Download Aries Digital Servo Drives

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
■
’Plug and spin’ - no setup required; drive autoconfigures when used with Parker’s
‘Q-Smart Encoder’ motors
■
120 - 240 VAC input with optional 120/240 VAC
keep alive circuitry
■
5 power levels available: 100W, 200W, 400W,
750W & 1.3kW
■
Optimised for both brushless rotary and
linear servo motors
■
Compatible with standard quadrature encoder
■
Torque, velocity and step/direction signal
input versions
■
Online auto-tuning feature
■
Standard high-density D-sub connectors for easy
connectivity to any systems
■
‘Drive Talk’ feature permits ACR9000 controllers
to automatically access Aries drive parameters
■
CE (EMC & LVD), UL compliant
■
Compact design
■
Brake relay
Parker SME/BE
& 3rd Party Motors Wizard Based
Configuration
Parker SME/BE
‘Q-Smart’ Motors “Plug & Spin”
Auto-configuration
2
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
3
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
4
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
5
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.
6
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
7
Parker Hannifin
Electromechanical Automation
Offenburg, Poole, Milan
- Your partner for automation
Would you like more information?
We would be happy to send you our brochures and catalogs!
Or call us and set up a meeting.
Visualisation
Distributed Automation
Control Technology
Drive Technology
Motors / Gears
Direct Drive Technology
Servo Drives / Stepper Drives
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:
Linear motors / Torque motors
Handling Actuators
Precision Actuators
Cylinders / Actuators
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]