Parker Aries AR-08AE User manual

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User Information
Aries Series products and the information in this user guide are the proprietary property of Parker
Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose
not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to
change this user guide and software and hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or
special damages of any kind or nature whatsoever, including but not limited to lost profits arising
from or in any way connected with the use of the equipment or this user guide.
© 2005 Parker Hannifin Corporation
All Rights Reserved
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.
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parkermotion.com
Germany, Austria, Switzerland
Parker Hannifin
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Europe (non-German speaking)
Parker Hannifin plc
Electromechanical Automation, Europe
Arena Business Centre
Holy Rood Close
Poole
Dorset, UK
BH17 7BA
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Italy
Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Technical Support E-mail
[email protected]
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Table of Contents
User Information............................................................................................................................ ii
Important User Information........................................................................................................ xii
Change Summary .................................................................................................................... xiii
Revision F Changes .............................................................................................................. xiii
Revision E Changes .............................................................................................................. xiii
Revision D Changes ..............................................................................................................xiv
Revision C Changes ..............................................................................................................xiv
Revision B Changes ...............................................................................................................xv
Chapter 1 Introduction.................................................................................................................. 1
Aries Products—Overview .........................................................................................................2
Aries Product Descriptions ......................................................................................................2
Aries Names ............................................................................................................................ 2
Input Power.............................................................................................................................. 2
Output Power Level ................................................................................................................. 3
Options..................................................................................................................................... 3
Compatible Parker Products ......................................................................................................3
Checking Your Shipment............................................................................................................ 4
Ship Kit Items........................................................................................................................... 4
Motors ...................................................................................................................................... 4
Illustrations in this Installation Guide .......................................................................................... 5
Assumptions of Technical Experience ....................................................................................... 5
Technical Support ...................................................................................................................... 5
Chapter 2 Mechanical Installation................................................................................................ 6
Environment & Drive Cooling .....................................................................................................7
Cabinet Cooling ....................................................................................................................... 8
Cabinet Cooling Calculations................................................................................................. 12
Dimensions............................................................................................................................... 13
Drive Dimensions—AR-01xx & AR-02xx............................................................................... 13
Drive Dimensions—AR-04xx, AR-08xx, & AR-13xx.............................................................. 14
Drive Dimensions—AR-20xE & AR-30xE.............................................................................. 15
Weight ...................................................................................................................................... 15
Mounting Guidelines................................................................................................................. 16
Cable Routing ........................................................................................................................ 16
Panel Mounting...................................................................................................................... 16
Chapter 3 Electrical Installation................................................................................................. 17
Installation Safety Requirements.............................................................................................. 18
Precautions ............................................................................................................................ 18
Auto-Configuration for Encoders ........................................................................................... 18
System Installation Overview ................................................................................................... 19
AR-01xx, AR-02xx, AR-04xx, AR-08xx, & AR-13xx Installation............................................ 19
AR-20xE and AR-30xE Installation........................................................................................ 21
Connector Locations.............................................................................................................. 22
Power Supply ........................................................................................................................... 24
Input Power............................................................................................................................ 24
Output Power......................................................................................................................... 28
External DC Link Inductor (Optional)..................................................................................... 30
Control Power Supply ............................................................................................................31
Multiple Drive Installations........................................................................................................ 33
Safety Earth Connections ...................................................................................................... 33
Brake Relay (Optional) ............................................................................................................. 35
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Motor with Full Wave Rectifiers ............................................................................................. 36
Motors without Full Wave Rectifiers ...................................................................................... 37
Relay Operation..................................................................................................................... 38
Relay Specifications .............................................................................................................. 38
Regeneration Protection........................................................................................................... 39
Regeneration Connection ...................................................................................................... 39
Internal Regeneration Capability ........................................................................................... 40
LEDs⎯Drive Status Indicators................................................................................................. 41
Normal Operation .................................................................................................................. 41
Internal Drive Faults............................................................................................................... 41
Connector Descriptions ............................................................................................................ 42
Motor Mains Power Connector .............................................................................................. 42
Output Power Connector ....................................................................................................... 44
AR-20xE & AR30xE Control Connector ................................................................................ 46
Motor Feedback Connector ................................................................................................... 47
Motor Feedback Connector—Resolver ................................................................................. 50
Drive I/O Connector ............................................................................................................... 51
Installation Test ........................................................................................................................ 57
Testing the Aries Drive .......................................................................................................... 57
Chapter 4 Communications........................................................................................................58
RS-232/485 Communications .................................................................................................. 59
Terminal Emulator Configuration........................................................................................... 59
Establishing Communications................................................................................................ 59
RS-232 Communications....................................................................................................... 60
RS-485 Communications....................................................................................................... 60
RS-485 Multi-Drop ................................................................................................................. 61
RS-232/485 Dongle for Communications Setup.................................................................... 62
Chapter 5 Tuning......................................................................................................................... 63
Servo Tuning Overview ............................................................................................................ 64
Position Variable Overview ......................................................................................................65
Commanded Position ............................................................................................................ 65
Actual Position ....................................................................................................................... 65
Servo Response Overview....................................................................................................... 66
Stability .................................................................................................................................. 66
Position Response Types ...................................................................................................... 66
Performance Measurements ................................................................................................. 67
Servo System Gains................................................................................................................. 68
Proportional Feedback Control (SGP) .................................................................................... 68
Velocity Feedback Control (SGV)........................................................................................... 68
Integral Feedback Control (SGI) ........................................................................................... 68
Controlling Integral Windup ................................................................................................... 69
Servo Tuning Example ............................................................................................................. 71
Auto-Tuning.............................................................................................................................. 75
Chapter 6 Command Reference................................................................................................. 76
Aries Communications Set-up.................................................................................................. 77
Description of Format ............................................................................................................... 77
Syntax – Letters and Symbols.................................................................................................. 78
Syntax – General Guidelines.................................................................................................... 79
Command Descriptions ............................................................................................................80
Chapter 7 Troubleshooting....................................................................................................... 140
Troubleshooting Guidelines.................................................................................................... 141
First Troubleshooting Steps (verify LEDs)........................................................................... 141
General Troubleshooting Procedure ................................................................................... 141
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LEDs⎯Drive Status Indicators............................................................................................... 142
Normal Operation ................................................................................................................ 142
Internal Drive Faults............................................................................................................. 142
Establish Communications & Verify Drive Configuration..................................................... 142
RS-232/485 Communication Problems.................................................................................. 143
Testing the COM Port .......................................................................................................... 143
Error Messages ...................................................................................................................... 144
Smart Encoders...................................................................................................................... 147
Hall Sensor Configuration/Troubleshooting ........................................................................... 148
Troubleshooting Checklist ................................................................................................... 148
Possible Problems ............................................................................................................... 148
Appendix A Additional Specifications .................................................................................... 152
Amplifier.................................................................................................................................. 153
Feedback................................................................................................................................ 153
Protective Circuits .................................................................................................................. 154
Short Circuit Protection........................................................................................................ 154
Drive Over-Temperature Protection .................................................................................... 154
Under-Voltage Protection .................................................................................................... 155
Over-Voltage Protection ...................................................................................................... 156
Current Foldback ................................................................................................................. 157
Cables .................................................................................................................................... 157
EMC Ready Cables ............................................................................................................. 157
Non-EMC Cables................................................................................................................. 157
Appendix B External Power-Dump Resistor Selection.......................................................... 158
External Power-Dump Resistor Selection .............................................................................. 159
Simplified Resistor Selection.................................................................................................. 159
Calculating Resistance—Rotary Motors ................................................................................ 161
Total Kinetic Energy............................................................................................................. 161
Total Potential Energy ......................................................................................................... 161
Energy Absorbed by Drive Capacitors ................................................................................ 162
Energy Dissipated in Motor Winding Resistance................................................................. 163
Energy Dissipated in Load................................................................................................... 164
Energy to Dissipate in the External Power-Dump Resistor ................................................. 164
Resistor Specifications⎯Rotary Motors................................................................................. 165
Calculating Resistance—Linear Motors ................................................................................. 167
Total Potential Energy ......................................................................................................... 167
Energy Dissipated in Motor Winding Resistance................................................................. 169
Energy Dissipated in Load................................................................................................... 170
Resistor Specifications⎯Linear Motors ................................................................................. 171
Appendix C Regulatory Compliance–UL and CE................................................................... 173
System Installation Overview ................................................................................................. 174
General Safety Considerations............................................................................................ 174
General EMC Considerations .............................................................................................. 174
Installing the Aries Drive ...................................................................................................... 175
Panel Mounting.................................................................................................................... 183
Regulatory Agencies .............................................................................................................. 184
Standards of Compliance ....................................................................................................... 184
Appendix D Servo Tuning Flow Diagram................................................................................ 185
Servo Tuning Flow Diagram................................................................................................... 186
Appendix E VM26 Expansion Module ..................................................................................... 187
Overview................................................................................................................................. 188
Index ........................................................................................................................................... 189
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Table of Tables
Table 1 Output Power Level....................................................................................................... 3
Table 2 Ship Kit Items, AR-01xx through AR-13xx .................................................................... 4
Table 3 Ship Kit Items, AR-20xE and AR-30xE ......................................................................... 4
Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE..... 8
Table 5 Environmental Specifications, AR-13xx ........................................................................ 8
Table 6 AR-02xx Power Dissipation........................................................................................... 9
Table 7 AR-08xx Power Dissipation......................................................................................... 10
Table 8 AR-13xx Power Dissipation......................................................................................... 11
Table 9 AR-30xE Power Dissipation ........................................................................................ 12
Table 10 AR-01xx and AR-02xx Drive Dimensions ................................................................. 13
Table 11 AR-01xx , AR-02xx, & AR-13xx Drive Dimensions ................................................... 14
Table 12 AR-20xE and AR-30xE Drive Dimensions ................................................................ 15
Table 13 Drive Weight.............................................................................................................. 15
Table 14 Motor Power Fuse Information.................................................................................. 26
Table 15 Fuse Part Numbers ................................................................................................... 27
Table 16 Drive Motor Power Inrush Current ............................................................................ 27
Table 17 Output Power-Continuous and Peak......................................................................... 28
Table 18 Wiring to Motors ........................................................................................................ 29
Table 19 AR-20xE & AR-30xE DC Link Inductors ................................................................... 30
Table 20 Brake Relay Operation.............................................................................................. 38
Table 21 Regeneration Absorption .......................................................................................... 40
Table 22 LED Status Indicator-Normal Operation.................................................................... 41
Table 23 LED Status Indicator-Internal Drive Fault.................................................................. 41
Table 24 MOTOR FEEDBACK Connector Pinout........................................................................... 48
Table 25 Inputs—Encoder Inputs Electrical/Timing Characteristics ........................................ 48
Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option .......................................... 51
Table 27 Resolver excitation ....................................................................................................51
Table 28 Fault Output Operation.............................................................................................. 52
Table 29 DRIVE I/O Connector Pinout ........................................................................................ 54
Table 30 Inputs—Enable and Reset Electrical/Timing Characteristics.................................... 55
Table 31 Outputs—Encoder Outputs Electrical/Timing Characteristics................................... 55
Table 32 Outputs— Fault outputs Electrical/Timing Characteristics........................................ 55
Table 33 Inputs—Step & Direction Electrical/Timing Characteristics ...................................... 56
Table 34 Inputs—Analog Electrical/Timing Characteristics ..................................................... 56
Table 35 Terminal Emulator Configuration for RS-232/485 Communication........................... 59
Table 36 RS-232 Connector Pinout ......................................................................................... 60
Table 37 RS-485 Connector Pinout ......................................................................................... 60
Table 38 Position Response Types ......................................................................................... 67
Table 39 Commands-Description of Format ............................................................................ 77
Table 40 Commands-Syntax.................................................................................................... 78
Table 41 Syntax Guidelines ..................................................................................................... 79
Table 42 Configuration Errors and Warnings........................................................................... 85
Table 43 Current Foldback Ratings ......................................................................................... 87
Table 44 Drive Control Mode ................................................................................................... 89
Table 45 Peak Current Rating for Aries Drives ........................................................................ 93
Table 46 Error Status⎯Text Based Report ........................................................................... 116
Table 47 Error Log⎯Enable/Disable ..................................................................................... 116
Table 48 Terminal Emulator Configuration for RS-232/485 Communication......................... 143
Table 49 Communications Port Errors and Resolutions ........................................................ 144
Table 50 Error Messages ....................................................................................................... 147
Table 51 Configuring Hall Sensors......................................................................................... 151
Table 52 LED Short Circuit Fault............................................................................................ 154
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Table 53 LED Drive Over-Temperature Fault ........................................................................ 154
Table 54 Reset Temperature Values ..................................................................................... 155
Table 55 LED Under-Voltage Fault ........................................................................................ 155
Table 56 LED Over-Voltage Fault .......................................................................................... 156
Table 57 Simplified Selection of External Power-Dump Resistor .......................................... 160
Table 58 Drive Capacitor Absorption ..................................................................................... 163
Table 59 Drive Capacitor Absorption ..................................................................................... 169
Table 60 Control Power Filter Selection................................................................................. 178
Table 61 Mains Motor Power Filter Selection ........................................................................ 178
Table 62 Enclosure Mounting Clamps ................................................................................... 180
Table 63 Regulatory Agencies ............................................................................................... 184
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Table of Figures
Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor ................. 9
Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor ................. 10
Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor....... 11
Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor ...... 12
Figure 5 Drive mounting for the AR-01xx & AR-02xx............................................................... 13
Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx .......................................... 14
Figure 7 Drive mounting for the AR-20xE and AR-30xE.......................................................... 15
Figure 8 Panel Layout Dimensions for Aries Drives................................................................. 16
Figure 9 Overview of System Installation for AR-01xx to AR-13xx.......................................... 19
Figure 10 AR-01xx to AR-13xx Factory Installed Jumpers ...................................................... 20
Figure 11 Overview of System Installation for AR-20xE & AR-30xE ....................................... 21
Figure 12 AR-20xE to AR-30xE Factory Installed Jumpers..................................................... 22
Figure 13 Connectors on Aries Models AR-01xx to AR-13xx .................................................. 23
Figure 14 Connectors on Aries Models AR-20xE & AR-30xE ................................................. 23
Figure 15 Input Power Requirements ...................................................................................... 24
Figure 16 Motor and Control Mains Power Supply Connection ............................................... 25
Figure 17 Output Power Connection........................................................................................ 29
Figure 18 External DC Link Inductor Connection..................................................................... 30
Figure 19 Mains Control Input Power....................................................................................... 32
Figure 20 Multiple Drives AR-01xx to AR-13xx: Single Point Safety Earth ............................. 33
Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth............................. 34
Figure 22 Typical Brake Relay Connection.............................................................................. 35
Figure 23 Brake Relay Connection for Parker Motors ............................................................. 37
Figure 24 Brake Relay Connection for Non-Parker Motors ..................................................... 37
Figure 25 External Regeneration Connection .......................................................................... 39
Figure 26 Mains/Input Power Connector.................................................................................. 42
Figure 27 Output (MOTOR) Power Connector ........................................................................... 44
Figure 28 AR-20xE & AR30xE Control Connector ................................................................... 46
Figure 29 MOTOR FEEDBACK connector, female drive connector pinout.................................... 47
Figure 30 MOTOR FEEDBACK connector, internal circuit diagram............................................... 47
Figure 31 MOTOR FEEDBACK connector, female drive connector pinout.................................... 50
Figure 32 MOTOR FEEDBACK connector for resolver option, internal circuit diagram................. 50
Figure 33 DRIVE I/O connector, female drive connector pinout ................................................. 52
Figure 34 DRIVE I/Oconnector, internal circuit diagram ............................................................ 53
Figure 35 RS-232/485 Connections......................................................................................... 59
Figure 36 RS-485 Multi-drop Connections............................................................................... 61
Figure 37 Closed Loop and Open Loop System Comparison ................................................. 64
Figure 38 Commanded Position............................................................................................... 65
Figure 39 Integrator Windup (Without Using SGILIM Command)........................................... 69
Figure 40 Integrator Windup (using the SGILIM Command)................................................... 70
Figure 41 Clockwise/ Counter-clockwise rotation .................................................................... 84
Figure 42 Time until current foldback occurs ........................................................................... 87
Figure 43 Linear motor track ....................................................................................................88
Figure 44 Notch Filter Topology............................................................................................. 105
Figure 45 Notch Filter Magnitudes ......................................................................................... 105
Figure 46 Notch Filter A ......................................................................................................... 106
Figure 47 Notch Lead Filter Break Frequency ....................................................................... 108
Figure 48 Clockwise/ Counter-clockwise rotation .................................................................. 138
Figure 49 Hall Connection Diagram ....................................................................................... 149
Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals............................. 151
Figure 51 Time until current foldback occurs ......................................................................... 157
Figure 52 360° Bonding Techniques...................................................................................... 177
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Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx.............................................. 181
Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE ............................................. 182
Figure 55 Panel Layout Dimensions for the Aries Drive ........................................................ 183
Figure 56 Servo Tuning Flow Diagram .................................................................................. 186
Figure 57 VM26 Breakout Module.......................................................................................... 188
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Product Type........................................... Aries Family AR-01Ax, 02Ax, 04Ax,
08Ax, 13Ax, 20AE, and 30AE
................................................................ Aries Family AR-01Sx, 02Sx, 04Sx,
08Sx, 13Sx, 20SE, and 30SE
The above product complies with the requirements of directives:
•EMC Directive 89/336/EEC
•Low Voltage Directive 73/23/EEC
•CE Marking Directive 93/68/EEC
Provided the installation requirements described in this guide are met, and
there are no special requirements of the installation and operating
environment so that the application may be considered typical.
The above equipment conforms with the protection requirements of Council
Directive 89/336/EEC as amended by Directive 92/31/EEC on the
approximation of the laws of the Member States relating to Electromagnetic
Compatibility when installed, operated and maintained as intended. Also: -
The above equipment conforms with the requirements of Council Directive
73/23/EEC (Low Voltage Directive) as amended by Directive 93/68/EEC (CE
Marking Directive), when installed, operated, and maintained as intended.
In accordance with IEC 61800-3:1997 (Adjustable speed electrical power
drive systems) this product is of the restricted sales distribution class which
meets the needs of an industrial environment when installed as directed.
However, further measures may need to be taken for use of the product in a
domestic environment.
The installation requirements are detailed in the Information supplied with the
equipment. The equipment is sold only to competent system builders.
Compliance is demonstrated by the application of the following standards:
•BS EN 61800-3 (1997) including Amendment A11 Adjustable speed
electrical Power drive systems Part 3. EMC product standard
including specific test methods.
•BS EN 50081-2 (1994) Electromagnetic compatibility—Generic
emission standard Part 2. Industrial Environment.
•BS EN 61000-6-2 (1999) Electromagnetic compatibility Part 6-2:
Generic Standards – Immunity for industrial environments.
•BS EN 61010-1 (1993) including Amendment A2. Safety
requirements for electrical equipment for measurement, control, and
laboratory use. Part 1 General Requirements.
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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.
Symbols Description
Protective Earth Ground
Functional Earth (Ground) Terminal
Shield, Frame, or Chassis Terminal
Caution Risk of Electrical Shock
Caution, Refer to Accompanying Documentation
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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.
The installation, set up, test, and maintenance procedures given in this User Guide should only
be carried out by competent personnel trained in the installation of electronic equipment. Such
personnel should be aware of the potential electrical and mechanical hazards associated with
mains-powered motion control equipment—please see the safety warnings below. The individual
or group having overall responsibility for this equipment must ensure that operators are
adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental,
consequential or special damages of any kind whatsoever, including but not limited to lost profits
arising from or in any way connected with the use of the equipment or this guide.
Warning — High-performance motion control equipment is capable of producing rapid
movement and very high forces. Unexpected motion may occur especially during the
development of controller programs. KEEP WELL CLEAR of any machinery driven by stepper or
servo motors. Never touch any part of the equipment while it is in operation.
This product is sold as a motion control component to be installed in a complete system using
good engineering practice. Care must be taken to ensure that the product is installed and used
in a safe manner according to local safety laws and regulations. In particular, the product must
be positioned such that no part is accessible while power may be applied.
This and other information from Parker Hannifin Corporation, its subsidiaries, and authorized
distributors provides product or system options for further investigation by users having technical
expertise. Before you select or use any product or system, it is important that you analyze all
aspects of your application and review the information concerning the product in the current
product catalog. The user, through its own analysis and testing, is solely responsible for making
the final selection of the system and components and assuring that all performance, safety, and
warning requirements of the application are met.
If the equipment is used in any manner that does not conform to the instructions given in this
user guide, then the protection provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and concepts
described herein, are the proprietary property of Parker Hannifin or its licensors, and may not be
copied disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to
modify equipment and user guides without prior notice. No part of this user guide may be
reproduced in any form without the prior consent of Parker Hannifin.
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Change Summary
Revision F Changes
This document, 88-021610-01F, supercedes 88-021610-1E. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
Command Reference Additions to ERES, SFB, and TREV commands for
Aries Resolver option.
Added TIDAC and TIQAC commands.
Corrected DCMDZ syntax.
Corrected ranges for DMTIC, DMTIP, DMTKE,
DMTRES, and ERES.
Aries Names Updated part number descriptions to include
Resolver and Powerlink Options
LEDs—Drive Status
Indicators
Updated to include Autorun mode.
Resolver option Added Motor Feedback Connector pinout, circuit
diagram, and resolver excitation frequency.
Error Messages Added E50, E51, and E52 error messages
Revision E Changes
This document, 88-021610-01E, supercedes 88-021610-1D. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
AC Power Supply
Connection
Clarified jumpering two phases of the motor input
power to the control input power allows for a
single AC connection.
Drive I/O Connector—
Internal Circuit Diagram
Corrected circuit for Step+ and Step-.
Drive I/O Connector Step and Direction is not optically isolated, but is
5V differential compatible (RS-422 logic level
compatible).
VM26 Breakout Module Added appendix describing the VM26 Breakout
Module.
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Revision D Changes
This document, 88-021610-01D, supercedes 88-021610-1C. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
Regulatory Compliance Aries is no longer cUL compliant.
Output Power Corrected to 14.07A
Part Number In Appendix C, Table 62 Enclosure Mounting
Clamps, corrected part number to read R CLAMP
KIT.
Environment and Drive
Cooling
Removed separate Still Air and Moving Air
temperature maximums. Now provides only an
Ambient Air temperature.
Revision C Changes
This document, 88-021610-01C, supercedes 88-021610-1B. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
Models Enhancement: Added models AR-13xx, AR-20xE,
and AR-30xE, and relevant information.
Regeneration
Protection
Enhancement: Added discussion and connections.
DC Inductance Link Enhancement: Added discussion and connections.
Command Reference Enhancements: Added the following commands:
ALIGN, DMTSWT, DRES, ENCOFF, ESTORE, IANI,
OHALL, P163
Modified the following commands:
DMTTCM—range
DMTTCW—range
DMVLIM—range and default
DPWM—range and corrected mode information
ERROR⎯now includes messages E47 and E48
SFB⎯In OS 2.10 or higher, SFB also functions to
set feedback type
TMTEMP⎯Added new reporting capabilities for OS
2.10 or higher
Error Messages Enhancement: Added error messages E47 and
E48. See Table 50 on page 147.
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Revision B Changes
This document, 88-021610-01B, supercedes 88-021610-1A. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
Fault Operation Enhancement: Added a discussion about fault
operations for the DRIVE I/Oconnector. See Fault
Operation on page 52.
DRIVE I/Oconnector-
internal circuit diagram
Correction: Simplified the circuit diagram for the
Enable input. See Figure 34 on page 53.
Inputs—Enable and
Reset
Enhancement: Added specifications detailing
electrical and timing characteristics on the DRIVE
I/Oconnector. See Table 30 on page 55.
Outputs—Encoder Enhancement: Added specifications detailing
electrical and timing characteristics on the DRIVE
I/Oconnector. See Table 31 on page 55.
Inputs—Step &
Direction
Enhancement: Added specifications detailing
electrical and timing characteristics on the DRIVE
I/Oconnector. See Table 33 on page 56.
Inputs--Analog Enhancement: Added specifications detailing
electrical and timing characteristics on the DRIVE
I/Oconnector. See Table 34 on page 56.
RS-485 Communication Correction: Both RS-485 channels are Tx/Rx. See
Table 37 on page 60.
Tuning Enhancements: Added Chapter 5 Tuning,
describing servo tuning.
Added Appendix D Servo Tuning Flow Diagram.
Command Reference Enhancements: Added the following commands:
DMTD, DMTJ, DNOTAD, DNOTAF, DNOTAQ, DNOTBD,
DNOTBF, DNOTBQ, DNOTLD, DNOTLG, SGVF
Modified CONFIG—now includes error messages
E13-E18.
Error Messages Enhancement: Added error messages E13-E18.
See Table 50 on page 147.
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CHAPTER ONE
Introduction
IN THIS CHAPTER
Aries Products—Overview........................................................................... 2
Compatible Parker Products........................................................................ 3
Checking Your Shipment............................................................................. 4
Illustrations in this Installation Guide ........................................................... 5
Assumptions of Technical Experience......................................................... 5
Technical Support........................................................................................ 5
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- 2 - Aries User Guide
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. Control of Aries Drives is performed using
controllers, which have standard ±10V torque command, ±10V velocity
command, or 5V TTL step & direction interface.
For Aries drives using the analog or step and direction command interface,
configure the drives through RS-232/485 using the Aries Support Tool on a
personal computer (PC), or other standard communication software. For
Aries drives using the Ethernet Powerlink command interface, configure the
drives through Ethernet using the ACR-View software on a PC. Many
advanced features are standard on the product including “plug and play”
capabilities with Aries-compatible motors.
Aries Names
The following diagram explains the Aries part numbers:
Drive Type............................................... Aries
Maximum Shaft Power............................01 = 100W
02 = 200W
04 = 400W
08 = 750W
13 = 1300W
20 = 2000W
30 = 3000W
Command Interface ................................ A = Analog
S = Step & Direction
P = Ethernet Powerlink
Motor Feedback ...................................... E = Encoder
R = Resolver
Input Power
Motor Power
AR-01xx, AR-02xx
AR-04xx, AR-08xx, AR-13xx................... 120/240 VAC single-phase mains
motor power
AR-20xE.................................................. 240 VAC single-phase or three-
phase mains motor power
AR-30xE.................................................. 240 VAC three-phase mains motor
power only
Control Power
AR-01xx through AR-30xE...................... 120/240 VAC single-phase mains
control power
AR – 01 A E
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Chapter 1 Introduction - 3 -
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, 4.04 hp**
* Maximum rating at 240 VAC, single-phase
** Maximum rating at 240 VAC, three-phase
Table 1 Output Power Level
Options
For the latest additions, see our website at www.parkermotion.com
Compatible Parker Products
Servo Controller
(±10V torque or velocity mode)...............ACR series or other Parker
controller
Stepper Controller (S&D mode).............. ACR series or other Parker
controller
Software .................................................. Aries Support Tool
For information about cables, motors, etc., see “Chapter 2 Mechanical
Installation”.
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