Parker AR-04 Series Manuals

Manuals and User Guides for Parker AR-04 Series. We have 1 Parker AR-04 Series manual available for free PDF download: User Manual

Parker AR-04 Series User Manual (210 pages)

Brand: Parker | Category: Servo Drives | Size: 4 MB

User Information
3
Technical Assistance
3
Table of Contents
4
Important User Information
13
Change Summary
14
Revision F Changes
14
Revision E Changes
14
Revision D Changes
15
Revision C Changes
15
Revision B Changes
16
Chapter One
18
Chapter 1 Introduction
18
Aries Products-Overview
19
Aries Product Descriptions
19
Aries Names
19
Input Power
19
Output Power Level
20
Options
20
Compatible Parker Products
20
Table 1 Output Power Level
20
Checking Your Shipment
21
Ship Kit Items
21
Motors
21
Table 2 Ship Kit Items, AR-01Xx through AR-13Xx
21
Table 3 Ship Kit Items, AR-20Xe and AR-30Xe
21
Illustrations in this Installation Guide
22
Assumptions of Technical Experience
22
Technical Support
22
Chapter Two
23
Chapter 2 Mechanical Installation
23
Environment & Drive Cooling
24
Cabinet Cooling
25
Table 4 Environmental Specifications, AR-01Xx through AR-08Xx, AR-20Xe and AR-30Xe
25
Table 5 Environmental Specifications, AR-13Xx
25
Table 6 AR-02Xx Power Dissipation
26
Figure 1 Cabinet Losses for AR-02Xx When Connected to a Parker BE231D Motor
26
Table 7 AR-08Xx Power Dissipation
27
Figure 2 Cabinet Losses for AR-08Xx When Connected to a Parker BE343J Motor
27
Table 8 AR-13Xx Power Dissipation
28
Figure 3 Cabinet Losses for AR-13Xx When Connected to a Parker MPM1421CSJ Motor
28
Cabinet Cooling Calculations
29
Table 9 AR-30Xe Power Dissipation
29
Figure 4 Cabinet Losses for AR-30Xe When Connected to a Parker MPM1422CSJ Motor
29
Dimensions
30
Drive Dimensions-AR-01Xx & AR-02Xx
30
Table 10 AR-01Xx and AR-02Xx Drive Dimensions
30
Figure 5 Drive Mounting for the AR-01Xx & AR-02Xx
30
Drive Dimensions-AR-04Xx, AR-08Xx, & AR-13Xx
31
Table 11 AR-01Xx , AR-02Xx, & AR-13Xx Drive Dimensions
31
Figure 6 Drive Mounting for the AR-04Xx, AR-08Xx, and AR-13Xx
31
Drive Dimensions-AR-20Xe & AR-30Xe
32
Weight
32
Table 12 AR-20Xe and AR-30Xe Drive Dimensions
32
Table 13 Drive Weight
32
Figure 7 Drive Mounting for the AR-20Xe and AR-30Xe
32
Mounting Guidelines
33
Cable Routing
33
Panel Mounting
33
Figure 8 Panel Layout Dimensions for Aries Drives
33
Chapter Three
34
Chapter 3 Electrical Installation
34
Installation Safety Requirements
35
Precautions
35
Auto-Configuration for Encoders
35
System Installation Overview
36
AR-01Xx, AR-02Xx, AR-04Xx, AR-08Xx, & AR-13Xx Installation
36
Figure 9 Overview of System Installation for AR-01Xx to AR-13Xx
36
Figure 10 AR-01Xx to AR-13Xx Factory Installed Jumpers
37
Power Supply
37
AR-20Xe and AR-30Xe Installation
38
Figure 11 Overview of System Installation for AR-20Xe & AR-30Xe
38
Connector Locations
39
Figure 12 AR-20Xe to AR-30Xe Factory Installed Jumpers
39
Figure 13 Connectors on Aries Models AR-01Xx to AR-13Xx
40
Figure 14 Connectors on Aries Models AR-20Xe & AR-30Xe
40
Power Supply
41
Input Power
41
Figure 15 Input Power Requirements
41
AC Power Supply Connection
42
Figure 16 Motor and Control Mains Power Supply Connection
42
Table 14 Motor Power Fuse Information
43
Table 15 Fuse Part Numbers
44
Table 16 Drive Motor Power Inrush Current
44
Output Power
45
Table
45
Table 17 Output Power-Continuous and Peak
45
Motor Connector
45
Table 18 Wiring to Motors
46
Figure 17 Output Power Connection
46
External DC Link Inductor (Optional)
47
Table 19 AR-20Xe & AR-30Xe DC Link Inductors
47
Figure 18 External DC Link Inductor Connection
47
Control Power Supply
48
Figure 19 Mains Control Input Power
49
Multiple Drive Installations
50
Safety Earth Connections
50
Figure 20 Multiple Drives AR-01Xx to AR-13Xx: Single Point Safety Earth
50
Figure 21 Multiple Drives AR-20Xe & AR-30Xe: Single Point Safety Earth
51
Brake Relay (Optional)
52
Figure 22 Typical Brake Relay Connection
52
Motor with Full Wave Rectifiers
53
Motors Without Full Wave Rectifiers
54
Figure 23 Brake Relay Connection for Parker Motors
54
Figure 24 Brake Relay Connection for Non-Parker Motors
54
Relay Operation
55
Relay Specifications
55
Table 20 Brake Relay Operation
55
Regeneration Protection
56
Regeneration Connection
56
Figure 25 External Regeneration Connection
56
Internal Regeneration Capability
57
Table 21 Regeneration Absorption
57
Leds⎯Drive Status Indicators
58
Normal Operation
58
Internal Drive Faults
58
Connector Descriptions
59
Motor Mains Power Connector
59
Figure 26 Mains/Input Power Connector
60
Output Power Connector
61
Figure 27 Output ( MOTOR ) Power Connector
61
AR-20Xe & Ar30Xe Control Connector
63
Figure 28 AR-20Xe & Ar30Xe Control Connector
63
Motor Feedback Connector
64
Figure 29 MOTOR FEEDBACK Connector, Female Drive Connector Pinout
64
Figure 30 MOTOR FEEDBACK Connector, Internal Circuit Diagram
64
Table 25 Inputs-Encoder Inputs Electrical/Timing Characteristics
65
Motor Feedback Connector-Resolver
67
Figure 31 MOTOR FEEDBACK Connector, Female Drive Connector Pinout
67
Figure 32 MOTOR FEEDBACK Connector for Resolver Option, Internal Circuit Diagram
67
Drive I/O Connector
68
Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option
68
Table 27 Resolver Excitation
68
Fault Operation
69
Table 28 Fault Output Operation
69
Figure 33 DRIVE I / O Connector, Female Drive Connector Pinout
69
Figure 34 DRIVE I / O Connector, Internal Circuit Diagram
70
Table 29 DRIVE I / O Connector Pinout
71
Table 30 Inputs-Enable and Reset Electrical/Timing Characteristics
72
Table 31 Outputs-Encoder Outputs Electrical/Timing Characteristics
72
Table 32 Outputs- Fault Outputs Electrical/Timing Characteristics
72
Table 33 Inputs-Step & Direction Electrical/Timing Characteristics
73
Table 34 Inputs-Analog Electrical/Timing Characteristics
73
Installation Test
74
Testing the Aries Drive
74
C H a P T E R F O U R
75
Chapter 4 Communications
75
RS-232/485 Communications
76
Terminal Emulator Configuration
76
Establishing Communications
76
Table 35 Terminal Emulator Configuration for RS-232/485 Communication
76
Figure 35 RS-232/485 Connections
76
Communications
77
Table 36 RS-232 Connector Pinout
77
Table 37 RS-485 Connector Pinout
77
Multi-Drop
78
Figure 36 RS-485 Multi-Drop Connections
78
RS-232/485 Dongle for Communications Setup
79
Chapter 5 Tuning
80
Servo Tuning Overview
81
Figure 37 Closed Loop and Open Loop System Comparison
81
Position Variable Overview
82
Commanded Position
82
Actual Position
82
Figure 38 Commanded Position
82
Servo Response Overview
83
Stability
83
Position Response Types
83
Performance Measurements
84
Table 38 Position Response Types
84
Servo System Gains
85
Proportional Feedback Control (SGP)
85
Velocity Feedback Control (SGV)
85
Integral Feedback Control (SGI)
85
Controlling Integral Windup
86
Figure 39 Integrator Windup (Without Using SGILIM Command)
86
Figure 40 Integrator Windup (Using the SGILIM Command)
87
Servo Tuning Example
88
Auto-Tuning
92
Chapter 6 Command Reference
93
Aries Communications Set-Up
94
Description of Format
94
Table 39 Commands-Description of Format
94
Syntax - Letters and Symbols
95
Table 40 Commands-Syntax
95
Syntax - General Guidelines
96
Table 41 Syntax Guidelines
96
Command Descriptions
97
Figure 41 Clockwise/Counter-Clockwise Rotation
101
Table 42 Configuration Errors and Warnings
102
Table 43 Current Foldback Ratings
104
Figure 42 Time until Current Foldback Occurs
104
Figure 43 Linear Motor Track
105
Table 44 Drive Control Mode
106
Table 45 Peak Current Rating for Aries Drives
110
Figure 44 Notch Filter Topology
122
Figure 45 Notch Filter Magnitudes
122
Figure 46 Notch Filter a
123
Figure 47 Notch Lead Filter Break Frequency
125
Table 46 Error Status Text Based Report
133
Table 47 Error Log Enable/Disable
133
Figure 48 Clockwise/Counter-Clockwise Rotation
155
Chapter 7 Troubleshooting
158
Troubleshooting Guidelines
158
First Troubleshooting Steps (Verify Leds)
158
General Troubleshooting Procedure
158
Leds⎯Drive Status Indicators
159
Normal Operation
159
Table 22 LED Status Indicator-Normal Operation
159
Internal Drive Faults
159
Table 23 LED Status Indicator-Internal Drive Fault
159
Establish Communications & Verify Drive Configuration
159
Save the Configuration File
159
RS-232/485 Communication Problems
160
Testing the COM Port
160
Table 48 Terminal Emulator Configuration for RS-232/485 Communication
160
Error Messages
161
Table 49 Communications Port Errors and Resolutions
161
Smart Encoders
164
Table 50 Error Messages
164
Hall Sensor Configuration/Troubleshooting
165
Troubleshooting Checklist
165
Possible Problems
165
Figure 49 Hall Connection Diagram
166
Table 51 Configuring Hall Sensors
168
Figure 50 Motor Terminal Voltages (Back EMF) and Hall Sensor Signals
168
Appendix A Additional Specifications
169
Amplifier
170
Feedback
170
Protective Circuits
171
Short Circuit Protection
171
Drive Over-Temperature Protection
171
Table 52 LED Short Circuit Fault
171
Table 53 LED Drive Over-Temperature Fault
171
Under-Voltage Protection
172
Table 54 Reset Temperature Values
172
Table 55 LED Under-Voltage Fault
172
Over-Voltage Protection
173
Table 56 LED Over-Voltage Fault
173
Current Foldback
174
Cables
174
EMC Ready Cables
174
Non-EMC Cables
174
Figure 51 Time until Current Foldback Occurs
174
Appendix B External Power-Dump Resistor Selection
175
External Power-Dump Resistor Selection
176
Simplified Resistor Selection
176
Table 57 Simplified Selection of External Power-Dump Resistor
177
Calculating Resistance-Rotary Motors
178
Total Kinetic Energy
178
Total Potential Energy
178
Energy Absorbed by Drive Capacitors
179
Energy Dissipated in Motor Winding Resistance
180
Table 58 Drive Capacitor Absorption
180
Energy Dissipated in Load
181
Energy to Dissipate in the External Power-Dump Resistor
181
Resistor Specifications⎯Rotary Motors
182
Resistor Specifications
182
Calculating Resistance-Linear Motors
184
Total Potential Energy
184
Energy Dissipated in Motor Winding Resistance
186
Table 59 Drive Capacitor Absorption
186
Energy Dissipated in Load
187
Resistor Specifications⎯Linear Motors
188
Resistor Specifications
188
Appendix C Regulatory Compliance-UL and CE
190
System Installation Overview
191
General Safety Considerations
191
General EMC Considerations
191
Installing the Aries Drive
192
Figure 52 360° Bonding Techniques
194
Table 60 Control Power Filter Selection
195
Table 61 Mains Motor Power Filter Selection
195
Table 62 Enclosure Mounting Clamps
197
Figure 53 Typical LVD/EMC Installation, AR-02Xx to AR-13Xx
198
Figure 54 Typical LVD/EMC Installation, AR-20Xe & AR-30Xe
199
Panel Mounting
200
Figure 55 Panel Layout Dimensions for the Aries Drive
200
Regulatory Agencies
201
Standards of Compliance
201
Table 63 Regulatory Agencies
201
Appendix D Servo Tuning Flow Diagram
202
Servo Tuning Flow Diagram
203
Figure 56 Servo Tuning Flow Diagram
203
Appendix E VM26 Expansion Module
204
Overview
205
Figure 57 VM26 Breakout Module
205
Index
206

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