Omron XTRADRIVE DATASHEET
XD-@, XD-@-E
XtraDrive
Intelligent servo drive. Integrated controller
and network connectivity.
• NCT. Patented non-linear algorithm for tight control
• Very low tracking error with no overshoot and zero
settling time
• Supports different servo motor encoder types
• PROFIBUS embedded in the drive available
• XtraDive model available with electronic CAM
• The ideal drive for linear motor control
• Fast hardware registration input
• Intuitive text programming language
• Automatic tuning of servo parameters for optimal
settling time
• Oscilloscope available via XtraWare software tool
• CompoWay/F is supported, it allows remote access
to the drives through the PLC
Ratings
• 230 VAC single-phase 30 W to 1.5 kW (4.77 Nm)
• 400 VAC three-phase 0.5 kW to 5.0 kW (28.4 Nm)
System configuration
XtraDrive
Servo Drives
Filter
PROFIBUS network
(XtraDrive models with
embedded PROFIBUS)
(Refer to chapter
SmartStep servo motors)
Cables
R7M Servo Motor
(Refer to chapter
Sigma-II rotary motors)
CHARGE
SGMAH, SGMPH
Servo Motor
POWER
CN3
CN1
CN2
Analog monitor cable
Cables
SGMGH, SGMUH,
SGMSH, SGMBH
Servo Motor
Human machine interface
Personal computer
Motion control unit
Position control
unit
General purpose cable
Terminal block
(Refer to chapter Sigma-II linear motors)
SGLG_ linear
Servo Motor
SGLF_ linear
Servo Motor
Option unit
NS115
S
W
1
A
R
S
W
2
C
N
6
A
C
N
6
B
C
N
4
Cables
SGLT_ linear
Servo Motor
121XtraDrive
Servo motor / servo drive combination
Servo motor Servo drive
Voltage Rated torque Capacity 230 V (1-phase) 230 V (1-phase)
Sigma-II series motors (refer to the Sigma-II rotary motors chapter for details)
SGMAH (3000 min
SGMPH (3000 min
SGMGH (1500 min
SGMSH (3000 min
SGMUH (6000 min
SmartStep series motors (refer to the SmartStep servo motors chapter for details)
R7M-A (3000 min
R7M-AP (3000 min
Sigma linear motors (refer to the Sigma linear motors chapter for details)
SGLGW
Linear motors
-1
) 230 V 0.0955 N.m 30 W XD-P3-MN01-@ XD-P3-MSD0-@ --
0.159 N.m 50 W XD-P5-MN01-@ XD-P5-MSD0-@ --
0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --
0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --
1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --
2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --
400 V 0.955 N.m 300 W - - XD-05-TN@ XD-05-TSD0-@
-1
) 230 V 0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --
2.07 N.m 650 W - - XD-10-TN@ XD-10-TSD0-@
0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --
1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --
2.39 N.m 750 W XD-08-MN@-@ XD-08-MSD0-@ --
4.77 N.m 1500 W XD-15-MN@-@ ---
400 V 0.637 N.m 200 W - - XD-05-TN@ XD-05-TSD0-@
1.27 N.m 400 W - - XD-05-TN@ XD-05-TSD0-@
2.39 N.m 750 W - - XD-10-TN@ XD-10-TSD0-@
-1
) 400 V 2.84 N.m 0.45 kW - - XD-05-TN@ XD-05-TSD0-@
4.77 N.m 1500 W - - XD-15-TN@ XD-15-TSD0-@
5.39 N.m 0.85 kW - - XD-10-TN@ XD-10-TSD0-@
8.34 N.m 1.3 kW - - XD-15-TN@ XD-15-TSD0-@
11.5 N.m 1.8 kW - - XD-20-TN@ XD-20-TSD0-@
18.6 N.m 2.9 kW - - XD-30-TN@ XD-30-TSD0-@
-1
) 400 V 3.18 N.m 1.0 kW - - XD-10-TN@ XD-10-TSD0-@
28.4 N.m 4.4 kW - - XD-50-TN@ -
4.90 N.m 1.5 kW - - XD-15-TN@ XD-15-TSD0-@
6.36 N.m 2.0 kW - - XD-20-TN@ XD-20-TSD0-@
9.80 N.m 3.0 kW - - XD-30-TN@ XD-30-TSD0-@
12.6 N.m 4.0 kW - - XD-50-TN@ -
-1
) 400 V 1.59 N.m 1.0 kW - - XD-10-TN@ XD-10-TSD0-@
15.8 N.m 5.0 kW - - XD-50-TN@ -
2.45 N.m 1.5 kW - - XD-15-TN@ XD-15-TSD0-@
4.9 N.m 3.0 kW - - XD-30-TN@ XD-30-TSD0-@
6.3 N.m 4.0 kW - - XD-50-TN@ -
-1
) 230 V 0.0955 N.m 30 W XD-P3-MN01-@ ---
0.159 N.m 50 W XD-P5-MN01-@ ---
0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --
0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --
1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --
-1
) 230 V 0.318 N.m 100 W XD-01-MN01-@ XD-01-MSD0-@ --
2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --
0.637 N.m 200 W XD-02-MN01-@ XD-02-MSD0-@ --
1.27 N.m 400 W XD-04-MN01-@ XD-04-MSD0-@ --
2.39 N.m 750 W XD-08-MN@ XD-08-MSD0-@ --
230 V Refer to the linear motors chapter for details
w PROFIBUS
400 V (3-phase) 400 V (3-phase)
w PROFIBUS
SGLFW
Linear motors
SGLTW
230 V,
400 V
Refer to the linear motors chapter for details
400 V Refer to the linear motors chapter for details
Linear motors
122 AC servo systems
Type designation
Drive
XD - 01 - MN 01-E
Electronic CAM enabled
XtraDrive
Output capacity
P3 30 W
P5
50 W
01
100 W
02
200 W
04
400 W
500 W05
08
10
15
20
750 W
1.0 kW
1.5 kW
2.0 kW
3.0 kW30
5.0 kW50
Servo drive specifications
Single-phase, 230 V
Servo drive type XD-P3-M@ XD-P5-M@ XD-01-M@ XD-02-M@ XD-04-M@ XD-08-M@ XD-15-M@
Applicable
servo motor
Max. applicable motor capacity W 30 50 100 200 400 750 1500
Continuous output current Arms 0.44 0.64 0.91 2.1 2.8 5.7 11.6
Max. output current Arms 1.3 2.0 2.8 6.5 8.5 13.9 28
Input power Main circuit For single-phase, 200 to 230 VAC + 10 to -15%
Supply Control circuit For single-phase, 200 to 230 VAC + 10 to -15%
Control method Single phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute value)
Usage/storage temperature 0 to +55 °C / -20 to 85 °C
Usage/storage humidity 90%RH or less (non-condensing)
Basic specifications
Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s
Conditions
Configuration Base mounted
Approx. weight Kg 0.8 1.1 1.7 3.8
SGMAH-@ A3A@ A5A@ 01A@ 02A@ 04A@ 08A@ 15A@
SGMPH-@ - - 01A@ 02A@ 04A@ 08A@ -
R7M-@ A03030-@ A05030-@ A10030-@ A20030-@ A40030-@ A75030-@ -
R7M-@ - - AP10030-@ AP20030-@ AP40030-@ AP75030-@ -
2
/ 19.6 m/s
2
Design version # (optional)
01: Design version
D0: Embedded PROFIBUS
Extended functionality
N: With CN10 connector for option units
S: No CN10 connector
Input voltage
M: 230 V
T: 400 V
Three-phase, 400 V
Servo drive type XD-05-T@ XD-10-T@ XD-15-T@ XD-20-T@ XD-30-T@ XD-50-T@
Applicable
servo motor
Max. applicable motor capacity kW 0.45 1.0 1.5 2.0 3.0 5.0
Continuous output current Arms 1.9 3.5 5.4 8.4 11.9 16.5
Max. output current Arms 5.5 8.5 14 20 28 40.5
Input power Main circuit For three-phase, 380 to 480 VAC + 10 to -15% (50/60 Hz)
Supply Control circuit 24 VDC+15%
Control method Three phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute value)
Usage/storage temperature 0 to +55 °C / -20 to +85 °C
Usage/storage humidity 90%RH or less (non condensing)
Basic specifications
Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s
Conditions
Configuration Base mounted
Approx. weight Kg 2.8 3.8 5.5
SGMAH-@ 03D@ 07D@ - - - -
SGMPH-@ 02D@, 04D@ 08D@ 15D@ - - -
SGMGH-@ 05D@ 09D@ 13D@ 20D@ 30D@ 44D@
SGMSH-@ - 10D@ 15D@ 20D@ 30D@ 40D@/50D@
SGMUH-@ - 10D@ 15D@ - 30D@ 40D@
2
/ 19.6 m/s
2
XtraDrive 123
General specifications
Speed control range 1:5000
Speed
variance
Frequency characteristics 400Hz (at J
Torque control accuracy (reproducibility) ±2%
Performance
Soft start time setting 0 to 10s (acceleration, deceleration can each be set.)
Speed
reference
input
Torque
reference
input
Speed/torque control mode
Input signal
Contact
speed
reference
Bias Setting 0 to 450 min-1 (setting resolution: 1 min-1)
Feed forward compensation 0 to 100 % (setting resolution: 1%)
Position completed width setting 0 to 250 command units (setting resolution: 1 command unit)
Performance
Command
pulse
Position control mode
Control signal Clear signal (input pulse is same as reference pulse)
Input signal
Position signal output A-phase, B.phase, C-phase, (S-phase): line driver output S-phase is for absolute encoder only.
Sequence input signal Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run
Sequence output signal Servo alarm, alarm codes (3-bit output): CN1 output terminal is fixed
I/O signal
Communications Interface Digital operator (hand- held type), RS-422 port for PCs, etc. (RS-232C ports under some conditions)
Auto tuning function Position speed loop gain and integral time constant can be automatically set.
Dynamic brake (DB) Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative processing Regenerative resistor externally mounted (option)
Overtravel (OT) prevention function DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder divider function Optional division possible
Electronic gearing 0,01< A/B<100
Internal speed setting function 3 speeds may be set internally
Integrated functions
Protective functions Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power phase
Analog monitor functions for supervision Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc.
Display functions CHARGE, POWER, 7-segments LEDx5
Others Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal
Load variance During 0 to 100% load ±0.01% max. (at rated speed)
Voltage variance Rated voltage ±10%: 0% (at rated speed)
Temperature variance 25 ±25 °C: ±0.1 % max (at rated speed)
Reference voltage ±6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery
Input empedance Approx. 14 kΩ
Circuit time constant Reference voltage ±3 VDC (forward rotation if positive reference) at rated speed: Set at delivery
Imput impedance Approx. 14 KΩ
Circuit time constant Approx. 47 µs
Rotation direction selection With P control signal
Speed selection With forward/reverse current limit signal (speed 1 to 3 selection), servo motor stops or another control method is
Input pulse type Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse form Line driver (+5 V level) , open collector (+5 V or +12 level)
Input pulse frequency 0 to 500 Kpps (200 Kpps max. at open collector)
1:N communications N may equal up to 14 when an RS-422A port is used.
Axis address setting Set by user setting
Functions Status display, user constant setting monitor display, alarm traceback display, JOG run /autotuning operations,
PROFIBUS (Only models with PROFIBUS) PROFIBUS DP slave, node address 0-125 set by rotary switches, baud rate from
Variable setting range: ±2 to ±10 VDC at rated speed/ max. input voltage: ±12 V
Variable setting range ±1 to ±10 VDC at rated torque reference
used when both are OFF.
prohibit, alarm reset, forward/ reverse current limit (or internal speed switching)
It is possible to output three types of signals form among: positioning complete (speed agree), motor rotation,
servo ready, current limit, speed limit, brake release, warning, NEAR, and zero point pulse signal
CompoWay/F protocol is supported on firmware version "3.20C" and higher
and graphing functions for speed/torque command signal, etc
9.6 kbps to 12 Mbps. LED Indicators: Bus failure and system failure
loss, overflow, overspeed, encoder error, runaway, CPU error, parameter error, etc.
(Integrated digital operator function, not available in models with PROFIBUS)
for high frequency power suppression function (except: 6 to 15 kW)
= JM)
L
I/O specifications
Terminal specifications
Symbol Name Function
L1, L2 or
L1, L2, L3
U Servo motor connection terminal Red Terminals for outputs to the servo motor.
V White
WBlue
L1C, L2C Control power input terminal AC power input terminals for the control circuit.
B1, B2 or
B1, B2, B3
⊕1, ⊕2 DC reactor connection terminal for sup-
⊕ Main circuit DC output terminal (+) Normally, not connected.
Main circuit AC input terminal AC power input terminals for the main circuit
Frame ground Ground terminal. Ground to a maximum of 100 Ω. (class 3)
Main circuit DC output terminal 5 kW or less: Connect an external regenerative resistor if regenerative energy is high.
pressing power supply harmonic waves
Main circuit DC output terminal (n-) Normally, not connected.
5.5 kW: There is no internal regenerative resistor. Be sure to connect an external regenerative resistor unit.
Normally, short ⊕1 and ⊕2. If a countermeasure against power supply harmonic waves is needed,
connect a DC reactor between ⊕1 and ⊕2.
This terminal exists on the servo drives with a capacity opf 6.0 kW or higher only.
124 AC servo systems
Encoder connector (CN2)
Pin Symbol Function
1, 2, 3 PPG0V Encoder power supply GND
4, 5, 6 PPG5V Encoder power supply +5 V
7- 8 PS+ Encoder serial signal input
9PS− Encoder serial signal input
10 SePG5V Serial encoder power supply +5 V (Sigma-II)
11 SePG0V Serial encoder power supply GND (Sigma-II)
12 BAT+ Battery + (used only with absolute encoder)
13 BAT- Battery - (used only with absolute encoder)
14 PC+ Encoder + C-phase input
15 PC− Encoder − C-phase input
16 A+ Encoder + A-phase input
17 A− Encoder − A-phase input
18 B+ Encoder + B-phase input
19 B− Encoder − B-phase input
20 - Shell FG Cable shield ground
I/O signals (CN1) - input signals
Pin No. Signal Name Function
40 Common /S-ON Servo ON: Turns ON the servo motor when the gate block in the inverter is released.
41 /P-CON Function selected by parameter.
42
43
45
46
44 /ALM-RST Alarm reset: releases the servo alarm state.
47 +24VIN Control power supply input for sequence signals: users must provide the +24 V power supply.
4 (2) SEN Initial data request signal when using an absolute encoder.
21
22
5 (6) Speed V-REF Speed reference speed input: ±2 to ±10 V/rated motor speed (input gain can be modified using a parameter.)
9 (10) Torque T-REF Torque reference input: ±1 to ±10 V/rated motor torque (input gain can be modified using a parameter.)
7
8
11
12
15
14
3
13
18
Position PULS
P-OT
N-OT
/P-CL
/N-CL
BAT (+)
BAT (-)
/PULS
SIGN
/SIGN
CLR
/CLR
PL1
PL2
PL3
Proportional control reference Switches the speed control loop from PI (proportional/ integral) to P (proportional)
Direction reference With the internal set speed selected: switch the rotation direction.
Control mode
switching
Zero-clamp reference Speed control with zero-clamp function: referencevspeed is zero when ON.
Reference pulse block Position control with reference pulse stop: stops reference pulse input when ON.
Forward run prohibited
Reverse run prohibited
Function selected by parameter.
Forward external torque limit ON
Reverse external torque limit ON
Internal speed switching With the internal set speed selected: switches the internal speed settings.
Allowable voltage fluctuation range: 11 to 25 V
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Reference pulse input
for line driver only
Positional error pulse clear input: clears the positional error pulse during position control.
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are open-collector outputs
(+12 V power supply is built into the SERVOPACK).
control when ON.
↔
Position speed
↔
Position
Torque speed
Overtravel prohibited: stops servo motor when movable part travels beyond the
allowable range of motion.
Current limit function enabled when ON.
Input mode is set from the following pulses.
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90° phase differential)
torque
↔
Enables control mode switching.
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the
parameters.
3. The voltage input range for speed and torque references is a maximum of ±12 V.
XtraDrive 125
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