Parker Aries User manual

Aries Controller
Aries Controller
System Solutions Guide
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Aries Controller
System Solutions Guide
•Overview
•Features
•FAQ’s
•Xpress HMI
Overview
Part Numbers
Configuring Aries Driver
•Rotary Motors
Overview
Cable Selection
Encoder Selection
Motor Wiring
Speed Torque Curves
•Linear Motors
Overview
ACR-View Set-up
Trilogy Coil Wiring
Trilogy Encoder/Hall Wiring
Limit/Home Wiring
•Parker Mechanics
Overview
XR Limit/Home Wiring (NPN)
XR Limit/Home Wiring (PNP)
HD Limit/Home Wiring
XE Limit/Home Wiring
ET Limit/Home Wiring (NPN)
Introduction
Aries Controller System Solutions Guide is provided to aid the user in selecting and configuring
Parker products used with the Aries Controller.
This document is intended as a supplement to existing Parker literature and user guides. The
Aries Controller System Solutions Guide is essentially an extension of catalog information and a
summary of installation and programming manuals. Information contained herein does not
supersede official manuals unless specifically noted.
REV 02092009-1
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Aries Controller
Overview
Aries Controller Features
• 7 onboard inputs (4 standard, 3 high speed), 4 outputs
• Advanced Multitasking of up to 16 simultaneous programs
• Integrated 2 port Ethernet hub
• ACRView Software Development Kit
• Rotary or linear servo motor control
• 3, 4.5 and 6.3 A RMS continuous current
• 120/240 VAC power input
• Multiple feedback options
Smart encoder, quadrature encoder, Heidenhain EnDat absolute encoder
• Auto-tuning
• CE (EMC & LVD), UL508C Recognized
1300W, 6.3amp RMS servo controllerAR-13CE
750W, 4.5 amp RMS servo controllerAR-08CE
400W, 3 amp RMS servo controllerAR-04CE
DescriptionAries Controller Part
Numbers
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Aries Controller
Features
Aries Controller Features
• Jog and Contoured Profiles
• Scaling for distance, velocity, acceleration
• S-Curve profiling
• Hardware and Software Limits
• Multi-Tasking
• Segmented Electronic Cams
• Electronic Gearing
• Global and local variables and arrays
• Floating point math functionality
• Logic operators
• Hardware & Software capture registers
• Registration moves
• Time-Based Moves
• Data Sampling
• String Handling
• Torque/Force Control
• Programmable Limits Switch Functions
• Non-Volatile Flash Memory
• Conditional Statements
• Ballscrew and Backlash Compensation
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Aries Controller
FAQ’s
Frequently Asked Questions
•Programming Language: The Aries Controller is programmed in the AcroBASIC language used
for the ACR family of controllers. Commands used for drive/motor set-up are based on the Aries
command language.
•Development Environment: The free of charge, ACR-View Software Development Kit is used to
set-up, program and troubleshoot the Aries Controller. The Aries Support Tool (AST), used to
configure Aries drive only products, is not required or supported. AST functionality is embedded in
ACR-View.
•PC Applications: Included with ACR-View is a Windows compatible library (API) called the
ComACRserver that can be integrated into any COM enabled programming language such as VB6,
VB.NET, C++, and C#. The rich set of functions included with the ComACRserver allows a user to
develop custom user interfaces with ease.
•LabView: The ComACRserver allows LabView users to quickly create custom VIs for
communicating to, commanding and querying the Aries Controller. Example projects are available for
download.
•Enable Input: The Aries does not have a dedicated hardware enable circuit. The mains input
power could be used for stopping purposes, however, motion may occur for several seconds while
capacitors discharge. A user can program a task to monitor an input and immediately kill motion
when the input is opened. For true safety stop functionality, a custom version of the Aries is available
which dedicates Input 0 as a hardware enable circuit. Request a custom product quotation for this
version (will be available as a standard ordering option).
•Feedback Types: Aries Controller supports Smart encoders, quadrature rotary and linear encoders
and Heidenhain EnDat absolute encoders. No special order code is required, all are supported on the
same hardware platform. Resolvers are not supported at this time and no development timeline has
been established.
•HMI Drivers: Drivers are available and currently shipping with Parker InteractX (2.51) and Interact
Xpress(1.8) platforms.
•IP Addressing: The IP address for the controller can be freely assigned using hardware switches
of the front of the controller. See notes for more information
•Auxiliary Encoder: The Aries controller has a secondary encoder input for following/cam
applications. See notes for more information
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Aries Controller
FAQ’s
Frequently Asked Questions-Coming Attractions
•Controller Peer-to-Peer: Functionality is being developed that will allow Aries Controllers to pass
commands and variables to other Aries controllers. Expected availability is spring 2009.
•Expansion I/O: Parker is currently developing EtherNet/IP scanner functionality for the Aries that
will allow use of Ethernet expansion I/O modules. Expected availability is mid-2009.
•EtherNet/IP: Parker is currently developing EtherNet/IP scanner and adapter functionality for the
Aries. Expected availability is mid-2009.
•Higher Power Levels: 2kW and 3kW (-20, -30) versions of the Aries Controller are in development.
Expected availability is fall 2009.
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Aries Controller
FAQ’s
The IP address Aries CE Controllers can be assigned via hardware,
programmed by the user or assigned dynamically from a DHCP server.
Aries CE Controllers ship with IP address default of 192.168.100.1
******Valid for OS version 1.10 and higher.
User defined via IP
command
99 (x1=9, x10=9)Software
192.168.100.(x10)(X1)2-98 (x1=2, x10=0)
Example: 14 (x1=4, x10=1)
Hardware
192.168.100.11 (x1=1, x10=0)Hardware
10.10.10.100 (x1=0, x10=0)Hardware
Unit IP AddressSwitch Setting
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Aries Controller
FAQ’s
5VDC
A
+
A-
B
+
B-
Auxiliary Encoder Input
• 2 High speed inputs can be wired as an encoder input
•A+/A- are wired to high speed input 5
• B+/B- are wired to high speed input 6
•Encoder power must be supplied externally
•5V source power for encoders will be added for future versions of the drive
• Differential encoder signals
•Controller always reads as both inputs and encoder
• No software selection/command required
•Encoder input is mapped to controller parameter ENC1 (P6160)
•Encoder position value can be utilized for gearing, cam etc
•Dual loop feedback not supported
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Aries Controller
Xpress Features
Interact Xpress Features
• Sophisticated graphics look and feel with ease of development
• Integrated Web Publishing capability for distributed applications
• Applications can be served, created and edited online from any PC with Internet Explorer.
• Available offline, development software allows work on applications when a live Internet connection is
not available.
• Advanced security for single or multi-user applications
• Tools for historical alarm data
• Capacity for complex graphics and animations
• Standard Ethernet port for both networking and controller communications
• Unlimited tags
• Color depth to 262,144 colors
Interact Xpress software is pre-installed and bundled with Parker’s new XPR
PowerStation hardware, which is designed to optimize the performance,
storage and connectivity features
of Xpress HMI.
XPR Powerstation Features
•256MB of DRAM
•128MB Compact Flash (also available with 256 or 512)
•NEMA4/4X-rating
•embedded fanless CPU technology,
•256MB DRAM
•2 USB ports, 2 RS-232 and RS-232/422/485 ports
•100BaseT Ethernet port
•CE/UL/CUL Approvals
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Aries Controller
Xpress
Together, the Aries Controller, Xpress software and XPR PowerStations create a
powerful, easy to use motion and HMI solution. The Aries Controller and XPR
PowerStation communicate via 100Mb Ethernet using a the Xpress
COMMserver for fast, efficient data and command transfer. The ACR Ethernet
Driver included with Xpress enables almost unlimited access to information on
the controller. Since most controller functions can be executed by simply
asserting a binary variable, push button control can be created for most motion
needs.
• Read and write global variables
• Read and write controller system parameters and flags
• Read and write strings
• Standard Ethernet Cable for direct connection or thru a switch
Getting Started with Xpress and Aries Controller
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Aries Controller
Xpress Part Numbers
10. 4“ SVGA/TFT Touchscreen DisplayXPR10ST-4P3
AC Power SupplyP1X-PWRAC
Interact Xpress Manager 1.x Development SoftwareIXM-0150
10.4"/VGA/TFT Touchscreen DisplayXPR10VT-4P3
8” TFT touchscreen DisplayXPR08VT-4P3
6” TFT touchscreen DisplayXPR06VT-2P3
DescriptionXPR Part numbers
Sample System Bill of Materials
Interact Xpress Manager 1.x Development Software
(one-time charge)
IXM-0150
6” TFT touchscreen DisplayXPR06VT-2P3
AC Power SupplyP1X-PWRAC
Ethernet Cross-over CableN
400W, 3 amp RMS servo controllerAR-04CE
DescriptionPart numbers
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Aries Controller
Rotary Motors
Aries Controller and Parker Motors
Parker System Solution Finder is a great resource for building compatible motor,
cable and drive part number combinations. SSF generates a full bill of materials
and will create a speed/torque curve for the selected system.
Download the most recent version of System Solution Finder from
www.parkermotion.com/scripts/support_download.asp#SIZINGCD
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Aries Controller
Rotary Motors
Aries Controller and Parker Motors
The Aries Controller is compatible with a wide range of
Parker motors and feedback types. ACR-View contains
a complete database of Parker motors allowing the user
to easily create a download the correct motor set-up file
to the controller.
Motors are offered with two types of connector options
for use with the Aries Controller.
• LC Connecter Option– Space and cost saving
• Motor is equipped with 8 inch leads for motor power and
feedback, terminating into Molex/Tyco style connectors.
• Mating cables are offered in various lengths.
• Feedback mating cables include a 15-pin D-Sub
connector for direct connection to the controller feedback
connector
• Motor Power mating cables include brake leads
• P-Clip is included with the motor power cable to connect
cable braided shield to earth ground for proper noise
immunity
•PS Connecter Option – Rugged, Industrial
• Motor is provided with hardened, military style connectors
for power and feedback connections,
• Mating cables are offered in various lengths.
• Feedback mating cables include a 15-pin D-Sub
connector for direct connection to the controller feedback
connector
• Motor Power mating cables include brake leads
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Aries Controller
Rotary Motors
Aries Controller and Parker Motors
Mating Cables for Aries Controller to LC and PS option Motors
F-1A1-XX
Stock Lengths: 10, 25 and 50 ft
Also Available: 5, 15, 20, 30, 35, 40,
45
P-1A1-XX (0-6A)
P-3B1-XX (>6 amps)
Stock Lengths: 10, 25 and 50 ft
Also Available: 5, 15, 20, 30, 35,
40, 45
PS
F-1F3-XX
Stock Lengths: 10 and 25ft
Also Available: 5, 15, 20, 30, 35, 40,
45, 50
P-1A3-XX (0-6A)
Stock Lengths: 10 and 25ft
Also Available: 5, 15, 20, 30, 35,
40, 45, 50
LC
Feedback Cable
(all encoder types)
Motor CableMotor Connector
Type
PS
PS
PS
PS
PS
LC, PS
LC, PS
PS
LC, PS
LC, PS
Connector
Options
131072 pprSmart Multi-turn Absolute, 1310726D
8000 ppr2000 Line Smart EncoderQSM
4000 ppr1000 Line EncoderE
8000 ppr2000 Line Smart EncoderQBE
8000 ppr2000 Line EncoderJ
131072 pprSmart Single-turn Absolute, 1310729D
8000 ppr2000 Line Smart Encoder3E
8000 ppr2000 Line Smart Encoder1EMPP/MPJ
20000 ppr5000 Line EncoderL
20000 ppr5000 Line EncoderL
Controller
Resolution
DescriptionEncoder
Code
Motor
Series
Motor Connector and Encoder Options
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Aries Controller
Rotary Motors
Aries Controller and Parker Motors
Sample System Bill of Materials
10ft Motor Feedback Cable, LC styleF-1F3-10
BE Series Motor, LC connector, 2000 line encoderBE231DJ-NLCN
10ft Motor Power Cable, LC styleP-1A3-10
400W, 3 amp RMS servo controllerAR-04CE
DescriptionPart numbers
25ft Motor Feedback Cable, PS styleF-1A1-25
BE Series Motor, PS connector, 2000 line smart
encoder, brake, keyway
BE342HQ-KPSB
25ft Motor Power Cable, PS styleP-1A1-25
1300W, 6.3 amp RMS servo controllerAR-13CE
DescriptionPart numbers
10ft Motor Feedback Cable, PS styleF-1A1-10
MPP Series Motor, PS connector, Multi-turn Absolute
smart encoder, keyway
MPP0922C6D-KPSN
10ft Motor Power Cable, PS styleP-1A1-10
1300W, 6.3 amp RMS servo controllerAR-13CE
DescriptionPart numbers
10ft Motor Feedback Cable, PS styleF-1A1-10
MPJ Series Motor, PS connector, 2000 line encoder,
keyway
MPJ1002R1E-KPSN
10ft Motor Power Cable, PS styleP-1A1-10
750W, 4.5 amp RMS servo controllerAR-08CE
DescriptionPart numbers
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Aries Controller
Rotary Motor Wiring
Important — An R-clamp must be
connected to the drive and snugly
attached to the exposed braided shield of
the motor cable in order to control
electrical noise.
Parker motor cables are marked with
white numbers (1,2, or 3) to indicate the
phase. Connect Motor Phase 1 to U, 2 to
V, and 3 to W, and Motor Safety Earth to
the Protective Earth ground connector.
Warning — You must connect the Motor
Safety Earth conductor terminal, marked
with the earth symbol , to the motor cable’s
motor-safety-earth wire (green/yellow).
Parker Rotary Motor Wiring
1
2
3
LC Cable: P-1A3-XX
PS Cable: P-1A1-XX
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Aries Controller
Rotary Motor Wiring
Brake Relay to Motors
Some Parker brake motors (BE, SM, SE, NeoMetric,
MPP, and J series motors, serial numbers 10904xxxxx
and greater) contain full wave rectifiers, so connection
polarity is not an issue during installation.
Parker Rotary Motor Wiring
1
2
3
LC Cable: P-1A3-XX
PS Cable: P-1A1-XX
-
+
24VDC
Aries Brake Relay does not supply
24VDC. Use an external source.
Recommend that this supply is
separate from supply for logic to
prevent noise on digital I/O.
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Aries Controller
Linear Motors
Aries Controller and Parker Linear Motors
The Aries Controller is perfect choice with Parker 400LXR Linear Motor
Stages and Parker Trilogy Linear Motors. Either LME magnetic or
RGH optical encoders can be used with any resolution.
• Sizing and Selection: Parker Motion Sizer includes 400LXRs,
Trilogy Motors and Aries Controller
• Aries Controller is listed as AR-04xE, AR-08xE, and AR-13xE
• 400LXR stages and Trilogy positioners are offered with plug
and play connectors compatible with the Aries.
• T2DA024NSALA3
• 404T03LXRMP-D13H3L2CM13Z2E2R1A1P1
• VM15-PM breakout module provides a convenient method for wiring
encoder, halls and motor thermal sensors to the controller when using
Trilogy coils
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Aries Controller
Linear Motors
Aries Controller with Linear Motors
Sample System Bill of Materials
25-pin breakout for user I/O, limits with 2 ft cableVM25
24 VDC, 60 Watt power supply for I/OPS-60W
LXR Series Linear Motor Table, 300mm travel,
1.0um linear encoder, NPN Limits/Home, 3.0m
Cable Module for Aries
404T05LXRMP-
D13H3L2CM13Z2E2R1A1P1
400W, 3 amp RMS servo controllerAR-04CE
DescriptionPart numbers
25-pin breakout for user I/O , limits with 2 ft cableVM25
24 VDC, 60 Watt power supply for I/O,limitsPS-60W
Trilogy Single Rail Positioner, 210-2 series coil 12
inch travel, 5.0um linear encoder, Limits/Home,
3.0m Cable Module for Aries
T2SA0192NSBLA3
400W, 3 amp RMS servo controllerAR-04CE
DescriptionPart numbers
5um magnetic linear encoderLME-5F
19.2 inch Nickel Plated modular magnet track31019M1-N
15-pin breakout module for feedback with 2 ft cableVM15-PM
25-pin breakout for user I/O, limits with 2 ft cableVM25
24 VDC, 60 Watt power supply for I/O,limitsPS-60W
Trilogy 310-3 series coil, 8ft flying lead cables, delta
wound with thermostat & digital halls
310-3A-NC-WD7-8
400W, 3 amp RMS servo controllerAR-04CE
DescriptionPart numbers
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Aries Controller
Linear Motors
Aries Controller with Trilogy Linear Motors
ACR-View Setup
The motor selection screen in ACR-View includes all Trilogy coils combinations. Trilogy
positioners can configured by selecting the coil used by the positioner.
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