User Manuals: Omron XtraDrive XD Series AC Servo Driver

Manuals and User Guides for Omron XtraDrive XD Series AC Servo Driver. We have 2 Omron XtraDrive XD Series AC Servo Driver manuals available for free PDF download: User Manual

OMRON XtraDrive XD Series User Manual (333 pages)

AC Servo Driver

Brand: OMRON | Category: Computer Hardware | Size: 7 MB

Safety Information
5
Table of Contents
7
Safety Precautions
14
Maintenance and Inspection
15
General Precautions
16
Chapter 1 Checking Product and Part Names

17
- Checking the Xtradrive Series Products on Delivery
  18
  - Checking Product and Part Names
    18
  - Servo Amplifiers
    19
- Product Part Names
  19
  - Model Numbers
    20
- Installation
  21
  - Servo Amplifiers
    22
    
    Storage Conditions
    22
    
    Installation Site
    22
    
    Orientation
    23
    
    Installation
    23
Chapter 3 Wiring

25
Chapter 4 Trial Operation

58
Chapter 5 Parameter Settings and Functions

69
- Parameters
  71
- Settings According to Device Characteristics
  72
- Settings According to Host Controller
  80
  - Speed Reference
    80
  - Position Reference
    82
  - Using the Encoder Signal Output
    88
  - Sequence I/O Signals
    91
  - Using the Electronic Gear Function
    93
  - Contact Input Speed Control
    97
  - Using Torque Control
    102
  - Default Settings
    105
  - Torque Feed-Forward Function
    108
  - Torque Limiting by Analog Voltage Reference
    110
  - Reference Pulse Inhibit Function (/INHIBIT)
    112
- Setting up the Servo Amplifier
  113
  - Parameters
    113
  - JOG Speed
    114
  - Input Circuit Signal Allocation
    114
  - Output Circuit Signal Allocation
    118
  - Control Mode Selection
    120
- Setting Stop Functions
  122
  - Adjusting Offset
    122
  - Servo off Stop Mode Selection
    123
  - Using the Zero Clamp Function
    124
  - Using the Holding Brake
    126
- Forming a Protective Sequence
  129
- Selecting a Regenerative Resistor
  140
  - External Regenerative Resistor
    141
  - Calculating the Regenerative Power Capacity
    142
- Absolute Encoders
  146
  - Interface Circuit
    147
  - Configuring an Absolute Encoder
    148
  - Absolute Encoder Setup
    149
  - Absolute Encoder Reception Sequence
    152
- AB Encoders
  157
- Configuration of Serial Commands for AB Encoders
  159
  - Position Control
    159
  - Defining User Units for Motion Profiles
    159
  - Position Units
    159
  - Speed Units
    160
  - Acceleration Units
    161
  - Setting Default Motion Profile Parameters
    162
  - Profile Speed (Pn2A2, Pn2A3)
    163
  - Profile Acceleration (Pn2A4, Pn2A5)
    163
  - Jerk Smoothing Time (Pn2A6)
    163
  - Quick Stop Deceleration (Pn2A8, Pn2A9)
    164
  - Motion End Window (Pn2C0)
    164
  - Torque Control
    164
  - Torque Slope (Pn2C1)
    164
  - Homing
    165
  - Digital I/O
    166
  - Auto Tuning
    167
- Auto Running a User Program
  167
Chapter 6 Servo Adjustment

168
- Selection of Control Mode
  169
- Analog Input or Contact Input Velocity Control
  170
  - Principle and Block Diagram of the Velocity Control
    170
  - Parameters of the Velocity Control
    171
  - Setting the Input Gain
    171
  - Adjusting Offset
    172
  - Using the Soft Start Function
    173
  - Load Inertia Setting
    174
  - Adjusting Speed Loop Gain
    175
  - Setting the Torque Reference Filter Time Constant
    176
  - Notch Filter
    176
  - Gain Setting Reference Values
    177
- NCT Position Control
  179
  - Load Inertia Setting
    179
  - Position Control Block Diagram
    181
  - NCT Gain Parameters
    182
  - OCA - Oscillation Canceling Algorithm
    183
  - Additional Parameters Tuning
    184
  - Filters
    184
  - Flexible System Parameters
    185
  - Gain Factor
    186
  - Integral Clear Parameters
    186
  - Tuning Procedure for Position Control Parameters
    188
- Analog Monitor
  190
Chapter 7 Using the Panel Operator

192
- Basic Operation
  193
  - Panel Operator
    193
  - Resetting Servo Alarms
    194
  - Basic Mode Selection
    194
  - Status Display Mode
    195
  - Operation in Parameter Setting Mode
    197
  - Operation in Monitor Mode
    202
- Applied Operation
  207
Chapter 8 Ratings, Specifications and Dimensional Drawings

233
Chapter 9 Inspection, Maintenance, and Troubleshooting

250
- Xtradrive Inspection and Maintenance
  250
- Troubleshooting
  252
Appendix A. Host Controller Connection Examples

278
Xtradrive User Manual Appendix B: Special Wiring

286
- B.1. Wiring Precautions
  286
- Wiring for Noise Control
  289
- Using more than One Xtradrive
  293
- Extending Encoder Cables
  294
- Power Supply Voltage
  296
- B.5. 400V Power Supply Voltage
  296
- Reactor for Harmonic Suppression
  298
Appendix B. Special Wiring

286
- Wiring Precautions
  286
Appendix C. Specifications for Peripheral Devices

299
- Connector Terminal Block Converter Unit JUSP-TA50P
  300
- External Regenerative Resistors
  302
- Dimensional Drawings
  303
- DC Reactors for Power Supplies Designed for Minimum Harmonics
  304
- Brake Power Supplies
  306
- Surge Suppressor
  306
- Surge Suppressor
  307
- Magnetic Contactor
  307
  - C.5. Surge Suppressor
    307
  - C.6. Magnetic Contactor
    307
- Variable Resistor for Speed Setting
  307
- CN1 I/O Signal Connector
  307
- Connecting Pulse A/B Encoder Without C Pulse (Index Pulse
  308
- Absolute Encoder Battery
  309
- Cables for Connecting PC to Xtradrive
  310
- Connecting Regenerative Resistors
  313
- Connecting Yaskawa Option Board
  317
  - Attaching the Option Board
    317
  - Detaching the Option Board
    317
Appendix D. List of Parameters

318
- Parameters
  319
  - D.1. Parameters
    319
  - This Appendix Lists the Parameters, Switches, and Input Signal Selections, out Put
    323
- Parameters
  323
- Switches
  324
- D.2. Switches
  324
- Input Signal Selections
  328
  - Home Switches
    329
  - D.3.1. Home Switches
    329
  - Extended Input Signal Selection
    329
- Output Signal Selections
  330
  - Extended Output Signal Selection
    330
- Auxiliary Functions
  331
- Monitor Modes
  331
  - D.5. Auxiliary Functions
    331
  - D.6. Monitor Modes
    331

Omron XtraDrive XD Series User Manual (335 pages)

AC Servo Driver

Brand: Omron | Category: Servo Drives | Size: 10 MB

Table of Contents
8
Checking Product and Part Names
18
Checking Product and Part Names
19
Checking the Xtradrive Series Products on Delivery
19
Product Part Names
20
Servo Amplifiers
20
Model Numbers
21
Installation
22
Installation Site
23
Servo Amplifiers
23
Storage Conditions
23
Installation
24
Orientation
24
Wiring
26
Connecting to Peripheral Devices
27
Single-Phase 200V Main Circuit Specifications
28
Single-Phase 0.8Kw 200V Main Circuit Specifications
29
Three-Phase 200V Main Circuit Specifications
30
Three-Phase 400V Main Circuit Specifications
31
Single-Phase 30W to 800W, 200V Models
32
Xtradrive Internal Block Diagrams
32
Three-Phase 1Kw to 3Kw, 200V Models
33
Three-Phase 0.5Kw to 3.0Kw, 400V Models
34
Main Circuit Wiring
35
Names and Descriptions of Main Circuit Terminal
36
Typical Main Circuit Wiring Example
37
Servo Amplifier Power Losses
38
Wiring Main Circuit Terminal Blocks
39
Example of Typical I/O Signal Connections
40
I/O Signals
40
List of CN1 Terminals
41
I/O Signal Names and Functions
42
Interface Circuits
44
Encoder Connections
48
Wiring Encoders (for SGMGH and SGMSH Motors Only)
48
CN2 Encoder Connector Terminal Layout and Types
50
Encoder Cables Interconnections
51
Examples of Standard Connections
53
Trial Operation
59
Two-Step Trial Operation
59
Step 1: Trial Operation for Servomotor Without Load
60
Step 2: Trial Operation with Servomotor Connected to Machine
66
Additional Setup Procedures in Trial Operation
67
Servomotors with Brakes
67
Position Control by Host Controller
68
Input Signals
69
Minimum Parameters and Input Signals
69
Parameters
69
Parameter Settings and Functions
70
Parameters
72
Settings According to Device Characteristics
73
Switching Servomotor Rotation Direction
73
Setting the Overtravel Limit Function
74
Limiting Torque
77
Settings According to Host Controller
81
Speed Reference
81
Position Reference
83
Using the Encoder Signal Output
89
Sequence I/O Signals
92
Using the Electronic Gear Function
94
Contact Input Speed Control
98
Using Torque Control
103
Torque Feed-Forward Function
109
Torque Limiting by Analog Voltage Reference
111
Reference Pulse Inhibit Function (/INHIBIT)
113
Parameters
114
Setting up the Servo Amplifier
114
Input Circuit Signal Allocation
115
JOG Speed
115
Output Circuit Signal Allocation
119
Control Mode Selection
121
Adjusting Offset
123
Setting Stop Functions
123
Servo off Stop Mode Selection
124
Using the Zero Clamp Function
125
Using the Holding Brake
127
Forming a Protective Sequence
130
Using Servo Alarm and Alarm Code Outputs
130
Using the Servo on Input Signal (/S-ON)
132
Using the Positioning Completed Output Signal (/COIN)
133
Speed Coincidence Output (/V-CMP)
134
Using the Running Output Signal (/TGON)
136
Using the Servo Ready Output Signal (/S-RDY)
137
Using the Warning Output Signal (/WARN)
138
Handling Power Loss
140
Selecting a Regenerative Resistor
141
External Regenerative Resistor
142
Calculating the Regenerative Power Capacity
143
Absolute Encoders
147
Interface Circuit
148
Configuring an Absolute Encoder
149
Absolute Encoder Setup
150
Absolute Encoder Reception Sequence
153
AB Encoders
158
Configuration of Serial Commands for AB Encoders
160
Defining User Units for Motion Profiles
160
Position Control
160
Position Units
160
Speed Units
161
Acceleration Units
162
Speed Units
162
Setting Default Motion Profile Parameters
163
Jerk Smoothing Time (Pn2A6)
164
Profile Acceleration (Pn2A4, Pn2A5)
164
Profile Speed (Pn2A2, Pn2A3)
164
Motion End Window (Pn2C0)
165
Quick Stop Deceleration (Pn2A8, Pn2A9)
165
Torque Control
165
Torque Slope (Pn2C1)
165
Homing
166
Digital I/O
167
Auto Running a User Program
168
Auto Tuning
168
Servo Adjustment
169
Selection of Control Mode
170
Analog Input or Contact Input Velocity Control
171
Principle and Block Diagram of the Velocity Control
171
Parameters of the Velocity Control
172
Setting the Input Gain
172
Adjusting Offset
173
Using the Soft Start Function
174
Load Inertia Setting
175
Adjusting Speed Loop Gain
176
Notch Filter
177
Setting the Torque Reference Filter Time Constant
177
Gain Setting Reference Values
178
Load Inertia Setting
180
NCT Position Control
180
Position Control Block Diagram
182
NCT Gain Parameters
183
OCA - Oscillation Canceling Algorithm
184
Additional Parameters Tuning
185
Filters
185
Flexible System Parameters
186
Gain Factor
187
Integral Clear Parameters
187
Tuning Procedure for Position Control Parameters
189
Analog Monitor
191
Using the Panel Operator
193
Basic Operation
194
Panel Operator
194
Basic Mode Selection
195
Resetting Servo Alarms
195
Status Display Mode
196
Operation in Parameter Setting Mode
198
Operation in Monitor Mode
203
Applied Operation
208
Operation in Alarm Traceback Mode
209
JOG Operation
210
Automatic Adjustment of Speed and Torque Reference Offset
212
Automatic Adjustment of the Speed and Torque Reference Offset
212
Manual Adjustment of Speed and Torque Reference Offset
214
Clearing Alarm Traceback Data
217
Checking the Motor Model
218
Checking the Software Version
219
Origin Search Mode
220
Origin Search Model
220
Initializing Parameter Settings
222
Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output
223
Adjusting the Motor Current Detection Offset
226
Write Protection Setting
228
Clearing the Option Unit Detection Alarm
229
Ratings, Specifications and Dimensional Drawings
233
Single-Phase 200V Xtradrive and Motors Combinations
236
Three-Phase 200V Xtradrive and Motor Combinations
237
Three-Phase 400V Xtradrive and Motors Combinations
238
Three-Phase 400V Xtradrive and Motors Combinations
239
Base-Mounted Dimensional Drawings
240
XD-P3 to -02 (1-Phase 200V, 30 to 200 W)
240
1-Phase 200 V, 400 W)
241
1-Phase 200V, 0.75Kw) and XD-10 (3-Phase 200V, 1.0Kw)
242
1-Phase 200V,0.75Kw)And XD-10(3-Phase 200V, 1.0Kw)
242
XD-05, 10, 15 (3-Phase 400V, 0.5 to 1.5Kw)
243
XD-20, -30 (3-Phase 200V,400V, 2.0 and 3.0 Kw)
244
Rack-Mounted Dimensional Drawings
245
XD-P3 to -02 (1-Phase 200V, 30 to 200 W)
245
1-Phase 200 V, 400 W)
246
1-Phase 200V, 0.75Kw) and XD-10 (3-Phase 200V, 1.0Kw)
247
1-Phase 200V, 0.75Kw)And XD-10(3-Phase 200V,1.0Kw)
247
XD-05, 10, 15 (3-Phase 400V, 0.5 to 1.5Kw)
248
XD-20, -30 (3-Phase 200V,400V, 2.0 and 3.0 Kw)
249
Inspection, Maintenance, and Troubleshooting
251
Servo Amplifier Inspection
251
Servomotor Inspection
251
Xtradrive Inspection and Maintenance
251
Replacing the Battery for the Absolute Encoder
252
Troubleshooting
253
Troubleshooting Problems with Alarm Displays
253
Troubleshooting Problems with no Alarm Display
274
Alarm Display Table
275
Warning Displays
277
Appendix A. Host Controller Connection Examples

279
Appendix B. Special Wiring

287
- Wiring Precautions
  287
- Wiring for Noise Control
  290
- Using more than One Xtradrive
  294
- Extending Encoder Cables
  295
- Power Supply Voltage
  297
- Reactor for Harmonic Suppression
  299
- Connector Terminal Block Converter Unit JUSP-TA50P
  301
- External Regenerative Resistors
  303
- DC Reactors for Power Supplies Designed for Minimum Harmonics
  305
- Brake Power Supplies
  307
- Surge Suppressor
  307
- Surge Suppressor
  308
- Magnetic Contactor
  308
- Variable Resistor for Speed Setting
  308
- CN1 I/O Signal Connector
  308
- Connecting Pulse A/B Encoder Without C Pulse (Index Pulse
  309
- Absolute Encoder Battery
  310
- Cables for Connecting PC to Xtradrive
  311
- Communication Cable
  311
- Cable with RS-232 to RS-422 Active Adapter
  313
- Connecting Regenerative Resistors
  314
- Connecting Yaskawa Option Board
  318
- Attaching the Option Board
  318
- Detaching the Option Board
  318
Appendix D. List of Parameters

319
- Parameters
  320
- Switches
  325
- Input Signal Selections
  329
- Home Switches
  330
- Extended Input Signal Selection
  330
- Output Signal Selections
  331
- Extended Output Signal Selection
  331
- Auxiliary Functions
  332
- Monitor Modes
  332

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User Manuals: Omron XtraDrive XD Series AC Servo Driver

OMRON XtraDrive XD Series User Manual (333 pages)

Table of Contents

Chapter 1 Checking Product and Part Names

Chapter 3 Wiring

Chapter 4 Trial Operation

Chapter 5 Parameter Settings and Functions

Chapter 6 Servo Adjustment

Chapter 7 Using the Panel Operator

Chapter 8 Ratings, Specifications and Dimensional Drawings

Chapter 9 Inspection, Maintenance, and Troubleshooting

Appendix A. Host Controller Connection Examples

Xtradrive User Manual Appendix B: Special Wiring

Appendix B. Special Wiring

Appendix C. Specifications for Peripheral Devices

Appendix D. List of Parameters