Omron XTRADRIVE User Manual



AC Servo Driver



Manual No. 8U0108-E1-01

All rights reserved. No part of this publication may be stored in a retrieval system, or reproduced in any way, including but not limited to photocopy, photography, magnetic or other recording, without the prior agreement and written permission of the publisher. Program listings may be entered, stored and executed in a computer system, but not reproduced for publication.

This guide is designed to provide information about the XtraDrive hardware. Every effort has been made to make this guide 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 XtraDrive and/or the information contained in this publication

YET Ltd. bears no responsibility for errors, which may appear in this publication and retains the right to make changes to the products and the guide without prior notice.

YET Ltd. ISRAEL YET US Inc.

13 Hamelacha St., 531 King St.,

Afeq Industrial Estate Unit 1

Rosh Ha’ayin 48091 Littleton, MA 01460

ISRAEL USA

Tel: +972-3-9004114 Tel: +1-866-YET-8080

Fax: +972-3-9030412 Fax: +1-978-952-6821

info@yetmotion.com USinfo@yetmotion.com

web site:

www.yetmotion.com

WARNING

YET manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YET products remain the responsibility of the equipment designer or end user. YET accepts no responsibility for the way its products are incorporated into the final system design.

Under no circumstances should any YET product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YET must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YET must be promptly provided to the end user.

YET offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YET’s manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YET assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

iii

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Safety Information

The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each. Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.

WARNING

• WARNING: Indicates a potentially hazardous situation, which, if not heeded, could result in

death or serious injury.

CAUTION

• CAUTION: Indicates a potentially hazardous situation, which, if not avoided, may result in

minor or moderate injury.

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XtraDrive User Manual Table of Contents/Preface

1. Checking Product and Part Names .................................................................1-1

1.1. Checking the XtraDrive Series Products on Delivery................................... 1-2

1.1.1. Servo Amplifiers....................................................................................... 1-2

1.2. Product Part Names ........................................................................................ 1-3

1.2.1. Servo Amplifiers....................................................................................... 1-3

1.2.2. Model Numbers ........................................................................................ 1-4

2. Installation. ............................................................................…………………2-1

2.1. Servo Amplifiers ............................................................................................ 2-2

2.1.1. Storage Conditions.................................................................................... 2-2

2.1.2. Installation Site ......................................................................................... 2-2

2.1.3. Orientation................................................................................................. 2-3

2.1.4. Installation................................................................................................. 2-3

3. Wiring…… ........................................................................................................3-1

3.1. Connecting to Peripheral Devices.................................................................. 3-2

3.1.1. Single-Phase 200V Main Circuit Specifications ..................................... 3-3

3.1.2. Single-Phase 0.8kW 200V Main Circuit Specifications .........................3-4

3.1.3. Three-phase 200V Main Circuit Specifications....................................... 3-5

3.1.4. Three-Phase 400V Main Circuit Specifications ......................................3-6

3.2. XtraDrive Internal Block Diagrams............................................................... 3-7

3.2.1. Single-phase 30W to 800W, 200V Models ............................................. 3-7

3.2.2. Three-phase 1kW to 3kW, 200V Models ................................................ 3-8

3.2.3. Three-phase 0.5kW to 3.0kW, 400V Models.......................................... 3-9

3.3. Main Circuit Wiring ..................................................................................... 3-10

3.3.1. Names and Descriptions of Main Circuit Terminal............................... 3-11

3.3.2. Typical Main Circuit Wiring Example .................................................. 3-12

3.3.3. Servo Amplifier Power Losses............................................................... 3-13

3.3.4. Wiring Main Circuit Terminal Blocks................................................... 3-14

3.4. I/O Signals .................................................................................................... 3-15

3.4.1. Example of Typical I/O Signal Connections ......................................... 3-15

3.4.2. List of CN1 Terminals............................................................................ 3-16

3.4.3. I/O Signal Names and Functions............................................................ 3-17

3.4.4. Interface Circuits..................................................................................... 3-19

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ...................... 3-23

3.5.1. Encoder Connections.............................................................................. 3-23

3.5.2. CN2 Encoder Connector Terminal Layout and Types.......................... 3-25

3.5.3. Encoder Cables Interconnections........................................................... 3-26

3.6. Examples of Standard Connections ............................................................. 3-28

4. Trial Operation .................................................................................................4-1

4.1. Two-Step Trial Operation .............................................................................. 4-2

4.1.1. Step 1: Trial Operation for Servomotor without Load ............................ 4-3

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine........... 4-9

4.2. Additional Setup Procedures in Trial Operation ......................................... 4-10

4.2.1. Servomotors with Brakes .......................................................................4-10

4.2.2. Position Control by Host Controller....................................................... 4-11

4.3. Minimum Parameters and Input Signals ..................................................... 4-12

4.3.1. Parameters............................................................................................... 4-12

4.3.2. Input Signals ........................................................................................... 4-12

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XtraDrive User Manual Table of Contents/Preface

5. Parameter Settings and Functions ..................................................................5-1

5.1. Settings According to Device Characteristics ............................................... 5-4

5.1.1. Switching Servomotor Rotation Direction............................................... 5-4

5.1.2. Setting the Overtravel Limit Function .....................................................5-5

5.1.3. Limiting Torque........................................................................................ 5-8

5.2. Settings According to Host Controller......................................................... 5-12

5.2.1. Speed Reference .....................................................................................5-12

5.2.2. Position Reference .................................................................................. 5-14

5.2.3. Using the Encoder Signal Output........................................................... 5-20

5.2.4. Sequence I/O Signals.............................................................................. 5-23

5.2.5. Using the Electronic Gear Function....................................................... 5-25

5.2.6. Contact Input Speed Control .................................................................. 5-29

5.2.7. Using Torque Control............................................................................. 5-34

5.2.8. Torque Feed-Forward Function .............................................................5-40

5.2.9. Torque Limiting by Analog Voltage Reference .................................... 5-42

5.2.10. Reference Pulse Inhibit Function (/INHIBIT)....................................... 5-44

5.3. Setting Up the Servo Amplifier ................................................................... 5-45

5.3.1. Parameters............................................................................................... 5-45

5.3.2. JOG Speed .............................................................................................. 5-46

5.3.3. Input Circuit Signal Allocation .............................................................. 5-46

5.3.4. Output Circuit Signal Allocation............................................................ 5-50

5.3.5. Control Mode Selection.......................................................................... 5-52

5.4. Setting Stop Functions ................................................................................. 5-54

5.4.1. Adjusting Offset...................................................................................... 5-54

5.4.2. Servo OFF Stop Mode Selection............................................................ 5-55

5.4.3. Using the Zero Clamp Function............................................................. 5-56

5.4.4. Using the Holding Brake........................................................................ 5-58

5.5. Forming a Protective Sequence ................................................................... 5-61

5.5.1. Using Servo Alarm and Alarm Code Outputs ....................................... 5-61

5.5.2. Using the Servo ON Input Signal (/S-ON) ............................................ 5-63

5.5.3. Using the Positioning Completed Output Signal (/COIN).................... 5-64

5.5.4. Speed Coincidence Output (/V-CMP) ................................................... 5-65

5.5.5. Using the Running Output Signal (/TGON).......................................... 5-67

5.5.6. Using the Servo Ready Output Signal (/S-RDY) .................................. 5-68

5.5.7. Using the Warning Output Signal (/WARN)......................................... 5-69

5.5.8. Handling Power Loss.............................................................................. 5-71

5.6. Selecting a Regenerative Resistor................................................................ 5-72

5.6.1. External Regenerative Resistor .............................................................. 5-73

5.6.2. Calculating the Regenerative Power Capacity....................................... 5-74

5.7. Absolute Encoders........................................................................................ 5-78

5.7.1. Interface Circuit ...................................................................................... 5-79

5.7.2. Configuring an Absolute Encoder.......................................................... 5-80

5.7.3. Absolute Encoder Setup ......................................................................... 5-81

5.7.4. Absolute Encoder Reception Sequence ................................................. 5-84

5.8. AB Encoders................................................................................................. 5-89

5.9. Configuration of Serial Commands for AB Encoders ................................ 5-91

5.9.1. Position Control ...................................................................................... 5-91

5.9.1.1. Defining User Units for Motion Profiles ...............................................5-91

5.9.1.2. Position Units.......................................................................................... 5-91

5.9.1.3. Speed Units ............................................................................................. 5-92

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XtraDrive User Manual Table of Contents/Preface

5.9.1.4. Acceleration Units ..................................................................................5-93

5.9.1.5. Setting Default Motion Profile Parameters............................................ 5-94

5.9.1.6. Profile Speed (Pn2A2, Pn2A3) ..............................................................5-95

5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5).................................................... 5-95

5.9.1.8. Jerk Smoothing Time (Pn2A6) ..............................................................5-95

5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ............................................ 5-96

5.9.1.10. Motion End Window (Pn2C0) ............................................................... 5-96

5.9.2. Torque Control........................................................................................ 5-96

5.9.2.1. Torque Slope (Pn2C1) ..............................................................5-96

5.9.3. Homing.................................................................................................... 5-97

5.9.4. Digital I/O ............................................................................................... 5-98

5.9.5. Auto Tuning............................................................................................ 5-99

5.10. Auto Running a User Program..................................................................... 5-99

6. Servo Adjustment..............................................................................................6-1

6.1. Selection of Control Mode............................................................................. 6-2

6.2. Analog Input or Contact Input Velocity Control........................................... 6-3

6.2.1. Principle and Block Diagram of the Velocity Control ............................ 6-3

6.2.2. Parameters of the Velocity Control.......................................................... 6-4

6.2.3. Setting the Input Gain............................................................................... 6-4

6.2.4. Adjusting Offset........................................................................................ 6-5

6.2.5. Using the Soft Start Function ................................................................... 6-6

6.2.6. Load Inertia Setting................................................................................... 6-7

6.2.7. Adjusting Speed Loop Gain ..................................................................... 6-8

6.2.8. Setting the Torque Reference Filter Time Constant................................ 6-9

6.2.9. Notch Filter ............................................................................................... 6-9

6.2.10. Gain Setting Reference Values............................................................... 6-10

6.3. NCT Position Control................................................................................... 6-12

6.3.1. Load Inertia Setting................................................................................. 6-12

6.3.2. Position Control Block Diagram............................................................ 6-14

6.3.3. NCT Gain Parameters............................................................................. 6-15

6.3.4. OCA - Oscillation Canceling Algorithm ...............................................6-16

6.3.5. Additional Parameters Tuning................................................................ 6-17

6.3.6. Filters....................................................................................................... 6-17

6.3.7. Flexible System Parameters ...................................................................6-18

6.3.8. Gain Factor.............................................................................................. 6-19

6.3.9. Integral Clear Parameters .......................................................................6-19

6.3.10. Tuning Procedure for Position Control Parameters............................... 6-20

6.4. Analog Monitor ............................................................................................ 6-22

7. Using the Panel Operator.................................................................................7-1

7.1. Basic Operation .............................................................................................. 7-2

7.1.1. Panel Operator .......................................................................................... 7-2

7.1.2. Resetting Servo Alarms............................................................................ 7-3

7.1.3. Basic Mode Selection ............................................................................... 7-3

7.1.4. Status Display Mode................................................................................. 7-4

7.1.5. Operation in Parameter Setting Mode...................................................... 7-6

7.1.6. Operation in Monitor Mode ................................................................... 7-11

7.2. Applied Operation ........................................................................................ 7-16

7.2.1. Operation in Alarm Traceback Mode ....................................................7-17

7.2.2. JOG Operation ........................................................................................ 7-18

7.2.3. Automatic Adjustment of Speed and Torque Reference Offset............ 7-20

XtraDrive User Manual Table of Contents/Preface

7.2.4. Manual Adjustment of Speed and Torque Reference Offset ................7-22

7.2.5. Clearing Alarm Traceback Data............................................................. 7-25

7.2.6. Checking the Motor Model ....................................................................7-26

7.2.7. Checking the Software Version.............................................................. 7-27

7.2.8. Origin Search Mode................................................................................ 7-28

7.2.9. Initializing Parameter Settings................................................................ 7-30

7.2.10. Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 7-31

7.2.11. Adjusting the Motor Current Detection Offset ...................................... 7-34

7.2.12. Write Protection Setting .........................................................................7-36

7.2.13. Clearing the Option Unit Detection Alarm............................................ 7-37

8. Ratings, Specifications and Dimensional Drawings.......................................8-1

8.1. Ratings and Specifications ............................................................................. 8-2

8.2. Single-phase 200V XtraDrive and Motors Combinations ............................ 8-6

8.3. Three-phase 200V XtraDrive and Motor Combinations............................... 8-7

8.4. Three-phase 400V XtraDrive and Motors Combinations ............................. 8-8

8.5. Base-mounted Dimensional Drawings ........................................................ 8-10

8.5.1. XD-P3 to -02 (1-phase 200V, 30 to 200 W).......................................... 8-10

8.5.2. XD-04 (1-phase 200 V, 400 W)............................................................. 8-11

8.5.3. XD-08 (1-phase 200V, 0.75kW) and XD-10 (3-phase 200V, 1.0kW). 8-12

8.5.4. XD-05, 10, 15 (3-phase 400V, 0.5 to 1.5kW) ....................................... 8-13

8.5.5. XD-20, -30 (3-phase 200V,400V, 2.0 and 3.0 kW) .............................. 8-14

8.6. Rack-mounted Dimensional Drawings........................................................ 8-15

8.6.1. XD-P3 to -02 (1-phase 200V, 30 to 200 W).......................................... 8-15

8.6.2. XD-04 (1-phase 200 V, 400 W)............................................................. 8-16

8.6.3. XD-08 (1-phase 200V, 0.75kW) and XD-10 (3-phase 200V, 1.0kW). 8-17

8.6.4. XD-05, 10, 15 (3-phase 400V, 0.5 to 1.5kW) ....................................... 8-18

8.6.5. XD-20, -30 (3-phase 200V,400V, 2.0 and 3.0 kW) .............................. 8-19

9. Inspection, Maintenance, and Troubleshooting.............................................9-1

9.1. XtraDrive Inspection and Maintenance ......................................................... 9-2

9.1.1. Servomotor Inspection.............................................................................. 9-2

9.1.2. Servo Amplifier Inspection ......................................................................9-2

9.1.3. Replacing the Battery for the Absolute Encoder ..................................... 9-3

9.2. Troubleshooting.............................................................................................. 9-4

9.2.1. Troubleshooting Problems with Alarm Displays ....................................9-4

9.2.2. Troubleshooting Problems with No Alarm Display.............................. 9-25

9.2.3. Alarm Display Table............................................................................... 9-26

9.2.4. Warning Displays ...................................................................................9-28

Appendix A. Host Controller Connection Examples ......................................A-1

A.1. Connecting the GL-series MC20 Motion Module ........................................A-2

A.2. Connecting the CP-9200SH Servo Controller Module (SVA).....................A-3

A.3. Connecting the GL-series B2813 Positioning Module .................................A-4

A.4. Connecting OMRON's C500-NC222 Position Control Unit........................A-5

A.5. Connecting OMRON's C500-NC112 Position Control Unit........................A-6

A.6. Connecting MITSUBISHI's AD72 Positioning Unit ....................................A-7

A.7. Connecting MITSUBISHI's AD75 Positioning Unit ....................................A-8

Appendix B. Special Wiring ..............................................................................B-1

B.1. Wiring Precautions .........................................................................................B-2

B.2. Wiring for Noise Control ...............................................................................B-5

B.3. Using More Than One XtraDrive ..................................................................B-9

XtraDrive User Manual Table of Contents/Preface

B.4. Extending Encoder Cables...........................................................................B-10

B.5. 400V Power Supply Voltage .......................................................................B-12

B.6. Reactor for Harmonic Suppression..............................................................B-14

Appendix C. Specifications for Peripheral Devices.........................................C-1

C.1. Connector Terminal Block Converter Unit JUSP-TA50P............................C-2

C.2. External Regenerative Resistors ....................................................................C-4

C.3. DC Reactors for Power Supplies Designed for Minimum Harmonics........C-6

C.4. Brake Power Supplies ....................................................................................C-8

C.5. Surge Suppressor............................................................................................C-9

C.6. Magnetic Contactor........................................................................................C-9

C.7. Variable Resistor for Speed Setting...............................................................C-9

C.8. CN1 I/O Signal Connector.............................................................................C-9

C.9. Connecting Pulse A/B Encoder without C Pulse (Index Pulse) .................C-10

C.10. Absolute Encoder Battery ............................................................................C-11

C.11. Cables for Connecting PC to XtraDrive ......................................................C-12

C.11.1. RS-232 Communication Cable...............................................................C-12

C.11.2. Cable with RS-232 to RS-422 Active Adapter......................................C-14

C.12. Connecting Regenerative Resistors .............................................................C-15

C.13. Connecting Yaskawa Option Board ............................................................C-19

C.13.1. Attaching the Option Board ....................................................................C-19

C.13.2. Detaching the Option Board....................................................................C-19

Appendix D. List of Parameters........................................................................D-1

D.1. Parameters ......................................................................................................D-2

D.2. Switches..........................................................................................................D-7

D.3. Input Signal Selections.................................................................................D-11

D.3.1. Home Switches ........................................................................................D-12

D.3.2. Extended input signal selection...............................................................D-12

D.4. Output Signal Selections..............................................................................D-13

D.4.1. Extended Output Signal Selection ..........................................................D-13

D.5. Auxiliary Functions......................................................................................D-14

D.6. Monitor Modes.............................................................................................D-14

XtraDrive User Manual Table of Contents/Preface

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xii

XtraDrive User Manual Table of Contents/Preface

Using This Manual

 Intended Audience

This manual is intended for the following users.

• Those designing XtraDrive XD- Series servodrive systems.

• Those installing or wiring XtraDrive XD- Series servodrives.

• Those performing trial operation or adjustments of XtraDrive XD-  Series servodrives.

• Those maintaining or inspecting XtraDrive XD- Series

servodrives.

 Description of Technical Terms

In this manual, the following terms are defined as follows:

• Servomotor = SGMAH/SGMPH/SGMGH/SGMSH or other compatible servomotor.

• Servo Amplifier = XtraDrive Series XD- servo amplifier.

• Servodrive = A set including a servomotor and servo amplifier.

• Servo System = A servo control system that includes the

combination of a servodrive with a host computer and peripheral devices.

 Indication of Inverted Signals

In this manual, the names of inverted signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following equations:

• S–ON = /S–ON

• P–CON = /P–CON

xiii

XtraDrive User Manual Table of Contents/Preface

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections.

 Checking Products upon Delivery

CAUTION

• Always use the servomotor and servo amplifier in one of the specified combinations.

Not doing so may cause fire or malfunction.

 Installation

CAUTION

• Never use the products in an environment subject to water, corrosive gases, inflammable

gases, or combustibles.

Doing so may result in electric shock or fire.

 Wiring

WARNING

• Connect the ground terminal to a class 3 ground (100. or less).

Improper grounding may result in electric shock or fire.

CAUTION

• Do not connect a three-phase power supply to the U, V, or W output terminals.

Doing so may result in injury or fire.

• Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

 Operation

CAUTION

• Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

xiv

XtraDrive User Manual Table of Contents/Preface

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from

machine to avoid any unexpected accidents.

Not doing so may result in injury.

• Before starting operation with a machine connected, change the settings to match the

parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Before starting operation with a machine connected, make sure that an emergency stop

can be applied at any time.

Not doing so may result in injury.

• Do not touch the heat sinks during operation.

Not doing so may result in burns due to high temperatures.

 Maintenance and Inspection

WARNING

• Do not remove the panel cover while the power is ON.

Doing so carries a risk of electric shock.

• Do not touch terminals for five minutes after the power has been turned OFF.

Residual voltage may cause electric shock.

• Never touch the inside of the servo amplifier.

Doing so may result in electric shock.

CAUTION

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury

• Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury

XtraDrive User Manual Table of Contents/Preface

 General Precautions

NOTE THE FOLLOWING TO ENSURE

SAFE APPLICATION:

• The drawings presented in this manual are sometimes shown without covers or protective

guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you

received.

• This manual is subject to change due to product improvement, specification modification, and

manual improvement. When this manual is revised, the manual code is updated, and the new manual is published as a next edition. The edition number appears on the front and back covers.

• If the manual must be ordered due to loss or dama

one of the offices listed on the back of this manual.

• YET will not take responsibility for the results of unauthorized modifications of this product.

YET shall not be liable for any damages or troubles resulting from unauthorized modification.

e, inform your nearest YET representative or

xvi

XtraDrive User Manual Chapter 1: Checking Product and Part Names

1. Checking Product and Part Names

This chapter describes the procedure for checking products upon delivery as well as names for product parts.

1. Checking Product and Part Names.................................................................1-1

1.1. Checking the XtraDrive Series Products on Delivery ................................1-2

1.1.1. Servo Amplifiers.................................................................................1-2

1.2. Product Part Names.....................................................................................1-3

1.2.1. Servo Amplifiers.................................................................................1-3

1.2.2. Model Numbers ..................................................................................1-4

1-1

XtraDrive User Manual Chapter 1: Checking Product and Part Names

1.1. Checking the XtraDrive Series Products on Delivery

The following procedure is suggested to check XtraDrive series products upon delivery.

Use the following checklist when XtraDrive series products are delivered.

Initial Inspection Comments

Are the delivered products the ones that were ordered?

Does the servomotor shaft rotate smoothly?

Is there any damage? Check the overall appearance, and

Are there any loose screws? Check screws for looseness using a

If any of the above are faulty or incorrect, contact YET or an authorized distributor.

Check the model numbers marked on the nameplates of the servomotor and servo amplifier. (Refer to the descriptions of model numbers on following pages) The servomotor shaft is normal if it can be turned smoothly by hand. Servomotors with brakes, however, cannot be turned manually.

check for damage or scratches that may have occurred during shipping.

screwdriver.

1.1.1. Servo Amplifiers n External Appearance and Nameplate Examples

XtraDrive TYPE

SERIAL NUMBER

SERVOMOTOR OUTPUT

APPLICABLE POWER SUPPLY

1-2

XtraDrive User Manual Chapter 1: Checking Product and Part Names

1.2. Product Part Names

This section describes product part names.

1.2.1. Servo Amplifiers

The figure below shows the part names for servo amplifiers.

1-3

XtraDrive User Manual Chapter 1: Checking Product and Part Names

1.2.2. Model Numbers

XtraDrive Series

Max . A pplicabl e Servomotor Power (see table below)

Input V olt age: M - 200VAC, or T - 400VAC

Extended F unctionality By Option Boards: S - no CN10 connector, or N - with CN10 c onnect or

Desi gn Version # Bl ank, or 01-FF (optional)

Bl ank, or R - Rack m ounted, or V - B oard coating (optional)

Bl ank, or Y fol lowed by 1 to 4 alphanum eric characters to ident ify cus tomer applicat ions (optional)

Output Capacity

Code

P3 0.03 08 0.75

Max. Applicable

Servomotor Power

(kW)

XD - 01 - M S

Output Capacity

Code

01 R Y999

Max. Applicable

Servomotor Power

(kW)

P5 0.05 10 1.0 01 0.10 15 1.5 02 0.20 20 2.0 04 0.40 30 3.0

1-4

XtraDrive User Manual Chapter 2: Inst a lla t i o n

2. Installation

This chapter describes precautions for XtraDrive Series servomotor and servo amplifier installation.

2.1. Servo Amplifiers.........................................................................................2-2

2.1.1. Storage Conditions..............................................................................2-2

2.1.2. Installation Site ...................................................................................2-2

2.1.3. Orientation ..........................................................................................2-3

2.1.4. Installation...........................................................................................2-3

2-1

XtraDrive User Manual Chapter 2: Installation

2.1. Servo Amplifiers

The XtraDrive servo amplifiers are base-mounted. Incorrect installation will cause problems. Follow the installation instructions below.

2.1.1. Storage Conditions

Store the servo amplifier within the following temperature range, as long as it is stored with the power cable disconnected.

-20 to 85°C

2.1.2. Installation Site

The following precautions apply to the installation site.

Situation Installation Precaution

Installation in a Control Panel

Installation Near a Heating Unit

Installation Near a Source of Vibration

Design the control panel size, unit layout, and cooling method so the temperature around the servo amplifier does not exceed 55°C.

Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temperature around the servo amplifier does not exceed 55°C.

Install a vibration isolator beneath the servo amplifier to avoid subjecting it to vibration.

Installation at a Site Exposed to Corrosive Gas

Other Situations

Corrosive gas does not have an immediate effect on the servo amplifier, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the servo amplifier in hot and humid locations or locations subject to excessive dust or iron powder in the air.

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XtraDrive User Manual Chapter 2: Installation

2.1.3. Orientation

Install the servo amplifier perpendicular to the wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan.

Secure the servo amplifier using the mounting holes. The number of holes varies (from two to four) with the frame size of the servo amplifier.

2.1.4. Installation

Follow the procedure below to install multiple servo amplifiers side by side in a control panel.

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XtraDrive User Manual Chapter 2: Installation

 Servo Amplifier Orientation

Install the servo amplifier perpendicular to the wall so the front panels’ connectors faces outward.

 Cooling

As shown in the figure above, allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection.

 Side-by-side Installation

When installing servo amplifiers side by side as shown in the figure above, allow at least 0.39in (10mm) between and at least 1.97in (50mm) above and below each servo amplifier. Install cooling fans above the servo amplifiers to avoid excessive temperature rise and to maintain even temperature inside the control panel.

 Environmental Conditions in the Control Panel

• Ambient Temperature: 0 to 55°C

• Humidity: 90% RH or less

• Vibration: 0.5 G (4.9m/s

• Condensation and Freezing: None

• Ambient Temperature for Long-term Reliability: 45°C max.

)

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XtraDrive User Manual Chapter 3: Wiring

3. Wiring

This chapter describes the procedure used to connect XtraDrive Series products to peripheral devices and gives typical examples of main circuit wiring as well as I/O signal connections.

3.1. Connecting to Peripheral Devices...............................................................3-2

3.1.1. Single-Phase 200V Main Circuit Specifications.................................3-3

3.1.2. Single-Phase 0.8kW 200V Main Circuit Specifications.....................3-4

3.1.3. Three-phase 200V Main Circuit Specifications..................................3-5

3.1.4. Three-Phase 400V Main Circuit Specifications .................................3-6

3.2. XtraDrive Internal Block Diagrams............................................................3-7

3.2.1. Single-phase 30W to 800W, 200V Models ........................................3-7

3.2.2. Three-phase 1kW to 3kW, 200V Models ...........................................3-8

3.2.3. Three-phase 0.5kW to 3.0kW, 400V Models .....................................3-9

3.3. Main Circuit Wiring..................................................................................3-10

3.3.1. Names and Descriptions of Main Circuit Terminal..........................3-11

3.3.2. Typical Main Circuit Wiring Example.............................................3-12

3.3.3. Servo Amplifier Power Losses .........................................................3-13

3.3.4. Wiring Main Circuit Terminal Blocks..............................................3-14

3.4. I/O Signals ................................................................................................3-15

3.4.1. Example of Typical I/O Signal Connections ....................................3-15

3.4.2. List of CN1 Terminals......................................................................3-16

3.4.3. I/O Signal Names and Functions ......................................................3-17

3.4.4. Interface Circuits...............................................................................3-19

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ....................3-23

3.5.1. Encoder Connections ........................................................................3-23

3.5.2. CN2 Encoder Connector Terminal Layout and Types .....................3-25

3.5.3. Encoder Cables Interconnections......................................................3-26

3.6. Examples of Standard Connections ..........................................................3-28

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XtraDrive User Manual Chapter 3: Wiring

3.1. Connecting to Peripheral Devices

This section provides examples of standard XtraDrive Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

3-2

XtraDrive User Manual Chapter 3: Wiring

3.1.1. Single-Phase 200V Main Circu it Specifications

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XtraDrive User Manual Chapter 3: Wiring

3.1.2. Single-Phase 0.8kW 200V Main Circuit Specifications

XtraDrive XD-08-MS has been changed from three-phase specifications to single-

phase. Main circuit connection terminals (L1, L2, L3) remained.

These devices have terminal B3 and internal regenerative resistor. Observe the following points.

1. Connect main power supply shown below to L1 and L3 terminals. Power supply is single-phase, 220 to 230 VAC +10% to –15%, 50/60Hz. If power supply of 187V (-15% of 220V) or less is used, alarm A.41 indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

2. Short-circuit B2 and B3 terminals using the internal regenerative resistor. If capacity of the regenerative resistor is insufficient, remove the lead between B2 and B3 terminals and connect an external regenerative resistor unit to B1 and B2 terminals.

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XtraDrive User Manual Chapter 3: Wiring

3.1.3. Three-phase 200V Main Circuit Specifications

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XtraDrive User Manual Chapter 3: Wiring

3.1.4. Three-Phase 400V Main Circuit Specifications

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XtraDrive User Manual Chapter 3: Wiring

3.2. XtraDrive Internal Block Diagrams

The following sections show internal block diagrams of the servo amplifiers.

3.2.1. Single-phase 30W to 800W, 200V Models

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XtraDrive User Manual Chapter 3: Wiring

3.2.2. Three-phase 1kW to 3kW, 200V Models

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XtraDrive User Manual Chapter 3: Wiring

3.2.3. Three-phase 0.5kW to 3.0kW, 400V M odels

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XtraDrive User Manual Chapter 3: Wiring

3.3. Main Circuit Wiring

This section shows typical examples of main circuit wiring for XtraDrive Series servo products, functions of main circuit terminals, and the power ON sequence.

Observe the following precautions when wiring.

CAUTION

•

Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30cm (11.81 in).

Not doing so may cause a malfunction.

• Use twisted pair wires or multi-core shielded-pair wires for signal and encoder (PG)

feedback lines.

The maximum length is 3m (118.11 in) for reference input lines and is 20m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF because high

voltage may still remain in the servo amplifier.

Make sure the charge indicator is out first before starting an inspection.

•

Avoid frequently turning power O N and OFF. Do not turn power ON or OFF more than once per minute.

Since the servo amplifier has a capacitor in the power supply, a high charging current flows for 0.2s when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

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XtraDrive User Manual Chapter 3: Wiring

3.3.1. Names and Descriptions o f Main Circuit Terminal

The following table gives the names and a description of main circuit terminals.

Terminal

Symbol

L1, L2

L1, L2, L3*

U, V, W

L1C, L2C

24V, 0V

(2 places)

B1, B2 or

B1, B2, B3

Table

Name Description

Main circuit AC input terminal

Servomotor connection terminal

Control power input terminal

Ground terminal Connects to the power supply ground terminals and motor ground terminal.

External regenerative resistor terminal

3.1: Main Circuit Names and Description

30W to 1kW Single-phase 200 to 230V (+10%, -15%), 50/60Hz

1kW to 3kW Three-phase 200 to 230V (+10%, -15%), 50/60Hz

2kW to 3.0kW 400V Three-phase 380 to 480V (+10%, -15%), 50/60Hz

Connects to the Servomotor.

Single-phase 200 to 230V (+10%, -15%), 50/60Hz

30W to 3.0kW

30W to 400W

800W to 3.0kW

Three-phase 200 to 230V (+10%, -15%), 50/60Hz

24VDC (±15%) 400V units only

Normally not connected. Connect an external regenerative resistor (provided by customer) between B1 and B2 if the regenerative capacity is insufficient. Note: No B3 terminal.

Normally short B2 and B3 (for an internal regenerative resistor). Remove the wire between B2 and B3 and connect an external regenerative resistor (provided by customer) between B1 and B2 if the capacity of the internal regenerative resistor is insufficient.

1 and 2.

1, 2

DC reactor terminal connection for power supply harmonic wave countermeasure

Main circuit Positive terminal

Main circuit Negative terminal

Normally short If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between The amplifier is delivered from the factory with these terminals shorted.

See 5.8.6 Reactor for Harmonic Suppression for details.

Normally not connected.

*XtraDrive XD-08 has single-phase, 200V power supply specifications. Connect the following power supply between L1 and L3.

Single-phase 220 to 230 VAC

When a power supply of 187V(-15% of 220V) or less is used, an alarm 41, indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

+10%, -15%

(50/60Hz)

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XtraDrive User Manual Chapter 3: Wiring

3.3.2. Typical Main Circuit Wiring E xample

The following figure shows a typical example of main circuit wiring.

! Designing a Power ON Sequence

Note the following when designing the power ON sequence.

• Design the power ON sequence so that power is turned OFF when a

servo alarm signal is output. (See the circuit figure above.)

• Hold the power ON button for at least two seconds. The servo

amplifier will output a servo alarm signal for two seconds or less when power is turned ON. This is required in order to initialize the servo amplifier.

Power supply

2.0 s max.

Servo alarm (ALM) output signal

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XtraDrive User Manual Chapter 3: Wiring

3.3.3. Servo Amplifier Power Los ses

The following table shows servo amplifier power losses at the rated output.

Table

3.2: Servo Amplifier Power Losses at Rated Output

Main Circuit Power

Supply

Single-

phase

200V

Threephase

200V

Threephase

400V

Maximum

Applicable

Servomotor

Capacity

[kW]

0.10 XD-01-** 0.91 6.7 19.7

0.20 XD-02-** 2.1 13.3 26.3

0.40 XD-04-** 2.8 20

0.75 XD-08-** 4.4 47 12 15 74

1.0 XD-10-** 7.6 55 12 82

2.0 XD-20-** 18.5 120 163

3.0 XD-30-** 7.5 60

0.45 XD-05-** 1.9 19 48

1.0 XD-10-** 3.5 35 64

1.5 XD-15-** 5.4 53

2.0 XD-20-** 8.4 83 161

3.0 XD-30-** 11.9 118

Servo Amplifier

Model

Output

Current

(Effective

Value) [A]

Main Circuit Power

Loss

[W]

Regenerative

Resistor

Power Loss

[W]

— 13

Control

Circuit Power

Loss

[W]

Note: Regenerative resistor power losses are allowable losses. Take the following action if this value is

exceeded:

• Disconnect the internal regenerative resistor in the servo amplifier by removing the wire

between terminals B2 and B3.

•

Install an external regenerative resistor between terminals B1 and B2.

See 5.6 Selecting a Regenerative Resistor for more details on the resistors.

Total

Power

Loss

[W]

198

243

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XtraDrive User Manual Chapter 3: Wiring

3.3.4. Wiring Main Circuit Term inal Blocks

Observe the following precautions when wiring main circuit terminal blocks.

CAUTION

•

Remove the terminal block from the servo amplifier prior to wiring.

•

Insert only one wire per terminal on the terminal block.

•

Make sure that the core wire is not electrically shorted to adjacent core wires.

•

Reconnect any wires that were accidentally pulled out.

Servo amplifiers with a capacity below 1.5kW will have connector-type terminal blocks for main circuit terminals. Follow the procedure below when connecting to the terminal block.

! Connection Procedure

• Strip the end of the wire, leaving the ends twisted together.

• Open the wire insert opening of the terminal block (plug) with a tool

using either of the two procedures shown in Fig. A and Fig. B on the following page.

1. Fig. A: Use the provided lever to open the wire insert opening . Fig. B: Using a commercially available 1/8in (3.0 to 3.5mm)

slotted screwdriver, press down firmly on the screwdriver insert opening to release the wire insert slot.

2. Figs A and B: Insert the wire end into the opening and then

clamp it tightly by releasing either the lever or the screwdriver.

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XtraDrive User Manual Chapter 3: Wiring

3.4. I/O Signals

This section describes I/O signals for the XtraDrive servo amplifier.

3.4.1. Example of Typical I/O Si gnal Connections

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XtraDrive User Manual Chapter 3: Wiring

3.4.2. List of CN1 Terminals

The following diagram shows the layout and specifications of CN1 terminals.

2 SG GND

4 SEN

6 SG GND

8 /PULS

10 SG GND

12 /SIGN

14 /CLR Clear input

16 TMON

18 PL3

20 /PCO

22 BAT (-) Battery (-)

24 — —

SEN signal input

Reference pulse input

Reference symbol input

Analog

Monitor Output

Open-collector reference power supply

PG divided output C-phase

Table

1 SG GND

3 PL1

5 V-REF

7 PULS

9 T-REF

11 SIGN

13 PL2

15 CLR Clear input

17 VTG

19 PCO

21 BAT (+) Battery (+)

23 — —

/V-CMP+

(/COIN+)

3.3: CN1 Terminal Layout

Open-collector reference power supply

Reference speed input

Reference pulse input

Torque reference input

Reference sign input

Open-collector reference power supply

Analog Monitor

PG divided output Cphase

Speed coincidence detection output

Note: 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector’s shell.

3. Connect to the FG (frame ground) at the servo amplifier-end connector.

Output

27 /TGON+

29 /SRDY+

31 ALM+

33 PAO

35 PBO

37 AL01

39 AL03

41 P-CON

43 N-OT

45 /P-CL

47 +24V -IN

49 /PSO

TGON signal output

Servo ready output

Servo alarm output

PG divided output Aphase

PG divided output Bphase

Alarm code output

Opencollector output

P operation input

Reverse overtravel input

Forward current limit ON input

External input power supply

S-phase signal output

/V-CMP-

(/COIN-)

28 /TGON

30 /S-RDY

32 ALM

34 /PAO

36 /PBO

38 AL02

40 /S-ON

42 P-OT

/ALMRST Alarm reset

46 /N-CL

48 PSO

50 — —

Speed coincidence detection output

TGON signal output

Servo ready output

Servo alarm output

PG divided output Aphase

PG divided output Bphase

Alarm code output

Servo ON input

Forward overtravel input

input

Reverse current limit ON input

S-phase signal output

! CN1 Specifications

XtraDrive Internal

Connector

10250-52A2JL or Equivalent 50-pin Right Angle Plug

MDR 10150-3000VE 50-pin 10350-52A0-008

Applicable Receptacle Kit (YET P/N: 4J4003)

Connector Case Manufacturer

Sumitomo 3M

Co.

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XtraDrive User Manual Chapter 3: Wiring

3.4.3. I/O Signal Names and Functions

The following section describes servo amplifier I/O signal names and functions.

! Input Signals

Signal Name

Common

/S-ON

/P-CON

P-OT N-OT

/P-CL /N-CL

/ALM

-RST

+24V

SEN

BAT+

BATSpeed Referenc e Torque Referenc e

Position Referenc e

Note: 1. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input

V-REF 5 (6)

T-REF

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

PL1 PL2 PL3

signals can be changed with parameters. (See 5.3.3 Input Circuit Signal Allocation.)

2. Pin numbers in parenthesis ( ) indicate signal grounds.

3. The voltage input range for speed and torque references is a maximum of ±12V.

No.

Servo ON: Turns ON the servomotor when the gate block

in the inverter is released.

* Function selected via parameter.

Proportional

operation reference

Direction

reference

Control mode

switching

Zero-clamp

reference

Reference

pulse block

Forward Run 42 43

45 46

44 Alarm reset: Releases the servo alarm state.

4 (2) Initial data request signal when using an absolute encoder.

21 22

(10)

8 11 12

15 14

3 13 18

prohibited

Reverse Run

prohibited

* Function selected with a parameter.

Forward

current limit ON

Reverse

current limit ON

Internal

speed

switching

Control power supply input for sequence signals: users must provide the +24V power supply.

Connecting pins for the absolute encoder backup battery.

Speed reference input: ±2 to ±10V/rated motor speed (Input gain can be modified with a parameter.)

Torque reference input: ±1 to ±10V/rated motor speed (Input gain can be modified with a parameter.)

Corresponds

to reference

pulse input Line-driver

Open-

collector

Error counter clear: Clears the error counter during position control. +12V pull-up power supply when PULS, SIGN and CLR reference signals is open-collector outputs (+12V power supply is built into the servo amplifier).

Input mode

•

Function

Switches the speed control loop from PI (proportional/integral) to P (proportional) control when ON. With internal reference speed selected: Switches the direction of rotation.

Position Speed

Speed Torque

Torque

Speed control with zero-clamp function: reference speed is zero when ON. Position control with reference pulse stop: stops reference pulse input when ON.

Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion.

Speed

Current limit function used when ON.

With internal reference speed selected: switches the internal speed settings.

Code + pulse string CCW/CW pulse Two-phase pulse (90° phase differential)

Enables control mode switching.

Refer-

ence

5.5.2

5.2.1

5.2.7

5.2.1

5.2.6

5.2.7

5.4.3

5.2.10

5.1.2

—

5.1.3

5.2.6

5.5.1

5.2.4

5.2.3

5.2.1

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XtraDrive User Manual Chapter 3: Wiring

! Output Signals

Signal Name

Common

Speed

Position

Not used.

Note: 1. Pin numbers in parenthesis () indicate signal grounds.

ALM+ ALM-

/TGON+ /TGON-

/S-RDY+ /S-RDY- 9 30 PAO /PAO PBO /PBO PCO /PCO

PSO /PSO

ALO1 ALO2 ALO3

TMON 16 Analog monitor signal

VTG

/V-CMP+ /V-CMP-

/COIN+ /COIN-

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed via parameters.

Functions /CLT, /VCT, /BK, /WARN, and /NEAR signals can also be changed. (See 5.3.4 Output Circuit Signal Allocation).

Pin No.

31 32

27 28

33(1) 34 35 36 19 20

48 49

37 38 39(1)

25 26

23 24 50

Servo alarm: Turns OFF when an error is detected. 5.5.1

Detection during servomotor rotation: detects whether the servomotor is rotating at a speed higher than the motor speed setting. Motor speed detection can be set via parameter. Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON. A phase signal B phase signal C phase signal

S phase signal

Alarm code output: Outputs 3-bit alarm codes. Open-collector: 30V and 20mA rating maximum.

17 Analog monitor signal

Speed coincidence (output in Speed Control Mode): detects whether the motor speed is within the setting range and if it matches the reference speed value. Positioning completed (output in Position Control Mode): turns ON when the number of error pulses reaches the value set. The setting is the number of error pulses set in reference units (input pulse units defined by the electronic gear).

These terminals are not used. Do not connect relays to these terminals.

Function Reference

5.5.5

5.5.6

Converted two-phase pulse (A and B phase) encoder output signal and origin pulse (C phase) signal: RS-422 or the equivalent.

With an absolute encoder: outputs serial data corresponding to the number of revolutions (RS-422 or equivalent).

5.2.3

5.5.1

5.5.4

5.5.3

—

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XtraDrive User Manual Chapter 3: Wiring

3.4.4. Interface Circuits

This section shows examples of servo amplifier I/O signal connection to the host controller.

! Interface for Reference Input Circuits

Analog Input Circuit

Analog signals are either speed or torque reference signals at the impedance below.

• Speed reference input: About 14kΩ

• Torque reference input: About 14kΩ

The maximum allowable voltage for input signals is ±12V.

Reference Position Input Circuit

An output circuit for the reference pulse and error counter clear signal at the host controller can be either line-driver or open-collector outputs. These are shown below by type.

• Line-driver Output Example:

• Open-collector Output, Example 1: External power supply

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XtraDrive User Manual Chapter 3: Wiring

The following examples show how to select the pull-up resistor R1 so the input current (I) falls between 7 and 15mA.

Application Examples

R1 =2.2kΩ with V

= 24V ±5%

R1 =1kΩ with

VCC = 12V ±5%

R1 =180Ω with

VCC = 5V ±5%

• Open-collector Output, Example 2: Using a servo amplifier with an

internal 12V power supply

This circuit uses the 12V power supply built into the servo amplifier. The input is not isolated in this case.

! Sequence Input Circuit Interface

The sequence input circuit interface connects through a relay or opencollector transistor circuit. Select a low-current relay; otherwise a faulty contact will result.

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XtraDrive User Manual Chapter 3: Wiring

! Output Circuit Interfaces

Any of the following three types of servo amplifier output circuits can be used. Connect an input circuit at the host controller following one of these types.

• Connecting to a Line-driver Output Circuit

Encoder serial data converted to two-phase (A and B phase) pulse output signals (PAO, /PAO, PBO, /PBO), origin pulse signals (PCO, /PCO) and S phase rotation signals (PCO, /PCO) are output via linedriver output circuits that normally comprise the position control system at the host controller. Connect the line-driver output circuit through a line receiver circuit at the host controller.

See 3.5 Wiring Encoders for connection circuit examples.

• Connecting to an Open-collector Output Circuit

Alarm code signals are output from open-collector transistor output circuits.

Connect an open-collector output circuit through an optocoupler, relay, or line receiver circuit.

Note: The maximum allowable voltage and current capacities for open-collector circuits are:

• Voltage: 30V

• Current: 20mA

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XtraDrive User Manual Chapter 3: Wiring

• Connecting an optocoupler output circuit

An optocoupler output circuits are used for servo alarm, servo ready, and other sequence output signal circuits.

Connect an optocoupler output circuit through a relay or line receiver circuit.

Note: The maximum allowable capacities for optocoupler output circuits are:

• Voltage: 30V

• Current: 50mA

• Connecting two XtraDrives (master-slave mode)

Connect output of “master” XtraDrive to “slave” XtraDrive’s input.

• Connecting an external load to XtraDrive’s output.

Maximum current: 50mA.

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XtraDrive User Manual Chapter 3: Wiring

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only)

The following sections describe the procedure for wiring a servo amplifier to the encoder.

3.5.1. Encoder Connections

The following diagrams show the wiring of the encoder output from the motor to CN2 of the servo amplifier, and PG output signals from CN1 to the controller. This applies to both incremental and absolute encoders of SGMGH and SGMSH motors only.

 Incremental Serial Encoders

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XtraDrive User Manual Chapter 3: Wiring

 Absolute Serial Encoders

 Incremental A/B+C Encoders

3-24

XtraDrive User Manual Chapter 3: Wiring

3.5.2. CN2 Encoder Connector Terminal Layout and Types

The following tables describe CN2 connector terminal layout and types.

 CN2 Connector Terminal Layout

1 PPG0V PG GND

2 PPG0V PG GND

3 PPG0V PG GND

4 PPG5V PG +5V

5 PPG5V PG +5V

6 PPG5V PG +5V

7 NC* -

8 PS

10 SPG5V

9 /PS

Serial PG

/S-phase

Serial PG

S-phase

Serial PG

+5V

11 SPG0V

13 BAT-

15 /PC

17 /PA

19 /PB

Serial PG

GND

Battery “ –“

input

/C-phase

/A-phase

/B-phase

12 BAT+

14 PC

16 PA

18 PB

20 NC* -

Note: NC* – Leave contact open.

 Optional: CN2 Connector with Commutation Sensors

Terminal Layout

1 PPG0V PG GND

3 PPG0V PG GND

5 PPG5V PG +5V

7 /UIN

9 /VIN

Note: NC* – Leave contact open.

U – Phase Hall Effect

V – Phase Hall Effect

10 SPG5V +5V

2 PPG0V PG GND

4 PPG5V PG +5V

6 PPG5V PG +5V

8 NC* -

11 SPG0V GND

12 BAT+

14 PC

16 PA

18 PB

20 /WIN

13 BAT-

15 /PC

17 /PA

19 /PB

Battery ” –“

input

/C-phase

/A-phase

/B-phase

Battery ”+”

input

C-phase

A-phase

B-phase

Battery “+”

input

C-phase

A-phase

B-phase

W – Phase

Hall Effect

 CN2 Connector Models

XtraDrive

Internal

Connector

10220-52A2JL

20 PIN

Note: The motor-end relay socket connects to the encoder connector for the SGMAH and SGMPH

servomotors.

Soldered Plug Case

MDR 10120-3000VE 20PIN

(YET P/N: 4J4001)

Applicable Plug (or Socket)

10320-52A0-008

(YET P/N:

4J0101)

3-25

Soldered Plug

(Servomotor

Side)

54280-0600 6PIN

(YET P/N: 4J1521)

XtraDrive User Manual Chapter 3: Wiring

3.5.3. Encoder Cables Interconnections

This chapter shows interconnections for all standard encoder cables available from YET (Refer to YET Part Number). For additional types of encoders (like with communication sensors etc.) contact your YET representative.

 Absolute A/B Encoder Cable

For Yaskawa SGM motors. (P/N 004143)

XtraDrive side

20-pin connect or

PPG0V 1,2,3

PPG5V 4,5,6

BAT+ 12

BAT- 13

PC 14

/PC 15

PA 16

/PA 17

PB 18

/PB 19

FG Case

BLACK

RED

ORANGE

WHITE

GREEN

WHITE/GREEN

BLUE

WHITE/BLUE

YELLOW

WHITE

YELLOW/GREEN

Cable Shield

- Twisted pair.

 Incremental A/B Encoder Cable

Motor side

15-pin connect or

70V

8+5V

15 +3.6V

14 0V

6/C

2/A

4/B

9FG

For Yaskawa SGM motors. (P/N 004144)

XtraDrive side

20-pin connect or

PPG0V 1,2,3

PPG5V 4,5,6

PC 14

/PC 15

PA 16

/PA 17

PB 18

/PB 19

FG Case

BLACK

RED

GREEN

WHITE/GREEN

BLUE

WHITE/BLUE

YELLOW

WHITE

YELLOW/GREEN

Cable Shield

- Twisted pair.

3-26

Motor side

9-pin connect or

70V

8+5V

6/C

2/A

4/B

9FG

XtraDrive User Manual Chapter 3: Wiring

 Absolute Serial Encoder Cable

For Yaskawa SGMAH motors. (P/N 004139)

XtraDrive side

20-pin connect or

RED

BLACK

ORANGE

WHITE/ORANGE

BLUE

WHITE/BLUE

Cable Shield

Battery

connector

BAT+ 1

BAT- 2

SPG5V 10

SPG0V 11

PS 8

/PS 9

FG Shield

- Twisted pair.

 Incremental Serial Encoder Cable

For Yaskawa SGMAH motors. (P/N 004140)

XtraDrive side

20-pin connect or

SPG5V 10

SPG0V 11

BAT+ 12

BAT- 13

PS 8

/PS 9

FG Shield

RED

BLACK

ORANGE

WHITE/ORANGE

BLUE

WHITE/BLUE

Cable Shield

6-pin connect or

Motor side

6-pin connect or

1PG5V

2GND

3 PGBAT+

4 PGBAT-

5PS

6 /PS

Shield FG

Motor side

1PG5V

2GND

3 PGBAT+

4 PGBAT-

5PS

6 /PS

Shield FG

- Twisted pair.

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XtraDrive User Manual Chapter 3: Wiring

3.6. Examples of Standard Connections

The following diagrams show examples of standard servo amplifier connections by specifications and type of control.

Note for single-phase power supply specifications:

XtraDrive XD-08** have changed from three-phase specifications to singlephase. Main circuit connection terminals (L1, L2, L3) remained.

These devices have terminal B3 and internal regenerative resistor. Observe the following points.

1. Connect main power supply shown below to L1 and L3 terminals. Power supply is single-phase, 220 to 230 VAC +10% to –15%, 50/60Hz. If power supply of 187V (-15% of220V) or less is used, alarm A41 indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.



3-28

XtraDrive User Manual Chapter 3: Wiring

Position Control Mode

*1. P represents twisted-pair wires *2. The time constant for the primary filter is 47us. *3. Connect only with an absolute encoder. *4. Used only with an absolute encoder. *8. Use a double-insulated 24-VDC power supply.

between terminals B1 and B2.(for XtraDrives with big capacity) *6. These circuits are hazardous, therefore are separated by protecting separator.

*7. These circuits are SELV circuits, therefore are separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector

3-29

XtraDrive User Manual Chapter 3: Wiring

 Speed Control Mode

between terminals B1 and B2.(for XtraDrives with big capacity) *6. These circuits are hazardous, therefore are separated by protecting separator.

*7. These circuits are SELV circuits, therefore are separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector

3-30

XtraDrive User Manual Chapter 3: Wiring

 Torque Control Mode

between terminals B1 and B2.(for XtraDrives with big capacity) *6. These circuits are hazardous, therefore are separated by protecting separator.

*7. These circuits are SELV circuits, therefore are separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector

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XtraDrive User Manual Chapter 3: Wiring

This page intentionally left blank.

3-32

XtraDrive User Manual Chapter 4: Trial Operation

4. Trial Operation

This chapter describes a two-step trial operation. Be sure to complete step 1 before proceeding to step 2.

4.1. Two-Step Trial Operation...........................................................................4-2

4.1.1. Step 1: Trial Operation for Servomotor without Load........................4-3

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine .....4-9

4.2. Additional Setup Procedures in Trial Operation.......................................4-10

4.2.1. Servomotors with Brakes..................................................................4-10

4.2.2. Position Control by Host Controller.................................................4-11

4.3. Minimum Parameters and Input Signals...................................................4-12

4.3.1. Parameters.........................................................................................4-12

4.3.2. Input Signals .....................................................................................4-12

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XtraDrive User Manual Chapter 4: Trial Operation

4.1. Two-Step Trial Operation

Make sure that all wiring is completed prior to starting trial operation. For your own safety, perform the trial operation in the order given below

(step 1 and 2). See 4.1.1 Trial Operation for Servomotor without Load and

4.1.2 Trial Operation for Servomotor Connected to Mashine for more details on the trial operation.

Step 1: Trial Operation for Servomotor without Load

Make sure th e Se rv o moto r is wired p rop e rly a n d then turn th e shaft prior to connecting the Servomotor to the equipment.

Step 2: Trial Operation with the Equipment and Servomotor Connected

Adjust the Servomotor according to equipment characteristics, connect the Servomotor to the equipment, and perform the trial operation.

Adjust speed byautotun in g.

Servomotor

XtraDrive

Connect to the equipment

4-2

XtraDrive User Manual Chapter 4: Trial Operation

4.1.1. Step 1: Trial Operation for Servomotor without Load

Caution

• Do not operate the servomotor while it is connected to the equipment.

To prevent accidents, initially perform step 1 where the trial operation is conducted under no-

load conditions (with all couplings and belts disconnected).

In step 1, make sure that the servomotor is wired properly as shown below. Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation.

• Check main power supply circuit wiring.

• Check servomotor wiring.

• Check CN1 I/O signal wiring.

Make sure the host controller and other adjustments are completed as much as possible in step 1 (prior to connecting the servomotor to equipment).

Note: Check the items on the following pages in the order given during the servomotor trial operation.

See 4.2.1 Servomotors with Brakes, if you are using a servomotor with brakes.

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XtraDrive User Manual Chapter 4: Trial Operation

1. Secure the servomotor.

Secure the servomotor mounting plate to the equipment in order to prevent the servomotor from moving during operation.

2. Check the wiring.

Disconnect the CN1 connector and check the servomotor wiring in the power supply circuit. CN1 I/O signals are not used, so leave the connector disconnected.

3. Turn ON power.

Normal display

Exam ple of alarm di splay

Alternative display

Turn ON the servo amplifier’s power. If the servo amplifier has turned ON normally, the LED display on its front panel will appear as shown above. Power is not supplied to the servomotor because the servo is OFF.

If an alarm display appears on the LED indicator as shown above, the power supply circuit, servomotor wiring, or encoder wiring is incorrect. In this case, turn OFF power and take appropriate action. See 9.2 Troubleshooting.

Note: If an absolute encoder is used, it must be set up. Refer to 5.7.4 Absolute Encoder Setup.

4-4

XtraDrive User Manual Chapter 4: Trial Operation

4. Operate with the panel operator.

Operate the servomotor using the panel operator. Check to see if the servomotor runs normally.

See 7.2.2 JOG Operation for more details on the procedure.

5. Connect the signal lines.

Use the following procedure to connect the CN1 connector. a) Turn OFF power.

b) Connect the CN1 connector. c) Turn ON power again.

6. Check the input signals.

Check input signal wiring in Monitor Mode using the panel operator. See 7.1.6 Operation in Monitor Mode for more details on the procedure.

Turn ON and OFF each signal line to see if the LED monitor bit display on the panel changes as shown below.

Input s ignal LE D di splay

P-OT N-OT

/ALM-RST /P-CL /N-CL

SEN

/P-CON /S-ON

Top light s when OFF (hi gh level). Bottom lights when ON (low level).

4-5

XtraDrive User Manual Chapter 4: Trial Operation

Input Signal Status LED Display

OFF (high level) Top LED indicators light.

ON (low level) Bottom LED indicators light.

Note: The servomotor will not operate properly if the following signal lines are not wired correctly. Always

wire them correctly. Short-circuit the signal lines if they will be unused. Input signal selections (parameters Pn50A to Pn50D) can be used to eliminate the need for external short-circuiting.

Signal Symbol Connector Pin

Number

P-OT CN1-42

N-OT CN1-43

/S-ON CN1-40

+24VIN CN1-47

The servomotor can rotate in forward direction when this signal line is low (0V). The servomotor can rotate in reverse direction when this signal line is low (0V). The servomotor is turned ON when this signal line is low (0V). Leave the servomotor OFF. Control power supply terminal for sequence signals.

Description

Note: IF an absolute encoder is being used, the servo will not turn ON when the servo ON signal (/S-ON) is

input unless the SEN signal is also ON. When the SEN signal is checked in Monitor mode, the top of the LED will light because the SEN signal is high when ON.

7. Turn ON the servo.

XtraDrive

Servomotor

/S-ON

CN1-40

Turn ON servo.

Turn ON the servo using the following procedure. a) Make sure there are no reference signal inputs.

• Set V-REF (CN1-5) and T-REF (CN1-9) to 0V for speed and torque control.

• Set PULS (CN1-7) and SIGN (CN1-11) to low for position control.

b) Turn ON the servo ON signal.

Display with servo ON.

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XtraDrive User Manual Chapter 4: Trial Operation

Set /S-ON (CN1-40) to 0V. If everything is normal, the servomotor will turn ON and the LED indicator on the front panel will display as shown above. If an alarm display appears, take appropriate action as described in 9.2 Troubleshooting.

Note: If there is noise in the reference voltage for speed control, the “-” on the left of the 7-segment LED may

flash.

 Operation Using Reference Input

The operating procedure here depends on the parameter settings (control mode selection at memory switch Pn000.1). Use the following procedure for operations with speed and position control.

Operating Procedure in Speed Control Mode: Set Pn000.1 to 0

This description applies to the standard speed control setting.

V-REF

XtraDrive

CN1-5

CN1-6

Servomotor

Servomotor rotates at a speed proportional to the referenc e voltage.

1. Gradually increase the reference speed input (V-REF, CN1-5)

voltage. The servomotor will rotate.

2. Check the following items in Monitor mode. See 7.1.6 Operation in

Monitor Mode.

Un000 Actual motor speed Un001 Reference speed

• Has the reference speed been input?

• Is the motor speed as defined?

• Does the reference speed coincide with the actual motor speed?

• Does the servomotor stop when the speed reference is 0?

3. If the servomotor rotates at extremely slow speed with 0V specified

for the reference voltage, correct the reference offset value as described in 7.2.3 Automatic Adjustment of the Speed and Torque

Reference Offset or 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset.

4. Reset the following parameters to change the motor speed or direction of rotation.

Pn300

Pn000.0

Sets the reference speed input gain. See 5.2.1 Speed Reference.

Selects the rotation direction. See 5.1.1 Switching Servomotor Rotation

Direction.

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XtraDrive User Manual Chapter 4: Trial Operation

Operating Procedure In Position Control Mode: Set Pn000.1 to 1

1. Set the parameter Pn200.0 so that the reference pulse form is the

same as the host controller output form. To select the reference pulse form: See 5.2.2 Position Reference.

2. Input a slow speed pulse from the host controller and execute lowspeed operation.

XtraDrive

Servomotor

CN1-7

CN1-8

CN1-11 CN1-12

Reference pulse

Host controller

PULS

/PULS

SIGN

/SIGN

3. Check the following data in Monitor mode. See 7.1.6 Operation in Monitor Mode.

Un000 Actual motor speed Un007 Reference pulse speed display Un008 Position offset

• Has the reference pulse been input?

• Is the motor speed as defined?

• Does the reference speed coincide with the actual motor speed?

• Does the servomotor stop when the speed reference is 0?

4. Reset the parameters shown below to change the motor speed or direction of rotation.

Pn202, Pn203

Pn000.0

Electronic gear ratio See 5.2.5 Using the Electronic Gear Function.

Selects the direction of rotation. See 5.1.1 Switching Servomotor Rotation Direction.

If an alarm occurs or the servomotor fails to operate during the above operation, the CN1 connector wiring is incorrect or the parameter settings do not match the host controller specifications. Check the wiring and review the parameter settings, then repeat step 1.

Note: References

• List of alarms: See 9.2.3 Alarm Display Table.

• List of parameters: See Appendix D List of Parameters.

4-8

XtraDrive User Manual Chapter 4: Trial Operation

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine

Warning

Follow the procedure below for step 2 operation precisely as given.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

Before proceeding to step 2, repeat step 1 (servomotor trial operation without a load) until all concerns including parameters and wiring have fully satisfied expectations.

After step 1 has been completed, proceed to step 2 for trial operation with the servomotor connected to the equipment. The servo amplifier is now adjusted in the following ways to meet the specific equipment’s characteristics.

• Using autotuning to match the servo amplifier to the equipment’s

characteristics.

• Matching direction of rotation and speed to the equipment’s

specifications.

• Checking the final control form.

Servomotor

Connect to the machine

XtraDrive

Follow the procedure below to perform the trial operation.

1. Make sure power is OFF.

2. Connect the servomotor to the equipment.

See

2.1 Servomotors for more details on connecting the servomotor.

3. Use autotuning to match the servo amplifier to equipment

characteristics.

See 6.3 Autotuning.

4. Operate the servomotor by reference input.

As in step 1 ( servomotor by reference input as described in

Operation for Servomotor without Load.

Servomotor Trial Operation without Load), operate the

4.1.1 Step 1: Trial

Tune to match the host

controller at this time, as well.

5. Set and record user settings.

Set parameters as required and record all settings for later use during maintenance.

Note: The servomotor will not be broken in completely during the trial operation. Therefore, let the system

run for a sufficient amount of time after trial operation has been completed to ensure that it is properly broken in.

4-9

XtraDrive User Manual Chapter 4: Trial Operation

4.2. Additional Setup Procedures in Trial Operation

For two equipment configurations, which are delineated in the subsequent sections, precautionary setup procedures must be followed before starting trial operation.

4.2.1. Servomotors with Brakes

Use a servomotor with a brake for vertical shaft applications or for the application of external force to the shaft to prevent rotation due to gravity or external force during a power loss.

The servo amplifier uses the brake interlock output (/BK) signal to control the holding brake operation when using servomotors with brakes.

Vertical shaft

Servomotor

Shaft with External Force Applied

Holding brake

Prevents the Servom ot or from rotating due to grav ity.

External force

Servomotor

Note: To prevent faulty operation when using gravity or external force, first make sure that both the

servomotor and the holding brake work properly. When assured that each operates properly, connect the servomotor to the rest of the equipment to start the trial operation.

The following figure shows wiring for a servomotor with brakes. See

5.4.4 Using the Holding Brake for details on wiring.

Power supply Single-phase 200V

XtraDri ve

U,V,W

Servomotor wit h brakes

Encoder

Single-phase 200V

Magnetic contactor

CN 2

(90VDC) Brake power suppl y LPSE-2H01 (200-V input)

4-10

XtraDrive User Manual Chapter 4: Trial Operation

4.2.2. Position Control by Host Controller

If the position control algorithm of the host controller has not been established or finalized, disconnect the servomotor from the equipment before performing a trial operation. This will prevent the servomotor from running out of control and damaging the equipment.

Reference speed

Host

controller

XtraDrive

Check servomotor operation as described in the following table.

Controller Reference

JOG Operation (Constant Reference Speed Input from Host Controller)

Simple Positioning

Overtravel (P-OT and

N-OT Used)

Speed control

Trial operat ion for servomotor without load

Check Procedure Description

Check motor speed as follows:

Check the parameter setting at Pn300 to see if the reference speed gain is correct.

Check the parameter setting at Pn201 to see if the number of dividing pulses is correct.

Review P-OT and NOT wiring if the servomotor does not stop.

Motor speed

Number of motor rotations

Whether the servomotor stops rotating when P-OT and N-OT signals are applied

• Use the speed monitor (Un000) on the Panel Operator.

• Run the servomotor at low speed. Input a reference speed of 60rpm, for example, to see if the servomotor makes one revolution per second.

Input a reference equivalent to one servomotor rotation and visually check to see if the shaft makes one revolution.

Check to see if the servomotor stops when P-OT and N-OT signals are input during continuous servomotor operation.

4-11

XtraDrive User Manual Chapter 4: Trial Operation

4.3. Minimum Parameters and Input Signals

This section describes the minimum parameters and input signals required for trial operation.

4.3.1. Parameters

See 7.1.5 Operation in Parameter Setting Mode for more details on setting parameters.

Turn power OFF once after changing any parameter except Pn300. The change will not be valid until power is restored.

Basic Parameters

Pn000.1

Function Selection Basic Switches: Control Mode Selection

See 5.3.5

Speed Control

Pn300 Speed Reference See 5.2.1 Pn201 Using the Encoder Signal Output See 5.2.3

Position Control

Pn200.0 Position Reference See 5.2.2 Pn202 Using the Electronic Gear Function (Numerator) See 5.2.5 Pn203 Using the Electronic Gear Function (Denominator) See 5.2.5

Changing Servomotor Rotation Direction

If the specified direction differs from the actual direction of rotation, wiring may be incorrect . Recheck the wiring and correct if necessary. Use the following parameter to reverse the direction of rotation.

Pn000.0 Switching Servomotor Rotation Direction See 5.1.1

4.3.2. Input Signals

Input signal selection settings through parameters can be used to eliminate the need for external short circuits.

Signal Name Pin Number Description

/S-ON Servo ON CN1-40

P-OT N-OT

Forward run

prohibited

Reverse run

prohibited

CN1-42 CN1-43

See 5.5.2 for more details on turning ON and OFF the servomotor.

See 5.1.2 for more details on the overtravel limit switch.

4-12

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5. Parameter Settings and Functions

5.1. Settings According to Device Characteristics.............................................5-4

5.1.1. Switching Servomotor Rotation Direction..........................................5-4

5.1.2. Setting the Overtravel Limit Function................................................5-5

5.1.3. Limiting Torque..................................................................................5-8

5.2. Settings According to Host Controller......................................................5-12

5.2.1. Speed Reference................................................................................5-12

5.2.2. Position Reference ............................................................................5-14

5.2.3. Using the Encoder Signal Output .....................................................5-20

5.2.4. Sequence I/O Signals........................................................................5-23

5.2.5. Using the Electronic Gear Function..................................................5-24

5.2.6. Contact Input Speed Control.............................................................5-29

5.2.7. Using Torque Control.......................................................................5-34

5.2.8. Torque Feed-Forward Function........................................................5-40

5.2.9. Torque Limiting by Analog Voltage Reference ...............................5-42

5.2.10. Reference Pulse Inhibit Function (/INHIBIT)..................................5-44

5.3. Setting Up the Servo Amplifier ................................................................5-45

5.3.1. Parameters.........................................................................................5-45

5.3.2. JOG Speed ........................................................................................5-46

5.3.3. Input Circuit Signal Allocation.........................................................5-46

5.3.4. Output Circuit Signal Allocation......................................................5-50

5.3.5. Control Mode Selection....................................................................5-52

5.4. Setting Stop Functions..............................................................................5-54

5.4.1. Adjusting Offset................................................................................5-54

5.4.2. Servo OFF Stop Mode Selection ......................................................5-55

5.4.3. Using the Zero Clamp Function........................................................5-56

5.4.4. Using the Holding Brake ..................................................................5-58

5.5. Forming a Protective Sequence ................................................................5-61

5.5.1. Using Servo Alarm and Alarm Code Outputs ..................................5-61

5.5.2. Using the Servo ON Input Signal (/S-ON) .......................................5-63

5.5.3. Using the Positioning Completed Output Signal (/COIN) ...............5-64

5.5.4. Speed Coincidence Output (/V-CMP) ..............................................5-65

5.5.5. Using the Running Output Signal (/TGON).....................................5-67

5.5.6. Using the Servo Ready Output Signal (/S-RDY) .............................5-68

5.5.7. Using the Warning Output Signal (/WARN)....................................5-69

5.5.8. Handling Power Loss........................................................................5-71

5.6. Selecting a Regenerative Resistor............................................................. 5-72

5.6.1. External Regenerative Resistor.........................................................5-73

5.6.2. Calculating the Regenerative Power Capacity..................................5-74

5.7. Absolute Encoders ....................................................................................5-78

5.7.1. Interface Circuit ................................................................................5-79

5.7.2. Configuring an Absolute Encoder ....................................................5-80

5.7.3. Absolute Encoder Setup....................................................................5-81

5.7.4. Absolute Encoder Reception Sequence ............................................5-84

5.8. AB Encoders .............................................................................................5-89

5.9. Configuration of Serial Commands for AB Encoders ..............................5-91

5.9.1. Position Control................................................................................5-91

5.9.1.1. Defining User Units for Motion Profiles......................................5-91

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.9.1.3. Speed Units...................................................................................5-92

5.9.1.4. Acceleration Units ........................................................................5-93

5.9.1.5. Setting Default Motion Profile Parameters...................................5-94

5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .....................................................5-95

5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) ..........................................5-95

5.9.1.8. Jerk Smoothing Time (Pn2A6) .....................................................5-95

5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ...................................5-96

5.9.1.10. Motion End Window (Pn2C0) ......................................................5-96

5.9.2. Torque Control..................................................................................5-96

5.9.3. Homing .............................................................................................5-97

5.9.4. Digital I/O .........................................................................................5-98

5.9.5. Auto Tuning ......................................................................................5-99

5.10. Auto Running a User Program..............................................................5-99

5-2

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

 Before Reading This Chapter

This chapter describes the use of each CN1 connector I/O signals in the XtraDrive servo amplifier as well as the procedure for setting the related parameters for the intended purposes.

The following sections can be used as references for this chapter.

• List of CN1 I/O signals: See 3.4.3 I/O Signal Names and Functions.

• CN1 I/O signal terminal layout: See 3.4.2 List of CN1 Terminals.

• List of parameters: Appendix D List of Parameters.

• Parameter setting procedure: 7.1.5 Operation in Parameter Setting

Mode

The CN1 connector is used to exchange signals with the host controller and external circuits.

 Parameter Configurations

Parameters are comprised of the types shown in the following table. See

Appendix D List of Parameters.

Type

Function Selection Constants

Servo Gain and Other Constants

Position Control Constants

Speed Control Constants Pn300 to Pn308

Torque Control Constants Pn400 to Pn40A

Sequence Constants

Others Pn600 to Pn601

Auxiliary Function Execution Fn000 to Fn014

Monitor Modes Un000 to Un00D

Parameter

Number

Pn000 to Pn007 Pn550 to Pn551

Pn100 to Pn11E Pn1A0 to Pn1C0

Pn200 to Pn216 Pn2A2 to Pn2CB

Pn500 to Pn512 Pn200 to Pn2D2

Description

Select basic and application functions such as the type of control or the stop mode used when an alarm occurs.

Set numerical values (speed control). Set numerical values (position control).

Set position control parameters such as the reference pulse input form gear ratio and application setting. Set speed control parameters such as speed reference input gain and soft start deceleration time. Set torque control parameters such as the torque reference input gain and forward/reverse torque limits. Set output conditions for all sequence signals and change I/O signal selections and allocations.

Specify the capacity for an external regenerative resistor and reserved constants.

Execute auxiliary functions such as JOG Mode operation.

Enable speed and torque reference monitoring, as well as monitoring to check whether I/O signals are ON or OFF.

Encoder Selection Pn190 to Pn193 Encoder type selection

5-3

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.1. Settings According to Device Characteristics

This section describes the procedure for setting parameters according to the dimensions and performance characteristics of the equipment used.

5.1.1. Switching Servomotor Rotation Direction

XtraDrive has a Reverse Rotation mode that reverses the direction of servomotor rotation without rewiring. Forward rotation in the standard setting is defined as counterclockwise as viewed from the load.

With the Reverse Rotation mode, the direction of servomotor rotation can be reversed without changing other parameters. Only the direction (+, −) of shaft motion is reversed.

Standard Setting Reverse Rotation Mode

Forward Reference

Reverse Reference

Encoder output

ccw

from XtraDrive

PAO (phas e A)

PBO (phase B)

Encoder output

fromXtraDrive

PAO (phas e A)

PBO (phase B)

Encoder output

fromXtraDrive

PA O ( p h a s e A )

PBO ( ph a s e B )

Encoder output

ccw

from XtraDrive PAO (phase A)

PBO (phase B)

 Setting Reverse Rotation Mode

Use the parameter Pn000.0.

Parameter Signal Setting Control Mode

Pn000.0 Direction Selection Default Setting: 0

Use the following settings to select the direction of servomotor rotation.

Setting Description

Forward rotation is defined as counterclockwise (CCW) rotation as viewed from the load.

Forward rotation is defined as clockwise (CW) rotation as viewed from the load.

(Standard setting)

(Reverse Rotation Mode)

Speed/Torque Control,

Position Control

5-4

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.1.2. Setting the Overtravel Limit Function

The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion.

 Using the Overtravel Function

To use the overtravel function, connect the overtravel limit switch input signal terminals shown below to the correct pins of the servo amplifier CN1 connector.

Input  P-OT CN1-42

Input  N-OT CN1-43

Forward Run Prohibited (Forward Overtravel)

Reverse Run Prohibited (Reverse Overtravel)

Speed/Torque Control, Position Control

Connect limit switches as shown below to prevent damage of

exuipment during linear motion.

Reverse rotation end

Servomotor

Forward rotation end

XtraDrive

CN1 -42

CN1 -43

P- OT

N - OT

The drive status with an input signal ON or OFF is shown in the following table.

Signal State Input Level Description

ON CN1-42: low

P-OT

OFF CN1-42: high

ON CN1-43: low

N-OT

OFF CN1-43: high

Forward rotation allowed, (normal operation status). Forward rotation prohibited (reverse rotation allowed). Reverse rotation allowed, (normal operation status). Reverse rotation prohibited (forward rotation allowed).

 Enabling/Disabling Input Signals

Set the following parameters to specify whether input signals are used for overtravel or not. The default setting is “NOT USED.”

Parameter Signal Setting Control Mode

Pn50A.3

Pn50B.0

P-OT Signal Mapping (Forward Run Prohibit Input Signal) N-OT Signal Mapping (Reverse Run Prohibit Input Signal)

Default Setting: 8

5-5

Speed/Torque Control, Position Control Speed/Torque Control, Position Control

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

 Servomotor Stop Mode for P-OT and N-OT Input Signals

Set the following parameters to specify the servomotor Stop mode when P-OT and N-OT input signals are used.

Specify the servomotor Stop mode when either of the following signals is input during servomotor operation.

• Forward run prohibited input (P-OT, CN1-42)

•

Reverse run prohibited input (N-OT, CN1-43)

• Set the parameters according to limit switch type (NO or NC).

Parameter Signal Setting Description

Uses the P-OT input signal to prevent forward rotation. (Forward rotation is prohibited when CN1-42 is open and is allowed when CN1-42 is at 0V). Does not use the P-OT input signal to prevent forward rotation. (Forward rotation is always allowed and has the same effect as shorting CN1-42 to 0V). Inputs the reverse signal from CN1-42 input terminal.

Pn50A.3

P-OT Signal Mapping (Forward Run Prohibit Input Signal)

Example: 2

Default Setting: 8

Example: B

For more options of parameters Pn50A.3 and Pn50B.0 refer to Appendix D.3. Input Signal Selections

Uses the N-OT input signal to prevent reverse rotation. (Reverse rotation is prohibited when CN1-43 is open and is allowed when CN1-43 is at 0V). Does not use the N-OT input signal to prevent reverse rotation. (Reverse rotation is always allowed and has the same effect as shorting CN1-43 to 0V). Inputs the reverse signal from CN1-43 input terminal.

Pn50B.0

N-OT Signal Mapping (Reverse Run Prohibit Input Signal)

Example: 3

Default Setting: 8

Example: C

Connection example:

Normally Closed type

P-OT

XtraDrive

CN1-42

N-OT

CN1-43

COM of 24V

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Parameter Signal Setting Control Mode

Speed/Torque

Pn001.1 Overtravel Stop Mode Default Setting: 0

Control, Position Control

Overtravel

Pn001.0 = 0

Pn001.1 = 0

Pn001.1 = 1 or 2

Note: For torque control, the servomotor will be placed in coast status after either decelerating or coasting to a

stop (according to the stop mode set in Pn001.0), regardless of the setting of Pn001.1.

Stop Mode After Stopping

Stop by

dynamic brake

Coast to a stop

Decelerate

to a stop

Coast status

Zero clamp

Coast status

Pn001.1 setti ng

Parameter Signal Setting Control Mode

Stops the servomotor the same way as turning the servo OFF (according to Pn001.0). Decelerates the servomotor to a stop at the preset torque, and then locks the servomotor in Zero Clamp mode. Torque setting: Pn406 Emergency Stop Torque Decelerates the servomotor to a stop at the preset torque, and puts the servomotor in coast status. Torque setting: Pn406 Emergency Stop Torque

Pn001.1

Overtravel Stop

Mode

Pn406 specifies the stop torque applied for overtravel when the input signal for prohibiting forward or reverse rotation is used.

The torque limit is specified as a percentage of rated torque.

Parameter Signal

Emergency Stop Torque

Pn406

(Valid when Pn001.1 is 1 or 2)

Forward run prohibit input P- OT ( CN1 -42)

Reverse run prohibit input N - OT ( CN1 -43)

Setting (%)

Range: 0% to Maximum Torque Default Setting: 800

Stop Mode

Stop by dynamic brake

Coast to a stop

Decelerate to a stop

Max. torque setting for an emergency stop

Pn406

5-7

Control Mode

Speed/Torque Control, Position Control

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.1.3. Limiting Torque

The XtraDrive servo amplifier limits torque as follows:

• Level 1: Limits maximum output torque to protect equipment or

workpiece.

• Level 2: Limits torque after the servomotor moves the equipment to

a specified position (external torque limit).

• Level 3: Always limits output torque rather than speed.

• Level 4: Switches between speed and torque limit.

The application of level 1 and 2 in the torque limit function is described below.

 Setting Level 1: Internal Torque Limits

Maximum torque is limited to the values set in the following parameters.

Parameter Signal Setting (%) Control Mode

Pn402 Forward Torque Limit

Pn403 Reverse Torque Limit

Range: 0 to 800 Default Setting: 800

Sets the maximum torque limits for forward and reverse rotation.

Speed/Torque Control, Position Control Speed/Torque Control, Position Control

Used when torque must be limited due to equipment conditions.

The torque limit function always monitors torque and outputs the signals below when the limit is reached.

Signal Description

/CLT

Monitor Mode (Un006) Output signal monitor

Generated when Pn50F.0 allocates an output terminal from SO1 to SO3.

Torque limits are specified as a percentage of the rated torque.

Note: If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the

servomotor is the limit.

Application Example: Equipment Protection

Motor speed

Torque limit

Too small a torque limit will result in an insufficient torque during acceleration and deceleration

Torque

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Using the /CLT Signal

The following section describes the use of the contact output signal /CLT as a torque limit output signal.

Output  /CLT CN1-*1 Torque Limit Output

This signal indicates whether the servomotor output torque (current) is being limited.

Status Conditions Description

OFF

The circuit between CN1-1 and 2 is closed. CN1-1 is at low level. The circuit between CN1-1 and 2 is open. CN1-1 is at high level.

Servomotor output torque is being limited. (Internal torque reference is greater than the limit setting). Servomotor output torque is not being limited. (Internal torque reference is less than the limit setting).

Settings: Pn402 (Forward Torque Limit) Pn403 (Reverse Torque Limit) Pn404 (Forward External Torque Limit): /P-CL input only Pn405 (Reverse External Torque Limit): /N-CL input only

When the /CLT signal is used, the following parameter must be used to select the output signal.

Parameter Signal Setting Control Mode

Pn50F

Output Signal Selections 2

Default Setting: 0000

Speed/Torque Control, Position Control

Pn50F.0

/CLT

Torque limit

detection

Output terminal

CN1-25, 26 (SO1)

CN1-27, 28 (SO2)

CN1-29, 30 (SO3)

Use the following table to select which terminal will output the /CLT signal.

Parameter Setting

0 — —

Pn50F.0

1 25 26 2 27 28 3 29 30

Output Terminal (CN1-)

Note: Multiple signals allocated to the same output circuit are output using OR logic. Set other output signals

to a value other than the one allocated to the /CLT signal in order to use just the /CLT output signal. See

5.3.4 Output Circuit Signal Allocation.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

 Setting Level 2: External Torque Limit

A contact input signal is used to enable the torque (current) limits previously set in parameters. Torque limits can be set separately for forward and reverse rotation.

XtraDrive

Reverse rotation

/P-CL

CN1-45

Forward rotation

/N-CL

CN1-46

 Input /P-CL CN1-45

 Output /N-CL CN1-46

Rotation speed

Torque

Rotation speed

Torque

Rotation speed

Torque

Rotation speed

Torque

Forward External Torque Limit Input

Reverse External Torque Limit Input

Torque limit Pn402

Torque limit Pn402 or Pn404 (limited by whichever is smaller)

Torque limit Pn403

Torque limit Pn403 or Pn405 (limited by whichever is smaller)

Speed/Torque Control, Position Control

This is the external torque (current) limit input for forward and reverse rotation.

Check input signal allocation status when using this function (see 5.3.3 Input Circuit Signal Allocation). Default settings are given in the table

below.

Signal Signal Status Comments Description

CN1-45 at low level when ON Use forward torque limit. Limit: Pn404

/P-CL

CN1-45 at high level when OFF

CN1-46 at low level when ON Use reverse torque limit. Limit: Pn405

/N-CL

CN1-46 at high level when OFF

Do not use forward torque limit. Normal operation.

Do not use reverse torque limit. Normal operation.

—

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

The following output signals and monitor methods are used when torque is being limited.

Signal Description

/CLT

Monitor Mode (Un006) —

•

Un005: Numbers 6 and 7 (with default settings)

•

Un006: Depending on output signal allocation conditions.

Generated when Pn50F.0 is allocated to an output terminal from SO1 to SO3.

Refer to 7.1.6 Operation in Monitor Mode.

—

Application Examples:

• Forced stop

• Robot holding a workpiece

Parameter Signal Setting (%) Control Mode

Speed/Torque Control, Position Control Speed/Torque Control, Position Control

Pn404 Forward External Torque Limit

Pn405 Reverse External Torque Limit

Range: 0 to 800 Default Setting: 100

Set the torque limits when the torque is limited by an external contact input.

Signal Description

/P-CL (CN1-45) Input Pn404 torque limit applied.

/N-CL (CN1-46) Input Pn405 torque limit applied.

See 5.2.9 Torque Limiting by Analog Voltage Reference.

Using /P-CL and /N-CL Signals

The procedure for using /P-CL and /N-CL as torque limit input signals is illustrated below.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.2. Settings According to Host Controller

This section describes the procedure for connecting a XtraDrive Series servo to a host controller, including the procedure for setting related parameters.

5.2.1. Speed Reference

Input the speed reference using the input signal: Speed Reference Input. Since this signal has various uses, set the optimal reference input for the system created.

Xtr aDr ive

Torque reference input (analog voltage input)

Speed reference input (analog voltage input)

 Input V-REF CN1-5  Input SG CN1-6

The above inputs are used for speed control (analog reference). (Pn000.1 = 0, 4, 7, 9, or A.) Always wire for normal speed control.

Refer to 7.1.6 Operation in Monitor Mode.

controlled in proportion to the input voltage between V-REF and SG.

CN1-9

CN1-10

CN1-5

CN1-6

represents twisted-pair wires

Speed Reference Input Speed Control Signal Ground Speed Control

The motor speed is

Rated motor speed Factory s etting

-8-12

-4

Torque reference

Speed reference

 Setting Examples

Pn300 = 600: This setting means that 6V is equivalent to the rated motor speed.

Speed Reference

Input

+6V +1V

-3V

Parameter Pn300 can be used to change the voltage input range.

Rotation Direction Motor Speed

Forward rotation Rated motor speed Forward rotation (1/6) rated motor speed Reverse rotation (1/2) rated motor speed

Input voltage (V)

Rated motor speed

The slope is set in Pn300.

5-12

SGMAH

Servomotor

3000rpm

500rpm

1500rpm

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

 Input Circuit Example

+12V

470Ω, 1/2W min.

Ω

V-REF

Xtr aDr ive

CN1-5

CN1-6

Always use twisted pair cable for noise control.

Recommended variable resistor: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

Connect V-REF and SG to the speed reference output terminals on the host controller when using a host controller, such as a programmable controller, for position control.

Host controller

Speed reference output terminals

Feedback pulse input terminals

V-R EF

PAO

/PAO

PBO

/PBO

Xtr aDri ve

CN1-5

CN1-6

CN1-33

CN1-34

CN1-35

CN1-36

P: Indicates twisted-pair wires

Adjust Pn300 according to the output voltage specifications of the host controller.

Adjust the speed reference input adjustment factor in the following parameter.

Parameter Signal Setting Control Mode

Pn300

Speed Reference Input Adjustment Factor

Range: 150 to 3000 x (0.01V/ rated motor speed)

Speed Control

Set the voltage range for the V-REF speed reference input at CN1-5 according to the host controller and external circuit output range.

Reference speed (rpm)

Reference volt age (V)

Set this slope

The default setting is adjusted so that a 6V input is equivalent to the rated motor speed of all applicable servomotors.

Note: The maximum allowable voltage to the speed reference input (between CN1-5 and 6) is ± 12V

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Using the /P-CON Signal

 Input P-CON CN1-41

The /P-CON input signal switches the Speed Control mode from PI (proportional-integral) to P (proportional) control.

Proportional control can be used in the following two ways:

• When an operation is performed by sending speed references from

the host controller to the servo amplifier, the host controller can selectively use the P control mode for particular conditions only. This method can prevent the occurrence of overshoot and also shorten settling time.

• If PI control mode is used when the speed reference has a reference

offset, the motor may rotate at a very slow speed and fail to stop even if 0 is specified as speed reference. In this case, use the P control mode to stop the motor.

Proportional Control Reference

Speed Control, Position Control

5.2.2. Position Reference

The reference pulse, reference code, and clear inputs are used for the position reference. Since this signal can be used in different ways, set the optimal reference input for the system created.

 Reference by Pulse Input

Positioning is controlled by entering a reference pulse for a move.

Any of the following forms can be used for the position reference:

• Line-driver output

• +12V open-collector output

• +5V open-collector output

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Connection Example 1: Line-driver Output

Applicable line driver: SN75174, manufactured by Texas Instruments Inc., MC3487 or equivalent

Ω

Connection Example 2: Open-collector Output

Set limiting resistor R1 so that input current I falls within the following range:

Ω

The examples below show how to select the pull-up resistor R1 so that the input current I falls between 7 and 15mA.

R1 = 1kΩ with V

Application Examples of V = IR

= 12V ±5% R1 = 180Ω with V

Note: The following table shows the signal logic for an open-collector output.

Tr1 Output Level Signal Logic

ON Equivalent to high-level input

OFF Equivalent to low-level input

= 5V ±5%

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

This circuit uses the 12V power supply built into the servo amplifier. The input is not isolated in this case.

Ω

The noise margin of the input signal will decrease if the reference pulse is provided by an open-

Note:

collector output. Set parameter Pn200.3 to 1 if the position drifts due to noise.

 Selecting a Reference Pulse Form

Use the following parameters to select the reference pulse form used.

 Input PULS CN1-7 Reference Pulse Input Position Control  Input /PULS CN1-8 Reference Pulse Input Position Control  Input SIGN CN1-11 Reference Code Input Position Control  Input /SIGN CN1-12 Reference Code Input Position Control

The servomotor only rotates at an angle proportional to the input pulse.

Parameter Signal Setting Range Control Mode

Pn200.0 Reference Pulse Form Default Setting: 0 Position Control

Set reference pulse form input to the servo amplifier from the host controller.

Note: This function works only with a Pulse Reference, not with a Serial Command.

Position

reference

pulse Host controller

PULSE

SIGN

Xt r a D r i ve

CN1-7

CN1-11

Since the reference pulse form can be selected from among those listed below, set one according to host controller specifications.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Reference

Pulse Form

Pn200.0

Parameter

Input

Pulse

Logic

Multiplier

Forward Rotation

Reference

PULS

Sign + pulse

train

---

(CN1-7)

SIGN (CN1-11)

PULS

CW pulse +

CCW pulse

2 x1

Two-phase

pulse train

3 x2

with 90°

phase

differential

Sign + pulse

train

---

(CN1-7)

SIGN

Positive

(CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

Low

High

Low

90°

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

Reverse Rotation

Reference

Low

90°

High

PULS

CW pulse +

CCW pulse

7 x1

Two-phase

pulse train

8 x2

with 90°

phase

differential

---

(CN1-7)

SIGN (CN1-11)

Negative

PULS (CN1-7)

SIGN (CN1-11)

Input Pulse Multiplier

High

90°

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

High

90°

The input pulse multiplier function can be used if the reference pulse is a two-phase pulse train with a 90° phase differential. The electronic

gear function can also be used to convert input pulses.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Example of I/O Signal Generation Timing

Note: 1.

Reference

Pulse Form

Sign + pulse train input (SIGN + PULS signal) Maximum reference frequency: 500kpps (200kpps open-collector output)

CW pulse and CCW pulse Maximum reference frequency: 500kpps (200kpps open-collector output)

Two-phase pulse train with 90º phase differential (A phase + B phase) Maximum reference frequency x1: 500kpps (200kpps open-collector output) x2: 400kpps x4: 200kpps

For the input pulse to register, the interval from the time the servo ON signal is turned ON until a

reference pulse is entered must be a minimum of 40ms.

The error counter clear signal must be ON for at least 20µs.

Reference Pulse Input Signal Timing

Electrical Specifications Remarks

t6t5

t1, t2 0.1 s t3, t7 0.1 s t4, t5, t6 > 3 s

( /T) x 100 50

t3 > 3 s

1.0 s

t1, t2 0.1 s

( /T) x 100 =

Sign (SIGN) H = Forward reference L = Reverse reference

—

Parameter Pn200.0 is used to switch the input pulse multiplier mode.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

 Error Counter Clear Input

The procedure for clearing the error counter is described below.

 Input CLR CN1-15

 Input /CLR CN1-14

The following occurs when the CLR signal is set to high level.

• The error counter inside the servo amplifier is set to 0.

• Position loop control is prohibited.

Use this signal to clear the error counter of the host controller or select the following clear operation through parameter Pn200.1.

Parameter Signal Setting Range Control Mode

Pn200.1 Error Counter Clear Signal Form Default Setting: 0 Position Control

Select the pulse form for the error counter clear signal CLR (CN1-15).

Pn200.1

Setting

Description Clear Timing

Clear Input Position Control

Xt r a Dr i ve

CLR

Clear

Posit ion loop error count er

Clears the error counter when the CLR signal goes

high. Error pulses do not accumulate as long as the signal remains high.

Clears the error counter on the rising edge of the CLR signal. Clears the error counter only once on the rising edge of the CLR signal.

Clears the error counter when the CLR signal goes low. Error pulses do not accumulate as long as the signal remains low.

Clears the error counter on the falling edge of the CLR signal. Clears the error counter only once on the falling edge of the CLR signal.

CLR

(CN1-15)

CLR (CN1-15)

Cleared only once at this point

CLR (CN1-15)

Cleared only once at thi s point

High

Cleared state

High

Low

Cleared st ate

Low

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.2.3. Using the Encoder Signal Output

Encoder output signals are divided inside the servo amplifier and can be output externally. These signals can be used to form a position control loop in the host controller.

These output s

explained here

Xt r a D r i ve

Encoder

CN1

Frequenc y

div iding

circuit

CN2

Phase A

Phase B Phase C

Host

controller

The output circuit is for line-driver output. Connect each signal line according to the following circuit diagram.

Dividing means converting an input pulse train from the encoder mounted on the servomotor according

Note:

to the preset pulse density and outputting the converted pulse. The units are pulses per revolution (PPR).

 I/O Signals

I/O signals are described below.

Output  PAO CN1-33 Encoder Output Phase A Speed/Torque Control, Position Control

Output  /PAO CN1-34 Encoder Output Phase /A Speed/Torque Control, Position Control

Output  PBO CN1-35 Encoder Output Phase B Speed/Torque Control, Position Control

Output  /PBO CN1-36 Encoder Output Phase /B Speed/Torque Control, Position Control

Output  PCO CN1-19 Encoder Output Phase C Speed/Torque Control, Position Control

Output  /PCO CN1-20 Encoder Output Phase /C Speed/Torque Control, Position Control

Divided encoder signals are outputs; therefore always connect these signal terminals when a position loop is formed in the host controller for position control.

Set a dividing ratio using the following parameter: PG Dividing Ratio Pn201

The dividing ratio setting is not related to the gear ratio setting (Pn202 and 203) for the servo amplifier electronic gear function during position control.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Output Phase Form

Forward rotation

Reverse rotation

 Input SEN CN1-4 SEN Signal Input Speed/Torque Control

 Input /SEN CN1-2 Signal Ground Speed/Torque Control

Output  PSO CN1-48 Encoder Output Phase S Speed/Torque Control, Position Control

Output  /PSO CN1-49 Encoder Output Phase /S Speed/Torque Control, Position Control

 Input BAT (+) CN1-21 Battery (+) Speed/Torque Control, Position Control

 Input /BAT (-) CN1-22 Battery (-) Speed/Torque Control, Position Control

Use SEN to BAT (-) signals for absolute encoders. See 5.7 Absolute Encoders for more details.

Output  SG CN1-1 Signal ground Speed/Torque Control, Position Control

SG: Connect to 0V on the host controller.

IMPORTANT

When using the servo amplifier phase C pulse signal to return to the machine origin,

•

always turn the servomotor at least twice before starting the original return operation. If the configuration of the mechanical system prevents turning the servomotor before the origin return operation, then perform the origin return operation at a servomotor speed of 600rpm or below. The phase C pulse signal may not be correctly applied if the servomotor turns faster than 600rpm.

 Pulse Divider Setting

Set the pulse dividing ratio in the following parameter:

Parameter Signal Setting (PPR) Control Mode

Pn201 PG Divider

Range: 0 to 65535 Default Setting: 2048

Serial encoder

Set the number of pulses for PG output signals (PAO, /PAO, PBO, /PBO).

Xt r a D r i ve

Encoder

Frequency

division

Serial data

Pulses from the servomotor encoder (PG) are divided by the preset number before being output.

The number of output pulses per revolution is set by this parameter. Set the value using the reference units of the equipment or the controller used.

The setting range varies with the encoder used.

Output terminals: PAO (CN1-33)

Phase A

Phase B

Output

Speed/Torque Control, Position Control

/PAO (CN1-34)

PBO (CN1-35)

/PBO (CN1-36)

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Resolution

(Bits)

13 2048 16 to 2048

Number of Encoder

Pulses Per

Revolution (PPR)

16384 16 to 16384

Setting Range

Note: 1. Turn OFF power once and turn ON again after changing the parameter.

A 13-bit encoder will run at 2048PPR even if the setting at Pn201 is set higher than 2049.

A quad B Encoder - Setting of the pulse-dividing ratio.

201

PGout

65536

4192

PGout - number of required out pulses per revolution.

Example

: 1000 counts per revolution needed using 8000 counts encoder.

PGout

201 =

6553665536

Counts

PGout

4192

8000

100065536

8192

Note: If a 1:1 ratio (for each incoming and output pulses generated) is required, set Pn201=0.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.2.4. Sequence I/O Signals

Sequence I/O signals are used to control servo amplifier operation. Connect these signal terminals as required.

 Input Signal Connections

Connect the sequence input signals as shown below.

Provide a separate external I/O power supply; the servo amplifier does not have an internal 24V power

Note:

supply. External power supply specifications: 24V ±1 VDC, 50mA minimum. Yaskawa recommends using the same type of external power supply as the one used for output circuits.

The function allocation for sequence input signal circuits can be changed.

See 5.3.3 Input Circuit Signal Allocation for more details.

 Input +24VIN CN1-47

The external power supply input terminal is common to sequence input signals.

External I/O Power Supply Input

I/O power supply

+24V

Connect an external I/O power supply

Xt r a D ri ve

CN1-47

Speed/Torque Control, Position Control

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Contact input signals: /S-ON (CN1-40) /P-CON (CN1-41) P-OT (CN1-42) N-OT (CN1-43) /ALM-RST (CN1-44) /P-CL (CN1-45) /N-CL (CN1-46)

 Output Signal Connections

Connect the sequence output signals as shown in the following figure.

Note: Provide a separate external I/O power supply; the servo amplifier does not have an internal 24V power

supply. It is recommended to use the same type of external power supply as the one used for input circuits.

Function allocation for some sequence output signal circuits can be changed.

See 5.3.4 Output Circuit Signal Allocation for more details.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions



5.2.5. Using the Electronic Gear Function

The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value. It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses.

When the electronic gear

function is not used

When the electronic gear function is used

Workpiece

To move a workpiece 10 mm (0.39 in): 1 revolution is 6 mm. Therefore,

6 = 1.6666 revolutions 2048 x 4 pulses is 1 revolution. Therefore,1.6666 x 2048 x 4 = 13653 pulses are input as reference. The equation must be calculated at the host controller.

Ball screw pitch: 6mm (0.24 in) No. of encoder pulses: 2048

Equipment conditions and reference units

gear function beforehand.

To move a workpiece 10 mm (0.39 in): Reference unit is 1 10 mm

Workpiece

must be defined for the electronic

m . Therefore,

= 10000 pulses

 Setting the Electronic Gear (for Reference Pulses)

Calculate the electronic gear ratio (B/A) using the following procedure, and set the values in parameters Pn202 and 203.

1. Check equipment specifications related to the electronic gear:

• Deceleration ratio

• Ball screw pitch

• Pulley diameter

Ball screw pitch

Deceleration ratio

Encoder Type

Incremental encoder

Absolute encoder

Note: The number of bits representing the resolution of the applicable encoder is not the same as the number

of encoder signal pulses (A and B phase) output from the servo amplifier.

Number of Encoder Pulses

Per Revolution (PPR)

13-bit 2048 16-bit 16384 17-bit 32768 16-bit 16384 17-bit 32768

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

2. Determine the reference unit used.

A reference unit is the minimum position data unit used to move a load (minimum unit of reference from the host controller).

To move a t able in 0.001 mm units

Reference unit : 0.001 mm

Determine the reference unit according t o equipment spec ifications and positioning ac curacy.

Examples (in mm):

• Reference unit can be 0.1in or 0.01in or 0.01mm or 0.001mm,

etc. A reference unit of one pulse moves the load by one reference unit.

• When the reference unit is 1µm

If a reference of 50000 units is input, the load moves 50mm (1.97in) (50000 ⋅ 0.001mm = 50mm).

3. Determine the travel distance per load shaft revolution in reference units.

Travel distance per load shaft revolution =

revolutionshaft loadper distance Travel

UnitReference

• When the ball screw pitch is 0.20in (5mm) and the reference unit

is 0.00004in (0.001mm),

20.0 = 5000 (reference units)

00004.0

Ball Screw Disc Table Belt and Pulley

4. Electronic gear ratio is given as:

If the gear ratio of the motor and the load shaft is given as:













where

m is the rotation of the motor and n is the rotation of the load shaft,



Electronic gear ratio

Note: Make sure the electronic gear ratio satisfies the following condition:

0.01 ≤ Electronic gear ratio

The servo amplifier will not work properly if the electronic gear ratio exceeds this range. In that case, modify either the load configuration or the reference unit.















≤ 100









4x pulsesencoder ofNumber

5-26

unit) (reference revolutionshaft loadper distance Travel

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5. Set the parameters.

Reduce the electronic gear ratio to lower terms so that both A and B are integers smaller than 65535, then set A and B in the respective parameters:













Pn202 Electronic Gear Ratio (Numerator)

Pn203 Electronic Gear Ratio (Denominator)

Parameter Signal Setting Control Mode

Pn202

Pn203

Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator)

Range: 1 to 65535 Default Setting: 4 Range: 1 to 65535 Default Setting: 1

Position Control

Set the electronic gear ratio according to equipment specifications.

Xtra Dr ive

Motor

Reference input pulse

Electronic gear

B _

Electronic Gear Ratio =













202Pn

203Pn

• B = [(Number of encoder pulses) × 4] × [motor speed]

• A = [Reference units (travel distance per load shaft revolution)] ×

[load shaft revolution speed]

 Electronic Gear Setting Examples

The following examples show electronic gear settings for different load mechanisms.

Ball Screws

Travel distance per load shaft revolution =

6000

Electronic gear ratio

Circular Tables

Travel distance per load shaft revolution =

Electronic gear ratio

Preset

Values



 

in24.0

in00004.0













Pn202 8192 Pn203 6000







3600

6000

360

3x 4x 2048

1x 4x 2048

1.0

= 3600

202Pn

203Pn

202Pn

203Pn

5-27

Preset

Values

Pn202 24576 Pn203 3600

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Belts and Pulleys

 Control Block Diagram

The following diagram illustrates a control block for position control.

Travel distance per load shaft revolution =

12566





Electronic gear ratio

Preset

Values









12566

196608

12566

Pn202 20480 Pn203 1309

3x 4x 16384

20480

1309

in4x1416.3

in0010.0

202Pn

203Pn

5-28

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

5.2.6. Contact Input Speed Control

This function provides a method for easy speed control. It allows the user to initially set three different motor speeds with parameters, and then select one of the speeds externally using a contact input.

/P- CON (/SPD - D)

Xt r a D r i ve

CN1-41

Contact input

/P- CL (/SPD - A)

CN1-45

/N- CL (/SPD - B)

CN1-46

Speed selection

External s peed setting devices and pulse generation are not required.

SPEED 1 Pn301 SPEED 2 Pn302 SPEED 3 Pn303

User constants

 Using Contact Input Speed Control

Follow steps 1 to 3 below to use the contact input speed control function.

1. Set contact input speed control as shown below.

Parameter Signal Setting Control Mode

Pn000.1

Control Mode Selection

Default Setting: 0

Servomotor

Servomotor operates at the s p eed s et in the us er constant.

Speed/Torque Control, Position Control

The speed can be controlled via contact inputs.

Servo operates

Contact input

at th e in te rn all y set speed

SPEED 1 SPEED 2 SPEED 3

Servomotor

5-29

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Meanings for the following signals change when the contact input speed control function is used:

Pn000.1

Setting

0, 2, 7, 8, 9, A, B, C, D

3, 4, 5, 6

Note: 1. 0: OFF (high level); 1: ON (low level)

5, or 6. The function is switched automatically when Pn50A. 0 is set to 0.

3. The /SPD-D, /SPD-A, and /SPD-B signals can be used only when signals are allocated to the input circuits. See 5.3.3 Input Circuit Signal Allocation.

Description Input Signal

Input contacts. Speed control Is function not used.

Input contacts. Speed control function is used.

/P-CON, /P-CL and /N-CL functions differ from those in the table above when Pn000.1 is set to 3, 4,

/P-CON (CN1-41)

/P-CL (CN1-45)

/N-CL (CN1-46)

/P-CON (/SPD-D)

Direction of rotation 0: Forward 1: Reverse

/P-CL (/SPDA)

0 0

0 1

1 1

1 0

Used to switch between P and PI control. Used to switch between forward external torque limit ON and OFF. Used to switch between reverse external torque limit ON and OFF.

/N-CL (/SPD-B)

Speed setting

0 reference etc. SPEED 1 (Pn301) SPEED 2 (Pn302) SPEED 3 (Pn303)

2. Set the motor speeds using the following parameters.

Parameter Signal Setting (rpm) Control Mode

Pn301

Pn302

Pn303

Speed 1 (SPEED 1) (Contact Input Speed Control)

Speed 2 (SPEED 2) (Contact Input Speed Control)

Range: 1 to 10000 Default Setting: 100

Range: 1 to 10000 Default Setting: 200

Range: 1 to 10000 Default Setting: 300

Speed Control

These parameters are used to set motor speeds when the contact input speed control function is selected. If the setting is higher than the maximum motor speed of the servomotor, then the servomotor will rotate at its maximum speed.

Speed selection input signals /P-CL(SPD-A)(CN1-45) and /N-CL (/SPD-B) (CN1-46) and the rotation direction selection signal /PCON (/SPD-D)(CN1-41) enable the servomotor to run at the preset speeds.

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XtraDrive User Manual Chapter 5: Parameter Settings and Functions

3. Set the soft start time.

Parameter Signal Setting (rpm) Control Mode

Pn305

Pn306

Soft Start Acceleration Time

Soft Start Deceleration Time

Setting Range: 1 to 10000 Default Setting: 0

Speed Control

The servo amplifier internal speed reference controls the speed by applying this acceleration setting.

Speed reference

Xt r a D r i ve internal speed reference

Maximum s peed

Pn305: Sets this time interval

Pn306: Sets this time interval

Soft start

Maximum s peed

Smooth speed control can be performed by entering a progressive speed reference or using contact input speed control. Set each constant to 0 for normal speed control.

Set each parameter to the following time intervals.

• Pn305: Time interval from when the servomotor starts until it

reaches maximum speed.

• Pn306: Time interval from when the servomotor reaches

maximum speed until it stops.

 Operation by Contact Input Speed Control

The following describes operation by contact input speed control.

Start and Stop

The following input signals are used to start and stop the servomotor.

Speed Selection 1

 Input /P-CL CN1-45

 Input /N-CL CN1-46

Note: Position Control is used here only by Pulse Reference, not by Serial Command

(Forward External Torque Limit Input) Speed Selection 2 (Reverse External Torque Limit Input)

Speed/Torque Control, Position Control

5-31

XtraDrive User Manual Chapter 5: Parameter Settings and Functions

Use the following table when contact input speed control is used.

Note: 1.

Contact Signal Parameter

/P-CON

(/SPD-D)

- 0 0

Direction of rotation 0: Forward 1: Reverse

0: OFF (high level); 1: ON (low level)

2. Input signals indicated by the horizontal bar (-) are optional.

/P-CL

(/SPD-A)

0 1 SPEED 1 (Pn301) 1 1 SPEED 2 (Pn302)

1 0

/N-CL

(/SPD-B)

Pn000.1

3, 4, 5, 6, Common

Selected Speed

Stopped by an internal speed reference of 0. Analog speed reference (VREF) input Pulse reference input (position control) Analog torque reference input (torque control)

SPEED 3 (Pn303)

When contact input speed control is not used, input signals are used as external torque limit inputs.

The contact input speed control function is used only when signals are allocated to /SPD-D, /SPD-A,

Note:

and /SPD-B.

Selection of Rotation Direction

The input signal /P-CON(/SPD-D) is used to specify the direction of servomotor rotation.

 Input /P-CON CN1-41

• When contact input speed control is used, the input signal /P-CON

(/SPD-D) specifies the direction of servomotor rotation.

/P-CON (/SPD-D) Input

Level

Note: 0: OFF (high level); 1: ON (low level)

• When contact input speed control is not used, the /P-CON signal is

used for proportional control, zero clamping, and torque/speed control switching.

• Position Control is used here only by Pulse Reference, not by Serial

Command.

Speed Selection 1 (Forward External Torque Limit Input)

Speed/Torque Control, Position Control

Signal Logic

0 Forward rotation

1 Reverse rotation

5-32

Omron XTRADRIVE User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Information

Table of Contents

Using This Manual

Safety Precautions

1. Checking Product and Part Names

1.1. Checking the XtraDrive Series Products on Delivery

1.1.1. Servo Amplifiers n External Appearance and Nameplate Examples

1.2. Product Part Names

1.2.1. Servo Amplifiers

1.2.2. Model Numbers

2. Installation

2.1. Servo Amplifiers

2.1.1. Storage Conditions

2.1.2. Installation Site

2.1.3. Orientation

2.1.4. Installation

3. Wiring

3.1. Connecting to Peripheral Devices

3.1.1. Single-Phase 200V Main Circu it Specifications

3.1.2. Single-Phase 0.8kW 200V Main Circuit Specifications

3.1.3. Three-phase 200V Main Circuit Specifications

3.1.4. Three-Phase 400V Main Circuit Specifications

3.2. XtraDrive Internal Block Diagrams

3.2.1. Single-phase 30W to 800W, 200V Models

3.2.2. Three-phase 1kW to 3kW, 200V Models

3.2.3. Three-phase 0.5kW to 3.0kW, 400V M odels

3.3. Main Circuit Wiring

3.3.1. Names and Descriptions o f Main Circuit Terminal

3.3.2. Typical Main Circuit Wiring E xample

3.3.3. Servo Amplifier Power Los ses

3.3.4. Wiring Main Circuit Term inal Blocks

3.4. I/O Signals

3.4.1. Example of Typical I/O Si gnal Connections

3.4.2. List of CN1 Terminals

3.4.3. I/O Signal Names and Functions

! Input Signals

! Output Signals

3.4.4. Interface Circuits

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only)

3.5.1. Encoder Connections

3.5.2. CN2 Encoder Connector Terminal Layout and Types

3.5.3. Encoder Cables Interconnections

 Absolute A/B Encoder Cable

 Incremental A/B Encoder Cable

 Absolute Serial Encoder Cable

 Incremental Serial Encoder Cable

3.6. Examples of Standard Connections

Position Control Mode

 Speed Control Mode

 Torque Control Mode

4. Trial Operation

4.1. Two-Step Trial Operation

4.1.1. Step 1: Trial Operation for Servomotor without Load

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine

4.2. Additional Setup Procedures in Trial Operation

4.2.1. Servomotors with Brakes

4.2.2. Position Control by Host Controller

4.3. Minimum Parameters and Input Signals

4.3.1. Parameters

4.3.2. Input Signals

5. Parameter Settings and Functions

5.1. Settings According to Device Characteristics

5.1.1. Switching Servomotor Rotation Direction

 Setting Reverse Rotation Mode

5.1.2. Setting the Overtravel Limit Function

 Enabling/Disabling Input Signals

 Servomotor Stop Mode for P-OT and N-OT Input Signals

5.1.3. Limiting Torque

 Setting Level 1: Internal Torque Limits

Using the /CLT Signal

 Setting Level 2: External Torque Limit

Using /P-CL and /N-CL Signals

5.2. Settings According to Host Controller

5.2.1. Speed Reference

 Setting Examples

 Input Circuit Example