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XtraWare User Manual

XtraWare Version 3.0

(Supporting XtraDrive Versions 3.04 - 3.23)

Catalog No. 8U0109

Revision G

Summary of Contents for XTRAWARE - V3.0

Page 1: ...XtraWare User Manual XtraWare Version 3 0 Supporting XtraDrive Versions 3 04 3 23 Catalog No 8U0109 Revision G ...

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Page 3: ...is book complete and as accurate as possible However no warranty of suitability purpose or fitness is made or implied YET Ltd is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of XtraWare and or the information contained in this publication YET Ltd bears no responsibility for errors which may appear in this publication and retains t...

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Page 5: ...ndow 14 3 5 2 Project Tab 14 3 5 3 Program Window 17 3 5 4 History Window 18 3 5 5 Parameters Window 18 3 5 6 Cam Window 19 4 OPERATING THE XTRADRIVE USING XTRAWARE 21 4 1 Connecting the Driver to the PC 21 4 1 1 Communication Settings 21 4 2 Setup Wizard 22 4 3 Parameter Control 25 4 3 1 Uploading and Downloading Parameters 25 4 3 2 Viewing Parameter Settings 25 4 3 3 Setting Parameters Online 27...

Page 6: ... 2 Installing ECAM 49 4 9 3 ECAM Workflow 49 4 9 4 ECAM Profiles 50 4 9 5 Creating a Profile 51 4 9 6 Loading a Profile 57 4 9 7 Editing a Profile 57 4 9 8 Deleting a Profile 58 4 9 9 Viewing the Master Slave Table 59 4 9 10 Viewing the Data Graph 60 4 9 11 Printing from the Electronic Cam Window 60 4 9 12 The Cam List Window 61 4 9 13 Downloading Profiles to the XtraDrive 61 4 9 14 Programming wi...

Page 7: ...l Mode Sequential Command Buffer SCB 88 5 1 3 Immediate Mode Immediate Command Buffer ICB 89 5 2 SCB and UPB Command Flushing 89 5 2 1 Motion Commands With _D Suffix 89 5 2 2 Motion Commands Without _D Suffix 89 5 3 Motion Modes 90 5 3 1 Transition Between Motion Modes 91 5 4 Motion Command Buffer 93 5 5 XtraWare Commands 93 ACCELERATION 96 ALARM_RESET 97 CALL 98 CONTROL 99 DELAY 100 ECAM_DISENGAG...

Page 8: ...T_VAR 151 SET_ZERO_POSITION 152 SLIDE 153 SLIDE_ANALOG 154 SPEED 155 SPEED_CONTROL 156 SPEED_LIMIT_FOR_TORQUE_MODE 157 START 158 STOP 158 STOP_EX 159 STOP_MOTION 161 TORQUE 162 TORQUE_ANALOG 163 TORQUE_LIMITS 164 WAIT_EXACT 165 WAIT_FOR_START 166 WAIT_INPUT 167 WAIT_STOP 168 WAIT_VAR 169 WRITE_TO_ARRAY 170 5 6 Serial Communication Commands 171 CLEAR_BUFFER 171 ECAM_POINTS 171 ECAM_PROFILE 172 ECAM...

Page 9: ...1 Table 19 Parameters 211 8 2 Table 20 Application Setting Parameters 218 8 3 Table 21 Switches 219 8 4 Table 22 Input Signal Selections 226 8 5 Table 23 Home Switches 229 8 6 Table 24 Extended Input Signal Selection 229 8 7 Table 25 Output Signal Selections 230 8 8 Table 26 Extended Output Signal Selection 231 8 9 Table 27 Input and Output Availability per Mode 232 8 10 Table 28 Auxiliary Functio...

Page 10: ... 249 12 1 Electronic Gear 249 12 1 1 Electronic Gear Parameters 249 12 2 Motion Profile 250 12 2 1 Profile Velocity 250 12 2 2 Profile Acceleration 250 12 2 3 Profile Jerk Smoothing Time 251 12 3 Explanation of Command Table 251 vi XtraWare User Manual ...

Page 11: ...ware including communication parameters and program handling Command reference which lists alphabetically The commands used in the XtraWare software The commands available in the serial communication protocol The XtraDrive serial communication protocol Error messages Parameter reference providing information on all the parameters available in the XtraWare software System Variables Status Word Bits...

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Page 13: ...interface PMCIA with a serial port Review vendors system requirements for further details as not all USB to serial converters have exhibited satisfactory performance See Appendix E page E12 of the XtraDrive User Guide for a description of the cable and pin assignments CD ROM drive for installation only The XtraWare software is provided on a CD ROM supplied with the XtraDrive To obtain a copy visit...

Page 14: ...Follow the onscreen instructions to choose a destination folder for the XtraWare files 5 Click Next to continue 6 Select the program group to create the XtraWare icon C Program Files YET XtraWare is the default setting 7 After selecting the program group or folder click Next to continue The PC files are copied from the CD ROM During the procedure the installation progress is displayed Note If new ...

Page 15: ...t file 3 2 Menu Bar B Toolbar C The XtraWare menu bar provides access to the XtraWare menus File Edit View Run Communication Tools Maintenance Window and Help The toolbar is located immediately beneath the menu bar It comprises shortcut icons to the most commonly used XtraWare options In the following descriptions of the menu options the appropriate icon where applicable is listed next to each opt...

Page 16: ...nt programs and parameters Table 1 File Menu Options Option Icon Description New Project Ctrl N Creates a new XtraWare project When this option is selected the Motor Selection window in which you select the motor that will be used for this project is displayed Figure 2 Motor Selection Window Select the appropriate manufacturer and then one of the listed modules If you are using a model that is not...

Page 17: ...xisting name If the project has not yet been named the Save Project window is opened Figure 4 Save Project Window In the File name field type a name for the project and click Save Save Project as Saves the current project under a new name When this option is selected the Save Project window is opened Close Project Closes the current project If the project has not been saved the following message i...

Page 18: ...rints the currently displayed chart and its corresponding data See section 4 7 4 Printing a Chart for further information Exit Exits from XtraWare Note 1 The ECAM related options are only activated if an ECAM license has been purchased 3 2 2 Edit Menu The Edit Menu options are used to edit the command order of a program in the Program window Table 2 Edit Menu Options Option Description Cut Ctrl X ...

Page 19: ...Parameters Displays hides the Parameters window Cam List Displays hides the CAM window Workspace Displays hides the Workspace window History Displays hides the History window Chart Opens the Charts window See section 4 7 Charts for a description of this window s operation Variable Opens the Variables window Figure 5 Variables Window Toolbar Displays hides the toolbar Status bar Displays hides the ...

Page 20: ...ediate mode commands are downloaded immediately to the driver s memory For details of all the available modes see section 4 5 Program Modes Program Mode Switches to Program mode In Program mode a list of commands is prepared in the program editor to be downloaded to the driver at a later stage For details of all the available modes see section 4 5 Program Modes Sequential Mode Switches to Sequenti...

Page 21: ...otor load system Table 6 Tool Menu Options Option Icon Description Electronic Cam1 Creates motion according to a specified profile that is dependent on the position of a master axis or on the elapsed time Auto tuning Automatically sets control loop gains based on actual system measurements and tunes the XtraDrive driver accordingly See section 4 6 Tuning the Control Loops for full details Mechanic...

Page 22: ...icator appears in the status line when this action is necessary Reset to Default Parameters Discards user modifications to the parameters and reverts to the factory default parameters Note that some parameters are updated at power up only and you must therefore restart the XtraDrive after using this option Open Log File Starts a new log file and inserts all the commands sent via communication into...

Page 23: ...een different views in the XtraWare system and to save a customized screen for future use Table 8 Window Menu Options Option Description Project Screen Displays the default XtraWare Main Screen interface which includes the Workspace Program History Cam and Parameters windows Program Edit Screen Enlarges the Program window to facilitate program editing The History Cam and Parameters windows are hid...

Page 24: ... appears click Reset C Indicates the status of the connection to the XtraDrive driver Offline or Online D Indicates the current status of the XtraDrive driver ON or OFF 3 5 Work Area E The Work Area comprises the following windows Workspace window Project tab Program window History window Parameters window Cam window 3 5 1 Workspace Window The Workspace window includes Project Tab The subsections ...

Page 25: ...Command Tab The Command tab Figure 9 lists the commands that can be used to write the program The commands are divided into groups A full description of each command is provided in Chapter 5 Command Reference To view the commands under a command group click the sign next to the group name in the Command tab Figure 9 Workspace Window Command Tab XtraWare User Manual 15 ...

Page 26: ... displayed See section 4 4 1 Writing a Program for details on how to insert commands into the program 2 Click on a command name to see a short description of the command in the Description pane or see Chapter 5 Command Reference for a more detailed description 3 5 2 2 Command Groups The Command Groups are listed in the table below Table 10 Command Groups Group Description Included Commands example...

Page 27: ... Control Program flow handling commands CALL END GO_TO IF IF_INPUT INPUT_CASE LABEL LOOP RETURN RUN System Enables and disables SERVO control in the program Sets gain and torque limits CONTROL GAIN TORQUE_LIMITS ELECTRONIC_GEAR Variables Sets variable values in the program MATH READ_FROM_ARRAY SET_VAR WRITE_TO_ARRAY Wait Delays program flow either for a specified time or until a condition is met D...

Page 28: ...uential number assigned to the command Command The name of the command that was executed Operation Mode The operation mode Program Immediate Sequential active when the command was issued 3 5 5 Parameters Window Each project in the XtraWare system comprises a program and parameters The XtraWare parameters are divided into different parameter groups and are displayed in the Parameters window Figure ...

Page 29: ...tion pane C displays a short description of the selected parameter 3 5 6 Cam Window The Cam window lists all ECAM profiles that have been defined Figure 12 Cam Window Download size Indicates the number of data points that will be downloaded to the XtraDrive when the Download Cam button is pressed Profile The profiles are identified in the Cam List by their numbers Download Check the checkboxes cor...

Page 30: ...r that you would like to view or edit The Electronic Cam window is opened with the Position Setting tab displaying the selected profile See section 4 9 ECAM Electronic Cam Note The ECAM related options are only activated if an ECAM license has been purchased Contact YET to purchase an ECAM license 20 XtraWare User Manual ...

Page 31: ... of your PC Note that XtraWare supports serial communications ports COM1 through COM7 Their usage depends upon available hardware 2 Connect the other end of the communication table to the CN3 connector on the XtraDrive 4 1 1 Communication Settings It is important that the communication settings are set correctly To change the communication settings 1 Run the XtraWare software The default location ...

Page 32: ...aDrive has not been established In such cases check the following The driver is powered on The communication cable is connected both to the PC and to the XtraDrive Select the Setting option from the Communication menu and make sure that the Port is set to the correct COM port of your PC the default is COM1 on most computers 4 2 Setup Wizard To facilitate the setup procedure XtraWare offers a Setup...

Page 33: ...rs This takes several seconds on the first CONTROL ON after powering up With commutation sensors Hall sensors Some models of XtraDrive support commutation sensors of 5V or 24V Set according to the sensors polarity User Units Set user units for position speed and acceleration Position units must be in the range of 0 01 100 Default Profile Set default speed acceleration and jerk speed and accelerati...

Page 34: ...kbox Outputs Allocate digital outputs to system functions If digital outputs are to be used as general purpose outputs simply refer to the output number in the program Each output can be used either as a system function output or as a general purpose output Encoder Output Settings For a host controlled application where output pulses PG out are required set the output gear Otherwise skip this scre...

Page 35: ...g ECAM tables Therefore it is advisable to save your program prior to using the Upload function to prevent it from being overwritten To download parameters 1 Click Download Parameters on the toolbar Note If the motor is not fitted with a serial encoder SII or W Series and the project was opened using Open Project and not by running the Wizard you must enter a password or the motor parameters highl...

Page 36: ...up selection Parameter status indication An asterisk in this column indicates that the value of the parameter has been changed in the PC but has not been downloaded to the XtraDrive Parameter ID The parameter number Value Current parameter value 0x indicates hexadecimal values Min Minimum value allowed for the parameter Max Maximum value allowed for the parameter Units The units used for the param...

Page 37: ...ers Offline To set a parameter offline 1 Double click on the value field of the desired parameter 2 Enter the desired value The new value is not sent to the driver automatically an asterisk appears in the Parameter status indication column 3 Click the Download icon to send the changed values to the driver 4 4 Programming the XtraDrive The XtraDrive has built in programming capabilities You can wri...

Page 38: ...indow Figure 17 Program Window The commands in the Workspace window are divided to groups For further details see section 3 5 3 Program Window To add a command to a program 1 Open the relevant command group 2 Double click the required command to open a pop up dialog box Figure 18 relating to the command Figure 18 Sample Command Pop up Dialog Box 28 XtraWare User Manual ...

Page 39: ...rogrammed commands 1 Use the standard Windows operations Ctrl X cut Ctrl C copy and Ctrl V paste to re order commands in the Program window When you have completed the program it must be downloaded to the XtraDrive To download a program to the XtraDrive 1 Click Download Program 4 4 2 Programming Commands with Variable Arguments Instead of entering a number to specify the value of an argument you c...

Page 40: ...ormed The motion characteristics of each movement are dependent on the value of the digital inputs For each combination of digital inputs a different set of values are assigned to the variables that set the motion characteristics The main part of the program lines 8 to 16 sets the profile velocity and initiates motion Once a pre specified position has been passed the speed is reduced Once the comm...

Page 41: ...WAIT_VAR Position_actual_value Var_02 12 SET_VAR Profile_velocity Var_04 13 WAIT_STOP 1 14 GO_D 0 Var_05 15 DELAY 500 16 GO_TO 1 Subroutine 3 17 LABEL 3 18 SET_VAR Var_01 100000 19 SET_VAR Var_02 50000 20 SET_VAR Var_03 1000 21 SET_VAR Var_04 400 22 SET_VAR Var_05 1 23 RETURN Subroutine 4 24 LABEL 4 25 SET_VAR Var_01 200000 26 SET_VAR Var_02 80000 27 SET_VAR Var_03 1300 28 SET_VAR Var_04 700 29 SE...

Page 42: ...e 2 exceeded that in Case 1 Figure 20 Graph Illustrating Effect of Variable Argument Settings 4 4 3 Running a Program When a program has been completed and downloaded it can be run using any of the following methods Clicking the RUN icon to run the program from the first line In Immediate and Sequential modes selecting the RUN command from the Program Flow Control commands in the Workspace window ...

Page 43: ... by the RUN command see section 4 4 3 Running a Program 4 5 2 Immediate Mode Use this mode to issue a single command for immediate execution or when sending a single command from a host PC for example to change the state of an output while a program is running or to lower the gain while the motor is enabled and not in motion and no program is running Commands sent in Immediate Mode are stored in t...

Page 44: ...specified motor inertia ratio Fast Tuning and one that sets the coefficients experimentally by moving the motor and analyzing its behavior Fine Tuning 4 6 1 Manual Tuning Manual tuning can be performed according to the instructions provided in the XtraDrive User Manual 4 6 2 Auto tuning Auto tuning is applicable in programming mode only Pn000 1 D In driver version 2 91 auto tuning is not available...

Page 45: ...le is set according to Pn2C8 Pn2C9 Pn2CA and Pn2CB allowing you to specify how far and how fast the motor should turn during fine tuning 4 6 3 Performing Fast Tuning To perform fast tuning 1 Enter a rough estimation of load inertia in Inertia Ratio 2 Click Start The Fast Tuning window is displayed 3 Click OK 4 Enable the servo control and check the performance See 4 6 5 Evaluating Control Loop Per...

Page 46: ...ing After pressing Start the motor will begin to move 5 Wait for a few minutes while the best gain is detected 6 Click OK 7 Enable the servo control and check the performance see 4 6 5 Evaluating Control Loop Performance If you are not satisfied you can easily improve the performance and stability by adjusting the global gain Pn1A0 or by trying the following For very rigid systems try the fine tun...

Page 47: ...rive 4 Click Chart to open the Chart window 5 In the Graph Setting area set Smoothed Target Speed to 50 6 Click Start Trace The message Waiting for trigger and data collection completion is displayed 7 Click Run Program to run the program The program runs and the data is uploaded A graph of the motion is displayed 8 Study the graph particularly the Position Error shown by default in yellow and dec...

Page 48: ...hical display of signals over a specified time period Two analog signals and two digital I O signals can be displayed 4 7 1 The Chart Main Window Select the Charts option from the View menu to display the Chart Main window Figure 24 Figure 24 Chart Main Window 38 XtraWare User Manual ...

Page 49: ...igger Level the Source must change to trigger data collection Figure 26 Trigger Selection 2 As the type of slope select Rising Edge Data collection is triggered when the value of the Source rises from below the trigger Level to above the trigger Level i e when the change is from LO to HI in I O Falling Edge Data collection is triggered when the value of the Source falls from above the trigger Leve...

Page 50: ...ribed below you can select the scale available values are 1 2 5 10 25 50 100 500 1000 and the color in which the results will be displayed X Sampling Time Interval Specifies the time interval for obtaining trace data default 25ms The total trace time for which results are obtained is the sampling time interval multiplied by 10 Y1 Y2 Sampled Channel Available values are Target Speed Smoothed Target...

Page 51: ...estores the area shown in the window to its normal size Start Trace Starts the trigger searching Click the icon again to cancel the search Enable Measure Measures the delta values of X Y1 and Y2 by right clicking and dragging the mouse The values are displayed on the respective axes Show markers Displays information on current cursor location Driver Units Toggles graph units between user units and...

Page 52: ... the area you want to select 2 Hold down the left mouse button and drag to the opposite corner A white area will appear around the selected area 3 Release the left mouse button The selected area of the graph is enlarged 4 Click Reset zoom to view the original graph 5 Click Up one zoom level to view the previous zoom level Figure 28 Chart Zoom Feature 42 XtraWare User Manual ...

Page 53: ... wait until the process ends The Chart main window is displayed once the specified data has been obtained Notes 1 Sometimes the trigger cannot be detected in under 2 ms due to the characteristics of the detection period 2 If the sampling time is increased XtraWare may continue to wait for the trigger even after the trigger has been applied XtraWare waits because data for the sampling time is saved...

Page 54: ...ponse is displayed as a graph of the gain dB and phase angle degree versus frequency Hz in log scale Using the graph the relevant parameters can then be adjusted in order to reduce the effect of the mechanical restrictions Note The process uses the predefined parameters of Notch Filter Pn408 0 Pn409 Pn40A and does not take control gains into consideration To start mechanical analysis 1 Click FFT o...

Page 55: ...t accuracy is reduced at low measuring frequency The measuring frequency and excitation time depend on the sampling time To begin with set the sampling time to a small value Then reset it to a more appropriate value in accordance with the results produced Excitation Amplitude Rated torque Range 1 to 300 Must be set to a value below the Torque Limit Select the size of the reference amplitude applyi...

Page 56: ...or each excitation period In multiple excitation applications the excitation start position might shift Check the range of motion each time excitation is applied Detection of the allowable rotation in the XtraDrive may be delayed by a maximum of 2ms If so operation may exceed the settings due to factors such as inertia size and interference from speed Include a margin when setting the allowable nu...

Page 57: ...el Restores the previous zoom level Reset zoom Restores the area shown in the window to its normal size Enable Measure Dragging the cursor by left clicking the mouse enables the measurement of the difference delta between the ends of the line The delta values are displayed in each axis label Left clicking in a new location starts a new measurement Show markers Shows exact value of a point A yellow...

Page 58: ...ency characteristics 2 Run the process by pressing the START button Warning The motor will begin moving once Start has been pressed Once the process is completed a graph is displayed The values of resonance and anti resonance frequency values if any are displayed at the bottom right corner of the graph Figure 32 Sample Mechanical Analysis Output 48 XtraWare User Manual ...

Page 59: ... contain up to 256 data points To avoid exceeding this limit do not specify unnecessarily small Master Step values The maximum slave step is 32767 user position units The maximum master step after scaling is 32767 counts 4 9 2 Installing ECAM To enable the ECAM functionality see the document Instructions for License Setting 4 9 2 1 Verifying that ECAM is Installed To verify that ECAM is installed ...

Page 60: ... the profile shown consists of four segments the first stretches from Master Position 0 to 100 the second from 100 to 200 and so on You need only specify the start and end points of each segment XtraWare interpolates between those points according to shape specified XtraWare can interpolate along straight lines and sinusoidal curves You define the resolution the distance between consecutive data p...

Page 61: ...ld is explained below Figure 34 Position Setting Tab Segment Each segment is automatically assigned a number Master Start The first segment starts at master position 0 Each subsequent segment starts at the position at which the previous segment ended The master position is defined in terms of master encoder counts Master End Specifies the master position at the end of the segment If a time based p...

Page 62: ...ment that makes up the profile 1 Enter the master position in terms of encoder counts or clock pulses at the end of the first segment in the Master End field 2 Enter the slave position in position user units at the end of the first segment in the Slave End field 4 9 5 4 Defining the Segment Resolution The resolution is set by specifying the distance between successive points in the segment To set ...

Page 63: ...on of a sinusoidal graph 4 Click OK A new line for the next segment is displayed in the Position Setting tab with the Master Start and Slave Start fields filled in automatically 5 Continue filling in the table until every segment in the profile has been defined 4 9 5 6 Specifying an Array Instead of specifying a curve shape along which points must be interpolated XtraWare allows you to specify eac...

Page 64: ...isplayed The slave values for the first and last points are entered automatically based on the Slave Start and Slave End values specified Only the slave values need be entered the master values are calculated automatically based on the end points and the master step value Figure 37 Example of Curve Shape Window with Array Table Entering the values directly into the table To enter the values into t...

Page 65: ...he table displayed in the Curve Shape window The spreadsheet table may have any number of columns The slave values must be located in the right most column The values may have any number of digits after the decimal point but XtraWare will import only the integer part of each value For example 1 79 will be imported as 1 The file must be saved in CSV format The file must not be in use by other softw...

Page 66: ...ample of Curve Shape Menu with Completed Array Table 4 Click OK The Curve Shape window is closed Array will be displayed in the Curve Shape column of the Position Setting table 4 9 5 7 Saving A Profile After a profile has been created it must be saved To save a profile 1 Click Save in the Cam Profile File area The Save Cam Profile dialog box is displayed 2 Enter a name for the profile file in the ...

Page 67: ...lect Electronic CAM from the Tool menu or click Electronic Cam on the toolbar The Electronic CAM window is displayed 2 Enter a number that you will use to identify the profile in the Profile Number field 3 Click Add Profile The profile is added to the Profile List 4 Click on the Position Setting tab 5 Click Open in the Cam Profile File area The Open Cam Profile dialog box is displayed 6 Select the...

Page 68: ... End values are automatically adjusted so as to maintain the size of the segments as they were before the change Changing a Master End value therefore affects only the size of the segment that the point ends The Master Start values are also updated to match the revised Master End values Changing the value of a Slave End position does not result in subsequent Slave End values being updated only the...

Page 69: ...ove listed per segment To view the Master Slave table 1 Open the Data List tab 2 Click on one of the segments listed on the left panel of the Data List tab The master slave table is displayed on the right listing all of the interpolated points as well as the specified start and end points of the selected segment Figure 40 Data List Table XtraWare User Manual 59 ...

Page 70: ...h 1 Open the Data Graph tab The data graph is displayed Figure 41 Data Graph 4 9 11 Printing from the Electronic Cam Window The contents of each of the Position Setting Data List and Data Graph tabs can be printed To print from the Electronic Cam Window 1 Select the profile to print from the Profile List 2 Select the tab to be printed 3 Click Print The Print dialog box is displayed 60 XtraWare Use...

Page 71: ...e number of data points in each profile To view or edit a profile 1 Click anywhere in the row corresponding to the profile number that you would like to view or edit The Electronic Cam window is displayed with the Position Setting tab displaying the selected profile 4 9 13 Downloading Profiles to the XtraDrive A profile is not transferred to the XtraDrive until you download it To download a profil...

Page 72: ...ecify the profile number according to which the slave must move as well as whether the motion should continue indefinitely Cyclic mode or only until the profile has been completed once Non Cyclic mode Figure 43 Programming an ECAM_ENGAGE Command 4 9 14 2 ECAM_DISENGAGE Format ECAM_DISENGAGE This command is used to terminate ECAM motor motion ECAM_DISENGAGE will cause the motion to stop only once t...

Page 73: ... The XtraDrive includes functionality that allows you to stretch and shift a profile without having to redefine each segment Simply by adjusting the values of variables you can Stretch the profile horizontally by adjusting the Master scale Stretch the profile vertically by adjusting the Slave scale Shift the profile horizontally Offset the profile vertically 4 9 15 1 Profile Scaling The Master sca...

Page 74: ...en The scaling factors cannot by changed while ECAM is engaged To apply scaling 1 Set the variables ECAM_Master_scale_num ECAM_Master_scale_den ECAM_Slave_scale_num and ECAM_Slave_scale_den using the SET_VAR command Note When using a virtual axis it is recommended that scaling only be used to scale the graph down that is A B and C D should be set to values lower than one If a profile is stretched ...

Page 75: ...raph is shifted in the positive direction along the master position axis Figure 47 Illustration of the Application of Shift The shift is specified as an absolute distance from the origin of the profile graph In the case of a cyclic profile the next profile will be followed as it was originally specified unless a different shift is specified To apply a shift 1 Set the value of the variable ECAM_Shi...

Page 76: ...t in a sudden jolting motion as the target slave position is adjusted instantly across a discontinuity When applying a shift before engaging ECAM motion ensuring that the profile is shifted to a point at which the slave position is zero will ensure a smooth initial motion Applying an offset will always result in a sudden change to the target slave position When the application of a shift or offset...

Page 77: ...se commands is available in Chapter 5 Command Reference ECAM_TABLE_BEGIN Clears any existing table from the XtraDrive and initializes the new table ECAM_PROFILE Specifies the identifying number of the profile that is to be loaded ECAM_SEGMENT Defines the range of the master values covered by the next segment that is to be defined and specifies the size of the increments between consecutive points ...

Page 78: ...EGMENT 100 100 0 ECAM_POINTS 1 140 ECAM_SEGMENT 200 10 0 ECAM_POINTS 4 15 16 15 15 ECAM_POINTS 4 15 14 14 13 ECAM_POINTS 4 12 12 11 9 ECAM_POINTS 4 9 8 6 6 ECAM_POINTS 4 4 3 2 1 ECAM_TABLE_END Figure 49 Sample ECAM Profile 68 XtraWare User Manual ...

Page 79: ...Operating the XtraDrive Using XtraWare Table 14 Sample ECAM Table XtraWare User Manual 69 ...

Page 80: ...on prematurely after an input has been received The solid line in the graphic below illustrates the motor motion that results due to the input changing from 0 to 1 The dashed line illustrates how the motor would have moved had the input not been received Figure 50 Illustration of Motion Terminated by Registration In the diagram D1 The delay between the input being received and registration beginni...

Page 81: ...ion is set to the current position of the motor in position user units The variable Latched_master_position is set to the current position of the master if in use in encoder counts Perform the next step only once the Latched_position_ready variable has changed from 0 to 1 Use the command WAIT_VAR Latched_position_ready or assign an interrupt conditional on this variable Define the distance from wh...

Page 82: ...n was not met To ensure that the motor will stop by registration increase the distance to be traveled specified by the motion command 4 10 3 Commands Two commands are required when using latching one to enable and define a condition for latching and another to define the stopping distance once the condition has been met 4 10 3 1 LATCHING_TRIGGER Format LATCHING_TRIGGER Condition This command enabl...

Page 83: ...and See section 4 10 4 3 Motion_status This command executes immediately and it should thus be preceded in the program by a command that delays its execution until latching has been completed Use the command WAIT_VAR Latched_position_ready 1 or an interrupt conditional on this variable to ensure that REGISTRATION_DISTANCE is executed only once latching has been completed 4 10 4 Registration Variab...

Page 84: ...d by registration 2 Motion stopped but not in registration requested position The latching condition was met during motion but the registration distance exceeded the remaining motion distance The motion thus ended normally but further than the registration distance 3 Still in motion The latching condition has not been met and the motor is still in motion 4 10 4 4 Latched_position_ready This variab...

Page 85: ...H 5000 Starts motion WAIT_VAR Latched_position_ready 1 Delays next command until variable changes to 1 REGISTRATION_DISTANCE 100 Starts registration movement to stop 100 user position units after latching condition is met XtraWare User Manual 75 ...

Page 86: ...priority where Interrupt 0 has the highest priority Interrupt 7 has the lowest priority Only one interrupt can be assigned to each priority level If multiple interrupts occur simultaneously the interrupt service routines will be run one at a time in order of priority If while an interrupt routine is being executed a new interrupt of a higher priority occurs the program will exit the present interr...

Page 87: ...ble meeting some condition Interrupt is registered The relevant bit in the variable Interrupt_request is set to 1 If the registered interrupt is masked in Interrupt_mask the program flow is interrupted The XtraDrive stops retrieving commands from the user program buffer The XtraDrive executes the interrupt service routine for the highest priority interrupt received The XtraDrive clears the relevan...

Page 88: ... of the variable must be set in decimal format For example to set bits 0 and 1 to 1 and all other bits to 0 Interrupt_request would have to be set to 3 which in binary form is 0000011 4 11 6 2 Interrupt_mask By setting a mask you can specify to which interrupts the XtraDrive should react and which should be ignored This allows you to specify interrupt service routines for a number of interrupts an...

Page 89: ...mask Once the corresponding interrupt service routine has been completed the bit in the variable is reset to 0 Interrupt_pending is a read only variable and its values thus cannot be changed by the user 4 11 6 4 Example of Interrupt Variable Functioning Interrupt_mask To specify that only interrupts 3 and 7 be handled should their conditions be met bits 3 and 7 in the variable Interrupt_mask must ...

Page 90: ...ne to which to return 4 11 7 1 EXT_INT Format EXT_INT Priority Input_Number Edge This command indicates the beginning of an interrupt service routine when the interrupt is conditional on the value of an external input The argument Priority specifies the interrupt priority Priority is specified as a value from 0 to 7 where 0 is the highest priority and 7 is the lowest Input_Number specifies the num...

Page 91: ...mmand 4 11 7 3 INT_RETURN Format INT_RETURN Label This command signals the end of an interrupt service routine Label specifies the program label to which the program must proceed once the interrupt service routine has been completed Setting Label to 1 specifies that the program must simply continue running from the point at which the interrupt occurred If an interrupt service routine of a lower pr...

Page 92: ...D 655360 1 Moves motor 655360 UU at profile speed SET_OUTPUT 1 OFF Sets Output 1 value to 0 END Program ends INT 0 Target_velocity 400 Interrupt service routine 0 Runs if Target_velocity variable is equal to or exceeds 400 10 SET_OUTPUT 1 ON Sets Output 1 value to 1 11 INT_RETURN 1 Returns to program line at which the interrupt occurred 12 EXT_INT 1 1 Falling Interrupt service routine 1 Runs if In...

Page 93: ...ion Figure 56 Interrupt Example Output Chart Case 1 From the chart The motor started moving after In 1 became true As the motor target speed reached 400 output 1 was set to ON as interrupt 0 was invoked as a result of its condition Target_velocity 400 being met The program returned to the MOVE_D command Once the motor completed its motion the output was set to OFF XtraWare User Manual 83 ...

Page 94: ...nvoked as a result of its condition Target_velocity 400 being met In 1 became false The motor was stopped at the emergency deceleration by the interrupt service routine for interrupt 1 The program jumped to label 2 Output 1 was set OFF Note If both interrupts occur simultaneously the interrupt of priority 0 will be handled as in case 1 and then the interrupt of priority 1 will be handled as in cas...

Page 95: ...all motion commands except when in Speed Control mode see section 5 3 Motion Modes will be delayed until the input has been received The remainder of the program will continue to run It is important that a WAIT_INPUT command or any other wait statement be issued after the motion command that is to be delayed to ensure that the rest of the program is also delayed 4 12 2 Overriding New_move_enable T...

Page 96: ...et On line 4 Once the Position_demand_value variable has exceeded 1000 line 5 the New_move_enable function in disabled line 6 Therefore the GO_D function line 7 is run immediately irrespective of the state of the New_move_enable input The New_move_enable input is then re enabled line 8 and the program returns to the beginning line 9 See MOVE_R in Chapter 5 Command Reference 86 XtraWare User Manual...

Page 97: ... command handling 5 2 SCB and UPB Command Flushing Describes how commands are processed through the XtraDrive s command memory buffers 5 3 Motion Modes Explains the differences between different classes of motion commands 5 4 Motion Command Buffer Explains how the motion command buffer MCB processes motion commands The actual command reference tables are then presented 5 5 XtraWare Commands Refere...

Page 98: ...empty is the next command fetched 5 1 2 Sequential Mode Sequential Command Buffer SCB In this mode each command is placed in the SCB Sequential Command Buffer and processed sequentially If no program is running a command in the SCB is executed immediately after the previous command in the SCB has been executed In sequential mode motion commands that are executed through the MCB are handled as foll...

Page 99: ...and Flushing Motion command flushing from the SCB or UPB depends on the command type 5 2 1 Motion Commands With _D Suffix These commands are flushed from the SCB or UPB only when the corresponding movement is terminated according to the precision requirement setting that is subsequent commands in the buffer are executed immediately following movement termination of the _D command For example setti...

Page 100: ... the home position according to the homing parameter values Hunting While in this mode both the target position and the motion profile see section 12 2 Motion Profile can be adjusted during motion The revised settings will be applied even to the motion in progress Note that changing the jerk time see section 12 2 3 Profile Jerk Smoothing Time while in hunting mode does not take effect until the mo...

Page 101: ...des are issued consecutively in some cases the motor will first be stopped at the Profile_acceleration and only then will the second motion commence In other cases the second motion will start continuously after the first without stopping in between The table below specifies the type of transition between each pair of motion modes C Continuous transition without stopping S The motor will first dec...

Page 102: ...ng Speed mode 0 C S S C S S C S S S S Profile position 1 S C C C S S C C S S C Profile Velocity 3 S S C C S S C C S S C Profile Torque 4 S S S C S S C S S S S Homing 6 S S S S C S S S S S S ECAM 7 S S S S S C S S S S S Analog torque 5 S S S C S S C S S S S Analog Speed 4 S S C C S S C C S S C Pulse train 3 S S C C S S C C C S C Auto tuning 2 S S S S S S S S S C S Hunting 1 S S C C S S C C S S C 92...

Page 103: ...cation protocol See Chapter 6 Serial Interface Protocol Modes The modes in which the command is available For details of the available modes see section 4 5 Program Modes Information on how commands are executed in the different modes is provided below Motion Mode The motion modes in which the command functions applicable to motion commands only See section 5 3 Motion Modes Description A detailed ...

Page 104: ... are related to the command Note Command Reference Conventions The generic term UU found in this section refers to user units For further information see Chapter 6 in the XtraDrive User Manual The information listed above is presented in table format as summarized below Group The command group under which the command is listed in XtraWare Syntax The format in which the command is written Op Code T...

Page 105: ... a condition e g or a variable variable ID code when using the serial communication protocol When using XtraWare simply select the required option from a drop down menu Example An example that shows the use of the command Example Explanation An explanation of the example Note Addition information relating to the use of the command See Also A list of related commands variables and parameters XtraWa...

Page 106: ...rial 4 U Example LABEL 1 ACCELERATION 720 SLIDE 200 DELAY 1000 ACCELERATION 360 SLIDE 1000 DELAY 1000 SLIDE 0 END Example Explanation The acceleration value is defined as 720 which is used by the SLIDE command The next slide motions SLIDE 1000 and SLIDE 0 will use the new acceleration value i e 360 The SLIDE 0 command stops the motor Note The acceleration value n can only be specified by a number ...

Page 107: ... not marked with in the table listed there If the command is used to clear other alarms the program will be stopped Example LABEL 5 TORQUE_ANALOG FAULT_MANAGER ALARM_RESET SET_OUTPUT 1 ON DELAY 1000 SET_OUTPUT 1 OFF FAULT_MANAGER_RETURN 5 Example Explanation When an alarm occurs for example over torque in this case the program jumps to the fault manager resets the alarm if possible and toggles an ...

Page 108: ...TURN command Syntax Arguments n The label number at which the subroutine begins Serial 1 U Example LABEL 1 INPUT_CASE 3 2 CALL 2 END LABEL 2 SLIDE 1000 DELAY 500 SLIDE 0 RETURN Example Explanation The program checks if a certain input combination has occurred If the combination exists it will call the subroutine LABEL 2 A SLIDE motion will occur for 500ms Otherwise the CALL 2 code line is skipped ...

Page 109: ...ch Specifies whether to enable or disable Setting Code OFF disables the motor 0 ON enables the motor 1 Serial 1 U Example LABEL 1 CONTROL ON DELAY 1000 MOVE_D 3600 1 CONTROL OFF END Example Explanation CONTROL ON enables the servo The MOVE_D command is executed the servo is disabled End of program Notes After the CONTROL_ON command is issued an internal delay may occur especially the first time af...

Page 110: ...n the delay specified by the user Syntax Arguments n The time to wait before executing the next command ms Serial 4 U V Notes If this command is used after a MOVE command and the motion time you set is shorter than the delay time the program will not wait until the motion has ended before continuing Therefore in order to synchronize the program with completion of the motion use the MOVE_D or GO_D ...

Page 111: ...CLIC DELAY 10000 ECAM_DISENGAGE Example Explanation ECAM profile number 3 will be followed for 10 seconds After 10 seconds the ECAM motion will continue until the current profile has been completed irrespective of how many cycles have already been completed ECAM motion will then stop See Also ECAM_ENGAGE ENGAGE_VIRTUAL_AXIS STOP_EX Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_s...

Page 112: ... Specifies whether the motion should continue indefinitely or only until the profile has been completed once Setting Code Non Cyclic Profile will be completed once only 0 Cyclic Profile will continue indefinitely 1 Serial 1 U EXAMPLE ECAM_ENGAGE 3 NON_CYCLIC EXAMPLE EXPLANATION ECAM profile number 3 will be followed once SEE ALSO CAM_DISENGAGE ENGAGE_VIRTUAL_AXIS Variables ECAM_Master_scale_den EC...

Page 113: ...merator The numerator s value 1 65535 Serial 2 U V Syntax Arguments Denominator The denominator s value 1 65535 Serial 2 U V Example LABEL 1 CONTROL ON SPEED 5000 ACCELERATION 9000 ELECTRONIC_GEAR 8 1 MOVE_R 2000 WAIT_INPUT 1 1 1 ELECTRONIC_GEAR 4 1 MOVE_R 1000 END Example Explanation The electronic gear is set to an 8 1 ratio before the MOVE_R 2000 command The motor follower is then synchronized ...

Page 114: ...e user program currently being executed Example LABEL 1 WAIT_INPUT 1 1 1 CALL 2 END LABEL 2 SET_OUTPUT 1 ON RETURN Example Explanation Waits for INPUT 1 to be ON and then calls a subroutine that sets OUTPUT 1 to ON Returns to the program end of program Notes The END command must be used at the end of all programs 104 XtraWare User Manual ...

Page 115: ...ofile to be used Serial 1 U V Syntax Arguments Direction Specifies the direction in which the profile should be followed Setting Code POSITIVE In the positive direction 0 NEGATIVE In the negative direction 1 Serial 1 U Example ENGAGE_VIRTUAL_AXIS 2 POSITIVE Example Explanation ECAM time based profile number 2 will be followed in the positive direction See Also ECAM_ENGAGE ECAM_DISENAGE STOP_EX Var...

Page 116: ...cifies the interrupt number from 0 to 7 Serial 1 U Input_Number Specifies on which user input from 0 to 6 the interrupt is conditional Serial 1 U Syntax Arguments Edge Specifies how the interrupt is triggered Condition Code Rising By the input value changing from 0 to 1 0 Falling By the input value changing from 1 to 0 1 Both By the input changing from 0 to 1 or from 1 to 0 2 Serial 1 U Example SE...

Page 117: ...put to ON once the specified variable has met a specified condition The output is set within 125 μs of the condition being met Using this command is more effective than using an IF command followed by a SET_OUTPUT command which would result in the output being set only after 2 ms The output to be set to ON is specified in the parameter Pn2D2 0 as explained below Only one output can be controlled b...

Page 118: ...as a Coincidence output until the FAST_OUTPUT_SETTING command is issued A Coincidence output signal is produced when the position error is smaller than defined by Pn500 and the motion command has ended After the FAST_OUTPUT_SETTING command is issued the output selected by Pn2D2 0 will function as specified by the FAST_OUTPUT_SETTING command After issuing a FAST_OUTPUT_SETTING command it is not pos...

Page 119: ..._actual_value exceeding 100000 Output 1 is set ON as soon as this condition is met The fast output condition is then changed so that Output 1 will remain on until position 250000 is reached Once this position is reached Output 1 is turned off The fast output condition is then changed again so that Output 1 will be turned on once Distance_from_target is lower than 200 After the motion has been comp...

Page 120: ...ample Explanation When positive or negative over travel occurs XtraDrive stops the motor automatically and the user program jumps to the FAULT_MANAGER followed by a jump to label 22 executing the HOME command and clears the fault message buffer Afterwards it starts the program label 5 As for other faults the XtraDrive acts as defined in the attached table Fault_Action See Also FAULT_MANAGER_RETURN...

Page 121: ... number to return to Setting 1 as the label number causes the program to return to the FAULT_MANAGER Serial 1 U Example LABEL 5 MOVE 1000 1 FAULT_MANAGER IF Fault_code 151 THEN GO_TO 22 IF Fault_code 152 THEN GO_TO 22 FAULT_MANAGER_RETURN 1 LABEL 22 HOME_SW 1000 100 FAULT_MESSAGE_CLEAR FAULT_MESSAGE_RETURN 5 Example Explanation In this example if the error code is neither 151 nor 152 the program e...

Page 122: ...und in Chapter 7 Error Messages This command can only be used in a fault manager routine Example LABEL 5 MOVE 1000 1 FAULT_MANAGER FAULT_MESSAGE_CLEAR SET_OUTPUT 1 ON DELAY 1000 SET_OUTPUT 1 OFF FAULT_MANAGER_RETURN 5 Example Explanation When a fault occurs the program jumps to the fault manager clears the fault message and toggles and output See Also FAULT_MANAGER_RETURN FAULT_MANAGER Variables F...

Page 123: ...ts a user factor for the control loop gains This command can be used to momentarily decrease system bandwidth i e when the motor is not in motion but is holding its position or to increase system bandwidth for short and stiff motion Syntax Arguments n User gain Range 0 1000 Default gain is 100 Serial 2 U XtraWare User Manual 113 ...

Page 124: ...tion units Serial 4 V Syntax Arguments time The time allowed for the motion ms When setting time to 1 a motion profile see section 12 2 Motion Profile will be calculated with a maximum speed equal to the profile velocity see section 12 2 1 Profile Velocity Serial 4 V Example GO 10000 1 SET_OUTPUT 1 ON GO 0 300 Example Explanation Motion will start towards destination 10000 UU following the motion ...

Page 125: ...ity target The specified target in absolute coordinates user position units Serial 4 V Syntax Arguments time The time allowed for the motion ms When setting time to 1 a motion profile see section 12 2 Motion Profile will be calculated with a maximum speed equal to the profile velocity see section 12 2 1 Profile Velocity Serial 4 V Example LABEL 1 GO_D 10000 1 SET_OUTPUT 1 ON GO_D 0 300 END Example...

Page 126: ...scription Enables change of the target while the motor is still in motion This is unlike the GO and GO_D commands where every command is executed only after the previous one has ended After the GO and GO_D commands the motor comes to a full stop The motion profile see section 12 2 Motion Profile is calculated according to the command profiles set by the user speed acceleration and jerk time Syntax...

Page 127: ... 1500 rpm and movement commences to a destination of 600 000 user units While in motion the destination is changed to 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm See Also MOVE_H Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 XtraWare User Manual 117 ...

Page 128: ...ation A movement in the positive direction occurs followed by a negative direction movement The GO_TO 1 command returns to the beginning of the program LABEL 1 See Also LABEL LOOP HOME Commands The home switch is a digital input that defines the start point to search for the C pulse Do not define the over travel switch as the home switch The accuracy of Home position in an A quad B encoder by C pu...

Page 129: ...rm is output Torque exceeded Torque Limits err 33 The Home Position is defined as the actual position when the torque reaches the defined torque for 2 seconds The torque will not exceed the defined torque during this procedure It is recommended to first set a low torque value If the machine hard stop is not found gradually increase the torque value torque The torque limit and torque indication for...

Page 130: ... Use the GO or GO_D commands to set the motor at the zero position Note When working with a linear motor and a YASKAWA serial converter for the encoder the maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example when the encoder scale pitch is 20 μm the maximum speed at which the motor will move while executing a HOME_C command will be 100 mm s Sy...

Page 131: ...r does not stop at the zero position Use the GO or GO_D command to set the motor at the zero position speed1 and speed1 must have opposite signs i e the movement is in opposite directions speed1 The speed and direction of searching for the home switch Must have an opposite sign to that of speed2 speed user units Serial 4 V Syntax Arguments speed2 The speed and direction of searching for the home s...

Page 132: ...site directions Note When working with a linear motor and a YASKAWA serial converter for the encoder the maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example when the encoder scale pitch is 20 μm the maximum speed at which the motor will move while executing a HOME_C command will be 100 mm s speed1 The speed and direction of searching for the h...

Page 133: ...rol the flow of the program If the IF condition is true the action specified by then is performed Otherwise the next program line is performed variable System variable see Chapter 9 List of System Variables Serial 1 U condition Select from Condition Code 0 1 2 3 4 5 Serial 1 U Syntax Arguments value Set a value or system variable ID number with the same units as variable Serial 4 V XtraWare User M...

Page 134: ...ABEL 1 SLIDE 100 DELAY 100 IF Position_actual_value 550000 THEN GO_TO 2 GO_TO 1 END LABEL 2 SET_OUTPUT 1 ON SLIDE 0 END Example Explanation Position is set to zero output 1 is set to off The motor starts moving at a constant speed After a short delay the term is checked motor is still running If true i e the position value is greater than 550000 go to LABEL 2 output 1 is set to ON motion stops end...

Page 135: ...action specified by then will occur Otherwise the next program line is executed Input number Digital input number according to the pin on CN1 Pin 40 is related to input number 0 and 41 to 1 etc Serial 1 U Input condition Only the equal to condition is available Condition Code 0 Serial 1 U Input state Can be set to either 0 OR 1 Serial 1 U V Syntax Arguments then Specifies the action to take Settin...

Page 136: ...Serial 1 U Example LABEL 1 IF_INPUT 1 0 THEN GO_TO 2 SET_OUTPUT 2 ON LABEL 2 MOVE_D 4096 1 END Example Explanation If INPUT 1 is false the condition is true jump to LABEL 2 and move forward else set OUTPUT 2 to ON and move forward See Also IF WAIT_INPUT INPUT_CASE 126 XtraWare User Manual ...

Page 137: ...le if input mask is set to 5 in binary 0101 only inputs 0 and 2 are checked the rest are ignored Input Mask 0 0 0 1 0 1 input state defines the logical combination to be detected as True For example if input state is set to 4 in binary 0100 True means input 0 OFF input 1 OFF input 2 ON and input 3 OFF Input State 0 0 0 1 0 1 Input mask Input mask decimal value Defines which inputs are detected and...

Page 138: ...111 This instructs the XtraDrive to check inputs 0 1 2 and to ignore the rest input state is 2 in binary is 0010 True means input 0 is OFF input 1 is ON and input 2 is OFF If the condition is true proceed to the MOVE command Otherwise skip the next command and jump to GO_TO command See Also IF_INPUT 128 XtraWare User Manual ...

Page 139: ... 4 11 7 2 INT Priority Specifies the interrupt number Serial 1 U Variable Specifies on which variable the interrupt is conditional Any XtraDrive variable can be chosen When using serial communication specify the ID number of the system variable Serial 1 U Syntax Arguments Condition The relational operator that specifies how the value of the variable must compare to the specified value for the inte...

Page 140: ...ample Explanation The interrupt mask is set so that the program will only respond to interrupt 0 A motor movement to position 655360 is started When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then continue Once the motor motion has finished Output 1 will be set OFF See Also EXT_INT INT_RETURN Variables Interrupt_mask ...

Page 141: ...et to 1 the program will continue running from the point at which it was interrupted Serial 1 U Example MOVE_D 655360 1 SET_OUTPUT 1 OFF END INT Target_velocity 400 SET_OUTPUT 1 ON INT_RETURN 1 Example Explanation A motor movement to position 655360 is started When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then conti...

Page 142: ...the Low Pass Command Filter value is used even if the JERK_TIME is subsequently changed 2 For the motion commands GO GO_D MOVE MOVE_D which are stored in the motion buffer changing the jerk value will affect them only if the change is made before the command is issued that is before the command is sent to the buffer 3 For commands GO_H MOVE_H changing the jerk value will affect them only if the ch...

Page 143: ...am auto start after power up Syntax Arguments n The label number Serial 1 U Example LABEL 1 CONTROL ON DELAY 1000 GO_D 10000 1 IF_INPUT 1 1 THEN CALL 2 CONTROL OFF END LABEL 2 SET_OUTPUT 1 ON RETURN Example Explanation Servo enabled motor moves to position 10000 if INPUT 1 is true calls LABEL 2 subroutine The subroutine sets OUTPUT 1 as true If INPUT 1 is false servo is disabled program ends See A...

Page 144: ... met for the registration process to start Condition Code Off Disables registration canceling any previous LATCHING_TRIGGER command 0 Rising Edge Input at CN1 46 input 6 changes from 0 to 1 1 Falling Edge Input at CN1 46 input 6 changes from 1 to 0 2 Serial 1 U Example Speed 300 LATCHING_TRIGGER Rising Edge MOVE_H 5000 WAIT_VAR Latched_position_ready 1 REGISTRATION_DISTANCE 100 Example Explanation...

Page 145: ...Command Reference See Also REGISTRATION_DISTANCE WAIT_VAR Variables Latched_motor_position Latched_master_position Motion_Status Latched_position_ready XtraWare User Manual 135 ...

Page 146: ...be nested within one another but they may not cross one another n The levels of nesting within this loop up to 4 Serial 2 U v The number of cycles of this loop to perform Serial 4 U V Syntax Arguments l The label to which this loop belongs Serial 1 U Example Three loops with two nesting levels are shown below the command lines have been separated for clarity Loops 2 and 3 are nested in Loop 1 136 ...

Page 147: ...ator Variable Operation Value Op Code 134 Modes Immediate Sequential Program Description Sets the value of the specified variable to the result of a mathematical operation on two elements If the result is a fraction it will be rounded downward to the nearest integer Result The result of the calculation will be stored in the Result variable Any of the read write system variables can be specified Se...

Page 148: ..._Shift Actual_position_registration Var_01 ECAM_ENGAGE 1 Non Cyclic END Example Explanation The ECAM_SHIFT variable is calculated by dividing the Actual_position_registration by the value of Var_01 For example if Actual_position_registration is 19300 ECAM_SHIFT will be set to 2 since 19300 8192 2 36 and only the integer part is considered See Also SET_VAR 138 XtraWare User Manual ...

Page 149: ...stance Distance to the next point user position units Serial 4 V Syntax Arguments time The time allowed for the motion ms When setting time to 1 a motion profile see section 12 2 Motion Profile will be calculated with a maximum speed equal to the profile velocity see section 12 2 1 Profile Velocity Serial 4 V Example LABEL 1 MOVE 4096 1000 DELAY 2000 MOVE 4096 1 END Example Explanation The motor m...

Page 150: ... delays the execution of the next program command until the command theoretical motion generated by the MOVE_D command is completed The controller calculates the speed of the motor based on the profile acceleration see section 12 2 2 Profile Acceleration and profile jerk see section 12 2 3 Profile Jerk Smoothing Time The maximum permitted speed is the maximum motor speed variable Max_profile_veloc...

Page 151: ...anation Group Motion Syntax MOVE_H distance Op Code 118 Modes Program Sequential Motion Mode Hunting 1 Description While the motor is still in motion enables addition of a distance to the commanded motion This is unlike the MOVE and MOVE_D commands where every command is executed only after the previous one has ended After the MOVE and MOVE_D commands the motor comes to a full stop The motion is a...

Page 152: ... movement commences to a distance of 600 000 user units While in motion another 400 000 user units is added so the total movement distance is 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm See Also GO_H MOVE_R Table explanation Group Motion Syntax MOVE_R distance Op Code 119 Modes Program Sequential Motion Mode Pulse train 3 142 XtraWare User M...

Page 153: ...zero can create motion relative to the master encoder Relative motion can be performed while moving as well as shown in the diagram below Syntax Arguments distance Specifies the offset from master encoder The command adds distance to the Target_position as per electronic gear see 12 1 Electronic Gear Serial 4 V Example SET_ZERO_POSITION Demand_Position MOVE_R 0 WAIT_VAR Follower_synchronized 1 MOV...

Page 154: ...so determine the emergency stop deceleration Setting too small a value could be dangerous Note that this applies only to driver versions up to 2 91 Higher driver versions decelerate at the profile acceleration 4 If a filter on command is set Jerk Pn2A6 or smooth factor Pn216 the motor will lag after the master encoder according to the value of the filter 5 For information on using New_move_enable ...

Page 155: ...Index Decimal value in range of 1 512 representing the index of the member in the data array Serial 2 U V Syntax Arguments Variable Any of the read write system variables See Chapter 9 List of System Variables Serial 1 U Example READ_FROM_ARRAY 291 Var_01 Index 1 2 3 291 512 Value 56312 Example Explanation Var_01 will be equal to 56312 See Also SET_VAR WRITE_TO_ARRAY GET_FROM_ARRAY Only in immedia...

Page 156: ...ce the latching condition has been met the registration begins such that the motor will move 100 user units before stopping Note 1 The command usually follows the command WAIT_VAR Latched_position_ready 1 as the variable Latched_position_ready is set to 1 once the latching condition has been met See 4 10 3 2 REGISTRATION_DISTANCE 2 The variable Motion_status indicates whether the motion ended as c...

Page 157: ...ONTROL OFF END LABEL 2 SET_OUTPUT 2 ON JERK_TIME 350 MOVE_D 7200 1 RETURN Example Explanation Servo enabled jerk time see section 12 2 3 Profile Jerk Smoothing Time is set to 700 ms MOVE command executes subroutine LABEL 2 is called Within the subroutine output 2 is set ON jerk time is set to 350 ms movement in the negative direction return to the main program command that follows the CALL code li...

Page 158: ...CC SET_OUTPUT Table explanation Group Output Syntax SET_OUTPUT n switch op Code 79 Modes Program Immediate Sequential Description Sets a digital output pin to ON or OFF There are three logical outputs that can be set corresponding to the three output pins on the XtraDrive Syntax Arguments n Digital output number set according to the table below Output number Digital Output 1 Out_1 CN1 25 26 2 Out_...

Page 159: ...TPUT 2 ON END Example Explanation Current Position is set to zero slide motion takes place until the position value equals or exceeds 10000 uu the WAIT_VAR command stalls the execution of the next command When the position value equals or exceeds 10000 uu the SLIDE 0 command stops tells the motor to move at 0 speed the motor output 2 is set ON End of program See Also SET_OUTPUTS XtraWare User Manu...

Page 160: ...nore 0 Set 1 Range 1 to 0x00FFFFFF Serial 4 U V Syntax Arguments Output state Decimal value A bit string represents the digital outputs to be set The rightmost digit is ignored the next corresponds to OUT 1 on pins CN1 25 CN1 26 etc Range 1 to 0x00FFFFFF Serial 4 U V Example WAIT_VAR Position_actual_value 100 SET_OUTPUTS 6 4 END Example Explanation When the position value equals or exceeds 100 uu ...

Page 161: ...iables In driver ver 2 91 only the following variables can be set Exact_mode Motion_end_window Clock Speed_reference Serial 1 U Syntax Arguments value The value of the user variable Serial 4 V Example SET_VAR Var_01 329 MATH Profile_velocity Analog_Speed Var_01 Example Explanation The value of VAR_1 set to 329 This value is then used in the calculation of the new value of Profile_velocity See Also...

Page 162: ...will remain 1 Serial 1 U Example LABEL 1 HOME_C 200 GO_D 7800 1000 SET_ZERO_POSITION demand_position Example Explanation This example shifts the home position zero position from the C pulse location to a different location After searching the C pulse with the HOME_C command the motor moves to position 7800 UU When the motor is theoretically on position 7800 UU the scale is changed and Position_Dem...

Page 163: ...gative direction Zero stops the movement user speed units Serial 4 V Example LABEL 1 SLIDE 10000 DELAY 1000 SLIDE 2000 DELAY 1000 SLIDE 2000 DELAY 1500 SLIDE 0 DELAY 1000 END Example Explanation Motor accelerates to 10000 uu decelerates to 2000 uu decelerates to 2000 uu and accelerates in the positive direction to 0 i e motion ends end of program The DELAY command after each SLIDE command determin...

Page 164: ...the voltage the higher the speed Speed calculation Motor Rated Speed x Input Voltage 0 01V Pn300 Demand Speed Where Motor Rated Speed Parameter of motor PnF05 low bite For example the rated speed is 3000 rpm Pn300 is set to 600 6V if the voltage generated is 3V the speed will be 1500 rpm Note 1 Movement acceleration is according to the profile acceleration see section 12 2 2 Profile Acceleration a...

Page 165: ... profile velocity user speed units Serial 4 U Example LABEL 1 CONTROL ON DELAY 500 SPEED 50 MOVE 3600 1 SPEED 200 MOVE_D 3600 1 CONTROL OFF END Example Explanation Servo enabled speed profile is set to 50 uu first movement occurs speed profile is set to 200 uu second movement which uses the new speed profile is faster and in the opposite direction servo disabled end of program Notes The speed valu...

Page 166: ...ing Syntax Arguments switch Mode Code ANALOG_INPUT Analog speed command similar to the SLIDE_ANALOG command except that a speed control loop is closed on the command 2 PULSE_TRAIN_INPUT Pulse train speed command 3 VARIABLE Speed command set by a variable Use the SET_VAR command to change the variable Speed_reference which changes the motor speed 4 Serial 1 U See Also SLIDE_ANALOG SET_VAR Variable ...

Page 167: ... will be limited Syntax Arguments Source of limit Specifies the source for the speed limit Setting Code SP_REF_VAR Refers to speed_limit_reference as the source 4 ANALOG_SP Uses the external analog speed reference value as the source 2 Serial 1 U Example LABEL 1 CONTROL ON SET_VAR Speed_limit_reference 300 SPEED_LIMIT_FOR_TORQUE_MODE SP_REF_VAR TORQUE 50 END Example Explanation In this example the...

Page 168: ...STOP_EX Group Motion Syntax STOP switch Op Code 84 Description Immediately stops the motor motion using the quick stop deceleration as defined by parameters Pn2A8 and Pn2A9 This command also stops the program and clears the immediate sequential and motion buffers Syntax Parameters switch This parameter defines system behavior after the motion actually stops Switch Code ON keeps the motor enabled 1...

Page 169: ...d to enable a previously disabled servo The program can also be terminated after the motor has stopped Syntax Arguments Type Specifies the rate of deceleration and whether the program is stopped Setting Code Profile The motor will decelerate at the profile acceleration see section 12 2 2 Profile Acceleration 0 Emergency The motor will decelerate at the quick stop deceleration specified by paramete...

Page 170: ...d once the theoretical deceleration has been completed Example SLIDE 1000 DELAY 200 STOP_EX Emergency Servo OFF SET_OUTPUT 1 ON Example Explanation A STOP_EX command was issued 200 ms after motion started Because Type was set to Emergency the motor decelerated at the quick stop deceleration rate which was higher than the profile acceleration at which the motor accelerated initially The SET_OUTPUT ...

Page 171: ...n the opposite direction are continuously executed as long as Input 1 is false When Input 1 is set to true subroutine LABEL 2 is called and the motion stops By setting Input 1 to false the motor returns to its zero position and the two MOVE motions are executed in an endless loop You can stop the program simply by using the STOP_EX command in immediate mode Modes Program Immediate Sequential Note ...

Page 172: ...xample LABEL 1 TORQUE 100 DELAY 1000 TORQUE 200 DELAY 1000 TORQUE 200 DELAY 1500 TORQUE 0 DELAY 1000 END Example Explanation The Torque Profile value is changed four times each time for a period of time determined by the subsequent DELAY command The final TORQUE command sets the profile value to zero see Notes below Notes A TORQUE 0 command must be entered when it is no longer necessary to apply t...

Page 173: ...r creates Parameter Pn400 determines the voltage level in 0 01V that is equivalent to the motor rated torque the higher the voltage the greater the torque Torque calculation Motor Rated Torque x Input Voltage 0 01V Pn400 Generated Torque For example if the rated torque is 500 Nm Pn400 is set to 60 6V and the voltage generated is 3V the torque will be 250 Nm The rate of change of torque is specifie...

Page 174: ...force in the forward and reverse directions is set by Pn483 and Pn484 respectively FRW Torque limit in forward direction 0 1 of the maximum motor torque Serial 2 Syntax Arguments REV Torque limit in reverse direction 0 1 of the maximum motor torque Serial 2 Note Increasing torque limits while the motor is in CONTROL ON can cause a fast and therefore dangerous movement It is highly recommended to f...

Page 175: ...lag the WAIT_EXACT command causes a one time delay only Syntax Arguments n The time period to wait Setting this value to 1 specifies that the program must wait for an infinite period of time i e until the motion ends ms Serial 4 V Example LABEL 1 MOVE 10800 3000 SET_OUTPUT 2 ON WAIT_EXACT 1 SET_OUTPUT 1 ON END Example Explanation Motor starts to move output 2 is set ON motion continues when motion...

Page 176: ... START command clears the WAIT_FOR_START command Therefore the WAIT_FOR_START command must be set per motion Example Consider a system with X and Y axes that are required to start moving at exactly the same time To ensure that their motions start simultaneously a WAIT_FOR_START command should be sent via serial communication to each of the axes followed by the required MOVE commands which may be d...

Page 177: ... Digital input number according to the pin on CN1 Pin CN1 40 corresponds to input number 0 and CN1 41 to 1 etc Range 0 to 7 and 8 to 24 depending on Option board type if any Serial 1 U Input condition Input condition Condition Code 0 Serial 1 U Input state 0 or 1 Serial 1 U Syntax Arguments time The time to wait until the input is set Setting time to 1 specifies an indefinite wait ms Serial 4 V Ex...

Page 178: ...guments n The time period to wait ms Setting this value to 1 delays the program for an infinite period of time i e until the motion ends Serial 4 V Example LABEL 1 MOVE 4096 800 SET_OUTPUT 1 ON WAIT_STOP 1 SET_OUTPUT 1 OFF END Example Explanation Motor moves 4096 uu in the positive direction Immediately after the motion begins output 1 is set to ON The WAIT_STOP command delays execution of the nex...

Page 179: ...dition Select a relational operator Condition Code 0 1 2 3 4 5 Serial 1 U Syntax Arguments value Set a value with the same units as variable Serial 4 V Example LABEL 1 SET_ZERO_POSITION demand_position SLIDE 50 WAIT_VAR Position_actual_value 20000 SLIDE 0 END Example Explanation Position_actual_value is set to zero motor starts moving at a constant speed 50 uu as soon as the motor reaches position...

Page 180: ...presenting the index of the member in the data array Serial 2 U V Syntax Arguments Value Long type Serial 4 V Example Array value before Index 1 2 3 17 512 Value 98 WRITE_TO_ARRAY 17 5432 Array value after Index 1 2 3 17 512 Value 5432 Example Explanation Data array 17 was equal to 98 After the WRITE_TO_ARRAY command it was changed to 5432 See Also SET_VAR READ_FROM_ARRAY GET_FROM_ARRAY Only in im...

Page 181: ...It is recommended that this command be used before sending a program to the drive by serial communication to remove an existing program from memory Not doing so can result in unexpected behavior such as the program jumping to labels within the old program Syntax Arguments Buffer Indicates which buffer is to be cleared Buffer Code Sequential Buffer 0 Program Buffer 1 Serial 1 U ECAM_POINTS Table ex...

Page 182: ...E_BEGIN ECAM_PROFILE ECAM_SEGMENT ECAM_TABLE_END ECAM_PROFILE Table explanation Syntax ECAM_PROFILE ID Op Code 124 Modes Immediate Description Each profile loading should start with this command which specifies the profile ID The profile ID is used to run that profile Up to 4 profiles can be loaded Syntax Arguments ID Long type Up to 4 profiles can be loaded but the ID can have be any number in th...

Page 183: ...able increment in master pulses To each increment there is equivalent slave value so it determines the ECAM table resolution Units are according to the electronic gear see section 12 1 Electronic Gear Serial 2 U Syntax Arguments N A Currently not in use Send 1 byte with 0 value Serial 1 U See Also ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_POINTS ECAM_TABLE_END ECAM_TABLE_BEGIN Table explanation Syntax EC...

Page 184: ...Modes Immediate Sequential Program Description Reads the value of one data array member Syntax Arguments Index Decimal value in range of 1 1000 representing the index of the member in the data array Serial 2 U See Also READ_FROM_ARRAY WRITE_TO_ARRAY GET_PAR Table explanation Syntax GET_PAR parameter number Op Code 85 Modes Immediate Sequential Description Reads the contents of XtraDrive parameter ...

Page 185: ..._VAR GET_VERSION Table explanation Syntax GET_VERSION Op Code 63 Modes Immediate Description Reads XtraDrive version number POLLING Table explanation Syntax POLLING Op Code 0 Modes Immediate Description Reads XtraDrive status For details see Chapter 10 List of Status Word Bits SAVE_PRG_ECAM Table explanation Syntax SAVE_PRG_ECAM Op Code 96 Modes Immediate Description Saves program and ECAM table t...

Page 186: ... Description Sets XtraDrive parameter The driver must be reset before the change takes effect parameter number XtraDrive parameter see Chapter 8 Parameter Reference Serial 2 U Syntax Arguments value Sets value to specified parameter For setting range see Chapter 8 Parameter Reference Serial 2 U 176 XtraWare User Manual ...

Page 187: ... 2 Protocol Specifications In this master slave protocol a PC or other device is the master and the XtraDrive is the slave The master sends a request or a polling message and the XtraDrive answers with a response message The master can only send a new message after receiving an answer or ACK acknowledge message or after timeout has expired The master can control up to 15 XtraDrive units by using a...

Page 188: ...ed according to one of the formats specified in the sections that follow where each block in the format represents a byte Every message in this protocol starts with N and terminates with CR Carriage Return Note 0x represents a hexadecimal number 6 2 2 Master Message Format N A M Id1 Id2 C1 C2 V1 V2 P1 P2 Pn S1 S2 CR Description XtraDrive message start symbol Constant value N Range N Description Ax...

Page 189: ...nd to enable download new or replace of XtraDrive program lines I D 1 AND I D 2 Range 0x0 0xFF 0x0 0xF each Message Identification Number Description 0x00 To ignore message identification 0x01 0xB4 Program line number Program mode 0xB5 0xC8 Message Identification Immediate and Sequential modes 0xC9 0xFF For future use Notes Message ID enables rewriting of lines in XtraDrive program The program mus...

Page 190: ...e the right most 0 corresponds to Arg 1 and the left most to Arg 5 00100 corresponds to 0x4 in hexadecimal format and thus V1 would be set to 0 and V2 to 4 Description Command Argument Each Pn is one byte for one digit The number of arguments and size number of digits if relevant depends on the Command Operational Code see Chapter 11 List of Operation Codes Range 0 The corresponding P bit P1 P2 P ...

Page 191: ... to work without checksum by setting Pn2C6 0 When working without checksum set 00 instead of checksum S1S2 6 2 2 2 Master Message Format Example CONTROL ON command Example of CONTROL_ON command to axis 0 in Immediate mode Format N A M Id1 Id2 C1 C2 V1 V2 P1 P2 S1 S2 CR N 0 A 0 0 4 5 0 0 0 1 B 0 CR Where A 0 Axis number 0 M 0xA Immediate mode ID1 0 Id2 0 Ignore message ID C1 4 C2 5 Command operatio...

Page 192: ...guments are specified by numerical values not by variables P1 P8 00000258 0x258 600 P9 P16 000003E8 0x3E8 1000 S1 1 S2 F 0x100 0x2B 00 0x71 00 00 0x02 0x58 00 00 0x03 0xE8 0XFFFFFFFFFFFFFF1F Since only the last two digits are considered S1S2 0x1F 6 2 2 3 Master Message Short Format In cases where all the arguments P1 Pn are specified by numerical values and not by variable ID numbers a shortened f...

Page 193: ...rt format is the same format as was used in previous versions of XtraWare in which the specification of arguments was limited to numerical values 6 2 3 Response Message All master messages except broadcast messages are responded to by an XtraDrive response message Format N A m Id1 Id2 Answer S1 S2 CR Where Description XtraDrive message start symbol Constant value N Range N Description Axis address...

Page 194: ... 1 AND I D 2 Range 0x0 0xFF 0x0 0xF each A NSWER Description XtraDrive response Can hold acknowledge ACK or value as response to Data Request Commands such as GET_VAR The format of ACK and Data Request Commands are described below Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body section 6 2 2 1 Checksum Calcu...

Page 195: ...t string holding XtraDrive statuses See Chapter 10 List of Status Word Bits SW1 SW4 Range 0x00 0xFFFF 6 2 3 2 Answer Field for Data Request Command A response message is sent either in response to a Data Request command or as a response to the other commands such as ACK Answer to Data Request command accepts only when Response type m 2 The Answer format depends on the specific command General form...

Page 196: ...l Code as the original message Description Variable ID I NX _1 I NX _2 Range See Chapter 9 List of System Variables V1 V8 Description Variable value Answer Field for GET_PAR Command C1 C2 Inx_1 Inx_2 Inx_3 Inx_4 V1 V2 V3 V4 Where C1 AND C2 Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message I NX _1 I NX _4 Description Parameter number See ...

Page 197: ... B For example XtraDrive with version number 2 80 A will respond with C1 C2 2 8 0 A 6 2 3 3 Response Message Format Example CONTROL ON command Example of response message to CONTROL_ON command to axis 0 in Immediate mode with message identification of 0x7F Master Message Format N A m Id1 Id2 C1 C2 V1 V2 P1 P2 S1 S2 CR N 0 A 7 F 4 5 0 0 0 1 3 1 CR Response Message Format in case of no fault N A m I...

Page 198: ...cannot be executed when CONTROL_OFF fault 0x8C occurs Master Message Format N a M Id1 Id2 C1 C2 V1 V2 P1 P2 P3 N 0 B 9 6 7 1 0 0 0 0 0 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 0 0 2 5 8 0 0 0 0 0 P14 P15 P16 S1 S2 3 E 8 A 9 Response Message Format in case of fault CR N a m Id1 Id2 F1 F2 SW1 SW2 SW3 CR N 0 1 9 6 8 C 0 4 3 SW4 S1 S2 CR 3 A 6 CR Where A 0 Axis number 0 m 1 Response type is acknowledge with ...

Page 199: ...2 V1 V2 P1 P2 S1 S2 CR N 0 A 6 5 4 8 0 0 0 9 4 0 CR Response Message Format in cases of no fault N a m Id1 Id2 C1 C2 Inx_1 Inx_2 N 0 2 6 5 4 8 0 9 V1 V2 V3 V4 V5 V6 V7 V8 S1 S2 CR F F F F F 0 6 0 F A CR Where A 0 Axis number 0 m 2 Response type is Answer for data request command ID1 6 Id2 5 Message identification contains the same value as master message identification C1 4 C2 8 Response message O...

Page 200: ...Serial Interface Protocol negative and equals 4000 decimal S1 3 S2 D 0x100 0x02 0x65 0x48 0x09 0xFF 0xFF 0xF0 0x60 0xFA 190 XtraWare User Manual ...

Page 201: ...ort The response message format or value is different than expected The response message which accepts Data Request Commands response does not match the master command To accept a specific response message write a loop with POLLING command Command Operational Code 0x00 until the appropriate response message is accepted After a variable has been watched in the XtraWare variable watch window even if...

Page 202: ......

Page 203: ...ber 14 occurs Invalid Input Assignment the program will stop whether you have Fault Manager in your program or not But in the case of the occurrence of Error 151 Positive Over Travel the Program and motor will stop by default If you use Fault Manager in a program however you could continue to run the program Table 18 Error Messages Error Code Error message from XtraWare Description Will program fl...

Page 204: ...lid variable index has been used in the SET_VAR command Yes Yes Yes 7 Variable is read only Variable is read only Yes Yes Yes 8 Wrong op code This command does not exist in the command list Yes Yes Yes 9 Wrong motion mode for SET_ZERO_PO SITION command Set STOP_EX command before This command cannot be performed if the Motion Command buffer is not empty or if a motion is in progress Yes 10 Reply bu...

Page 205: ... 1 C phase is not defined by Pn190 2 May occur with linear motor if the JOG command was used after power up and then the HOME_C command Reset the XtraDrive and execute HOME_C command without first using the JOG command Yes Yes 14 Invalid input assignment A digital input is configured for more than one function Yes Yes 15 Invalid output assignment A digital output is configured for more than one fu...

Page 206: ... storing fault Contact your distributor or YET representative Yes 20 Motor moving during CONTROL _ON XtraDrive has detected that the motor is moving while performing the first CONTROL_ON after power up Yes 22 Auto tuning available in Programming Command mode only Auto tuning is available in Serial Command mode only Change the working mode by setting Pn000 1 D Yes 23 Program already running The req...

Page 207: ...ndant on other parameter settings such as user units and inertia ratio Use the monitor window online to see the maximum allowed values under the motion profile group Yes Yes 27 Invalid parameter Invalid parameter Yes 28 EEPROM read buffer full EEPROM read buffer full Yes 31 Home Command Both speeds are in the same direction Home Command Both speeds are in the same direction Yes 33 HARD_HOME Torque...

Page 208: ...ment defined by ECAM_SEGMEN T command Insufficient number of points in a segment defined by CAM_SEGMENT command Number of points is Delta Master Master step Yes 39 ECAM No segments were downloaded No segments were downloaded Yes 40 ECAM Too many points in a segment defined by ECAM_SEGMEN T command Too many points in a segment defined by CAM_SEGMENT command Number of points is Delta Master Master s...

Page 209: ... The value of Vi doesn t match command arguments Wrong variable indicator Vi The value of Vi doesn t match command arguments Yes Yes Yes 50 Stopped by Emergency Program was stopped by Emergency Yes Yes Yes Yes Yes 51 Position Error level Pn505 is greater than max_position_e rror_level Position Error level Pn505 is greater than max_position_err or_level 52 Duplicated FAULT_MANAG ER FAULT_MANAG ER c...

Page 210: ... In case FAULT_ MANAGER is activated use the FAULT_ MESSAGE_CLEAR command to clear the messages Yes Yes 58 Profile_ acceleration is greater than the Max_ profile_ acceleration Profile_accelerati on is greater than the Max_profile_accel eration Yes Yes 64 A 02 Parameter Breakdown EEPROM data of servo amplifier is abnormal Yes Yes Yes Yes Yes 65 A 03 Main Circuit Encoder Error Main Circuit Encoder E...

Page 211: ...ation circuit or resistor is faulty Yes Yes Yes Yes Yes 70 A 32 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Yes Yes Yes Yes Yes 100 A 33 Wrong Input Power Amplifier is in AC input mode Pn001 2 0 but has DC input or vice versa Wrong Input Power Amplifier is in AC input mode Pn001 2 0 but has DC input or vice versa Yes Yes Yes Yes Yes 71 A 40 Over voltage Main ci...

Page 212: ...urrent Limit Resistor The main circuit power was frequently turned ON and OFF Yes Yes Yes Yes Yes 78 A 7A Heat Sink Overheated The Heat Sink of the servo amplifier overheated Yes Yes Yes Yes Yes 101 A 80 Position error Position error exceeds the setting in Pn51E Yes Yes Yes Yes Yes 79 A 81 Absolute Encoder Backup Error All the power supplies for the absolute encoder have failed and position data w...

Page 213: ...high Yes Yes Yes Yes Yes 112 A 91 Overload Warning This warning occurs before either of the overload alarms A 71 or A 72 occurs If the warning is ignored and operation continues an overload alarm may result Yes Yes Yes Yes Yes 113 A 92 Regenerative Overload Warning This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and operation continues a regenerativ...

Page 214: ...nding procedure for motor with A quad B encoder was faulty Yes Yes Yes Yes Yes 103 A C3 Encoder AB Phase disconnection of encoder signal line Encoder AB Phase disconnection of encoder signal line Yes Yes Yes Yes Yes 104 A C4 Encoder AB C phase disconnection of encoder signal line Encoder AB C phase disconnection of encoder signal line Yes Yes Yes Yes Yes 105 A C5 Linear motor pole sensor position ...

Page 215: ...ror Overflow Position error pulse exceeded parameter Pn505 Yes Yes Yes Yes Yes 96 A E7 Option Unit Detection Error Option unit detection fails Yes Yes Yes Yes Yes 97 A F1 Power Line Open Phase One phase is not connected in the main power supply Yes Yes Yes Yes Yes 102 A B3 Current Detection Error Please check motor power line wiring Current Detection Error Please check motor power line wiring Yes ...

Page 216: ...d speed for this motion is greater than the max motor speed Set a lower motion speed Yes Yes Yes 133 Final target too big If a new target position is sent with a MOVE_H command an overflow may occur The motor must first be stopped and only then can the motion continue Yes Yes Yes 134 Speed too low The speed is too low for specified motion Yes Yes Yes 135 SET_VAR Variable value out of range The var...

Page 217: ...s disabled Make sure the motor is enabled CONTROL_ON before issuing the motion command Yes Yes 141 TORQUE_ LIMITS Invalid torque limits The maximum torque limit is smaller than the minimum torque limit Yes Yes Yes Yes 142 Invalid or duplicated label The label number is either zero or greater than the maximum line number Yes Yes Yes Yes 143 Invalid input number The input referred to in the command ...

Page 218: ...r travel Positive Over travel Yes Yes Yes 152 Negative Over travel Negative Over travel Yes Yes Yes 153 Can t perform motion Reconfigure New move enable digital Input Pn2D1 1 or use Override_ new_move_ enable Can t perform motion Reconfigure New move enable digital input Pn2D1 1 Yes Yes 154 ECAM Table is not ready Table sending was not completed or not even started Therefore ECAM motion cannot be ...

Page 219: ...M Master overflow When the time to accomplish the profile plus shift is smaller than one servo cycle 125 ms Yes Yes Yes 159 INT_RETURN command is not in interrupt service routine INT_RETURN command is not in Interrupt service routine Yes Yes Yes Yes 255 Fault buffer full Contact your distributor or YET representative Yes Note These alarms can only be reset by turning power off eliminating the caus...

Page 220: ......

Page 221: ...Cat Parameter Number Name Unit Setting Range Default Setting Ref Pn000 Function Selection Basic Switches 0x00D0 7 1 1 7 4 1 Pn001 Function Selection Application Switches 1 0000 7 1 2 7 5 2 Pn002 Function Selection Application Switches 0100 7 2 8 7 2 9 Pn003 Function Selection Application Switches 3 0002 8 4 Pn006 Function Selection Application Switches 3 0010 8 4 Function Selection Parameters Pn00...

Page 222: ...orque filter low pass 0 01ms 0 2500 20 8 3 5 Pn1A5 Torque filter second order 0 1 0 1000 0 8 3 5 Pn1A7 Integral mode switch 1121 8 3 8 Pn1A9 Integral feedback gain Hz 0 500 40 8 3 5 Pn1AA Proportional feedback gain Hz 0 500 40 8 3 3 Pn1AB Supplementary proportional feedback gain Hz 0 500 30 8 3 3 Pn1AC Speed feedback gain Hz 0 2000 80 8 3 3 Pn1AF Feed forward gain 0 200 0 8 3 3 Pn1B5 Maximum varia...

Page 223: ... 256 1 Pn2A0 Rotation base in user units low 0 65535 65535 Position Parameters Pn2A1 Rotation base in user units high 0 32767 32767 Pn2A2 Work speed default low speed units 0 65535 0 7 10 1 2 Pn2A3 Work speed default high speed units 65536 0 256 0 7 10 1 2 Pn2A4 Work acceleration default low acc units 0 65535 0 7 10 1 2 Pn2A5 Work acceleration default high acc units 65536 0 256 0 7 10 1 2 Pn2A6 Wo...

Page 224: ...eleration units ratio denominator low 0 65535 1 7 10 1 1 Pn2BB Acceleration units ratio denominator high 0 16383 0 7 10 1 1 Pn2C0 Motion end window user position units 0 250 7 7 10 1 2 Pn2C1 Torque slope 0 1 of rated torque ms 1 24000 24000 7 10 2 Pn2C4 Synchronize window for pulse train user position units 0 250 7 Chapter 5 Command Reference XtraWare User Manual Pn2C5 Zero speed when find hard ho...

Page 225: ... to 10000 300 7 2 6 Pn304 Jog Speed rpm 0 to 10000 500 9 2 2 Pn305 Soft Start Acceleration Time ms 0 to 10000 0 8 2 2 Pn306 Soft Start Deceleration Time ms 0 to 10000 0 8 2 2 Pn307 Speed Reference Filter Time Constant 0 01ms 0 to 65535 40 Speed Parameters Pn308 Speed Feedback Filter Time Constant 0 01ms 0 to 65535 0 Pn380 Speed1 mm s 0 5000 10 Pn381 Speed2 mm s 0 5000 20 Pn382 Speed3 mm s 0 5000 3...

Page 226: ...ers Pn484 Reverse force limit of rated force 0 800 10 Pn500 Positioning Completed Width ref units 0 to 250 7 7 6 3 Pn501 Zero Clamp Level rpm 0 to 10000 10 7 5 3 Pn502 Rotation Detection Level rpm 1 to 10000 20 7 6 5 Pn503 Speed Coincidence Signal Output Width rpm 0 to 100 10 7 6 4 Pn504 NEAR Signal Width ref units 1 to 250 7 7 6 8 Pn505 Overflow Level 256 ref units 1 to 32767 1024 8 2 1 Pn506 Bra...

Page 227: ...tor Capacity 10W 0 to capacity 0 7 7 Other Para meters Pn601 Reserved parameter do not change 0 to capacity 0 Notes After changing this parameter cycle the main circuit and control power supplies to enable the new settings 2 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 for other settings even...

Page 228: ...x10 0 Pn2F1 1 Node Number x10 1 Pn2F1 2 Baud Rate 0 1 2 9600 3 1200 4 2400 5 4800 6 9600 7 19200 8 38400 9 57600 CompoW ay F Setting 1 0 2457 Yes No Pn2A0 Yes Rotation base Low Rotation base Low 0xFFFF 0 0xFF FF User No No Pn2A1 Yes Rotation base High Rotation base High 0x7FFF 0 0x7F FF User No No Pn2C6 Yes Communication Switch Pn2C6 0 Checksum 0 Do not use checksum 1 Use checksum Pn2C6 1 Communic...

Page 229: ...tion control pulse train reference Torque control analog reference 9 Torque control analog reference Speed control analog reference A Speed control analog reference Zero clamp B Position control pulse train reference Position control Inhibit C Position control pulse train 1 Control Method Selection D Serial communication command programming D 2 Axis Address 0 to F Sets servo amplifier axis address...

Page 230: ...d ALO3 output only alarm codes 1 ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state 0 3 Warning Code Output Selection 2 Uses absolute encoder as an absolute encoder Uses multi turn limit 0 None 1 Uses T REF as an external torque limit input 2 Uses T REF as a torque feed forward input 0 Speed Control Option T REF Ter...

Page 231: ...sed 0 0 Servo position error 1V 10 encoder counts 0 1 Servo position error 1V 5 user units 2 Target speed 1V 500 rpm Analog monitor 1 0 3 Target speed after applying command smoothing 1V 500 rpm 4 Torque reference 10V max torque 5 Motor speed 1V 500 rpm 6 Target acceleration after applying command smoothing 10V max acceleration allowed 0 Pn003 0 used for analog monitor 1 1 Analog monitor 1 selecti...

Page 232: ...n sensors 0 Communication sensor switch 1 Without commutation sensors 1 0 UVW 1 Communication sensor order 1 UVW 2 Reserved 1 Pn080 Linear Motor Commutation Switch 3 Reserved 0 Tunes only at the beginning of operation 1 Always tunes 0 Online Auto tuning Method 2 Does not perform auto tuning 0 0 Enabled 1 Speed Feed back Compensation Selection 1 Disabled 1 0 Friction compensation Disabled 1 Frictio...

Page 233: ...lection switches 1 3 Not used 0 0 0 Disable clear integral function refer to 8 3 9 Integral Clear Parameters in the XtraDrive User Manual 0 Integral mode 1 Enable clear integral function refer to 8 3 9 Integral Clear Parameters in the XtraDrive User Manual 1 Pn1A7 Motor selection Switches 1 3 Not used 0 0 0 Sign pulse positive logic 1 CW CCW positive logic 2 A phase B phase x1 positive logic 3 A p...

Page 234: ...only with CLR signal 2 Clears error counter when an alarm occurs 2 Clear Operation 3 Clear signal ignore 0 0 Reference input filter for line driver signals 3 Filter Selection 1 Reference input filter for open collector signals 0 0 Does not use check sum 0 Check Sum 1 Uses check sum 1 1 Communication definitions 0 Default comm setting 1 start 7 data Even parity 0 2 3 1 Normally open 1Pn2C6 Communic...

Page 235: ...Parameter Reference Parameter Digit Place Name Setting Description Default Setting Pn408 Torque Control Function Switches 1 2 3 Not used 0 XtraWare User Manual 225 ...

Page 236: ...rminal 3 Inputs from the SI3 CN1 43 input terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1 40 input terminal A Inputs the reverse signal from the SI1 CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input te...

Page 237: ...apping alarm reset when low 0 to F Same as above 8 OFF 2 P CL Signal Mapping Torque control when low 0 to F Same as above 8 OFF Pn50B 3 N CL Signal Mapping Torque control when low 0 to 8 Same as above 8 OFF 0 SPD D Signal Mapping Internal Set Speed Selection 0 to F Same as above 8 OFF 1 SPD A Signal Mapping Internal Set Speed Selection 0 to F Same as above 8 OFF 2 SPD B Signal Mapping Internal Set...

Page 238: ...ame as above 8 OFF 3 Reserved 0 to F Same as above 8 OFF Note When Pn50A 0 is set to 0 for the XtraDrive servo amplifier only the following modes are compatible Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 Note When working in YASKAWA Option Board Mode all input and output assignments are available When working in modes C and D consult Table 27 Input and Output Availability per Mode for a list of input and o...

Page 239: ...put signals that can be assigned 8 6 Table 24 Extended Input Signal Selection The inputs listed in the table below are used in the user program Table 24 Extended Input Signal Selection Parameter Digit Place Name Setting Description Default Setting 0 Emergency input 0 Same as Pn50A 1 8 ON 1 New Move Enable 0 F Same as Pn50A 1 7 2 Reserved 0 Pn2D1 3 Reserved 0 Note When working in YASKAWA Option Boa...

Page 240: ...as above 0 Disabled 2 TGON Signal Mapping 0 to 3 Same as above 0 Disabled Pn50E 3 S RDY Signal Mapping 0 to 3 Same as above 0 Disabled 0 CLT Signal Mapping 0 to 3 Same as above 1 VLT Signal Mapping 0 to 3 Same as above 2 BK Signal Mapping 0 to 3 Same as above Pn50F 3 WARN Signal Mapping 0 to 3 Same as above 0 NEAR Signal Mapping 0 to 3 Same as above 1 Reserved 0 to 3 Same as above 0 Not used 2 Not...

Page 241: ...tputs from the SO2 CN1 27 28 output terminal 0 QUICK_OUTPUT Signal Mapping 3 Outputs from the SO3 CN1 29 30 output terminal 0 disable 1 Not used 0 2 Not used 0 Pn2D2 3 Not used 0 Notes 1 When more than one signal is allocated to the same output circuit data is output using OR logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN ...

Page 242: ...ASKAWA Option Board Mode Available in Mode C Available in Mode D ALM RST Yes Yes Yes BK Yes Yes COIN Yes Yes Emergency Yes Yes FAST Yes Yes Home Switch Yes Yes INHIBIT Yes Yes New Move Enable Yes Yes N CL Yes Yes Yes N OT Yes Yes Yes P CL Yes Yes Yes P CON Yes Yes P OT Yes Yes Yes S ON Yes Yes S RDY Yes Yes Note When the above signals are assigned they can not be monitored by Outputs_State or Inpu...

Page 243: ... encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual adjustment of analog monitor output gain Fn00E Automatic adjustment of motor current detection signal offset Fn00F Manual adjustment of motor curren...

Page 244: ...itor On Off status of outputs Un007 Input reference pulse speed rpm Un008 Error counter value Referenc e units Amount of position error Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 sec cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays effective torque in 10 sec cycle Un00B Power consumed by DB resistance...

Page 245: ...m mode 1 Program not running 2 Program running C Status ECAM_Master_profile_ position 52 Counts R 2147483648 214748364 7 The current master position in the ECAM profile It is a cyclic value according to ECAM profile Valid only while ECAM is engaged 2 ECAM ECAM_Master_scale_de n 49 R W 1 65535 The denominator of the ECAM master scaling factor Changeable only while not in ECAM mode C ECAM ECAM_Maste...

Page 246: ...gear_num 85 R W 1 65536 Sets the electronic gear s numerator 2 Status Exact_mode 25 R W 0 1 Defines when a commanded motion is to be considered complete 0 The theoretical motion has ended 1 The actual position error is smaller than specified by Motion_end_window C Status Fault_code 82 R 1 16384 The fault alarm code that caused the fault To be used in FAULT_MANAGER Automatically resets when exiting...

Page 247: ...t by Pn402 or Pn483 respectively C Torque Variables In_position 36 R 0 214748364 7 Indicates whether the motor is in position Is active in the following Motion_modes 1 3 6 1 3 4 and 7 2 Status Inputs_State 33 R 2147483648 214748364 7 Input ports state For example when Inputs_State is 010 the state of In_1 CN 41 is On and all other inputs are Off 2 Digital I O Interrupt_mask 63 R W 2147483648 21474...

Page 248: ... T Encode Latching Latched_motor_position 55 Position Units R 2147483648 214748364 7 Actual position of the motor when latching condition is met as per the value of Position_actual_valu e T Encoder Latching Latched_position_ready 66 R 0 1 Indicates if the latched position value is ready for use 0 No 1 Yes Is reset to 0 by the LATCHING_TRIGGER command 2 Encoder Latching LimitSwitchStatus 57 R 0 2 S...

Page 249: ...movement for use when Exact_mode is set to 1 The WAIT_EXACT command delays program flow until the position error is smaller than Motion_end_window C System Profile Motion_go 24 R W 0 1 Indicates whether a motion command is being delayed by a WAIT_FOR_START command and is waiting for a START command before executing 0 Motion commands are not waiting 1 Motion commands are waiting C Status Motion_mod...

Page 250: ...7 Actual position 2 Position Variables Position_demand_value 8 Position Units R 2147483648 214748364 7 Theoretical position 2 Position Variables Profile_acceleration 5 Accelera tion Units R W 0 214748364 7 Acceleration value while running motion commands C System Profile Profile_velocity 3 Speed Units R W 0 214748364 7 Speed while running motion commands C System Profile Program_line 45 R 1 214748...

Page 251: ...sor 100 indicates that the motor is positioned at commutation sensor W 010 at sensor V 001 at sensor U BG Digital I O Servo_cycle_time 29 0 1 us R 0 214748364 7 Servo cycle time Status Speed_limit_active 86 R 0 1 Shows if speed limit is active during a SPEED_LIMIT_FOR_ TORQUE_MODE command 0 Not active 1 Active BG Status Speed_limit_for_torque _mode 15 User units R 0 214748364 7 Speed limit when ap...

Page 252: ...der 31 Encoder Units R 2147483648 214748364 7 Actual position in encoder units 2 Position Variables Var_01 67 R W 2147483648 214748364 7 User variable C User Variables Var_02 68 R W 2147483648 214748364 7 User variable C User Variables Var_03 69 R W 2147483648 214748364 7 User variable C User Variables Var_04 70 R W 2147483648 214748364 7 User variable C User Variables Var_05 71 R W 2147483648 214...

Page 253: ...river updates the variable when there is an opportunity to do so between other operations T Task setting The variable is updated when the relevant conditions are met C Command setting The variable is updated when a command to do so is issued 2 2 ms The variable is updated every 2 milliseconds Whenever specifying a condition based on the value of a variable it is important that the update time or i...

Page 254: ...d Always 0 7 Warning 0 No warning 1 Warning Over torque 8 Manufacturer specific Ready for start 1 only while waiting to START command 9 Remote Always 0 10 Target Reached Profile position mode 1 only while Velocity_demand_value 0 AND Position error Pn500 Profile velocity mode 1 when Target speed reached Profile torque mode 1 when Target torque reached 11 Internal Limit Active 1 motor on Over travel...

Page 255: ...CAM_TABLE_BEGI N 2 127 ECAM_TABLE_END 2 70 END 2 4 136 ENGAGE_VIRTUAL_ AXIS 3 4 1 U V 1 U 4 138 EXT_INT 4 1 U 1 U 1 U 4 154 FAST_OUTPUT_SET TING 2 3 4 1 U 4 1 U 3C 4 V 71 GAIN 2 3 4 2 U 160 GET_FROM_ARRAY 2 3 4 2 U 85 GET_PAR 2 3 2 U 72 GET_VAR 2 3 1 U 63 GET_VERSION 2 112 GO 3 4 4 V 4 V 128 GO_D 3 4 4 V 4 V 117 GO_H 3 4 4 V 73 GO_TO 4 1 U 131 HARD_HOME 3 4 2 V 4 V 133 HOME_C 3 4 4 V 132 HOME_SW 3...

Page 256: ...RN 4 78 RUN 2 3 1 U 96 SAVE_PRG_ECAM 2 79 SET_OUTPUT 2 3 4 2 U V 1 U 107 SET_OUTPUTS 2 3 4 4 U V 4 U V 80 SET_PAR 2 3 2 U 2 U 81 SET_VAR 2 3 4 1 U 6 4 V 95 SET_ZERO_POSITIO N 2 3 4 1 U 4 115 SLIDE 3 4 4 V 102 SLIDE_ANALOG 3 4 83 SPEED 2 3 4 4 U 100 SPEED_CONTROL 3 4 1 U 4 82 START 2 84 STOP7 2 3 4 1 U 153 STOP_EX 2 3 4 1 U 4 1 U 4 99 STOP_MOTION7 2 3 4 116 TORQUE 3 4 2 V 103 TORQUE_ANALOG 3 4 87 T...

Page 257: ...or by a variable Example 2 U V indicates that the argument consists of 2 hexadecimal digits is unsigned and can be specified either by a numerical value or by a variable 3 Condition codes Sign Condition Settin g 3 a 3 b 3 c 3 d 3 e Equal to Condition 0 X X Greater than 1 X X Smaller than 2 X X Greater than or equal to 3 X Smaller than or equal to 4 X Not equal to 5 X Multiply 6 X Divide 7 X MOD Mo...

Page 258: ...List of Operation Codes 248 XtraWare User Manual versions use STOP_EX ...

Page 259: ...o the XtraDrive control algorithm to the number of reference input pulses received from the host controller The user position units can then be set in terms of the pulses that are input to the XtraDrive control algorithm Figure 59 Illustration of Gear Function 12 1 1 Electronic Gear Parameters The electronic gear ratio B A is ratio of the number of pulses received by the XtraDrive from the master ...

Page 260: ...Velocity By default Profile_velocity is set equal to the Work Speed Default specified by parameters Pn2A2 and Pn2A3 Pn2A2 The profile speed in user speed units in the low bits format Pn2A3 The profile speed in user speed units in the high bits format Pn2A2 is used to store the work speed default if its value is less than 65536 Values over 65536 must be converted to high bits format and stored in P...

Page 261: ...e Default specified by parameter Pn2A6 The value of Jerk_smoothing_time can be changed using the command JERK_TIME To set Jerk_smoothing_time equal to a variable use the SET_VAR command 12 3 Explanation of Command Table The table shown on the next page explains the contents of each row in the command tables presented in Chapter 5 Command Reference Group The command group under which the command is...

Page 262: ...ent as a condition e g or a variable variable ID code when using the serial communication protocol When using XtraWare simply select the required option from a drop down menu Example An example that shows the use of the command Example Explanation An explanation of the example Note Addition information relating to the use of the command See Also A list of related commands variables and parameters ...

Page 263: ...3 9004114 Toll Free 866 YET 8080 Fax 972 3 9030412 Tel 603 641 1822 E mail info yetmotion com Fax 603 641 1239 Homepage www yetmotion com E mail info yet motion com Homepage www yet motion com Specifications are subject to change without notice due to ongoing product modifications and improvements XtraWare Ver 3 0 for XtraDrive Vers 3 04 3 23 Catalog No 8U0109 Rev G ...

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