Manuals / Parker Hannifin / Computer Equipment / Computer Drive

Parker Hannifin G2 Velocity ratio gain Unit x 1/100, Velocity deviation digital Unit 1/16 digit

Models: G2

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361Velocity ratio gain Unit: x 1/100

361Velocity ratio gain Unit: x 1/100

Displays the velocity loop ratio gain.

363Velocity command value (digital) Unit: 1/16 digit

Displays the velocity command value when controlling the digital velocity. (1msec sample)

364Post-filter velocity command value (digital) Unit: 1/16 digit

Displays the post-filter velocity command value when controlling the digital velocity. (1msec sample)

365Present velocity current value Unit: 1/16 digit

Displays the present velocity value. (1msec sample)

366Present post-filter velocity value Unit: 1/16 digit

Displays the present post-filter velocity value. (1msec sample)

367Velocity deviation (digital) Unit: 1/16 digit

Displays the velocity deviation. (1msec sample)

368Current command value (D/A) Unit: digit

Displays the current command value D/A output value. The conversion rate is as follows: 1 digit = 0.0036%

27853 digits: +100%

0 digits: 0%

-27853 digits: -100%

369Present current value (A/D) Unit: digit

Displays the A/D input value of the present current command value.(1msec sample) The conversion rate is as follows: 1 digit = 0.0036%

27840digits: +100%

0 digits: 0%

-27840 digits: -100%

Image 176

Parker Hannifin G2 manual Velocity ratio gain Unit x 1/100, Velocity command value digital Unit 1/16 digit

Contents

Dynaserv G2 Drive User GuideAutomation p/n 88-020389-01 APrecautions for Using this Technical Manual IntroductionRegarding the safe usage of this device WarningsWarning about rotation Warning about electric shockPrecautions Handling Precautions 13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. We assume no responsibility for products that have been disassembled or remodeled without permission The core deviation should be 10 ∝mm or less Table of Contents Functions Control InterfacesChapter ChapterRS232C Interfaces Chapter 8 DrvGII PC Utility@ Commands ChapterChapter 10 Maintenance and Inspection Chapter 11 SpecificationsChapter 9 Operation Display Pendant 10-11.3 Product Configuration 1.4 Model Names and Codes 1.5 Name and Function of Each Part 1.6 System Configuration DiagramChapter Overview of the Product 1.1 About the DYNASERV DM/DR Series 1.2 About the DrvGII Type Driver1 Overveiw of the Product 1.1 About the DYNASERV DM/DR Series1.2 About the DrvGII Type Driver 1.3 Product Configuration Driver part 2kW level With regenerative unit Connector for CN4Regenerative terminal Connecto for CN2 Connector for CNA 1 Overveiw of the Product2 Driver 1.4 Model Names and Codes1 Motor 1.5 Name and Function of Each Part 1 Overveiw of the Product1 Motor Part series2kW level A model with a regenerative terminal is shown 2 Driver part500W level A model with regenerative terminal is shown Note 1 All the items shown are of the contact I/O type 1 Overveiw of the Product3 Details of the Front Panel of the Driver Details of Setting Switches and Status Display LEDs CN2 - - CN31-10 1.6 System Configuration Diagram1 Overveiw of the Product Chapter Installation 2.1 Installation of the Motor 2.2 Installation of the Driver2 Installation 2.1 Installation of the Motor2.2 Installation of the Driver Should not be installed in a sideways positionShould not be installed upside down Ambient air temperature during operationChapter Connection and Wiring 3.1 Diagram of Overall Connection 3.2 Cable Specification List3.4 Wiring of Motor, AC Power Supply, and Ground Cable 3.5 Wiring of Encoder Cable 3.6 Wiring of Controller Cable3 Connection and Wiring 3.1 Diagram of Overall Connection3.2 Cable Specification List diameter φ 14 mm or less, 10 m or less in length3.3 Connection between Motor and Driver 3 Connection and Wiring1 DM Series DM1004B/1004C motors 2 DM Series motors models other than the above3 DR Series motors Driver partMotor part Motor cable3.4 Wiring of Motor, AC Power Supply, and Ground Cable 3 Connection and WiringCable Terminal for CN2 3.5 Wiring of Encoder Cable3 Connection and Wiring Terminal for CN4 3.6 Wiring of Controller CableMade by Honda Tsushin Kogyo Connector PCR-S36FS Housing PCR-LS36LA 3.7 Wiring of Sensor Brake Terminal 3 Connection and WiringElectrical specifications Example of sensor connection sensor EE-SX670 manufactured by OmronMade by Phoenix Contact plug MC1, 5/2-ST-5 Chapter 4 Basic Settings for Operating the Motor 4 Basic Settings for Operating the Motor 4.1 Procedure Flowchart4.2 Preoperation check DrvGII CN4 I/O 24V Specification 4 Basic Settings for Operating the MotorINMODE.0 INMODE.1DrvGII CN4 I/O 5V Specification 4 Basic Settings for Operating the Motor 4.3 Installing the PC Utility on the PC4.3.1 Procedure Note Remove the floppy disk before restarting the computer Figure 4.3.3 “Setup Complete” dialog boxFigure 4.3.2 “Select Program Folder” dialog box 4.3.2 Startup 4 Basic Settings for Operating the Motor“Startup” Figure 4.3.5 “Version Information” dialog box4.4.2 Selecting Channels 4.4 Preparation4.4.1 Selecting Communication Port 4.4.3 Displaying Communication Strings 4 Basic Settings for Operating the MotorFigure 4.4.3 “Communication string” dialog box 4-104-11 4.4.4 Main MenuFigure 4.4.4 “MainMenu” dialog box 4.5 Setting the Status to Servo ON 4 Basic Settings for Operating the Motor4-13 3 Reset the driver according to the message in the dialog boxClick OK 4.6 Auto-tuning 4 Basic Settings for Operating the Motor3 Click Auto Tuning Start tuning starts 4.7 Performing Homing Operation 4 Basic Settings for Operating the MotorClick “Drive.” Click “Homing.” MainMenu3 Set the “homing direction” in the “Homing” dialog box 4 Click the “Start” button to start the homing operation4 Basic Settings for Operating the Motor 4.8 Performing the Basic Settings of Pulse Commands4.8.1 About Position Command Pulse Input 4-19 4.8.2 Example of OperationVelocity pattern Example of operation Chapter Functions 5.1 Parameters and Monitors5.2 Operation Functions 5.3 Coordinate System5.1.2 Mechanical Setting Parameters 5 Functions5.1 Parameters and Monitors 5.1.1 General Parameters5.2 Operation Functions 5.2.1 Jog Move5.2.3 Auto-Tuning Operation 5.2.2 Test Operation5 Functions will oscillate5.2.4 Homing Move 5 Functions 4 First home sensing move5 Second home sensing move 6 Home position moveHardware zero signal type Home position proximity signal 5 FunctionsOperation example Operation example5.2.5 Mechanical Setting Mode Switching Position Command Pulse WeightsCoordinate System 5.3.15-10 5.4 Control System5 Functions 5.4.1 Velocity Control Part Frequency characteristics of the first orderdelay compensation device Related parameters #51 Velocity control bandwidth5 Functions 5.4.2 Position Control Part5.4.3 Feed Forward 5.4.4 Servo Stiffness Parameter Related parameters #38 Servo stiffness settings5 Functions 5.5 Acceleration/Deceleration Function5.5.1 Velocity Override Function 5.5.2 Velocity Profile Deceleration5 Functions Acceleration s-shaped, deceleration constant acceleration5.6 Other Functions 5.6.1 Settling Wait, Position Settling Status, and Positioning Status5 Functions 5.6.3 Brake Signal5.6.2 Velocity Monitor and Analog Monitor 5.7 Special Parameter Processing 5.7.1 Internal Generation of Parameter Initial Values5.7.4 Limiting the Maximum Parameter Values 5 Functions6.2 Position Command Pulse Input 6.3 Encoder Pulse Output Chapter Control Interfaces6.1 Terminal Function 6.4 Operations6.1 Terminal Function 6.1.1 Connection, Setting, and I/O Mapping6 Control Interfaces 6.1.2 Explanation of Terminals 6.1.3 Electrical specifications Interface power supply inputs COMP1, COMN1Position command pulse inputs PUAIN ±, SDBIN ± 6 Control Interfaces6.1.4 I/O logic setting Current limit analog input CRNTLMTIN ±6 Control Interfaces 6.2 Position Command Pulse Input6.3 Encoder Pulse Output 6.4.2 Aborting an Operation 6.4 Operations6.4.1 Starting an Operation 6.4.3 Timing Charts 6 Control InterfacesSelf-end type In case of self-end Non-end type6.5.1 Pulse Weight Selection PLSDIRECT 6.5.5 Disable Position Control Integral Operation PACT6.5.6 Error reset ERRRESET 6.5 Other Inputs6 Control Interfaces 6.5.7 Servo ON SERVO6.5.8 Current Limit Input 7.1 Overview 7.2 Connection and Setting 7.3 Communication Specifications 7.4 @ Commands7.5 Parameter Commands Chapter RS232C Interfaces7.1 Overview 7.2 Connection and Setting7 RS232C Interfaces Multi-channel 7.3 Communication Specifications 7 RS232C InterfacesCommunication parameters Single channel and multi-channelTransmission character string Response character stringA response character string is structured as follows Response character strings are classified as follows7.4 @ Commands 7.4.4 Error reset @47.4.1 Start @3 Field 7.4.2 Stop @27.4.5 Homing offset position setting @10 7.4.6 Jog move command @11 Field7.4.7 Other convenient commands Software driver reset @967.5 Parameter Commands 7 RS232C Interfaces8.2 Installation Chapter DrvGII PC Utility8.1 Overview 8.3 Preparation8 DrvGII PC Utility 8.1 Overview8.1.1 Overview of the Operation Menu 8.1.2 Overview of the Action Menu8.2 Installation 8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000Figure 8.2 “Select Program Folder” dialog box Figure 8.3 “Setup Complete” dialog box8 DrvGII PC Utility 8.2.2 Starting the PC Utility Figure 8.4 “Version Information” dialog box8.3 Preparation 8.3.1 Selecting a Communication Port8.3.2 Selecting Channels 8 DrvGII PC Utility8.3.3 Displaying Communication Strings Figure 8.7 “Communication string” dialog boxFigure 8.8 “MainMenu” dialog box 8.3.4 Main Menu8 DrvGII PC Utility 8.4 Operation Menu 8.4.1 Terminal8 DrvGII PC Utility 1 Parameter/monitorFigure 8.10 “Parameter Monitor” dialog box 8-102 I/O monitor Figure 8.11 “I/O Monitor” dialog box8-11 DI status Red on Black off Gray nonexistent I/O point DO status3 Axis signal status display Figure 8.12 “Axis signal status” dialog box 4 Error or alarm monitorFigure 8.13 “Error or Alarm” dialog box 8 DrvGII PC UtilityFigure 8.14 “Parameter/Monitor help” dialog box 6 Command help Figure 8.15 “Command Help” dialog box5 Parameter/monitor help 8-138.4.2 Servo Tuning Figure 8.16 “Servo Tuning” dialog box 1 Auto-tuning2 Manual tuning 8 DrvGII PC UtilityClicking the arrows at either end 8.4.3 Oscilloscope 8 DrvGII PC UtilityThe oscilloscope displays time-series of parameter/monitor values Figure 8.18 “Oscilloscope” dialog box3 Select a trigger mode 12 The displayed waveform can be reshaped using “Display position selection” and “Vertical axis range selection” in the Oscilloscope dialog box 8 DrvGII PC Utility8-19 8.5 Action MenuFigure 8.20 “DriveMenu” dialog box 8.5.1 Homing 8 DrvGII PC UtilityFigure 8.21 “Homing” dialog box 1 Editing parameters 8-201 Set the motor to Servo ON see Chapter 8.5.2 Jog Move 8 DrvGII PC UtilityFigure 8.22 “JogMove” dialog box 1 Editing parameters 8-228.5.3 Test Operation 8 DrvGII PC Utility 8.6 Data Management Menus8.6.1 Parameter Manager 1 Editing machine parameters Figure 8.24 “MachineParameterEdit” dialog box Editing2 Uploading from the driver to a file 8-254 Displaying the file contents 5 Resetting the communication8 DrvGII PC Utility 3 Downloading from a file to the driver8-27 8.6.2 I/O SetFigure 8.26 “I/O configuration” dialog box Selection text field 8 DrvGII PC Utility5 Click “Set S.” 1 Click “Download D” in the “I/O configuration” dialog box 8.6.3 Pulse Set 8 DrvGII PC Utility9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays 9.4 Terminal Mode Display 9.5 Parameter Monitor Display9.6 Parameter Settings Display 9.7 I/O Monitor Display 9.8 Special Command Display9.2 Features and Part Names 9 Operation Display Pendant9.1 Overview Terminal mode display9.3 Switching Displays # S/+ =/ N/P#001+HOTErrEn -Mon- DATA N/P #001+HOTErrEn -Set- DATA N/PS / + 9.4 Terminal Mode Display9 Operation Display Pendant 9.5 Parameter Monitor Display # 0 0 1 + H O T E r r E nM o n D A T A+ H O T E r r E n 9.6 Parameter Settings Display9 Operation Display Pendant 9.7 I/O Monitor Display P L CI / O S E L9.8 Special Command Display 9 Operation Display PendantC M D R e f E r r S t s S p cChapter Maintenance and Inspection 10.1 Maintenance and Inspection of the Motor Part10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup10 Maintenance and Inspection 10.1 Maintenance and Inspection of the Motor Part10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup10.4 Backup and Restore Operations of Driver Memory Contents 10.4.1 Backup Operation10.4.2 Restore Operation 10 Maintenance and Inspection10.5 Motor Problems and Corrective Actions Chapter Specifications 11.1 Standard Specifications 11.2 Torque - Speed Characteristics11.3 External Dimensions Unit mm 11-111 Specifications 11.1 Standard Specifications1 DM Series Motor 11-211-3 Note A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec11-4 11 Specifications2 DR Series Motor 11-5 Unit11 Specifications 4 Motor Environment Specification5 Driver Part General Specifications 3 DR/5000 Series Motor6 Driver Function Specifications 11-711.2 Torque - Speed Characteristics 11 Specifications1 DM Series 2 DR Series11.3 External Dimensions Unit mm 1 DM Series Motor1 Type A 2 Type B11 Specifications 2 DR Series Motor1 Type A 2 Type E 3 Type B3 Driver Section 1 U!!!!!!!A/B500W, Type B is shown in the figure 2 U!!!!!!!L11 Specifications 3 U!!!!!!!K2kW level with regenerative unit 11-121 Restrictions on the motor 11-13Motor current No. of motor revolutions Average velocity/current duty11 Specifications 2 Restrictions on the driver11-14 Maximum velocity Velocity TimeParameter List Parameter NoParameter name Minimum valueValue causing an error detection in the + Brake turn OFF delay time upon Servo ONOver-travel error function in the + direction Parameter NoParameter name Maximum valueInitial value UnitParameter details Specify the velocity when executing over-travel signal search move in homing mode. This parameter is invalid if the over-travel signal search is not executed 0 - direction 1 + direction Velocity control width 30Hz 46 Position settling pulse width Specify the limiter value of the position error integrator in the axis position control section. Specify a smaller value when a wind-up condition occurs during axis operation. This parameter is set automatically by either executing auto- tuning operation or changing the servo stiffness settings parameter The check cycle is 2 msec Analog monitor selection 0 6.55V / 4194304 pulses 1 6.55V / 2097152 pulses 91 TBXEMG Servo status 94 Position command differential value excessive error Over-travel error function in the - direction processing 0 Do not use 1 Use 0 Do not perform 1 Perform 219 Velocity feedback filter use 227 Over-speed error processing type 229 Excessive position deviation error processing type Monitor List Monitor NoMonitor name Unit355 Monitor resolution 356 Digital velocity sensitivity Monitor detail 320 Pulse position command value Unit pulse 338 Zero signal status Unit None 347 Operation mode number Unit None 355 Monitor resolution348 Multi-channel communication status Unit None 349 Multi-channel communication slave code Unit None363 Velocity command value digital Unit 1/16 digit 368 Current command value D/A Unit digit361 Velocity ratio gain Unit x 1/100 367 Velocity deviation digital Unit 1/16 digit374 Acceleration feed forward command value Unit digit 390 Motor linear coordinate command differential value Unit pulse/∆T Error/Alarm List Error NoSTD1 NameError/Alarm Details MemoryErrorInterfaceBoardError BatteryAlarmError number CoordinateErrorA CoordinateErrorBMonitorPulseError SlaveDriveErrorError number ServoNotReady Error number Error number Error number IllegalDevice Error number Device conflictLong DeviceConflict