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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 circu
it.......................................................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
overv
iew ............................................................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