Parker Hannifin 88-021610-01G manuale d’uso

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Parker Hannifin 2 Aries User Guide User Information Aries Series products and the informatio n in this user guide are the proprietary property of Parker Hannifin Cor poration or its licenser s, and may not be copied, disclosed, or used for any purpose not expressly authorized b y the owner thereof. Since Parker Hannifin constantly strives to improv[...]

Parker Hannifin 3 T able of Content s User Info rmation ............................................................................................................... ............. 2 Table of Contents .............................................................................................................. ............ 3 Table of Tables.......[...]

Parker Hannifin 4 Aries User Guide RS-232/485 Communi cation Problems .................................................................................. 159 Error Messages ................................................................................................................. ..... 160 Smart En coders ......................................[...]

Parker Hannifin 5 T able of T ables Table 1 Output Power Le vel ..................................................................................................... 18 Table 2 Ship Kit Items, AR -01xx throug h AR-13xx .................................................................. 19 Table 3 Ship Kit Items , AR-20xE and AR-30xE ................[...]

Parker Hannifin 6 Aries User Guide Table 53 LED Drive Over -Temperature Fault ........................................................................ 170 Table 54 Reset Temp erature Values ..................................................................................... 171 Table 55 LED Unde r-Voltage Fault ....................................[...]

Parker Hannifin 7 T able of Figures Figure 1 Cabinet Losse s for AR-02xx when co nnected to a Parker BE231D motor ............... 24 Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor ................. 25 Figure 3 Cabinet losses for AR-13xx when co nnected to a Parker MPM1421CSJ motor ....... 26 Figure 4 Cabinet losses for [...]

Parker Hannifin 8 Aries User Guide Figure 53 Typical LVD/EMC Insta llation, AR-02xx to AR-13xx.............................................. 197 Figure 54 Typical LVD/EMC Insta llation, AR-20x E & AR-30xE ............................................. 198 Figure 55 Panel Layout Dimensio ns for the Ar ies Drive ...................................[...]

Parker Hannifin 9 Product Type ........................................... Arie s Family AR-01Ax, 02Ax, 04Ax, 08Ax, 13Ax, 20AE, and 30AE ................................................................ Aries Family AR-01Sx, 02Sx, 04Sx, 08Sx, 13Sx, 20SE, and 30SE The above product complies with the require ments of directives: • EMC Directive 89/3[...]

Parker Hannifin 10 Aries User Guide Warning — Risk of damage and/or personal injury The Aries drives describe d in this gui de contain no user-serviceable part s. Attempting to open the case of any unit, or to replace any internal component, may result in damage to the unit and/or person al injury. This may also void the warranty. Symbols Descrip[...]

Parker Hannifin 11 Import ant 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 res ult in damage to equi[...]

Parker Hannifin 12 Aries User Guide Change Summary Revision G Changes This document, 88-02161 0-01G, supersedes 8 8-021610-1F. Changes associated with Aries User Guide revisions, and document clarifications an d corrections are as follows: Topic Description Electrical Installation Added note to Motor Power Fuse Information table that 40A fuse is re[...]

Parker Hannifin 13 Revision F Changes This document, 88-02161 0-01F, supersedes 8 8-021610-1E. Changes associated with Aries User Guide revisions, and document clarifications an d corrections are as follows: Topic Description Command Reference Additions to ERES , SFB , and TREV commands for Aries Resolver option. Added TIDAC and TIQAC commands. Cor[...]

Parker Hannifin 14 Aries User Guide Revision D Changes This document, 88-02161 0-01D, supersed es 88-021610-1C. Change s associated with Aries User Guide revisions, and document clarifications an d corrections are as follows: Topic Description Regulatory Compliance Aries is no longer cUL compliant. Output Power Corrected to 14.07A Part Number In Ap[...]

Parker Hannifin 15 Revision B Changes This document, 88-02161 0-01B, supersedes 88-0 21610-1A. Changes associated with Aries User Guide revisions, and document clarifications an d corrections are as follows: Topic Description Fault Operation Enhancement: Added a discussi on about fault operations for the DRIVE I / O connecto r. DRIVE I / O connecto[...]

Chapter 1 Introdu ction CHAPTER ONE Introduction IN THIS CHAPTER Aries Product s—Overview ......................................................................... 17 Compatible Park er Produc ts ...................................................................... 18 Checking Your Shipment .......................................................[...]

Parker Hannifin Chapter 1 Introduction 17 Aries Products—Overview The Aries drives are a family of super compact, super efficient digi tal servo drives. Their maximum continuous shaf t power ranges from 100 Watts to 3000 Watts (3kW). Ready for direct pan el mounting, you can select the precise power level neede d for your application. Aries Produ[...]

Parker Hannifin 18 Aries User Guide 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. Drive Continuous Current (RMS) Peak Current (RMS) Continuous Shaft Output Power AR-01xx 1A 3A 100W, 0.13 hp* AR-02xx 1.75A 5.25A 200W, 0.27 hp* AR-04xx 3A 9A 40[...]

Parker Hannifin Chapter 1 Introduction 19 Checking Your Shipment Inspect your shipment carefully. Y ou should have received the corresp onding ship kit along with your drive. Ship Kit Items The following items ship wi th the AR-01xx through AR-13xx drives: Part Part Number Aries Quick Reference Guide AR-01xx AR-02xx, AR-04xx, AR-08xx, & AR -13x[...]

Parker Hannifin 20 Aries User Guide Illustrations in this Installation Guide Typically, the illustrations in this guide show the Arie s AR-01xx and the AR-30xE. These two models represent other model s with similar features. AR-01xx represents models AR- 01xx through AR13xE. Model AR-30xE represents the similar features of AR-2 0xE, as well. If the[...]

Chapter 2 Mechanical Installation CHAPTER TWO Mechanical Installation IN THIS CHAPTER Environment & Dr ive Cooling..................................................................... 22 Dimensions ................................................................................................ 28 Weight .........................................[...]

Parker Hannifin 22 Aries User Guide Environment & Drive Cooling The Aries drive operates i n an ambient temperature range of 0°C (32°F) to 45°C (113°F) ambient ai r 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. T he drive can tol[...]

Parker Hannifin Chapter 2 Mechanical Installation 23 Environmental Specifications (AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-20xE, and AR-30xE) Operating Temperature, Maximum Ambient Air 45°C (113°F) Minimum 0°C (32°F) Storage Temperature –40°C to 85° C (–40°F to 185°F) Humidity 0 to 95%, non-condensing Shock 15g, 11 ms half-sine Vibration[...]

Parker Hannifin 24 Aries User Guide Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor Shaft Power Voltage 0W* 20W 200W 120 VAC 15W 25W 34W 240 VAC 32W 44W 47W * Drive enabled, zero torque. Table 6 AR-02xx Power Dissipation AR-08xx The power dissi pation in Table 7 for the AR-08xx has been me asured using the Parker BE343J [...]

Parker Hannifin Chapter 2 Mechanical Installation 25 Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor Shaft Power Voltage 0W* 200W 700W 120 VAC 13W 42W 60W 240 VAC 24W 60W 73W * Drive enabled, zero torque. Table 7 AR-08xx Power Dissipation AR-13xx The power dissi pation in Table 8 for the AR-13xx has been me asured using [...]

Parker Hannifin 26 Aries User Guide Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor Shaft Power Voltage 0W* 700W 1300W 120 VAC 14W 82W 130W 240 VAC 25W 95W 146W * Drive enabled, zero torque. Table 8 AR-13xx Power Dissipation AR-30xE The power dissi pation in Table 9 for the AR-30xE has been measu red using the Parker[...]

Parker Hannifin Chapter 2 Mechanical Installation 27 Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor Shaft Power Voltage 0W* 1500W 3000W 240 VAC 35W 103W 172W * Drive enabled, zero torque. Table 9 AR-30xE Power Dissipation Cabinet Cooling Calculations Use the motor’s speed torque cu rve to determine the torque when[...]

Parker Hannifin 28 Aries User Guide 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 id entical. This section contains the dimensions for all Aries model s. Drive Dimensions—AR-01xx & AR-02xx Figure 5 Dr[...]

Parker Hannifin Chapter 2 Mechanical Installation 29 Drive Dimensions—AR-04xx, AR-08xx, & AR-13xx Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx Drive Fin Height— in (mm) Overall Width (OW)—in (mm) Overall Depth with Cables—in (m m) 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)[...]

Parker Hannifin 30 Aries User Guide Drive Dimensions—AR-20xE & AR-30xE Figure 7 Drive mounting for the AR-20xE and AR-30xE Drive Fin Height— in (mm) Overall Width (OW)—in (mm) Overall Depth with Cables—in (mm) AR-20xE & AR-30xE 1.48 (37.5) 4.67 (118.5) 9.27 (235.5) Table 12 AR-20xE and AR-30xE Drive Dimensions Weight Use Table 13 to[...]

Parker Hannifin Chapter 2 Mechanical Installation 31 Mounting Guidelines The Aries drive is a vented product. To prevent material spilling int o the drive, mount it under an overhang o r in a suitable enclosure. Aries products are made a vailable under “Restricted Distribution” for use in the “Second Environment” as described in EN 61800-3 [...]

Chapter 3 Electrical Installation Electrical Installa tion CHA PTE R T H REE IN THIS CHAPTER Installation Safety Requirements ............................................................... 33 System Installa tion Overview..................................................................... 34 Power S uppl y ........................................[...]

Parker Hannifin Chapter 3 Electrical Installation 33 Installation Safety Requirements Aries drives meet the requirements of both the European LVD (Low Voltage Directive) and EMC (Electromagneti c Co mpliance) directives when installed according to the instructions given within “ Appendix C Regulatory Compli ance–UL and CE”. As a rule, it is r[...]

Parker Hannifin 34 Aries User Guide System Installation Overview The figures in this section illustrate the components necessary for electri cal installation and configuration of the Aries drive. Figure 9 repre sents the installatio n of models AR-01xx through AR-1 3xx. Figure 11 shows the installatio n of models AR-20xE and AR-30xE, whose conne ct[...]

Parker Hannifin Chapter 3 Electrical Installation 35 To operate the Aries drive with separate control a nd motor AC input, remove the factory installed external jumpers. With the jumpers installed, apply power to the motor power mains only. Figure 10 sh ows the location of the factory in stalled jumpers. Figure 10 AR-01xx to AR-13xx Factory Install[...]

Parker Hannifin 36 Aries User Guide AR-20xE and AR-30xE Installation Figure 11 Overview of System Installation for AR-20xE & AR-30xE Warning — This product has b een developed for industrial enviro nments. Due to exposed high voltage terminals, this p roduct must not be accessi ble to users while under normal operation.[...]

Parker Hannifin Chapter 3 Electrical Installation 37 To operate the Aries drive with separate control a nd motor AC input, remove the factory installed external jumpers. With the jumpers installed, apply power to the motor power mains only. Figure 12 sh ows the location of the factory in stalled jumpers. Figure 12 AR-20xE to AR-30xE Factory Install[...]

Parker Hannifin 38 Aries User Guide Figure 13 Connectors on Aries Models AR-01xx to AR-13xx Figure 14 Connectors on Aries Models AR-20xE & AR-30xE[...]

Parker Hannifin Chapter 3 Electrical Installation 39 Power Supply Input Power The mains motor powe r supply and control power su pply for the Aries Drive must meet the following requirement s. Model Requirements Motor Input Power AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx (L1, L2) 120/240 VAC, 50/60 Hz, single phase AR-20xE (L1, L2, L3) 240 VAC, 5[...]

Parker Hannifin 40 Aries User Guide AC Power Suppl y Connection Figure 16 on page 34 shows how to co nnect the external 120/240 VAC motor power source and control power so urces to the drive. • The AR-20xE can accept single- pha se or three-phase 240V motor power. For single-phase conne ctions, make no connection to terminal labeled L3. • The A[...]

Parker Hannifin Chapter 3 Electrical Installation 41 Warning — You must connect the drive’s protective conductor te rminal, marked with the earth symbol , to a reliable system Protective Earth. Warning — The drive’s connector strip term inals have hazardous voltages whe n power is applied to the drive, and up to several minutes after po wer[...]

Parker Hannifin 42 Aries User Guide Table 15 lists part numbers (at time of publication) for suitable fuse s from several manufacturers. These fu ses are type RK5 (time delay fuses). Amp s Bussmann Ferraz Shawmut (formerly Gould) Littelfuse 10 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 [...]

Parker Hannifin Chapter 3 Electrical Installation 43 Output Power Table 17 contains the conti nuous and peak output po wer ratings for all Aries drive models. Contin uous Output Peak Output Drive Current (Amps, RMS) Shaft Power* (Watts, max) Current (A mps, RMS) Shaft Pow er (Watts, max) AR-01xx 1.0 100 3.0 300 AR-02xx 1.75 200 5.25 600 AR-04xx 3.0[...]

Parker Hannifin 44 Aries User Guide Output Power Connection Figure 17 shows how to connect the moto r cable to the drive. Use the screw terminal connector that is installe d in the drive. Current Parker motor cables are marked with white numbers to indi cate the phases. Connect Mo tor Phase 1 Æ U, 2 Æ V, and 3 Æ W, and Motor Safety Earth to the [...]

Parker Hannifin Chapter 3 Electrical Installation 45 External DC Link Inductor (Optional) The Aries AR-20xE and AR-30xE drives have two extra terminal s that allow an external DC link inductor to be added if required. To add the DC link inductor, remove the factory installed shorting link, an d connect the inductor as shown in Figure 18. Figure 18 [...]

Parker Hannifin 46 Aries User Guide Control Power Supply With Mains power appli ed to the Control power terminals C1 and C2, the drive’s internal control board rem ains powered when the primary m otor AC power source (L1, L2 (L3)) is disconnect ed. When operated in this configuration, the Control power input perform s a “keep-alive” function.[...]

Parker Hannifin Chapter 3 Electrical Installation 47 AR-20xE, AR-30xE Connector Type....................................... Non-Removable screw terminal Terminals ........................................8 Pitch ...................... 0.400 in (10 mm) Wire Range .................... 12-28 AWG ....................................... 14-29 SWG .......[...]

Parker Hannifin 48 Aries User Guide Multiple Drive Installations In a typical cabinet installation, a singl e mains line conne cts to a terminal bus inside the cabinet. Then from the terminal bus, make individual connections for Mains and Control power to the corresp onding connector(s) on each drive . Be sure to install fuses for each drive betwee[...]

Parker Hannifin Chapter 3 Electrical Installation 49 Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth[...]

Parker Hannifin 50 Aries User Guide Brake Relay (Optional) [The Brake Relay connection provides a safety feature for your motion control system, particularly for vertical appli cations. 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[...]

Parker Hannifin Chapter 3 Electrical Installation 51 Warning — You must connect the drive’s protective conductor te rminal, marked with the earth symbol , to a reliable system Protective Earth. Warning — The drive’s connector strip term inals have hazardous voltages whe n power is applied to the drive, and up to several minutes after po wer[...]

Parker Hannifin 52 Aries User Guide Motors without Full Wave Rectifiers When using Parker MaxPlus moto rs, Parker motors with serial numbers le ss than 010904xxxxx, or non-Parker motors, you must install a fly-back diode. Consult the specifications or t he manufacturer of your motor. Connecting the Brake Relay 1. Connect one red/blue brake wire (P [...]

Parker Hannifin Chapter 3 Electrical Installation 53 Relay Operation Drive Condition Relay State Enabled Closed (conduct ing) 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 [...]

Parker Hannifin 54 Aries User Guide Regeneration Protection The Aries drive models A R-20xE and AR -30xE have internal regeneration power dump (dissipation) resistors. Models AR-01xx through AR-1 3xx do not. However, all models can utilize an external regeneration resi stor. Regeneration Connection To use a external regeneration (powe r dump) resis[...]

Parker Hannifin Chapter 3 Electrical Installation 55 Internal Regeneration Capability The internal regeneration resistor of the AR-20xE and AR-30xE is capable of dissipating 1kW for 1 second and up to 100 Watts continuously (d epending upon heatsink temperature). If the calc ulated temperature of the in ternal regeneration resi stor exceeds 150 ° [...]

Parker Hannifin 56 Aries User Guide LEDs ⎯ Drive Status Indicators The drive has two bi-color LEDs. The LED on the left display s yellow or green colors; The LED on the right displ ays red or green colors. The following tables describe LED illuminat ion states and t he conditions they indicate. Normal Operation LED–Left LED–Right What it mean[...]

Parker Hannifin Chapter 3 Electrical Installation 57 Connector Descriptions Motor Mains Power Connector The drive’s Mains screw terminal co nnector provides a conn ection for AC Mains power to your drive. (For conne ction information, see “ Input Power” on page 39 .) The c onnector differs between the two largest Aries models an d the others.[...]

Parker Hannifin 58 Aries User Guide Mains/Input Power Connector AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx ................. Amphenol PCD: OSTTJ075102 Parker Hannifin Part Number .................. 43-021069-01 Connector Type ....................................... Removable sc rew terminal Terminals ........................................7 Pitch[...]

Parker Hannifin Chapter 3 Electrical Installation 59 Output Power Connector The drive’s Motor screw terminal conne ct or provides output power to your motor. (For connection information, see “Output Power” on page 43 .) The con nector differs between the two large st Aries models and the others. Specifications for the connectors follow in thi[...]

Parker Hannifin 60 Aries User Guide Motor Connector AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx ................................. Amphenol PCD: OSTTJ075102 Parker Hannifin Part Number .................. 43-021068-01 Connector Type....................................... Removable screw terminal Terminals ........................................6 Pit[...]

Parker Hannifin Chapter 3 Electrical Installation 61 AR-20xE & AR30xE Control Connector On the AR-20xE & AR 30xE models, the Control conn ector serves for three connections: an external powe r dump resistor (E XTERNAL R EGEN ), a control power circuit (C ONTROL I NPUT P OWER ), and a safety brake relay (B RAKE R ELAY ). The connector is an [...]

Parker Hannifin 62 Aries User Guide Motor Feedback Connector—Encoder Inputs for the resolver feedback, moto r therm al switch, and hall effects are located on the 15-pin Moto r Feedback connector. Figure 29 MOTOR FEEDBACK connector, fe male drive connector pinout Important — Encoder inputs use a DS26LV32 diffe rential line receiver. Parker Hann[...]

Parker Hannifin Chapter 3 Electrical Installation 63 Pinout— MOTOR FEEDBACK Connector Note: A box surrounding pins indi cates a requirem ent for twisted pair wiring. Signal Pin Description ENC Z+ / Data+ 1 Encoder Z Channel in ENC Z– / Data– 2 Encoder Z Channel in DGND 3 Encoder pow er return +5 VDC 4 +5 VDC Encoder power +5 VDC 5 +5 VDC Hall[...]

Parker Hannifin 64 Aries User Guide Connector Specification—Aries Drive Manufacturer ........................................... KYCON or equivalent Connector Ty pe....................................... 15-Pi n High Density D-Subminiature (female socket) KYCON Part Numb er .............................. K66- E15S-NR Connector Specification—Mat[...]

Parker Hannifin Chapter 3 Electrical Installation 65 Motor Feedback Connector—Resolver Inputs for the encoder feed back, motor t hermal switch, and hall effects are located on the 15-pin Moto r Feedback connector. Figure 31 MOTOR FEEDBACK connector, fe male drive connector pinout Figure 32 MOTOR FEEDBACK connector for resolver opti on, internal c[...]

Parker Hannifin 66 Aries User Guide Pinout— MOTOR FEEDBACK Connector for Resolver Option Note: A box surrounding pins indi cates a requirem ent for twisted pair wiring. Signal Pin Description No connection 1 — No connection 2 — Thermal- 3 Motor thermal switch/thermistor Referenc e+ 4 Resolver ex citation signal Referenc e- 15 Resolver excitat[...]

Parker Hannifin Chapter 3 Electrical Installation 67 • 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: • Step and Direction inputs are 5V differential compatible (RS -422 logic level compatible. • Encoder output s[...]

Parker Hannifin 68 Aries User Guide Figure 34 DRIVE I / O connector, internal circuit diagram[...]

Parker Hannifin Chapter 3 Electrical Installation 69 Pinout— DRIVE I / O Connector Note: A box surrounding pins indi cates a requirem ent 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 Channel out ENC A– 4 Encoder A Channel out E[...]

Parker Hannifin 70 Aries User Guide Inputs—Enable, Reset The drive Enable and Reset inputs are opt ically isola ted inputs. Current is limited internally for input voltage contro l of 5 to 24 volt logic. The Anode (+) and Cathode ( − ) are on separate connector pins to allow si gnificant flexibility in wiring to different styles of interface. D[...]

Parker Hannifin Chapter 3 Electrical Installation 71 Inputs—Step & Direction Description Min Typical Max Units Common Mode Range -7 +7 V Differential Threshold Voltage -200 +200 mV Differential Termination Impedance 120 ohms Input Frequency (pre-quadratu re) 5 MHz Note: All parameters are at the connector pin. Table 33 Inputs—Step & Dir[...]

Parker Hannifin 72 Aries User Guide Installation Test Once you have made the necessary me chanical an d electrical connection s, you can test the drive. The Aries Supp ort Tool contain s the Auto Run Test Wizard, which ex ercises basi c f unctions of the Aries drive. You must do the following before testing the drive: • Configure the drive for th[...]

Chapter 4 Com municat ions CHAPTER FOUR Communications IN THIS CHAPTER Terminal Emulator Configuration ............................................................... 74 Establishing Co mmunic ations ................................................................... 74 RS-232 Communi cations ........................................................[...]

Parker Hannifin 74 Aries User Guide RS-232/485 Communications The Aries drive has a singl e 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 comm unication protocol s. Terminal Emulator Configuration RS-232 RS-485 * Rx, Tx, Gnd [...]

Parker Hannifin Chapter 4 Communications 75 Depending on the comm unications protocol you a re using, Aries can automatically configure itself. • If using RS-232, Aries will automatic ally detect and configure itself for that communications protocol. • If using RS-485 (two-wire) and the stand ard bias configuration, Aries will automatically det[...]

Parker Hannifin 76 Aries User Guide Figure 36 RS-485 Multi-drop Connections RS-485 Multi-Drop RS-485 multi-drop lets you connect up to 99 Aries drives together (see Figure 36). Every drive is factory config ured with a default address— zero (0). Using the ADDR command, you can assi gn a unique address to each drive. You must address each drive in[...]

Parker Hannifin Chapter 4 Communications 77 Warning — Risk of damage and/or personal injury When testing the installation of drives, use safe me thods 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[...]

Chapter 5 Tuning CHAPTER FIVE Tuning IN THIS CHAPTER Servo Tuning Overview ............................................................................. 79 Position Variabl e Overview ........................................................................ 80 Servo Response Overview ..................................................................[...]

Parker Hannifin Chapter 5 Tuning 79 Servo Tuning 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 nume rical equations used to periodically (once ev ery servo sa mpling period) calculate the value of the control output. The numerical terms of th[...]

Parker Hannifin 80 Aries User Guide Position Variable Overview In a servo system, the controller u ses two types of position information: commanded positio n and actual position. As these position s change with time, you can use the position values to determine if the syste m is positioning as you expect. Commanded Position The commanded position i[...]

Parker Hannifin Chapter 5 Tuning 81 commanded position. Unde r these circumst ances, a posit ion error will accumulate no matter how high the gain s are set. Servo Response Overview Stability The first objective of tuning is to stabilize the system. The formal d efinition of system stability is when a bound ed input is introduced to the system, the[...]

Parker Hannifin 82 Aries User Guide Response Description Profile (position/time) Critically damped A critically-damped response is the most desirable because it optimizes the trade-off between damping and speed of response. Oscillatory An oscillatory response is charac terized by a sustained position oscillation of equal amplitude. Chattering Chatt[...]

Parker Hannifin Chapter 5 Tuning 83 Servo System Gains Proportional Feedback Control ( SGP ) Proportional feedback is the most import ant feedback for stabilizing a servo system. When the controller uses pro p ortional feedback, the control signal is linearly proportional to the positio n error (the difference between th e commanded position and t [...]

Parker Hannifin 84 Aries User Guide Controlling Integral Windup If you are using integral control ( SGI ) and there is an appreci able position error that persists long enough du ring 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 [...]

Parker Hannifin Chapter 5 Tuning 85 Figure 40 Integrator Windup (using the SGILIM Co mmand)[...]

Parker Hannifin 86 Aries User Guide Servo Tuning Example The example below illustrates how to experimentally obtain the highest possible proportional feedb ack ( SGP ) an d 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 ste[...]

Parker Hannifin Chapter 5 Tuning 87 Step 3 Step 3 With SGV equ al to 2, the response is fairly well damped (see plot). At this point, the SGP sho uld be raised again until oscillation or excessive overshoot appears. Step 4 As we iteratively increase SGP to 5, ove rshoot and chattering becomes significant (see plot). This means the SGV gain is to o [...]

Parker Hannifin 88 Aries User Guide Step 6 Lowering the SGV gain to 3 does not help reduce the chattering by much. Therefore, we should lower the SGP gain until chatteri ng stops. Step 7 Chattering stops after reducing the SGP gain to 4 Ho wever, the overshoot is still a little too high. The next step should be to try raising the SGV to damp out th[...]

Parker Hannifin Chapter 5 Tuning 89 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. Step 10 Overshoot is reduced very little after lowering the SGP gain to 3.5. (The SGV gain might have b een lowered too much in Step 9.) Next, we should try raising the SGV gain again u n[...]

Parker Hannifin 90 Aries User Guide Auto-Tuning The Aries drive can automatically deter mine the inertia of the load attached to the motor. This is performed by applying a sp ecified torque to the motor and measuring the acceleration and deceleration of the motor. Fro m this, the Aries drive can calculate the load ine rtia and store the value in th[...]

Chapter 6 Command Reference CHAPTER SIX Command Reference IN THIS CHAPTER Description of Fo rmat ................................................................................ 92 Syntax – Letters and Symbols ................................................................... 92 Syntax – General Gui delines ....................................[...]

Parker Hannifin 92 Aries User Guide Aries Communications Set-up Before you can communicate with the Ar ies drive, you must configure your terminal emulator. You can use Hyp erTerminal or an equivalent terminal emulator. For information about setting up communi cations, see “ RS-232/485 Comm unications” on pa ge 71 . Description of Format 1. 2. [...]

Parker Hannifin Chapter 6 Command Reference 93 Syntax – Letters and Symbols The command description s provided within this manual use al phabetic letters and ASCII symbols within the Syntax description (see example below) to represent different para meter requirements. ERES Encoder Resolution Typ e Encoder Configuration Product Rev → Syntax <[...]

Parker Hannifin 94 Aries User Guide Syntax – General Guidelines Guideline Topic Guideline Examples Command Delimiters ( <cr> and <lf> ) All commands must be separated by a delimiter. A carriage return is the most commonly used. Neutral Characters ( <sp> ) Using neutral characters anywhere within a command will not affect the com[...]

Parker Hannifin Chapter 6 Command Reference 95 Command Descriptions You can use the ASCII commands, pro vided in this chapter, to configure, check errors, and reset the Aries drive through a terminal emulator. A terminal emulator, however, is not r equired, Instead, you can use the Aries Supp0ort Tool software to perform the same operatio ns. Note:[...]

Parker Hannifin 96 Aries User Guide represents the address of the new uni t. Then connect the drive to the network. Note: All command responses on an RS-485 network are pre ceded by <*> . ALIGN Align encoder Typ e Drive configuration Product Rev Syntax <a_>ALIGN Aries 1.0 Units N/A Range N/A Default 0 Response none See Also DMODE , DRIV[...]

Parker Hannifin Chapter 6 Command Reference 97 ANICDB Analog Input Center Deadband Typ e Drive Configuration Product Rev Syntax <a_>ANICDB<r> Aries 2.0 Units r = volts Range Ø.ØØ to 1Ø.ØØ Default Ø.Ø4 Response ANICDB: *ANICDBØ.Ø4 See Also DCMDZ , DMTSCL , TANI The ANICDB allows the user to specify the voltage deadba nd for the[...]

Parker Hannifin 98 Aries User Guide CERRLG Clear the Error Log Typ e Error Handling Product Rev Syntax <a_>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 conte nts of the error log. Clearing th[...]

Parker Hannifin Chapter 6 Command Reference 99 Rotary Motors —Po sitive values represent clockwise motion and negative values re present counter-clockwise motion (assuming CMDDIR = Ø , and that you connected the feedback device according to instructions provided in “ Ch apter 2 Mech anical Installati on ” and “ Chapter 3 Electrical Ins tal[...]

Parker Hannifin 100 Aries User Guide Error Resolution E9—Peak Current = Ø 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 ) E1Ø—Use Drive Continuous Current Warning The continuous current of the motor is higher than the continuous current[...]

Parker Hannifin Chapter 6 Command Reference 101 DCMDZ Zero the Drive Command Offset Typ e Drive Configuration Product Rev Syntax <a_>DCMDZ=<r> Aries 1.0 Units r = volts Range -1Ø.ØØ to 1Ø.ØØ Default Ø.ØØ Response N/A See Also ANICDB , DMODE , TANI The DCMDZ command sets the zero point for the command input. When in torque/force[...]

Parker Hannifin 102 Aries User Guide DIFOLD Current Foldback Enable Typ e Drive Configuration Product Rev Syntax <a_>DIFOLD<b> Aries 1.0 Units b = enable bit Range Ø (disable) or 1 (enable) Default 1 Response DIFOLD: <*>Ø See Also none The DIFOLD command enables ( 1 ) or d isables ( Ø ) the drive’s current foldback protection[...]

Parker Hannifin Chapter 6 Command Reference 103 DMEPIT Motor Electrical Pitch Typ e Motor (Linear only) Produc t Rev Syntax <a_>DMEPIT<r> Aries 1.0 Units r = millimeters Range Ø to 3ØØ.ØØ : ±Ø.Ø1 Default Ø Response DMEPIT: <*>4Ø.ØØ See Also ERES Note: This command does not take effect until you cycle power to the drive[...]

Parker Hannifin 104 Aries User Guide DMODE Mode Description 1 Autorun Rotates the motor at 1 rps/mps. Current is reduced by 10%. 2 Torque/Force Control Allows direct contro l of rotary motor torque, or linear motor force. 3 Feedback Alignment Auto-configure for feedback setup. 4 Velocity Control Allows direct control of rotary or linear motor veloc[...]

Parker Hannifin Chapter 6 Command Reference 105 DMTAMB Motor Ambient Temperature Typ e Motor Product Rev Syntax <a_>DMTAMB<r> Aries 1.0 Units r = Degrees Celsius Range -5Ø.ØØ to 25Ø.ØØ : ±Ø.Ø1 Default 4Ø.Ø Response DMTAMB: <*>4Ø.Ø See Also DMTMAX , DMTRWC , DMTTCM , DMTTCW The DMTAMB command sets the motor a mbient te[...]

Parker Hannifin 106 Aries User Guide DMTIC Continuous Current Typ e Motor Product Re v Syntax <a_>DMTIC<r> Aries 1.0 Units r = Amps-RMS Range Ø.ØØ to 2ØØ.ØØ : ±Ø.Ø1 Default Ø.ØØ (DMTIC of Ø results in motor configuration warning) Response DMTIC: <*>6.5Ø See Also DMTICD , DMTIP , DMTR , TCI , TDICNT , TDIMAX Auto-Set[...]

Parker Hannifin Chapter 6 Command Reference 107 The DMTICD command sets the cu rrent derating percentage at rated speed ( DMTW ). This value sets the extent to which continuo us current must be reduced at speed to com pensate for velocity-related losses in the m otor. For example, DMTICD3 sets the motor’s contin uous current derating to 3% (or 97[...]

Parker Hannifin 108 Aries User Guide DMTINF Motor Inductance Factor Typ e Motor Product Rev Syntax <a_>DMTINF<r> Aries 1.0 Units r = units Range Ø.ØØ to 1.ØØ Default 1 Response DMTINF <*>1.ØØ See Also CONFIG , DMTIND , DMTR Auto-Setup : When using a Parke r motor and the Aries Support Tool, this command is automatically set[...]

Parker Hannifin Chapter 6 Command Reference 109 If the DMTIP value exceeds the drive’s maximum output curre nt ( TDIMAX ), the DMTIP value will be ignored and the maximum allowable value will be used (see Table 45). The drive report s EØ–Motor Configuration Warning an d E12–Peak Current Too High . Maximum Current Ra tin g (RMS) AR-01xx 3A AR[...]

Parker Hannifin 110 Aries User Guide DMTKE Motor Ke Typ e Motor Product Re v Syntax <a_>DMTKE<r> Aries 1.0 Units Rotary motor: r = volts (Ø-peak)/krpm (measured line-to-line) Linear motor: r = volts (Ø-peak)/meter/second (measured line-to-line) Range Rotary motor: Ø.Ø to 8ØØ.Ø : ±Ø.1 Linear motor: DMEPIT (electrical pitch) depe[...]

Parker Hannifin Chapter 6 Command Reference 111 DMTLIM Torque/Force Limit Typ e System Product Rev Syntax <a_>DMTLIM<r> Aries 1.0 Units Rotary motor: r = Nm Linear motor: r = N Range Rotary motor: Ø.Ø to 5ØØ.Ø (motor/drive dependent): ±Ø.1 Linear motor: DMEPIT (electrical pitch) dependent Default 4ØØ.Ø Response DMTLIM: <*&g[...]

Parker Hannifin 112 Aries User Guide Rotary m otors: peak value - 0 RMS, ) / ( 200 3 3 ) / ( ‡ † ‡ † krpm Volts Ke A Nm Kt π = Linear motors: peak value - 0 RMS, sec)) / /( ( 200 3 3 ) / ( ‡ † ‡ † meter Volts Ke A N Kt π = DMTMAX Maximum Motor Winding Temperature Typ e Motor Produc t Rev Syntax <a_>DMTMAX<r> Aries 1.0 [...]

Parker Hannifin Chapter 6 Command Reference 113 When you select a specific Parker mo tor usin g the Aries Support Tool, the DMTR setting and various motor param eters (see Servo Motor Dat a Paramete rs below) are automatically co nfigured for the associated motor. Using the Aries Support T ool, you can sa ve the parameters in a configuration file. [...]

Parker Hannifin 114 Aries User Guide DMTRES Motor Winding Resistance Typ e Motor Product Re v Syntax <a_>DMTRES<r> Aries 1.0 Units r = Ohm (measured line-to-line) Range Ø.ØØ to 10Ø.ØØ : ±Ø.Ø1 Default Ø.ØØ (DMTRES of Ø results in motor configuration error) Response DMTRES: <*>7.5Ø See Also DMTR Auto-Setup : When using[...]

Parker Hannifin Chapter 6 Command Reference 115 DMTRWC specifies the temperature ri se of the motor winding above motor case temperature pe r watt of winding power dissipation betwe en the winding and case. Motor heatsinking doe s not affect this value. DMTSCL Torque/Force Scaling Typ e Drive Configuration Product Rev Syntax <a_>DMTSCL<r&g[...]

Parker Hannifin 116 Aries User Guide DMTSWT Motor temperature switch type Typ e Motor configuration Produc t Rev Syntax <a_>DMTSWT<i> 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) Defaul[...]

Parker Hannifin Chapter 6 Command Reference 117 application. Note also that the time constant of the motor winding itself ( DMTTCW ) is much faster than this; therefore, the rise in windin g temperature will initially be much faster than DMTTCM would suggest. DMTTCW Motor Winding Time Constant Typ e Motor Product Re v Syntax <a_>DMTTCW<r&g[...]

Parker Hannifin 118 Aries User Guide • (Rotary motor) Encoder limit of 5 MHz (pre-qu adrature) • Linear motor speed limitations inclu de encoder re solution and track length. • The corner of the continu ous speed/torque or speed/force cu rve (the point where the continuous and p eak torque/force curves meet). The DMTW value is used in conjunc[...]

Parker Hannifin Chapter 6 Command Reference 119 DMVSCL Velocity Scaling Typ e Drive Configuration Product Re v Syntax <a_>DMVSCL<r> Aries 2.0 Units Rotary motor: r = revolutions/second Linear motor: r = meters/second Range Ø.ØØ to 4ØØ.ØØ (motor/drive dependent): ±Ø.Ø1 Default 4.ØØ Response DMVSCL: <*>1ØØ.Ø See Also [...]

Parker Hannifin 120 Aries User Guide Figure 44 Notch Filter Topology The graphs below illustrate the transfer functio n for the magnitude and phase of the notch filter command output to rque/force vs. the notch filter command input torque/force. In this example, t he notch depths are set to .3, .6, and .9 ( DNOTAD.3 , DNOTAD.6 , DNOTAD.9 ). The not[...]

Parker Hannifin Chapter 6 Command Reference 121 Figure 46 Notch Filter A These filters operate in all DMODE settings, except Autorun ( DMODE1 ). DNOTAQ Notch Filter A Quality Factor Typ e Tuning Product Rev Syntax <a_><!>DNOTAQ<r> Aries 2.0 Units r = quality factor Range Ø.5 to 2.5 Default 1 Response DNOTAQ: *DNOTAQ1.5 See Also D[...]

Parker Hannifin 122 Aries User Guide DNOTBF Notch Filter B Frequency Typ e Tuning Product Rev Syntax <a_><!>DNOTBF<i> Aries 2.0 Units i = Hz Range Ø (disable), or 6Ø-1ØØØ Default Ø (filter is disabled) Response DNOTBF: *DNOTBF2ØØ See Also DNOTAD , DNOTAF , DNOTAQ , DNOTBD , DNOTBQ, DNOTLD , DNOTLG The DNOTBF command sets t[...]

Parker Hannifin Chapter 6 Command Reference 123 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 warni ng bit ( E17 ) wil[...]

Parker Hannifin 124 Aries User Guide DPOLE Number of Motor Pole Pairs Typ e Motor Product Re v Syntax <a_>DPOLE<i> Aries 1.0 Units i = pole pairs Range 1 to 2ØØ Default Ø (DPOLE of Ø results in motor configuration error) Response DPOLE: <*>5Ø See Also DMTR Auto-Setup : When using a Parke r motor and the Aries Support Tool, th[...]

Parker Hannifin Chapter 6 Command Reference 125 DRES Drive Resolution Typ e Drive configuration Product Rev Syntax <a_>DRES<i> Aries 2.10 Units i = Input Step Resolution Range 200 to 10737141823 Default 4000 Response DRES: <*>0 See Also CMDDIR , DMPSCL The DRES command is only used in step and directio n mode ( DMODE6 and 7 ). Inp[...]

Parker Hannifin 126 Aries User Guide • If operating in the FLTDSB1 mode and the drive received a DRIVEØ command or the hardware enable input wa s opened. DTHERM Thermal Switch Checking Typ e motor Product Re v Syntax <a_>DTHERM<b> Aries 1.0 Units b = enable bit Range Ø(enable) or 1(disable) Default Ø Response DTHERM: *Ø See Also D[...]

Parker Hannifin Chapter 6 Command Reference 127 rotary motors by default. If a linear moto r is configured, the drive sets a 2.67 MHz pre-quadrature maxi mum input encoder frequency by default. The ENCFLT command increases the de fault maximum pre-quadrature encoder frequency from 1.02 MHz to 2.67 MHz or 5 MHz. Thi s allows users to take advantage [...]

Parker Hannifin 128 Aries User Guide • To reverse the commande d direction of motion, make sure there is a direct correlation betwee n commanded direction an d encoder direction. You can then issue the CMDDIR command to reverse both the commanded direction a nd the encoder direction. For more information, see CMDDIR . • The ENCPOL command will [...]

Parker Hannifin Chapter 6 Command Reference 129 ................................................................ MPMxxxxxxxxJL xx: ERES10000 ................................................................ MPMxxxxxxxxJP xx: ERES12000 ................................................................ MPMxxxxxxxxJQ xx: ERES20000 .......................[...]

Parker Hannifin 130 Aries User Guide Error Description E25—Excessive Command Voltage at Enable 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 ) E26—Drive Faulted The drive is faulted. E27—Bridge Hardware Fault Excessiv[...]

Parker Hannifin Chapter 6 Command Reference 131 Error Description E45-Excessive Velocity Error Commanded vel ocity. Actual Velocity is greater than the value set by SMVER . E46-Hardware Enable 0 = Hardware En able (Drive I/O Pin 1 and 21) 1 = No Hardware Enable E47-Low Voltage Enable No motor po wer was present when the drive was enabled. E48-Contr[...]

Parker Hannifin 132 Aries User Guide Bit Function 0 Enable/Disable (Hardware enable input or software DRIVE command) 1 Bridge Fault 2 No PWM output (H-bridge switching) 3 Over Voltage (DC bus) 4 Under Voltage (DC bus) 5 Startup Voltage (analog command voltage) 6 Drive Over Temperature 7 Motor Over Temperature (calculated by thermal model) 8 Motor T[...]

Parker Hannifin Chapter 6 Command Reference 133 FLTDSB Fault on Drive Disable Typ e Drive Configuration Produc t Rev Syntax <a_>FLTDSB<b> Aries 1.0 Units b = enable bit Range Ø (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 Dr[...]

Parker Hannifin 134 Aries User Guide Sending an IANI1 command inverts the input polarity . In addition, the command TANI reflects this change. IAUTO Automatically determine Current Loo p Gains Typ e Tuning Product Rev Syntax <a_>IAUTO<b> Aries 3.0 Units none Range 0 (disable) or 1 (enable) Default 1 Response IAUTO: <*>1 See Also P[...]

Parker Hannifin Chapter 6 Command Reference 135 the In-Position output is enabled, t he output will be active when the motor satisfies the In-Position crit eria (as specif ied by the INPOSDB and INPOSTM commands). To restore the Fault Outpu t functionality, use INPOSØ . INPOSDB In-Position Deadband Typ e Drive Configuration Product Rev Syntax <[...]

Parker Hannifin 136 Aries User Guide This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7 (position mode). The LJRAT command sets the syste m’s load-to-rotor inertia ratio (rotary motors) or load-to-forcer ma ss ratio (linear motors). The ratio is expressed in the following equation: • Rotary Motors— LJRAT = load inertia / mot[...]

Parker Hannifin Chapter 6 Command Reference 137 OUTBD Output Brake Delay Typ e Output Product Rev Syntax <a_>OUTBD<i> Aries 1. 0 Units milliseconds Range Ø-1ØØØØ Default Ø Response OUTBD: <*>25Ø See Also none The OUTBD command specifies the amount of time that the bra ke relay will remain asserted after the current is appli[...]

Parker Hannifin 138 Aries User Guide PGAIN Proportional Gain Typ e Tuning Product Rev Syntax <a_>PGAIN<r> Aries 1.0 Units None Range Ø.ØØ to 2ØØ.ØØ Default 2Ø.ØØ Response PGAIN: <*>2Ø.ØØ See Also DIBW , IAUTO , IGAIN The PGAIN command sets the proportio nal gain of the current loop. High gains can emphasize re sonance[...]

Parker Hannifin Chapter 6 Command Reference 139 The RESET command affects the Aries drive the sa me as cycling powe r, or activating the hardware Reset input s (pins 18 and 23 on the DRIVE I / O connector). The drive’s parameters are retained in no n-volatile memory. Note: After sending the RESET command to the Aries, wait until you see the power[...]

Parker Hannifin 140 Aries User Guide SFB1 sets auto-detect mode and is the default setting. In auto-dete ct mode the SFB command reports the detected drive-type u pon power-up. If SFB is set to a value other than 1, the drive assumes that type of encoder i s attached and does not try to auto-detect the feedback type. In operating system 3.10 and be[...]

Parker Hannifin Chapter 6 Command Reference 141 error has persisted long enoug h during the transient perio d (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 an alog control signal output. This phenomen on is called integrator windup Af[...]

Parker Hannifin 142 Aries User Guide term is to anticipate position error and correct it before it becomes too large. This increases dampi ng 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 sign al has fini te resolution, the velo[...]

Parker Hannifin Chapter 6 Command Reference 143 SHALL Hall Sensor Configuration Typ e Drive Configuration Product Re v Syntax <a_>SHALL<i> Aries 1.0 Units i = control option number Range Ø (do not invert) or 1 (invert) Default Ø Response SHALL: <*>Ø See Also ALIGN , RESET , THALL Note: This command does not take effect until yo[...]

Parker Hannifin 144 Aries User Guide position error exceeds t he 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. Th e DRIVE1 command re- enables the drive, clears ERROR bit #44, and set s the commanded position ( TPC ) equal to[...]

Parker Hannifin Chapter 6 Command Reference 145 STATUS Status (full-text report) Typ e Transfer Product Rev Syntax <a_>STATUS Aries 1.0 Units N/A Range N/A Default N/A Response STATUS: <*>GENERAL: <*> OS Revision: Aries Revision 1.Ø <*> Power Level: 75ØW <*> Control Power: INACTIVE <*>MOTOR: <*> Motor Nam[...]

Parker Hannifin 146 Aries User Guide TCI Transfer Commanded Current Typ e Transfer Product Rev Syntax <a_>TCI Aries 1.0 Units Amps Range N/A Default N/A Response TCI: <*>5.ØØ See Also DMTIC , DMTICD , DMTIP , TDICNT , TDIMAX The TCI command reports the comman ded motor current in amps (pea k of sine). TDHRS Transfer Operating Hours Ty[...]

Parker Hannifin Chapter 6 Command Reference 147 TDIMAX Transfer Maximum Current Rating Typ e Transfer Product Re v Syntax <a_>TDIMAX Aries 1.0 Units Amps rms Range N/A Default N/A Response TDIMAX: <*>1Ø See Also DMTIC , DMTICD , DMTIP , TCI , TDICNT The TDIMAX command reports the maximum cu rrent rating of the drive in amps rms . TDMIN[...]

Parker Hannifin 148 Aries User Guide TDTEMP Transfer Drive Temperature Typ e Transfer Product Rev Syntax <a_>TDTEMP Aries 1.0 Units Degrees Celsius Range N/A Default N/A Response TDTEMP: <*>5Ø See Also STATUS , TERRLG The TDTEMP reports the measured temp erat ure (internal) of the drive. TERRLG Transfer Error Log Typ e Transfer Product[...]

Parker Hannifin Chapter 6 Command Reference 149 THALL Transfer Hall Sensor Values Typ e Transfer Product Re v Syntax <a_>THALL Aries 1.0 Units N/A Range 1 to 6 (Ø or 7 is a fault condition) Default N/A Response THALL: <*>6 See Also ALIGN , SHALL Encoder Motors : The THALL command repo rts the present Hall sensor value. There are six di[...]

Parker Hannifin 150 Aries User Guide TMTEMP Transfer Motor Temperature Typ e Transfer Produc t Rev Syntax <a_>TMTEMP Aries 1.0 Units Degrees Celsius Range N/A Default N/A Response TMTEMP: <*>45 See Also DMTRWC , DMTTCM , DMTTCW , STATUS , TERRLG The TMTEMP reports the predicted temp erature of the motor winding for Parker motors. The te[...]

Parker Hannifin Chapter 6 Command Reference 151 TPC Transfer Position Commanded Typ e Transfer Product Rev Syntax <a_>TPC Aries 2.0 Units Encoder counts Range -2147483648 to +2147483647 Default N/A Response TPC: <*> Ø See Also ERES, TPE, SMPER This command is only valid in DMODE4 (velocity mode ) and DMODE6 or 7 (position mode). This c[...]

Parker Hannifin 152 Aries User Guide the feedback device. TPER does not apply in DMODE2 (torque/force control mode) and in DMODE4 (velocity control mode); TPER reports zero in these modes. TREV Transfer Revision Level Typ e Transfer Product Re v Syntax <a_>TREV Aries 1.0 Units N/A Range N/A Default N/A Response TREV: <*>Aries OS Revisio[...]

Parker Hannifin Chapter 6 Command Reference 153 TTRQ Transfer Commanded Torque/Force Typ e Transfer Product Re v Syntax <a_>TTRQ Aries 1.0 Units Newton Meters (Rotary) or Newtons (Linear) Range -DMTLIM TO +DMTLIM ± Ø.Ø1 Default N/A Response TTRQ: <*>1.2Ø See Also DMODE , DMTLIM , DMTSCL , TTRQA The TTRQ command reports the comma nde[...]

Parker Hannifin 154 Aries User Guide TVEL Transfer Current Commanded Velocity Typ e Transfer Product Rev Syntax <a_>TVEL Aries 2.0 Units Revolutions per second or meters per second Range N/A Default N/A Response TVEL: <*> 1.55 See Also CMDDIR , DMEPIT , DMVLIM , IANI , TVELA This command is only valid in DMODE4 (velocity mode ) and DMOD[...]

Parker Hannifin Chapter 6 Command Reference 155 TVER Transfer Current Commanded Velocity Error Typ e Transfer Product Rev Syntax <a_>TVER Aries 2.0 Units Revolutions per second or meters per second Range N/A Default N/A Response TVER: <*> 1.55 See Also DMEPIT , DMVLIM, TVELA, TVEL This command is only valid in DMODE4 (velocity mode ) an[...]

Chapter 7 Troubleshootin g CHAPTER SEVEN Troubleshooting IN THIS CHAPTER Troubleshooti ng Guidelines ..................................................................... 157 LEDs ........................................................................................................ 158 RS-232/485 Communi c ation Problems .........................[...]

Parker Hannifin Chapter 7 Troubleshooting 157 Troubleshooting Guidelines If your system is not functioning properl y, try the following steps. First Troubleshooting Steps (verify LEDs) • Is the Right LED illuminated? If not, look for problems with AC power. Che ck the AC power source. Also check connections at the L1, L2, and terminal s of the mo[...]

Parker Hannifin 158 Aries User Guide LEDs ⎯ Drive Status Indicators The drive has two bi-color LEDs. The LED on the left display s yellow or green colors; The LED on the right displ ays red or green colors. The following tables describe LED illuminat ion states and t he conditions they indicate. Normal Operation LED–Left LED–Right What it mea[...]

Parker Hannifin Chapter 7 Troubleshooting 159 Reconfigure the Drive To verify proper configuration, you may wish to reconf igure the drive. Pay particular attention to selecting proper co nfiguration settings for the motor that you have installed, as motor conf iguration problems can cause a variety of errors. Download the new configu rat ion to th[...]

Parker Hannifin 160 Aries User Guide Error Resolution Invalid COM port number Select a different COM port Unable to open COM port No COM port has been specified, or the COM port is being used by other software. Select a different COM port. No response from Aries drive Power is not supplied to the drive, the drive is not powered up, the power connec[...]

Parker Hannifin Chapter 7 Troubleshooting 161 Error Resolution EØ—Motor Configuration Warning The motor rating is too high for the drive, and the drive is using its own limits for safety reasons. E1—Motor Configuration Error One of th e motor parameters is set to zero (0). Look at the additional errors to find which parameters are set at zero [...]

Parker Hannifin 162 Aries User Guide Error Resolution E15 – Notch filter Calc Error. 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 ) E16 – Lead < Lag Freq The lead filter setting ( DNOTLD ) must be greate[...]

Parker Hannifin Chapter 7 Troubleshooting 163 Error Resolution E39—Drive Disabled The drive is disabled. ( DRIVE ) E4Ø—PWM Not Active The H-bridge is not switching. E41—Power Regeneration Warning The drive regenerated (warning only). E42-Shaft Power Limited Warning Shaft power is limited to the rated output to protect the drive (warning only[...]

Parker Hannifin 164 Aries User Guide c. Send the TPE command and turn the motor shaft. Verify the encoder is counting in the correct directi on. Turning the shaft clockwise results in positive encoder co unts. If not, check the encoder feedback wire s and reset the drive. Note: The CMDDIR is fixed for smart encoders. To invert the directi on, use I[...]

Parker Hannifin Chapter 7 Troubleshooting 165 6. Noise induced on the Hall sign als fr om routing the motor feedback 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 con n ected to the Aries drive, randomly c[...]

Parker Hannifin 166 Aries User Guide 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, sw ap any two motor wires. 2. Remove the motor power leads, leaving the feedback cable conne cted to the Aries drive. Connect motor po wer wires U and V [...]

Parker Hannifin Chapter 7 Troubleshooting 167 Phase Hall State U V W Correct Use SHALL1 – – + 1 6 – + + 5 2 – + – 4 3 + + – 6 1 + – – 2 5 + – + 3 4 Table 51 Configuring Hall Sensors Figure 50 illustrates the alignment of phas e s U, V, and W with Hall s 1, 2, and 3 as viewed from the front of the sha ft. The illustration assumes t[...]

Appendix A Additional Sp ecifications APPENDIX A Additional Specifications IN THIS CHAPTER Amplifier ................................................................................................... 169 Feedback ................................................................................................. 169 Protective Circuits ..............[...]

Parker Hannifin Appendix A Additional Specifications 169 Amplifier Control Power: all models .................... 120/240 VAC Single Phase Mains Control Power AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR- 13xx ........................... Single Phase AC Input, 120/240 VAC 16 or 32 kHz switchin g frequency (motor dependant), pulse-width modulated (PWM[...]

Parker Hannifin 170 Aries User Guide Protective Circuits Short Circuit Protection The Aries drive has an int ernal circuit t hat 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 ..................... P has e-to-phase short circuit Phase-to-earth [...]

Parker Hannifin Appendix A Additional Specifications 171 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 availabl e: ► Cycle power to the Aries drive. –or– ► Open the Aries Support Tool. Then sel ect Operating System Update from the men[...]

Parker Hannifin 172 Aries User Guide Over-Voltage Protection The Aries drive’s over-voltage circuit protects the drive from excessive regeneration. If the voltage on the motor output terminals ri ses above the threshold voltage, the drive issues an over-volta ge fault and turns off power to the motor output terminals (Motor co nnector). This allo[...]

Parker Hannifin Appendix A Additional Specifications 173 Current Foldback The Aries drive’s current foldba ck ci rcuit helps to protect the drive from damage due to prolonge d high currents. If your Drive is operating above its continuous current rating, see Figure 51 to predi ct the number of seconds until foldback will occur. For example, the f[...]

Appendix B External P ower-Dump R esistor Selection APPENDIX B External Power-Dump Resistor Selection IN THIS CHAPTER Simplified Resist or Selection ................................................................... 175 Calculating Resistance—Rotary Motors .................................................. 177 Resistor Specifications ...........[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 175 External Power-Dump Resistor Selection Deceleration generates excess kineti c a nd potential energy. You can remove the energy through regeneration— a pr ocess where the motor a cts as generator. Regeneration all ows you to transfer the excess energy from the motor and load bac[...]

Parker Hannifin 176 Aries User Guide Drive AC Voltage Motor Resistor Rating (Resistance —Ohms) Resistor rating (Conti nuous Power— Watts) Isotek Part Number 120 SM162Z 100 100 BRK-100R -10-L2, 4 AR-01xx 240 BE164B See note1 SM162Z See note1 SM161A See note1 SM162A See note1 SM230A See note1 SM231A 47 200 BRM-47R0-10-L2, 4 120 SM232A 47 200 BRM-[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 177 Calculating Resistance—Rotary Motors Because there are different types of motion profiles a nd application specific conditions, you may need to modify the results to suit your particul ar application. To keep it simple, the formulas assume a trapezoidal move profile, in which t[...]

Parker Hannifin 178 Aries User Guide mgh E p = Where E p = potential energy (Joules) m = mass of forcer and load (kg) g = gravitational constant (9.81 m/s 2 ) h = vertical height change during decelerati on (m) Energy Absorbed by Drive Capacitors The Aries drive’s capa citors can store energy. With motor de celeration, the drive capacitors absorb[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 179 Drive Capacitanc e (uF) V TRIP (VDC) E C (120 VAC) Joules E C (240 VAC) Joules AR-01xx 440 400 28 9 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[...]

Parker Hannifin 180 Aries User Guide Energy Dissipated in Load The load dissipates energy through friction losse s, viscous damping, and other motor/load related losses. These losses are kn own as load losses. If some of the parameters are not know n, the energy dissipated in the load ( E L ) can conservatively be assu med zero (0). This can be der[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 181 Resistor Specifications ⎯ Rotary Motors Having determined the amount of energy to dump ( E R ) , you can then calculate the resistor sp ecifications. • Maximum resistance • Peak dissipation • Average dissipation Maximum Resistance This calculation determines the maximu m [...]

Parker Hannifin 182 Aries User Guide Peak Dissipation During a single deceleratio n, all t he calculated power-dump energy ( E R ) must dissipate in the external resistor. The external power-dump re sistor then slowly dissipates that energy as heat. Thi s peak power must not exceed the capabilities of the resistor, whi ch is typically 10 times the [...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 183 Calculating Resistance—Linear Motors Because there are different types of motion profiles a nd application specific conditions, you may need to modify the results to suit your particul ar application. To keep it simple, the formulas assume a trapezoidal move profile, in which t[...]

Parker Hannifin 184 Aries User Guide mgh E p = Where Ep = potential energy (Joules) m = mass of forcer and load (kg) g = gravitational constant (9.81 m/s2) h = vertical height change during de celeration (m) Energy Absorbed by Drive Capacitors The Arie s drive’s capa citors can store energy. With motor de celeration, the drive capacitors absorb s[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 185 Drive Capacitanc e (uF) V TRIP (VDC) E C (120 VAC) Joules E C (240 VAC) Joules AR-01xx 440 400 28 9 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[...]

Parker Hannifin 186 Aries User Guide Energy Dissipated in Load The load dissipates energy through friction losse s, viscous damping, and other motor/load related losses. These losses are kn own as load losses. If some of the parameters are not know n, the energy dissipated in the load ( E L ) can conservatively be assu med zero (0). This can be der[...]

Parker Hannifin Appendix B External Power-Dump Resistor Selection 187 Resistor Specifications ⎯ Linear Motors Having determined the amount of energy to dump (ER), you can then calculate the resistor sp ecifications. • Maximum resistance • Peak dissipation • Average dissipation Maximum Resistance This calculation determines the maximu m valu[...]

Parker Hannifin 188 Aries User Guide D R PEAK t E P = Where PPEAK= peak power into the external power dump resi stor (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[...]

Appendix C Regulato ry Complia nce–UL and CE APPENDIX C Regulatory Compliance UL and CE IN THIS CHAPTER System Installa tion Overview................................................................... 190 General Safety Cons ider ations ................................................................ 190 General EMC Co ns iderations .............[...]

Parker Hannifin 190 Aries User Guide System Installation Overview This appendix contains information relat ed to installation methods and practices that can be use d to aid the systems integrator or machi ne builder in designing a compliant installation, meet ing the needs of global reg ulatory agencies. The installation overview is divided in to t[...]

Parker Hannifin Appendix C Regulatory Compliance – UL and CE 191 Installing the Aries Drive Only qualified, skilled electrical tec hnicians familiar with local safety requirements sho uld install this product. For service, the drive must be returned to an authorized service center . There are no user se rviceable parts inside the chassis. In cert[...]

Parker Hannifin 192 Aries User Guide must not exceed 0.1 Ohm, and must be capable of carrying 2 5A of Fault Current. • Motor safety earth conductor (for motor voltages g reater than or equal to 75 volts) must be conne cted to the drive’s Motor Earth terminal, marked with . • The drive must be installed in a manner that prevent s operator acce[...]

Parker Hannifin Appendix C Regulatory Compliance – UL and CE 193 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 in crease the effective diameter of the cable so that R-Clamp s are secure. Within the cabinet itself, all the motor cabl[...]

Parker Hannifin 194 Aries User Guide remove the paint in certain areas to ensure filters and drive make a good large-area metal to metal contact betwee n filter case and panel. You must install a filter on both the Motor power mains and Control power mains if both are used. Use Table 60 and Tabl e 61 to determine the corre ct filter for your specif[...]

Parker Hannifin Appendix C Regulatory Compliance – UL and CE 195 Three Phase Input Control Power – You must install vari stors or other voltage surge lim iting devices in order to meet the requirements of EN61000-4-5. Level 3 Voltage Surge (1000V line-to-line, 2000V line-to-e arth) protection can be achieved by placing a Littelfuse V275LA20C, o[...]

Parker Hannifin 196 Aries User Guide must cross, cross them at 90° to each other. Keep wiring supp orted and close to cabinet metalwork. • Cables may require the use of ferrite core suppre ssors . Some installations may require that you take a dditional EMC measures. To further increase product immunity and reduce product emi ssions, you may add[...]

Parker Hannifin Appendix C Regulatory Compliance – UL and CE 197 Panel Installation, AR-02xx to AR-13xx Figure 53 Typical LVD/EMC Insta llation, AR-02xx to AR-13xx Warning — This product has b een developed for industrial enviro nments. Due to exposed high voltage terminals, this pro duct must not be accessible to users while under norm al oper[...]

Parker Hannifin 198 Aries User Guide Panel Installation, AR-20xE & AR-30xE Aries models AR-20xE and AR-30xE re quire 240 VAC input power and three-phase wiring. Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE Warning — This product has b een developed for industrial enviro nments. Due to exposed high voltage terminals, this pro [...]

Parker Hannifin Appendix C Regulatory Compliance – UL and CE 199 Panel Mounting The mounting clearance require ments are the same for all Aries driv e models. They are shown in Figure 55. Figure 55 Panel Layout Dimens ions for the Aries Drive[...]

Parker Hannifin 200 Aries User Guide Regulatory Agencies The Aries family of products is desi gne d to meet the requirements of global regulatory agencies. Aries products have shown complia nce with the regulatory agencies in the following list. The list also shows additi onal steps users must take to ensure compliance. Agency Addition al Steps Use[...]

Appendi x D Servo T uning Flow Diagram APPENDIX D Servo Tuning Flow Diagram IN THIS CHAPTER Servo Tuning Fl ow Diagram .................................................................... 202[...]

Parker Hannifin 202 Aries User Guide Servo Tuning Flow Diagram Figure 56 Servo Tuning Flow Diagram[...]

Appendi x E VM26 Ex pansion M odule APPENDIX E VM26 Expansion Module IN THIS CHAPTER Overview .................................................................................................. 204[...]

Parker Hannifin 204 Aries User Guide Overview The VM26 expansion mod ule provides screw-termin al 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 c onnection between t he VM26 module and the drive’s 26-pin I/O connectors. The VM26 expansion modul e is ordered separately[...]

Parker Hannifin Index 205 Index 120/240 VAC power input .................................. 39, 47 absolute positio n , establishing effect on position report (TPE) ........................... 151 accuracy ............................................................... 169 address multiple units (A DDR ) .......................................... 95[...]

Parker Hannifin 206 Aries User Guide encoder auto-configure (smart) ................................. 33, 163 input resoluti on ( ERE S) ...................................... 128 position command ed (TPC ) ................................ 151 position repo rt (TPE ) ......................................... 151 position report error (T PER) ......[...]

Parker Hannifin Index 207 operating hours, re port (TDH RS) ............................ 146 operating hours, re port (TDM IN) ............................ 147 operating hours, re port (TDS EC) ............................ 147 operating modes, drive (DMO DE) ........................... 103 operating system re vision (T REV) ........................[...]

Parker Hannifin 208 Aries User Guide specifications additional spec ificatio ns ..................................... 169 drive I/O co nnector ............................................. 66 input power connector ......................................... 57 mains connector .................................................. 57 motor connector .....[...]