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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