User manual OMRON XTRADRIVE

[. . . ] 8U0108-E1-01 XtraDrive (XD-) SERIES AC Servo Driver USER'S ManUal Copyright 2003 by YET, Yaskawa Eshed Technology Ltd. XtraDrive User Manual Catalog No. 8U0108, Revision C November 2003 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. [. . . ] Speed Units Use the following parameters to convert speed units from [encoder counts/msec] to [user speed units]: Parameter Pn2B4 Pn2B5 Pn2B6 Pn2B7 Setting Setting range 1-65535 Setting range 0-16383 Setting range 1-65535 Setting range 0-16383 Default Setting 1 0 1 0 Signal Speed units ratio numerator Speed units ratio numerator (high bits*) Speed units ratio denominator Speed units ratio denominator (high bits*) Speed user units are calculated according to the formula: U [counts ] Speed units ratio numerator 1[User speed unit] = = Speed units ratio denominator T[ms] U ­ number of encoder counts in one speed unit. The maximum value of numerator (Pn2B4) or denominator (Pn2B6) is 65535. In cases where greater values are required, it is possible to use parameters Pn2B5 and Pn2B7 for storing the high bits of numerator and denominator, respectively, according to the following formula: N HighBit = HB = Integerpartof 65535 LowBits = N - HB · 65536 , where N- required value. [ ] 5-92 XtraDrive User Manual Chapter 5: Parameter Settings and Functions Example: A rotary motion system uses a motor with a 17-bit encoder. The user wants to program the system in speed units of rpm: 17-bit encoder produces 131072[counts] per revolution. U=131072 1[minute]=60000[ms] T=60000 1[rpm] = U [counts] 131072[counts] = = T [ms] 60000[ms] [ Speed units ratio numerator Speed units ratio denominator ] First option: It is possible to reduce the fraction so that both the numerator and denominator are smaller than 65536: 131072 / 60000 = 32768 /15000 Reduction Pn2B4 = 32768 Pn2B5 = 0 Pn2B6 = 15000 Pn2B7 = 0 Both options are equivalent. Second option: Without reduction of the fraction: High Bits = HB = Integer part of N/65536 = Integer part of 131072 / 65536 = 2 Low Bits = N ­ HB*65536 = 131072 ­ 2 * 65536 = 0 Pn2B4 = 0 Pn2B5 = 2 Pn2B6 = 60000 Pn2B7 = 0 5. 9. 1. 4. Acceleration Units Use the following parameters to convert acceleration units from [encoder counts/(10msec)2] to [user acceleration units]: Parameter Pn2B8 Pn2B9 Pn2BA Pn2BB Setting Range 1-65535 0-16383 1-65535 0-16383 Default Setting 1 0 1 0 Signal Acceleration units ratio numerator Acceleration units ratio numerator (high bits*) Acceleration units ratio denominator Acceleration units ratio denominator (high bits*) Acceleration user units are calculated according to the formula: 1[User acceleration unit] = where: U - represents the number of encoder counts in one acceleration unit. T - represents the time of acceleration unit in (10*ms) U [counts ] Acceleration ratio numerator = 2 T [(10 ms ) ] Acceleration ratio denominator 2 5-93 XtraDrive User Manual Chapter 5: Parameter Settings and Functions The maximum value of numerator (Pn2B8) or denominator (Pn2BA) is 65535. In cases where greater values are required, it is possible to use parameters Pn2B9 and Pn2BB for storing the high bits of numerator and denominator respectively< according to the following formula: High Bits = HB = Integer part of Low Bits = N ­ HB * 65536 Where N ­ required value Example: A rotary motion system uses a motor with a 17-bit encoder. The user wants to program the system in units of rad/s2: 17-bit encoder produces 131072[counts] per revolution. One revolution = 2 [rad] U = 131072 / 2 1 [s] = 1000[ms] = 100[10*ms] = T T2 = 10000 1[rad/sec2] = N 65536 131072 131072 Acceleration units ratio numerator U [counts] = = = 2 T [(10 ms )2] 2 10000 62832 Acceleration units ratio denominator Example: Without reduction of the fraction: High Bits = HB = Integer part of N/65536 = Integer part of 131072/65536 = 2 Low Bits = N ­ HB * 65536 = 131072 ­ 2 * 65536 = 0 Pn2B8 = 0 Pn2B9 = 2 Pn2BA = 62832 Pn2BB = 0 5. 9. 1. 5. Setting Default Motion Profile Parameters When using position control with serial commands, the user downloads the movements from the host using the XtraWare software (see Section 4. 3, Programming the XtraDrive in the XtraWare User's Manual). Initially the defaults of the Motion Profile Parameters are as described below. However, they can be modified through the host or by the program after the XtraDrive is turned ON. Some of these profile features are long and are therefore stored in two parameters: the high bit parameter contains the integer part of the value divided by 65536, and the low bit parameter contains the remainder from this calculation. 5-94 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5. 9. 1. 6. Profile Speed (Pn2A2, Pn2A3) These parameters are used to define the default value of the profile speed variable. This variable is used to reach a target within a minimum period of time (set the time of movement to ­1). The driver accelerates until it reaches this profile speed. Parameter Pn2A2 Pn2A3 Setting Setting range 0-65535 Setting range 0-256 Units User Speed User Speed*65536 Default Setting 0 0 Signal Work speed default Work speed default For example, for a profile speed of 200000 [Speed units], set the following parameters: · Pn2A3 = integer part of 200000 / 65536 = 3 · Pn2A2 = 200000 ­ 3 * 65536 = 3392 5. 9. 1. 7. Profile Acceleration (Pn2A4, Pn2A5) These parameters are used to define the default value of the profile acceleration variable. This variable is used in Position mode whenever the motor accelerates. Parameter Pn2A4 Pn2A5 Setting Setting range 0-65535 Default setting: 0 [User Acceleration units] Setting range 0-256 Default setting: 0 [User Acceleration units*65536] Signal Work acceleration default Work acceleration default For example, for a profile acceleration of 200000 [Acceleration units], set the following parameters: · Pn2A4 = integer part of 200000/65536 = 3 · Pn2A5 = 200000 ­ 3*65536 = 3392 5. 9. 1. 8. Jerk Smoothing Time (Pn2A6) This parameter is used to define the default value of the jerk smoothing time variable. This variable is used to define the jerk smoothing time of a movement, i. e. , it uses an average filter on the command pattern. For example, if the command pattern is a trapeze, it will make it a S-curve pattern. Parameter Pn2A6 Setting [micro sec] Setting range 0-65535 Default setting: 0 Signal Work jerk smoothing time default 5-95 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5. 9. 1. 9. [. . . ] Yaskawa A quad B model SGM Yaskawa A quad B model SGMP Non Yaskawa rotary motor Non Yaskawa linear motor Incremental A quad B encoder Yaskawa absolute A quad B encoder Yaskawa serial encoder A quad B encoder A quad B encoder with commutation sensors (U, V, W) A quad B encoder with commutation sensors (/U, /V, /W) C phase signal used C phase signal mask Not defined UVW UWV -Disable clear integral function (refer to 6. 3. 8). -- Default Setting Pn007 Gain Application Switches 0 Analog monitor 2. 3 4 5 6 0 1 2 3 Pn080 Linear Motor Commutation Switch 0 1 2 3 0 Pn110 Online Autotuning Switches Analog monitor 2 -selection of source parameter Analog monitor 2magnification of signal. Communication sensor switch Communication sensor order Reserved Reserved Online Autotuning Method Speed Feedback Compensation Selection Friction Compensation Selection Reserved Motor model 0 1 0 0-4 0 0 1 0 1 --0 1 2 0 1 0 1 2 0-3 0 1 2 3 0 1 0 1 0 0 1 1 0 0 0 1 1 2 3 0 0 0 0 Pn190 Motor selection Switches 1 Encoder type 0 2 Encoder selection 2 3 0 3 Pn191 Motor selection Switches 0 C- phase mask Motor phase order 0 1 0 1 2 0 0 0 0 0 1-3 Not used Pn1A7 Motor selection Switches 0 Integral mode 1 0 1 0 1-3 Not used D-9 XtraDrive User Manual Appendix D: List of Parameters Parameter Digit Place Name Setting 0 1 2 3 4 5 6 7 8 9 0 Description Sign + pulse, positive logic. Doesn't use check sum Use check sum --- Default Setting Pn200 Position Control References Selection Switches 0 Reference Pulse Form 0 1 Error Counter Clear Signal Form 1 2 3 0 0 2 Clear Operation 1 2 3 0 1 0 1 --- 0 3 Pn2C6 Communication Switch 0 1 2 3 Filter Selection Check Sum 0 1 Not used Oscillation Canceling Mode Not used. [. . . ]