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XtraWare User Manual

The XtraWare software constitutes the user interface and tool of operation for the XtraDrive. It enables parameter setting, control loops tuning, fault status reporting and facilitates programming of the driver both for professional programmers and novices.

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0% found this document useful (0 votes)

92 views238 pages

XtraWare User Manual

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Alexander

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XtraDrive (XD-) SERIES

AC SERVO DRIVER

XtraWare
User Manual

XtraWare Version 2.7

(Supporting XtraDrive Versions 2.91 and 3.01)

Revision E

Catalog No. 8U0109

Copyright  2004 by YET, Yaskawa Eshed Technology Ltd.
XtraWare User Manual
XtraWare Version 2.7 for XtraDrive Version 2.9.1 and 3.01
Cat. No. 8U0109 Rev. E
April 2004

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: +972-3-9004114
Fax: +972-3-9030412
E-mail: info@yetmotion.com

Homepage: http://www.yetmotion.com/

USA OFFICE:
YET US Inc.
531 King St.,
Unit 1
Littleton, MA 01460
USA
Tel: +1-866-YET-8080
E-mail: USinfo@yetmotion.com
Homepage: http://www.yetmotion.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 .......................................................... 15
3.5.3. Program Window .................................................. 18
3.5.4. History Window .................................................... 18
3.5.5. Parameters Window .............................................. 19
3.5.6. Cam Window........................................................ 20

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 ................................... 26
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 ................................................ 28
4.4.2. Programming Commands with Variable Arguments.... 30
4.4.3. Running a Program ............................................... 33
4.5. Program Modes.......................................................... 34
4.5.1. Program Mode...................................................... 34
4.5.2. Immediate Mode .................................................. 34
4.5.3. Sequential Mode................................................... 34
4.6. Tuning the Control Loops ............................................ 35
4.6.1. Manual Tuning ..................................................... 35
4.6.2. Autotuning .......................................................... 35
4.6.3. Performing Fast Tuning ......................................... 36

XtraWare User Manual i

6.3. Troubleshooting ........................................................182

7. Error Messages ..............................................................183

8. Parameter Reference.......................................................191
8.1. Table 17: Parameters ................................................191
8.2. Table 18: Switches....................................................199
8.3. Table 19: Input Signal Selections ................................206
8.4. Table 20: Home Switches...........................................208
8.5. Table 21: Extended Input Signal Selection....................208
8.6. Table 22: Output Signal Selections ..............................209
8.7. Table 23: Extended Output Signal Selection..................210
8.8. Table 24: Auxiliary Functions ......................................211
8.9. Table 25: Monitor Modes ............................................212

9. List of System Variables ..................................................213

10. List of Status Word Bits ................................................219

11. List of Operation Codes.................................................221

12. Glossary of Terms and Concepts ....................................225

12.1. Electronic Gear ......................................................225
12.1.1. Electronic Gear Parameters ...................................225
12.2. Motion Profile.........................................................225
12.2.1. Profile Velocity ....................................................226
12.2.2. Profile Acceleration ..............................................226
12.2.3. Profile Jerk Smoothing Time..................................227
12.3. Explanation of Command Table ................................228

XtraWare User Manual v

Table of Contents

vi XtraWare User Manual

Introduction

1. Introduction
The XtraWare software constitutes the user interface and tool of
operation for the XtraDrive. It enables parameter setting, control
loops tuning, fault status reporting and 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).
♦ Description of 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.
♦ Description of 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.

TITLE CATALOG NUMBER

XtraDrive (XD-) SERIES AC SERVO
8U0108
DRIVER User Manual
TOE-C231-2 for ∑-II
AC SERVO MOTOR INSTRUCTIONS servomotors or other
compatible motors
XtraDrive (XD-) SERIES AC SERVO
8U0107
DRIVER Short Form Installation Guide

XtraWare User Manual 1

Introduction

2 XtraWare User Manual

System 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:
Windows 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).
♦ One node or more RS-232C or RS-422A I/F.
♦ CD-ROM drive (for installation only).
The XtraWare software is supplied on a CD. 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.

To install XtraWare:
1. Insert the CD into the CD-ROM drive.
2. If the procedure does not start automatically (i.e.,
autoplay is not enabled) either:
Click Start | Run and type "D:\Install\SETUP" (where
D: is your CD drive), or
Using Windows Explorer, load the CD-ROM contents, 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.

XtraWare User Manual 3

System Requirements and Software Installation

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, which
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 XtraWare
options. In the following descriptions of the menu options, the
appropriate icon (where applicable) is listed next to each option.

NOTE:
In the different modes, some of the menu options are disabled
(grayed) and cannot be accessed. 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 options are used to download, upload
and print programs and parameters.
Table 1: File Menu Options

OPTION ICON DESCRIPTION

New Creates a new XtraWare project. When this
Project option is selected, the Motor Selection window in
(Ctrl+N) 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 models. 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

OPTION ICON DESCRIPTION

Open Opens an existing XtraWare project. When this
Project option is selected, the Load Project window is
(Ctrl+O) opened:

Figure 3: Load Project Window

Save Saves the current project under its existing

Project 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 in a name for the

project and click Save.
Save Saves the current project under a new name.
Project as When this option is selected, the Save Project
window is opened.
Close Closes the current project. If the project has not
Project been saved, the following message is displayed:
Save changes to <project-name>?
Click Save to save the project.
Download Downloads a program to the XtraDrive driver.
Program
Download Downloads a set of parameters to the XtraDrive
Parameters driver.

XtraWare User Manual 7

The Main Screen Interface

OPTION ICON DESCRIPTION

Download Downloads cam profiles to the XtraDrive driver.
Cam1
Upload Uploads data from the XtraDrive driver.

Print Prints the current program.

Program
Print Prints the parameter list, including their values,
Parameters 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 Deletes selected text or lines from the program, and places
(Ctrl+X) the selection on the Windows and XtraWare clipboards.
Copy Places a copy of selected text or lines from the program on
(Ctrl+C) the Windows and XtraWare clipboard.
Paste Inserts the contents of the XtraWare clipboard into the
(Ctrl+V) program.

8 XtraWare User Manual

The Main Screen Interface

3.2.3. View Menu

The View Menu options show/hide the 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 Runs the program immediately.
Program
Stop Stops the program immediately.
Program
Servo ON Switches the XtraDrive driver ON, i.e., in 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, i.e., not in
control.
Immediate Switches to Immediate mode. In Immediate
Mode mode, commands are downloaded immediately
to the driver’s memory. For details of all the
available modes, see Section 4.5, Program
Modes.
Program Switches to Program mode. In Program mode, a
Mode 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 Switches to Sequential mode. In Sequential
Mode 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

The Main Screen Interface

3.3. Communication Menu

The Communication Menu options are used to switch on/off the
communication between the XtraWare and the XtraDrive, and to
customize the communication parameters.
Table 5: Communication Menu Options

OPTION DESCRIPTION
Online Switches to working in online mode.
Offline Switches to working in offline mode.
Setting Opens the Communication Settings window. See
Section 4.1.1, Communication Settings, for details on
this option.

3.3.1. Tool Menu

The Tool Menu options allow you to access the Electronic Cam
interface, to automatically tune the control loops, and to perform
a mechanical analysis of the motor-load system.
Table 6: Tool Menu Options

OPTION ICON DESCRIPTION

Electronic Creates motion according to a specified profile
Cam1 that is dependent on the position of a master
axis or on the elapsed time.
Autotuning Automatically sets control loop gains based on
actual system measurements and tunes the
XtraDrive driver accordingly. See Section 4.6,
Tuning the Control Loops, for full details.
Mechanical The mechanical analysis (FFT) option samples
Analysis and analyzes 2000 speed data points. The speed
is a response to sinusoidal torque frequency
commands. The response is displayed as a graph
of the gain (dB) and phase angle (degree) versus
frequency (Hz in log scale). According to the
graph, the relevant parameters can then be
adjusted in order to reduce the effect of the
mechanical restrictions. See Section 4.8,
Mechanical Analysis, for full details.

NOTE:
1) The ECAM related options are only activated if an ECAM
license has been purchased.

XtraWare User Manual 11

The Main Screen Interface

3.3.2. Maintenance Menu

The Maintenance Menu options allow you to automatically or
manually tune the control loops, to open/close a log file, and to
send a command to the XtraWare device.
Table 7: Maintenance Menu Options

OPTION ICON DESCRIPTION

Reset Cycles the main circuit and control power supply.
Driver This is necessary after certain parameters are
edited, to enable the new settings. The Need
Reset indicator appears in the status line when
this action is necessary.
Reset to Discards user modifications to the parameters
Default and reverts to the factory default parameters.
Parameters Note that some parameters are updated at
power-up only and you must therefore restart
the XtraDrive after using this option.
Open Log Starts a new log file and inserts all the
File commands sent via communication into the log
file. The log file is used mainly for debugging
purposes.
When this option is selected, the Open Log File
dialog box is displayed:

Figure 6: Open Log File Dialog Box

Select a directory and select the name of an

existing file, or type in a name to create a new
log file. When XtraWare is in Online mode, all
the commands sent via communication to the
XtraDrive are stored in the selected log file.
To close the log file, select the Close Log File
option.
Close Log Stops storing commands in the log file and
File closes the currently open log file.

12 XtraWare User Manual

The Main Screen Interface

OPTION ICON DESCRIPTION

Password Enables the modification of certain parameters
(displayed in red in the Parameters window)
which can only be modified by authorized users,
who are required to enter a password using this
option.
Send For internal use only.
Command

3.3.3. Window Menu

The Window menu is used to switch between different views in
the XtraWare system, and to save a customized screen for
future use.
Table 8: Window Menu Options

OPTION DESCRIPTION
Project Displays the default XtraWare Main Screen interface,
Screen which includes the Workspace, Program, History, Cam
and Parameters windows.
Program Enlarges the Program window to facilitate program
Edit editing. The History, Cam and Parameters windows are
Screen hidden.
User Displays the current user customized screen saved under
Screen the Save User Screen option.
Save The size and location of the Workspace, Program,
User History, Cam and Parameters windows can be
Screen customized to facilitate your work session. This option
enables you to save your customized screen for future
work sessions. Each time you save a new customized
screen, the previous user screen is overwritten.

XtraWare User Manual 13

The Main Screen Interface

3.4. Status Bar (D)

The Status Bar, located at the bottom of the XtraWare screen,
indicates the status of the current driver and of the Servo.

Figure 7: Status Bar

The indicators on the right of the status bar are as follows:

♦ A: Indicates whether or not a program is running on the
controller (Run or Stop).
♦ B: Need Reset indicator. After certain parameters are edited,
the main circuit and control power supply must be cycled in
order to enable the new settings. When this indicator
appears, click Reset.
♦ C: Indicates the status of the connection to the XtraDrive
driver (Offline or Online).
♦ D: Indicates the current status of the XtraDrive driver (ON or
OFF).

3.5. Work Area (E)

The Work Area comprises the following windows:
♦ Workspace window
♦ Project tab
♦ Program window
♦ History window
♦ Parameters window
♦ Cam Window

3.5.1. Workspace Window

The Workspace window includes:
♦ Project Tab: The subsections of the current project.
♦ Command Tab: A list of the XtraWare commands divided
into six groups.
♦ Description Pane: A description of the currently selected
item.

14 XtraWare User Manual

The Main Screen Interface

3.5.2. Project Tab

The Project tab (Figure 8) presents the subsections (Program,
Parameters and Cam) of the current project.
To view the project subsections, click the + sign next to the
project name in the Workspace window.

Figure 8: Workspace Window – Project Tab

3.5.2.1. Command Tab

The Command tab (Figure 9) lists the commands that can be

used to write the program. The commands are divided into
groups. A full description of each command is provided in
Chapter 5, Command Reference.
To view the commands under a command group, click the + sign
next to the group name in the Command tab.

Figure 9: Workspace Window – Command Tab

XtraWare User Manual 15

The Main Screen Interface

The icon next to each command indicates its current status. The
availability or unavailability of a command depends on the
current working mode.
Table 9: Command Tab Icons

ICON DESCRIPTION
Available command. This command can be used in the current
working mode.
Currently selected command. When a command is selected its
description is displayed in the Description area under the
command list.
Command is not available in the currently selected mode.

To select a command:
1. Double-click on the command name. The appropriate
command dialog box is displayed.
See Section 4.4.1, Writing a Program, for details on how
to insert commands into the program.
2. Click on a command name to see a short description of
the command in the Description pane or see Chapter 5,
Command Reference, for a more detailed description.

3.5.2.2. Command Groups

The Command Groups are listed in the table below.

Table 10: Command Groups

GROUP DESCRIPTION INCLUDED COMMANDS

(EXAMPLES)
ECAM Controls the motor ECAM_ENGAGE;
motion according to a ECAM_DISENGAGE;
profile that is ECAM_VIRTUAL_AXIS
dependent on the
position of a master
axis or on time
elapsed.
Encoder Controls the latching LATCHING_TRIGGER,
Latching and registration REGISTRATION_DISTANCE
process.
Home Moves the motor to HARD_HOME, HOME_C,
search for the HOME_SW, HOME_SW_C,
(system) home SET_ZERO_POSITION
position.

Figure 11: Parameters Window

♦ Group pane (A) lists the parameter groups. The parameters

in the selected group are displayed in the Parameters pane.
♦ The Parameters pane (B) displays the details of each
parameter. Initially, the values displayed for the parameters
are the default values.
♦ The Description pane (C) displays a short description of the
selected parameter.

XtraWare User Manual 19

The Main Screen Interface

3.5.6. Cam Window

The Cam window lists all ECAM profiles that have been defined.

Figure 12: Cam Window

♦ Download size: Indicates the number of data points that

will be downloaded to the XtraDrive when the Download Cam
button is pressed.
♦ Profile#: The profiles are identified in the Cam List by their
numbers.
♦ Download: Check the checkboxes corresponding to all
profiles that should be downloaded to the XtraDrive when the
Download Cam button is pressed.
♦ Size: The number of data points in each profile

To view or edit a profile:

1. Double-click anywhere in the row corresponding to the
profile number that you would like to view or edit.
The Electronic Cam window is opened, with the Position
Setting tab displaying the selected profile.
See Section 4.9, ECAM (Electronic Cam).

20 XtraWare User Manual

Operating the XtraDrive Using XtraWare

4. Operating the XtraDrive Using

XtraWare
This chapter provides detailed instructions on how to operate the
XtraDrive servo driver using the XtraWare software.

4.1. Connecting the Driver to the PC

Serial communication is used between the PC and the driver.

To connect the driver to the PC:

1. Connect a communication cable to an available COM port
of your PC. Note that only COM 1 through 4 are supported
by XtraWare.
2. Connect the other end to the CN3 connector on the
XtraDrive.

4.1.1. Communication Settings

It is important that the communication settings are set correctly.

To change the communication settings

1. Run the XtraWare software. The default location is: Start
> Programs > XtraWare.
2. Select Online from the Communication menu. The
communication indicator on the status bar indicates
whether communication is offline or online.
3. Select Setting from the Communication menu.
The Communication Settings window is displayed.

Figure 13: Communication Settings Window

XtraWare User Manual 21

Operating the XtraDrive Using XtraWare

4. Set the Port to the correct COM port of your PC (the

default is COM1 on most computers).
5. Set the Axis Address.
6. All other communication parameters are predefined and
are for display purposes only:
Baud Rate – 19200
Parity – Even
Data Bits – 7
Stop bits – 1
Flow Control – None
If you set the communication to Online and the communication
indicator in the status bar changes to Online for a few seconds
and then reverts to Offline, communication between XtraWare
and the XtraDrive has not been established.
In such cases, check the following:
♦ The driver is powered on.
♦ The communication cable is connected both to the PC and to
the XtraDrive.
♦ Select the Setting option from the Communication menu and
make sure that the Port is set to the correct COM port of your
PC (the default is COM1 on most computers).

4.2. Setup Wizard

To facilitate the setup procedure, XtraWare offers a Setup
Wizard that guides you through the following steps:
♦ Select Motor – Yaskawa or other.
♦ Set Reference Command Type – Pn000.1.
♦ Set User Units.
♦ Set Motion Profile Default.
♦ Set End of Motion definitions.
♦ Set analog input command of Speed and Torque (if required).
♦ Set pulse-train settings for master-slave applications (if
required).
♦ Set digital I/O.
♦ Set PG divider output ratio.

22 XtraWare User Manual

Operating the XtraDrive Using XtraWare

To operate the wizard:

1. Select New Project from the File menu.
2. Follow the instructions on the following Wizard screens:
♦ Motor Selection: Select your motor from the list or add
a new motor.
Basic Selection: Set the control method, usually
“programming”. For host controller applications with
pulse train output use “Position control (Pulse train)”.
For Yaskawa option board (NS300, NS500, etc), set for
“Yaskawa Option board”.
Set motor direction.
Axis address.
XtraDrive supports networking of up to 15 drives
connected by serial communication (RS 232 for single
XtraDrive and RS422 for 1 - 15).
Set XtraDrive address.
♦ Commutation Settings (Only applicable for motors with
A quad B encoders):
Software commutation (Phase finding) – XtraDrive
finds the commutation angle without sensors. This
takes several seconds on the first CONTROL ON after
powering up.
With commutation sensors (Hall sensors) – Some
models of XtraDrive support commutation sensors of
5V or 24V. Set according to the sensors’ polarity.
♦ User Units:
Set user units for position, speed and acceleration.
Position units must be in the range of 0.01 – 100.
♦ Default Profile:
Set default speed, acceleration and jerk (speed and
acceleration values are mandatory). The values can be
changed in the program using the appropriate
commands.
Set the end of motion window in the Advance Setting
screen.
♦ Analog Input:
If you plan to use the analog input command, set the
following values. Otherwise skip this screen.
Ratio between the analog command and the generated
speed.

XtraWare User Manual 23

Operating the XtraDrive Using XtraWare

Ratio between the analog command and the generated

torque.
♦ Pulse Train:
Set the following if your application requires pulse-train
values. Otherwise skip this screen.
Pulse-train form and logic.
Electronic Gear between the pulse-train and the motor.
(See Electronic Gear in the Glossary.)
If position control (Pn000.1=C) is set, the Position
Completed Width screen is enabled. When using
programming mode (Pn000.1=D), the equivalent value
is set by Pn2C4 (Pulse train synchronization window).
♦ Inputs:
Allocate digital inputs to system functions. Digital
inputs used as general purpose inputs can be simply
referred to by their input numbers from within the
program.
The polarity can be reversed by checking the Reverse
polarity checkbox.
♦ Outputs:
Allocate digital outputs to system functions. If digital
outputs are to be used as general purpose outputs
simply refer to the output number in the program.
Each output can be used either as a system function
output or as a general-purpose output.
♦ Encoder Output Settings:
In case of a host controlled application where output
pulses (PG out) are required, set the output gear.
Otherwise skip this screen.
3. Click Finish to complete the setup and create a
parameters file.

4. Click Download Parameters to download the

parameters to XtraDrive,.

5. Cycle the power, or click RESET to reset the

XtraDrive.
6. You can now proceed to Autotuning (See 4.6, Tuning the
Control Loops). 0.

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4.3. Parameter Control

In order to control the motor and the peripheral system (such as
I/O lines), the XtraDrive requires that certain parameters be set
in its memory. Some parameters are automatically set by the
system based on the automatic motor identification (when
applicable), and some must be set manually. The parameters
define data such as current limits, encoder type and I/O
configuration, as well as data related to specific user applications
(such as the ratio between the encoder resolution and the user
units).

4.3.1. Uploading and Downloading Parameters

Parameters can be sent from the PC to the XtraDrive
(Downloading) or read from the XtraDrive to the PC (Uploading).
Note too that the Upload function reads the parameters from the
XtraDrive, as well as the program and all other data currently
active in the XtraDrive (excluding ECAM tables). Therefore, it is
advisable to save your program prior to using the Upload
function.

To download parameters:

1. Click Download Parameters on the toolbar. 0.

NOTE:
If the motor is not fitted with a serial encoder (SII or W
Series) and the project was opened using Open Project
and not by running the Wizard, you must enter a password
or the motor parameters (highlighted in red) will not be
changed.

To upload parameters:

1. Click Upload on the toolbar. 0.

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4.3.2. Viewing Parameter Settings

Parameters are set in the Parameters window (Figure 14). This
window displays the current value of the parameters in the
project. Note that parameter values in the project do not
necessarily match the values currently active in the XtraDrive.
In order to provide easy access to certain parameters, the
parameters can be viewed in groups. The default group setting
of the Parameters window is ALL, i.e., all available parameters in
the system are shown. To display only parameter belonging to a
specific group in the Value pane, select one of the predefined
groups (e.g., Digital I/O, Servo Control) listed in the Group
pane.

Figure 14: Parameters Window

The fields in the panes of the Parameters window are listed

below (from left to right):
♦ Group: Parameter group selection.
♦ Parameter status indication: An asterisk in this column
indicates that the value of the parameter has been changed
in the PC, but has not been downloaded to the XtraDrive.
♦ Parameter ID: The parameter number.
♦ Value: Current parameter value (0x indicates hexadecimal
values).
♦ Min: Minimum value allowed for the parameter.
♦ Max: Maximum value allowed for the parameter.
♦ Units: The units used for the parameter.
♦ Default: The default value for the parameter.
♦ Description: A short description of the parameter
functionality.

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4.3.3. Setting Parameters Online

Right-click on the row of the parameter you wish to change. A
pop-up window appears (Figure 15) displaying the current value
of the parameter.

Figure 15: Parameter Setting Window

Use the buttons below each digit to change the value of the
parameter. Note that the changed value is sent on-line to the
XtraDrive. Some values take effect immediately; others are sent
to the driver but take effect only after the power is cycled. The
Need Reset indicator appears in the status line when this action
is necessary.

4.3.4. Setting Parameters Offline

Double-click on the value field of the desired parameter, and
enter the desired value. The new value is not sent to the driver
automatically (an asterisk appears in the Parameter status
indication column). Use the Download function to send the
changed values to the driver.

4.4. Programming the XtraDrive

XtraDrive has built-in programming capabilities. You can write a
program that will be executed by the XtraDrive without the need
for an external positioning controller.

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4.4.1. Writing a Program

A program is written by selecting a command from the
command list in the Workspace window (Figure 16), and adding
it to the Program window (Figure 17). For a detailed description
of the different commands, see Chapter 5, Command Reference.
You must be in Program mode to write a program.

To enter Program mode:

1. Click Program Mode in the toolbar, or select the

Program Mode option from the Run menu. 0.
The maximum length of a program is 100 command lines.

Figure 16: Workspace Window

Figure 17: Program Window

The commands in the Workspace window are divided to groups.

For further details, see Section 3.5.3, Program Window.

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To add a command to a program:

1. Open the relevant command group.
2. Double-click the required command to open a pop-up
dialog box (Figure 18) relating to the command.

Figure 18: Sample Command Pop-up Dialog Box

3. Set the arguments required for the command. See Section

4.4.2, Programming Commands with Variable Arguments,
for instruction on specifying the argument with a variable.
4. Click Program to add the command to the program in the
Program window.
It is possible to edit the arguments of commands already listed
in the Program window:

To edit a programmed command:

1. Double-click a command in the Program window to open
the command's pop-up window.
2. Edit the arguments as desired and click Program.

To edit the order of programmed commands:

1. Use the standard Windows operations (Ctrl+X - cut,
Ctrl+C - copy, and Ctrl+V - paste) to re-order commands
in the Program window.
When you have completed the program, it must be downloaded
to the XtraDrive.

To download a program to the XtraDrive:

1. Click Download Program .0.

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4.4.2. Programming Commands with Variable

Arguments
Instead of entering a number to specify the value of an
argument, you can set the argument to equal one of the system
or user variables. The variables that can be selected depend on
the command being programmed.
Arguments that can be specified by variables are indicated by
the letter V in Chapter 11, List of Operation Codes, and in the
Syntax Arguments section of each command table in Chapter 5,
Command Reference.
This functionality is available in driver versions 3.0 and upward.

To set an argument equal to a variable

1. Open the relevant command group.
2. Double-click the required command to open a pop-up
dialog box relating to the command.
3. Click the arrow at the right of the relevant argument field.
A drop-down menu listing available variables is displayed.

Figure 19: Sample Command Pop-up Dialog Box

4. Click the required variable. 0.

The selected variable name is displayed in the argument
field.

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4.4.2.1. Example

The following example program illustrates how arguments can

be specified by variables.
In the program, a sequence of movements is performed. The
motion characteristics of each movement are dependent on the
value of the digital inputs. For each combination of digital inputs,
a different set of values are assigned to the variables that set
the motion characteristics.
The main part of the program (8 to 16) sets the profile velocity
and initiates motion. Once a pre-specified position has been
passed, the speed is reduced. Once the commanded motion has
ended, a second motion back to the origin is started. 500ms
after the second motion has ended, the program restarts.
Most of the commands used in the main section use variables to
specify the value of the arguments. Depending on the initial
state of the inputs, the program calls (in lines 4 and 6) a
different subroutine (Label 3 or Label 4) to set the variable
values.
Evaluation of Digital Inputs
1 LABEL 1
2 WAIT_INPUT 1 = 0 -1
3 WAIT_INPUT 1 = 1 -1
4 INPUT_CASE 12 4
5 CALL 3
6 INPUT_CASE 12 12
7 CALL 4
Main
8 LABEL 2
9 SET_VAR Profile_velocity Var_03
10 GO_H Var_01
11 WAIT_VAR Position_actual_value > Var_02
12 SET_VAR Profile_velocity Var_04
13 WAIT_STOP -1
14 GO_D 0 Var_05
15 DELAY 500
16 GO_TO 1
Subroutine 3
17 LABEL 3
18 SET_VAR Var_01 100000
19 SET_VAR Var_02 50000

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20 SET_VAR Var_03 1000

21 SET_VAR Var_04 400
22 SET_VAR Var_05 -1
23 RETURN
Subroutine 4
24 LABEL 4
25 SET_VAR Var_01 200000
26 SET_VAR Var_02 80000
27 SET_VAR Var_03 1300
28 SET_VAR Var_04 700
29 SET_VAR Var_05 600
30 RETURN
The chart below graphs the target speed against time for each of
the two cases specified in lines 4 and 6, which call the variable
settings specified in subroutines 3 and 4 respectively. For
example, note how the initial peak in target speed for Case 2
exceeds that for Case 1. This is because line 9 sets the profile
velocity equal to the value of Var_03. Case 1 specifies Var_03 as
1000 user speed units, while Case 2 specifies Var_03 as 1300
user speed units. Therefore, the initial peak in speed of for Case
2 exceeded that of Case 1.

Figure 20: Graph Illustrating Effect of Variable Argument Settings

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4.4.3. Running a Program

When a program has been completed and downloaded, it can be
run using any of the following methods:

♦ Clicking the RUN icon to run the program from the first
line.
♦ In Immediate and Sequential modes, selecting the RUN
command from the Program Flow Control commands in the
Workspace window. In the pop-up window that is displayed,
type in the label number from which you want the program
to run.
♦ 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 1. For further information,
see Section 5.10 of the XtraDrive User Manual.

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4.5. Program Modes

XtraDrive has three programming modes:
♦ Program
♦ Immediate
♦ Sequential
Each mode utilizes an individual buffer for commands and
program processing and execution. Note that not all of the
commands are available in all the program modes. A full
explanation on the use of the buffers is provided in the
introductory section of Chapter 5, Command Reference.

4.5.1. Program Mode

Use this mode when writing a program that is to be executed
after the entire program has been written (see Section 4.4.1,
Writing a Program). This mode stores the program in the User
Program Buffer (UPB). Program execution is activated by the
RUN command (see Section 4.4.3, Running a Program).

4.5.2. Immediate Mode

Use this mode to issue a single command for immediate
execution or when sending a single command from a host PC
(for example, to change the state of an output while a program
is running or to lower the gain while the motor is enabled and
not in motion and no program is running). Commands sent in
Immediate Mode are stored in the Immediate Command Buffer
(ICB) and are executed within 2ms (or less).

4.5.3. Sequential Mode

Use this mode when using a host PC that sends a command
stream that should be executed as a program (move the motor
and wait for motion completion; wait for input; make another
move, etc.). Immediate mode cannot be used in such cases
because commands like MOVE_D (move the motor and wait for
motion completion) are not available in Immediate mode.

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4.6. Tuning the Control Loops

The mathematical coefficients of the control loop, an advanced
control algorithm, must be tuned in order to ensure good system
behavior.
These coefficients can be tuned either manually or automatically
(Autotuning). Two Autotuning procedures are available: one that
calculates the coefficients based only on the user specified motor
inertia ratio (Fast Tuning), and one that sets the coefficients
experimentally by moving the motor and analyzing its behavior
(Fine Tuning).

4.6.1. Manual Tuning

Manual tuning can be performed according to the instructions
provided in the XtraDrive User Manual.

4.6.2. Autotuning
Autotuning is applicable in programming mode only (Pn000.1 =
D).
In driver version 2.91, autotuning is not available for linear
motors.
When you select the Autotuning option from the Maintenance
menu, the Autotuning window (Figure 21) is displayed:

Figure 21: Autotuning Window

The fields and options are explained below:

♦ Inertia Ratio (Pn103): Inertia ratio between the load and
the motor as a percentage.

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♦ OCA: Activates the OCA (Oscillation Canceling Algorithm), by

setting Pn2D4.0 to 1. For further information on OCA refer to
the XtraDrive user manual.
♦ Fast Tuning: The driver loads a group of parameters from
predefined tuning groups, based on the motor and driver
type and the load inertia.
♦ Fine Tuning: The driver moves the motor back and forth
and searches for the parameters that allow the best system
performance.
♦ Auto Select Parameters: Uses Fast Tuning gains as the
starting point. The motion profile of the motor while tuning is
determined automatically according to system
characteristics. The motor will make approximately one turn
to each side, and this process is repeated until all coefficients
have been set.
♦ With User Parameters: The gain values start at their
current values (set by parameters, such as Pn1AC = 54). The
motion during the tuning (autotuning profile) is set according
to Pn2C8, Pn2C9, Pn2CA and Pn2CB, allowing you to specify
how far and how fast the motor should turn during fine
tuning.

4.6.3. Performing Fast Tuning

To perform fast tuning:
1. Enter a rough estimation of load inertia in Inertia Ratio.
2. Click Start.
The Fast-Tuning window is displayed.
3. Click OK.
4. Enable the servo control and check the performance (See
4.6.5, Evaluating Control Loop Performance).
If the motor behavior is good you can either perform Fine
Tuning or leave it as is.
5. If you are not satisfied with the performance, the
following methods can be used to improve the
performance and stability of the system:
Adjust the global gain (Pn1A0).
For very rigid systems, re-run fast tuning after disabling
the OCA option.
Set a different Inertia ratio.

NOTE:
The value of the command filter is calculated automatically and
stored in parameter Pn216 during fast tuning

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4.6.4. Performing Fine Tuning

During fine tuning the motor moves in the positive direction and
then back again, and repeats this motion several times. The
control parameters are optimized by analyzing the motor
movement. Motor movement is as follows:
♦ If you select Auto Select Parameters the motor will rotate
approximately twice.
♦ If you select With User Parameters the motor will rotate
according to the settings of the autotuning parameters
(Pn2C8 – Pn2CB).

To perform fine tuning:

1. Place the motor so that it can move according to the
autotuning profile.
2. Enter a rough estimation of load inertia in the Inertia
Ratio field.
3. Select Auto Select Parameters or With User
Parameters, depending on the motor motion required.
4. Press Start.

WARNING:
After pressing Start, the motor will begin to move.

5. Wait for a few minutes while the best gain is detected.

6. Click OK.
7. Enable the servo control and check the performance (See
4.6.5, Evaluating Control Loop Performance).
If you are not satisfied you can easily improve the
performance and stability by adjusting the global gain
(Pn1A0) or by trying the following.
For very rigid systems, try the fine tuning without the
OCA option selected.
Set a different Inertia ratio.

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4.6.5. Evaluating Control Loop Performance

After having tuned the control loop coefficients using either
manual or automatic tuning, it is useful to verify that the
coefficients chosen result in adequate control. The procedure
detailed below describes how the quality of the control
coefficients can be checked.

To evaluate control loop performance:

1. Click Program Mode to select Program mode.

2. Enter the program shown below in Figure 22 (See Section
4.4, Programming the XtraDrive).

Figure 22: Program for Checking Control Coefficients

3. Click Program Download to download your program to

the XtraDrive.

4. Click Chart to open the Chart window.

5. In the Graph Setting area, set Smoothed Target Speed to
50.

6. Click Start Trace .

The message Waiting for trigger and data collection
completion is displayed.

7. Click Run Program to run the program.

The program runs and the data is uploaded. A graph of
the motion is displayed.
8. Study the graph, particularly the Position Error, shown by
default in yellow, and decide whether the control
coefficients are set appropriately.

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Figure 23: Sample Chart of Position Error

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4.7. Charts
The Charts option provides a graphical display of signals over a
specified time period. Two analog signals and two digital I/O
signals can be displayed.

4.7.1. The Chart Main Window

Select the Charts option from the View menu to display the
Chart Main window (Figure 24).

Figure 24: Chart Main Window

4.7.1.1. Trigger

A trigger is a device used to specify exactly when data collection

should begin. The trigger can be made conditional on any of a
range of aspects of the servo operation. For example, you can
specify that data collection should begin after the /COIN signal is
set ON or after the speed feedback exceeds 100 rpm.
A trigger condition is specified by four settings:
♦ Source - Trigger object selection
Specifies the variable on which the trigger is conditional. Any
one of the variables listed in the Y1, Y2, I/0 –1 and I/O – 2
fields can be selected from the drop-down menu.

Figure 25: Trigger Selection (1)

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♦ Slope - Edge Type

Specifies in which direction across the trigger Level the
Source must change to trigger data collection.

Figure 26: Trigger Selection (2)

As the type of slope, select:

Rising Edge – Data collection is triggered when the value
of the Source rises from below the trigger Level to above
the trigger Level, i.e., when the change is from LO to HI
in I/O.
Falling Edge – Data collection is triggered when the value
of the Source falls from above the trigger Level to below
the trigger Level, i.e., when the change is from HI to LO
in I/O.
Data Change – Data collection is triggered when the value
of the Source crosses the trigger Level in either direction.
No Trigger – Data collection will start at the same time as
START TRACE is clicked. All other trigger settings are
irrelevant.
♦ Level - Trigger Level
Specifies the threshold value of the Source at which data
collection is triggered. The units for the setting are the same
as those of the trigger object selected in Source. The trigger
level cannot be set if the trigger object is I/O 1 or I/O 2.
♦ Pre-Trigger (0% to 99%)
A buffer of data is collected even prior to the trigger
condition being met. This allows XtraWare to include the
period before the trigger in the graph. The Pre-Trigger
setting specifies how long this period should be, as a
percentage of the duration of the graph after the trigger.

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4.7.1.2. Graph Settings

For all of the graph settings described below, you can select the
scale (available values are 1, 2, 5, 10, 25, 50, 100, 500, 1000)
and the color in which the results will be displayed.
♦ X – Sampling Time Interval
Specifies the time interval for obtaining trace data (default:
25ms). The total trace time for which results are obtained is
the sampling time interval multiplied by 10.
♦ Y1 / Y2 – Sampled Channel
Available values are:
Target Speed
Smoothed Target Speed
Acceleration
Motor Speed
Position Error
Torque Reference
♦ I/O 1 / I/O 2 – Sampled Digital I/O
Select the sampled output and input signals.

4.7.1.3. Show

Select the objects that will be displayed in the graph.

4.7.1.4. Caption

Enter the caption to be displayed in the graph.

4.7.1.5. Chart Toolbar

The chart toolbar is shown below.

Figure 27: Chart Toolbar

The toolbar icons are explained in the following table.

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Table 12: Chart Toolbar Icon Definitions

OPTION ICON DESCRIPTION

Save Chart Saves a copy of the trace graph to a specified
file.

Open
Loads a trace data file.

Up one zoom
Restores the previous zoom level.
level
Reset zoom Restores the area shown in the window to its
normal size.

Start Trace Starts the trigger searching. Click the icon again
to cancel the search.
Enable Measures the delta values of X, Y1 and Y2 by
Measure right-clicking and dragging the mouse. The
values are displayed on the respective axes.
Show
Displays information on current cursor location.
markers

Driver Units Toggles graph units between user units and

encoder counts.
Save graph Saves the graph in bmp format enabling you to
as picture view the graph with other software packages.

Save
Saves graph data in Excel format (*.csv).

4.7.2. Using Zoom

The view of an area selected by the mouse can be magnified.

To zoom in on an area:
1. Position the mouse at one corner of the area you want to
select.
2. Hold down the left mouse button and drag to the opposite
corner.
A white area will appear around the selected area.
3. Release the left mouse button.
The selected area of the graph is enlarged.

4. Click Reset zoom to view the original graph.

5. Click Up one zoom level to view the previous zoom

level.

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Figure 28: Chart Zoom Feature

4.7.3. Starting the Trace

To start a trace:

1. In the Chart main window, click Start Trace .

A message Waiting for trigger and data collection
completion is displayed

2. To cancel the trace, click Start Trace again.

Otherwise, click Run to run the program.

When the conditions are met and the trigger is applied, a
message Uploading data is displayed.
3. Click Cancel if you want to halt the data sampling
process, otherwise wait until the process ends.
The Chart main window is displayed once the specified
data has been obtained.

NOTE:
1. Sometimes the trigger cannot be detected in under 2ms due
to the relationship of the detection period.
2. If the sampling time is increased, XtraWare may continue to
wait for the trigger even after the trigger has been applied.
XtraWare waits because data for the sampling time is saved in
the XtraDrive after the trigger has been applied.

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4.7.4. Printing a Chart

The chart and data of the Chart main window can be printed.

To print a chart:
1. Select the Print Chart option from the File menu while
the chart is open.

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4.8. Mechanical Analysis

Controlling a system (amplifier, motor, and load) requires
knowledge of its mechanical restrictions, such as resonance and
anti-resonance frequencies.
The mechanical analysis (FFT) option samples and analyzes
2000 speed data points. The speed is a response to sinusoidal
torque frequency commands. The response is displayed as a
graph of the gain (dB) and phase angle (degree) versus
frequency (Hz in log scale). According to the graph, the relevant
parameters can then be adjusted in order to reduce the effect of
the mechanical restrictions.

NOTE:
The process uses the predefined parameters of Notch Filter
(Pn408.0, Pn409, Pn40A) and does not take control gains into
consideration.

To start mechanical analysis:

1. Click FFT or select Mechanical Analysis from the

Tools menu.
A Warning message is displayed (Figure 29):

Figure 29: Mechanical Analysis Warning Message

2. Click OK to open the Mechanical Analysis window (Figure

30).
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4.8.1. Mechanical Analysis Window

Figure 30: Mechanical Analysis Window

Accurate measurement of the frequency characteristics depends

on the settings of the following parameters:
♦ Sampling Time [µsec] (Measurement Frequency [Hz],
Excitation Time [ms])
If the sampling time is shortened, a higher frequency can be
measured and the excitation time is shortened. However,
frequency resolution deteriorates and measurement accuracy
is reduced at low measuring frequency. The measuring
frequency and excitation time depend on the sampling time.
To begin with, set the sampling time to a small value. Then
reset it to a more appropriate value in accordance with the
results produced.
♦ Excitation Amplitude [±%/Rated torque] Range: 1 to
300%
Must be set to a value below the Torque Limit.
Select the size of the reference amplitude applying excitation
to the machine as a percentage of the ratio of size to rated
torque.
A larger excitation amplitude tends to give more correct
measurements, but an excessively large amplitude can cause
overspeed (A.51) and overcurrent (A.10) alarms. Problems

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with the load inertia and the balance would cause alarms,
and accurate measurements would be impossible.

NOTE:
Accurate measurement is not possible if the torque is restricted
during excitation. Refer to the XtraDrive User Manual for details
on the Torque Limit function.

♦ Allowable Rotations [Rotation] Range: ±1 to 1000

rotations
The number of Allowable Rotations must be set so the
measurements can be taken safely. Set the motor revolutions
so the setting is within the operable range.
Select the limit of motor rotations during measurement. If
the allowable number of rotations is exceeded, the zero
clamp function will cause the motor to stop and
measurements will be halted. Consider the deceleration
rations for the pulley radius, ball screws, and so on, and then
select a number of motor rotations. When reducing the
number of motor rotations, also reduce the excitation
amplitude and the sampling time.
The allowable rotations are a restriction for each
excitation period. In multiple excitation applications, the
excitation start position might shift. Check the range of
motion each time excitation is applied.
Detection of the allowable rotation in the XtraDrive may
be delayed by a maximum of 2ms. If so, operation may
exceed the settings due to factors such as inertia size and
interference from speed. Include a margin when setting
the allowable number of rotations.
♦ No. of Executions [Set] Range: 1 to 5
Select the number of times that the measurements should be
taken for an average measurement to be calculated. A set is
a back-and-forth operation that starts excitation or
measurement from the forward side and
excitation/measurement from the reverse side. More
measurement iterations tend to yield more accurate
measurements, but the time required for measurement
increases.
♦ Excitation Signal (fixed): Excites the machine with cycle
wave.
♦ Graph Setting: Select the graph scale or leave the default
setting of AUTO for automatic scale setting. Select the colors
of the lines used in the graph of the measurement results.
♦ Caption: Enter the caption to be displayed in the graph.

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4.8.2. Mechanical Analysis Toolbar

The mechanical analysis toolbar is shown below.

Figure 31: Mechanical Analysis Toolbar

The following table explains the function of each icon:

Table 13: Description of Mechanical Analysis Toolbar Icons

OPTION ICON DESCRIPTION

Save Chart Saves the current analysis include the settings
and the graph.
Open Opens a previously saved analysis.

Print Prints the currently displayed chart and its

corresponding data.
Up one zoom
Restores the previous zoom level.
level
Reset zoom Restores the area shown in the window to its
normal size.
Enable Dragging the cursor by left-clicking the mouse
Measure enables the measurement of the difference
(delta) between the endings of the line. The delta
values are displayed in each axis label. Left-
clicking in a new location starts a new
measurement.
Show Shows exact value of a point. A yellow cross
markers reflects the movement of the mouse and the
exact value can be seen in each axis label.
Save graph Saves graph in bmp format enabling you to view
as picture the graph without the need for the XtraWare
software.
Export graph
Saves graph data in Excel format (*.csv).
data

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4.8.3. Running the Mechanical Analysis

To perform a mechanical analysis
1. Run the motor to excite the machine and measure the
frequency characteristics.
2. Run the process by pressing the START button.

WARNING:
The motor will begin moving once Start has been pressed.

Once the process is completed, a graph is displayed. The

values of resonance and anti resonance frequency values
(if any) are displayed at the bottom right corner of the
graph.

Figure 32: Sample Mechanical Analysis Output

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4.9. ECAM (Electronic Cam)

Cam creates motion according to a specified profile, depending
either on the position of a master axis or on time elapsed. The
ECAM feature allows you to specify the position that a slave axis
must reach, depending on the position of a master axis or on the
time elapsed.
The XtraDrive allows up to four profiles to be specified per
project. Each profile can be comprised of a maximum of 16
segments, and may contain up to 256 data points.

4.9.1. ECAM Profile Characteristics

The following must be considered when designing a profile:
♦ Up to four different profiles can be defined simultaneously.
♦ Each profile can be divided into a maximum of 16 segments.
♦ An ECAM table may contain up to 256 data points. To avoid
exceeding this limit, do not specify unnecessarily small
Master Step values.
♦ The maximum slave step is 32767 user position units.
♦ The maximum master step (after scaling) is 32767 counts.

4.9.2. Installing ECAM

To enable the ECAM functionality, see the document
Instructions for License Setting.

4.9.2.1. Verifying that ECAM is Installed

To verify that ECAM is installed:

1. Open XtraWare.
2. From the Communication menu, select On-Line to enter
on-line mode.

3. Click Upload Project to upload a project from the

XtraDrive.
4. Open the File menu.
If the Download Cam option in the File menu is enabled,
the installation was successful.

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4.9.3. ECAM Workflow

When working with ECAM, the following process is followed:
♦ Designing the ECAM Profile:
You define the profile using XtraWare.
XtraWare automatically generates a Master-Slave Table.
The Master-Slave table is downloaded to the XtraDrive.
♦ Programming an Application:
CAM motion is engaged or disengaged upon external
events or logical conditions.
♦ Running a Program:
The profile table can be adjusted by applying a shift or
offset, or by scaling the master or slave positions.

4.9.4. ECAM Profiles

A profile defines the relationship between the motion of the
master and the motion of the slave. The profile dictates the
required slave position for a given master position. The graph
below illustrates a typical profile.

Figure 33: Example of an ECAM Profile

A profile consists of a number of segments. For example, the

profile shown consists of four segments: the first stretches from
Master Position 0 to 100, the second from 100 to 200 and so on.
You need only specify the start and end points of each segment;
XtraWare interpolates between those points according to shape
specified. XtraWare can interpolate along straight lines and
sinusoidal curves. You define the resolution (the distance
between consecutive data points in the profile) with which the
curve must be generated. The profile created should be smooth
to ensure smooth motion.

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4.9.4.1. Time based Profiles – Virtual Axis

XtraWare also allows you to specify a time based profile, where

the XtraDrive’s internal clock generates the master pulses. A
pulse is generated every 125µs. In this case, the Master Position
axis is in fact a time axis.

4.9.5. Creating a Profile

Profiles are defined in the Electronic CAM window.

4.9.5.1. Adding a Profile

To add a profile to your project:

1. Select Electronic CAM from the Tool menu, or click
Electronic Cam on the toolbar.
The Electronic CAM window is displayed.
2. Enter a number that you will use to identify the profile in
the Profile Number field.
3. Click Add Profile.
The profile is added to the Profile List.

4.9.5.2. The Position Setting Tab

Profiles are defined on the Position Setting tab of the Electronic

CAM window.

To open the Position Setting tab:

1. Click the Position Setting tab. 0.
The Position Setting tab is displayed. Each field is
explained below.

Figure 34: Position Setting Tab

♦ Segment#: Each segment is automatically assigned a

number.
♦ Master Start: The first segment starts at master position 0.
Each subsequent segment starts at the position at which the
previous segment ended. The master position is defined in
terms of master encoder counts.
♦ Master End: Specifies the master position at the end of the
segment.

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If a time based profile is being created, Master End

specifies the time at which the segment ends. For
example, if the segment is to span 100ms, the difference
between the Start and End values must be 800ms as the
clock generates eight pulses per millisecond.
♦ Slave Start: The first segment starts at slave position 0.
Each subsequent segment starts at the position at which the
previous segment ended. The slave position is defined in
terms of position user units.
♦ Slave End: Specifies the slave position at the end of the
segment.
♦ Master Step: Specifies the distance required between the
points that are interpolated between the start and end
points. The greater the step size, the lower the resolution will
be. When the start and end points are to be joined simply by
a straight line, set Master Step to the distance between the
start and end points, as no points need be interpolated
between them.
♦ Curve Shape: Specifies whether the start and end points of
the segment are to be joined by a straight line, by a portion
of a sinusoidal graph, or by a user-defined array.

4.9.5.3. Defining the Master and Slave End Points

To define the master and slave end points of each

segment that makes up the profile:
1. Enter the master position (in terms of encoder counts or
clock pulses) at the end of the first segment in the Master
End field.
2. Enter the slave position (in position user units) at the end
of the first segment in the Slave End field.

4.9.5.4. Defining the Segment Resolution

The resolution is set by specifying the distance between

successive points in the segment:

To set the resolution:

1. Enter the distance (in encoder counts or clock pulses)
between the points that XtraWare should generate by
interpolation in the Master Step field. A lower setting will
result in more points being generated and in a smoother
motion.

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4.9.5.5. Defining the Interpolation Method

Once the end points and the resolution of a segment have been
specified, specify how the positions of the remaining points in
the segment must be calculated. The number of points
generated is dependent on the Master Step setting.

To set the interpolation method:

1. Click in, or tab to, the Curve Shape field.
2. Click the icon that is displayed in the Curve Shape
field.
The Curve Shape window is displayed.

Figure 35: Curve Shape Window

3. Select a curve shape from the drop-down menu:

Straight Line: Points will be generated by interpolation
to join the start and end points with a straight line.
Array: Instead of selecting a shape for XtraWare to
generate by interpolation, you can specify all the points
directly. See Section 4.9.5.6, Specifying an Array.
sin(-90 to 90), sin(0 to 90), sin(-90 to 0): Points will
be generated by interpolation to join the start and end
points with the required section of a sinusoidal graph.
4. Click OK.
A new line for the next segment is displayed in the
Position Setting tab with the Master Start and Slave Start
fields filled in automatically.
5. Continue filling in the table until every segment in the
profile has been defined.

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4.9.5.6. Specifying an Array

Instead of specifying a curve shape along which points must be

interpolated, XtraWare allows you to specify each point directly.
You can either specify the points within the XtraWare interface,
or you can import a file created in a spreadsheet program.
The number of points to be specified is dependent on the Master
Step setting. For example, consider the following specification.

Figure 36: Example of End Point Specification

The length of the segment is 1000 master counts and the Master
Step is 20. The number of points in the segment, including the
start and end points is thus 51.

To open the Curve Shape window:

1. First specify the values of Master End, Slave End and
Master Step, as explained previously in Sections 4.9.5.3
and 4.9.5.4.
2. Click in, or tab to, the Curve Shape field.
3. Click the icon that is displayed in the Curve Shape
field.
The Curve Shape dialog box is displayed.
4. Select Array from the Curve Shape window.
A table is displayed in the Curve Shape window. Each row
corresponds to one point in the segment. For the example
shown above, a table with 51 rows will be displayed. The
slave values for the first and last points are entered
automatically, based on the Slave Start and Slave End
values specified. Only the slave values need be entered –
the master values are calculated automatically, based on
the end points and the master step value.

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Figure 37: Example of Curve Shape Window with Array Table

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Entering the values directly into the table

To enter the values into the Curve Shape table:
1. Enter the values in the Slave Value column. Note that the
first and last values are entered for you, according to the
values you assigned to Slave Start and Slave End.
2. Click OK.
The Curve Shape window is closed. Array will be displayed
in the Curve Shape column of the Position Setting table.
0.

Importing the values into the table

XtraWare allows you to import data into the array table. This
allows you to prepare an array in a spreadsheet and then import
it.
The following specifications must be adhered to when creating
the file:
♦ The number of rows in the spreadsheet must be the same as
the number of rows in the table displayed in the Curve Shape
window.
♦ The slave values of the first and last points must be the same
as those in the table displayed in the Curve Shape window.
♦ The spreadsheet table may have any number of columns.
♦ The slave values must be located in the right-most column.
♦ The values may have any number of digits after the decimal
point, but XtraWare will import only the integer part of each
value. For example, 1.79 will be imported as 1.
♦ The file must be saved in CSV format.
♦ The file must not be in use by other software while being
imported into XtraWare.
A sample spreadsheet is shown in Figure 38 on the following
page.

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Figure 38: Sample Spreadsheet for Array Import

To import the values into the Curve Shape table:

1. Click Import in the Curve Shape window.
The Import window is displayed.
2. Select the CSV file in which the array is saved.
3. Click Open.
The Curve Shape window is redisplayed, and the array
table is completed with the values specified in the
imported file. Note that only the integer part of each value
will be imported. For example, 1.79 will be imported as 1.

Figure 39: Example of Curve Shape Menu with Completed Array

Table

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4. Click OK.
The Curve Shape window is closed. Array will be displayed
in the Curve Shape column of the Position Setting table.

4.9.5.7. Saving A Profile

To save a profile:
1. Click Save in the Cam Profile File area.
The Save Cam Profile dialog box is displayed.
2. Enter a name for the profile file in the File name field,
select a folder in which to save the file, and click Save.
The file is saved, with an .XDP extension.

NOTE:
After downloading a profile, it is saved in the XtraDrive. Unlike
parameters and programs, which can be uploaded from the
XtraDrive to XtraWare, ECAM tables cannot be uploaded. Thus,
it is important that profiles are saved on a disk for backup
purposes.

4.9.5.8. Completing a Profile

To complete your profile definition:

1. Once you have completed the profile, click Finish.
2. The Electronic Cam window is closed. 0.

4.9.6. Loading a Profile

You can load and use profiles that have previously been saved.
It does not matter if the profile was originally written for a
different project.

To load a profile:
1. Select Electronic CAM from the Tool menu, or click
Electronic Cam on the toolbar.
The Electronic CAM window is displayed.
2. Enter a number that you will use to identify the profile in
the Profile Number field.
3. Click Add Profile.
The profile is added to the Profile List.
4. Click on the Position Setting tab.
5. Click Open in the Cam Profile File area.
The Open Cam Profile dialog box is displayed.
6. Select the file to open, and click Open.

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The segments of the opened profile are listed in the

Position Setting tab.

4.9.7. Editing a Profile

4.9.7.1. Inserting Additional Profile Segments

To insert a segment between existing segments in

a profile:
1. Click any field in the row of the segment before which the
new segment should be inserted.
2. Click Insert.
A new line is inserted.
3. Enter the required data to define the new segment.

4.9.7.2. Deleting a Segment

To delete a segment:
1. Click any field in the row of the segment that is to be
deleted.
2. Click Delete. 0.
The selected segment is deleted.

4.9.7.3. Editing Values in the Position Setting Table

To edit an entered value:

1. Click the field that you would like to change.
2. Enter the new value.
The value is changed, and the table values are
automatically updated:
If the value of a Master End position is changed, all
subsequent Master End values are automatically adjusted
so as to maintain the size of the segments as they were
before the change. Changing a Master End value therefore
affects only the size of the segment that the point ends.
(The Master Start values are also updated to match the
revised Master End values.)
Changing the value of a Slave End position does not result
in subsequent Slave End values being updated – only the
next Slave Start value is updated.

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4.9.8. Deleting a Profile

To delete a profile:
1. Select the profile to be deleted from the Profile List.
2. Click Delete Profile. 0.

WARNING:
Clicking Delete Profile deletes the profile immediately – you
will not be asked for confirmation.

4.9.9. Viewing the Master-Slave Table

The Data List tab displays all the interpolated points through
which the slave will move, listed per segment.

To view the Master-Slave table:

1. Open the Data-List tab.
2. Click on one of the segments listed on the left panel of the
Data List tab.
The master-slave table is displayed on the right, listing all
of the interpolated points, as well as the specified start
and end points of the selected segment.

Figure 40: Data List Table

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4.9.10. Viewing the Data Graph

The data graph graphically represents the specified table. The
dots along the curve represent the interpolated points.

To view the data graph:

1. Open the Data Graph tab. 0.
The data graph is displayed.

Figure 41: Data Graph

4.9.11. Printing from the Electronic Cam Window

The contents of each of the Position Setting, Data List and Data
Graph tabs can be printed:

To print from the Electronic Cam Window:

1. Select the profile to print from the Profile List.
2. Select the tab to be printed.
3. Click Print.
The Print dialog box is displayed.
4. Make any necessary changes to the settings shown and
click Print.

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4.9.12. The Cam List Window

By default, the Cam List window is displayed on the project
screen. If the window is not displayed, ensure that Cam list is
checked in the View menu.

Figure 42: Cam List Window

♦ Download size: Indicates the number of data points that

To view or edit a profile:

1. Click anywhere in the row corresponding to the profile
number that you would like to view or edit.
The Electronic Cam window is displayed with the Position
Setting tab displaying the selected profile.

4.9.13. Downloading Profiles to the XtraDrive

A profile is not transferred to the XtraDrive until you download
it.

To download a profile:
1. Ensure that the relevant Download checkboxes in the Cam
List window are checked.

2. Click Download Parameters on the toolbar.

The profiles are downloaded to the XtraDrive.

NOTE:
After downloading a profile, the profile is saved in the
XtraDrive, but unlike parameters and programs, which can be
uploaded from the XtraDrive to XtraWare, profiles cannot be
uploaded. Thus, it is important that profiles are saved on a disk
for backup purposes.

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4.9.14. Programming with Electronic Cam

Programming commands are used to initiate and terminate
movement according to an ECAM profile.

4.9.14.1. ECAM_ENGAGE

Format: ECAM_ENGAGE <Profile_ID> <Mode>

This command is used to initiate motion according to an ECAM
profile. You must specify the profile number according to which
the slave must move, as well as whether the motion should
continue indefinitely (Cyclic mode), or only until the profile has
been completed once (Non Cyclic mode).

Figure 43: Programming an ECAM_ENGAGE Command

4.9.14.2. ECAM_DISENGAGE

Format: ECAM_DISENGAGE
This command is used to terminate ECAM motor motion.
ECAM_DISENGAGE will cause the motion to stop only once the
current profile is completed. To stop the motion immediately,
use the STOP_EX command.

4.9.14.3. ENGAGE_VIRTUAL_AXIS

Format: ENGAGE_VIRTUAL_AXIS <Profile ID> <Direction>

This command is used to start ECAM motion when a time based
profile is being used. In this case, the XtraDrive clock acts as the
master and generates a pulse every 125µs (8 pulses every
millisecond). In this case, the horizontal axis of the profile is in
terms of clock ticks. You must specify the profile number
according to which the slave must move, as well as whether the
profile should be followed in the positive or negative direction.

Figure 44: Programming an ENGAGE_VIRTUAL_AXIS Command

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4.9.15. Modifying a Profile using Variables

The XtraDrive includes functionality that allows you to stretch
and shift a profile without having to redefine each segment.
Simply by adjusting the values of variables, you can:
♦ Stretch the profile horizontally by adjusting the Master scale.
♦ Stretch the profile vertically by adjusting the Slave scale.
♦ Shift the profile horizontally.
♦ Offset the profile vertically.

4.9.15.1. Profile Scaling

The Master scale can be adjusted by multiplying it by a fraction

A/B. If A/B is larger than one, the profile will be stretched. If A/B
is less than one, the profile will be contracted.
♦ A, the numerator, is defined by the variable
ECAM_Master_scale_num.
♦ B, the denominator, is defined by the variable
ECAM_Master_scale_den.
For example, if a scaling factor of 2/3 was applied to the profile
shown below, the Master axis would be contracted by a third.

Figure 45: Sample Profile Before Adjustment

Figure 46: Sample Profile After Master Axis Scaling.

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Similarly, the profile can be stretched or compressed vertically,

by multiplying the Slave scale by a fraction C/D. If C/D is larger
than one, the profile will be stretched. If C/D is less than one,
the profile will be contracted.
♦ C, the numerator, is defined by the variable
ECAM_Slave_scale_num.
♦ D, the denominator, is defined by the variable
ECAM_Slave_scale_den.
The scaling factors cannot by changed while ECAM is engaged.

To apply scaling:
1. Set the variables ECAM_Master_scale_num,
ECAM_Master_scale_den, ECAM_Slave_scale_num and
ECAM_Slave_scale_den using the SET_VAR command.

NOTE:
When using a virtual axis, it is recommended that scaling only
be used to scale the graph down, that is, A/B and C/D should
be set to values lower than one. If a profile is stretched, a lack
of sufficient data points will result in a profile that is not
smooth. When designing a profile, you should therefore design
it for the largest movements that could possibly be required, so
that it will only ever be necessary to scale the profile down.

NOTE:
The scaling factors discussed above do not affect the size of the
shift or offset, if defined.

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4.9.15.2. Shift

By applying a positive shift, the profile graph is shifted in the

negative direction along the master position axis. Conversely, by
applying a negative shift, the profile graph is shifted in the
positive direction along the master position axis.

Figure 47: Illustration of the Application of Shift

The shift is specified as an absolute distance from the origin of

the profile graph.
In the case of a cyclic profile, the next profile will be followed as
it was originally specified, unless a different shift is specified.

To apply a shift:
1. Set the value of the variable ECAM_Shift using the
SET_VAR command.

NOTE:
The size of the shift is not affected by scaling the master axis

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4.9.15.3. Offset

By applying an offset, you can shift a profile vertically. A positive

offset shifts the profile upward, increasing the slave position
reached at each master position. A negative offset shifts the
profile downward, reducing the slave position reached at each
master position. The following graphic illustrates a positive
offset.

Figure 48: Illustration of the Application of a Positive Offset

To apply an offset:
1. Set the value of the variable ECAM_Offset using the
SET_VAR command.

NOTE:
The size of the offset is not affected by scaling the slave axis.

Both shifts and offsets can be applied during motion. This will
usually result in a sudden, jolting motion as the target slave
position is adjusted instantly across a discontinuity. When
applying a shift before engaging ECAM motion, ensuring that the
profile is shifted to a point at which the slave position is zero will
ensure a smooth initial motion. Applying an offset will always
result in a sudden change to the target slave position.
When the application of a shift or offset does result in a sudden
change to the target slave position, the resulting motion will be
constrained by the maximum torque settings, not by the default
profile settings. The maximum torque settings in each direction
are defined by the variables Forward_Torque_Limit and
Reverse_Torque_Limit. (Use the TORQUE_LIMITS command to
temporarily reduce those values.) Reducing the limits will result
in smoother motion at a discontinuity caused by a shift or offset.

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4.9.16. Monitoring Master and Slave Positions

The variable ECAM_Master_profile_position reflects the current
position of the master.
The variable ECAM_Slave_profile_position reflects the current
position of the slave, as dictated by the profile.

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4.9.17. Serial Communication and ECAM

This chapter has described how ECAM profiles are created and
downloaded to the XtraDrive using XtraWare. ECAM profiles can
also be sent to the XtraDrive by a host, using serial
communication. For more information on using serial
communication, see Chapter 6, Serial Interface Protocol.

4.9.17.1. ECAM Commands for Serial Communication

The following commands are used to send an ECAM profile to the

XtraDrive, using serial communication. More information on
these commands is available in Chapter 5, Command Reference.
♦ ECAM_TABLE_BEGIN: Clears any existing table from the
XtraDrive and initializes the new table.
♦ ECAM_PROFILE: Specifies the identifying number of the
profile that is to be loaded.
♦ ECAM_SEGMENT: Defines the range of the master values
covered by the next segment that is to be defined, and
specifies the size of the increments between consecutive
points.
♦ ECAM_POINTS: Specifies the difference between the slave
positions of consecutive points.
♦ ECAM_TABLE_END: Finalizes the ECAM table that has been
loaded.

4.9.17.2. Example of Using Serial Communication to Send

an ECAM Table to the XtraDrive

The code that follows downloads an ECAM table as specified

in Table 14: Sample ECAM Table, and illustrated in Figure 49:
Sample ECAM Profile.
ECAM_TABLE_BEGIN
ECAM_PROFILE 1
ECAM_SEGMENT 200 10 0
ECAM_POINTS 4 0 2 3 4
ECAM_POINTS 4 6 6 8 9
ECAM_POINTS 4 9 11 12 12
ECAM_POINTS 4 13 14 14 15
ECAM_POINTS 4 15 15 16 16
ECAM_SEGMENT 100 100 0
ECAM_POINTS 1 140
ECAM_SEGMENT 200 10 0
ECAM_POINTS 4 15 16 15 15

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ECAM_POINTS 4 15 14 14 13
ECAM_POINTS 4 12 12 11 9
ECAM_POINTS 4 9 8 6 6
ECAM_POINTS 4 4 3 2 1
ECAM_TABLE_END

Figure 49: Sample ECAM Profile

Table 14: Sample ECAM Table

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4.10. Registration and Latching

The latching function is used to capture the position of the motor
encoder or external encoder when signaled to do so by a digital
input. Latching is performed within 62.5µs of the digital input
being received.
The registration function is used to stop motion in a predefined
distance once an input has been received. For example, a
MOVE_H command could have been used to cause the motion
shown below. Registration terminates the motion prematurely
after an input has been received. The solid line in the graphic
below illustrates the motor motion that results due to the input
changing from 0 to 1. The dashed line illustrates how the motor
would have moved had the input not been received.

Figure 50: Illustration of Motion Terminated by Registration

In the diagram:
♦ D1: The delay between the input being received and
registration beginning.
♦ D2: The predefined registration distance.
♦ The dashed line in the Velocity graph represents the motion
that would have taken place had the input not been received.

NOTE:
Only input 6 (CN1-46) is used to trigger registration. There is
no need to set In_6 to function as a latch input.

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4.10.1. Latching Workflow

The registration process is described below. Detailed instructions
for the use of the commands and variables are provided in the
sections that follow.
♦ Define a condition for latching using the LATCHING_TRIGGER
command. Possible conditions are:
Input 6 (connected at CN1-46) changes from 0 to 1
(Rising Edge).
Input 6 (connected at CN1-46) changes from 1 to 0
(Falling Edge).
♦ Start motion:
The registration process can be applied in the following
motion modes: Position, Velocity, Hunting, Pulse-Train,
Analog Speed. See Section 5.3, Motion Modes.
♦ After 62.5ms of the condition being met:
The variable Latched_position_ready changes from 0 to 1.
The variable Latched_motor_position is set to the current
position of the motor, in position user units.
The variable Latched_master_position is set to the current
position of the master (if in use), in encoder counts.
♦ Perform the next step only once the Latched_position_ready
variable has changed from 0 to 1.
Use the command WAIT_VAR <Latched_position_ready>
or assign an interrupt conditional on this variable.
♦ Define the distance from where the input is received to where
the motor must stop using the REGISTRATION_DISTANCE
command.
The deceleration caused by registration is defined by the
variable Profile_acceleration. When specifying the
registration distance, ensure that it is sufficiently long for
the motor to be able to decelerate to a stop at the profile
acceleration.
♦ The motor decelerates to a stop.
Under certain circumstances, the motor will not stop at
the point command by REGISTRATION_DISTANCE. See
4.10.2, Troubleshooting

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4.10.2. Troubleshooting
In certain circumstances, the motor will not stop at the point
specified by the registration process. The variable Motion_status
indicates how the motion ended.
1. The motor traveled further than the registration distance,
but not as far as the target position of the original motion
command.
This will occur if the registration distance is not sufficiently
long for the motor to be able to decelerate to a stop at
the profile acceleration. Either increase the registration
distance, or increase the profile acceleration.
2. The motor stopped at the target position specified by the
original motion command, as if registration had not
occurred.
This will occur if the latching condition was not met. To
ensure that the motor will stop by registration, increase
the distance to be traveled specified by the motion
command.

4.10.3. Commands
Two commands are required when using latching: one to enable
and define a condition for latching, and another to define the
stopping distance once the condition has been met.

4.10.3.1. LATCHING_TRIGGER

Format: LATCHING_TRIGGER <Condition>

This command enables latching and specifies the condition that
must be specified for latching to begin. Specifically, once this
condition has been met, the variable Latched_position_ready is
set from 0 to 1.

Figure 51: Programming a LATCHING_TRIGGER Command

The three conditions that can be chosen are:

♦ Off: Setting this condition cancels any previous
LATCHING_TRIGGER command.
♦ Rising Edge: Registration will be triggered when Input 6
(which is connected at CN1-46) changes from 0 to 1.

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♦ Falling Edge: Registration will be triggered when Input 6

(which is connected at CN1-46) changes from 1 to 0.

Figure 52: Rising and Falling Edge Conditions

4.10.3.2. REGISTRATION_DISTANCE

Format: REGISTRATION_DISTANCE <Distance>

This command causes the motor to decelerate to a stop a
specified distance from the point at which the motor position
was latched (Latched_motor_position). The distance over which
the deceleration occurs is specified by the <Distance>
argument, which is specified in user position units.
Note the following:
♦ The rate at which the motor will decelerate is governed by
the profile acceleration.
♦ The motor will stop at the requested position unless the
distance required for the deceleration exceeds the remaining
motion distance.
♦ The variable Motion_status indicates whether the motion
ended as commanded by the REGISTRATION_DISTANCE
command. See Section 4.10.4.3, Motion_status
♦ This command executes immediately and it should thus be
preceded in the program by a command that delays its
execution until latching has been completed. Use the
command WAIT_VAR Latched_position_ready = 1 or an
interrupt conditional on this variable to ensure that
REGISTRATION_DISTANCE is executed only once latching
has been completed.

4.10.4. Registration Variables

There are four variables related to registration.
Latched_position_ready acts as a flag to indicate when the
latching condition has been met. The Latched_motor_position
and Latched_master_position variables record the positions of
the controlled motor and of the master (if applicable) at the
instant the condition is met. Finally, the Motion_status variable
indicates whether the registration movement was performed.

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4.10.4.1. Latched_motor_position

This variable records the position of the motor when the latching
condition was met. Because the sampling time is 62.5µs, the
accuracy of the latching is dependent on the motor speed and
the exact moment in the sampling interval at which latching
takes place. The position is recorded in terms of user position
units.

4.10.4.2. Latched_master_position

This variable records the position of the master axis when the
latching condition was met. Because the sampling time is
62.5µs, the accuracy of the latching is dependent on the motor
speed and the exact moment in the sampling interval at which
latching takes place. The position is recorded in terms of master
counts.

4.10.4.3. Motion_status

This variable indicates how the motion ended. Motion_status has

four possible states:
♦ 0 (Not in motion): Motor not in motion.
♦ 1 (Stopped by registration): The latching condition was
met during motion, and the motion was stopped by
registration.
♦ 2 (Motion stopped but not in registration requested
position): The latching condition was met during motion,
but the registration distance exceeded the remaining motion
distance. The motion thus ended normally, but further than
the registration distance.
♦ 3 (Still in motion): The latching condition has not been
met, and the motor is still in motion.

4.10.4.4. Latched_position_ready

This variable indicates whether or not the latching condition has

been met. The variable has two possible states:
♦ 0: The latching condition has not yet been met.
♦ 1: The latching condition has been met.
This variable is automatically set to 0 by the
LATCHING_TRIGGER command. It is set to 1 once the latching
data has been processed (this may take up to 4ms).

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4.10.5. Registration Example

The following short example program illustrates the use of the
commands and variables discussed above.
1. Speed 300 Sets the speed for the MOVE_H
command.
2. LATCHING_TRIGGER Rising Edge Sets latching
condition.
3. MOVE_H 5000 Starts motion.
4. WAIT_VAR Latched_position_ready = 1 Delays next
command until variable changes to 1.
5. REGISTRATION_DISTANCE 100 Starts registration
movement to stop 100 user position units
after latching condition is met.

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4.11. Interrupts
When an event for which an interrupt has been defined occurs,
program execution is postponed while the specified interrupt
service routine is executed. This allows the XtraDrive to react to
events regardless of when they occur. Typical interrupt events
include the onset of an emergency situation or changes in user
inputs or in user or system variables.

4.11.1. Interrupt Events

Interrupt events can be either:
♦ External, such as a change in an input from one value to
another,
or
♦ Internal, such as a variable value meeting a given condition.

4.11.2. Multiple Interrupts

The XtraDrive provides for eight different interrupts to be
specified for a single program. Each interrupt is assigned an
identifying number from 0 to 7. The identifying number also
assigns priority, where:
♦ Interrupt 0 has the highest priority.
♦ Interrupt 7 has the lowest priority.
Only one interrupt can be assigned to each priority level.
If multiple interrupts occur simultaneously, the interrupt service
routines will be run, one at a time, in order of priority.
If, while an interrupt routine is being executed, a new interrupt
of a higher priority occurs, the program will exit the present
interrupt service routine and handle the higher priority interrupt
service routine. Once that service routine has been completed,
the program will continue handling the lower priority interrupt
service routine. Once all the required service routines have been
executed, the program will continue at the return point specified
by the last interrupt service routine completed.

4.11.3. Interrupt Response Time

The maximum response time to the highest priority interrupt is
2ms. Each lower priority interrupt is handled only once all higher
priority interrupt service routines have been completed.

4.11.4. Interrupt Masks

Using masks, you can specify which interrupt events need be
handled, and which need not be. This allows you to specify
interrupt service routines for a number of possible events, and
then to deactivate them from within the program as required.

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If no mask is specified, the program will not react to any

interrupt event. An interrupt mask must therefore always be
specified if interrupt are to be used.
See Section 4.11.6.2, Interrupt_mask.

4.11.5. Interrupt Handling

The process that occurs when an interrupt occurs is summarized
below. Detailed instructions on the use of the various variables
and commands are provided in the sections that follow.
♦ Event Occurs:
External event, such as a change in an input value
or
Internal event, such as a system variable meeting some
condition.
♦ Interrupt is registered:
The relevant bit in the variable Interrupt_request is set to
1.
♦ If the registered interrupt is masked in Interrupt_mask, the
program flow is interrupted:
The XtraDrive stops retrieving commands from the user
program buffer.
♦ The XtraDrive executes the interrupt service routine for the
highest priority interrupt received.
♦ The XtraDrive clears the relevant bit in the variables
Interrupt_request and Interrupt_pending to indicate that the
interrupt has been cleared.
♦ The XtraDrive executes the interrupt service routines for any
other outstanding interrupts, in order of priority.
♦ The XtraDrive continues running the program:
Either from the program line where it was initially
interrupted
or
From another location specified in the interrupt service
routine.

4.11.6. Interrupt Variables

The XtraDrive uses three variables (registers), each of which is a
system variable. Each variable consists of eight bits, one for
each interrupt labeled 0 to 7.

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4.11.6.1. Interrupt_request

When an interrupt event occurs, the corresponding bit in the

Interrupt_request variable is set to 1.
Once the corresponding interrupt service routine has been
completed, the bit in the variable is reset to 0.
The values of the bits are read/write, therefore interrupts can be
reset from within the program using the SET_VAR command.
This allows you, for example, to clear all interrupts from within
one interrupt service routine.
Clearing an interrupt cancels the execution of the associated
interrupt service routine. However, if an interrupt is cleared from
within its own interrupt service routine, the interrupt service
routine will be completed first.
The values of the bits of Interrupt_request are set using the
SET_VAR command. The value of the variable must be set in
decimal format. For example, to set bits 0 and 1 to 1, and all
other bits to 0, Interrupt_request would have to be set to 3,
which in binary form is 0000011.

4.11.6.2. Interrupt_mask

By setting a mask, you can specify to which interrupts the

XtraDrive should react and which should be ignored. This allows
you to specify interrupt service routines for a number of
interrupts, and to then enable or disable each interrupt from
within the program.
By setting a bit in the variable to 1, the corresponding interrupt
is enabled.
Setting a bit corresponding to an interrupt that has already
occurred to 0 does not prevent the execution of its interrupt
service routine, but does prevent the interrupt from being
handled again.
The values of the bits of Interrupt_mask are set using the
SET_VAR command. The value of the variable must be set in
decimal format. For example, to set bits 1 and 2 to 1, and all
other bits to 0, Interrupt_mask would have to be set to 6, which
in binary form is 0000110.
Note that by default, all bits in Interrupt_mask are set to 0, and
thus by default none of the interrupts will be handled. The
command SET_VAR must be used to change the value of the
mask variable so as to enable an interrupt.
The Interrupt_mask variable is reset to zero each time the
program is started (by the RUN command or the auto start
switch). Therefore, the Interrupt_mask must be set each time.

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4.11.6.3. Interrupt_pending

The Interrupt_pending variable indicates which interrupts are to

be handled. The value of a bit in Interrupt_pending is only set to
1 (indicating that the interrupt is to be handled) if both of the
following conditions are met:
♦ The interrupt event has occurred, and the corresponding bit
in Interrupt_request has been set to 1.
♦ You have enabled the interrupt in the mask register,
Interrupt_mask.
Once the corresponding interrupt service routine has been
completed, the bit in the variable is reset to 0.
Interrupt_pending is a read-only variable, and its values thus
cannot be changed by the user.

4.11.6.4. Example of Interrupt Variable Functioning

Interrupt_mask:
To specify that only interrupts 3 and 7 be handled, should their
conditions be met, bits 3 and 7 in the variable Interrupt_mask
must be set to 1 and all other bits must be set to 0, as shown:

BIT# 7 6 5 4 3 2 1 0
Setting 1 0 0 0 1 0 0 0

Variable value: Interrupt_mask = 136

Interrupt_request:
If the interrupt conditions for interrupts 1, 3 and 4 are met, then
bits 1,3 and 4 in the variable Interrupt_request will be set to 1
and all other bits will be set to 0.

BIT# 7 6 5 4 3 2 1 0
Setting 0 0 0 1 1 0 1 0

Variable value: Interrupt_request = 26

Interrupt_ reg:
Because only bit 3 is set to 1 in the Interrupt_mask variable,
only interrupt 3 will be handled; interrupts 4 and 1 will be
ignored. Only bit 3 in Interrupt_pending will be set to 1, as it is
the only bit set to 1 in both Interrupt_request and
Interrupt_mask:

BIT# 7 6 5 4 3 2 1 0
Setting 0 0 0 0 1 0 0 0

Variable value: Interrupt_pending = 8

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4.11.7. Interrupt Commands

Commands are used to signal the beginning and the end of each
interrupt service routine. The commands INT and EXT_INT
signal the beginning of interrupt service routines, and specify
the internal or external interrupt conditions respectively. The
command INT_RETURN signals the end of the interrupt service
routine, and specifies the program line to which to return.

4.11.7.1. EXT_INT

Format: EXT_INT <Priority> <Input_Number> <Edge>

This command indicates the beginning of an interrupt service
routine, when the interrupt is conditional on the value of an
external input. The argument <Priority> specifies the interrupt
priority. <Priority> is specified as a value from 0 to 7, where 0
is the highest priority and 7 is the lowest. <Input_Number>
specifies the number of the digital input to be monitored.
<Edge> specifies whether the interrupt is to be triggered when
the value of the digital input changes from 0 to 1 (Rising), from
1 to 0 (Falling), or whenever it changes (Both).

Figure 53: Programming an EXT_INT Command

4.11.7.2. INT

Format: INT <Priority> <Variable> <Condition> <Value>

This command indicates the beginning of an interrupt service
routine, and is used when the interrupt is conditional on the
value of an internal variable. The argument <Priority> specifies
the input priority. <Priority> is specified as a value from 0 to 7,
where 0 is the highest priority and 7 is the lowest. <Variable>
specifies on which internal variable the interrupt is conditional.
Any XtraDrive variable can be used. <Condition> and <Value>
specify the interrupt condition. As shown in Figure 54, any of the
relational operators can be specified for <Condition>. <Value>
is entered in decimal format.

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Figure 54: Programming an INT Command

4.11.7.3. INT_RETURN

Format: INT_RETURN <Label>

This command signals the end of an interrupt service routine.
<Label> specifies the program label to which the program must
proceed once the interrupt service routine has been completed.
Setting <Label> to –1 specifies that the program must simply
continue running from the point at which the interrupt occurred.
If an interrupt service routine of a lower priority interrupt is
executed after a higher priority interrupt service routine, the
program will continue from the position defined by the last
INT_RETURN command.

Figure 55: Programming an INT_RETURN Command

4.11.8. Interrupt Example

The following example program illustrates the use of interrupts.
1. SET_VAR Interrupt_mask 3 Activates Interrupt 0
and 1.
2. LABEL 2
3. SET_OUTPUT 1 OFF Sets Output 1 value to 0.
4. WAIT_INPUT 1 = 1 -1 Waits for In 1 to become
True
5. CONTROL ON Starts the servo
6. MOVE_D 655360 -1 Moves motor 655360 UU at
profile speed.
7. SET_OUTPUT 1 OFF Sets Output 1 value to 0.
8. END Program ends.

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9. INT 0 Target_velocity >= 400 Interrupt service

routine 0: Runs if Target_velocity variable is equal to or exceeds
400.
10. SET_OUTPUT 1 ON Sets Output 1 value to 1.
11. INT_RETURN -1 Returns to program line at which
the interrupt occurred.
12. EXT_INT 1 1 Falling Interrupt service routine 1: Runs if
In 1 becomes False
13. STOP_EX Emergency Servo OFF Stops the motion and
turns the servo off
14. INT_RETURN 2 Returns to program to label 2
The program will execute differently depending on whether or
not In 1 changes during motion.
Case 1: In 1 does not change during motion

Figure 56: Interrupt Example – Output Chart Case 1

From the chart:

♦ The motor started moving after In 1 became true.
♦ As the motor target speed reached 400, output 1 was set to
ON as interrupt 0 was invoked as a result of its condition
(Target_velocity>=400) being met.
♦ The program returned to the MOVE_D command.
♦ Once the motor completed its motion, the output was set to
OFF.

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Case 2: In 1 changes during motion

Figure 57: Interrupt Example – Output Chart Case 2

From the chart:

♦ The motor started moving after In 1 became true.
♦ As the motor target speed reached 400, output 1 was set to
ON as interrupt 0 was invoked as a result of its condition
(Target_velocity>=400) being met.
♦ In 1 became false.
♦ The motor was stopped at the emergency deceleration by the
interrupt service routine for interrupt 1.
♦ The program jumped to label 2.
♦ Output 1 was set OFF.

NOTE:
If both interrupts occur simultaneously, the interrupt of priority
0 will be handled as in case 1, and then the interrupt of priority
1 will be handled as in case 2. The program will then return to
label 2.

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4.12. Master-Slave Synchronization

For master-slave applications, synchronization is generally
started by a digital input. Starting the synchronization process
as quickly as possible thereafter is extremely important to
ensure accurate synchronization. Any delay will result in an
unwanted offset between master and slave positions.
The command MOVE_R is used to commence synchronization.
Conditioning the MOVE_R command using the WAIT_INPUT
command will result in a delay of up to 2ms, which may cause
too great a position error between the master and slave.
The New_move_enable flag can be used to reduce the delay to
125µs.

4.12.1. Using New_move_enable to Reduce

Response Time
The New_move_enable input can be used to reduce the
response time to 125µs. A parameter, Pn2D1.1, is set to activate
this feature. Once the flag has been set, all motion commands
(except when in Speed Control mode, see Section 5.3 Motion
Modes) will be delayed until the input has been received. The
remainder of the program will continue to run. It is important
that a WAIT_INPUT command (or any other wait statement) be
issued after the motion command that is to be delayed, to
ensure that the rest of the program is also delayed.

4.12.2. Overriding New_move_enable

The New_move_enable function can be overridden by setting the
variable Override_new_move_enable to 1. Doing so results in all
following motion commands being run without the program
waiting until a New_move_enable input is received.

4.12.3. Example Program for a Flying Shear

Application
The program below controls the implementation of a simple
flying shear. The parameter Pn2D1.1 is set to 0, mapping the
New_move_enable input to input terminal CN1-40.
1. LABEL 1
2. MOVE_R 0
3. WAIT_VAR Follower_synchronized = 1
4. SET_OUTPUT 1 ON
5. WAIT_VAR Position_demand_value >= 1000
6. SET_VAR Override_new_move_enable 1
7. GO_D 0 -1
8. SET_VAR Override_new_move_enable 0
9. GO_TO 1
10. END

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The command MOVE_R 0 (line 2) is suspended until an input is

received at CN1-40. Once the slave is synchronized to the
master (line 3), Output 1 is set On (line 4).
Once the Position_demand_value variable has exceeded 1000
(line 5), the New_move_enable function in disabled (line 6).
Therefore, the GO_D function (line 7) is run immediately,
irrespective of the state of the New_move_enable input.
The New_move_enable input is then re-enabled (line 8), and the
program returns to the beginning (line 9).
See MOVE_R in Chapter 5, Command Reference.

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5. Command Reference
This chapter contains an alphabetical list of:
♦ The commands available for writing a program in the
XtraWare system.
♦ The commands available in the serial communication protocol
The following information is presented for the commands:
♦ Command Name: The name of the command.
♦ Command Group: The group to which the command
belongs.
♦ Syntax: The format in which the command should be
written.
♦ Operation Code: The operation code of the command, in
decimal format, to be used when issuing the command using
the serial communication protocol. See Chapter 6, Serial
Interface Protocol.
♦ Modes: The modes in which the command is available. For
details of the available modes, see Section 4.5, Program
Modes. Information on how commands are executed in the
different modes is provided below.
♦ Motion Mode: The motion modes in which the command
functions (applicable to motion commands only). See Section
5.3, Motion Modes.
♦ Description: A detailed description of the command.
♦ Syntax Arguments: A description of the arguments used in
the command syntax, including the units where applicable.
Additional information is provided in the Serial blocks for
use when issuing the command using the serial
communication protocol, see Chapter 6, Serial Interface
Protocol.
The length of each argument is given. The number shown
is the number of data bytes of each argument. Each byte
consists of 2 hexadecimal digits, e.g. 01011111 = 5Fx0.
Arguments that must be specified by an unsigned integer
are indicated with a U.
Arguments that can be specified either by a numerical
value or by the ID number of a system variable are
indicated by a V. This is applicable for version 3.0 and
upward.
Where the argument is specified by an option, such as a
conditional operator, and not by a number, the numerical
code for each option is provided. When programming in

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XtraWare, the numerical code is not required as the

options are simply selected from drop-down menus.
Example:

Serial 2 U V

2 U V indicates that the argument consists of 2

hexadecimal digits, is unsigned, and can be specified
either by a numerical value or by a variable.
♦ Example: An example that shows the use of the command.
♦ Example Explanation: An explanation of the example.
♦ Notes: Additional information that is useful to know when
using the command.
♦ See Also: A list of additional commands and/or parameters
that are related to the command.
Command Reference Conventions: The generic term UU,
found in this section, refers to user units. For further
information, see Chapter 5 in the XtraDrive User Manual.

USER IMMEDIATE SEQUENTIAL

PROGRAM COMMAND COMMAND
BUFFER BUFFER (ICB) BUFFER (SCB)
(UPB)
1 1 1
2 2 2
. 3 .
. 4 .
. 5 .
100 101

MOTION
COMMAND
BUFFER
(MCB)
1
2
3
4
5

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5.1. XtraWare Modes

Three modes of operation are available:
♦ Program Mode.
♦ Sequential Mode.
♦ Immediate Mode.

5.1.1. Program Mode (User Program Buffer UPB)

In this mode, a program (a group of commands) is downloaded
into the UPB of the driver. Program commands have the highest
priority.
Program execution is activated by the RUN command or by
clicking RUN on the toolbar.
Motion commands in program mode are first calculated and then
inserted into the motion command buffer (MCB). This enables
the setting of an output or insertion of a certain term
immediately after the motion begins until it ends. Commands
with the suffix _D are fetched to the MCB. Only after their
completion (i.e., the MCB is empty) is the next command
fetched.

5.1.2. Sequential Mode (Sequential Command

motion will continue continuously after the first, without

stopping in between.
The table below specifies the type of transition between each
pair of motion modes:
C - Continuous transition without stopping.
S - The motor will first decelerate to a complete stop according
to Profile_acceleration before performing the new motion. The
command smoothing set by Pn216 will not be applied to the
deceleration.
Table 16: Nature of Transition Between Motion Modes

(-7)

(-5)

(-4)

(-3)

(-2)

(-1)
(0)

Profile position (1)

Profile Velocity. (3)

Profile Torque. (4)

(6)

Analog torque

Analog Speed
Speed mode

Auto tuning
Pulse train
Homing.

Hunting
ECAM
Speed mode
(0) C S S C S S C S S S S

Profile position
(1) S C C C S S C C S S C

Profile Velocity.
(3) S S C C S S C C S S C

Profile Torque.
(4) S S S C S S C S S S S

Homing
(6) S S S S C S S S S S S

ECAM
(-7) S S S S S C S S S S S

Analog torque
(-5) S S S C S S C S S S S

Analog Speed
(-4) S S C C S S C C S S C
Pulse train
(-3) S S C C S S C C C S C

Auto tuning
(-2) S S S S S S S S S C S
Hunting
(-1) S S C C S S C C S S C

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5.4. Motion Command Buffer

CONTROL
Table explanation

GROUP System
SYNTAX CONTROL <switch>

OP. CODE 69
MODES Program, Immediate, Sequential
DESCRIPTION Enables/disables the motor.
If the servomotor is disabled while a motion is in
progress, a quick stop is first made using the
maximum deceleration before the motor disable
command is executed.
SYNTAX Switch Specifies whether to enable or disable:
ARGUMENTS Setting Code
OFF – disables the motor 0
ON – enables the motor 1

Serial 1 U

EXAMPLE LABEL 1
CONTROL ON
DELAY 1000
MOVE_D 3600 -1
CONTROL OFF
END

EXAMPLE CONTROL ON enables the servo. The MOVE_D

EXPLANATION command is executed; the servo is disabled. End of
program.
NOTES After the CONTROL_ON command is issued, an
internal delay may occur (especially the first time
after power cycling or controller reset with AB motors
during the phase finding process).
SEE ALSO Parameter Pn200.2, Clear options

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DELAY
Table explanation

GROUP Wait
SYNTAX DELAY <n>

OP. CODE 144

MODES Program, Sequential
DESCRIPTION Waits for the specified period of time before executing
the next command. The actual delay is up to 2ms
longer than the delay specified by the user.
SYNTAX n The time to wait before executing the next
ARGUMENTS command.
[ms]
Serial 4 U V

NOTES If this command is used after a MOVE command, and

the motion time you set is shorter than the delay
time, the program will not wait until the motion has
ended before continuing. Therefore, in order to
synchronize the program with completion of the
motion, use the MOVE_D or GO_D command.

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ECAM_DISENGAGE
Table explanation

GROUP ECAM
SYNTAX ECAM_DISENGAGE

OP. CODE 122

MODES Program, Sequential
DESCRIPTION Terminates ECAM motion. Motion only stops once the
current profile has been completed. To stop the
motion immediately, use the STOP_EX command
instead. See 4.9.14.2, ECAM_DISENGAGE.
EXAMPLE ECAM_ENGAGE 3, CYCLIC
DELAY 10000
ECAM_DISENGAGE

EXAMPLE ECAM profile number 3 will be followed for 10

EXPLANATION seconds. After 10 seconds, the ECAM motion will
continue until the current profile has been completed,
irrespective of how many cycles have already been
completed. ECAM motion will then stop.
SEE ALSO ECAM_ENGAGE, ENGAGE_VIRTUAL_AXIS, STOP_EX
Variables: ECAM_Master_scale_den,
ECAM_Master_scale_num, ECAM_Slave_scale_den ,
ECAM_Slave_scale_num, ECAM_Offset, ECAM_Shift
ECAM_Master_profile_position,
ECAM_Slave_profile_position

ECAM_ENGAGE
Table explanation

GROUP ECAM
SYNTAX ECAM_ENGAGE <Profile_ID> <Mode>

OP. CODE 121

MODES Program, Sequential

DESCRIPTION Initiates motion according to the ECAM profile

<Profile_ID>, which is specified in the ECAM table.
See Section 4.9.14.1, ECAM_ENGAGE.

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SYNTAX Profile_ID The identifying number of the profile to

ARGUMENTS be used.
Serial 1 U V

Mode Specifies whether the motion should

continue indefinitely or only until the
profile has been completed once:
Setting Code
Non Cyclic – Profile will be 0
completed once only.
Cyclic – Profile will continue 1
indefinitely.

Serial 1 U

EXAMPLE ECAM_ENGAGE 3, NON_CYCLIC

EXAMPLE ECAM profile number 3 will be followed once.

EXPLANATION

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END
Table explanation

GROUP Program Flow Control

SYNTAX END

OP. CODE 70
MODES Program, Immediate
DESCRIPTION Terminates the user program currently being
executed.
EXAMPLE LABEL 1
WAIT_INPUT 1 = 1 -1
CALL 2
END

LABEL 2
SET_OUTPUT 1 ON
RETURN

EXAMPLE Waits for INPUT 1 to be ON and then calls subroutine

EXPLANATION that sets OUTPUT 1 to ON. Returns to the program,
end of program.
NOTES The END command must be used at the end of all
programs.

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ENGAGE_VIRTUAL_AXIS
Table explanation

GROUP ECAM
SYNTAX ENGAGE_VIRTUAL_AXIS <Profile_ID> <Direction>

OP. CODE 136

MODES Program, Sequential
DESCRIPTION Initiates motion according to the ECAM profile
<Profile_ID>, where the ECAM profile is time based.
In this case, the master pulse is generated internally
every 125µs. See 4.9.14.3, ENGAGE_VIRTUAL_AXIS.
SYNTAX Profile_ID The identifying number of the profile to
ARGUMENTS be used.
Serial 1 U V

Direction Specifies the direction in which the

profile should be followed:
Setting Code
POSITIVE – In the positive 0
direction.
NEGATIVE – In the negative 1
direction.

Serial 1 U

EXAMPLE ENGAGE_VIRTUAL_AXIS 2, POSITIVE

EXAMPLE ECAM time based profile number 2 will be followed in

EXPLANATION the positive direction.
SEE ALSO ECAM_ENGAGE, ECAM_DISENAGE, STOP_EX
Variables: ECAM_Master_scale_den,
ECAM_Master_scale_num, ECAM_Slave_scale_den ,
ECAM_Slave_scale_num, ,
ECAM_Master_profile_position,
ECAM_Slave_profile_position, ECAM_Offset,
ECAM_Shift

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SYNTAX Variable The output can be conditional on any of

ARGUMENTS the following variables:
Variable Code
Position_demand_value 8
Position_actual_value 9
Following_error_actual_value 10
Torque_demand_value 17
*
Distance_from_target 36
Master_position 38
Absolute_position_error 61
*In general, this code is used for
In_position, but here it is used for
Distance_from_target.

Serial 1 U

Condition Select from:

Condition Code
> 1
< 2

Serial 1 U

Value Specify the value against which the

variable must be compared, using
decimal format.
Serial 4 V

NOTES Specify which output must be set to ON by setting

parameter Pn2D2.0 as follows:
0: Fast output setting disabled (default).
1: Output 1 (CN1-25,26)
2: Output 2 (CN1-27,28)
3: Output 3 (CN1-29,30)
After configuring Pn2D2.0, the assigned output will
function as a Coincidence output until the
FAST_OUTPUT_SETTING command is issued. A
Coincidence output signal is produced when the
position error is smaller than defined by Pn500 and
the motion command has ended.
After the FAST_OUTPUT_SETTING command is issued,
the output selected by Pn2D2.0 will function as
specified by the FAST_OUTPUT_SETTING command.
After issuing a FAST_OUTPUT_SETTING command, it

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Command Reference

is not possible to restore the output to function as a

Coincidence output. To set the output to function as a
Coincidence output, use a FAST_OUTPUT_SETTING
command, with <variable> set to
Distance_from_target.
EXAMPLE MOVE 300000 -1
FAST_OUTPUT_SETTING Position_actual_value >
100000
WAIT_VAR Position_actual_value > 100000
FAST_OUTPUT_SETTING Position_actual_value <
250000
WAIT_VAR Position_actual_value > 250000
FAST_OUTPUT_SETTING Coincidence < 200

EXAMPLE After motion has started, a quick output is set,

EXPLANATION conditional on Position_actual_value exceeding
100000. Output 1 is set ON as soon as this condition
is met. The fast output condition is then changed so
that Output 1 will remain on until position 250000 is
reached. Once this position is reached, Output 1 is
turned off. The fast output condition is then changed
again so that Output 1 will be turned on once
Distance_from_target is lower than 200. After the
motion has been completed to within the specified
position error window of 200, Output 1 is set ON
again.
SEE ALSO Parameters Pn2D2.0, Pn500

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GAIN
Table explanation

GROUP System
SYNTAX GAIN <n>

OP. CODE 71
MODES Program, Immediate, Sequential
DESCRIPTION Sets a user factor for the control loop gains. This
command can be used to momentarily decrease
system bandwidth, i.e., when the motor is not in
motion but holding its position, or to increase system
bandwidth for short and stiff motion.
SYNTAX n User gain [%].
ARGUMENTS Range: 0 - 1000
Default gain is 100%.
Serial 2 U

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Command Reference

GO
GROUP Motion
SYNTAX GO <target> <time>

OP. CODE 112

MODES Program, Sequential
MOTION Position (1)
MODE
DESCRIPTION Moves the motor to a specified <target> (absolute
coordinates) in the specified <time>.
The controller calculates the speed of the motor
based on the profile acceleration and profile jerk. The
maximum permitted speed is the maximum motor
speed (variable Max_profile_velocity).

SYNTAX target The specified target in absolute

ARGUMENTS coordinates.
[user position units]
Serial 4 V

time The time allowed for the motion. [ms]

When setting <time> to -1, a motion
profile will be calculated with a
maximum speed equal to the profile
velocity.
Serial 4 V

EXAMPLE GO 10000 –1
SET_OUTPUT 1 ON
GO 0 300

EXAMPLE Motion will start towards destination 10000 UU

EXPLANATION following the motion profile settings. Output 1 is then
immediately set to ON. The second GO command to
destination 0 UU starts once the first motion has been
completed (within 125µs).
SEE ALSO ACCELERATION, JERK_TIME, GO_D, MOVE, SPEED
Variables: Max_Profile_Velocity, Profile_Velocity,
Max_Profile_Acceleration, Profile_Acceleration
Parameters: Pn2A2, Pn2A3, Pn2A4, Pn2A5

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GO_D
Table explanation

GROUP Motion
SYNTAX GO_D <target> <time>

OP. CODE 128

MODES Program, Sequential
MOTION Position (1)
MODE
DESCRIPTION Moves the motor to a specified <target> (absolute
coordinates) in the specified <time>. This command is
identical to the GO command in motion execution, but
it delays the execution of the next program command
until the command (theoretical motion) generated by
the GO_D command is completed.
The controller calculates the speed of the motor
based on the default values of acceleration and jerk.
The maximum permitted speed is maximum motor
speed (variable Max_profile_velocity).
SYNTAX target The specified target in absolute
ARGUMENTS coordinates.
[user position units]
Serial 4 V

time The time allowed for the motion.

[ms]
When setting <time> to -1, a
motion profile will be calculated
with a maximum speed equal to the
profile velocity.
Serial 4 V

EXAMPLE LABEL 1
GO_D 10000 –1
SET_OUTPUT 1 ON
GO_D 0 300
END

EXAMPLE Movement commences to destination 10000 UU. –1

EXPLANATION indicates that the movement time will be determined
by the motion profile, i.e., the predefined speed,
acceleration and jerk time. Unlike the GO example in
which the output was set at the beginning of the
command, output 1 is set to ON only after the
movement has ended. Motor moves to point 0 (zero
position) in 300ms; end of program.

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Command Reference

OP. CODE 117

MODES Program, Sequential
MOTION Hunting (-1)
MODE
DESCRIPTION Enables change of the <target> while the motor is still in
motion. This is unlike the GO and GO_D commands where
every command is executed only after the previous one has
ended. (After the GO and GO_D commands the motor comes
to a full stop).
The motion profile is calculated according to the command
profiles set by the user, i.e., Speed, Acceleration and Jerk
time.
SYNTAX target The specified target in absolute
ARGUMENTS coordinates.
[user position units]
Serial 4 V

EXAMPLE SET_ZERO_POSITION demand_position

SPEED 1500
GO_H 60000
GO_H 1000000
WAIT_VAR Position_actual_value > 800000
SPEED 500
END

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EXAMPLE The speed is set to 1500 rpm and movement commences to

EXPLANATION a destination of 600,000 user units. While in motion, the
destination is changed to 1,000,000 user units. When the
Actual position equals 800,000 user units, the speed
changes to 500 rpm.
SEE ALSO MOVE_H
Variables: Max_Profile_Velocity, Profile_Velocity,
Max_Profile_Acceleration, Profile_Acceleration.
Parameters: Pn2A2, Pn2A3, Pn2A4, Pn2A5

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Command Reference

GO_TO
Table explanation

GROUP Program Flow Control

SYNTAX GO_TO <n>

OP. CODE 73
MODES Program
DESCRIPTION Changes the flow of the program by specifying a label
to which to jump.
SYNTAX n The number of the label number to which to
ARGUMENTS jump.
Serial 1 U

EXAMPLE LABEL 1
MOVE 3600 500
MOVE -3600 500
GO_TO 1

EXAMPLE An endless loop application.

EXPLANATION A movement in the positive direction occurs followed
by a negative direction movement. The GO_TO 1
command returns to the beginning of the program
(LABEL 1).
SEE ALSO LABEL, LOOP

HOME Commands
♦ The home switch is a digital input that defines the start point
to search for the C-pulse. Do not define the over travel
switch as the home switch.
♦ The accuracy of Home position in A quad B encoder by C-
pulse is +/- 1 count if the motor searches in the same
direction. If the motor searches in both directions the
accuracy is the C-pulse width +/- 1 count.

HARD_HOME
Table explanation

GROUP Home
SYNTAX HARD_HOME <torque> <speed>

OP. CODE 131

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Command Reference

IF
Table explanation

GROUP Program Flow Control

SYNTAX IF <variable> <condition> <value> <then>
<label>

OP. CODE 105

MODES Program
DESCRIPTION Defines the different types of conditions/terms that
control the flow of the program. If the IF condition is
true, the action specified by <then> is performed.
Otherwise, the next program line is performed.
SYNTAX variable System variable (see Chapter 9, List of
ARGUMENTS System Variables).
Serial 1 U

condition Select from:

Condition Code
== 0
> 1
< 2
>= 3
<= 4
!= 5

Serial 1 U

value Set a value (or system variable ID

number) with the same units as
<variable>.
Serial 4 V

then Specifies the action to take:

Setting Code
CALL - call subroutine 0
with specified <label>;
when finished, return.
GO_TO - continue from 1
the specified <label>.

Serial 1 U

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SYNTAX label Label to jump to as required by the

ARGUMENTS operation specified in <then>.
Serial 1 U

EXAMPLE SET_ZERO_POSITION demand_position

SET_OUTPUT 1 Off
DELAY 1000
LABEL 1
SLIDE 100
DELAY 100
IF Position_actual_value > 550000 THEN GO_TO
2
GO_TO 1
END
LABEL 2
SET_OUTPUT 1 ON
SLIDE 0
END

EXAMPLE Position is set to zero, output 1 is set to off. The

EXPLANATION motor starts moving at a constant speed. After a
short delay the term is checked (motor is still
running). If true (i.e., the position value is greater
than 550000) go to LABEL 2, output 1 is set to ON,
motion stops, end of program. If false the subroutine
labeled 1 starts again, until the term becomes true.
SEE ALSO IF_INPUT, CASE, CALL, GO_TO, WAIT_VAR

IF_INPUT
Table explanation

GROUP Program Flow Control

SYNTAX IF_INPUT <input number> <input condition> <input
state> <then> <label>

OP. CODE 108

MODES Program
RANGE Input number – 0 to 7 and 8 to 24 (depending on Option
board type, if any).
DESCRIPTION The program flow is conditional on the state of a digital
input. If the condition is True, the action specified by
<then> will occur. Otherwise, the next program line is
executed.

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Command Reference

SYNTAX Input number Digital input number according to

ARGUMENTS the pin on CN1. Pin 40 is related to
<input number>, 0 and 41 to 1, etc.
Serial 1 U

Input condition Only the equal to condition is

available:
Condition Code
== 0

Serial 1 U

Input state Can be set to either 0 OR 1.

Serial 1 U V

then Specifies the action to take:

Setting Code
CALL - call subroutine 0
with specified <label>;
when finished, return.
GO_TO - continue from 1
the specified <label>.

Serial 1 U

label Label to jump to as required by the

operation specified in <then>.
Serial 1 U

EXAMPLE LABEL 1
IF_INPUT 1 = 0 THEN GO_TO 2
SET_OUTPUT 2 ON
LABEL 2
MOVE_D -4096 –1
END

EXAMPLE If INPUT 1 is false (the condition is true) jump to LABEL 2

EXPLANATION and move forward, else, set OUTPUT 2 to ON and move
forward.
SEE ALSO IF, WAIT_INPUT, INPUT_CASE

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INPUT_CASE
Table explanation

GROUP Program Flow Control

SYNTAX INPUT_CASE <input mask> <input state>

OP. CODE 97
MODES Program
RANGE <input mask> – 1 to 0x00FFFFFF
<input state> – 0 to 0x00FFFFFF
DESCRIPTION The program flow is conditional on the state of a
combination of digital inputs. If the condition is True,
the next program line is executed. Otherwise, the
next program line is skipped.
<input mask> is used to define which inputs are
detected and which are ignored (1 - detected, 0 -
ignored). For example, if <input mask> is set to 5 (in
binary: 0101) only inputs 0+2 are checked; the rest
are ignored.
Input Mask
…. 0 0 0 1 0 1
<input state> defines the logical combination to be
detected as True. For example, if <input state> is
set to 4 (in binary: 0100), True means input 0 OFF,
input 1 OFF, input 2 ON and input 3 OFF.
Input State
…. 0 0 0 1 0 1

SYNTAX Input mask Input mask (decimal value). Defines

ARGUMENTS which inputs are detected and which
are ignored:
Setting Code
Ignore the input 0
Check the input 1

Serial 4 U V

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Input state Input State (decimal value). A bit

string represents the digital input
state. The leftmost is input 0 related
to pin 40 on CN1, etc. The eighth bit is
not in use.
Serial 4 U V

EXAMPLE LABEL 1
INPUT_CASE 7 2
MOVE 4096 –1
GO_TO 1
END

EXAMPLE <input mask> is 7 (in binary is 0111), i.e., check

EXPLANATION inputs 0, 1, 2 and ignore the rest. <input state> is
2 (in binary is 0010).
True means input 0 is OFF, input 1 is ON and input 2
is OFF. If the condition is true, proceed to the MOVE
command. Otherwise skip the next command and
jump to GO_TO command.
SEE ALSO IF_INPUT

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INT
Table explanation

GROUP Interrupt
SYNTAX INT <Priority> <Variable> <Condition> <Value>

OP. CODE 139

MODES Program
DESCRIPTION This command indicates the beginning of an interrupt
service routine, and is used for interrupts that are
conditional on the value of internal variables. See
Section 4.11.7.2, INT.
SYNTAX Priority Specifies the interrupt number.
ARGUMENTS
Serial 1 U

Variable Specifies on which variable the

interrupt is conditional. Any
XtraDrive variable can be chosen.
When using serial communication,
specify the ID number of the
system variable.
Serial 1 U

Condition The relational operator that

specifies how the <value> of the
<variable> must compare to the
specified value for the interrupt to
be triggered. Conditions include:
Condition Code
== 0
> 1
< 2
>= 3
<= 4
!= 5

Serial 1 U

Value The value against which the

specified variable value is
compared, for an interrupt to be
triggered.
Serial 4 V

OP. CODE 75
MODES Program
DESCRIPTION Repeats a portion of code beginning at a label a
specified number of times. Up to four loops may be
nested within one another but may not cross one
another.
SYNTAX n The levels of nesting within this loop (up to
ARGUMENTS 4).
Serial 2 U

v The number of cycles of this loop to perform.

Serial 4 U V

l The label to which this loop belongs.

Serial 1 U

EXAMPLE Three loops with two nesting levels are shown below
(the command lines have been separated for clarity).
Loops 2 and 3 are nested in Loop 1.

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Command Reference

EXAMPLE The program has two nesting levels:

EXPLANATION First level: Loop_2 and Loop_3.
Second level: Loop1.
Ten movements to the positive side will occur (first
loop marked by LABEL 2), then ten to the negative
side (second loop marked by LABEL 3). The two sets
of movements will be repeated 5 times (2nd nesting
level that contains the two 1st nesting level loops).
SEE ALSO LABEL

MATH
Table explanation

GROUP Variables
SYNTAX MATH <Result> <R Operator> <Variable>
<Operation> <Value>

OP. CODE 134

MODES Immediate; Sequential; Program
DESCRIPTION Sets the value of the specified <variable> to the
result of a mathematical operation on two elements.
If the result is a fraction, it will be rounded downward
to the nearest integer.
SYNTAX Result The result of the calculation will
ARGUMENTS be stored in the <Result>
variable. Any of the read/write
system variables can be
specified. See Chapter 9, List of
System Variables.
Serial 1 U

R Operator Operator:
Operator Code
= 18

Serial 1 U

Variable Can be an integer number or

any of the system variables. See
Chapter 9, List of System
Variables.

Serial 1 U

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Operation Available operations:

Operator Code
* 6
/ 7
MOD 8
+ 9
- 10
AND 13
XOR 14
OR 15

Serial 1 U

Value Long type.

Serial 4 V

EXAMPLE LABEL 1
SET_VAR Var_01 8192
MATH ECAM_Shift =
Actual_position_registration / Var_01
ECAM_ENGAGE 1 Non Cyclic
END

EXAMPLE The ECAM_SHIFT variable is calculated by dividing the

EXPLANATION Actual_position_registration by the value of Var_01.
For example, if Actual_position_registration is 19300,
ECAM_SHIFT will be set to 2, since 19300 / 8192 =
2.36 and only the integer part is considered.
SEE ALSO SET_VAR

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Command Reference

MOVE
Table explanation

GROUP Motion
SYNTAX MOVE <distance> <time>

OP. CODE 113

MODES Program, Sequential
MOTION Position (1)
MODE
DESCRIPTION Moves the motor by <distance> (incremental
coordinates) in the specified time.
The controller calculates the speed of the motor
based on the profile acceleration and profile jerk.
The maximum permitted speed is the maximum
motor speed (variable Max_profile_velocity).

SYNTAX distance Distance to the next point.

ARGUMENTS [user position units]
Serial 4 V

time The time allowed for the motion.

[ms]
When setting <time> to -1, a motion
profile will be calculated with a maximum
speed equal to the profile velocity.
Serial 4 V

EXAMPLE LABEL 1
MOVE 4096 1000
DELAY 2000
MOVE –4096 –1
END

EXAMPLE The motor moves 4096 user units in the positive

EXPLANATION direction, 2000ms after the motion begins. The next
MOVE command is executed, this time in the opposite
direction. The time of the movement is determined
internally according to the Motion Profile you specified.

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OP. CODE 129

MODES Program, Sequential
MOTION Position (1)
MODE
DESCRIPTION Moves the motor a specified <distance>
(incremental coordinates) in the specified <time>.
This command is identical to the MOVE command in
motion execution, but it delays the execution of the
next program command until the command
(theoretical motion) generated by the MOVE_D
command is completed.
The controller calculates the speed of the motor
based on the profile acceleration and profile jerk.
The maximum permitted speed is the maximum
motor speed (variable Max_profile_velocity).

SYNTAX distance Distance to the next point.

ARGUMENTS [user position units]
Serial 4 V

time The time allowed for the motion.

[ms]
When setting <time> to -1, a motion
profile will be calculated with a maximum
speed equal to the profile velocity.
Serial 4 V

EXAMPLE LABEL 1
MOVE_D 4096 1000
MOVE_D –4096 –1
END

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Command Reference

EXAMPLE The motor moves 4096 user units in the positive

EXPLANATION direction. Execution of the next MOVE command
commences as soon as the previous motion ends
(after 1000ms), this time in the opposite direction.
The time of the movement is determined internally
according to the motion profile you specified.
SEE ALSO MOVE, MOVE_H, MOVE_R, GO, GO_D,
ACCELERATION, JERK_TIME, SPEED
Variables: Max_Profile_Velocity, Profile_Velocity,
Max_Profile_Acceleration, Profile_Acceleration.
Parameters: Pn2A2, Pn2A3, Pn2A4, Pn2A5

MOVE_H
Table explanation

MODES Immediate; Sequential; Program
DESCRIPTION Reads the value of an array element according to
<index> and sets it to <variable>.
SYNTAX Index Decimal value in range of 1-512
ARGUMENTS representing the index of the
member in the data array.
Serial 2 U V

Variable Any of the read/write system

variables. See Chapter 9, List of
System Variables.
Serial 1 U

EXAMPLE READ_FROM_ARRAY 291 Var_01

Index 1 2 3 ... 291 ... 512

Value 56312

EXAMPLE Var_01 will be equal to 56312.

EXPLANATION
SEE ALSO SET_VAR, WRITE_TO_ARRAY, GET_FROM_ARRAY
(Only in immediate or sequential mode)

REGISTRATION_DISTANCE
Table explanation

GROUP Encoder Latching

SYNTAX REGISTRATION_DISTANCE <Distance>

OP. CODE 151

MODES Program, Sequential
MOTION MODE Hunting (-1)

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DESCRIPTION This command sets the <distance> from the

Latched_motor_position over which the motor must
decelerate to a stop.
SYNTAX Distance Sets the distance over which the
ARGUMENTS motor must decelerate to a stop.
[user position units]
Serial 4 V

EXAMPLE Speed 300

LATCHING_TRIGGER Rising Edge
MOVE_H 5000
WAIT_VAR Latched_position_ready = 1
REGISTRATION_DISTANCE 100

EXAMPLE Registration is enabled, setting the condition that

EXPLANATION input CN1-46 must change from 0 to 1 for
registration to begin. The motor is commanded to
move 5000 user units. Once the latching condition
has been met, the registration begins, such that the
motor will move 100 user units before stopping.
NOTE 1. The command usually follows the command
WAIT_VAR Latched_position_ready = 1, as the
variable Latched_position_ready is set to 1 once the
latching condition has been met. See 4.10.3.2,
REGISTRATION_DISTANCE.
2. The variable Motion_status indicates whether the
motion ended as commanded by the
REGISTRATION_DISTANCE command. See Section
4.10.4.3, Motion_status.
3. If the New_move_enable input is enabled, the
execution of a REGISTRATION_DISTANCE command
will be delayed until the input is received. If the
original motion was triggered by this input, the
Override_new_move_enable may have to be set to
allow the REGISTRATION_DISTANCE command to
be executed.
SEE ALSO LATCHING_TRIGGER, WAIT_VAR
Variables: Latched_motor_position,
Latched_master_position, Motion_Status,
Latched_position_ready

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Command Reference

RETURN
Table explanation

GROUP Program Flow Control

SYNTAX RETURN

OP. CODE 77
MODES Program
DESCRIPTION Returns from a subroutine to the command following
the CALL command that called the subroutine.
EXAMPLE LABEL 1
CONTROL ON
DELAY 1000
JERK_TIME 700
MOVE_D 7200 1
CALL 2
SET_OUTPUT 2 OFF
CONTROL OFF
END
LABEL 2
SET_OUTPUT 2 ON
JERK_TIME 350
MOVE_D -7200 -1
RETURN

EXAMPLE Servo enabled, jerk time is set to 700ms, MOVE

EXPLANATION command executes, subroutine LABEL 2 is called.
Within the subroutine: output 2 is set ON; jerk time is
set to 350ms; movement in the negative direction;
return to the main program; command that follows
the CALL code line is executed: output 2 is set OFF,
servo disabled, end of program.
SEE ALSO LABEL, CALL

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RUN
Table explanation

GROUP Program Flow Control

SYNTAX RUN <n>

OP. CODE 78
MODES Immediate, Sequential
DESCRIPTION Runs a program or a subroutine
from the specified label.
SYNTAX n The label number.
ARGUMENTS
Serial 1 U

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Command Reference

switch Specifies the required output state:

State Code
Off 0
On 1

Serial 1 U

EXAMPLE LABEL 1
SET_ZERO_POSITION demand_position
SLIDE 200
WAIT_VAR Position_actual_value >= 10000
SLIDE 0
SET_OUTPUT 2 ON
END

EXAMPLE Current Position is set to zero; slide motion takes

EXPLANATION place until the position value equals or exceeds
10000uu (the WAIT_VAR command stalls the
execution of the next command). When the position
value equals or exceeds 10000uu, the SLIDE 0
command “stops” (tells the motor to move at 0
speed); the motor output 2 is set ON; End of
program.
SEE ALSO SET_OUTPUTS

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Command Reference

SET_OUTPUTS
Table explanation

GROUP Output
SYNTAX SET_OUTPUTS <output mask> <output state>

OP. CODE 107

MODES Program, Immediate, Sequential
DESCRIPTION Simultaneously sets a group of digital outputs to ON
or OFF.
SYNTAX Output mask Decimal value of a bit string, in which
ARGUMENTS the digits define which outputs are set
and which are ignored. The rightmost
digit of the string is ignored, the next
corresponds to OUT 1 on pins CN1-
25, CN1-26, etc.
Setting Code
Ignore 0
Set 1

Range: 1 to 0x00FFFFFF

Serial 4 U V

Output Decimal value. A bit string represents

state the digital outputs to be set. The
rightmost digit is ignored, the next
corresponds to OUT 1 on pins CN1-
25, CN1-26, etc.
Range: 1 to 0x00FFFFFF
Serial 4 U V

EXAMPLE WAIT_VAR Position_actual_value >= 100

SET_OUTPUTS 6 4
END

EXAMPLE When the position value equals or exceeds 100uu,

EXPLANATION digital output 1 is set to OFF and digital output 2 to
ON. <Output mask> is 6 (0110) i.e., only outputs 1
and 2 can be affected. <Output state> is 4 (0100)
and determines the value of the affected digital
outputs.
SEE ALSO SET_OUTPUT

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Command Reference

SET_VAR
Table explanation

GROUP Variables
SYNTAX SET_VAR <variable> <value>

OP. CODE 81
MODES Program, Immediate, Sequential.
DESCRIPTION Sets the contents of a writeable user variable.
SYNTAX variable Set to the ID number of one of
ARGUMENTS the writeable system variables.
In driver ver 2.91, only the
following variables can be set:
Exact_mode,
Motion_end_window, Clock,
Speed_reference.
Serial 1 U

value The value of the user variable.

Serial 4 V

EXAMPLE SET_VAR Var_01 329

For example, the rated speed is 3000 rpm, Pn300 is

set to 600 (6V), if the voltage generated is 3V, the
speed will be 1500 rpm.
NOTE 1. Movement acceleration is according to the profile
acceleration and profile jerk time values set by the
user.
2. SLIDE_ANALOG also maintains position control, to
minimize position error.
SEE ALSO TORQUE_ANALOG, SPEED_CONTROL, ANALOG_INPUT

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Command Reference

SPEED
Table explanation

GROUP Motion Profile

SYNTAX SPEED <n>

OP. CODE 83
MODES Program, Immediate, Sequential
DESCRIPTION Sets the velocity value for the motion profile. The
command changes the profile velocity value set by
parameters Pn2A2, Pn2A3. The profile velocity
value then remains in effect until the next
controller reset.
SYNTAX n Sets the profile velocity.
ARGUMENTS [user speed units]
Serial 4 U

EXAMPLE LABEL 1
CONTROL ON
DELAY 500
SPEED 50
MOVE 3600 -1
SPEED 200
MOVE_D -3600 -1
CONTROL OFF
END

EXAMPLE Servo enabled; speed profile is set to 50uu; first

EXPLANATION movement occurs; speed profile is set to 200uu;
second movement, which uses the new speed
profile, is faster and in the opposite direction;
servo disabled; end of program.
NOTES The speed value <n> can only be specified by a
number. To set the profile velocity equal to the
value of a variable, use the SET_VAR command.
SEE ALSO MOVE, MOVE_D, MOVE_H, MOVE_R, GO, GO_D,
GO_H, SET_VAR

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SPEED_CONTROL
Table explanation

GROUP Motion
SYNTAX SPEED_CONTROL <switch>

OP. CODE 100

MODES Program, Sequential
MOTION Speed control (0)
MODE
DESCRIPTION Changes control to NCT speed control. The type of
speed command is determined according to the
<switch> setting.
SYNTAX switch Mode Co
ARGUMENTS de
ANALOG_INPUT – Analog speed 2
command (similar to the
SLIDE_ANALOG command,
except that a speed control loop
is closed on the command).
PULSE_TRAIN_INPUT – Pulse 3
train speed command.
VARIABLE - Speed command 4
set by a variable. Use the
SET_VAR command to change
the variable Speed_reference
which changes the motor
speed.

Serial 1 U

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Command Reference

DESCRIPTION Triggers the execution of a previously defined motion

that is held by a WAIT_FOR_START command.
The START command reaches all the drivers (provided
that several drives are connected via serial
communication) at the same time as a broadcast
message.
The START command clears the WAIT_FOR_START
flag. Therefore the WAIT_FOR_START command must
be set per motion.
SEE ALSO WAIT_FOR_START

STOP
Table explanation

VERSION This command is available only in drive version 2.91.

NOTE For higher versions, use STOP_EX.

GROUP Motion
SYNTAX STOP <switch>

OP. CODE 84
DESCRIPTION Immediately stops the motor motion using the quick
stop deceleration as defined by parameters Pn2A8
and Pn2A9, and stops the program and clears the
immediate, sequential and motion buffers.
SYNTAX switch This parameter defines system behavior
PARAMETERS after the motion actually stops:
Switch Code
ON – keeps the motor enabled 1
OFF – disables the motor 0

NOTE When using this command, the deceleration

parameters Pn2A8 and Pn2A9 cannot be defined as
zero. The default rate of this deceleration is
automatically calculated by the XtraDrive according to
the motor torque. If you change this value, it is your
responsibility to set a value that is appropriate for an
emergency stop.
MODES Program, Immediate, Sequential
SEE ALSO STOP_EX
Parameters Pn2A8, Pn2A9

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STOP_EX
Table explanation

GROUP Motion
SYNTAX STOP_EX <Type> <Servo>

OP. CODE 153

MODES Program, Immediate, Sequential
MOTION Position (1)
MODE
DESCRIPTION This command is used to stop motor motion. The rate
of deceleration is dependent on the <Type> chosen.
The <Servo> argument specifies whether or not the
servo must remain enabled after stopping (but cannot
be used to enable a previously disabled servo). The
program can also be terminated after the motor has
stopped.
SYNTAX Type Specifies the rate of deceleration, and
ARGUMENTS whether the program is stopped.
Setting Code
Profile - The motor will 0
decelerate at the profile
acceleration.
Emergency – The motor will 1
decelerate at the quick stop
deceleration, specified by
parameters Pn2A8, Pn2A9.
Emergency + Program Stop 2
– The motor will decelerate
at the quick stop
deceleration, specified by
parameters Pn2A8, Pn2A9.
After stopping, the program
is terminated.

Serial 1 U

Servo This argument defines the motor state

after the motion actually stops:
Setting Code
Servo ON - the motor 0
remains enabled.
Servo OFF - the motor is 1
disabled.

Serial 1 U

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NOTES Unless <Type> is set to Emergency + Program Stop,

the program line following the STOP_EX command will
only be executed once the theoretical deceleration has
been completed.
EXAMPLE SLIDE 1000
DELAY 200
STOP_EX Emergency Servo OFF
SET_OUTPUT 1 ON

EXAMPLE A STOP_EX command was issued 200ms after motion

EXPLANATION started. Because <Type> was set to Emergency, the
motor decelerated at the quick stop deceleration rate,
which was higher than the profile acceleration at
which the motor accelerated initially. The
SET_OUTPUT command was executed only once the
motor had stopped.
SEE ALSO Parameters Pn2A8, Pn2A9

STOP_MOTION
Table explanation

VERSION This command is available only in drive version 2.91.

NOTE For higher versions, use STOP_EX.

GROUP Motion
SYNTAX STOP_MOTION

OP. CODE 99

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DESCRIPTION Immediately stops the motor motion (not the

program) using the quick stop deceleration, as
defined by parameters Pn2A8 and Pn2A9, and clears
the motion buffer.
EXAMPLE LABEL 1
MOVE 3600 -1
DELAY 100
MOVE -3600 -1
DELAY 100
IF_INPUT 1 = 1 THEN CALL 2
GO_TO 1
LABEL 2
STOP_MOTION
WAIT_INPUT 1 = 0 –1
GO_D 0
RETURN

EXAMPLE Two motions (one in the positive direction, the other

EXPLANATION in the opposite direction) are continuously executed
as long as Input 1 is false. When Input 1 is set to
true, subroutine LABEL 2 is called and the motion
stops.
By setting Input 1 to false, the motor returns to its
zero position and the two MOVE motions are executed
in an endless loop.
You can stop the program simply by using the
STOP_EX command in immediate mode.
MODES Program, Immediate, Sequential
NOTE When using this command, the deceleration
parameters Pn2A8 and Pn2A9 cannot be defined as
zero. The default rate of this deceleration is
automatically calculated by the XtraDrive according to
the motor torque. If you change this value, it is your
responsibility to set a value that is appropriate for an
emergency stop.
SEE ALSO STOP_EX
Parameters Pn2A8, Pn2A9

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Command Reference

TORQUE
Table explanation

GROUP Motion
SYNTAX TORQUE <n>

OP. CODE 116

MODES Program, Sequential
MOTION Torque (4)
MODE
RANGE -1000 to 1000
DESCRIPTION Defines the torque that the motor generates.
The slope of the torque increase / decrease is defined
by parameter Pn2C1.
SYNTAX n The torque value.
ARGUMENTS [0.1% of the rated motor torque]
Serial 2 V

EXAMPLE LABEL 1
TORQUE 100
DELAY 1000
TORQUE 200
DELAY 1000
TORQUE –200
DELAY 1500
TORQUE 0
DELAY 1000
END

EXAMPLE The Torque Profile value is changed four times, each

EXPLANATION time for a period of time determined by the
subsequent DELAY command.
The final TORQUE command sets the profile value to
zero (see Notes below).
NOTES A TORQUE 0 command must be entered when it is no
longer necessary to apply torque. The program END
command stops the program but does not set the
torque to zero.
SEE ALSO Variable: Target torque
Parameter: Pn2C1

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OP. CODE 146

MODES Program, Sequential
DESCRIPTION This command pauses the execution of motion
commands until a sequential START command is
applied.
The main purpose of this command is to enable you to
send a group of (up to 10) sequential commands, so
that execution of the commands is delayed until a
START command is received.
This command is used to coordinate axes.
The START command clears the WAIT_FOR_START
command. Therefore the WAIT_FOR_START command
must be set per motion.
EXAMPLE Consider a system with X and Y axes that are required
to start moving at exactly the same time. To ensure
that their motions start simultaneously, a
WAIT_FOR_START command should be sent (via
serial communication) to each of the axes, followed
by the required MOVE commands, which may be
different for each axis. The axes will not move until a
START command arrives. A START command can then
be sent, and it will arrive simultaneously at both of
the axes, causing both axes to start moving
simultaneously.
SEE ALSO START

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WAIT_INPUT
Table explanation

GROUP Wait
SYNTAX WAIT_INPUT <input number> <input condition
<input state> <time>

OP. CODE 109

MODES Program, Sequential
DESCRIPTION Pauses execution of program until the condition on
digital input is true or until the time specified by
<time> has elapsed.
SYNTAX Input Digital input number according to the
ARGUMENTS number pin on CN1. Pin CN1-40 corresponds to
<input number> 0 and CN1-41 to 1,
etc.
Range: 0 to 7 and 8 to 24 (depending
on Option board type, if any)
Serial 1 U

Input Input condition:

condition Condition Code
== 0

Serial 1 U

Input 0 or 1
state
Serial 1 U

time The time to wait until the input is set.

Setting <time> to –1 specifies an
indefinite wait.
[ms]
Serial 4 V

EXAMPLE LABEL 1
WAIT_INPUT 2 = 1 –1
MOVE 10800 –1
WAIT_INPUT 2 = 0 10000
MOVE -10800 -1
END

EXAMPLE Only when Input 2 is set ON does the first movement

EXPLANATION commence.
The second WAIT command pauses the next

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Command Reference

movement for 10000ms (10 seconds) or until the

input is set OFF.
SEE ALSO INPUT_CASE, IF_INPUT

WAIT_STOP
Table explanation

GROUP Wait
SYNTAX WAIT_STOP <n>

OP. CODE 148

MODES Program, Sequential
DESCRIPTION Halts program execution until the theoretical motion
is over or until the time limit is exceeded, before
proceeding to the next command.
SYNTAX n The time period to wait.
ARGUMENTS [ms]
Setting this value to –1 delays the program for
an infinite period of time, i.e., until the motion
ends.
Serial 4 V

EXAMPLE LABEL 1
MOVE 4096 –800
SET_OUTPUT 1 ON
WAIT_STOP -1
SET_OUTPUT 1 OFF
END

EXAMPLE Motor moves 4096uu in the positive direction.

EXPLANATION Immediately after the motion begins, output 1 is set
to ON. The WAIT_STOP command delays execution of
the next command until the theoretical motion is over
(800ms). Then output 1 is set to OFF.
NOTE The MOVE command followed by WAIT_STOP
performs the same operation as the MOVE_D
command, but enables the execution of commands
while the motion is in progress.
SEE ALSO MOVE

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WAIT_VAR
Table explanation

GROUP Wait
SYNTAX WAIT_VAR <variable> <condition> <value>

OP. CODE 110

MODES Program, Sequential
DESCRIPTION Pauses execution of program until the condition on
<variable> value is met.
SYNTAX variable System variable (see Chapter 9, List
ARGUMENTS of System Variables)
Serial 1 U

condition Select a relational operator:

Condition Code
== 0
> 1
< 2
>= 3
<= 4
!= 5

Serial 1 U

value Set a value with the same units as

<variable>.
Serial 4 V

EXAMPLE LABEL 1
SET_ZERO_POSITION demand_position
SLIDE 50
WAIT_VAR Position_actual_value = 20000
SLIDE 0
END

EXAMPLE Position_actual_value is set to zero; motor starts

EXPLANATION moving at a constant speed (50uu); as soon as the
motor reaches position 20000 the next command is
executed and motor stops.
SEE ALSO IF, WAIT_INPUT

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Command Reference

WRITE_TO_ARRAY
Table explanation

GROUP Variables
SYNTAX WRITE_TO_ARRAY <Index> <Value>

OP. CODE 158

MODES Immediate; Sequential; Program
DESCRIPTION Write <Value> into array element, according to
<index>.
SYNTAX Index Decimal value in range of 1-512
ARGUMENTS representing the index of the member in
the data array.
Serial 2 U V

Value Long type.

Serial 4 V

EXAMPLE Array value before:

Index 1 2 3 ... 17 ... 512

Value 98

WRITE_TO_ARRAY 17 5432
Array value after:
Index 1 2 3 ... 17 ... 512

Value 5432

EXAMPLE Data array [17] was equal to 98. After the

EXPLANATION WRITE_TO_ARRAY command it was changed to 5432.
SEE ALSO SET_VAR, READ_FROM_ARRAY, GET_FROM_ARRAY
(Only in immediate or sequential mode)

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5.6. Serial Communication Commands

The commands described in this section are available only in the
serial communication protocol; they are not available in
XtraWare. Detailed information about the serial communication
protocol can be found in Chapter 6, Serial Interface Protocol.

CLEAR_BUFFER
Table explanation

SYNTAX CLEAR_BUFFER <Buffer>

OP. CODE 94
MODES Immediate
DESCRIPTION Clears either the program buffer or the sequential
buffer, depending on the value of <Buffer>.
It is recommended that this command be used before
sending a program to the drive by serial
communication to remove an existing program from
memory. Not doing so can result in unexpected
behavior, such as the program jumping to labels
within the old program.
SYNTAX <Buffer> Indicates which buffer is to be cleared:
ARGUMENTS Buffer Code
Sequential Buffer 0
Program Buffer 1

Serial 1 U

ECAM_POINTS
Table explanation

SYNTAX ECAM_POINTS <N> <Slave Delta 1> <Slave Delta

2> <Slave Delta 3> <Slave Delta 4>

OP. CODE 126

MODES Immediate
UNITS Position user units for <Slave Delta>
DESCRIPTION Specifies the slave position points by setting the delta
between each 2 points in the table.

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SYNTAX <N> The number of points that are

ARGUMENTS going to be sent in the command.
<N> determine the number of
<Slave Delta> arguments.
Serial 1 U

<Slave Delta 1 The relative distance between

- 4> each pair of slave points. <N>
determines the number of <Slave
Delta> arguments.
Serial 2

SYNTAX ECAM_PROFILE <ID>

OP. CODE 124

MODES Immediate
DESCRIPTION Each profile loading should start with this command,
which specifies the profile ID. The profile ID is used to
run that profile. Up to 4 profiles can be loaded.
SYNTAX <ID> Long type. Up to 4 profiles can be loaded but
ARGUMENTS the ID can have be any number in the
range.
Serial 1 U

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ECAM_SEGMENT
Table explanation

SYNTAX ECAM_SEGMENT <Master Delta> <Master Step>

<N/A>

OP. CODE 125

MODES Immediate
DESCRIPTION Defines the range and size of increments of master in
this segment. Must be sent at the beginning of each
segment.
SYNTAX <Master Delta> Defines the relative distance
ARGUMENTS between the start point and the
end point of a segment. Units are
according to the electronic gear.
Serial 4 U

<Master Step> Defines the table increment in

master pulses. To each increment
there is equivalent slave value so
it determines the ECAM table
resolution. Units are according to
the electronic gear.
Serial 2 U

<N/A> Currently not in use. Send 1 byte

with 0 value.
Serial 1 U

OP. CODE 123

MODES Immediate
DESCRIPTION Initializes the ECAM table and clears the previous
tables. Must be sent at the beginning of each ECAM
table loading procedure.
SEE ALSO ECAM_PROFILE; ECAM_SEGMENT; ECAM_POINTS;
ECAM_TABLE_END

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ECAM_TABLE_END
Table explanation

SYNTAX ECAM_TABLE_BEGIN

OP. CODE 127

MODES Immediate
DESCRIPTION Finalizes the ECAM table. Must be sent at the end of
each ECAM table loading procedure.
SEE ALSO ECAM_TABLE_BEGIN; ECAM_PROFILE;
ECAM_SEGMENT; ECAM_POINTS

GET_FROM_ARRAY
Table explanation

SYNTAX GET_FROM_ARRAY <Index>

OP. CODE 160

MODES Immediate; Sequential; Program
DESCRIPTION Reads the value of one data array member.
SYNTAX <Index> Decimal value in range of 1-1000
ARGUMENTS representing the index of the member in
the data array.
Serial 2 U

SYNTAX GET_PAR <parameter number>

OP. CODE 85
MODES Immediate, Sequential
DESCRIPTION Reads the contents of XtraDrive parameter.
SYNTAX Parameter XtraDrive parameter (see Chapter 8,
ARGUMENTS number Parameter Reference).
Serial 2 U

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GET_VAR
Table explanation

SYNTAX GET_VAR <variable>

OP. CODE 72
MODES Immediate, Sequential
DESCRIPTION Reads the contents of the variable.
SYNTAX variable System variable (see Chapter 9, List of
ARGUMENTS System Variables).
Serial 1 U

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Command Reference

SAVE_PRG_ECAM
Table explanation

SYNTAX SAVE_PRG_ECAM

OP. CODE 96
MODES Immediate
DESCRIPTION Saves program and ECAM table to the EPROM for
further use after power up.

SET_PAR
Table explanation

SYNTAX SET_PAR <parameter number> <value>

OP. CODE 80
MODES Immediate, Sequential.
DESCRIPTION Sets XtraDrive parameter. The driver must be reset
before the change takes effect.
SYNTAX parameter number XtraDrive parameter (see
ARGUMENTS Chapter 5, Parameter
Reference).
Serial 2 U

value Sets value to specified

parameter. For setting range
see Chapter 8, Parameter
Reference.
Serial 2 U

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6. Serial Interface Protocol

This chapter describes the XtraDrive serial communication
protocol. XtraDrive can work with XtraWare or with any other
software that complies with this protocol. Up to 15 XtraDrive
units can be connected on a bus. Broadcast commands can be
sent to all axes (XtraDrive units).

6.1. Basic Communication Specifications

Half duplex communication using the following:

Baud rate: 19200 Auto-detect

Bit Structure: Start 1 bit
Data 7 bit (ASCII code)
Stop 1 bit
Even-number parity 1 bit
Synchronization: Start / Stop 1 bit
synchronization

6.2. Protocol Specifications

In this master/slave protocol, a PC (or other device) is the
master and the XtraDrive is the slave. The master sends a
request or a polling message, and the XtraDrive answers with a
response message. The master can only send a new message
after receiving an answer or ACK (acknowledge) message or
after timeout has expired.
The master can control up to 15 XtraDrive units by using
addresses. When broadcast messages are sent, the master does
not wait for an ACK.
When there is no command to send, the master can continue
sending polling messages; the XtraDrive responds with an ACK.
The diagram below illustrates the communication protocol
between a PC (master) and a single XtraDrive.

Figure 58: Master-Slave Communication Protocol

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6.2.1. Message Data Structure

♦ A message consists of bytes where each byte holds one digit
of hexadecimal data in ASCII code representation.
♦ The data can be signed or unsigned according to the
Command Operational Code argument type (see Chapter 11,
List of Operation Codes). For signed data the leftmost bit
(msb) determines the sign.
♦ Negative number representation is according to standard
hexadecimal representation and to the size of data.
♦ Each messages is a string structured according to one of the
formats specified in the sections that follow, where each
block in the format represents a byte.
♦ Every message in this protocol starts with “N” and terminates
with CR (Carriage Return).

NOTE:
0x## represents a hexadecimal number.

6.2.2. Master Message

Format:
N A M Id1 Id2 C1 C2 V1 V2 P1 P2 ... Pn →

→ S1 S2 CR

Description: XtraDrive message start symbol. Constant value.

N
Range: N

Description: Axis address

Range: 0x0 – 0xF
A
Notes: Use Pn000.2 to set Axis address (see XtraDrive User Manual,
Appendix D, List of Parameters).
For a broadcast message and when only one XtraDrive is used,
address 0x0 is written.
If more than one XtraDrive is used, use addresses 0x1 to 0xF only.

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Description: Operation mode.

M
Range: 0 – 0xC
Mode Code
Broadcast Message 0x8
Polling Message 0x9
Immediate Mode 0xA
Sequential Mode 0xB
Program Mode 0xC

Description: Message Identification (two bytes for two digits). Since

the range is greater than 0xF, two bytes are required for holding the
number. Message Identification is needed to bind a fault condition to
a specific command and to enable download (new or replace) of
XtraDrive program lines.

Range: 0x0 – 0xFF. 0x0 – 0xF each

MESSAGE IDENTIFICATION DESCRIPTION
NUMBER
0x00 To ignore message identification
ID1 AND ID2

0x01 – 0xB4 Program line number (Program mode)

0xB5 – 0xC8 Message Identification (Immediate
and Sequential modes)
0xC9 – 0xFF For future use

NOTES:
Message ID enables rewriting of lines in XtraDrive
program. The program must be stopped prior to line
rewriting.
Message ID enables synchronization between status
received from XtraDrive and a specific message
Message ID may be ignored and set as 0x00.

Description: Command Operational Code (two bytes for two digits).

C1 AND C2

Because the range is greater than 0xF, two bytes are required for
holding the number.
Range: 0x0 – 0xFF. 0x0 – 0xF each (see Chapter 11, List of
Operation Codes).

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Description: Variable indicators. Each of the eight bits in V1 and V2

corresponds to one argument, and indicates whether the argument
is specified by a numerical value or a variable ID number.
Range: 0 – The argument is specified by a numerical value.
1 – The argument is specified by the ID number of a system
V1 AND V2

variable. See Chapter 9, List of System Variables.

Example: Consider the IF command, which consists of five
arguments: [Arg 1] [Arg 2] [Arg 3] [Arg 4] [Arg 5].
If Arg 3 is to be specified by a variable, and all others by numerical
values, then the V string, in binary form, would be 00100, where the
right-most 0 corresponds to Arg 1 and the left-most to Arg 5. 00100
corresponds to 0x4 in hexadecimal format, and thus V1 would be set
to 0, and V2 to 4.

Description: Command Argument. Each Pn is one byte for one

digit. The number of arguments and size (number of digits), if
relevant, depend on the Command Operational Code (see Chapter
P1 P2 …PN

11, List of Operation Codes).

Range: 0 – The corresponding P bit
Notes: Either a numerical value or a variable ID number can be
specified for some arguments. The corresponding V bit specifies
whether the number entered for the argument denotes a numerical
value or the ID number of a system variable. See Chapter 9, List of
System Variables.

Description: Message checksum (two bytes for two digits). The

S1 AND S2

checksum is calculated by summing all bytes (excluding N and CR)

in a message body (See Chapter 11, List of Operation Codes).
Range: 0x0 – 0xFF. 0x0 – 0xF each

Description: Carriage Return. Used as a message response

termination symbol. Constant value.
CR

Range: CR (0x0D in ASCII code)

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6.2.2.1. Checksum Calculation

Checksum is calculated for a binary message. Each factor in the

equation (excluding N and CR) is two digits of a hexadecimal
number and consists of two adjacent bytes.
The checksum of the message: N A M id1 id2 C1 C2 V1 V2 P1 P2
P3 P4 S1S2 CR is:
S1S2 = 0x100 – (a m + id1id2 + V1V2 + P1P2 + P3P4)
Only the two digits on the right are considered.

NOTE:
It is possible to work without checksum by setting Pn2C6 = 0.
When working without checksum, set 00 instead of checksum
(S1S2).

6.2.2.2. Master Message Format Example

CONTROL ON command
Example of CONTROL_ON command to axis 0 in Immediate
mode:
Format:

N A M ID1 ID2 C1 C2 V1 V2 P1 P2 S1 S2 CR
N 0 A 0 0 4 5 0 0 0 1 B 0 CR

Where:

A=0 Axis number 0

M = 0xA Immediate mode
ID1 = 0; Id2= 0 Ignore message ID
C1 = 4; C2 = 5 Command operational code = 0x45
V1, V2 = 0 The arguments are specified by numerical
values, not variable ID numbers.
P1 = 0; P2 = 1 One command argument (two digits)
S1 = B; S2 = 8 0x100–(0x0A+0x00+0x45+0x01) = 0xB0

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MOVE command
Example of MOVE command (600uu in 1000ms), of axis 2 in
Sequential mode:
Format:

N As a m Id1 Id2 C1 C2 V1 V2 P1 P2 P3 P4
→
N 2 B 3 0 0 7 1 0 0 0 0 0 0

P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15

→ →
0 2 5 8 0 0 0 0 0 3 E

P16 S1 S2 CR
→
8 1 F CR

Where:

A=2 Axis number 2

m=B Sequential mode
ID1 = 0; Id2= 0 Ignore message ID
C1 = 7; C2 = 1 Command operational code = 0x71
V1, V2 = 0 All the command arguments are specified by
numerical values, not by variables.
P1 – P8 = 0x258 = 600
00000258
P9 – P16 = 0x3E8 = 1000
000003E8
S1 = 1; S2 = F 0x100–
(0x2B+00+0x71+00+00+0x02+0x58
+00+00+0x03+0xE8)=
0XFFFFFFFFFFFFFF1F
Since only the last two digits are
considered, S1S2 = 0x1F.

6.2.2.3. Master Message Short Format

In cases where all the arguments P1 – Pn are specified by

numerical values, and not by variable ID numbers, a shortened
form of the master message format may be used. Use the short
format only when backward support for old projects written in
short format is required.
N A M Id1 Id2 C1 C2 P1 P2 ... Pn S1 S2 CR

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To use the short format master message, M (mode) must be set

for the short format, according to the following table.

Mode Code
Broadcast Message 0x0
Polling Message 0x1
Immediate Mode 0x2
Sequential Mode 0x3
Program Mode 0x4

In this format, the V1 and V2 (Variable indicators) bytes are

omitted, as the arguments can only be specified by numerical
values.
For an explanation of each component of the short format
master message, refer to Section 6.2.2, Master Message.

NOTE:
The short format is the same format as was used in previous
versions of XtraWare, in which the specification of arguments
was limited to numerical values.

6.2.3. Response Message

All master messages, except broadcast messages, are
responded to by an XtraDrive response message.
Format:

N A M ID 1 ID 2 ANSWER S1 S2 CR

Where:

Description: XtraDrive message start symbol. Constant value.

N
Range: N

Description: Axis address. The response message holds the same

A axis address as the original message.
Range: 0x0 – 0xF

Description: Response type.

M
Range: 0 – Acknowledge (without Fault)
1 – Acknowledge (with Fault)
2 – Response for data request command
3 – Acknowledge with watch variables field
5 – Program upload

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Description: Message Identification in case of Fault (Response

type, m = 1). Otherwise (no fault) the Message Identification is set
to 0x00 (two bytes for two digits). If a fault is related to a specific
ID1 AND ID2
command / message, Id1 and Id2 contain the Message Identification
as sent by the master.
Since the range is greater than 0xF, two bytes are required for
holding the number.
Range: 0x0 – 0xFF. 0x0 – 0xF each

Description: XtraDrive response. Can hold acknowledge (ACK) or

ANSWER

value as response to Data Request Commands such as GET_VAR.

The format of ACK and Data Request Commands are described
below.

Description: Message checksum (two bytes for two digits). The

S1 AND S2

checksum is calculated by summing all bytes (excluding N and CR)

in a message body (Section 6.2.2.1, Checksum Calculation).
Range: 0x0 – 0xFF. 0x0 – 0xF each

Description: Carriage Return. Used as a message response

termination symbol. Constant value.
CR

Range: CR (0x0D in ASCII code)

6.2.3.1. Answer Field for Acknowledge (ACK)

A response message is sent either in response to a Data Request

command or as a response to the other commands such as ACK.
ACK accepts only when Response type m=0,1,3.
ACK format:

F1 F2 SW1 SW2 SW3 SW4

Where:

Description: Fault Code. Only in cases where Response type m=1.

F1 AND F2

In case of no fault F1 and F2 equal 0x00.

Range: 0x00 – 0xFF

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Description: Status word. 16-bit of bit string holding XtraDrive

SW1 … SW4 statuses (See Chapter 10, List of Status Word Bits).
Range: 0x00 – 0xFFFF

6.2.3.2. Answer Field for Data Request Command

A response message is sent either in response to a Data Request

command or as a response to the other commands such as ACK.
Answer to Data Request command accepts only when Response
type m=2. The Answer format depends on the specific
command. General format is:

C1 C2 D1 D2 … DN

Where:

Description: Response message Operational Code. C1 and C2 hold

C1 AND C2

the same Operational Code as the original message.

Range: 0x0 – 0xFF. 0x0 – 0xF each (see Chapter 11, List of
Operation Codes).

Description: Data field. Number of bytes in data field depends on

D1 .. DN

command type.

Answer Field for GET_VAR Command

C1 C2 INX_1 INX_2 V1 V2 V3 V4 V5 V6 V7 V8

Where:

Description: Response message Operational Code. C1 and C2 hold

C1 AND C2

the same Operational Code as the original message.

Description: Variable ID.

INX_1-
INX_2

Range: See Chapter 9, List of System Variables.

XtraWare User Manual 177

Serial Interface Protocol

Description: Variable value.

V1 – V8

Answer Field for GET_PAR Command

C1 C2 INX_1 INX_2 INX_3 INX_4 V1 V2 V3 V4

Where:

Description: Response message Operational Code. C1 and C2 hold

C1 AND C2

the same Operational Code as the original message.

Description: Parameter number reference list in Chapter 8,

INX_1-
INX_4

Parameter Reference.

Description: Variable value.

V1 – V4

Answer Field for GET_VERSION Command

C1 C2 V1 V2 V3 V4

Where:

Description: Response message Operational Code. C1 and C2 hold

C1 AND C2

the same Operational Code as the original message.

178 XtraWare User Manual

Serial Interface Protocol

Description: XtraDrive version number with the following format:

V1 . V2 V3 _ V4. Note that V4 can only be set as A or B.
For example, XtraDrive with version number 2.80 A will respond
V1 – V4

with:

C1 C2 2 8 0 A

6.2.3.3. Response Message Format Example

CONTROL ON command
Example of response message to CONTROL_ON command to
axis 0 in Immediate mode with message identification of 0x7F.
Master Message Format:

N A M ID1 ID2 C1 C2 V1 V2 P1 P2 S1 S2 CR
N 0 A 7 F 4 5 0 0 0 1 3 1 CR

Response Message Format in case of no fault:

N A M ID1 ID2 F1 F2 SW1 SW2 SW3 SW4

→
N 0 0 0 0 0 0 0 4 3 7

S1 S2 CR
→
C 5 CR

Where:

A=0 Axis number 0

m=0 Response type is acknowledge without Fault
ID1 = 0; Id2 = 0 No fault, so message identification is 0x00
F1 = 0; F2 = 0 No fault, so fault code is 0x00
SW1=0; SW2=4; Shows XtraDrive status. No emergency, no
SW3=3; SW4=7 fault, control on and in position (See
Chapter 10, List of Status Word Bits)
S1=C; S2=5 0x100–(00+00+00+0x04+0x37)= 0xC5

MOVE Command
Example of response message to MOVE <600> <1000>
command (600uu in 1000ms), of axis 0 in Sequential mode,
with message identification of 0x96 when control is off. Because
a motion cannot be executed when CONTROL_OFF, fault 0x8C
occurs.

XtraWare User Manual 179

Serial Interface Protocol

Master Message Format:

N A M ID1 ID 2 C1 C2 V1 V2 P1 P2 P3 P4 P5 P6
→
N 0 B 9 6 7 1 0 0 0 0 0 0 0 2

P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 S1 S2

→
5 8 0 0 0 0 0 3 E 8 A 9

Response Message Format in case of fault:

CR N A M ID 1 ID 2 F1 F2 SW1 SW2 SW3 SW4

→
CR N 0 1 9 6 8 C 0 4 3 3

S1 S2 CR
→
A 6 CR

Where:

A=0 Axis number 0

m=1 Response type is acknowledge with Fault.
ID1 = 9; Id2 = 6 Because of fault message identification, Id1
and Id2 contain the same value as master
message identification.
F1 = 8; F2 = C Fault code.
SW1=0; SW2=4; Shows XtraDrive status. No emergency, no
SW3=3; SW4=3 fault (Status word fault only represents
XtraDrive hardware faults marked as A.##),
control off and in position (see Chapter 10,
List of Status Word Bits).
S1=A; S2=6 0x100–(0x01+0x96+0x8C+0x04+0x33)=
0xA6.

Response message format in case of no fault:

N A M ID1 ID2 F1 F2 SW1 SW2 SW3 SW4

→
N 0 0 0 0 0 0 0 4 3 7

S1 S2 CR
→
C 5 CR

180 XtraWare User Manual

Serial Interface Protocol

GET_VAR command
Example of response message to GET_VAR command to variable
Position_Actual_value (0x09) to axis 0 in Immediate mode with
message identification of 0x7F.
Master Message Format:

N A M ID1 ID2 C1 C2 V1 V2 P1 P2 S1 S2 CR
N 0 A 6 5 4 8 0 0 0 9 4 0 CR

Response Message Format in cases of no fault:

N A M ID 1 ID 2 C1 C2 INX_1 INX_2
→
N 0 2 6 5 4 8 0 9

V1 V2 V3 V4 V5 V6 V7 V8 S1 S2 CR
→
F F F F F 0 6 0 F A CR

Where:

A=0 Axis number 0

m=2 Response type is Answer for data request
command.
ID1 = 6; Id2 = 5 Message identification contains the same
value as master message identification.
C1 = 4; C2 = 8 Response message Operational Code.
Inx_1=0; Variable Position_Actual_value ID.
Inx_2=9
V1 - V8 = Variable value. Since Position_Actual_value
FFFFF060 is signed and the leftmost bit is 1, the
number is negative and equals (–4000)
decimal.
S1 = 3; S2 = D 0x100–(0x02+0x65+0x48+0x09+0xFF+
0xFF+0xF0+0x60)= 0xFA.

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Serial Interface Protocol

6.3. Troubleshooting
PROBLEM POSSIBLE CAUSE SOLUTION
Unable to establish Communication cable See cable scheme in
communication with does not match XtraDrive User Manual,
XtraDrive XtraDrive Appendix C.11.
requirements.
Communication setting See Section 4.1.1,
is different than Communication
XtraDrive Settings.
requirements.
XtraDrive axis address Match axis address (a
is different than the – second byte) to
one referred to by the XtraDrive axis address
master. (Pn000.2).
XtraWare (or any other Close all programs that
program that communicate with COM
communicates with the port.
COM port) is online.
The response message The response message To accept a specific
format or value is which accepts Data response message,
different than Request Commands write a loop with
expected. response does not POLLING command
necessarily match the (Command Operational
master command. Data Code 0x00) until the
Request Command appropriate response
response will match message is accepted.
the master command
unless a fault was
occur and then fault
acknowledgment will
be accepted before.
After a variable has To delete a variable
been watched in the from the watch list, set
XtraWare variable XtraWare to Online
watch-window (even if mode. Delete the
XtraWare is no longer desired variable(s) and
open), message return to Offline mode.
response type is If XtraWare is closed,
changed to 3 (m=3) rerun the program and
and the message go Online and then
format holds the Offline.
variable value as well.
No checksum value Pn2C6 setting is Set Pn2C6=0001 and
accepted on the different than 0x0001. reset XtraDrive.
response message.

182 XtraWare User Manual

8.1. Table 17: Parameters

This table lists all the parameters according to their ID number.
For each parameter this information is provided:
♦ The group to which the parameter belongs
♦ A short description
♦ Units
♦ Range
♦ Default value
♦ Reference to the section in the XtraDrive User Manual which
provides a full description of the parameter.
Table 17: Parameters

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

Function Selection Basic 5.1.1,

Pn000* - - 0x00D0
Switches 5.3.5

5.1.2,
Function Selection
Pn001* - - 0000 5.4.2,
Application Switches 1**
5.5.7
Function Selection Parameters

5.2.8,
Function Selection
Pn002* - - 0000 5.2.9,
Application Switches
5.7.2

Function Selection
Pn003 - - 0002 6.4
Application Switches 3

Function Selection
Pn006 - - 0000 6.4
Application Switches 3

Function Selection
Pn007 - - 0000 6.4
Application Switches 3

1 to
Pn100 Speed Loop Gain Hz 40
2000

6.2.2,
6.2.7,
Speed Loop Integral 15 to 6.2.10
Pn101 0.01ms 2000
Time Constant 51200
Gain Parameters

1 to
Pn102 Position Loop Gain s-1 40 6.2.10
2000

Pn103 Inertia Ratio % 0 to 300 6.2.6,

XtraWare User Manual 191

Parameter Reference

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

10000 6.3.1,
6.3.5

Feed-Forward (Speed
Pn109 % 0 to 100 0 6.2.2
control)

Online Autotuning
Pn110* - - 0010 6.3.4
Switches

Pn190* Motor selection switch - - 0000 5.8

Pn191* Motor selection switch - - 0000 5.8

Motor parameters

Pulses number of A quad pulses/

Pn192* 0-9999 2048 5.8
B encoder rev

pulse*
Pulses number of A quad
Pn193* 10000/ 0-419 0 5.8
B encoder (High)
rev

counts/
Encoder counts per Scale
Pn199 scale 1-256 1
Pitch of linear motor
pitch

Global gain factor

Pn1A0 % 0-500 60 6.3.3
(tightness)

Pn1A2 Speed feedback filter 0.01ms 30-3200 40 6.3.5

Pn1A4 Torque filter (low pass) 0.01ms 0-2500 20 6.3.5

Torque filter (second

Pn1A5 0.1% 0-1000 0 6.3.5
order)

Pn1A7 Integral mode switch - - 1121 6.3.5

Pn1A9 Integral feedback gain Hz 0-500 40 6.3.5

Proportional feedback
Pn1AA Hz 0-500 40 6.3.3
gain

Supplementary
Pn1AB proportional feedback Hz 0-500 30 6.3.3
gain

Pn1AC Speed feedback gain Hz 0-2000 30 6.3.3

Pn1AF Feed forward gain % 0-200 0 6.3.3

100-
Pn1B5 Maximum variable gain % 160 6.3.7
1000
Gain parameters

Feed forward
Pn1BB Hz 10-2000 2000 6.3.4
compensation

Filter on command
Pn1BC 0.01ms 0-2500 300 6.3.4
acceleration

192 XtraWare User Manual

Parameter Reference

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

Reduction of vibrations
Pn1BD Hz 10-2000 2000 6.3.4
due to system flexibility.

Pn1BE - 0-65535 3160

Pn1BF Integral switch advance - 1-15 3 6.3.8

Integral offset averaging

Pn1C0 ms 0-25 0 6.3.7
time

Pn1C1 Integral switch advance 125µs 0-8

Position Control
Pn200* Reference Selection - - 0000 5.2.2
Switches

PG Divider (rotary 0 to
Pn201* p/r 2048 5.2.3
motor) 65635

Electronic Gear Ratio 1 to

Pn202* - 4 5.2.5
(Numerator) 65535
Position Parameters

Electronic Gear Ratio 1 to

Pn203* - 1 5.2.5
(Denominator) *** 65535

Multi-Turn Limit 0 to
Pn205* rev 65535 5.7.2
Setting** 65535

Pn216 Command smoothing 0.1ms 0-65535 0 6.3.4

speed
Pn2A2* Work speed default (low) 0-65535 0 5.9.1.2
units

speed
Work speed default
Pn2A3* units* 0-256 0 5.9.1.2
(high)
65536

accelera
Work acceleration default
Pn2A4* -tion 0-65535 0 5.9.1.2
(low)
units

accelera
Work acceleration default -tion
Pn2A5* 0-256 0 5.9.1.2
(high) units*
Serial communication command

Pn2BB* - 0-16383 0 5.9.1.1
denominator (high)

user
Pn2C0 Motion end window position 0-250 10 5.9.1.2
units

0.1% of
rated
Pn2C1 Torque slope 1-24000 24000 5.9.2
torque/
ms

user Chapter 6,
Synchronize window for
Pn2C4 position 0-250 7 Command
pulse train
units Reference

Zero speed when find speed

Pn2C5 0-32000 2 5.9.3
hard home units

Communication switch
Pn2C6 null 0-1 1 Appendix E
selection

Pn2C7* Home switch selection - - 0008 5.9.3

Autotuning – time 200-

Pn2C8 ms 400 5.9.5
between movements 2000

194 XtraWare User Manual

Parameter Reference

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

% of
Autotuning – speed of
Pn2C9 maximu 0-100 50 5.9.5
movement
m speed

Autotuning – acceleration
Pn2CA ms 1-1000 50 5.9.5
time

Autotuning – plateau
Pn2CB ms 0-1000 50 5.9.5
time of movement

Pn2CC* Auto start user program - 0-99 0 5.10

Pn2D0* Reserved - - - -

Expand input signal

Pn2D1* - - 8887 5.9.4
selection 2

Expand output signal

Pn2D2* - - 0021 5.9.4
selection 1

0.01V/
Speed Reference Input 150 to
Pn300 rated 600 5.2.1
Gain 3000
speed

0 to
Pn301 Speed 1 rpm 100 5.2.6
10000

0 to
Pn302 Speed 2 rpm 200 5.2.6
10000

0 to
Pn303 Speed 3 rpm 300 5.2.6
10000

0 to
Pn304 Jog Speed rpm 500 5.3.2
10000

Soft Start Acceleration 0 to

Pn305 ms 0 6.2.2
Time 10000

Soft Start Deceleration 0 to

Pn306 ms 0 6.2.2
Speed Parameters

Time 10000

Speed Reference Filter 0 to

Pn307 0.01ms 40
Time Constant 65535

Speed Feedback Filter 0 to

Pn308 0.01ms 0
Time Constant 65535

Pn380 Speed1 mm/s 0-5000 10

Linear Motor

Pn381 Speed2 mm/s 0-5000 20

Parameters

Pn382 Speed3 mm/s 0-5000 30

Speed

Pn383 Jog Speed mm/s 0-5000 40

XtraWare User Manual 195

Parameter Reference

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

0.1V/
Torque Reference Input 10 to
Pn400 rated 30 5.2.7
Gain 100
torque

Torque Reference Filter 0 to

Pn401 0.01ms 100 6.2.2
Time Constant 65535

Pn402 Forward Torque Limit % 0 to 800 800 5.1.3

Pn403 Reverse Torque Limit % 0 to 800 800 5.1.3

Forward External Torque

Pn404 % 0 to 800 100 5.1.3
Limit

Reverse External Torque

Pn405 % 0 to 800 100 5.1.3
Limit

Pn406 Emergency Stop Torque % 0 to 800 800 5.1.2

Speed Limit during 0 to

Pn407 rpm 10000 5.2.7
Torque Control 10000

Torque Function
Torque Parameters

Pn408 - - 0000 6.2.9

Switches

50 to
Pn409 Notch Filter Frequency Hz 2000 6.2.9
2000

70 to
Pn40A Notch Filter width Hz 70 6.2.9
1000

Positioning Completed ref.

Pn500 0 to 250 7 5.5.3
Width units

0 to
Pn501 Zero Clamp Level rpm 10 5.4.3
10000

1 to
Pn502 Rotation Detection Level rpm 20 5.5.5
10000

Speed Coincidence Signal

Pn503 rpm 0 to 100 10 5.5.4
Output Width

ref.
Pn504 NEAR Signal Width 1 to 250 7 5.5.8
units

256 ref. 1 to
Pn505 Overflow Level 1024 6.2.1
units 32767
Sequence Parameters

Brake Reference Servo

Pn506 10ms 0 to 50 0 5.4.4
OFF Delay Time

Brake Reference Output 0 to

Pn507 rpm 100 5.4.4
Speed Level 10000

196 XtraWare User Manual

Parameter Reference

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

Timing for Brake

10 to
Pn508 Reference Output during 10ms 50 5.4.4
100
Motor Operation

20 to
Pn509 Momentary Hold Time ms 20 5.5.9
1000

Pn50A* Input Signal Selections 1 - - 8881 5.3.3

Pn50B* Input Signal Selections 2 - - 8848 5.3.3

Pn50C* Input Signal Selections 3 - - 8888 5.3.3

Pn50D* Input Signal Selections 4 - - 8888 5.3.3

Pn581 Motion detection level mm/s 1-5000 20

Speed coincidence signal

Linear Motor

Pn582 mm/s 0-5000 10

output width

Brake reference output

Pn583 mm/s 0-5000 100
speed level

0 to
Regenerative Resistor capa-
Pn600 10W city 0 5.6.1
Other Para-meters

Capacity ****
*****

0 to
Reserved parameter (do capa-
Pn601 - city 0 -
not change)
*****

NOTES
* After changing this parameter, cycle the main circuit and
control power supplies to enable the new settings.

XtraWare User Manual 197

Parameter Reference

** The multi-turn limit is valid only when parameter Pn002.2

Absolute Encoder Usage is set to "2". The value will be
processed in the range of "+32767 to -32768" for other
settings even if the value is changed. There is no need to
change the multi-turn limit except in special cases. Be careful
not to change the setting unless necessary.

*** The setting of parameter Pn111 is valid only when

parameter Pn110.1 is set to 0.
**** Normally set to "0". When using an external regenerative
resistor, set the capacity (W) of the regenerative resistor.
***** The upper limit is the maximum output capacity (W) of
the servo amplifier.

198 XtraWare User Manual

Parameter Reference

8.2. Table 18: Switches

Table 18: Switches

Digit Default
Parameter Name Setting Description
Place Setting

0 Sets CCW as forward direction

Direction
0 0
Selection Sets CW as forward direction (reverse
1
rotation mode)

0 Speed control (analog reference)

1 Torque control (analog reference)

Internal set speed control (contact

3
reference)

Internal set speed control (contact

4 reference)/Speed control (analog
reference)

Internal set speed control (contact

6 reference)/Torque control (analog
reference)
Function Selection Basic Switches

Control
Position control (pulse train
1 Method D
8 reference)/Torque control (analog
Selection
reference)
Pn000

Torque control (analog

9 reference)/Speed control (analog
reference)

Speed control (analog

A
reference)/Zero clamp

Position control (pulse train

B
reference)/Position control (Inhibit)

C Position control (pulse train)

D Serial communication command

2 Axis Address 0 to F Sets servo amplifier axis address 0

3 Reserved - 0

XtraWare User Manual 199

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

Stops the motor by applying dynamic

0
brake (DB)
Servo OFF
0 or Alarm Stops the motor by applying dynamic 0
1
Stop Mode brake (DB) and then releases DB

Makes the motor coast to a stop state

2
without using the dynamic brake (DB)

Same setting as Pn001.0 (stops the

0
motor by applying DB or by coasting)

Sets the torque of Pn406 to the

Function Selection Application Switches

maximum value, decelerates the

Overtravel 1
1 motor to a stop, and then sets it to 0
Stop Mode servo lock state

Sets the torque of Pn406 to the

maximum value, decelerates the
2
motor to a stop, and then sets it to
Pn001

coasting state

Not applicable to DC power input:

0 Input AC power supply through L1,
AC/DC L2, and (L3) terminals
2 Power Input 0
Selection Applicable to DC power input: Input
1 DC power supply through (+)1 and (-
) terminals

ALO1, ALO2, and ALO3 output only

0
alarm codes

ALO1, ALO2, and ALO3 output both 0

Warning alarm codes and warning codes.
3 Code Output 1 While warning codes are output, ALM
Selection signal output remains ON (normal
state)

Uses absolute encoder as an absolute

2
encoder. Uses multi-turn limit.

0 None

Uses T-REF as an external torque

Application Switches

Speed 1
Function Selection

Control limit input

Option (T-
0 Uses T-REF as a torque feed-forward 0
Pn002

REF 2
Terminal input
Allocation)
Uses T-REF as an external torque
3 limit input when P-CL and N-CL are
ON

1 Torque 0 None 0

200 XtraWare User Manual

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

Control
Option (V-
REF Uses V-REF as an external speed limit
1
Terminal input
Allocation)

Uses absolute encoder as an absolute

0
encoder
Absolute
2 Encoder Uses absolute encoder as an 0
1
Usage incremental encoder

Uses absolute encoder as an absolute

2
encoder. Uses multi-turn limit

3 Not used 0 - 0

0 Motor speed: 1V/1000 rpm. 2

1 Speed reference: 1V/1000 rpm

2 Torque reference: 1V/100%

Function Selection Application Switches

Analog Position error: 0.05V/1 reference

3
Monitor 1 units
0 Torque
Reference Position error 0.05V/100 reference
4
Monitor units

Reference pulse frequency (converted 0

5
Pn003

to rpm): 1V/1000 rpm

6 Motor speed x 4: 1V/250 rpm

7 Motor speed x 8: 1V/125 rpm

Analog
Monitor 2
1 Speed 0-7 Same as Pn003.0 (see above)
Reference
Monitor

2 Not used - - 0

3 Not used - - 0

0 Analog Servo position error: 1V/10 encoder 0

0
monitor 1 counts
Gain Application

1 Servo position error: 1V/5 user units

Switches
Pn006

2 Target speed 1V/500 rpm

Target speed after applying command

3
smoothing: 1V/500 rpm

4 Torque reference: 10V/max torque

XtraWare User Manual 201

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

5 Motor speed: 1V/500 rpm

Target acceleration after applying

6 command smoothing: 10V/max
acceleration allowed

Analog 0 Pn003.0 used for analog monitor 1

monitor 1 -
1 selection of 0
source 1 Pn006.0 used for analog monitor 1
parameter

Analog
monitor 1 – 0: x1, 1: x10, 2: x100 3: x1/10, 4:
2 0-4 0
magnificatio x1/100
n of signal

3 Not used 0 - 0

Servo position error: 1V/10 encoder

0
counts

1 Servo position error: 1V/5 user units

2 Target speed 1V/500 rpm

Analog Target speed after applying command

0 3 0
monitor 2 smoothing: 1V/500 rpm
Gain Application Switches

4 Torque reference: 10V/max torque

5 Motor speed: 1V/500 rpm

Pn007

Target acceleration after applying

6 command smoothing: 10V/max
acceleration allowed

Analog 0 Pn003.1 used for analog monitor 2

monitor 2 -
1 selection of 0
source 1 Pn007.0 used for analog monitor 2
parameter

Analog
monitor 2 – 0: x1, 1: x10, 2: x100 3: x1/10,
2 0-4 0
magnificatio 4: x1/100
n of signal

3 Not used 0 - 0

Communica- 0 With commutation sensors

Commutation
Linear Motor

0 tion sensor 1
switch 1 Without commutation sensors
Switch
Pn080

Communica- 0 UVW
1 tion sensor
order 1 UVW

202 XtraWare User Manual

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

2 Reserved - - 1

3 Reserved - -

Tunes only at the beginning of

0
Online operation
0 Autotuning 0
Method 1 Always tunes
Online Autotuning Switches

2 Does not perform autotuning

Speed Feed- 0 Enabled

back
Pn110

1 1
Compensatio Disabled
n Selection 1

0 Friction compensation: Disabled

Friction
2 Compensatio 1 Friction compensation: Small 0
n Selection
2 Friction compensation: Large

3 Reserved 0-3 Reserved parameter (do not change) 0

0 Yaskawa A quad B model SGM

1 Yaskawa A quad B model SGMP 0

0 Motor model
2 Non Yaskawa rotary motor

3 Non Yaskawa linear motor

Motor selection switches

Encoder 0 Incremental A quad B encoder

1 0
type
1 Yaskawa absolute A quad B encoder
Pn190

0 Yaskawa serial encoder

1 A quad B encoder
Encoder
2 A quad B encoder with commutation 0
selection 2
sensors (U,V,W)

A quad B encoder with commutation

3
sensors (/U,/V,/W)

C- phase 0 C phase signal used

3 0
mask
1 C phase signal mask

0 Not defined
selection
switches
Pn191
Motor

Motor phase
0 1 UVW 0
order
2 UWV

XtraWare User Manual 203

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

1-3 Not used 0 - 0

Disable clear integral function (refer

Motor selection Switches

0 to 6.3.9 Integral Clear Parameters in

Integral the XtraDrive User Manual)
0 1
mode
Enable clear integral function (refer to
Pn1A7

1 6.3.9 Integral Clear Parameters in the

XtraDrive User Manual)

1-3 Not used 0 - 0

0 Sign + pulse, positive logic

1 CW + CCW, positive logic

2 A phase + B phase (x1), positive logic

3 A phase + B phase (x2), positive logic

4 A phase + B phase (x4), positive logic

Position Control References Selection Switches

Reference 5 Sign + pulse, negative logic

0 0
Pulse Form
6 CW + CCW, negative logic

A phase + B phase (x1), negative

7
logic

A phase + B phase (x2), negative

8
logic
Pn200

A phase + B phase (x4), negative

9
logic

Clears error counter when the signal

0
goes high

Error Clears error counter at the rising

1
Counter edge of the signal
1 0
Clear Signal
Form Clears error counter when the signal
2
goes low

Clears error counter at the falling

3
edge of the signal

2 Clear 0 Clears error counter at the base block 0

Operation
Does not clear error counter which
1
can only be cleared with CLR signal

204 XtraWare User Manual

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

Clears error counter when an alarm

2
occurs

3 Clear signal ignore

Reference input filter for line driver

0
Filter signals
3 0
Selection
Reference input filter for open
1
collector signals

0 Does not use check sum

0 Check Sum 1
Communica-tion switch

1 Uses check sum

1
Pn2C6

2 - -

3 Not used 0

1 Normally open

2 Home failure

Oscillation 0 OCA is not activated

0 Canceling
Canceling Mode

Mode 1 OCA is active

Oscillation

Switch
Pn2D4

1 0

2 Not used - -

3
Switches
Function
Control
Torque
Pn408

Notch filter
0 0 Disabled 0
selection

XtraWare User Manual 205

Parameter Reference

8.3. Table 19: Input Signal Selections

Table 19: Input Signal Selections

Digit Default
Parameter Name Setting Description
Place Setting

Sets the input signal allocation

Pn50A for the sequence to the same
0
Input Signal one as for the Yaskawa special
0 servo amplifier 0
Allocation Mode
Possible to freely allocate the
1
input signals

1 /S-ON Signal Inputs from the SI0 (CN1-40) 0: SI0

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

Inputs the reverse signal from

E the SI5 (CN1-45) input
terminal

Inputs the reverse signal from

F the SI6 (CN1-46) input
terminal

/P-CON Signal
2 Mapping (Pcontrol 0 to F Same as above 1: SI1
when low)

P-OT Signal
Mapping
3 0 to F Same as above 2: SI2
(overtravel when
high)

N-OT Signal
Mapping
0 0 to F Same as above 3: SI3
(overtravel when
high)

/ALM-RST Signal
1 Mapping (alarm 0 to F Same as above 4: SI4
Pn50B reset when low)

/P-CL Signal
2 Mapping (Torque 0 to F Same as above 5: SI5
control when low)

/N-CL Signal
3 Mapping (Torque 0 to 8 Same as above 6: SI6
control when low)

/SPD-D Signal
Mapping (Internal
0 0 to F Same as above 8: OFF
Set Speed
Selection)

/SPD-A Signal
Mapping (Internal
1 0 to F Same as above 8: OFF
Set Speed
Selection)
Pn50C
/SPD-B Signal
Mapping (Internal
2 0 to F Same as above 8: OFF
Set Speed
Selection)

/C-SEL Signal
Mapping
3 0 to F Same as above 8: OFF
(Control Mode
Switching)

/ZCLAMP Signal
Pn50D 0 Mapping (Zero 0 to F Same as above 8: OFF
Clamping)

XtraWare User Manual 207

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

/INHIBIT Signal
Mapping
1 0 to F Same as above 8: OFF
(Disabling
Reference Pulse)

/G-SEL Signal
2 Mapping (Gain 0 to F Same as above 8: OFF
Switching)

3 (Reserved) 0 to F Same as above 8: OFF

NOTE:
When Pn50A.0 is set to 0 for the XtraDrive servo amplifier, only
the following modes are compatible: Pn50A.1=7, Pn50A.3=8,
and Pn50B.0=8.

8.4. Table 20: Home Switches

Table 20: Home Switches

Digit Default
Parameter Name Setting Description
Place Setting

0 Home switch input - Same as Pn50A.1 8

1 Reserved - - 0
Pn2C7
2 Reserved - - 0

3 Reserved 0

8.5. Table 21: Extended Input Signal

Selection
These inputs are used in the user program.
Table 21: Extended Input Signal Selection

Digit Default
Parameter Name Setting Description
Place Setting

0 Emergency input 0 Same as Pn50A.1 8: ON

1 New Move Enable 0-F Same as Pn50A.1 7

Pn2D1
2 Reserved - - 0

3 Reserved - - 0

208 XtraWare User Manual

Parameter Reference

8.6. Table 22: Output Signal Selections

Table 22: Output Signal Selections

Digit Default
Parameter Name Setting Description
Place Setting

0 Disabled

Outputs from the SO1

1 (CN1-25, 26) output
terminal
/COIN Signal
0 Outputs from the SO2 1: SO1
Mapping
2 (CN1-27, 28) output
terminal

Pn50E Outputs from the SO3

3 (CN1-29, 30) output
terminal

/V-CMP Signal
1 0 to 3 Same as above 1: SO1
Mapping

/TGON Signal
2 0 to 3 Same as above 2: SO2
Mapping

/S-RDY Signal
3 0 to 3 Same as above 3: SO3
Mapping

/CLT Signal
0 0 to 3 Same as above
Mapping

/VLT Signal
1 0 to 3 Same as above
Pn50F Mapping

2 /BK Signal Mapping 0 to 3 Same as above 0: Not

used
/WARN Signal
3 0 to 3 Same as above
Mapping

/NEAR Signal
0 0 to 3 Same as above
Mapping

Pn510 1 Reserved 0 to 3 Same as above

2 Not used 0 - 0

3 Not used 0 - 0

Pn512 Output Signal Output signal is not 0: Not

0
0 Reversal for SO1 reversed reversed
(CN-25 and 26)
1 Output signal is reversed

Output Signal Output signal is not

0
1 Reversal for SO2 reversed
(CN-25 and 26)
1 Output signal is reversed

XtraWare User Manual 209

Parameter Reference

Digit Default
Parameter Name Setting Description
Place Setting

Output Signal Output signal is not

0
2 Reversal for SO3 reversed
(CN-25 and 26)
1 Output signal is reversed

3 Not used - - 0

8.7. Table 23: Extended Output Signal

Selection
The following outputs are used in the user program:
Table 23: Extended Output Signal Selection

Digit Default
Parameter Name Setting Description
Place Setting

0 Disabled.

Outputs from the SO1

1 (CN1-25, 26) output
terminal
QUICK_OUTPUT
0 Outputs from the SO2 0:disable
Signal Mapping
2 (CN1-27, 28) output
terminal
Pn2D2
Outputs from the SO3
3 (CN1-29, 30) output
terminal

1 Not used - - 0

2 Not used - - 0

3 Not used - - 0

NOTES:
1. When more than one signal is allocated to the same output
circuit, data is output using OR logic.
2. Depending on the control mode, undetected signals are
treated as OFF. For example, in the speed control mode, the
/COIN signal is treated as OFF.
3. Types of /WARN signals: Overload and regenerative
overload.

210 XtraWare User Manual

Parameter Reference

8.8. Table 24: Auxiliary Functions

The following list shows the available auxiliary functions.
Table 24: Auxiliary Functions

Parameter Function

Fn000 Alarm traceback data display.

Fn001 Rigidity setting for online autotuning.

Fn002 JOG mode operation.

Fn003 Zero-point search mode.

Fn004 (Reserved parameter).

Fn005 Parameter settings initialization.

Fn006 Alarm traceback data clear.

Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning.

Fn008 Absolute encoder multi-turn reset and encoder alarm reset.

Fn009 Automatic tuning of analog (speed, torque) reference offset.

Fn00A Manual adjustment of speed reference offset.

Fn00B Manual adjustment of torque reference offset.

Fn00C Manual zero-adjustment of analog monitor output.

Fn00D Manual adjustment of analog monitor output gain.

Fn00E Automatic adjustment of motor current detection signal offset.

Fn00F Manual adjustment of motor current detection signal offset.

Fn010 Write protect setting (protects parameters from being changed).

Fn011 Motor model display.

Fn012 Software version display.

Multi-turn Limit Setting: Change when a multi-turn limit disagreement

Fn013
alarm (A.CC) occurs.

Fn014 Clear option unit detection alarm (A.E7).

XtraWare User Manual 211

Parameter Reference

8.9. Table 25: Monitor Modes

The following list shows monitor modes available
Table 25: Monitor Modes

Parameter Content of Display Unit Remarks

Un000 Actual motor speed rpm -

Un001 Input speed reference rpm -

Un002 Internal torque reference % Value for rated torque

Un003 Rotation angle 1 pulse Number of pulses from the origin

216 XtraWare User Manual

List of System Variables

Name Var Unit Read Min Max Description U.T1 Group

ID /
(Dec) Write
Var_01 67 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_02 68 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_03 69 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_04 70 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_05 71 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_06 72 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_07 73 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_08 74 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_09 75 R/W - 2147483647 User variable. C User
2147483648 Variables
Var_10 76 R/W - 2147483647 User variable. C User
2147483648 Variables
Velocity_actual_value 12 Velocity R - 2147483647 Actual speed. 2 Speed
Units 2147483648 Variables
Velocity_demand_value 11 Velocity R - 2147483647 Theoretical speed. BG Speed
Units 2147483648 Variables

NOTE:
1) U.T: Update Time
U.T specifies when the value of each variable is updated.
ST Start setting: The variable is updated only after power-
up or software reset.
BG Background setting: A low priority is assigned to the
variable update – the driver updates the variable when
there is an opportunity to do so between other
operations.
T Task setting: The variable is updated when the relevant
conditions are met.
C Command setting: The variable is updated when a
command to do so is issued.
2 2ms: The variable is updated every 2 milliseconds.
Whenever specifying a condition based on the value of a
variable, it is important that the update time or interval of that
variable is considered.

XtraWare User Manual 217

List of System Variables XtraWare User Manual

218 XtraWare User Manual

List of Status Word Bits

10. List of Status Word Bits

A status word is a 16-bit string containing the current XtraDrive
status. Use the POLLING command to get a status word. An
acknowledge (ACK) message also contains a status word.
The status word updates every 10ms.

BIT TERM COMMENT

0 Ready to Switch On Always 1
1 Switched On 0 Emergency ON; 1 Emergency OFF
2 Operation Enabled 0 Control OFF; 1 Control ON
3 Fault 0 No Fault; 1 Fault A.##
4 Voltage disabled Always 1
5 Quick Stop 1 only while stopping
6 Switch On Disabled Always 0
7 Warning 0 No warning; 1 Warning (Over torque...)
Manufacturer 1 only while waiting to START command
8 specific. (Ready for
start)
9 Remote Always 0
Profile position mode: 1 only while
Velocity_demand_value =0 AND Position
10 Target Reached error < Pn500 Profile velocity mode – 1 when
Target speed reached Profile torque mode – 1
when Target torque reached
Internal Limit 1 motor on Over Travel switch
11
Active
On homing mode: 0 while homing; 1 After
Operation Mode homing.
12
Specific On speed mode (SLIDE): 0 speed != 0; 1
speed = 0
Operation Mode On homing mode: 0 No homing error; 1
13
Specific Homing error.
Manufacturer 0 No program running; 1 Program running
14 specific (program
run)
Manufacturer 1 Need restart
15 specific (need
restart)

XtraWare User’s Manual 219

List of Status Word Bits XtraWare User Manual

220 XtraWare User Manual

List of Operation Codes

11. List of Operation Codes

Mode of
Op-Code Name Arg 1(2) Arg 2(2) Arg 3(2) Arg 4(2) Arg 5(2)
Operation(1)
64 ACCELERATION 2;3;4 4U - - - -
66 CALL 4 1U - - - -
94 CLEAR_BUFFER 2 1U
69 CONTROL 2;3;4 1 U(4) - - - -
144 DELAY 3;4 4UV - - - -
122 ECAM_DISENGAGE 3;4 - - - - -
121 ECAM_ENGAGE 3;4 1UV 1 U(4) - - -
126 ECAM_POINTS 2 1U 2 2 2 2
124 ECAM_PROFILE 2 1U
125 ECAM_SEGMENT 2 4U 2U 1U
123 ECAM_TABLE_BEGIN 2
127 ECAM_TABLE_END 2
70 END 2;4 - - - - -
136 ENGAGE_VIRTUAL_AXIS 3;4 1UV 1 U(4) - - -
138 EXT_INT 4 1U 1U 1 U(4) - -
154 FAST_OUTPUT_SETTING 2;3;4 1 U(4) 1 U(3C) 4V - -
71 GAIN 2;3;4 2U - - - -
160 GET_FROM_ARRAY 2;3;4 2U
85 GET_PAR 2;3 2U - - - -
72 GET_VAR 2;3 1U - - - -
63 GET_VERSION 2 - - - - -
112 GO 3;4 4V 4V - - -
128 GO_D 3;4 4V 4V - - -
117 GO_H 3;4 4V - - - -
73 GO_TO 4 1U - - - -
131 HARD_HOME 3;4 2V 4V - - -
133 HOME_C 3;4 4V - - - -
132 HOME_SW 3;4 4V 4V - - -
130 HOME_SW_C 3;4 4V 4V - - -
105 IF 4(5) 1U 1 U(3B) 4V 1 U(4) 1U
108 IF_INPUT 4 1 U(3D) 1 U (3D) 1U 1 U(4) 1U
97 INPUT_CASE 4 4UV 4UV - - -
139 INT 4 1 U(5) 1U 1 U(3B) 4V -
140 INT_RETURN 4 1U - - - -
74 JERK_TIME 2;3;4 4U - - - -
88 LABEL 4 1U - - - -
152 LATCHING_TRIGGER 3;4 1 U(4) - - - -
75 LOOP 4 2U 4UV 1U - -
134 MATH 2;3;4 1 U(6) 1 U(3E) 1 U(5) 1 U(3A) 4V
113 MOVE 3;4 4V 4V - - -
129 MOVE_D 3;4 4V 4V - - -
118 MOVE_H 3;4 4V - - - -
119 MOVE_R 3;4 4V - - - -
0 POLLING - - - - -
159 READ_FROM_ARRAY 2;3;4 2UV 1 U(5)
151 REGISTRATION_DISTANCE 3;4 4V - - - -
77 RETURN 4 - - - - -

XtraWare User’s Manual 221

List of Operation Codes XtraWare User Manual

Mode of
Op-Code Name Arg 1(2) Arg 2(2) Arg 3(2) Arg 4(2) Arg 5(2)
Operation(1)
78 RUN 2;3 1U - - - -
96 SAVE_PRG_ECAM 2 - -
79 SET_OUTPUT 2;3;4 2UV 1U
107 SET_OUTPUTS 2;3;4 4UV 4UV - - -
80 SET_PAR 2;3 2U 2U - - -
81 SET_VAR 2;3;4 1 U(6) 4V - - -
95 SET_ZERO_POSITION 2;3;4 1 U(4) - - - -
115 SLIDE 3;4 4V - - - -
102 SLIDE_ANALOG 3;4 - - - - -
83 SPEED 2;3;4 4U - - - -
100 SPEED_CONTROL 3;4 1 U(4) - - - -
82 START 2 - - - - -
7
84 STOP 2;3;4 1U - - - -
(4) (4)
153 STOP_EX 2; 3;4 1U 1U - -
99 STOP_MOTION7 2;3;4 - - - - -
116 TORQUE 3;4 2V - - - -
103 TORQUE_ANALOG 3;4 - - - - -
87 TORQUE_LIMITS 2;3;4 2 2 - - -
145 WAIT_EXACT 3;4 4V - - - -
146 WAIT_FOR_START 3;4 - - - - -
109 WAIT_INPUT 3;4 1U 1 U(3D) 1U 4V -
148 WAIT_STOP 3;4 4V - - - -
110 WAIT_VAR 3;4 1 U(5) 1 U (3B) 4V - -
158 WRITE_TO_ARRAY 2;3;4 2UV 4V

NOTES:
(1) Mode of operation: 2 Immediate; 3 Sequential; 4 Program;
(2) Argument size. Number of data bytes of each argument. In
serial communication, each data byte consists of two
hexadecimal digits.
Example: to issue a TORQUE command, to specify a torque
value of 1000%: The table shows that the number of data
bytes is 2. 1000 in hexadecimal form is 0x03E8. The string that
should therefore be sent consists of the ASCII values 30, 33,
45, 38.
U - Unsigned integer.
V – Argument value can be specified by numerical value or by a
variable.
Example: 2 U V indicates that the argument consists of 2
hexadecimal digits, is unsigned, and can be specified either by
a numerical value or by a variable.

222 XtraWare User Manual

List of Operation Codes

(3) Condition codes:

Sign Condition Setting 3a 3b 3c 3d 3e
== Equal to 0 X X
(Condition)
> Greater than 1 X X
< Smaller than 2 X X
>= Greater than or 3 X
equal to
<= Smaller than or 4 X
equal to
!= Not equal to 5 X
* Multiply 6 X
/ Divide 7 X
MOD Modulus 8 X
+ Plus 9 X
- Minus 10 X
AND AND 13 X
XOR Exclusive Or 14 X
OR Or 15 X
= Set equal to 18 X

(4) See the command description in Chapter 5, Command

Reference, for available options.
(5) Set to ID number of one of the system variables.

(6) Set to ID number of one of the writeable system variables

(7) Command is only available in drive version 2.91. For higher

versions, use STOP_EX.

XtraWare User’s Manual 223

List of Operation Codes XtraWare User Manual

224 XtraWare User Manual

Glossary of Terms and Concepts

12. Glossary of Terms and Concepts

12.1. Electronic Gear
The electronic gear function enables the servomotor travel
distance per input reference pulse to be set to any value. It
allows the pulses generated by the host controller to be used for
control without having to consider the equipment gear ratio or
the number of encoder pulses.
This is done by setting the Electronic Gear Ratio, which is the
ratio of the number of pulses that are input to the XtraDrive
control algorithm to the number of reference input pulses
received from the host controller. The user position units can
then be set in terms of the pulses that are input to the XtraDrive
control algorithm.

Figure 59: Illustration of Gear Function

12.1.1. Electronic Gear Parameters

The electronic gear ratio, B/A, is ratio of the number of pulses
received by the XtraDrive from the master or host, to the
number of pulses seen by the motor.
♦ Pn200 specifies the form of the reference input pulse.
♦ Pn202 is the numerator of the electronic gain ratio, B.
♦ Pn203 is the denominator of the electronic gain ratio, A.
It is recommended that the master used should have a higher
resolution than the slave.

12.2. Motion Profile

In an XtraDrive program, motion commands are used to specify
the required motor motion.
A motor motion is characterized by the rate at which it
accelerates, the ultimate speed reached, and the rate at which
acceleration changes should the ultimate speed be changed.

XtraWare User’s Manual 225

Glossary of Terms and Concepts XtraWare User Manual

When using motion commands, these parameters may be

specified. Alternatively, the XtraDrive will use the default motion
profile parameters, which you can set.
The profile parameters are:
♦ Profile Velocity
♦ Profile Acceleration
♦ Jerk Smoothing Time

12.2.1. Profile Velocity

The profile velocity is the default speed to which the motor
accelerates if the desired duration of the motion is not specified.
The motor will accelerate until it reaches the profile velocity.
The profile velocity is recorded in the system variable
Profile_Velocity.
By default, Profile_velocity is set equal to the Work Speed
Default, specified by parameters Pn2A2 and Pn2A3:
♦ Pn2A2: The profile speed in user speed units, in the low bits
format.
♦ Pn2A3: The profile speed in user speed units, in the high bits
format.
Pn2A2 is used to store the work speed default if its value is less
than 65536. Values over 65536 must be converted to high bits
format, and stored in Pn2A3, which can hold values up to 256.
The value of Profile_velocity can be changed using the SPEED
command. To set Profile_velocity equal to a variable, use the
SET_VAR command.

12.2.2. Profile Acceleration

The profile acceleration defines the default rate of acceleration
that is used whenever the motor accelerates in Position mode.
The profile acceleration is recorded in the system variable
Profile_acceleration.
By default, Profile_acceleration is set equal to the Work
Acceleration Default, specified by parameters Pn2A4 and Pn2A5:
Pn2A4: The profile acceleration in user acceleration units, in the
low bits format.
Pn2A5: The profile acceleration in user acceleration units, in the
high bits format.
Pn2A4 is used to store the profile acceleration if its value is less
than 65536. Values over 65536 must be converted to high bits
format, and stored in Pn2A5, which can hold values up to 256.

226 XtraWare User Manual

Glossary of Terms and Concepts

The value of Profile_acceleration can be changed using the

ACCELERATION command. To set Profile_acceleration equal to a
variable, use the SET_VAR command.

12.2.3. Profile Jerk Smoothing Time

Jerk smoothing time defines the time required for the changing
of acceleration and deceleration, and is set in milliseconds.
The Jerk smoothing time is recorded in the system variable
Jerk_smoothing_time.
By default, Jerk_smoothing_time is set equal to the Work Jerk
Smoothing Time Default, specified by parameter Pn2A6.
The value of Jerk_smoothing_time can be changed using the
command JERK_TIME. To set Jerk_smoothing_time equal to a
variable, use the SET_VAR command.

XtraWare User’s Manual 227

Glossary of Terms and Concepts XtraWare User Manual

12.3. Explanation of Command Table

The table shown on the next page explains the significance of
each row in the command tables presented in Chapter 5,
Command Reference.

228 XtraWare User Manual

Glossary of Terms and Concepts

EXAMPLE An example that shows the use of the command.

EXAMPLE An explanation of the example.
EXPLANATION
NOTE Addition information relating to the use of the command.
SEE ALSO A list of related commands, variables and parameters.

XtraWare User’s Manual 229

Glossary of Terms and Concepts XtraWare User Manual

MAIN OFFICE USA OFFICE

13 Hamelacha St., YET US Inc.
Afeq Industrial Estate 531 King St.,
Rosh Ha’ayin 48091 Unit 1
ISRAEL Littleton, MA 01460
Tel: +972-3-9004114 USA
Fax: +972-3-9030412 Tel: +1-866-YET-8080
info@yetmotion.com USinfo@yetmotion.com

For more information refer to our web site:

www.yetmotion.com

Specifications are subject to change without

notice due to ongoing product modifications
and improvements.
XtraWare Ver. 2.7 for XtraDrive Vers. 2.9.1
and 3.01
Catalog No. 8U0109 Rev. E

230 Version 2.6.1

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