — — 0x00D0 Pn000* Switches 5.3.5 Function Selection 5.1.2, Application —...
Page 321 XtraDrive User Manual Appendix D: List of Parameters Parameter Setting Default Category Name Unit Reference Number Range Setting Pn1AC Speed feedback gain 0-2000 6.3.3 Pn1AD Acceleration feedback gain 0-500 6.3.3 Pn1AE Acceleration feedback filter 0.01ms 0-2500 6.3.9 Pn1AF Feed forward gain 0-200 6.3.3 Pn1B5...
Page 322 XtraDrive User Manual Appendix D: List of Parameters Parameter Setting Default Category Name Unit Reference Number Range Setting Acceleration units ratio 1-65535 5.9.1.1 Pn2B8* numerator (low) Acceleration units ratio 0-16383 5.9.1.1 Pn2B9* numerator (high) Acceleration units ratio 1-65535 5.9.1.1 Pn2BA* denominator (low) Acceleration units ratio 0-16383...
Page 323 XtraDrive User Manual Appendix D: List of Parameters Parameter Setting Default Category Name Unit Reference Number Range Setting 0.1V/rated Pn400 Torque Reference Input Gain 10 to 100 5.2.7 torque Torque Reference Filter Time Pn401 0.01ms 0 to 65535 6.2.2 Constant Pn402 Forward Torque Limit 0 to 800...
Page 324 XtraDrive User Manual Appendix D: List of Parameters After changing this parameter, cycle the main circuit and control power supplies to enable the new settings. The multi-turn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to "2". The value will be processed in the range of "+32767 to -32768"...
Page 325: Switches
XtraDrive User Manual Appendix D: List of Parameters D.2. Switches The following list shows the switches and their default settings. Digit Default Parameter Name Setting Description Place Setting Sets CCW as forward direction. Direction Sets CW as forward direction (reverse Selection rotation mode).
Page 326 XtraDrive User Manual Appendix D: List of Parameters Digit Default Parameter Name Setting Description Place Setting None. Speed Control Uses T-REF as an external torque limit Option input. (T-REF Uses T-REF as a torque feed-forward input. Terminal Uses T-REF as an external torque limit Allocation) input when P-CL and N-CL are ON.
Page 327 XtraDrive User Manual Appendix D: List of Parameters Digit Default Parameter Name Setting Description Place Setting Servo position error: 1V/10 encoder counts Servo position error: 1V/5 user units Target speed 1V/500 rpm. Target speed after applying command Analog monitor smoothing: 1V/500 rpm Torque reference: 10V/Max Torque.
Page 328 XtraDrive User Manual Appendix D: List of Parameters Digit Default Parameter Name Setting Description Place Setting Sign + pulse, positive logic. CW + CCW, positive logic. A phase + B phase (x1), positive logic. A phase + B phase (x2), positive logic. Reference A phase + B phase (x4), positive logic.
Page 329: Input Signal Selections
XtraDrive User Manual Appendix D: List of Parameters D.3. Input Signal Selections The following list shows input signal selections and their default settings. Digit Default Parameter Name Setting Description Place Setting Sets the input signal allocation for the sequence to the same Input Signal Allocation one as for the Yaskawa special Mode...
Page 330: Home Switches
XtraDrive User Manual Appendix D: List of Parameters Digit Default Parameter Name Setting Description Place Setting /SPD-D Signal Mapping 0 to F Same as above. 8: OFF (Internal Set Speed Selection) /SPD-A Signal Mapping 0 to F Same as above. 8: OFF (Internal Set Speed Selection)
Page 331: Output Signal Selections
XtraDrive User Manual Appendix D: List of Parameters D.4. Output Signal Selections The following list shows output signal selections and their default settings. Digit Default Parameter Name Setting Description Place Setting Disabled. Outputs from the SO1 (CN1-25, 26) output terminal. /COIN Signal 1: SO1 Outputs from the SO2 (CN1-27, 28)
Page 332: Auxiliary Functions
XtraDrive User Manual Appendix D: List of Parameters D.5. Auxiliary Functions The following list shows the available auxiliary functions. Parameter Function Fn000 Alarm traceback data display. Fn001 Rigidity setting for online autotuning. Fn002 JOG mode operation. Fn003 Zero-point search mode. Fn004 (Reserved parameter).
Page 333 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 334 Short Form Installation Guide Error! Style not defined. YET Ltd. ISRAEL YET US Inc. 13 Hamelacha St., 531 King St., Afeq Industrial Estate Unit 1 Rosh Ha’ayin 48091 Littleton, MA 01460 ISRAEL Tel: +972-3-9004114 Tel: +1-866-YET-8080 Fax: +972-3-9030412 Fax: +1-978-952-6821 info@yetmotion.com USinfo@yetmotion.com For more information refer to our web site: www.yetmotion.com...

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Omron XtraDrive XD Series User Manual

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