YASKAWA XTRAWARE - V3.0 User manual

XtraWare User Manual
XtraWare Version 3.0
(Supporting XtraDrive Versions 3.04 - 3.23)
Catalog No. 8U0109
Revision G

Copyright ©2007 by YET, YASKAWA Eshed Technology Ltd.
XtraWare User Manual
XtraWare Version 3.0 for XtraDrive Version 3.04 – 3.23
Cat. No. 8U0109 Rev. G
June 2007
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 manual is designed to provide information about the XtraWare software. Every effort has been
made to make this book complete and as accurate as possible. However, no warranty of suitability,
purpose or fitness is made or implied. YET Ltd. is not liable or responsible to any person or entity for
loss or damage in connection with or stemming from the use of XtraWare and/or the information
contained in this publication
YET Ltd. bears no responsibility for errors which may appear in this publication and retains the right
to make changes to the software and manual without prior notice.
MAIN OFFICE:
13 Hamelacha St.,
Afeq Industrial Estate
Rosh Ha’ayin 48091
ISRAEL
Tel: [phone]
Fax: [phone]
E-mail: [email protected]
Homepage: www.yetmotion.com
USA OFFICE:
YET US Inc.
444 East Industrial Park Drive
Manchester, NH 03109-5317
USA
Toll Free: 866-YET-8080
Tel: [phone]
Fax: [phone]
E-mail: [email protected]
Homepage: www.yet-motion.com

Table of Contents
Table of Contents
1. INTRODUCTION......................................................................... 1
2. SYSTEM REQUIREMENTS AND SOFTWARE INSTALLATION......... 3
3. THE MAIN SCREEN INTERFACE .................................................. 5
3.1. Title Bar (A) ................................................................................................5
3.2. Menu Bar (B)/Toolbar (C)...........................................................................5
3.2.1. File Menu..................................................................................................6
3.2.2. Edit Menu .................................................................................................8
3.2.3. View Menu................................................................................................9
3.2.4. Run Menu ............................................................................................... 10
3.3. Communication Menu................................................................................11
3.3.1. Tool Menu............................................................................................... 11
3.3.2. Maintenance Menu ................................................................................... 12
3.3.3. Window Menu.......................................................................................... 13
3.4. Status Bar (D)...........................................................................................14
3.5. Work Area (E) ...........................................................................................14
3.5.1. Workspace Window .................................................................................. 14
3.5.2. Project Tab ............................................................................................. 14
3.5.3. Program Window ..................................................................................... 17
3.5.4. History Window ....................................................................................... 18
3.5.5. Parameters Window ................................................................................. 18
3.5.6. Cam Window........................................................................................... 19
4. OPERATING THE XTRADRIVE USING XTRAWARE..................... 21
4.1. Connecting the Driver to the PC ................................................................21
4.1.1. Communication Settings ........................................................................... 21
4.2. Setup Wizard.............................................................................................22
4.3. Parameter Control.....................................................................................25
4.3.1. Uploading and Downloading Parameters ...................................................... 25
4.3.2. Viewing Parameter Settings....................................................................... 25
4.3.3. Setting Parameters Online......................................................................... 27
4.3.4. Setting Parameters Offline ........................................................................ 27
4.4. Programming the XtraDrive ......................................................................27
4.4.1. Writing a Program.................................................................................... 27
4.4.2. Programming Commands with Variable Arguments ....................................... 29
4.4.3. Running a Program .................................................................................. 32
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Table of Contents
4.5. Program Modes .........................................................................................33
4.5.1. Program Mode......................................................................................... 33
4.5.2. Immediate Mode...................................................................................... 33
4.5.3. Sequential Mode ...................................................................................... 33
4.6. Tuning the Control Loops ..........................................................................34
4.6.1. Manual Tuning......................................................................................... 34
4.6.2. Auto-tuning ............................................................................................ 34
4.6.3. Performing Fast Tuning............................................................................. 35
4.6.4. Performing Fine Tuning............................................................................. 35
4.6.5. Evaluating Control Loop Performance.......................................................... 36
4.7. Charts .......................................................................................................38
4.7.1. The Chart Main Window ............................................................................ 38
4.7.2. Using Zoom ............................................................................................ 42
4.7.3. Starting the Trace.................................................................................... 43
4.7.4. Printing a Chart ....................................................................................... 43
4.8. Mechanical Analysis ..................................................................................44
4.8.1. Mechanical Analysis Window...................................................................... 45
4.8.2. Mechanical Analysis Toolbar ...................................................................... 47
4.8.3. Running the Mechanical Analysis ................................................................ 48
4.9. ECAM (Electronic Cam)..............................................................................49
4.9.1. ECAM Profile Characteristics ...................................................................... 49
4.9.2. Installing ECAM ....................................................................................... 49
4.9.3. ECAM Workflow ....................................................................................... 49
4.9.4. ECAM Profiles .......................................................................................... 50
4.9.5. Creating a Profile ..................................................................................... 51
4.9.6. Loading a Profile ...................................................................................... 57
4.9.7. Editing a Profile ....................................................................................... 57
4.9.8. Deleting a Profile ..................................................................................... 58
4.9.9. Viewing the Master-Slave Table ................................................................. 59
4.9.10. Viewing the Data Graph......................................................................... 60
4.9.11. Printing from the Electronic Cam Window................................................. 60
4.9.12. The Cam List Window............................................................................ 61
4.9.13. Downloading Profiles to the XtraDrive...................................................... 61
4.9.14. Programming with Electronic Cam........................................................... 62
4.9.15. Modifying a Profile using Variables .......................................................... 63
4.9.16. Monitoring Master and Slave Positions ..................................................... 67
4.9.17. Serial Communication and ECAM ............................................................ 67
4.10. Registration and Latching .........................................................................70
4.10.1. Latching Workflow ................................................................................ 71
4.10.2. Troubleshooting ................................................................................... 72
4.10.3. Commands .......................................................................................... 72
4.10.4. Registration Variables ........................................................................... 73
4.10.5. Registration Example ............................................................................ 74
4.11. Interrupts .................................................................................................76
4.11.1. Interrupt Events................................................................................... 76
4.11.2. Multiple Interrupts ................................................................................ 76
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Table of Contents
4.11.3. Interrupt Response Time ....................................................................... 76
4.11.4. Interrupt Masks.................................................................................... 77
4.11.5. Interrupt Handling ................................................................................ 77
4.11.6. Interrupt Variables ............................................................................... 77
4.11.7. Interrupt Commands............................................................................. 80
4.11.8. Interrupt Example ................................................................................ 82
4.12. Master-Slave Synchronization...................................................................85
4.12.1. Using New_move_enable to Reduce Response Time .................................. 85
4.12.2. Overriding New_move_enable ................................................................ 85
4.12.3. Example Program for a Flying Shear Application........................................ 85
5. COMMAND REFERENCE ............................................................ 87
5.1. XtraWare Modes........................................................................................88
5.1.1. Program Mode (User Program Buffer UPB)................................................... 88
5.1.2. Sequential Mode (Sequential Command Buffer SCB) ..................................... 88
5.1.3. Immediate Mode (Immediate Command Buffer ICB) ..................................... 89
5.2. SCB and UPB Command Flushing...............................................................89
5.2.1. Motion Commands With _D Suffix .............................................................. 89
5.2.2. Motion Commands Without _D Suffix.......................................................... 89
5.3. Motion Modes............................................................................................90
5.3.1. Transition Between Motion Modes............................................................... 91
5.4. Motion Command Buffer............................................................................93
5.5. XtraWare Commands.................................................................................93
ACCELERATION ................................................................................................. 96
ALARM_RESET .................................................................................................. 97
CALL................................................................................................................ 98
CONTROL ......................................................................................................... 99
DELAY............................................................................................................ 100
ECAM_DISENGAGE .......................................................................................... 101
ECAM_ENGAGE ............................................................................................... 102
ELECTRONIC_GEAR ......................................................................................... 103
END............................................................................................................... 104
ENGAGE_VIRTUAL_AXIS................................................................................... 105
EXT_INT......................................................................................................... 106
FAST_OUTPUT_SETTING................................................................................... 107
FAULT_MANAGER ............................................................................................ 110
FAULT_MANAGER_RETURN ............................................................................... 111
FAULT_MESSAGE_CLEAR .................................................................................. 112
GAIN ............................................................................................................. 113
GO ................................................................................................................ 114
GO_D ............................................................................................................ 115
GO_H ............................................................................................................ 116
GO_TO........................................................................................................... 118
HOME Commands ............................................................................................ 118
HARD_HOME................................................................................................... 119
HOME_C......................................................................................................... 120
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Table of Contents
HOME_SW ...................................................................................................... 121
HOME_SW_C .................................................................................................. 122
IF.................................................................................................................. 123
IF_INPUT........................................................................................................ 125
INPUT_CASE ................................................................................................... 127
INT................................................................................................................ 129
INT_RETURN................................................................................................... 131
JERK_TIME ..................................................................................................... 132
LABEL ............................................................................................................ 133
LATCHING_TRIGGER ........................................................................................ 134
LOOP ............................................................................................................. 136
MATH............................................................................................................. 137
MOVE ............................................................................................................ 139
MOVE_D......................................................................................................... 140
MOVE_H......................................................................................................... 141
MOVE_R......................................................................................................... 142
READ_FROM_ARRAY ........................................................................................ 145
REGISTRATION_DISTANCE ............................................................................... 146
RETURN ......................................................................................................... 147
RUN............................................................................................................... 148
SET_OUTPUT .................................................................................................. 148
SET_OUTPUTS ................................................................................................ 150
SET_VAR ........................................................................................................ 151
SET_ZERO_POSITION ...................................................................................... 152
SLIDE ............................................................................................................ 153
SLIDE_ANALOG ............................................................................................... 154
SPEED ........................................................................................................... 155
SPEED_CONTROL ............................................................................................ 156
SPEED_LIMIT_FOR_TORQUE_MODE ................................................................... 157
START............................................................................................................ 158
STOP ............................................................................................................. 158
STOP_EX........................................................................................................ 159
STOP_MOTION ................................................................................................ 161
TORQUE ......................................................................................................... 162
TORQUE_ANALOG............................................................................................ 163
TORQUE_LIMITS.............................................................................................. 164
WAIT_EXACT .................................................................................................. 165
WAIT_FOR_START ........................................................................................... 166
WAIT_INPUT ................................................................................................... 167
WAIT_STOP .................................................................................................... 168
WAIT_VAR...................................................................................................... 169
WRITE_TO_ARRAY........................................................................................... 170
5.6. Serial Communication Commands ...........................................................171
CLEAR_BUFFER ............................................................................................... 171
ECAM_POINTS ................................................................................................ 171
ECAM_PROFILE ............................................................................................... 172
ECAM_SEGMENT.............................................................................................. 173
ECAM_TABLE_BEGIN........................................................................................ 173
ECAM_TABLE_END........................................................................................... 174
GET_FROM_ARRAY .......................................................................................... 174
GET_PAR........................................................................................................ 174
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Table of Contents
GET_VAR........................................................................................................ 175
GET_VERSION................................................................................................. 175
POLLING ........................................................................................................ 175
SAVE_PRG_ECAM ............................................................................................ 175
SET_PAR ........................................................................................................ 176
6. SERIAL INTERFACE PROTOCOL.............................................. 177
6.1. Basic Communication Specifications .......................................................177
6.2. Protocol Specifications............................................................................177
6.2.1. Message Data Structure.......................................................................... 178
6.2.2. Master Message..................................................................................... 178
6.2.3. Response Message ................................................................................. 183
6.3. Troubleshooting......................................................................................191
7. ERROR MESSAGES ................................................................. 193
8. PARAMETER REFERENCE........................................................ 211
8.1. Table 19: Parameters..............................................................................211
8.2. Table 20: Application Setting Parameters ...............................................218
8.3. Table 21: Switches..................................................................................219
8.4. Table 22: Input Signal Selections............................................................226
8.5. Table 23: Home Switches ........................................................................229
8.6. Table 24: Extended Input Signal Selection..............................................229
8.7. Table 25: Output Signal Selections..........................................................230
8.8. Table 26: Extended Output Signal Selection............................................231
8.9. Table 27: Input and Output Availability per Mode ...................................232
8.10. Table 28: Auxiliary Functions..................................................................233
8.11. Table 25: Monitor Modes.........................................................................234
9. LIST OF SYSTEM VARIABLES ................................................. 235
10. LIST OF STATUS WORD BITS .............................................. 244
11. LIST OF OPERATION CODES................................................ 245
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Table of Contents
12. GLOSSARY OF TERMS AND CONCEPTS................................. 249
12.1. Electronic Gear........................................................................................249
12.1.1. Electronic Gear Parameters .................................................................. 249
12.2. Motion Profile..........................................................................................250
12.2.1. Profile Velocity ................................................................................... 250
12.2.2. Profile Acceleration ............................................................................. 250
12.2.3. Profile Jerk Smoothing Time................................................................. 251
12.3. Explanation of Command Table...............................................................251
vi XtraWare User Manual

Introduction
1. Introduction
The XtraWare software constitutes the user interface and tool of operation
for the XtraDrive. It enables the user to set parameters, tune control loops
and monitor faults. It also facilitates programming of the driver both for
professional programmers and novices.
The topics described in this manual include:
♦Software installation (including system requirements and setup
instructions)
♦User menus and toolbars
♦Operation of the XtraDrive driver using the XtraWare software
(including communication, parameters and program handling)
♦Command reference which lists alphabetically:
The commands used in the XtraWare software
The commands available in the serial communication protocol
♦The XtraDrive serial communication protocol
♦Error messages
♦Parameter reference providing information on all the parameters
available in the XtraWare software
♦System Variables
♦Status Word Bits
♦Operation Codes
Related documents:
Title Catalog Number
XtraDrive (XD-) SERIES AC SERVO
DRIVER User Manual
8U0108
AC SERVO MOTOR INSTRUCTIONS TOE-C231-2 for ∑-II
servomotors or other
compatible motors
XtraDrive (XD-) SERIES AC SERVO
DRIVER Short Form Installation Guide
8U0107
XtraWare User Manual 1

1BSystem Requirements and Software Installation
2. System Requirements and
Software Installation
For optimum performance, XtraWare requires:
♦Computer: Pentium 166 MHz (Pentium II 350 MHz recommended).
♦At least 32 MB of RAM (64 MB recommended).
♦A hard drive with at least 100 MB of free disk space.
♦Operating System:
WindowsTM 95 OSR2 or later (IE4.01 Service Pack 2 or later).
Windows 98
Windows NT4.0 Service Pack 3 or later (IE4.01 Service Pack 2 or
later)
Windows 2000
Windows Me
Windows XP
♦Super VGA or better graphics display, minimum 256 colors (65536
colors recommended).
♦When using a computer that does not have a serial port, use either a
USB-to-serial converter or a PC Card expansion interface (PMCIA) with
a serial port. Review vendors’ system requirements for further details,
as not all USB-to-serial converters have exhibited satisfactory
performance. See Appendix E, page E12 of the XtraDrive User Guide for
a description of the cable and pin assignments.
♦CD-ROM drive (for installation only).
The XtraWare software is provided on a CD-ROM supplied with the
XtraDrive. To obtain a copy, visit the web site (www.yetmotion.com) and
login to the download section. You may also contact your sales
representative.
Before proceeding with the installation procedure, close any applications
that are open. During the procedure, XtraWare and its related files are
installed on your hard disk. If a previous version of XtraWare is already
installed, the existing program is overwritten. All files created with previous
versions of the software should be backed up.
XtraWare User Manual 3

1BSystem Requirements and Software Installation
¾To install XtraWare:
1. Insert the CD into the CD-ROM drive.
2. If the procedure does not start automatically, either:
Click Start>Run and type "D:\Install\SETUP" (where D: is your
CD drive), or
Using Windows Explorer, navigate to the CD-ROM drive, and double-
click D:\Install\SETUP.EXE.
The installation screen is displayed, the installation procedure
commences and a message welcoming you to XtraWare is displayed.
3. Click Next to continue.
4. Follow the onscreen instructions to choose a destination folder for the
XtraWare files.
5. Click Next to continue.
6. Select the program group to create the XtraWare icon. C:\Program
Files\YET\XtraWare is the default setting.
7. After selecting the program group or folder, click Next to continue.
The PC files are copied from the CD-ROM. During the procedure, the
installation progress is displayed.
Note:
If new versions of the PC support files are needed to install
XtraWare, a window will appear asking whether to overwrite the
current version or to cancel the installation. XtraWare may not run
correctly if the new versions of the support files are not installed.
4 XtraWare User Manual

The Main Screen Interface
3. The Main Screen Interface
This chapter describes the XtraWare main screen. The main screen
comprises a main toolbar, menus and several windows. A sample main
screen is shown in Figure 1 below. For clarity, the screen has been divided
into separate elements.
Figure 1: Sample Main Screen
3.1. Title Bar (A)
The XtraWare title bar displays the name of the currently opened project
file.
3.2. Menu Bar (B)/Toolbar (C)
The XtraWare menu bar provides access to the XtraWare menus: File, Edit,
View, Run, Communication, Tools, Maintenance, Window and Help.
The toolbar is located immediately beneath the menu bar. It comprises
shortcut icons to the most commonly used XtraWare options. In the
following descriptions of the menu options, the appropriate icon (where
applicable) is listed next to each option.
Note:
Some menu options are not available in all modes and will appear as
disabled (grayed) when unavailable. Similarly, disabled icons indicate
that communication is offline.
XtraWare User Manual 5

The Main Screen Interface
3.2.1. File Menu
A project contains all the data currently active in XtraWare, such as the user
program, parameter settings, and definitions. The File Menu options are
used to create new XtraWare projects, open existing projects, and save
changes to projects. Project files, which are handled like any other file, are
automatically assigned an extension of XDR, for example, project1.XDR.
In addition, the File Menu opti ons are used to download, upload and print
programs and parameters.
Table 1: File Menu Options
Option Icon Description
New
Project
(Ctrl+N)
Creates a new XtraWare project. When this
option is selected, the Motor Selection
window in which you select the motor that
will be used for this project, is displayed.
Figure 2: Motor Selection Window
Select the appropriate manufacturer and
then one of the listed modules. If you are
using a model that is not listed, click Add
Another Motor.
Enter the name of the model in the Motor
Model field and select the Motor Type
(either Rotary or Linear).
Click Finish to proceed; the Workspace,
Program, History and Parameters windows
are opened with their default contents.
6 XtraWare User Manual

The Main Screen Interface
XtraWare User Manual 7
Option Icon Description
Open
Project
(Ctrl+O)
Opens an existing XtraWare project. When
this option is selected, the Load Project
window is opened:
Figure 3: Load Project Window
Save
Project Saves the current project under its existing
name. If the project has not yet been
named, the Save Project window is opened:
Figure 4: Save Project Window
In the File name field, type a name for the
project and click Save.
Save
Project as
Saves the current project under a new
name. When this option is selected, the
Save Project window is opened.
Close
Project
Closes the current project. If the project
has not been saved, the following message
is displayed:
Save changes to <project-name>?
Click Save to save the project.

The Main Screen Interface
8 XtraWare User Manual
Option Icon Description
Download
Program Downloads a program to the XtraDrive driver.
Download
Parameters Downloads a set of parameters to the
XtraDrive driver.
Download
Cam1Downloads cam profiles to the XtraDrive
driver.
Upload Uploads data from the XtraDrive driver.
Print
Program
Prints the current program.
Print
Parameters
Prints the parameter list, including their
values, on the printer. The parameters are
printed in tabular format.
Print Chart Prints the currently displayed chart and its
corresponding data. See section 4.7.4,
Printing a Chart, for further information.
Exit Exits from XtraWare.
Note:
1) The ECAM-related options are only activated if an ECAM license
has been purchased.
3.2.2. Edit Menu
The Edit Menu options are used to edit the command order of a program in
the Program window.
Table 2: Edit Menu Options
Option Description
Cut
(Ctrl+X)
Deletes selected text or lines from the program and
places the selection on the Windows and XtraWare
clipboards.
Copy
(Ctrl+C)
Places a copy of selected text or lines from the program
on the Windows and XtraWare clipboards.
Paste
(Ctrl+V)
Inserts the contents of the XtraWare clipboard into the
program.

The Main Screen Interface
3.2.3. View Menu
The View Menu options are used to select which windows you want
displayed on the XtraWare screen.
Table 3: View Menu Options
Option Icon Description
Program Displays/hides the Program window.
Parameters Displays/hides the Parameters window.
Cam List Displays/hides the CAM window.
Workspace Displays/hides the Workspace window.
History Displays/hides the History window.
Chart Opens the Charts window. See section 4.7,
Charts, for a description of this window’s
operation.
Variable
Opens the Variables window:
Figure 5: Variables Window
Toolbar Displays/hides the toolbar.
Status bar Displays/hides the status bar.
XtraWare User Manual 9

The Main Screen Interface
3.2.4. Run Menu
The Run Menu options enable you to control the program running on the
XtraDrive driver.
Table 4: Run Menu Options
Option Icon Description
Run
Program Runs the program immediately.
Stop
Program Stops the program immediately.
Servo ON Switches the XtraDrive driver ON so that the
motor is now under driver control. In this
mode, the driver holds the motor in position
under various load conditions, even when no
motion is required.
Servo OFF Switches the XtraDrive driver OFF so that the
motor is no longer under driver control.
Immediate
Mode Switches to Immediate mode. In Immediate
mode, commands are downloaded immediately
to the driver’s memory. For details of all the
available modes, see section 4.5, Program
Modes.
Program
Mode Switches to Program mode. In Program mode,
a list of commands is prepared in the program
editor to be downloaded to the driver at a later
stage. For details of all the available modes,
see section 4.5, Program Modes.
Sequential
Mode Switches to Sequential mode. In Sequential
mode, each command is downloaded
individually to the driver and then processed.
For details of all the available modes, see
section 4.5, Program Modes.
Jog Runs the motor at a constant predefined speed.
Stop
Immediately stops the motor motion. You can
also click Stop on the toolbar or press F9.
For further details, see the STOP_EX command
in Chapter 5, Command Reference.
10 XtraWare User Manual