Parker Hannifin 88-021610-01G

Parker Hannifin

Chapter 5 Tuning 85

Figure 40 Integrator Windup (using the SGILIM Command)

Contents

Main User Information Technical Assistance Table of Contents Page Table of Tables Page Table of Figures Page 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 Page Page See