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CHAPTER FIVE

Tuning

IN THIS CHAPTER

Servo Tuning Overview .............................................................................

Position Variable Overview........................................................................

Servo Response Overview ........................................................................

Servo System Gains ..................................................................................

Servo Tuning Example ..............................................................................

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Содержание Aries AR-08AE

Страница 1: ...nderutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In...

Страница 2: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...ilure to do so can result in damage to equipment and or serious injury to personnel Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Parke...

Страница 4: ...net Cooling 8 Cabinet Cooling Calculations 12 Dimensions 13 Drive Dimensions AR 01xx AR 02xx 13 Drive Dimensions AR 04xx AR 08xx AR 13xx 14 Drive Dimensions AR 20xE AR 30xE 15 Weight 15 Mounting Guide...

Страница 5: ...Communications 60 RS 485 Multi Drop 61 RS 232 485 Dongle for Communications Setup 62 Chapter 5 Tuning 63 Servo Tuning Overview 64 Position Variable Overview 65 Commanded Position 65 Actual Position 6...

Страница 6: ...ng Resistance Rotary Motors 161 Total Kinetic Energy 161 Total Potential Energy 161 Energy Absorbed by Drive Capacitors 162 Energy Dissipated in Motor Winding Resistance 163 Energy Dissipated in Load...

Страница 7: ...ACK Connector Pinout for Resolver Option 51 Table 27 Resolver excitation 51 Table 28 Fault Output Operation 52 Table 29 DRIVE I O Connector Pinout 54 Table 30 Inputs Enable and Reset Electrical Timing...

Страница 8: ...Selection of External Power Dump Resistor 160 Table 58 Drive Capacitor Absorption 163 Table 59 Drive Capacitor Absorption 169 Table 60 Control Power Filter Selection 178 Table 61 Mains Motor Power Fil...

Страница 9: ...nnection for Parker Motors 37 Figure 24 Brake Relay Connection for Non Parker Motors 37 Figure 25 External Regeneration Connection 39 Figure 26 Mains Input Power Connector 42 Figure 27 Output MOTOR Po...

Страница 10: ...Typical LVD EMC Installation AR 20xE AR 30xE 182 Figure 55 Panel Layout Dimensions for the Aries Drive 183 Figure 56 Servo Tuning Flow Diagram 186 Figure 57 VM26 Breakout Module 188 Artisan Technolog...

Страница 11: ...ntended In accordance with IEC 61800 3 1997 Adjustable speed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environmen...

Страница 12: ...nternal component may result in damage to the unit and or personal injury This may also void the warranty Symbols Description Protective Earth Ground Functional Earth Ground Terminal Shield Frame or C...

Страница 13: ...product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner...

Страница 14: ...rcuit diagram and resolver excitation frequency Error Messages Added E50 E51 and E52 error messages Revision E Changes This document 88 021610 01E supercedes 88 021610 1D Changes associated with Aries...

Страница 15: ...ment clarifications and corrections are as follows Topic Description Models Enhancement Added models AR 13xx AR 20xE and AR 30xE and relevant information Regeneration Protection Enhancement Added disc...

Страница 16: ...istics on the DRIVE I O connector See Table 31 on page 55 Inputs Step Direction Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE I O connector See Table 33...

Страница 17: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 18: ...ts Overview 2 Compatible Parker Products 3 Checking Your Shipment 4 Illustrations in this Installation Guide 5 Assumptions of Technical Experience 5 Technical Support 5 Artisan Technology Group Qualit...

Страница 19: ...other standard communication software For Aries drives using the Ethernet Powerlink command interface configure the drives through Ethernet using the ACR View software on a PC Many advanced features...

Страница 20: ...20xE 10A 30A 2000W 2 7 hp AR 30xE 16A 48A 3000W 4 04 hp Maximum rating at 240 VAC single phase Maximum rating at 240 VAC three phase Table 1 Output Power Level Options For the latest additions see ou...

Страница 21: ...tems AR 01xx through AR 13xx The following items ship with the AR 20xE and AR 30xE drives Part Part Number Aries Quick Reference Guide AR 20xE and AR 30xE 88 025222 01A R Clamp 50 018127 01 Screw 8 32...

Страница 22: ...bleshoot the Aries Drive you must have a fundamental understanding of the following Motion control applications Electromechanical actuators Electrical concepts such as voltage current switches etc Ser...

Страница 23: ...T W O Mechanical Installation IN THIS CHAPTER Environment Drive Cooling 7 Dimensions 13 Weight 15 Mounting Guidelines 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Страница 24: ...onal cooling capacity The AR 20xE has one fan and the AR 30xE has two The fans are located at the bottom of the drives They draw air in from the bottom force it up over the heatsink and out the vents...

Страница 25: ...mental Specifications AR 13xx Operating Temperature Maximum Ambient Air 40 C 104 F Minimum 0 C 32 F Storage Temperature 40 C to 85 C 40 F to 185 F Humidity 0 to 95 non condensing Shock 15g 11 ms half...

Страница 26: ...wer Voltage 0W 20W 200W 120 VAC 15W 25W 34W 240 VAC 32W 44W 47W Drive enabled zero torque Table 6 AR 02xx Power Dissipation AR 08xx The power dissipation in Table 7 for the AR 08xx has been measured u...

Страница 27: ...0W 200W 700W 120 VAC 13W 42W 60W 240 VAC 24W 60W 73W Drive enabled zero torque Table 7 AR 08xx Power Dissipation AR 13xx The power dissipation in Table 8 for the AR 13xx has been measured using the Pa...

Страница 28: ...Voltage 0W 700W 1300W 120 VAC 14W 82W 130W 240 VAC 25W 95W 146W Drive enabled zero torque Table 8 AR 13xx Power Dissipation AR 30xE The power dissipation in Table 9 for the AR 30xE has been measured u...

Страница 29: ...g speed for your application If the torque is not known use the knee where the peak torque curve intersects the continuous torque curve of the graphed motion this assumes the worst case scenario for c...

Страница 30: ...This section contains the dimensions for all Aries models Drive Dimensions AR 01xx AR 02xx Figure 5 Drive mounting for the AR 01xx AR 02xx Drive Fin Height in mm Outside Width OW in mm Overall Depth...

Страница 31: ...n Height in mm Overall Width OW in mm Overall Depth with Cables in mm AR 04xx 0 625 15 9 2 90 73 7 7 60 193 0 AR 08xx 1 00 25 4 3 28 83 3 7 60 193 0 AR 13xx 2 00 50 8 4 28 108 7 7 60 193 0 Table 11 AR...

Страница 32: ...8 37 5 4 67 118 5 9 27 235 5 Table 12 AR 20xE and AR 30xE Drive Dimensions Weight Use Table 13 to determine the weight of your drive Drive Weight pounds kg Drive Weight pounds kg AR 01xx 1 68 0 76 AR...

Страница 33: ...bed in EN 61800 3 1996 page 9 Cable Routing Route high power cables motor and mains at right angles to low power cables communications and inputs outputs Never route high and low power cables parallel...

Страница 34: ...ystem Installation Overview 19 Power Supply 20 Multiple Drive Installations 33 Brake Relay Optional 35 Regeneration Protection 39 LEDs Drive Status Indicators 41 Connector Descriptions 42 Installation...

Страница 35: ...uit the motor phase connections while the system is still powered as this could damage the drive Precautions During installation take the normal precautions against damage caused by electrostatic disc...

Страница 36: ...e use of the Aries dongle part number 71 021609 01 which connects the Aries drive to both a controller and a personal computer PC The dongle is for setup purposes only Do not use the dongle for perman...

Страница 37: ...y installed external jumpers With the jumpers installed apply power to the motor power mains only Figure 10 shows the location of the factory installed jumpers Figure 10 AR 01xx to AR 13xx Factory Ins...

Страница 38: ...tallation for AR 20xE AR 30xE Warning This product has been developed for industrial environments Due to exposed high voltage terminals this product must not be accessible to users while under normal...

Страница 39: ...power on the AR 20xE and AR 30xE differ from the other models due to their higher power capacity The two power connectors on models AR 01xx through AR 13xx are removable The two power connectors on M...

Страница 40: ...l Installation 23 Figure 13 Connectors on Aries Models AR 01xx to AR 13xx Figure 14 Connectors on Aries Models AR 20xE AR 30xE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Страница 41: ...els C1 C2 120 240 VAC single phase Figure 15 Input Power Requirements Mains Input Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type Removable screw terminal Terminals 7 Pitch 0 20...

Страница 42: ...ve For the Protective Earth ground make the connection directly by means of a low impedance path less than or equal to 0 1 ohm no fuses etc Under normal operation no current should flow through the Pr...

Страница 43: ...ur application see Table 14 For fuse recommendations for Control power input lines see Control Power Supply on page 31 Drive AC Voltage Fuse Style Rating Fuse Type 120 VAC 125 VAC Time Delay 10A RK5 o...

Страница 44: ...value with the ambient temperature Drive inrush current is therefore dependent upon the temperature of the surrounding environment Tamb To determine the drive inrush current for your drive see Table 1...

Страница 45: ...0 Maximum shaft power rating at 240 VAC Table 17 Output Power Continuous and Peak Motor Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type Removable screw terminal Terminals 6 Pitch 0 20...

Страница 46: ...for making connections with Parker Hannifin motors Phase Hi Flex PS Gemini Legacy Parker Hannifin Legacy MaxPlus U 1 Red Yellow Red V 2 White Yellow Black W 3 Black Yellow Blue Green Yellow Green Yell...

Страница 47: ...armonics that might interfere with other equipment The addition of a DC link inductor reduces the severity of these problems Table 19 provides compatible DC link inductors for the Aries AR 20xE and AR...

Страница 48: ...t of Control power functions Remove the factory installed jumpers to use the product with separate control and motor mains AC power input Fuse Information Fuse Rating 1 Amp Fuse Type Class CC Bussmann...

Страница 49: ...Control Input Power Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable system Protective Earth Warning The drive s connector strip terminals...

Страница 50: ...on no current should flow through the Protective Earth ground Safety Earth Connections AR 01xx AR 02xx AR 04xx AR 08xx and AR 13xx For multiple drive installations Parker Hannifin recommends a single...

Страница 51: ...34 Aries User Guide Figure 21 Multiple Drives AR 20xE AR 30xE Single Point Safety Earth Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 52: ...ing information follow in this section Brake Relay Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type Removable screw terminal Terminals 6 Pitch 0 200 in 5 08 mm Wire range 12 26 AWG 14...

Страница 53: ...010904xxxxx contain full wave rectifiers so connection polarity is not an issue during installation Connecting the Brake Relay 1 Connect one red blue brake wire Parker Motor cable or equivalent to the...

Страница 54: ...d blue brake wire Parker Motor cable or equivalent to the BK terminal of the Motor connector Aries drive 2 Connect the second red blue brake wire Parker Motor cable or equivalent to the 24V return on...

Страница 55: ...2 the relay remains open if AC power is not applied to the L1 and L2 terminals Table 20 Brake Relay Operation Relay Specifications Relay Type Solid State Relay Normally open Relay Maximum Rating 1 Amp...

Страница 56: ...ortant For models AR 20xE and AR 30xE you must remove the factory installed link between RINT and R when you connect the external regeneration resistor Otherwise the internal regeneration resistor wil...

Страница 57: ...internal bus capacitors as shown in Table 21 Regeneration Absorption The available absorption varies based on mains voltage and the drive s internal capacitance The drives can absorb the following amo...

Страница 58: ...f Red Power on disabled No Fault Yellow Off Power on boot process Off Red flashing Waiting for OS download Yellow flashing Red flashing OS download in process Table 22 LED Status Indicator Normal Oper...

Страница 59: ...power dissipation resistor R and R For more information on these additional connections see Control Power Supply on page 31 Regeneration Protection on page 39 This connector is removable On models AR...

Страница 60: ...e Range 12 26 AWG 14 27 SWG 0 12 3 30 mm2 Wire Strip length 0 31 in 7 87 mm Torque 7 0 in lbs nom 0 79 N m AR 20xE AR 30xE Molex 39960 0110 Parker Hannifin Part Number N A Connector Type Non Removable...

Страница 61: ...to the drive s internal solid state relay BK For information on this connection see Brake Relay Optional on page 35 This connector is removable On models AR 20xE and AR 30xE the MOTOR POWER connector...

Страница 62: ...AWG 14 27 SWG 0 12 3 30 mm2 Wire strip length 0 310 in 8 mm Torque 7 0 in lbs nom 0 79 N m AR 20xE AR 30xE Molex 39960 0110 Parker Hannifin Part Number N A not replaceable Connector Type Non Removabl...

Страница 63: ...between RINT and R for an internal regeneration resistor which provides thermal protection For more information see Regeneration Protection on page 39 For information on additional connections see Con...

Страница 64: ...OTOR FEEDBACK connector female drive connector pinout Important Encoder inputs use a DS26LV32 differential line receiver Parker Hannifin recommends 26LS31 or compatible differential line driven encode...

Страница 65: ...B Channel in ENC B COS 12 Encoder B Channel in Hall 2 SCLK 13 Hall 2 input Hall 3 14 Hall 3 input When using the SinCos protocol pins 9 and 13 require twisted pair wiring Table 24 MOTOR FEEDBACK Conne...

Страница 66: ...s drives Parker cables are available with mating connectors attached Manufacturer AMP or equivalent Connector Type 15 Pin High Density D Subminiature male connector Cable Kit AMP Part Number 748473 1...

Страница 67: ...h and hall effects are located on the 15 pin Motor Feedback connector Figure 31 MOTOR FEEDBACK connector female drive connector pinout Figure 32 MOTOR FEEDBACK connector for resolver option internal c...

Страница 68: ...No connection 13 No connection 14 Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option Resolver Excitation Description Min Typical Max Units Excitation Frequency 10 KHz Note All parameters are...

Страница 69: ...lt circuit is closed conducting However the following circumstances can trip the Fault circuit a fault condition is present see Error Messages on page 144 the Enable circuit is open see Figure 34 or M...

Страница 70: ...Chapter 3 Electrical Installation 53 Figure 34 DRIVE I O connector internal circuit diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 71: ...turn DIRECTION 12 5V Differential compatible RS 422 logic level compatible direction command DIRECTION 13 Direction command return AIN 14 Analog 10V current command AIN 15 10V return DGND 17 Digital G...

Страница 72: ...Reset Electrical Timing Characteristics Outputs Encoder Description Min Typical Max Units Output Frequency pre quadrature 5 MHz Input Voltage High 2 4 V Input Voltage Low 0 5 V Based on 120 differenti...

Страница 73: ...teristics Connector Specification Aries Drive Manufacturer KYCON or equivalent Connector Type 26 Pin High Density D Subminiature female socket KYCON Part Number K66 A26S NR Connector Specification Mat...

Страница 74: ...nect the motor so that it is free to turn unimpeded Safety Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur esp...

Страница 75: ...ulator Configuration 59 Establishing Communications 59 RS 232 Communications 60 RS 485 Communications 60 RS 485 Multi Drop 61 RS 232 485 Dongle for Communications Setup 62 Artisan Technology Group Qua...

Страница 76: ...se it with RS 232 or two wire RS 485 communications Figure 35 RS 232 485 Connections For setup purposes you can connect a personal computer PC directly to the Aries drive through its COM port Before a...

Страница 77: ...le 36 RS 232 Connector Pinout RS 485 Communications The Aries is designed to use RS 485 half duplex two wire In addition you can use it in multi drop networks For more information about multi drop see...

Страница 78: ...ives for a Multi Drop Network 1 Connect the drive you want to configure to a PC that is not part of the multi drop network 2 Apply power to the drive 3 Using terminal emulation software send the follo...

Страница 79: ...end ASCII commands from the master unit for example a personal computer PLC or controller to a specific unit in the multi drop network Prefix the command with the unit address and an underscore _ For...

Страница 80: ...CHAPTER Servo Tuning Overview 64 Position Variable Overview 65 Servo Response Overview 66 Servo System Gains 68 Servo Tuning Example 71 Artisan Technology Group Quality Instrumentation Guaranteed 888...

Страница 81: ...e encoder Therefore it forms a closed loop of information When all gains are set to zero the digital control algorithm is disabled Figure 37 Closed Loop and Open Loop System Comparison To command a dr...

Страница 82: ...time is the position response for more information see Servo Response Overview on page 66 To view the actual position use the TPE Transfer Position of Encoder command the response represents the actua...

Страница 83: ...almost all cases In practice when the system experiences instability the actual position will oscillate in an exponentially diverging fashion as shown in Table 38 One common perception is that wheneve...

Страница 84: ...sess the performance of the servo These three measurements are made before or shortly after the motor stops moving Overshoot The measurement of the maximum magnitude that the actual position exceeds t...

Страница 85: ...rol signal is proportional to the feedback device s velocity rate of change of the actual position The Servo Gain Velocity SGV command sets the gain which is in turn multiplied by the feedback device...

Страница 86: ...ndup see Figure 39 Figure 39 Integrator Windup Without Using SGILIM Command After windup occurs it takes time before the integrator output returns to a level within the limit of the controller s outpu...

Страница 87: ...70 Aries User Guide Figure 40 Integrator Windup using the SGILIM Command Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 88: ...is position Note The steps shown below steps 1 to 11 represent the major steps of the process the actual progression between these steps may require several iterations Step 1 For a starting trial we s...

Страница 89: ...nt see plot This means the SGV gain is too low and or the SGP is too high Next we should try raising the SGV gain to see if it will dampen out the overshoot and chattering Step 5 After the SGV gain is...

Страница 90: ...P gain to 4 However the overshoot is still a little too high The next step should be to try raising the SGV to damp out the overshoot Step 8 After raising the SGV gain to 4 overshoot is reduced a litt...

Страница 91: ...duced very little after lowering the SGP gain to 3 5 The SGV gain might have been lowered too much in Step 9 Next we should try raising the SGV gain again until the overshoot is gone Step 11 When we r...

Страница 92: ...l If the estimated load inertia seems overly high this may be the cause Note Use this method of auto tuning only with the step and direction versions of the Aries drive The Auto Tune process should on...

Страница 93: ...erence IN THIS CHAPTER Description of Format 77 Syntax Letters and Symbols 77 Syntax General Guidelines 79 Command Descriptions 80 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Страница 94: ...6250 commands are applicable to the OEM6250 controller You can use the TREV command to determine which product revision you are using For example if the TREV response is Aries Revision 1 0 The produc...

Страница 95: ...1 or E or e does not require field separator between values E or e enables a specific command field i Represents a numeric value that cannot contain a decimal point integer values only The numeric ran...

Страница 96: ...r semi colon or apostrophe All text between a comment delimiter and a command delimiter is considered program comments Add a comment to the command DMVLIM sp set velocity limit Binary and Hexadecimal...

Страница 97: ...ADDR command allows you to uniquely address up to 255 units 99 unit maximum on a single network After establishing a unique address for each Aries drive you can address commands to specific units To...

Страница 98: ...the hardware enable or by typing DRIVE0 into the terminal and pressing Enter 3 Type DMODE3 in the terminal and press Enter to enter alignment mode 4 Enable the drive by means of either the hardware en...

Страница 99: ...calculated from the input voltage Vin using DMTSCL as follows 10 DMTSCL ANICDB in command V Trq DCMDZ when ANICDB DCMDZ in V 0 command Trq when ANICDB DCMDZ ANICDB DCMDZ in V 10 DMTSCL ANICDB in comma...

Страница 100: ...umber of hours since the drive was powered up or RESET TDTEMP measured temperature of the drive in centigrade TMTEMP estimated temperature of the motor in centigrade TVBUS measured bus voltage in volt...

Страница 101: ...s are set at zero 0 Refer to your motor specifications for the correct value E3 Max Inductance This parameter is set to zero 0 To correct the error you must set a non zero 0 value Refer to your motor...

Страница 102: ...ror you must set to a non zero value Refer to your motor specifications for the correct value DMTJ E14 Damping This parameter is set to zero 0 The drive will not enable Velocity or Position Modes To c...

Страница 103: ...use DCMDZ to set the zero point to an arbitrary voltage by entering that value For example DCMDZ 5 makes 0 5 volts equal to a commanded velocity of zero 0 rps Note that this value is the internal lev...

Страница 104: ...2xx AR 04xx AR 08xx AR 13xx AR 20xE AR 30xE Drive Continuous Current Rating 100 1 0 Arms 1 75 Arms 3 0 Arms 4 5 Arms 6 3 Arms 10 Arms 16 Arms Max Current Rating 3 0 Arms 5 25 Arms 9 0 Arms 13 5 Arms 1...

Страница 105: ...lectrical pitch is the linear distance between two magnets comprising a full magnetic cycle For example the illustration below shows an electrical pitch of 42 mm DMEPIT42 Figure 43 Linear motor track...

Страница 106: ...ulse Scaling Type Drive Configuration Product Rev Syntax a_ DMPSCL i Aries 2 0 Units i multiplier setting Range 1 to 127 Default 1 Response DMPSCL 1 See Also DMODE DMTR DRES Use the DMPSCL command to...

Страница 107: ...mmand to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number For a list of auto configured commands see DMTR The DMTD command specifies the damping of th...

Страница 108: ...DMTR DMTW TCI TDICNT TDIMAX Auto Setup When using a Parker motor and the Aries Support Tool this command is automatically set for the selected motor If you did not use the Aries Support Tool are using...

Страница 109: ...nductance is not known specify the nominal inductance as listed on the motor s nameplate DMTINF Motor Inductance Factor Type Motor Product Rev Syntax a_ DMTINF r Aries 1 0 Units r units Range to 1 Def...

Страница 110: ...d E9 Peak Current For a list of automatically configured commands see DMTR The DMTIP command sets a limit that the commanded current cannot exceed This is typically set to three times the motor s cont...

Страница 111: ...or and the Aries Support Tool this command is automatically set for the selected motor If you did not use the Aries Support Tool are using non Parker motors or sent an RFS command to the drive the par...

Страница 112: ...ameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and E7 Bad Hall State and shuts down the drive For a list of automatically configured comm...

Страница 113: ...ical system has torque force limitations due for example to the limitations of a coupler or belt you can use this command to limit system torque force without affecting system scaling or gains During...

Страница 114: ...MAX command sets the maximum motor winding temperature allowed The DMTMAX value in conjunction with the motor thermal time constant DMTTCM the motor winding time constant DMTTCW the motor thermal resi...

Страница 115: ...tant DMTIND Motor Inductance max DMTTCW Motor Winding Time Constant DMTINF Motor Inductance min DMTW Motor Rated Speed DMTIP Peak Current DMVLIM Velocity Limit DMTJ Motor rotor Inertia Forcer Mass DMV...

Страница 116: ...asured at 25 C at the drive end of the motor cable motor cable included This resistance is the phase to phase resistance measured at terminals U to V V to W or W to U Warning Disconnect the motor cabl...

Страница 117: ...o a non zero number For a list of auto configured commands see DMTR The DMTSCL command scales the torque force command input It sets the full scale torque force that will be produced from a 10 volt in...

Страница 118: ...Motor Thermal Time Constant Type Motor Product Rev Syntax a_ DMTTCM r Aries 1 0 Units r minutes Range to 12 1 Default Response DMTTCM 3 4 See Also DMTR DMTTCW Auto Setup When using a Parker motor and...

Страница 119: ...r given constant power Note that this is not the time constant usually specified in motor data sheets see DMTTCM the DMTTCW value is typically much faster DMTW Motor Rated Speed Type Motor Product Rev...

Страница 120: ...r motor and the Aries Support Tool this command is automatically set for the selected motor If you did not use the Aries Support Tool are using non Parker motors or sent an RFS command to the drive th...

Страница 121: ...xample if an application requires a maximum speed of 10 Rev Sec then the DMVSCL could be set to 10 This would scale the input to 1Rev Sec for every volt applied to the input DNOTAD Notch Filter A Dept...

Страница 122: ...Hz Range disable or 6 1 Default filter is disabled Response DNOTAF DNOTAF2 See Also DNOTAD DNOTAQ DNOTBD DNOTBF DNOTBQ DNOTLD DNOTLG The DNOTAF command sets the center frequency for the commanded torq...

Страница 123: ...he quality factor or width of the frequency trough determines how discrete the filter is For information about the filter s transfer function characteristics see DNOTAF DNOTBD Notch Filter B Depth Typ...

Страница 124: ...2 5 Default 1 Response DNOTBQ DNOTBQ1 5 See Also DNOTAF DNOTAQ DNOTBD DNOTBF DNOTLD DNOTLG The DNOTBQ command sets the quality factor Q for notch filter B The quality factor or width of the frequency...

Страница 125: ...r Break Frequency DNOTLG Notch Lag Filter Break Frequency Type Tuning Product Rev Syntax a_ DNOTLG i Aries 2 0 Units i Hz Range disable or 2 1 Default filter is disabled Response DNOTLG DNOTLG4 See Al...

Страница 126: ...r P 2 The electrical frequency of the current e is related to the mechanical speed m of the motor by the pole pairs The equation right shows this relationship m P e 2 Note All linear motors regardless...

Страница 127: ...Aries 2 0 Units b enable bit Range 1 enable or disable Default Response DRIVE See Also ERROR The DRIVE command allows you to enable or disable shut down the drive If the hardware enable input is clos...

Страница 128: ...bit Range disable or 1 enable Default 1 Response ECHO 1 See Also ADDR STATUS The ECHO command enables disables command echo If using an RS 485 multi drop disable echo Note The ECHO command has no obvi...

Страница 129: ...The smart encoders store the encoder offset in the motor which the drive reads and stores in the ENCOFF parameter upon power up The offset can vary from 180 degrees corresponding to ENCOFF 32768 to 18...

Страница 130: ...st manually set this parameter to a non zero number For a list of auto configured commands see DMTR Use the ERES command to establish the encoder resolution post quadrature in counts rev or counts ele...

Страница 131: ...the motor s electrical or magnetic pitch DMEPIT _ count mm resolution Encoder mm DMEPIT ERES Example Linear encoder resolution post quad is 1 m and the electrical pitch is 42 mm DMEPIT42 ERES is calcu...

Страница 132: ...Bad Hall State A problem with the Hall sensors exists Check the Hall state wiring THALL E38 Feedback Failure Feedback not present or the signal level is incorrect TPE THALL E39 Drive Disabled The driv...

Страница 133: ...or log Each bit corresponds to a different error condition see Table 47 To enable or disable a specific bit the syntax is ERRORL B n b where n is the error bit number and b is either one 1 to enable o...

Страница 134: ...tored After a reset the new values are read from the encoder Note The ESTORE command stores the following parameters in the encoder DMTRES DMTIND DMTINF DMTKE DMTIC DMTTCW DMTTWM DMTRWC DMTD DMTJ DMTW...

Страница 135: ...input voltage below the set value IANI Invert Analog Input Type Drive configuration Product Rev Syntax a_ IANI b Aries 2 10 Units b enable bit Range 0 do not invert analog input or 1 invert analog in...

Страница 136: ...TO PGAIN SGI The IGAIN command sets the integral gain of the current loop High gains can emphasize resonance and system noise adds to heating of both motor and drive and increases acoustic noise produ...

Страница 137: ...B INPOS Use the INPOSTM command to specify the time in ms before the In Position output becomes active when the In Position deadband criteria is met The drive must not receive any incoming steps durin...

Страница 138: ...on and OHALL2 for DC brushed motors DC brushed motors should be wired to motor phases U W if they are used The default is OHALL0 sinusoidal encoder commutation once the first hall transition has occur...

Страница 139: ...3 1 specifies that the hall sensors count in the opposite direction as the encoder counts in the ve direction This command has the same effect as swapping hall wires A and B to the drive PGAIN Proport...

Страница 140: ...After sending the RESET command to the Aries wait until you see the power applied message before communicating with the Aries RFS Return to Factory Settings Type Drive Configuration Product Rev Synta...

Страница 141: ...assumes that type of encoder is attached and does not try to auto detect the feedback type In operating system 3 10 and beyond the Aries Resolver option will report an SFB value of 3 Changing the val...

Страница 142: ...igh and saturate to the maximum level of the drive s analog control signal output This phenomenon is called integrator windup After windup occurs it will take a while before the integrator output retu...

Страница 143: ...is increases damping and tends to make the system more stable If this term is too large the response will be slowed to the point that the system is over damped Since the feedback device signal has fin...

Страница 144: ...i Aries 1 0 Units i control option number Range do not invert or 1 invert Default Response SHALL See Also ALIGN RESET THALL Note This command does not take effect until you cycle power to the drive o...

Страница 145: ...s set to zero SMPER the position error condition is not monitored allowing the position error to accumulate without causing a fault When SMPER is set to a non zero value the maximum position error act...

Страница 146: ...ure 35C Bus Voltage 85V See Also DMTR DPWM ERES TDTEMP TMTEMP TREV TVBUS The STATUS command provides full text report of the current drive status It includes general features such as the OS Revision a...

Страница 147: ...Range Hour counter rolls over at 536854528 hours Default N A Response TDHRS 16 See Also RESET TERRLG The TDHRS command reports the lifetime number of hours that the Aries drive has had power applied A...

Страница 148: ...A Response TDMIN 35 See Also TDHRS TDSEC TERRLG The TDMIN command reports the minutes portion of the lifetime operating hours that the Aries drive has had power applied AC Mains or Control power TDSE...

Страница 149: ...C TDTEMP TMTEMP TVBUS The error log is updated every time an error occurs or the power is cycled The TERRLG command displays the last ten error conditions or power cycles The command displays them in...

Страница 150: ...fin motors see Hall Sensor Configuration Troubleshooting on page 147 Note For auto configured smart encoders the THALL only reports the initial hall state of the encoder when power is applied TIDAC Tr...

Страница 151: ...ure is 40 C In OS 2 10 If DMTSWT equals 3 and the thermal temperature is greater than 60 C TMTEMP reports the higher of the motor model thermistor temperature or the NTC thermistor temperature If you...

Страница 152: ...RES TPC SMPER The TPE command reports the present feedback device position based on the encoder resolution ERES TPER Transfer Position Error of Encoder Type Transfer Product Rev Syntax a_ TPER Aries 2...

Страница 153: ...Resolver feedback capability by stating Aries Resolver in the software revision reportback instead of Aries Updating the drive s operating system The operating system file is located in the Support Do...

Страница 154: ...tor drive dependent 1 Linear motor DMEPIT electrical pitch dependent Default N A Response TTRQA 1 2 See Also DMTKE DMTLIM DMTSCL TTRQ The TTRQA command reports the calculated torque force based on the...

Страница 155: ...fer Current Actual Velocity Type Transfer Product Rev Syntax a_ TVELA Aries 1 0 Units Revolutions per second or meters per second Range N A Default N A Response TVELA 1 55 See Also CMDDIR DMEPIT DMVLI...

Страница 156: ...See Also DMEPIT DMVLIM TVELA TVEL This command is only valid in DMODE4 velocity mode and DMODE6 or DMODE7 position mode In velocity mode DMODE4 TVEL reports the commanded 10V value from the user befo...

Страница 157: ...munication Problems 143 Smart Encoders 147 Note The CMDDIR is fixed for smart encoders To invert the direction use IANI1 however for the ACR9000 do not use IANI1 Hall Sensor Configuration Troubleshoot...

Страница 158: ...ge from off to green The drive is powered up and enabled power is not a problem Remove all connections to the drive DRIVE I O MOTOR MOTOR FEEDBACK and R R leaving Mains power L1 L2 and terminals conne...

Страница 159: ...eedback Fault Yellow 3 Green flashing Red Thermal Fault Yellow 4 Green flashing Red Other Fault Table 23 LED Status Indicator Internal Drive Fault Establish Communications Verify Drive Configuration I...

Страница 160: ...data bits 1 stop bit 1 stop bit No parity No parity Full duplex Half duplex Twisted pair cabling recommended e g Belden 9842 Table 48 Terminal Emulator Configuration for RS 232 485 Communication Ensur...

Страница 161: ...s connected to the selected COM port OS needs to be downloaded Download the operating system to the Aries drive Cycle power and download OS The Aries drive has encountered an error while downloading a...

Страница 162: ...arameter is set to zero 0 To correct the error you must set a non zero value Refer to your motor specifications for the correct value DMKE E8 Continuous Current This parameter is set to zero 0 To corr...

Страница 163: ...egeneration power TVBUS E3 Drive Under voltage The bus voltage is too low 85 VDC or there is overly aggressive acceleration or deceleration Raise the AC Mains voltage TVBUS E31 Bridge Foldback Drive c...

Страница 164: ...ncoder Parker motors only check the following 1 Verify the motor phases are wired correctly Incorrectly wired motor phases can produce any combination of the following symptoms in the motor runs backw...

Страница 165: ...e 1 5 4 6 2 3 1 as the motor turns clockwise Clockwise means TPE is increasing when CMDDIR set to zero 0 it is also the direction the motor turns in DMODE1 If no see Problem 4 below 6 Does ERROR repor...

Страница 166: ...r servo motors Never touch any part of the equipment while it is in operation 2 If THALL reports a 1 2 or 4 change SHALL from either 0 to 1 or from 1 to 0 After you change SHALL reset the drive 3 Repe...

Страница 167: ...r programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation 3 If THALL reports a value of 1 2 or 4 change SHALL from ei...

Страница 168: ...the front of the shaft The illustration assumes the following Hall signals that are High equal TRUE signals Hall 1 is the least significant bit LSB Hall 3 is the most significant bit MSB There is one...

Страница 169: ...ENDIX A Additional Specifications IN THIS CHAPTER Amplifier 153 Feedback 153 Protective Circuits 154 Cables 157 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg...

Страница 170: ...xE Single or Three Phase AC Input AR 30xE is three phase only 240 VAC 16 kHz switching frequency pulse width modulated PWM with 3 phase motor output Current Loop Update Rate 62 5 s Velocity and Positi...

Страница 171: ...se one of the following methods Cycle power to the Aries drive or Open the Aries Support Tool Then select Operating System Update from the menu and click Reset Drive Drive Over Temperature Protection...

Страница 172: ...off power to the motor output terminals MOTOR connector This allows the motor to freewheel to a stop Threshold Voltage AR 01xx AR 02xx AR 04xx AR 08xx and AR 13xx Voltage below 70 VAC trips fault AR...

Страница 173: ...Table 56 LED Over Voltage Fault Resetting the fault To clear the latched fault choose one of the following methods Cycle power to the Aries drive or Open the Aries Support Tool Then select Operating S...

Страница 174: ...ation ready If installed according to instructions provided under A Highly Immune Low Emission Installation Meeting the Requirements of the Electromagnetic Compatibility EMC Directive on page 176 thes...

Страница 175: ...Simplified Resistor Selection 159 Calculating Resistance Rotary Motors 161 Resistor Specifications 165 Calculating Resistance Linear Motors 167 Resistor Specifications 171 Artisan Technology Group Qu...

Страница 176: ...n of an Aries drive and power dump resistor If at the end of the calculations you find the required resistor is less than allowed for your specific Aries model or requires a watt rating greater than t...

Страница 177: ...M1141ASG 22 300 BRQ 22R0 10 L2 3 4 AR 13xx 240 SMN1002S2F KPN 22 300 BRQ 22R0 10 L2 3 4 1141BSG 8 800 IRP20008R0J2 4 1142BSG 8 1100 IRP30008R0J2 4 AR 20xE 240 1421BSG 8 1100 IRP30008R0J2 4 1142ASG 8 1...

Страница 178: ...e previous four calculations calculate the amount of energy to dissipate through an external power dump resistor With that result you can then calculate the resistor necessary to dissipate the excess...

Страница 179: ...h energy is absorbed by the capacitors the Aries drive faults from over voltage Under these circumstances an external power dump resistor is required That ability to absorb energy can be defined in te...

Страница 180: ...red to as copper losses The energy during deceleration can be derived from the inertia deceleration rate motor resistance and motor torque constant If some of the parameters are not known the energy d...

Страница 181: ...ic and potential energy must go somewhere Through the previous calculations you have determined the total kinetic and potential energy and the energy lost to various paths From the total kinetic and p...

Страница 182: ...pplication Aries drive models AR 01xx AR 02xx AR 04xx AR 08xx and AR 13xx require external resistance values of 22 Ohms or greater Aries drive models AR 20xE and AR 30xE require external resistance va...

Страница 183: ...manufacturers To ensure the average energy dissipation of the resistor exceeds the average power dump for the application the regenerative power should never exceed 50 of the resistor s average power...

Страница 184: ...load 6 Using the results from the previous four calculations calculate the amount of energy to dissipate through an external power dump resistor With that result you can then calculate the resistor ne...

Страница 185: ...gy is absorbed by the capacitors the Aries drive faults from over voltage Under these circumstances an external power dump resistor is required That ability to absorb energy can be defined in terms of...

Страница 186: ...in the motor it is referred to as copper losses The energy during deceleration can be derived from the mass deceleration rate motor resistance and motor force constant If some of the parameters are n...

Страница 187: ...ntial energy must go somewhere Through the previous calculations you have determined the total kinetic and potential energy and the energy lost to various paths From the total kinetic and potential en...

Страница 188: ...1xx AR 02xx AR 04xx AR 08xx and AR 13xx require external resistance values of 22 Ohms or greater Aries drive models AR 20xE and AR 30xE require external resistance values of 8 Ohms or greater v M M t...

Страница 189: ...gy dissipation of the resistor exceeds the average power dump for the application the regenerative power should never exceed 50 of the resistor s average power rating C D PEAK AVG t t P P Where PAVG a...

Страница 190: ...Installation Overview 174 General Safety Considerations 174 General EMC Considerations 174 Installing the Aries Drive 175 Regulatory Agencies 184 Standards of Compliance 184 Artisan Technology Group Q...

Страница 191: ...irements of the Low Voltage Directive and specifically on EN61010 Remember never compromise safety to achieve EMC compliance Therefore in the event of a conflict between safety regulations and the fol...

Страница 192: ...abinets are ideally suited for housing the equipment since they can provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power w...

Страница 193: ...rtant To reduce the risk of electrical noise entering your system you must properly earth ground the enclosure and remove all paint and other non conductive surface coatings from the panel mounting su...

Страница 194: ...l signal circuit could conduct electrical noise into the low level circuit thereby possibly interfering with its operation For this reason so called dirty earth and clean earth circuits may be formed...

Страница 195: ...8xx AR 13xx AR 20xE AR 30xE 6EP1 160937 5 1 5 at 240 VAC 10EP1 160937 7 1 3 8 at 240 VAC x FN2070 10 06 2 10 at 240 VAC x FN2070 12 06 12 at 240 VAC x FN2070 16 06 2 3 16 at 240 VAC x 16FCD10 1 16 at...

Страница 196: ...adshells Parker EMC cabling requires no additional cable preparation All motor connections must be made using a high quality braided screen cable Cables using a metalized plastic bandage for an earth...

Страница 197: ...le from Parker Hannifin part number 47 015956 01 For larger diameter cables up to 0 722 in O D Fair Rite part number 0444176451 is recommended Your Installation may require additional EMC installation...

Страница 198: ...EMC Installation AR 02xx to AR 13xx Warning This product has been developed for industrial environments Due to exposed high voltage terminals this product must not be accessible to users while under n...

Страница 199: ...ee phase wiring Figure 54 Typical LVD EMC Installation AR 20xE AR 30xE Warning This product has been developed for industrial environments Due to exposed high voltage terminals this product must not b...

Страница 200: ...nting The mounting clearance requirements are the same for all Aries drive models They are shown in Figure 55 Figure 55 Panel Layout Dimensions for the Aries Drive Artisan Technology Group Quality Ins...

Страница 201: ...llation Table 63 Regulatory Agencies Standards of Compliance UL 508C CE for LVD 72 23 EEC BS EN 61010 1 1993 including Amendment A2 Safety requirements for electrical equipment for measurement control...

Страница 202: ...APPENDIX D Servo Tuning Flow Diagram IN THIS CHAPTER Appendix D Servo Tuning Flow Diagram 185 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 203: ...186 Aries Hardware Installation Guide Servo Tuning Flow Diagram Figure 56 Servo Tuning Flow Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 204: ...A P P E N D I X E VM26 Expansion Module IN THIS CHAPTER Overview 188 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 205: ...vides easy connection between the VM26 module and the drive s 26 pin I O connectors The VM26 expansion module is ordered separately part number VM26 PM Notes The VM26 module ships with DIN rail mounti...

Страница 206: ...gs CONFIG 84 configuration error motor DMTR 97 connector brake relay 35 control input power 32 drive I O 51 locations of 22 mains 25 motor 29 motor feedback 47 motor feedback resolver 50 motor output...

Страница 207: ...resolution analog 153 inrush current 27 installation LVD EMC 181 182 installation category 7 installation overview 20 21 22 jumper wires pre installed 20 22 lead lag filters lag 108 lead 107 LEDs 41...

Страница 208: ...9 60 RS 485 communications 60 dongle 62 multi drop network 61 wiring 59 60 scaling force command 100 torque command DMTSCL 100 velocity command 104 velocity command DMVSCL 104 servo position tracking...

Страница 209: ...emperature TDTEMP 132 error log TERRLG 132 hall sensor values THALL 133 maximum current rating TDIMAX 131 motor temperature TMTEMP 134 operating hours TDHRS 130 operating milliseconds TDSEC 131 operat...

Страница 210: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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