Parker Hannifin
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Regeneration Protection........................................................................................................... 37
Regeneration Connection ...................................................................................................... 37
Internal Regeneration Capability ........................................................................................... 38
Chapter 4 Communications........................................................................................................ 39
Overview................................................................................................................................... 40
Ethernet Specifications............................................................................................................. 40
Ethernet Cable Specification ................................................................................................. 40
Ethernet Connector................................................................................................................ 40
Assigning IP Addresses ........................................................................................................... 42
Setting the IP Address—Aries Controller .............................................................................. 42
Setting the IP Address and Subnet Mask—PC ..................................................................... 43
Connecting to a PC .................................................................................................................. 46
Verifying the IP Address........................................................................................................... 46
LED Status Indicators............................................................................................................... 47
Ethernet Network Status........................................................................................................ 47
Drive/Controller Status........................................................................................................... 47
Chapter 5 Tuning......................................................................................................................... 49
Servo Tuning Overview ............................................................................................................ 50
Position Variable Overview ...................................................................................................... 51
Commanded Position ............................................................................................................ 51
Actual Position ....................................................................................................................... 51
Servo Response Overview....................................................................................................... 52
Stability .................................................................................................................................. 52
Position Response Types ...................................................................................................... 53
Performance Measurements ................................................................................................. 54
Servo System Gains................................................................................................................. 55
Proportional Feedback Control (PGAIN) ............................................................................... 55
Derivative Feedback Control (DGAIN) .................................................................................. 55
Integral Feedback Control (IGAIN) ........................................................................................ 55
Controlling Integral Windup ................................................................................................... 56
Servo Tuning—Tutorial ............................................................................................................ 58
Tuning Example..................................................................................................................... 58
Auto-Tuning.............................................................................................................................. 64
Chapter 6 Troubleshooting......................................................................................................... 65
General Troubleshooting Guidelines........................................................................................ 66
Power ....................................................................................................................................... 66
Power-Up Sequence ................................................................................................................ 67
Communications....................................................................................................................... 67
RJ-45 Ethernet Status LEDs.................................................................................................. 67
Ethernet Network Status LED................................................................................................ 68
Motor Control............................................................................................................................ 71
Fault Correction........................................................................................................................ 72
Error Codes............................................................................................................................ 73
Drive Configuration ................................................................................................................ 74
Smart Encoders ..................................................................................................................... 75
Hall Sensors........................................................................................................................... 75
Appendix A Additional Specifications ...................................................................................... 80
Amplifier.................................................................................................................................... 81
Performance ............................................................................................................................. 81
Protective Circuits .................................................................................................................... 82
Short Circuit Protection.......................................................................................................... 82
Drive/Controller Over-Temperature Protection...................................................................... 82
Under-Voltage Protection ...................................................................................................... 83
Over-Voltage Protection ........................................................................................................ 84
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