YASKAWA XTRAWARE - V3.0 Manuals

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YASKAWA XTRAWARE - V3.0 Manual

YASKAWA XTRAWARE - V3.0 Manual (263 pages)

Supporting XtraDrive Versions 3.04 - 3.23

Brand: YASKAWA | Category: Software | Size: 5.12 MB

Table of Contents

Table of Contents
5
1 Introduction

11
2 System Requirements and Software Installation

13
3 The Main Screen Interface

15
- Title Bar (A)
  15
- Menu Bar (B)/Toolbar (C)
  15
  - File Menu
    16
  - Edit Menu
    18
  - View Menu
    19
  - Run Menu
    20
- Communication Menu
  21
  - Tool Menu
    21
  - Maintenance Menu
    22
  - Window Menu
    23
- Status Bar (D)
  24
- Work Area (E)
  24
  - Workspace Window
    24
  - Project Tab
    24
  - Program Window
    27
  - History Window
    28
  - Parameters Window
    28
  - Cam Window
    29
4 Operating the Xtradrive Using Xtraware

31
- Connecting the Driver to the PC
  31
  - Communication Settings
    31
- Setup Wizard
  32
- Parameter Control
  35
- Programming the Xtradrive
  37
- Program Modes
  43
  - Program Mode
    43
  - Immediate Mode
    43
  - Sequential Mode
    43
- Tuning the Control Loops
  44
  - Manual Tuning
    44
  - Auto-Tuning
    44
  - Performing Fast Tuning
    45
  - Performing Fine Tuning
    45
  - Evaluating Control Loop Performance
    46
- Charts
  48
  - The Chart Main Window
    48
  - Using Zoom
    52
  - Starting the Trace
    53
  - Printing a Chart
    53
- Mechanical Analysis
  54
- ECAM (Electronic Cam)
  59
  - ECAM Profile Characteristics
    59
  - Installing ECAM
    59
  - ECAM Workflow
    59
  - ECAM Profiles
    60
  - Creating a Profile
    61
  - Loading a Profile
    67
  - Editing a Profile
    67
  - Deleting a Profile
    68
  - Viewing the Master-Slave Table
    69
  - Viewing the Data Graph
    70
  - Printing from the Electronic Cam Window
    70
  - The Cam List Window
    71
  - Downloading Profiles to the Xtradrive
    71
  - Programming with Electronic Cam
    72
  - Modifying a Profile Using Variables
    73
  - Monitoring Master and Slave Positions
    77
  - Serial Communication and ECAM
    77
- Registration and Latching
  80
  - Latching Workflow
    81
  - Troubleshooting
    82
  - Commands
    82
  - Registration Variables
    83
  - Registration Example
    84
- Interrupts
  86
  - Interrupt Events
    86
  - Multiple Interrupts
    86
  - Interrupt Response Time
    86
  - Interrupt Masks
    87
  - Interrupt Handling
    87
  - Interrupt Variables
    87
  - Interrupt Commands
    90
  - Interrupt Example
    92
- Master-Slave Synchronization
  95
5 Command Reference

97
- Xtraware Modes
  98
- SCB and UPB Command Flushing
  99
  - Motion Commands with _D Suffix
    99
  - Motion Commands Without _D Suffix
    99
- Motion Modes
  100
  - Transition between Motion Modes
    101
- Motion Command Buffer
  103
- Xtraware Commands
  103
  - Acceleration
    106
  - Alarm_Reset
    107
  - Call
    108
  - Control
    109
  - Delay
    110
  - Ecam_Disengage
    111
  - Ecam_Engage
    112
  - Electronic_Gear
    113
  - End
    114
  - Engage_Virtual_Axis
    115
  - Ext_Int
    116
  - Fast_Output_Setting
    117
  - Fault_Manager
    120
  - Fault_Manager_Return
    121
  - Fault_Message_Clear
    122
  - Gain
    123
  - Go_D
    125
  - Go_H
    126
  - Go_To
    128
  - HOME Commands
    128
  - Hard_Home
    129
  - Home_C
    130
  - Home_Sw
    131
  - Home_Sw_C
    132
  - If_Input
    135
  - Input_Case
    137
  - Int
    139
  - Int_Return
    141
  - Jerk_Time
    142
  - Label
    143
  - Latching_Trigger
    144
  - Loop
    146
  - Math
    147
  - Move
    149
  - Move_D
    150
  - Move_H
    151
  - Move_R
    152
  - Read_From_Array
    155
  - Registration_Distance
    156
  - Return
    157
  - Run
    158
  - Set_Output
    158
  - Set_Outputs
    160
  - Set_Var
    161
  - Set_Zero_Position
    162
  - Slide
    163
  - Slide_Analog
    164
  - Speed
    165
  - Speed_Control
    166
  - Speed_Limit_For_Torque_Mode
    167
  - Start
    168
  - Stop
    168
  - Stop_Ex
    169
  - Stop_Motion
    171
  - Torque
    172
  - Torque_Analog
    173
  - Torque_Limits
    174
  - Wait_Exact
    175
  - Wait_For_Start
    176
  - Wait_Input
    177
  - Wait_Stop
    178
  - Wait_Var
    179
  - Write_To_Array
    180
- Serial Communication Commands
  181
  - Clear_Buffer
    181
  - Ecam_Points
    181
  - Ecam_Profile
    182
  - Ecam_Segment
    183
  - Ecam_Table_Begin
    183
  - Ecam_Table_End
    184
  - Get_From_Array
    184
  - Get_Par
    184
  - Get_Var
    185
  - Get_Version
    185
  - Polling
    185
  - Save_Prg_Ecam
    185
  - Set_Par
    186
6 Serial Interface Protocol

187
- Basic Communication Specifications
  187
- Protocol Specifications
  187
  - Message Data Structure
    188
  - Master Message
    188
  - Response Message
    193
- Troubleshooting
  201
7 Error Messages

203
8 Parameter Reference

221
- Table 19: Parameters
  221
- Table 20: Application Setting Parameters
  228
- Table 21: Switches
  229
- Table 22: Input Signal Selections
  236
- Table 23: Home Switches
  239
- Table 24: Extended Input Signal Selection
  239
- Table 25: Output Signal Selections
  240
- Table 26: Extended Output Signal Selection
  241
- Table 27: Input and Output Availability Per Mode
  242
- Table 28: Auxiliary Functions
  243
- Table 25: Monitor Modes
  244
9 List of System Variables

245
10 List of Status Word Bits

254
11 List of Operation Codes

255
12 Glossary of Terms and Concepts

259
- Electronic Gear
  259
  - Electronic Gear Parameters
    259
- Motion Profile
  260
  - Profile Velocity
    260
  - Profile Acceleration
    260
  - Profile Jerk Smoothing Time
    261
- Explanation of Command Table
  261

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