YASKAWA XtraDrive Series User manual

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XtraDrive SERIES
AC SERVO DRIVER
XtraDrive-DP
Embedded PROFIBUS
User Manual
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France
Tel : [phone] - Fax : [phone]
Web : http: www.audin.fr - Email : [email protected]

XtraDrive-DP User Manual
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Important Notice
This manual is delivered subject to the following conditions and restrictions:
✦ This manual contains proprietary information belonging to YET Ltd. Such
information is supplied solely for the purpose of assisting explicitly and
properly authorized users of XtraDrive-DP.
✦ 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.
✦ The text and graphics are for the purpose of illustration and reference only.
The specifications on which they are based are subject to change without
notice.
✦ Some of the software described in this manual is furnished under a license
and may be used or copied only in accordance with the terms of that
agreement. This includes third-party software such as the S7 SIMATEC
Manager.
✦ This manual is designed to provide information about XtraDrive-DP. Every
effort has been made to make this manual as complete and accurate as
possible. However, no warranty of suitability, purpose or fitness is made or
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 that may appear in this publication,
and retains the right to make changes to the products and the guide without
prior notice.
Copyright 2003 YET, Yaskawa Eshed Technology Ltd. All rights reserved.
Other company and brand products and service names are trademarks or
registered trademarks of their respective holders.
Catalog No. 8U0112 June 2003
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About This Manual
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About This Manual
This manual is intended for users who want to easily integrate the
XtraDrive-DP system into a PROFIBUS network. It explains how to
connect XtraDrive-DP to a PROFIBUS network and how to use
standard tools to set up the behavior and functionality of the
XtraDrive-DP on the PROFIBUS network.
This manual contains the following chapters:
✦ Chapter 1, Introducing XtraDrive-DP, describes the
XtraDrive-DP servo driver and provides an introduction to
PROFIBUS networking.
✦ Chapter 2, Installing XtraDrive-DP, describes how to connect
XtraDrive-DP to PROFIBUS.
✦ Chapter 3, Working with XtraDrive-DP, describes the process
of setting up and configuring XtraDrive-DP to work on a
PROFIBUS network.
✦ Appendix A, XtraDrive-DP GSD File, provides a link to the
most updated GSD file.
✦ Appendix B, XtraDrive-DP Parameters List, provides a list of
configurable XtraDrive-DP parameters.
✦ Appendix C, XtraDrive-DP Alarms, Warnings and Faults,
provides a list of system errors.
✦ Appendix D, Working with XtraWare, provides an overview of
the PC-based XtraWare software.
✦ Appendix E, Example of Using XtraDrive-DP, describes how to
set up and control an XtraDrive-DP slave. The DP configuration
tool used in this example is the S7 SIMATEC Manager.
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Related Documents
The following books provide additional information:
✦ XtraDrive User Manual, Catalog No. 8U0108
✦ XtraWare User’s Manual, Catalog No. 8U0109
✦ XtraDrive Short Form Installation Guide, Catalog No. 8U0107
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Table of Contents
Chapter 1: Introducing XtraDrive-DP...................................... 1
What is XtraDrive? .......................................................................................................2
XtraDrive with Embedded PROFIBUS (XtraDrive-DP) ...............................................3
Product Overview ........................................................................................................4
XtraDrive-DP Specifications......................................................................................4
PROFIBUS Interface Specifications ...........................................................................6
Nameplate ................................................................................................................7
Type Description ......................................................................................................8
Introduction to PROFIBUS ...........................................................................................9
PROFIBUS-DP ..........................................................................................................9
Parameterization.....................................................................................................11
Configuration..........................................................................................................12
Data Exchange........................................................................................................12
GSD File .................................................................................................................13
Chapter 2: Installing XtraDrive-DP........................................ 15
Connecting an XtraDrive-DP......................................................................................15
The PROFIBUS Network.........................................................................................16
Connecting XtraDrive-DP to a PROFIBUS Network................................................18
Setting the Node Address........................................................................................20
LED Indicators ........................................................................................................21
Chapter 3: Working with XtraDrive-DP................................. 23
Overview....................................................................................................................24
Setting Up XtraDrive-DP ............................................................................................25
Installing GSD Files.................................................................................................25
Using Modules to Set Up XtraDrive-DP ..................................................................25
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Sending Commands ....................................................................................................33
Setting XtraDrive-DP Parameters ...............................................................................37
Setting Parameters at Parameterization....................................................................37
Setting Parameters During Data Exchange...............................................................38
Setting Parameters with XtraWare ...........................................................................38
Reading Variables .......................................................................................................39
Downloading XtraDrive-DP Programs........................................................................40
Starting Program Synchronization..............................................................................41
Diagnostics .................................................................................................................42
XtraDrive-DP’s Response to Clear Data Control Command .......................................44
Appendix A: XtraDrive-DP GSD File ......................................45
Appendix B: XtraDrive-DP Parameters List ............................47
Appendix C: XtraDrive-DP Alarms, Warnings and Faults .......67
Alarm Messages ..........................................................................................................67
Warning Messages ......................................................................................................69
Fault Messages ............................................................................................................69
Appendix D: Working with XtraWare ....................................73
Appendix E: Example of Using XtraDrive-DP .........................75
Specifications..............................................................................................................75
Workflow....................................................................................................................76
System Setup...........................................................................................................76
Application Setup....................................................................................................78
Application Execution During Data Exchange.........................................................81
Index......................................................................................83
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Safety Precautions
In this manual, safety precautions are classified as WARNING or
CAUTION. It is extremely important that you pay close attention to
these precautions.
The following symbols are used:
WARNING
Indicates a potentially hazardous situation, which, if not avoided, could result in
death or serious personal injury.
CAUTION
Indicates a potentially hazardous situation, which, if not avoided, could result in
minor or moderate personal injury and/or damage to the equipment. In some
instances, items described in a CAUTION could also result in a serious accident.
Read the following safety precautions thoroughly before
installation, operation, maintenance or inspection of the
XtraDrive-DP.
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Installation
WARNING
After voltage resistance testing, wait at least five minutes before servicing the
product.
Failure to observe this warning could result in electric shock.
CAUTION
Never use the equipment near flammable materials, or where it may be exposed to
splashes of water or corrosive or flammable gases.
Failure to observe this caution could result in electric shock or fire.
Wiring
WARNING
XtraDrive grounding must be in accordance with the national code and consistent
with sound local practices.
Failure to observe this warning could result in electric shock or fire.
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CAUTION
Do not connect three-phase power supply to XtraDrive output terminals U, V,
and W.
Failure to observe this caution could result in personal injury or fire.
Securely tighten screws on the terminal block and ground terminals of power input
and motor connections.
When using a 400V XtraDrive, the amount of current leaking from the power line
increases. Therefore, use cables and isolation materials rated for 400V, and keep
the wires as short as possible.
Inspection and Maintenance
WARNING
Be sure to turn power OFF before inspection or maintenance.
Failure to observe this warning could result in electric shock.
Never open the terminal cover while power is ON, and never turn power ON when
the terminal cover is open.
Failure to observe this warning could result in electric shock.
After turning power OFF, wait at least five minutes before servicing the product.
Failure to observe this warning could result in residual electric charges causing
electric shock.
CAUTION
Never change wiring while power is ON.
Failure to observe this warning could result in electric shock or personal injury.
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Receiving
CAUTION
Use the specified combination of servomotor and XtraDrive.
Failure to observe this caution could result in fire or equipment failure.
Operation
CAUTION
To avoid accidents, perform a test run of the servomotor with no load.
Failure to observe this caution could result in personal injury.
Before starting operation with a load connected, set up user constants suitable for
the machine.
Failure to do so could result in overrun failure. When the load moves vertically,
incorrect setting of the user constants may cause the load to fall.
Before starting operation with a load connected, make sure emergency-stop
procedures are in place.
Failure to observe this caution could result in personal injury.
During operation, do not touch the XtraDrive's heat sink.
Failure to observe this caution could result in burns.
Motor overload protection is internally provided. For further information, refer to the
XtraDrive User Manual, Catalog No. 8U0108.
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General Precautions
To ensure safe application, the following must be noted:
✦ 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 damage, inform
your nearest YET representative or 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 problems resulting from unauthorized modification.
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Introducing XtraDrive-DP
CHAPTER 1
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1Introducing XtraDrive-DP 11 Introducing XtraDrive-DP
Chapter 1
Introducing
XtraDrive-DP
About This Chapter
This chapter provides a brief overview of XtraDrive-DP and its use
on a PROFIBUS network.
✦ What is XtraDrive?, page 2, provides a brief introduction to
XtraDrive-DP.
✦ Product Overview, page 4, provides a list of XtraDrive-DP and
PROFIBUS specifications.
✦ Introduction to PROFIBUS, page 9, provides an introduction to
PROFIBUS.
✦ Parameterization, page 11, provides an overview of the
Parameterization stage.
✦ Configuration, page 12, provides an overview of the
Configuration stage.
✦ Data Exchange, page 12, provides an overview of the data
exchange stage.
✦ GSD File, page 13, provides a brief description of the GSD files.
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What is XtraDrive?
XtraDrive is a family of state-of-art, high-precision AC servo drivers.
XtraDrive is based on a unique proprietary control technology,
offering solutions for the most demanding applications.
XtraDrive characteristics include:
✦ Advanced servo control
❖ High-precision During Movement (NCT Algorithm)
❖ Oscillation Canceling Algorithm (OCA)
✦ Automatic tuning of servo parameters for optimal setting time
✦ Integrated positioner by various programmable motion profile
modes
✦ 1.5 Axis (Master-Slave with automatic offset correction)
✦ Two analog inputs for general purpose usage
✦ Network connectivity
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Introducing XtraDrive-DP
CHAPTER 1
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1Introducing XtraDrive-DP 11 Introducing XtraDrive-DP
XtraDrive with Embedded
PROFIBUS (XtraDrive-DP)
XtraDrive-DP provides all the benefits of working with the
XtraDrive family of products, while running on PROFIBUS network.
XtraDrive-DP uses PROFIBUS’ standard diagnostic features to
provide continuous diagnostics, as well as driver status and
information about runtime error in motion commands.
XtraDrive-DP has PROFIBUS product certification according to
EN 50170 and IEC 61158.
As XtraDrive-DP has the same parameter set, system variables,
motion commands and programming functions as the rest of the
XtraDrive family, it functions in a familiar and easy to-use manner.
Refer to the XtraDrive and XtraWare User Manuals for detailed
information about using XtraDrive.
Even when XtraDrive is connected to a network, you can use
XtraWare for tuning, oscilloscope functions, program editing and
program download. Refer to the XtraWare User’s Manual for
detailed information about the XtraWare software.
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Product Overview
Below are the specifications for the XtraDrive-DP and the
PROFIBUS interface.
XtraDrive-DP Specifications
Servo motor capacity (kW) 0.5 1.0 1.5 2.0 3.0
Voltage 3-Phase 400 VAC
Command input PROFIBUS, Analog, pulse train
Integrated positioner Various programmable motion
profile modes
Encoder I/F A/B (Z) encoder, serial encoder:
13, 16 or 17 -bit
(incremental/absolute value)
Protection functions Overcurrent, overvoltage,
undervoltage, overload,
regeneration error, main circuit
voltage error, heat sink overheat,
overspeed, encoder error overrun,
parameter error
Digital inputs 7
Digital outputs 7
Analog input 2 at +/- 10 VDC at rated torque
Analog output 2 at +/- 10 VDC at rated torque
Speed control range 1 to 6500 rpm
Speed-voltage regulation Rated voltage +/- 10%: 0% (at rated
speed)
Speed-load regulation 0-100% load: 0.01% max. (at rated
speed)
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Introducing XtraDrive-DP
CHAPTER 1
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1Introducing XtraDrive-DP 11 Introducing XtraDrive-DP
External torque limitation Input voltage +/- 12 V max.
Ambient/storage
temperature
0-55°C/ -20 to -85°C
Ambient/storage humidity 90% or less (with no condensation)
Dimensions for 400W
model 0.5, 1.0, 1.5 kW
LxWxH 180x110x160
Dimensions for 400W
model 2, 3 kW
LxWxH 180x110x250
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PROFIBUS Interface Specifications
Maximum Expansion 126 stations max.
Communication RS-485
Auto-configuring GSD file
PROFIBUS Profile DP
PROFIBUS Port 9-pin D-shell
Node Address 0-125 decimal
Set by rotary switches (2 digit hex
number)
Segment distance 100 meters (327 feet) to
1200 meters (3270 feet)
Baud Rate Selectable from 9.6 kbps to
12 Mbps
BF Green Data exchange
Red No
communication
Blinking
Red
Communication
but not in data
exchange
SF Off Everything OK
Red System failure
LED Indicators:
BF - Bus failure
SF - System failure
Blinking
Red
Warning or alarm
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Introducing XtraDrive-DP
CHAPTER 1
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1Introducing XtraDrive-DP 11 Introducing XtraDrive-DP
Nameplate
A nameplate is attached to each XtraDrive-DP, providing the
drive’s model number and other product information. The
information from this nameplate is used, for example, when placing
orders for XtraDrive-DPs.
Type
Servomotor output
Serial number
Applicable power supply
TypeType
Servomotor output
Serial number
Applicable power supply
The following information is included on the nameplate:
✦ Serial number
✦ Applicable power supply
✦ Servomotor output
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Type Description
This section specifies the model type information for each
XtraDrive-DP.
XtraDrive Series
Max. Applicable
Servomotor Power
(see table below)
Input Voltage:
M - 200VAC, or
T - 400VAC
Extended Functionality
By Option Boards:
S - no CN10 connector, or
N - with CN10 connector
Design Version #
D0-DF
Blank, or
R - Rack mounted, or
V - Board coating
(optional)
Blank, or Y followed by
1 to 4 alphanumeric characters
to identify customer applications
(optional)
XD 01 T S D1 RY999--
Output
Capacity
Code
Max. Applicable
Servomotor
Power (kW)
05 0.50
10 1.0
15 1.5
20 2.0
30 3.0
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