Parker Hannifin
Index 207
operating hours, report (TDHRS)............................146
operating hours, report (TDMIN)............................147
operating hours, report (TDSEC)............................ 147
operating modes, drive (DMODE)...........................103
operating system revision (TREV)...........................152
output power..........................................................43
outputs
status (TOUT)...................................................150
override mode.......................................................119
over-temperature limits..........................................170
over-voltage protection..........................................172
peak current, motor (DMTIP)................................. 108
performance......................................................... 169
pole pairs, motor (DPOLE)..................................... 124
pollution degree......................................................22
position
actual (TPE)......................................................151
actual error(TPC)...............................................151
commanded (TPC)............................................ 151
encoder (TPE)...................................................151
encoder error (TPER).........................................151
tracking............................................................142
power dissipation.............................................. 23–27
power supply
connection..........................................................40
fuses............................................................ 41, 42
input power................................. 35, 37, 39, 40, 46
power-dump resistor
calculating for linear motor................................ 183
calculating for rotary motor................................177
selection................................................... 175, 176
product revision (command implementation).............92
product revision (TREV).........................................152
program
comments...........................................................94
reset, effect of.................................................. 138
protection
current foldback (DIFOLD)......................... 102, 173
drive over-temperature......................................170
over-voltage......................................................172
short circuit.......................................................170
under-voltage................................................... 171
PWM frequency (dpwm)........................................ 169
PWM frequency (DPWM)........................................124
PWM update period (TSSPD)..................................152
rated speed, motor (DMTW).................................. 117
regeneration.................................... 54, 172, 175, 176
regulatory agencies............................................... 200
relay
brake relay......................................................... 50
relay, brake
operation............................................................53
output delay (OUTBD).......................................137
output status (TOUT)........................................ 150
specification........................................................53
reset,drive (RESET)............................................... 138
resistor, power-dump.............
See power-dump resistor
resolution
encoder (ERES).................................................128
encoder input (ERES)........................................ 128
resolver................................................................ 169
return to factory settings (RFS).............................. 139
revision level, operating system (TREV)..................152
revision of this manual............................12, 13, 14, 15
rotor inertia, motor................................................109
RS-232
communications..................................................75
dongle............................................................... 77
wiring................................................................ 74
RS-232/485
connector........................................................... 74
troubleshooting................................................ 159
wiring.......................................................... 74, 75
RS-485
communications..................................................75
dongle............................................................... 77
multi-drop network............................................. 76
wiring.......................................................... 74, 75
scaling
force command.................................................115
torque command (DMTSCL).............................. 115
velocity command............................................. 119
velocity command (DMVSCL)............................. 119
servo
position tracking............................................... 142
servo tuning
actual position.................................................... 80
auto-tuning........................................................ 90
closed loop......................................................... 79
commanded position........................................... 80
current loop gains, auto.................................... 134
inertia ratio (LJRAT).......................................... 135
integral feedback................................................ 83
integral gain (IGAIN).........................................134
integral gain (SGI)............................................ 140
integral gain limit (SGILIM)............................... 140
measuring performance...................................... 82
notch filter A depth (DNOTAD).......................... 119
notch filter A frequency (DNOTAF)..................... 120
notch filter A quality factor (DNOTAQ)............... 121
notch filter B depth (DNOTBD).......................... 121
notch filter B frequency (DNOTBF)..................... 122
notch filter B quality factor (DNOTBQ)............... 122
notch lag filter break freq (DNOTLG)..................123
notch lead filter break freq (DNOTLD)................ 122
open loop...........................................................79
overview............................................................ 79
position error (SMPER)...................................... 143
position respones................................................81
position variables................................................ 80
proportional feedback......................................... 83
proportional gain (PGAIN)................................. 138
proportional gain (SGP)..................................... 141
set current loop bandwidth................................ 101
stability.............................................................. 81
torque/force limit (DMTLIM).............................. 111
tuning example...................................................86
velocity error (SMVER)...................................... 144
velocity feedback................................................ 83
velocity feedforward gain (SGVF)....................... 142
velocity gain (SGV)........................................... 141
velocity limit (DMVLIM)..................................... 118
windup...............................................................84
servo update........................................................ 169
ship kit................................................................... 19
short circuit protection.......................................... 170
software revision level (TREV)............................... 152
space (neutral character).........................................94