Parker Hannifin G2 manual Driver Function Specifications, 11-7

(6) Driver Function Specifications

	Item				Specifications
Higher interface		RS232C interface (single channel communication, multi-channel communication)
		Controller interface (pulse train position command)
Mechanical input		Homing signal, (+) direction hardware over-travel signal, (-) direction hardware over-travel
signal		signal, emergency stop input signal
Mechanical input		Brake signal (can be switched between clamp and dynamic brake applications with a
signal		parameter)
		Rotating type		DM1000A series ; 4096000 pls/rev (1024000 pls/rev)
				DM1000B series ; 2621000 pls/rev (655360 pls/rev)
				DM1004B/C ; 2621000 pls/rev (655360 pls/rev)
Encoder resolution				DR1000A series ; 1638400 pls/rev (819200 pls/rev)
(position command				DR1000B series ; 1015808 pls/rev (507904 pls/rev)
resolution when				DM1000E series ; 1228800 pls/rev (614400 pls/rev)
shipped)				DR5000B series ; 557056 plc/rev (278528 pls/rev)
				DR5000E series ; 638976 pls/rev (319488 pls/rev) stiffness series: 0.5 ∝m,
		Linear		LM1/2 ; 0.25 ∝m (0.25 ∝m)
				LM3/5 ; 0.5 ∝m (1.0 ∝m)
		I-PD position control (position: integral proportional control, velocity: proportional control)
	Method	Various feed forward functions (position, velocity, acceleration)
		Various standard filters (velocity command filter, velocity feedback filter, first order delay filter)
		Optional filter (notch filter 2 channels)
		Position control bandwidth:1 Hz to 32Hz, velocity control loop width: 5Hz to 200Hz
		Position integral limiter setting
		Various feed forward percentages (position, velocity, acceleration)
Control		Various standard filter settings (velocity command filter bandwidth, velocity feedback filter
		enable/disable, bandwidth, first order delay filter setting)
part		Optional filter setting (notch filter bandwidth)
	Adjustment	*1) Calculates proportional gain and acceleration feed forward gain of the velocity control part
		automatically based on measurement by the auto-tuning operation or manual setting of
		the load inertia/weight with respect to the settings of velocity control bandwidth and
		acceleration feed forward percentage.
		*2) Calculates position control bandwidth, velocity control loop bandwidth, and position
		integral limiting value automatically during execution of the auto-tuning operation or by
		manual setting of the servo stiffness
		Trapezoidal move: Acceleration curve and deceleration curve can be selected individually.
Acceleration/decelerat		Acceleration time or deceleration time can be selected individually (with respect to the
		maximum velocity).
ion control
		*3) Real time override possible, interlock possible
		Follows the position command from the controller interface when none of the operations listed
		below is being performed.
				Operation		Pulse train
Operation function					Controller interface		RS232C interface
			Homing operation			○	○
				Test operation		○	○
				Auto-tuning		○	○
				Jog move		×	○
		Encoder/resolver error, power module error (over-voltage and over current), main power
Protection functions		supply error, overload, maximum velocity, excessive position deviation, hardware over-travel,
		software over-travel (only for linear coordinate)
Others		Support software PC utility running under Windows (optional)
		Possible to connect the operation display pendant (optional)
		Analogue signal monitor (velocity, general, torque/thrust command)
		For general monitoring, what is shown by the monitor can be selected by setting (position error,
		test operation response, position command value, current position value, position command
Monitor		differential value)
		Digital signal monitor (settling signal)
		Monitoring internal information by higher interface
		Error and alarm display on a 7-segment LED

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