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XtraDrive SERIES

AC SERVO DRIVER

XtraDrive-DP

Embedded PROFIBUS

User Manual

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France

Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20

Web : http: www.audin.fr - Email : [email protected]

Summary of Contents for XtraDrive Series

Page 1: ... Last saved 6 1 03 4 34 PM XtraDrive SERIES AC SERVO DRIVER XtraDrive DP Embedded PROFIBUS User Manual AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 2: ...s manual is furnished under a license and may be used or copied only in accordance with the terms of that agreement This includes third party software such as the S7 SIMATEC Manager This manual is designed to provide information about XtraDrive DP Every effort has been made to make this manual as complete and accurate as possible However no warranty of suitability purpose or fitness is made or imp...

Page 3: ...onnect XtraDrive DP to PROFIBUS Chapter 3 Working with XtraDrive DP describes the process of setting up and configuring XtraDrive DP to work on a PROFIBUS network Appendix A XtraDrive DP GSD File provides a link to the most updated GSD file Appendix B XtraDrive DP Parameters List provides a list of configurable XtraDrive DP parameters Appendix C XtraDrive DP Alarms Warnings and Faults provides a l...

Page 4: ...lowing books provide additional information XtraDrive User Manual Catalog No 8U0108 XtraWare User s Manual Catalog No 8U0109 XtraDrive Short Form Installation Guide Catalog No 8U0107 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 5: ...S 9 PROFIBUS DP 9 Parameterization 11 Configuration 12 Data Exchange 12 GSD File 13 Chapter 2 Installing XtraDrive DP 15 Connecting an XtraDrive DP 15 The PROFIBUS Network 16 Connecting XtraDrive DP to a PROFIBUS Network 18 Setting the Node Address 20 LED Indicators 21 Chapter 3 Working with XtraDrive DP 23 Overview 24 Setting Up XtraDrive DP 25 Installing GSD Files 25 Using Modules to Set Up Xtra...

Page 6: ...aDrive DP s Response to Clear Data Control Command 44 Appendix A XtraDrive DP GSD File 45 Appendix B XtraDrive DP Parameters List 47 Appendix C XtraDrive DP Alarms Warnings and Faults 67 Alarm Messages 67 Warning Messages 69 Fault Messages 69 Appendix D Working with XtraWare 73 Appendix E Example of Using XtraDrive DP 75 Specifications 75 Workflow 76 System Setup 76 Application Setup 78 Applicatio...

Page 7: ...ed could result in death or serious personal injury CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate personal injury and or damage to the equipment In some instances items described in a CAUTION could also result in a serious accident Read the following safety precautions thoroughly before installation operation maintenance or inspection of...

Page 8: ...ar flammable materials or where it may be exposed to splashes of water or corrosive or flammable gases Failure to observe this caution could result in electric shock or fire Wiring WARNING XtraDrive grounding must be in accordance with the national code and consistent with sound local practices Failure to observe this warning could result in electric shock or fire AUDIN 7 bis rue de Tinqueux 51100...

Page 9: ...d Maintenance WARNING Be sure to turn power OFF before inspection or maintenance Failure to observe this warning could result in electric shock Never open the terminal cover while power is ON and never turn power ON when the terminal cover is open Failure to observe this warning could result in electric shock After turning power OFF wait at least five minutes before servicing the product Failure t...

Page 10: ...ine Failure to do so could result in overrun failure When the load moves vertically incorrect setting of the user constants may cause the load to fall Before starting operation with a load connected make sure emergency stop procedures are in place Failure to observe this caution could result in personal injury During operation do not touch the XtraDrive s heat sink Failure to observe this caution ...

Page 11: ...ge due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest YET representative or one of the offices listed on the back of this manual YET will not...

Page 12: ...Drive DP User Manual Last printed 6 1 03 4 34 PM Last saved 6 1 03 4 34 PM xii AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 13: ...traDrive DP Product Overview page 4 provides a list of XtraDrive DP and PROFIBUS specifications Introduction to PROFIBUS page 9 provides an introduction to PROFIBUS Parameterization page 11 provides an overview of the Parameterization stage Configuration page 12 provides an overview of the Configuration stage Data Exchange page 12 provides an overview of the data exchange stage GSD File page 13 pr...

Page 14: ...aDrive characteristics include Advanced servo control High precision During Movement NCT Algorithm Oscillation Canceling Algorithm OCA Automatic tuning of servo parameters for optimal setting time Integrated positioner by various programmable motion profile modes 1 5 Axis Master Slave with automatic offset correction Two analog inputs for general purpose usage Network connectivity AUDIN 7 bis rue ...

Page 15: ...e DP has PROFIBUS product certification according to EN 50170 and IEC 61158 As XtraDrive DP has the same parameter set system variables motion commands and programming functions as the rest of the XtraDrive family it functions in a familiar and easy to use manner Refer to the XtraDrive and XtraWare User Manuals for detailed information about using XtraDrive Even when XtraDrive is connected to a ne...

Page 16: ...al encoder 13 16 or 17 bit incremental absolute value Protection functions Overcurrent overvoltage undervoltage overload regeneration error main circuit voltage error heat sink overheat overspeed encoder error overrun parameter error Digital inputs 7 Digital outputs 7 Analog input 2 at 10 VDC at rated torque Analog output 2 at 10 VDC at rated torque Speed control range 1 to 6500 rpm Speed voltage ...

Page 17: ...rque limitation Input voltage 12 V max Ambient storage temperature 0 55 C 20 to 85 C Ambient storage humidity 90 or less with no condensation Dimensions for 400W model 0 5 1 0 1 5 kW LxWxH 180x110x160 Dimensions for 400W model 2 3 kW LxWxH 180x110x250 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 18: ... Set by rotary switches 2 digit hex number Segment distance 100 meters 327 feet to 1200 meters 3270 feet Baud Rate Selectable from 9 6 kbps to 12 Mbps BF Green Data exchange Red No communication Blinking Red Communication but not in data exchange SF Off Everything OK Red System failure LED Indicators BF Bus failure SF System failure Blinking Red Warning or alarm AUDIN 7 bis rue de Tinqueux 51100 R...

Page 19: ...ct information The information from this nameplate is used for example when placing orders for XtraDrive DPs Type Servomotor output Serial number Applicable power supply Type Type Servomotor output Serial number Applicable power supply The following information is included on the nameplate Serial number Applicable power supply Servomotor output AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03...

Page 20: ...xtended Functionality By Option Boards S no CN10 connector or N with CN10 connector Design Version D0 DF Blank or R Rack mounted or V Board coating optional Blank or Y followed by 1 to 4 alphanumeric characters to identify customer applications optional XD 01 T S D1 R Y999 Output Capacity Code Max Applicable Servomotor Power kW 05 0 50 10 1 0 15 1 5 20 2 0 30 3 0 AUDIN 7 bis rue de Tinqueux 51100 ...

Page 21: ...utomation It permits sensors and actuators to be connected on one common bus line This version can be used for data communication and power over the bus using 2 wire technology according to IEC 1158 2 Decentralized Periphery DP This version is designed for communication between automation control systems and distributed I O at the device level This version can be used in place parallel signal tran...

Page 22: ...ications are initialized between the XtraDrive DP and the PROFIBUS network Parameterization In this step the parameters that you have chosen to determine XtraDrive DP s behavior and operation are downloaded to the XtraDrive DP slave More detail is provided on page 11 I O Configuration In this step the structure of the input and output data that will be transferred between the master and the XtraDr...

Page 23: ...reeze Sync mode Lock or unlock slave for this master Master address Ident number identification number for verification Bytes 8 244 can contain additional user defined parameters specifically for the XtraDrive DP Refer to XtraDrive DP Parameters in Chapter 3 Working with XtraDrive DP for further details Using a PROFIBUS DP configuration tool you select the desired module s parameters and values Re...

Page 24: ...e XtraDrive DP slave during the Configuration stage Configuration is also performed only once after Parameterization when the XtraDrive DP is powered on or after a power failure or other system restart XtraDrive DP s I O configuration modules are all contained in the GSD file that you loaded into the PROFIBUS DP configuration tool Data Exchange During the data exchange stage the master reads input...

Page 25: ...D file has a precisely defined format which enables the PROFIBUS DP configuration tool to automatically use this information when configuring the bus system The GSD file is loaded only once at the beginning of the setup process Refer to Appendix E Example of Using XtraDrive DP for a complete example of how to use a PROFIBUS DP configuration tool Information can also be downloaded from PROFIBUS web...

Page 26: ...User Manual Last printed 6 1 03 4 19 PM Ch1Introducing doc Last saved 6 1 03 4 13 PM 14 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 27: ...cture and gives instructions for setting the node address of each XtraDrive DP Connecting an XtraDrive DP XtraDrive DP servo drives are connected to a PROFIBUS network via a standard RS 485 communication cable For information on how to connect other XtraDrive series products to peripheral devices as well as for examples of main circuit wiring and I O signal connections refer to Chapter 3 Wiring in...

Page 28: ...Protective Ground 3 RxD TxD P 5 DGND 6 VP 8 RxD TxD N Station 2 RxD TxD P 3 DGND 5 VP 6 RxD TxD N 8 Station 1 Shielding Cabling Data Line Data Line VP 6 RxD TxD P 3 RxD TxD N 8 DGND 5 390 Ω 220 Ω 390 Ω Bus Termination When more than 32 stations are used repeaters line amplifiers must be used to connect the individual bus segments The maximum cable length depends on the transmission speed and cable...

Page 29: ...4 mm 0 22 mm Transmission Line Lengths The following table shows the cable lengths to be used at different transmission speeds Table 2 Line Lengths for Different Transmission Speeds Baud rate kbit s 9 6 19 2 93 75 187 5 500 1500 3000 12000 Length line A m 1200 1200 1200 1000 400 200 100 Length line B m 1200 1200 1200 600 200 Connection Cables The following are examples of cables that may be used t...

Page 30: ...DP XtraDrive DP A typical configuration consists of the following components Using a PC based configuration tool you create a project containing parameterization and configuration information for the XtraDrive DP which is then downloaded to a master A master receives this information from a PC and then uses it to control the activity of the XtraDrive DP slaves AUDIN 7 bis rue de Tinqueux 51100 Rei...

Page 31: ...ub connector to connect to a PROFIBUS network using RS 485 communications The diagrams below show the various connection ports on an XtraDrive DP The placement of the various ports varies on different models However the PROFIBUS connection port is always labeled CN6 Node Address RS 232 RS 422 Communication I O A B Encoder Commutation Sensors of Serial Encoder PROFIBUS Connector CN6 Node Address RS...

Page 32: ...represents the hexadecimal sixteens place MSB and x1 represents the units place LSB For example to set a node address of 52 you should set rotary switches to 34 Hex meaning that the MSB dial x10 should be turned to 3 and the LSB dial x1 should be turned to 4 A 2 6 E 0 8 4 C B 7 F 3 1 5 D 9 A 2 6 E 0 8 4 C B 7 F 3 1 5 D 9 x10 x1 The status of the node address rotary switches is only read immediatel...

Page 33: ...failure has occurred When the LED is red a system failure has occurred When the LED is blinking red a warning or alarm has occurred NOTE If the system failure LED indicates that a warning message or alarm has been received refer to the XtraDrive User Manual for further information Bus failure LED When the LED is green data exchange is taking place When the LED is red no communication is taking pla...

Page 34: ... User Manual Last printed 6 1 03 4 20 PM Ch2Installing doc Last saved 6 1 03 4 20 PM 22 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 35: ...network Setting Up XtraDrive DP page 25 describes the major steps involved in setting up parameterizing and configuring a PROFIBUS network Sending Commands page 33 describes the steps to follow in order to send commands during data exchange Setting XtraDrive DP Parameters page 37 describes three different methods for setting parameters on the XtraDrive DP Reading Variables page 39 describes how to...

Page 36: ...w In order to take advantage of PROFIBUS network functionality the XtraDrive DP must be configured in a specific way Firstly a GSD file is installed via a PROFIBUS DP configuration tool enabling access to all the parameters associated with the XtraDrive DP Once the GSD file has been installed by selecting the required module you define a set of parameters and or the data exchange I O structure to ...

Page 37: ... GSD provides a list of modules you can choose to setup the XtraDrive DP for specific applications During this stage you use a standard configuration tool to set the parameters and determine the structure of the data that is transferred during data exchange Later these parameters are sent to the XtraDrive DP during the parameterization and configuration stages The following modules are used for se...

Page 38: ...s refer to the XtraWare User s Manual System Setup This module determines the XtraDrive DP s mode of operation Selecting this module is mandatory The system setup parameters are Control method Stop mode Setting system limits Motor direction Turning off the motor Digital I O This module is used for defining and reading XtraDrive DP s external input and output The digital I O parameters are Type of ...

Page 39: ...XtraDrive DP s commands from the master The command module parameters are User units Default profile value of velocity acceleration and jerk smoothing time Program definitions The following table shows the command module I O map Command output Offset Size bytes 0 2 ID 2 1 Op_Code 3 1 Mode 4 4 Command_Parameter_1 8 4 Command_Parameter_2 12 4 Command_Parameter_3 16 4 Command_Parameter_4 20 4 Command...

Page 40: ... reading the XtraDrive DP s status by the master The following table shows the XtraDrive status module I O map XtraDrive Status input Offset Size bytes 0 4 Status_word 4 4 Clock 8 1 Mode_of_operation 9 1 Command_mode AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 41: ...rofile input Offset Size bytes 0 4 Profile_velocity 4 4 Profile_acceleration 8 4 Jerk_smoothing_time 12 4 Max_profile_velocity 16 4 Max_profile_acceleration 20 2 CW_Torque_limit 22 2 CCW_Torque_limit 24 2 Application_gain 26 1 Motion_end_window 27 1 Exact_mode Pulse Train Input This module is used for reading the pulse train The pulse train parameters are Pulse Train gear Synchronized window AUDIN...

Page 42: ...ue control s mode of operation The torque control parameters are Torque limits Emergency stop Speed limit Position Variables This module is used for reading the XtraDrive DP s position variables The following table shows the position variables module I O map Position variables input Offset Size bytes 0 4 Target_position 4 4 Position_demand_value 8 4 Position_actual_value 12 4 Following_error_actua...

Page 43: ...iables module I O map Speed variables input Offset Size bytes 0 4 Target_velocity 4 4 Velocity_demand_value 8 4 Velocity_actual_value Torque Variables This module is used for reading the XtraDrive DP s torque variables The following table shows the torque variables module I O map Speed variables input Offset Size bytes 0 4 Target_position 4 4 Position_demand_value AUDIN 7 bis rue de Tinqueux 51100...

Page 44: ...to the Get Parameters command NOTE In order to use the Get Parameters module you must also choose Command The following table shows the get parameters module I O map Speed variables input Offset Size bytes 0 2 ID 2 2 Number 4 2 Value AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 45: ...nse or diagnostic Op_code Shown in the table on page 34 Mode Immediate Mode 2 Use this mode in order to issue a single command for immediate execution for example changing the state of an output while a program is running or lowering the gain while the motor is enabled Program download Mode 4 Use this mode when downloading a program to the XtraDrive DP Sequential Mode 3 Use this mode when the mast...

Page 46: ...t Motion Time ms GO_D 128 Target Motion Time ms GO_H 117 Target GO_TO 73 Label HARD_HOME 131 Torque 0 1 of rated Speed HOME_C 133 Speed HOME_SW 132 Speed to switch Return Speed HOME_SW_C 130 Speed to switch Speed to C pulse IF 105 Variable Index IF_INPUT 89 Input Number INPUT_CASE 97 Inputs Mask Inputs State JERK_TIME 74 Time us LABEL 88 Label This command has 5 parameters For more information ref...

Page 47: ...ce PT_FOLLOWER 101 ON 1 OFF 0 RETURN 77 RUN 78 Label SET_OUT 79 Output Number ON 1 OFF 0 SET_PAR 80 Parameter Number Value SET_VAR 81 Variable Value SET_ZERO_POSITION 95 SLIDE 115 Speed SLIDE_ANALOG 102 SPEED 83 Speed SPEED_CONTROL 100 Speed Control START 82 STOP 84 Control ON 0 Control OFF 1 STOP_MOTION 99 TORQUE 116 Torque 0 1 of rated TORQUE_ANALOG 103 TORQUE_LIMITS 87 CW 0 1 of max CCW 0 1 of ...

Page 48: ...Parameters Name Op_Code 1 2 3 WAIT_FOR_START 146 WAIT_INPUT 147 Input Number Timeout ms WAIT_STOP 148 Timeout ms WAIT_VARIABLE_GT 149 Variable Value WAIT_VARIABLE_LT 150 Variable Value AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 49: ...ror Reference source not found below describes parameters that are set using a PROFIBUS DP configuration tool during initial configuration Setting Parameters During Data Exchange page 38 describes how to change parameters using external commands during data exchange Setting Parameters with XtraWare page 38 describes the option to change parameters using XtraWare and download them to the XtraDrive ...

Page 50: ...cted parameters See Command on page 27 for further details Setting Parameters with XtraWare XtraWare is an advanced PC based software tool that can be used to change parameters An overview of XtraWare s functionality is provided in Appendix D Working with XtraWare NOTE Only XtraWare may change password protected parameters XtraWare may not change parameters that have been set and configured with t...

Page 51: ...in the modules Timeline refers to the lapse time for the transfer of a message between the PROFIBUS I O map and the XtraDrive DP Module Offset Size Description Timeline µ µ µ µs 0 4 Status_word 125 4 4 Clock 2000 8 1 Mode_of_operation 2000 XtraDrive Status 9 1 Command_mode 2000 0 4 Profile_velocity 2000 4 4 Profile_acceleration 2000 8 4 Jerk_smoothing_time 2000 12 4 Max_profile_velocity 2000 16 4 ...

Page 52: ...ms You can download programs to an XtraDrive DP in one of two ways From a PC via the serial port to the XtraDrive DP by using the XtraWare software This is the recommended method Via the PROFIBUS network during data exchange by downloading a program line by line In the command the mode field is set to program download mode 4 and the ID field is set to the program s line number to be downloaded NOT...

Page 53: ...e DP until the next SYNC command Start program synchronization includes the following steps You add to program the WAIT_TO_START command before first movement command During data exchange the master sends a RUN label command to each XtraDrive The program runs until the first movement is ready to be executed location in MCB Motion Command Buffer The master checks if the status word s 8th bit Ready ...

Page 54: ... sure the field device is available Before entering the data exchange mode to validate parameters and configuration and make sure the field device is ready During data exchange whenever indicated by the field device The XtraDrive DP diagnostic information that is sent to the master consists of standard PROFIBUS diagnostic information plus additional diagnostic information for the XtraDrive DP alar...

Page 55: ...age in order to continue work you must restart the XtraDrive DP Byte 9 contains a code for warnings Warning messages refer to problems that may become alarms such as decreasing battery voltage Byte 10 contains a code for faults Fault messages refer to XtraDrive DP motion commands and can appear only at command execution Bytes 11 and 12 contain a command ID relevant only for faults where the ID spe...

Page 56: ...n XtraDrive DP receives a Clear Data control command sent by master class 1 it performs the following steps Stops all motion if the motion command is executing Turns the servo off Keeps the last state of XtraDrive DP s digital output AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 57: ...traDrive DP GSD File The GSD file contains all the parameters available for use on the XtraDrive DP Download the most updated GSD file YETM07AA GSD from www yetmotion com or from www profibus com before beginning to work with the XtraDrive DP AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 58: ...P User Manual Last printed 6 1 03 4 23 PM AppAGSDFile doc Last saved 6 1 03 8 53 AM 46 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 59: ... Method Selection 0 Speed analog 2 Torque analog 3 Speed contact 4 Speed contact analog 6 Speed contact torque analog 9 Torque analog speed analog A Speed control analog zero clamp C NCT Position control pulse train D NCT Programming mode Pn000 2 Reserved Pn000 3 Reserved System Parameters Pn001 0 Servo OFF Alarm Stop Mode Servo OFF Alarm Stop Mode 0 Apply dynamic brake stop 1 Apply release dynami...

Page 60: ...arm codes only 1 ALO1 2 3 output both alarms warnings Pn002 0 Speed Control Uses T REF Speed Control Option T REF Terminal Allocation 0 None 1 External torque limit input 2 Torque feed forward input 3 External torque limit when P N CL ON Pn002 1 Torque Control V REF Torque Control Option V REF Terminal Allocation 0 None 1 VREF is external speed limit input Pn002 2 Absolute Encoder Usage Absolute E...

Page 61: ...se Form Reference Pulse Form 0 Sign pulse positive logic 1 CW CCW positive logic 2 AB x1 positive logic 3 AB x2 positive logic 4 AB x4 positive logic 5 Sign pulse negative logic 6 CW CCW negative logic 7 AB x1 negative logic 8 AB x2 negative logic 9 AB x4 negative logic System Parameters Pn200 1 Error Counter Clear Signal Form Error Counter Clear Signal Form 0 Clear error counter when signal high ...

Page 62: ...tion High This parameter together with Pn2A8 defines the motor s deceleration when a STOP command is issued Pn2A8 Quick Stop Deceleration Low Quick Stop Deceleration Low This parameter together with Pn2A9 defines the motor s deceleration when a STOP command is issued Pn505 Overflow Level Overflow Level This parameter defines the Position error overflow level The units are user units x 256 Pn506 Br...

Page 63: ...an external regenerative resistor Pn502 Rotation Detection Level Rotation Detection Level This parameter sets the speed at which the servo amplifier determines that the servomotor is running and if so to output an appropriate signal Pn504 NEAR Signal Width NEAR Signal Width Pn500 Positioning Completed Width Positioning Completed Width This parameter sets the number of error pulses and adjusts the ...

Page 64: ...D0 1 Program Input 2 Program Input 2 Refer to Pn2D0 0 page 52 Pn2D0 2 Program Input 3 Program Input 3 Refer to Pn2D0 0 page 52 Pn2D0 3 Program Input 4 Program Input 4 Refer to Pn2D0 0 page 52 Digital I O Pn2D1 0 Emergency Input Emergency Input 0 SI0 CN1 40 1 SI1 CN1 41 2 SI2 CN1 42 3 SI3 CN1 43 4 SI4 CN1 44 5 SI5 CN1 45 6 SI6 CN1 46 7 OFF 8 ON AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 ...

Page 65: ...ogram Input 5 Program Input 5 Refer to Pn2D0 0 page 52 Pn2D1 3 Program Input 6 Program Input 6 Refer to Pn2D0 0 page 52 Pn2C7 0 Home Switch Input Home Switch Input 0 SI0 CN1 40 1 SI1 CN1 41 2 SI2 CN1 42 3 SI3 CN1 43 4 SI4 CN1 44 5 SI5 CN1 45 6 SI6 CN1 46 7 F Home failure Pn2C7 1 Home Switch Polarity Home Switch Polarity 0 Normally closed 0 Volt logic 1 Normally open 2 Home failure Pn2C7 2 Reserved...

Page 66: ...Negative Logic D SI4 CN1 44 Negative Logic E SI5 CN1 45 Negative Logic F SI6 CN1 46 Negative Logic Pn50A 2 P CON Input P Con Signal Mapping P control when Low Refer to Pn50A 1 page 54 Pn50A 3 P OT Input P OT Signal Mapping Overtravel when High Refer to Pn50A 1 page 54 Pn50B 0 N OT Input N OT Signal Mapping Overtravel when High Refer to Pn50A 1 page 54 Digital I O Pn50B 1 ALM RST Input ALM RST Sign...

Page 67: ...ward 1 Reversed Refer to Pn50A 1 page 54 Pn50C 1 SPD A Input SPD A Signal Mapping Internal Speed Selection Defines internal speed together with SPD B Refer to Pn50A 1 page 54 Pn50C 2 SPD B Input SPD B Signal Mapping Internal Speed Selection Defines internal speed together with SPD A Refer to Pn50A 1 page 54 Pn50C 3 C SEL Input C SEL Signal Mapping Control Mode Switching Refer to Pn50A 1 page 54 Pn...

Page 68: ...put 2 Refer to Pn2D2 0 page 56 Pn2D2 3 Program Output 3 Program Output 3 Refer to Pn2D2 0 page 56 Pn50E 0 COIN Output COIN Signal Mapping Refer to Pn2D2 0 page 56 Pn50E 1 V CMP Output V CMP Signal Mapping Refer to Pn2D2 0 page 56 Pn50E 2 TGON Output TGON Signal Mapping Refer to Pn2D2 0 page 56 Pn50E 3 S RDY Output S RDY Signal Mapping Refer to Pn2D2 0 page 56 Pn50F 0 CLT Output CLT Signal Mapping ...

Page 69: ... 0 page 56 Pn510 1 Not Used Pn510 2 Not Used Pn510 3 Not Used Pn512 0 SO1 Output Reversal Output Signal Reversal for SO1 CN1 25 26 0 Output signal not reversed 1 Output signal reversed Pn512 1 SO2 Output Reversal Output Signal Reversal for SO2 CN1 27 28 0 Output signal not reversed 1 Output signal reversed Pn512 2 SO3 Output Reversal Output Signal Reversal for SO3 CN1 29 30 0 Output signal not rev...

Page 70: ...Acceleration Default Low This parameter together with Pn2A5 defines the default value of the profile acceleration variable Pn2A6 Work Jerk Smoothing Time Work Jerk Smoothing Time Default This parameter defines the default value of the jerk smoothing time variable Pn2B1 Position Units Ratio Number High Position Units Ratio Numerator High This parameter together with Pn2B0 sets the numerator to be u...

Page 71: ...units to encoder counts Pn2B5 Speed Units Ratio Numerator High Speed Units Ratio Numerator High This parameter together with Pn2B4 sets the numerator to be used in the ratio to convert speed units from user speed units to encoder counts msec Pn2B4 Speed Units Ratio Numerator Low Speed Units Ratio Numerator Low This parameter together with Pn2B5 sets the numerator to be used in the ratio to convert...

Page 72: ...Acceleration Units Ratio Numerator Low This parameter together with Pn2B9 sets the numerator to be used in the ratio to convert acceleration units from user acceleration units to encoder counts 10 msec 2 Pn2BB Acceleration Units Ratio Denominator High Acceleration Units Ratio Denominator High This parameter together with Pn2BA sets the denominator to be used in the ratio to convert acceleration fr...

Page 73: ...gram to start when the power is turned on If the value is set to 0 then no program is automatically run Pn202 Pulse Train Gear Ratio Numerator Pulse Train Electronic Gear Ratio Numerator When using pulse train this parameter sets the numerator to be used in the electronic gear function Pn203 Pulse Train Gear Ratio Denominator Pulse Train Electronic Gear Ratio Denominator When using pulse train thi...

Page 74: ...ference Filter Time Speed Reference Filter Time Constant Pn308 Speed Feedback Filter Time Speed Feedback Filter Time Constant Pn300 Speed Reference Input Gain Speed Reference Input Gain This parameter sets the voltage range for the V REF CN1 5 speed reference input based on the host controller or external circuit s output range Speed Control Analog Reference Pn100 Speed Loop Gain Speed Loop Gain W...

Page 75: ...his parameter sets the torque reference s filter time constant in the servo amplifier the smaller the value the faster the speed control response is Pn408 0 Notch Filter Selection Notch Filter Selection 0 Disabled 1 Use notch filter for torque ref Pn408 1 Not Used Pn408 2 Not Used Pn408 3 Not Used Pn409 Notch Filter Frequency Notch Filter Frequency This parameter together with Pn40A sets the frequ...

Page 76: ...rameter is applicable only in Speed Control analog mode Pn102 Position Loop Gain Position Loop Gain When NCT is not used this parameter increases stiffness and reduces position error during the trajectory following Pn301 Speed 1 Speed 1 In Speed Control contact reference mode this parameter together with Pn302 and Pn303 enables you to select the motor s speed Speed Control Analog Reference Pn302 S...

Page 77: ... Torque Reference Input Gain Torque Reference Input Gain This parameter sets the voltage range for the T REF CN1 9 torque reference input based on the host controller or external circuit s output range Pn402 Forward Torque Limit Forward Torque Limit This parameter sets the maximum forward torque limit when torque is limited due to equipment conditions Pn403 Reverse Torque Limit Reverse Torque Limi...

Page 78: ...gency Stop Torque This parameter specifies the stop torque applied for overtravel when using the input signal for prohibiting forward or reverse rotation Torque Control Analog Reference Pn407 Speed Limit Torque Control Speed Limit During Torque Control This parameter sets a speed limit for the motor when torque control is selected and is used to prevent excessive equipment speed during torque cont...

Page 79: ...aDrive User Manual Instructions on how to handle these alarms are also provided there Code Alarm Message 64 A 02 Parameter Breakdown 65 A 03 Main Circuit Encoder Error 66 A 04 Parameter Setting Error 67 A 05 Servomotor and Amplifier Combination Error 68 A 10 Overcurrent or Heat Sink Overheated 69 A 30 Regeneration Error Detected 70 A 32 Regenerative Overload 71 A 40 Overvoltage 72 A 41 Undervoltag...

Page 80: ... Error 83 A 85 Absolute Encoder Overspeed 84 A 86 Encoder Overheated 85 A B1 Reference Speed Input Read Error 86 A B2 Reference Torque Input Read Error 87 A BF System Alarm 88 A C1 Servo Overrun Detected 89 A C2 Phase finding error 90 A C8 Absolute Encoder Clear Error and Multi Turn Limit Setting Error 91 A C9 Encoder Communications Error 92 A CA Encoder Parameter Error 93 A CB Encoder Echoback Er...

Page 81: ...ny program lines Invalid program line number 5 Message checksum error 6 SET_VAR Invalid variable index 7 Variable is read only 8 Wrong op_code 9 SET_ZERO_POSITION Unable to SET_ZERO_POSITION while executing motion 10 Reply buffer full 11 Incomplete message received 12 Message too long 13 C phase parameter not set 14 Invalid input assignment 15 SET_OUT Invalid output assignment 16 Selected traced I...

Page 82: ...on 33 Hard Home Torque exceeded torque limits 128 Reference to invalid label 129 Command not applicable in this programming mode 130 Can t perform this motion with present profile acceleration 131 Can t perform this motion with present profile speed 134 Too low speed 135 SET_VAR Variable value out of range 136 Program flow error 137 Moving time is too short with present profile jerk time 139 Home ...

Page 83: ...192 Command buffer full 193 Duplicate Configuration module 194 Command parameter out of range 195 Parameterization fail 196 Configuration fail 197 Wrong GSD file version 198 Parameterization timeout 199 Servo circuit communication error 200 Servo circuit internal watchdog error 201 Wrong station address 202 Command disabled in PROFIBUS data exchange 205 Error buffer full These messages are display...

Page 84: ...P User Manual Last printed 6 1 03 4 25 PM AppCAlarms doc Last saved 6 1 03 4 07 PM 72 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 85: ...are able to perform a variety of functions Write and download a user program Immediately execute control commands Tune Set up Edit parameters Display alarms Perform jog operation Monitor Provide help See system status with a Watch window See a graphic representation of changes in parameter values For further details refer to the XtraWare User s Manual XtraWare can be downloaded from YET s website ...

Page 86: ... User Manual Last printed 6 1 03 4 26 PM AppDXtraWare doc Last saved 6 1 03 9 06 AM 74 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 87: ...es and then it shows how to implement the application during data exchange Specifications The following is a list of the system and application tasks to be carried out in this example The XtraDrive DP will drive a rotary motor with 16 bit encoder The master will instruct the XtraDrive DP to perform the following tasks Make a movement of 34 7 degrees at a speed not higher than 1000 RPM At the end o...

Page 88: ...mple 2 Application Setup page 78 describes how to set up the commands used to transfer data 3 Application Execution During Data Exchange page 81 describes how to execute the application during data exchange System Setup System setup is composed of three steps 1 Install the XtraDrive GSD File An updated file YETM07AA GSD can be downloaded from YET s website http www yetmotion com From the S7 s Opti...

Page 89: ...e and transmission rate Once this has been carried out you must determine the slave XtraDrive DP and its address It is important to ensure that this is the same as the address set by the rotary switches on the XtraDrive DP s front panel The picture below displays the system setup as shown in the S7 SIMATIC Manager 3 Select the System Parameters module NOTE The three steps described above must be p...

Page 90: ... 26 The following screen displays this parameter selected 2 Select the Command module This module enables a master to send motion commands during data exchange as well as allows you set the parameters related to the commands In this example you must define the parameters as follows User Units Position Units 0 1 degree Pn2B1 0 Pos Unts Ratio Num 65536 Pn2B3 2 Pos Unts Ratio Den 3600 AUDIN 7 bis rue...

Page 91: ...ve User Manual Work Speed Default value for working speed 1000 RPM Pn2A3 2 Work Spd Default 1000 Work Acceleration Work acceleration default 10000 rad sec2 Pn2A5 4 Work Accel Default 10000 3 Select the XtraDrive Status module While it is not mandatory to select this module it is helpful in enabling you to retrieve the XtraDrive s working status You have now defined the user units working speed and...

Page 92: ...Input 4 4 Digital Output 8 4 Status_word 12 4 Clock 16 1 Mode_of_operation 17 1 Command_mode Output Offset Size bytes Content 0 2 ID 2 1 OP_code 3 1 Mode 4 4 Command_Parameter_1 8 4 Command_Parameter_2 12 4 Command_Parameter_3 16 4 Command_Parameter_4 20 4 Command_Parameter_5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin...

Page 93: ...nd Byte 0 1 2 3 4 7 8 11 12 15 16 19 20 23 Value 0x0001 0x45 0x03 0x00000001 0x00000000 0x00000000 0x00000000 0x00000000 Explanation ID OP_code Mode Command Parameter 1 Command Parameter 2 Command Parameter 3 Command Parameter 4 Command Parameter 5 Message 2 For the MOVE_D command Byte 0 1 2 3 4 7 8 11 12 15 16 19 20 23 Value 0x0002 0x81 0x03 0x00000E10 0xFFFFFFFF 0x00000000 0x00000000 0x00000000 ...

Page 94: ... 7 8 11 12 15 16 19 20 23 Value 0x0003 0x4F 0x03 0x00000001 0x00000001 0x00000000 0x00000000 0x00000000 Explanation ID OP_code Mode Command Parameter 1 Command Parameter 2 Command Parameter 3 Command Parameter 4 Command Parameter 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 95: ...ables 31 system profile 29 system setup 26 torque control 30 torque variables 31 XtraDrive status 28 N Nameplate 7 Node address setting 20 P Parameterization 10 11 Parameters set at parameterization 37 set by XtraWare 38 set during data exchange 38 setting 37 Power ON Reset 10 PROFIBUS connection port 19 PROFIBUS network 16 components 18 connecting to 15 18 connection cables 17 connection port 19 ...

Page 96: ...raDrive DP 4 T Type description 8 V Variables reading 39 X XtraDrive DP controlling 12 diagnostics 42 downloading programs to master 40 modules 25 nameplate 7 parameters list 47 setting up 25 75 specifications 4 type description 8 XtraDrive DP messages alarms 67 faults 69 warnings 69 XtraWare 73 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin...

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