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Parker Hannifin G2 manual Auto-tuning, Basic Settings for Operating the Motor

Models: G2

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4.6Auto-tuning

4Basic Settings for Operating the Motor

4.6Auto-tuning

The auto-tuning can be performed according to the following procedure.

(1)Checking the rotation direction

Check the rotation direction (CW/CCW) of the motor.

Load installation surface

CW		CCW

Look carefully from both sides of the load installation surface to check the CW/CCW ! Caution movement. When started, the motor operates in the CCW direction. Take extra care to

ensure that there is no mechanical interference with the rotor, which is currently in the stop position.

(2) Click the “Servo Cntl (S)” button on the “MainMenu.”

Click the Servo Cntl

button

4-14

Image 49

Parker Hannifin G2 manual Auto-tuning, Basic Settings for Operating the Motor

Contents

User Guide Dynaserv G2 DriveAutomation p/n 88-020389-01 AIntroduction Precautions for Using this Technical ManualWarnings Regarding the safe usage of this deviceWarning 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 Control Interfaces FunctionsChapter ChapterChapter 8 DrvGII PC Utility RS232C Interfaces@ Commands ChapterChapter 11 Specifications Chapter 10 Maintenance and InspectionChapter 9 Operation Display Pendant 10-11.5 Name and Function of Each Part 1.6 System Configuration Diagram 1.3 Product Configuration 1.4 Model Names and CodesChapter Overview of the Product 1.1 About the DYNASERV DM/DR Series 1.2 About the DrvGII Type Driver1.1 About the DYNASERV DM/DR Series 1 Overveiw of the Product1.2 About the DrvGII Type Driver Driver part 2kW level With regenerative unit Connector for CN4 1.3 Product ConfigurationRegenerative terminal Connecto for CN2 Connector for CNA 1 Overveiw of the Product1 Motor 1.4 Model Names and Codes2 Driver 1 Overveiw of the Product 1.5 Name and Function of Each Part1 Motor Part 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 CN2 - - CN3 Details of Setting Switches and Status Display LEDs1 Overveiw of the Product 1.6 System Configuration Diagram1-10 2.1 Installation of the Motor 2.2 Installation of the Driver Chapter Installation2.1 Installation of the Motor 2 InstallationShould not be installed in a sideways position 2.2 Installation of the DriverShould not be installed upside down 25 mm 25 mm3.1 Diagram of Overall Connection 3.2 Cable Specification List Chapter Connection and Wiring3.4 Wiring of Motor, AC Power Supply, and Ground Cable 3.5 Wiring of Encoder Cable 3.6 Wiring of Controller Cable3.1 Diagram of Overall Connection 3 Connection and Wiringdiameter φ 14 mm or less, 10 m or less in length 3.2 Cable Specification List3 Connection and Wiring 3.3 Connection between Motor and Driver1 DM Series DM1004B/1004C motors 2 DM Series motors models other than the aboveDriver part 3 DR Series motorsMotor part Motor cable3 Connection and Wiring 3.4 Wiring of Motor, AC Power Supply, and Ground CableCable 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 3 Connection and Wiring 3.7 Wiring of Sensor Brake TerminalElectrical 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 4.1 Procedure Flowchart 4 Basic Settings for Operating the Motor4.2 Preoperation check 4 Basic Settings for Operating the Motor DrvGII CN4 I/O 24V SpecificationINMODE.0 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 4 Basic Settings for Operating the Motor 4.3.2 Startup“Startup” Figure 4.3.5 “Version Information” dialog box4.4.1 Selecting Communication Port 4.4 Preparation4.4.2 Selecting Channels 4 Basic Settings for Operating the Motor 4.4.3 Displaying Communication StringsFigure 4.4.3 “Communication string” dialog box 4-10Figure 4.4.4 “MainMenu” dialog box 4.4.4 Main Menu4-11 4 Basic Settings for Operating the Motor 4.5 Setting the Status to Servo ONClick OK 3 Reset the driver according to the message in the dialog box4-13 4 Basic Settings for Operating the Motor 4.6 Auto-tuning3 Click Auto Tuning Start tuning starts 4 Basic Settings for Operating the Motor 4.7 Performing Homing OperationClick “Drive.” Click “Homing.” MainMenu4 Click the “Start” button to start the homing operation 3 Set the “homing direction” in the “Homing” dialog box4.8.1 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 5.1 Parameters and Monitors Chapter Functions5.2 Operation Functions 5.3 Coordinate System5 Functions 5.1.2 Mechanical Setting Parameters5.1 Parameters and Monitors 5.1.1 General Parameters5.2.1 Jog Move 5.2 Operation Functions5.2.2 Test Operation 5.2.3 Auto-Tuning Operation5 Functions will oscillate5.2.4 Homing Move 4 First home sensing move 5 Functions5 Second home sensing move 6 Home position moveHardware zero signal type 5 Functions Home position proximity signalOperation example Operation exampleSwitching Position Command Pulse Weights 5.2.5 Mechanical Setting ModeCoordinate System 5.3.15 Functions 5.4 Control System5-10 Frequency characteristics of the first order 5.4.1 Velocity Control PartRelated parameters #51 Velocity control bandwidth #154 Notch filter Frequency selection 2 #155 Load inertia/load mass5.4.3 Feed Forward 5.4.2 Position Control Part5 Functions Related parameters #38 Servo stiffness settings 5.4.4 Servo Stiffness Parameter5.5.1 Velocity Override Function 5.5 Acceleration/Deceleration Function5 Functions Deceleration 5.5.2 Velocity ProfileAcceleration s-shaped, deceleration constant acceleration 5 Functions5.6.1 Settling Wait, Position Settling Status, and Positioning Status 5.6 Other Functions5.6.2 Velocity Monitor and Analog Monitor 5.6.3 Brake Signal5 Functions 5.7.1 Internal Generation of Parameter Initial Values 5.7 Special Parameter Processing5 Functions 5.7.4 Limiting the Maximum Parameter ValuesChapter Control Interfaces 6.2 Position Command Pulse Input 6.3 Encoder Pulse Output6.1 Terminal Function 6.4 Operations6 Control Interfaces 6.1.1 Connection, Setting, and I/O Mapping6.1 Terminal Function 6.1.2 Explanation of Terminals Interface power supply inputs COMP1, COMN1 6.1.3 Electrical specificationsPosition command pulse inputs PUAIN ±, SDBIN ± 6 Control InterfacesCurrent limit analog input CRNTLMTIN ± 6.1.4 I/O logic setting6.3 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 6 Control Interfaces 6.4.3 Timing ChartsSelf-end type In case of self-end Non-end type6.5.5 Disable Position Control Integral Operation PACT 6.5.1 Pulse Weight Selection PLSDIRECT6.5.6 Error reset ERRRESET 6.5 Other Inputs6.5.8 Current Limit Input 6.5.7 Servo ON SERVO6 Control Interfaces 7.3 Communication Specifications 7.4 @ Commands 7.1 Overview 7.2 Connection and Setting7.5 Parameter Commands Chapter RS232C Interfaces7 RS232C Interfaces 7.2 Connection and Setting7.1 Overview Multi-channel 7 RS232C Interfaces 7.3 Communication SpecificationsCommunication parameters Single channel and multi-channelResponse character string Transmission character stringA response character string is structured as follows Response character strings are classified as follows7.4.4 Error reset @4 7.4 @ Commands7.4.1 Start @3 Field 7.4.2 Stop @27.4.6 Jog move command @11 Field 7.4.5 Homing offset position setting @107.4.7 Other convenient commands Software driver reset @967 RS232C Interfaces 7.5 Parameter CommandsChapter DrvGII PC Utility 8.2 Installation8.1 Overview 8.3 Preparation8.1 Overview 8 DrvGII PC Utility8.1.1 Overview of the Operation Menu 8.1.2 Overview of the Action Menu8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000 8.2 Installation8 DrvGII PC Utility Figure 8.3 “Setup Complete” dialog boxFigure 8.2 “Select Program Folder” dialog box Figure 8.4 “Version Information” dialog box 8.2.2 Starting the PC Utility8.3.1 Selecting a Communication Port 8.3 Preparation8.3.2 Selecting Channels 8 DrvGII PC UtilityFigure 8.7 “Communication string” dialog box 8.3.3 Displaying Communication Strings8 DrvGII PC Utility 8.3.4 Main MenuFigure 8.8 “MainMenu” dialog box 8.4.1 Terminal 8.4 Operation Menu1 Parameter/monitor 8 DrvGII PC UtilityFigure 8.10 “Parameter Monitor” dialog box 8-10Figure 8.11 “I/O Monitor” dialog box 2 I/O monitor8-11 DI status Red on Black off Gray nonexistent I/O point DO statusFigure 8.12 “Axis signal status” dialog box 4 Error or alarm monitor 3 Axis signal status displayFigure 8.13 “Error or Alarm” dialog box 8 DrvGII PC UtilityFigure 8.15 “Command Help” dialog box Figure 8.14 “Parameter/Monitor help” dialog box 6 Command help5 Parameter/monitor help 8-13Figure 8.16 “Servo Tuning” dialog box 1 Auto-tuning 8.4.2 Servo Tuning2 Manual tuning 8 DrvGII PC UtilityClicking the arrows at either end 8 DrvGII PC Utility 8.4.3 OscilloscopeThe oscilloscope displays time-series of parameter/monitor values Figure 8.18 “Oscilloscope” dialog box3 Select a trigger mode 8 DrvGII PC Utility 12 The displayed waveform can be reshaped using “Display position selection” and “Vertical axis range selection” in the Oscilloscope dialog boxFigure 8.20 “DriveMenu” dialog box 8.5 Action Menu8-19 8 DrvGII PC Utility 8.5.1 HomingFigure 8.21 “Homing” dialog box 1 Editing parameters 8-201 Set the motor to Servo ON see Chapter 8 DrvGII PC Utility 8.5.2 Jog MoveFigure 8.22 “JogMove” dialog box 1 Editing parameters 8-228.5.3 Test Operation 8.6.1 Parameter Manager 8.6 Data Management Menus8 DrvGII PC Utility Figure 8.24 “MachineParameterEdit” dialog box Editing 1 Editing machine parameters2 Uploading from the driver to a file 8-255 Resetting the communication 4 Displaying the file contents8 DrvGII PC Utility 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 DrvGII PC Utility 8.6.3 Pulse Set9.6 Parameter Settings Display 9.7 I/O Monitor Display 9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays9.8 Special Command Display Chapter Operation Display Pendant9 Operation Display Pendant 9.2 Features and Part Names9.1 Overview Parameter settings display# S/+ =/ N/P 9.3 Switching Displays#001+HOTErrEn -Mon- DATA N/P #001+HOTErrEn -Set- DATA N/P9 Operation Display Pendant 9.4 Terminal Mode DisplayS / + # 0 0 1 + H O T E r r E n 9.5 Parameter Monitor DisplayM o n D A T A9 Operation Display Pendant 9.6 Parameter Settings Display+ H O T E r r E n P L C 9.7 I/O Monitor DisplayI / O S E L9 Operation Display Pendant 9.8 Special Command DisplayC M D R e f E r r S t s S p c10.1 Maintenance and Inspection of the Motor Part Chapter Maintenance and Inspection10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup10.1 Maintenance and Inspection of the Motor Part 10 Maintenance and Inspection10.2 Maintenance and Inspection of the Driver Part 10.3 Replacing the Battery for Memory Backup10.4.1 Backup Operation 10.4 Backup and Restore Operations of Driver Memory Contents10 Maintenance and Inspection 10.4.2 Restore Operation10.5 Motor Problems and Corrective Actions 11.1 Standard Specifications 11.2 Torque - Speed Characteristics Chapter Specifications11.3 External Dimensions Unit mm 11-111.1 Standard Specifications 11 Specifications1 DM Series Motor 11-2Note A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec 11-32 DR Series Motor 11 Specifications11-4 Unit 11-54 Motor Environment Specification 11 Specifications5 Driver Part General Specifications 3 DR/5000 Series Motor11-7 6 Driver Function Specifications11 Specifications 11.2 Torque - Speed Characteristics1 DM Series 2 DR Series1 DM Series Motor 11.3 External Dimensions Unit mm1 Type A 2 Type B2 DR Series Motor 11 Specifications1 Type A 2 Type E 3 Type B1 U!!!!!!!A/B 3 Driver Section500W, Type B is shown in the figure 2 U!!!!!!!L3 U!!!!!!!K 11 Specifications2kW level with regenerative unit 11-1211-13 1 Restrictions on the motorMotor current No. of motor revolutions Average velocity/current duty2 Restrictions on the driver 11 Specifications11-14 Maximum velocity Velocity TimeParameter No Parameter ListParameter name Minimum valueOver-travel error function in the + direction Value causing an error detection in the +Parameter No Parameter nameMaximum value Parameter nameInitial 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 No Monitor ListMonitor 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 None368 Current command value D/A Unit digit 363 Velocity command value digital Unit 1/16 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 No Error/Alarm ListSTD1 NameMemoryError Error/Alarm DetailsInterfaceBoardError BatteryAlarmError number CoordinateErrorB CoordinateErrorAMonitorPulseError SlaveDriveErrorError number ServoNotReady Error number Error number Error number IllegalDevice Device conflict Error numberLong DeviceConflict