Manuals / Parker Hannifin / Computer Equipment / Computer Drive

Parker Hannifin G2 Servo Stiffness Parameter, Related parameters #38 Servo stiffness settings

Models: G2

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5.4.4Servo Stiffness Parameter

5.4.4Servo Stiffness Parameter

The #38 Servo stiffness settings parameter is for general settings for the control system. The control parameters are set based on this parameter after measuring the load inertia/load mass in the auto-tuning operation.

If #38 is changed, either one of the position control bandwidth parameters (#50, #48) selected by IN_FN and either one of the velocity control bandwidth parameters (#51, #49) selected by IN_GAIN are set. In addition, the gain of the control system is set automatically, and the position integral limiting value parameter (#53) is also automatically set to the minimum position integral limiting value that can generate the maximum torque and the maximum thrust in the motor lock status. It is not necessary to set parameters related to feed forward and filters again.

[Related parameters]

#38 Servo stiffness settings

#50 Position control bandwidth 1 #48 Position control bandwidth 2 #51 Velocity control bandwidth 1 #49 Velocity control bandwidth 2 #53 Position integral limiting value

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Parker Hannifin G2 manual Servo Stiffness Parameter, Related parameters #38 Servo stiffness settings

Contents

p/n 88-020389-01 A Dynaserv G2 DriveUser Guide AutomationIntroduction Precautions for Using this Technical ManualWarning about electric shock Regarding the safe usage of this deviceWarnings Warning about rotationPrecautions 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 ChapterChapter RS232C InterfacesChapter 8 DrvGII PC Utility @ Commands10-1 Chapter 10 Maintenance and InspectionChapter 11 Specifications Chapter 9 Operation Display Pendant1.1 About the DYNASERV DM/DR Series 1.2 About the DrvGII Type Driver 1.3 Product Configuration 1.4 Model Names and Codes1.5 Name and Function of Each Part 1.6 System Configuration Diagram Chapter Overview of the Product1.1 About the DYNASERV DM/DR Series 1 Overveiw of the Product1.2 About the DrvGII Type Driver 1 Overveiw of the Product 1.3 Product ConfigurationDriver part 2kW level With regenerative unit Connector for CN4 Regenerative terminal Connecto for CN2 Connector for CNA1 Motor 1.4 Model Names and Codes2 Driver series 1.5 Name and Function of Each Part1 Overveiw of the Product 1 Motor Part500W 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 InstallationAmbient air temperature during operation 2.2 Installation of the DriverShould not be installed in a sideways position Should not be installed upside down3.5 Wiring of Encoder Cable 3.6 Wiring of Controller Cable Chapter Connection and Wiring3.1 Diagram of Overall Connection 3.2 Cable Specification List 3.4 Wiring of Motor, AC Power Supply, and Ground 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 List2 DM Series motors models other than the above 3.3 Connection between Motor and Driver3 Connection and Wiring 1 DM Series DM1004B/1004C motorsMotor cable 3 DR Series motorsDriver part Motor part3 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 Example of sensor connection sensor EE-SX670 manufactured by Omron 3.7 Wiring of Sensor Brake Terminal3 Connection and Wiring Electrical specificationsMade 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 INMODE.1 DrvGII CN4 I/O 24V Specification4 Basic Settings for Operating the Motor INMODE.0DrvGII 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 Figure 4.3.5 “Version Information” dialog box 4.3.2 Startup4 Basic Settings for Operating the Motor “Startup”4.4.1 Selecting Communication Port 4.4 Preparation4.4.2 Selecting Channels 4-10 4.4.3 Displaying Communication Strings4 Basic Settings for Operating the Motor Figure 4.4.3 “Communication string” dialog boxFigure 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 MainMenu 4.7 Performing Homing Operation4 Basic Settings for Operating the Motor Click “Drive.” Click “Homing.”4 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 5.3 Coordinate System Chapter Functions5.1 Parameters and Monitors 5.2 Operation Functions5.1.1 General Parameters 5.1.2 Mechanical Setting Parameters5 Functions 5.1 Parameters and Monitors5.2.1 Jog Move 5.2 Operation Functionswill oscillate 5.2.3 Auto-Tuning Operation5.2.2 Test Operation 5 Functions5.2.4 Homing Move 6 Home position move 5 Functions4 First home sensing move 5 Second home sensing moveHardware zero signal type Operation example Home position proximity signal5 Functions Operation example5.3.1 5.2.5 Mechanical Setting ModeSwitching Position Command Pulse Weights Coordinate System5 Functions 5.4 Control System5-10 Related parameters #51 Velocity control bandwidth 5.4.1 Velocity Control PartFrequency characteristics of the first order delay compensation device5.4.3 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 Values6.4 Operations 6.2 Position Command Pulse Input 6.3 Encoder Pulse OutputChapter Control Interfaces 6.1 Terminal Function6 Control Interfaces 6.1.1 Connection, Setting, and I/O Mapping6.1 Terminal Function 6.1.2 Explanation of Terminals 6 Control Interfaces 6.1.3 Electrical specificationsInterface power supply inputs COMP1, COMN1 Position command pulse inputs PUAIN ±, SDBIN ±Current 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 Non-end type 6.4.3 Timing Charts6 Control Interfaces Self-end type In case of self-end6.5 Other Inputs 6.5.1 Pulse Weight Selection PLSDIRECT6.5.5 Disable Position Control Integral Operation PACT 6.5.6 Error reset ERRRESET6.5.8 Current Limit Input 6.5.7 Servo ON SERVO6 Control Interfaces Chapter RS232C Interfaces 7.1 Overview 7.2 Connection and Setting7.3 Communication Specifications 7.4 @ Commands 7.5 Parameter Commands7 RS232C Interfaces 7.2 Connection and Setting7.1 Overview Multi-channel Single channel and multi-channel 7.3 Communication Specifications7 RS232C Interfaces Communication parametersResponse character strings are classified as follows Transmission character stringResponse character string A response character string is structured as follows7.4.2 Stop @2 7.4 @ Commands7.4.4 Error reset @4 7.4.1 Start @3 FieldSoftware driver reset @96 7.4.5 Homing offset position setting @107.4.6 Jog move command @11 Field 7.4.7 Other convenient commands7 RS232C Interfaces 7.5 Parameter Commands8.3 Preparation 8.2 InstallationChapter DrvGII PC Utility 8.1 Overview8.1.2 Overview of the Action Menu 8 DrvGII PC Utility8.1 Overview 8.1.1 Overview of the Operation 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 DrvGII PC Utility 8.3 Preparation8.3.1 Selecting a Communication Port 8.3.2 Selecting ChannelsFigure 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 Menu8-10 8 DrvGII PC Utility1 Parameter/monitor Figure 8.10 “Parameter Monitor” dialog boxDI status Red on Black off Gray nonexistent I/O point DO status 2 I/O monitorFigure 8.11 “I/O Monitor” dialog box 8-118 DrvGII PC Utility 3 Axis signal status displayFigure 8.12 “Axis signal status” dialog box 4 Error or alarm monitor Figure 8.13 “Error or Alarm” dialog box8-13 Figure 8.14 “Parameter/Monitor help” dialog box 6 Command helpFigure 8.15 “Command Help” dialog box 5 Parameter/monitor help8 DrvGII PC Utility 8.4.2 Servo TuningFigure 8.16 “Servo Tuning” dialog box 1 Auto-tuning 2 Manual tuningClicking the arrows at either end Figure 8.18 “Oscilloscope” dialog box 8.4.3 Oscilloscope8 DrvGII PC Utility The oscilloscope displays time-series of parameter/monitor values3 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 8-20 8.5.1 Homing8 DrvGII PC Utility Figure 8.21 “Homing” dialog box 1 Editing parameters1 Set the motor to Servo ON see Chapter 8-22 8.5.2 Jog Move8 DrvGII PC Utility Figure 8.22 “JogMove” dialog box 1 Editing parameters8.5.3 Test Operation 8.6.1 Parameter Manager 8.6 Data Management Menus8 DrvGII PC Utility 8-25 1 Editing machine parametersFigure 8.24 “MachineParameterEdit” dialog box Editing 2 Uploading from the driver to a file3 Downloading from a file to the driver 4 Displaying the file contents5 Resetting the communication 8 DrvGII PC UtilityFigure 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 Set9.8 Special Command Display 9.1 Overview 9.2 Features and Part Names 9.3 Switching Displays9.4 Terminal Mode Display 9.5 Parameter Monitor Display 9.6 Parameter Settings Display 9.7 I/O Monitor DisplayTerminal mode display 9.2 Features and Part Names9 Operation Display Pendant 9.1 Overview#001+HOTErrEn -Set- DATA N/P 9.3 Switching Displays# S/+ =/ N/P #001+HOTErrEn -Mon- DATA N/P9 Operation Display Pendant 9.4 Terminal Mode DisplayS / + D A T A 9.5 Parameter Monitor Display# 0 0 1 + H O T E r r E n M o n9 Operation Display Pendant 9.6 Parameter Settings Display+ H O T E r r E n S E L 9.7 I/O Monitor DisplayP L C I / OS p c 9.8 Special Command Display9 Operation Display Pendant C M D R e f E r r S t s10.3 Replacing the Battery for Memory Backup Chapter Maintenance and Inspection10.1 Maintenance and Inspection of the Motor Part 10.2 Maintenance and Inspection of the Driver Part10.3 Replacing the Battery for Memory Backup 10 Maintenance and Inspection10.1 Maintenance and Inspection of the Motor Part 10.2 Maintenance and Inspection of the Driver Part10.4.1 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 Chapter Specifications11.1 Standard Specifications 11.2 Torque - Speed Characteristics 11.3 External Dimensions Unit mm11-2 11 Specifications11.1 Standard Specifications 1 DM Series MotorNote A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec 11-32 DR Series Motor 11 Specifications11-4 Unit 11-53 DR/5000 Series Motor 11 Specifications4 Motor Environment Specification 5 Driver Part General Specifications11-7 6 Driver Function Specifications2 DR Series 11.2 Torque - Speed Characteristics11 Specifications 1 DM Series2 Type B 11.3 External Dimensions Unit mm1 DM Series Motor 1 Type A2 Type E 3 Type B 11 Specifications2 DR Series Motor 1 Type A2 U!!!!!!!L 3 Driver Section1 U!!!!!!!A/B 500W, Type B is shown in the figure11-12 11 Specifications3 U!!!!!!!K 2kW level with regenerative unitAverage velocity/current duty 1 Restrictions on the motor11-13 Motor current No. of motor revolutionsMaximum velocity Velocity Time 11 Specifications2 Restrictions on the driver 11-14Minimum value Parameter ListParameter No Parameter nameParameter No Value causing an error detection in the +Brake turn OFF delay time upon Servo ON Over-travel error function in the + directionUnit Parameter nameMaximum value Initial valueParameter 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 Unit Monitor ListMonitor No Monitor name355 Monitor resolution 356 Digital velocity sensitivity Monitor detail 320 Pulse position command value Unit pulse 338 Zero signal status Unit None 349 Multi-channel communication slave code Unit None 347 Operation mode number Unit None355 Monitor resolution 348 Multi-channel communication status Unit None367 Velocity deviation digital Unit 1/16 digit 363 Velocity command value digital Unit 1/16 digit368 Current command value D/A Unit digit 361 Velocity ratio gain Unit x 1/100374 Acceleration feed forward command value Unit digit 390 Motor linear coordinate command differential value Unit pulse/∆T Name Error/Alarm ListError No STD1BatteryAlarm Error/Alarm DetailsMemoryError InterfaceBoardErrorError number SlaveDriveError CoordinateErrorACoordinateErrorB MonitorPulseErrorError number ServoNotReady Error number Error number Error number IllegalDevice DeviceConflict Error numberDevice conflict Long