- iv -
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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