Parker Hannifin 88-021610-01G - Manual (Page 207)

Parker Hannifin
Index 207
operating hours, report (TDHRS)............................146
operating hours, report (TDMIN) ............................147
operating hours, report (TDSEC) ............................147
operating modes, drive (DMODE) ...........................103
operating system revision (TREV) ...........................152
output power ..........................................................43
outputs
status (TOUT) ...................................................150
override mode.......................................................119
over-temperature limits..........................................170
over-voltage protection..........................................172
peak current, motor (DMTIP) .................................108
performance .........................................................169
pole pairs, motor (DPOLE) .....................................124
pollution degree ......................................................22
position
actual (TPE)......................................................151
actual error(TPC)...............................................151
commanded (TPC) ............................................151
encoder (TPE)...................................................151
encoder error (TPER).........................................151
tracking ............................................................142
power dissipation .............................................. 23–27
power supply
connection ..........................................................40
fuses ............................................................ 41, 42
input power .................................35, 37, 39, 40, 46
power-dump resistor
calculating for linear motor ................................183
calculating for rotary motor................................177
selection ................................................... 175, 176
product revision (command implementation).............92
product revision (TREV) .........................................152
program
comments...........................................................94
reset, effect of ..................................................138
protection
current foldback (DIFOLD) ......................... 102, 173
drive over-temperature......................................170
over-voltage......................................................172
short circuit.......................................................170
under-voltage ...................................................171
PWM frequency (dpwm) ........................................169
PWM frequency (DPWM)........................................124
PWM update period (TSSPD)..................................152
rated speed, motor (DMTW) ..................................117
regeneration .................................... 54, 172, 175, 176
regulatory agencies ...............................................200
relay
brake relay .........................................................50
relay, brake
operation ............................................................53
output delay (OUTBD) .......................................137
output status (TOUT) ........................................150
specification........................................................53
reset,drive (RESET) ...............................................138
resistor, power-dump.............
See power-dump resistor
resolution
encoder (ERES).................................................128
encoder input (ERES) ........................................128
resolver ................................................................169
return to factory settings (RFS) ..............................139
revision level, operating system (TREV) ..................152
revision of this manual............................12, 13, 14, 15
rotor inertia, motor................................................109
RS-232
communications.................................................. 75
dongle ............................................................... 77
wiring ................................................................ 74
RS-232/485
connector........................................................... 74
troubleshooting ................................................ 159
wiring .......................................................... 74, 75
RS-485
communications.................................................. 75
dongle ............................................................... 77
multi-drop network ............................................. 76
wiring .......................................................... 74, 75
scaling
force command................................................. 115
torque command (DMTSCL) .............................. 115
velocity command............................................. 119
velocity command (DMVSCL) ............................. 119
servo
position tracking ............................................... 142
servo tuning
actual position .................................................... 80
auto-tuning ........................................................ 90
closed loop......................................................... 79
commanded position........................................... 80
current loop gains, auto .................................... 134
inertia ratio (LJRAT).......................................... 135
integral feedback ................................................ 83
integral gain (IGAIN)......................................... 134
integral gain (SGI) ............................................ 140
integral gain limit (SGILIM) ............................... 140
measuring performance ...................................... 82
notch filter A depth (DNOTAD) .......................... 119
notch filter A frequency (DNOTAF)..................... 120
notch filter A quality factor (DNOTAQ) ............... 121
notch filter B depth (DNOTBD) .......................... 121
notch filter B frequency (DNOTBF)..................... 122
notch filter B quality factor (DNOTBQ) ............... 122
notch lag filter break freq (DNOTLG).................. 123
notch lead filter break freq (DNOTLD)................ 122
open loop........................................................... 79
overview ............................................................ 79
position error (SMPER)...................................... 143
position respones................................................ 81
position variables................................................ 80
proportional feedback ......................................... 83
proportional gain (PGAIN) ................................. 138
proportional gain (SGP)..................................... 141
set current loop bandwidth................................ 101
stability .............................................................. 81
torque/force limit (DMTLIM) .............................. 111
tuning example................................................... 86
velocity error (SMVER) ...................................... 144
velocity feedback ................................................ 83
velocity feedforward gain (SGVF)....................... 142
velocity gain (SGV) ........................................... 141
velocity limit (DMVLIM) ..................................... 118
windup............................................................... 84
servo update ........................................................ 169
ship kit ................................................................... 19
short circuit protection .......................................... 170
software revision level (TREV) ............................... 152
space (neutral character)......................................... 94