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Aries User Guide

1. 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 72 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 chattering stops Position Time 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 overshoot Position Time 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 Position Time Chapter 6 Command Reference 73 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 been lowered too much in Step 9 Next we should try raising the SGV gain again until the overshoot is gone Step 11 When we raised the SGV gain to 3 5 the step response became fast and very stable 74 Aries User Guide Position Time
2. 15 7 Minimum Minimum Clearance Clearance Figure 8 Panel Layout Dimensions for Aries Drives 16 Aries User Guide 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 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
3. Shield Unit 3 Pin 25 Talk Pin 26 Talk Pin 24 DGND Shield Unit 31 Long cable runs may Pin 25 Talk _ require termination resistors Pin 26 Talk Pin 24 DGND Shield 120 Q 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 configured 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 e For RS 485 to work correctly turn off the echo mode ECHOS e Zero 0 is not a valid address for a drive Setting up Drives for a Multi Drop Network 1 Connect the drive you want to configure to a PC that is not part of the multi drop network 2 Apply power to the drive 3 Using terminal emulation software send the following command ADDRi where i is the address you want to assign the new unit 4 Remove power to the drive The drive can now be installed in the network 5 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 TREV command where i represents the address of a drive Chapter 4 Communications 61 installation of drives use safe method
4. imd31 operating minutes TDMIN 131 output status TOUT ee 134 position commanded TPC wel3d position of encoder TPE wed35 position of encoder error TPER we 190 PWM update period TSSPD 136 q quadrature current TCI 133 revision level TREV i 136 transient SUPppressors 178 troubleshooting acnancganagaa 140 configuration CONFIG 84 ERROR command ERROR ui error log TERRLG 132 error messages 143 47 generali utero i tahun on ii tdineait 141 hAll SENSOrnS irene reagire 133 148 141 CUMING RR ee e ERRE RE UL184 under voltage protection units of measurement linear MOtOrs i VADISLONS scs sia I velocity actual feedback device TVELA 138 actual commanded feedback device TVEL 138 error feedback device TVER 139 feedforward gain SGVF 126 limit DMVLIM cs ccsiecetedeveceveceteceteteteteteteteretedenes 103 scaling DMVSCL ainn 104 Velocity mode maximum acceleration SMAV 127 voltage AC INDU s me eao eee ei trees cereale 24 ANI input TANI 129 constant Ke of motor DMTKE 95 WEINEN aAa aA tun cath ii donk tok donk a 15 winding resistance motor DMTRES temperature max
5. DD 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 electrical 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 88 Aries User Guide 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 Feedback Alignment Auto config
6. velocity feedback device TVELA velocity feedback device error TVER DI voltage input for ANI TANI switch type motor DMTSWT eee 101 MOO zii elio ela ia 101 syntax command technical support temperature drive status TDTEMP 3 CNVIFOMMENE a ianiai iii ini motor status TMTEMP n motor winding DMTMAX 97 motor ambient DTAMB i 89 thermal switch DTHERM thermal time constant motor DMTTCM torque actual status TTRQA commanded status TTRQ 7 limit DMT M iiien cdi ened dnc een scaling DM USGL roi tranf rmation rati mre reiia deelere dened teens transfer actual torque force TTRQA actual velocity TVELA analog input voltage ANI TANI bus voltage TVBUS commanded current TCI commanded torque force TTRQ i commanded velocity TVEL commanded velocity error TVER 139 continuous current rating TDICNT d quadrature current TCI drive temperature TDTEMP eror log TERREG ssisiswieusiiaaieeseatees hall sensor values THALL maximum current rating TDI MAX ie motor temperature TMTEMP 192 Aries Hardware Installation Guide operating hours TDHRS 130 operating milliseconds TDSEC
7. Default 125 9 Response DMTMAX lt gt 125 9 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 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 Chapter 6 Command Reference 97 When you select a specific Park
8. 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 120 240 VAC 50 60 Hz single phase AR 08xx AR 13xx L1 L2 AR 20xE 240 VAC 50 60 Hz single phase or L1 L2 L3 three phase AR 30xE 240 VAC 50 60 Hz three phase only L1 L2 L3 Control Input Power All models 120 240 VAC single phase C1 C2 Figure 15 Input Power Requirements Mains Input Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type ia Removable screw terminal TOMA En a a 7 Pitch 0 200 in 5 08 mm Wire Range 12 26 AWG ii eae at hee 14 27 SWG Wire Strip length 0 31 in 7 87 mm Torque 7 0 in lbs nom 0 79 N m AR 20xE AR 30xE Connector TYype ii Non Removable screw terminal Terminals iiia nen teeh tne ties 10 Pitchaisnantanaia 0 315 in 8 mm Wire Range 10 22 AWG aisi aa 12 23 SWG CR ae cer nae 0 5 4 0 mm Wire Strip length 0 25 in 6 5 mm Torque 7 0 in lbs nom 0 79 N m 24 Aries User Guide AC Power Supply Connection Figure 16 on page 19 shows how to connect the external 120 240 VAC motor power source and control power sources to the drive e The AR 20xE can accept single phase or three phase 120V or 240V motor power For single phase connections make no connection to termina
9. 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 137 TVEL Transfer 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 DMODE 6 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 DMODE 6 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 9 Mal iy and that you connected the feedba
10. erette 28 outputs status TOUT f to errata override mode over temperature limits over voltage protection peak current motor DMTIP performance siita hae dee dea dante tee pole pairs motor DPOLE i pollution degrees ia ae aa i daria a i position actual TPE asan ie lia ille 135 actual error TPC commanded TPC encoder TPE encoder error TPER i trackih Ganc ienaa a atti ati eda power dissipation eeeeeetettetttttttetttettt ae aaaee power supply Connection Aan a n a input power power dump resistor calculating for linear motor calculating for rotary motor Selection cranio ie O A product revision command implementation 77 product revision TREV isis esccesessaediescteaccdnavenssnes 136 program COMMENTS ie 79 reset effect Ofiri eona aat en 123 protection current foldback DI FOLD drive over temperature over voltage short circuit i Under voltag ci inni PWM frequency dpwm PWM frequency DPWM PWM update period TSSPD rated speed motor DMTW regeneration ndman regulatory AGENCIES ccce 184 relay Drake relay ini gaoia aao 35 relay brake operations a a aN output delay OUTBD ccecce output status TOUT specification reset drive RESET
11. flashing Yellow amp 2 Green flashing Yellow amp 3 Green flashing Yellow amp 4 Green flashing Red Red Red Red Table 23 LED Status Indicator Internal Drive Fault Control power mode active Bridge Fault Feedback Fault Thermal Fault Other Fault Chapter 3 Electrical Installation 41 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 24 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 31 Regeneration Protection on page 39 This connector is removable On models AR 20xE and AR 30xE the Motor Power connector serves as the connector for Motor Mains power L1 L2 L3 and as well as for output power to the motor U V W and and a DC Link Inductor For more information on these additional connections see Output Power on page 28 and External DC Link Inductor Optional on page 30 This connector is not removable AR 01xE to AR 13xE AR 20xE amp AR 30xE O R LJ R Ly c2 MO
12. 20xE AR 30xE Connector Type Non Removable screw terminal Terminals 10 Piton 0 315 in 8 mm Wire range 10 22 AWG ciborio 12 23 SWG ETRE PIE 0 5 4 0 mm Wire strip length 0 25 in 6 5 mm Torque 7 0 in lbs nom 0 79 N m 28 Aries User Guide 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 Phase O Motor Phase TT Motor Phase Motor Phase Motor Phase iti Motor Safety Earth ii Motor Phase Motor Safety Earth IL L2 MOTOR INPUT L3 POWER R DELI Be Link INDUCTOR pcL2 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 L Green Yellow Green Yellow Green Table 18 Wiring to Motors Note On models AR 20xE and AR 30xE the Motor Brake Relay is on a separate connector See Figure 22 on page 35 Warning You must connect the Motor Safety Earth conductor terminal marked with the earth symbol to the motor cable s motor safety earth wire
13. 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 M M Ey BP Ry I Ridia 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 deceleration time Seconds Mr _ mass of forcer in kilograms kg M mass of load in kilograms kg ke motor force constant N AMp mg Appendix B External Power Dump Resistor Selection 169 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 th
14. 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 62 Aries User Guide CHAPTER FIVE IN THIS CHAPTER Servo Tuning Overview Position Variable Overview Servo Response Overview Servo System Gains Servo Tuning Example 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 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 68 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 c
15. Aries 2 0 Units i Hz Range disable or 62 1229 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 0 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 DNOTBO 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 Tuning 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 Chapter 6 Command Reference 107 DNOTLG Type Syntax Units Range Default Response See Also filter The DNOTL
16. DMTMAX thermal resistance motor DMTRWC time constant motor DMTTCW in zero command offset DCMDZ
17. DPOLE command sets the number of motor pole pairs The number of pole pairs is defined as the o Pi number of poles P divided by 2 or P 2 The e 2 m 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 ripple 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 Chapter 6 Command Reference 109 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
18. ERES lt gt 4009 a 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 Represents the values 1 or does not require field separator between values e 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 r 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 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 requ
19. ESen eE EEE 65 Commanded Position isee a ii 65 Actual Posilioni srm i rn iaia i iii el 65 Servo Response Overview ii 66 Stability iaia aaa te RIA LI ead een 66 Position Response Types ali 66 Performance Measurements ttnn ttenttnn tens ttntnnn nn esn ennnen nenet 67 Servo system GANS esiin iaia Lili ae he 68 Proportional Feedback Control SGP i 68 Velocity Feedback Control SGV i 68 Integral Feedback Control SGI i 68 Controlling IntegralWindup iacani adele eil le ili aria 69 Servo Funing Examples arti iaia Riina 71 Auto lUning s trae alia 75 Chapter 6 Command ReferencCe 1 srrrrreriei iii 76 Arles Communications SetU iis iaia aiar iaia 77 Description of FORMAL a r a a aaa adhd E alech aa e 77 syntax Letters and Symb nein aeaea aE iaia dial EEES 78 syntax General Guideline S eaa E alia ia 79 Command Descriptions seissen ia aaan ia aaae aaaea elia ila 80 Chapter 7 Troubleshooting ssssssssnunnennunnnnnnnnnnnnnnnnnnnnn nunne nnnnnn nn nnnn nanne mnnn n nnmnnn nnnm nnna 140 Troubleshooting GuidelineS ns teetttnntnnsttrtttnnn nentrn tenn nn nenene 141 First Troubleshooting Steps verify LEDS i 141 General Troubleshooting Procedure 141 iv LEDs Drive Status Indicators is naa aa aaae aaa A aa a aaa a eMKa aaar ka aatan 142 Normal Operations AE E ET
20. FLTDSB Faulton 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 Chapter 6 Command Reference 117 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 109V 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 polarit
21. Part Number N A not replaceable Connector TYype ii Non Removable screw terminal Terminals i 8 Pitch ancona 0 400 in 10 mm Wire Range 12 28 AWG Wire Strip length 0 250 in 6 35 mm 46 Aries User Guide Motor Feedback Connector 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 Important Encoder inputs use a DS26LV32 differential line receiver Parker Hannifin recommends 26LS31 or compatible differential line driven encoders Single ended encoders are not compatible Motor Feedback Connector Internal Connections Encoder Z 221 02 Encoder Z Encoder Ground Encoder 5V Encoder 5V Encoder Ground software enabled 5VDC Encoder A Encoder A Hall 1 5 Thermal Switch 1 V _ _ Encoder B 11 10 0K Q Encoder B 12 Hall 2 13 10 0K Q Hall 3 15 10 0K Q Thermal Switch e 1000 pF Same Circuit as Encoder Z Z Same Circuit as Hall 3 Figure 30 MOTOR FEEDBACK connector internal circuit diagram Chapter 3 Electrical Installation 47 Pinout MOTOR FEEDBACK Connector Note A box surrounding pins indicates a requirement for twisted pair wiring ENC Z Data 1 Encoder Z Channel in E
22. Position Time Position Time 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 LURAT 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 all 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 Chapter 6 Command Reference 75 CHAPTER SIX Command Reference IN THIS CHAPTER Description of Format Syntax Letters and Symbols Syntax General Guidelines Command Descripti
23. 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 E ERES INPOSDB TP 1 SMPER This command is only valid in DMODE 6 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 135 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 9 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 reportb
24. 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 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 Chapter 6 Command Reference 91 DMTIND Motor Inductance Type Motor Product Rev Syntax lt a_ gt DMTIND lt r gt Aries 1 0 Units r mH Range D 0 to 200 0 0 1 Default 5 0 DMTIND of results in motor configuration error Response DMTIND lt gt 19 See Also 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 parameter is set to zero 0 you must manually set this parameter to a non zero number Otherwise the drive reports the configuration errors El Motor Configuration Error and E3 Maximum Inductance and shuts down the drive For a list of automatically configured comm
25. Syntax Units Range Default Response See Also Rotary Motors Positive values represent clockwise motion and negative values represent counter clockwise motion assuming CMDDIR and that you connected the feedback device Clockwise Counter clockwise according to instructions provided in Chapter 2 Mechanical Installation and Chapter 3 Electrical Installation positive counts negative counts 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 El Motor Configuration Error E3 Max Inductance E4 Rated Speed E5 DPOLE E6 Resistance E7 Ke E8 Continuous Current 2 84 Aries User Guide 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 va
26. 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 Aries drive has had power applied AC Mains or Control power Chapter 6 Command Reference 131 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 195 25 lt gt Power on Time 5hrs 19 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
27. 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 1 4 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 a This filter operates in all DMODE settings except Autorun DMODE1 108 Aries User Guide 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 290 Default DPOLE of results in motor configuration error Response DPOLE lt gt 50 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 El Motor Configuration Error and E5 DPOLE and shuts down the drive For a list of automatically configured commands see DMTR The
28. aat Aa aeaaea dae 1 Aries Products OvervieW h er e REE ii 2 Aries Product Descriptions4s nera nease E E e Aa a aeei ia ea 2 ANEAN AE EEEE oil ni ao cda al E no iso ci colei AEN 2 INPUL POWEr eiee an RA ch i RINO rta 2 Qutput Power Level licia laine iii il aa aan 3 OPlonssszz nina eee i iii ea AA 3 Compatible Parker Products ttrt Anns AttEEEEEEAEE EEEE EEEEENAE SEEE EEE En nnne nee 3 Checking Your Shipmenti aianihe nie Ai E ROE 4 Ship Kit Itemsz laine io ce ii e ea e dle nil e ito 4 Motors siano ri lo i E a deh 4 Illustrations in this Installation Guide 5 Assumptions of Technical Experience ttt nnEnnnet Etr Ennn nnnt nenn nnmnnn 5 Technical SUpport s sissi nia RR AAA il 5 Chapter 2 Mechanical Installation rriiiii 6 Environment amp Drive Cooling i 7 Cabinet COl azara a a ER RA a AI ia 8 Cabinet Cooling Calculations i 12 DIMENSIONSE SR o anca li el ee al ina a 13 Drive Dimensions AR 01xx amp AR 02XX tennt nnmnnn 13 Drive Dimensions AR 04xx AR 08xx amp AR 13XX 14 Drive Dimensions AR 20xE amp AR 30XE terrre nnn nne 15 Weight asl Aaa ARI Ro 15 Mounting Guidelines 4 trassiiloslaa Bain Anaao 16 CABE ROUNO E a fiati lai 16 Panel Mounting s ita iaia 16 Chapter 3 Electrical Installation i 17 Installation Safety Requirements ii 18 PRECAUTIONS
29. 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 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 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 S to 10990 09 Default BO Response SGI lt gt W 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 ove
30. 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 Eyw energy dissipated in the motor windings Joules copper losses E energy dissipated by the load Joules load losses 164 Aries Hardware Installation Guide 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 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 _ Vere kr tp a a Jy tJ Where Ra maximum external power dump resistance Ohms V v
31. 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 much 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 al
32. 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 181_and Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30xE on page 182 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 filter 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 179 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 o
33. characteristics on the DRIVE I O connector See Table 30 on page 55 Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE I O connector See Table 31 on page 55 Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE I O connector See Table 33 on page 56 Enhancement Added specifications detailing electrical and timing characteristics on the DRIVE I O connector See Table 34 on page 56 Correction Both RS 485 channels are Tx Rx See Table 37 on page 60 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 CONF 1G now includes error messages E13 E18 E13 E18 Enhancement Added error messages See Table 50 on page 147 XV CHAPTER ONE IN THIS CHAPTER Aries Products Overview Compatible Parker Products Checking Your Shipment Illustrations in this Installation Guide Assumptions of Technical Experience Technical Support 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 Pro
34. filter break freq DNOTLD ag OPC OOP wii iaia A r aA iii 64 OVEIRVIQW nnan te 64 position error SMPER ma position FESPONES iii ceive covecave cove certi corrieri position varia Dle Siris ii ahak aa aa aaa proportional feedback proportional gain PGAIN eee proportional gain SGP set current loop bandwidth Stability ina torque force limit DMTLIM tuning example velocity error SMVER si Velocity feedback ier hinana velocity feedforward gain SGVF 126 velocity gain SGV we velocity limit DMVLIM servo update SNIP Kites earran eee e a iTi short circuit protection ecce software revision level TREV gt space neutral character specifications additional specifications cece drive 1 0 connector input power connector mains connector MOLOF CONNE CON iced dred carves motor feedback connector 3 motor feedback resolver ELE RR n Ei Daane Tapeta status commanded position TPC ccecce 135 Appendix D Servo Tuning Flow Diagram 191 commanded velocity feedback device TVEL 138 encoder position TPE encoder position error TPC error log TERRLG riore full text report STATUS seee OUTPUTS TOUT crait software revision level TREV
35. for input power Be sure to use the VAC INPUT POWER terminal Chapter 3 Electrical Installation 33 AR 20xE amp AR 30xE 6666686 D D D D D D D a D D SSA F INDUCTOR For multiple drives use a single point system safety earth Figure 21 Multiple Drives AR 20xE amp AR 30xE Single Point Safety Earth 34 Aries User Guide 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 TYype ii Removable screw terminal Terminals iaia fa aaa 6 Pitot se 0 200 in 5 08 mm Wire range 12 26 AWG PANIE PE AEEA TEE 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 TYype ii Non Removable screw terminal Terminals aaeeei 8 Pitchi agio 0 400 in 10 mm Wire Range 12 28 AWG aaro a era ania adito 14 29 SWG
36. high voltage terminals must not be accessible to the user Warning The drive s connector strip terminals have hazardous 32 Aries User Guide 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 3 single point system safety earth Figure 20 Multiple Drives AR 01xx to AR 13xx 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
37. is only valid in DMODE4 velocity mode and DMODE 6 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 term is to anticipate position error and correct it before it becomes too large This increases damping and tends to make the system more stable If this term is too large the response will be slowed to the point that the system is over damped Since the feedback device signal has 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 SGVF Velocity Feedforward Gain Type Tuning Product Rev Syntax lt a_ gt lt gt SGVF lt i gt Aries 2 0 Units N A Range D 500 Default 199 Response SGVF SGVF199 See Also 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 co
38. 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 TERRLG 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 130 Aries User Guide 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 19 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
39. 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 14 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 Chapter 6 Command Reference 101 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 09 to 60 09 1 Default DD Response DMTTCW lt gt 28 4 See Also DMTR DMTRWC DMTTCM
40. 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 58 provides the needed information and results from the above calculation 162 Aries Hardware Installation Guide 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 torque 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 1 1 VU J E I Ry tp Vn J Ry ty 2 2 k t T D Where Ew energy dissipated in the motor windings Joules copper losses l current through the windings AMpSrms Rm line to line motor resistance Ohms tp deceleration time Seconds Jy rotor inertia kg m J load inertia kg m kr motor torque constant Nm AMp
41. msg rotational speed in radians per sec 1 revolution sec 2 n radians sec Appendix B External Power Dump Resistor Selection 163 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 T t L D 2 Where E energy dissipated by the load Joules load losses torque at constant velocity Nm rotational speed in radians per sec 1 revolution sec 2 m 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 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 Eg energy to
42. o Minimum o o o Clearance 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 183 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 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 184 Aries Hardware Installation Guide APPENDIX D Servo Tuning Flo
43. 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 CLEAR 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 protec
44. 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 Voltage below 70 VAC trips fault AR 20xE and AR 30XE Voltage below 160 VAC trips fault Results of FaUlt i 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 155 Over Voltage Protection 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
45. r volts peak meter second measured line to line Rotary motor 29 9 to 890 0 0 1 Linear motor DMEPIT electrical pitch dependent DMTKE of results in motor configuration error DMTKE lt gt 15 0 DMEPIT 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 El 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 constant Ke by the following relationship Kt Nm A 33 2007 RMS 0 peak value B 0 Ke Volts krpm Rotary motors Kt N A ANI KeWolts meter sec Linear motors 2007 RMS t0 peak value Note The Aries requires values in rotary units The Aries Support Tool automatically performs these
46. set to zero SMVER the velocity error condition is not monitored allowing the velocity error to accumulate without causing a fault Status full text report Transfer Product Rev lt a_ gt STATUS Aries 1 0 N A N A N A STATUS lt gt GENERAL lt gt OS Revision Aries Revision 1 9 lt a 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 49C lt gt DRIVE lt gt Drive DISABLED lt gt PWM Frequency 16 kHz lt gt Feedback Resolution 8999 lt gt Drive Temperature 35C lt gt Bus Voltage 85V 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 Transfer Analog Input Voltage Transfer Product Rev lt a_ gt TANI Aries 1 0 Volts 19V to 19V N A TANI lt gt 4 34 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 129 TCI Transfer Commanded Current Type Transfer Product Rev Syntax
47. 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 142 Aries User Guide Reconfigure the Drive To verify proper configuration you may wish to reconfigure the drive Pay particular attention to selecting proper configuration 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
48. the result of the following calculation DMTSCL TDIMAX 20 lowrae 2007 Rotary Motors V krpm Linear Motors V m s peak value 100 Aries User Guide 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 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 D 0 to 120 0 9 1 Default B D Response DMTTCM lt gt 3 4 See Also DMTR DMTTCW Auto Setup When using a Parker
49. to 10 09 Default D 04 Response ANICDB ANICDBO 4 See Also 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 7rqcommand is calculated from the input voltage Vn using DMTSCL as follows DMTSCL T A command Vin DCMDZ ANICDB V gt DCMDZ ANICDB when Tr q command 0 when 2CMD2 ANICDB lt V lt DCMDZ ANICDB DMTSCL TFA command Vin DCMDZ ANICDB ra V lt DCMDZ ANICDB when The commanded velocity Ve commana iS calculated from the input voltage Vin using DMVSCL as follows Vel ona Vin DCMDZ ANICDB YSOL command 10 when V gt DCMDZ ANICDB Vegan 0 when DCMDZ ANICDB lt V lt DCMDZ ANICDB DMVSCL Vel ommana Vin DCMDZ ANICDB command 1 0 when V lt DCMDZ ANICDB 82 Aries User Guide 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 k
50. 1D Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic AC Power Supply Connection Drive I O Connector Internal Circuit Diagram Drive I O Connector VM26 Breakout Module Description Clarified jumpering two phases of the motor input power to the control input power allows for a single AC connection Corrected circuit for Step and Step Step and Direction is not optically isolated but is 5V differential compatible RS 422 logic level compatible Added appendix describing the VM26 Breakout Module xiii Revision D Changes This document 88 021610 01D supercedes 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 supercedes 88 021610 1B Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Description Models Enhancement Added models AR 13xx AR 20xE and AR 30xE and rele
51. 2070 10 06 10at240VAC 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 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 varistors 178 Aries Hardware Installation Guide 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 182 Mains Motor Power The three phase AC power Aries drives models AR 20xE and AR 30xE are designed to meet Level
52. 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 176 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 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 157 APPENDIX B External Power Dump Resistor Selection Simplified Resistor Selection Calculating Resistance Rotary Motors Resistor Specifications Calculating Resistance Linear Motors Resistor Specifications External Power Dump Resistor Selection Deceleration generates excess kinetic and potential e
53. 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 182 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 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
54. 30R 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 Chapter 3 Electrical Installation 27 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 rererere Removable screw terminal Terminal aait airina 6 PitCh s s geet 0 200 in 5 08 mm Wire range 12 26 AWG RIONE RR E SITI OO NERE 14 27 SWG Wire strip length 0 310 in 8 mm Torque 7 0 in lbs nom 0 79 N m AR
55. 53 sont eurini lie dii dini ae oi i ee 18 Auto Configuration for ENCOders ii 18 System Installation OVErView i 19 AR 01xx AR 02xx AR 04xx AR 08xx amp AR 13xx InstallatioN n 19 AR 20xE and AR 30xE Installation aeee eenn renseeeerttnrenrstrsttrnrtnnsarntttnnnnnsertnne nnne 21 Connector Locations i 22 Power SUupplV t gt 44 5 i Gr4li le alano o fila A 24 Input Powers ri AE li cag qaca canta A A AE E 24 QUpuLPOWEf sitf flash dis Mu die pil i i e deal 28 External DC Link Inductor Optional i 30 Control Power Supply ett ttnnnAestttnEEEnEnEn aen nEnn nnna en nnna 31 Multiple Drive Installations nn neennnnn nn 33 Safety Earth Gonnections viale ae 33 Brake Relay Optional ae dei 35 iij Motor with Full Wave Rectifiers i 36 Motors without Full Wave Rectifiers nnne 37 Relay Operation 1 iena a r Mia eet E R ee ee cit 38 Relay Speciiications i topi ideare ee 38 Regeneration Protection easier 39 Regeneration GOonnectioni sinti era i 39 Internal Regeneration Capability erties settee ee teeeeetieeeeeeteeeesteeeerea 40 LEDs Drive Status Indicators ttnet testrit tnnttesttttrtnnnarsttttnttnnnas ner ttan nenene nEn 41 Normal Operat Oe a r iaia ie da 41 Internal Drive Fault 0a aLaaa
56. ANI terminal Try using the fault on startup voltage FLTSTP The drive is faulted Excessive current or short on the H bridge 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 TOTEMP 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 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 wa
57. 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 EZ Motor Configuration Error and E8 Continuous Current For a list of automatically configured commands see DMTR 90 Aries User Guide 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 13 14 and 15 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 dD 09 to 100 09 0 01 Default DMTICD of results in no current derating Response DMTICD lt gt 5 See Also DMTIC DMTIP DUTIP DMIR DMIW 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
58. 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 DMTTCM 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 0 0 to 159 9 9 1 DMTW of results in motor configuration error DMTW lt gt 150 9 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 Spee
59. Cable Aries Drive Motor Figure 24 Brake Relay Connection for Non Parker Motors Chapter 3 Electrical Installation 37 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 scscelala blasi Solid State Relay Normally open Relay Maximum Rating 1 Amp at 24 VDC control a suitable external relay with this relay to meet your power Warning Do not exceed the ratings of the brake relay If required A N requirements 38 Aries User Guide 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 external 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 an O 3 Ext
60. Clamshell Sea Clamp os 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 between 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 e
61. Control Power AR 01xx through AR 30XE 120 240 VAC single phase mains control power 2 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 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 ienien eneee Aries Support Tool For information about cables motors etc see Chapter 2 Mechanical Installation Chapter 1 Introduction 3 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 fai R Clamp 52 019734 01 Screw 8 32 inch 51 006055 01 Aries comp
62. 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 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 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
63. E E A tats 142 Internal Dive Fae rita cid i i na 142 Establish Communications amp Verify Drive Configuration 142 RS 232 485 Communication ProblemS tn nnnnnn nene ena 143 Testing Te COM PON airosa a aa E chest ae nda cease E EE a A 143 Emor MESSIER A EEA aan 144 SMalt EN ode Sa seater ak fae hd eats aaa a 147 Hall Sensor Configuration TroubleShooting eeeeeeeeeeneeeeeeeneeeeeetineeeeesieeeeetiieeeereaa 148 Troubleshooting Checklist i 148 Possible Problem Sr ierre aetna dei aie eee eds 148 Appendix A Additional Specifications ccscccseceeesceesseeeeseeeeeeeeeeeeseseeesnseeeeseeeseseaeenseeeeees 152 PNE OIE sex ET coaster eet sae E AE rile ee aa el 153 Feedback s s torsi ae ae feshome teisre hada na du coe as one ah ead ito dita 153 Protective Gircults in il A Lan RA ALA E Ra Oi 154 Short Circuit Protection Annn AeetttnnEnnnEee n ennnEn nnne enn 154 Drive Over Temperature Protection nnne re Enn 154 Under Voltage Protectioni lituana EER AOAR ia 155 Over Voltage Protection a AAA 156 GurrentFoldback cuiurlonlu iaia ARA 157 Gables gini de oa e i ra pei o ed oe isa 157 EMG Ready Cables iiiiai ale ala ea e 157 Non EMC Gables c i Le Lee gaia 157 Appendix B External Power Dump Resistor Selection nrrrriiiiiie 158 External Power Dump Resistor Selection nenna 159 Sim
64. E1 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 U V oc 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 from 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 comman
65. EEDBACK connector internal circuit diagram 47 Figure 31 MOTOR FEEDBACK connector female drive connector pinout 50 Figure 32 MOTOR FEEDBACK connector for resolver option internal circuit diagram 50 Figure 33 DRIVE I O connector female drive connector pinout 52 Figure 34 DRIVE I O connector internal circuit diagram eee eeeeeeeeeeeeeneeeeeeneeeeeeaaes 53 Figure 35 RS 232 485 Connections i 59 Figure 36 RS 485 Multi drop Connections 61 Figure 37 Closed Loop and Open Loop System Comparison nnen 64 Figure 38 Commanded Position anandan 65 Figure 39 Integrator Windup Without Using SGILIM Command i 69 Figure 40 Integrator Windup using the SGILIM COMMand ii 70 Figure 41 Clockwise Counter clockwise rotation 84 Figure 42 Time until current foldback OCCUFS 87 Figure 43 Linear motor taK odiran re agnelli grab iaia 88 Figure 44 NotchiFilterTopology nia a EE EAA eo e 105 Figure 45 Notch Filter Magnitudes cegaiti aE ERRER EAKR E EERS 105 Figure 46 Notch Pier A aieiaa ne aaae e ia ili ea 106 Figure 47 Notch Lead Filter Break Frequency 108 Figure 48 Clockwise Counter clockwise rotation 138 Figure 49 Hall Connection Diagram aoe aeree anneni Ta aa EKETE EEEE RRES 149 Figure 50 Motor Terminal Voltages back EMF and Hall S
66. G 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 o HE monto oy TN MK sed cH 2o TINI I il 30 Filter Response dB Phase shift Degrees I N o 40 45 1 10 100 103 104 1 10 100 103 104 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 DNOTLG409 DNOTAD DNOTAF DNOTAO DNOTBO DNOTLD DNOTBD DNOTBF The DNOTLG command sets the break frequency of the lag filter
67. 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 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 Check that the feedback cables are wired correctly 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 c Send th
68. 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 oO AN O d Asa WN O Feedback Error Hall Error k Motor Configuration Error 12 Regeneration Fault 13 15 Reserved Table 47 Error Log Enable Disable 116 Aries User Guide ESTORE Store smart encoder data Type Motor configuration Product Rev Syntax lt a_ gt ESTORE Aries 1 0 Units N A Range N A Default 0 Response lt gt Storing lt gt Stored See Also 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 ESTORE into the terminal and pressing Enter 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 ESTORE command stores the following parameters in the encoder DMTRES DMTIND DMTINF DMTKE DMTIC DMTTCW DMTTWM DMTRWC DMTD DMTJ DMTW DMVLIM DMTLIM IGAIN PGAIN INTLIM ENCOFF DMTSCL DMTR DPOLE DPWM ENCPOL P163 DMTSWT
69. IGN 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 terminal and pressing Enter 3 Type DMODE3 in the terminal and press Enter to enter alignment mode 4 Enable the drive by means of either the hardware 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 Chapter 6 Command Reference 81 ANICDB Analog Input Center Deadband Type Drive Configuration Product Rev Syntax lt a_ gt ANICDB lt r gt Aries 2 0 Units r volts Range D 00
70. Manufacturer i AMP or equivalent Connector Type ia 15 Pin High Density D Subminiature male connector Cable Kit i ii ail AMP Part Number 748473 1 Includes 748364 1 connector shield enclosure and two jack screws does not include contacts or ferrules Contacts siii Crimp style 30 Gold AMP Part Number 748333 4 Gold Flash Amp Part Number 748333 7 Chapter 3 Electrical Installation 49 Motor Feedback Connector Resolver Inputs for the encoder feedback motor thermal switch and hall effects are located on the 15 pin Motor Feedback connector Figure 31 MOTOR FEEDBACK connector female drive connector pinout Motor Feedback Connector Internal Connections Thermal Switch No Connect Th Switch No Connect _ Thermal Switch Reference No Connect Thermal Switch SIN No Connect 3 32K 2 LT1497CS 4 99KQ LT1497CS 499KQ 332KQ Thermal Switch 10 No Connect No Connect 14 Reference Earth GND 16 Earth GND 17 Figure 32 MOTOR FEEDBACK connector for resolver option internal circuit diagram 50 Aries User Guide 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 excita
71. NC 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 Current Hall Differential Threshold Voltage Differential Termination Impedance Thermal Switch Current Thermal Switch Voltage Maximum supplied Input Frequency pre quadrature 250 mA 250 mA 200 200 mV 120 ohms 2 mA 15 V 5 MHz Note All parameters are at the connector pin Table 25 Inputs Encoder Inputs Electrical Timing Characteristics 48 Aries User Guide Connector Specification Aries Drive Manufacturer KYCON or equivalent Connector TYype a 15 Pin High Density D Subminiature female socket KYCON Part Number ee K66 E15S NR Connector Specification Mating Connector Mating connectors are not provided with Aries drives Parker cables are available with mating connectors attached
72. NOTAQ1 Chapter 6 Command Reference 105 Filter Response dB Phase shift degrees Frequency Hz Frequency Hz Figure 46 Notch Filter A settings except Autorun DMODE1 EE These filters operate in all DMODI DNOTAQ Notch Filter A Quality Factor Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTAQ lt r gt Aries 2 0 Units r quality factor Range 0 5 to 2 5 Default 1 Response DNOTAQ DNOTAQ1 5 See Also DNOTAD DNOTAF DNOTBD DNOTBF DNOTBO 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 lt gt DNOTBD lt i gt Aries 2 0 Units n a Range D 000D 1 999B Default 099 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 106 Aries User Guide DNOTBF Notch Filter B Frequency Type Tuning Product Rev Syntax lt a_ gt lt gt DNOTBF lt i gt
73. Peak Current Motor Product Rev lt a_ gt DMTIP lt r gt Aries 1 0 r Amps RMS D 09 to 400 099 0 01 2 59 DMTIP of results in motor configuration warning DMTIP lt gt 7 50 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 If the DMTIP value 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 andE12 Peak Current Too High 3A 5 25A 9A 13 5A 14 1 30 48 Table 45 Peak Current Rating for Aries Drives Chapter 6 Command Reference 93 DMTJ Type Syntax Units Range Defa
74. Ratio Type Tuning Product Rev Syntax lt a_ gt LJRAT lt i gt Aries 2 0 Units Load to Rotor Inertia Ratio Range DD 190 0 Default B D Response LJRAT lt gt 0 00 See Also IGAIN PGAIN This command is only valid in DMODE4 velocity mode and DMODE6 or 7 position mode The LURAT 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 120 Aries User Guide OHALL Type Syntax Units Range Default Response See Also 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 i 0 sinusoidal commutation 1 trapezoidal commutation 2 0 DC Brushed motor commutation OHALL lt gt 0 ALIGN OUTBD Type Syntax Units Range Default Response See Also 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 once the first hall transition has occurred Output B
75. TOR O C1 Protective ares Earth GND POWER N L2 SS L el L1 L1 Ke L2 MOTOR INPUT L3 POWER Protective a Earth GND DC LINK INDUCTOR 2 Figure 26 Mains Input Power Connector 42 Aries User Guide Mains Input Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Parker Hannifin Connector Type Part Number AR 20xE AR 30XE Parker Hannifin Connector Type Part Number Amphenol PCD ELFA13210E 43 021069 01 Termminalsi iiaecrida zazione 7 Pitchicagilanaa 0 200 in 5 08 mm Wire Range 12 26 AWG sfiori ite 14 27 SWG deine 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 Terminal 10 Pitch 0 315 in 8 mm Wire Range 10 22 AWG sir ie oe te 12 23 SWG Lai tri dieta 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 Output Power Connector The drive s Motor screw terminal connector provides output power to your motor For connection information see Output Power on page 28 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 Mot
76. Timing Characteristics ii 56 Table 35 Terminal Emulator Configuration for RS 232 485 Communication 59 Table 36 RS 232 Connector Pinout eee ee cece seccecaeeeeeeeeeseccacaeeeeeeeeeesesennanaeeeeeees 60 Table 37 RS 485 Connector Pinout nennen rt nenene 60 Table 38 Position Response Types i 67 Table 39 Commands Description of Format nenne 77 Table 40 Commands SyntaX iii 78 Table 41 Syntax Guidelines v e 79 Table 42 Configuration Errors and Warnings ii 85 Table 43 Current Foldback Ratings nat 87 Table 44 Drive Control Mode cece cece secaacaeceeeeeeeeeesscaaeaeeeeeeesessncaeaeeeeeess 89 Table 45 Peak Current Rating for Aries Drives 93 Table 46 Error Status Text Based Report nenne 116 Table 47 Error Log Enable Disable 116 Table 48 Terminal Emulator Configuration for RS 232 485 Communication 143 Table 49 Communications Port Errors and Resolutions renne 144 TFable 90 Error Messages aa an Lao aa 147 Table 51 Configuring Hall SENSOrs ii 151 Table 52 LED Short Circuit Fault nennen ttnn nn nne 154 vi Table 53 LED Drive Over Temperature Fault nenne 154 Table 54 Reset Temp
77. WT 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 Default N A Response TOUT lt gt 0000 0000 GOOG 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 134 Aries User Guide 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
78. 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 I R DI Rir REGEN INT D R ESSI D C1 CONTROL Red Blue Wire D C2 INPUT POWER User Supplied 24VDC D Red Blue Wire User Supplied 24VDC o lic ser Supplie d BK RELAY Figure 22 Typical Brake Relay Connection Chapter 3 Electrical Installation 35 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 gt gt Motor with Full Wave Rectifiers Some Parker brake motors BE SM SE NeoMetric and J series motors serial numbers greater 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 t
79. able Motor Figure 9 Overview of System Installation for AR 01xx 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 Chapter 3 Electrical Installation 19 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 C1toL1 N C2toL2 NN Figure 10 AR 01xx to AR 13xx Factory Installed Jumpers 20 Aries User Guide AR 20xE and AR 30xE Installation Drive I O RS 232 485 Motor Feedback Dongle Cable Control Mains Cable Motor Power Mains Cable Controller 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 Chapter 3 Electrical Installation 21 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 Factory Installed Jumper W
80. ack 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 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 136 Aries User Guide TTRQ Transfer Commanded Torque Force Type Transfer Product Rev Syntax lt a_ gt TTRO Aries 1 0 Units Newton Meters Rotary or Newtons Linear Range DMTLIM TO DMTLIM 9 01 Default N A Response TTRO lt gt 1 29 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 599 9 motor drive dependent 9 1 Linear motor DMEPIT electrical pitch dependent Default N A Response TTROA lt gt 1 29 See Also DMTKE DMTLIM DMTSCL TTRQ The TTRQA 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 TTROA may vary by 10 of the actual torque
81. act 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 4 Aries User Guide 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 fundamental understanding of the following
82. ages 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 gt gt 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 31 120 VAC 125 VAC Time Delay RK5 or better AR OVX 240VAG 250VAC Time Delay 10A RK5 or better ARO 120 VAC 125 VAC Time Delay 10A RK5 or better 240VAC 250VAC Time Delay 10A RK5 or better ma 120 VAC 125 VAC Time Delay 20A RK5 or better 240VAC 250 VAC Time Delay 20A RK5 or better Fou e 125 VAC Time Delay 20A RK5 or better 240VAC 250VAC Time Delay 20A RK5 or better oe eae 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 Table 14 Motor Power Fuse Information 26 Aries User Guide Table 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 TR
83. amp MPM1421CSJXXXN Motor 180 160 140 120 240 VAC 100 80 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 Chapter 2 Mechanical Installation 11 Cabinet Cooling AR 30AE Drive amp MPM1422CSJXXXN Motor 200 180 160 m 140 n 5 S 120 3 240 VAC 100 el al 3 80 y O o 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 MOTOR P oss O 1 Eprivo Emoror Pross power dissipated to cabinet Watts Pmoror shaft power of the motor Watts Emoror efficiency of motor Percent approximately 0 85 Eprive efficien
84. ands 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 DMTINF Motor Inductance Factor Type Motor Product Rev Syntax lt a_ gt DMTINF lt r gt Aries 1 0 Units r units Range D 00 to 1 00 Default 1 Response DMTINF lt gt 1 09 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 El 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 inductance 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 92 Aries User Guide DMTIP Type Syntax Units Range Default Response See Also
85. arth 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 177 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 both 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 FN
86. astic hardware Proper installation may require the use of thermal compound and proper thermal connection to a heat absorbing metal surface 172 Aries Hardware Installation 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 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 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
87. atter 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 perception 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 Response 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 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 66 Aries User Guide Critically damped Oscillatory Chattering A critically damped response is the most desirable because it optimizes the trade off between damping and speed of response An oscillatory response is characterized by a sustained position oscillation of equal am
88. 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 Chapter 6 Command Reference 79 ADDR Type Syntax Units Range Default Response See Also Command Descriptions You can use the ASCII commands provided in this chapter to configure check errors and reset 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 59 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 addres
89. bminiature male connector Gable Kit ssi ia abeti AMP Part Number 748474 1 Includes 748365 1 connector shield enclosure and two jack screws does not include contacts or ferrules Gontactsin insolita eMedia Crimp style 301 Gold AMP Part Number 748333 4 Gold Flash Amp Part Number 748333 7 56 Aries User Guide 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 with the test e Enable the drive e If the 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 con
90. ch lag filter break freq DNOTLG notch lead filter break freq DNOTLD proportional PGAIN proportional SGP a set current loop bandwidth DIBW System Load to Rotor Inertia Ratio LJRAT 120 torque force limit DMTLI M da velocity SGV iii iaia velocity feedforward SGVF ts velocity limit DMVLIM hall sensor check sensor values THALL configuration inversion SHALL troubleshooting ii gt hexadecimal value identifier N Incoming Pulse Scaling DMPSCL inductance motor max DMTIND motor min DMTINF input resolution analog n INFUSA CUFFent starei installation EVD EME rici installation category installation OVErVIEW eee 190 Aries Hardware Installation Guide jumper wires pre installed 20 22 lead lag filters LVD installation i Mass Orcera e aaa ladini memory afteraireset RESET aiuole 123 return to factory settings RFS 123 motor ambient temperature DMTAMB 89 auto configure Drake iti tia i configuration error DMTR CONFIG 97 connector continuous current DMTIC 90 continuous current derating DMTICD 91 CaM PINGs2 vas te ao drift minimizing DCMDZ full wave rectifiers fuses input power INPUL POWER wctcicidis
91. choose one of the following methods b 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 L n 80 C 176 F AR 20xE and AR 30XE 90 C 194 F Results of Fault n Power to motor is turned off Fault output is activated Yellow amp 3 Green blinking Red Table 53 LED Drive Over Temperature Fault 154 Aries Hardware Installation Guide 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 Cycle 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
92. ck device Gaana a noe according to instructions provided in Chapter 2 Paci Mechanical Installation and Chapter 3 Electrical ie ea Counter clockwise rotation Installation 138 Aries User Guide TVER Type Syntax Units Range Default Response See Also Transfer Current Commanded Velocity Error Transfer Product 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 EA This command is only valid in DMODI DMODE7 position mode ES 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 139 CHAPTER SEVEN IN THIS CHAPTER RS 232 485 Communication Problems Smart Encoders e Note The CMDDIR is fixed for smart encoders To invert the direction use IANI1 however for the ACR9000 do not use IANI1 Hall Sensor Configuration Troubleshooting 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 moto
93. 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 Chapter 6 Command Reference 95 DMTLIM Type Syntax Units Range Default Response See Also 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 9 49 to 599 39 motor drive dependent O 1 Linear motor DMEPIT electrical pitch dependent 100 0 DMTLIM lt gt 10 5 DMODE DMTIP DMTKE DMTR DMTSCL TTRQ 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 DMTLIM command sets a maximum torque force limit for the system Requests for higher torque force will be 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 us
94. cy of Aries drive Percent approximately 0 90 12 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 identical This section contains the dimensions for all Aries models Drive Dimensions AR 01xx amp AR 02xx ow Overall Width 2x Clearance for 8 or M4 Mounting Screws 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 Chapter 2 Mechanical Installation 13 Drive Dimensions AR 04xx AR 08xx amp AR 13xx ow Overall Width 2x Clearance for 8 or M4 Mounting Screws 178 2 o00000 E 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 14 Aries User Guide Drive Dimensions AR 20xE amp AR 30xE 4 67 i y 118 5 3 19 1 48 81 37 5 66 1 25 16 8 4g 31 8 12 3 SR 9 55 Indire BE 242 4 Ble os 10 21 Dja yan 23 259 3 Dil j 10 51 ijv
95. d 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 102 Aries User Guide DMVLIM Type Syntax Units Range Default Response See Also Rotary motor Encoder limit of 5 MHz pre quadrature Linear motor speed limitations include encoder resolution and track length 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 Rotary motor r Linear motor r D 00 to 125 09 DMVLIM DMODE revolutions second meters second 60 00 40 01 lt gt 50 09 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 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
96. d 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 50 150 Aries User Guide 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 LSB Hall 2 B pin 13 MSB Hall 3 C pin 14 3 1 5 Hall State Figure 50 Motor Terminal Voltages back EMF and Hall Sensor Signals Chapter 7 Troubleshooting 151 APPENDIX A Additional Specifications IN THIS CHAPTER Amplifier Control Power all models 120 240 VAC Single Phase Mains Control Power AR 01xx AR 02xx AR 04xx AR 08xx and AR 13XX ee eee Single Phase AC Input 120 240 VAC 16 or 32 kHz switching frequency motor dependant pulse width modulated PWM with 3 phase motor output Curr
97. ds 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 Encoder Polarity Drive Configuration Rev 2 0 Product lt a_ gt ENCPOL lt b gt Aries b polarity bit 0 normal polarity 1 reverse polarity 0 ENCPOL lt gt 0 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 112 Aries User Guide ERES Type Syntax Units Range Default Response See Also e Toreverse 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 contr
98. duct Descriptions Aries Servo Drives can control 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 01AE Drive Type viele eee Aries see 4 Maximum Shaft Power 01 100W 02 200W 04 400W 08 750W 13 1300W 20 2000W 30 3000W Command Interface A Analog S Step amp Direction P Ethernet Powerlink Motor Feedback ees E Encoder R Resolver Input Power Motor Power AR 01xx AR 02xx AR 04xx AR 08xx AR 13XxX 120 240 VAC single phase mains motor power AR 20XE 121 oriali 240 VAC single phase or three phase mains motor power AR 30XE stsrcata Settee tens 240 VAC three phase mains motor power only
99. 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 ii Chapter 1 Introduction 5 CHAPTER TWO Mechanical Installation IN THIS CHAPTER 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 16 shows the mounting orientation as well as the minimum top bottom and side installation clearances The Aries AR 20xE and AR 30xE models 2 and 3 kWs employ internal fans for additi
100. e TP F py 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 Chapter 7 Troubleshooting 147 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 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 z
101. e aa i iaa aieiaa iai iei See ANI analog input center deadband ANI CDB 82 ANI check input voltage TANI input resolution voltage status TANI WINO acide auto configure smart encoder autoru N ii eta binary value identifier Db brake DEAK eG relay e n recanati non Parker motors output delay OUTBD Parker motors bus voltage report TVBUS cables EMG tikes lalla 157 NOnsEMG n iran 157 routing carriage return command delimiters 79 casessensitivityi fufa agiata 79 CE EMC eea iii x 174 184 LV Dra sirieni a a AA x 175 184 center deadband ANICDB 82 change SUMMATry rrer xiii xiv XV characters command delimiters eeeeeeeeeeeteeeees 79 comment delimiter si field separato Sre sa a dra lira limit per NING ara tata tana ana aia Tain ee ha tk neutral spaces COM port command offset DCMDZ commands command description format 77 command to product compatibility 77 default setting s ci aia ai 77 delimiters n SVAN tiaras ho in e er comment delimiters ii 79 communication interface echo enable Fate ancient 111 communications RS 232 A8D iii 59 configuration errors CONFIG arat oan aei arat aat ara ataata ETA 84 warnings CONFIG 84 configuration error motor DMTR 97 connector brake re
102. e constant velocity portion of the move profile either measured or calculated E 3F 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 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 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 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 170 Aries Hardware Installation Guide Resistor Specifications Linear Motors Having determined the amount of energy to dump ER you can then calculate the resistor specifications e Maximum resi
103. e 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 El1l 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 96 Aries User Guide Kt Nm A 3V3 Rotary motors 2007 RMS 0 peak value 343 Kt N A 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 D 0 to 200 4 9 1
104. e1 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 IRP20008R012 4 AR 20xE 240 1142BSG 8 1100 IRP30008R012 4 1421BSG 8 1100 IRP30008R012 4 1142ASG 8 1800 IRP60008R012 4 AR 30xE 240 1143ASG 8 1800 IRP60008R012 4 1901BSG 8 1800 IRP60008R012 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 need to be reduced 4 Isotek resistor or equivalent Table 57 Simplified Selection of External Power Dump Resistor 160 Aries Hardware Installation Guide 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 profi
105. ed 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 144 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 circuit 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 52 Aries User Guide Enable Input Enable Input Reset Input Reset Input Encoder Out A Encoder Out A Encoder Out B Encoder Out B Encoder Out Z Encoder Out Z Fault Output Fault Output Step Step Direction Direction Analog Input Analog Input Digital Ground Digital Ground Digital Ground Digital Ground Digital Ground Digital G
106. eeeneeeeeettteeeeeenteeeeeeeaes 20 Figure 11 Overview of System Installation for AR 20xE amp AR 30XE 21 Figure 12 AR 20xE to AR 30xE Factory Installed JUMPers 22 Figure 13 Connectors on Aries Models AR 01xx to AR 13XX 23 Figure 14 Connectors on Aries Models AR 20xE amp AR 30XE 23 Figure 15 Input Power Requirements ttnn tn nanne enten 24 Figure 16 Motor and Control Mains Power Supply Connection 25 Figure 17 Output Power Connection anadan 29 Figure 18 External DC Link Inductor Connection 30 Figure 19 Mains Control Input PoWer 32 Figure 20 Multiple Drives AR 01xx to AR 13xx Single Point Safety Earth 33 Figure 21 Multiple Drives AR 20xE amp AR 30xE Single Point Safety Earth 34 Figure 22 Typical Brake Relay Connection 35 Figure 23 Brake Relay Connection for Parker Motors 37 Figure 24 Brake Relay Connection for Non Parker Motors i 37 Figure 25 External Regeneration Connection 39 Figure 26 Mains Input Power Connector 42 Figure 27 Output MOTOR Power Connector e 44 Figure 28 AR 20xE amp AR30xE Control Connector i 46 Figure 29 MOTOR FEEDBACK connector female drive connector pinout 47 Figure 30 MOTOR F
107. en saturation occurs increasing the gains does not help improve performance because the DAC is already operating at its maximum level 64 Aries User Guide 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 is 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 sone Setpoint Commanded Position lt 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 66 To view the actual position use the TPE Transfer Position of Encoder command the response represents the actua
108. ensor SignalSs 151 Figure 51 Time until current foldback OCCUFS sete ee eetieeeeetteeeestnaeeeeenae 157 Figure 52 360 Bonding TechhiQues iie aa EA 177 viii Figure 53 Typical LVD EMC Installation AR 02xx to AR 13XX 181 Figure 54 Typical LVD EMC Installation AR 20xE amp AR 30XE i 182 Figure 55 Panel Layout Dimensions for the Aries Drive ii 183 Figure 56 Servo Tuning Flow Diagram 186 Figure 57 VM26 Breakout Module Aries Family AR 01Ax 02Ax 04Ax 08Ax 13Ax 20AE and 30AE RR RC RA FE A E IE 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
109. ent Loop Update Rate 62 5 us Velocity and Position Loop 250 us AR 20xE and AR 30XE Single or Three Phase AC Input AR 30xE is three phase only 240 VAC 16 kHz switching frequency pulse width modulated PWM with 3 phase motor output Current Loop Update Rate 62 5 us Velocity and Position Loop 250 us Feedback ENCOdEriz Trillian Differential Quadrature Encoder Encoder ACCUracy esenee 1 encoder count encoder dependent REesolver siitari a Single Speed Resolver Accuracy 11 arc minutes 12 bit A to D Resolver Excitation 10 KHz Transformation Ratio 0 5 Maximum Pulse Input Output Frequency 5 MHz 5V TTL Only Appendix A Additional Specifications 153 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 Phase to phase short circuit Phase to earth short circuit Results of Fault ceceeeeeeeeeees 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
110. er 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 TOTEMP 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 E45 Excessive Velocity Error E46 Hardware Enable E47 Low Voltage Enable E48 Control Power Active E49 Alignment Error E50 Flash Error E51 Resolver Error E52 Encoder Loss Fault Table 50 Error Messages Smart Encoders Commanded velocity Actual Velocity is greater than the value set by SMVER 0 Hardware Enable Drive I O Pin 1 and 21 1 No
111. er 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 Sasa ow eee Phase shift degrees 1 Frequency Hz Frequency Hz Figure 45 Notch Filter Magnitudes These filters operate in all DMODE settings except Autorun DMODE1 Notch Filter A Frequency Tuning Product Rev lt a_ gt lt gt DNOTAF lt i gt Aries 2 0 i Hz disable or 6909 1999 filter is disabled DNOTAF DNOTAF2 DNOTAD DNOTAQ DNOTBD DNOTBF DNOTBO 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 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 D
112. er 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 DMTRWC Motor Winding Thermal Resistance DMTICD Continuous Current DMTTCM Motor Thermal Time Derating Constant DMTIND Motor Inductance max DMTTCW Motor Winding Time Constant 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 usin
113. erature Values nsere ternene nennt 155 Table 55 LED Under Voltage FauUlt i 155 Table 56 LED Over Voltage FauUlt 156 Table 57 Simplified Selection of External Power Dump Resistor 160 Table 58 Drive Capacitor Absorption nnmnnn renen 163 Table 59 Drive Capacitor Absorption tennan nenene 169 Table 60 Control Power Filter Selection 178 Table 61 Mains Motor Power Filter Selection 178 Table 62 Enclosure Mounting Clamps 180 Table 63 Regulatory Agencies iii naaa eaaeanaaa 184 vii Table of Figures Figure 1 Cabinet Losses for AR 02xx when connected to a Parker BE231D motor 9 Figure 2 Cabinet losses for AR 08xx when connected to a Parker BE343J motor 10 Figure 3 Cabinet losses for AR 13xx when connected to a Parker MPM1421CSJ motor 11 Figure 4 Cabinet losses for AR 30xE when connected to a Parker MPM1422CSJ motor 12 Figure 5 Drive mounting for the AR 01xx amp AR 02XX 13 Figure 6 Drive mounting for the AR 04xx AR 08xx and AR 13XX ii 14 Figure 7 Drive mounting for the AR 20xE and AR 30XE 15 Figure 8 Panel Layout Dimensions for Aries DriVes ii 16 Figure 9 Overview of System Installation for AR 01xx to AR 13XX i 19 Figure 10 AR 01xx to AR 13xx Factory Installed JUMpers eeeete
114. ernal Resistor R External D 3 ubi AL External Resistor aq R Resistor INT 5 REGEN o c2 i DI C1 D C1 7 D CONTROL TI C2 INPUT POWER m 2 D pe O 1 DI sk BRAKE 7A O Dl ek E 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 Warning The drive s connector strip terminals are at 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 39 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 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
115. ernal 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 application they will work in most situations Appendix B External Power Dump Resistor Selection 159 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 note1 AR 04xx 240 BE233D See note1 BE233F See note1 BE230F See note1 120 BE231F See note1 BE232F See not
116. ero 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 1 148 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 Noise induced on the Hall signals from routing the motor feedback cable next to high voltage cables for example strapped to motor power cables gt Procedure 1 Use this proced 1 With the m ure to connect your motor wires to the Aries otor 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
117. erwise the drive reports the configuration errors El1 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 D 09 to 16 099 09 01 Default D 59 Response DMTRWC lt gt 23 69 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 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 Chapter 6 Command Reference 99 DMTRWC specifies the temperature rise of the motor winding above motor case temperature per watt of winding power di
118. es 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 breaker 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 U
119. eshooting on page 147 Note For auto configured smart encoders the THALL only reports the initial hall state of the encoder when power is applied TIDAC Transfer D Quatrature 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 quatrature motor current in amps peak of sine TIQAC Transfer Q Quatrature 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 quatrature motor current in amps peak of sine Chapter 6 Command Reference 133 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 at an estimated winding temperature of 125 C assuming the ambient temperature is 40 C In OS 2 10 If DMTS
120. ete dna ee i 41 Connector Descrptions ia rai iaia aria aa i 42 Motor Mains Power Connector cece eeccceaeeeeeeeeesceaaaaeceeeeeeeseccucaeeeeeeeeeeeee 42 Output Power Connector a a a a i a a aai 44 AR 20xE amp AR30xE Control Connector neeese erenn nenne 46 Motor Feedback Connector 47 Motor Feedback Connector Resolver nsere tentten nennt 50 Drive l O Connectort z i si eredi obi agia a a aaa ea 51 Installation TeSt v2 01 0 Acne inlA einen nae ee ie allieta 57 Testing the Aries Dive awa a ea ee vas ied ee A ed i E 57 Chapter 4 CoOmMMUNications cccccceeeceeeseeeceeeeeeeeeeeseeeeeenseeeseensnaeseeeeseaeseeeseaeseensaeseeesnaeseeeees 58 RS 232 485 Communications cece eeeeeeeeeaeceeeeeeesecaaaeeeeeeeeeeseteccaeeeeeeeeeseesnnaeees 59 Terminal Emulator Configuration nn nert tnnt nnmnnn eent 59 Establishing Communications tnt tnnstttt ttnn tennan ttnn annene nE ennen 59 RS 232 COMMUNICATIONS si eiia d a iaa eie aia rato 60 RS 485 Communications esaii ei ie iaei eied aaa i ia iaia 60 RS 485 M lti Drop nerin eee a a aed a eddie i a dead 61 RS 232 485 Dongle for Communications SEetup ii 62 Chiapter 5 TuUNINQi cala 63 Servo Tuning OvervieW ii 64 Position Variable Overview ttt tt En ASENA EEEEEAESENSEEEEE EEES EEEE EEEE EE
121. figuration error possibly exists 1 Start the Aries Support Tool 2 Under Menu click Operating System Update 3 Click Auto Run Test Wizard Chapter 3 Electrical Installation 57 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 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 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 Ar
122. g 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 El 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 98 Aries User Guide 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 00 to 100 09 0 01 Default DMTRES of results in motor configuration error Response DMTRES lt gt 7 50 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 Oth
123. green yellow Note See additional warning on next page Chapter 3 Electrical Installation 29 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 INPUT L3 POWER External DC Link al Inductor i DELI DC LINK INDUCTOR 2 J 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 results 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 inductor
124. gt 0 See Also CMDDIR DMPSCL The DRES command is only used in step and direction mode DMODE 6 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 generates a DRIVE1 command To disable the drive either issue the DRIVEZ 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 Al
125. he 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 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 Chapter 6 Command Reference 123 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 052 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
126. he 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 I O connector or command zero volts from the servo controller You can also use DCMDZ to set the zero point to an arbitrary voltage by entering that value For example DCMDZ 9 5 makes 0 5 volts equal to a 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 IAUTO1 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 86 Aries User Guide DIFOLD Type Syntax Units Range Default Response See Also Current Foldback Enable Drive Configuration Product Rev lt a _ gt DIFOLD lt b gt Aries 1 0 b enable bit disable or 1 enable 1 DIFOLD lt gt 0 none The DIFOLD command enables 1 or disables the dr
127. he 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 Figure 23 on page 37 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 zi peta Wire lt lt Brake LX Wire 36 Aries User Guide Figure 23 Brake Relay Connection for Parker Motors 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 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 Te 24VDC X 24V Return Diode Red Blue Wire 1N4936 BK Red Blue Wire Motor
128. hm 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 Note The Control power input also requires a mains power line filter varistors and fuses in order to comply with the relevant CE directives 180 Aries Hardware Installation Guide Panel Installation AR 02xx to AR 13xx Clean paint removed Earthed Conductive Mounting Panel Aries Drive Drive I O Cable a 2 o O Varistors Motor Feedback 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 vol
129. i 14 27 SWG dii 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 someig atte ated 10 PHON 0 315 in 8 mm Wire range 10 22 AWG TRAI I ETNA 12 23 SWG alano ria 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 45 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 Riyr and R for an internal regeneration resistor which provides thermal protection For more information see Regeneration Protection on page 39 For information on additional connections see Control Power Supply on page 31 and Brake Relay Optional on page 35 AR 20xE amp AR 30xE Re ea _ EXTERNAL INT 5 REGEN R C1 CONTROL C2 INPUT POWER o CASAASASAZAAS BK BRAKE BK RELAY Figure 28 AR 20xE amp AR30xE Control Connector AR 20xE AR 30XE PCD ELM021100 Parker Hannifin
130. ies 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 62 Chapter 4 Communications 59 Depending on the communications protocol you are using Aries can automatically configure itself e f 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 co
131. 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 xi xii 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
132. input resolution ERES position commanded TPC ni position report TPE Appendix D Servo Tuning Flow Diagram 189 position report error TPER 135 resolution ERES i encoder offset environment epitch DMERIT talia error clear log CERREG mtairati alal display log contents TERRLG i error checking enable ERROR i error log setup ERRORL eccerre CITOR MESSAGES iii NA European Conformance Statement External DC link inductor factory default settings restore RFS faults fault on drive disable FLTDSB 117 fault on excessive startup voltage FLTSTP 118 motor configuration error DMTR CONFIG 83 97 thermal switch DTHERM 111 feedback aiar filters AGMalns s cara ira foldback foldback DIFOLD force actual status TTRQA i 137 commanded status TTRQ F IE EMT IM ia SCALING DM TSG nera 100 forcer gains current loop auto IAUTO integral IGAIN integral SGl integral SGI LI M j notch filter A depth DNOTAD notch filter A frequency DNOTAF notch filter A quality factor DNOTAQ iy notch filter B depth DNOTBD notch filter B frequency DNOTBF notch filter B quality factor DNOTBQ not
133. ire 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 Table 40 Commands Syntax 78 Aries User Guide Syntax General Guidelines Command Delimiters All commands must be separated lt cr gt and lt 1 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 Pecan or SR aoe command delimiter DMVLIM lt sp gt ORE apostrophe is considered program comments sity iaie Binary and When making assignments with or Binary Hexadecimal Values comparisons against binary or ERRORI bg1111x11111111111 hexadecimal values you must precede the
134. ires R nt to R w C1 toL1 C2 to L2 DCL1 to DCL2 m gt t Figure 12 AR 20xE to AR 30xE Factory Installed Jumpers Connector Locations All Aries drive models have identical DRIVE 1 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 22 Aries User Guide Drive I O Motor Feedback AC Input Motor Power External Regeneration AC Input Control Power Motor Output Power Brake Relay Drive I O _ _ Motor Feedback _ External Regeneration AC Input Control Power Brake Relay CE Ta a VEN O Motor Output Power si AC Input Motor Power DC Link inductor Figure 14 Connectors on Aries Models AR 20xE amp AR 30xE Chapter 3 Electrical Installation 23
135. 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 Active 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 132 Aries User Guide THALL Transfer Hall Sensor Values Type Transfer Product Rev Syntax lt a_ gt THALL Aries 1 0 Units N A Range 1 to 6 9 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 Troubl
136. ity Resolutions for Parker Encoders Servo axes BE Series Servo Motors BExxxxJ xxxx ERES8000 acacia BExxxxL xxxx ERES20000 SE SM N or J Series Servo Motors SE SM N JxxxxD xxxx ERES2000 ee E nee Cr Pe renee erp SE SM N JxxxxE xxxx ERES4000 MPM Series eniinn MPMxxxxxxxxJMxx ERES4000 Lilla ia MPMxxxxxxxxJNxx ERES8000 Chapter 6 Command Reference 113 ERROR Type Syntax Units Range Default Response See Also E OO ER RIE I AT MPMxxxxxxxxJLxx ERES10000 lia dalle aaa nai MPMxxxxxxxxJPxx ERES12000 Wein ea eee tae nd MPMxxxxxxxxJQxx ERES20000 lalla TTT MPMxxxxxxxxJTxx ERES24000 RESOR I ORTA ARROSTI ETTARO MPMxxxxxxxxJXxx ERES4096 E E E A E date Moderates MPMxxxxxxxxJYxx ERES8192 RITA Ode deueandumeanscaogneanstaetewsantgrmannaavenns MPMxxxxxxxxJZxx ERES16384 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 Daedal Positioning Tables encoder options a AEE A A ERES42000 Egr o E ERES84000 e EEA E ES ERES420000 ED aiani a iii ten 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 Encoder _ resolution count ERES Example Li
137. ive 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 drive not for the motor CAROTA AR OZIG AROJ AR 0Bx AR 13xx AR Z0XE AR GOxE 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 200 Time seconds Figure 42 Time until current foldback occurs Chapter 6 Command Reference 87 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 390 09 1 Default Response DMEPIT lt gt 4
138. l 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 sets an error status bit SMVER Maximum Allowable Velocity Error Type Servo Product Rev Syntax lt a_ gt SMVER lt i gt Aries 2 0 Units i Rev Sec Range D 09 to 200 099 Default BO Response SMVER lt gt See Also ERES TPE TVEL TVELA TVER This command is only valid in DMODE 4 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 You can check the actual velocity error with the TVER command 128 Aries User Guide STATUS Type Syntax Units Range Default Response See Also TANI Type Syntax Units Range Default Response See Also If the SMVER value is
139. l 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 R si R D D __ EXTERNAL R INT gt REGEN CONTROL n C2 7 Dil r ES INPUT POWER protectie TTT 11 DII c1 CONTROL r Earth GND e I ih D a INPUT MOTOR zul DAAA POWER INPUT POWER N AI _ if Li D D BK BRAKE MDI ek RELAY MOTOR L L1 12 MOTOR INPUT L3 POWER Protective eai Earth GND DC LINK Factory Installed External Jumpers 5 INDUCTOR Figure 16 Motor and Control Mains Power Supply Connection Note See warnings on next page Chapter 3 Electrical Installation 25 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 volt
140. l 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 110 Aries User Guide 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 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 quad
141. l 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 If 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 the 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 Chapter 6 Command Reference 65 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 m
142. lation 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 sub 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 176 Aries Hardware Installation Guide Enclosure Panel R Clamp Remove outer jacket only Do not cut braid
143. lay anal a 35 CONtrOl iN PUL POWEFi satinata 32 ALIVE Oriana See AA ere tee naruto locations of motor feedback resolver motor output power output power FEGENErALION iii ilaele tali continuous current derating motor DMTICD li 91 Motor DMTIC ana anta control input power connection S DPIY rrine rer a cooling cabinet current foldback enable disable DIFOLD 87 157 OVERVICW snaa zaia io ea eaaa 157 damping servo DC link inductor deadband ANICDB debugging tools error log TERREG a ii ii eiiie tietie iaa an default command settings restore RES priret orior oneri eere ortini delimiters COMMAND rire COMMENTS i direction of rotation CMDDIR drive bus voltage status of TVBUS command offset zero DCMDZ drive enable DRIVE al incoming pulse scaling DMPSCL operating modes DMODE ees position error SMPER temperature status report TDTEMP i velocity error SMVER ESOTO N deiei ieri drive cooling drive dimensions drive dimensions panel layout Drive Enable DRIVE drive resolution DRES su ECHO COMMUNICATION sciita electrical pitch DMEPIT n c EMO ena area Saran thud Aa D deduce di EMC installation enable input error checking ERROR eeeees 114 WINO iena 54 encoder auto configure SMart eccere
144. les 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 produces 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 o rotational speed in radians per sec 1 revolution sec 2 m 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 a
145. load to freewheel Threshold Voltage All Models 3 cairoli 410 VDC Results of Fault n 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 156 Aries Hardware Installation Guide 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 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
146. losed 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 gita Signal Control Signal Offset rete Control Servo H Motor H Load Algorithm Drive i I Feedback Data Feedback Device Encoder Open Loop System ff i Offset O Drive Command Offset Servo Drive Motor H Load T Feedback Device Encoder Figure 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 Wh
147. lso 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 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 Chapter 6 Command Reference 119 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 D 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 10999 Default 1 Response INPOSTM lt gt 1 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 Mass
148. lue 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 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 to zero 0 To correct the error you must set a non zero value Refer to your motor specifications for the correct value DMTIC E9 Peak Current E Z Use Drive Continuous Current E E E14 Damping l Torque Rating gt Peak Power Rating 2 Use Drive Peak Current 3 Inertia Il S HAGEN ersten Gallie REEGY s E 6 Lead lt Lag Freq 7 Lead 2 4 Lag Freq 8 hag Freq lt 20 Hz 9 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 to
149. mmand that gets added to the servo control signal The value is normalized to the 126 Aries User Guide SHALL Type Syntax Units Range Default Response See Also SMAV Type Syntax Units Range Default Response See Also 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 models used for analysis are correct The value of SGVF can be adjusted from zero to as high as five 5 times SGVF 5 the theoretical value Example SGVF2 Set velocity feedforward to 200 of theoretical value Hall Sensor Configuration Drive Configuration Product Rev lt a_ gt SHALL lt i gt Aries 1 0 i control option number do not invert or 1 invert SHALL lt gt 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 Maximum Acceleration in Velocity Mode Tuning Product Rev lt a_ gt SMAV l
150. mmand 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 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 4099 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 Chapter 6 Command Reference 77 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 20909 to 1873741823 Default 1000 Response
151. mputer 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 61 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 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 60 Aries User Guide RS 485 Master Unit Unit 1 Aries Pin 25 Talk Drive I O Pin 26 Talk connector Pin 24 DGND Shield Unit 2 Pin 25 Talk _ Pin 26 Talk Pin 24 DGND Shield
152. nd 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 161 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 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 a Nan C 2 TRIP NOM Where Ec energy that can be absorbed by the drive capacitors Joules C drive capacitance Farads Vrgip power dump trip DC voltage 400 VDC for Aries drives Vnom nominal DC
153. near encoder resolution post quad is 1 um and the electrical pitch is 42 mm DMEPIT42 ERES is calculated as ERES i 42000 103 amm ie y 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 114 Aries User Guide E25 Excessive Command Voltage at Enable E26 Drive Faulted E27 Bridge Hardware Fault E29 Drive Over voltage E30 Drive Under voltage E31 Bridge Foldback E32 Power Regeneration Fault E34 Drive Temperature Fault E35 Motor Thermal Model Fault E36 Motor Temperature Fault 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 E45 Excessive Velocity Error E46 Hardware Enable E47 Low Voltage Enable E48 Control Power Active E49 Alignment Error E50 Flash Error E51 Resolver Error The command voltage at the ANI terminal was too high when the drive was enabled Lower the voltage at the
154. nergy 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 application 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 ext
155. nion 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 26 and page 31 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 175 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 safety measures may be required within your particular market please consult you local regulatory agency for additional requirements A Highly Immune 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 instal
156. nown 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 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 CMDDIRI Note This command does not take effect until you cycle power to the drive or send the RESET command Chapter 6 Command Reference 83 CONFIG Type
157. o 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 DMTJ 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 Chapter 6 Command Reference 85 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 19 0909 to 10 09 Default DD Response N A See Also ANICDB DMODE TANI The DCMDZ command sets the zero point for t
158. oller 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 1973741823 4999 4096 for Resolver option ERES lt gt 4000 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 encoder 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 veloc
159. oltage across the resistor Vrap current through the resistor drive current required to decelerate the load Amps 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 rotational speed in radians per sec 1 revolution sec 2 m radians sec Peak Dissipation During a single deceleration all the calculated power dump energy Ea 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 Appendix B External Power Dump Resistor Selection 165 capabilities of the resistor which is typically 10 times the average power rating p Er PEAK T Ip Where Ppeax peak power into the external power dump resistor Watts Er energy to be dissipated in the external resistor Joules 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 applica
160. onal cooling capacity The AR 20xE has one fan and the AR 30xE has two The fans are located at the bottom of the drives They draw air in from the bottom force it up over the heatsink and out the vents 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 Chapter 2 Mechanical Installation 7 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 10 to 2000 Hz at 2g 2 per IEC 61010 2 per IEC 61010 Table 5 Environmental Specification
161. ons ERES Type Syntax Units Range Default Response See Also 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 56 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 209 to 1973741823 41000 ERES lt gt 4000 DMEPIT DMTR TRI Ei Mnemonic Code This field contains the command s mnemonic code 2 Full Name This field contains the command s full name 5 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 AIl 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 co
162. or 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 35 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 24 and External DC Link Inductor Optional on page 30 This connector is not removable AR 01xE to AR 13xE AR 20xE amp AR 30xE MOTOR Motor Ph otor Phase Motor Phase ES U Motor Phase Motor Phase E V Motor Phase w Motor Phase MOTOR Motor Safety Earth m all Ww i Motor Safety Earth Motor Brake Relay a ty L Motor Brake Rela BK L1 sn L2 MOTOR INPUT L3 POWER _n DEL Be LINK INDUCTOR 2 Figure 27 Output MOTOR Power Connector 44 Aries User Guide Motor Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13XxX eens Parker Hannifin Connector Type Part Number AR 20xE AR 30XE ee Parker Hannifin Connector Type Part Number Amphenol PCD ELFA13210E 43 021068 01 Terminials ninianocridaza razioni 6 Pitchissasttaiuaa 0 200 in 5 08 mm Wire range 12 26 AWG sfociato Ate
163. p n 88 021610 01F Aries User Guide Automation Effective August 2006 9 _ A Va TEST J ZTETETETETETETEREEG y i di L 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 2005 Parker Hannifin Corporation AII Rights Reserved Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Germany Austria Switzerland Parker Hannifin Parker Hannifin 5500 Busine
164. plified Resistor Selection Enst tE rtnn Enere tEn tenn nennen ent 159 Calculating Resistance Rotary Motors ie 161 otal Kinetic EMG rey cassis ahi AE AE EEEE RR 161 Total Potential Energy neea aE n 161 Energy Absorbed by Drive Capacitors 162 Energy Dissipated in Motor Winding Resistance 163 Energy Dissipated in Loadi i uf liane 164 Energy to Dissipate in the External Power Dump Resistor 164 Resistor Specifications Rotary MOtors i 165 Calculating Resistance Linear Motors i 167 toral Potentia ENGO icaro ini EA RTA 167 Energy Dissipated in Motor Winding Resistance i 169 Energy Dissipated in Load nails ela titani 170 Resistor Specifications Linear Motors nn nesr tenne nnn 171 Appendix C Regulatory Compliance UL and CE riiie 173 System Installation Overview i 174 General Safety Considerations e a eaae a aaae a eaa e aaa aa eia ea ae 174 General EMC Considerations et i aaaea aea an aeaa Aa aea En aai a 174 Installing the Aries Drive senri ina ele cee Ai eee e a eh ake tee 175 Panel Mounting trance ciation aie ne a eh en ae ee al 183 Regulatory Agencies ariani Mi rl i nee Sistine eae Ia 184 standards of Compliance arcana ir aiar iii 184 Appendix D Servo Tuning Flow DiaQ
165. plitude Chattering is a high frequency low amplitude oscillation that is usually audible 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 Position Position Position lt Time en Time po Time 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 Rise Time The 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 Chapter 6 Command Reference 67 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 command The proportional gain is set
166. r 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 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 142 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 Chapte
167. r 7 Troubleshooting 141 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 process 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 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 59 If you are unable to establish communications see RS 232 485 Communication Problems on page 143 Save the Configuration File Because further troubleshooting steps can change the drive configuration upload
168. r Inrush Current nne 27 Table 17 Output Power Continuous and Peak 28 Table 18 Wiring to Motors a lalla doi 29 Table 19 AR 20xE amp AR 30xE DC Link Inductors cece ee eeeeeeeeaeeeeeeeeeetessnnineeeeeeens 30 Table 20 Brake Relay Operation i 38 Table 21 Regeneration Absorption nna 40 Table 22 LED Status Indicator Normal Operation nnee nt 41 Table 23 LED Status Indicator Internal Drive Fault 41 Table 24 MOTOR FEEDBACK Connector PiNOUt nnne nne 48 Table 25 Inputs Encoder Inputs Electrical Timing Characteristics erreen 48 Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option 51 Table 27 Resolver excitation neet ttnn nannten ttnn nennen 51 Table 28 Fault Output Operation ttnt nnns annat nt ttnn En nsa Enr En nnne 52 Table 29 DRIVE I O Connector Pinout tretet ttnnnnnsarnrrt nenene 54 Table 30 Inputs Enable and Reset Electrical Timing CharacteristicS 55 Table 31 Outputs Encoder Outputs Electrical Timing Characteristics 55 Table 32 Outputs Fault outputs Electrical Timing CharacteristicS ennenen 55 Table 33 Inputs Step amp Direction Electrical Timing Characteristics neea 56 Table 34 Inputs Analog Electrical
169. raim ssecccseeseseesteeeesneeeeeeeeseeeseeseeeeneeeeseaeseseaeenseeeeeees 185 Servo Tuning Flow Diagram cece secccaeeeeeeeeeeseceneaeseeeeeeeseceacieeseeeeeeeeees 186 Appendix E VM26 Expansion Module erriiiiiiiin 187 Overview alleluia ee ae a he Ri 188 index lla aa lai 189 Table of Tables Table 1 Output Power Level cece eeeeeeeaaeaeeeeeeesececaaeceeeeeedseccaaeeeeeeeeeeeenaes 3 Table 2 Ship Kit Items AR 01xx through AR 13XX 4 Table 3 Ship Kit Items AR 20xE and AR 30XE iii 4 Table 4 Environmental Specifications AR 01xx through AR 08xx AR 20xE and AR 30xE 8 Table 5 Environmental Specifications AR 13XX ii 8 Table 6 AR 02xx Power Dissipation nnne ent 9 Table 7 AR 08xx Power Dissipation nnne 10 Table 8 AR 13xx Power Dissipation aeiae iatera ne iea andaa rekaan Ene eiea iina 11 Table 9 AR 30xE Power Dissipation e area i 12 Table 10 AR 01xx and AR 02xx Drive DIMENSIONS rrene 13 Table 11 AR 01xx AR 02xx amp AR 13xx Drive DIMENSIONS 14 Table 12 AR 20xE and AR 30xE Drive Dimensions 15 Fable 13 Drive Welght f co liti ali thie nde ain en ata ioni gl 15 Table 14 Motor Power Fuse Information nsen nrnn nenne 26 Table 15 Fuse Part Numbers naeta diia ie e e aE 27 Table 16 Drive Motor Powe
170. rake Delay Output Product Rev lt a_ gt OUTBD lt i gt Aries 1 0 milliseconds D 10000 OUTBD lt gt 250 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 Chapter 6 Command Reference 121 P163 Hall direction P163 Type Drive configuration Product Rev Syntax lt a_ gt P163 lt i gt Aries 1 0 Units 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 PGAIN Proportional Gain Type Tuning Product Rev Syntax lt a_ g
171. rature 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 Chapter 6 Command Reference 111 ENCOFF Type Syntax Units Range Default Response See Also ENCPOL Type Syntax Units Range Default Response See Also 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 Encoder Offset Motor configuration Product Rev lt a _ gt ENCOFF lt i gt Aries 1 0 i encoder offset 32768 to 32767 0 lt gt 0 ENCPOL ENCOFF ALIGN CMBDIR PLSS SHALL IANI 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 rea
172. rcome the friction and drive the motor toward its commanded position f acceptable position 124 Aries User Guide 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 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 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 over
173. reach of the machine operator Label clearly the switch or breaker as the disconnecting 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 18 Aries User Guide 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 C
174. require that you use a null modem cable For information about connecting to the COM port see Establishing Communications on page 59 Additionally refer to the pinout diagram for the RS 232 485 connector also located on page 59 Chapter 7 Troubleshooting 143 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 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 t
175. 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 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 tes
176. resistor power dump resolution encoder ERES encoder input ERES PESOIVER aena bor ooo arii return to factory settings RFS 123 revision level operating system TREV 136 revision of this Manual xiii xiv XV rotor inertia MOON vidas hme hon oon a eines 94 RS 232 RS 232 485 CONNECLOM iii tara tata taia taia Taaak 59 troubieshooting i iiiiiiiiiiiia 143 WINO aa lia 59 60 RS 485 COMMUNICATIONS fis ieee arimas aa et dongle multi drop network MANNO a ana a aA ac A scaling force CommMaN daanan tai torque command DMTSCL si Velocity command tirato clelia velocity command DMVSCL 104 servo POSITION CRACKING wwii idee i 126 servo tuning actual position GaGa eee en wae eae nae 65 auto tuning closed loop commanded positioN ee current loop gains auto ci inertiaratio LRAT criniera iraniani integral feedbaCk sc cirie renne integral gain IGAIN integral gain SGI integral gain limit SGILIM measuring performance notch filter A depth DNOTAD Ri notch filter A frequency DNOTAF 105 notch filter A quality factor DNOTAQ 106 notch filter B depth DNOTBD Ro notch filter B frequency DNOTBF 107 notch filter B quality factor DNOTBQ 107 notch lag filter break freq DNOTLG n notch lead
177. ridge Hardware Fault E29 Drive Over voltage E3 Drive Under voltage E31 Bridge Foldback E32 Power Regeneration Fault K34 Drive Temperature Fault E35 Motor Thermal Model Fault E36 Motor Temperature Fault 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 146 Aries User Guide 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 DNOTBO 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 The bus voltage is too high gt 410 VDC Low
178. rough 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 Chapter 3 Electrical Installation 55 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 All parameters are at the connector pin Table 34 Inputs Analog Electrical Timing Characteristics Connector Specification Aries Drive Manufacturer KYCON or equivalent Connector Type 26 Pin High Density D Subminiature female socket KYCON Part Number K66 A26S NR Connector Specification Mating Connector Mating connectors are not provided with Aries drives Parker cables are available with mating connectors attached Manufacturer in AMP or equivalent Connector Type eeens 26 Pin High Density D Su
179. round 21 18 23 A D 16 10 11 12 13 14 15 2 17 19 20 22 24 RS 232Rx RS 485 25 RS 232Tx RS 485 _26 Drive I O Connector Internal Connections 10 mA ILD213 Current Limit L i ATO pF lt CMPSH 3A Same Circuit as Enable Input 100 pF 221 02 100 pF O 100 pF 100 pF O Same Circuit as Encoder Out B B ILD223 0 01 pF SRI Y 470 pF 221 09 22100 470 pF O 2 0KQ 20 0K Q Sg OPA2340 2 0KQ 20 0K Q V quit Figure 34 DRIVE I O connector internal circuit diagram Chapter 3 Electrical Installation 53 Pinout DRIVE I O Connector 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 Channel 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 ret
180. s AR 13xx Cabinet Cooling For cabinet cooling calculations use Table 6 and Table 7 to determine the power dissipation per drive AR 02xx The power dissipation in Table 6 for the AR 02xx has been measured using the Parker BE231D motor 8 Aries User Guide Cabinet Cooling AR 02AE Drive amp BE231D Motor D a o A w N Cabinet Losses Watts 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 47W Drive enabled zero torque Table 6 AR 02xx Power Dissipation AR 08xx The power dissipation in Table 7 for the AR 08xx has been measured using the Parker BE343J motor Chapter 2 Mechanical Installation 9 Cabinet Cooling AR O8AE Drive amp BE343J Motor 4 n o 240 VAC 120 VAC Cabinet Losses Watts s 8 3 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 10 Aries User Guide Cabinet Cooling AR 13AE Drive
181. s 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 Chapter 6 Command Reference 115 ERRORL Type Syntax Units Range Default Response See Also 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 fe tt Ut ss ERRORL lt gt GOOO DOOD DOO GOOG bit 154 A bito 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 b 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 Enable Disable
182. s 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 30 Aries User Guide 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 Rating i 1 Amp Fuse YDE ner E NA Class CC Bussmann KTK R 1 or equivalent UL listed fuse Input Voltage Range 120 240 VAC 50 60 Hz Input Current 0 2 Amps RMS Control Power Functions Communications Diagnostics Motor position feedback Fault output in fault mode Brake relay in brake mode Reset inp
183. s suitable for your particular Warning Risk of damage and or personal injury When testing the 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 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_ ERES4999 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 61 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
184. s 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 After 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 9_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 80 Aries User Guide ALIGN Type Syntax Units Range Default Response See Also 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 AL
185. sacteeitciepeten teens a linear motor pitch DMEPIT 88 OUtput DOWER Sienen e aoaia NEEE CEED E EE output power connection peak current DMTIP eeeeeeeeteeeeeeeeeeeeeeee pole pairs DPOLE rated speed DMTW e rotor INerti gloria selection recorded DMTR temperature report TMTEMP thermal time constant DMTTCM a voltage constant Ke DMTKE winding resistance DMTRES eere winding temperature max DMTMAX winding thermal resistance DMTRWC winding time constant DMTTCW motor inductance MAX DMIIND scri ili ii ili e 92 MIN DO MTINE fs lea ae 92 motor temperature switch type DMTSWT id Multiple drives icaro illo ag 33 multiple unit address 80 multiple unit Wiring oie 61 neutral charactefSz rsa 79 notch filter A depth frequency vag quality factor anand esr oE i ier Erai notch filter B depth eina aa ae ear wee frequency dh g alityfa cton aaa or 107 notch lag filter break frequency ccecce 108 notch lead filter break frequency 107 offset zero command offset DCMDZ offset encoder ENCOFF operating hours report TDHRS BE operating hours report TDMIN operating hours report TDSEC operating modes drive DMODE operating system revision TREV Output power
186. see Appendix A Additional Specifications on page 152 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 until 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 Chapter 6 Command Reference 71 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
187. shoot 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 D 60 Response SGP lt gt W 60 See Also SGILIM SGI SGV PGAIN This command is only valid 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 Chapter 6 Command Reference 125 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 1000 00 Default 1 49 Response SGV lt gt 1 40 See Also SGILIM SGI SGP This command
188. so 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 control 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 68 Aries User Guide 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 Spy yh PERO Position Setpoint Ml p Command Position Position Error at T Internal Time Ac
189. ss 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 OP OW po GOP Ne 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 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 else
190. ss 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 Italy 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 ij Table of Contents User Informationi r iaia eil ii Important User Information 0 ccceseeeeeeeeeeeeeeeeee ee eeeeee see neeneeeeseeeeeseseeeeesesesnenseseeeeeeeseeneeensneeeees xii Change Summan a seni Ao ia xiii Revision F Giang esis cect acces feet Acea iaia xiii RevisionvE Changes ic a aac anal ina A xiii Revision D Changes cick A Reina xiv Revision C Changes cis ari Aso A xiv RevisioniB Chang s i uufia alan XV Ghapter 1 Introductioni iuiri inizio ini ta eaaa aa aaar a a eaa nA aaa Paai Anana aeaee
191. ssipation Motor heatsinking does not affect this value DMTSCL Torque Force Scaling Type Drive Configuration Product Rev Syntax lt a_ gt DMTSCL lt r gt Aries 1 0 Units Rotary motor r Nm Linear motor r N Range to 599 9 motor drive dependent 9 1 Default Response DMTSCL lt gt 2 See Also 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 needs 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
192. stance 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 vV View Ke ty RATT M M v Where Ra maximum external power dump resistance Ohms V voltage across the resistor Vrap current through the resistor drive current required to decelerate the load AMPS mg Vrrip power dump trip DC voltage 400 volts for Aries drives ke motor force constant N AMp mg Mg 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 po
193. t PGAIN lt r gt Aries 1 0 Units None Range D 00 to 200 099 Default 20 00 Response PGAIN lt gt 20 00 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 122 Aries User Guide Use the PSET command to offset 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 PSETO 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 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 t
194. t i gt Aries 2 0 i Acceleration in rev sec D 00 to 10090 00 100 00 SMAV lt gt 100 00 DMODI ra 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 Chapter 6 Command Reference 127 SMPER Maximum Allowable Position Error Type Servo Product Rev Syntax lt a_ gt SMPER lt i gt Aries 2 0 Units i Feedback device steps Range to 2 147 483 647 Default ADDO Response SMPER lt gt 4099 See Also ERES TPE TPC TPER This command is only valid in DMODE6 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 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 incrementa
195. tage terminals this product must not be accessible to users while under normal operation Appendix C Regulatory Compliance UL and CE 181 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 EVV Drive I O Motor Feedback Cable E R i mn Ca 3x 275LA20 Varistors _ e Control El Line 1 Power Ap Mains Filter EJ Line 2 PE Common grounded metal backplate F BILI Motor Power ETE Tine 2 JE o SS om o amp Mains Filter BE Line 3 6x PE 275LA20 Varistors i 5 o a 2 LL Oo x Parker EMC cables or equivalent pi Figure 54 Typical LVD EMC Installation 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 182 Aries Hardware Installation Guide 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 _ inganni drive pp I 2x Clearance I for 8 or M4 Mounting Screws f 4 00 25 4 Minimum Clearance I 5 000 127 gt o o o o o 1 00 S x 25 4 o o
196. 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 o n 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 DMODI E1 If the motor does not turn in the clockwise direction exchange motor wires U and V Verify that the CMDDIR command is set to zero 0 b Put positive voltage on motor wire W together with either U or V and p ut 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 oc WwW U Figure 49 Hall Connection Diagram Chapter 7 Troubleshooting 149 gt Procedure 2 Use this procedure to connect your Hall wires to the Aries 1 First operate the drive in DMOD
197. tion the regenerative power should never exceed 50 of the resistor s average power rating D P AVG P PEAK te Where Pava average power into the external power dump resistor Watts Ppeak 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 Important Under normal operation the external power dump resistor 166 Aries Hardware Installation Guide 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 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 proce
198. tion 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 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 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 Change Summary Revision F Changes This document 88 021610 01F supercedes 88 021610 1E Changes associated with Aries User Guide revisions and document clarifications and corrections are as follows Topic Command Reference Aries Names LEDs Drive Status Indicators Resolver option Error Messages Description 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 Updated part number descriptions to include Resolver and Powerlink Options Updated to include Autorun mode Added Motor Feedback Connector pinout circuit diagram and resolver excitation frequency Added E50 E51 and E52 error messages Revision E Changes This document 88 021610 01E supercedes 88 021610
199. tion 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 is optically isolated with both Anodes and Cathodes available e Reset input is optically isolated with both Anodes and Cathodes available Chapter 3 Electrical Installation 51 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 referenc
200. 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 Chapter 6 Command Reference 103 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 200 08 motor drive dependent 0 1 Default 4 00 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 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 ever
201. 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 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 Chapter 7 Troubleshooting 145 E14 Damping SENO te esalta Gale IIICONE O E16 Lead lt Lag Freq El7 Lead 2 4 Lag Freq tagli mey Eee lt S AG Je E19 E24 E25 Excessive Command Voltage at Enable E26 Drive Faulted E27 B
202. ts 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 174 Aries Hardware Installation Guide 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 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 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 driv
203. tual Output Integral Value generated by the Integral Term Maximum E Analog Output 10V a i hi E Ae H F Integral at T4 wd iow ol i H e si fa i i Fo i 1 H x lt A 7 y i Na A oV T 1 1 wd I Ne Vj LU 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 integral 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 Chapter 6 Command Reference 69 IZ ra Position Setpoint j D Command Position aS Time i Maximum Integral pk Analog Output 10V Windup Limit 7 wd SGLIM FA OV Minimum Analog Output 10V wd Windup Duration Figure 40 Integrator Windup using the SGILIM Command 70 Aries User Guide 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
204. u el 1 267 fw olls J iu ol d ollo a n u il Dom ou 2n v s Y v Figure 7 Drive mounting for the AR 20xE and AR 30xE AR 20xE amp ine 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 Chapter 2 Mechanical Installation 15 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 ee Povoa drive 2x Clearance for 8 or M4 Mounting Screws Clearance 5 000 127 1 00 25 4 Minimum Clearance LL i 0 50 12 7 ooooo0o 0 ooooo 90 eooooo0 90
205. ult Response See Also Motor Rotor Inertia Forcer Mass Motor Product Rev lt a_ gt lt gt DMTJ lt r gt does not take effect until RESET or Aries 2 0 cycle power Rotary motor r Linear motor r kgm2 10 6 kg Rotary motor 0 099 to 1WOPOWGH DDD 9 001 Linear motor DMEPIT electrical pitch dependent 9 099 DMTJ of results in motor config error DMTJ DMTJ200 602 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 DRIVE For a list of auto configured commands see DMTR The DMTJ command sets the motor rotor inertia for rotary motors or the forcer mass for linear motors 94 Aries User Guide DMTKE Type Syntax Units Range Default Response See Also Motor Ke Motor Product Rev lt a _ gt DMTKE lt r gt Aries 1 0 Rotary motor r volts peak krpm measured line to line Linear motor
206. ure 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 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 1 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 DMTAMB Motor Ambient Temperature Type Motor Product Rev Syntax lt a_ gt DMTAMB lt r gt Aries 1 0 Units r Degrees Celsius Range 59 009 to 258 00 09 01 Default 410 0 Response DMTAMB lt gt 4 See Also DMTMAX DMTRWC DMTTCM DMTTCW The DMTAMB command sets the motor ambient temperature used by the software motor thermal model The DMTAMB value in conjunction with the motor thermal time constant DMTTCM the motor winding time constant Chapter 6 Command Reference 89 DMTTCW the motor thermal resistance DMTRWC and the continuous motor c
207. urn 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 54 Aries User Guide 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 in 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 Inputs Enable and Reset Electrical Timing Characteristics Outputs Encoder Output Frequency 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 Areis encoder is a hardware pass th
208. urrent 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 Qd 0299929 to 1090929 1 Linear motor DMEPIT electrical pitch dependent Default DIDIIA Response DMTD DMTD299 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 DMTIC Continuous Current Type Motor Product Rev Syntax lt a_ gt DMTIC lt r gt Aries 1 0 Units r Amps RMS Range D 09 to 200 09 O G1 Default DMTIC of results in motor configuration warning Response DMTIC lt gt 6 59 See Also DMTICD DMTIP DMTR TCI TDICNT TDIMAX
209. ut Control Power Connector AR 01xx AR 02xx AR 04xx AR 08xx AR 13xx Connector Type ia Removable screw terminal Terminals aeeoea 7 Pitch Go cane 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 Chapter 3 Electrical Installation 31 AR 20xE AR 30xE Connector TYype ii Non Removable screw terminal Terminals icine naz 8 PIG oia 0 400 in 10 mm Wire Range 12 28 AWG AET EERE see races 14 29 SWG Wire Strip length 0 250 in 6 35 mm Control Power Connection 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 AR 20xE amp AR 30xE O E LJ R R EXTERNAL INT gt REGEN Dot R ae ON CONTROL Lea a qc INPUT L C1 CONTROL POWER Protective N nD c2 EE Earth GND ui Protective 0 meal Earth GND CE Li I Bk srle 2 Ml x SE Figure 19 Mains Control Input Power Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable system Protective Earth 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
210. vant 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 ESTORE IANI OHALL P163 Modified the following commands MTTCM range MTTCW range MVLIM range and default PWM range and corrected mode information ERROR N0w includes messages E47 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 47 and E48 See Table 50 on page 147 D D D D mj xiv Revision B Changes This document 88 021610 01B supercedes 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 See Fault Operation on page 52 Correction Simplified the circuit diagram for the Enable input See Figure 34 on page 53 Enhancement Added specifications detailing electrical and timing
211. 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 40 Aries User Guide 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 Off 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
212. w Diagram IN THIS CHAPTER Appendix D Servo Tuning Flow Diagram Servo Tuning Flow Diagram Legend SGP Proportional Gain SGV Derivative Decrease SGV until Increase SGV until Increase SGV until Decrease SGV Figure 56 Servo Tuning Flow Diagram 186 Aries Hardware Installation Guide APPENDIX E VM26 Expansion Module IN THIS CHAPTER vervie 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 ae Oa P N 71 025065 01 3 35 85 1 ZI NADCOORE 1912012112 212 312 412 512 6SH 7 em en Len an Las ee et a a alan a ala PAA AAAASAAAA Figure 57 VM26 Breakout Module 188 Aries Hardware Installation Guide Index 120 240 VAC power input s c 24 32 absolute position establishing effect on position report TPE 135 accra Geena ae io a a aa 153 address multiple units ADDR nnen encoder align encoder ALIGN by amplifier ri i a a a analog input AN e
213. wer 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 171 ER Porag 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 power dump for the application the regenerative power should never exceed 50 of the resistor s average power rating t Pave Pri 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 N components such as cables or pl
214. where Appendix B External Power Dump Resistor Selection 167 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 ax Where EC energy that can be absorbed by the drive 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 v2 170 VDC Fortunately for a given drive the capacitance and voltages are fixed Table 59 on page 169 provides the needed information and results from the above calculation 168 Aries Hardware Installation Guide 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
215. y of the analog input 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 Sending an IANI1 command inverts the input polarity In addition the command TANI reflects this change 118 Aries User Guide 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 TAUTO 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 00 Default 1 Response IGAIN lt gt 1 00 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 A
216. y 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 DNOTBO 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 filters 104 Aries User Guide DNOTAF Type Syntax Units Range Default Response See Also Analog Inputs Torque and Velocity t10v O E Input Command O t Velocity Actual O Limit Torque i Command J NOTCH NOTCH Lag Lead Torque Digital Inputs Torque Velocity and Position Filter A Filter B Filter Limit Check NOTCH Filter NOTCH Filter Command Command Input Torque Output Torque Figure 44 Notch Filter Topology The graphs below illustrate the transf
217. ype 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 144 Aries User Guide E Motor Configuration Warning El 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 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

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