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Parker Hannifin 88-021610-01G User's Manual

1. Frequency Hz Frequency Hz Figure 47 Notch Lead Filter Break Frequency Notch Lag Filter Break Frequency Tuning Product Rev lt a_ gt lt gt DNOTLG lt i gt Aries 2 0 i Hz disable or 20 1800 filter is disabled DNOTLG DNOTLG42 DNOTAD DNOTAF DNOTAQ DNOTBO DNOTLD DNOTBD DNOTBF The DNOTLG command sets the break frequency of the lag filter This filter can be used alone or in conjunction with lead filter DNOTLD to improve the phase response of the notch filters In this case the lag value DNOTLG must be greater than or equal to of the lead value DNOTLD but not greater than the DNOTLD value If DNOTLG is lower than the value of DNOTLD the new DNOTLG value is ignored but not overwritten the configuration warning bit E17 is set and the last valid DNOTLG value is used internally This warning is cleared with the RESET command or by cycling power to the drive ma This filter operates in all DMODE settings except Autorun DMODE1 Chapter 6 Command Reference 123 Parker Hannifin DPOLE Number of Motor Pole Pairs Type Motor Product Rev Syntax lt a_ gt DPOLE lt i gt Aries 1 0 Units i pole pairs Range 1 to 28 Default DPOLE of results in motor configuration error Response DPOLE lt gt 5 See Also DMTR Auto Setup
2. thermal switch DTHERM 126 TECUDACK Sia inre weak eit E ena eatin ales 169 filters AC mains 194 foldback ate rt Sas cat tet nev Sah nee ee ee ne ade ae 102 foldback DIFOLD sisi diced eiert eiia 173 force actual Status TTRQA aoira a a 153 commanded status TTRQ limit DMTLIM e ei iarna a scaling DMTSCEL aiiin naian forcer MASS snaa e A a A aAA AA AANA 109 MUSES E sadawisuancenteaataunetantneeenay 41 42 gains current loop auto AUTO ccecce 134 integral IGAIN ii integral SGI Ja tae wae a iad ia iain integral SGILIM 0 eerie 140 notch filter A depth DNOTAD 119 notch filter A frequency DNOTAF 120 notch filter A quality factor DNOTAQ 121 notch filter B depth DNOTBD 121 notch filter B frequency DNOTBF 122 notch filter B quality factor DNOTBQ 122 notch lag filter break freq DNOTLG 0 123 notch lead filter break freq DNOTLD 122 proportional PGAIN ee 138 proportional SGP 141 set current loop bandwidth DIBW 101 System Load to Rotor Inertia Ratio LJ RAT 135 torque force limit DMTLIM cee 111 velocity SGV eesse 141 velocity feedforward SGVF 142 velocity limit DMVLIM sesser 118 hall sensor check sensor values THALL eeeeeesseeteeeeees configuration inversion SHALL troubleshooting aeee hexadecimal value identifier
3. DMTIC Continuous Current Type Motor Product Rev Syntax lt a_ gt DMTIC lt r gt Aries 1 0 Units r Amps RMS Range to 2 O G1 Default DMTIC of results in motor configuration warning Response DMTIC lt gt 6 5 See Also DMTICD DMTIP DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E Motor Configuration Error and E8 Continuous Current For a list of automatically configured commands see DMTR The DMTIC command sets the continuous operating current for a motor Rotary motors The internal winding temperature will reach 125 C with a specified heatsink in a 40 C ambient for Parker motors only Linear motors The winding will reach 90 C in a 25 C ambient for Parker motors only For heatsink dimensions see pages 28 29 and 30 Example DMTIC5 Set the motor current to 5 amps rms equates to 7 67 amps peak DMTICD Continuous Current Derating Type Motor Product Rev Syntax lt a_ gt DMTICD lt i gt Aries 1 0 Units I Percent derating at rated speed Range O OW to 1 1 Default DMTICD of results in no current de
4. Figure 7 Drive mounting for the AR 20xE and AR 30xE AR 20xE amp AR E eee 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 AR 01xx 1 68 0 76 AR 13xx 3 60 1 63 AR 02xx 1 90 0 86 AR 20xE 7 35 3 33 AR 04xx 2 54 1 15 AR 30xE 7 40 3 36 AR 08xx 2 82 1 28 Table 13 Drive Weight 30 Aries User Guide Parker Hannifin Mounting Guidelines The Aries drive is a vented product To prevent material spilling into the drive mount it under an overhang or in a suitable enclosure Aries products are made available under Restricted Distribution for use in the Second Environment as described 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 to each other Panel Mounting The mounting clearance requirements are the same for all models of the Aries Drive They are shown in Figure 8 NOTE Provide proper spacing to maintain minimum clearance _ potwoon drive 2x Clearance for 8 or M4 ma Mounting Screws 1 00 25 4 Minimum Clearance 5 000 127 o o 1 00 o 25 4 o Minimum o ga l 0 50 0 62 12 7 15 7 Minimum Minimum Clearance Clearance Figure 8 Panel Layout Dimensions for Aries Drives Chapter 2
5. Hall 3 14 Thermal Switch 15 10 0K Q 1000 pF Same Circuit as Encoder Z Z Same Circuit as Hall 3 Figure 30 MOTOR FEEDBACK connector internal circuit diagram 62 Aries User Guide Parker Hannifin Pinout MOTOR FEEDBACK Connector Note A box surrounding pins indicates a requirement for twisted pair wiring ENC Z Data 1 Encoder Z Channel in ENC Z Data 2 Encoder Z Channel in DGND 3 Encoder power return 5 VDC 4 5 VDC Encoder power 5 VDC 5 5 VDC Hall power DGND 6 Hall power return ENC A SIN 7 Encoder A Channel in ENC A SIN 8 Encoder A Channel in Hall 1 SCLK 9 Hall 1 input Thermal 10 Motor thermal switch thermistor Thermal 15 Motor thermal switch thermistor ENC B COS 11 Encoder 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 Connector Pinout Inputs Encoder Common Mode Range Current Encoder 250 mA Current Hall 250 mA Differential Threshold Voltage 200 200 mV Differential Termination 120 ohms Impedance Thermal Switch Current 2 mA Thermal Switch Voltage 15 V Maximum supplied Input Frequency 5 MHz pre quadrature Note All parameters are at the connector pin Table 25 Inputs Encoder Inputs Electrical Timing Characteristics Chapter 3
6. Figure 14 Connectors on Aries Models AR 20xE amp AR 30xE 38 Aries User Guide Parker Hannifin Power Supply Input Power The mains motor power supply and control power supply for the Aries Drive must meet the following requirements Motor Input Power AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx L1 L2 AR 20xE L1 L2 L3 AR 30xE L1 L2 L3 Control Input Power All models C1 C2 Figure 15 Input Power Requirements Mains Input Power Connector 120 240 VAC 50 60 Hz single phase 240 VAC 50 60 Hz single phase or three phase 240 VAC 50 60 Hz three phase only 120 240 VAC single phase AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type cceeseeceeeeseeeeeeneees AR 20xE AR 30xE Connector TyPe eeeeeceeeeseeeeeeeenteeeeees Terminals aa 7 Pitecan 0 200 in 5 08 mm Wire Range e 12 26 AWG EE EEE aie tea ot hey 14 27 SWG Wire Strip length 0 31 in 7 87 mm Torque 7 0 in lbs nom 0 79 N m Non Removable screw terminal TrM S rra TE 10 PIE eaea N 0 315 in 8 mm Wire Range eee 10 22 AWG pha ha E AAE A ore 12 23 SWG E TE 0 5 4 0 mm Wire Strip length 0 25 in 6 5 mm Torque 7 0 in lbs nom 0 79 N m Chapter 3 Electrical Installation 39 Parker Hannifin AC Power Supply Connection Figure 16 on page 34 shows how to connect the external 120 240 VAC motor power source and control power sources to the drive e The AR 20
7. sscccseccesseesseesesneeeeeeeeeseeseseaeenseeeseeeeeseeseneeeeeees 201 servo Tuning Fow Diagana RAAE RARA RaR 202 Appendix E VM26 Expansion Module cccssccsseeeeeeeeeeeeesesneeenseeeeseesesneesnseeeeeeeeesnesaneeneeeees 203 O E AEE E E TE EE E E E E adr ds AA 204 MIN OX EO A A E A TA E T E AE N E A T 205 4 Aries User Guide Parker Hannifin Table of Tables Table 1 Output Power Level ccececcccccce cece ee eeeeeaeeeeeeeee se aaaeaece sessed sesacaeceeeeeeeseecaaeeeeeeeeess 18 Table 2 Ship Kit Items AR 01xx through AR 13XX 0 cececeeeeeceee cree eeeeneaeeeeeeeeeteeseeneeeeeeeeeeeees 19 Table 3 Ship Kit Items AR 20xE and AR 30XE ccccccccccccccceeeceeeeeeeceeeeeeeeseeeeeseseseseseseseneeeess 19 Table 4 Environmental Specifications AR 01xx through AR 08xx AR 20xE and AR 30xE 23 Table 5 Environmental Specifications AR 13XX cccseseeeeeeeeeeeeeeeeeeseeeeeseseeeeseseseeeseeeees 23 Table 6 AR 02xx Power Dissipation ccccccccesecceceeeeeeeeeeeceeeeeeeesesecceeeeeeeeesecennuneeeeeeeetees 24 Table 7 AR 08xx Power Dissipation ccccccccceccececeeeeeeeecneceeeeeeeeeesecaeeeeeeeeeseseeneneeeeeeeeeees 25 Table 8 AR 13xx Power Dissipation rinn at a r re a a aA Ta aaa a laa 26 Table 9 AR 30xE Power Dissipation cccccceseccececeeeeeceeneceeeeeeeesececaeeeeeeeeesesennaseeeeeeeeeees 27 Table 10 AR 01xx and AR 02xx Drive Dimensions ccc
8. E37 Bad Hall State E38 Feedback Failure E39 Drive Disabled E4 PWM Not Active E41 Power Regeneration Warning E42 Shaft Power Limited Warning E43 Excessive Speed at Enable E44 Excessive Position Error 130 Aries User Guide The command voltage at the ANI terminal was too high when the drive was enabled Lower the voltage at the ANI terminal Try using the fault on startup voltage FLTSTP The drive is faulted Excessive current or short on the H bridge Excessive current being commanded 1 If the application is operating in the peak range limiting the peak current setting with DMTLIM can limit the current commanded and lower the bridge temperature Default DMTLIM is 3 x continuous current perhaps lowering it to 2 5 x continuous current or 2 x continuous current can help This however will limit the motor s available torque which may increase position error and possibly cause a position error fault 2 Issue a DIFOLD 1 command This command enables the current foldback feature in the drive However a drive in foldback mode can limit the motor s available torque which may increase position error and possibly cause a position error fault 3 Use a larger Aries amplifier which would be capable of higher current outputs The bus voltage is too high gt 410 VDC Lower the AC Mains voltage and check for excessive regeneration power TVBUS The bus voltage is too low
9. Parker Hannifin FLTDSB Fault on Drive Disable Type Drive Configuration Product Rev Syntax lt a_ gt FLTDSB lt b gt Aries 1 0 Units b enable bit Range disable or 1 enable Default Response See Also ERROR FLTSTP TOUT Use the FLTDSB command to enable disable the Fault on Drive Disable mode If Fault on Drive Disable is enabled FLTDSB1 default setting and the drive is disabled via the Enable input fault output is activated and the brake relay is opened FLTSTP Fault on Excessive Startup Voltage Type Drive Configuration Product Rev Syntax lt a_ gt FLTSTP lt r gt Aries 1 0 Units Volts Range to 16V Default 1 V Response FLTSTP lt gt 1 See Also DMODE Use the FLTSTP command to set the threshold for the Fault on excessive startup voltage The default is 10 00V so no command input will fault the drive If the threshold is set lower a command voltage above this level when the drive is enabled will fault the drive To re enable the drive without causing a fault command an input voltage below the set value IANI Invert Analog Input Type Drive configuration Product Rev Syntax lt a_ gt IANI lt b gt Aries 2 10 Units b enable bit Range 0 do not invert analog input or 1 invert analog input Default 0 Response IANI lt gt 0 See Also ENCPOL CMDDIR DCMDZ TANI Note This command requires a reset to take effect The IANI command inverts the polarity of the analog input
10. RMS 0 peak value Kt N A 343 Linear motors 2007 RMS 0 peak value Ke Volts krpm Ke Volts i meter sec DMTMAX Maximum Motor Winding Temperature Type Motor Product Rev Syntax lt a_ gt DMTMAX lt r gt Aries 1 0 Units r Degrees Celsius Range to 2 O 1 Default 125 f Response DMTMAX lt gt 125 See Also DMTAMB DMTIC DMTR DMTRWC DMTTCM DMTTCW 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 non Parker motors or sent an RFS command 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 DMTMAX 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 resistance DMTRWC and the continuous motor current DMTIC is used in a real time estimation of the motor winding temperature When the winding temperature exceeds DMTMAX a drive fault occurs and the drive reports E35 Motor Thermal Model Fault DMTR Identify Motor Type Drive Configuration Product Rev Syntax lt a_ gt DMTR lt t gt this command is only a report back Aries 1 0 Units t Parker motor identification number Range N A
11. e Connect RS 485 cables before applying power to the drive Reconnecting the cables with power applied may cause the drive to interpret intermittent connections as RS 232 hardware handshake signals this may result in shutdown of the RS 485 interface If this happens reset the drive to re enable the RS 485 interface e Recommended cable Belden 9842 Many PC COM ports connect RS 485 ground to chassis ground Table 37 RS 485 Connector Pinout For connection information see Figure 36 Chapter 4 Communications 75 Parker Unit 1 Hannifin RS 485 Master Unit Aries Drive I O connector Pin 25 Talk Pin 26 Talk Pin 24 DGND Shield Unit 2 Pin 25 Talk Pin 26 Talk Pin 24 DGND Shield Unit 3 Pin 25 Talk Pin 26 Talk Pin 24 DGND _ Shield Unit 31 Pin 25 Talk f Pin 26 Talk Pin 24 DGND Shield 120 2 Figure 36 RS 485 Multi drop Connections RS 485 Multi Drop Long cable runs may require termination resistors RS 485 multi drop lets you connect up to 99 Aries drives together see Figure 36 Every drive is factory confi gured with a default address zero 0 Using the ADDR command you can assign a unique address to each drive You must address each drive individually before connecting it to the multi drop network Notes For RS 485 to work correctly turn off the echo mode ECHO Z
12. Gnd 9600 baud 9600 baud 8 data bits 8 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 35 Terminal Emulator Configuration for RS 232 485 Communication Establishing Communications The 26 pin DRIVE I O connector female D subminiature also functions as the COM port You can use it with RS 232 or two wire RS 485 communications Drive I O Connector Pin Assignments for COM Drive I O Connector configuration for RS 232 Signal Pin configuration for RS 485 DGND 24 RS 232 Rx 485 25 RS 232 Tx 485 26 Talk 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 attempting to communicate with the Aries drive verify your PC s connector pinout make sure the cable connects the following e The PC s transmit terminal pin 3 of the 9 pin connector to the Aries s receive terminal pin 25 e The PC s receive terminal pin 2 of the 9 pin connector to the Aries s transmit terminal pin 26 e The PC s ground terminal to the Aries s ground terminal pin 24 You can also use the Aries Drive I O Dongle sold separately which allows a PC to simultaneously communicate with the Aries drive while also connected to a controller For more information see RS 232 485 Dongle for Communications Setup on page 77 74 Aries User Gu
13. Table 40 Commands Syntax Chapter 6 Command Reference 93 Parker Hannifin Syntax General Guidelines Command Delimiters All commands must be separated lt cr gt and lt 1f gt by a delimiter A carriage return is the most commonly used Neutral Characters Using neutral characters Set velocity limit to 100 rps lt sp gt anywhere within a command will DMVLIM lt sp gt 100 lt cr gt not affect the command Case Sensitivity There is no case sensitivity Use Initiate motion upper or lower case letters within Gol commands gol Comment Delimiter All text between a comment Add a comment to the command pees or delimiter and a command delimiter DMVLIM lt sp gt 5 EE apostrophe is considered program comments elect p iaie Binary and When making assignments with or Binary Hexadecimal Values comparisons against binary or ERRORL b91111x11111111111 hexadecimal values you must precede the binary value with the letter b or B and the hex value Hexadecimal with h or H In the binary ERRORL h7FxF syntax an x simply means the status of that bit is ignored Note The command line is limited to 32 characters including spaces Table 41 Syntax Guidelines 94 Aries User Guide ADDR Type Syntax Units Range Default Response See Also Parker Hannifin Command Descriptions You can use the ASCII commands provided in this chapter to configure check errors and re
14. Default Blank Response DMTR lt gt SM232AE See Also Servo Motor Data Parameters below RESET RFS STATUS The purpose of the DMTR command is to record and report the identification number of the Parker motor you selected in the Aries Support Tool 112 Aries User Guide Parker Hannifin When you select a specific Parker motor using the Aries Support Tool the DMTR setting and various motor parameters see Servo Motor Data Parameters below are automatically configured for the associated motor Using the Aries Support Tool you can save the parameters in a configuration file For the DMTR and all the motor parameter commands to take effect after downloading the configuration file to the Aries drive you must cycle drive power or send the RESET command Note For a non Parker motor the default setting is blank empty You must set all relevant motor parameters manually Avoid using the DMTR command to change the motor name because the new DMTR value may not represent the actual motor parameters that are currently loaded in the drive Servo Motor Data Parameters MEPIT Motor Electrical Pitch DMTMAX Maximum Motor Winding Temperature DMTD Motor Damping DMTRES Motor Winding Resistance DMTIC Continuous Current DMT RWC Motor Winding Thermal Resistance DMTICD Continuous Current DMTTCM Motor Thermal Time Derating Constant DMTIND Motor Inductance max DMTTCW Motor Winding Time Constan
15. Factory Installed Jumper Wires R int to R _______ C1 to L1 C2 to L2 DCL1 to DCL2 T F gt gt gt va a Figure 12 AR 20xE to AR 30xE Factory Installed Jumpers Connector Locations All Aries drive models have identical DRIVE I o and Motor Feedback connectors However the connectors for motor and control 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 Models AR 20xE and AR 30xE are non removable Descriptions of individual connectors and their specifications follow in this chapter See Connector Descriptions and in Appendix A Additional Specifications Figure 13 shows the names and location of the connectors on Aries drive models AR 01xx through AR 13xx Figure 14 shows them on the higher power models AR 20xE and AR 30xE Chapter 3 Electrical Installation 37 Parker Hannifin AASA LIOR i iS Drive I O Motor Feedback AC Input Motor Power External Regeneration AC Input Control Power Motor Output Power Brake Relay Drive I O i Motor Feedback _ External Regeneration AC Input Control Power Brake Relay __ Motor Output Power AC Input Motor Power DC Link Inductor TEC Wes ag a Ve
16. The Aries drive s over voltage circuit protects the drive from excessive regeneration If the voltage on the motor output terminals rises above the threshold voltage the drive issues an over voltage fault and turns off power to the motor output terminals Motor connector This allows the motor to freewheel to a stop Warning When an over voltage protection fault occurs the drive disables power to its motor output terminals on the Motor connector This cuts all control to the motor and allows the load to freewheel Threshold Voltage All Model S ac deren aeli 410 VDC Results of Fault Power to motor is turned OFF Fault output is activated LED Left LED Right Yellow amp 4 Green blinking R Table 56 LED Over Voltage Fault Resetting the fault To clear the latched fault choose one of the following methods gt Cycle power to the Aries drive gt Open the Aries Support Tool Then select Operating System Update from the menu and click Reset Drive Warning Over voltage protection monitors only the motor output terminals DC motor bus It does not protect against an over voltage on the AC input terminals which can permanently damage the drive 172 Aries User Guide Parker Hannifin Current Foldback The Aries drive s current foldback circuit helps to protect the drive from damage due to prolonged high currents If your Drive is operating above its continuous current rating see Figure 51 to
17. Torque 7 0 in lbs nom 0 79 N m Parker Hannifin Output Power Connector The drive s Motor screw terminal connector provides output power to your motor For connection information see Output Power on page 43 The connector differs between the two largest Aries models and the others Specifications for the connectors follow in this section On models AR 01xx through AR 13xx the Motor connector also serves to connect an external motor brake to the drive s internal solid state relay BK For information on this connection see Brake Relay Optional on page 50 This connector is removable On models AR 20xE and AR 30xE the MoTOR POWER connector serves as the connector for output power to the motor as well as for Mains power VAC Input Power and a DC Link Inductor For information on these additional connections see Input Power on page 39 and External DC Link Inductor Optional on page 45 This connector is not removable AR 01xE to AR 13xE AR 20xE amp AR 30xE MOTOR Motor Phase U Motor Phasa U Motor Phase Motor Phase v V Motor Phase w Motor Phase MOTOR Motor Safety Earth T w ra Motor Safety Earth Motor Brake Rela BK al i Motor Brake Rela BK L1 L2 MOTOR INPUT L3 POWER _ DELI OC LINK INDUCTOR antat DCL2 Figure 27 Output MOTOR Power Connector Chapter 3 Electrical Installation 59 Parker Hannifin Motor C
18. to CONFIG errors E10 E11 and E12 because they are not faults Changed start of range for DMPSCL to include 0 with info on using DRES command with 0 value Changed range maximum to 400 rps for DMTW DMVLIM DMVSCL and SMVER Added E28 to ERROR command corrected E34 link from TOTEMP to TDTEMP Added DTHERM to list of commands stored with ESTORE Alphabetized list Added 3 and 4 to ranges and additional information regarding OHALL 1 and OHALL 4 to OHALL command Troubleshooting Added E28 to Error Messages table corrected E34 link from TOTEMP to TDTEMP Added Yellow amp 5 Green flashing for Encoder Loss to Internal Drive Faults table 12 Aries User Guide Parker Hannifin Revision F Changes This document 88 021610 01F supersedes 88 021610 1E Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Description Command Reference Additions to ERES SFB and TREV commands for Aries Resolver option Added TIDAC and TIQAC commands Corrected DCMDZ syntax Corrected ranges for DMTIC DMTIP DMTKE DMTRES and ERES Aries Names Updated part number descriptions to include Resolver and Powerlink Options LEDs Drive Status Updated to include Autorun mode Indicators Resolver option Added Motor Feedback Connector pinout circuit diagram and resolver excitation frequency Error Messages Added
19. 2CMD2 ANICDB lt V lt DCMDZ ANICDB DMTSCL TT command Vin DCMDZ ANICDB a V lt DCMDZ ANICDB when The commanded velocity Velcommana iS calculated from the input voltage Vn using DMVSCL as follows Velomaa Va DCMDZ ANICDB YSOL command 10 when V gt DCMDZ ANICDB Vel sommand 0 when DCMDZ ANICDB lt V lt DCMDZ ANICDB DMVSCL Vel commana Vin DCMDZ ANICDB command 10 when V lt DCMDZ ANICDB Chapter 6 Command Reference 97 Parker Hannifin CERRLG Clear the Error Log Type Error Handling Product Rev Syntax lt a_ gt CERRLG Aries 1 0 Units N A Range N A Default N A Response N A See Also CONFIG ERRORL ERROR TANI TDHRS TDMIN TDSEC TDTEMP TERRLG TMTEMP TVBUS The CERRLG command erases the stored contents of the error log Clearing the error log is a helpful diagnostic tool it allows you to start the diagnostic process when the error log is in a known state so that you can check the error log in response to subsequent events The error log is updated every time an error occurs The TERRLG command displays the last ten error conditions that the drive has experienced as recorded in these status registers e TANI current command input voltage e CONFIG text based status report of configuration errors e ERROR list of error messages e TDHRS number of hours since the drive was powered up or
20. Parker Hannifin Parker Hannifin 5500 Business Park Drive Postfach 77607 1720 Rohnert Park CA 94928 Robert Bosch Str 22 Telephone 800 358 9070 or 707 584 7558 D 77656 Offenburg Fax 707 584 3793 Telephone 49 0 781 509 0 Email emn_support parker com Fax 49 0 781 509 176 Internet http www parkermotion com Email sales hauser parker com Internet http www parker emd com Europe non German speaking ltaly Parker Hannifin plc Parker Hannifin Electromechanical Automation Europe 20092 Cinisello Balsamo Arena Business Centre Milan Italy via Gounod 1 Holy Rood Close Telephone 39 02 6601 2478 Poole Fax 39 02 6601 2808 Dorset UK Email sales sbc parker com BH17 7BA Internet http www parker emd com Telephone 44 0 1202 606300 Fax 44 0 1202 606301 Email support digiplan parker com Internet http www parker emd com Technical Support E mail Automation emn_support parker com 2 Aries User Guide Parker Hannifin Table of Contents User informationerne cece seen ee en seen eee seen seen anaes eee AAAA 2 Table Of COMPONts A A E E sUuseestacaccalstusstescdebrestaddae 3 Wabble of Table sisi cscccac eas fact ses ee acca Pee Sg secse data ced nees See secean AAE E SAAE T RERA NTA 5 Table Of Figures lt 5 ciccs cc cecclccecnacucss edeccece edctecie cdeeensi cocensen edecdeaes edeenncu socensen edecanes sddeeiee dteentetecuacesacensey 7 Important User Information
21. additional connections see Control Power Supply on page 46 and Brake Relay Optional on page 50 AR 20xE amp AR 30xE Re _ EXTERNAL INT REGEN al R C1 CONTROL C2 INPUT POWER a SSSosoeses BK BRAKE BK RELAY Figure 28 AR 20xE amp AR30xE Control Connector AR 20xE AR 30XE 0 ceeeeeees PCD ELM021100 Parker Hannifin Part Number N A not replaceable Connector TyPe eseecceeeseeeeeeeeesteeeeeeaes Non Removable screw terminal Terminals wis ic2sectitecin aaeeetenieeetes 8 PIHCN acces 0 400 in 10 mm Wire Range 12 28 AWG Wire Strip length 0 250 in 6 35 mm Chapter 3 Electrical Installation 61 Parker Hannifin Motor Feedback Connector Encoder Inputs for the resolver feedback motor thermal switch and hall effects are located on the 15 pin Motor Feedback connector Figure 29 MOTOR FEEDBACK connector female drive connector pinout Parker Hannifin recommends 26LS31 or compatible differential line driven encoders Single ended encoders are not compatible Important Encoder inputs use a DS26LV32 differential line receiver Motor Feedback Connector Internal Connections Encoder Z Encoder Z 2 Encoder Ground 3 Encoder 5V 4 Encoder 5V 5 software enabled 5VDC Encoder Ground 6 Encoder A 7 Encoder A 8 Ai Hall 1 9 kk 5V Thermal Switch 10 Encoder B 11 x Encoder B 12 Hall 2 13
22. generates a DRIVE1 command To disable the drive either issue the DRIVE command or open the hardware enable interlock Conversely if the hardware enable input is open on power up the drive is disabled DRIVE To enable the drive close the hardware enable input To verify the hardware enable input is open query the ERROR command for E46 Hardware Enable Note Issuing a DRIVE1 command from a DRIVE condition will set the position error to zero TPER All of these Fault Conditions automatically cause a shut down DRIVE as well as activate the fault output and open the dry contact relay RELAY N O e Certain axis fault conditions refer to the status bits denoted with an asterisk in the ERROR description Chapter 6 Command Reference 125 Parker Hannifin e f operating in the FLTDSB1 mode and the drive received a DRIVE command or the hardware enable input was opened DTHERM Thermal Switch Checking Type motor Product Rev Syntax lt a_ gt DTHERM lt b gt Aries 1 0 Units b enable bit Range enable or 1 disable Default Response DTHERM See Also DMTSWT The DTHERM command is used to disable drive faults when the motor thermal switch opens It is useful when no thermal switch is present on the motor Send the DTHERM command to re enable thermal switch checking ECHO Communication Echo Enable Type Communication Interface
23. ieee 12 26 AWG PATEE ET ENE 14 27 SWG Wire strip length 0 310 in 8 mm Torque 7 0 in lbs nom 0 79 N m AR 20xE AR 30xE Connector TyPe eseecceeeeeeeeeeeeeeteeeeeees Non Removable screw terminal Terminals cacenni 8 Pitch ccc ens 0 400 in 10 mm Wire Range 12 28 AWG E E E niet Pease 14 29 SWG Wire Strip length 0 250 in 6 35 mm Brake Relay Connection On all models this set of terminals is optically isolated from the drive s internal logic AR 01xE to AR 13xE AR 20xE amp AR 30xE R R _ EXTERNAL INT 3 at ae R CONTROL Red Blue Wire C2 NPUT POWER User Supplied 24VDC Red Blue Wire O User Supplied 24VDC 2 ear ser Supplied p BK RELAY Figure 22 Typical Brake Relay Connection Important warnings 50 Aries User Guide gt gt Parker Hannifin 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 have hazardous voltages when power is applied to the drive and up to several minutes after power is removed Lower voltages may still be present for several minutes after power is removed During normal operation these high voltage terminals must not be accessible to the user Motor with Full Wave Rectifiers Some Parker brake motors BE SM SE NeoMetric and J series motors serial numbers gre
24. lt gt DNOTBD lt i gt Aries 2 0 Units n a Range D 1 D Default depth is zero Response DNOTBD DNOTBD 5 See Also DNOTAD DNOTAF DNOTAQ DNOTBF DNOTBQ DNOTLD DNOTLG The DNOTBD command sets the depth for the commanded torque force notch filter B For information about the notch filter depth see DNOTAD Chapter 6 Command Reference 121 Parker Hannifin DNOTBF Notch Filter B Frequency Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTBF lt i gt Aries 2 0 Units i Hz Range disable or 68 1880 Default filter is disabled Response DNOTBF DNOTBF2 See Also DNOTAD DNOTAF DNOTAQ DNOTBD DNOTBQ DNOTLD DNOTLG The DNOTBF command sets the center frequency for notch filter B Setting this to O disables the filter For a description of the filter s transfer function characteristics refer to the DNOTAF command description DNOTBQ Notch Filter B Quality Factor Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTBO lt r gt Aries 2 0 Units r quality factor Range O25 to 235 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 trough determines how discrete the filter is For information about the filter s transfer function characteristics see DNOTAF DNOTLD Notch Lead Filter Break Frequency Type Tunin
25. scaling DMTSCL Fe tranformation Tatio cric eicer tirrr tirti tirrtie tiros transfer actual torque force TTRQA ecce actual velocity TVELA ccce analog input voltage ANI TANI bus voltage TVBUS n commanded current TCI acce ig commanded torque force TTRQ ccecce commanded velocity TVEL acc commanded velocity error TVER continuous current rating TDICNT A d quadrature current TCI ccce 208 Aries User Guide drive temperature TDTEMP ccc 148 error log TERRLG scc i hall sensor values THALL ae maximum current rating TDIMAX motor temperature TMTEMP operating hours TDHRS acc operating milliseconds TDSEC operating minutes TDMIN 0 output status TOUT ees as position commanded TPC eeen 151 position of encoder TPE ee 151 position of encoder error TPER PWM update period TSSPD q quadrature current TCI revision level TREV cree transient SUPPIeSSOIS cecene iai trou bleshootiNg sissien iiit configuration CONFIG ERROR command ERROR EA error log TERRLG iiini eerren rrei error messages general a hall sensors HURIN Gi arinena See servo tuning UL200 under voltage protection cccccceceeeeetteeeeeeeeeeees 171 units of measurement ceeeceeececcseeeeeeeeseeseeanessess 92 linear motors re WANISCORS Mia aaiatuthatnin aaa nae tubal eana a a velocity actual feedback device TVELA s es
26. 0 ccceeeeteceeeee ee seeeee ee eeeeeeseseeeneeseseeneesesesnenseseeneeseseeneeeeseeeneneneeens 11 Change SUMMAN sii feces aac Avda ata ld deieeiad tadeleneaal aphateeidhabeadl aieeion te 12 Chapter 1 INtroGuction cccccesceesseeeeseeeenseeeseaeeeseneeeneeeessaeseseeeenseaeseaesesaeesaaeaeeneesessaesaseeeeeneeeeas 16 Aries ProductS OVErView cccccceeeeeececeececeeeeeeseceacaeeeeeeeseseceaeaeeeeeeesessccaeeeeeeeeeetessesaaeeeeress 17 Compatible Parker Products 2 ccccccceeeeeeeeceeceeeeeeeeeececaeaeeeeeeeseseceaeeeeeeeeeseeennieaeeeeeeeeeeeeeas 18 Checking Your SMPN aiaa EERE tigen aotearoa 19 Illustrations in this Installation Guide ccceccceeeeeeeecceeeeeeeeeeecaeceeeeeeeeeeseceneaeceeeereesensiaeeeeess 20 Assumptions of Technical Experience cccceceeeeeccececeeeeeeeceaeaeeeeeeeseseeneaeceeeeeeeseesncaneeeees 20 TECHNICAL SUPPOM sieves te E cecba eecsadce eden taps E EE EE EAN 20 Chapter 2 Mechanical Installation ccsecccseecsseeeeseeeeeeeeeeeeeseneeeenseeeeseaeseneaeeneeeeseeeseseaesenenenes 21 Environment amp Drive Cooling 0 cccececeeceneeeeeeeneeeeeeeneeeeeetaeeeeesaeeeeeeaeeeeeeaeeeeeeiaeeeeeenineeeeeeaes 22 DIMENSIONS A E EE A EE E NEET E E A T oataan mente ds 28 WV SII NAE EE T T E A E E AE A E E A RE E E 30 Mounting GuidGlines arrier T T EA EE AA 31 Chapter 3 Electrical Installation c ccccsseessseeeseeeeeeeeeeeceeseneeeeeeeeeseaeseseeesaseeeeeees
27. 0 DMEPIT DMTICD DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E Motor Configuration Warning and E4 Rated Speed and shuts down the drive For a list of automatically configured commands see DMTR The DMTW command specifies the rated speed of the motor This is the lesser of the following e Rotary motor Motor mechanical limited speed Chapter 6 Command Reference 117 DMVLIM Type Syntax Units Range Default Response See Also Parker Hannifin e Rotary motor Encoder limit of 5 MHz pre quadrature e Linear motor speed limitations include encoder resolution and track length e The corner of the continuous speed torque or speed force curve the point where the continuous and peak torque force curves meet The DMTW value is used in conjunction with DMTICD to protect the motor from thermal damage Velocity Limit System Product Rev lt a_ gt DMVLIM lt r gt Aries 1 0 revolutions second meters second Rotary motor Y Linear motor r GW to 40 O O1 125 28 DMVLIM lt gt 5 D DMODE DMTR Auto Setup When using a
28. 20xE and AR 30xE the Motor Brake Relay is on a separate connector See Figure 22 on page 50 Warning You must connect the Motor Safety Earth conductor terminal marked with the earth symbol to the motor cable s motor safety earth wire green yellow Note See additional warning on next page 44 Aries User Guide Parker Hannifin Warning The drive s connector strip terminals have hazardous voltages when power is applied to the drive and up to several minutes after power is removed Lower voltages may still be present for several minutes after power is removed During normal operation these high voltage terminals must not be accessible to the user External DC Link Inductor Optional The Aries AR 20xE and AR 30xE drives have two extra terminals that allow an external DC link inductor to be added if required To add the DC link inductor remove the factory installed shorting link and connect the inductor as shown in Figure 18 AR 20xE amp AR 30xE MOTOR d L1 anal L2 MOTOR INPUT L3 POWER External DC Link g Inductor DCL DC LINK INDUCTOR 2 Figure 18 External DC Link Inductor Connection If a drive is supplied from a low impedance source for example a transformer that has a kVA rating more than 10 times the drive the input line currents to the drive can be non sinusoidal They may have a peak that is two to three times the rms value compared to 1 4 times for a sinusoidal waveform This result
29. 56 Servo Tuning Flow Diagram 0 ccccceeeeeeeeeeeeneeeeeeeneee estates eeenaeeeeeeeneeeeseneeeeeeaas 202 Figure 57 VM26 Breakout MOdUuIe cccceceeeeee cette eee anii eaii eaaa iaka 204 8 Aries User Guide Parker Hannifin Aries Family AR 01Ax 02Ax 04Ax O8Ax 13Ax 20AE and 30AE wdadueltenaulivastaninedec cease AA eae Aries Family AR 01Sx 02Sx 04Sx 08Sx 13Sx 20SE and 30SE The above product complies with the requirements of directives e EMC Directive 89 336 EEC e Low Voltage Directive 73 23 EEC e CE Marking Directive 93 68 EEC Provided the installation requirements described in this guide are met and there are no special requirements of the installation and operating environment so that the application may be considered typical The above equipment conforms with the protection requirements of Council Directive 89 336 EEC as amended by Directive 92 31 EEC on the approximation of the laws of the Member States relating to Electromagnetic Compatibility when installed operated and maintained as intended Also The above equipment conforms with the requirements of Council Directive 73 23 EEC Low Voltage Directive as amended by Directive 93 68 EEC CE Marking Directive when installed operated and maintained as intended 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
30. AR 01xx to AR 13XX cccceeeeeeeeeennteeeeetneeeeeeneeeeneaas 38 Figure 14 Connectors on Aries Models AR 20xXE amp AR 30XE cceeeeeceeeesneeeeeenareeeeeenneeeeeeaas 38 Figure 15 Input Power Requirement cccccceceeeeeeeeeceeeeeeeseccacaeeeeeeeeesenenaeeeeeeeeenseeneaeees 39 Figure 16 Motor and Control Mains Power Supply Connection 0 ccc eeeeeeeeeeeeeeeeeeeteeeeeeaes 40 Figure 17 Output Power Connection ececceececeeeeeeeeeeeeecneeeeeeeeeeeeeeaeeeeesnaeeeeeeaeeeeseneeeeeeeaes 44 Figure 18 External DC Link Inductor Connection ccecceeeeeeeeeeeenneeeeeenaeeeeeenaeeeeeeneeeeeeaas 45 Figure 19 Mains Control Input POWeD eecceee sence ee enneeeee tees eeeeaeeeeetaeeeeeeneeeeetnaeeeenenaaes 47 Figure 20 Multiple Drives AR 01xx to AR 13xx Single Point Safety Earth eee 48 Figure 21 Multiple Drives AR 20xE amp AR 30xE Single Point Safety Earth eee 49 Figure 22 Typical Brake Relay Connection ccceeeeceeeeeeeeeeeeeneeeeeenaeeeeeenaeeeeeeeneeeeeeneeeeeeaas 50 Figure 23 Brake Relay Connection for Parker MOtors c ccsscceeceeseeeeeeneeeeeeeneeeeeeeneeeeeeaas 51 Figure 24 Brake Relay Connection for Non Parker Motors c cceeeeeeeeeeeeeeeeeneeeeeeeneeeeeeaas 52 Figure 25 External Regeneration Connection ceccceeeeeceeeeeeeneeeeeeeneeeeetnaeeeseeneeeeetieeeesenaees 54 Figure 26 Mains Input Power Connector 0 ccceceeeeeeeeeeeeneeeeeeeneeeeeseeeeeeetnaeee
31. Aries 2 0 Units i Feedback device steps Range to 2 147 483 647 Default ADDO Response SMPER lt gt 4 D See Also ERES TPE TPC TPER This command is only valid in DMODE 6 or 7 position mode SMPER allows you to set the maximum position error allowed before an error condition occurs The position error monitored once per system update period is the difference between the commanded position and the actual position as read by the feedback device selected with the last SFB command When the Chapter 6 Command Reference 143 SMVER Type Syntax Units Range Default Response See Also Parker Hannifin position error exceeds the value entered by the SMPER command an error condition is latched ERROR bit 44 and the Aries drive issues a shutdown and sets its analog output command to zero volts The DRIVE1 command re enables the drive clears ERROR bit 44 and sets the commanded position TPC equal to the actual feedback device position TPE incremental devices will be zeroed If the SMPER value is 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 acts as the servo system fault monitor if the system becomes unstable or loses position feedback the drive detects the resulting position error shuts down the drive and se
32. Aries drive has had power applied AC Mains or Control power Chapter 6 Command Reference 147 Parker Hannifin TDTEMP Transfer Drive Temperature Type Transfer Product Rev Syntax lt a_ gt TDTEMP Aries 1 0 Units Degrees Celsius Range N A Default N A Response TDTEMP lt gt 5 See Also STATUS TERRLG The TDTEMP reports the measured temperature internal of the drive TERRLG Transfer Error Log Type Transfer Product Rev Syntax lt a_ gt TERRLG Aries 1 0 Units N A Range N A Default N A Response TERRLG lt gt Operating hours 105 25 lt gt Power on Time 5hrs 1 min 45 35 s lt gt Drive Temp 35C lt gt Motor Temp 85C lt gt Bus voltage 163V lt gt Command Voltage 5 35V lt gt Active Errors E26 Drive Faulted E27 Bridge Hardware Fault lt gt Power Cycle See Also CERRLG CONFIG ERROR E RRORL OHALL TANI H DHRS TOMIN TDSEC TDT EMP 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 order of earliest to latest and returns a text based status report When each error is logged the following parameters are saved e Operating Hours TDHRS TDMIN TDSEC e Power on Time e Drive Temperature TDTEMP e Motor Temperature TMTEMP e Bus Voltage TVBUS e Command Voltage TANT e Act
33. C lt gt DRIVE lt gt Drive DISABLED lt gt PWM Frequency 16 kHz lt gt Feedback Resolution 8808 lt gt Drive Temperature 35C lt gt 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 and Control power mode Control power mode is active when TVBUS is less than 85 VDC Additionally it includes motor parameters and drive status TANI Transfer Analog Input Voltage Type Transfer Product Rev Syntax lt a_ gt TANI Aries 1 0 Units Volts Range 1 V to 16V Default N A Response TANI lt gt 4 34 See Also ANICDB CMDDIR DCMDZ DMTSCL IANI The TANI command returns the voltage level present at the ANI analog input The value reported with the TANI command is measured in volts Chapter 6 Command Reference 145 Parker Hannifin TCI Transfer Commanded Current Type Transfer Product Rev Syntax lt a_ gt TCI Aries 1 0 Units Amps Range N A Default N A Response TCI lt gt 5 See Also DMTIC DMTICD DMTIP TDICNT TDIMAX The TCI command reports the commanded motor current in amps peak of sine TDHRS Transfer Operating Hours Type Transfer Product Rev Syntax lt a_ gt TDHRS Aries 1 0 Units Lifetime operating hours resolution is hours Range Hour counter rolls over at 536854528 hours Default N A Response TDHRS lt gt 16 See Also RESET TER
34. CE directives Parker Hannifin Panel Installation AR 02xx to AR 13xx Clean paint removed Earthed Conductive Mounting Panel Aries Drive Drive I O Cable i 2 E fo S Varistors Motor Feedback Control Power Mains Filter Common grounded metal backplate Motor Cable Motor Power Mains Filter Motor braid snugly attached to R Clamp Varistors Parker EMC Cables or equivalent Figure 53 Typical LVD 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 normal operation Appendix C Regulatory Compliance UL and CE 197 Parker Hannifin Panel Installation AR 20xE amp AR 30xE Aries models AR 20xE and AR 30xE require 240 VAC input power and three phase wiring Earthed conductive mounting panel with paint removed Va Aries Drive re Motor Feedback B Cable 8 3x 275LA20 Varistors EA Control El Line 1 Power VW Mains Filter Line 2 PE Common grounded metal backplate PL EN tre Motor Power i Mains Filter it Ke Line 2 Kia Line 3 6x PE 275LA20 Varistors T 3 als XX Parker EMC cables or equivalent ph Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30xE Warning This product has been developed for industrial environments Due to exposed high volta
35. Daedal Positioning Tables encoder options E2 e naian A a A A ERES42000 Eora a a E a Jeele ERES84000 aa EE dn een EE ERES420000 EDaren sealant E a ERES8400 For linear servo motors use the following equation to determine the proper ERES based on both the encoder resolution and the motor s electrical or magnetic pitch DMEPIT DMEPIT mm ERES Encoder _ resolution a count Example Linear encoder resolution post quad is 1 um and the electrical pitch is 42 mm DMEPIT42 ERES is calculated as 42 mm ERES 42000 1 10 oy count Error Checking Report Back Error Handling Product Rev lt a_ gt ERROR Aries 1 0 N A N A ERROR lt gt NO ERRORS none The ERROR command gives a text based status report of drive errors E25 through 46 that currently prevent the drive from enabling To re enable the drive correct the specified fault then reset the drive or cycle power to it Table 46 contains the possible errors appearing in the text based report and their descriptions Chapter 6 Command Reference 129 Parker Hannifin E25 Excessive Command Voltage at Enable E26 Drive Faulted E27 Bridge Hardware Fault E28 Bridge Temperature Fault E29 Drive Over voltage E3 Drive Under voltage E31 Bridge Foldback E92 Power Regeneration Fault E34 Drive Temperature Fault E35 Motor Thermal Model Fault E36 Motor Temperature Fault
36. Drive Control Mode Note dmodes 6 and 7 are available only on the step and direction versions of the Aries drive DMPSCL Incoming Pulse Scaling Type Drive Configuration Product Rev Syntax lt a_ gt DMPSCL lt i gt Aries 2 0 Units i multiplier setting Range 0 to 127 Default 1 Response DMPSCL lt gt 1 See Also DMODE DMTR DRES Use the DMPSCL command to scale the incoming pulses for the step and direction input A setting of 10 would move the motor 10 encoder pulses for each input pulse This command is only valid in DMODE6 Position Mode DRES command Added DRES command for step and direction inputs Input steps will be scaled to DRES value so DRES steps on the input would translate to 1 revolution of the motor DRES is set to ERES internally if DMPSCL is non zero for backward compatibility DMPSCL should be set to 0 to enable DRES support NB DRES change requires a reset to take effect DMPSCL works immediately so the user could use DMPSCLO to enable DRES support then enable DMPSCL and have both features working at once 104 Aries User Guide Parker Hannifin DMTAMB Motor Ambient Temperature Type Motor Product Rev Syntax lt a_ gt DMTAMB lt r gt Aries 1 0 Units r Degrees Celsius Range 5 to 258 00 1 Default 4B Response DMTAMB lt gt 4 See Also DMTMAX DMTRWC DMTTCM DMTTCW The DMTAMB command sets the motor ambient temperature used by
37. Electrical Installation 63 Parker Hannifin Connector Specification Aries Drive Manufacturer ecceceeceeeeeeeeeeeeeneeees KYCON or equivalent Connector TyPe cceeeceeeseteeeeeeeteeeeeeens 15 Pin High Density D Subminiature female socket KYCON Part Number K66 E15S NR Connector Specification Mating Connector Mating connectors are not provided with Aries drives Parker cables are available with mating connectors attached Manufacturer 2 ccceceeeeeeeestceeeeetees AMP or equivalent Connector TyPe ccccceeeesteeeeeeesieeeeeeee 15 Pin High Density D Subminiature male connector Cable Kite isa cde Adie en aaa AMP Part Number 748473 1 Includes 748364 1 connector shield enclosure and two jack screws does not include contacts or ferrules COMAGIS 7 iii eset obs T ce cntaly Crimp style 30p Gold AMP Part Number 748333 4 Gold Flash Amp Part Number 748333 7 64 Aries User Guide Parker Hannifin Motor Feedback Connector Resolver Inputs for the encoder feedback motor thermal switch and hall effects are located on the 15 pin Motor Feedback connector OO OOO 6 re 70 O 13m 12 FOTO O ene Figure 31 MOTOR FEEDBACK connector female drive connector pinout Motor Feedback Connector Internal Connections Thermal Switch No Connect No Connect Thermal Switch Thermal Switch Reference No Connect Thermal Switch SI
38. FP WN OC a es O 12 13 15 Enable Disable Hardware enable input or software DRIVE command Bridge Fault No PWM output H bridge switching Over Voltage DC bus Under Voltage DC bus Startup Voltage analog command voltage Drive Over Temperature Motor Over Temperature calculated by thermal model Motor Thermal Switch Feedback Error Hall Error Motor Configuration Error Regeneration Fault Reserved Table 47 Error Log Enable Disable Store smart encoder data Motor configuration lt a_ gt ESTORE N A N A 0 lt gt Storing lt gt Stored Rev 1 0 Product Aries Motor configuration commands The ESTORE command is used to store all relevant motor configuration data to the smart encoder If changes are made to the motor configuration for example if the current loop gains are tuned higher for the application you can store the changes by typing Enter ESTORE into the terminal and pressing The drive responds with Storing and then Stored once the parameters have been stored After a reset the new values are read from the encoder Note The DMTD DMTRES DMVLIM INTLIM 132 Aries User Guide ESTORE command stores the following parameters in the encoder DMTIC DMTIND DMTINF DMTJ DMTKE DMTLIM DMTR DMTRWC DMTSCL DMTSWT DMTTCW DMTTWM DMTW DPOLE DPWM DTHERM ENCOFF ENCPOL IGAIN PGAIN P163
39. Figure 41 Clockwise Counter clockwise rotation Configuration Errors and Warnings Error Handling lt a_ gt CONFIG N A N A N A CONFIG lt gt No Errors DMTIC DMTIND DMTIP DMTW Product Rev Aries 1 0 ERROR The CONFIG command gives a text based status report of current configuration errors and warnings E through E24 E Motor Configuration Warning E1l Motor Configuration Error E3 Max Inductance E4 Rated Speed E5 DPOLE E6 Resistance E7 Ke E8 Continuous Current The motor rating is too high for the drive and the drive is using its own limits for safety reasons One of the motor parameters is set to zero 0 Look at the additional errors to find which parameters are set at zero 0 Refer to your motor specifications for the correct value This parameter is set to zero 0 To correct the error you must set a non zero 0 value Refer to your motor specifications for the correct value DMTIND This parameter 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 DMTW This parameter 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 DPOLE This parameter is set to zero 0 To correct the error you must set a non zero value Refer to your motor specifications for the co
40. Guide Parker Hannifin Important User Information It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment The installation set up test and maintenance procedures given in this User Guide should only be carried out by competent personnel trained in the installation of electronic equipment Such personnel should be aware of the potential electrical and mechanical hazards associated with mains powered motion control equipment please see the safety warnings below The individual or group having overall responsibility for this equipment must ensure that operators are adequately trained Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this guide Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL C
41. Mechanical Installation 31 CHAPTER THREE Electrical Installation IN THIS CHAPTER Installation Safety Requirements System Installation Overview Power Supply Multiple Drive Installations Brake Relay Optional Regeneration Protection LEDs Drive Status Indicators Connector Descriptions Installation Test Parker Hannifin Installation Safety Requirements Aries drives meet the requirements of both the European LVD Low Voltage Directive and EMC Electromagnetic Compliance directives when installed according to the instructions given within Appendix C Regulatory Compliance UL and CE As a rule it is recommended that you install the drive in an enclosure to protect it from atmospheric contaminants and to prevent operator access while power is applied Metal equipment cabinets are ideally suited for housing the equipment because they provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange the interlocks to open circuit 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 discharges e Wear earth wrist straps e Include a mains power switch or circuit breaker within easy reach of the machine operator Label clearly the switch or breaker as the disc
42. 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 non Parker motors or sent an RFS command 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 DMVLIM command sets a limit that the commanded velocity cannot exceed without affecting gains or scaling This is typically used to protect parts of the mechanical system If the velocity demand from the internal Aries control loops exceeds the limits set by DMVLIM the Aries invokes the Override Mode in which the drive software clamps the maximum velocity to the value set by DMVLIM 118 Aries User Guide Parker Hannifin DMVSCL Velocity Scaling Type Drive Configuration Product Rev Syntax lt a_ gt DMVSCL lt r gt Aries 2 0 Units Rotary motor r revolutions second Linear motor r meters second Range to 4 motor drive dependent 1 Default 4 QD Response DMVSCL lt gt 1 See Also DMODE DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to 4 00 you must manually set this parameter to a non zero number For a
43. Response Some commands allow you to check the status of the command In the example above entering the ERES command by itself you will receive the response lt gt 4 The lt gt only appears for RS 485 communication and does not appear for RS 232 communication 10 See Also Commands related or similar to the command described are listed here Table 39 Commands Description of Format 92 Aries User Guide Parker Hannifin Syntax Letters and Symbols The command descriptions provided within this manual use alphabetic letters and ASCII symbols within the Syntax description see example below to represent different parameter requirements ERES Encoder Resolution Type Encoder Configuration Product Rev Syntax lt a_ gt ERES lt i gt Aries 1 0 Units Rotary motor i counts revolution Linear motor i counts electrical pitch Range 200 to 1073741823 Default 4QOD Response ERES lt gt 4 GOB au Represents an address specifier numeric value from to 99 An address specifier is required if multiple Aries drives are connected in a daisy chain or multi drop configuration in fact leaving off the address specifier will cause parameter assignment commands to affect all units and response transfer commands to request information from all units at the same time multiple units transmitting characters at one time will garble the communication To assign unique unit addresses to multiple drives refer to the ADDR command b Re
44. Rev lt a_ gt TVER Aries 2 0 Revolutions per second or meters per second N A N A TVER lt gt 1555 DMEPIT DMVLIM TVELA TVE zj This command is only valid in DMOD DMODE7 position mode eal 4 velocity mode and DMODE6 or In velocity mode DMODE4 TVEL reports the commanded 10V value from the user before any internal limits are checked In position mode DMODE 6 7 TVEL reports the internal velocity command and is limited by DMVLIM Chapter 6 Command Reference 155 CHAPTER SEVEN IN THIS CHAPTER RS 232 485 Communication Problems Smart Encoders Hall Sensor Configuration Troubleshooting Parker Hannifin Troubleshooting Guidelines If your system is not functioning properly try the following steps First Troubleshooting Steps verify LEDs e Is the Right LED illuminated If not look for problems with AC power Check the AC power source Also check connections at the L1 L2 and terminals of the motor mains connector and at the C1 and C2 terminals of the control mains connector e Is the Right LED illuminated red Try to enable the drive by connecting 5 24 VDC to pin 1 and common GND to pin 21 of the DRIVE I O connector The right LED should turn green e Cycle power to the drive this clears most faults As the drive powers up watch the right LED Does the LED color change from off to red Power is reaching the drive but
45. Rise Time tThe time it takes the actual position to pass the setpoint e Settling Time The time between when the commanded position reaches the setpoint and the actual position settles within a certain percentage of the position setpoint Note the settling time definition here is different from that of a control engineering text book but the goal of the performance measurement is still intact 82 Aries User Guide Parker Hannifin Servo System Gains Proportional Feedback Control SGP Proportional feedback is the most important feedback for stabilizing a servo system When the controller uses proportional feedback the control signal is linearly proportional to the position error the difference between the commanded position and the actual position see TPER commana The proportional gain is set by the Servo Gain Proportional SGP command Proportional feedback can be used to make the servo system more responsive stiff as well as reduce the steady state position error Because the control is proportional to the position error whenever there is any disturbance such as torque ripple or a spring load forcing the load away from its commanded position the proportional control can immediately output a signal to move it back toward the commanded position This function is called disturbance rejection If you tune your system using only the proportional feedback increasing the proportional feedback gain SGP value too muc
46. Single Point Safety Earth AR 20xE and AR 30xE Figure 21 represents a typical star safety earth connection for Aries models AR 20xE and AR 30xE Note that the AR 20xE and AR 30xE Motor Power connector has two Earth ground terminals one for the motor and one for input power Be sure to use the VAC INPUT POWER terminal 48 Aries User Guide Parker Hannifin AR 20xE amp AR 30xE 2 MOTOR INPUT POWER G pert DC LINK INDUCTOR D D D D D D D D D D 95098998986869 0509899909090989 For multiple drives use a single point system safety earth Figure 21 Multiple Drives AR 20xE amp AR 30xE Single Point Safety Earth Chapter 3 Electrical Installation 49 Parker Hannifin Brake Relay Optional The Brake Relay connection provides a safety feature for your motion control system particularly for vertical applications The drive acts as a control switch for the motor brake if a brake is present When 24V is applied from an outside power supply through the drive s BK terminals the motor brake is disabled When the power supply is interrupted or the drive faults or is disabled the brake is enabled and stops shaft rotation Connector and wiring information follow in this section Brake Relay Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector TyPpe eeeecceeeeeteeeeeeesteeeeeeaes Removable screw terminal Terminals asarria 6 Piten 0 200 in 5 08 mm Wire range
47. as some of the required installation methods can be leveraged across both Safety and EMC installations Although Aries drives are technically considered motion control components and are therefore not within the scope of the European union s CE Conformit Europ enne directives Parker has taken the initiative to provide its customers with easy to integrate motion control products that meet global requirements The following constitutes what is typically required to install Aries drives into a CE compliant system Additional installation measures may be required at some locations The machine builder has ultimate responsibility for machine compliance General Safety Considerations These products are intended for installation according to the appropriate safety procedures including those laid down by the local supply authority regulations The recommendations provided are based on the requirements 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 following EMC recommendations safety regulations always take precedence General EMC Considerations The Aries product is a motion control component and as such will be built in to another machine that will in turn be required to comply with the relevant directives of the marketplace It is important to remember that for specific installations the full
48. clamped to this value This command will default automatically to a value appropriate to the motor selection DMTR and the Aries drive you are using and no changes are required in many cases If your mechanical 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 initial tuning this command can be used to limit the torque force produced if the system becomes unstable reducing the rate of motor heating and allowing more reaction time for the person tuning the system and reducing the chances of damage to the mechanical system If DMTLIM is set higher than the value allowed by the motor s peak current times the motor s Kt or the drive s peak current times the motor s Kt whichever is lower the new DMTLIM value will be ignored but not overwritten In addition the drive reports EO Motor configuration Warning and E11 Torque Rating Too High for Drive and the maximum internal value is used You can clear the warning by sending the RESET command or cycling power to the drive The motor s torque force constant Kt is derived from the motor s voltage constant Ke which is set by the DMTKE command by the following relationship Note Ke is set with the DMTKE command Chapter 6 Command Reference 111 Parker Hannifin Kt Nm A 3V3 Rotary motors 2007
49. contain simple foil shielding terminated by a drain wire they do not provide significant shielding of electrical noise at high frequencies Appendix A Additional Specifications 173 APPENDIX B External Power Dump Resistor Selection Simplified Resistor Selection Calculating Resistance Rotary Motors Resistor Specifications Calculating Resistance Linear Motors Resistor Specifications Parker Hannifin External Power Dump Resistor Selection Deceleration generates excess kinetic and potential energy You can remove the energy through regeneration a process where the motor acts as generator Regeneration allows you to transfer the excess energy from the motor and load back to the power supply When the drive and assorted losses cannot remove all the stored kinetic energy you must connect an external power dump resistor Connecting an external power dump resistor to the Aries drive helps dissipate the excess kinetic and potential energy While the Aries drive contains circuitry to control an external power dump resistor resistor selection depends on the requirements of your particular application There are two methods for selecting the appropriate external power dump resistor e Simplified Resistor Selection provides quick recommendations for Parker drive and motor combinations e Calculating Resistance Rotary Motors steps you through the relevant formulas to determine the needs of your particular ap
50. control and laboratory use Part 1 General Requirements CE for EMC 89 336 EEC BS EN 61800 3 Adjustable speed electric power 1997 including drive systems Part 3 EMC Amendment A11 product standard including specific test methods BS EN 50081 2 Generic emission standard Part 1994 2 Industrial Environment Electromagnetic compatibility BS EN 61000 6 2 Immunity for industrial 1999 environments Electromagnetic compatibility Part 6 2 Generic Standards 200 Aries User Guide APPENDIX D Servo Tuning Flow Diagram IN THIS CHAPTER Servo Tuning Flow Diagram Parker Hannifin Servo Tuning Flow Diagram Legend SGP Proportional Gain SGV Derivative Increase SGV until Decrease SGV until Decrease SGV until Figure 56 Servo Tuning Flow Diagram 202 Aries User Guide APPENDIX E VM26 Expansion Module IN THIS CHAPTER vervie Parker Hannifin Overview The VM26 expansion module provides screw terminal connections for the Drive I O connectors on the Aries drive The VM26 comes with a 2 foot cable 609 6 mm that provides 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 e The VM26 module ships with DIN rail mounting clips installed e The overall cabinet depth with cable bend radius is 5 inches 127 mm 2 00 2 42 50 8 P N 71 025065 0
51. detailing electrical and timing characteristics on the DRIVE 1 0 connector Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE 1 0 connector Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE 1 O connector Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE 1 0 connector Correction Both RS 485 channels are Tx Rx Enhancements Added Chapter 5 Tuning describing servo tuning Added Appendix D Servo Tuning Flow Diagram Enhancements Added the following commands DMTD DMTJ DNOTAD DNOTAF DNOTAQ DNOTBD DNOTBF DNOTBQ DNOTLD DNOTLG SGVF Modified CONFIG now includes error messages E13 E18 E13 E18 Enhancement Added error messages See Chapter 7 Troubleshooting CHAPTER ONE Introduction IN THIS CHAPTER Aries Products Overview Compatible Parker Products Checking Your Shipment Illustrations in this Installation Guide Assumptions of Technical Experience Technical Support Parker Hannifin Aries Products Overview The Aries drives are a family of super compact super efficient digital servo drives Their maximum continuous shaft power ranges from 100 Watts to 3000 Watts 3kW Ready for direct panel mounting you can select the precise power level needed for your application Aries Product Descriptions Aries Servo Drives can control
52. environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment The installation requirements are detailed in the Information supplied with the equipment The equipment is sold only to competent system builders Compliance is demonstrated by the application of the following standards e BS EN 61800 3 1997 including Amendment A11 Adjustable speed electrical Power drive systems Part 3 EMC product standard including specific test methods e BS EN 50081 2 1994 Electromagnetic compatibility Generic emission standard Part 2 Industrial Environment e BS EN 61000 6 2 1999 Electromagnetic compatibility Part 6 2 Generic Standards Immunity for industrial environments e BS EN 61010 1 1993 including Amendment A2 Safety requirements for electrical equipment for measurement control and laboratory use Part 1 General Requirements Parker Hannifin Warning Risk of damage and or personal injury The Aries drives described in this guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal 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 Chassis Terminal Caution Risk of Electrical Shock Caution Refer to Accompanying Documentation Spire 10 Aries User
53. exceeds the drive s maximum output current TDIMAX the DMTIP value will be ignored and the maximum allowable value will be used see Table 45 The drive reports E Motor Configuration Warning and E12 Peak Current Too High 3A 5 25A 9A 13 5A 14 1 30 48 Table 45 Peak Current Rating for Aries Drives Motor Rotor Inertia Forcer Mass Motor Product Rev lt a_ gt lt gt DMTU lt r gt does not take effect until RESET or Aries 2 0 cycle power kgm2 10 6 kg Rotary motor to 1 WOWOWOW GOOH l Linear motor DMEPIT electrical pitch dependent Rotary motor r Linear motor r 0 DMTJ of results in motor config error DMTJ DMTJ2 6 DMTR CONFIG Note This command does not take effect until you cycle power to the drive or send the RESET command 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number If the drive is powered up when this command is set to Zero for instance if RFS is executed the drive reports a motor configuration error with E13 and shuts down the drive DRIVEQ For a list of auto configured commands see DMTR The DMTJ command sets the motor rotor
54. h ee Incoming Pulse Scaling DMPSCL inductance motor max DMTIND cee eeeeeeeeeeeeeeeeeeeeees 107 motor min DMTINF input resolution analog 206 Aries User Guide AUSM C E aaa a A A EA ARA 42 installation LVD EM Cnn cononnnndadenodainuni installation category installation OVervieW eeeeeeeeeee jumper wires pre installed ead lag filters LVD installation i MASS TORCED iaeiiai memory after a reset RESET menitan inaina 138 return to factory settings RFS eer 139 motor ambient temperature DMTAMB necces 105 AULO CONTIQUIGi a wieitniitine ita 112 DE AKC teat cure furan engin Shatea ahaa E i aa 50 configuration error DMTR CONFIG oo COMMOCLOM eena a an aa AAA 59 continuous current DMTIC ssec 106 continuous current derating DMTICD a CAMPING 5 itairivicudes chuananir nea a 105 drift minimizing DCMDZ ccce 101 full wave rectifiers TUSES INDUC POWET ide aves esas eaii INPUC POW GF n aa a tian aa ani base bel eee linear motor pitch DMEPIT OUTPUT POWET ee ceeeeeeteeeeetteeee ene eees output power connection peak current DMTIP l pole pairs DPOLE te rated speed DMTW POLOM INCLU renie aore a selection recorded DMTR ie temperature report TMTEMP eesse thermal time constant DMTTCM voltage constant Ke DMTKE winding resistance DMTRES winding temperature max DMTMAX winding thermal resistance
55. has been specified or the COM port is being used by other software Select a different COM port No response from Aries Power is not supplied to the drive the drive drive is not powered up the power connection is mis wired or the RS 232 485 cable is mis wired Check the drive to verify that the power supply is connected wired correctly Then apply power to the drive Verify the wiring on the RS 232 485 cable Incorrect response from A different drive or serial device might be Aries drive connected to the selected COM port Verify that an Aries drive is connected to the selected COM port OS needs to be Download the operating system to the Aries downloaded drive Cycle power and The Aries drive has encountered an error download OS while downloading an operating system Cycle power to the drive and download the operating system again Table 49 Communications Port Errors and Resolutions Error Messages If the drive will not enable you can view full text reports of the drive configuration E through E24 and drive errors E25 through E46 Ina terminal emulator type CONFIG or ERROR depending which information you want to view You can also view the errors using the Aries Support Tool software gt Inthe Menu select Status Panel You can view the errors under Bit Status The following is a list of Error messages and a brief corrective action 160 Aries User Guide Parker Hannifin E Motor
56. i hall direction Range 0 Halls count 623154623 as encoder counts ve 1 Halls count 326451326 as encoder counts ve Default 0 Response P163 lt gt 0 See Also ENCOFF SHALL CMDDIR ENCPOL IANI Note This command does not take effect until you cycle power to the drive or send the RESET command The P163 command determines the order the Hall sensors count as the encoder counts in a ve direction The default P163 0 specifies that as the encoder counts in a ve direction that the Hall sensors count 6 2 3 1 5 4 6 P163 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 Chapter 6 Command Reference 137 Parker Hannifin PGAIN Proportional Gain Type Tuning Product Rev Syntax lt a_ gt PGAIN lt r gt Aries 1 0 Units None Range OO to 200 20 Default 20 2H Response PGAIN lt gt 2 D See Also DIBW IAUTO IGAIN The PGAIN command sets the proportional 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 produced by the motor PSET Establish Absolute Position Type Tuning Product Rev Syntax lt a_ gt PSET lt r gt Aries 2 0 Units None Range 2 147 483 648 to 2 147 483 647 Default N A Response PSET N A See Also TPC TPE Use the PSET command to o
57. in DMODE4 velocity mode and DMODE6 or 7 position mode SGP allows you to set the gain of the proportional term in the servo control algorithm The output of the proportional term is proportional to the difference between the commanded position and the actual position read from the feedback device The primary function of the proportional term is to stabilize the system and speed up the response It can also be used to reduce the steady state position error When the proportional gain SGP is used alone i e the other gain terms are set to zero setting this gain too high can cause the system to become oscillatory under damped or even unstable SGV Servo Gain Velocity Type Tuning Product Rev Syntax lt a_ gt SGV lt i gt Aries 2 0 Units i gain value Range to 1999 9B Default 1 4 Response SGV lt gt 1 48 See Also SGILIM SGI SGP This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode SGV allows you to control the velocity feedback gain in the servo algorithm Using velocity feedback the controller s output signal is made proportional to the velocity or rate of change of the feedback device position Since it acts on the rate of change of the position the action of this Chapter 6 Command Reference 141 SGVF Type Syntax Units Range Default Response See Also Parker Hannifin term is to anticipate position error and correct it before it becomes too large This incre
58. in DMODE6 or 7 position mode The TPER command reports the present position error The error is reported in feedback device counts and is based on the encoder resolution ERES The position error is calculated every 62 5 us Note When the drive is set to DMODE6 or DMODE7 the position error is the difference between the commanded position and the actual position read by Chapter 6 Command Reference 151 Parker Hannifin the feedback device TPER does not apply in DMO mode and in DMODE4 velocity control mode TP modes E2 torque force control R reports zero in these Ho TREV Transfer Revision Level Type Transfer Product Rev Syntax lt a_ gt TREV Aries 1 0 Units N A Range N A Default N A Response TREV lt gt Aries OS Revision 1 See Also RESET RFS STATUS The Transfer Revision Level TREV command reports the software revision of the Aries firmware The Aries Resolver option reflects the 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 amp Downloads section on the Parker Hannifin Motion Online website www parkermotion com TSSPD Transfer PWM Update Period Type Transfer Product Rev Syntax lt a_ gt TSSPD Aries 1 0 Units Microseconds Range N A Default N A Response TSSPD lt gt 62 58
59. is optically isolated with both Anodes and Cathodes available e Reset input is optically isolated with both Anodes and Cathodes available 66 Aries User Guide Parker Hannifin e Fault output is optically isolated with both Collector and Emitter available No Optical Isolation The following describes which I O signals are not optically isolated e Step and Direction inputs are 5V differential compatible RS 422 logic level compatible e Encoder output signals are non isolated RS 422 compatible differential drivers referenced to DGND e RS 485 is non isolated RS 485 compatible differential signals referenced to DGND e AIN Analog input is single ended non isolated referenced to AIN and common mode referenced to DGND Fault Operation When the Aries Drive is enabled and there are no fault conditions the Fault circuit is closed conducting However the following circumstances can trip the Fault circuit a fault condition is present see Error Messages on page 160 the Enable circuit is open see Figure 34 or Mains power is removed from the drive You can use the LED status indicators to help identify internal drive faults For more information see Table 23 Enabled Closed conducting Faulted Open No AC power on L1 and L2 or drive not enabled Open Mains Control power on C1 and C2 does not affect the fault circuitry With mains power applied to C1 and C2 the fault circ
60. list of auto configured commands see DMTR The DMVSCL command scales the velocity command input This command is only valid in Velocity mode DMODE4 It sets the full scale velocity that will be produced from a 10 volt input command It controls the gain applied to the input This can be used to scale the input to match application needs For example 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 Depth Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTAD lt i gt Aries 2 0 Units n a Range D DD 1 D D Default depth is zero Response DNOTAD DNOTAD 5 See Also DMODE DNOTAF DNOTAQ DNOTBD DNOTBF DNOTBQ DNOTLD DNOTLG The DNOTAD command sets the depth for the commanded torque force notch filter A Setting this to zero 0 disables the filter This command is useful in adjusting the maximum allowable attenuation and phase shift through the filter The deeper the notch depth the more attenuation and phase shift In general the notch depth is increased until the resonance is diminished Increasing the depth further might increase the phase shift to an unacceptable level and decrease the overall system performance There are two cascaded notch filters labeled A and B Both filters operate in exactly the same way The diagram below shows the topology of these fi
61. lt 85 VDC or there is overly aggressive acceleration or deceleration Raise the AC Mains voltage TVBUS Drive current was limited to prevent overheating warning only See DIFOLD Check the Regeneration resistor for a short Wait for the drive to cool down TDTEMP The motor thermal model has determined the motor is too hot Wait for the motor to cool and then re enable the drive TMTEMP Motor thermal switch has tripped Wait for the motor to cool and then re enable the drive TMTEMP A problem with the Hall sensors exists Check the Hall state wiring THALL Feedback not present or the signal level is incorrect TPE THALL The drive is disabled DRIVE The H bridge is not switching The drive regenerated warning only Shaft power is limited to the rated output to protect the drive warning only The motor was turning too fast when the drive was enabled Commanded position Actual Position is greater than the value set by SMPER ERRORL Type Syntax Units Range Default Response See Also Parker Hannifin E45 Excessive Velocity Error Commanded velocity Actual Velocity is greater than the value set by SMVER E46 Hardware Enable 0 Hardware Enable Drive I O Pin 1 and 21 1 No Hardware Enable E47 Low Voltage Enable No motor power was present when the drive was enabled E48 Control Power Active The drive is in Control power mode No motor power is present E49 Alignment Error Th
62. models used for analysis are correct The value of SGVF can be adjusted from zero to as high as five 5 times SGVF5 the theoretical value Example SGVE2 Set velocity feedforward to 200 of theoretical value 142 Aries User Guide Parker Hannifin SHALL Hall Sensor Configuration Type Drive Configuration Product Rev Syntax lt a_ gt SHALL lt i gt Aries 1 0 Units i control option number Range do not invert or 1 invert Default Response SHALL lt gt See Also ALIGN RESET THALL Note This command does not take effect until you cycle power to the drive or send the RESET command The SHALL command controls the logic sense of the Hall sensors To invert the sensors use the SHALL1 command To check the present value of the Hall sensors use the THALL command SMAV Maximum Acceleration in Velocity Mode Type Tuning Product Rev Syntax lt a_ gt SMAV lt i gt Aries 2 0 Units i Acceleration in rev sec Range D to 1GWOS WH Default 15 Response SMAV lt gt 1 J See Also DMODE This command is only valid in DMODE4 velocity mode SMAV allows you to control the maximum acceleration permitted in velocity mode Use this command to protect the mechanical systems from overly aggressive velocity changes This command is scaled by the ERES command SMPER Maximum Allowable Position Error Type Servo Product Rev Syntax lt a_ gt SMPER lt i gt
63. protection requirements of the EMC directive 89 336 EEC need to be met before the system is taken in to service This must be verified either by inspection or by testing The following EMC installation recommendations are intended to assist in ensuring that the requirements of the EMC directive are met It may be necessary to take additional measures in certain circumstances and at specific locations It should be stressed that although these recommendations are based on the expertise acquired during the design and development of the Aries products and on tests carried out on similar products it is impossible for Parker to guarantee compliance of any particular installation This will be strongly influenced by the physical and electrical details of the installation and the performance of other system components Nevertheless it is important to follow all the installation recommendations if an adequate level of compliance is to be achieved 190 Aries User Guide Parker Hannifin Installing the Aries Drive Only qualified skilled electrical technicians familiar with local safety requirements should install this product For service the drive must be returned to an authorized service center There are no user serviceable parts inside the chassis In certain circumstances opening the cover may void the product warranty The Aries drive is a vented product To prevent material spilling into the drive mount it under an overhang or in a suita
64. system 3 10 and beyond the Aries Resolver option will report an SFB value of 3 Changing the value will not affect the drive operation and it will return to 3 on power up SGI Servo Gain Integral Type Tuning Product Rev Syntax lt a_ gt SGI lt i gt Aries 2 0 Units i gain value Range to 1999 9B Default DD Response SGI lt gt See Also SGILIM SGP SGV IGAIN This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode Use the Integral Gain SGI command to set the gain of the integral term in the control algorithm The primary function of the integral gain is to reduce or eliminate final position error e g due to friction gravity etc and improve system accuracy during motion If a position error exists commanded position not equal to actual position see TPER command this control signal will ramp up until it is high enough to overcome the friction and drive the motor toward its commanded position f acceptable position accuracy is achieved with proportional gain SGP then the integral gain SGI need not be used If the integral gain is set too high relative to the other gains the system may become oscillatory or unstable The integral gain can also cause excessive position overshoot and oscillation if an appreciable position error has persisted long enough during the transient period time taken to reach the position setpoint this effect can be reduced by using
65. the software motor thermal model The DMTAMB value in conjunction with the motor thermal time constant DMTTC M the motor winding time constant DMTTCW the motor thermal resistance DMTRWC and the continuous motor current DMTIC is used in a real time estimation of the motor winding temperature When the winding temperature exceeds DMTMAX the drive faults and reports E35 Motor Thermal Fault DMTD Motor Damping Type Motor Product Rev Syntax lt a_ gt lt gt DMTD lt r gt does not take effect until RESET or Aries 2 0 cycle power Units Rotary motor r uNm rad sec Linear motor r N meter sec Range Rotary motor G OG GCWOG to 1 1 Linear motor DMEPIT electrical pitch dependent Default D OOOO Response DMTD DMTD2 See Also DMTR Note This command does not take effect until you cycle power to the drive or send the RESET command 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 non Parker motors or sent an RFS command 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 the motor itself This includes both magnetic losses and bearing losses Chapter 6 Command Reference 105 Parker Hannifin
66. 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 energy subtract the energy dissipated through the drive capacitors motor windings and load loss If the copper losses Ew or load losses E are not easily determined you can conservatively assume they are zero 0 The resulting sum represents the power for dissipation in an external power dump resistor Eg Eg Ep Ec Ey Ez Where Er energy to be dissipated in the external resistor Joules Ex _ rotational kinetic energy Joules Ep potential energy Joules Ec energy that can be absorbed by the drive capacitors Joules Ew energy dissipated in the motor windings Joules copper losses E energy dissipated by the load Joules load losses 180 Aries User Guide Parker Hannifin Resistor Specifications Rotary Motors Having determined the amount of energy to dump Ep you can then calculate the resistor specifications e Maximum resistance e Peak dissipation e Average dissipation Maximum Resistance This calculation determines the maximum value of resistance needed for the external power dump resistor We recommend that you select a lower value resistance typically in the 22 to 100 ohm range Important It is possible to overload an Aries drive or the combination of an Aries drive and power dump resistor If at the end of the calculations
67. to the 24V return on your power supply 3 Between the two red blue wires connect the fly back diode See Figure 24 4 Connect the 24 VDC power supply to the second BK terminal of the Motor connector Aries drive Figure 24 shows a typical installation Power Supply 5VDC 24VDC 24V Return Diode 1N4936 BK Red Blue Wire Motor Cable Motor Red Blue Wire Aries Controller Figure 24 Brake Relay Connection for Non Parker Motors 52 Aries User Guide AN Parker Hannifin Relay Operation Enabled Closed conducting Faulted Open No AC power on L1 and L2 or drive not enabled Open Mains Control power on C1 and C2 does not affect the relay With mains power applied to C1 and C2 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 A Solid State Relay Normally open Relay Maximum Rating 1 Amp at 24 VDC Warning Do not exceed the ratings of the brake relay If required control a suitable external relay with this relay to meet your power requirements Chapter 3 Electrical Installation 53 Parker Hannifin Regeneration Protection The Aries drive models AR 20xE and AR 30xE have internal regeneration power dump dissipation resistors Models AR 01xx through AR 13xx do not However all models can utilize an external regeneration resistor Regeneration Connection To use a externa
68. to zero 0 To correct the error you must set a non zero value Refer to your motor specifications for the correct value DMTIC This parameter 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 DMTIP The continuous current of the motor is higher than the continuous current rating of the drive Use the continuous current rating for the drive The motor s torque rating is too high for the power level of the drive Use the drive s torque rating The peak current of the motor is higher than the peak current rating of the drive Use the drive s value for peak current This parameter is set to zero 0 The drive will not enable Velocity or Position Modes To correct the error you must set to a non zero value Refer to your motor specifications for the correct value DMT J This parameter is set to zero 0 The drive will not enable Velocity or Position Modes To correct the error you must set to a non zero value Refer to your motor specifications for the correct value DMTD Chapter 7 Troubleshooting 161 Parker Hannifin ILS NeKeelg sesllhesie Cele INE TOE E16 Lead lt Lag Freq E17 Lead 2 4 Lag Freq E18 Lag Freq lt 20 Hz E19 E24 E25 Excessive Command Voltage at Enable E26 Drive Faulted E27 Bridge Hardware Fault E28 Bridge Temperature Fault E29 Drive Over voltage E3 Drive Under v
69. with the test e Enable the drive e Ifthe Aries drive is connected to a controller disable the controller s servo loop e If the motor is connected to a load disconnect 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 especially during the development of controller 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 Testing the Aries Drive If the Aries drive has been installed correctly the motor will spin at one revolution per second If the motor does not spin a wiring or configuration error possibly exists 1 Start the Aries Support Tool 2 Under Menu click Operating System Update 3 Click Auto Run Test Wizard 72 Aries User Guide CHAPTER FOUR IN THIS CHAPTER Terminal Emulator Configuration Establishing Communications RS 232 Communications RS 485 Communications RS 485 Multi Drop RS 232 485 Dongle for Communications Setup Parker Hannifin RS 232 485 Communications The Aries drive has a single serial port located on the DRIVE I O connector on the front of the unit This chapter refers to it as the COM port The Aries drive uses ASCII and the RS 232 or RS 485 communication protocols Terminal Emulator Configuration Rx Tx Gnd 2 wire plus ground Talk Talk
70. 0 240 VAC single phase mains control power Chapter 1 Introduction 17 Parker Hannifin Output Power Level Servo Motor Drives In Table 1 the maximum current is given at 120 240 VAC input which equates to a motor bus voltage of 170 340 VDC AR 01xx 100W 0 13 hp AR 02xx 1 75A 5 25A 200W 0 27 hp AR 04xx 3A 9A 400W 0 53 hp AR 08xx 4 50A 13 5A 750W 1 0 hp AR 13xx 6 3A 14 07A 1300W 1 75 hp AR 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 our website at www parkermotion com Compatible Parker Products Servo Controller 10V torque or velocity mode ACR series or other Parker controller Stepper Controller S amp D mode ACR series or other Parker controller Software eceeececeeeceseeeeeeeeeeseeeetseeesaeees Aries Support Tool For information about cables motors etc see Chapter 2 Mechanical Installation 18 Aries User Guide Parker Hannifin Checking Your Shipment Inspect your shipment carefully You should have received the corresponding ship kit along with your drive Ship Kit Items The following items ship with the AR 01xx through AR 13xx drives Aries Quick Reference Guide AR 01xx AR 02xx AR 04xx AR 08xx amp AR 13xx ental ees SO Ne R Clamp 52 019734 01 Screw 8 32 inch 51 0060
71. 0 to 2000 Hz at 2g 2 per IEC 61010 2 per IEC 61010 Table 5 Environmental Specifications AR 13xx Cabinet Cooling For cabinet cooling calculations use Table 6 and Table 7 to determine the power dissipation per drive AR 02xx Chapter 2 Mechanical Installation 23 Parker Hannifin Cabinet Cooling AR 02AE Drive amp BE231D Motor e2 oOo a A O w o Cabinet Losses Watts N o Oo 0 20 40 60 80 100 120 140 160 180 200 Shaft Power Watts Figure 1 Cabinet Losses for AR 02xx when connected to a Parker BE231D motor 34W 120 VAC 15W 25W 240 VAC 32W 44W 47N Drive enabled zero torque Table 6 AR 02xx Power Dissipation AR 08xx The power dissipation in Table 7 for the AR O8xx has been measured using the Parker BE343J motor 24 Aries User Guide Parker Hannifin Cabinet Cooling AR O8AE Drive amp BE343J Motor 80 70 240 VAC g 50 A 120 VAC 3 40 T T l 20 Q 20 10 0 100 200 300 400 500 600 700 Shaft Power Watts Figure 2 Cabinet losses for AR 08xx when connected to a Parker BE343J motor 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 Parker MPM1421CSJXXXN motor Chapter 2 Mechanical Installation 25 Parker
72. 1 Figure 57 VM26 Breakout Module 204 Aries User Guide Parker Hannifin Index 120 240 VAC power input scce 39 47 absolute position establishing effect on position report TPE ccecce 151 ACCUPACYesescck ete ast at teeta tala te a a a 169 address multiple units ADDR encoder ce i align encoder ALIGN ts amplifiers iii a a a sys analog input ANN e aariaa AT See ANI analog input center deadband ANI CDB 97 ANI check input voltage TANI input resolution voltage status TANI WINING asia oan T A auto configure smart encoder UCONN anaa a eE EEN a be a binary value identifier b brake prake rea aii ae AeA aa non Parker motors output delay OUTBD Parker MOtOIS scce bus voltage report TVBUS cables center deadband ANICDB ccccceeseeesseeeeeseeeeeees 97 change SUMMALY cceeeeeeeeeeeeeteeetteee 12 13 14 15 characters command delimiters ccceceeecccseseeeeeeeeeseeeeeeess 94 comment delimiter field Se ParatOrs isise ai at a aaralan limit per Nesa ana aa T neutral spaces COM DORE ais ieii aiite command offset DCMDZ commands command description format 92 command to product compatibility ee 92 default settings ederin wate delimiters 0 SYNTAX eee comment delimiters communication interface SCHOEN A DI O2ias casseaupavreawsdcndinwia soathinaisiinnlnunpeceoeamiare 126 communications RS42
73. 154 actual commanded feedback device TVEL 154 error feedback device TVER feedforward gain SGVF nesese limit DMVLIM ccc cece a Scaling DMVSCL ein ccc ceed cccicees eres cveveveies Velocity mode maximum acceleration SMAV snee 143 voltage YANG 0 8 0 E narius tec trererc eer ercrerc err ANI input TANI aec constant Ke of motor DMTKE WENE ata A a a n a a T winding resistance motor DMTRES eee 114 temperature max DMTMAX esseere 112 thermal resistance motor DMTRWC s 114 time constant motor DMTTCW ae zero command offset DCMDZ cccccceccesseeseeeees
74. 32 48 Snn iranran a an anea ea a aAA 74 configuration errors CONFIG aeiia an eratara a a E ee 99 warnings CONFIG merri oei ai i 99 configuration error motor DMTR sssssssssseses 112 connector Drake Pela Yarina tananana aA AAR control input power drive Onna aa e a a ia o aa a rr lOGATIONS OL EEE vatloenias motor feedback motor feedback resolver motor output pOWEF OUTPUT POW Cf iaa eetan ain AR aE PEQENESACION io i ites cs Ea E E EE T EE continuous current derating motor DMTICD Motor DMT C irnia control input pOWEF sssesssseeeereeeeereere CONNECTION sc crn era wes ies bast ban SUDDIV siete sevusevtstucicumecvaenutonvetwumenvaenuns cooling CabINGtics iciidan den deatuans sens das Sana ageakounhs 23 27 APIE toeea rer ae rere ene ee trerer cena meer eer 22 current foldback enable disable DIFOLD sser 102 173 OVERVIEW ceo a a a a n 173 damping servo MOTOT aaa anadan urta o aana aa a EAA NAA Aan 105 DC link iNdUCTOT siisii niona 45 deadband ANICDB c ccseceeeccesseeseeeeseeeseeaeeeeess 97 debugging tools error log TERREO ir eir eiieeii enti tra tia tian 148 default command settings eeeeeerereerereerrrrrreree 92 restore RES thin ctivsiisstivecsdgeissasttedvardainseseteauttias 139 delimiters command comment direction of rotation CMDDIR drive bus voltage status of TVBUS command offset zero DCMDZ drive enable DRIVE siiisictevelth ted etee
75. 3741823 ADDO ERES lt gt 4 D DMEPIT DMTR TRI zal Mnemonic Code This field contains the command s mnemonic code 2 Full Name This field contains the command s full name 3 Valid Product amp Revision This field lists the Aries Series products and the revision of each product when this command was incorporated or modified per the description If the command does not apply to that particular product the Revision is specified as N A All commands applicable to the standard product versions are applicable to the OEM versions unless otherwise noted e g 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 product revision is 1 0 4 Type This field contains the command s type Syntax The proper syntax for the command is shown here The specific parameters associated with the command are also shown Definitions of the parameters are described in the Syntax sections below 6 Units This field describes what unit of measurement the parameter b d i r or t in the command syntax represents a Range The range of valid values that you can specify for an argument or any other parameter specified 8 Default The default setting for the command is shown in this field A command will perform its function with the default setting if you do not provide a value 9
76. 55 01 Aries compact disc containing the following e Aries Hardware Installation Guide 88 021610 01 e Aries Support Tool Part number N A Table 2 Ship Kit Items AR 01xx through AR 13xx The following items ship with the AR 20xE and AR 30xE drives Aries Quick Reference Guide 88 025222 01A AR 20xE and AR 30xE R Clamp 50 018127 01 Screw 8 32 inch 51 006055 01 Aries compact disc containing the following e Aries Hardware Installation Guide 88 021610 01 e Aries Support Tool Part number N A Table 3 Ship Kit Items AR 20xE and AR 30xE Motors You may have ordered a motor from one of the following families of Parker motors e SE SM Series e LXR Linear Series e BE Series e SL Linear Series e NeoMetric Series e ILM Linear Series e J Series e SME Series e MaxPlus Rotary e SMN Series e MaxPlus Linear Chapter 1 Introduction 19 Parker Hannifin Illustrations in this Installation Guide Typically the illustrations in this guide show the Aries AR 01xx and the AR 30xE These two models represent other models with similar features AR 01xx represents models AR 01xx through AR13xE Model AR 30xE represents the similar features of AR 20xE as well If there is a need to illustrate differences between drives relevant drawings are shown for each drive Assumptions of Technical Experience The Aries Drive is designed for industrial applications To effectively install and troubleshoot the Aries Drive you must have a fundament
77. ACR Motion Controllers 88 021610 01G Aries User Guide Effective September 2008 SHS a HESS N KO OOF v Lu O O Wn co gt Z co Lu Lu zZ Lu Parker Hannifin User Information Warning Aries Series products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Aries Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers and may not be copied disclosed or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide 2008 Parker Hannifin Corporation All Rights Reserved Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Germany Austria Switzerland
78. Configuration Warning E1l Motor Configuration Error E3 Max Inductance E4 Rated Speed E5 DPOLE E6 Resistance E7 Ke E8 Continuous Current E9 Peak Current El Continuous Current Too High Ell Torque Rating Too High for Drive El2 Peak Current Too High E13 Inertia E14 Damping The motor rating is too high for the drive and the drive is using its own limits for safety reasons One of the motor parameters is set to zero 0 Look at the additional errors to find which parameters are set at zero 0 Refer to your motor specifications for the correct value This parameter is set to zero 0 To correct the error you must set a non zero 0 value Refer to your motor specifications for the correct value DMTIND This parameter 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 This parameter 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 DPOLE This parameter 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 DMTRES This parameter 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 This parameter is set
79. Current Commanded Velocity Type Transfer Product Rev Syntax lt a_ gt TVEL Aries 2 0 Units Revolutions per second or meters per second Range N A Default N A Response TVEL lt gt 1 55 See Also CMDDIR DMEPIT DMVLIM IANI TVELA This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode In velocity mode DMODE4 TVEL reports the commanded 10V value from the user before any internal limits are checked In position mode DMODE6 7 TVEL reports the internal velocity command and is limited by DMVLIM TVELA Transfer Current Actual Velocity Type Transfer Product Rev Syntax lt a_ gt TVELA Aries 1 0 Units Revolutions per second or meters per second Range N A Default N A Response TVELA lt gt 1 55 See Also CMDDIR DMEPIT DMVLIM IANI The TVELA command reports the velocity as derived from the feedback device The sign determines the direction of motion Rotary Motors Positive values represent clockwise motion and negative values represent counter clockwise motion assuming CMDDIR Mal iy and that you connected the feedback device Gaana a T Coar doae according to instructions provided in Chapter 2 areas Coud Mechanical Installation and Chapter 3 Electrical DURA sees Counter clockwise rotation Installation 154 Aries User Guide TVER Type Syntax Units Range Default Response See Also Parker Hannifin Transfer Current Commanded Velocity Error Transfer Product
80. DMTRWC ie winding time constant DMTTCW eee 117 motor inductance Max DMTIN Diria ana bins 107 MIN COM TINE ote aia eaaa aaan motor temperature switch type DMTSWT mM ltiple drives scsicsicuceeeeee bec vtatetvutated vbatutuevectatstventaen 48 Multiple Unit address neee 95 multiple unit Wiring oie 76 neutral Characters eecsseeeeeeseestseeeeeeeeeesaaeees 94 notch filter A OD Eric cere rks Ses etd ata Orta et ain late Sane ah ea 119 TR EQUCII CY ities vec terme n a cummenntt 120 quality facto onnan tail 121 notch filter B EDU aieini ain len ia atti ala nate tales 121 frequency 122 quality factor 122 notch lag filter break frequency 123 notch lead filter break frequency eee 122 offset zero command offset DCMDZ eeeeeereeeees 101 offset encoder ENCOFF creere 127 Parker Hannifin operating hours report TDHRS cesses 146 operating hours report TDMIN i operating hours report TDSEC operating modes drive DMODE Operating system revision TREV 4 OUTPUE POW CP carana ices aah ensnentetnaeents Littl a outputs Status TOUT irns naana 150 override mode a over temperature limits over voltage protection cece peak current motor DMTIP performance asia aiia a pole pairs motor DPOLE ji pollution degree siina a position acta TRE a aer aa Aa AA E actual error TPE srikandi aan commanded TPC Fe encoder TP
81. E Ewy Er Where ER energy to be dissipated in the external resistor Joules EK rotational kinetic energy Joules EP potential energy Joules EC energy that can be absorbed by the drive capacitors Joules EW energy dissipated in the motor windings Joules copper losses EL energy dissipated by the load Joules load losses 186 Aries User Guide Parker Hannifin Resistor Specifications Linear Motors Having determined the amount of energy to dump ER you can then calculate the resistor specifications e Maximum resistance e Peak dissipation e Average dissipation Maximum Resistance This calculation determines the maximum value of resistance needed for the external power dump resistor We recommend that you select a lower value resistance typically in the 22 to 100 ohm range Important It is possible to overload an Aries drive or the combination 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 the rated resistors available do not use the Aries drive in your application 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 values of 8 Ohms or greater Rp calle es View Kr tp M M v Where Rr maximum extern
82. E Harrerin tatiana mae encoder error TPER esene 151 tracking power dissipation power supply COMMOCUON anias anna e input power power dump resistor calculating for linear MOtOr ccc 183 calculating for rotary MOOT 177 SElECHO Nenn a a A 175 176 product revision command implementation 92 product revision TREV eee 152 program COMMENUS a aate nn anaia EAE ao E ADi 94 reset effect Offii ii A NR 138 protection current foldback DI FOLD drive over temperature a OV r Volta ge ieii i ro ir E ERRERA short circuit aitanta A A A under voltage PWM frequency dpwm PWM frequency DPWM eee PWM update period TSSPD rated speed motor DMTW regeneration eese regulatory agencies cece relay prak relay areren Eininn EEn ENEE ENESENN DENDER 50 relay brake Operation sirrini e i output delay OUTBD output status TOUT specification reset drive RESET resistor power dump resolution encoder ERES ivsi catia nacateuie dunn daestna encoder input ERES POSOIVED Sittin ta tie ca Mit aNd N a return to factory settings RFS aeee revision level operating system TREV revision of this Manual eec rotor inertia MOUOM ce ceesteeeeeetentteeeeeeeeee es RS 232 COMMUNICATIONS c2iesincivaw amauta hades 75 dongle wiring RS 232 485 CONMECEO etsiabeawiaaa avaustnuna aces A troubleshooting in WADI
83. E50 E51 and E52 error messages Revision E Changes This document 88 021610 01E supersedes 88 021610 1D Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Description AC Power Supply Clarified jumpering two phases of the motor input Connection power to the control input power allows for a single AC connection Drive I O Connector Corrected circuit for Step and Step Internal Circuit Diagram Drive I O Connector Step and Direction is not optically isolated but is 5V differential compatible RS 422 logic level compatible VM26 Breakout Module Added appendix describing the VM26 Breakout Module Parker Hannifin Revision D Changes This document 88 021610 01D supersedes 88 021610 1C Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Description Regulatory Compliance Aries is no longer cUL compliant Output Power Corrected to 14 07A Part Number In Appendix C Table 62 Enclosure Mounting Clamps corrected part number to read R CLAMP KIT Environment and Drive Removed separate Still Air and Moving Air Cooling temperature maximums Now provides only an Ambient Air temperature Revision C Changes This document 88 021610 01C supersedes 88 021610 1B Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows To
84. Hannifin Cabinet Cooling AR 13AE Drive amp MPM1421CSJXXXN Motor 180 160 140 120 240 VAC 100 80 t i 120 VAC 60 Cabinet Losses Watts 40 20 0 200 400 600 800 1000 1200 1400 Shaft Power Watts Figure 3 Cabinet losses for AR 13xx when connected to a Parker MPM1421CSJ motor 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 using the Parker MPM1422CSJXXXN motor 26 Aries User Guide Parker Hannifin Cabinet Cooling AR 30AE Drive amp MPM1422CSJXXXN Motor 160 m 140 n p 120 8 240 VAC 100 al 3 80 Y O 6 40 20 0 500 1000 1500 2000 2500 3000 Shaft Power Watts Figure 4 Cabinet losses for AR 30xE when connected to a Parker MPM1422CSJ motor 240 VAC 103W 172W Drive enabled zero torque Table 9 AR 30xE Power Dissipation Cabinet Cooling Calculations Use the motor s speed torque curve to determine the torque when the motor is at running 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 continuous motion P M OTOR P oss O 1 Epeive EMoTor Pross power dissipated to cabinet Watts Puoror shaft power of the motor Watts Emoron efficiency of motor Per
85. LEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation This 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 according to local safety laws and regulations In particular the product must be positioned such that no part is accessible while power may be applied This and other information from Parker Hannifin Corporation its subsidiaries and authorized distributors provides product or system options for further investigation by users having technical expertise Before you select or use any product or system it is important that you analyze all aspects of your application and review the information concerning the product in the current product catalog The user through its own analysis and testing is solely responsible for making the final selection of the system and components and assuring that all performance safety and warning requirements of the application are met If the equipment is used in any manner that does not conform to the instructions given in this user guide then the protection provided by the equipment may be impaired The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Hannifin or its licensors and may not be cop
86. LIM COMMANA eceeceeeeeteeeeeeeteeeeeenteeeeeeaas 85 Figure 41 Clockwise Counter clockwise rotation ccceeeceeeeeeeeeeeenneeeeeenaeeeeeenaeeeseeneeeeeneaas 99 Figure 42 Time until current foldback OCCUIS cccceeeeeeeeeeeetee test tenets ee taeeeeetieeeeeetneeeentaa 102 Figure 43 Linear motor tatkirin ccisaeageccuvandaceuthartccubaetecentade cet dette A 103 Figure 44 Notch Filter Topology caaan a aE e EEEE E 120 Figure 45 Notch Filter Magnitudes orcratecerea en aaeei E eae KERERE AEEA 120 Figure 46 Noten Filter A csere aiaia E E A 121 Figure 47 Notch Lead Filter Break Frequency aassssessrsssisrreserrreerirnesrrraaaienneerennaarinaneteeraaans 123 Figure 48 Clockwise Counter clockwise rotation 0 cccceceeeeeeeeeeeeneeeeeenneeeeeeeneeeeetneeeeeeaas 154 Figure 49 Hall Connection Diagrami cincinnati 165 Figure 50 Motor Terminal Voltages back EMF and Hall Sensor Signals cceee 167 Figure 51 Time until current foldback OCCUIS cccceceteeeeeeeeneeeee teens ee tiene eeteeeeeetneeeereae 173 Figure 52 360 Bonding TechnigUeS eresse e E 193 Parker Hannifin Figure 53 Typical LVD EMC Installation AR O2xx to AR 13XX eeeccceeeetteeeeeenneeeeeentaeeeeeeaas 197 Figure 54 Typical LVD EMC Installation AR 20XE amp AR 30XE 00 eccceeeecteeeeeeeteeeeeenteeeeeeaas 198 Figure 55 Panel Layout Dimensions for the Aries Drive 00 ecceeeeeeeeeeeeeeeeeeeenteeeeeenaeeeeeeaas 199 Figure
87. N No Connect 3 32K Q LT1497CS 499KQ 332KQ Thermal Switch 10 No Connect No Connect 14 Reference Figure 32 MOTOR FEEDBACK connector for resolver option internal circuit diagram Chapter 3 Electrical Installation 65 Parker Hannifin Pinout MOTOR FEEDBACK Connector for Resolver Option Note A box surrounding pins indicates a requirement for twisted pair wiring No connection 1 No connection 2 Thermal 3 Motor thermal switch thermistor Reference 4 Resolver excitation signal Reference 15 Resolver excitation signal No connection 5 Thermal 6 Motor thermal switch thermistor Thermal 10 Motor thermal switch thermistor SIN 7 SIN resolver feedback signal SIN 8 SIN resolver feedback signal No connection 9 COS 11 COS resolver feedback signal COS 12 COS resolver feedback signal No connection 13 No connection 14 Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option Resolver Excitation Excitation Frequency Note All parameters are at the connector pin Table 27 Resolver excitation Drive I O Connector The inputs and outputs I O located on the 26 pin DRIVE I O connector are described below For preparing your own cable use differential pair wiring with a minimum of three turns per inch 3 TPI Optical Isolation The following describes which differential I O signals are optically isolated e Enable input
88. NCOFF Encoder Offset Type Motor configuration Product Rev Syntax lt a_ gt ENCOFF lt i gt Aries 1 0 Units i encoder offset Range 32768 to 32767 Default 0 Response ENCOFF lt gt 0 See Also ALIGN ENCPOL SHALL IANI CMDDIR P163 The ENCOFF command specifies the encoder offset All standard non smart Parker encoders have an encoder offset of 0 degrees 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 180 degrees corresponding to ENCOFF 32767 Note To convert from degrees to counts just multiply the offset in degrees by 182 044 ENCPOL Encoder Polarity Type Drive Configuration Product Rev Syntax lt a_ gt ENCPOL lt b gt Aries 2 0 Units b polarity bit Range 0 normal polarity 1 reverse polarity Default 0 Response ENCPOL lt gt 0 See Also ALIGN CMDDIR TPE TPER The ENCPOL command reverses the encoder counting direction You can reverse the encoder polarity if the encoder input is counting in the wrong direction for example using a custom motor This reverses the encoder counting direction without having to change the actual wiring to the encoder input Notes e This command does not take effect until you cycle power to the drive or send the RESET command Chapter 6 Command Reference 127 ERES Type Syntax Un
89. NG Sassen tee vaeetaen cee A A AAA RS 485 COMMUNICATION Sisiyan a tee otek N CONGO Sadman a OE multi drop network WINING ee a scaling force co mMaN A a a ara a AEA AS torque command DMTSCL i velocity COMMANG caiiiviiveciecedeeedesegetedeaedatetvent es velocity command DMVSCL eerren 119 servo position trackinG swe herd rete aia 142 servo tuning dctllal positionn ivi Mean Maas auto tuning closed loop commanded position ac current loop gains auto tad inertiacratlo LRAT s cccteat cree aa a aaan integral feedback nnna integral gain IGAIN a integral gain SGI sissies vas Et EEEIEE ERKE aa integral gain limit SGILIM n 140 measuring performance cecer 82 notch filter A depth DNOTAD notch filter A frequency DNOTAF notch filter A quality factor DNOTAQ notch filter B depth DNOTBD fg notch filter B frequency DNOTBF 122 notch filter B quality factor DNOTBQ 122 notch lag filter break freq DNOTLG notch lead filter break freq DNOTLD OPEN lOO Diasa a eet las OVEFVIOW Ssniccaccniininditenaealdee dah ananacas position error SMPER position respones position variables proportional feedback ee proportional gain PGAIN eeen proportional gain SGP set current loop bandwidth Stability vereers aa eiai torque force limit DMTLIM tuning example cccccceceeeeeeeeeeees velocity error SMVER eee
90. O TUNING ERIMDAN E E E ERE A E E EEA 86 Pitia TUNING PN PEI E A PE E E E E E E E T O E 90 Chapter 6 Command Reference ccseccesececseeesneeeneeeeeeeeeeneaeseseeeeseaesesaaesaseeeeeeeeeseaesaseeeeneeaeneas 91 Aries Communications Set up cecccccccccecceeeeeeeennaeceeeeeseseeeaeeeceeeeesasecaeeeeeeeeeeeeesnnieaeeeeress 92 Descniptioniof FOrmMab irespeto ee aea ee a este EAE a ae Graae TEE RARES 92 Syntax Letters and Symbols sesi rsa atinin niaaa na NARRASA ARLE EERI AATAS AKOE ARRA 93 Syntax General Guidelines sciri diirit in nianna ni aiaa iin NaR RENI aKa aR enii aea NARREN Eara 94 Command DeSGriptions ssir ia eA iaa ae ai aeaa e ea ia sud a edoae taas aa eaan 95 Chapter 7 Troubleshooting s asees adoni cased tustesencdiccuadenscceezcdeectaacuctates sdescunumecseddeasscsconpedeecuets 156 Troubleshooting Guideline S iwit aaaea aa eaa a aa aE 157 LEDs Drive Status Indicators cccceccceccce cece ee eeeeeeeaeee cece ee seeeaeaeeeeeeeeesegeecaeeeeeeeetennennaees 158 Parker Hannifin RS 232 485 Communication Problems cccccceceeeeeeecneee eee eeneeeeesnneeeeeenieeeeetneeeeetiaeeeeeeaa 159 Emor Messages rran r a a se ittie ben ee thinti de een a i a 160 SMart EnCOdGIs eani a a e a ates a den tei A A 163 Hall Sensor Configuration Troubleshooting s ssesssessissssrrsseerrssetrrssttrnsstternssttnnsstennsstennsneen 164 Appendix A Additional Specifications csscccseeeceseeesseeseseee
91. Product Rev Syntax lt a_ gt ECHO lt b gt Aries 1 0 Units b enable bit Range disable or 1 enable Default 1 Response ECHO lt gt 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 obvious effect You will always see the characters that you type echoed on the screen Only after you send a command delimiter carriage return or line feed is a command line sent to the Aries drive ENCFLT Maximum pre quadrature encoder frequency Type Drive configuration Product Rev Syntax lt a_ gt ENCFLT lt i gt Aries 3 0 Units None Range 0 1 02MHz 1 2 67MHz or 2 5MHz Default 0 Response ENCFLT lt gt 0 See Also None For increased noise immunity rotary motors have increased filtering on the encoder input The maximum input frequency in 1 02 MHz pre quadrature for 126 Aries User Guide Parker Hannifin rotary motors by default If a linear motor is configured the drive sets a 2 67 MHz pre quadrature maximum input encoder frequency by default The ENCFLT command increases the default maximum pre quadrature encoder frequency from 1 02 MHz to 2 67 MHz or 5 MHz This allows users to take advantage of the higher input frequency if necessary at the expense of some noise immunity Note This command does not take effect until you cycle power to the drive or send the RESET command E
92. RESET e TDTEMP measured temperature of the drive in centigrade e TMTEMP estimated temperature of the motor in centigrade e TVBUS measured bus voltage in volts CMDDIR_ Direction of Rotation Type Drive Configuration Product Rev Syntax lt a_ gt CMDDIR lt b gt Aries 1 0 Units b enable bit Range CW rotation for positive analog input or 1 CCW rotation for positive analog input Default Response CMDDIR lt gt See Also ANICDB DCMDZ DMTSCL DRES ENCPOL IANI TANI The CMDDIR command determines the direction of shaft rotation or direction of travel for linear motors for positive analog input The default is clockwise shaft rotation for a positive command Sending a CMDDIR1 command changes the direction to counter clockwise In addition the encoder counts positive for counter clockwise rotation with CMDDIR1 Note This command does not take effect until you cycle power to the drive or send the RESET command 98 Aries User Guide CONFIG Type Syntax Units Range Default Response See Also Parker Hannifin Rotary Motors Positive values represent clockwise motion and negative values represent counter clockwise motion assuming CMDDIR and that you connected the feedback device Cockwise Courter clockwse according to instructions provided in Chapter 2 Mechanical Installation and Chapter 3 Electrical Installation positive counts negative counts
93. RLG The TDHRS command reports the lifetime number of hours that the Aries drive has had power applied AC mains or Control power TDICNT Transfer Continuous Current Rating Type Transfer Product Rev Syntax lt a_ gt TDICNT Aries 1 0 Units Amps rms Range Drive Dependant Default N A Response TDICNT lt gt 1 See Also DMTIC DMTICD DMTIP TCI TDIMAX The TDICNT command reports the continuous current rating of the drive in amps rms 146 Aries User Guide Parker Hannifin TDIMAX Transfer Maximum Current Rating Type Transfer Product Rev Syntax lt a_ gt TDIMAX Aries 1 0 Units Amps rms Range N A Default N A Response TDIMAX lt gt 1 See Also DMTIC DMTICD DMTIP TCI TDICNT The TDIMAX command reports the maximum current rating of the drive in amps rms TDMIN Transfer Operating Minutes Type Transfer Product Rev Syntax lt a_ gt TDMIN Aries 1 0 Units Minutes Range to 59 Default N A Response TDMIN lt gt 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 TDSEC Transfer Operating Milliseconds Type Transfer Product Rev Syntax lt a_ gt TDSEC Aries 1 0 Units Milliseconds Range to 59999 Default N A Response TDSEC lt gt 35678 See Also TDHRS TDMIN The TDSEC command reports the milliseconds portion of the lifetime operating hours that the
94. See Also DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and E6 Resistance and shuts down the drive For a list of automatically configured commands see DMTR The DMTRES command sets the motor winding resistance This resistance value is measured 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 cable from the drive before attempting to make this measurement For best accuracy and to avoid injury this measurement must be made with the motor cable disconnected from the drive DMTRWC Motor Winding Thermal Resistance Type Motor Product Rev Syntax lt a_ gt DMTRWC lt r gt Aries 1 0 Units r Degrees Celsius Watt C W Range to 16 00 1 Default 58 Response DMTRWC lt gt 23 6 See Also DMTR DMTTCM DMTTCW 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 Supp
95. See Also DPWM The TSSPD command reports the current PWM update period in microseconds This is not the current loop update rate which is fixed at 62 5 US 152 Aries User Guide Parker Hannifin TTRQ Transfer Commanded Torque Force Type Transfer Product Rev Syntax lt a_ gt TTRQ Aries 1 0 Units Newton Meters Rotary or Newtons Linear Range DMTLIM TO DMTLIM 1 Default N A Response TTRQ lt gt 1 2 See Also DMODE DMTLIM DMTSCL TTRQA The TTRQ command reports the commanded motor torque force TTRQA Transfer Actual Torque Force Type Transfer Product Rev Syntax lt a_ gt TTROA Aries 1 0 Units Newton Meters Rotary or Newtons Linear Range Rotary motor to 5 motor drive dependent O 1 Linear motor DMEPIT electrical pitch dependent Default N A Response TTROA lt gt 1 26 See Also DMTKE DMTLIM DMTSCL TTRQ The TTROQA command reports the calculated torque force based on the motor s current and the motor s Ke The measured motor s Ke value may vary by 10 Therefore the TTRQA may vary by 10 of the actual torque at the motor TVBUS Transfer Bus Voltage Type Transfer Product Rev Syntax lt a_ gt TVBUS Aries 1 0 Units Volts Range N A Default N A Response lt gt 170 45 See Also ERROR STATUS The TVBUS command reports the DC bus voltage available from the drive in Volts Chapter 6 Command Reference 153 Parker Hannifin TVEL Transfer
96. Tool Then download the configuration file to the new drive 6 Remove power to the drive The drive can now be installed in the multi drop network Sending Commands to a Specific Unit You can send 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 example 3_ ERES4 sets the encoder resolution to 4000 for unit 3 The master unit can receive data from any unit in the network Note Make sure you can access each unit on the network See Setting up Drives for a Multi Drop Network on page 76 RS 232 485 Dongle for Communications Setup The Aries Dongle is a Y cable part number 71 021609 01 that breaks out the RS 232 485 portion of the DRIVE I O cable so that you may simultaneously communicate with the Aries Drive while it is also connected with a motion controller Note When using the Aries Dongle you must use a null modem cross over cable between your PC and the Aries drive Caution The dongle is designed for setup and troubleshooting purposes only Do not use the dongle in a permanent installation it does not meet EMC requirements Chapter 4 Communications 77 CHAPTER FIVE Tuning IN THIS CHAPTER Servo Tuning Overview Position Variable Overview Servo Response Overview Servo System Gains Servo Tuning Example Parker Hannifin Servo Tunin
97. 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and E5 DPOLE and shuts down the drive For a list of automatically configured commands see DMTR The DPOLE command sets the number of motor pole pairs The number of pole pairs is defined as the _ P number of poles P divided by 2 or P 2 The a3 gt ae electrical frequency of the current We is related to the mechanical speed wm of the motor by the pole pairs The equation right shows this relationship Note All linear motors regardless of the number of stator poles are considered one pole pair DPOLE1 machines DPWM Drive PWM Frequency Type Drive Configuration Product Rev Syntax lt a_ gt DPWM lt i gt Aries 1 0 Units i kHz Range 16 or 32 16 only for models AR 20xE and AR 30xE Default 16 use the drive s default frequency Response DPWM lt gt 16 See Also STATUS Note This command does not take effect until you cycle power to the drive or send the RESET command Use the DPWM command to select the drive s PWM frequency This value is the internal PWM frequency as seen at the motor windings the motor rippl
98. a 6 PitGh i erisha 0 200 in 5 08 mm Wire range ceee 12 26 AWG EEEE A 14 27 SWG Wire strip length 0 310 in 8 mm Torque 7 0 in lbs nom 0 79 N m AR 20xE AR 30xE Connector Type sssessseesseeeseresrreserrsrereee Non Removable screw terminal Terminals iiine 10 PIC ean eet 0 315 in 8 mm Wire range eee 10 22 AWG ini E E 12 23 SWG teh TTE 0 5 4 0 mm Wire strip length 0 25 in 6 5 mm Torque 7 0 in lbs nom 0 79 N m Chapter 3 Electrical Installation 43 A Parker Hannifin Output Power Connection Figure 17 shows how to connect the motor cable to the drive Use the screw terminal connector that is installed in the drive Current Parker motor cables are marked with white numbers to indicate the phases Connect Motor Phase 1 gt U 2 gt V and 3 gt W and Motor Safety Earth to the Protective Earth ground connector AR 01xE to AR 13xE AR 20xE amp AR 30xE MOTOR rr O Motor Phase U Motor Phase 7 z u Motor Phase Motor Phase v Vv Motor Phase w Motor Phase MOTOR Motor Safety Earth Ei na w Motor Safety Earth BK 7 4 BK O U L2 MOTOR INPUT L3 POWER Dee DC LINK INDUCTOR piz Figure 17 Output Power Connection Table 18 contains information for making connections with Parker Hannifin motors U Red Yellow V 2 White Yellow Black W 3 Black Yellow Blue EE Green Yellow Green Yellow Green Table 18 Wiring to Motors Note On models AR
99. ack cables are wired correctly 3 Apply power to the Aries drive a Send the SFB command It should report 5 If the response is not lt gt 5 then check the feedback cable if using a non Parker cable check that it is correctly wired If the cable is correctly wired and connected the problem might be the encoder b Send the THALL command It should report a number in the range of 1 6 which indicates the phase wires are connected correctly If the response is or 7 a fault exists Check the motor phase wiring Chapter 7 Troubleshooting 163 Parker Hannifin c Send the TPE command and turn the motor shaft Verify the encoder is counting in the correct direction Turning the shaft clockwise results in positive encoder counts If not check the encoder feedback wires and reset the drive Note The CMDDIR is fixed for smart encoders To invert the direction use IANI1 however for the ACR9000 do not use IANT1 Hall Sensor Configuration Troubleshooting This section can help resolve a Bad Hall State error Use the Troubleshooting Checklist below to determine the cause of the error This section will assist you in resolving a Hall fault ERROR bit E37 Bad Hall State Several problems can cause a Hall fault The following list will help identify these problems Troubleshooting Checklist 1 Does THALL report either 0 or 7 If yes see Problem 1 or 2 below Does THALL change if you move the motor by
100. afety measures may be required within your particular market please consult you local regulatory agency for additional requirements A Highly Ilmmune Low Emission Installation Meeting the Requirements of the Electromagnetic Compatibility EMC Directive The following information was compiled to aid the machine builder or systems integrator in gaining EMC compliance For effective control of Conducted and Radiated Emissions along with maximizing the Aries Drive s inherent noise immunity the following recommendations should be followed A drawing of a typical EMC installation is shown below e Mount the Drive and all components to a clean not painted earthed metal panel Important 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 surface and RF earth bonding locations If you mount the Aries drive in an equipment cabinet terminate cable braids screens at the entrance of the enclosure This can be easily accomplished using the additional EMC installation hardware shown below The only exception is for the motor braid which must return to the drive s R Clamp located on the bottom of the Aries drive Do not return the motor braid to any other location its function is to return high frequency chopping current back to the drive This may require mounting the connector on a su
101. al understanding of the following e Motion control applications e Electromechanical actuators e Electrical concepts such as voltage current switches etc e Serial Communication RS 232 or RS 485 depending on which communications protocol you are using Technical Support For solutions to your questions about implementing the Aries Drive first refer to this manual If you cannot find the answer in this documentation contact your local Automation Technology Center ATC or distributor for assistance If you need to talk to our in house Application Engineers please contact us at the telephone numbers listed on page 2 20 Aries User Guide CHAPTER TWO Mechanical Installation IN THIS CHAPTER Environment amp Drive Cooling Dimensions Parker Hannifin Environment amp Drive Cooling The Aries drive operates in an ambient temperature range of 0 C 32 F to 45 C 113 F ambient air temperature for all models except the AR 13xx The AR 13xx operates in an ambient temperature range of 0 C 32 F to 40 C 104 F ambient air temperature The drive can tolerate atmospheric pollution degree 2 Only dry non conductive pollution is acceptable Therefore it is recommended that the drive be mounted in a suitable enclosure For drive cooling you must install the drive so that the heatsink fins are vertical Figure 8 on page 31 shows the mounting orientation as well as the minimum top bottom and side installation
102. al power dump resistance Ohms V voltage across the resistor Vrap l current through the resistor drive current required to decelerate the load AMPS ms Vrrip power dump trip DC voltage 400 volts for Aries drives k motor force constant N AMPrms Mr mass of forcer in kilograms kg M load mass in kilograms kg tp deceleration time Seconds v velocity in meters per second m s Peak Dissipation During a single deceleration all the calculated power dump energy ER must dissipate in the external resistor The external power dump resistor then slowly dissipates that energy as heat This peak power must not exceed the capabilities of the resistor which is typically 10 times the average power rating Appendix B External Power Dump Resistor Selection 187 Parker Hannifin Er Pprak tp Where PPEAK peak power into the external power dump resistor Watts ER energy to be dissipated in the external resistor Joules tD deceleration time Seconds Average Dissipation Repetitive moves need to dump the energy each time the deceleration occurs The duty cycle of this repetition determines the average power the resistor must dissipate This average power must not exceed the capabilities of the resistor Power resistors are rated based on ideal heatsink and airflow conditions and are therefore often over rated by the manufacturers To ensure the average energy dissipation of the resistor exceeds the average po
103. ameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and E3 Maximum Inductance and shuts down the drive For a list of automatically configured commands see DMTR The DMTIND command specifies the maximum value of motor inductance This usually differs from the nominal nameplate value because actual inductance is usually position dependent If the maximum value of motor inductance is not known specify the nominal inductance as listed on the motor s nameplate Chapter 6 Command Reference 107 Parker Hannifin DMTINF Motor Inductance Factor Type Motor Product Rev Syntax lt a_ gt DMTINF lt r gt Aries 1 0 Units r units Range G GO to 1 80 Default 1 Response DMTINF lt gt 1 00 See Also CONFIG DMTIND DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and E3 Maximum Inductance and shuts down the drive For a list of automatically configured commands see DMTR The DMTINF command specifies the minimum motor inductanc
104. ases 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 finite resolution the velocity accuracy has a limit Therefore if the velocity feedback gain SGV is too high the errors due to the finite resolution are magnified and a noisy or chattering response may be observed Velocity Feedforward Gain Tuning Product Rev lt a_ gt lt gt SGVF lt i gt Aries 2 0 N A O 500 100 SGVF SGVF1 DMTD LJRAT Use the SGVF command to set the velocity feedforward gain Velocity feedforward control improves position tracking performance when the system is commanded to move at constant velocity The velocity tracking error is mainly attributed to viscous friction The SGVF value is multiplied by the commanded velocity calculated by the Aries drive s move profile routine to produce an estimated torque command that gets added to the servo control signal The value is normalized to the current setting of both the motor and load viscous damping terms DMTD as shown in the equation below Estimated velocity torque DMTD velocity command SGVF value 100 Setting SGVF to one 1 theoretically produces zero 0 following errors during the constant velocity portion of a move profile This assumes that the drive or motor are not being current limited the values for viscous damping are accurate and the
105. ater than 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 BK terminal of the Motor connector on Aries models AR 01xx to AR 13xx or the Control connector on models AR 20xE and AR 30xE 2 Connect the second red blue brake wire Parker Motor cable or equivalent to the 24V return on your power supply 3 Connect the 24 VDC power supply to the second BK terminal of the Motor connector on Aries models AR 01xx to AR 13xx or the Control connector on models AR 20xE and AR 30xE The following shows a typical application connecting a motor brake to the relay terminals Power Supply 5VDC BK 24VDC 24V Return Red Blue Wire BK Red Blue Wire De Cable Aries Drive DNS fraa Wire a Wire Figure 23 Brake Relay Connection for Parker Motors Chapter 3 Electrical Installation 51 Parker Hannifin Motors without Full Wave Rectifiers When using Parker MaxPlus motors Parker motors with serial numbers less than 010904xxxxx or non Parker motors you must install a fly back diode Consult the specifications or the manufacturer of your motor Connecting the Brake Relay 1 Connect one red 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
106. ation To keep it simple the formulas assume a trapezoidal move profile in which the deceleration event is a single constant deceleration to zero 0 velocity For other motion profiles you can modify the basic concepts presented below Calculating the amount of energy to dissipate requires the motion profile parameters and the motor drive and load information While significantly more information is required the calculations help tailor the size of power dump resistor to your application This is a multi step process Calculate the motor s kinetic energy Calculate the motor s potential energy vertical applications only Calculate the energy that can be absorbed by the drive capacitors Calculate energy dissipated in the motor winding resistance Calculate energy dissipated in load Da OW Ps GO INS 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 necessary to dissipate the excess energy Total Kinetic Energy A body in motion produces energy To stop motion that energy must be absorbed or dissipated elsewhere That energy can be defined in terms of mass and velocity Ex 4 M M v Where Ex rotational kinetic energy Joules Mr _ mass of forcer in kilograms kg M mass of load in kilograms kg v velocity in meters per second m s Total Potential Energy A body a
107. b panel insulated from the main cabinet or using a connector having an insulated internal screen from the connector housing The shields of all other cables that enter or exit the enclosure must be RF bonded to the enclosure entrance point using an R Clamp bulkhead clamshell clamp or other 360 bonding technique This ensures that no stray noise will enter or exit the enclosure The following drawing illustrates 360 bonding techniques 192 Aries User Guide Enclosure Panel Parker Hannifin R Clamp Remove outer jacket only Do not cut braid Clamshell Clamp Clamshell Clamp Kit Enclosure Panel Cable Cable Figure 52 360 Bonding Techniques All braid termination connections must remain secure For small diameter cables it may be necessary to fold back the braid to increase the effective diameter of the cable so that R Clamps are secure Within the cabinet itself all the motor cables should lie in the same trunking as far as possible Keep the cables separate from any low level control signal cables This applies particularly where the control cables are unscreened and run close to the drive There must be no break in the 360 coverage that the screen provides around the cable conductors A steel equipment cabinet will screen radiated emissions provided all panels are bonded to a central earth point Separate earth circuits are commonly used within equipment cabinets to minimize the interaction betwe
108. ble 15 lists part numbers at time of publication for suitable fuses from several manufacturers These fuses are type RK5 time delay fuses FRN R 10 TR10R FLNR10 20 FRN R 20 TR20R FLNR20 30 FRN R 30 TR30R FLNR30 40 FRN R 40 TR40R FLNR40 Table 15 Fuse Part Numbers Drive Inrush Current The drive inrush current is limited by an internal thermistor that changes 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 16 120 VAC AR 01xx 240 VAC 68A 146A 120 VAC 34A 173A AR 02xx 240 VAC 68A 146A 120 VAC 17A 36A AR 04xx 240 VAC 34A 173A 120 VAC 17A 36A AR 08xx 240 VAC 34A 173A 120 VAC 17A 36A AR13xE 240 VAC 34A 173A AR 20xE 240 VAC 68A 155A AR 30xE 240 VAC 68A 155A Table 16 Drive Motor Power Inrush Current 42 Aries User Guide Parker Hannifin Output Power Table 17 contains the continuous and peak output power ratings for all Aries drive models 100 3 0 300 AR 01xx 1 0 AR 02xx 1 75 200 5 25 600 AR 04xx 3 0 400 9 0 1200 AR 08xx 4 5 750 13 5 2250 AR 13xx 6 3 1300 14 1 3900 AR 20xE 10 2000 30 6000 AR 30xE 16 3000 48 9000 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 cccccceeeeeeseeeeeteees Removable screw terminal TOrmiallS aian
109. ble enclosure Aries products are made available under Restricted Distribution for use in the Second Environment as described in EN 61800 3 1996 page 9 This means only those individuals familiar with the EMC requirements of power drive systems should install this product and that this product is designed for connection to mains distribution networks other than low voltage networks which may supply domestic premises The drives can tolerate atmospheric pollution degree 2 which means only dry non conductive pollution is acceptable Aries drives have been shown to meet the requirements of both the European LVD amp EMC directives when installed according to the recommendations given within this section It is recommended the drive be installed in an enclosure to protect it from atmospheric and industrial process contaminants and to prevent operator access while it has power applied Metal equipment cabinets 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 when the cabinet door is opened Do not arrange interlocks to open circuit the motor phase connections while the system is still powered as this could cause damage to the drive Precautions During installation take the normal precautions against damage caused by electrostatic discharges Wear earth wrist straps A switch or circuit breake
110. bles the current foldback feature in the drive However a drive in foldback mode can limit the motor s available torque which may increase position error and possibly cause a position error fault 3 Use a larger Aries amplifier which would be capable of higher current outputs The bus voltage is too high gt 410 VDC Lower the AC Mains voltage and check for excessive regeneration power TVBUS The bus voltage is too low lt 85 VDC or there is overly aggressive acceleration or deceleration Raise the AC Mains voltage TVBUS Drive current was limited to prevent overheating warning only See DIFOLD Check the Regeneration resistor for a short Wait for the drive to cool down TDTEMP The motor thermal model has determined the motor is too hot Wait for the motor to cool and then re enable the drive TMTEMP Motor thermal switch has tripped Wait for the motor to cool and then re enable the drive TMTEMP A problem with the Hall sensors exists Check the Hall state wiring THALL Feedback not present or the signal level is incorrect TPE THALL Parker Hannifin E39 Drive Disabled E4 PWM Not Active E41 Power Regeneration Warning E42 Shaft Power Limited Warning E43 Excessive Speed at Enable E44 Excessive Position Error E45 Excessive Velocity Error E46 Hardware Enable E47 Low Voltage Enable E48 Control Power Active E49 Alignment Error E50 Flash Error E51 Res
111. cation they will work in most situations Appendix B External Power Dump Resistor Selection 175 Parker Hannifin SM162Z BRK 100R 10 L2 4 AR 01xx 240 BE164B See note1 SM162Z See note1 SM161A See note1 SM162A See note1 120 SM230A See note1 AR 02xx SM231A 47 200 BRM 47R0 10 L2 4 SM232A 47 200 BRM 47R0 10 L2 4 BE230D See note1 240 BE231D See note1 SM233A 47 200 BRM 47R0 10 L2 4 BE232D See note AR 04xx 240 BE233D See note BE233F See note BE230F See note1 120 BE231F See note1 BE232F See note1 BE341F See note1 AR 08xx BE342H See note1 240 NO702F 22 300 BRQ 22R0 10 L2 4 NO703F 22 300 BRQ 22R0 10 L2 4 NO704F 22 300 BRQ 22R0 10 L2 4 BE344L 22 300 BRQ 22R0 10 L2 3 4 AR 13xx 240 MPM1141ASG 22 300 BRQ 22R0 10 L2 3 4 SMN1002S2F KPN 22 300 BRQ 22R0 10 L2 3 4 1141BSG 8 800 IRP20008ROJ2 4 AR 20xE 240 1142BSG 8 1100 IRP30008ROJ2 4 1421BSG 8 1100 IRP30008ROJ2 4 1142ASG 8 1800 IRP60008ROJ2 4 AR 30xE 240 1143ASG 8 1800 IRP60008ROJ2 4 1901BSG 8 1800 IRP60008ROJ2 4 1 External power dump resistor not needed However higher operating voltage higher load to rotor inertia ratio and higher duty cycles can increase the need 2 Higher friction loads lower speeds lower deceleration rates lower load to rotor inertia ratio and lower duty cycles can decrease the need for this resistor 3 Minimum resistance allowed for AR 13 is 22 Ohms therefore the maximum deceleration rate and or duty cycle may n
112. cceceeeeeeeeceeceeeeeeeeeeseeneeeeeeeeeteees 28 Table 11 AR 01xx AR 02xx amp AR 13xx Drive DIMENSIONS ccceceeeeeeceeeeeeaeeeeeeeeeeneeeees 29 Table 12 AR 20xE and AR 30xE Drive Dimensions cccccceceeeeeeeececeeeeeeeseeeeaeeeeeeeeens 30 Fable 1 3 Drive Weight sc tect an Er an ee eaten lead 30 Table 14 Motor Power Fuse Information cccccecceeeeeeeeeeeceeeeeeeseceaeaeceeeeeeeeseteeceeeeeeeeetens 41 Table 15 Fuse Part NUMDEfPS cc ccccceeeeeeeeeee aces ce eeeececeaaaaeaeceeeeesesesacaeceeeeeeeeeeeananeeeeeress 42 Table 16 Drive Motor Power Inrush Current 0 cccceeeeeeeceeceeeeeeeeeceneaeeeeeeeeeeseseeneneeeeeeeetees 42 Table 17 Output Power Continuous and Peak cccccceeeeecceececeeeeesecencaeceeeeeeesensucnanaeeeeeees 43 Table 18 Wiring t Motors 4 02 ci b sire see cubes iets eee tian ted tists ee 44 Table 19 AR 20xE amp AR 30xE DC Link Inductors ececeeeeececeeeeeeeeeceeeceeeeeeeeeeteenneeeeeeeeteees 45 Table 20 Brake Relay Operation 0 ccccccccceeeeeeeeeeeeeeeeeeeeeeeneeeeeseeeaeeeeseeeaeeeseeaeeeseeaeeeseeneaeees 53 Table 21 Regeneration Absorption 0 0 ccc ccceeeeeee cence eee eeeeeeeeeeeeeeeeeeeeaeeeseeeeeeeseeaeeeseeaeeeeseeaeees 55 Table 22 LED Status Indicator Normal Operation c ccccceceeeeeeeeceeceeeeeeeeseteecieeeeeeeeetees 56 Table 23 LED Status Indicator Internal Drive Fault cccccccceceeeeeeeece
113. cent approximately 0 85 Eprive efficiency of Aries drive Percent approximately 0 90 Chapter 2 Mechanical Installation 27 Parker Hannifin Dimensions There are three basic housing sizes for the Aries drives However the height of the heatsink fins varies with each model except for the AR 20xE and AR 30xE whose dimensions are identical This section contains the dimensions for all Aries models Drive Dimensions A R 01xx amp AR 02xx ow Overall Width 2x Clearance for 8 or M4 Mounting Screws 152 8 R Clamp for Motor Cable Braid Grounding Figure 5 Drive mounting for the AR 01xx amp AR 02xx AR 01xx 0 01 0 25 2 29 58 2 7 60 193 0 AR 02xx 0 375 9 5 2 65 67 3 7 60 193 0 Table 10 AR 01xx and AR 02xx Drive Dimensions 28 Aries User Guide Parker Hannifin Drive Dimensions A R 04xx AR 08xx amp AR 13xx Overall Width 2x Clearance for 8 or M4 Mounting Screws 0 51 12 9 178 2 me R Clamp for Motor Cable Braid Grounding Figure 6 Drive mounting for the AR 04xx AR 08xx and AR 13xx 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 01xx AR 02xx amp AR 13xx Drive Dimensions Chapter 2 Mechanical Installation 29 Parker Hannifin Drive Dimensions AR 20xE amp AR 30xE 55 2 4 10 21 259 3 10 51 267 eeeseeeeeeese lt
114. citors release that potential energy in subsequent accelerations or into typical drive losses If too much 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 terms of capacitance and voltage me Na C 2 TRIP NOM Where Ec energy that can be absorbed by the drive capacitors Joules C drive capacitance Farads Vrrip power dump trip DC voltage 400 VDC for Aries drives Vnom nominal DC motor voltage typically AC mains voltage at 2 for example 120 VAC J2 170 VDC Fortunately for a given drive the capacitance and voltages are fixed Table 58 provides the needed information and results from the above calculation 178 Aries User Guide Parker Hannifin 400 28 9 AR 01xx 440 AR 02xx 660 400 43 14 AR 04xx 880 400 57 19 AR 08xx 1100 400 72 24 AR 13xx 1590 400 104 35 AR 20xE 2240 400 N A 50 AR 30xE 2240 400 N A 50 When the voltage drops below 385 VDC the Aries drive stops dissipating power through the power dump resistor Table 58 Drive Capacitor Absorption Energy Dissipated in Motor Winding Resistance Some energy is dissipated in the motor windings Because the energy is converted to wasted heat in the motor it is referred to as copper losses The energy during deceleration can be derived from the inertia deceleration rate motor resistance and motor to
115. clearances The Aries AR 20xE and AR 30xE models 2 and 3 kWs employ internal fans for additional 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 in the top of the drive Fan speed is temperature dependent in order to minimize audible noise and extend fan operating life Notes e Avoid installing heat producing equipment directly below a drive e Make sure the ambient air temperature entering the drive or rising up to the drive is within acceptable ambient temperature limits Under normal use the temperature of air leaving the drive and heatsink may be 25 C 45 F above ambient temperature e After installation verify that the ambient air temperature directly below the top most drive does not exceed the maximum Ambient Air Operating Temperature shown below In addition make sure that nothing obstructs the circulating airflow 22 Aries User Guide Parker Hannifin Ambient Air 45 C 113 F Minimum 0 C 32 F 40 C to 85 C 40 F to 185 F 0 to 95 non condensing 15g 11 ms half sine 10 to 2000 Hz at 2g 2 per IEC 61010 2 per IEC 61010 Table 4 Environmental Specifications AR 01xx through AR 08xx AR 20xE and AR 30xE Ambient Air 40 C 104 F Minimum 0 C 32 F 40 C to 85 C 40 F to 185 F 0 to 95 non condensing 15g 11 ms half sine 1
116. coder used with the servo motor The ERES command establishes the number of counts post quadrature per unit of travel For example Parker s SM and NeoMetric Series motors with the E encoder option use 1 000 line encoders and therefore have a 4 000 count rev post quadrature resolution requires ERES4 If the encoder is mounted directly to the motor the Aries resolution ERES value must match the encoder s resolution to ensure that the motor will move according to the programmed distance and velocity Resolutions for Parker Encoders Servo axes BE Series Servo Motors BExxxxJ xxxx ERES8000 uel ovubiwus e Locwande sayeauteicveanwesudvaatghoceeevieievn BExxxxL xxxx ERES20000 SE SM N or J Series Servo Motors SE SM N JxxxxD xxxx ERES2000 eyes eet aude fete eect ees esse eerie ete SE SM N JxxxxE xxxx ERES4000 MPM Series eniinn MPMxxxxxxxxJMxx ERES4000 pial TETE MPMxxxxxxxxJNxx ERES8000 128 Aries User Guide ERROR Type Syntax Units Range Default Response See Also Parker Hannifin MPMxxxxxxxxJLxx ERES10000 MPMxxxxxxxxJPxx ERES12000 MPMxxxxxxxxJQxx ERES20000 MPMxxxxxxxxJTxx ERES24000 MPMxxxxxxxxJXxx ERES4096 MPMxxxxxxxxJYxx ERES8192 MPMxxxxxxxxJZxx ERES 16384 Note Motors with the Smart Encoder option set ERES automatically Changing the ERES value may cause unpredictable motor responses Note ERES is fixed at 4096 for Aries drives with Resolver option
117. constant Ke by the following relationship Kt Nm A 343 2007 RMS 0 peak value Kt N A 3V3 xevolts meter I sec Linear motors 2007 RMS 0 peak value Note The Aries requires values in rotary units The Aries Support Tool automatically performs these conversions when you use the Configuration Wizard If you do not use the Configuration Wizard you must convert your linear units to rotary units For more information about conversion see the DMEPIT command Ke Volts krpm Rotary motors 110 Aries User Guide DMTLIM Type Syntax Units Range Default Response See Also Parker Hannifin Torque Force Limit System Product Rev lt a_ gt DMTLIM lt r gt Aries 1 0 Rotary motor r Nm Linear motor r N Rotary motor to 58 motor drive dependent O 1 Linear motor DMEPIT electrical pitch dependent 4D D DMTLIM lt 310 5 DMODE DMTIP DMTKE DMTR DMTSCL TTRQ TIROA 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 non Parker motors or sent an RFS command 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 DMTLIM command sets a maximum torque force limit for the system Requests for higher torque force will be
118. dback cable next to high voltage cables for example strapped to motor power cables Procedure 1 Use this procedure to connect your motor wires to the Aries 1 With the motor s feedback cable connected to the Aries drive randomly connect two motor power wires and slowly apply a positive voltage with respect to the third Note A variable low voltage 5 to 24V current limiting less than continuous current rating of motor power supply is preferred Warning This procedure could damage the motor Slowly increase the voltage until the motor moves Do not exceed the rated current Safety Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller 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 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 Repeat step 1 until THALL reports a value of 6 4 The wire on the negative voltage or ground is motor wire W The two wires at the positive voltage are U and V Now there are two possibilities a Connect the motor wires to the terminals Operate the drive in DMODE1 If the motor does not turn in the clockwise direction exchange motor wires U and V Verify that the CMDDIR command is s
119. e current is twice this frequency In general for a given drive power level the higher the switching frequency the lower the motor ripple current heating and the lower both the peak and continuous current ratings 124 Aries User Guide Parker Hannifin DRES Drive Resolution Type Drive configuration Product Rev Syntax lt a_ gt DRES lt i gt Aries 2 10 Units i Input Step Resolution Range 200 to 10737141823 Default 4000 Response DRES lt gt 0 See Also CMDDIR DMPSCL The DRES command is only used in step and direction mode DMODE6 and 7 Input steps will be scaled to the DRES value so DRES steps on the input would translate to one revolution of the motor DRES is set to ERES internally if DMPSCL is non zero for backward compatibility with operating system 2 0 DMPSCL should be set to 0 a new option in OS 2 10 to enable DRES support Note This command requires a reset to take effect DMPSCL changes are immediate so it is possible to enable DRES support then enable DMPSCL and have both features working at once DRIVE Drive Enable Type Drive Configuration Product Rev Syntax lt a_ gt DRIVE lt b gt Aries 2 0 Units b enable bit Range l enable or disable Default Response DRIVE lt gt See Also ERROR The DRIVE command allows you to enable or disable shut down the drive If the hardware enable input is closed on power up the drive is automatically enabled
120. e ALIGN command did not complete successfully TPE THALL E50 Flash Error A problem writing to non volatile memory exists RFS E51 Resolver Error A problem determining the correct resolver angle exists Applies to Arxx xR models only Check the resolver feedback wiring E52 Encoder Loss Fault The drive determined there was loss of feedback Check the feedback wiring TPE THALL Table 46 Error Status Text Based Report Error Log Selection Error Handling Product Rev lt a_ gt ERRORL lt b gt lt b gt lt b gt lt b gt 32 bits Aries 1 0 b enable bit disable or 1 enable Us Ue ip pa pa a Us iia LeU Kea KD ERRORL lt gt CGOWO DOOD POCO GOOG bit 15_4 A_ pit CERRLG ERROR TERRLG Use the ERRORL command to choose the conditions that will be included in the error log When an error log bit is enabled ERRORL11 11 the operating system will respond to a specific execution error by making an entry in the error 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 p is either one 1 to enable or zero to disable Use the TERRLG command to view the error log Use the CERRLG command to clear the error log Chapter 6 Command Reference 131 ESTORE Type Syntax Units Range Default Response See Also Parker Hannifin oO DAN DW oO
121. e divided by the maximum motor inductance Setting DMTINF to 1 does not derate the motor If the minimum value of the motor inductance is not known use the nominal inductance as listed on the motor s nameplate or set DMTINF1 DMTIP Peak Current Type Motor Product Rev Syntax lt a_ gt DMTIP lt r gt Aries 1 0 Units r Amps RMS Range to 4 O G1 Default DMTIP of results in motor configuration warning Response DMTIP lt gt 7 50 See Also DMTIC DMTICD DMTLIM DMTR 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors E1 Motor Configuration Error and 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 continuous current rating DMTIC or less If DMTIP is set higher than the full scale value calculated by DMTLIM torque force limit the new DMTIP value will be ignored 108 Aries User Guide DMTJ Type Syntax Units Range Default Response See Also Parker Hannifin If the DMTIP value
122. e power to the Aries drive gt Open the Aries Support Tool Then select Operating System Update from the menu and click Reset Drive AR 01xx AR 02xx AR 04xx 75 C 167 F AR 08xx and AR 13xx AR 20xE and AR 30xE 85 C 185 F Table 54 Reset Temperature Values Under Voltage Protection The Aries drive s under voltage protection circuit monitors AC input voltage If the voltage falls below a specific value while the drive is operating the drive issues an under voltage fault and turns off power to the motor output terminals MOTOR connector This allows the motor to freewheel to a stop Warning When an under voltage protection fault occurs the drive disables power to its motor output terminals on the Motor connector This cuts all control to the motor and allows the load to freewheel to a stop Threshold Voltage AR 01xx AR 02xx AR 04xx AR 08xx ANd AR 13XX cceeeeeeeeeee ee ees Voltage below 70 VAC trips fault AR 20xE and AR 30XE nsen Voltage below 160 VAC trips fault Results of Fault Power to motor is turned off Fault output is activated Yellow Red Table 55 LED Under Voltage Fault Resetting the fault To clear the latched fault choose one of the following methods gt Cycle power to the Aries drive gt Open the Aries Support Tool Then select Operating System Update from the menu and click Reset Drive Appendix A Additional Specifications 171 Parker Hannifin Over Voltage Protection
123. e the first hall transition has occurred When using OHALL 1 turn off feedback auto detection by setting SFB to 2 There are application limitations to observe when using OHALL4 Hall less commutation startup When the Aries drive is enabled with OHALL4 set the motor is moved slightly in open loop mode and encoder position is monitored to determine the rotor s position in relation to the stator or forcer coil in relation to the magnet track for linear motors For this reason OHALL4 will not work in vertical applications or applications with heavy loads and or high frictional loads If the motor has trouble turning smoothly with the drive in auto run mode DMODE 1 that is a good indication that OHALL4 will be unsuccessful 136 Aries User Guide Parker Hannifin OUTBD Output Brake Delay Type Output Product Rev Syntax lt a_ gt OUTBD lt i gt Aries 1 0 Units milliseconds Range D 10500 Default Response OUTBD lt gt 25 See Also none The OUTBD command specifies the amount of time that the brake relay will remain asserted after the current is applied to the motor windings when the drive is enabled This allows torque to build up in the motor while the fault output is still high This is important in vertical applications where the motor must be able to support the load before the brake is released P163 Hall direction P163 Type Drive configuration Product Rev Syntax lt a_ gt P163 lt i gt Aries 1 0 Units
124. eceeeeeeeeeeeeeneeeeeeeeeteees 56 Table 24 MOTOR FEEDBACK Connector PinOUL ccceceeeeeeeeeeeceeeeeeesecccaeceeeeeeesenennnineeeeeeees 63 Table 25 Inputs Encoder Inputs Electrical Timing Characteristics ccceeeeeeeeeeeeeees 63 Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option c ceeseeeceeeeteeeeees 66 Table 27 Resolver excitation ccceccceecceceeeeeeeeeeceneaeeeeeeeeeceeceaeeeeeeesesecceeaeeeeeeeseteenieeeeeeeeeeees 66 Table 28 Fault Output Operation cccccceeceeeeeeeceeeeeeeeeeeceaeeeeeeeeeeeesecsasaeceeeeesesensaceeeeeeeeess 67 Table 29 DRIVE I O Connector PinOut cccccceceesecceceeeeeeeeseceecaeceeeeeeeseceneaeeeeeeeeeesetseninaeeeeeees 69 Table 30 Inputs Enable and Reset Electrical Timing Characteristics 0 ceeeeeeeeeeees 70 Table 31 Outputs Encoder Outputs Electrical Timing Characteristics cceeeeee 70 Table 32 Outputs Fault outputs Electrical Timing Characteristics cccceeceeeeeeeeees 70 Table 33 Inputs Step amp Direction Electrical Timing Characteristics cceceeeeetteee 71 Table 34 Inputs Analog Electrical Timing Characteristics 0 ceccceceeeeeneeeeeetieeeeeenneeeeees 71 Table 35 Terminal Emulator Configuration for RS 232 485 Communication 74 Table 36 RS 232 Connector Pinout 0 ccccceceeeeeecceeceee cece eececaeceeeeeeesececaeceeeeeeeeseesnninaeeeeee
125. eds For example if a torque force sensor produces 2 volts per Newton meter the drive could be scaled to match this by using DMTSCL5 this sets 10V 5 N m 0 5 N m Volt DMTLIM may limit torque force to less than this full scale value Note To configure the drive in torque force mode so that a 10 volt torque force command produces the rated peak current of the drive without reference to motor parameters enter for DMTSCL the result of the following calculation DMTSCL TDIMAX SE lowrec 200 Rotary Motors V krpm Linear Motors V m s peak value Chapter 6 Command Reference 115 Parker Hannifin DMTSWT Motor temperature switch type Type Motor configuration Product Rev Syntax lt a_ gt DMTSWT lt i gt Aries 2 10 Units i motor temp switch type Range 0 Normally closed switch 1 Positive temperature coefficient thermistor 2 Normally open switch 3 Negative temperature coefficient thermistor Default DMTSWTO Response DMTSWT lt gt 0 See Also DTHERM TMTEMP DMTSWT sets the type of motor switch used Values of 0 or 1 behave exactly the same and are interchangeable DMTSWT3 specifies a negative temperature coefficient thermistor In this case TMTEMP reports the higher of the motor thermal model value or the calculated thermistor temperature once the thermistor temperature is above 60 degrees C The drive faults with a motor temperature fault at a thermistor temp of 105 degrees C or the motor thermal model
126. eed to be reduced 4 Isotek resistor or equivalent Table 57 Simplified Selection of External Power Dump Resistor 176 Aries User Guide Parker Hannifin Calculating Resistance Rotary Motors Because there are different types of motion profiles and application specific conditions you may need to modify the results to suit your particular application To keep it simple the formulas assume a trapezoidal move profile in which the deceleration event is a single constant deceleration to zero 0 velocity For other motion profiles you can modify the basic concepts presented below Calculating the amount of energy to dissipate requires the motion profile parameters and the motor drive and load information While significantly more information is required the calculations help tailor the size of power dump resistor to your application This is a multi step process 1 Calculate the motor s kinetic energy Calculate the motor s potential energy vertical applications only Calculate the energy that can be absorbed by the drive capacitors Calculate energy dissipated in the motor winding resistance Calculate energy dissipated in load 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 necessary to dissipate the excess energy AAR WN Total Kinetic Energy A body in motion produc
127. eeeeeaeeeeeeaeeeeeeaeeeeeeneeeeeneaes 196 Table 63 Regulatory Agencies 1 5 c asescedeesscedeedestceteesadeedeqeseeeenaeaecndgeradeedeauessedeessanecnsesneeds 200 6 Aries User Guide Parker Hannifin Table of Figures Figure 1 Cabinet Losses for AR O2xx when connected to a Parker BE231D motor 24 Figure 2 Cabinet losses for AR 08xx when connected to a Parker BE343J motor 4 25 Figure 3 Cabinet losses for AR 13xx when connected to a Parker MPM1421CSJ motor 26 Figure 4 Cabinet losses for AR 30xE when connected to a Parker MPM1422CSJ motor 27 Figure 5 Drive mounting for the AR 01xx amp AR O2XX 0 eeeeceeeeeeeeeeeeeneeeeeeeeeeeeeenaeeeeeenaeeeeneaas 28 Figure 6 Drive mounting for the AR 04xx AR 08xx and AR 13XX c eceeceeeeeteeeeeseneeeeees 29 Figure 7 Drive mounting for the AR 20xE and AR 30XE ccescceeeeseeeeeeeeneeeeeeenaeeeeeenaeeeeneaas 30 Figure 8 Panel Layout Dimensions for Aries DIiveS cccceeeeeeeeeeeeeeeeeeneeeeeenaeeeeeenteeeeneaas 31 Figure 9 Overview of System Installation for AR 01xx to AR 13XX cceeeeeeeeeetteeeeettteeeeeeaes 34 Figure 10 AR 01xx to AR 13xx Factory Installed JUMPEPS 00 eee eeeeeeeeeeeneeeeeeeneeeeeenaeeeeeeaes 35 Figure 11 Overview of System Installation for AR 20xE amp AR 30XE n se 36 Figure 12 AR 20xE to AR 30xE Factory Installed JUMPEIS 0 eeeeeceeeeeceeeeeeeeteeeeeteeeeeeeaees 37 Figure 13 Connectors on Aries Models
128. eeeeee velocity feedback velocity feedforward gain SGVF velocity gain SGV essees SHIP Kitana a a atin short circuit protection esseere software revision level TREV RS space neutral character Index 207 Parker Hannifin specifications additional specifications cccceceeeeeeeeeeeeeeeeees drive 1 0 connector input power connector mains connector MOLOF COMME torai aN motor feedback connector motor feedback resolver e Standard Sna a a a status commanded position TPC ecce 151 commanded velocity feedback device TVEL 154 encoder position TPE eccere encoder position error TPC error log TERRLG full text report STATUS outputs TOUT kiaii aiani T software revision level TREV scncese 152 velocity feedback device TVELA i velocity feedback device error TVER 155 voltage input for ANI TANI nesses 145 switch type motor DMTSWT MOTOR aaa iia a nr erergteorterren tre ree syntax command technical support temperature en drive status TDTEMP ccececcseceeeeeeeeeeeeeeees ENVIFONMENE aa anaana avers E T cats motor status TMTEMP motor winding DMTMAX ee 112 motor ambient DTAMB 08 thermal switch DTHERM ccecce thermal time constant motor DMTTCM torque actual status TTRQA eccere 153 commanded status TTRQ eec 153 limit DMTLIM eiaced acted vcr vcriiccianh nck 111
129. eeeeeeeseaeseseeeeeeeeeseeesesneeeneeeeeeeees 168 ANTL E AE E E RE ce E E E N E A 169 Feedback aioa T a a Ta E a a E A 169 Protective Circuits aucien i E EE nec A a E A 170 Gables sits attentions Pe e HY ats ek te The oats alae a a e is og ER 173 Appendix B External Power Dump Resistor Selection cccccssseesseeeeseeeeeeeeesneesenseeeeeeees 174 External Power Dump Resistor Selection cccccccecsecceceeeeeeeceecaeceeeeeeeeeesecsneaeeeeeeeseseesaees 175 Simplified Resistor Selection ieii e aaa e e a aaan a aeaa ea are Ga iaaa 175 Calculating Resistance Rotary Motors ccccceeneeeeeeeeeeeeeenieeeeeeeiieeeeeteeeeetieeeersneeeee 177 Resistor Specifications Rotary MOtorS seesssesissesrrsserrrsstirrsssttrrssttrnssttnnssttnnasttnnsstetnnntt 181 Calculating Resistance Linear Motors sssesseessresernssrirrnsstrnsstinnssttnnnsttnnnstennnttnennnnten nant 183 Resistor Specifications Linear Motors ccccceceeeeeeeeececeeeeeseceeneceeeeeeeseesencaeaeeeeeeetetseaees 187 Appendix C Regulatory Compliance UL and CE cccccsssesseeeeeeeeeseeeseseeeenseeeeeseeseseaeenseeeeee 189 System Installation OVErView cccceceeieeee ee etteee teeta ee eet ne ee ee tieee ee teeeeetaeeeeetnieeeeesnaeeeeee 190 Regulatory AGGnCleS sz ais ce acetone a a r a ikon tt nthe laden tee tied 200 Standards of COMpliAnce eraen ea ataa enn a aeee ret iaaa adera 200 Appendix D Servo Tuning Flow Diagram
130. eesneeeeetnietessenaees 57 Figure 27 Output MOTOR Power Connector ccccceeceeesneeeeeenneeeeeenaeeeeeenaeeeeeenaeeeeeeneeeeneaas 59 Figure 28 AR 20xE amp AR30xE Control COnMe ctor ceeceeceeeeeeeeeeeeeneeeeeeeneeeeeenaeeeeeeneeeeneaas 61 Figure 29 MOTOR FEEDBACK connector female drive connector pinout eeeeeeeees 62 Figure 30 MOTOR FEEDBACK connector internal Circuit GiaQraM cc eeeeeeeeeeeeeeeeeeenteeeeeeaaes 62 Figure 31 MOTOR FEEDBACK connector female drive connector pinout cceeeeeeereeees 65 Figure 32 MOTOR FEEDBACK connector for resolver option internal circuit diagram 65 Figure 33 DRIVE I O connector female drive connector pinout ceeeecceeeeeeeeeeseeeteeeees 67 Figure 34 DRIVE I O connector internal circuit diagram cc eeeeeeeeeeeeeeeeeeeteeeeeeeaeeeeeeneeeeteaas 68 Figure 35 RS 232 485 Connections iieiea A ener eeeeeeneeeeeeceeeeeeeceeeeeeaeeeeeeneeeeesneeessenaaes 74 Figure 36 RS 485 Multi drop Connections 0 eee ceceeeceeeeeeeeeeeeeneeeeeeaeeeeeeaeeeeeeneeeeeenaeeeeneaas 76 Figure 37 Closed Loop and Open Loop System Comparison 2 eececeeceeeeeeeeeeeeeneeeeeees 79 Figure 38 Commanded Position cccecccceeeeeneeeeeeeeneeeeeeeneeeeeeeeeeeeaeeeeesneeeeesieeeeneeiaeeeeseaes 80 Figure 39 Integrator Windup Without Using SGILIM Commannd cccceceeeeeeeeenteeeeeeeee 84 Figure 40 Integrator Windup using the SGI
131. eleration time Seconds Mr _ mass of forcer in kilograms kg M mass of load in kilograms kg k motor force constant N AMPrms Appendix B External Power Dump Resistor Selection 185 Parker Hannifin Energy Dissipated in Load The load dissipates energy through friction losses viscous damping and other motor load related losses These losses are known as load losses If some of the parameters are not known the energy dissipated in the load E can conservatively be assumed zero 0 This can be derived from the force required during the constant velocity portion of the move profile either measured or calculated E SF Vitp Where E energy dissipated by the load Joules load losses F force at constant velocity in Newtons N v velocity in meters per second m s to deceleration time Seconds Energy to Dissipate in the External Power Dump Resistor To stop a motor kinetic 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 potential energy subtract the energy dissipated through the drive capacitors motor windings and load loss If the copper losses EW or load losses EL are not easily determined you can conservatively assume they are zero 0 The resulting sum represents the power for dissipation in an external power dump resistor Eg Eg Ep
132. en independent circuits A circuit switching large currents and sharing a common earth return with another low level 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 within the same cabinet but all such circuits will eventually need to be returned to the cabinet s main star earth point Mount the individual drives and EMC filter on a metal earth plane The earth plane will have its own individual star point earth that should be hard wired using an insulated copper conductor back to the cabinet s clean earth connection point Panel mounting can provide a similar measure of EMC performance if strict attention is paid to cable screen termination and cable layout Again the machine builders primary focus should be on ensuring operators are kept safe from all hazards e Install a Mains filter Aries drives require an EMC mains supply filter to meet EMC emission requirements It is recommended that the drive is mounted on a conductive panel which is shared with the EMC filters If the panel has a paint finish it will be necessary to Appendix C Regulatory Compliance UL and CE 193 Parker Hannifin remove the paint in certain areas to ensure filters and drive make a good large area metal to metal contact between filter case and panel You must install a filter on bot
133. ent in amps peak of sine TIQAC Transfer Q Quadrature Current Type Transfer Product Rev Syntax lt a_ gt TCI Aries 3 10 Units Amps Range N A Default N A Response TOI lt gt 5 See Also DMTIC DMTICD DMTIP TDICNT TDIMAX The TIQAC command reports the actual q quadrature motor current in amps peak of sine Chapter 6 Command Reference 149 Parker Hannifin TMTEMP Transfer Motor Temperature Type Transfer Product Rev Syntax lt a_ gt TMTEMP Aries 1 0 Units Degrees Celsius Range N A Default N A Response TMTEMP lt gt 45 See Also DMTRWC DMTTCM DMTTCW STATUS TERRLG The TMTEMP reports the predicted temperature of the motor winding for Parker motors The temperature is estimated using the winding and motor time constants the rated continuous current and the winding thermal resistance The motor will fault and the drive reports E35 Motor Thermal Model Fault atan estimated winding temperature of 125 C assuming the ambient temperature 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 are using a non Parker motor the TMTEMP value depends on parameters you supply for DMTRWC DMTTCM and DMTTCW TOUT Transfer Output Status Type Transfer Product Rev Syntax lt a_ gt TOUT Aries 1 0 Units N A Range inactive or 1 active De
134. ero 0 is not a valid address for a drive Setting up Drives for a Multi Drop Network 1 Connect the drive you want to co multi drop network Apply power to the drive nfigure to a PC that is not part of the Using terminal emulation software send the following command ADDRi where i is the address you want to assign the new unit network Remove power to the drive The drive can now be installed in the After installing and connecting the drives to the multi drop network test each drive use safe methods suitable for your particular application to ensure each functions correctly To test each unit send the i TRI address of a drive 76 Aries User Guide EV command where i represents the Parker Hannifin Warning Risk of damage and or personal injury When testing the installation of drives use safe methods suitable for your particular application Replacing a Unit in the Network If you need to replace a drive do the following 1 Remove the old unit from the network 2 Connect the new drive to a PC that is not part of the multi drop network 3 Apply power to the drive 4 Using terminal emulation software send the following command ADDRi where i is the address you want to assign the new unit 5 If you can communicate with the old drive upload its configuration using the Aries Support Tool Alternatively you can create a new configuration file using the Aries Support
135. ershoot Step 8 After raising the SGV gain to 4 overshoot is reduced a little but chattering reappears This means the gains are still too high Next we should lower the SGV gain until chattering stops 88 Aries User Guide Parker Hannifin Position Time Position Time Position Time Parker Hannifin Step 9 After lowering the SGV gain to 3 even less than in Step 7 3 5 chattering stops Next we should lower the SGP gain Position Time Step 10 Overshoot is reduced 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 Position SGP 3 5 SGV 3 Time Step 11 When we raised the SGV gain to 3 5 the step response became fast and very stable Position Time Chapter 5 Tuning 89 Parker Hannifin Auto Tuning The Aries drive can automatically determine the inertia of the load attached to the motor This is performed by applying a specified torque to the motor and measuring the acceleration and deceleration of the motor From this the Aries drive can calculate the load inertia and store the value in the LJRAT command Note Excess friction can affect the measured inertia thereby estimating the value higher than the actual inertia While the drive can compensate for some friction it may not compensate for al
136. es energy To stop motion that energy must be absorbed or dissipated elsewhere That energy can be defined in terms of inertia and velocity Ex 3Um J o Where Ex rotational kinetic energy Joules Jm rotor inertia in kilogram meter squared kg m J load inertia in kilogram meter squared kg m rotational speed in radians per sec 1 revolution sec 2 1 radians sec Total Potential Energy A body at rest stores energy relative to the position of the body When the body moves the potential energy is released and translated into kinetic energy For purely horizontal applications potential energy is negligible and therefore not necessary for inclusion in your calculations However for vertical applications potential energy can greatly affect the selection of power dump resistor Regardless whether the incline is gentle or steep it is important to calculate the potential energy that must be absorbed or dissipated elsewhere Appendix B External Power Dump Resistor Selection 177 Parker Hannifin Ep mgh Where E potential energy Joules m mass of forcer and load kg g gravitational constant 9 81 m s h vertical height change during deceleration m Energy Absorbed by Drive Capacitors The Aries drive s capacitors can store energy With motor deceleration the drive capacitors absorb some of the kinetic and potential energy While the capacitors absorb energy the bus voltage increases Later the capa
137. et to zero 0 b Put positive voltage on motor wire W together with either U or V and put negative voltage or ground on the remaining wire If THALL reports a value of 3 the wire at the negative voltage is V If THALL reports a value of 5 the wire at the negative voltage is U Figure 49 Hall Connection Diagram Chapter 7 Troubleshooting 165 gt Parker Hannifin Procedure 2 Use this procedure to connect your Hall wires to the Aries 1 First operate the drive in DMODE1 and verify that the motor turns clockwise If not swap any two motor wires 2 Remove the motor power leads leaving the feedback cable connected to the Aries drive Connect motor power wires U and V and slowly apply a positive voltage with respect to W w Note A variable low voltage 5 24V current limiting less than continuous current rating of motor power supply is preferred Warning This procedure could damage the motor Slowly increase the voltage until the motor moves Do not exceed the rated current Safety Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller 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 either O to 1 or fro
138. f the AR 20xE and AR 30xE is capable of dissipating 1kW for 1 second and up to 100 Watts continuously depending upon heatsink temperature If the calculated temperature of the internal regeneration resistor exceeds 150 C 302 F the drive turns off the regeneration circuit and may experience an over voltage fault Similarly models AR 01xx through AR 13xx may experience an over voltage fault if the regeneration exceeds the absorbent capacity of the drive s 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 amounts of regenerated energy in their internal capacitors AR 01xx 28 9 AR 02xx 43 14 AR 04xx 57 19 AR 08xx 72 24 AR 13xx 104 35 AR 20xE N A 50 AR 30xE N A 50 Table 21 Regeneration Absorption For more specifications about energy absorption by the Aries drive s capacitors see Table 58 For more information about selecting an external power dump resistor see Appendix B External Power Dump Resistor Selection Chapter 3 Electrical Installation 55 Parker Hannifin LEDs Drive Status Indicators The drive has two bi color LEDs The LED on the left displays yellow or green colors The LED on the right displays red or green colors The following tables describe LED illumination states and the conditions they indicate Normal Operation Green Yellow Green O
139. fault N A Response TOUT lt gt D DOOD BOOS GG11 See Also none The TOUT command returns the present status of the brake relay bit 1 and fault output bit 0 Bits 2 through 15 are reserved The return of one 1 indicates the relevant output is active and a zero indicates it is inactive 150 Aries User Guide Parker Hannifin TPC Transfer Position Commanded Type Transfer Product Rev Syntax lt a_ gt TPC Aries 2 0 Units Encoder counts Range 2147483648 to 2147483647 Default N A Response TPC lt gt See Also ERES TPE SMPER This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode This command allows you to display the commanded position Note The reported value is measured in commanded counts AKA motor counts TPE Transfer Position of Encoder Type Transfer Product Rev Syntax lt a_ gt TPE Aries 1 0 Units Encoder counts Range 2147483648 to 2147483647 Default N A Response TPE lt gt See Also ERES 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 lt a_ gt TPER Aries 2 0 Units Encoder counts Range 2147483648 to 2147483647 Default N A Response TPER lt gt See Also F ERES INPOSDB TP 1 OMPER This command is only valid
140. ff Red Yellow Off Off Red flashing Yellow flashing Red flashing Table 22 LED Status Indicator Normal Operation Internal Drive Faults Power on enabled Power on regeneration active Power on disabled No Fault Power on boot process Waiting for OS download OS download in process Yellows Yellow amp 1 Green flashing Yellow amp 2 Green flashing Yellow amp 3 Green flashing Yellow amp 4 Green flashing Yellow amp 5 Green flashing Red Red Red Red Red Table 23 LED Status Indicator Internal Drive Fault 56 Aries User Guide Control power mode active Bridge Fault Feedback Fault Thermal Fault Other Fault Encoder Loss Parker Hannifin Connector Descriptions Motor Mains Power Connector The drive s Mains screw terminal connector provides a connection for AC Mains power to your drive For connection information see Input Power on page 39 The connector differs between the two largest Aries models and the others Specifications for the connectors follow in this section On models AR 01xx through AR 13xx the Mains connector also serves as a connector for Control power C1 and C2 and a power dissipation resistor R and R For more information on these additional connections see Control Power Supply on page 46 Regeneration Protection on page 54 This connector is removable On models AR 20xE and AR 30xE the Motor Power connector serves as the connector for Moto
141. ffset the current absolute position to establish an absolute position reference All PSET values entered are in counts The PSET command will define the present commanded position TPC to be the absolute position entered Example PSET Wherever the present actual or commanded position happens to be consider that position to have an absolute position of zero RESET Reset Type Communication Interface Product Rev Syntax lt a_ gt RESET Aries 1 0 Units N A Range N A Default N A Response RESET Displays power applied message See Also RFS TREV 138 Aries User Guide Parker Hannifin The RESET command affects the Aries drive the same as cycling power or activating the hardware Reset inputs pins 18 and 23 on the DRIVE I O connector The drive s parameters are retained in non volatile memory Note 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 Syntax lt a_ gt RFS Aries 1 0 Units N A Range N A Default N A Response N A See Also RESET TDHRS TREV The RFS command returns all settings to factory default with the exception of the TDHRS value A RESET command is automatically sent following this command therefore no prompt will be returned When is the RFs event finished The RFS process can take several seconds When RFS
142. g Overview The drive uses a digital control algorithm to control and maintain the position and velocity The digital control algorithm consists of a set of numerical equations used to periodically once every servo sampling period calculate the value of the control output The numerical terms of the equations consist of the current commanded and actual position values including a few from the previous sampling period and a set of control parameters Each control parameter commonly called a gain has a specific function for more information see Servo System Gains on page 83 In addition tuning is the process of selecting and adjusting gains to achieve optimal servo performance When using the control algorithm described above the whole servo system acts as a closed loop system see Figure 37 It is called closed loop because the control algorithm accounts for both the command position velocity tension etc and the feedback data from the encoder Therefore it forms a closed loop of information When all gains are set to zero the digital control algorithm is disabled Closed Loop System Offset Digital Control Drive Command Command igita Signal Control Signal Offset oa Control ley H Motor H Load Algorithm rive I 1 Feedback Data Feedback Device Encoder Open Loop System Offset Drive Command Offset C a Servo m Motor Load Drive T T I I Feedback Device Encoder Fig
143. g Product Rev Syntax lt a_ gt lt gt DNOTLD lt i gt Aries 2 0 Units i Hz Range disable or 8 1 Default filter is disabled Response DNOTLD DNOTLD2 See Also DNOTAD DNOTAF DNOTAQ DNOTBD DNOTBF DNOTLG The DNOTLD command sets the break frequency of the lead filter This filter cannot be used alone but must be used in conjunction with the DNOTLG lag 122 Aries User Guide DNOTLG Type Syntax Units Range Default Response See Also Parker Hannifin filter The DNOTLG lag filter must be configured before the DNOTLD lead filter is configured The DNOTLD value must be less than or equal to 4 times the DNOTLG notch lag frequency value otherwise the new DNOTLD value will be ignored but not overwritten the configuration warning bit E17 will be set and the last valid DNOTLD value will be used internally This warning is cleared with the RESET command or by cycling power to the drive This filter operates in all DMODE settings except Autorun DMODE1 In the graphs below the transfer function is shown relating the internal commanded torque force vs the user commanded torque force In this example the lag frequency was set first to 40 Hz DNOTLG4 and then the lead filter was set to 160 Hz DNOTLD DNOTLG40 pi nl aN T DNOTLD1 I S TENN M N ll i oT Filter Response dB Phase shift Degrees
144. ge terminals this product must not be accessible to users while under normal operation 198 Aries User Guide Parker Hannifin Panel Mounting The mounting clearance requirements are the same for all Aries drive models They are shown in Figure 55 NOTE Provide proper spacing to maintain minimum clearance en drive 2x Clearance for 8 or M4 Mounting Screws f 1 00 25 4 Minimum Clearance 5 000 127 o o o o o o o o 1 00 o o o o 25 4 A H Minimum o o o Clearance pil 0 50 0 62 12 7 15 7 Minimum Minimum Clearance Clearance Figure 55 Panel Layout Dimensions for the Aries Drive Appendix C Regulatory Compliance UL and CE 199 Parker Hannifin Regulatory Agencies The Aries family of products is designed to meet the requirements of global regulatory agencies Aries products have shown compliance with the regulatory agencies in the following list The list also shows additional steps users must take to ensure compliance UL Mains fuses CE LVD Mains fuses earth connection for drive and motor if applicable proper installation CE EMC Varistors mains filter EMC cabling EMC ready motor proper installation Table 63 Regulatory Agencies Standards of Compliance UL 508C CE for LVD 72 23 EEC BS EN 61010 1 Safety requirements for electrical 1993 including equipment for measurement Amendment A2
145. h the Motor power mains and Control power mains if both are used Use Table 60 and Table 61 to determine the correct filter for your specific application Control Power Control power is 1 Amp maximum Any of the following filters works with all models of the drive 6EP1 160937 5 Corcom 10EP1 160937 7 Corcom FN2070 10 06 Schaffner 1 Available from Parker 10 Amp filter part number 47 016140 01 16 Amp filter part number 47 017900 01 Table 60 Control Power Filter Selection Mains Motor Power 6EP1 160937 5 5 at 240 VAC 10EP1 160937 7 8 at 240 VAC x x x x x FN2070 10 06 10 at240VAC x x x x x FN2070 12 06 12at240VAC x x x x x FN2070 16 067 16 at 240 VAC x x x 16FCD10 16 at 240 VAC x 25FCD10 25 at 240 VAC x x Product with applicable mains filter denoted by x 1 Corcom a division of Tyco Electronics 2 Schaffner 3 Available from Parker 10 Amp filter part number 47 016140 01 16 Amp filter part number 47 017900 01 Table 61 Mains Motor Power Filter Selection 194 Aries User Guide e Install Transient suppressors Single Phase Input You must install varistors or other voltage surge limiting devices in order to meet the requirements of EN61000 4 5 Place a Littelfuse V275LA2 C or an equivalent varistor from line to line and from lines to earth before the mains filter as shown in the EMC Installation drawings Intersil General Electric and Littelfuse manufacture equivalent vari
146. h will cause the system response to be oscillatory under damped or in some cases unstable Note Do not set the proportional feedback gain SGP to zero except when open loop operation is desired Velocity Feedback Control SGV Using velocity feedback control the control 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 s velocity to produce the control signal Because the velocity feedback acts upon the feedback device s velocity its control action essentially anticipates the position error and corrects it before it becomes too large Such control tends to increase damping and improve the stability of the system A high velocity feedback gain SGV can also increase the position tracking error when traveling at constant velocity In addition setting the velocity feedback gain too high tends to slow down over damp the response to a commanded position change Integral Feedback Control SGI Using integral feedback control the value of the control signal is integrated at a rate proportional to the feedback device position error The rate of integration is set by the Servo Gain Integral SGI command The primary function of the integral control is to overcome friction and or gravity and to reject disturbances so that steady state position error is minimized or eliminated This contr
147. hand If no see Problem 2 below Does THALL have six distinct Hall states from 1 to 6 No numerical order is necessary If no see Problem 2 below Does THALL report the six distinct Hall states n times as the rotor turns one revolution where nis equal to the number of pole pairs DPOLE Linear motors n pitch If no see Problem 2 or 3 below Does THALL report the Hall state sequence 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 Does ERROR report a Hall fault each time the drive is enabled DRIVE1 even though the Hall state sequence is correct If yes see Problem 4 below Does the Hall fault occur irregularly If yes see Problem 5 or 6 below Possible Problems 1 164 Aries User Guide No Hall states are seen by the drive 2 The cable is not connected or is connected incorrectly mis wired 3 4 Either the motor wires or the Hall wires are connected incorrectly DPOLE or DMEPIT is not set correctly Use Procedure 1 to fix this problem by changing the motor wires Use Procedure 2 to fix this problem by changing the Hall wires The Hall wires or the encoder wires may have loose connections causing intermittent faults gt Parker Hannifin 6 Noise induced on the Hall signals from routing the motor fee
148. hannel out ENC A 4 Encoder A Channel out ENC B 5 Encoder B Channel out ENC B 6 Encoder B Channel out ENC Z 7 Encoder Z Channel out Index ENC Z 8 Encoder Z Channel out Index FAULT 9 Fault Output collector FAULT 16 Fault Output emitter STEP 10 5V Differential compatible RS 422 logic level compatible position command STEP 11 Position command return 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 Ground RESET 18 Drive Reset input anode RESET 23 Drive Reset input cathode DGND 19 Digital Ground DGND 20 Digital Ground DGND 22 Digital Ground DGND 24 Digital Ground RS 232Rx RS 485 25 RS 232Rx RS 485 Half Duplex RS 232Tx RS 485 26 RS 232Tx RS 485 Half Duplex Opto is ON and conducting when no fault condition is present When a fault occurs the opto turns OFF and the transistor does not conduct current This simulates a normally open relay For more information see Table 20 Table 29 DRIVE I O Connector Pinout Chapter 3 Electrical Installation 69 Parker Hannifin Inputs Enable Reset The drive Enable and Reset inputs are optically isolated inputs Current is limited internally for input voltage control of 5 to 24 volt logic The Anode and Cathode are on separate connector pins to allow significant flexibility i
149. he motor s limitation the dynamic characteristics of the system etc For example if the commanded velocity is higher than the maximum velocity the motor can physically achieve the actual position will always lag behind the 80 Aries User Guide Parker Hannifin commanded position Under these circumstances a position error will accumulate no matter how high the gains are set Servo Response Overview Stability The first objective of tuning is to stabilize the system The formal definition of system stability is when a bounded input is introduced to the system the output of the system is also bounded What this means to a motion control system is if the system is stable and the position setpoint is a finite value the final actual position of the system is also a finite value In contrast if the system is unstable no matter how small the position setpoint or how little a disturbance motor torque variation load change noise from the feedback device etc the system receives the position error will increase exponentially in 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 misperception is that whenever there is oscillation the system is unstable It is important to recognize that a system is considered stable if the oscillation finally diminishes damps out even if it takes a long time Position Res
150. ide Parker Hannifin Depending on the communications protocol you are using Aries can automatically configure itself e If using RS 232 Aries will automatically detect and configure itself for that communications protocol e f using RS 485 two wire and the standard bias configuration Aries will automatically detect and configure itself for that communications protocol For automatic detection to work the RS 485 network must be configured with an up bias on Talk and a down bias on Talk RS 232 Communications The Aries drive supports RS 232 communication However you cannot connect the drive in an RS 232 daisy chain Rx receive Connect to Tx on your computer 26 Tx transmit Connect to Rx on your computer 24 DGND logic ground Connect to DGND on your computer Maximum RS 232 cable length is 50 feet 15 25 meters Many PC COM ports connect RS 232 ground to chassis ground Table 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 RS 485 Multi Drop on page 76 Connect to Tx Rx on your computer 26 Connect to Tx Rx on your computer 24 DGND logic ground Connect to DGND on your computer e Maximum RS 485 cable length is 1000 feet 305 meters e Keep wires as short as possible Termination resistors may be required on long cable runs
151. ied disclosed or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Parker Hannifin 11 Parker Hannifin Change Summary Revision G Changes This document 88 021610 01G supersedes 88 021610 1F Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Description Electrical Installation Added note to Motor Power Fuse Information table that 40A fuse is recommended regardless of single or 3 phase input power Added Yellow amp 5 Green flashing for Encoder Loss to Internal Drive Faults table Corrected connector p n from ELFA13210E to OSTTJ075102 for Mains Input Power Connector and Motor Connector Removed reference to 120V motor power for single or three phase AR 20xE in AC Power Supply Connection Added Encoder to clarify title to section Motor Feedback Connector Encoder Corrected Motor Feedback Connector Resolver schematic by removing pins 16 and 17 Corrected diode connection across motor cable in drawing in Motors without Full Wave Rectifiers Command Reference Corrected perception to misperception in Servo Response Overview section Stability topic Added Warning
152. ifin Protective Circuits Short Circuit Protection The Aries drive has an internal circuit that protects it from short circuits between one motor terminal to another phase to phase or from any motor terminal to earth Short Circuit Fault Cause 5 Phase to phase short circuit Phase to earth short circuit Results of Fault Power to motor is turned off Fault output is activated Yellow amp 1 Green blinking Red Table 52 LED Short Circuit Fault Resetting the fault To clear the latched fault choose one of the following methods gt Cycle power to the Aries drive gt Open the Aries Support Tool Then select Operating System Update from the menu and click Reset Drive Drive Over Temperature Protection The Aries drive s over temperature circuit monitors the drive s internal temperature If the sensors exceed the threshold temperature the drive issues an over temperature fault Threshold Temperature AR 01xx AR 02xx AR 04xx AR 08xx and AR 13XX aae 80 C 176 F AR 20xE and AR 30XE oe 90 C 194 F Results of Fault enn aitans Power to motor is turned off Fault output is activated Yellow amp 3 Green blinking Red Table 53 LED Drive Over Temperature Fault 170 Aries User Guide Parker Hannifin Resetting the fault After the internal temperature has dropped below the values shown in Table 54 you can clear the latched fault There are two methods available gt Cycl
153. in application Note also that the time constant of the motor winding itself DMTTCW is much faster than this therefore the rise in winding temperature will initially be much faster than DMTTCM would suggest DMTTCW Motor Winding Time Constant Type Motor Product Rev Syntax lt a_ gt DMTTCW lt r gt Aries 1 0 Units r minutes Range D to 60 0G 1 Default DD Response DMTTCW lt gt 28 4 See Also DMTR DMTRWC DMTTCM 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 non Parker motors or sent an RFS command 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 DMTTCW command specifies the time constant of the motor winding alone This is the time for the winding to reach 63 of its final temperature rise above the rest of the motor given constant power Note that this is not the time constant usually specified in motor data sheets see DMTTC the DMTTCW value is typically much faster DMTW Motor Rated Speed Type Motor Product Rev Syntax lt a_ gt DMTW lt r gt Aries 1 0 Units Rotary motor r revolutions second Range Default Response See Also Linear motor r meters second 6 to 400 8 1 DMTW of results in motor configuration error DMTW lt gt 158
154. inertia for rotary motors or the forcer mass for linear motors Chapter 6 Command Reference 109 Parker Hannifin DMTKE Motor Ke Type Motor Product Rev Syntax lt a_ gt DMTKE lt r gt Aries 1 0 Units Rotary motor r volts peak krpm measured line to line Linear motor r volts peak meter second measured line to line Range Rotary motor to 8 H 1 Linear motor DMEPIT electrical pitch dependent Default DMTKE of results in motor configuration error Response DMTKE lt gt 15 See Also DME PIT DMTLIM DMTR DMTSCL Note This command does not take effect until you cycle power to the drive or send the RESET command 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 non Parker motors or sent an RFS command to the drive the parameter is set to zero 0 you must manually set this parameter 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 commands see DMTR The DMTKE command specifies the motor voltage constant Ke This defaults to the nominal Ke of the motor selected with the DMTR command The motor s torque force constant Kt is derived from the motor s voltage
155. is finished the drive transmits the power applied message Recommendation When finished configuring the drive using the Aries Support Tool save the configuration file to your personal computer s PC hard drive for safekeeping If after executing the RFS command you need to restore the previous configuration re download the configuration file and program files to your drive Remember to reset the drive to invoke new configuration settings SFB Set Feedback Type Type Drive configuration Product Rev Syntax lt a_ gt SFB lt i gt Aries 1 0 Units i feedback source Range 0 unknown 1 OS 1 0 2 0 Standard Encoder 0OS2 10 or greater Auto Detect 2 OS 2 10 or greater specify Standard Encoder 3 OS 3 10 or greater Resolver option identified 5 OS 2 10 or greater specify Smart Encoder 6 OS 2 10 or greater reserved for absolute encoder Default 1 Response SFB lt gt 5 See Also STATUS In operating systems 2 0 or earlier the SFB value reflected the type of motor that the drive auto detected In operating system 2 10 and beyond you also can set a feedback type with the SFB command Chapter 6 Command Reference 139 Parker Hannifin SFB1 sets auto detect mode and is the default setting In auto detect mode the SFB command reports the detected drive type upon power up If SFB is set to a value other than 1 the drive assumes that type of encoder is attached and does not try to auto detect the feedback type In operating
156. its Range Default Response See Also Parker Hannifin e To reverse the commanded direction of motion make sure there is a direct correlation between commanded direction and encoder direction You can then issue the CMDDIR command to reverse both the commanded direction and the encoder direction For more information see CMDDIR e The ENCPOL command will not affect the encoder output If ENCPOL1 is required on the drive for servo stability the equivalent command will also be required on the controller Encoder Resolution Encoder Configuration Product Rev lt a_ gt ERES lt i gt Aries 1 0 counts revolution counts electrical pitch Rotary motor i Linear motor i 32 to 1873741823 4 0 4096 for Resolver option ERES lt gt 4 GOO DMEPIT DMTR TPE 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 non Parker motors or sent an RFS command 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 Use the ERES command to establish the encoder resolution post quadrature in counts rev or counts electrical pitch To set a linear motor s electrical pitch refer to the DMEPIT commana The servo system s resolution is determined by the resolution of the en
157. ive Errors ERROR The CERRLG command erases the stored contents of the error log Clearing the error log is a helpful diagnostic tool it allows you to start the diagnostic process when the error log is i n a known state so that you can check the error log in response to subsequent events 148 Aries User Guide Parker Hannifin THALL Transfer Hall Sensor Values Type Transfer Product Rev Syntax lt a_ gt THALL Aries 1 0 Units N A Range 1 to 6 or 7 is a fault condition Default N A Response THALL lt gt 6 See Also ALIGN SHALL Encoder Motors The THALL command reports the present Hall sensor value There are six distinct Hall states from 1 to 6 Rotating the motor shaft clockwise the Hall state order should be 6 2 3 1 5 4 6 2 3 1 5 4 6 THALL values and 7 are invalid and will fault the drive and report E37 Bad Hall State For a complete description on how to troubleshoot Hall sensors especially for non Parker Hannifin motors see Hall Sensor Configuration Troubleshooting on page 164 Note For auto configured smart encoders the THALL only reports the initial hall state of the encoder when power is applied TIDAC Transfer D Quadrature Current Type Transfer Product Rev Syntax lt a_ gt TCI Aries 3 10 Units Amps Range N A Default N A Response TCI lt gt 5 See Also DMTIC DMTICD DMTIP TDICNT TDIMAX The TIDAC command reports the actual d quadrature motor curr
158. 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 only last a few seconds during which time the motor will rotate about one quarter of a turn in each direction Following are the two methods to start Auto Tune mode gt Inthe Aries Support Tool select the Servo Tuner tab Then click Auto Tune or _ gt Put the drive in position mode DMODE6 or 7 On the drive s 10V Analog Input apply a command voltage greater than 3V then reset the drive To return to normal operation remove the command voltage and reset the drive 90 Aries User Guide CHAPTER SIX Command Reference IN THIS CHAPTER Description of Format Syntax Letters and Symbols Syntax General Guidelines Command Descriptions ERES Type Syntax Units Range Default Response See Also Parker Hannifin Aries Communications Set up Before you can communicate with the Aries drive you must configure your terminal emulator You can use HyperTerminal or an equivalent terminal emulator For information about setting up communications see RS 232 485 Communications on page 71 Description of Format Encoder Resolution Encoder Configuration Product Rev lt a_ gt ERES lt i gt Aries 1 0 Rotary motor i counts revolution Linear motor i counts electrical pitch 200 to 107
159. l regeneration power dump resistor connect your external resistor to the R and R terminals as follows e For models AR 01x to AR 13xx use the Mains connector e For models AR 20xE and AR 30xE use the Control connector Figure 25 illustrates the external regeneration resistor connections AR 01xE to AR 13xE AR 20xE amp AR 30xE R el External Resistor External EXTERNAL i R y External Resistor Resistor INT 5 RETEN R CONTROL C2 INPUT POWER T Fr Remove jumper Figure 25 External Regeneration Connection Important 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 will still be in the circuit and its thermal protection circuit limits the performance For information on selecting a suitable external regeneration power dump resistor see Appendix B External Power Dump Resistor Selection when power is applied to the drive and up to several minutes after power is removed Lower voltages may still be present for several minutes after power is removed Warning The drive s connector strip terminals are at hazardous voltages During normal operation these high voltage terminals must not be accessible to the user 54 Aries User Guide Parker Hannifin Internal Regeneration Capability The internal regeneration resistor o
160. ll parameters are at the connector pin Table 34 Inputs Analog Electrical Timing Characteristics Connector Specification Aries Drive Manufacturer esccceececeeeeeeeeeeeneeees KYCON or equivalent Connector TyPe ccceeccesseeessteeeeeeees 26 Pin High Density D Subminiature female socket KYCON Part Numbet 0 ceeeeeeeees K66 A26S NR Connector Specification Mating Connector Mating connectors are not provided with Aries drives Parker cables are available with mating connectors attached Manufacturer ccccccccccsseeeeeesteeeeeeees AMP or equivalent Connector TyPe ccsecceeeeteeeseeeeeeees 26 Pin High Density D Subminiature male connector Gable KIE oreraa EA ated AMP Part Number 748474 1 Includes 748365 1 connector shield enclosure and two jack screws does not include contacts or ferrules CONACS paaria arenae a oaeo a E ara iS Crimp style 30p Gold AMP Part Number 748333 4 Gold Flash Amp Part Number 748333 7 Chapter 3 Electrical Installation 71 Parker Hannifin Installation Test Once you have made the necessary mechanical and electrical connections you can test the drive The Aries Support Tool contains the Auto Run Test Wizard which exercises basic functions of the Aries drive You must do the following before testing the drive e Configure the drive for the motor to which it is connected Resolve any configuration errors before proceeding
161. lters Chapter 6 Command Reference 119 Parker Hannifin Analog Inputs Torque and Velocity 10v O Input N Command O Actual Torque Command NOTCH NOTCH Lag Lead Torque Filter A Filter B Filter Limit Digital Inputs Torque Velocity and Position Check NOTCH Filter NOTCH Filter Command Command Input Torque Output Torque Figure 44 Notch Filter Topology The graphs below illustrate the transfer function for the magnitude and phase of the notch filter command output torque force vs the notch filter command input torque force In this example the notch depths are set to 3 6 and 9 DNOTAD 3 DNOTAD 6 DNOTAD 9 The notch center frequency is set to 200 Hz DNOTAF2 and the Q is set to 1 DNOTAQ1 Magnitude dB Phase shift degrees Frequency Hz Frequency Hz Figure 45 Notch Filter Magnitudes These filters operate in all DMODE settings except Autorun DMODE1 DNOTAF Notch Filter A Frequency Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTAF lt i gt Aries 2 0 Units i Hz Range disable or 60 182 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 torque force notch filter A Setting this to 0 disables the filter If setting a
162. m 1 to 0 After you change SHALL reset the drive 4 Change the Hall wires until THALL reports a value of 6 5 Connect motor wires U and W and slowly apply a positive voltage with respect to V 6 If THALL does not report a value of 3 change Hall wires B and C If THALL reports a value of 3 the wires are connected correctly Table 51 summarizes phase voltages and their corresponding Hall states Starting with SHALL and the phase voltages as shown the THALL command should report the Hall states that match the Correct column If instead THALL reports Hall states that match the Use SHALL1 column enter SHALL1 and reset the drive The Hall states should now match the Correct column For more information see Figure 50 166 Aries User Guide Parker Hannifin 3 1 6 5 2 4 3 6 1 2 5 3 4 Table 51 Configuring Hall Sensors Figure 50 illustrates the alignment of phases U V and W with Halls 1 2 and 3 as viewed from the front of the shaft The illustration assumes the following e Hall signals that are High equal TRUE signals e Hall 1 is the least significant bit LSB e Hall 3 is the most significant bit MSB e There is one hall cycle and one electrical cycle per pole pair on the motor Clockwise Motor Rotation Viewed from Front of Shaft encoder signals count up when CMDDIRO Hall 1 A pin9 LSB Hall 2 B pin 13 MSB Hall 3 C pi
163. minal 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 enable or by typing DRIVE1 into the terminal and press Enter 5 Type ALIGN into the terminal and press Enter to begin the alignment process 6 The drive then begins the alignment procedure This could take up to 20 seconds Note The motor turns up to 90 degrees during this procedure 7 The alignment process may modify the following parameters ENCOFF ENCPOL SHALL CMDDIR P163 These parameters are stored in the drive If you want to store them in a smart encoder type the ESTORE command into the terminal and press Enter It takes a couple of seconds to store the motor data in the motor 96 Aries User Guide ANICDB Type Syntax Units Range Default Response See Also Parker Hannifin Analog Input Center Deadband Drive Configuration Product Rev lt a_ gt ANICDB lt r gt Aries 2 0 r volts to 19 00 D4 ANICDB ANICDB 4 DCMDZ DMTSCL TANI The ANICDB allows the user to specify the voltage deadband for the command input ANICDB is used with DCMDz to configure the command input for DMODE2 and DMODE4 The commanded torque Trdcommana is calculated from the input voltage Vn using DMTSCL as follows DMTSCL T a commana Vin DCMDZ ANICDB V gt DCMDZ ANICDB when Tr q command 0 when
164. n 14 3 1 5 Hall State Figure 50 Motor Terminal Voltages back EMF and Hall Sensor Signals Chapter 7 Troubleshooting 167 APPENDIX A Additional Specifications IN THIS CHAPTER Parker Hannifin Amplifier Control Power all models 120 240 VAC Single Phase Mains Control Power AR 01xx AR 02xx AR 04xx AR O8xx and AR 13XX cccceseeseeeeeeeees Single Phase AC Input 120 240 VAC 16 or 32 kHz switching frequency motor dependant pulse width modulated PWM with 3 phase motor output Current Loop Update Rate 62 5 us Velocity and Position Loop 26 250 us AR 20xE and AR 30XE seee 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 5 62 5 us Velocity and Position Loop 05 250 us Feedback ENCOUGIG Tae a TE sea aatee Differential Quadrature Encoder Encoder Accuracy ccceeeeseeeseeseeees 1 encoder count encoder dependent Resol aeei e a Reeielinticns Single Speed Resolver Accuracy eeeeeeeeeeeeese 11 arc minutes 12 bit A to D Resolver Excitation c cccccceeeeeeeeee 10 KHz Transformation Ratio ccccccceseeeeeee 0 5 Maximum Pulse Input Output Frequency c eee 5 MHz 5V TTL Only Appendix A Additional Specifications 169 Parker Hann
165. n wiring to different styles of interface Turn on time Turn off time 1 ms Guaranteed on voltage 4 VDC Guaranteed off voltage 2 VDC Maximum forward voltage 30 VDC Maximum reverse voltage 30 VDC Forward current 3 12 mA Note All parameters are at the connector pin Table 30 Inouts Enable and Reset Electrical Timing Characteristics Outputs Encoder Output Frequency MHz pre quadrature Input Voltage High 2 4 V Input Voltage Low 0 5 V Based on 1200 differential load impedance Note All parameters are at the connector pin Note Aries encoder is a hardware pass through therefore you cannot change output resolution Table 31 Outputs Encoder Outputs Electrical Timing Characteristics Outputs Fault Blocking Voltage Continuous Load Current 10 mA Output Saturation Voltage at 1 0 mA Based on 1200 differential load impedance 1 0 V Note All parameters are at the connector pin Table 32 Outputs Fault outputs Electrical Timing Characteristics 70 Aries User Guide Parker Hannifin Inputs Step amp Direction Common Mode Range Differential Threshold Voltage 200 200 mV Differential Termination 120 ohms Impedance Input Frequency pre quadrature 5 MHz Note All parameters are at the connector pin Table 33 Inputs Step amp Direction Electrical Timing Characteristics Inputs Analog Function Input Range 10 Resolution 14 bits Impedance gt 20 K ohms Note A
166. nee 120 240 VAC 50 60 Hz Input Current 2 ecccceceeeeeeeeeeeseeeeeees 0 2 Amps RMS Control Power Functions Communications Diagnostics Motor position feedback Fault output in fault mode Brake relay in brake mode Reset input Control Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type 0 ccccccceesseeeeeeesieeeeeens Removable screw terminal Terminals eseeeeeeeceeeeeeeeeeeeee 7 Pith esienG ect 0 200 in 5 08 mm Wire Range 12 26 AWG Wire Strip length 0 31 in 7 87 mm Torque 7 0 in lbs nom 0 79 N m 46 Aries User Guide AR 20xE AR 30xE Connector TyPe eseecceeeeeeeeeeeeesteeeeeees Control Power Connection Parker Hannifin Terminals iaae e sheets 8 PRO oa 0 400 in 10 mm Wire Rang 0cceeee 12 28 AWG POE E rt ed 14 29 SWG Wire Strip length 0 250 in 6 35 mm Figure 19 shows how to connect the Control power source to the drive Use the screw terminal connector that is supplied with the drive AR 01xE to AR 13xE O OI Dmi 7 rae N H e POWER Protective Earth GND PEI Bm Figure 19 Mains Control Input Power AR 20xE amp AR 30xE Ol D R EXTERNAL INT REGEN D j R L c1 CONTROL N C2 INPUT Protective tees Earth GND D BK BRAKE D BK RELAY Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable s
167. ntabctin dabseed incoming pulse scaling DMPSCL eee 104 operating modes DMODE 4 103 position error SMPER 143 temperature status report TDTEMP 148 velocity error SMVER ccceeeeeeeeeees 144 FESUN inei sown riei aa a 125 driv cooling iiinn A 22 drive d MenS OnS cee 28 29 30 drive dimensions panel layout 31 199 Drive Enable DRIVE sscrrssrrrrerrrere 125 drive resolution DRES esscr a 125 echo COMMUNICATION eere 126 electrical pitch DMEPIT neee EMG acide ra a a EMC installation enable input error checking ERROR ccecce 129 WARING Sits svn tava Aaa aa bate aAA NA 69 Index 205 Parker Hannifin encoder auto configure SMart input resolution ERES position commanded TPC 06 position report TPE e position report error TPER e resolution ERES encoder offset EnV ronMEnt A epiteh DMERIT a a e aa aa aata a error clear log CERRLG isisiissisiatnaiatavatanatiwatareteeaianeiins display log contents TERRLG error checking enable ERROR error log setup ERRORL ccce error MESSAGES liee European Conformance Statement cceeceeeeeees 9 External DC link inductor airain 45 factory default settings restore RFS 139 faults fault on drive disable FLTDSB cerere 133 fault on excessive startup voltage FLTSTP 133 motor configuration error DMTR CONFIG 98 112
168. ocess Off Red flashing Waiting for OS download Yellow flashing Red flashing OS download in process Table 22 LED Status Indicator Normal Operation Internal Drive Faults Yellows Control power mode active Yellow amp 1 Green flashing Red Bridge Fault Yellow amp 2 Green flashing Red Feedback Fault Yellow amp 3 Green flashing Red Thermal Fault Yellow amp 4 Green flashing Red Other Fault Yellow amp 5 Green flashing Red Encoder Loss Table 23 LED Status Indicator Internal Drive Fault Establish Communications amp Verify Drive Configuration If you cannot enable the drive and examining LED conditions has not solved your problem then launch the Aries Support Tool and establish communications with the drive For detailed instructions on establishing communications see Establishing Communications on page 74 If you are unable to establish communications see RS 232 485 Communication Problems on page 159 Save the Configuration File Because further troubleshooting steps can change the drive configuration upload the current drive configuration file and save it to your personal computer This ensures you have a backup copy of the drive configuration To save a backup configuration file use the Aries Support Tool 158 Aries User Guide Parker Hannifin Reconfigure the Drive To verify proper configuration you may wish to reconfigure the drive Pay particular attention to selecting proper configu
169. ol action is important for achieving high system accuracy However if you can achieve acceptable position accuracy by using only the proportional feedback SGP then there is no need to use the integral feedback control Chapter 5 Tuning 83 Parker Hannifin Controlling Integral Windup If you are using integral control SGI and there is an appreciable position error that persists long enough during the transient period time taken to reach the setpoint the control signal generated by the integral action can end up too high this saturates to the maximum level of the controller s analog control signal output This phenomenon is called integrator windup see Figure 39 ____ Position Overshoot N Position Setpoint d d D Command a gt Position Position Error at T4 Internal Time Actual Output Integral Value generated by the Integral Term Maximum Ke Analog Output 10V hy i 8 fg H F Integral at T4 wd J i d n A a I ve ee r 4 KON y4 p x X 4 ka t i x ov T H s 1 X A z I n I Ve i wd I Ne 1 j I 1 I T Minimum wd Windup Duration Analog Output 10V 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 output Such a delay causes excessive position overshoot and oscillation The integ
170. oltage E31 Bridge Foldback E92 Power Regeneration Fault E34 Drive Temperature Fault E35 Motor Thermal Model Fault E36 Motor Temperature Fault E37 Bad Hall State E38 Feedback Failure 162 Aries User Guide The notch filter settings caused an internal calculation error The last valid value was used Try different values for the notch filter parameters DNOTAF DNOTAQ DNOTBF DNOTBQ The lead filter setting DNOTLD must be greater than or equal to the lag filter setting DNOTLG The lead filter setting DNOTLD must be less than or equal to 4 times the lag filter setting DNOTLG The lag filter setting DNOTLG must be greater than or equal to 20 Hz RESERVED The command voltage at the ANI terminal was too high when the drive was enabled Lower the voltage at the ANI terminal Try using the fault on startup voltage FLTSTP The drive is faulted Excessive current or short on the H bridge Excessive current being commanded 1 If the application is operating in the peak range limiting the peak current setting with DMTLIM can limit the current commanded and lower the bridge temperature Default DMTLIM is 3 x continuous current perhaps lowering it to 2 5 x continuous current or 2 x continuous current can help This however will limit the motor s available torque which may increase position error and possibly cause a position error fault 2 Issue a DIFOLD 1 command This command ena
171. olver Error E52 Encoder Loss Fault The drive is disabled DRIVE The H bridge is not switching The drive regenerated warning only Shaft power is limited to the rated output to protect the drive warning only The motor was turning too fast when the drive was enabled Commanded position Actual Position is greater than the value set by SMPER Commanded velocity Actual Velocity is greater than the value set by SMVER 0 Hardware Enable Drive I O Pin 1 and 21 1 No Hardware Enable No motor power was present when the drive was enabled The drive is in Control power mode No motor power is present The ALIGN command did not complete successfully TPE THALL A problem writing to non volatile memory exists RFS A problem determining the correct resolver angle exists Applies to Arxx xR models only Check the resolver feedback wiring The drive determined there was loss of feedback Check the feedback wiring TPE THALL Table 50 Error Messages Smart Encoders Several drive related parameters may need additional configuration CMDDIR DCMDZ and ADDR If the Aries drive does not initialize correctly when connected to a Smart Encoder 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 backwards produces low torque or gets warm 2 Check that the feedb
172. onnecting device Auto Configuration for Encoders The Aries drive recognizes smart encoders attached to Parker motors You can apply power to the drive and the drive reads all necessary motor parameters from the motor The drive and motor are then ready to use If a drive is swapped out for any reason you can insert a replacement the replacement drive automatically reads the motor parameters Several drive related parameters may need additional configuration CMDDIR DCMDZ and ADDR Chapter 3 Electrical Installation 33 Parker Hannifin System Installation Overview The figures in this section illustrate the components necessary for electrical installation and configuration of the Aries drive Figure 9 represents the installation of models AR 01xx through AR 13xx Figure 11 shows the installation of models AR 20xE and AR 30xE whose connectors differ from the other five models The illustration shows the 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 permanent installation AR 01xx AR 02xx AR 04xx AR 08xx amp AR 13xx Installation Aries Drive Motor Feedback Cable Drive I O RS 232 485 Dongle MOTOR FEEDBACK Controler Control Mains Cable Motor Cable Motor Figure 9 Overview of System In
173. onnector AR 01xx AR 02xx AR 04xx AR 08xx AR 13XxX aaaeeeaa Parker Hannifin Connector Type Part Number 00 AR 20xE AR 30XE 0 ee Parker Hannifin Connector Type 60 Aries User Guide Part Number 0 Amphenol PCD OSTTJ075102 43 021068 01 TermiQallS secttits dee tenasiteiss cetseiaess 6 Pith iieiea 0 200 in 5 08 mm Wire range ccce 12 26 AWG TETEE RA TE 14 27 SWG a tae deades 0 12 3 30 mm Wire strip length 0 310 in 8 mm Torque 7 0 in lbs nom 0 79 N m Molex 39960 0110 N A not replaceable Non Removable screw terminal Terminals 292 cess tence sn nO 10 PIG aerar uen 0 315 in 8 mm Wire range seese 10 22 AWG AATE NEE E EE 12 23 SWG a 0 5 4 0 mm Wire strip length 0 25 in 6 5 mm Torque 7 0 in lbs nom 0 79 N m Parker Hannifin AR 20xE amp AR30xE Control Connector On the AR 20xE amp AR 30xE models the Control connector serves for three connections an external power dump resistor EXTERNAL REGEN a control power circuit CONTROL INPUT POWER and a safety brake relay BRAKE RELAY The connector is an eight position non removable screw terminal Specifications for the connector follow in this section The Control connector has a factory installed link between Rr and R for an internal regeneration resistor which provides thermal protection For more information see Regeneration Protection on page 54 For information on
174. ort Tool are using non Parker motors or sent an RFS command 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 114 Aries User Guide DMTSCL Type Syntax Units Range Default Response See Also Parker Hannifin DMTRWC specifies the temperature rise of the motor winding above motor case temperature per watt of winding power dissipation between the winding and case Motor heatsinking does not affect this value Torque Force Scaling Drive Configuration Product Rev lt a_ gt DMTSCL lt r gt Aries 1 0 Rotary motor r Nm Linear motor r N G to 5 G motor drive dependent 1 DMTSCL lt gt 2 DMEPIT DMODE DMTKE DMTLIM DMTR TDIMAX TTRO TTROA 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 non Parker motors or sent an RFS command 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 DMTSCL command scales the torque force command input It sets the full scale torque force that will be produced from a 10 volt input command It controls the gain applied to the input This can be used to scale the input to match application ne
175. pic Description Models Enhancement Added models AR 13xx AR 20xE and AR 30xE and relevant information Regeneration Enhancement Added discussion and connections Protection DC Inductance Link Enhancement Added discussion and connections Command Reference Enhancements Added the following commands ALIGN DMTSWT DRES ENCOFF ESTORT IANI OHALL P163 Modified the following commands DMTTCM range DMTTCW range DVMLIM range and default DPWM range and corrected mode information ERROR now includes messages 47 and E48 SFB In OS 2 10 or higher SFB also functions to set feedback type TMTEMP Added new reporting capabilities for OS 2 10 or higher Error Messages Enhancement Added error messages E47 and E48 See Chapter 7 Troubleshooting 14 Aries User Guide Parker Hannifin Revision B Changes This document 88 021610 01B supersedes 88 021610 1A Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Fault Operation DRIVE I O connector internal circuit diagram Inputs Enable and Reset Outputs Encoder Inputs Step amp Direction Inputs Analog RS 485 Communication Tuning Command Reference Error Messages Description Enhancement Added a discussion about fault operations for the DRIVE I O connector Correction Simplified the circuit diagram for the Enable input Enhancement Added specifications
176. plication Note Both methods assume regeneration occurs during a trapezoidal move Important It is possible to overload an Aries drive or the combination 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 the rated resistors available do not use the Aries drive in your application 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 values of 8 Ohms or greater Simplified Resistor Selection Many applications do not require a power dump resistor because the drive can absorb or dissipate the regenerative deceleration energy However if a drive faults from over voltage during a deceleration event an external power dump resistor is probably required Table 57 contains recommended power dump resistors for specific Aries drive and Parker Hannifin motor combinations The recommendations are based on the calculations presented in the section titled Calculating Resistance Rotary Motors These recommendations assume a worst case load to rotor inertia ratio of 10 to 1 maximum duty cycle and maximum deceleration from maximum velocity for that specific motor drive pairing These are recommendations only while not optimized for your particular appli
177. ponse Types Table 38 identifies the six basic types of position responses The primary difference among these responses is due to damping the suppression or cancellation of oscillation Unstable Instability causes the position to oscillate in an exponentially diverging fashion Position Time a Time Over A highly damped or damped over damped system gives a smooth but slower response Position Under A slightly damped or damped under damped system gives a slightly oscillatory response Position Time Chapter 5 Tuning 81 Parker Hannifin Critically A critically damped damped response is the most desirable because it optimizes the trade off between damping and Position speed of response Time Oscillatory An oscillatory 5 response is Q characterized by a G sustained position a oscillation of equal 7 amplitude ime Chattering Chattering is a high c frequency low amplitude oscillation 3 that is usually audible Time Table 38 Position Response Types Performance Measurements If you plot of the position response versus time you can make a few measurements to quantitatively assess the performance of the servo These three measurements are made before or shortly after the motor stops moving e Overshoot The measurement of the maximum magnitude that the actual position exceeds the position setpoint It is usually measured in terms of the percentage of the setpoint value e
178. predict the number of seconds until foldback will occur For example the figure shows that at the Aries drive s peak current rating 250 of continuous foldback will occur after six seconds After operating at the drive s peak current the drive will reduce the drive current to 80 of the drive s continuous rating for 60 seconds This is to ensure the drive s average continuous current rating is not exceeded Drive Current Rating vs Time Peak Rating 300 250 AR 13xE Peak Rating 225 200 150 Continuous Rating 100 50 Time seconds Figure 51 Time until current foldback occurs Cables EMC Ready Cables Many Parker cables are EMC installation 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 192 these cables are designed to aid the user in gaining European Compliance and are thus an integral part of a CE system solution EMC cables add RF screening and bonding to reduce emissions increase immunity and provide high integrity safety Earth bonding They also help to reduce problems in high electrical noise environments Non EMC Cables Parker also offers non EMC cables for applications where CE compliance is not required and where ambient electrical noise does not cause problems Because these cables are either unshielded or
179. presents the values 1 or does not require field separator between values c Represents a character A to Z or a to z d Represents the values 1 or E or e does not require field separator between values E or e enables a specific command field a Represents a numeric value that cannot contain a decimal point integer values only The numeric range varies by command Field separator required Represents a numeric value that may contain a decimal point but is not required to have a decimal point The numeric range varies by command Field separator required E Represents a string of alphanumeric characters from 1 to 16 characters in length The string must start with an alpha character Comma Represents a field separator Commands with the symbol r or i in their Syntax description require field separators Commands with the symbol b ord in their Syntax description do not require field separators but they may be included See Table 41 lt gt Indicates that the item contained within the lt gt is optional and not required by that command Note Do not confuse with lt cr gt lt sp gt and lt 1 gt which refer to the ASCII characters corresponding to a carriage return space and line feed respectively The ASCII character b can also be used within a command to precede a binary number When the b is used in this context it is not to be replaced with a or 1 For example comparisons such aS ERROR b1x1
180. r must be included in the installation which must be clearly marked as the disconnecting device and should be within easy reach of the machine operator The Aries Drive has exposed high voltage terminals In order to comply with the safety requirements pertaining to European Compliance and other authorities the drive must be mounted in such a way as to restrict access to these terminals during normal operation A Safe Installation Meeting the Requirements of the Low Voltage Directive LVD In order to comply with the requirements of the European Union s Low Voltage Directive the following installation measures must be taken e Mains fuses must be installed on all mains input lines carrying operating current For more information see Motor Power Fuse Information on page 41 and page 46 e Drive Protective Earth Conductor must be connected directly to a reliable system safety Earth point Total resistance from Drive s Protective Conductor Terminal to a Reliable System Safety Earth Appendix C Regulatory Compliance UL and CE 191 Parker Hannifin must not exceed 0 1 Ohm and must be capable of carrying 25A of Fault Current e Motor safety earth conductor for motor voltages greater than or equal to 75 volts must be connected to the drive s Motor Earth terminal marked with e The drive must be installed in a manner that prevents operator access to hazardous live terminals during normal operation Additional s
181. r Mains power L1 L2 L3 and as well as for output power to the motor U V W and D and a DC Link Inductor For more information on these additional connections see Output Power on page 43 and External DC Link Inductor Optional on page 45 This connector is not removable AR 01xE to AR 13xE AR 20xE amp AR 30xE O OI R CL R Ly c2 MOTOR l LJ C1 Protective M Earth GND POWER N L2 Lee Es L1 L1 L2 MOTOR INPUT L3 POWER Protective Earth GND Tt DC LINK INDUCTOR 2 Figure 26 Mains Input Power Connector Chapter 3 Electrical Installation 57 Parker Hannifin Mains Input Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13XX Parker Hannifin Connector Type Part Number 00 AR 20xE AR 30XE oe eee Parker Hannifin Connector Type 58 Aries User Guide Part Number 0 Amphenol PCD OSTTJ075102 43 021069 01 Termina is teeda tees d nnana 7 PitOhi niiina 0 200 in 5 08 mm Wire Range n 12 26 AWG aaa aa aaa e 14 27 SWG sili ie seats TE Y 0 12 3 30 mm Wire Strip length 0 31 in 7 87 mm Torque 7 0 in lbs nom 0 79 N m Molex 39960 0110 N A Non Removable screw terminal Terminals caai 10 Pite arasson 0 315 in 8 mm Wire Range ee 10 22 AWG PE T E E te 12 23 SWG Enaria Sea SEE N 0 5 4 0 mm Wire Strip length 0 25 in 6 5 mm
182. r close to those connected to its input Where you wish to minimize the cross coupling between wires avoid running them side by side one another if they Appendix C Regulatory Compliance UL and CE 195 Parker Hannifin must cross cross them at 90 to each other Keep wiring supported and close to cabinet metalwork e Cables may require the use of ferrite core suppressors Some installations may require that you take additional EMC measures To further increase product immunity and reduce product emissions you may add clip on ferrite absorbers to all cables Parker recommends ferrites with at least 200 ohm impedance at 100 MHz such as the following Steward Ferrite Part number 28A2024 Fair Rite Part number 0443164151 Note These ferrites are available 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 e Your Installation may require additional EMC installation hardware as shown in illustrations The following clamp kits are available from Parker R Clamp Kit 10 per for models R CLAMP KIT AR 02xx to AR 13xx R Clamp Kit 10 per for models R LARGE CLAMP KIT AR 20xE and AR 30xE Clamshell Clamp Kit 2 per CLAMSHELL KIT for all models Table 62 Enclosure Mounting Clamps 196 Aries User Guide Note The Control power input also requires a mains power line filter varistors and fuses in order to comply with the relevant
183. r the correct value DMT J This parameter is set to zero 0 The drive will not enable Velocity or Position Modes To correct the error you must set to a non zero value Refer to your motor specifications for the correct value DMTD The notch filter settings caused an internal calculation error The last valid value was used Try different values for the notch filter parameters DNOTAF DNOTAQ DNOTBF DNOTBQ The lead filter setting DNOTLD must be greater than or equal to the lag filter setting DNOTLG The lead filter setting DNOTLD must be less than or equal to 4 times the lag filter setting DNOTLG The lag filter setting DNOTLG must be greater than or equal to 20 Hz RESERVED Table 42 Configuration Errors and Warnings 100 Aries User Guide Parker Hannifin DCMDZ Zero the Drive Command Offset Type Drive Configuration Product Rev Syntax lt a_ gt DCMDZ lt r gt Aries 1 0 Units r volts Range 1 to 10 26 Default BO Response N A See Also ANICDB DMODE TANI The DCMDZ command sets the zero point for the command input When in torque force mode DMODE2 this will minimize motor drift Executing the DCMDZ command without an argument sets the zero reference point to the last voltage read at the command input To execute this command correctly short the AIN and AIN pins together on the DRIVE 1 o connector or command zero volts from the servo controller You can also u
184. ral windup limit SGILIM command allows you to set the absolute limit of the integral The commanded limit in essence turns off the integral action as soon as it reaches the limit consequently position overshoot and oscillation can be reduced see Figure 40 84 Aries User Guide Parker Hannifin Position Setpoint D Command Position i i Time A Maximum Integral Analog Output 10V Windup Limit wd SGLIM ae a m a a Minimum Analog Output 10V wd Windup Duration Figure 40 Integrator Windup using the SGILIM Command Chapter 5 Tuning 85 Parker Hannifin Servo Tuning Example The example below illustrates how to experimentally obtain the highest possible proportional feedback SGP and velocity feedback SGV gains For a Servo Tuning flow diagram see Appendix A Additional Specifications on page 168 The motion command used for this example is a step command with a step size of 200 The plots shown are as they appear in the Aries Support Tool X axis time Y axis 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 set the proportional feedback gain SGP to 5 As you gt can see by the plot the response is slow Commanded Position Actual Position In the next step we should increase SGP un
185. rating Response DMTICD lt gt 5 See Also DMTIC DMTIP DMTIP 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 non Parker motors or sent an RFS command 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 106 Aries User Guide DMTIND Type Syntax Units Range Default Response See Also Parker Hannifin The DMTICD command sets the current derating percentage at rated speed DMTW This value sets the extent to which continuous current must be reduced at speed to compensate for velocity related losses in the motor For example DMTICD3 sets the motor s continuous current derating to 3 or 97 of continuous value DMTIC at the motor s rated speed DMTW At half this speed it will be reduced 1 5 Motor Inductance Motor Product Rev lt a_ gt DMTIND lt r gt Aries 1 0 r mH to 200 0 40 1 DMTIND of results in motor configuration error DMTIND lt gt 1 DMTINF DMTR 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 non Parker motors or sent an RFS command to the drive the par
186. ration settings for the motor that you have installed as motor configuration problems can cause a variety of errors Download the new configuration to the drive the changes take effect after you send the RESET command or cycle power RS 232 485 Communication Problems If you cannot establish RS 232 or RS 485 communications the next sections give instructions for procedures to help isolate problems Rx Tx Gnd 2 wire plus ground Talk Talk Gnd 9600 baud 9600 baud 8 data bits 8 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 Ensure the RS 232 or RS 485 wiring is connected prior to powering up the Aries drive When applying power the drive will detect either RS 232 or RS 485 and configure accordingly Testing the COM Port Using the Aries Support Tool you can test COM port connections gt Under Communications select the COM port and then click Test RS 232 communications might require that you use a null modem cable For information about connecting to the COM port see Establishing Communications on page 74 Additionally refer to the pinout diagram for the RS 232 485 connector also located on page 74 Chapter 7 Troubleshooting 159 Parker Hannifin Invalid COM port number Select a different COM port Unable to open COM port No COM port
187. rive not for the motor ARO ARO2xx ARO4X AR OBXK AR 13xx AR 20xE AR 30xE 1 0 1 75 3 0 4 5 6 3 10 16 Arms Arms Arms Arms Arms Arms Arms 3 0 5 25 9 0 13 5 14 07 30 48 Arms Arms Arms Arms Arms Arms Arms 3 375 3 375 3 375 3 375 8 64 3 375 3 375 sec sec sec sec sec sec sec Table 43 Current Foldback Ratings If your drive is operating above its continuous rating see Figure 42 to predict the number of seconds until foldback occurs For example the graph shows that at the drive s peak current rating 300 of continuous foldback occurs after 3 375 seconds Note For model AR 13xx foldback occurs after 8 64 seconds at its peak rating 225 of continuous Drive Current Rating vs Time AR 13xE Peak Rating 225 200 Time seconds Figure 42 Time until current foldback occurs 102 Aries User Guide Parker Hannifin DMEPIT Motor Electrical Pitch Type Motor Linear only Product Rev Syntax lt a_ gt DMEPIT lt r gt Aries 1 0 Units r millimeters Range to 3 1 Default Response DMEPIT lt gt 4B OO See Also ERES Note This command does not take effect until you cycle power to the drive or send the RESET command The DMEPIT command sets the electrical pitch of the magnets for use with permanent magnet brushless linear motors The DMEPIT value is required to convert between linear units and rotary units The elec
188. rque constant If some of the parameters are not known the energy dissipated in the motor windings Ew can conservatively be assumed zero 0 This is based on current and motor winding resistance E E a E 2 2 kest Where Ew energy dissipated in the motor windings Joules copper losses l current through the windings Amps Ru line to line motor resistance Ohms tp deceleration time Seconds Jv rotor inertia kg m J load inertia kg m kr motor torque constant Nm Amp o rotational speed in radians per sec 1 revolution sec 2 n radians sec Appendix B External Power Dump Resistor Selection 179 Parker Hannifin Energy Dissipated in Load The load dissipates energy through friction losses viscous damping and other motor load related losses These losses are known as load losses If some of the parameters are not known the energy dissipated in the load E can conservatively be assumed zero 0 This can be derived from the torque required during the constant velocity portion of the move profile either measured or calculated 1 E To t L D 2 Where E energy dissipated by the load Joules load losses torque at constant velocity Nm Q rotational speed in radians per sec 1 revolution sec 2 v radians sec tp deceleration time Seconds Energy to Dissipate in the External Power Dump Resistor To stop a motor kinetic and potential energy must go somewhere Through
189. rrect value DMTRES This parameter 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 This parameter 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 DMTIC Chapter 6 Command Reference 99 Parker Hannifin E9 Peak Current E1 Use Drive Continuous Current Warning I Torque Rating gt Peak ower Rating Warning E E E12 Use Drive Peak Current Warning E13 Inertia Il Q E14 Damping imi Wexeela ae Ikeeue Oeke REEGY s E16 Lead lt Lag Freq E17 Lead 2 4 Lag Freq E18 Lag Freq lt 20 Hz E19 E24 This parameter 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 DMTIP The continuous current of the motor is higher than the continuous current rating of the drive Use the continuous current rating for the drive The motor s torque rating is too high for the power level of the drive Use the drive s torque rating The peak current of the motor is higher than the peak current rating of the drive Use the drive s value for peak current This parameter is set to zero 0 The drive will not enable Velocity or Position Modes To correct the error you must set to a non zero value Refer to your motor specifications fo
190. s tp deceleration time Seconds Average Dissipation Repetitive moves need to dump the energy each time the deceleration occurs The duty cycle of this repetition determines the average power the resistor must dissipate This average power must not exceed the capabilities of the resistor Power resistors are rated based on ideal heatsink and airflow conditions and are therefore often over rated by the 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 rating D Pive Ppr x i C Where Pava average power into the external power dump resistor Watts Ppeax peak power into the external power dump resistor Watts tp deceleration time Seconds te cycle time or time between each deceleration event Seconds could operate in excess of 200 C Keep the resistor away from thermally sensitive components such as cables or plastic hardware Proper installation may require the use of thermal compound and proper thermal connection to a heat absorbing metal surface i Important Under normal operation the external power dump resistor 182 Aries User Guide Parker Hannifin Calculating Resistance Linear Motors Because there are different types of motion profiles and application specific conditions you may need to modify the results to suit your particular applic
191. s in higher currents being drawn from the line at rated power and harmonics 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 30xE AR 20xE 1 0 to 3 0 mH AR 30xE 0 75 to 2 0 mH 15A Note Where within the recommended range the larger inductance gives a better shape to the input current waveform but at the expense of larger physical size Table 19 AR 20xE amp AR 30xE DC Link Inductors Chapter 3 Electrical Installation 45 Parker Hannifin Control Power Supply With Mains power applied to the Control power terminals C1 and C2 the drive s internal control board remains powered when the primary motor AC power source L1 L2 L3 is disconnected When operated in this configuration the Control power input performs a keep alive function The keep alive circuit maintains several important functions including communications diagnostics position feedback and other logic functions while removing power from the motor output connection See the following section Fuse Information for a complete list 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 Ratingen ene S 1 Amp Fuse Ty pe eror Nei N Class CC Bussmann KTK R 1 or equivalent UL listed fuse Input Voltage Range ie
192. s the intended position at any given point of time To view the commanded position use the TPC Transfer Commanded Position command the response represents the commanded position at the instant the command is received es Setpoint Commanded Position N Profile Complete Distance D Position Constant Velocity Acceleration Deceleration Time Figure 38 Commanded Position Actual Position The actual position of the motor load is the drive s response to the commanded position and is measured with the feedback device The profile resulting from the actual position across time is the position response for more information see Servo Response Overview on page 81 To view the actual position use the TPE Transfer Position of Encoder command the response represents the actual position at the instant the command is received The difference between commanded and actual positions is called position error To view the position error use the TPER Transfer Position Error command the response represents the position error at the instant the command is received If the motor is not moving the position error is called a steady state position error lf a position error occurs when the motor is moving it is called a position tracking error Even when the system is properly tuned the position error can still be quite significant due to a combination of factors such as the desired profile t
193. se DCMDZ to set the zero point to an arbitrary voltage by entering that value For example DCMDZ 5 makes 0 5 volts equal toa commanded velocity of zero 0 rps Note that this value is the internal level and does not take into account any offsets in the incoming command signal DIBW Current Loop Bandwidth Type Tuning Product Rev Syntax lt a_ gt DIBW lt i gt Aries 3 0 Units Hz Range 250 3000 Default 1200 Response DIBW lt gt 1200 See Also PGAIN IGAIN IAUTO When used in conjunction with TAUTO1 this command sets the current loop bandwidth Higher values of DIBW will give a faster response to changes in commanded current at the expense of some overshoot Lower values of DIBW will give a slower response with much less overshoot Chapter 6 Command Reference 101 DIFOLD Type Syntax Units Range Default Response See Also Parker Hannifin Current Foldback Enable Drive Configuration Product Rev lt a_ gt DIFOLD lt b gt Aries 1 0 b enable bit disable or 1 enable R DIFOLD lt 30 none The DIFOLD command enables 1 or disables the drive s current foldback protection feature The current foldback feature reduces the drive s continuous current output by 20 when sustained current has the potential to overheat the drive For the AR 20xE and AR 30xE drives this feature is always enabled Each drive has the specifications shown in Table 43 Note that current ratings are for the d
194. seseaeenseeeeeneenens 32 Installation Safety Requirements assssesssrrsersrrnsssrnnasinnaentsnnnatnnnnnannaananannanenanannanannannaanananna 33 System Installation OVErView rriraanitnir arrainn iara AEA NAAA ARARA 34 Power Suppl ync ien i a a e a Rate Se ee 39 Multiple Drive Installations c ccccccecceeeceecceceeeeeeeeeeeaeeeeeeeeeseseeaaeeeeeeeeeseeeaeeeeeeeseseesenaeeeees 48 Brake Relay Opona e pierin eea Aide teins A ete teat teddies eet te 50 Regeneration Protections s0 cniedeieisied den eeiraeee tiie ise aided 54 LEDs Drive Status Indicators ccccececeeceeceeeeeeeeeeceeeaeceeeeeeeseceeeaeeeeeeeeeesesscnaeeeeeeeeeseesnnaeees 56 Connector DeSCriptiOns cccceccccccecceceeeeeeeeceee eee e aidaa a aeda adaa aaa 57 installation TeStis et uinie a aa a eta a ea aae hae ee 72 Chapter 4 COMMUNICATIONS ccceseceeeeeeeteeeeeeeeneeeeeeeeee sae unnn nnnn nunnu annn nnnn anneanne ennn nnnn anneanne nanenane 73 RS 232 485 Communications ccccccceeeeeeceeceeeeeeeeeceecaeceeeeeeescacaeeeeeeesecenceeeeeeeeeesesecaneeeees 74 Chapter E TLA E E E ioleelacebechetv dee dena donee 78 E NEE a E E E E E E A E E I E E 79 Position Variable Overview cccccceceeeeeeccceceeeeeceeeeaeeaeceeeeeseccaaeeeeeeeeeseseceaeeeeeeeeeseesenneeees 80 Servo RESPONSE OVervViEW sieneen eene eaa pipe iea Era a Ee AREE PE ena iaaa e ie AREE aeri 81 SEFVOZSYStEM GaINS E E E A E E E A E E E T E EN 83 SELV
195. set the Aries drive through a terminal emulator A terminal emulator however is not required Instead you can use the Aries SuppOort Tool software to perform the same operations Note The Aries Support Tool does not support the CMDDIR and ADDR commands You must use a terminal emulator to set the commanded direction and address of each drive Before you can communicate with the Aries Drive you must configure your terminal emulator You can use HyperTerminal or an equivalent terminal emulator For more information about setting up communications see RS 232 485 Communications on page 74 Multiple Unit Address Drive Configuration Product Rev lt a_ gt ADDR lt i gt Aries 1 0 i unit number to 255 ADDR lt gt none The ADDR command configures the unit address for an RS 485 multi drop network The factory default address for an Aries drive is zero 0 The 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 do this prefix the command with the unit s address followed by an underscore _ For example 2 ERES reports the resolution on unit 2 RS 485 Multi Drop You must address each unit before adding it to the multi drop network For example you want to set up a 4 unit multi drop network where the drives are addressed as units 1 through 4 Af
196. setpoint whichever is lower when DMTSWT is set to 3 The default value for this command is DMTSWTO and will work with both positive temperature coefficient thermistors or normally closed switches DMTTCM Motor Thermal Time Constant Type Motor Product Rev Syntax lt a_ gt DMTTCM lt r gt Aries 1 0 Units r minutes Range O to 120 6 0 1 Default B D Response DMTTCM lt gt 3 4 See Also DMTR DMTTCW 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 non Parker motors or sent an RFS command 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 DMTTCM command specifies the thermal time constant of the motor and its mounting The drive uses this value to help protect the motor from thermal damage It describes the length of time the motor takes to reach 63 of its final temperature given constant power Note that the motor mounting affects this measurement Continuous current ratings and published time constants for Parker motors are specified when mounted to a 10 x 10 x 1 4 aluminum plate in 25 C open air If your mounting surface provides heat sinking or thermal mass significantly different from this a different value may be appropriate to your 116 Aries User Guide Parker Hannif
197. so INPOSDB INPOSTM Use the INPOS command to replace the Fault output with an In Position output when using the drive in step amp direction modes DMODES6 and 7 If 134 Aries User Guide Parker Hannifin the In Position output is enabled the output will be active when the motor satisfies the In Position criteria as specified by the INPOSDB and INPOSTM commands To restore the Fault Output functionality use INPOS INPOSDB In Position Deadband Type Drive Configuration Product Rev Syntax lt a_ gt INPOSDB lt i gt Aries 2 0 Units i deadband in counts Range 32767 Default Response INPOSDB lt gt See Also INPOSTM INPOS TPER Use the INPOSDB command to specify the deadband in encoder counts for the In Position command For the In Position output to be classed active the position error as specified by the TPER command should be less than or equal to this value INPOSTM In Position timeout value Type Drive Configuration Product Rev Syntax lt a_ gt INPOSTM lt i gt Aries 2 0 Units i ms Range 1 12020 Default 1 Response INPOSTM lt gt i See Also INPOSDB 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 during this time in order for the In Position output to become active LJRAT System Load to System Load to Rotor Forcer Inertia Ma
198. ss 75 Table 37 RS 485 Connector Pinout cccccceeceeeeccecceee cece eececaeceeeeeeeseccacaeeeeeeeeeesessnnieaeeeeeess 75 Table 38 Position Response Types cccceceeeeeeneceeceeeeeeeececeneaeeeeeeeeesessasaeeeeeeeeeeseesnnisaeeeeeess 82 Table 39 Commands Description of Format cccccceceececeeceeeeeeeeeesecneeeeeeeeeseseenieeeeeeeeeeees 92 Table 40 Commands Syntax ceccccecececceeeeeeeeeeseeeeeeeeeeeeeeeeeeeaeeeeceeeaeeeseeeaeeeseeeaeeeseeeaeeeseeeaeees 93 Table 41 Syntax Guidelines w ce ccc eetiecadeceastdeceeiceneeeeasageadea suit eeeanuateetiaagentencuaceetengenees 94 Table 42 Configuration Errors and WarningS cccceeeeeeeeeeeeeeeeeeneeeeeenaeeeseenaeeeeesnneeeeeeaaes 100 Table 43 Current Foldback Ratings cccccecceeceeeeceeneeeeeeeeeeeeeeeeeeeeseeeaaeeeceeeaeeeseeaeeeeeeaaees 102 Table 44 Drive Control Mode 2 ceccececccceceeeeececcae cece eeeetecceaaaeceeeeeeesececaaeeeeeeeeeseesennuaeeeeeess 104 Table 45 Peak Current Rating for Aries Drives eecceeeeceeeeeeeeneeeeeeeeeeeeeeeaeeeeeeneeeeeeenaees 109 Table 46 Error Status Text Based Report cccceceeeeececceeceeeeeeeesececaeeeeeeeeesecsuseeeeeenees 131 Table 47 Error Log Enable Disable ccccccceeeeeeeeeeneeeeeeeneeeeeeneeeeeeceeeeeeieeeseeneeeeeenaees 132 Table 48 Terminal Emulator Configuration for RS 232 485 Communication e 159 Table 49 Communications Port Errors and Resolu
199. ss Ratio Type Tuning Product Rev Syntax lt a_ gt LJRAT lt i gt Aries 2 0 Units Load to Rotor Inertia Ratio Range O G 100 Default B D Response LJRAT lt gt D See Also IGAIN PGAIN Chapter 6 Command Reference 135 OHALL Type Syntax Units Range Default Response See Also Parker Hannifin This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode The LJRAT command sets the system s load to rotor inertia ratio rotary motors or load to forcer mass ratio linear motors The ratio is expressed in the following equation e Rotary Motors LJRAT load inertia motor rotor inertia Total system inertia load inertia motor rotor inertia e Linear Motors LJRAT load mass forcer mass Total system mass load mass forcer mass Hall Only Commutation Drive configuration Product Rev lt a_ gt OHALL lt i gt Aries 2 10 Hall commutation type sinusoidal commutation trapezoidal commutation i O 1 2 DC Brushed motor commutation 3 Z channel commutation Smart Encoder only 4 Hall less startup 0 OHALL lt gt 0 ALIGN SFB THALL Note This command requires a reset to take effect The OHALL command sets the commutation type Use OHALL1 to set trapezoidal commutation and OHALL2 for DC brushed motors DC brushed motors should be wired to motor phases U amp W if they are used The default is OHALLO sinusoidal encoder commutation onc
200. stallation for AR 01xx to AR 13xx to exposed high voltage terminals this product must not be accessible to users Warning This product has been developed for industrial environments Due while under normal operation 34 Aries User Guide Parker Hannifin To operate the Aries drive with separate control and motor AC input remove the factory 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 Factory Installed Jumper Wires C1tolL1 N C2toL2 N Figure 10 AR 01xx to AR 13xx Factory Installed Jumpers Chapter 3 Electrical Installation 35 Parker Hannifin AR 20xE and AR 30xE Installation Motor Feedback Cable MOTOR PEEOBACK Drive I O RS 232 485 Dongle Control Mains Cable Motor Power Mains Cable Figure 11 Overview of System Installation for AR 20xE amp 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 operation 36 Aries User Guide Parker Hannifin To operate the Aries drive with separate control and motor AC input remove the factory installed external jumpers With the jumpers installed apply power to the motor power mains only Figure 12 shows the location of the factory installed jumpers
201. stors Parker Hannifin Three Phase Input Control Power You must install varistors or other voltage surge limiting devices in order to meet the requirements of EN61000 4 5 Level 3 Voltage Surge 1000V line to line 2000V line to earth protection can be achieved by placing a Littelfuse V275LA20C or an equivalent varistors from line to line and from line to earth before the mains filter as shown in Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30xE on page 198 Mains Motor Power The three phase AC power Aries drives models AR 20xE and AR 30xE are designed to meet Level 3 Voltage Surge 1000V line to line 2000V line to earth without the need for external voltage surge limiting devices If a higher level of mains surge immunity is required external voltage sure limiting devices such as varistors can be installed before the mains filter Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30xE on page 198 illustrates this installation Note Intersil General Electric and Littelfuse manufacture equivalent varistors e Use an EMC ready motor or a motor that has demonstrated acceptable EMC performance Motors with shielded cabling or pipe thread style cabling options allow the easiest integration into machines required to bear the CE mark for EMC Note Motors may bear the CE mark This mark indicates the motor meets the requirements of construction and safety not EMC compliance e Use shielded cabling
202. t DMTINF Motor Inductance min DMTW Motor Rated Speed DMTIP Peak Current DMVLIM Velocity Limit DMT J Motor rotor Inertia Forcer DMVSCL Velocity Scaling Mass DMTKE Motor Ke DPOLE Number of Motor Pole Pairs DMTLIM Torque Force Limit ERES Encoder Resolution Although these command values are auto configured when you select a Parker motor using the Aries Support Tool you may individually set the command values with the respective configuration command Motor Configuration Error Many of the above motor parameters if not configured i e a command remains at its factory default value or an RFS command is executed will report a motor configuration warning or error when powering up the Aries drive E Motor Configuration Warning or E1 Motor Configuration Error an error also disables the drive DRIVE To resolve the error or warning condition you must select a Parker motor using the Aries Support Tool or configure each motor parameter command with a value other than zero using a terminal emulator download the resulting configuration information and then send the RESET command or cycle power Chapter 6 Command Reference 113 Parker Hannifin DMTRES Motor Winding Resistance Type Motor Product Rev Syntax lt a_ gt DMTRES lt r gt Aries 1 0 Units r Ohm measured line to line Range D to 107 00 1 Default DMTRES of results in motor configuration error Response DMTRES lt gt 7 5
203. t rest stores energy relative to the position of the body When the body moves the potential energy is released and translated into kinetic energy For purely horizontal applications potential energy is negligible and therefore not necessary for inclusion in your calculations However for vertical applications potential energy can greatly affect the selection of power dump resistor Regardless whether the incline is gentle or steep it is important to calculate the potential energy that must be absorbed or dissipated elsewhere Appendix B External Power Dump Resistor Selection 183 Parker Hannifin Ep mgh Where Ep potential energy Joules m mass of forcer and load kg g gravitational constant 9 81 m s2 h vertical height change during deceleration m Energy Absorbed by Drive Capacitors The Aries drive s capacitors can store energy With motor deceleration the drive capacitors absorb some of the kinetic and potential energy While the capacitors absorb energy the bus voltage increases Later the capacitors release that potential energy in subsequent accelerations or into typical drive losses If too much 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 terms of capacitance and voltage 1 Ec zC Vre Vom Where EC energy that can be absorbed by the dri
204. tective Earth Warning The drive s connector strip terminals have hazardous voltages when power is applied to the drive and up to several minutes after power is removed Lower voltages may still be present for several minutes after power is removed During normal operation these high voltage terminals must not be accessible to the user Motor Power Fuse Information Aries drives have no user serviceable internal fuses For safety you must provide a fuse in each of the AC Mains Motor power input lines To determine the proper fuse type and size for your application see Table 14 For fuse recommendations for Control power input lines see Control Power Supply on page 46 120 VAC 125 VAC Time Delay RK5 or better ee 240 VAG 250 VAC Time Delay 10A RK5 or better ARO2x 120 VAC 125 VAC Time Delay 10A RK5 or better 240VAC 250 VAC Time Delay 10A RK5 or better ma 20 VAC 125 VAC Time Delay 20A RK5 or better 240VAC 250 VAC Time Delay 20A RK5 or better Fone We 125 VAC Time Delay 20A RK5 or better 240VAC 250 VAC Time Delay 20A RK5 or better ree ae 125 VAC Time Delay 30A RK5 or better 240 VAC 250 VAC Time Delay 30A RK5 or better AR 20xE 240 VAC 250 VAC Time Delay 40A RK5 or better AR 30xE 240 VAC 250 VAC Time Delay 40A RK5 or better The 40A fuse is recommended regardless of whether the input power is single phase or 3 phase Table 14 Motor Power Fuse Information Chapter 3 Electrical Installation 41 Parker Hannifin Ta
205. ter addressing a drive you can install it in the multi drop network 1 Connect the drive to become unit 1 Through a terminal emulator send the following command ADDR1 2 Connect the drive to become unit 2 Through a terminal emulator send the following command ADDR2 3 Connect the drive to become unit 3 Through a terminal emulator send the following command ADDR3 4 Connect the drive to become unit 4 Through a terminal emulator send the following command ADDR4 If you need to replace a unit in the multi drop network connect to the individual device and send the ADDRi command where i Chapter 6 Command Reference 95 ALIGN Type Syntax Units Range Default Response See Also Parker Hannifin represents the address of the new unit Then connect the drive to the network Note All command responses on an RS 485 network are preceded by lt gt Align encoder Drive configuration Product Rev lt a_ gt ALIGN Aries 1 0 N A N A 0 none DMODE DRIVE ENCOFF ENCPOL P163 SHALL The ALIGN command aligns the encoder on the motor so that the drive can commutate the motor correctly This command is especially useful for configuring a custom motor To align the motor use the following procedure 1 Remove any load from the shaft The procedure works best with an unloaded motor O 2 Disable the drive by means of the hardware enable or by typing DRIVE into the ter
206. the SGILIM command to limit the integral term windup SGILIM Integral Windup Limit Type Tuning Product Rev Syntax lt a_ gt SGILIM lt i gt Aries 2 0 Units i Limit value Range to 32767 Default 1 Response SGILIM lt gt 1 See Also SGI SGP SGV This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode If integral control SGI is used and an appreciable position 140 Aries User Guide Parker Hannifin error has persisted long enough during the transient period time taken to reach the setpoint the control signal generated by the integral action can end up too high 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 returns to a level within the limit of the controller s output Such a delay causes excessive position overshoot and oscillation Therefore the integral windup limit SGILIM command is provided for you to set the absolute limit of the integral and in essence turn off the integral action as soon as it reaches the limit thus position overshoot and oscillation can be reduced SGP Servo Gain Proportional Type Tuning Product Rev Syntax lt a_ gt SGP lt i gt Aries 2 0 Units i gain value Range to 1909 99 Default 60 Response SGP lt gt 6 See Also SGILIM SGI SGV PGAIN This command is only valid
207. the drive is not enabling Does the LED change from off to green The drive is powered up and enabled power is not a problem e Remove all connections to the drive DRIVE I O MOTOR MOTOR FEEDBACK and R R leaving Mains power L1 L2 and terminals connected Apply power to the drive Does the Right LED change from off to red Then a short exists in the disconnected cables e Check Mains wiring and feedback connections If these steps do not solve your problem follow the general troubleshooting procedure outlined below General Troubleshooting Procedure e Check the LEDs see LEDs Drive Status Indicators on page 158 e Launch the Aries Support Tool e Verify the RS 232 485 communications are functioning correctly e Inthe Aries Support Tool look to the Status Panel to identify problems with the drive e Check for non Drive problems problems with other parts of the system Detailed procedures for each of these topics are given in the rest of this chapter Chapter 7 Troubleshooting 157 Parker Hannifin LEDs Drive Status Indicators The drive has two bi color LEDs The LED on the left displays yellow or green colors The LED on the right displays red or green colors The following tables describe LED illumination states and the conditions they indicate Normal Operation Green Power on enabled Yellow Green Power on regeneration active Off Red Power on disabled No Fault Yellow Off Power on boot pr
208. the torque velocity and position of servo motors using a digital current loop Control of Aries Drives is performed using controllers which have standard 10V torque command 10V velocity command or 5V TTL step amp direction interface For Aries drives using the analog or step and direction command interface configure the drives through RS 232 485 using the Aries Support Tool on a personal computer PC or 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 are standard on the product including plug and play capabilities with Aries compatible motors Aries Names The following diagram explains the Aries part numbers AR 0O1 AE Drive Type viele ieee Aries Maximum Shaft Powef cccc eee 01 100W 02 200W 04 400W 08 750W 13 1300W 20 2000W 30 3000W Command Interface s A Analog S Step amp Direction P Ethernet Powerlink Motor Feedback ccccccccceceseeeeeeeeseeeeees E Encoder R Resolver Input Power Motor Power AR 01xx AR 02xx AR 04xx AR 08xx AR 13XX c ecceees 120 240 VAC single phase mains motor power AR Z0XE vias f AAAA 240 VAC single phase or three phase mains motor power AR SOX Ets tiecaitcivets Settee 240 VAC three phase mains motor power only Control Power AR 01xx through AR 30XE ceeeee 12
209. til the response is slightly under damped Position Time Step 2 With SGP equal to 2 the response becomes slightly under damped see plot Therefore we should introduce the velocity feedback gain SGV to damp out the oscillation Position SGP 2 Time 86 Aries User Guide Parker Hannifin Step 3 Step 3 With SGV equal to 2 the response is fairly well damped see plot At this point the SGP should be raised again until oscillation or excessive overshoot appears Position Time Step 4 As we iteratively increase SGP to 5 overshoot and chattering becomes significant see plot This means the SGV gain is too low and or the SGP is too high Position Next we should try raising the SGv gain to see if it will dampen out the overshoot and chattering Time Step 5 After the SGV gain is raised to 5 the overshoot was reduced but chattering is still quite pronounced This means either one or both of the gains is too high Position The next step should be to lower the SGV gain first Time Chapter 5 Tuning 87 Step 6 Lowering the sGv gain to 3 does not help reduce the chattering by much Therefore we should lower the SGP gain until chattering stops Step 7 Chattering stops after reducing the SGP 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 ov
210. tions cccccceeeeececeeeeeteeeeeeteeeeeeeeeeees 160 Fable 50 Error M6SSaGeS airar oaran ES ee aa An ate cae tenn hago cee an 163 Table 51 Configuring Hall Sensors sriain a AEE EERE EEEE EEEE KEE ATREA ERNI TEAT 167 Table 52 LED Short Circuit Faullt ccccccccccececeecnececeeeeeeeceneaeceeeeeeeesesaaaeeeeeeeeesecsncaeeeeeeneess 170 Parker Hannifin Table 53 LED Drive Over Temperature Fault cccccecceceecececeeeeeeeeeeneceeeeeeesecsnceeeeeeeeess 170 Table 54 Reset Temperature Values 0 0 cccecececceececeeeeeeeeeceeaeceeeeeeesecaaaeceeeeeeesensnnnaeaeeeeeees 171 Table 55 LED Under Voltage Fault ce cceeceeeeeeeeeeeene eee eeeneeeeeeaeeeeeeaeeesesnaeeeeeeceeeenenaees 171 Table 56 LED Over Voltage Fault arius aE aa di EAA raai aai Ra 172 Table 57 Simplified Selection of External Power Dump Resistor ccecceeeeeeeeeeeeees 176 Table 58 Drive Capacitor Absorption ccecececeee cece ceeeeeeeeceaeceeeeeeesecaaaeeeeeeeeeseceessusaeeeeeess 179 Table 59 Drive Capacitor Absorption ccccececcee cece cece eeeeceaeceeeeeeesecaaaeceeeeeeesecenenueaeeeeeess 185 Table 60 Control Power Filter Selection c c ccccececeeeeeeeeeceeeeeeeseceeaeeeeeeeeeesesecnieaeeeeeeeenes 194 Table 61 Mains Motor Power Filter Selection cccccccsecceceeeeeeeeeeeeeeaeeeeeeeseseeeeeaeeeeeeeeees 194 Table 62 Enclosure Mounting Clamps 0 ccecceeeeeeeeeeneeeeeeenee
211. to the drive This has the effect of reversing any torque or velocity command It can be useful when using custom wiring during initial setup of the drive Chapter 6 Command Reference 133 Parker Hannifin Sending an TANI1 command inverts the input polarity In addition the command TANT reflects this change IAUTO Automatically determine Current Loop Gains Type Tuning Product Rev Syntax lt a_ gt IAUTO lt b gt Aries 3 0 Units none Range 0 disable or 1 enable Default 1 Response IAUTO lt gt 1 See Also PGAIN IGAIN DIBW The IAUTO command allows the drive to automatically determine the current loop gains according to the bandwidth set via the DIBW command and the motor parameters Resistance and Inductance This can give improved current loop response compared to using the default gains set by the support tool IGAIN Integral Gain Type Tuning Product Rev Syntax lt a_ gt IGAIN Aries 1 0 Units none Range to 100 2 Default 1 Response IGAIN lt gt 1 08 See Also IAUTO 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 produced by the motor INPOS Enable In Position Output Type Drive Configuration Product Rev Syntax lt a_ gt INPOS lt b gt Aries 2 0 Units b enable bit Range disable or 1 enable Default Response INPOS lt gt See Al
212. trical pitch can be equated to one revolution in a rotary motor Mechanically the definition of the electrical 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 Linear motor track Definition of DMEPIT Electrical Pitch Figure 43 Linear motor track Important For rotary motors set the DMEPIT to zero 0 The Aries drive uses the DMEPIT parameter as the determinant for which type of motor linear or rotary is connected DMODE Drive Control Mode Type Drive Configuration Product Rev Syntax lt a_ gt DMODE lt i gt Aries 1 0 Units i control mode setting Range 1 to 17 see Table 44 Default 2 Response DMODE lt gt 2 See Also none Use the DMODE command to select the drive control mode for your Aries drive For drive mode descriptions and drive compatibility see Table 44 Chapter 6 Command Reference 103 Parker Hannifin 1 Autorun Rotates the motor at 1 rps mps Current is reduced by 10 2 Torque Force Allows direct control of rotary motor Control torque or linear motor force 3 Feedback Alignment Auto configure for feedback setup Velocity Control Allows direct control of rotary or linear motor velocity 6 Position Control Uses 5V Differential compatible RS 422 logic level compatible step and direction control 7 Reversed Position Reverses the polarity of the step and Control direction signal Table 44
213. ts an error status bit Maximum Allowable Velocity Error Servo Product Rev lt a_ gt SMVER lt i gt Aries 2 0 i Rev Sec D to 4 D D D SMVER lt gt D ERES TPE TVEL TVELA TVE Ea This command is only valid in DMODE4 velocity mode SMVER determines the maximum velocity error allowed before an error condition occurs The velocity error is the difference between the commanded velocity TVEL and estimated actual velocity TVELA If the error exceeds this value a fault will result in which the drive is shut down DRIVE and ERROR bit 45 is set The DRIVE1 command re enables the drive clears ERROR bit 45 and sets TVEL equal to TVELA xI You can check the actual velocity error with the TVER command If the SMVER value is set to zero SMVER the velocity error condition is not monitored allowing the velocity error to accumulate without causing a fault 144 Aries User Guide Parker Hannifin STATUS Status full text report Type Transfer Product Rev Syntax lt a_ gt STATUS Aries 1 0 Units N A Range N A Default N A Response STATUS lt gt GENERAL lt gt OS Revision Aries Revision 1 lt gt Power Level 75 W lt gt Control Power INACTIVE lt gt MOTOR lt gt Motor Name SM232AE lt gt Motor Type ROTARY lt gt Feedback Type SMART ENCODER lt gt Motor Temp 4
214. uit remains open if AC power is not applied to the L1 and L2 terminals Table 28 Fault Output Operation Figure 33 DRIVE I O connector female drive connector pinout Chapter 3 Electrical Installation 67 Parker Hannifin Drive I O Connector Internal Connections ILD21 Enable Input 1 Plat 2 Limit v7 Enable Input 21 Cite ee Oak 470 pF lt Reset Input 18 CMPSH 3A Reset Input 23 Same Circuit as Enable Input Encoder Out A 3 Encoder Out A p gt 100 pF 221 02 221 00 100 pF O 100 pF 100 pF O Same Circuit as Encoder Out B B Encoder Out B 5 Encoder Out B e gt Encoder Out Z T Encoder Out Z 8 1LD223 Fault Output 9 Fault Output 16 Z Step 10 470 pF x p lar 221 09 zoa js Direction 12 470 pF 221 02 Dia Direction 13 Analog Input 14 20KQ 20 0KQ fa OPA2340 Analog Input 15 Digital Ground 2 2 0KQ 20 0K 2 Digital Ground 17 0 Digital Ground 19 Digital Ground 20 Digital Ground 22 Digital Ground 24 RS 232Rx RS 485 25 RS 232Tx RS 485 26 at Figure 34 DRIVE I O connector internal circuit diagram 68 Aries User Guide Pinout DRIVE I O Connector Parker Hannifin Note A box surrounding pins indicates a requirement for twisted pair wiring Signal Pin Description ENABLE 1 Drive Enable input anode ENABLE 21 Drive Enable input cathode DGND 2 Digital ground ENC A 3 Encoder A C
215. ure 37 Closed Loop and Open Loop System Comparison To command a drive controllers can provide 10V analog output or step and direction signals Once the digital control algorithm has calculated the digital control signal the resultant digital value is sent out from the DSP digital signal processor to the DAC Digital to Analog Converter The DAC has an analog output range of 10V to 10V It is possible for the digital control signal calculated by the control algorithm to exceed the DACs output range If this occurs the resulting analog output becomes saturated where the analog output signal remains at the limit until the position error changes such that the control algorithm calculates a control signal less than the limit The phenomenon of reaching the output limit is called controller output saturation When saturation occurs increasing the gains does not help improve performance because the DAC is already operating at its maximum level Chapter 5 Tuning 79 Parker Hannifin Position Variable Overview In a servo system the controller uses two types of position information commanded position and actual position As these positions change with time you can use the position values to determine if the system is positioning as you expect Commanded Position The commanded position is calculated by the motion profile routine from the controller and it is updated every servo sampling period Therefore the commanded position i
216. value results in an internal calculation error the last valid value is used and TE15 is set There are two cascaded notch filters labeled A and B Both filters operate in exactly the same way The graphs below illustrate the transfer function magnitude and phase of the internal commanded torque force vs the user commanded torque force In this example the notch frequency is set to 150 Hz DNOTAF15 and the Q is set to 1 DNOTAQ1 120 Aries User Guide Parker Hannifin DNOTAF150 ai Sa Filter Response dB Phase shift degrees 00 103 104 Frequency Hz Frequency Hz Figure 46 Notch Filter A La These filters operate in all DMODE settings except Autorun DMODE1 DNOTAQ Notch Filter A Quality Factor Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTAQ lt r gt Aries 2 0 Units rv quality factor Range 5 to 2 5 Default 1 Response DNOTAQ DNOTAQ1 5 See Also DNOTAD DNOTAF DNOTBD DNOTBF DNOTBQ DNOTLD DNOTLG The DNOTAQ command sets the quality factor Q for notch filter A The 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 Type Tuning Product Rev Syntax lt a_ gt
217. ve capacitors Joules C drive capacitance Farads VTRIP power dump trip DC voltage 400 VDC for Aries drives VNOM nominal DC motor voltage typically AC mains voltage at 2 for example 120 VAC 2 170 VDC Fortunately for a given drive the capacitance and voltages are fixed Table 59 on page 185 provides the needed information and results from the above calculation 184 Aries User Guide Parker Hannifin 400 28 9 AR 01xx 440 AR 02xx 660 400 43 14 AR 04xx 880 400 57 19 AR 08xx 1100 400 72 24 AR 13xx 1590 400 104 35 AR 20xE 2240 400 N A 50 AR 30xE 2240 400 N A 50 When the voltage drops below 385 VDC the Aries drive stops dissipating power through the power dump resistor Table 59 Drive Capacitor Absorption Energy Dissipated in Motor Winding Resistance Some energy is dissipated in the motor windings Because the energy is converted to wasted heat 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 not known the energy dissipated in the motor windings Ew can conservatively be assumed zero 0 This is based on current and motor winding resistance 2 Ey LR ty 1 Getta Ru tp 2 2 kp tp Where Ew energy dissipated in the motor windings Joules copper losses l current through the windings AMPS ms Ry line to line motor resistance Ohms tp dec
218. wer dump for the application the regenerative power should never exceed 50 of the resistor s average power rating t I e Poe C Where PAVG average power into the external power dump resistor Watts PPEAK peak power into the external power dump resistor Watts tD deceleration time Seconds tC cycle time or time between each deceleration event Seconds operate in excess of 200 C Keep the resistor away from thermally sensitive Important Under normal operation the external power dump resistor could AN components such as cables or plastic hardware Proper installation may require the use of thermal compound and proper thermal connection to a heat absorbing metal surface 188 Aries User Guide APPENDIX C Regulatory Compliance UL and CE IN THIS CHAPTER System Installation Overview General Safety Considerations General EMC Considerations Installing the Aries Drive Regulatory Agencies Standards of Compliance Parker Hannifin System Installation Overview This appendix contains information related to installation methods and practices that can be used to aid the systems integrator or machine builder in designing a compliant installation meeting the needs of global regulatory agencies The installation overview is divided in to two sections Safety and Electromagnetic Compatibility or EMC It is recommended that the installer read this entire overview prior to taking any action
219. with braided and bonded headshells 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 screen are unsuitable and in fact provide very little screening Care must be taken when terminating the cable screen the screen itself is comparatively fragile bending it round a tight radius can seriously affect the screening performance The selected cable must have a temperature rating which is adequate for the expected operating temperature of the motor case All cables must maintain high integrity 360 degree shielding Parker CE cables are fully shielded and provide the required screening When you install limit switches and other inputs outputs you must observe these noise immunity procedures and practices e Route cables as shown in Figure 53 Typical LVD EMC Installation AR 02xx to AR 13xx on page 197_and Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30xE on page 198 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 to each other Mount filters close to the drive and keep the supply wiring as short as practical Attempt to layout the wiring in a way that minimizes cross coupling between filtered and non filtered conductors This means avoiding running wires from the output of a filte
220. xE can accept single phase or three phase 240V motor power For single phase connections make no connection to terminal labeled L3 e The AR 30xE can only accept three phase 240V motor power Use the terminal connector that is supplied with the drive 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 Protective Earth connection If desired you can jumper two phases of the motor input power to the control input power for a single AC power connection Jumpers are installed at the factory for this purpose Remove the jumpers to apply separate control and motor mains power AR 01xE to AR 13xE AR 20xE amp AR 30xE O D O R R EXTERNAL Coq R INT REGEN Ol k D R CONTROL N Saat INPUT POWER ae C1 tL Protective r Earth GND N L2 L Lt eR CONTROL INPUT MOTOR POWER INPUT POWER BRAKE RELAY MOTOR L3 Protective Earth GND DC LINK Factory Installed gt INDUCTOR External Jumpers Figure 16 Motor and Control Mains Power Supply Connection Note See warnings on next page 40 Aries User Guide gt gt Parker Hannifin Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable system Pro
221. you find the required resistor is less than allowed for your specific Aries model or requires a watt rating greater than the rated resistors available do not use the Aries drive in your application 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 values of 8 Ohms or greater _V _Vrrw kr tp oe Uy J Where RrR maximum external power dump resistance Ohms V voltage across the resistor Vrap l current through the resistor drive current required to decelerate the load AMPS ms Vrrip power dump trip DC voltage 400 volts for Aries drives kr motor torque constant Nm Amp ms Jm rotor inertia kg m J load inertia kg m tp deceleration time Seconds o rotational speed in radians per sec 1 revolution sec 2 1 radians sec Appendix B External Power Dump Resistor Selection 181 Parker Hannifin Peak Dissipation During a single deceleration all the calculated power dump energy Eg must dissipate in the external resistor The external power dump resistor then slowly dissipates that energy as heat This peak power must not exceed the capabilities of the resistor which is typically 10 times the average power rating ER Ppeak tp Where Ppea peak power into the external power dump resistor Watts Er _ energy to be dissipated in the external resistor Joule
222. ystem Protective Earth Warning The drive s connector strip terminals have hazardous voltages when power is applied to the drive and up to several minutes after power is removed Lower voltages may still be present for several minutes after power is removed During normal operation these high voltage terminals must not be accessible to the user Chapter 3 Electrical Installation 47 Parker Hannifin Multiple Drive Installations In a typical cabinet installation a single mains line connects to a terminal bus inside the cabinet Then from the terminal bus make individual connections for Mains and Control power to the corresponding connector s on each drive Be sure to install fuses for each drive between the terminal bus and the drive Tie each drive s Protective Earth conductor terminal directly to the system safety earth location as shown in Figure 20 for models AR 01xx through AR 13xx or Figure 21 for models AR 20xE and AR 30xE Under normal operation 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 point or star safety earth configuration Figure 20 represents a typical star safety earth connection for Aries models AR 01xx through AR 13xx For multiple drives use a gt single point system safety earth Figure 20 Multiple Drives AR 01xx to AR 13xx

Parker Hannifin 88-021610-01G User's Manual

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