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Parker Hannifin G2 manual Control System, Functions, 5-10

Models: G2

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5.4Control System

5Functions

5.4Control System

In this section, the position control part, velocity control part, and feed forward of the driver are explained. The block diagram of the control system is shown below.

Feed forward

Position

Velocity

control part

control part

＃56

Acceleration

＃364

feed forward

Velocity

Velocity feed

＃55

command value

after filtering

forward

Integral main

(digital)

＃365

＃54

switch

＃363

Velocity error

Position feed

＃50

Velocity value

(digital)

＃155

forward

(digital)

＃361←＃51

＃48

＃387

＃152

＃153，＃154

＃360

＋

＃221

＃49

＋

Motor linear

＋

Proportio

＋

Velocity

＋

Velocity

＋

First order delay

Notch

Motor

coordinate

nal

command

proportional

compensation

mechanical

filter 2Ch

command

－

control

＋

filter

－

gain

device setting

system

＃53

value

＋

＃366

←

＋

Integral

Position

Velocity

Velocity

Velocity current

integral

control

feedback filter

sensor

－

limiting value

value

＃365

Differential

after filtering

＃219，＃220

Velocity current value

＃356

＃389

feedback

＃388

Motor linear

Motor linear coordinate

＃355

coordinate

current position

Position

deviation

＃59

＃203

＃321

sensor

Pulse position current value

Position

current

value filter

＃384

＃320

Motor linear coordinate

Pulse position command value

current value after filtering

－

＋

＃322

Pulse position deviation

Motor

position

5-10

Image 64

Parker Hannifin G2 manual Control System, Functions, 5-10

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 Product1 Motor 1.4 Model Names and Codes2 Driver 1.5 Name and Function of Each Part 1 Overveiw of the Product1 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 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 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 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 3.7 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 4.3.1 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 4.3.2 Startup 4 Basic Settings for Operating the Motor“Startup” Figure 4.3.5 “Version Information” dialog box4.4.1 Selecting Communication Port 4.4 Preparation4.4.2 Selecting Channels 4.4.3 Displaying Communication Strings 4 Basic Settings for Operating the MotorFigure 4.4.3 “Communication string” dialog box 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 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 operation4.8.1 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 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 Functions 5.4 Control System5-10 5.4.1 Velocity Control Part Frequency characteristics of the first orderdelay compensation device 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 Functions6.2 Position Command Pulse Input 6.3 Encoder Pulse Output Chapter Control Interfaces6.1 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 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 ±6.3 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 6.4.3 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 Inputs6.5.8 Current Limit Input 6.5.7 Servo ON SERVO6 Control Interfaces 7.1 Overview 7.2 Connection and Setting 7.3 Communication Specifications 7.4 @ Commands7.5 Parameter Commands Chapter RS232C Interfaces7 RS232C Interfaces 7.2 Connection and Setting7.1 Overview 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/NT4.0/20008 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 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 box8 DrvGII PC Utility 8.3.4 Main MenuFigure 8.8 “MainMenu” dialog box 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 UtilityFigure 8.20 “DriveMenu” dialog box 8.5 Action Menu8-19 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 8.6.1 Parameter Manager 8.6 Data Management Menus8 DrvGII PC Utility 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 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 Utility9.1 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/P9 Operation Display Pendant 9.4 Terminal Mode DisplayS / + 9.5 Parameter Monitor Display # 0 0 1 + H O T E r r E nM o n D A T A9 Operation Display Pendant 9.6 Parameter Settings Display+ H O T E r r E n 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 sec2 DR Series Motor 11 Specifications11-4 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