Parker Hannifin User Information Warning — Aries Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel.
Parker Hannifin Table of Contents User Information ............................................................................................................................ 2 Table of Contents .......................................................................................................................... 3 Table of Tables............................................................................................................................... 5 Table of Figures ............................
Parker Hannifin RS-232/485 Communication Problems.................................................................................. 159 Error Messages ...................................................................................................................... 160 Smart Encoders...................................................................................................................... 163 Hall Sensor Configuration/Troubleshooting ...........................................................
Parker Hannifin Table of Tables Table 1 Output Power Level..................................................................................................... 18 Table 2 Ship Kit Items, AR-01xx through AR-13xx .................................................................. 19 Table 3 Ship Kit Items, AR-20xE and AR-30xE ....................................................................... 19 Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE...
Parker Hannifin Table 53 LED Drive Over-Temperature Fault ........................................................................ 170 Table 54 Reset Temperature Values ..................................................................................... 171 Table 55 LED Under-Voltage Fault ........................................................................................ 171 Table 56 LED Over-Voltage Fault ..........................................................................................
Parker Hannifin Table of Figures Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor ............... 24 Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor ................. 25 Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor....... 26 Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor ...... 27 Figure 5 Drive mounting for the AR-01xx & AR-02xx.........................................................
Parker Hannifin Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx.............................................. 197 Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE ............................................. 198 Figure 55 Panel Layout Dimensions for the Aries Drive ........................................................ 199 Figure 56 Servo Tuning Flow Diagram .................................................................................. 202 Figure 57 VM26 Breakout Module...........
Parker Hannifin Product Type........................................... Aries Family AR-01Ax, 02Ax, 04Ax, 08Ax, 13Ax, 20AE, and 30AE ................................................................
Parker Hannifin 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.
Parker Hannifin Important User Information It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them; failure to do so may result in damage to equipment and personal injury. In particular, you should study the contents of this user guide carefully before installing or operating the equipment.
Parker Hannifin Change Summary Revision G Changes This document, 88-021610-01G, supersedes 88-021610-1F. Changes associated with Aries User Guide revisions, and document clarifications and corrections are as follows: Topic Description Electrical Installation Added note to Motor Power Fuse Information table that 40A fuse is recommended regardless of single- or 3-phase input power. Added “Yellow & 5 Green (flashing)” for Encoder Loss to Internal Drive Faults table.
Parker Hannifin Revision F Changes This document, 88-021610-01F, supersedes 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 TIDAC and TIQAC commands. Corrected DCMDZ syntax. Corrected ranges for DMTIC, DMTIP, DMTKE, DMTRES, and ERES.
Parker Hannifin Revision D Changes This document, 88-021610-01D, supersedes 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.
Parker Hannifin Revision B Changes This document, 88-021610-01B, supersedes 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 DRIVE I/O connector. DRIVE I/O connectorinternal circuit diagram Correction: Simplified the circuit diagram for the Enable input.
Chapter 1 Introduction CHAPTER ONE Introduction IN THIS CHAPTER Aries Products—Overview......................................................................... 17 Compatible Parker Products...................................................................... 18 Checking Your Shipment ........................................................................... 19 Illustrations in this Installation Guide ......................................................... 20 Assumptions of Technical Experience.....
Parker Hannifin 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.
Parker Hannifin Output Power Level Servo Motor Drives In Table 1, the maximum current is given at 120/240 VAC input, which equates to a motor bus voltage of 170/340 VDC. Drive Continuous Current (RMS) Peak Current (RMS) Continuous Shaft Output Power AR-01xx 1A 3A 100W, 0.13 hp* AR-02xx 1.75A 5.25A 200W, 0.27 hp* AR-04xx 3A 9A 400W, 0.53 hp* AR-08xx 4.50A 13.5A 750W, 1.0 hp* AR-13xx 6.3A 14.07A 1300W, 1.75 hp* AR-20xE 10A 30A 2000W, 2.7 hp** AR-30xE 16A 48A 3000W, 4.
Parker Hannifin Checking Your Shipment Inspect your shipment carefully. You should have received the corresponding ship kit along with your drive.
Parker Hannifin 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.
Chapter 2 Mechanical Installation CHAPTER TWO Mechanical Installation IN THIS CHAPTER Environment & Drive Cooling..................................................................... 22 Dimensions ................................................................................................ 28 Weight........................................................................................................ 30 Mounting Guidelines ..............................................................................
Parker Hannifin 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. The drive can tolerate atmospheric pollution degree 2. Only dry, non-conductive pollution is acceptable. Therefore, it is recommended that the drive be mounted in a suitable enclosure.
Parker Hannifin Environmental Specifications (AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-20xE, and AR-30xE) Operating Temperature, Maximum Ambient Air Minimum 45°C (113°F) 0°C (32°F) Storage Temperature –40°C to 85°C (–40°F to 185°F) Humidity 0 to 95%, non-condensing Shock 15g, 11 ms half-sine Vibration 10 to 2000 Hz at 2g Pollution Degree 2 (per IEC 61010) Installation Category 2 (per IEC 61010) Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE Environmental Sp
Parker Hannifin Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor Shaft Power Voltage 0W* 20W 200W 120 VAC 15W 25W 34W 240 VAC 32W 44W 47W * 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.
Parker Hannifin Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor Shaft Power Voltage 0W* 200W 700W 120 VAC 13W 42W 60W 240 VAC 24W 60W 73W * 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.
Parker Hannifin Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor Shaft Power Voltage 0W* 700W 1300W 120 VAC 14W 82W 130W 240 VAC 25W 95W 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.
Parker Hannifin Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor Shaft Power Voltage 0W* 1500W 3000W 240 VAC 35W 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.
Parker Hannifin 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 & AR-02xx Figure 5 Drive mounting for the AR-01xx & AR-02xx Drive Fin Height— in (mm) Outside Width (OW)—in (mm) AR-01xx 0.01 (0.25) 2.29 (58.2) 7.60 (193.0) AR-02xx 0.375 (9.5) 2.65 (67.3) 7.
Parker Hannifin Drive Dimensions—AR-04xx, AR-08xx, & AR-13xx Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx Drive Fin Height— in (mm) Overall Width (OW)—in (mm) Overall Depth 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) 4.28 (108.7) 7.60 (193.
Parker Hannifin Drive Dimensions—AR-20xE & AR-30xE Figure 7 Drive mounting for the AR-20xE and AR-30xE Fin Height— in (mm) Drive AR-20xE & AR-30xE 1.48 (37.5) Overall Width (OW)—in (mm) 4.67 (118.5) Overall Depth with Cables—in (mm) 9.27 (235.5) Table 12 AR-20xE and AR-30xE Drive Dimensions Weight Use Table 13 to determine the weight of your drive. Weight pounds (kg) Drive Weight pounds (kg) AR-01xx 1.68 (0.76) AR-13xx 3.60 (1.63) AR-02xx 1.90 (0.86) AR-20xE 7.35 (3.33) AR-04xx 2.
Parker Hannifin 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). Never route high and low power cables parallel to each other.
Chapter 3 Electrical Installation CHAPTER THREE Electrical Installation IN THIS CHAPTER Installation Safety Requirements............................................................... 33 System Installation Overview..................................................................... 34 Power Supply............................................................................................. 35 Multiple Drive Installations .........................................................................
Parker Hannifin Installation Safety Requirements Aries drives meet the requirements of both the European LVD (Low Voltage Directive) and EMC (Electromagnetic Compliance) directives when installed according to the instructions given within “Appendix C Regulatory Compliance–UL and CE”. As a rule, it is recommended that you install the drive in an enclosure to protect it from atmospheric contaminants and to prevent operator access while power is applied.
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin 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 DRIVE I/O and Motor Feedback connectors.
Parker Hannifin Figure 13 Connectors on Aries Models AR-01xx to AR-13xx Figure 14 Connectors on Aries Models AR-20xE & AR-30xE 38 Aries User Guide
Parker Hannifin Power Supply Input Power The mains motor power supply and control power supply for the Aries Drive must meet the following requirements.
Parker Hannifin AC Power Supply Connection Figure 16 on page 34 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 240V motor power. For single-phase connections, make no connection to terminal labeled L3. • The AR-30xE can only accept three-phase 240V motor power. Use the terminal connector that is supplied with the drive.
Parker Hannifin 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. During normal operation, these high voltage terminals must not be accessible to the user.
Parker Hannifin Table 15 lists part numbers (at time of publication) for suitable fuses from several manufacturers. These fuses are type RK5 (time delay fuses). Amps Bussmann Ferraz Shawmut (formerly Gould) Littelfuse 10 FRN-R-10 TR10R FLNR10 20 FRN-R-20 TR20R FLNR20 30 FRN-R-30 TR30R FLNR30 40 FRN-R-40 TR40R FLNR40 Table 15 Fuse Part Numbers Drive Inrush Current The drive inrush current is limited by an internal thermistor that changes value with the ambient temperature.
Parker Hannifin Output Power Table 17 contains the continuous and peak output power ratings for all Aries drive models. Continuous Output Drive Current (Amps, RMS) Shaft Power* (Watts, max) Peak Output Current (Amps, RMS) Shaft Power (Watts, max) AR-01xx 1.0 100 3.0 300 AR-02xx 1.75 200 5.25 600 AR-04xx 3.0 400 9.0 1200 AR-08xx 4.5 750 13.5 2250 AR-13xx 6.3 1300 14.
Parker Hannifin 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 1 Æ U, 2 Æ V, and 3 Æ W, and Motor Safety Earth to the Protective Earth ground connector. Figure 17 Output Power Connection Table 18 contains information for making connections with Parker Hannifin motors.
Parker Hannifin 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. External DC Link Inductor (Optional) The Aries AR-20xE and AR-30xE drives have two extra terminals that allow an external DC link inductor to be added if required.
Parker Hannifin 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.
Parker Hannifin 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 mm2) 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.
Parker Hannifin Multiple Drive Installations In a typical cabinet installation, a single mains line connects to a terminal bus inside the cabinet. Then from the terminal bus, make individual connections for Mains and Control power to the corresponding connector(s) on each drive. Be sure to install fuses for each drive between the terminal bus and the drive.
Parker Hannifin Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth Chapter 3 Electrical Installation 49
Parker Hannifin 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. When the power supply is interrupted, or the drive faults or is disabled, the brake is enabled and stops shaft rotation.
Parker Hannifin 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. During normal operation, these high voltage terminals must not be accessible to the user.
Parker Hannifin Motors without Full Wave Rectifiers When using Parker MaxPlus motors, Parker motors with serial numbers less than 010904xxxxx, or non-Parker motors, you must install a fly-back diode. 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.
Parker Hannifin Relay Operation Drive Condition Relay State Enabled Closed (conducting) Faulted Open No AC power on L1 and L2*, or drive not enabled Open * 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. Table 20 Brake Relay Operation Relay Specifications Relay Type .............................................. Solid State Relay Normally open Relay Maximum Rating.......
Parker Hannifin 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: • For models AR-01x to AR-13xx, use the Mains connector.
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin 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 39.) The connector differs between the two largest Aries models and the others. Specifications for the connectors follow in this section.
Parker Hannifin Mains/Input Power Connector AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx................. Amphenol PCD: OSTTJ075102 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.
Parker Hannifin Output Power Connector The drive’s Motor screw terminal connector provides output power to your motor. (For connection information, see “Output Power” on page 43.) 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).
Parker Hannifin Motor Connector AR-01xx, AR-02xx, AR-04xx, AR-08xx, AR-13xx ................................. Amphenol PCD: OSTTJ075102 Parker Hannifin Part Number.................. 43-021068-01 Connector Type....................................... Removable screw terminal Terminals ........................................6 Pitch ................... 0.200 in (5.08 mm) Wire range .....................12-26 AWG .......................................14-27 SWG ................................(0.12-3.
Parker Hannifin AR-20xE & AR30xE Control Connector On the AR-20xE & AR 30xE models, the Control connector serves for three connections: an external power dump resistor (EXTERNAL REGEN), a control power circuit (CONTROL INPUT POWER), and a safety brake relay (BRAKE RELAY). The connector is an eight-position non-removable screw terminal. Specifications for the connector follow in this section.
Parker Hannifin Motor Feedback Connector—Encoder Inputs for the resolver feedback, motor thermal switch, and hall effects are located on the 15-pin Motor Feedback connector. Figure 29 MOTOR FEEDBACK connector, female drive connector pinout 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.
Parker Hannifin Pinout—MOTOR FEEDBACK Connector Note: A box surrounding pins indicates a requirement for twisted pair wiring.
Parker Hannifin Connector Specification—Aries Drive Manufacturer ........................................... KYCON or equivalent 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 ...........................................
Parker Hannifin Motor Feedback Connector—Resolver Inputs for the encoder feedback, motor thermal switch, and hall effects are located on the 15-pin Motor Feedback connector.
Parker Hannifin Pinout—MOTOR FEEDBACK Connector for Resolver Option Note: A box surrounding pins indicates a requirement for twisted pair wiring.
Parker Hannifin • 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. • Encoder output signals are non-isolated RS-422 compatible differential drivers referenced to DGND. • RS-485 is non-isolated RS-485 compatible differential signals referenced to DGND.
Parker Hannifin Figure 34 DRIVE I/O connector, internal circuit diagram 68 Aries User Guide
Parker Hannifin Pinout—DRIVE I/O Connector Note: A box surrounding pins indicates a requirement for twisted pair wiring.
Parker Hannifin 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.
Parker Hannifin Inputs—Step & Direction Description Min Common Mode Range Differential Threshold Voltage Max Units -7 +7 V -200 +200 mV Differential Termination Impedance Typical 120 ohms Input Frequency (pre-quadrature) 5 MHz Note: All parameters are at the connector pin.
Parker Hannifin 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: • Configure the drive for the motor to which it is connected. Resolve any configuration errors before proceeding with the test. • Enable the drive.
Chapter 4 Communications CHAPTER FOUR Communications IN THIS CHAPTER Terminal Emulator Configuration............................................................... 74 Establishing Communications ................................................................... 74 RS-232 Communications........................................................................... 75 RS-485 Communications........................................................................... 75 RS-485 Multi-Drop ........................
Parker Hannifin RS-232/485 Communications The Aries drive has a single serial port, located on the DRIVE I/O connector on 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.
Parker Hannifin 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. For automatic detection to work, the RS-485 network must be configured with an up bias on + (Talk) and a down bias on – (Talk).
Parker Hannifin 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 multidrop network. Notes • • For RS-485 to work correctly turn off the echo mode (ECHOØ). Zero (0) is not a valid address for a drive.
Parker Hannifin 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. Connect the new drive to a PC that is not part of the multi-drop network. 3. Apply power to the drive. 4.
Chapter 5 Tuning CHAPTER FIVE Tuning IN THIS CHAPTER Servo Tuning Overview ............................................................................. 79 Position Variable Overview........................................................................ 80 Servo Response Overview ........................................................................ 81 Servo System Gains .................................................................................. 83 Servo Tuning Example ........................
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin Response Description Critically damped A critically-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 highfrequency, lowamplitude oscillation that is usually audible.
Parker Hannifin 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.
Parker Hannifin 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; this saturates to the maximum level of the controller's analog control signal output. This phenomenon is called integrator windup (see Figure 39).
Parker Hannifin Figure 40 Integrator Windup (using the SGILIM Command) Chapter 5 Tuning 85
Parker Hannifin 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 168. The motion command used for this example is a step command with a step size of 200. The plots shown are as they appear in the Aries Support Tool (X axis = time, Y axis = position).
Parker Hannifin 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 SGP to 5, overshoot and chattering becomes significant (see plot). This means the SGV gain is too low and/or the SGP is too high. Next, we should try raising the SGV gain to see if it will dampen out the overshoot and chattering.
Parker Hannifin 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 SGP gain to 4 However, the overshoot is still a little too high. The next step should be to try raising the SGV to damp out the overshoot. Step 8 After raising the SGV gain to 4, overshoot is reduced a little, but chattering reappears. This means the gains are still too high.
Parker Hannifin 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 the SGV gain again until the overshoot is gone. Step 11 When we raised the SGV gain to 3.5, the step response became fast and very stable.
Parker Hannifin 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. Note: Excess friction can affect the measured inertia, thereby estimating the value higher than the actual inertia.
Chapter 6 Command Reference CHAPTER SIX Command Reference IN THIS CHAPTER Description of Format ................................................................................ 92 Syntax – Letters and Symbols................................................................... 92 Syntax – General Guidelines..................................................................... 94 Command Descriptions .............................................................................
Parker Hannifin 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 71. Description of Format 1. 2. 3. ERES Encoder Resolution 4. Type Encoder Configuration Product Rev 5. Syntax ERES Aries 1.0 6.
Parker Hannifin 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 Type Encoder Configuration Product Rev Syntax ERES Aries 1.
Parker Hannifin Syntax – General Guidelines Guideline Topic Guideline Examples Command Delimiters ( and ) All commands must be separated by a delimiter. A carriage return is the most commonly used. Neutral Characters () Using neutral characters anywhere within a command will not affect the command. Set velocity limit to 100 rps: Case Sensitivity There is no case sensitivity. Use upper or lower case letters within commands.
Parker Hannifin 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. You must use a terminal emulator to set the commanded direction and address of each drive.
Parker Hannifin 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 Type Drive configuration Product Rev Syntax ALIGN Aries 1.0 Units N/A Range N/A Default 0 Response none See Also DMODE, DRIVE, ENCOFF, ENCPOL, P163, SHALL The ALIGN command aligns the encoder on the motor so that the drive can commutate the motor correctly.
Parker Hannifin ANICDB Analog Input Center Deadband Type Drive Configuration Product Rev Syntax ANICDB Aries 2.0 Units r = volts Range Ø.ØØ to 1Ø.ØØ Default Ø.Ø4 Response ANICDB: See Also DCMDZ, DMTSCL, TANI *ANICDBØ.Ø4 The ANICDB allows the user to specify the voltage deadband for the command input. ANICDB is used with DCMDZ to configure the command input for DMODE2 and DMODE4.
Parker Hannifin CERRLG Clear the Error Log Type Error Handling Product Rev Syntax CERRLG Aries 1.0 Units N/A Range N/A Default N/A Response N/A See Also CONFIG, ERRORL, ERROR, TANI, TDHRS, TDMIN, TDSEC, TDTEMP, TERRLG, TMTEMP, TVBUS The CERRLG command erases the stored contents of the error log.
Parker Hannifin 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 Mechanical Installation” and “Chapter 3 Electrical Installation”). Figure 41 Clockwise/ Counter-clockwise rotation CONFIG Configuration Errors and Warnings Type Error Handling Product Rev Syntax CONFIG Aries 1.
Parker Hannifin 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 Current Warning The continuous current of the motor is higher than the continuous current rating of the drive. Use the continuous current rating for the drive.
Parker Hannifin DCMDZ Zero the Drive Command Offset Type Drive Configuration Product Rev Syntax DCMDZ= Aries 1.0 Units r = volts Range -1Ø.ØØ to 1Ø.ØØ Default Ø.ØØ Response N/A See Also ANICDB, DMODE, TANI The DCMDZ command sets the zero point for the command input. When in torque/force mode (DMODE2), this will minimize motor drift. Executing the DCMDZ command without an argument sets the zero reference point to the last voltage read at the command input.
Parker Hannifin DIFOLD Current Foldback Enable Type Drive Configuration Product Rev Syntax DIFOLD Aries 1.0 Units b = enable bit Range Ø (disable) or 1 (enable) Default 1 Response DIFOLD: See Also none <*>Ø The DIFOLD command enables (1) or disables (Ø) the drive’s current foldback protection feature. The current foldback feature reduces the drive’s continuous current output by 20% when sustained current has the potential to overheat the drive.
Parker Hannifin DMEPIT Motor Electrical Pitch Type Motor (Linear only) Product Rev Syntax DMEPIT Aries 1.0 Units r = millimeters Range Ø to 3ØØ.ØØ : ±Ø.Ø1 Default Ø Response DMEPIT: See Also ERES <*>4Ø.ØØ Note: This command does not take effect until you cycle power to the drive, or send the RESET command. The DMEPIT command sets the electrical pitch of the magnets for use with permanent magnet brushless linear motors.
Parker Hannifin DMODE Mode Description 1 Autorun Rotates the motor at 1 rps/mps. Current is reduced by 10%. 2 Torque/Force Control Allows direct control of rotary motor torque, or linear motor force. 3 Feedback Alignment Auto-configure for feedback setup. 4 Velocity Control Allows direct control of rotary or linear motor velocity. 6 Position Control Uses 5V Differential compatible (RS-422 logic level compatible) step and direction control.
Parker Hannifin DMTAMB Motor Ambient Temperature Type Motor Product Rev Syntax DMTAMB Aries 1.0 Units r = Degrees Celsius Range -5Ø.ØØ to 25Ø.ØØ : ±Ø.Ø1 Default 4Ø.Ø Response DMTAMB: See Also DMTMAX, DMTRWC, DMTTCM, DMTTCW <*>4Ø.Ø The DMTAMB command sets the motor ambient temperature used by the software motor thermal model.
Parker Hannifin DMTIC Continuous Current Type Motor Product Rev Syntax DMTIC Aries 1.0 Units r = Amps-RMS Range Ø.ØØ to 2ØØ.ØØ : ±Ø.Ø1 Default Ø.ØØ (DMTIC of Ø results in motor configuration warning) Response DMTIC: See Also DMTICD, DMTIP, DMTR, TCI, TDICNT, TDIMAX <*>6.5Ø Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin The DMTICD command sets the current derating percentage at rated speed (DMTW). This value sets the extent to which continuous current must be reduced at speed to compensate for velocity-related losses in the motor. For example, DMTICD3 sets the motor’s continuous current derating to 3% (or 97% of continuous value DMTIC) at the motor’s rated speed (DMTW). At half this speed, it will be reduced 1.5%. DMTIND Motor Inductance Type Motor Product Rev Syntax DMTIND Aries 1.
Parker Hannifin DMTINF Motor Inductance Factor Type Motor Product Rev Syntax DMTINF Aries 1.0 Units r = units Range Ø.ØØ to 1.ØØ Default 1 Response DMTINF See Also CONFIG, DMTIND, DMTR <*>1.ØØ Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin If the DMTIP value exceeds the drive’s maximum output current (TDIMAX), the DMTIP value will be ignored and the maximum allowable value will be used (see Table 45). The drive reports EØ–Motor Configuration Warning and E12–Peak Current Too High. Maximum Current Rating (RMS) AR-01xx 3A AR-02xx 5.25A AR-04xx 9A AR-08xx 13.5A AR-13xx 14.
Parker Hannifin DMTKE Motor Ke Type Motor Product Rev Syntax DMTKE Aries 1.0 Units Rotary motor: r = volts (Ø-peak)/krpm (measured line-to-line) Linear motor: r = volts (Ø-peak)/meter/second (measured line-to-line) Range Rotary motor: Ø.Ø to 8ØØ.Ø : ±Ø.1 Linear motor: DMEPIT (electrical pitch) dependent Default Ø.Ø (DMTKE of Ø results in motor configuration error) Response DMTKE: See Also DMEPIT, DMTLIM, DMTR, DMTSCL <*>15.
Parker Hannifin DMTLIM Torque/Force Limit Type System Product Rev Syntax DMTLIM Aries 1.0 Units Rotary motor: r = Nm Linear motor: r = N Range Rotary motor: Ø.Ø to 5ØØ.Ø (motor/drive dependent): ±Ø.1 Linear motor: DMEPIT (electrical pitch) dependent Default 4ØØ.Ø Response DMTLIM: See Also DMODE, DMTIP, DMTKE, DMTR, DMTSCL, TTRQ, TTRQA <*>1Ø.5 Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin Rotary motors: 3 3 Ke(Volts ‡ / krpm) 200π † ‡ RMS, 0 - peak value Linear motors: 3 3 Ke(Volts ‡ /( meter / sec)) 200π † RMS, ‡ 0 - peak value Kt ( Nm / A † ) = Kt ( N / A † ) = DMTMAX Maximum Motor Winding Temperature Type Motor Product Rev Syntax DMTMAX Aries 1.0 Units r = Degrees Celsius Range Ø.Ø to 2ØØ.Ø : ±Ø.1 Default 125.Ø Response DMTMAX: See Also DMTAMB, DMTIC, DMTR, DMTRWC, DMTTCM, DMTTCW <*>125.
Parker Hannifin 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. For the DMTR and all the motor parameter commands to take effect after downloading the configuration file to the Aries drive, you must cycle drive power or send the RESET command.
Parker Hannifin DMTRES Motor Winding Resistance Type Motor Product Rev Syntax DMTRES Aries 1.0 Units r = Ohm (measured line-to-line) Range Ø.ØØ to 10Ø.ØØ : ±Ø.Ø1 Default Ø.ØØ (DMTRES of Ø results in motor configuration error) Response DMTRES: See Also DMTR <*>7.5Ø Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin DMTRWC specifies the temperature rise of the motor winding above motor case temperature per watt of winding power dissipation between the winding and case. Motor heatsinking does not affect this value. DMTSCL Torque/Force Scaling Type Drive Configuration Product Rev Syntax DMTSCL Aries 1.0 Units Rotary motor: r = Nm Linear motor: r = N Range Ø.Ø to 5ØØ.Ø (motor/drive dependent): ±Ø.
Parker Hannifin DMTSWT Motor temperature switch type Type Motor configuration Product Rev Syntax DMTSWT Aries 2.10 Units i = motor temp switch type Range 0 (Normally closed switch) 1 (Positive temperature coefficient thermistor) 2 (Normally open switch) 3 (Negative temperature coefficient thermistor) Default DMTSWT0 Response DMTSWT: See Also DTHERM, TMTEMP <*>0 DMTSWT sets the type of motor switch used. Values of 0 or 1 behave exactly the same and are interchangeable.
Parker Hannifin application. Note also that the time constant of the motor winding itself (DMTTCW) is much faster than this; therefore, the rise in winding temperature will initially be much faster than DMTTCM would suggest. DMTTCW Motor Winding Time Constant Type Motor Product Rev Syntax DMTTCW Aries 1.0 Units r = minutes Range Ø.ØØ to 6Ø.ØØ : ±Ø.Ø1 Default Ø.ØØ Response DMTTCW: See Also DMTR, DMTRWC, DMTTCM <*>28.
Parker Hannifin • (Rotary motor) Encoder limit of 5 MHz (pre-quadrature) • Linear motor speed limitations include encoder resolution and track length. • The corner of the continuous speed/torque or speed/force curve (the point where the continuous and peak torque/force curves meet). The DMTW value is used in conjunction with DMTICD to protect the motor from thermal damage. DMVLIM Velocity Limit Type System Product Rev Syntax DMVLIM Aries 1.
Parker Hannifin DMVSCL Velocity Scaling Type Drive Configuration Product Rev Syntax DMVSCL Aries 2.0 Units Rotary motor: r = revolutions/second Linear motor: r = meters/second Range Ø.ØØ to 4ØØ.ØØ (motor/drive dependent): ±Ø.Ø1 Default 4.ØØ Response DMVSCL: See Also DMODE, DMTR <*>1ØØ.Ø Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin 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). The notch center frequency is set to 200 Hz (DNOTAF2ØØ) and the “Q” is set to 1 (DNOTAQ1). Figure 45 Notch Filter Magnitudes These filters operate in all DMODE settings except Autorun (DMODE1).
Parker Hannifin Figure 46 Notch Filter A These filters operate in all DMODE settings, except Autorun (DMODE1). DNOTAQ Notch Filter A Quality Factor Type Tuning Product Rev Syntax DNOTAQ Aries 2.0 Units r = quality factor Range Ø.5 to 2.5 Default 1 Response DNOTAQ: See Also DNOTAD, DNOTAF, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG *DNOTAQ1.5 The DNOTAQ command sets the quality factor (Q) for notch filter A.
Parker Hannifin DNOTBF Notch Filter B Frequency Type Tuning Product Rev Syntax DNOTBF Aries 2.0 Units i = Hz Range Ø (disable), or 6Ø-1ØØØ Default Ø (filter is disabled) Response DNOTBF: See Also DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBQ, DNOTLD, DNOTLG *DNOTBF2ØØ The DNOTBF command sets the center frequency for notch filter B. Setting this to 0 disables the filter. For a description of the filter’s transfer function characteristics, refer to the DNOTAF command description.
Parker Hannifin 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. This warning is cleared with the RESET command or by cycling power to the drive.
Parker Hannifin DPOLE Number of Motor Pole Pairs Type Motor Product Rev Syntax DPOLE Aries 1.0 Units i = pole pairs Range 1 to 2ØØ Default Ø (DPOLE of Ø results in motor configuration error) Response DPOLE: See Also DMTR <*>5Ø Auto-Setup: When using a Parker motor and the Aries Support Tool, this command is automatically set for the selected motor.
Parker Hannifin DRES Drive Resolution Type Drive configuration Product Rev Syntax DRES Aries 2.10 Units i = Input Step Resolution Range 200 to 10737141823 Default 4000 Response DRES: See Also CMDDIR, DMPSCL <*>0 The DRES command is only used in step and direction mode (DMODE6 and 7). Input steps will be scaled to the DRES value so DRES steps on the input would translate to one revolution of the motor.
Parker Hannifin • If operating in the FLTDSB1 mode and the drive received a DRIVEØ command or the hardware enable input was opened. DTHERM Thermal Switch Checking Type motor Product Rev Syntax DTHERM Aries 1.0 Units b = enable bit Range Ø(enable) or 1(disable) Default Ø Response DTHERM: See Also DMTSWT *Ø The DTHERM command is used to disable drive faults when the motor thermal switch opens. It is useful when no thermal switch is present on the motor.
Parker Hannifin rotary motors by default. If a linear motor is configured, the drive sets a 2.67 MHz pre-quadrature maximum input encoder frequency by default. The ENCFLT command increases the default maximum pre-quadrature encoder frequency from 1.02 MHz to 2.67 MHz or 5 MHz. This allows users to take advantage of the higher input frequency, if necessary, at the expense of some noise immunity. Note: This command does not take effect until you cycle power to the drive or send the RESET command.
Parker Hannifin • To reverse the commanded direction of motion, make sure there is a direct correlation between commanded direction and encoder direction. You can then issue the CMDDIR command to reverse both the commanded direction and the encoder direction. For more information, see CMDDIR. • The ENCPOL command will not affect the encoder output. If ENCPOL1 is required on the drive for servo stability, the equivalent command will also be required on the controller.
Parker Hannifin ................................................................ MPMxxxxxxxxJLxx: ERES10000 ................................................................ MPMxxxxxxxxJPxx: ERES12000 ................................................................ MPMxxxxxxxxJQxx: ERES20000 ................................................................ MPMxxxxxxxxJTxx: ERES24000 ................................................................ MPMxxxxxxxxJXxx: ERES4096 .....................................
Parker Hannifin Error Description E25—Excessive Command Voltage at Enable The command voltage (at the ANI+ terminal) was 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. E28-Bridge Temperature Fault Excessive current being commanded: 1.
Parker Hannifin Error Description E45-Excessive Velocity Error Commanded velocity. Actual Velocity is greater than the value set by SMVER. E46-Hardware Enable 0 = Hardware Enable (Drive I/O Pin 1 and 21) 1 = No Hardware Enable E47-Low Voltage Enable No motor power was present when the drive was enabled. E48-Control Power Active The drive is in Control power mode. No motor power is present. E49-Alignment Error The ALIGN command did not complete successfully.
Parker Hannifin Bit Function 0 Enable/Disable (Hardware enable input or software DRIVE command) 1 Bridge Fault 2 No PWM output (H-bridge switching) 3 Over Voltage (DC bus) 4 Under Voltage (DC bus) 5 Startup Voltage (analog command voltage) 6 Drive Over Temperature 7 Motor Over Temperature (calculated by thermal model) 8 Motor Thermal Switch 9 Feedback Error 10 Hall Error 11 Motor Configuration Error 12 Regeneration Fault 13-15 Reserved Table 47 Error Log⎯Enable/Disable ESTORE
Parker Hannifin FLTDSB Fault on Drive Disable Type Drive Configuration Product Rev Syntax FLTDSB Aries 1.0 Units b = enable bit Range Ø (disable) or 1 (enable) Default Response See Also ERROR, FLTSTP, TOUT Use the FLTDSB command to enable/disable the Fault on Drive Disable mode. If Fault on Drive Disable is enabled (FLTDSB1 – default setting), and the drive is disabled via the Enable input, fault output is activated and the brake relay is opened.
Parker Hannifin Sending an IANI1 command inverts the input polarity. In addition, the command TANI reflects this change. IAUTO Automatically determine Current Loop Gains Type Tuning Product Rev Syntax IAUTO Aries 3.
Parker Hannifin the In-Position output is enabled, the output will be active when the motor satisfies the In-Position criteria (as specified by the INPOSDB and INPOSTM commands). To restore the Fault Output functionality, use INPOSØ. INPOSDB In-Position Deadband Type Drive Configuration Product Rev Syntax INPOSDB Aries 2.
Parker Hannifin This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7 (position mode). The LJRAT command sets the system’s load-to-rotor inertia ratio (rotary motors) or load-to-forcer mass ratio (linear motors).
Parker Hannifin OUTBD Output Brake Delay Type Output Product Rev Syntax OUTBD Aries 1.0 Units milliseconds Range Ø-1ØØØØ Default Ø Response OUTBD: See Also none <*>25Ø The OUTBD command specifies the amount of time that the brake relay will remain asserted after the current is applied to the motor windings when the drive is enabled. This allows torque to build up in the motor while the fault output is still high.
Parker Hannifin PGAIN Proportional Gain Type Tuning Product Rev Syntax PGAIN Aries 1.0 Units None Range Ø.ØØ to 2ØØ.ØØ Default 2Ø.ØØ Response PGAIN: See Also DIBW, IAUTO, IGAIN <*>2Ø.ØØ The PGAIN command sets the proportional gain of the current loop. High gains can emphasize resonance and system noise, adds to heating of both motor and drive, and increases acoustic noise produced by the motor.
Parker Hannifin The RESET command affects the Aries drive the same as cycling power, or activating the hardware Reset inputs (pins 18 and 23 on the DRIVE I/O connector). The drive’s parameters are retained in non-volatile memory. Note: After sending the RESET command to the Aries, wait until you see the power-applied message before communicating with the Aries. RFS Return to Factory Settings Type Drive Configuration Product Rev Syntax RFS Aries 1.
Parker Hannifin SFB1 sets auto-detect mode and is the default setting. In auto-detect mode the SFB command reports the detected drive-type upon power-up. If SFB is set to a value other than 1, the drive assumes that type of encoder is attached and does not try to auto-detect the feedback type. In operating system 3.10 and beyond, the Aries Resolver option will report an SFB value of 3. Changing the value will not affect the drive operation and it will return to 3 on power-up.
Parker Hannifin error has persisted 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 and saturate to the maximum level of the drive's analog control signal output. This phenomenon is called integrator windup After windup occurs, it will take a while before the integrator output returns to a level within the limit of the controller's output. Such a delay causes excessive position overshoot and oscillation.
Parker Hannifin term is to anticipate position error and correct it before it becomes too large. This increases damping and tends to make the system more stable. If this term is too large, the response will be slowed to the point that the system is over-damped. Since the feedback device signal has finite resolution, the velocity accuracy has a limit.
Parker Hannifin SHALL Hall Sensor Configuration Type Drive Configuration Product Rev Syntax SHALL Aries 1.0 Units i = control option number Range Ø (do not invert) or 1 (invert) Default Ø Response SHALL: See Also ALIGN, RESET, THALL <*>Ø Note: This command does not take effect until you cycle power to the drive, or send the RESET command. The SHALL command controls the logic sense of the Hall sensors. To invert the sensors, use the SHALL1 command.
Parker Hannifin position error exceeds the value entered by the SMPER command, an error condition is latched (ERROR bit #44) and the Aries drive issues a shutdown and sets its analog output command to zero volts. The DRIVE1 command reenables the drive, clears ERROR bit #44, and sets the commanded position (TPC) equal to the actual feedback device position (TPE) – incremental devices will be zeroed.
Parker Hannifin STATUS Status (full-text report) Type Transfer Product Rev Syntax STATUS Aries 1.0 Units N/A Range N/A Default N/A Response STATUS: See Also DMTR, DPWM, ERES, TDTEMP, TMTEMP, TREV, TVBUS <*>GENERAL: <*> OS Revision: Aries Revision 1.
Parker Hannifin TCI Transfer Commanded Current Type Transfer Product Rev Syntax TCI Aries 1.0 Units Amps Range N/A Default N/A Response TCI: See Also DMTIC, DMTICD, DMTIP, TDICNT, TDIMAX <*>5.ØØ The TCI command reports the commanded motor current in amps (peak of sine). TDHRS Transfer Operating Hours Type Transfer Product Rev Syntax TDHRS Aries 1.
Parker Hannifin TDIMAX Transfer Maximum Current Rating Type Transfer Product Rev Syntax TDIMAX Aries 1.0 Units Amps rms Range N/A Default N/A Response TDIMAX: See Also DMTIC, DMTICD, DMTIP, TCI, TDICNT <*>1Ø The TDIMAX command reports the maximum current rating of the drive in amps rms. TDMIN Transfer Operating Minutes Type Transfer Product Rev Aries 1.
Parker Hannifin TDTEMP Transfer Drive Temperature Type Transfer Product Rev Syntax TDTEMP Aries 1.0 Units Degrees Celsius Range N/A Default N/A Response TDTEMP: See Also STATUS, TERRLG <*>5Ø The TDTEMP reports the measured temperature (internal) of the drive. TERRLG Transfer Error Log Type Transfer Product Rev Syntax TERRLG Aries 1.
Parker Hannifin THALL Transfer Hall Sensor Values Type Transfer Product Rev Syntax THALL Aries 1.0 Units N/A Range 1 to 6 (Ø or 7 is a fault condition) Default N/A Response THALL: See Also ALIGN, SHALL <*>6 Encoder Motors: The THALL command reports the present Hall sensor value. There are six distinct Hall states, from 1 to 6.
Parker Hannifin TMTEMP Transfer Motor Temperature Type Transfer Product Rev Syntax TMTEMP Aries 1.0 Units Degrees Celsius Range N/A Default N/A Response TMTEMP: See Also DMTRWC, DMTTCM, DMTTCW, STATUS, TERRLG <*>45 The TMTEMP reports the predicted temperature of the motor winding for Parker motors. The temperature is estimated using the winding and motor time constants, the rated continuous current, and the winding thermal resistance.
Parker Hannifin TPC Transfer Position Commanded Type Transfer Product Rev Syntax TPC Aries 2.0 Units Encoder counts Range -2147483648 to +2147483647 Default N/A Response TPC: See Also ERES, TPE, SMPER <*> Ø This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7 (position mode). This command allows you to display the commanded position. Note: The reported value is measured in commanded counts (AKA: “motor counts”).
Parker Hannifin the feedback device. TPER does not apply in DMODE2 (torque/force control mode) and in DMODE4 (velocity control mode); TPER reports zero in these modes. TREV Transfer Revision Level Type Transfer Product Rev Syntax TREV Aries 1.0 Units N/A Range N/A Default N/A Response TREV: See Also RESET, RFS, STATUS <*>Aries OS Revision 1.Ø The Transfer Revision Level (TREV) command reports the software revision of the Aries firmware.
Parker Hannifin TTRQ Transfer Commanded Torque/Force Type Transfer Product Rev Syntax TTRQ Aries 1.0 Units Newton Meters (Rotary) or Newtons (Linear) Range -DMTLIM TO +DMTLIM ± Ø.Ø1 Default N/A Response TTRQ: See Also DMODE, DMTLIM, DMTSCL, TTRQA <*>1.2Ø The TTRQ command reports the commanded motor torque/force. TTRQA Transfer Actual Torque/Force Type Transfer Product Rev Syntax TTRQA Aries 1.
Parker Hannifin TVEL Transfer Current Commanded Velocity Type Transfer Product Rev Syntax TVEL Aries 2.0 Units Revolutions per second or meters per second Range N/A Default N/A Response TVEL: See Also CMDDIR, DMEPIT, DMVLIM, IANI, TVELA <*> 1.55 This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7 (position mode). In velocity mode (DMODE4), TVEL reports the commanded ±10V value from the user before any internal limits are checked.
Parker Hannifin TVER Transfer Current Commanded Velocity Error Type Transfer Product Rev Syntax TVER Aries 2.0 Units Revolutions per second or meters per second Range N/A Default N/A Response TVER: See Also DMEPIT, DMVLIM, TVELA, TVEL <*> 1.55 This command is only valid in DMODE4 (velocity mode) and DMODE6 or DMODE7 (position mode). In velocity mode (DMODE4), TVEL reports the commanded ±10V value from the user before any internal limits are checked.
Chapter 7 Troubleshooting CHAPTER SEVEN Troubleshooting IN THIS CHAPTER Troubleshooting Guidelines ..................................................................... 157 LEDs ........................................................................................................158 RS-232/485 Communication Problems ................................................... 159 Smart Encoders .......................................................................................
Parker Hannifin 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).
Parker Hannifin 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.
Parker Hannifin 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.
Parker Hannifin 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 drive Power is not supplied to the drive, the drive is not powered up, the power connection is mis-wired, or the RS-232/485 cable is miswired. Check the drive to verify that the power supply is connected, wired correctly. Then apply power to the drive.
Parker Hannifin Error Resolution EØ—Motor Configuration Warning The motor rating is too high for the drive, and the 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). Refer to your motor specifications for the correct value. E3—Max Inductance = Ø This parameter is set to zero (0). To correct the error, you must set a non-zero (0) value.
Parker Hannifin Error Resolution E15 – Notch filter Calc Error. The notch filter settings caused an internal calculation error. The last valid value was used. Try different values for the notch filter parameters. (DNOTAF, DNOTAQ, DNOTBF, DNOTBQ) E16 – Lead < Lag Freq The lead filter setting (DNOTLD) must be greater than or equal to the lag filter setting. (DNOTLG) E17 – Lead ≥ 4* Lag Freq The lead filter setting (DNOTLD) must be less than or equal to 4 times the lag filter setting.
Parker Hannifin Error Resolution E39—Drive Disabled The drive is disabled. (DRIVE) E4Ø—PWM Not Active The H-bridge is not switching. E41—Power Regeneration Warning The drive regenerated (warning only). E42-Shaft Power Limited Warning Shaft power is limited to the rated output to protect the drive (warning only). E43-Excessive Speed at Enable The motor was turning too fast when the drive was enabled. E44-Excessive Position Error Commanded position.
Parker Hannifin c. Send the TPE command and turn the motor shaft. Verify the encoder is counting in the correct direction. Turning the shaft clockwise results in positive encoder counts. If not, check the encoder feedback wires and reset the drive. 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 This section can help resolve a “Bad Hall State” error.
Parker Hannifin 6. Noise induced on the Hall signals from routing the motor feedback cable next to high-voltage cables (for example, strapped to motor power cables). 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.
Parker Hannifin 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. Connect motor power wires U and V and slowly apply a positive voltage with respect to W. Note: A variable low voltage (5-24V) current limiting (less than continuous current rating of motor) power supply is preferred.
Parker Hannifin Phase U Hall State V W Correct Use SHALL1 – – + 1 6 – + + 5 2 – + – 4 3 + + – 6 1 + – – 2 5 + – + 3 4 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: • Hall signals that are High equal TRUE signals. • Hall 1 is the least significant bit (LSB). • Hall 3 is the most significant bit (MSB).
Appendix A Additional Specifications APPENDIX A Additional Specifications IN THIS CHAPTER Amplifier ................................................................................................... 169 Feedback ................................................................................................. 169 Protective Circuits.................................................................................... 170 Cables...............................................................................
Parker Hannifin 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...................... 62.5 μs Velocity and Position Loop...................... 250 μs AR-20xE and AR-30xE ...........................
Parker Hannifin 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 .......................................
Parker Hannifin 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.
Parker Hannifin 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. Warning — When an over-voltage protection fault occurs, the drive disables power to its motor output terminals on the Motor connector.
Parker Hannifin Current Foldback The Aries drive’s current foldback circuit helps to protect the drive from damage due to prolonged high currents. If your Drive is operating above its continuous current rating, see Figure 51 to predict the number of seconds until foldback will occur. For example, the figure shows that at the Aries drive’s peak current rating (250% of continuous), foldback will occur after six seconds.
Appendix B External Power-Dump Resistor Selection APPENDIX B External Power-Dump Resistor Selection IN THIS CHAPTER Simplified Resistor Selection ................................................................... 175 Calculating Resistance—Rotary Motors.................................................. 177 Resistor Specifications ............................................................................ 181 Calculating Resistance—Linear Motors ..................................................
Parker Hannifin External Power-Dump Resistor Selection Deceleration generates excess kinetic and potential energy. You can remove the energy through regeneration—a process where the motor acts as generator. Regeneration allows you to transfer the excess energy from the motor and load back to the power supply. When the drive and assorted losses cannot remove all the stored kinetic energy, you must connect an external power-dump resistor.
Parker Hannifin Drive AR-01xx AC Voltage Motor Resistor Rating (Resistance —Ohms) Resistor rating (Continuous Power— Watts) Isotek Part Number 120 SM162Z 100 100 BRK-100R-10-L2, 4 240 BE164B See note1 SM162Z See note1 SM161A See note1 SM162A See note1 120 AR-02xx 240 SM230A 47 200 BRM-47R0-10-L2, 4 SM232A 47 200 BRM-47R0-10-L2, 4 BE230D See note1 BE231D See note1 SM233A AR-04xx 240 120 AR-08xx 240 AR-13xx AR-20xE AR-30xE 240 240 240 See note1 SM231A 47 200 BR
Parker Hannifin 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. For other motion profiles, you can modify the basic concepts presented below.
Parker Hannifin Ep = mgh Where Ep = potential energy (Joules) m= mass of forcer and load (kg) g= gravitational constant (9.81 m/s2) h= 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.
Parker Hannifin Capacitance (uF) Drive VTRIP (VDC) EC (120 VAC) Joules EC (240 VAC) Joules AR-01xx 440 400 28 9 AR-02xx 660 400 43 14 AR-04xx 880 400 57 19 AR-08xx 1100 400 72 24 AR-13xx 1590 400 104 35 AR-20xE 2240 400 N/A 50 AR-30xE 2240 400 N/A 50 When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the power dump resistor.
Parker Hannifin 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 (EL) can conservatively be assumed zero (0). This can be derived from the torque required during the constant velocity portion of the move profile, either measured or calculated.
Parker Hannifin Resistor Specifications⎯Rotary 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. We recommend that you select a lower value resistance, typically in the 22 to 100 ohm range.
Parker Hannifin Peak Dissipation During a single deceleration, all the calculated power-dump energy (ER) must dissipate in the external resistor. The external power-dump resistor then slowly dissipates that energy as heat. This peak power must not exceed the capabilities of the resistor, which is typically 10 times the average power rating.
Parker Hannifin 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. For other motion profiles, you can modify the basic concepts presented below.
Parker Hannifin Ep = mgh Where Ep = potential energy (Joules) m= mass of forcer and load (kg) g= gravitational constant (9.81 m/s2) h= 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.
Parker Hannifin Capacitance (uF) Drive VTRIP (VDC) EC (120 VAC) Joules EC (240 VAC) Joules AR-01xx 440 400 28 9 AR-02xx 660 400 43 14 AR-04xx 880 400 57 19 AR-08xx 1100 400 72 24 AR-13xx 1590 400 104 35 AR-20xE 2240 400 N/A 50 AR-30xE 2240 400 N/A 50 When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the power dump resistor.
Parker Hannifin 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 (EL) can conservatively be assumed zero (0). This can be derived from the force required during the constant velocity portion of the move profile, either measured or calculated.
Parker Hannifin 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. We recommend that you select a lower value resistance, typically in the 22 to 100 ohm range.
Parker Hannifin PPEAK = ER tD Where PPEAK= peak power into the external power dump resistor (Watts) 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. The duty cycle of this repetition determines the average power the resistor must dissipate. This average power must not exceed the capabilities of the resistor.
Appendix C Regulatory Compliance–UL and CE APPENDIX C Regulatory Compliance UL and CE IN THIS CHAPTER System Installation Overview................................................................... 190 General Safety Considerations................................................................ 190 General EMC Considerations.................................................................. 190 Installing the Aries Drive ..........................................................................
Parker Hannifin System Installation Overview This appendix contains information related to installation methods and practices that can be used to aid the systems integrator or machine builder in designing a compliant installation, meeting the needs of global regulatory agencies. The installation overview is divided in to two sections—“Safety” and “Electromagnetic Compatibility (or EMC)”.
Parker Hannifin 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. The Aries drive is a vented product. To prevent material spilling into the drive, mount it under an overhang or in a suitable enclosure.
Parker Hannifin 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 . • The drive must be installed in a manner that prevents operator access to hazardous live terminals during normal operation.
Parker Hannifin 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. Keep the cables separate from any low-level control signal cables.
Parker Hannifin remove the paint in certain areas to ensure filters and drive make a good large-area metal to metal contact between filter case and panel. You must install a filter on both the Motor power mains and Control power mains if both are used. Use Table 60 and Table 61 to determine the correct filter for your specific application. Control Power Control power is 1 Amp, maximum. Any of the following filters works with all models of the drive.
Parker Hannifin Three Phase Input Control Power – You must install varistors or other voltage surge limiting devices in order to meet the requirements of EN61000-4-5. Level 3 Voltage Surge (1000V line-to-line, 2000V line-to-earth) protection can be achieved by placing a Littelfuse V275LA20C, or an equivalent varistors from line-to-line and from line-to-earth before the mains filter as shown in Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE on page 198.
Parker Hannifin must cross, cross them at 90° to each other. Keep wiring supported and close to cabinet metalwork. • Cables may require the use of ferrite core suppressors. 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 Hannifin 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.
Parker Hannifin 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.
Parker Hannifin Panel Mounting The mounting clearance requirements are the same for all Aries drive models. They are shown in Figure 55.
Parker Hannifin 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.
Appendix D Servo Tuning Flow Diagram APPENDIX D Servo Tuning Flow Diagram IN THIS CHAPTER Servo Tuning Flow Diagram ....................................................................
Parker Hannifin Servo Tuning Flow Diagram Figure 56 Servo Tuning Flow Diagram 202 Aries User Guide
Appendix E VM26 Expansion Module APPENDIX E VM26 Expansion Module IN THIS CHAPTER Overview ..................................................................................................
Parker Hannifin 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”). Notes • The VM26 module ships with DIN-rail mounting clips installed. • The overall cabinet depth with cable-bend radius is 5 inches (127 mm).
Parker Hannifin Index 120/240 VAC power input .................................. 39, 47 absolute position, establishing effect on position report (TPE) ...........................151 accuracy ...............................................................169 address multiple units (ADDR) ..........................................95 encoder ..................................................................96 align encoder (ALIGN) .............................................96 amplifier ....................
Parker Hannifin encoder auto-configure (smart)................................. 33, 163 input resolution (ERES)......................................128 position commanded (TPC) ................................151 position report (TPE) .........................................151 position report error (TPER) ...............................151 resolution (ERES) ..............................................128 encoder offset .......................................................127 environment..............
Parker Hannifin operating hours, report (TDHRS) ............................146 operating hours, report (TDMIN) ............................147 operating hours, report (TDSEC) ............................147 operating modes, drive (DMODE) ...........................103 operating system revision (TREV) ...........................152 output power ..........................................................43 outputs status (TOUT) ...................................................150 override mode..............
Parker Hannifin specifications additional specifications .....................................169 drive I/O connector .............................................66 input power connector.........................................57 mains connector..................................................57 motor connector..................................................59 motor feedback connector ............................. 62, 66 motor feedback, resolver .....................................65 standards.........
