Main
User Information
Technical Assistance
Table of Contents
Page
Table of Tables
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Table of Figures
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Page
Page
Parker Hannifin
Important User Information
Warning High-performance motion control equipment is capable of producing rapid
Change Summary
Revision G Changes
Revision F Changes
Revision E Changes
Revision D Changes
Revision C Changes
Revision B Changes
CHAPTER ONE
Introduction
Aries ProductsOverview
Aries Product Descriptions
Aries Names
Input Power
Output Power Level
Compatible Parker Products
Checking Your Shipment
Ship Kit Items
Motors
Illustrations in this Installation Guide
Assumptions of Technical Experience
Technical Support
CHAPTER TWO
Mechanical Installation
Environment & Drive Cooling
Notes
Cabinet Cooling
AR-02xx
AR-08xx
AR-13xx
AR-30xE
Cabinet Cooling Calculations
()
E
P P= 1
Dimensions
Drive DimensionsAR-01xx & AR-02xx
Drive DimensionsAR-04xx, AR-08xx, & AR-13xx
Drive DimensionsAR-20xE & AR-30xE
Weight
Mounting Guidelines
Cable Routing
Panel Mounting
Electrical Installation
CHAPTER THREE
Installation Safety Requirements
Precautions
Auto-Configuration for Encoders
System Installation Overview
AR-01xx, AR-02xx, AR-04xx, AR-08xx, & AR-13xx Installation
Page
AR-20xE and AR-30xE Installation
Connector Locations
Page
Power Supply
Input Power
Mains/Input Power Connector
AC Power Supply Connection
Motor Power Fuse Information
Drive Inrush Current
Output Power
Motor Connector
Output Power Connection
External DC Link Inductor (Optional)
Control Power Supply
Fuse Information
Control Power Connector
Control Power Connection
Multiple Drive Installations
Safety Earth Connections
Page
Brake Relay (Optional)
Brake Relay Connector
Brake Relay Connection
Motor with Full Wave Rectifiers
Connecting the Brake Relay
Motors without Full Wave Rectifiers
Connecting the Brake Relay
Relay Operation
Relay Specifications
Regeneration Protection
Regeneration Connection
Internal Regeneration Capability
Regeneration Absorption
LEDsDrive Status Indicators
Normal Operation
Internal Drive Faults
Connector Descriptions
Motor Mains Power Connector
Mains/Input Power Connector
Output Power Connector
Motor Connector
AR-20xE & AR30xE Control Connector
Motor Feedback ConnectorEncoder
PinoutMOTOR FEEDBACK Connector
InputsEncoder
Connector SpecificationAries Drive
Connector SpecificationMating Connector
Motor Feedback ConnectorResolver
PinoutMOTOR FEEDBACK Connector for Resolver Option
Resolver Excitation
Drive I/O Connector
Optical Isolation
No Optical Isolation
Fault Operation
Page
PinoutDRIVE I/O Connector
InputsEnable, Reset
OutputsEncoder
OutputsFault
InputsStep & Direction
InputsAnalog
Connector SpecificationAries Drive
Connector SpecificationMating Connector
Installation Test
Testing the Aries Drive
CHAPTER FOUR
Communications
RS-232/485 Communications
Terminal Emulator Configuration
Establishing Communications
RS-232 Communications
RS-485 Communications
RS-485 Multi-Drop
Setting up Drives for a Multi-Drop Network
Replacing a Unit in the Network
Sending Commands to a Specific Unit
RS-232/485 Dongle for Communications Setup
CHAPTER FIVE
Tuning
Servo Tuning Overview
Position Variable Overview
Commanded Position
Actual Position
Servo Response Overview
Stability
Position Response Types
Performance Measurements
Servo System Gains
Proportional Feedback Control (SGP)
Velocity Feedback Control (SGV)
Integral Feedback Control (SGI)
Controlling Integral Windup
Page
Servo Tuning Example
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9
Step 10
Step 11
Auto-Tuning
Page
Aries Communications Set-up
Description of Format
Parker Hannifin
Syntax Letters and Symbols
Symbol Description
Parker Hannifin
Syntax General Guidelines
Guideline Topic Guideline Examples
Command Descriptions
ADDR
ALIGN
(
CERRLG
CMDDIR
CONFIG
Page
DCMDZ
DIBW
DIFOLD
DMEPIT
DMODE
DMPSCL
DMTAMB
DMTD
DMTIC
DMTICD
DMTIND
DMTINF
DMTIP
DMTJ
DMTKE
peak value - 0 RMS,
)/( 200
33 )/(
DMTLIM
peak value - 0 RMS,
)/( 200
peak value - 0 RMS,
33 )/(
Servo Motor Data Parameters
Motor Configuration Error
DMTRES
DMTRWC
DMTSCL
DMTSWT
DMTTCM
DMTTCW
DMTW
DMVLIM
DMVSCL
DNOTAD
DNOTAF
DNOTAQ
DNOTBD
DNOTBF
DNOTBQ
DNOTLD
DNOTLG
DPOLE
m
P
e
DRES
DRIVE
DTHERM
ECHO
ENCFLT
ENCOFF
ENCPOL
ERES
Resolutions for Parker Encoders
)
( _
)( count
ERROR
Parker Hannifin
Error Description
ERRORL
ESTORE
FLTDSB
FLTSTP
IANI Invert Analog Input
IAUTO
IGAIN
INPOS
INPOSDB
INPOSTM
LJRAT
OHALL
OUTBD
P163
PGAIN
PSET
RESET
RFS
SFB
SGI
SGILIM
SGP
SGV
SGVF
commandvelocity DMTD torque velocity Estimated
=
43421
SHALL
SMAV
SMPER
SMVER
STATUS
TANI
TCI
TDHRS
TDICNT
TDIMAX
TDMIN
TDSEC
TDTEMP
TERRLG
THALL
TIDAC
TIQAC
TMTEMP
TOUT
TPC
TPE
TPER
TREV
TSSPD
TTRQ
TTRQA
TVBUS
TVEL
TVELA
TVER
CHAPTER SEVEN
Troubleshooting
Troubleshooting Guidelines
First Troubleshooting Steps (verify LEDs)
General Troubleshooting Procedure
LEDsDrive Status Indicators
Normal Operation
Internal Drive Faults
Establish Communications & Verify Drive Configuration
Save the Configuration File
RS-232/485 Communication Problems
Testing the COM Port
Error Messages
Page
Page
Smart Encoders
Hall Sensor Configuration/Troubleshooting
Troubleshooting Checklist
Possible Problems
Procedure 1
Procedure 2
Page
Page
Amplifier
Feedback
Protective Circuits
Short Circuit Protection
Drive Over-Temperature Protection
Under-Voltage Protection
Over-Voltage Protection
Current Foldback
Cables
EMC Ready Cables
Non-EMC Cables
Page
External Power-Dump Resistor Selection
Simplified Resistor Selection
Page
Calculating ResistanceRotary Motors
Total Kinetic Energy
Total Potential Energy
mgh E
=
Energy Absorbed by Drive Capacitors
)( 2
1
()
Energy Dissipated in Load
2
1
Energy to Dissipate in the External Power-Dump Resistor
Resistor SpecificationsRotary Motors
Maximum Resistance
+
()
==
t PP =
Calculating ResistanceLinear Motors
Total Potential Energy
mgh E p =
)( 2
1
Energy Dissipated in Motor Winding Resistance
()
Energy Dissipated in Load
1
+ =
Resistor SpecificationsLinear Motors
Maximum Resistance
vMM
()
tkV I
t PP =
APPENDIX C
Regulatory Compliance UL and CE
System Installation Overview
General Safety Considerations
General EMC Considerations
Installing the Aries Drive
Precautions
A Safe Installation Meeting the Requirements of the Low Voltage Directive (LVD)
Page
Page
Control Power
Mains Motor Power
Page
Page
Panel Installation, AR-02xx to AR-13xx
Panel Installation, AR-20xE & AR-30xE
Page
Regulatory Agencies
Standards of Compliance
Page
Page
Page
Overview
Index
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Page
See
