Parker Aries AR-08AE User Manual
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Parker Aries AR-08AE User Manual

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  • Page 1 (217) 352-9330 | Click HERE Find the Parker / Compumotor AR-08AE at our website:...
  • Page 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Failure to do so can result in damage to equipment and/or serious injury to personnel. Aries Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

  • Page 4: Table Of Contents

    Aries Product Descriptions ...................... 2 Aries Names ..........................2 Input Power..........................2 Output Power Level ......................... 3 Options............................. 3 Compatible Parker Products ...................... 3 Checking Your Shipment......................4 Ship Kit Items........................... 4 Motors ............................4 Illustrations in this Installation Guide ..................5 Assumptions of Technical Experience ..................
  • Page 5 Motor with Full Wave Rectifiers ..................... 36 Motors without Full Wave Rectifiers ..................37 Relay Operation ........................38 Relay Specifications ......................38 Regeneration Protection......................39 Regeneration Connection ...................... 39 Internal Regeneration Capability ................... 40 LEDs⎯Drive Status Indicators....................41 Normal Operation ........................41 Internal Drive Faults.......................
  • Page 6 LEDs⎯Drive Status Indicators....................142 Normal Operation ........................ 142 Internal Drive Faults......................142 Establish Communications & Verify Drive Configuration............. 142 RS-232/485 Communication Problems.................. 143 Testing the COM Port ......................143 Error Messages ........................144 Smart Encoders........................147 Hall Sensor Configuration/Troubleshooting ................148 Troubleshooting Checklist ....................
  • Page 7 Table of Tables Table 1 Output Power Level....................... 3 Table 2 Ship Kit Items, AR-01xx through AR-13xx ..............4 Table 3 Ship Kit Items, AR-20xE and AR-30xE ................. 4 Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE..8 Table 5 Environmental Specifications, AR-13xx ................
  • Page 8 Table 53 LED Drive Over-Temperature Fault ................ 154 Table 54 Reset Temperature Values ..................155 Table 55 LED Under-Voltage Fault ..................155 Table 56 LED Over-Voltage Fault ..................156 Table 57 Simplified Selection of External Power-Dump Resistor .......... 160 Table 58 Drive Capacitor Absorption ..................163 Table 59 Drive Capacitor Absorption ..................
  • Page 9 Table of Figures Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor ....9 Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor ....10 Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor..11 Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor ..
  • Page 10 Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx..........181 Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE ..........182 Figure 55 Panel Layout Dimensions for the Aries Drive ............183 Figure 56 Servo Tuning Flow Diagram .................. 186 Figure 57 VM26 Breakout Module..................188 - ix - Artisan Technology Group - Quality Instrumentation ...
  • Page 11 Product Type........... Aries Family AR-01Ax, 02Ax, 04Ax, 08Ax, 13Ax, 20AE, and 30AE ..............Aries Family AR-01Sx, 02Sx, 04Sx, 08Sx, 13Sx, 20SE, and 30SE The above product complies with the requirements of directives: • EMC Directive 89/336/EEC • Low Voltage Directive 73/23/EEC •...
  • Page 12 Warning — Risk of damage and/or personal injury The Aries drives described in this guide contain no user-serviceable parts. Attempting to open the case of any unit, or to replace any internal component, may result in damage to the unit and/or personal injury. This may also void the warranty.

  • Page 13: Important User Information

    The information in this user guide, including any apparatus, methods, techniques, and concepts described herein, are the proprietary property of Parker Hannifin or its licensors, and may not be copied disclosed, or used for any purpose not expressly authorized by the owner thereof.

  • Page 14: Change Summary

    Change Summary Revision F Changes This document, 88-021610-01F, supercedes 88-021610-1E. Changes associated with Aries User Guide revisions, and document clarifications and corrections are as follows: Topic Description Command Reference Additions to ERES, SFB, and TREV commands for Aries Resolver option. Added commands.

  • Page 15: Revision D Changes

    Revision D Changes This document, 88-021610-01D, supercedes 88-021610-1C. Changes associated with Aries User Guide revisions, and document clarifications and corrections are as follows: Topic Description Regulatory Compliance Aries is no longer cUL compliant. Output Power Corrected to 14.07A Part Number In Appendix C, Table 62 Enclosure Mounting Clamps, corrected part number to read R CLAMP KIT.

  • Page 16: Revision B Changes

    Revision B Changes This document, 88-021610-01B, supercedes 88-021610-1A. Changes associated with Aries User Guide revisions, and document clarifications and corrections are as follows: Topic Description Fault Operation Enhancement: Added a discussion about fault operations for the connector. See Fault DRIVE I Operation on page 52.
  • Page 17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 18: Chapter 1 Introduction

    C H A P T E R O N E Introduction IN THIS CHAPTER Aries Products—Overview................Compatible Parker Products................ Checking Your Shipment ................Illustrations in this Installation Guide ............Assumptions of Technical Experience............Technical Support..................Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 19: Aries Products-Overview

    Aries Products—Overview The Aries drives are a family of super compact, super efficient digital servo drives. Their maximum continuous shaft power ranges from 100 Watts to 3000 Watts (3kW). Ready for direct panel mounting, you can select the precise power level needed for your application. Aries Product Descriptions Aries Servo Drives can control the torque, velocity, and position of servo motors using a digital current loop.

  • Page 20: Output Power Level

    For the latest additions, see our website at www.parkermotion.com Compatible Parker Products Servo Controller (±10V torque or velocity mode)....ACR series or other Parker controller Stepper Controller (S&D mode) ....ACR series or other Parker controller Software ..........Aries Support Tool For information about cables, motors, etc., see “Chapter 2 Mechanical...

  • Page 21: Checking Your Shipment

    88-021610-01 • Aries Support Tool Part number N/A Table 3 Ship Kit Items, AR-20xE and AR-30xE Motors You may have ordered a motor from one of the following families of Parker motors: • • SE/SM Series LXR Linear Series •...

  • Page 22: Illustrations In This Installation Guide

    Illustrations in this Installation Guide Typically, the illustrations in this guide show the Aries AR-01xx and the AR-30xE. These two models represent other models with similar features. AR-01xx represents models AR-01xx through AR13xE. Model AR-30xE represents the similar features of AR-20xE, as well. If there is a need to illustrate differences between drives, relevant drawings are shown for each drive.

  • Page 23: Chapter 2 Mechanical Installation

    C H A P T E R T W O Mechanical Installation IN THIS CHAPTER Environment & Drive Cooling............... Dimensions ....................Weight......................Mounting Guidelines .................. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 24: Environment & Drive Cooling

    Environment & Drive Cooling The Aries drive operates in an ambient temperature range of 0°C (32°F) to 45°C (113°F) ambient air temperature for all models except the AR-13xx. The AR-13xx operates in an ambient temperature range of 0°C (32°F) to 40°C (104°F) ambient air temperature.

  • Page 25: Cabinet Cooling

    AR-02xx The power dissipation in Table 6 for the AR-02xx has been measured using the Parker BE231D motor. - 8 - Aries User Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 26: Table 6 Ar-02Xx Power Dissipation

    Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor Shaft Power Voltage 200W 120 VAC 240 VAC * Drive enabled, zero torque. Table 6 AR-02xx Power Dissipation AR-08xx The power dissipation in Table 7 for the AR-08xx has been measured using the Parker BE343J motor.

  • Page 27: Table 7 Ar-08Xx Power Dissipation

    Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor Shaft Power Voltage 200W 700W 120 VAC 240 VAC * Drive enabled, zero torque. Table 7 AR-08xx Power Dissipation AR-13xx The power dissipation in Table 8 for the AR-13xx has been measured using the Parker MPM1421CSJXXXN motor.

  • Page 28: Table 8 Ar-13Xx Power Dissipation

    Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor Shaft Power Voltage 700W 1300W 120 VAC 130W 240 VAC 146W * Drive enabled, zero torque. Table 8 AR-13xx Power Dissipation AR-30xE The power dissipation in Table 9 for the AR-30xE has been measured using the Parker MPM1422CSJXXXN motor.

  • Page 29: Cabinet Cooling Calculations

    Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor Shaft Power Voltage 1500W 3000W 240 VAC 103W 172W * Drive enabled, zero torque. Table 9 AR-30xE Power Dissipation Cabinet Cooling Calculations Use the motor’s speed torque curve to determine the torque when the motor is at running speed for your application.

  • Page 30: Dimensions

    Dimensions There are three basic housing sizes for the Aries drives. However, the height of the heatsink fins varies with each model, except for the AR-20xE and AR-30xE whose dimensions are identical. This section contains the dimensions for all Aries models. Drive Dimensions—AR-01xx &...

  • Page 31: Drive Dimensions-Ar-04Xx, Ar-08Xx, & Ar-13Xx

    Drive Dimensions—AR-04xx, AR-08xx, & AR-13xx Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx Fin Height— Overall Width Overall Depth Drive in (mm) (OW)—in (mm) with Cables—in (mm) AR-04xx 0.625 (15.9) 2.90 (73.7) 7.60 (193.0) AR-08xx 1.00 (25.4) 3.28 (83.3) 7.60 (193.0) AR-13xx 2.00 (50.8)

  • Page 32: Drive Dimensions-Ar-20Xe & Ar-30Xe

    Drive Dimensions—AR-20xE & AR-30xE Figure 7 Drive mounting for the AR-20xE and AR-30xE Overall Depth Fin Height— Overall Width Drive with Cables—in in (mm) (OW)—in (mm) (mm) AR-20xE & 1.48 (37.5) 4.67 (118.5) 9.27 (235.5) AR-30xE Table 12 AR-20xE and AR-30xE Drive Dimensions Weight Use Table 13 to determine the weight of your drive.

  • Page 33: Mounting Guidelines

    Mounting Guidelines The Aries drive is a vented product. To prevent material spilling into the drive, mount it under an overhang or in a suitable enclosure. Aries products are made available under “Restricted Distribution” for use in the “Second Environment” as described in EN 61800-3 1996, page 9. Cable Routing Route high power cables (motor and mains) at right angles to low power cables (communications and inputs/outputs).

  • Page 34: Chapter 3 Electrical Installation

    C H A P T E R T H R E E Electrical Installation IN THIS CHAPTER Installation Safety Requirements............... System Installation Overview..............Power Supply..................... Multiple Drive Installations ................. Brake Relay (Optional) ................Regeneration Protection ................LEDs⎯Drive Status Indicators ..............Connector Descriptions ................

  • Page 35: Installation Safety Requirements

    Auto-Configuration for Encoders The Aries drive recognizes “smart encoders” attached to Parker motors. You can apply power to the drive, and the drive reads all necessary motor parameters from the motor. The drive and motor are then ready to use.

  • Page 36: System Installation Overview

    System Installation Overview The figures in this section illustrate the components necessary for electrical installation and configuration of the Aries drive. Figure 9 represents the installation of models AR-01xx through AR-13xx. Figure 11 shows the installation of models AR-20xE and AR-30xE, whose connectors differ from the other five models.

  • Page 37: Figure 10 Ar-01Xx To Ar-13Xx Factory Installed Jumpers

    To operate the Aries drive with separate control and motor AC input, remove the factory installed external jumpers. With the jumpers installed, apply power to the motor power mains only. Figure 10 shows the location of the factory installed jumpers. Figure 10 AR-01xx to AR-13xx Factory Installed Jumpers - 20 - Aries User Guide Artisan Technology Group - Quality Instrumentation ...

  • Page 38: Ar-20Xe And Ar-30Xe Installation

    AR-20xE and AR-30xE Installation Figure 11 Overview of System Installation for AR-20xE & AR-30xE Warning — This product has been developed for industrial environments. Due to exposed high voltage terminals, this product must not be accessible to users while under normal operation. Chapter 3 Electrical Installation - 21 - Artisan Technology Group - Quality Instrumentation ...

  • Page 39: Connector Locations

    To operate the Aries drive with separate control and motor AC input, remove the factory installed external jumpers. With the jumpers installed, apply power to the motor power mains only. Figure 12 shows the location of the factory installed jumpers. Figure 12 AR-20xE to AR-30xE Factory Installed Jumpers Connector Locations All Aries drive models have identical...

  • Page 40: Figure 13 Connectors On Aries Models Ar-01Xx To Ar-13Xx

    Figure 13 Connectors on Aries Models AR-01xx to AR-13xx Figure 14 Connectors on Aries Models AR-20xE & AR-30xE Chapter 3 Electrical Installation - 23 - Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 41: Power Supply

    Power Supply Input Power The mains motor power supply and control power supply for the Aries Drive must meet the following requirements. Model Requirements Motor Input Power AR-01xx, AR-02xx, AR-04xx, 120/240 VAC, 50/60 Hz, single phase AR-08xx, AR-13xx (L1, L2) AR-20xE 240 VAC, 50/60 Hz, single phase or (L1, L2, L3)

  • Page 42: Figure 16 Motor And Control Mains Power Supply Connection

    AC Power Supply Connection Figure 16 on page 19 shows how to connect the external 120/240 VAC motor power source and control power sources to the drive. • The AR-20xE can accept single-phase or three-phase 120V or 240V motor power. For single-phase connections, make no connection to terminal labeled L3.

  • Page 43: Table 14 Motor Power Fuse Information

    Warning — You must connect the drive’s protective conductor terminal, marked with the earth symbol , to a reliable system Protective Earth. Warning — The drive’s connector strip terminals have hazardous voltages when power is applied to the drive, and up to several minutes after power is removed. Lower voltages may still be present for several minutes after power is removed.

  • Page 44: Table 15 Fuse Part Numbers

    Table 15 lists part numbers (at time of publication) for suitable fuses from several manufacturers. These fuses are type RK5 (time delay fuses). Ferraz Shawmut Amps Bussmann Littelfuse (formerly Gould) FRN-R-10 TR10R FLNR10 FRN-R-20 TR20R FLNR20 FRN-R-30 TR30R FLNR30 FRN-R-40 TR40R FLNR40 Table 15 Fuse Part Numbers...

  • Page 45: Output Power

    Output Power Table 17 contains the continuous and peak output power ratings for all Aries drive models. Continuous Output Peak Output Drive Current (Amps, Shaft Power* Current Shaft Power RMS) (Watts, max) (Amps, RMS) (Watts, max) AR-01xx AR-02xx 1.75 5.25 AR-04xx 1200 AR-08xx...

  • Page 46: Table 18 Wiring To Motors

    Output Power Connection Figure 17 shows how to connect the motor cable to the drive. Use the screw terminal connector that is installed in the drive. Current Parker motor cables are marked with white numbers to indicate the phases. Connect Motor Phase...

  • Page 47: External Dc Link Inductor (Optional)

    Warning — The drive’s connector strip terminals have hazardous voltages when power is applied to the drive, and up to several minutes after power is removed. Lower voltages may still be present for several minutes after power is removed. During normal operation, these high voltage terminals must not be accessible to the user.

  • Page 48: Control Power Supply

    Control Power Supply With Mains power applied to the Control power terminals C1 and C2, the drive’s internal control board remains powered when the primary motor AC power source (L1, L2 (L3)) is disconnected. When operated in this configuration, the Control power input performs a “keep-alive” function. The keep-alive circuit maintains several important functions, including communications, diagnostics, position feedback, and other logic functions, while removing power from the motor output connection.

  • Page 49: Figure 19 Mains Control Input Power

    AR-20xE, AR-30xE Connector Type........Non-Removable screw terminal Terminals ........8 Pitch ...... 0.400 in (10 mm) Wire Range ....12-28 AWG ........14-29 SWG ........(0.12-3.30 mm Wire Strip length 0.250 in (6.35 mm) Control Power Connection Figure 19 shows how to connect the Control power source to the drive. Use the screw terminal connector that is supplied with the drive.

  • Page 50: Multiple Drive Installations

    Protective Earth ground. Safety Earth Connections AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx For multiple drive installations, Parker Hannifin recommends a single point or “star” safety earth configuration. Figure 20 represents a typical star safety earth connection for Aries models AR-01xx through AR-13xx.

  • Page 51: Figure 21 Multiple Drives Ar-20Xe & Ar-30Xe: Single Point Safety Earth

    Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth - 34 - Aries User Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 52: Brake Relay (Optional)

    Brake Relay (Optional) [The Brake Relay connection provides a safety feature for your motion control system, particularly for vertical applications. The drive acts as a control switch for the motor brake (if a brake is present). When 24V is applied from an outside power supply through the drive’s BK terminals, the motor brake is disabled.

  • Page 53: Motor With Full Wave Rectifiers

    During normal operation, these high voltage terminals must not be accessible to the user. Motor with Full Wave Rectifiers Some Parker brake motors (BE, SM, SE, NeoMetric, and J series motors, serial numbers greater than 010904xxxxx) contain full wave rectifiers, so connection polarity is not an issue during installation.

  • Page 54: Motors Without Full Wave Rectifiers

    Consult the specifications or the manufacturer of your motor. Connecting the Brake Relay 1. Connect one red/blue brake wire (Parker Motor cable or equivalent) to the BK terminal of the Motor connector (Aries drive). 2. Connect the second red/blue brake wire (Parker Motor cable or equivalent) to the 24V return on your power supply.

  • Page 55: Relay Operation

    Relay Operation Drive Condition Relay State Enabled Closed (conducting) Faulted Open No AC power on L1 and L2*, or drive not Open enabled * Mains Control power on C1 and C2 does not affect the relay. With mains power applied to C1 and C2, the relay remains open if AC power is not applied to the L1 and L2 terminals.

  • Page 56: Regeneration Protection

    Regeneration Protection The Aries drive models AR-20xE and AR-30xE have internal regeneration power dump (dissipation) resistors. Models AR-01xx through AR-13xx do not. However, all models can utilize an external regeneration resistor. Regeneration Connection To use a external regeneration (power dump) resistor, connect your external resistor to the R+ and R- terminals as follows: •...

  • Page 57: Internal Regeneration Capability

    Internal Regeneration Capability The internal regeneration resistor of the AR-20xE and AR-30xE is capable of dissipating 1kW for 1 second and up to 100 Watts continuously (depending upon heatsink temperature). If the calculated temperature of the internal regeneration resistor exceeds 150°C (302°F), the drive turns off the regeneration circuit and may experience an over-voltage fault.

  • Page 58: Leds⎯Drive Status Indicators

    LEDs⎯Drive Status Indicators The drive has two bi-color LEDs. The LED on the left displays yellow or green colors; The LED on the right displays red or green colors. The following tables describe LED illumination states and the conditions they indicate.

  • Page 59: Connector Descriptions

    Connector Descriptions Motor Mains Power Connector The drive’s Mains screw terminal connector provides a connection for AC Mains power to your drive. (For connection information, see “Input Power” on page 24.) The connector differs between the two largest Aries models and the others.

  • Page 60: Figure 26 Mains/Input Power Connector

    Mains/Input Power Connector AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx....Amphenol PCD: ELFA13210E Parker Hannifin Part Number....43-021069-01 Connector Type........Removable screw terminal Terminals ........7 Pitch ....0.200 in (5.08 mm) Wire Range ....12-26 AWG ........14-27 SWG ........(0.12-3.30 mm Wire Strip length .. 0.31 in (7.87 mm) Torque..7.0 in–lbs nom.

  • Page 61: Output Power Connector

    Output Power Connector The drive’s Motor screw terminal connector provides output power to your motor. (For connection information, see “Output Power” on page 28.) The connector differs between the two largest Aries models and the others. Specifications for the connectors follow in this section. On models AR-01xx through AR-13xx, the Motor connector also serves to connect an external motor brake to the drive’s internal solid-state relay (BK).
  • Page 62 ........(0.12-3.30 mm Wire strip length ..0.310 in (8 mm) Torque..7.0 in–lbs nom. (0.79 N-m) AR-20xE, AR-30xE ........ Molex: 39960-0110 Parker Hannifin Part Number....N/A (not replaceable) Connector Type........Non-Removable screw terminal Terminals ........10 Pitch ......0.315 in (8 mm) Wire range .....10-22 AWG...

  • Page 63: Ar-20Xe & Ar30Xe Control Connector

    “Brake Relay (Optional)” on page 35. Figure 28 AR-20xE & AR30xE Control Connector AR-20xE, AR-30xE ........ PCD: ELM021100 Parker Hannifin Part Number....N/A (not replaceable) Connector Type........Non-Removable screw terminal Terminals ........8 Pitch ...... 0.400 in (10 mm) Wire Range ....12-28 AWG ........14-29 SWG...

  • Page 64: Motor Feedback Connector

    Figure 29 connector, female drive connector pinout MOTOR FEEDBACK Important — Encoder inputs use a DS26LV32 differential line receiver. Parker Hannifin recommends 26LS31 (or compatible) differential line driven encoders. Single ended encoders are not compatible. Figure 30 connector, internal circuit diagram...

  • Page 65: Table 25 Inputs-Encoder Inputs Electrical/Timing Characteristics

    Pinout— Connector MOTOR FEEDBACK Note: A box surrounding pins indicates a requirement for twisted pair wiring. Signal Description ENC Z+ / Data+ Encoder Z Channel in ENC Z– / Data– Encoder Z Channel in DGND Encoder power return +5 VDC +5 VDC Encoder power +5 VDC +5 VDC Hall power...
  • Page 66 Connector Type........15-Pin High Density D-Subminiature (female socket) KYCON Part Number......K66-E15S-NR Connector Specification—Mating Connector Mating connectors are not provided with Aries drives. Parker cables are available with mating connectors attached. Manufacturer ........... AMP or equivalent Connector Type........15-Pin High Density D-Subminiature (male connector) Cable Kit..........

  • Page 67: Motor Feedback Connector-Resolver

    Motor Feedback Connector—Resolver Inputs for the encoder feedback, motor thermal switch, and hall effects are located on the 15-pin Motor Feedback connector. Figure 31 connector, female drive connector pinout MOTOR FEEDBACK Figure 32 connector for resolver option, internal circuit diagram MOTOR FEEDBACK - 50 - Aries User Guide Artisan Technology Group - Quality Instrumentation ...

  • Page 68: Drive I/O Connector

    Pinout— Connector for Resolver Option MOTOR FEEDBACK Note: A box surrounding pins indicates a requirement for twisted pair wiring. Signal Description No connection — No connection — Thermal- Motor thermal switch/thermistor Reference+ Resolver excitation signal Reference- Resolver excitation signal No connection —...

  • Page 69: Table 28 Fault Output Operation

    • Fault output is optically isolated with both Collector (+) and Emitter (–) available. No Optical Isolation The following describes which I/O signals are not optically isolated: • Step and Direction inputs are 5V differential compatible (RS-422 logic level compatible. •...

  • Page 70: Figure 34 Drive I / O Connector, Internal Circuit Diagram

    Figure 34 connector, internal circuit diagram DRIVE I Chapter 3 Electrical Installation - 53 - Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 71: Table 29 Drive I / O Connector Pinout

    Pinout— Connector DRIVE I Note: A box surrounding pins indicates a requirement for twisted pair wiring. Signal Description ENABLE+ Drive Enable input anode ENABLE– Drive Enable input cathode DGND Digital ground ENC A+ Encoder A Channel out ENC A– Encoder A Channel out ENC B+ Encoder B Channel out ENC B–...

  • Page 72: Table 30 Inputs-Enable And Reset Electrical/Timing Characteristics

    Inputs—Enable, Reset The drive Enable and Reset inputs are optically isolated inputs. Current is limited internally for input voltage control of 5 to 24 volt logic. The Anode (+) and Cathode (−) are on separate connector pins to allow significant flexibility in wiring to different styles of interface.

  • Page 73: Table 33 Inputs-Step & Direction Electrical/Timing Characteristics

    Connector Type........26-Pin High Density D-Subminiature (female socket) KYCON Part Number......K66-A26S-NR Connector Specification—Mating Connector Mating connectors are not provided with Aries drives. Parker cables are available with mating connectors attached. Manufacturer ........... AMP or equivalent Connector Type........26-Pin High Density D-Subminiature (male connector) Cable Kit..........

  • Page 74: Installation Test

    Installation Test Once you have made the necessary mechanical and electrical connections, you can test the drive. The Aries Support Tool contains the Auto Run Test Wizard, which exercises basic functions of the Aries drive. You must do the following before testing the drive: •...

  • Page 75: Chapter 4 Communications

    C H A P T E R F O U R Communications IN THIS CHAPTER Terminal Emulator Configuration............... Establishing Communications ..............RS-232 Communications................RS-485 Communications................RS-485 Multi-Drop ..................RS-232/485 Dongle for Communications Setup ........Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 76: Rs-232/485 Communications

    RS-232/485 Communications The Aries drive has a single serial port, located on the connector on DRIVE I the front of the unit. This chapter refers to it as the COM port. The Aries drive uses ASCII and the RS-232 or RS-485 communication protocols. Terminal Emulator Configuration RS-232 RS-485 *...

  • Page 77: Communications

    Depending on the communications protocol you are using, Aries can automatically configure itself. • If using RS-232, Aries will automatically detect and configure itself for that communications protocol. • If using RS-485 (two-wire) and the standard bias configuration, Aries will automatically detect and configure itself for that communications protocol.

  • Page 78: Multi-Drop

    Figure 36 RS-485 Multi-drop Connections RS-485 Multi-Drop RS-485 multi-drop lets you connect up to 99 Aries drives together (see Figure 36). Every drive is factory configured with a default address—zero (0). Using the ADDR command, you can assign a unique address to each drive. You must address each drive individually before connecting it to the multi- drop network.

  • Page 79: Rs-232/485 Dongle For Communications Setup

    Warning — Risk of damage and/or personal injury When testing the installation of drives, use safe methods suitable for your particular application. Replacing a Unit in the Network If you need to replace a drive, do the following: 1. Remove the old unit from the network. 2.

  • Page 80: Chapter 5 Tuning

    CHAPTER FIVE Tuning IN THIS CHAPTER Servo Tuning Overview ................Position Variable Overview................ Servo Response Overview ................ Servo System Gains .................. Servo Tuning Example ................Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 81: Servo Tuning Overview

    Servo Tuning Overview The drive uses a digital control algorithm to control and maintain the position and velocity. The digital control algorithm consists of a set of numerical equations used to periodically (once every servo sampling period) calculate the value of the control output. The numerical terms of the equations consist of the current commanded and actual position values (including a few from the previous sampling period), and a set of control parameters.

  • Page 82: Position Variable Overview

    Position Variable Overview In a servo system, the controller uses two types of position information: commanded position and actual position. As these positions change with time, you can use the position values to determine if the system is positioning as you expect. Commanded Position The commanded position is calculated by the motion profile routine from the controller and it is updated every servo sampling period.

  • Page 83: Servo Response Overview

    commanded position. Under these circumstances, a position error will accumulate no matter how high the gains are set. Servo Response Overview Stability The first objective of tuning is to stabilize the system. The formal definition of system stability is when a bounded input is introduced to the system, the output of the system is also bounded.

  • Page 84: Performance Measurements

    Response Description Profile (position/time) Critically A critically-damped damped response is the most desirable because it optimizes the trade-off between damping and speed of response. Oscillatory An oscillatory response is characterized by a sustained position oscillation of equal amplitude. Chattering Chattering is a high- frequency, low- amplitude oscillation that is usually audible.

  • Page 85: Servo System Gains

    Servo System Gains Proportional Feedback Control (SGP) Proportional feedback is the most important feedback for stabilizing a servo system. When the controller uses proportional feedback, the control signal is linearly proportional to the position error (the difference between the commanded position and the actual position—see TPER command). The proportional gain is set by the Servo Gain Proportional (SGP) command.

  • Page 86: Controlling Integral Windup

    Controlling Integral Windup If you are using integral control (SGI) and there is an appreciable position error that persists long enough during the transient period (time taken to reach the setpoint), the control signal generated by the integral action can end up too high;...

  • Page 87: Figure 40 Integrator Windup (Using The Sgilim Command)

    Figure 40 Integrator Windup (using the SGILIM Command) - 70 - Aries User Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 88: Servo Tuning Example

    Servo Tuning Example The example below illustrates how to experimentally obtain the highest possible proportional feedback (SGP) and velocity feedback (SGV) gains. For a Servo Tuning flow diagram, see “Appendix A Additional Specifications” on page 152. The motion command used for this example is a step command with a step size of 200.
  • Page 89 Step 3 Step 3 With SGV equal to 2, the response is fairly well damped (see plot). At this point, the SGP should be raised again until oscillation or excessive overshoot appears. Step 4 As we iteratively increase to 5, overshoot and chattering becomes significant (see plot).
  • Page 90 Step 6 Lowering the SGV gain to 3 does not help reduce the chattering by much. Therefore, we should lower the SGP gain until chattering stops. Step 7 Chattering stops after reducing the gain to 4 However, the overshoot is still a little too high.
  • Page 91 Step 9 After lowering the SGV gain to 3 (even less than in Step 7—3.5), chattering stops. Next we should lower the SGP gain. Step 10 Overshoot is reduced very little after lowering the SGP gain to 3.5. (The SGV gain might have been lowered too much in Step 9.) Next, we should try raising...

  • Page 92: Auto-Tuning

    Auto-Tuning The Aries drive can automatically determine the inertia of the load attached to the motor. This is performed by applying a specified torque to the motor and measuring the acceleration and deceleration of the motor. From this, the Aries drive can calculate the load inertia and store the value in the LJRAT command.

  • Page 93: Chapter 6 Command Reference

    CHAPTER SIX Command Reference IN THIS CHAPTER Description of Format ................Syntax – Letters and Symbols..............Syntax – General Guidelines..............Command Descriptions ................Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 94: Aries Communications Set-Up

    Aries Communications Set-up Before you can communicate with the Aries drive, you must configure your terminal emulator. You can use HyperTerminal or an equivalent terminal emulator. For information about setting up communications, see “RS-232/485 Communications” on page 56. Description of Format ERES Encoder Resolution Encoder Configuration...

  • Page 95: Syntax - Letters And Symbols

    Syntax – Letters and Symbols The command descriptions provided within this manual use alphabetic letters and ASCII symbols within the Syntax description (see example below) to represent different parameter requirements. ERES Encoder Resolution Encoder Configuration Type Product → <a_>ERES<i> Aries Syntax Rotary motor: i = counts/revolution Units...

  • Page 96: Syntax - General Guidelines

    Syntax – General Guidelines Guideline Topic Guideline Examples Command Delimiters All commands must be separated (<cr> and <lf>) by a delimiter. A carriage return is the most commonly used. Neutral Characters Using neutral characters Set velocity limit to 100 rps: anywhere within a command will (<sp>) DMVLIM<sp>1ØØ<cr>...

  • Page 97: Command Descriptions

    Command Descriptions You can use the ASCII commands, provided in this chapter, to configure, check errors, and reset the Aries drive through a terminal emulator. A terminal emulator, however, is not required, Instead, you can use the Aries Supp0ort Tool software to perform the same operations. Note: The Aries Support Tool does not support the CMDDIR and ADDR commands.
  • Page 98 represents the address of the new unit. Then connect the drive to the network. Note: All command responses on an RS-485 network are preceded by <*>. ALIGN Align encoder Drive configuration Type Product <a_>ALIGN Aries Syntax Units Range Default none Response DMODE DRIVE...
  • Page 99 ANICDB Analog Input Center Deadband Drive Configuration Type Product <a_>ANICDB<r> Aries Syntax r = volts Units Ø.ØØ to 1Ø.ØØ Range Ø.Ø4 Default ANICDB: *ANICDBØ.Ø4 Response DCMDZ DMTSCL TANI See Also The ANICDB allows the user to specify the voltage deadband for the command input.
  • Page 100 CERRLG Clear the Error Log Error Handling Type Product <a_>CERRLG Aries Syntax Units Range Default Response CONFIG ERRORL ERROR TANI TDHRS TDMIN See Also TDSEC TDTEMP TERRLG TMTEMP TVBUS The CERRLG command erases the stored contents of the error log. Clearing the error log is a helpful diagnostic tool;...

  • Page 101: Figure 41 Clockwise/Counter-Clockwise Rotation

    Rotary Motors—Positive values represent clockwise motion and negative values represent counter-clockwise motion (assuming CMDDIR = Ø, and that you connected the feedback device according to instructions provided in “Chapter 2 Figure 41 Clockwise/ Mechanical Installation” and “Chapter 3 Electrical Counter-clockwise rotation Installation”).

  • Page 102: Table 42 Configuration Errors And Warnings

    Error Resolution E9—Peak Current = Ø This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTIP) E1Ø—Use Drive Continuous The continuous current of the motor is higher than Current the continuous current rating of the drive.
  • Page 103 DCMDZ Zero the Drive Command Offset Drive Configuration Type Product <a_>DCMDZ=<r> Aries Syntax r = volts Units -1Ø.ØØ to 1Ø.ØØ Range Ø.ØØ Default Response ANICDB DMODE TANI See Also The DCMDZ command sets the zero point for the command input. When in torque/force mode (DMODE2), this will minimize motor drift.

  • Page 104: Table 43 Current Foldback Ratings

    DIFOLD Current Foldback Enable Drive Configuration Type Product <a_>DIFOLD<b> Aries Syntax b = enable bit Units Ø (disable) or 1 (enable) Range Default DIFOLD: <*>Ø Response none See Also The DIFOLD command enables (1) or disables (Ø) the drive’s current foldback protection feature.

  • Page 105: Figure 43 Linear Motor Track

    DMEPIT Motor Electrical Pitch Motor (Linear only) Type Product <a_>DMEPIT<r> Aries Syntax r = millimeters Units Ø to 3ØØ.ØØ : ±Ø.Ø1 Range Ø Default DMEPIT: <*>4Ø.ØØ Response ERES See Also Note: This command does not take effect until you cycle power to the drive, or send the command.

  • Page 106: Table 44 Drive Control Mode

    DMODE Mode Description Autorun Rotates the motor at 1 rps/mps. Current is reduced by 10%. Torque/Force Allows direct control of rotary motor Control torque, or linear motor force. Feedback Alignment Auto-configure for feedback setup. Velocity Control Allows direct control of rotary or linear motor velocity.
  • Page 107 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 108 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 109 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.

  • Page 110: Table 45 Peak Current Rating For Aries Drives

    Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 111 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 112 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 113 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 114 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 115 When you select a specific Parker motor using the Aries Support Tool, the DMTR setting and various motor parameters (see Servo Motor Data Parameters below) are automatically configured for the associated motor. Using the Aries Support Tool, you can save the parameters in a configuration file.
  • Page 116 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 117 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 118 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 119 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 120 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 121 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to 4.00—you must manually set this parameter to a non-zero number.

  • Page 122: Figure 44 Notch Filter Topology

    Figure 44 Notch Filter Topology The graphs below illustrate the transfer function for the magnitude and phase of the notch filter command output torque/force vs. the notch filter command input torque/force. In this example, the notch depths are set to .3, .6, and .9 (DNOTAD.3, DNOTAD.6, DNOTAD.9).

  • Page 123: Figure 46 Notch Filter A

    Figure 46 Notch Filter A These filters operate in all DMODE settings, except Autorun (DMODE1). DNOTAQ Notch Filter A Quality Factor Tuning Type Product <a_><!>DNOTAQ<r> Aries Syntax r = quality factor Units Ø.5 to 2.5 Range Default DNOTAQ: *DNOTAQ1.5 Response DNOTAD DNOTAF DNOTBD...
  • Page 124 DNOTBF Notch Filter B Frequency Tuning Type Product <a_><!>DNOTBF<i> Aries Syntax i = Hz Units Ø (disable), or 6Ø-1ØØØ Range Ø (filter is disabled) Default DNOTBF: *DNOTBF2ØØ Response DNOTAD DNOTAF DNOTAQ DNOTBD DNOTBQ, See Also DNOTLD DNOTLG The DNOTBF command sets the center frequency for notch filter B. Setting this to 0 disables the filter.

  • Page 125: Figure 47 Notch Lead Filter Break Frequency

    filter. The DNOTLG lag filter must be configured before the DNOTLD lead filter is configured. The DNOTLD value must be less than or equal to 4 times the DNOTLG (notch lag frequency) value; otherwise, the new DNOTLD value will be ignored (but not overwritten), the configuration warning bit (E17) will be set, and the last valid DNOTLD value will be used internally.
  • Page 126 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 127 DRES Drive Resolution Drive configuration Type Product <a_>DRES<i> Aries 2.10 Syntax i = Input Step Resolution Units 200 to 10737141823 Range 4000 Default DRES: <*>0 Response CMDDIR DMPSCL See Also The DRES command is only used in step and direction mode (DMODE6 and 7).
  • Page 128 • If operating in the FLTDSB1 mode and the drive received a DRIVEØ command or the hardware enable input was opened. DTHERM Thermal Switch Checking motor Type Product <a_>DTHERM<b> Aries Syntax b = enable bit Units Ø(enable) or 1(disable) Range Ø...
  • Page 129 See Also The ENCOFF command specifies the encoder offset. All standard (non-smart) Parker encoders have an encoder offset of 0 degrees. The smart encoders store the encoder offset in the motor, which the drive reads (and stores in the ENCOFF parameter) upon power-up. The offset can vary from –180 degrees (corresponding to ENCOFF=-32768) to +180 degrees...
  • Page 130 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor. If you did not use the Aries Support Tool, are using non-Parker motors, or sent an RFS command to the drive, the parameter is set to zero (0)—you must manually set this parameter to a non-zero number.
  • Page 131 ..............MPMxxxxxxxxJLxx: ERES10000 ..............MPMxxxxxxxxJPxx: ERES12000 ..............MPMxxxxxxxxJQxx: ERES20000 ..............MPMxxxxxxxxJTxx: ERES24000 ..............MPMxxxxxxxxJXxx: ERES4096 ..............MPMxxxxxxxxJYxx: ERES8192 ..............MPMxxxxxxxxJZxx: ERES16384 Note: Motors with the Smart Encoder option set ERES automatically. Changing the ERES value may cause unpredictable motor responses. Note: ERES is fixed at 4096 for Aries drives with Resolver option.
  • Page 132 Error Description E25—Excessive Command The command voltage (at the ANI+ terminal) was Voltage at Enable too high when the drive was enabled. Lower the voltage at the ANI+ terminal. Try using the fault on startup voltage. (FLTSTP) E26—Drive Faulted The drive is faulted. E27—Bridge Hardware Fault Excessive current or short on the H-bridge.

  • Page 133: Table 46 Error Status Text Based Report

    Error Description E52-Encoder Loss Fault The drive determined there was loss of feedback. Check the feedback wiring. (TPE, THALL) ⎯ Table 46 Error Status Text Based Report ERRORL Error Log Selection Error Handling Type Product <a_>ERRORL<b><b>...<b><b> (32 bits) Aries Syntax b = enable bit Units Ø...
  • Page 134 ESTORE Store smart encoder data Motor configuration Type Product <a_>ESTORE Aries Syntax Units Range Default <*>Storing Response <*>Stored Motor configuration commands See Also The ESTORE command is used to store all relevant motor configuration data to the smart encoder. If changes are made to the motor configuration (for example, if the current loop gains are tuned higher for the application), you can store the changes by typing ESTORE into the terminal and pressing Enter.
  • Page 135 FLTSTP Fault on Excessive Startup Voltage Drive Configuration Type Product <a_>FLTSTP<r> Aries Syntax Volts Units Ø to 1ØV Range 1ØV Default FLTSTP: <*>1 Response DMODE See Also Use the FLTSTP command to set the threshold for the Fault on excessive startup voltage.
  • Page 136 IAUTO Automatically determine Current Loop Gains Tuning Type Product <a_>IAUTO<b> Aries Syntax none Units 0 (disable) or 1 (enable) Range Default IAUTO: <*>1 Response PGAIN IGAIN DIBW See Also The IAUTO command allows the drive to automatically determine the current loop gains according to the bandwidth set via the DIBW command, and the motor parameters (Resistance and Inductance).
  • Page 137 INPOSDB In-Position Deadband Drive Configuration Type Product <a_>INPOSDB<i> Aries Syntax i = deadband in counts Units Ø-32767 Range Ø Default INPOSDB: <*>Ø Response INPOSTM INPOS TPER See Also Use the INPOSDB command to specify the deadband in encoder counts for the In-Position command.
  • Page 138 • Rotary Motors— LJRAT = load inertia / motor rotor inertia (Total system inertia = load inertia + motor rotor inertia) • Linear Motors— LJRAT = load mass / forcer mass (Total system mass = load mass + forcer mass) OHALL Hall-Only Commutation Drive configuration...
  • Page 139 P163 Hall direction P163 Drive configuration Type Product <a_>P163<i> Aries Syntax i = hall direction Units 0 (Halls count 623154623… as encoder counts +ve) Range 1 (Halls count 326451326… as encoder counts +ve) Default P163: <*>0 Response ENCOFF SHALL CMDDIR ENCPOL IANI See Also...
  • Page 140 Use the PSET command to offset the current absolute position to establish an absolute position reference. All PSET values entered are in counts. The PSET command will define the present commanded position (TPC) to be the absolute position entered. Example PSETØ...
  • Page 141 program files to your drive. (Remember to reset the drive to invoke new configuration settings). Set Feedback Type Drive configuration Type Product <a_>SFB<i> Aries Syntax i = feedback source Units 0 (unknown) Range 1 (OS 1.0,2.0: Standard Encoder OS2.10 or greater: Auto-Detect) 2 (OS 2.10 or greater: specify Standard Encoder) 3 (OS 3.10 or greater: Resolver option identified)
  • Page 142 accuracy is achieved with proportional gain (SGP), then the integral gain (SGI) need not be used. If the integral gain is set too high relative to the other gains, the system may become oscillatory or unstable. The integral gain can also cause excessive position overshoot and oscillation if an appreciable position error has persisted long enough during the transient period (time taken to reach the position setpoint);...
  • Page 143 stabilize the system and speed up the response. It can also be used to reduce the steady state position error. When the proportional gain (SGP) is used alone (i.e., the other gain terms are set to zero), setting this gain too high can cause the system to become oscillatory, under damped, or even unstable.
  • Page 144 current setting of both the motor and load viscous damping terms (DMTD) as shown in the equation below. ⋅ Estimated velocity torque DMTD velocity command SGVF value 100% Setting SGVF to one (1) theoretically produces zero (0) following errors during the constant velocity portion of a move profile.
  • Page 145 SMPER Maximum Allowable Position Error Servo Type Product <a_>SMPER<i> Aries Syntax i = Feedback device steps Units Ø to 2,147,483,647 Range 4ØØØ Default SMPER: <*>4ØØØ Response ERES TPER See Also This command is only valid in (position mode). SMPER allows DMODE6 you to set the maximum position error allowed before an error condition occurs.
  • Page 146 If the SMVER value is set to zero (SMVERØ), the velocity error condition is not monitored, allowing the velocity error to accumulate without causing a fault. STATUS Status (full-text report) Transfer Type Product <a_>STATUS Aries Syntax Units Range Default STATUS: <*>GENERAL: Response <*>...
  • Page 147 Transfer Commanded Current Transfer Type Product <a_>TCI Aries Syntax Amps Units Range Default TCI: <*>5.ØØ Response DMTIC DMTICD DMTIP TDICNT TDIMAX See Also The TCI command reports the commanded motor current in amps (peak of sine). TDHRS Transfer Operating Hours Transfer Type Product...
  • Page 148 TDIMAX Transfer Maximum Current Rating Transfer Type Product <a_>TDIMAX Aries Syntax Amps rms Units Range Default TDIMAX: <*>1Ø Response DMTIC DMTICD DMTIP TDICNT See Also The TDIMAX command reports the maximum current rating of the drive in amps rms. TDMIN Transfer Operating Minutes Transfer Type...
  • Page 149 TDTEMP Transfer Drive Temperature Transfer Type Product <a_>TDTEMP Aries Syntax Degrees Celsius Units Range Default TDTEMP: <*>5Ø Response STATUS TERRLG See Also The TDTEMP reports the measured temperature (internal) of the drive. TERRLG Transfer Error Log Transfer Type Product <a_>TERRLG Aries Syntax Units...
  • Page 150 THALL values Ø and 7 are invalid and will fault the drive, and report E37–Bad Hall State. For a complete description on how to troubleshoot Hall sensors, especially for non-Parker Hannifin motors, see Hall Sensor Configuration/Troubleshooting on page 147. Note: For auto-configured “smart encoders”, the THALL only reports the initial hall state of the encoder when power is applied.
  • Page 151 In OS 2.10, If DMTSWT equals 3, and the thermal temperature is greater than 60°C, TMTEMP reports the higher of the motor model thermistor temperature or the NTC thermistor temperature. If you are using a non-Parker motor, the TMTEMP value depends on parameters you supply for DMTRWC, DMTTCM and DMTTCW. TOUT...
  • Page 152 Transfer Position Commanded Transfer Type Product <a_>TPC Aries Syntax Encoder counts Units -2147483648 to +2147483647 Range Default TPC: <*> Ø Response ERES, TPE, SMPER See Also This command is only valid in (velocity mode) and DMODE4 DMODE6 (position mode). This command allows you to display the commanded position.
  • Page 153 The Aries Resolver option reflects the Resolver feedback capability by stating ‘Aries Resolver’ in the software revision reportback instead of ‘Aries’. Updating the drive’s operating system: The operating system file is located in the “Support & Downloads” section on the Parker Hannifin Motion Online website (www.parkermotion.com). TSSPD...
  • Page 154 TTRQ Transfer Commanded Torque/Force Transfer Type Product <a_>TTRQ Aries Syntax Newton Meters (Rotary) or Newtons (Linear) Units -DMTLIM TO +DMTLIM ± Ø.Ø1 Range Default TTRQ: <*>1.2Ø Response DMODE DMTLIM DMTSCL TTRQA See Also The TTRQ command reports the commanded motor torque/force. TTRQA Transfer Actual Torque/Force Transfer...

  • Page 155: Figure 48 Clockwise/Counter-Clockwise Rotation

    TVEL Transfer Current Commanded Velocity Transfer Type Product <a_>TVEL Aries Syntax Revolutions per second or meters per second Units Range Default TVEL: <*> 1.55 Response CMDDIR DMEPIT DMVLIM IANI TVELA See Also This command is only valid in (velocity mode) and DMODE4 DMODE6 (position mode).
  • Page 156 TVER Transfer Current Commanded Velocity Error Transfer Type Product <a_>TVER Aries Syntax Revolutions per second or meters per second Units Range Default TVER: <*> 1.55 Response DMEPIT DMVLIM, TVELA, TVEL See Also This command is only valid in (velocity mode) and DMODE4 DMODE6 (position mode).
  • Page 157 CHAPTER SEVEN Troubleshooting IN THIS CHAPTER Troubleshooting Guidelines ..............LEDs ......................142 RS-232/485 Communication Problems ........... Smart Encoders ..................• Note: The CMDDIR is fixed for smart encoders. To invert the direction, use IANI1; however, for the ACR9000 do not use IANI1. Hall Sensor Configuration/Troubleshooting..........

  • Page 158: Chapter 7 Troubleshooting

    Troubleshooting Guidelines If your system is not functioning properly, try the following steps. First Troubleshooting Steps (verify LEDs) • Is the Right LED illuminated? If not, look for problems with AC power. Check the AC power source. Also check connections at the L1, L2, and terminals of the motor mains connector, and at the C1 and C2 terminals of the control mains connector).

  • Page 159: Leds⎯Drive Status Indicators

    LEDs⎯Drive Status Indicators The drive has two bi-color LEDs. The LED on the left displays yellow or green colors; The LED on the right displays red or green colors. The following tables describe LED illumination states and the conditions they indicate.

  • Page 160: Rs-232/485 Communication Problems

    Reconfigure the Drive To verify proper configuration, you may wish to reconfigure the drive. Pay particular attention to selecting proper configuration settings for the motor that you have installed, as motor configuration problems can cause a variety of errors. Download the new configuration to the drive; the changes take effect after you send the RESET command or cycle power.

  • Page 161: Error Messages

    Error Resolution Invalid COM port number Select a different COM port Unable to open COM port No COM port has been specified, or the COM port is being used by other software. Select a different COM port. No response from Aries Power is not supplied to the drive, the drive drive is not powered up, the power connection is...
  • Page 162 Error Resolution EØ—Motor Configuration The motor rating is too high for the drive, and the Warning drive is using its own limits for safety reasons. E1—Motor Configuration Error One of the motor parameters is set to zero (0). Look at the additional errors to find which parameters are set at zero (0).
  • Page 163 Error Resolution E14 – Damping = Ø This parameter is set to zero (0). The drive will not enable Velocity or Position Modes. To correct the error, you must set to a non-zero value. Refer to your motor specifications for the correct value. (DMTD) E15 –...

  • Page 164: Smart Encoders

    3. Apply power to the Aries drive. a. Send the SFB command. It should report 5. If the response is not <*>5, then check the feedback cable (if using a non-Parker cable, check that it is correctly wired). If the cable is correctly wired and connected, the problem might be the encoder.

  • Page 165: Hall Sensor Configuration/Troubleshooting

    Hall Sensor Configuration/Troubleshooting This section can help resolve a “Bad Hall State” error. Use the Troubleshooting Checklist (below) to determine the cause of the error. This section will assist you in resolving a Hall fault (ERROR bit E37-Bad Hall State). Several problems can cause a Hall fault. The following list will help identify these problems.

  • Page 166: Figure 49 Hall Connection Diagram

    Procedure 1 Use this procedure to connect your motor wires to the Aries. 1. With the motor’s feedback cable connected to the Aries drive, randomly connect two motor power wires and slowly apply a positive voltage with respect to the third. Note: A variable low voltage (5 to 24V) current limiting (less than continuous current rating of motor) power supply is preferred.
  • Page 167 Procedure 2 Use this procedure to connect your Hall wires to the Aries. 1. First operate the drive in DMODE1 and verify that the motor turns clockwise. If not, swap any two motor wires. 2. Remove the motor power leads, leaving the feedback cable connected to the Aries drive.

  • Page 168: Table 51 Configuring Hall Sensors

    Phase Hall State Correct Use SHALL1 – – – – – – – – – Table 51 Configuring Hall Sensors Figure 50 illustrates the alignment of phases U, V, and W with Halls 1, 2, and 3 as viewed from the front of the shaft. The illustration assumes the following: •...

  • Page 169: Appendix A Additional Specifications

    APPENDIX A Additional Specifications IN THIS CHAPTER Amplifier ....................Feedback ....................Protective Circuits..................Cables...................... Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 170: Amplifier

    Amplifier Control Power: all models....120/240 VAC Single Phase Mains Control Power AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx ......Single Phase AC Input, 120/240 VAC 16 or 32 kHz switching frequency (motor dependant), pulse-width modulated (PWM) with 3-phase motor output Current Loop Update Rate......

  • Page 171: Protective Circuits

    Protective Circuits Short Circuit Protection The Aries drive has an internal circuit that protects it from short circuits between one motor terminal to another (phase to phase), or from any motor terminal to earth. Short Circuit Fault—Cause ..... Phase-to-phase short circuit Phase-to-earth short circuit Results of Fault ........

  • Page 172: Under-Voltage Protection

    Resetting the fault After the internal temperature has dropped below the values shown in Table 54, you can clear the latched fault. There are two methods available: ► Cycle power to the Aries drive. –or– ► Open the Aries Support Tool. Then select Operating System Update from the menu and click Reset Drive.

  • Page 173: Over-Voltage Protection

    Over-Voltage Protection The Aries drive’s over-voltage circuit protects the drive from excessive regeneration. If the voltage on the motor output terminals rises above the threshold voltage, the drive issues an over-voltage fault and turns off power to the motor output terminals (Motor connector). This allows the motor to freewheel to a stop.

  • Page 174: Current Foldback

    Figure 51 Time until current foldback occurs Cables EMC Ready Cables Many Parker cables are EMC installation ready. If installed according to instructions provided under “A Highly-Immune, Low-Emission Installation – Meeting the Requirements of the Electromagnetic Compatibility (EMC) Directive” on page 176, these cables are designed to aid the user in gaining European Compliance, and are thus an integral part of a CE system solution.

  • Page 175: Appendix B External Power-Dump Resistor Selection

    APPENDIX B External Power Dump Resistor Selection IN THIS CHAPTER Simplified Resistor Selection ..............Calculating Resistance—Rotary Motors..........Resistor Specifications ................Calculating Resistance—Linear Motors ..........Resistor Specifications ................Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 176: External Power-Dump Resistor Selection

    Table 57 contains recommended power-dump resistors for specific Aries drive and Parker Hannifin motor combinations. The recommendations are based on the calculations presented in the section titled “Calculating Resistance—Rotary Motors”. These recommendations assume a worst-case load-to-rotor inertia ratio of 10 to 1, maximum duty cycle and maximum deceleration from maximum velocity for that specific motor/drive pairing.

  • Page 177: Table 57 Simplified Selection Of External Power-Dump Resistor

    Drive Motor Resistor Resistor Isotek Part Number Voltage Rating rating (Resistance (Continuous —Ohms) Power— Watts) SM162Z BRK-100R-10-L2, 4 AR-01xx BE164B See note1 SM162Z See note1 SM161A See note1 SM162A See note1 SM230A See note1 AR-02xx SM231A BRM-47R0-10-L2, 4 SM232A BRM-47R0-10-L2, 4 BE230D See note1 BE231D...

  • Page 178: Calculating Resistance-Rotary Motors

    Calculating Resistance—Rotary Motors Because there are different types of motion profiles and application specific conditions, you may need to modify the results to suit your particular application. To keep it simple, the formulas assume a trapezoidal move profile, in which the deceleration event is a single constant deceleration to zero (0) velocity.

  • Page 179: Energy Absorbed By Drive Capacitors

    Where potential energy (Joules) mass of forcer and load (kg) gravitational constant (9.81 m/s vertical height change during deceleration (m) Energy Absorbed by Drive Capacitors The Aries drive’s capacitors can store energy. With motor deceleration, the drive capacitors absorb some of the kinetic and potential energy. While the capacitors absorb energy, the bus voltage increases.

  • Page 180: Energy Dissipated In Motor Winding Resistance

    Capacitance (120 VAC) (240 VAC) Drive TRIP (uF) (VDC) Joules Joules AR-01xx AR-02xx AR-04xx AR-08xx 1100 AR-13xx 1590 AR-20xE 2240 AR-30xE 2240 When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the power dump resistor. Table 58 Drive Capacitor Absorption Energy Dissipated in Motor Winding Resistance Some energy is dissipated in the motor windings.

  • Page 181: Energy Dissipated In Load

    Energy Dissipated in Load The load dissipates energy through friction losses, viscous damping, and other motor/load related losses. These losses are known as load losses. If some of the parameters are not known, the energy dissipated in the load (E can conservatively be assumed zero (0).

  • Page 182: Resistor Specifications⎯Rotary Motors

    Resistor Specifications⎯Rotary Motors Having determined the amount of energy to dump (E ), you can then calculate the resistor specifications. • Maximum resistance • Peak dissipation • Average dissipation Maximum Resistance This calculation determines the maximum value of resistance needed for the external power-dump resistor.
  • Page 183 capabilities of the resistor, which is typically 10 times the average power rating. PEAK Where = peak power into the external power dump resistor (Watts) PEAK energy to be dissipated in the external resistor (Joules) deceleration time (Seconds) Average Dissipation Repetitive moves need to dump the energy each time the deceleration occurs.

  • Page 184: Calculating Resistance-Linear Motors

    Calculating Resistance—Linear Motors Because there are different types of motion profiles and application specific conditions, you may need to modify the results to suit your particular application. To keep it simple, the formulas assume a trapezoidal move profile, in which the deceleration event is a single constant deceleration to zero (0) velocity.
  • Page 185 Where Ep = potential energy (Joules) mass of forcer and load (kg) gravitational constant (9.81 m/s2) vertical height change during deceleration (m) Energy Absorbed by Drive Capacitors The Aries drive’s capacitors can store energy. With motor deceleration, the drive capacitors absorb some of the kinetic and potential energy. While the capacitors absorb energy, the bus voltage increases.

  • Page 186: Energy Dissipated In Motor Winding Resistance

    Capacitance (120 VAC) (240 VAC) Drive TRIP (uF) (VDC) Joules Joules AR-01xx AR-02xx AR-04xx AR-08xx 1100 AR-13xx 1590 AR-20xE 2240 AR-30xE 2240 When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the power dump resistor. Table 59 Drive Capacitor Absorption Energy Dissipated in Motor Winding Resistance Some energy is dissipated in the motor windings.

  • Page 187: Energy Dissipated In Load

    Energy Dissipated in Load The load dissipates energy through friction losses, viscous damping, and other motor/load related losses. These losses are known as load losses. If some of the parameters are not known, the energy dissipated in the load (E can conservatively be assumed zero (0).

  • Page 188: Resistor Specifications⎯Linear Motors

    Resistor Specifications⎯Linear Motors Having determined the amount of energy to dump (ER), you can then calculate the resistor specifications. • Maximum resistance • Peak dissipation • Average dissipation Maximum Resistance This calculation determines the maximum value of resistance needed for the external power-dump resistor.
  • Page 189 PEAK Where peak power into the external power dump resistor (Watts) PPEAK= ER = energy to be dissipated in the external resistor (Joules) tD = deceleration time (Seconds) Average Dissipation Repetitive moves need to dump the energy each time the deceleration occurs.

  • Page 190: Appendix C Regulatory Compliance-Ul And Ce

    APPENDIX C Regulatory Compliance UL and CE IN THIS CHAPTER System Installation Overview..............General Safety Considerations..............General EMC Considerations..............Installing the Aries Drive ................Regulatory Agencies................Standards of Compliance ................ Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 191: System Installation Overview

    It should be stressed that although these recommendations are based on the expertise acquired during the design and development of the Aries products, and on tests carried out on similar products, it is impossible for Parker to guarantee compliance of any particular installation. This will be strongly influenced by the physical and electrical details of the installation and the performance of other system components.

  • Page 192: Installing The Aries Drive

    Installing the Aries Drive Only qualified, skilled electrical technicians familiar with local safety requirements should install this product. For service, the drive must be returned to an authorized service center. There are no user serviceable parts inside the chassis. In certain circumstances, opening the cover may void the product warranty.
  • Page 193 must not exceed 0.1 Ohm, and must be capable of carrying 25A of Fault Current. • Motor safety earth conductor (for motor voltages greater than or equal to 75 volts) must be connected to the drive’s Motor Earth terminal, marked with •...

  • Page 194: Figure 52 360° Bonding Techniques

    Figure 52 360° Bonding Techniques All braid termination connections must remain secure. For small diameter cables, it may be necessary to fold back the braid to increase the effective diameter of the cable so that R-Clamps are secure. Within the cabinet itself, all the motor cables should lie in the same trunking as far as possible.

  • Page 195: Table 60 Control Power Filter Selection

    Filter Manufacturer 6EP1 (160937-5) Corcom 10EP1 (160937-7) Corcom FN2070-10/06 Schaffner 1. Available from Parker: 10 Amp filter—part number 47-016140-01 16 Amp filter—part number 47-017900-01 Table 60 Control Power Filter Selection Mains Motor Power Filter Continuous Current 01xx...
  • Page 196 The selected cable must have a temperature rating which is adequate for the expected operating temperature of the motor case. All cables must maintain high integrity 360 degree shielding. Parker CE cables are fully shielded and provide the required screening. When you install limit switches and other inputs/outputs, you must observe these noise immunity procedures and practices.

  • Page 197: Table 62 Enclosure Mounting Clamps

    Some installations may require that you take additional EMC measures. To further increase product immunity and reduce product emissions, you may add clip-on ferrite absorbers to all cables. Parker recommends ferrites with at least 200 ohm impedance at 100 MHz, such as the...

  • Page 198: Figure 53 Typical Lvd/Emc Installation, Ar-02Xx To Ar-13Xx

    Panel Installation, AR-02xx to AR-13xx Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx Warning — This product has been developed for industrial environments. Due to exposed high voltage terminals, this product must not be accessible to users while under normal operation. Appendix C Regulatory Compliance–UL and CE - 181 - Artisan Technology Group - Quality Instrumentation ...

  • Page 199: Figure 54 Typical Lvd/Emc Installation, Ar-20Xe & Ar-30Xe

    Panel Installation, AR-20xE & AR-30xE Aries models AR-20xE and AR-30xE require 240 VAC input power and three-phase wiring. Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE Warning — This product has been developed for industrial environments. Due to exposed high voltage terminals, this product must not be accessible to users while under normal operation.

  • Page 200: Panel Mounting

    Panel Mounting The mounting clearance requirements are the same for all Aries drive models. They are shown in Figure 55. Figure 55 Panel Layout Dimensions for the Aries Drive Appendix C Regulatory Compliance–UL and CE - 183 - Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 201: Regulatory Agencies

    Regulatory Agencies The Aries family of products is designed to meet the requirements of global regulatory agencies. Aries products have shown compliance with the regulatory agencies in the following list. The list also shows additional steps users must take to ensure compliance.

  • Page 202: Appendix D Servo Tuning Flow Diagram

    APPENDIX D Servo Tuning Flow Diagram IN THIS CHAPTER Appendix D Servo Tuning Flow Diagram ..........Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 203: Servo Tuning Flow Diagram

    Servo Tuning Flow Diagram Figure 56 Servo Tuning Flow Diagram - 186 - Aries Hardware Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 204: Appendix E Vm26 Expansion Module

    A P P E N D I X E VM26 Expansion Module IN THIS CHAPTER Overview ....................188 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 205: Overview

    Overview The VM26 expansion module provides screw-terminal connections for the Drive I/O connectors on the Aries drive. The VM26 comes with a 2-foot cable (609.6 mm) that provides easy connection between the VM26 module and the drive’s 26-pin I/O connectors. The VM26 expansion module is ordered separately (part number “VM26-PM”).

  • Page 206: Index

    ..............7 binary value identifier (b).........79 current foldback brake enable/disable (DIFOLD) ......87, 157 brake relay ............35 overview ............157 non-Parker motors ..........37 damping output delay (OUTBD) ........121 servo Parker motors .............36 motor ............90 bus voltage, report (TVBUS)........137 DC link inductor ............30 cables deadband (ANICDB)..........
  • Page 207 position report error (TPER) .......135 jumper wires, pre-installed ........ 20, 22 resolution (ERES) ..........113 lead/lag filters encoder offset ............112 lag ..............108 environment............. 7 lead ..............107 epitch (DMEPIT)............88 LEDs ...............41, 142 error line feed, command delimiters ......... 79 clear log (CERRLG) ..........83 linear motor pitch (DMEPIT) ........
  • Page 208 output power ............28 wiring ............59, 60 outputs RS-485 status (TOUT) ...........134 communications..........60 override mode............104 dongle ............... 62 over-temperature limits..........154 multi-drop network ..........61 over-voltage protection..........156 wiring ............59, 60 peak current, motor (DMTIP) ........93 scaling performance ............153 force command..........100 pole pairs, motor (DPOLE) ........109 torque command (DMTSCL) ......
  • Page 209 commanded velocity, feedback device (TVEL) ..138 operating hours (TDHRS) ........130 encoder position (TPE) ........135 operating milliseconds (TDSEC) ......131 encoder position error (TPC) ......135 operating minutes (TDMIN) ....... 131 error log (TERRLG)..........132 output status (TOUT) ........134 full text report (STATUS) ........129 position commanded (TPC) .......

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