Parker Aries AR-08AE - Page 208

Appendix D Servo Tuning Flow Diagram - 191 -
output power ..........................................................28
outputs
status (TOUT)...................................................134
override mode.......................................................104
over-temperature limits..........................................154
over-voltage protection..........................................156
peak current, motor (DMTIP) ...................................93
performance .........................................................153
pole pairs, motor (DPOLE) .....................................109
pollution degree ....................................................... 7
position
actual (TPE)......................................................135
actual error(TPC)...............................................135
commanded (TPC) ............................................135
encoder (TPE)...................................................135
encoder error (TPER).........................................135
tracking............................................................126
power dissipation ................................................8–12
power supply
connection..........................................................25
fuses ............................................................26, 27
input power .................................20, 22, 24, 25, 31
power-dump resistor
calculating for linear motor ................................167
calculating for rotary motor................................161
selection................................................... 159, 160
product revision (command implementation).............77
product revision (TREV).........................................136
program
comments...........................................................79
reset, effect of ..................................................123
protection
current foldback (DIFOLD)...........................87, 157
drive over-temperature......................................154
over-voltage......................................................156
short circuit.......................................................154
under-voltage ...................................................155
PWM frequency (dpwm) ........................................153
PWM frequency (DPWM)........................................109
PWM update period (TSSPD)..................................136
rated speed, motor (DMTW) ..................................102
regeneration ....................................39, 156, 159, 160
regulatory agencies ...............................................184
relay
brake relay .........................................................35
relay, brake
operation............................................................38
output delay (OUTBD).......................................121
output status (TOUT) ........................................134
specification........................................................38
reset,drive (RESET) ...............................................123
resistor, power-dump.............
See power-dump resistor
resolution
encoder (ERES).................................................113
encoder input (ERES) ........................................113
resolver ................................................................153
return to factory settings (RFS) ..............................123
revision level, operating system (TREV) ..................136
revision of this manual.................................xiii, xiv, xv
rotor inertia, motor..................................................94
RS-232
communications..................................................60
dongle................................................................62
wiring.................................................................59
RS-232/485
connector ...........................................................59
troubleshooting.................................................143
wiring .......................................................... 59, 60
RS-485
communications..................................................60
dongle ...............................................................62
multi-drop network ............................................. 61
wiring .......................................................... 59, 60
scaling
force command................................................. 100
torque command (DMTSCL) .............................. 100
velocity command............................................. 104
velocity command (DMVSCL)............................. 104
servo
position tracking............................................... 126
servo tuning
actual position....................................................65
auto-tuning ........................................................ 75
closed loop.........................................................64
commanded position...........................................65
current loop gains, auto .................................... 119
inertia ratio (LJRAT).......................................... 120
integral feedback................................................68
integral gain (IGAIN)......................................... 119
integral gain (SGI)............................................ 124
integral gain limit (SGILIM) ............................... 125
measuring performance ......................................67
notch filter A depth (DNOTAD) .......................... 104
notch filter A frequency (DNOTAF)..................... 105
notch filter A quality factor (DNOTAQ) ............... 106
notch filter B depth (DNOTBD) .......................... 106
notch filter B frequency (DNOTBF)..................... 107
notch filter B quality factor (DNOTBQ) ............... 107
notch lag filter break freq (DNOTLG).................. 108
notch lead filter break freq (DNOTLD)................ 107
open loop........................................................... 64
overview ............................................................64
position error (SMPER)...................................... 128
position respones................................................ 66
position variables................................................ 65
proportional feedback ......................................... 68
proportional gain (PGAIN)................................. 122
proportional gain (SGP)..................................... 125
set current loop bandwidth..................................86
stability.............................................................. 66
torque/force limit (DMTLIM)................................ 96
tuning example...................................................71
velocity error (SMVER)...................................... 128
velocity feedback................................................ 68
velocity feedforward gain (SGVF)....................... 126
velocity gain (SGV) ........................................... 126
velocity limit (DMVLIM) ..................................... 103
windup...............................................................69
servo update ........................................................ 153
ship kit.....................................................................4
short circuit protection .......................................... 154
software revision level (TREV) ............................... 136
space (neutral character).........................................79
specifications
additional specifications..................................... 153
drive I/O connector.............................................51
input power connector ........................................42
mains connector ................................................. 42
motor connector................................................. 44
motor feedback connector............................. 47, 51
motor feedback, resolver.....................................50
standards..........................................................x, 184
status
commanded position (TPC) ............................... 135
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