Transcript
Aries Digital Servo Drives
192-100800 N1 / UK October, 2004
192-100800 N1/UK
Aries Servo Drive
Low to Medium Power Digital Servo Drives With its ‘plug and spin’ design, the Aries family of compact digital servo drives requires no setup. Users simply attach any Parker ‘Q-Smart Encoder’ motor to enable the drive to be configured automatically as a torque amplifier. Available in five power levels (100W, 200W, 400W, 750W and 1.3kW) the Aries family provides a robust and cost-effective digital servo product - users only pay for the level of performance they need. Unlike the competition, the Aries family is designed with open architecture in mind, so it can also be configured for use with any manufacturer’s motion controller and servo motor. By default, the Aries drive is supplied as a torque amplifier, but may be configured in software to run in velocity mode. An optional step-and-direction version is also available for users replacing stepper systems or wishing to utilise their current stepand-direction command interface.
Aries Features
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’Plug and spin’ - no setup required; drive autoconfigures when used with Parker’s ‘Q-Smart Encoder’ motors
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120 - 240 VAC input with optional 120/240 VAC keep alive circuitry
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5 power levels available: 100W, 200W, 400W, 750W & 1.3kW
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Optimised for both brushless rotary and linear servo motors
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Compatible with standard quadrature encoder
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Torque, velocity and step/direction signal input versions
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Online auto-tuning feature
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Standard high-density D-sub connectors for easy connectivity to any systems
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‘Drive Talk’ feature permits ACR9000 controllers to automatically access Aries drive parameters
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CE (EMC & LVD), UL compliant
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Compact design
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Brake relay
Parker SME/BE & 3rd Party Motors Wizard Based Configuration
Parker SME/BE ‘Q-Smart’ Motors “Plug & Spin” Auto-configuration
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Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
192-100800 N1/UK
Aries Servo Drive
Specifications AR-01_E
AR-02_E
AR-04_E
AR-08_E
AR-13_E
100W* 300W*
200W* 600W*
400W* 1200W*
750W* 2250W*
1.3kW* 3.9kW*
1A 3A
1.75A 5.25A
3A 9A 170-340VDC 16 or 32kHz
4.5A 13.5A
6.5A 19.5A
Motor Output Power Shaft Power @ Continuous Current Shaft Power @ Peak Current
Drive Output Power Continuous Current (RMS) Peak Current (RMS) Bus Voltage PWM Drive Input Voltage
120 - 240VAC, 1ø, 50/60 Hz
* @240 VAC
Performance Servo Update Accuracy Commutation
62.5 µ seconds ± 1 encoder count; encoder dependent Sinusoidal
Inputs Command Enable/Reset Encoder
14-bit resolution ADC, ±10 V (torque/velocity control) Step and direction, 5 MHz max. (position control), TTL levels 5-24 VDC 5 MHz (pre-quadrature); RS-422 compatible differential input
Outputs Fault Brake Encoder Out
5-24 VDC Solid state, normally open; 1 Amp @ 24 VDC max RS-422 compatible differential driver; 5 MHz max. output frequency (pre-quadrature)
Communications Drive Talk Type Baud Rate Multi-drop
RS-485 (2-wire) RS-232 (3-wire)/RS-485 (2-wire) ASCII Fixed at 9600 Up to 99 units (RS485 only)
Standards
UL, cUL, CE(LVD), CE(EMC)
Weight - kg AR-01_E AR-02_E AR-04_E AR-08_E AR-13_E
0.76 0.86 1.15 1.28 1.70
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Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
192-100800 N1/UK
Aries Servo Drive
Part Numbering System
A
AR-
01
Aries Digital Drive Series
Maximum Shaft Power
Command Interface
Motor Feedback
Example AR-01AE
01 - 100 W 01 - 200 W 04 - 400 W 08 - 750 W 13 - 1.3kW
A - Analog ± 10V S - Step and direction
E - Encoder
E
Drive I/O Connector
Motor Feedback Connector Signal ENC Z+/DATA+
Pin 1
Signal ENABLE+
Pin 1
ENC Z-/DATA-
2
ENABLE-
21
DGND
3
DGND
2
+5 VDC (250MA MAX)
4
ENC A+
3
+5 VDC (250MA MAX)
5
ENC A-
4
DGND
6
ENC B+
5
ENC A-
7
ENC B-
6
ENC A+
8
ENC Z+
7
HALL 1
9
ENC Z-
8
Thermal+
10
FAULT+
9
Thermal-
15
FAULT-
16
ENC B-
11
STEP+
10
ENC B+
12
STEP-
11
Hall 2
13
Hall 3
14
Signal
Pin
DIRECTION+
12
DIRECTION-
13
AIN+
14
AIN-
15
DGND
17
RESET+
18
RESET-
23
DGND
19
DGND
20
DGND
22
DGND
24
RS-232Rx/RS-485+
25
RS-232Tx/RS-485-
26
LED Status Indicators LED-Left
LED-Right
Drive Status - What it means
Off
Green
Power on, enabled
Yellow
Green
Power on, regeneration active
Off
Red
Power on, disabled-No Fault
Yellow
Off
Power on, boot process
Off
Red (flash)
Waiting for OS download
Yellow (flash)
Red (flash)
OS download in process
Yellow & 1 Green (flash)
Red
Bridge Fault
Yellow & 2 Green (flash)
Red
Feedback Fault
Yellow + 3 Green (flash)
Red
Thermal Fault
Yellow
Red
Other Fault
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Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
192-100800 N1/UK
Aries Servo Drive
Output Power Connection
Mains Power Connection
MOTOR Motor Phase
External Regeneration Resistor
U
Motor Phase
V
Motor Phase
R-
"Keep Alive" Power
W
Motor Safety Earth
"Keep Alive" Power
Motor Brake Relay
Protective Earth GND
BK
Motor Brake Relay
R+
Extermal Regeneration Resistor
C2 C1
AC Mains
BK
L2
AC Mains
L1
RS-232/485 Configuration The 26-pin DRIVE I/O connector (female D-subminature) also functions as the communications (COM) port. Drive I/O connector Configuration for RS-485
Drive I/O connector Configuration for RS-232 9
8
18
17 26
7 16
25
6
5
15 24
14 23
4 13
22
3 12
21
2 11
20
9
1
8
18
10
26
19
7
17
16 25
6
5
15 24
14 23
4 13
22
3 12
21
2 11
20
1 10
19
- + Gnd (Talk)
Tx Rx Gnd
Dimensions OW 4.57 Fin Height 48.1
2x Clearance for M4 Mounting Screws
12.9
Drive
Amm
Bmm
Fin Height mm
Overall Width (OW) in mm
AR-01_E AR-02_E AR-04_E AR-08_E AR-13_E
127 127 152 152 152
153 153 178 178 178
0.25 9.5 15.9 25.4 50.8
58.2 67.3 73.7 83.3 108.6
Drive
A
B
AR-01_E AR-02_E AR-04_E AR-08_E AR-13_E Drive
R Clamp for Motor Cable Braid Grounding
Overall Depth mm
Overall Depth with Cables mm
128 128 128 128 128
193 193 193 193 193
Weight Kg
AR-01_E AR-02_E AR-04_E AR-08_E AR-13_E
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0.76 0.86 1.15 1.28 1.70
Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
192-100800 N1/UK
Aries Servo Drive
Product ordering codes Aries Drive Types
Description
AR-01AE
100W Servo Drive, 120/240VAC, ±10V Analogue Command Input
AR-02AE
200W Servo Drive, 120/240VAC, ±10V Analogue Command Input
AR-04AE
400W Servo Drive, 120/240VAC, ±10V Analogue Command Input
AR-08AE
750W Servo Drive, 120/240VAC, ±10V Analogue Command Input
AE-13AE
1.3kW Servo Drive, 120/240VAC, ±10V Analogue Command Input
AR-01SE
100W Servo Drive, 120/240VAC, Step/Direction Command Input
AR-02SE
200W Servo Drive, 120/240VAC, Step/Direction Command Input
AR-04SE
400W Servo Drive, 120/240VAC, Step/Direction Command Input
AR-08SE
750W Servo Drive, 120/240VAC, Step/Direction Command Input
AR-13SE
1.3kW Servo Drive, 120/240VAC, Step/Direction Command Input
Aries Accessories 71-021609-01
Aries RS-232/RS-485 Serial Communications Dongle
71-021599-04
ACR Controller to Aries Drive, Command Cable, 4ft
71-021600-04
6K Controller to Aries Drive, Command Cable, 4ft
47-016140-01
10A, 240VAC Mains Filter
47-017900-01
16A, 240VAC Mains Filter
VM15-PM
15W Breakout Module
Aries Support Tool The Aries Support Tool is a free Windows™ based software utility for setting up and operating your Aries drive system. The use of a wizard-based guided set-up procedure, using simple click-entry screens, ensures the configuration of the drive is both rapid and straightforward. Upload, download and the saving of configuration data to file is also possible using the tool.
A servo tuner function enables either manual or auto-tuning of the Aries drive system while a multi-session drive-capture oscilloscope function permits the user to visually monitor the response for up-to four tuning configurations.
In addition to the above, the Aries Support Tool also permits the user to monitor the status of key drive parameters, perform drive diagnostics, view the drive error log and download a new operating system to the drive.
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Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
192-100800 N1/UK
Aries Servo Drive
Acroloop Motion Controllers The ACR controllers are some of the highest performing controllers on the market. Choose this series for its high-level motion algorithms and industry-leading control features for complex motion applications.
Real time Motion Control with Floating Point DSP The ACR’s processor-based controllers can quickly process floating-point calculations on-board, typically in the 100 to 500 microsecond range (versus most controllers using software calculations that are in the 5,000 to 8,000 microsecond range). This allows the controller to service a pre-emptive multi-tasker, with up to 24 programs simultaneously. In addition, it can handle up to four communication channels concurrently. This means you can communicate with the ACR controller for troubleshooting and still have the HMI on a production machine fully online and active.
Motion ■ 1 to 8 axes of stepper/servo control per unit ■ ±10V analogue or 5V step and direction command output
Advanced Control Features ■ Pre-emptive multi-tasker ■ Backlash and ballscrew compensation ■ High speed (1µs) hardware position capture registers ■ Time-based moves ■ Segmented cam profiling ■ High-speed triggers ■ Dual-loop control ■ Cubic splines ■ NURBS ■ 3D arcs ■ Analogue or digital feedback ■ Automatic tangential tool orientation ■ String handling ■ S-curve profiling ■ Gantry lock control
Interface Features ■ Visual Basic® and C++® libraries ■ Active X™ communications ■ RS232/422 ■ Parker InteractX™ compatible via PC bus ■ OPC server
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Parker Hannifin Electromechanical Automation Offenburg, Poole, Milan
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We reserve the right to make technical changes. The information contained in this manual corresponds to the current status at the time of printing.
Our product program:
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Screw Driven / Linear Motor Driven
Parker Hannifin GmbH & Co.KG Electromechanical Automation Robert-Bosch-Str. 22 D-77656 Offenburg, Germany +49 (0)781 509 0 +49 (0)781 509 98176 Website: www.parker-eme.com e-mail:
[email protected]
Parker Hannifin S. p. A Electromechanical Automation Via Gounod 1 I-20092 Cinisello Balsamo (MI), Italy +39 0266012459 +39 0266012808 Website: www.parker-eme.com e-mail:
[email protected]
Parker Electromechanical Automation
Parker Hannifin plc Electromechanical Automation Arena Business Centre Holy Rood Close, Poole, Dorset. BH17 7BA UK +44 (0)1202 606300 +44 (0)1202 606301 Website: www.parker-eme.com e-mail:
[email protected]
