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Parker Hannifin G2 manual Motor linear coordinate command differential value Unit pulse/∆T

Models: G2

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390Motor linear coordinate command differential value Unit: pulse/∆T

390Motor linear coordinate command differential value Unit: pulse/∆T

Displays the differential value of the motor linear coordinate command value. (2msec sample)

391Present motor linear coordinate differential value Unit: pulse/∆T

Displays the differential value of the present motor linear coordinate value. (2msec sample)

392Pre-filter current square duty Unit: digit

Displays the pre-filter current square duty (decimal point 15 bits).

393Post-filter current square duty Unit: digit

Displays the post-filter current square duty (decimal point 15 bits)

396Driver code Unit: None Displays the driver code.

398Motor code Unit: None Displays the motor code.

399Time after power ON [msec] Unit: msec

Indicates the time after the power has been turned on.

Image 178

Parker Hannifin G2 manual Motor linear coordinate command differential value Unit pulse/∆T

Contents

Automation Dynaserv G2 DriveUser Guide p/n 88-020389-01 APrecautions for Using this Technical Manual IntroductionWarning about rotation Regarding the safe usage of this deviceWarnings 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 Chapter FunctionsControl Interfaces Chapter@ Commands RS232C InterfacesChapter 8 DrvGII PC Utility ChapterChapter 9 Operation Display Pendant Chapter 10 Maintenance and InspectionChapter 11 Specifications 10-1Chapter Overview of the Product 1.3 Product Configuration 1.4 Model Names and Codes1.5 Name and Function of Each Part 1.6 System Configuration Diagram 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 Regenerative terminal Connecto for CN2 Connector for CNA 1.3 Product ConfigurationDriver part 2kW level With regenerative unit Connector for CN4 1 Overveiw of the Product1 Motor 1.4 Model Names and Codes2 Driver 1 Motor Part 1.5 Name and Function of Each Part1 Overveiw of the Product series500W level A model with regenerative terminal is shown 2 Driver part2kW level A model with a regenerative terminal is shown 3 Details of the Front Panel of the Driver 1 Overveiw of the ProductNote 1 All the items shown are of the contact I/O type Details of Setting Switches and Status Display LEDs CN2 - - CN31 Overveiw of the Product 1.6 System Configuration Diagram1-10 Chapter Installation 2.1 Installation of the Motor 2.2 Installation of the Driver2 Installation 2.1 Installation of the MotorShould not be installed upside down 2.2 Installation of the DriverShould not be installed in a sideways position Ambient air temperature during operation3.4 Wiring of Motor, AC Power Supply, and Ground Cable Chapter Connection and Wiring3.1 Diagram of Overall Connection 3.2 Cable Specification List 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 length1 DM Series DM1004B/1004C motors 3.3 Connection between Motor and Driver3 Connection and Wiring 2 DM Series motors models other than the aboveMotor part 3 DR Series motorsDriver part Motor cable3.4 Wiring of Motor, AC Power Supply, and Ground Cable 3 Connection and WiringCable 3 Connection and Wiring 3.5 Wiring of Encoder CableTerminal for CN2 Made by Honda Tsushin Kogyo Connector PCR-S36FS Housing PCR-LS36LA 3.6 Wiring of Controller CableTerminal for CN4 Electrical specifications 3.7 Wiring of Sensor Brake Terminal3 Connection and Wiring 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 INMODE.0 DrvGII CN4 I/O 24V Specification4 Basic Settings for Operating the Motor INMODE.1DrvGII CN4 I/O 5V Specification 4.3.1 Procedure 4.3 Installing the PC Utility on the PC4 Basic Settings for Operating the Motor Figure 4.3.2 “Select Program Folder” dialog box Figure 4.3.3 “Setup Complete” dialog boxNote Remove the floppy disk before restarting the computer “Startup” 4.3.2 Startup4 Basic Settings for Operating the Motor Figure 4.3.5 “Version Information” dialog box4.4.1 Selecting Communication Port 4.4 Preparation4.4.2 Selecting Channels Figure 4.4.3 “Communication string” dialog box 4.4.3 Displaying Communication Strings4 Basic Settings for Operating the Motor 4-10Figure 4.4.4 “MainMenu” dialog box 4.4.4 Main Menu4-11 4.5 Setting the Status to Servo ON 4 Basic Settings for Operating the MotorClick OK 3 Reset the driver according to the message in the dialog box4-13 4.6 Auto-tuning 4 Basic Settings for Operating the Motor3 Click Auto Tuning Start tuning starts Click “Drive.” Click “Homing.” 4.7 Performing Homing Operation4 Basic Settings for Operating the Motor MainMenu3 Set the “homing direction” in the “Homing” dialog box 4 Click the “Start” button to start the homing operation4.8.1 About Position Command Pulse Input 4.8 Performing the Basic Settings of Pulse Commands4 Basic Settings for Operating the Motor Velocity pattern Example of operation 4.8.2 Example of Operation4-19 5.2 Operation Functions Chapter Functions5.1 Parameters and Monitors 5.3 Coordinate System5.1 Parameters and Monitors 5.1.2 Mechanical Setting Parameters5 Functions 5.1.1 General Parameters5.2 Operation Functions 5.2.1 Jog Move5 Functions 5.2.3 Auto-Tuning Operation5.2.2 Test Operation will oscillate5.2.4 Homing Move 5 Second home sensing move 5 Functions4 First home sensing move 6 Home position moveHardware zero signal type Operation example Home position proximity signal5 Functions Operation exampleCoordinate System 5.2.5 Mechanical Setting ModeSwitching Position Command Pulse Weights 5.3.15 Functions 5.4 Control System5-10 delay compensation device 5.4.1 Velocity Control PartFrequency characteristics of the first order Related parameters #51 Velocity control bandwidth5.4.3 Feed Forward 5.4.2 Position Control Part5 Functions 5.4.4 Servo Stiffness Parameter Related parameters #38 Servo stiffness settings5.5.1 Velocity Override Function 5.5 Acceleration/Deceleration Function5 Functions 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 Status5.6.2 Velocity Monitor and Analog Monitor 5.6.3 Brake Signal5 Functions 5.7 Special Parameter Processing 5.7.1 Internal Generation of Parameter Initial Values5.7.4 Limiting the Maximum Parameter Values 5 Functions6.1 Terminal Function 6.2 Position Command Pulse Input 6.3 Encoder Pulse OutputChapter Control Interfaces 6.4 Operations6 Control Interfaces 6.1.1 Connection, Setting, and I/O Mapping6.1 Terminal Function 6.1.2 Explanation of Terminals Position command pulse inputs PUAIN ±, SDBIN ± 6.1.3 Electrical specificationsInterface power supply inputs COMP1, COMN1 6 Control Interfaces6.1.4 I/O logic setting Current limit analog input CRNTLMTIN ±6.3 Encoder Pulse Output 6.2 Position Command Pulse Input6 Control Interfaces 6.4.1 Starting an Operation 6.4 Operations6.4.2 Aborting an Operation Self-end type In case of self-end 6.4.3 Timing Charts6 Control Interfaces Non-end type6.5.6 Error reset ERRRESET 6.5.1 Pulse Weight Selection PLSDIRECT6.5.5 Disable Position Control Integral Operation PACT 6.5 Other Inputs6.5.8 Current Limit Input 6.5.7 Servo ON SERVO6 Control Interfaces 7.5 Parameter Commands 7.1 Overview 7.2 Connection and Setting7.3 Communication Specifications 7.4 @ Commands Chapter RS232C Interfaces7 RS232C Interfaces 7.2 Connection and Setting7.1 Overview Multi-channel Communication parameters 7.3 Communication Specifications7 RS232C Interfaces Single channel and multi-channelA response character string is structured as follows Transmission character stringResponse character string Response character strings are classified as follows7.4.1 Start @3 Field 7.4 @ Commands7.4.4 Error reset @4 7.4.2 Stop @27.4.7 Other convenient commands 7.4.5 Homing offset position setting @107.4.6 Jog move command @11 Field Software driver reset @967.5 Parameter Commands 7 RS232C Interfaces8.1 Overview 8.2 InstallationChapter DrvGII PC Utility 8.3 Preparation8.1.1 Overview of the Operation Menu 8 DrvGII PC Utility8.1 Overview 8.1.2 Overview of the Action Menu8.2 Installation 8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/20008 DrvGII PC Utility Figure 8.3 “Setup Complete” dialog boxFigure 8.2 “Select Program Folder” dialog box 8.2.2 Starting the PC Utility Figure 8.4 “Version Information” dialog box8.3.2 Selecting Channels 8.3 Preparation8.3.1 Selecting a Communication Port 8 DrvGII PC Utility8.3.3 Displaying Communication Strings Figure 8.7 “Communication string” dialog box8 DrvGII PC Utility 8.3.4 Main MenuFigure 8.8 “MainMenu” dialog box 8.4 Operation Menu 8.4.1 TerminalFigure 8.10 “Parameter Monitor” dialog box 8 DrvGII PC Utility1 Parameter/monitor 8-108-11 2 I/O monitorFigure 8.11 “I/O Monitor” dialog box DI status Red on Black off Gray nonexistent I/O point DO statusFigure 8.13 “Error or Alarm” dialog box 3 Axis signal status displayFigure 8.12 “Axis signal status” dialog box 4 Error or alarm monitor 8 DrvGII PC Utility5 Parameter/monitor help Figure 8.14 “Parameter/Monitor help” dialog box 6 Command helpFigure 8.15 “Command Help” dialog box 8-132 Manual tuning 8.4.2 Servo TuningFigure 8.16 “Servo Tuning” dialog box 1 Auto-tuning 8 DrvGII PC UtilityClicking the arrows at either end The oscilloscope displays time-series of parameter/monitor values 8.4.3 Oscilloscope8 DrvGII PC Utility 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 UtilityFigure 8.20 “DriveMenu” dialog box 8.5 Action Menu8-19 Figure 8.21 “Homing” dialog box 1 Editing parameters 8.5.1 Homing8 DrvGII PC Utility 8-201 Set the motor to Servo ON see Chapter Figure 8.22 “JogMove” dialog box 1 Editing parameters 8.5.2 Jog Move8 DrvGII PC Utility 8-228.5.3 Test Operation 8.6.1 Parameter Manager 8.6 Data Management Menus8 DrvGII PC Utility 2 Uploading from the driver to a file 1 Editing machine parametersFigure 8.24 “MachineParameterEdit” dialog box Editing 8-258 DrvGII PC Utility 4 Displaying the file contents5 Resetting the communication 3 Downloading from a file to the driverFigure 8.26 “I/O configuration” dialog box 8.6.2 I/O Set8-27 5 Click “Set S.” 8 DrvGII PC UtilitySelection text field 1 Click “Download D” in the “I/O configuration” dialog box 8.6.3 Pulse Set 8 DrvGII PC Utility9.6 Parameter Settings Display 9.7 I/O Monitor Display 9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays9.4 Terminal Mode Display 9.5 Parameter Monitor Display 9.8 Special Command Display9.1 Overview 9.2 Features and Part Names9 Operation Display Pendant Terminal mode display#001+HOTErrEn -Mon- DATA N/P 9.3 Switching Displays# S/+ =/ N/P #001+HOTErrEn -Set- DATA N/P9 Operation Display Pendant 9.4 Terminal Mode DisplayS / + M o n 9.5 Parameter Monitor Display# 0 0 1 + H O T E r r E n D A T A9 Operation Display Pendant 9.6 Parameter Settings Display+ H O T E r r E n I / O 9.7 I/O Monitor DisplayP L C S E LC M D R e f E r r S t s 9.8 Special Command Display9 Operation Display Pendant S p c10.2 Maintenance and Inspection of the Driver Part Chapter Maintenance and Inspection10.1 Maintenance and Inspection of the Motor Part 10.3 Replacing the Battery for Memory Backup10.2 Maintenance and Inspection of the Driver Part 10 Maintenance and Inspection10.1 Maintenance and Inspection of the Motor 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 11.3 External Dimensions Unit mm Chapter Specifications11.1 Standard Specifications 11.2 Torque - Speed Characteristics 11-11 DM Series Motor 11 Specifications11.1 Standard Specifications 11-211-3 Note A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec2 DR Series Motor 11 Specifications11-4 11-5 Unit5 Driver Part General Specifications 11 Specifications4 Motor Environment Specification 3 DR/5000 Series Motor6 Driver Function Specifications 11-71 DM Series 11.2 Torque - Speed Characteristics11 Specifications 2 DR Series1 Type A 11.3 External Dimensions Unit mm1 DM Series Motor 2 Type B1 Type A 11 Specifications2 DR Series Motor 2 Type E 3 Type B500W, Type B is shown in the figure 3 Driver Section1 U!!!!!!!A/B 2 U!!!!!!!L2kW level with regenerative unit 11 Specifications3 U!!!!!!!K 11-12Motor current No. of motor revolutions 1 Restrictions on the motor11-13 Average velocity/current duty11-14 11 Specifications2 Restrictions on the driver Maximum velocity Velocity TimeParameter name Parameter ListParameter No Minimum valueOver-travel error function in the + direction Value causing an error detection in the +Brake turn OFF delay time upon Servo ON Parameter NoInitial value Parameter nameMaximum 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 name Monitor ListMonitor No Unit355 Monitor resolution 356 Digital velocity sensitivity Monitor detail 320 Pulse position command value Unit pulse 338 Zero signal status Unit None 348 Multi-channel communication status Unit None 347 Operation mode number Unit None355 Monitor resolution 349 Multi-channel communication slave code Unit None361 Velocity ratio gain Unit x 1/100 363 Velocity command value digital Unit 1/16 digit368 Current command value D/A Unit digit 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 STD1 Error/Alarm ListError No NameInterfaceBoardError Error/Alarm DetailsMemoryError BatteryAlarmError number MonitorPulseError CoordinateErrorACoordinateErrorB SlaveDriveErrorError number ServoNotReady Error number Error number Error number IllegalDevice Long Error numberDevice conflict DeviceConflict