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. [. . . ] It indicates when the motor has reached the target position. Pn2D2. 0 Setting 0 1 2 3 Results (Output From) Disabled SO1 (CN1-25, 26) (default) SO2 (CN1-27, 28) SO3 (CN1-29, 30) 5-98 XtraDrive User Manual Chapter 5: Parameter Settings and Functions 5. 9. 5. Auto Tuning For the auto tuning procedure refer to the XtraWare User Manual. Auto Tuning is performed by moving forward and reverse, while parameters are being tuned. The following parameters define the profile of this movement. Parameter Pn2C8 Setting Setting range 200-2000 Default setting: 400 [ms] Setting range 0-100 Default setting: 50 [% of maximum speed] Setting range 0-1000 Default setting: 50 [ms] Setting range 0-1000 Default setting: 50 [ms] Signal Delay between two movements of automatic tuning (t1) Define the maximum speed of auto tuning movements. Define the time of acceleration to reach the maximum speed of the movement. (t2) Define the plateau time (time of constant speed) of auto tuning movement. (t3) Pn2C9 Pn2CA Pn2CB Speed of auto tuning movements % Max. speed t3 Pn2C9 t3 t -Pn2C9 t2 t1 5. 10. Auto Running a User Program After downloading a user program to the driver, it is possible to run it automatically every time the driver turns ON, by setting the parameter Pn2CC to the program label number which the program start with. With the default setting 0 the program auto running is disabled. Parameter Pn2CC Setting Setting range: 0 to 99 Default setting: 0 (auto run disabled) Results Starts user program automatically at settled label when turning ON XtraDrive's power. 5-99 XtraDrive User Manual Chapter 6: Servo Adjustment 6. Servo Adjustment This chapter describes the functions required for servo adjustment. Find the required information by selecting the section from the following table of contents. 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. [. . . ] Types of /WARN signals: Overload and regenerative overload. D. 4. 1. Extended Output Signal Selection 0 0 /COIN Signal Mapping 1 2 3 1 2 3 Not used. Outputs from the SO1 (CN1-25, 26) output terminal. Outputs from the SO2 (CN1-27, 28) output terminal. Outputs from the SO3 (CN1-29, 30) output terminal. [. . . ]